systemcmds/manual_control: command line stick input for testing

boards: px4_fmu-v6x_default disable LPE to save flash
CUAV X7pro and Nora: use icm42688p instead of bmi088
2026-05-28 03:20:04 +08:00 · 2021-06-02 09:30:22 -04:00 · 2021-06-02 09:12:24 -04:00 · 2021-06-02 09:11:37 -04:00 · 2021-06-02 07:28:19 +02:00 · 2021-06-02 07:28:19 +02:00
556 changed files with 15784 additions and 3536 deletions
@@ -9,10 +9,10 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-02-04",
-            arm64: "px4io/px4-dev-aarch64:2021-02-04",
-            base: "px4io/px4-dev-base-bionic:2021-02-04",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
+            armhf: "px4io/px4-dev-armhf:2021-04-29",
+            arm64: "px4io/px4-dev-aarch64:2021-04-29",
+            base: "px4io/px4-dev-base-bionic:2021-04-29",
+            nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

@@ -48,6 +48,8 @@ pipeline {
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_default",
+                     "freefly_can-rtk-gps_canbootloader",
+                     "freefly_can-rtk-gps_default",
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
@@ -55,6 +57,7 @@ pipeline {
                     "holybro_pix32v5_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
+                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
@@ -130,7 +133,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -155,7 +158,7 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 60, unit: 'MINUTES')
+    timeout(time: 90, unit: 'MINUTES')
  }
 }

@@ -12,7 +12,7 @@ pipeline {
            stage("build cubepilot_cubeorange_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -73,13 +73,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -89,7 +86,7 @@ pipeline {
            stage("build cuav_x7pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -149,13 +146,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -165,7 +159,7 @@ pipeline {
            stage("build px4_fmu-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -225,13 +219,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -241,7 +232,7 @@ pipeline {
            stage("build px4_fmu-v4_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -301,13 +292,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -317,7 +305,7 @@ pipeline {
            stage("build px4_fmu-v4pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -377,13 +365,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -393,7 +378,7 @@ pipeline {
            stage("build px4_fmu-v5_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -453,13 +438,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -469,7 +451,7 @@ pipeline {
            stage("build px4_fmu-v5_debug") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -533,13 +515,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -549,7 +528,7 @@ pipeline {
            stage("build px4_fmu-v5_optimized") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -609,13 +588,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -625,7 +601,7 @@ pipeline {
            stage("build px4_fmu-v5_stackcheck") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -689,13 +665,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -705,7 +678,7 @@ pipeline {
            stage("build modalai_fc-v1_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -769,9 +742,6 @@ pipeline {
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -781,7 +751,7 @@ pipeline {
            stage("build holybro_durandal-v1_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -842,13 +812,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -858,7 +825,7 @@ pipeline {
            stage("build nxp_fmuk66-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -918,13 +885,10 @@ pipeline {
                }
                stage("reset") {
                  steps {
-                    cleanupFTDI();
+                    cleanupFTDI()
                  }
                }
              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
            } // stage test
          }
        }
@@ -937,8 +901,8 @@ pipeline {
    CI = true
  }
  options {
-    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
-    timeout(time: 90, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
+    timeout(time: 120, unit: 'MINUTES')
    skipDefaultCheckout()
  }
 }
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2021-02-04",
+	"image": "px4io/px4-dev-nuttx-focal:2021-04-29",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -28,7 +28,7 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2021-02-04
+      image: px4io/px4-dev-nuttx-focal:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-02-04
+    container: px4io/px4-dev-clang:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-02-04
+    container: px4io/px4-dev-armhf:2021-04-29
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-02-04
+    container: px4io/px4-dev-aarch64:2021-04-29
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
    strategy:
      matrix:
        config: [
@@ -19,6 +19,9 @@ jobs:
          ark_can-flow_canbootloader,
          ark_can-flow_debug,
          ark_can-flow_default,
+          ark_can-gps_canbootloader,
+          ark_can-gps_debug,
+          ark_can-gps_default,
          av_x-v1_default,
          bitcraze_crazyflie21_default,
          bitcraze_crazyflie_default,
@@ -32,6 +35,8 @@ jobs:
          cubepilot_cubeyellow_default,
          cubepilot_cubeyellow_test,
          cubepilot_io-v2_default,
+          freefly_can-rtk-gps_canbootloader,
+          freefly_can-rtk-gps_default,
          holybro_can-gps-v1_canbootloader,
          holybro_can-gps-v1_debug,
          holybro_can-gps-v1_default,
@@ -40,6 +45,7 @@ jobs:
          holybro_pix32v5_default,
          modalai_fc-v1_default,
          modalai_fc-v1_rtps,
+          modalai_fc-v2_default,
          mro_ctrl-zero-f7-oem_default,
          mro_ctrl-zero-f7_default,
          mro_ctrl-zero-h7-oem_default,
@@ -123,6 +129,8 @@ jobs:
      run: make ${{matrix.config}} bloaty_symbols || true
    - name: make ${{matrix.config}} bloaty_templates
      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
    - name: make ${{matrix.config}} bloaty_compare_master
      run: make ${{matrix.config}} bloaty_compare_master || true
    - name: ccache post-run
@@ -11,12 +11,13 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
    strategy:
      matrix:
        config: [
          ark_can-flow_default,
          cuav_can-gps-v1_default,
+          freefly_can-rtk-gps_default,
          holybro_can-gps-v1_default,
          #nxp_ucans32k146_default,
          px4_fmu-v4_cannode
@@ -23,7 +23,7 @@ jobs:
    needs: enumerate_targets
    strategy:
      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
+    container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -1,131 +0,0 @@
-name: MAVROS Avoidance Tests
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - {test_file: "mavros_posix_test_avoidance.test",    vehicle: "iris_obs_avoid", mission: "avoidance",       build_type: "RelWithDebInfo"}
-          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
-
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
-
-    # - name: ecl EKF analysis
-    #   if: always()
-    #   run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v2
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_avoidance
-        file: coverage/lcov.info
@@ -25,7 +25,7 @@ jobs:
          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -20,7 +20,7 @@ jobs:
          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2021-02-04
+      image: px4io/px4-dev-ros-melodic:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -11,7 +11,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -26,7 +26,7 @@ jobs:

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -41,7 +41,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -65,7 +65,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-02-04
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -80,7 +80,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -94,7 +94,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -107,7 +107,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-02-04
+    container: px4io/px4-dev-base-focal:2021-04-29
    steps:
    - uses: actions/checkout@v1
      with:
@@ -20,7 +20,7 @@ jobs:
          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
    container:
-      image: px4io/px4-dev-simulation-focal:2021-02-04
+      image: px4io/px4-dev-simulation-focal:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -28,9 +28,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.38.0/mavsdk_0.38.0_ubuntu20.04_amd64.deb
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.38.0_ubuntu20.04_amd64.deb
+      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -33,7 +33,7 @@
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
 	url = https://github.com/PX4/Micro-CDR.git
-	branch = px4
+	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
@@ -63,3 +63,7 @@
 [submodule "src/drivers/uavcannode_gps_demo/libcanard"]
 	path = src/drivers/uavcannode_gps_demo/libcanard
 	url = https://github.com/UAVCAN/libcanard.git
+[submodule "src/drivers/uavcan_v1/legacy_data_types"]
+	path = src/drivers/uavcan_v1/legacy_data_types
+	url = https://github.com/PX4/public_regulated_data_types.git
+	branch = legacy
@@ -66,6 +66,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-flow_canbootloader
+    ark_can-gps_default:
+      short: ark_can-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-gps_default
+    ark_can-gps_canbootloader:
+      short: ark_can-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-gps_canbootloader
    av_x-v1_default:
      short: av_x-v1
      buildType: MinSizeRel
@@ -106,6 +116,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: emlid_navio2_default
+    freefly_can-rtk-gps_default:
+      short: freefly_can-rtk-gps_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: freefly_can-rtk-gps_default
+    freefly_can-rtk-gps_canbootloader:
+      short: freefly_can-rtk-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: freefly_can-rtk-gps_canbootloader
    holybro_can-gps-v1_canbootloader:
      short: holybro_can-gps-v1_canbootloader
      buildType: MinSizeRel
@@ -126,6 +146,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: modalai_fc-v1_default
+    modalai_fc-v2_default:
+      short: modalai_fc-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: modalai_fc-v2_default
    mro_ctrl-zero-f7_default:
      short: mro_ctrl-zero-f7
      buildType: MinSizeRel
@@ -185,6 +185,8 @@ if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage")
 	set(MAX_CUSTOM_OPT_LEVEL -O0)
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
 	set(MAX_CUSTOM_OPT_LEVEL -O1)
+elseif(CMAKE_BUILD_TYPE MATCHES "Release")
+	set(MAX_CUSTOM_OPT_LEVEL -O3)
 else()
 	if(px4_constrained_flash_build)
 		set(MAX_CUSTOM_OPT_LEVEL -Os)
@@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2021-02-04'
+        //       image 'px4io/px4-dev-ros-melodic:2021-04-29'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2021-02-04'
+              image 'px4io/px4-dev-ros2-foxy:2021-04-29'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@@ -85,7 +85,7 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh 'make distclean'
@@ -105,7 +105,7 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh 'make distclean'
@@ -146,7 +146,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2021-02-04'
+              image 'px4io/px4-dev-nuttx-focal:2021-04-29'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -176,7 +176,7 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh('export')
@@ -206,7 +206,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh('export')
@@ -234,7 +234,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh('export')
@@ -264,7 +264,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh('export')
@@ -293,7 +293,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh('export')
@@ -336,7 +336,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
          }
          steps {
            sh('export')
@@ -374,7 +374,7 @@ pipeline {
    GIT_COMMITTER_NAME = "PX4BuildBot"
  }
  options {
-    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
-    timeout(time: 60, unit: 'MINUTES')
+    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
+    timeout(time: 90, unit: 'MINUTES')
  }
 }
@@ -468,25 +468,27 @@ validate_module_configs:
 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean

 clean:
-	@rm -rf "$(SRC_DIR)"/build
+	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
+	@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source

 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d
 	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive --force
+	@git submodule update --init --recursive --force --jobs 4

 submodulesupdate:
-	@git submodule update --quiet --init --recursive || true
+	@git submodule update --quiet --init --recursive --jobs 4 || true
 	@git submodule sync --recursive
-	@git submodule update --init --recursive
+	@git submodule update --init --recursive --jobs 4

 gazeboclean:
 	@rm -rf ~/.gazebo/*

 distclean: gazeboclean
-	@git submodule deinit -f .
-	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
+	@git submodule deinit --force $(SRC_DIR)
+	@rm -rf "$(SRC_DIR)/build"
+	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"

 # Help / Error
 # --------------------------------------------------------------------
@@ -115,6 +115,7 @@ add_custom_command(
 set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
 add_custom_command(
 	OUTPUT ${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
@@ -34,6 +34,9 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
+	px4-rc.params
+	px4-rc.simulator
+	px4-rc.mavlink
 	rc.replay
 	rcS
 )
@@ -14,7 +14,8 @@

 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
-param set-default ASPD_STALL 10.0
+
+param set-default FW_AIRSPD_STALL 8

 param set-default FW_P_RMAX_NEG 20.0
 param set-default FW_P_RMAX_POS 60.0
@@ -0,0 +1,32 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+udp_offboard_port_local=$((14580+px4_instance))
+udp_offboard_port_remote=$((14540+px4_instance))
+[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
+udp_onboard_payload_port_local=$((14280+px4_instance))
+udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
+udp_gcs_port_local=$((18570+px4_instance))
+
+# GCS link
+mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
+mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
+mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
+
+# API/Offboard link
+mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+
+# Onboard link to camera
+mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+
+# Onboard link to gimbal
+mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
@@ -0,0 +1,5 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+#param set MAV_SYS_ID $((px4_instance+1))
+#param set IMU_INTEG_RATE 250
@@ -0,0 +1,20 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+simulator_tcp_port=$((4560+px4_instance))
+
+# Check if PX4_SIM_HOSTNAME environment variable is empty
+# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+# If both are empty use localhost for simulator
+if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+    echo "PX4 SIM HOST: localhost"
+    simulator start -c $simulator_tcp_port
+  else
+    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+  fi
+else
+  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+fi
@@ -5,7 +5,8 @@
 # shellcheck disable=SC1091
 . px4-alias.sh

-SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
+#search path for sourcing px4-rc.*
+PATH="$PATH:${R}etc/init.d-posix"

 #
 # Main SITL startup script
@@ -45,9 +46,9 @@ else
 	# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
 	# TODO: unify with rc.autostart generation
 	# shellcheck disable=SC2012
-	REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
+	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
+		echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
 		echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
@@ -104,15 +105,6 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
-simulator_tcp_port=$((4560+px4_instance))
-udp_offboard_port_local=$((14580+px4_instance))
-udp_offboard_port_remote=$((14540+px4_instance))
-[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
-udp_onboard_payload_port_local=$((14280+px4_instance))
-udp_onboard_payload_port_remote=$((14030+px4_instance))
-udp_onboard_gimbal_port_local=$((13030+px4_instance))
-udp_onboard_gimbal_port_remote=$((13280+px4_instance))
-udp_gcs_port_local=$((18570+px4_instance))

 if [ $AUTOCNF = yes ]
 then
@@ -216,25 +208,14 @@ fi
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250

+#user defined params for instances can be in PATH
+. px4-rc.params
+
 dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
 then
-  # Check if PX4_SIM_HOSTNAME environment variable is empty
-  # If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-  # If both are empty use localhost for simulator
-  if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-    if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-      echo "PX4 SIM HOST: localhost"
-      simulator start -c $simulator_tcp_port
-    else
-      echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-      simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port 
-    fi
-  else
-    echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-    simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port 
-  fi
+  . px4-rc.simulator
 fi
 load_mon start
 battery_simulator start
@@ -272,32 +253,8 @@ fi
 #
 . ${R}etc/init.d/rc.vehicle_setup

-if [ -e etc/init.d-posix/rc.mavlink_override ]
-then
-	echo "Running non-default mavlink config rc.mavlink_override"
-	. ${R}etc/init.d-posix/rc.mavlink_override
-else
-	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
-	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
-	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
-	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
-	mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
-	mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
-	mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
-	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
-
-	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
-
-	# Onboard link to camera
-	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
-
-	# Onboard link to gimbal
-	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
-fi
+#user defined mavlink streams for instances can be in PATH
+. px4-rc.mavlink

