WIP: mRO CANnode m10025

2026-06-10 01:30:05 +08:00 · 2021-04-11 12:49:13 -04:00
150 changed files with 3211 additions and 3544 deletions
@@ -45,16 +45,23 @@ pipeline {
                     "cuav_can-gps-v1_canbootloader",
                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
+                     "cuav_nora_test",
                     "cuav_x7pro_default",
+                     "cuav_x7pro_test",
+                     "cubepilot_cubeorange_console",
                     "cubepilot_cubeorange_default",
+                     "cubepilot_cubeyellow_console",
                     "cubepilot_cubeyellow_default",
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
+                     "holybro_durandal-v1_test",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
+                     "mro_cannode_canbootloader",
+                     "mro_cannode_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
@@ -76,6 +83,7 @@ pipeline {
                     "px4_fmu-v2_fixedwing",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
+                     "px4_fmu-v2_test",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_cannode",
                     "px4_fmu-v4_default",
@@ -94,6 +102,7 @@ pipeline {
                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6u_default",
+                     "px4_fmu-v6u_test",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
                     "spracing_h7extreme_default",
@@ -7,9 +7,9 @@ pipeline {

      parallel {

-        stage("cubepilot_cubeorange_test") {
+        stage("cubepilot_cubeorange_console") {
          stages {
-            stage("build cubepilot_cubeorange_test") {
+            stage("build cubepilot_cubeorange_console") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -22,10 +22,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make cubepilot_cubeorange_test'
+                sh 'make cubepilot_cubeorange_console'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_console'
              }
              post {
                always {
@@ -42,9 +42,9 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'cubepilot_cubeorange_test'
+                    unstash 'cubepilot_cubeorange_console'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -160,9 +160,61 @@ pipeline {
          }
        }

-        stage("px4_fmu-v3_test") {
+        // stage("px4_fmu-v2_test") {
+        //   stages {
+        //     stage("build px4_fmu-v2_test") {
+        //       agent {
+        //         docker {
+        //           image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+        //         }
+        //       }
+        //       steps {
+        //         sh 'export'
+        //         sh 'make distclean'
+        //         sh 'ccache -s'
+        //         sh 'git fetch --tags'
+        //         sh 'make px4_fmu-v2_test'
+        //         sh 'make sizes'
+        //         sh 'ccache -s'
+        //         stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
+        //       }
+        //       post {
+        //         always {
+        //             sh 'make distclean'
+        //         }
+        //       }
+        //     } // stage build
+        //     stage("test") {
+        //       agent {
+        //         label 'px4_fmu-v2'
+        //       }
+        //       stages {
+        //         stage("flash") {
+        //           steps {
+        //             sh 'export'
+        //             sh 'find /dev/serial'
+        //             unstash 'px4_fmu-v2_test'
+        //             // flash board and watch bootup
+        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+        //           }
+        //         }
+        //         stage("reset") {
+        //           steps {
+        //             cleanupFTDI();
+        //           }
+        //         }
+        //       }
+        //       options {
+        //         timeout(time: 90, unit: 'MINUTES')
+        //       }
+        //     }
+        //   }
+        // }
+
+        stage("px4_fmu-v3_default") {
          stages {
-            stage("build px4_fmu-v3_test") {
+            stage("build px4_fmu-v3_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -175,10 +227,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v3_test'
+                sh 'make px4_fmu-v3_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_default'
              }
              post {
                always {
@@ -195,9 +247,9 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v3_test'
+                    unstash 'px4_fmu-v3_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -236,9 +288,9 @@ pipeline {
          }
        }

-        stage("px4_fmu-v4_test") {
+        stage("px4_fmu-v4_default") {
          stages {
-            stage("build px4_fmu-v4_test") {
+            stage("build px4_fmu-v4_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -251,10 +303,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v4_test'
+                sh 'make px4_fmu-v4_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_default'
              }
              post {
                always {
@@ -271,9 +323,9 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4_test'
+                    unstash 'px4_fmu-v4_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -312,9 +364,9 @@ pipeline {
          }
        }

-        stage("px4_fmu-v4pro_test") {
+        stage("px4_fmu-v4pro_default") {
          stages {
-            stage("build px4_fmu-v4pro_test") {
+            stage("build px4_fmu-v4pro_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -327,10 +379,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v4pro_test'
+                sh 'make px4_fmu-v4pro_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_default'
              }
              post {
                always {
@@ -347,9 +399,9 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v4pro_test'
+                    unstash 'px4_fmu-v4pro_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -388,9 +440,9 @@ pipeline {
          }
        }

-        stage("px4_fmu-v5_test") {
+        stage("px4_fmu-v5_default") {
          stages {
-            stage("build px4_fmu-v5_test") {
+            stage("build px4_fmu-v5_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -403,10 +455,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make px4_fmu-v5_test'
+                sh 'make px4_fmu-v5_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_default'
              }
              post {
                always {
@@ -423,9 +475,9 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v5_test'
+                    unstash 'px4_fmu-v5_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -700,9 +752,9 @@ pipeline {
          }
        }

-        stage("modalai_fc-v1_test") {
+        stage("modalai_fc-v1_default") {
          stages {
-            stage("build modalai_fc-v1_test") {
+            stage("build modalai_fc-v1_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -715,10 +767,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make modalai_fc-v1_test'
+                sh 'make modalai_fc-v1_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_default'
              }
              post {
                always {
@@ -735,9 +787,9 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'modalai_fc-v1_test'
+                    unstash 'modalai_fc-v1_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -853,9 +905,9 @@ pipeline {
          }
        }

