boards: minimize unnecessary differences in default variants

ROMFS/cannode/init.d/rcS

@@ -76,7 +76,6 @@ unset BOARD_RC_DEFAULTS
 #
 rgbled start -X -q
 rgbled_ncp5623c start -X -q
-rgbled_pwm start
 
 if param greater -s LIGHT_EN_BLINKM 0
 then

boards/airmind/mindpx-v2/default.cmake

@@ -15,6 +15,7 @@ px4_add_board(
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -31,13 +32,12 @@ px4_add_board(
 		imu/invensense/mpu6000
 		imu/invensense/mpu6500
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		#lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -45,6 +45,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -57,6 +58,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -73,12 +75,15 @@ px4_add_board(
 		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
@@ -86,6 +91,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -101,6 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -112,6 +119,8 @@ 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

boards/av/x-v1/default.cmake

@@ -17,6 +17,7 @@ px4_add_board(
 		TEL3:/dev/ttyS2
 		TEL4:/dev/ttyS3
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -26,18 +27,16 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		#dshot
 		gps
-		#heater
 		#imu # all available imu drivers
 		imu/adis16477
 		imu/adis16497
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		#lights/rgbled
-		#lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -45,6 +44,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		#tone_alarm
@@ -57,6 +57,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -73,19 +74,23 @@ px4_add_board(
 		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
+		bl_update
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -93,12 +98,14 @@ px4_add_board(
 		motor_ramp
 		motor_test
 		nshterm
+		netman
 		param
 		perf
 		pwm
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -109,6 +116,8 @@ 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

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -14,12 +14,10 @@
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_ADDROUTE is not set
 # CONFIG_NSH_DISABLE_ARP is not set
 # CONFIG_NSH_DISABLE_BASENAME is not set
 # CONFIG_NSH_DISABLE_CMP is not set
 # CONFIG_NSH_DISABLE_DD is not set
-# CONFIG_NSH_DISABLE_DELROUTE is not set
 # CONFIG_NSH_DISABLE_DF is not set
 # CONFIG_NSH_DISABLE_DIRNAME is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
@@ -32,7 +30,6 @@
 # CONFIG_NSH_DISABLE_MKRD is not set
 # CONFIG_NSH_DISABLE_PRINTF is not set
 # CONFIG_NSH_DISABLE_PUT is not set
-# CONFIG_NSH_DISABLE_ROUTE is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_NSH_DISABLE_UNAME is not set
@@ -74,15 +71,13 @@ CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
 CONFIG_FAT_LFN_ALIAS_HASH=y
 CONFIG_FDCLONE_STDIO=y
+CONFIG_FSUTILS_IPCFG=y
 CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
-CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -108,12 +103,18 @@ CONFIG_NETDB_DNSCLIENT=y
 CONFIG_NETDB_DNSCLIENT_ENTRIES=8
 CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NETINIT_DHCPC=y
+CONFIG_NETINIT_DNS=y
+CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
+CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_THREAD=y
+CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y
 CONFIG_NET_ARP_IPIN=y
 CONFIG_NET_ARP_SEND=y
 CONFIG_NET_BROADCAST=y
 CONFIG_NET_ICMP=y
-CONFIG_NET_ROUTE=y
+CONFIG_NET_ICMP_SOCKET=y
 CONFIG_NET_SOCKOPTS=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
@@ -121,6 +122,7 @@ CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
+CONFIG_NET_UDP_WRITE_BUFFERS=y
 CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
@@ -128,9 +130,9 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_MB=y
+CONFIG_NSH_DISABLE_MH=y
 CONFIG_NSH_LINELEN=128
-CONFIG_NSH_LOGIN_PASSWORD="px4"
-CONFIG_NSH_LOGIN_USERNAME="px4"
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
@@ -195,6 +197,7 @@ CONFIG_STM32F7_PHYSR_10FD=0x14
 CONFIG_STM32F7_PHYSR_10HD=0x4
 CONFIG_STM32F7_PHYSR_ALTCONFIG=y
 CONFIG_STM32F7_PHYSR_ALTMODE=0x1C
+CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_PWR=y
 CONFIG_STM32F7_RTC=y
 CONFIG_STM32F7_RTC_HSECLOCK=y
@@ -229,6 +232,7 @@ CONFIG_STM32F7_USART_INVERT=y
 CONFIG_STM32F7_USART_SINGLEWIRE=y
 CONFIG_STM32F7_USART_SWAP=y
 CONFIG_STM32F7_WWDG=y
+CONFIG_SYSTEM_DHCPC_RENEW=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24