 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post
@@ -16,6 +16,8 @@ param set-default COM_POS_FS_EPV 30
 param set-default COM_POS_FS_GAIN 0
 param set-default COM_POS_FS_PROB 1
 param set-default COM_VEL_FS_EVH 5
+# Disable preflight disarm to not interfere with external launching
+param set-default COM_DISARM_PRFLT -1

 param set-default EKF2_ARSP_THR 8
 param set-default EKF2_FUSE_BETA 1
@@ -23,6 +23,7 @@ param set-default MPC_XY_ERR_MAX 5
 param set-default MPC_XY_VEL_MAX 4
 param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_JERK_MAX 4.5
+param set-default MPC_YAW_MODE 4

 param set-default NAV_ACC_RAD 3

@@ -30,7 +30,7 @@ set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
-set LOGGER_BUF  14
+set LOGGER_BUF 8
 set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
@@ -59,7 +59,7 @@ if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; then
 	fi
 fi

-${DIR}/files_to_check_code_style.sh | xargs -n 1 -P 8 -I % ${DIR}/check_code_style.sh %
+${DIR}/files_to_check_code_style.sh | xargs -P 8 -I % ${DIR}/check_code_style.sh %

 if [ $? -eq 0 ]; then
    echo "Format checks passed"
@@ -0,0 +1,13 @@
+custom_data_source: {
+  name: "bloaty_static_ram"
+  base_data_source: "sections"
+
+  rewrite: {
+    pattern: "^\\.bss"
+    replacement: "ram"
+  }
+  rewrite: {
+    pattern: "^\\.data"
+    replacement: "ram"
+  }
+}
@@ -4,7 +4,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-02-04"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
@@ -30,7 +30,7 @@ fi

 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
 fi

 # docker hygiene
@@ -1,4 +1,4 @@
-#! /usr/bin/env python
+#! /usr/bin/env python3

 from __future__ import print_function

@@ -7,6 +7,7 @@ import os
 import math
 import matplotlib.pyplot as plt
 import numpy as np
+import scipy as sp

 from pyulog import *

@@ -63,6 +64,9 @@ def resampleWithDeltaX(x,y):

    return resampledX,resampledY

+def median_filter(data):
+    return sp.signal.medfilt(data, 31)
+
 parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
 parser.add_argument('filename', metavar='file.ulg', help='ULog input file')
 parser.add_argument('--no_resample', dest='noResample', action='store_const',
@@ -184,12 +188,16 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_0_params['TC_G0_TMIN']-gyro_0_params['TC_G0_TREF'], gyro_0_params['TC_G0_TMAX']-gyro_0_params['TC_G0_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_0_params['TC_G0_TREF']

+    sensor_gyro_0['x'] = median_filter(sensor_gyro_0['x'])
+    sensor_gyro_0['y'] = median_filter(sensor_gyro_0['y'])
+    sensor_gyro_0['z'] = median_filter(sensor_gyro_0['z'])
+
    # fit X axis
    if noResample:
-        coef_gyro_0_x = np.polyfit(temp_rel,sensor_gyro_0['x'],3)
+        coef_gyro_0_x = np.polyfit(temp_rel, sensor_gyro_0['x'], 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['x'])
-        coef_gyro_0_x = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['x'])
+        coef_gyro_0_x = np.polyfit(temp, sens, 3)

    gyro_0_params['TC_G0_X3_0'] = coef_gyro_0_x[0]
    gyro_0_params['TC_G0_X2_0'] = coef_gyro_0_x[1]
@@ -200,10 +208,10 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):

    # fit Y axis
    if noResample:
-        coef_gyro_0_y = np.polyfit(temp_rel,sensor_gyro_0['y'],3)
+        coef_gyro_0_y = np.polyfit(temp_rel, sensor_gyro_0['y'], 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['y'])
-        coef_gyro_0_y = np.polyfit(temp, sens ,3)
+        coef_gyro_0_y = np.polyfit(temp, sens, 3)

    gyro_0_params['TC_G0_X3_1'] = coef_gyro_0_y[0]
    gyro_0_params['TC_G0_X2_1'] = coef_gyro_0_y[1]
@@ -214,9 +222,9 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):

    # fit Z axis
    if noResample:
-        coef_gyro_0_z = np.polyfit(temp_rel,sensor_gyro_0['z'],3)
+        coef_gyro_0_z = np.polyfit(temp_rel, sensor_gyro_0['z'],3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['z'])
+        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['z'])
        coef_gyro_0_z = np.polyfit(temp, sens ,3)

    gyro_0_params['TC_G0_X3_2'] = coef_gyro_0_z[0]
@@ -292,6 +300,10 @@ if num_gyros >= 2 and not math.isnan(sensor_gyro_1['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_1_params['TC_G1_TMIN']-gyro_1_params['TC_G1_TREF'], gyro_1_params['TC_G1_TMAX']-gyro_1_params['TC_G1_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_1_params['TC_G1_TREF']

+    sensor_gyro_1['x'] = median_filter(sensor_gyro_1['x'])
+    sensor_gyro_1['y'] = median_filter(sensor_gyro_1['y'])
+    sensor_gyro_1['z'] = median_filter(sensor_gyro_1['z'])
+
    # fit X axis
    if noResample:
        coef_gyro_1_x = np.polyfit(temp_rel,sensor_gyro_1['x'],3)
@@ -400,6 +412,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_2_params['TC_G2_TMIN']-gyro_2_params['TC_G2_TREF'], gyro_2_params['TC_G2_TMAX']-gyro_2_params['TC_G2_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_2_params['TC_G2_TREF']

+    sensor_gyro_2['x'] = median_filter(sensor_gyro_2['x'])
+    sensor_gyro_2['y'] = median_filter(sensor_gyro_2['y'])
+    sensor_gyro_2['z'] = median_filter(sensor_gyro_2['z'])
+
    # fit X axis
    if noResample:
        coef_gyro_2_x = np.polyfit(temp_rel,sensor_gyro_2['x'],3)
@@ -416,10 +432,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):

    # fit Y axis
    if noResample:
-        coef_gyro_2_y = np.polyfit(temp_rel,sensor_gyro_2['y'],3)
+        coef_gyro_2_y = np.polyfit(temp_rel, sensor_gyro_2['y'], 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['y'])
-        coef_gyro_2_y = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_2['y'])
+        coef_gyro_2_y = np.polyfit(temp, sens, 3)

    gyro_2_params['TC_G2_X3_1'] = coef_gyro_2_y[0]
    gyro_2_params['TC_G2_X2_1'] = coef_gyro_2_y[1]
@@ -430,10 +446,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):

    # fit Z axis
    if noResample:
-        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'],3)
+        coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'], 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['z'])
-        coef_gyro_2_z = np.polyfit(temp, sens ,3)
+        coef_gyro_2_z = np.polyfit(temp, sens, 3)

    gyro_2_params['TC_G2_X3_2'] = coef_gyro_2_z[0]
    gyro_2_params['TC_G2_X2_2'] = coef_gyro_2_z[1]
@@ -508,8 +524,12 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
    temp_rel_resample = np.linspace(gyro_3_params['TC_G3_TMIN']-gyro_3_params['TC_G3_TREF'], gyro_3_params['TC_G3_TMAX']-gyro_3_params['TC_G3_TREF'], 100)
    temp_resample = temp_rel_resample + gyro_3_params['TC_G3_TREF']