-        stage("nxp_fmuk66-v3_test") {
+        stage("nxp_fmuk66-v3_default") {
          stages {
-            stage("build nxp_fmuk66-v3_test") {
+            stage("build nxp_fmuk66-v3_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -868,10 +920,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make nxp_fmuk66-v3_test'
+                sh 'make nxp_fmuk66-v3_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_default'
              }
              post {
                always {
@@ -888,9 +940,9 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'nxp_fmuk66-v3_test'
+                    unstash 'nxp_fmuk66-v3_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -26,20 +26,25 @@ jobs:
          cuav_can-gps-v1_debug,
          cuav_can-gps-v1_default,
          cuav_nora_default,
+          cuav_nora_test,
          cuav_x7pro_default,
+          cuav_x7pro_test,
+          cubepilot_cubeorange_console,
          cubepilot_cubeorange_default,
-          cubepilot_cubeorange_test,
+          cubepilot_cubeyellow_console,
          cubepilot_cubeyellow_default,
-          cubepilot_cubeyellow_test,
          cubepilot_io-v2_default,
          holybro_can-gps-v1_canbootloader,
          holybro_can-gps-v1_debug,
          holybro_can-gps-v1_default,
          holybro_durandal-v1_default,
+          holybro_durandal-v1_test,
          holybro_kakutef7_default,
          holybro_pix32v5_default,
          modalai_fc-v1_default,
          modalai_fc-v1_rtps,
+          mro_cannode_canbootloader,
+          mro_cannode_default,
          mro_ctrl-zero-f7-oem_default,
          mro_ctrl-zero-f7_default,
          mro_ctrl-zero-h7-oem_default,
@@ -61,6 +66,7 @@ jobs:
          px4_fmu-v2_fixedwing,
          px4_fmu-v2_multicopter,
          px4_fmu-v2_rover,
+          px4_fmu-v2_test,
          px4_fmu-v3_default,
          px4_fmu-v4_cannode,
          px4_fmu-v4_default,
@@ -79,6 +85,7 @@ jobs:
          px4_fmu-v5x_base_phy_DP83848C,
          px4_fmu-v5x_default,
          px4_fmu-v6u_default,
+          px4_fmu-v6u_test,
          px4_fmu-v6x_default,
          px4_io-v2_default,
          spracing_h7extreme_default,
@@ -59,7 +59,7 @@
 	url = https://github.com/UAVCAN/public_regulated_data_types.git
 [submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
 	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types.git
+	url = https://github.com/UAVCAN/public_regulated_data_types
 [submodule "src/drivers/uavcannode_gps_demo/libcanard"]
 	path = src/drivers/uavcannode_gps_demo/libcanard
-	url = https://github.com/UAVCAN/libcanard.git
+	url = https://github.com/UAVCAN/libcanard
@@ -96,11 +96,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_x7pro_default
-    cubepilot_cubeorange_test:
+    cubepilot_cubeorange_console:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
      settings:
-        CONFIG: cubepilot_orange_test
+        CONFIG: cubepilot_orange_console
    emlid_navio2_default:
      short: emlid_navio2
      buildType: MinSizeRel
@@ -126,6 +126,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: modalai_fc-v1_default
+    mro_cannode_default:
+      short: mro_cannode_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_cannode_default
    mro_ctrl-zero-f7_default:
      short: mro_ctrl-zero-f7
      buildType: MinSizeRel
@@ -111,6 +111,5 @@ set MAV_TYPE 22
 set MIXER babyshark
 set MIXER_AUX pass

-# Mark outputs for the alternate rate
-# or D-Shot
 set PWM_OUT 5678
+set PWM_AUX_OUT 1234
@@ -144,11 +144,6 @@ then
 		set OUTPUT_DEV /dev/uavcan/esc
 	fi

-	if [ $OUTPUT_MODE = vesc ]
-	then
-		set OUTPUT_DEV /dev/vesc
-	fi
-
 	if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
 	then
 		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
@@ -282,11 +282,6 @@ else
 		fi
 	fi

-	if param greater -s VESC_PORT 0
-	then
-		set OUTPUT_MODE vesc
-	fi
-
 	#
 	# Check if PX4IO present and update firmware if needed.
 	# Assumption IOFW set to firmware file and IO_PRESENT = no
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -47,6 +48,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -108,6 +110,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -117,15 +120,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -39,6 +39,7 @@ px4_add_board(
 	VENDOR atlflight
 	MODEL eagle
 	LABEL default
+	#TESTING
 	TOOLCHAIN arm-linux-gnueabihf
 	ROMFSROOT px4fmu_common
 	DRIVERS
@@ -107,6 +108,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		system_time
+		#tests # tests and test runner
 		#top
 		topic_listener
 		tune_control
@@ -39,6 +39,7 @@ px4_add_board(
 	VENDOR atlflight
 	MODEL excelsior
 	LABEL default
+	#TESTING
 	TOOLCHAIN arm-oemllib32-linux-gnueabi
 	DRIVERS
 		#barometer # all available barometer drivers
@@ -105,6 +106,7 @@ px4_add_board(
 		sd_bench
 		shutdown
 		system_time
+		#tests # tests and test runner
 		#top
 		topic_listener
 		tune_control
@@ -7,6 +7,7 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 2
 	ETHERNET
 	SERIAL_PORTS
@@ -46,6 +47,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
+		test_ppm
 		#tone_alarm
 		uavcan
 	MODULES
@@ -106,6 +108,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -114,15 +117,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -113,6 +113,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -114,6 +114,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -3,7 +3,7 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR cubepilot
 	MODEL cubeorange
-	LABEL test
+	LABEL console
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
@@ -9,6 +9,7 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
 	IO cubepilot_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -50,6 +51,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
+		#test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -111,6 +113,7 @@ px4_add_board(
 		sd_bench
 		#serial_test
 		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -3,7 +3,7 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR cubepilot
 	MODEL cubeyellow
-	LABEL test
+	LABEL console
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO cubepilot_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -48,6 +49,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
+		#test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -109,6 +111,7 @@ px4_add_board(
 		sd_bench
 		#serial_test
 		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -109,6 +109,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -6,7 +6,6 @@ px4_add_board(
 	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
-	EXTERNAL_METADATA
 	ROMFSROOT px4fmu_common
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0 # UART1
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
@@ -52,6 +53,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -113,6 +115,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -122,15 +125,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -1,139 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR holybro
-	MODEL pix32v5
-	LABEL test
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	IO px4_io-v2_default
-	TESTING
-	UAVCAN_INTERFACES 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL3:/dev/ttyS4
-		TEL4:/dev/ttyS3
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		#heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/bosch/bmi055
-		imu/invensense/icm20602
-		imu/invensense/icm20689
-		imu/invensense/icm20948 # required for ak09916 mag
-		irlock
-		lights # all available light drivers
-		lights/rgbled_pwm
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		px4io
-		rc_input
-		roboclaw
-		rpm
-		safety_button
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		serial_test
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		fake_gyro
-		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
-		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
-	)
@@ -7,6 +7,7 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0 # UART1  / J10
@@ -46,6 +47,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		#tone_alarm
 		uavcan
 	MODULES
@@ -106,6 +108,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -115,15 +118,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -18,10 +18,88 @@
 # Common settings across Flight Core configurations
 #