boards/beaglebone/blue/default.cmake

@@ -14,6 +14,7 @@ px4_add_board(
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/bmp280
@@ -24,6 +25,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/invensense/mpu9250
 		linux_pwm_out
 		#magnetometer # all available magnetometer drivers
@@ -39,6 +41,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -63,6 +66,8 @@ px4_add_board(
 		sih
 		#simulator
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -76,8 +81,9 @@ px4_add_board(
 		perf
 		pwm
 		sd_bench
-		shutdown
+		#serial_test
 		system_time
+		shutdown
 		tests # tests and test runner
 		#top
 		topic_listener
@@ -86,8 +92,10 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
-		fake_gps
 		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

boards/cuav/nora/default.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -30,24 +31,25 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		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
 		test_ppm
@@ -61,6 +63,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -77,12 +80,15 @@ px4_add_board(
 		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
@@ -90,6 +96,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -105,6 +112,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -116,7 +124,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/cuav/nora/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific board MAVLink startup script.
+# board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

boards/cuav/x7pro/default.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -29,24 +30,26 @@ px4_add_board(
 		dshot
 		gps
 		heater
-		#imu # all relevant IMU drivers
+		#imu # all available imu drivers
-		imu/analog_devices/adis16470
+		imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		irlock
-		lights/rgbled
+		lights # all available light drivers
-		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		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
 		test_ppm
@@ -60,6 +63,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -76,12 +80,15 @@ px4_add_board(
 		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
@@ -89,6 +96,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -104,6 +112,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -115,8 +124,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
+		#fake_gyro
-		fake_magnetometer
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/cuav/x7pro/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific board MAVLink startup script.
+# board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

boards/cubepilot/cubeorange/console.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 		# CONSOLE:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
+		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -30,20 +31,16 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		#imu/analog_devices/adis16448
-		#imu/adis16477
-		#imu/adis16497
 		imu/invensense/icm20602
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -87,6 +84,8 @@ px4_add_board(
 		sensors
 		#sih
 		#temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -110,6 +109,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		#serial_test
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener
@@ -120,7 +121,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/cubepilot/cubeorange/default.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -35,13 +36,12 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -85,6 +85,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -108,6 +110,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		#serial_test
+		system_time
 		#tests # tests and test runner
 		top
 		topic_listener
@@ -118,7 +122,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/cubepilot/cubeyellow/console.cmake

@@ -18,6 +18,7 @@ px4_add_board(
 		# CONSOLE:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
+		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -29,18 +30,16 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
 		imu/invensense/icm20602
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -54,7 +53,7 @@ px4_add_board(
 		uavcan
 	MODULES
 		airspeed_selector
-		attitude_estimator_q
+		#attitude_estimator_q
 		battery_status
 		camera_feedback
 		commander
@@ -70,7 +69,7 @@ px4_add_board(
 		land_detector
 		landing_target_estimator
 		load_mon
-		local_position_estimator
+		#local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -80,10 +79,12 @@ px4_add_board(
 		#micrortps_bridge
 		navigator
 		rc_update
-		rover_pos_control
+		#rover_pos_control
 		sensors
-		sih
+		#sih
-		temperature_compensation
+		#temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -107,6 +108,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		#serial_test
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener
@@ -117,7 +120,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/cubepilot/cubeyellow/default.cmake