+    sensor_gyro_3['x'] = median_filter(sensor_gyro_3['x'])
+    sensor_gyro_3['y'] = median_filter(sensor_gyro_3['y'])
+    sensor_gyro_3['z'] = median_filter(sensor_gyro_3['z'])
+
    # fit X axis
-    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'],3)
+    coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'], 3)
    gyro_3_params['TC_G3_X3_0'] = coef_gyro_3_x[0]
    gyro_3_params['TC_G3_X2_0'] = coef_gyro_3_x[1]
    gyro_3_params['TC_G3_X1_0'] = coef_gyro_3_x[2]
@@ -518,7 +538,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
    gyro_3_x_resample = fit_coef_gyro_3_x(temp_rel_resample)

    # fit Y axis
-    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'],3)
+    coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'], 3)
    gyro_3_params['TC_G3_X3_1'] = coef_gyro_3_y[0]
    gyro_3_params['TC_G3_X2_1'] = coef_gyro_3_y[1]
    gyro_3_params['TC_G3_X1_1'] = coef_gyro_3_y[2]
@@ -527,7 +547,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
    gyro_3_y_resample = fit_coef_gyro_3_y(temp_rel_resample)

    # fit Z axis
-    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'],3)
+    coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'], 3)
    gyro_3_params['TC_G3_X3_2'] = coef_gyro_3_z[0]
    gyro_3_params['TC_G3_X2_2'] = coef_gyro_3_z[1]
    gyro_3_params['TC_G3_X1_2'] = coef_gyro_3_z[2]
@@ -540,8 +560,8 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):

    # draw plots
    plt.subplot(3,1,1)
-    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'],'b')
-    plt.plot(temp_resample,gyro_3_x_resample,'r')
+    plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'], 'b')
+    plt.plot(temp_resample,gyro_3_x_resample, 'r')
    plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_3_params['TC_G3_ID']))
    plt.ylabel('X bias (rad/s)')
    plt.xlabel('temperature (degC)')
@@ -601,13 +621,17 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
    temp_rel_resample = np.linspace(accel_0_params['TC_A0_TMIN']-accel_0_params['TC_A0_TREF'], accel_0_params['TC_A0_TMAX']-accel_0_params['TC_A0_TREF'], 100)
    temp_resample = temp_rel_resample + accel_0_params['TC_A0_TREF']

+    sensor_accel_0['x'] = median_filter(sensor_accel_0['x'])
+    sensor_accel_0['y'] = median_filter(sensor_accel_0['y'])
+    sensor_accel_0['z'] = median_filter(sensor_accel_0['z'])
+
    # fit X axis
    correction_x = sensor_accel_0['x'] - np.median(sensor_accel_0['x'])
    if noResample:
-        coef_accel_0_x = np.polyfit(temp_rel,correction_x,3)
+        coef_accel_0_x = np.polyfit(temp_rel,correction_x, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_0_x = np.polyfit(temp, sens ,3)
+        coef_accel_0_x = np.polyfit(temp, sens, 3)

    accel_0_params['TC_A0_X3_0'] = coef_accel_0_x[0]
    accel_0_params['TC_A0_X2_0'] = coef_accel_0_x[1]
@@ -617,12 +641,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
    correction_x_resample = fit_coef_accel_0_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_0['y']-np.median(sensor_accel_0['y'])
+    correction_y = sensor_accel_0['y'] - np.median(sensor_accel_0['y'])
    if noResample:
-        coef_accel_0_y = np.polyfit(temp_rel,correction_y,3)
+        coef_accel_0_y = np.polyfit(temp_rel, correction_y, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_y)
-        coef_accel_0_y = np.polyfit(temp, sens ,3)
+        coef_accel_0_y = np.polyfit(temp, sens, 3)

    accel_0_params['TC_A0_X3_1'] = coef_accel_0_y[0]
    accel_0_params['TC_A0_X2_1'] = coef_accel_0_y[1]
@@ -632,12 +656,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
    correction_y_resample = fit_coef_accel_0_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_0['z']-np.median(sensor_accel_0['z'])
+    correction_z = sensor_accel_0['z'] - np.median(sensor_accel_0['z'])
    if noResample:
-        coef_accel_0_z = np.polyfit(temp_rel,correction_z,3)
+        coef_accel_0_z = np.polyfit(temp_rel,correction_z, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_0_z = np.polyfit(temp, sens ,3)
+        coef_accel_0_z = np.polyfit(temp, sens, 3)

    accel_0_params['TC_A0_X3_2'] = coef_accel_0_z[0]
    accel_0_params['TC_A0_X2_2'] = coef_accel_0_z[1]
@@ -712,13 +736,17 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
    temp_rel_resample = np.linspace(accel_1_params['TC_A1_TMIN']-accel_1_params['TC_A1_TREF'], accel_1_params['TC_A1_TMAX']-accel_1_params['TC_A1_TREF'], 100)
    temp_resample = temp_rel_resample + accel_1_params['TC_A1_TREF']

+    sensor_accel_1['x'] = median_filter(sensor_accel_1['x'])
+    sensor_accel_1['y'] = median_filter(sensor_accel_1['y'])
+    sensor_accel_1['z'] = median_filter(sensor_accel_1['z'])
+
    # fit X axis
-    correction_x = sensor_accel_1['x']-np.median(sensor_accel_1['x'])
+    correction_x = sensor_accel_1['x'] - np.median(sensor_accel_1['x'])
    if noResample:
-        coef_accel_1_x = np.polyfit(temp_rel,correction_x,3)
+        coef_accel_1_x = np.polyfit(temp_rel, correction_x, 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_1_x = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
+        coef_accel_1_x = np.polyfit(temp, sens, 3)

    accel_1_params['TC_A1_X3_0'] = coef_accel_1_x[0]
    accel_1_params['TC_A1_X2_0'] = coef_accel_1_x[1]
@@ -728,7 +756,7 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
    correction_x_resample = fit_coef_accel_1_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_1['y']-np.median(sensor_accel_1['y'])
+    correction_y = sensor_accel_1['y'] - np.median(sensor_accel_1['y'])
    if noResample:
        coef_accel_1_y = np.polyfit(temp_rel,correction_y,3)
    else:
@@ -743,12 +771,12 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
    correction_y_resample = fit_coef_accel_1_y(temp_rel_resample)

    # fit Z axis
-    correction_z = (sensor_accel_1['z'])-np.median(sensor_accel_1['z'])
+    correction_z = sensor_accel_1['z'] - np.median(sensor_accel_1['z'])
    if noResample:
-        coef_accel_1_z = np.polyfit(temp_rel,correction_z,3)
+        coef_accel_1_z = np.polyfit(temp_rel,correction_z, 3)
    else:
        temp, sens = resampleWithDeltaX(temp_rel,correction_z)
-        coef_accel_1_z = np.polyfit(temp, sens ,3)
+        coef_accel_1_z = np.polyfit(temp, sens, 3)

    accel_1_params['TC_A1_X3_2'] = coef_accel_1_z[0]
    accel_1_params['TC_A1_X2_2'] = coef_accel_1_z[1]
@@ -824,13 +852,17 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
    temp_rel_resample = np.linspace(accel_2_params['TC_A2_TMIN']-accel_2_params['TC_A2_TREF'], accel_2_params['TC_A2_TMAX']-accel_2_params['TC_A2_TREF'], 100)
    temp_resample = temp_rel_resample + accel_2_params['TC_A2_TREF']