+# Disable safety switch by default (pull high to 3.3V to enable)
+#  V106 - J13 pin 5
+#  V110 - J1011 pin 5
+param set-default CBRK_IO_SAFETY 22027
+
+#
+# Stand Alone configuration
+#
+if ver hwtypecmp V106
+then
+	echo "Configuring Flight Core - V106"
+
+	#
+	# In Flight Core, J1 can be setup to be used as a serial port for TELEM2
+	# and connected to VOXL via cables.  We'll configure this out of the box.
+	# The user can later change this if they want, as these are configurable
+	# and not necessarily required to be used with VOXL.
+	#
+	if [ $AUTOCNF = no ]
+	then
+		if param compare MAV_1_CONFIG 0
+		then
+			echo "V106 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
+			# TELEM2
+			param set-default MAV_1_CONFIG 102
+			# Onboard
+			param set-default MAV_1_MODE 2
+			# VIO data
+			param set-default SER_TEL2_BAUD 921600
+		fi
+	fi
+
+	# User is setting defaults, so let's do it!
+	if [ $AUTOCNF = yes ]
+	then
+		echo "V106 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
+		# TELEM2
+		param set-default MAV_1_CONFIG 102
+		# Onboard
+		param set-default MAV_1_MODE 2
+		# VIO data
+		param set-default SER_TEL2_BAUD 921600
+	fi
+fi
+
+#
+# VOXL-Flight configuration
+#
+if ver hwtypecmp V110
+then
+	echo "Configuring VOXL-Flight - V110"
+
+	#
+	# TELEM2 port is physically routed in the PCB, thus not configurable.
+	# The following will detect a fresh install, or if the user has changed the setting and
+	# revert to the VOXL-Flight defaults.  This does allow the user to change the mode and
+	# baud rates and mode if they choose to do so, although VOXL is expecting what is set below
+	#
+	if [ $AUTOCNF = no ]
+	then
+		if ! param compare MAV_1_CONFIG 102
+		then
+			echo "V110 - Default configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
+			# TELEM2
+			param set-default MAV_1_CONFIG 102
+			# Onboard
+			param set-default MAV_1_MODE 2
+			param set-default SER_TEL2_BAUD 921600
+		fi
+	fi
+
+	# User is setting defaults, so let's do it!
+	if [ $AUTOCNF = yes ]
+	then
+		echo "V110 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
+		# TELEM2
+		param set-default MAV_1_CONFIG 102
+		# Onboard
+		param set-default MAV_1_MODE 2
+		param set-default SER_TEL2_BAUD 921600
+	fi
+fi

-# TELEM2
-param set-default MAV_1_CONFIG 102
-param set-default MAV_1_MODE 2
-param set-default SER_TEL2_BAUD 921600