@@ -18,6 +18,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -34,13 +35,12 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -49,7 +49,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		test_ppm
+		#test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -84,6 +84,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -107,7 +109,9 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		tests # tests and test runner
+		#serial_test
+		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -117,7 +121,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/emlid/navio2/default.cmake

@@ -12,6 +12,7 @@ px4_add_board(
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/ms5611
@@ -40,6 +41,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -64,6 +66,8 @@ px4_add_board(
 		sih
 		#simulator
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -77,6 +81,7 @@ px4_add_board(
 		perf
 		pwm
 		sd_bench
+		#serial_test
 		system_time
 		shutdown
 		tests # tests and test runner
@@ -89,6 +94,8 @@ 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

boards/holybro/durandal-v1/default.cmake

@@ -10,7 +10,7 @@ px4_add_board(
 	BUILD_BOOTLOADER
 	IO px4_io-v2_default
 	TESTING
-#	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
+	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
@@ -18,6 +18,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		TEL4:/dev/ttyS3
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -33,21 +34,19 @@ px4_add_board(
 		imu/bosch/bmi088
 		imu/invensense/icm20689
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
+		pca9685_pwm_out
 		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
 		px4io
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -60,6 +59,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -76,12 +76,15 @@ px4_add_board(
 		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
@@ -89,6 +92,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -104,6 +108,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -115,6 +120,8 @@ 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

boards/holybro/pix32v5/default.cmake

@@ -17,6 +17,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		TEL4:/dev/ttyS3
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -33,14 +34,13 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -87,6 +87,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -110,6 +112,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -121,6 +124,7 @@ 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

boards/modalai/fc-v1/default.cmake

@@ -15,6 +15,7 @@ px4_add_board(
 		TEL2:/dev/ttyS4 # UART5  / J1
 		TEL3:/dev/ttyS1 # USART2 / J4
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -28,13 +29,12 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm42688p
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
+		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		power_monitor/voxlpm
 		#protocol_splitter
@@ -43,6 +43,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -72,12 +73,15 @@ px4_add_board(
 		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
@@ -85,6 +89,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -100,6 +105,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -111,6 +117,8 @@ 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

boards/mro/ctrl-zero-f7-oem/default.cmake

@@ -17,6 +17,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -25,7 +26,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		#dshot
+		dshot
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -33,13 +34,12 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
+		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -47,6 +47,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -60,6 +61,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -83,6 +85,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -90,6 +94,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -105,6 +110,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -116,6 +122,8 @@ 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

boards/mro/ctrl-zero-f7/default.cmake

@@ -17,6 +17,7 @@ px4_add_board(
 		#CONSOLE:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -25,7 +26,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		#dshot
+		dshot
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -33,13 +34,12 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
+		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -47,6 +47,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -60,6 +61,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -83,6 +85,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -90,6 +94,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -105,6 +110,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -116,6 +122,8 @@ 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

boards/mro/ctrl-zero-h7-oem/default.cmake

@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
-	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -18,6 +17,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -33,24 +33,20 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
-		#pwm_input
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
 		rpm
-		#safety_button TODO
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -85,6 +81,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -108,23 +106,27 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
-		tests # tests and test runner
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
-		fake_magnetometer
+		fake_gps
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#fake_gyro
-		hello
+		#fake_magnetometer
-		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_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
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
+		#rover_steering_control # Rover example app
-		uuv_example_app
+		#uuv_example_app
-		work_item
+		#work_item
 	)

boards/mro/ctrl-zero-h7-oem/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Board specific MAVLink startup script.
+# board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

boards/mro/ctrl-zero-h7/default.cmake

@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
-	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -18,6 +17,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -33,24 +33,20 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
-		#pwm_input
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
 		rpm
-		#safety_button TODO
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -85,6 +81,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -108,23 +106,27 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
-		tests # tests and test runner
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
-		fake_magnetometer
+		fake_gps
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#fake_gyro
-		hello
+		#fake_magnetometer
-		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_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
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
+		#rover_steering_control # Rover example app
-		uuv_example_app
+		#uuv_example_app
-		work_item
+		#work_item
 	)