+    sensor_accel_2['x'] = median_filter(sensor_accel_2['x'])
+    sensor_accel_2['y'] = median_filter(sensor_accel_2['y'])
+    sensor_accel_2['z'] = median_filter(sensor_accel_2['z'])
+
    # fit X axis
-    correction_x = sensor_accel_2['x']-np.median(sensor_accel_2['x'])
+    correction_x = sensor_accel_2['x'] - np.median(sensor_accel_2['x'])
    if noResample:
-        coef_accel_2_x = np.polyfit(temp_rel,correction_x,3)
+        coef_accel_2_x = np.polyfit(temp_rel,correction_x, 3)
    else:
-        temp, sens = resampleWithDeltaX(temp_rel,correction_x)
-        coef_accel_2_x = np.polyfit(temp, sens ,3)
+        temp, sens = resampleWithDeltaX(temp_rel, correction_x)
+        coef_accel_2_x = np.polyfit(temp, sens, 3)

    accel_2_params['TC_A2_X3_0'] = coef_accel_2_x[0]
    accel_2_params['TC_A2_X2_0'] = coef_accel_2_x[1]
@@ -840,7 +872,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
    correction_x_resample = fit_coef_accel_2_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_2['y']-np.median(sensor_accel_2['y'])
+    correction_y = sensor_accel_2['y'] - np.median(sensor_accel_2['y'])
    if noResample:
        coef_accel_2_y = np.polyfit(temp_rel,correction_y,3)
    else:
@@ -855,7 +887,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
    correction_y_resample = fit_coef_accel_2_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_2['z']-np.median(sensor_accel_2['z'])
+    correction_z = sensor_accel_2['z'] - np.median(sensor_accel_2['z'])
    if noResample:
        coef_accel_2_z = np.polyfit(temp_rel,correction_z,3)
    else:
@@ -935,9 +967,13 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
    temp_rel_resample = np.linspace(accel_3_params['TC_A3_TMIN']-accel_3_params['TC_A3_TREF'], accel_3_params['TC_A3_TMAX']-accel_3_params['TC_A3_TREF'], 100)
    temp_resample = temp_rel_resample + accel_3_params['TC_A3_TREF']

+    sensor_accel_3['x'] = median_filter(sensor_accel_3['x'])
+    sensor_accel_3['y'] = median_filter(sensor_accel_3['y'])
+    sensor_accel_3['z'] = median_filter(sensor_accel_3['z'])
+
    # fit X axis
-    correction_x = sensor_accel_3['x']-np.median(sensor_accel_3['x'])
-    coef_accel_3_x = np.polyfit(temp_rel,correction_x,3)
+    correction_x = sensor_accel_3['x'] - np.median(sensor_accel_3['x'])
+    coef_accel_3_x = np.polyfit(temp_rel, correction_x, 3)
    accel_3_params['TC_A3_X3_0'] = coef_accel_3_x[0]
    accel_3_params['TC_A3_X2_0'] = coef_accel_3_x[1]
    accel_3_params['TC_A3_X1_0'] = coef_accel_3_x[2]
@@ -946,8 +982,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
    correction_x_resample = fit_coef_accel_3_x(temp_rel_resample)

    # fit Y axis
-    correction_y = sensor_accel_3['y']-np.median(sensor_accel_3['y'])
-    coef_accel_3_y = np.polyfit(temp_rel,correction_y,3)
+    correction_y = sensor_accel_3['y'] - np.median(sensor_accel_3['y'])
+    coef_accel_3_y = np.polyfit(temp_rel, correction_y, 3)
    accel_3_params['TC_A3_X3_1'] = coef_accel_3_y[0]
    accel_3_params['TC_A3_X2_1'] = coef_accel_3_y[1]
    accel_3_params['TC_A3_X1_1'] = coef_accel_3_y[2]
@@ -956,8 +992,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
    correction_y_resample = fit_coef_accel_3_y(temp_rel_resample)

    # fit Z axis
-    correction_z = sensor_accel_3['z']-np.median(sensor_accel_3['z'])
-    coef_accel_3_z = np.polyfit(temp_rel,correction_z,3)
+    correction_z = sensor_accel_3['z'] - np.median(sensor_accel_3['z'])
+    coef_accel_3_z = np.polyfit(temp_rel, correction_z, 3)
    accel_3_params['TC_A3_X3_2'] = coef_accel_3_z[0]
    accel_3_params['TC_A3_X2_2'] = coef_accel_3_z[1]
    accel_3_params['TC_A3_X1_2'] = coef_accel_3_z[2]
@@ -1024,8 +1060,10 @@ temp_rel = sensor_baro_0['temperature'] - baro_0_params['TC_B0_TREF']
 temp_rel_resample = np.linspace(baro_0_params['TC_B0_TMIN']-baro_0_params['TC_B0_TREF'], baro_0_params['TC_B0_TMAX']-baro_0_params['TC_B0_TREF'], 100)
 temp_resample = temp_rel_resample + baro_0_params['TC_B0_TREF']

+sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
+
 # fit data
-median_pressure = np.median(sensor_baro_0['pressure']);
+median_pressure = np.median(sensor_baro_0['pressure'])
 if noResample:
    coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
 else:
@@ -1081,8 +1119,10 @@ if num_baros >= 2:
    temp_rel_resample = np.linspace(baro_1_params['TC_B1_TMIN']-baro_1_params['TC_B1_TREF'], baro_1_params['TC_B1_TMAX']-baro_1_params['TC_B1_TREF'], 100)
    temp_resample = temp_rel_resample + baro_1_params['TC_B1_TREF']

+    sensor_baro_1['pressure'] = median_filter(sensor_baro_1['pressure'])
+
    # fit data
-    median_pressure = np.median(sensor_baro_1['pressure']);
+    median_pressure = np.median(sensor_baro_1['pressure'])
    if noResample:
        coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
    else:
@@ -1139,8 +1179,10 @@ if num_baros >= 3:
    temp_rel_resample = np.linspace(baro_2_params['TC_B2_TMIN']-baro_2_params['TC_B2_TREF'], baro_2_params['TC_B2_TMAX']-baro_2_params['TC_B2_TREF'], 100)
    temp_resample = temp_rel_resample + baro_2_params['TC_B2_TREF']

+    sensor_baro_2['pressure'] = median_filter(sensor_baro_2['pressure'])
+
    # fit data
-    median_pressure = np.median(sensor_baro_2['pressure']);
+    median_pressure = np.median(sensor_baro_2['pressure'])
    if noResample:
        coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
    else:
@@ -1197,6 +1239,8 @@ if num_baros >= 4:
    temp_rel_resample = np.linspace(baro_3_params['TC_B3_TMIN']-baro_3_params['TC_B3_TREF'], baro_3_params['TC_B3_TMAX']-baro_3_params['TC_B3_TREF'], 100)
    temp_resample = temp_rel_resample + baro_3_params['TC_B3_TREF']

