boards: sync

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
@@ -72,12 +74,15 @@ 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 +90,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -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/av/x-v1/default.cmake

@@ -31,13 +31,12 @@ px4_add_board(
 		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
 		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
@@ -72,19 +73,23 @@ 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
@@ -108,6 +113,8 @@ 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/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 +31,24 @@ 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 +62,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -76,12 +78,15 @@ 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 +94,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -104,6 +110,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -115,6 +122,7 @@ 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/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/nora/nuttx-config/include/board.h

@@ -220,56 +220,62 @@
 
 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
 
+
 /* UART/USART */
-#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
 #define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6  */
+#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7  */
 
-#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6 */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5 */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4 */
 #define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
 
-#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0 */
 #define GPIO_UART4_TX    GPIO_UART4_TX_5       /* PD1  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0  */
 
-#define GPIO_USART6_RX   GPIO_USART6_RX_2      /* PG9  */
 #define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
+#define GPIO_USART6_RX   GPIO_USART6_RX_2      /* PG9  */
 #define GPIO_USART6_RTS  GPIO_USART6_RTS_2     /* PG8  */
 #define GPIO_USART6_CTS  GPIO_USART6_CTS_NSS_2 /* PG15 */
 
-#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6 */
 #define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6  */
 
-#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0 */
 #define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
+
 
 /* CAN */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_5        /* PI9  */
 #define GPIO_CAN1_TX     GPIO_CAN1_TX_4        /* PH13 */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_5        /* PI9  */
 #define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
 #define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
 
+
 /* SPI */
-#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */
 #define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
 #define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3               /* PD7  */
 
-#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_6    /* PI1 */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1  */
 #define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3               /* PI2  */
 #define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               /* PI3  */
 
-#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_2    /* PE2 */
+#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2  */
 #define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1               /* PE13 */
 #define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2               /* PE6  */
 
-#define GPIO_SPI5_SCK    GPIO_SPI5_SCK_1    /* PF7 */
+#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
 #define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
 #define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
 
-#define GPIO_SPI6_SCK    GPIO_SPI6_SCK_1    /* PG13 */
+#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
 #define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
 #define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2               /* PA7  */
 
+
 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */

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
@@ -31,26 +32,23 @@ px4_add_board(
 		heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		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
@@ -64,6 +62,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -79,12 +78,15 @@ 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
@@ -92,6 +94,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -107,6 +110,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -118,6 +122,7 @@ 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/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/cuav/x7pro/nuttx-config/include/board.h

@@ -220,56 +220,62 @@
 
 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
 
+
 /* UART/USART */
-#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
 #define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6  */
+#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7  */
 
-#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6 */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5 */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4 */
 #define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
 
-#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0 */
 #define GPIO_UART4_TX    GPIO_UART4_TX_5       /* PD1  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0  */
 
-#define GPIO_USART6_RX   GPIO_USART6_RX_2      /* PG9  */
 #define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
+#define GPIO_USART6_RX   GPIO_USART6_RX_2      /* PG9  */
 #define GPIO_USART6_RTS  GPIO_USART6_RTS_2     /* PG8  */
 #define GPIO_USART6_CTS  GPIO_USART6_CTS_NSS_2 /* PG15 */
 
-#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6 */
 #define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6  */
 
-#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0 */
 #define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
+
 
 /* CAN */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_5        /* PI9  */
 #define GPIO_CAN1_TX     GPIO_CAN1_TX_4        /* PH13 */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_5        /* PI9  */
 #define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
 #define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
 
+
 /* SPI */
-#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */
 #define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
 #define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3               /* PD7  */
 
-#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_6    /* PI1 */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1  */
 #define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3               /* PI2  */
 #define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               /* PI3  */
 
-#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_2    /* PE2 */
+#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2  */
 #define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1               /* PE13 */
 #define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2               /* PE6  */
 
-#define GPIO_SPI5_SCK    GPIO_SPI5_SCK_1    /* PF7 */
+#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
 #define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
 #define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
 
-#define GPIO_SPI6_SCK    GPIO_SPI6_SCK_1    /* PG13 */
+#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
 #define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
 #define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2               /* PA7  */
 
+
 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */

boards/cubepilot/cubeorange/default.cmake

@@ -107,6 +107,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
+		system_time
 		#tests # tests and test runner
 		top
 		topic_listener

boards/cubepilot/cubeyellow/default.cmake

@@ -30,8 +30,6 @@ px4_add_board(
 		#heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/invensense/icm20602
 		imu/invensense/icm20649
 		imu/invensense/icm20948
@@ -51,7 +49,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		test_ppm
+		#test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -108,7 +106,9 @@ 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