boards/mro/ctrl-zero-h7/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Board specific MAVLink startup script.
+# board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

boards/mro/pixracerpro/default.cmake

@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
-	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		#SPARE:/dev/ttyS0
@@ -19,6 +18,7 @@ px4_add_board(
 		#CONSOLE:/dev/ttyS5
 		#FRSKY:/dev/ttyS6
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -34,23 +34,20 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
-		#pwm_input
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -85,6 +82,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -96,6 +95,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -109,7 +109,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -119,8 +119,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
+		#fake_gyro
-		fake_magnetometer
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/mro/pixracerpro/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Board specific MAVLink startup script.
+# board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

boards/mro/pixracerpro/init/rc.board_sensors

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Board specific sensors init
+# board specific sensors init
 #------------------------------------------------------------------------------
 board_adc start
 

boards/mro/pixracerpro/nuttx-config/bootloader/defconfig

@@ -25,7 +25,7 @@ CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_INITTHREAD_PRIORITY=254
 CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=22114
+CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y

boards/mro/x21-777/default.cmake

@@ -16,9 +16,10 @@ px4_add_board(
 		TEL2:/dev/ttyS2
 		GPS1:/dev/ttyS3
 		# PX4IO:/dev/ttyS4
-		# CONSOLE:/dev/tty5
+		# CONSOLE:/dev/ttyS5
 		# OSD:/dev/tty6
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -33,13 +34,12 @@ px4_add_board(
 		imu/invensense/icm20608g
 		imu/invensense/mpu9250
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
+		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -84,6 +84,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -107,6 +109,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -118,6 +121,7 @@ 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

boards/mro/x21/default.cmake

@@ -12,10 +12,15 @@ px4_add_board(
 	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
-		GPS1:/dev/ttyS3
+		# IO DEBUG:/dev/ttyS0
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
+		GPS1:/dev/ttyS3
+		# PX4IO:/dev/ttyS4
+		# CONSOLE:/dev/ttyS5
+		# OSD:/dev/tty6
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -23,29 +28,27 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		#dshot
+		dshot
 		gps
-		#heater
 		#imu # all available imu drivers
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		imu/invensense/mpu9250
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		#lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
+		optical_flow # all available optical flow drivers
-		optical_flow/px4flow
+		osd
-		#osd
 		pca9685
-		#power_monitor/ina226
+		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
@@ -58,6 +61,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -81,6 +85,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -88,6 +94,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -103,6 +110,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -114,6 +122,8 @@ 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

boards/nxp/fmuk66-e/default.cmake

@@ -15,6 +15,7 @@ px4_add_board(
 		TEL1:/dev/ttyS4
 		TEL2:/dev/ttyS1
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		barometer/mpl3115a2
@@ -25,29 +26,26 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		distance_sensor/srf05 # Specific driver
 		gps
-		#heater
 		#imu # all available imu drivers
 		imu/bosch/bmi088
 		imu/invensense/icm42688p
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
+		optical_flow # all available optical flow drivers
-		optical_flow/px4flow
+		osd
-		#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
-		#test_ppm # NOT Portable YET
 		tone_alarm
 		uavcan
 	MODULES
@@ -58,6 +56,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -74,12 +73,15 @@ px4_add_board(
 		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
@@ -87,7 +89,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
-		#hardfault_log # Needs bbsrm
+		#gpio
 		i2cdetect
 		led_control
 		mft
@@ -102,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -113,6 +116,8 @@ 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

boards/nxp/fmuk66-e/nuttx-config/nsh/defconfig

@@ -34,6 +34,7 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=8000
 CONFIG_CDCACM_VENDORID=0x1FC9
 CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y