+    sensor_baro_3['pressure'] = median_filter(sensor_baro_3['pressure'])
+
    # fit data
    median_pressure = np.median(sensor_baro_3['pressure'])
    coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa
@@ -98,6 +98,8 @@ class ParameterGroup(object):
            return "Boat"
        elif (self.name == "Balloon"):
            return "Balloon"
+        elif (self.name == "Vectored 6 DOF UUV"):
+            return "Vectored6DofUUV"
        return "AirframeUnknown"

    def GetParams(self):
@@ -56,7 +56,6 @@ from __future__ import print_function
 import sys
 import argparse
 import binascii
-import serial
 import socket
 import struct
 import json
@@ -68,6 +67,16 @@ import os

 from sys import platform as _platform

+try:
+    import serial
+except ImportError as e:
+    print("Failed to import serial: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyserial")
+    print("")
+    sys.exit(1)
+
 # Detect python version
 if sys.version_info[0] < 3:
    runningPython3 = False
@@ -726,29 +735,6 @@ def main():
        print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
        print("==========================================================================================================")

-    # We need to check for pyserial because the import itself doesn't
-    # seem to fail, at least not on macOS.
-    pyserial_installed = False
-    try:
-        if serial.__version__:
-            pyserial_installed = True
-    except:
-        pass
-
-    try:
-        if serial.VERSION:
-            pyserial_installed = True
-    except:
-        pass
-
-    if not pyserial_installed:
-        print("Error: pyserial not installed!")
-        print("")
-        print("You may need to install it using:")
-        print("    pip3 install --user pyserial")
-        print("")
-        sys.exit(1)
-
    # Load the firmware file
    fw = firmware(args.firmware)

@@ -155,8 +155,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 			# fix VMWare 3D graphics acceleration for gazebo
 			exportline="export SVGA_VGPU10=0"

-			if grep -Fxq "$exportline" $HOME/.profile; then
-			else
+			if !grep -Fxq "$exportline" $HOME/.profile; then
 				echo $exportline >> $HOME/.profile;
 			fi
 		fi
@@ -45,7 +45,7 @@ fi

 # Python dependencies
 echo "Installing PX4 Python3 dependencies"
-pip3 install --user -r ${DIR}/requirements.txt
+python3 -m pip install --user -r ${DIR}/requirements.txt

 # Optional, but recommended additional simulation tools:
 if [[ $INSTALL_SIM == "--sim-tools" ]]; then
@@ -6,7 +6,7 @@ empy>=3.3
 jinja2>=2.8
 matplotlib>=3.0.*
 numpy>=1.13
-nunavut
+nunavut>=1.1.0
 packaging
 pandas>=0.21
 pkgconfig
@@ -15,7 +15,7 @@ pygments
 wheel>=0.31.1
 pymavlink
 pyros-genmsg
-pyserial>=3.0
+pyserial
 pyulog>=0.5.0
 pyyaml
 requests
@@ -115,18 +115,32 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo "Installing NuttX dependencies"

 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		autoconf \
 		automake \
+		binutils-dev \
 		bison \
-		bzip2 \
-		file \
+		build-essential \
 		flex \
+		g++-multilib \
+		gcc-multilib \
 		gdb-multiarch \
+		genromfs \
+		gettext \
 		gperf \
-		libncurses-dev \
+		kconfig-frontends \
+		libelf-dev \
+		libexpat-dev \
+		libgmp-dev \
+		libisl-dev \
+		libmpc-dev \
+		libmpfr-dev \
+		libncurses5-dev \
+		libncursesw5-dev \
 		libtool \
 		pkg-config \
 		screen \
+		texinfo \
+		u-boot-tools \
+		util-linux \
 		vim-common \
 		;