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
@@ -30,30 +30,26 @@ px4_add_board(
 		heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		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
-#		uavcan - No H7 or FD can support in UAVCAN yet
+		#uavcan
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
@@ -62,6 +58,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -77,12 +74,15 @@ 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 +90,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -116,6 +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/modalai/fc-v1/default.cmake

@@ -28,7 +28,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm42688p
 		irlock
-		lights/blinkm
+		#lights/blinkm
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
@@ -43,6 +43,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -71,12 +72,15 @@ 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
@@ -84,6 +88,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -110,6 +115,8 @@ 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
@@ -82,6 +84,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -89,6 +93,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -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/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
@@ -82,6 +84,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -89,6 +93,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -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/mro/ctrl-zero-h7-oem/default.cmake

@@ -48,7 +48,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
-		#safety_button TODO
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -107,23 +106,26 @@ px4_add_board(
 		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_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
+		#hello
-		hwtest # Hardware test
+		#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-oem/nuttx-config/include/board.h

@@ -222,32 +222,33 @@
 
 
 /* UART/USART */
-#define GPIO_USART2_RX   GPIO_USART2_RX_2       /* PD6 */
 #define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2      /* PD4 */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
 #define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
 
-#define GPIO_USART3_RX   GPIO_USART3_RX_3       /* PD9 */
 #define GPIO_USART3_TX   GPIO_USART3_TX_3      /* PD8  */
-#define GPIO_USART3_RTS  GPIO_USART3_RTS_2      /* PD12 */
+#define GPIO_USART3_RX   GPIO_USART3_RX_3      /* PD9  */
 #define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2 /* PD11 */
+#define GPIO_USART3_RTS  GPIO_USART3_RTS_2     /* PD12 */
 
-#define GPIO_UART4_RX    GPIO_UART4_RX_1        /* PA1 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
-#define GPIO_UART4_TX    GPIO_UART4_TX_1        /* PA0 */
+#define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */
 
+#define GPIO_USART6_TX   0
 #define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
-#define GPIO_USART6_TX   GPIO_USART6_TX_2       /* PG14 */
 
-#define GPIO_UART7_RX    GPIO_UART7_RX_1        /* PE7 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
-#define GPIO_UART7_TX    GPIO_UART7_TX_1        /* PE8 */
+#define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */
 
-#define GPIO_UART8_RX    GPIO_UART8_RX_1        /* PE0 */
 #define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
 
 
 /* CAN */
 #define GPIO_CAN1_RX     GPIO_CAN1_RX_3        /* PD0  */
 #define GPIO_CAN1_TX     GPIO_CAN1_TX_3        /* PD1  */
+
 #define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
 #define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
 
@@ -265,7 +266,7 @@
 
 #define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
 #define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_1               /* PF9  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
 
 
 /* I2C */

boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board_dma_map.h

@@ -37,8 +37,5 @@
 #define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
 #define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
 
-#define DMAMAP_USART6_RX   DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
+#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */
-#define DMAMAP_USART6_TX   DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */
+#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */
-
-#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */
-#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */

boards/mro/ctrl-zero-h7-oem/nuttx-config/scripts/bootloader_script.ld

@@ -196,6 +196,11 @@ SECTIONS
 		_ebss = ABSOLUTE(.);
 	} > AXI_SRAM
 
+	/* Emit the the D3 power domain section for locating BDMA data */
+	.SRAM4 (NOLOAD) :
+	{
+	} > SRAM4
+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }

boards/mro/ctrl-zero-h7-oem/src/board_config.h

@@ -77,14 +77,14 @@
 
 /* CAN Silence: Silent mode control */
 #define GPIO_CAN1_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
-#define GPIO_CAN2_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
+//#define GPIO_CAN2_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
 
 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS  8
 #define DIRECT_INPUT_TIMER_CHANNELS  8
 
 /* Power supply control and monitoring GPIOs */
-#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN5)
 
 #define GPIO_VDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
 #define BOARD_NUMBER_BRICKS             1
@@ -109,7 +109,7 @@
 
 /* High-resolution timer */
 #define HRT_TIMER               3  /* use timer3 for the HRT */
-#define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */
+#define HRT_TIMER_CHANNEL       2  /* use capture/compare channel 2 */
 
 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
@@ -148,20 +148,11 @@
 #define BOARD_ADC_SERVO_VALID   (1) /* never powers off the Servo rail */
 #define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))
 
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-#define BOARD_HAS_ON_RESET 1
-
-#define BOARD_HAS_STATIC_MANIFEST 1
-
 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
-
 #define BOARD_NUM_IO_TIMERS 3
-
 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
-
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
+#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
 #define BOARD_ENABLE_CONSOLE_BUFFER
 