boards/nxp/fmuk66-v3/default.cmake

@@ -15,6 +15,7 @@ px4_add_board(
 		TEL1:/dev/ttyS4
 		TEL2:/dev/ttyS1
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		barometer/mpl3115a2
@@ -25,29 +26,26 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		distance_sensor/srf05 # Specific driver
 		gps
-		#heater
 		#imu # all available imu drivers
 		imu/fxas21002c
 		imu/fxos8701cq
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
+		optical_flow # all available optical flow drivers
-		optical_flow/px4flow
+		osd
-		#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
-		#test_ppm # NOT Portable YET
 		tone_alarm
 		uavcan
 	MODULES
@@ -58,6 +56,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -74,12 +73,15 @@ px4_add_board(
 		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
@@ -87,7 +89,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
-		#hardfault_log # Needs bbsrm
+		#gpio
 		i2cdetect
 		led_control
 		mft
@@ -102,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -113,6 +116,8 @@ 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

boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig

@@ -33,6 +33,7 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=8000
 CONFIG_CDCACM_VENDORID=0x1FC9
 CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y

boards/nxp/fmurt1062-v1/default.cmake

@@ -14,48 +14,53 @@ px4_add_board(
 		TEL1:/dev/ttyS2
 		TEL2:/dev/ttyS3
 		GPS2:/dev/ttyS4
-
 	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 not ported
+		#dshot # not ported
 		gps
-		#imu/analog_devices/adis16448
-		#imu/adis16477
-		#imu/adis16497
 		#imu # all available imu drivers
 		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		#irlock
-		#lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
+		#optical_flow # all available optical flow drivers
-#		pwm_input - not ptorable
+		#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
+		#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
@@ -68,24 +73,30 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
+		#rover_pos_control
 		sensors
 		#sih
-		temperature_compensation
+		#temperature_compensation
-		#vmount
+		#uuv_att_control
+		#uuv_pos_control
+		vmount
+		#vtol_att_control
 	SYSTEMCMDS
-#		bl_update
+		#bl_update # not ported
 		dmesg
 		dumpfile
 		esc_calib
-		#hardfault_log # Needs bbsrm
+		#gpio
+		#hardfault_log # not ported
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
-		mft
 		mtd
 		nshterm
 		param
@@ -104,12 +115,16 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
-##		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#fake_gps
-#		hello
+		#fake_gyro
-#		hwtest # Hardware test
+		#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_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
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-#		rover_steering_control # Rover example app
+		#rover_steering_control # Rover example app
-#		uuv_example_app
+		#uuv_example_app
+		#work_item
 	)

boards/omnibus/f4sd/default.cmake

@@ -3,6 +3,7 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR omnibus
 	MODEL f4sd
+	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -24,11 +25,10 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/mpu6000
 		#irlock
-		#lights/blinkm
 		lights/rgbled
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
-		optical_flow/px4flow
+		#optical_flow # all available optical flow drivers
 		osd
 		#pca9685
 		#pwm_input
@@ -46,6 +46,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		#esc_battery
 		events
 		flight_mode_manager
 		#fw_att_control
@@ -62,12 +63,15 @@ px4_add_board(
 		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
@@ -75,6 +79,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		#gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -90,6 +95,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		#serial_test
+		#system_time
 		#tests # tests and test runner
 		top
 		#topic_listener
@@ -100,6 +107,8 @@ 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

boards/px4/fmu-v2/default.cmake

@@ -34,24 +34,21 @@ px4_add_board(
 		#heater
 		#imu # all available imu drivers
 		#imu/analog_devices/adis16448
-		#imu/adis16477
-		#imu/adis16497
 		imu/l3gd20
 		imu/lsm303d
 		#imu/invensense/icm20608g
 		#imu/invensense/icm20948
 		imu/invensense/mpu6000
 		#imu/invensense/mpu9250
-		#iridiumsbd
 		#irlock
-		#lights/blinkm
+		#lights # all available light drivers
 		lights/rgbled
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
 		#optical_flow # all available optical flow drivers
-		#optical_flow/px4flow
 		#osd
 		#pca9685
+		#pca9685_pwm_out
 		#power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -59,6 +56,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		#roboclaw
+		#rpm
 		#telemetry # all available telemetry drivers
 		#test_ppm
 		tone_alarm
@@ -95,6 +93,8 @@ px4_add_board(
 		sensors
 		#sih
 		#temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		#vmount
 		#vtol_att_control
 	SYSTEMCMDS
@@ -102,6 +102,7 @@ px4_add_board(
 		#dmesg
 		#dumpfile
 		#esc_calib
+		#gpio
 		hardfault_log
 		#i2cdetect
 		#led_control
@@ -117,7 +118,8 @@ px4_add_board(
 		reboot
 		#reflect
 		#sd_bench
-		#shutdown
+		#serial_test
+		#system_time
 		#tests # tests and test runner
 		top
 		#topic_listener
@@ -128,6 +130,8 @@ 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