@@ -94,6 +94,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -117,7 +118,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -0,0 +1,13 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-gps
+	LABEL canbootloader
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	DRIVERS
+		bootloaders
+)
@@ -0,0 +1,38 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-gps
+	LABEL debug
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	DRIVERS
+		barometer/bmp388
+		bootloaders
+		gps
+		imu/invensense/icm42688p
+		magnetometer/bosch/bmm150
+		safety_button
+		tone_alarm
+		uavcannode
+	MODULES
+		#ekf2
+		#load_mon
+		#sensors
+	SYSTEMCMDS
+		i2cdetect
+		led_control
+		param
+		perf
+		reboot
+		top
+		topic_listener
+		tune_control
+		uorb
+		ver
+		work_queue
+)
@@ -0,0 +1,38 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-gps
+	LABEL default
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	#CONSTRAINED_FLASH
+	CONSTRAINED_MEMORY
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	DRIVERS
+		barometer/bmp388
+		bootloaders
+		gps
+		imu/invensense/icm42688p
+		magnetometer/bosch/bmm150
+		safety_button
+		tone_alarm
+		uavcannode
+	MODULES
+		#ekf2
+		#load_mon
+		#sensors
+	SYSTEMCMDS
+		#mft
+		#mtd
+		param
+		#perf
+		#reboot
+		#system_time
+		#top
+		#topic_listener
+		#ver
+		#work_queue
+)
@@ -0,0 +1,13 @@
+{
+    "board_id": 81,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ARK gps board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKGPS",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default CBRK_IO_SAFETY 0
+
+safety_button start
+tone_alarm start
@@ -0,0 +1,11 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+gps start -d /dev/ttyS0 -p ubx
+
+icm42688p -R 0 -s start
+
+bmp388 -I -b 2 start
+
+bmm150 -I -b 1 start
@@ -0,0 +1,68 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_PTHREAD=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
+CONFIG_MAX_TASKS=0
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_NXFONTS_DISABLE_16BPP=y
+CONFIG_NXFONTS_DISABLE_1BPP=y
+CONFIG_NXFONTS_DISABLE_24BPP=y
+CONFIG_NXFONTS_DISABLE_2BPP=y
+CONFIG_NXFONTS_DISABLE_32BPP=y
+CONFIG_NXFONTS_DISABLE_4BPP=y
+CONFIG_NXFONTS_DISABLE_8BPP=y
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_NOEXT_VECTORS=y
+CONFIG_STM32_TIM8=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=4096
@@ -0,0 +1,152 @@
+/************************************************************************************
+ * configs/px4fmu/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/* HSI - 8 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - 8  MHz Crystal
+ * LSE - not installed
+ */
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+
+/* Main PLL Configuration */
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
+
+#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
+
+#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
+#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
+
+#define STM32_SYSCLK_FREQUENCY  96000000ul
+
+/* AHB clock (HCLK) is SYSCLK (96MHz) */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK (96MHz) */
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* Timers driven from APB2 will be PCLK2 since no prescale division */
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
+
+/* Alternate function pin selections ************************************************/
+
+/* UARTs */
+#define GPIO_USART1_RX	GPIO_USART1_RX_2
+#define GPIO_USART1_TX	GPIO_USART1_TX_3
+
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
+
+/* CAN */
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
+
+/* I2C */
+
+#define GPIO_MCU_I2C1_SCL
+#define GPIO_MCU_I2C1_SDA
+
+#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
+#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_1
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+
+#define GPIO_I2C2_SCL	GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA	GPIO_I2C2_SDA_4
+
+#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
+#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
+
+/* SPI */
+#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
+
+#endif /* __ARCH_BOARD_BOARD_H */
@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3
@@ -0,0 +1,164 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_OS_API is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_STM32_DMACAPABLE is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=2
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_MB=y
+CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C2=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_RTC=y
+CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32_RTC_MAGIC=0xfacefeee
+CONFIG_STM32_RTC_MAGIC_REG=1
+CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
+CONFIG_STM32_SPI_DMA=y
+CONFIG_STM32_TIM8=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1100
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -0,0 +1,134 @@
+/****************************************************************************
+ * nuttx-config/scripts/canbootloader_script.ld
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,146 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 448K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(8);
+		/*
+		* This section positions the app_descriptor_t used
+		* by the make_can_boot_descriptor.py tool to set
+		* the application image's descriptor so that the
+		* uavcan bootloader has the ability to validate the
+		* image crc, size etc
+		*/
+		KEEP(*(.app_descriptor))
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,68 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		boot_config.h
+		boot.c
+		led.c
+		led.h
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		spi.cpp
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_spi
+			drivers__led # drv_led_start
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+			arch_io_pins
+	)
+endif()
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * board internal definitions
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* BUTTON */
+#define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)
+
+/* Safety LED */
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
+
+/* Tone alarm output. */
+#define TONE_ALARM_TIMER             2    /* timer 2 */
+#define TONE_ALARM_CHANNEL           1    /* channel 1 */
+#define GPIO_TONE_ALARM_IDLE  /* PA0  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TONE_ALARM       /* PA0  */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0)
+
+/* CAN  Silent mode control */
+#define GPIO_CAN1_SILENT_S0   /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
+
+/* CAN termination software control */
+#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
+
+/* ICM42688p FSYNC */
+#define GPIO_42688P_FSYNC     /* PB8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
+
+/* Boot config */
+#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
+
+/* LEDs are driven with open drain to support Anode to 5V or 3.3V */
+#define GPIO_TIM1_CH1         /* PA8  */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH2         /* PA9  */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH3         /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+
+#define GPIO_I2C1_SCL_RESET   /* PB6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
+#define GPIO_I2C1_SDA_RESET   /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
+
+#define GPIO_I2C2_SCL_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+
+#define FLASH_BASED_PARAMS
+
+/* High-resolution timer */
+#define HRT_TIMER                    3  /* use timer 3 for the HRT */
+#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_BTN_SAFETY,                  \
+		GPIO_LED_SAFETY,                  \
+		GPIO_I2C1_SCL_RESET,              \
+		GPIO_I2C1_SDA_RESET,              \
+		GPIO_I2C2_SCL_RESET,              \
+		GPIO_I2C2_SDA_RESET,              \
+		GPIO_42688P_FSYNC,                \
+		GPIO_BOOT_CONFIG,                 \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_CAN1_TERMINATION,            \
+	}
+
+__BEGIN_DECLS
+
+#define BOARD_HAS_N_S_RGB_LED       1
+#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
+
+#ifndef __ASSEMBLY__
+
+extern void stm32_spiinitialize(void);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <stdint.h>
+#include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
+#include "led.h"
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+	stm32_configgpio(GPIO_CAN1_SILENT_S0);
+	stm32_configgpio(GPIO_CAN1_TERMINATION);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+
+#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
+	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
+#endif
+
+}
+
+/************************************************************************************
+ * Name: board_deinitialize
+ *
+ * Description:
+ *   This function is called by the bootloader code prior to booting
+ *   the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
+
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ *   Called to retrieve the product name. The returned value is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
+ *
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The maximum number of charter that can be written
+ *
+ * Returned Value:
+ *   The length of characters written to the buffer.
+ *
+ ****************************************************************************/
+
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
+	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
+}
+
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ *   Called to retrieve the hardware version information. The function
+ *   will first initialize the the callers struct to all zeros.
+ *
+ * Input Parameters:
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ *   Length of the unique_id
+ *
+ ****************************************************************************/
+
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
+	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
+
+	hw_version->major = HW_VERSION_MAJOR;
+	hw_version->minor = HW_VERSION_MINOR;
+
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
+}
+
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
+ *
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
+
+typedef begin_packed_struct struct led_t {
+	uint8_t red;
+	uint8_t green;
+	uint8_t blue;
+	uint8_t hz;
+} end_packed_struct led_t;
+
+static const  led_t i2l[] = {
+
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),
+
+};
+
+void board_indicate(uiindication_t indication)
+{
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
+		i2l[indication].hz);
+}
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file boot_config.h
+ *
+ * bootloader definitions that configures the behavior and options
+ * of the Boot loader
+ * This file is relies on the parent folder's boot_config.h file and defines
+ * different usages of the hardware for bootloading
+ */
+
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+/* Bring in the board_config.h definitions
+ * todo:make this be pulled in from a targed's build
+ * files in nuttx*/
+
+#include "board_config.h"
+#include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
+
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    5000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
+
+/*
+ *  This Option set is set to 1 ensure a provider of firmware has an
+ *  opportunity update the node's firmware.
+ *  This Option is the default policy and can be overridden by
+ *  a jumper
+ *  When this Policy is set, the node will ignore tboot and
+ *  wait indefinitely for a GetNodeInfo request before booting.
+ *
+ *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
+ *  the polarity of the jumper to be True Active
+ *
+ *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
+ *                                                 Jumper
+ *   yes           1                       0         x
+ *   yes           1                       1       Active
+ *   no            1                       1       Not Active
+ *   no            0                       0         X
+ *   yes           0                       1       Active
+ *   no            0                       1       Not Active
+ *
+ */
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
+
+#define OPT_ENABLE_WD           1
+
+#define OPT_RESTART_TIMEOUT_MS          20000
+
+/* Reserved for the Booloader */
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
+
+/* Reserved for the application out of the total
+ * system flash minus the BOOTLOADER_SIZE_IN_K
+ */
+#define OPT_APPLICATION_RESERVER_IN_K    0
+
+#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
+
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
+
+#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
+
+/* If this board uses big flash that have large sectors */
+
+#define OPT_USE_YIELD
+
+/* Bootloader Option*****************************************************************
+ *
+ */
+#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_arch.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+	initI2CBusInternal(2),
+};
@@ -0,0 +1,144 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * board specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/board.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	// Configure SPI all interfaces GPIO & enable power.
+	stm32_spiinitialize();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{2, 16 * 1024, 0x08008000},
+		{3, 16 * 1024, 0x0800C000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		return -ENODEV;
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	return OK;
+}
@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#include "led.h"
+
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_REG(o)      (TMR_BASE+(o))
+
+void rgb_led(int r, int g, int b, int freqs)
+{
+
+	long fosc = TMR_FREQUENCY;
+	long prescale = 2048;
+	long p1s = fosc / prescale;
+	long p0p5s  = p1s / 2;
+	uint16_t val;
+	static bool once = 0;
+
+	if (!once) {
+		once = 1;
+
+		/* Enabel Clock to Block */
+		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
+
+		/* Reload */
+
+		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
+		val |= ATIM_EGR_UG;
+		putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
+
+		/* Set Prescaler STM32_TIM_SETCLOCK */
+
+		putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
+
+		/* Enable STM32_TIM_SETMODE*/
+
+		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
+			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
+
+
+		stm32_configgpio(GPIO_TIM1_CH1);
+		stm32_configgpio(GPIO_TIM1_CH2);
+		stm32_configgpio(GPIO_TIM1_CH3);
+
+		/* master output enable = on */
+		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
+	}
+
+	long p  = freqs == 0 ? p1s : p1s / freqs;
+	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
+
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+
+	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
+	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
+	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
+
+	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+	if (freqs == 0) {
+		val &= ~ATIM_CR1_CEN;
+
+	} else {
+		val |= ATIM_CR1_CEN;
+	}
+
+	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+}
@@ -0,0 +1,37 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+__BEGIN_DECLS
+void rgb_led(int r, int g, int b, int freqs);
+__END_DECLS
@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortB, GPIO::Pin0}, SPI::DRDY{GPIO::PortB, GPIO::Pin1}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,17 @@
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 0)
+set(uavcanblid_hw_version_minor 81)
+set(uavcanblid_name "\"org.ark.can-gps\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
@@ -96,6 +96,7 @@ px4_add_board(
 		esc_calib
 		#hardfault_log
 		led_control
+		manual_control
 		mixer
 		motor_ramp
 		motor_test
@@ -49,7 +49,7 @@ px4_add_board(
 		imu/invensense/mpu9250
 		#magnetometer/hmc5883
 		qshell/qurt
-		spektrum_rc
+		snapdragon_spektrum_rc
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
@@ -76,6 +76,7 @@ px4_add_board(
 		vtol_att_control
 	SYSTEMCMDS
 		led_control
+		manual_control
 		mixer
 		#motor_ramp
 		motor_test
@@ -94,6 +94,7 @@ px4_add_board(
 		esc_calib
 		#hardfault_log
 		led_control
+		manual_control
 		mixer
 		motor_ramp
 		motor_test
@@ -49,7 +49,7 @@ px4_add_board(
 		imu/invensense/mpu9250
 		magnetometer/hmc5883
 		qshell/qurt
-		spektrum_rc
+		snapdragon_spektrum_rc
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
@@ -76,6 +76,7 @@ px4_add_board(
 		vtol_att_control
 	SYSTEMCMDS
 		led_control
+		manual_control
 		mixer
 		#motor_ramp
 		motor_test
@@ -93,6 +93,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mixer
 		motor_ramp
 		motor_test
@@ -114,7 +115,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -143,6 +143,7 @@ CONFIG_NSH_STRERROR=y
 CONFIG_NSH_TELNET=y
 CONFIG_NSH_TELNET_LOGIN=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -75,6 +75,7 @@ px4_add_board(
 		dyn
 		esc_calib
 		led_control
+		manual_control
 		mixer
 		motor_ramp
 		motor_test
@@ -95,7 +96,7 @@ px4_add_board(
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
 		fake_gps
-		fake_gyro
+		fake_imu
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
@@ -49,6 +49,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -48,6 +48,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mixer
 		motor_ramp
 		motor_test
@@ -35,6 +35,7 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		imu/invensense/icm20948 # required for ak09916 mag
+		imu/invensense/icm42688p
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
@@ -99,6 +100,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -122,7 +124,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -12,11 +12,17 @@ rm3100 -s -b 2 start