 #define PX4_GPIO_INIT_LIST { \
@@ -171,9 +162,15 @@
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
 		GPIO_CAN1_SILENT_S0,              \
-		GPIO_CAN2_SILENT_S0,              \
+		GPIO_LEVEL_SHIFTER_OE,            \
+		GPIO_PWM_VOLT_SEL,                \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_OTGFS_VBUS,                  \

boards/mro/ctrl-zero-h7-oem/src/init.c

@@ -164,7 +164,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -195,7 +194,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif /* CONFIG_MMCSD */
 
 	/* Configure the HW based on the manifest */
-
 	px4_platform_configure();
 
 	return OK;

boards/mro/ctrl-zero-h7-oem/src/usb.c

@@ -37,21 +37,10 @@
  * Board-specific USB functions.
  */
 
-#include <px4_platform_common/px4_config.h>
+#include "board_config.h"
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
-
-#include <arm_arch.h>
-#include <chip.h>
-#include <stm32_gpio.h>
 #include <stm32_otg.h>
-#include "board_config.h"
 
 /************************************************************************************
  * Name:  stm32_usbsuspend
@@ -63,19 +52,6 @@
  *   while the USB is suspended.
  *
  ************************************************************************************/
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32H7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
-
-
 __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
 {
 	uinfo("resume: %d\n", resume);

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

@@ -48,7 +48,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
-		#safety_button TODO
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -107,23 +106,26 @@ px4_add_board(
 		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_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
+		#hello
-		hwtest # Hardware test
+		#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/ctrl-zero-h7/nuttx-config/include/board.h

@@ -187,6 +187,7 @@
  *  Note: look at Table 54 in ST Manual
  */
 #define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI     /* I2C4 clock source */
 #define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
 #define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
 #define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
@@ -221,27 +222,27 @@
 
 
 /* UART/USART */
-#define GPIO_USART2_RX   GPIO_USART2_RX_2       /* PD6 */
 #define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2      /* PD4 */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
 #define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
 
-#define GPIO_USART3_RX   GPIO_USART3_RX_3       /* PD9 */
 #define GPIO_USART3_TX   GPIO_USART3_TX_3      /* PD8  */
-#define GPIO_USART3_RTS  GPIO_USART3_RTS_2      /* PD12 */
+#define GPIO_USART3_RX   GPIO_USART3_RX_3      /* PD9  */
 #define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2 /* PD11 */
+#define GPIO_USART3_RTS  GPIO_USART3_RTS_2     /* PD12 */
 
-#define GPIO_UART4_RX    GPIO_UART4_RX_1        /* PA1 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
-#define GPIO_UART4_TX    GPIO_UART4_TX_1        /* PA0 */
+#define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */
 
+#define GPIO_USART6_TX   0
 #define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
-#define GPIO_USART6_TX   GPIO_USART6_TX_2       /* PG14 */
 
-#define GPIO_UART7_RX    GPIO_UART7_RX_1        /* PE7 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
-#define GPIO_UART7_TX    GPIO_UART7_TX_1        /* PE8 */
+#define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */
 
-#define GPIO_UART8_RX    GPIO_UART8_RX_1        /* PE0 */
 #define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
 
 
 /* CAN */
@@ -262,7 +263,7 @@
 
 #define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
 #define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_1               /* PF9  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
 
 
 /* I2C */

boards/mro/ctrl-zero-h7/nuttx-config/include/board_dma_map.h

@@ -37,8 +37,5 @@
 #define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
 #define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
 
-#define DMAMAP_USART6_RX   DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
+#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */
-#define DMAMAP_USART6_TX   DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */
+#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */
-
-#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */
-#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */

boards/mro/ctrl-zero-h7/nuttx-config/scripts/bootloader_script.ld

@@ -196,6 +196,11 @@ SECTIONS
 		_ebss = ABSOLUTE(.);
 	} > AXI_SRAM
 
+	/* Emit the the D3 power domain section for locating BDMA data */
+	.SRAM4 (NOLOAD) :
+	{
+	} > SRAM4
+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }

boards/mro/ctrl-zero-h7/src/board_config.h

@@ -78,12 +78,15 @@
 /* CAN Silence: Silent mode control */
 #define GPIO_CAN1_SILENT_S0  /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
 
+#define GPIO_LEVEL_SHIFTER_OE /* PI3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN3)
+#define GPIO_PWM_VOLT_SEL     /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6)
+
 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS  8
 #define DIRECT_INPUT_TIMER_CHANNELS  8
 
 /* Power supply control and monitoring GPIOs */
-#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN5)
 