boards/px4/fmu-v3/default.cmake

@@ -1,6 +1,4 @@
 
-# FMUv3 is FMUv2 with access to the full 2MB flash
-
 px4_add_board(
 	PLATFORM nuttx
 	VENDOR px4
@@ -19,8 +17,8 @@ px4_add_board(
 		TEL2:/dev/ttyS2
 		TEL4:/dev/ttyS6
 	DRIVERS
-		adc/board_adc
 		adc/ads1115
+		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -39,13 +37,10 @@ px4_add_board(
 		imu/invensense/mpu6000
 		imu/invensense/mpu9250
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
+		optical_flow # all available optical flow drivers
-		optical_flow/px4flow
+		osd
-		#osd
 		pca9685
 		pca9685_pwm_out
 		#power_monitor/ina226
@@ -55,6 +50,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -91,6 +87,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -114,6 +112,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -125,6 +124,8 @@ 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

boards/px4/fmu-v4/default.cmake

@@ -15,10 +15,9 @@ px4_add_board(
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
 		WIFI:/dev/ttyS0
-
 	DRIVERS
-		adc/board_adc
 		adc/ads1115
+		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -32,24 +31,22 @@ px4_add_board(
 		imu/analog_devices/adis16448
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
-		imu/invensense/icm40609d
-		imu/invensense/mpu6500
 		imu/invensense/mpu9250
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		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
@@ -112,6 +109,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top

boards/px4/fmu-v4/uavcanv1.cmake

@@ -1,135 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v4
-	LABEL uavcanv1
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	ROMFSROOT px4fmu_common
-	TESTING
-	UAVCAN_INTERFACES 1
-	SERIAL_PORTS
-		GPS1:/dev/ttyS3
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		WIFI:/dev/ttyS0
-
-	DRIVERS
-		adc/board_adc
-		adc/ads1115
-		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/icm40609d
-		imu/invensense/mpu6500
-		imu/invensense/mpu9250
-		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		#osd
-		pca9685
-		pca9685_pwm_out
-		#protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		rc_input
-		roboclaw
-		safety_button
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		#uavcan
-		uavcan_v1
-	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
-		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_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
-	)

boards/px4/fmu-v4pro/default.cmake

@@ -18,8 +18,8 @@ px4_add_board(
 		TEL3:/dev/ttyS0
 		TEL4:/dev/ttyS6
 	DRIVERS
-		adc/board_adc
 		adc/ads1115
+		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -30,26 +30,25 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		imu/invensense/mpu9250
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
+		optical_flow # all available optical flow drivers
-		optical_flow/px4flow
+		osd
-		#osd
 		pca9685
 		pca9685_pwm_out
-		power_monitor/ina226
+		#power_monitor/ina226
 		#protocol_splitter
 		pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -95,6 +94,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -121,6 +121,8 @@ 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

boards/px4/fmu-v5/default.cmake

@@ -16,8 +16,8 @@ px4_add_board(
 		TEL2:/dev/ttyS2
 		TEL4:/dev/ttyS3
 	DRIVERS
-		adc/board_adc
 		adc/ads1115
+		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -33,13 +33,11 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
 		pca9685_pwm_out
 		power_monitor/ina226
@@ -113,6 +111,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top