 safety_button start
@@ -7,6 +7,7 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0 # UART1  / J10
@@ -46,6 +47,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		#tone_alarm
 		uavcan
 	MODULES
@@ -106,6 +108,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -115,15 +118,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -1,132 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR modalai
-	MODEL fc-v1
-	LABEL test
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	TESTING
-	UAVCAN_INTERFACES 1
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0 # UART1  / J10
-		TEL1:/dev/ttyS6 # UART7  / J5
-		TEL2:/dev/ttyS4 # UART5  / J1
-		TEL3:/dev/ttyS1 # USART2 / J4
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		imu/bosch/bmi088
-		imu/invensense/icm20602
-		imu/invensense/icm20948 # required for ak09916 mag
-		imu/invensense/icm42688p
-		irlock
-		lights # all available light drivers
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		power_monitor/ina226
-		power_monitor/voxlpm
-		#protocol_splitter
-		#pwm_input
-		pwm_out_sim
-		pwm_out
-		rc_input
-		roboclaw
-		rpm
-		safety_button
-		telemetry # all available telemetry drivers
-		test_ppm
-		#tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		serial_test
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		fake_gyro
-		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
-		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
-	)
@@ -0,0 +1,13 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-flow
+	LABEL canbootloader
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	DRIVERS
+		bootloaders
+)
@@ -0,0 +1,25 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR mro
+	MODEL cannode
+	LABEL default
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_FLASH
+	CONSTRAINED_MEMORY
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	UAVCAN_TIMER_OVERRIDE 3
+	DRIVERS
+		barometer/dps310
+		bootloaders
+		#gps
+		lights/rgbled_ncp5623c
+		magnetometer/rm3100
+		uavcannode
+	MODULES
+	SYSTEMCMDS
+		param
+)
@@ -0,0 +1,13 @@
+{
+    "board_id": 1004,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the mRO CANnode board",
+    "image": "",
+    "build_time": 0,
+    "summary": "mROCANNode",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+if [ $AUTOCNF = yes ]
+then
+
+fi
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+
+rm3100 -s start
+
+dps310 -I start
@@ -0,0 +1,61 @@
+#
+# 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_STM32F303CC=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_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 +1,144 @@
+/************************************************************************************
+ * 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.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/* Clocking *****************************************************************/
+
+/* HSI - Internal 8 MHz RC Oscillator
+ * LSI - 32 KHz RC
+ * HSE - 8 MHz from MCO output of ST-LINK
+ * LSE - 32.768 kHz
+ */
+
+#define STM32_BOARD_XTAL        8000000ul        /* X1 on board */
+
+#define STM32_HSEBYP_ENABLE
+#define STM32_HSI_FREQUENCY     8000000ul
+#define STM32_LSI_FREQUENCY     40000            /* Between 30kHz and 60kHz */
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     0
+
+/* PLL source is HSE/1, PLL multipler is 9: PLL frequency is 8MHz (XTAL) x 9 = 72MHz */
+#define STM32_CFGR_PLLSRC       RCC_CFGR_PLLSRC
+#define STM32_CFGR_PLLXTPRE     0
+#define STM32_CFGR_PLLMUL       RCC_CFGR_PLLMUL_CLKx9
+#define STM32_PLL_FREQUENCY     (9*STM32_BOARD_XTAL)
+
+/* Use the PLL and set the SYSCLK source to be the PLL */
+#define STM32_SYSCLK_SW         RCC_CFGR_SW_PLL
+#define STM32_SYSCLK_SWS        RCC_CFGR_SWS_PLL
+#define STM32_SYSCLK_FREQUENCY  STM32_PLL_FREQUENCY
+
+/* AHB clock (HCLK) is SYSCLK (72MHz) */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* same as above, to satisfy compiler */
+
+/* APB2 clock (PCLK2) is HCLK (72MHz) */
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK
+#define STM32_PCLK2_FREQUENCY   STM32_HCLK_FREQUENCY
+#define STM32_APB2_CLKIN        (STM32_PCLK2_FREQUENCY)   /* Timers 1 and 8, 15-17 */
+
+/* APB2 timers 1 and 8, 15-17 will receive PCLK2. */
+
+/* Timers driven from APB2 will be PCLK2 */
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB1_TIM15_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB1_TIM16_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB1_TIM17_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* APB1 clock (PCLK1) is HCLK/2 (36MHz) */
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* APB1 timers 2-7 will be twice PCLK1 */
+#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_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+
+/* USB divider -- Divide PLL clock by 1.5 */
+#define STM32_CFGR_USBPRE       0
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1,8 are on APB2, others on APB1
+ */
+#define BOARD_TIM1_FREQUENCY   STM32_HCLK_FREQUENCY
+#define BOARD_TIM2_FREQUENCY   (STM32_HCLK_FREQUENCY / 2)
+#define BOARD_TIM3_FREQUENCY   (STM32_HCLK_FREQUENCY / 2)
+#define BOARD_TIM4_FREQUENCY   (STM32_HCLK_FREQUENCY / 2)
+#define BOARD_TIM5_FREQUENCY   (STM32_HCLK_FREQUENCY / 2)
+#define BOARD_TIM6_FREQUENCY   (STM32_HCLK_FREQUENCY / 2)
+#define BOARD_TIM7_FREQUENCY   (STM32_HCLK_FREQUENCY / 2)
+#define BOARD_TIM8_FREQUENCY   STM32_HCLK_FREQUENCY
+
+
+/* Alternate function pin selections ************************************************/
+
+/* UARTs */
+#define GPIO_USART1_TX	GPIO_USART1_TX_1 /* PA9  */
+#define GPIO_USART1_RX	GPIO_USART1_RX_1 /* PA10 */
+
+#define GPIO_USART2_TX	GPIO_USART2_TX_2 /* PA2  */
+#define GPIO_USART2_RX	GPIO_USART2_RX_2 /* PA3  */
+
+/* CAN */
+#define GPIO_CAN1_RX	GPIO_CAN_RX_2    /* PA11 */
+#define GPIO_CAN1_TX	GPIO_CAN_TX_2    /* PA12 */
+
+/* I2C */
+#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_2  /* PB6 */
+#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_2  /* PB7 */
+
+/* SPI */
+#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1  /* PA5 */
+#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1 /* PA6 */
+#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1 /* PA7 */
+
+
+#endif /* __ARCH_BOARD_BOARD_H */
@@ -0,0 +1,45 @@
+/****************************************************************************
+ *
+ *   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_SPI2_RX    DMAMAP_SPI2_RX     // DMA2, Stream 3, Channel 0
+#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX     // DMA2, Stream 4, Channel 0
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3
@@ -0,0 +1,148 @@
+#
+# 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_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_STM32F303CC=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=6522
+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_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_RAM_SIZE=65536
+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_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=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_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_USART2_BAUD=57600
+CONFIG_USART2_SERIAL_CONSOLE=y
+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 = 256K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 64K
+}
+
+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 +1,63 @@
+############################################################################
+#
+#   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
+	)
+	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
+		i2c.cpp
+		init.c
+		spi.cpp
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+			arch_spi
+	)
+endif()
@@ -30,49 +30,41 @@
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
-/**
- * @author Mengxiao Li <mengxiao@cuav.net>
- */

+/**
+ * @file board_config.h
+ *
+ * board internal definitions
+ */

 #pragma once

-#include "sensor_bridge.hpp"
-#include <uORB/topics/battery_status.h>
-#include <cuav/equipment/power/CBAT.hpp>
-#include <drivers/drv_hrt.h>
-#include <px4_platform_common/module_params.h>
-#include <mathlib/mathlib.h>
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>

-class UavcanCBATBridge : public UavcanSensorBridgeBase, public ModuleParams
-{
-public:
-	static const char *const NAME;
+/* Boot config */
+#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)

-	UavcanCBATBridge(uavcan::INode &node);
+/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
+#define GPIO_LED_BLUE         /* PA4  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)

-	const char *get_name() const override { return NAME; }
+#define GPIO_BTN_SAFETY              (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN13)