 # SPI4
 bmi088 -s -b 4 -A -R 2 start
-bmi088 -s -b 4 -G -R 2 start
+if !bmi088 -s -b 4 -G -R 2 start
+then
+	icm42688p -R 2 -s start
+fi
 ms5611 -s -b 4 start

 # SPI6
-icm20649 -s -b 6 -R 2 start
+if ! icm20649 -s -b 6 -R 2 start
+then
+	icm20689 -s -b 6 -R 2 start
+fi
 ms5611 -s -b 6 start

 # External compass on GPS1/I2C1: standard CUAV GPS/compass puck (with lights, safety button, and buzzer)
@@ -116,6 +116,7 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -41,7 +41,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
 			nuttx_drivers
 			bootloader
 	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)

 else()
 	add_library(drivers_board
@@ -46,6 +46,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI4, {
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortG, GPIO::Pin10}),
 	}),
 	initSPIBusExternal(SPI::Bus::SPI5, {
@@ -55,6 +56,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}),
 	initSPIBus(SPI::Bus::SPI6, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortI, GPIO::Pin8}),
 	}),
 };
@@ -101,6 +101,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -125,7 +126,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -36,6 +36,7 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		imu/invensense/icm20948 # required for ak09916 mag
+		imu/invensense/icm42688p
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
@@ -100,6 +101,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -123,7 +125,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -15,11 +15,17 @@ rm3100 -s -b 2 start

 # SPI4
 bmi088 -s -b 4 -A -R 2 start
-bmi088 -s -b 4 -G -R 2 start
+if !bmi088 -s -b 4 -G -R 2 start
+then
+	icm42688p -R 2 -s start
+fi
 ms5611 -s -b 4 start

 # SPI6
-icm20649 -s -b 6 -R 2 start
+if ! icm20649 -s -b 6 -R 2 start
+then
+	icm20689 -s -b 6 -R 2 start
+fi
 ms5611 -s -b 6 start

 # External compass on GPS1/I2C1: standard CUAV GPS/compass puck (with lights, safety button, and buzzer)
@@ -116,6 +116,7 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -41,7 +41,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
 			nuttx_drivers
 			bootloader
 	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)

 else()
 	add_library(drivers_board
@@ -47,6 +47,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI4, {
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortG, GPIO::Pin10}),
 	}),
 	initSPIBusExternal(SPI::Bus::SPI5, {
@@ -56,6 +57,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}),
 	initSPIBus(SPI::Bus::SPI6, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortI, GPIO::Pin8}),
 	}),
 };
@@ -59,7 +59,7 @@ px4_add_board(
 		uavcan
 	MODULES
 		airspeed_selector
-		attitude_estimator_q
+		#attitude_estimator_q
 		battery_status
 		camera_feedback
 		commander
@@ -75,7 +75,7 @@ px4_add_board(
 		land_detector
 		landing_target_estimator
 		load_mon
-		local_position_estimator
+		#local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -102,6 +102,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -126,7 +127,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -97,6 +97,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -120,7 +121,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -117,6 +117,7 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -116,6 +116,7 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -41,7 +41,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
 			nuttx_drivers
 			bootloader
 	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)

 else()
 	add_library(drivers_board
@@ -98,6 +98,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -122,7 +123,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -95,6 +95,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -118,7 +119,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -117,6 +117,7 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -116,6 +116,7 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -96,6 +96,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -120,7 +121,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
+		#fake_imu
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -75,6 +75,7 @@ px4_add_board(
 		dyn
 		esc_calib
 		led_control
+		manual_control
 		mixer
 		motor_ramp
 		motor_test
@@ -95,7 +96,7 @@ px4_add_board(
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
 		fake_gps
-		fake_gyro
+		fake_imu
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
@@ -0,0 +1,14 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR freefly
+	MODEL can-rtk-gps
+	LABEL canbootloader
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	CONSTRAINED_MEMORY
+	DRIVERS
+		bootloaders
+		lights/rgbled_ncp5623c
+)
@@ -0,0 +1,38 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR freefly
+	MODEL can-rtk-gps
+	LABEL default
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	#CONSTRAINED_FLASH
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	DRIVERS
+		barometer/bmp388
+		bootloaders
+		gps
+		lights/rgbled_ncp5623c
+		magnetometer/isentek/ist8310
+		imu/st/lsm9ds1
+		uavcannode
+	MODULES
+		#ekf2
+		load_mon
+		sensors
+	SYSTEMCMDS
+		led_control
+		manual_control
+		mft
+		mtd
+		param
+		perf
+		reboot
+		system_time
+		top
+#		topic_listener
+		ver
+		work_queue
+)
@@ -0,0 +1,13 @@
+{
+    "board_id": 85,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the FreeFly RTK GPS",
+    "image": "",
+    "build_time": 0,
+    "summary": "FFRTK",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}
--- a/Show More
+++ b/Show More