boards/px4/fmu-v5x/base_phy_DP83848C.cmake

@@ -10,6 +10,7 @@ px4_add_board(
 	IO px4_io-v2_default
 	TESTING
 	UAVCAN_INTERFACES 2
+	ETHERNET
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS6
@@ -17,6 +18,7 @@ px4_add_board(
 		TEL3:/dev/ttyS1
 		GPS2:/dev/ttyS7
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -26,20 +28,19 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		dshot
 		gps
-		#heater
+		heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20602
 		imu/invensense/icm42688p
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -61,6 +62,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -84,6 +86,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -101,12 +105,14 @@ px4_add_board(
 		motor_test
 		mtd
 		nshterm
+		netman
 		param
 		perf
 		pwm
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -116,9 +122,10 @@ px4_add_board(
 		usb_connected
 		ver
 		work_queue
-		serial_test
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

boards/px4/fmu-v5x/default.cmake

@@ -18,8 +18,8 @@ px4_add_board(
 		TEL3:/dev/ttyS1
 		GPS2:/dev/ttyS7
 	DRIVERS
-		adc/board_adc
 		adc/ads1115
+		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -28,20 +28,18 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		dshot
 		gps
-		#heater
+		heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20602
 		imu/invensense/icm42688p
 		irlock
-		#lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
-		#pca9685
+		pca9685
 		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
@@ -88,6 +86,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -112,6 +112,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -123,6 +124,8 @@ 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

boards/px4/fmu-v5x/nuttx-config/base_phy_DP83848C/defconfig

@@ -65,6 +65,7 @@ CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
 CONFIG_FAT_LFN_ALIAS_HASH=y
 CONFIG_FDCLONE_STDIO=y
+CONFIG_FSUTILS_IPCFG=y
 CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
@@ -82,6 +83,9 @@ CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
+CONFIG_IPCFG_BINARY=y
+CONFIG_IPCFG_CHARDEV=y
+CONFIG_IPCFG_PATH="/fs/mtd_net"
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -101,8 +105,11 @@ CONFIG_NETDB_DNSCLIENT=y
 CONFIG_NETDB_DNSCLIENT_ENTRIES=8
 CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NETINIT_DHCPC=y
+CONFIG_NETINIT_DNS=y
+CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
 CONFIG_NETINIT_DRIPADDR=0XC0A800FE
-CONFIG_NETINIT_IPADDR=0XC0A8007B
+CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y
@@ -118,6 +125,7 @@ CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
+CONFIG_NET_UDP_WRITE_BUFFERS=y
 CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
@@ -190,14 +198,17 @@ CONFIG_STM32F7_I2C4=y
 CONFIG_STM32F7_I2C_DYNTIMEO=y
 CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32F7_OTGFS=y
-CONFIG_STM32F7_PHYSR=16
+CONFIG_STM32F7_PHYADDR=0
-CONFIG_STM32F7_PHYSR_100MBPS=0x0
+CONFIG_STM32F7_PHYSR=31
-CONFIG_STM32F7_PHYSR_FULLDUPLEX=0x04
+CONFIG_STM32F7_PHYSR_100MBPS=0x8
-CONFIG_STM32F7_PHYSR_MODE=0x04
+CONFIG_STM32F7_PHYSR_FULLDUPLEX=0x10
-CONFIG_STM32F7_PHYSR_SPEED=0x2
+CONFIG_STM32F7_PHYSR_MODE=0x10
+CONFIG_STM32F7_PHYSR_SPEED=0x8
+CONFIG_STM32F7_PHY_POLLING=y
 CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_PWR=y
 CONFIG_STM32F7_RTC=y
+CONFIG_STM32F7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
 CONFIG_STM32F7_RTC_MAGIC_REG=1
 CONFIG_STM32F7_SAVE_CRASHDUMP=y
 CONFIG_STM32F7_SDMMC2=y
@@ -235,6 +246,7 @@ CONFIG_STM32F7_USART_SINGLEWIRE=y
 CONFIG_STM32F7_USART_SWAP=y
 CONFIG_STM32F7_WWDG=y
 CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_DHCPC_RENEW=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24