-	int init() override;
+//#define FLASH_BASED_PARAMS

-private:
+/* High-resolution timer */
+#define HRT_TIMER                    3  /* use timer 3 for the HRT */
+#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */

-	void battery_sub_cb(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &msg);
-	void determineWarning(float remaining);
+__BEGIN_DECLS

-	typedef uavcan::MethodBinder < UavcanCBATBridge *,
-		void (UavcanCBATBridge::*)
-		(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &) >
-		CBATCbBinder;
+#ifndef __ASSEMBLY__

-	uavcan::Subscriber<cuav::equipment::power::CBAT, CBATCbBinder> _sub_battery;
+extern void stm32_spiinitialize(void);

-	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
-		(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,
-		(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr
-	)
+#include <px4_platform_common/board_common.h>

-	uint8_t _warning;
-	float _max_cell_voltage_delta = 0.f;
-};
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,197 @@
+/****************************************************************************
+ *
+ *   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>
+
+/************************************************************************************
+ * 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);
+	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)
+{
+	// switch(indication) {
+	// 	case off:
+	// 		led_off(GPIO_nLED_RED);
+	// 		led_off(GPIO_nLED_BLUE);
+	// 		break;
+	// 	case reset:
+	// 		led_on(GPIO_nLED_RED);
+	// 		led_on(GPIO_nLED_BLUE);
+	// 		break;
+	// 	case jump_to_app:
+	// 		led_on(GPIO_nLED_RED);
+	// 		led_off(GPIO_nLED_BLUE);
+	// 		break;
+	// 	default:
+	// 		break;
+	// }
+}
@@ -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 +1,38 @@
+/****************************************************************************
+ *
+ *   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] = {
+	initI2CBusExternal(1),
+};
@@ -0,0 +1,141 @@
+/****************************************************************************
+ *
+ *   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>
+
+# 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 CAN interface
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+
+	// 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
+
+	//px4_platform_configure();
+
+	return OK;
+}
@@ -32,42 +32,71 @@
 ****************************************************************************/

 /**
- * @file VescSerialDevice.hpp
- * @brief PX4 serial motor output device using VescDriver for core protocol
- * @author Matthias Grob <maetugr@gmail.com>
+ * @file led.c
+ *
+ * board LED backend.
 */

-#include "VescDriver/VescDriver.hpp"
-#include <drivers/device/device.h>
-#include <drivers/drv_mixer.h>
-#include <lib/cdev/CDev.hpp>
-#include <lib/mixer_module/mixer_module.hpp>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_config.h>

-class VescDevice : public VescWritableInterface, public cdev::CDev, public OutputModuleInterface
-{
-public:
-	VescDevice(const char *port);
-	~VescDevice();
-	int init();
-	void printStatus();
-	int ioctl(device::file_t *filp, int cmd, unsigned long arg);
+#include <stdbool.h>

-private:
-	void Run();
-	size_t writeCallback(const uint8_t *buffer, const uint16_t length) override;
-	int setBaudrate(const unsigned baudrate);
-	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
-			   unsigned num_control_groups_updated) override;
+#include "stm32.h"
+#include "board_config.h"

-	static constexpr size_t READ_BUFFER_SIZE{256};
-	static constexpr int DISARM_VALUE = 0;
-	static constexpr int MIN_THROTTLE = 100;
-	static constexpr int MAX_THROTTLE = 1000;
+#include <arch/board/board.h>