boards/px4/fmu-v6u/default.cmake

@@ -32,9 +32,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm42605
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
 		osd
@@ -42,7 +40,6 @@ px4_add_board(
 		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
-		#pwm_input  - Need to create arch/stm32 arch/stm32h7
 		pwm_out_sim
 		pwm_out
 		rc_input
@@ -122,7 +119,7 @@ px4_add_board(
 	EXAMPLES
 		fake_gps
 		#fake_gyro
-		fake_magnetometer
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/px4/fmu-v6x/default.cmake

@@ -10,7 +10,8 @@ px4_add_board(
 	BUILD_BOOTLOADER
 	IO px4_io-v2_default
 	TESTING
-#	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
+	UAVCAN_INTERFACES 2
+	ETHERNET
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS6
@@ -18,6 +19,7 @@ px4_add_board(
 		TEL3:/dev/ttyS1
 		GPS2:/dev/ttyS7
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -29,21 +31,19 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
 		imu/bosch/bmi088
+		imu/invensense/icm20602
 		imu/invensense/icm20649
+		imu/invensense/icm42688p
 		irlock
-		lights/blinkm
+		lights # all available light drivers
-		lights/rgbled
-		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		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
 		px4io
@@ -86,6 +86,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -93,6 +95,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -102,12 +105,14 @@ px4_add_board(
 		motor_test
 		mtd
 		nshterm
+		netman
 		param
 		perf
 		pwm
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -117,10 +122,10 @@ px4_add_board(
 		usb_connected
 		ver
 		work_queue
-		serial_test
 	EXAMPLES
 		fake_gps
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/px4/fmu-v6x/nuttx-config/nsh/defconfig

@@ -66,6 +66,7 @@ CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
 CONFIG_FAT_LFN_ALIAS_HASH=y
 CONFIG_FDCLONE_STDIO=y
+CONFIG_FSUTILS_IPCFG=y
 CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
@@ -83,6 +84,9 @@ CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
+CONFIG_IPCFG_BINARY=y
+CONFIG_IPCFG_CHARDEV=y
+CONFIG_IPCFG_PATH="/fs/mtd_net"
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -102,8 +106,10 @@ CONFIG_NETDB_DNSCLIENT=y
 CONFIG_NETDB_DNSCLIENT_ENTRIES=8
 CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NETINIT_DHCPC=y
+CONFIG_NETINIT_DNS=y
+CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
 CONFIG_NETINIT_DRIPADDR=0XC0A800FE
-CONFIG_NETINIT_IPADDR=0XC0A8007B
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y
@@ -119,6 +125,7 @@ CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
+CONFIG_NET_UDP_WRITE_BUFFERS=y
 CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
@@ -240,6 +247,7 @@ CONFIG_STM32H7_USART_INVERT=y
 CONFIG_STM32H7_USART_SINGLEWIRE=y
 CONFIG_STM32H7_USART_SWAP=y
 CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_DHCPC_RENEW=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24

boards/px4/raspberrypi/default.cmake

@@ -38,6 +38,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -59,9 +60,11 @@ px4_add_board(
 		rc_update
 		rover_pos_control
 		sensors
-		temperature_compensation
 		sih
 		#simulator
+		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -70,10 +73,12 @@ px4_add_board(
 		led_control
 		mixer
 		motor_ramp
+		motor_test
 		param
 		perf
 		pwm
 		sd_bench
+		#serial_test
 		system_time
 		shutdown
 		tests # tests and test runner
@@ -84,8 +89,10 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
-		fake_gps
 		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

boards/px4/sitl/default.cmake

@@ -89,6 +89,7 @@ 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

boards/uvify/core/default.cmake

@@ -48,6 +48,7 @@ px4_add_board(
 		ekf2
 		events
 		flight_mode_manager
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -59,6 +60,7 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		sensors
@@ -70,6 +72,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -85,6 +88,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		top
 		topic_listener