-	char _port[20] {};
-	int _serial_fd{-1};
-	VescDriver _vesc_driver;
-	MixingOutput _mixing_output{4, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
-	perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+static uint32_t g_ledmap[] = {
+	//GPIO_LED_RED,
+	GPIO_LED_BLUE,
 };
+
+__EXPORT void led_init(void)
+{
+	/* Configure LED GPIOs for output */
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		stm32_configgpio(g_ledmap[l]);
+		stm32_gpiowrite(g_ledmap[l], true);
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Pull Down to switch on */
+	stm32_gpiowrite(g_ledmap[led], !state);
+}
+
+static bool phy_get_led(int led)
+{
+
+	return !stm32_gpioread(g_ledmap[led]);
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(led, true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(led, false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(led, !phy_get_led(led));
+}
@@ -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_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin0}),
+	}),
+};
+
+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 0x3)
+set(uavcanblid_hw_version_minor 0xEC)
+set(uavcanblid_name "\"org.ardupilot.mro_m10025\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
@@ -7,6 +7,7 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -49,6 +50,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -110,6 +112,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -119,15 +122,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -7,6 +7,7 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -49,6 +50,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -110,6 +112,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -119,15 +122,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -108,6 +108,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -108,6 +108,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -109,6 +109,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		# IO DEBUG:/dev/ttyS0
@@ -49,6 +50,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -110,6 +112,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -9,6 +9,7 @@ px4_add_board(
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		# IO DEBUG:/dev/ttyS0
@@ -50,6 +51,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -111,6 +113,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -46,6 +47,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		#test_ppm # NOT Portable YET
 		tone_alarm
 		uavcan
 	MODULES
@@ -106,6 +108,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -115,15 +118,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -46,6 +47,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		#test_ppm # NOT Portable YET
 		tone_alarm
 		uavcan
 	MODULES
@@ -116,15 +118,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -46,6 +47,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		#test_ppm # NOT Portable YET
 		tone_alarm
 		#uavcannode_v1
 	MODULES
@@ -116,15 +118,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -106,6 +107,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -115,15 +117,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -116,15 +117,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -116,15 +117,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -1,131 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR nxp
-	MODEL fmuk66-v3
-	LABEL test
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT px4fmu_common
-	TESTING
-	UAVCAN_INTERFACES 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS3
-		TEL1:/dev/ttyS4
-		TEL2:/dev/ttyS1
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		barometer/mpl3115a2
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		distance_sensor/srf05 # Specific driver
-		gps
-		#imu # all available imu drivers
-		imu/fxas21002c
-		imu/fxos8701cq
-		imu/invensense/icm20948 # required for ak09916 mag
-		irlock
-		lights # all available light drivers
-		lights/rgbled_pwm
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_out_sim
-		pwm_out
-		rc_input
-		roboclaw
-		rpm
-		safety_button
-		telemetry # all available telemetry drivers
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		#bl_update
-		#dmesg
-		dumpfile
-		esc_calib
-		#gpio
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		serial_test
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		fake_gyro
-		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
-		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
-	)
@@ -37,6 +37,7 @@ px4_add_board(
 		rc_input
 		#telemetry # all available telemetry drivers
 		telemetry/frsky_telemetry
+		#test_ppm
 	MODULES
 		#airspeed_selector
 		attitude_estimator_q
@@ -96,6 +97,7 @@ px4_add_board(
 		sd_bench
 		#serial_test
 		#system_time
+		#tests # tests and test runner
 		top
 		#topic_listener
 		tune_control
@@ -103,4 +105,17 @@ px4_add_board(
 		usb_connected
 		ver
 		work_queue
+	EXAMPLES
+		#fake_gps
+		#fake_gyro
+		#fake_magnetometer
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
+		#matlab_csv_serial
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
 	)
@@ -9,6 +9,7 @@ px4_add_board(
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	#TESTING
 	#UAVCAN_INTERFACES 2
 	CONSTRAINED_FLASH
 	SERIAL_PORTS
@@ -57,6 +58,7 @@ px4_add_board(
 		#roboclaw
 		#rpm
 		#telemetry # all available telemetry drivers
+		#test_ppm
 		tone_alarm
 		#uavcan
 	MODULES
@@ -118,6 +120,7 @@ px4_add_board(
 		#sd_bench
 		#serial_test
 		#system_time
+		#tests # tests and test runner
 		top
 		#topic_listener
 		tune_control
@@ -9,6 +9,7 @@ px4_add_board(
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	#TESTING
 	#UAVCAN_INTERFACES 2
 	CONSTRAINED_FLASH
 	SERIAL_PORTS
@@ -9,6 +9,7 @@ px4_add_board(
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -51,6 +52,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -112,6 +114,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -121,15 +124,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -1,138 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v3
-	LABEL test
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT px4fmu_common
-	IO px4_io-v2_default
-	TESTING
-	UAVCAN_INTERFACES 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS3
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL4:/dev/ttyS6
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/l3gd20
-		imu/lsm303d
-		imu/invensense/icm20608g
-		imu/invensense/icm20948 # required for ak09916 mag
-		imu/invensense/mpu6000
-		imu/invensense/mpu9250
-		irlock
-		lights # all available light drivers
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		#power_monitor/ina226
-		#protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		px4io
-		roboclaw
-		rpm
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		#dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		serial_test
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		fake_gyro
-		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
-		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
-	)
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
+	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -49,9 +50,9 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
-		vesc
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
@@ -90,7 +91,7 @@ px4_add_board(
 		vtol_att_control
 	SYSTEMCMDS
 		bl_update
-		dmesg
+		#dmesg
 		dumpfile
 		esc_calib
 		gpio
@@ -111,6 +112,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -120,15 +122,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -98,8 +98,6 @@
 #define GPIO_TONE_ALARM_IDLE         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
 #define GPIO_TONE_ALARM              (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)

-#define BOARD_ENABLE_CONSOLE_BUFFER
-
 /**
 * PWM:
 *
@@ -1,136 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v4
-	LABEL test
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT px4fmu_common
-	TESTING
-	UAVCAN_INTERFACES 1
-	SERIAL_PORTS
-		GPS1:/dev/ttyS3
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		WIFI:/dev/ttyS0
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/invensense/icm20602
-		imu/invensense/icm20608g
-		imu/invensense/icm20948 # required for ak09916 mag
-		imu/invensense/mpu9250
-		irlock
-		lights # all available light drivers
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		rc_input
-		roboclaw
-		rpm
-		safety_button
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		#dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		serial_test
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		fake_gyro
-		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
-		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
-	)
@@ -9,6 +9,7 @@ px4_add_board(
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
@@ -50,6 +51,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -110,6 +112,7 @@ px4_add_board(
 		reflect
 		sd_bench
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -119,15 +122,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -1,136 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v4pro
-	LABEL test
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT px4fmu_common
-	IO px4_io-v2_default
-	TESTING
-	UAVCAN_INTERFACES 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS3
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL3:/dev/ttyS0
-		TEL4:/dev/ttyS6
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		#heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/invensense/icm20602
-		imu/invensense/icm20608g
-		imu/invensense/icm20948 # required for ak09916 mag
-		imu/invensense/mpu9250
-		irlock
-		lights # all available light drivers
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		#power_monitor/ina226
-		#protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		px4io
-		roboclaw
-		rpm
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		#dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		fake_gyro
-		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
-		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
-	)
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
@@ -51,6 +52,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -114,6 +116,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -123,15 +126,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -124,7 +124,7 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
-		fake_gps
+		#fake_gps
 		#fake_gyro
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
@@ -51,6 +52,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -112,6 +114,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -121,15 +124,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
@@ -12,7 +12,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
-	EXTERNAL_METADATA
 	TESTING
 	#UAVCAN_INTERFACES 2
 	SERIAL_PORTS
@@ -127,17 +126,4 @@ px4_add_board(
 		usb_connected
 		ver
 		work_queue
-	EXAMPLES
-		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
 	)
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
@@ -49,6 +50,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -105,6 +107,7 @@ px4_add_board(
 		reflect
 		sd_bench
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -114,15 +117,13 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -122,8 +122,7 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
-		fake_gps
-		#fake_gyro
+		#fake_gps
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -1,138 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v5
-	LABEL test
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	IO px4_io-v2_default
-	TESTING
-	UAVCAN_INTERFACES 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL4:/dev/ttyS3
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		#heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/bosch/bmi055
-		imu/invensense/icm20602
-		imu/invensense/icm20689
-		imu/invensense/icm20948 # required for ak09916 mag
-		irlock
-		lights # all available light drivers
-		lights/rgbled_pwm
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		px4io
-		rc_input
-		roboclaw
-		rpm
-		safety_button
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		serial_test
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		fake_gyro
-		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
-		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
-	)
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	#TESTING
 	UAVCAN_INTERFACES 2
 	UAVCAN_PERIPHERALS
 		cuav_can-gps-v1_default
@@ -55,6 +56,7 @@ px4_add_board(
 		#rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		#test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -115,6 +117,7 @@ px4_add_board(
 		reflect
 		sd_bench
 		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -123,7 +126,6 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
-		fake_gps
 		#fake_gyro
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	#TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
@@ -51,6 +52,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		#test_ppm
 		tone_alarm
 		#uavcan # legacy v0
 		uavcan_v1
@@ -113,6 +115,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -121,7 +124,7 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
-		fake_gps
+		#fake_gps
 		#fake_gyro
 		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	ETHERNET
 	SERIAL_PORTS
@@ -52,6 +53,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -113,6 +115,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	ETHERNET
 	SERIAL_PORTS
@@ -52,6 +53,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -113,6 +115,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -1,139 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v5x
-	LABEL test
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	IO px4_io-v2_default
-	TESTING
-	UAVCAN_INTERFACES 2
-	ETHERNET
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS6
-		TEL2:/dev/ttyS4
-		TEL3:/dev/ttyS1
-		GPS2:/dev/ttyS7
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/bosch/bmi088
-		imu/invensense/icm20602
-		imu/invensense/icm20948 # required for ak09916 mag
-		imu/invensense/icm42688p
-		irlock
-		lights # all available light drivers
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		px4io
-		rc_input
-		roboclaw
-		rpm
-		safety_button
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		netman
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		serial_test
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)
@@ -109,6 +109,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -9,6 +9,7 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
 	IO px4_io-v2_default
+	TESTING
 	UAVCAN_INTERFACES 2
 	UAVCAN_TIMER_OVERRIDE 2
 	ETHERNET
@@ -53,6 +54,7 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -114,7 +116,8 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-#		top
+#		tests # tests and test runner
+		top
 		topic_listener
 		tune_control
 		uorb
@@ -1,140 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v6x
-	LABEL test
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	BUILD_BOOTLOADER
-	IO px4_io-v2_default
-	TESTING
-	UAVCAN_INTERFACES 2
-	UAVCAN_TIMER_OVERRIDE 2
-	ETHERNET
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS6
-		TEL2:/dev/ttyS4
-		TEL3:/dev/ttyS1
-		GPS2:/dev/ttyS7
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		imu/bosch/bmi088
-		imu/invensense/icm20602
-		imu/invensense/icm20649
-		imu/invensense/icm20948 # required for ak09916 mag
-		imu/invensense/icm42688p
-		irlock
-		lights # all available light drivers
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_out_sim
-		pwm_out
-		px4io
-		rc_input
-		roboclaw
-		rpm
-		safety_button
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		netman
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		serial_test
-		system_time
-#		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)
@@ -5,6 +5,7 @@ px4_add_board(
 	MODEL sitl
 	ROMFSROOT px4fmu_common
 	LABEL ctrlalloc
+	EMBEDDED_METADATA parameters
 	TESTING
 	DRIVERS
 		#barometer # all available barometer drivers
@@ -89,7 +90,6 @@ px4_add_board(
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
 		fake_gps
-		fake_gyro
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
@@ -5,6 +5,7 @@ px4_add_board(
 	MODEL sitl
 	ROMFSROOT px4fmu_common
 	LABEL default
+	EMBEDDED_METADATA parameters
 	TESTING
 	ETHERNET
 	DRIVERS
@@ -5,6 +5,7 @@ px4_add_board(
 	MODEL sitl
 	ROMFSROOT px4fmu_common
 	LABEL nolockstep
+	EMBEDDED_METADATA parameters
 	TESTING
 	DRIVERS
 		#barometer # all available barometer drivers
@@ -87,7 +88,6 @@ px4_add_board(
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
 		fake_gps
-		fake_gyro
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
@@ -5,6 +5,7 @@ px4_add_board(
 	MODEL sitl
 	ROMFSROOT px4fmu_common
 	LABEL rtps
+	EMBEDDED_METADATA parameters
 	TESTING
 	DRIVERS
 		#barometer # all available barometer drivers
@@ -86,7 +87,6 @@ px4_add_board(
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
 		fake_gps
-		fake_gyro
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
@@ -5,6 +5,7 @@ px4_add_board(
 	MODEL sitl
 	ROMFSROOT px4fmu_common
 	LABEL test
+	EMBEDDED_METADATA parameters
 	TESTING
 	DRIVERS
 		#barometer # all available barometer drivers
@@ -86,7 +87,6 @@ px4_add_board(
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
 		fake_gps
-		fake_gyro
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
@@ -87,8 +87,6 @@ px4_add_board(
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
@@ -39,12 +39,16 @@ px4_add_board(
 		#pca9685
 		#power_monitor/ina226
 		#protocol_splitter
+#		pwm_input  - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate
+#					   all arch dependant code there
 		pwm_out_sim
 		pwm_out
 		#roboclaw
 		rc_input
 		telemetry # all available telemetry drivers
+		#test_ppm
 		tone_alarm
+#		uavcan - No H7 or FD can support in UAVCAN yet
 	MODULES
 		#airspeed_selector
 		attitude_estimator_q
@@ -96,6 +100,7 @@ px4_add_board(
 		reflect
 		sd_bench
 		#shutdown
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -104,9 +109,7 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
-		fake_gps
-		#fake_gyro
-		#fake_magnetometer
+		#bottle_drop # OBC challenge
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -115,5 +118,4 @@ px4_add_board(
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#uuv_example_app
-		#work_item
 	)
@@ -57,9 +57,9 @@
 #			[ SERIAL_PORTS <list> ]
 #			[ CONSTRAINED_FLASH ]
 #			[ CONSTRAINED_MEMORY ]
-#			[ EXTERNAL_METADATA ]
 #			[ TESTING ]
 #			[ LINKER_PREFIX <string> ]
+#			[ EMBEDDED_METADATA <string> ]
 #			[ ETHERNET ]
 #			)
 #
@@ -80,9 +80,9 @@
 #		SYSTEMCMDS		: list of system commands to build for this board (relative to src/systemcmds)
 #		EXAMPLES		: list of example modules to build for this board (relative to src/examples)
 #		SERIAL_PORTS		: mapping of user configurable serial ports and param facing name
+#		EMBEDDED_METADATA	: list of metadata to embed to ROMFS
 #		CONSTRAINED_FLASH	: flag to enable constrained flash options (eg limit init script status text)
 #		CONSTRAINED_MEMORY	: flag to enable constrained memory options (eg limit maximum number of uORB publications)
-#		EXTERNAL_METADATA	: flag to exclude metadata to reduce flash
 #		TESTING			: flag to enable automatic inclusion of PX4 testing modules
 #		LINKER_PREFIX	: optional to prefix on the Linker script.
 #		ETHERNET		: flag to indicate that ethernet is enabled
@@ -156,11 +156,11 @@ function(px4_add_board)
 			EXAMPLES
 			SERIAL_PORTS
 			UAVCAN_PERIPHERALS
+			EMBEDDED_METADATA
 		OPTIONS
 			BUILD_BOOTLOADER
 			CONSTRAINED_FLASH
 			CONSTRAINED_MEMORY
-			EXTERNAL_METADATA
 			TESTING
 			ETHERNET
 		REQUIRED
@@ -207,11 +207,14 @@ function(px4_add_board)

 	set(romfs_extra_files)
 	set(config_romfs_extra_dependencies)
-	# additional embedded metadata
-	if (NOT CONSTRAINED_FLASH AND NOT EXTERNAL_METADATA AND NOT ${PX4_BOARD_LABEL} STREQUAL "test")
-		list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/parameters.json.xz)
-		list(APPEND romfs_extra_dependencies parameters_xml)
-	endif()
+	foreach(metadata ${EMBEDDED_METADATA})
+		if(${metadata} STREQUAL "parameters")
+			list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/parameters.json.xz)
+			list(APPEND romfs_extra_dependencies parameters_xml)
+		else()
+			message(FATAL_ERROR "invalid value for EMBEDDED_METADATA: ${metadata}")
+		endif()
+	endforeach()
 	list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/component_general.json.xz)
 	list(APPEND romfs_extra_dependencies component_general_json)
 	set(config_romfs_extra_files ${romfs_extra_files} CACHE INTERNAL "extra ROMFS files" FORCE)
@@ -95,17 +95,21 @@ function(px4_add_common_flags)
 	# compiler specific flags
 	if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))

-		add_compile_options(
-			-fcolor-diagnostics # force color for clang (needed for clang + ccache)
-			-fdiagnostics-absolute-paths # force absolute paths
+		# force color for clang (needed for clang + ccache)
+		add_compile_options(-fcolor-diagnostics)
+		# force absolute paths
+		add_compile_options(-fdiagnostics-absolute-paths)

-			-Qunused-arguments
+		# QuRT 6.4.X compiler identifies as Clang but does not support this option
+		if (NOT "${PX4_PLATFORM}" STREQUAL "qurt")
+			add_compile_options(
+				-Qunused-arguments

-			-Wno-c99-designator
-			-Wno-unknown-warning-option
-			-Wno-unused-const-variable
-			-Wno-varargs
-		)
+				-Wno-unknown-warning-option
+				-Wno-unused-const-variable
+				-Wno-varargs
+			)
+		endif()

 	elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")

@@ -25,9 +25,9 @@ uint16 manufacture_date		# manufacture date, part of serial number of the batter
 uint16 state_of_health		# state of health. FullChargeCapacity/DesignCapacity.
 uint16 max_error			# max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
 uint8 id					# ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
-uint16 interface_error		# interface error counter
+uint16 interface_error		# SMBUS interface error counter

-float32[14] voltage_cell_v		# Battery individual cell voltages
+float32[10] voltage_cell_v		# Battery individual cell voltages
 float32 max_cell_voltage_delta	# Max difference between individual cell voltages

 bool is_powering_off			# Power off event imminent indication, false if unknown
@@ -43,11 +43,3 @@ uint8 warning						# current battery warning


 uint8 MAX_INSTANCES = 4
-
-float32 average_power               # The average power of the current discharge
-float32 available_energy            # The predicted charge or energy remaining in the battery
-float32 remaining_capacity          # The compensated battery capacity remaining
-float32 design_capacity             # The design capacity of the battery
-uint16 average_time_to_full         # The predicted remaining time until the battery reaches full charge, in minutes
-uint16 over_discharge_count         # Number of battery overdischarge
-float32 nominal_voltage             # Nominal voltage of the battery pack
@@ -120,8 +120,8 @@ static void usage(const char *name)
             "  -i <ip_address>         Target IP for UDP. Default 127.0.0.1\n"
             "  -n <namespace>          ROS 2 topics namespace. Identifies the vehicle in a multi-agent network\n"
             "  -p <poll_ms>            Time in ms to poll over UART. Default 1ms\n"
-             "  -r <reception port>     UDP port for receiving. Default 2020\n"
-             "  -s <sending port>       UDP port for sending. Default 2019\n"
+             "  -r <reception port>     UDP port for receiving. Default 2019\n"
+             "  -s <sending port>       UDP port for sending. Default 2020\n"
             "  -t <transport>          [UART|UDP] Default UART\n"
             "  -v <debug verbosity>    Add more verbosity\n"
             "  -w <sleep_time_us>      Time in us for which each iteration sleep. Default 1ms\n",
--- a/Show More
+++ b/Show More