 #define GPIO_VDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
 #define BOARD_NUMBER_BRICKS             1
@@ -108,7 +111,7 @@
 
 /* High-resolution timer */
 #define HRT_TIMER               3  /* use timer3 for the HRT */
-#define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */
+#define HRT_TIMER_CHANNEL       2  /* use capture/compare channel 2 */
 
 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
@@ -147,20 +150,11 @@
 #define BOARD_ADC_SERVO_VALID   (1) /* never powers off the Servo rail */
 #define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))
 
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-#define BOARD_HAS_ON_RESET 1
-
-#define BOARD_HAS_STATIC_MANIFEST 1
-
 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
-
 #define BOARD_NUM_IO_TIMERS 3
-
 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
-
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
+#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
 #define BOARD_ENABLE_CONSOLE_BUFFER
 
 #define PX4_GPIO_INIT_LIST { \
@@ -168,8 +162,15 @@
 		GPIO_CAN1_TX,                     \
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN1_SILENT_S0,              \
+		GPIO_LEVEL_SHIFTER_OE,            \
+		GPIO_PWM_VOLT_SEL,                \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_OTGFS_VBUS,                  \

boards/mro/ctrl-zero-h7/src/init.c

@@ -164,7 +164,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -195,7 +194,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif /* CONFIG_MMCSD */
 
 	/* Configure the HW based on the manifest */
-
 	px4_platform_configure();
 
 	return OK;

boards/mro/ctrl-zero-h7/src/usb.c

@@ -37,21 +37,10 @@
  * Board-specific USB functions.
  */
 
-#include <px4_platform_common/px4_config.h>
+#include "board_config.h"
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
-
-#include <arm_arch.h>
-#include <chip.h>
-#include <stm32_gpio.h>
 #include <stm32_otg.h>
-#include "board_config.h"
 
 /************************************************************************************
  * Name:  stm32_usbsuspend
@@ -63,19 +52,6 @@
  *   while the USB is suspended.
  *
  ************************************************************************************/
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32H7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
-
-
 __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
 {
 	uinfo("resume: %d\n", resume);

boards/mro/pixracerpro/default.cmake

@@ -11,12 +11,13 @@ px4_add_board(
 	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
-		TEL1:/dev/ttyS0
+		#SPARE:/dev/ttyS0
-		TEL2:/dev/ttyS1
+		TEL1:/dev/ttyS1
-		GPS1:/dev/ttyS2
+		TEL2:/dev/ttyS2
-		#RC:/dev/ttyS3
+		GPS1:/dev/ttyS3
-		#CONSOLE:/dev/ttyS4
+		#RC:/dev/ttyS4
-		#FRSKY:/dev/ttyS5
+		#CONSOLE:/dev/ttyS5
+		#FRSKY:/dev/ttyS6
 	DRIVERS
 		adc/board_adc
 		#barometer # all available barometer drivers
@@ -94,6 +95,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -105,6 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -116,14 +119,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
 		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
+		#hello
-		hwtest # Hardware test
+		#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/pixracerpro/init/rc.board_extras

@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# board specific extras init
+#------------------------------------------------------------------------------
+
+# Run FrSky Telemetry on Pixracer on the FrSky port if not enabled already
+if param compare TEL_FRSKY_CONFIG 0
+then
+	frsky_telemetry start -d /dev/ttyS6 -t 15
+fi

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/pixracerpro/nuttx-config/include/board.h

@@ -237,8 +237,8 @@
 #define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
 #define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */
 
-//#define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
+#define GPIO_USART6_TX   0
-//#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
+#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
 
 #define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
 #define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */

boards/mro/pixracerpro/nuttx-config/include/board_dma_map.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 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
@@ -37,9 +37,6 @@
 #define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
 #define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
 
-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */
-
 #define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */
 #define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */
 

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

@@ -141,7 +141,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_MODE=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -198,6 +198,7 @@ CONFIG_STM32H7_UART8=y
 CONFIG_STM32H7_USART1=y
 CONFIG_STM32H7_USART2=y
 CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
 CONFIG_STM32H7_USART_BREAKS=y
 CONFIG_STM32H7_USART_INVERT=y
 CONFIG_STM32H7_USART_SINGLEWIRE=y
@@ -227,6 +228,9 @@ CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
 CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500

boards/mro/pixracerpro/nuttx-config/scripts/script.ld

@@ -111,6 +111,7 @@ MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
 	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
 	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
@@ -167,6 +168,7 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > FLASH
 
+
 	.ARM.extab : {
 		*(.ARM.extab*)
 	} > FLASH
@@ -201,6 +203,7 @@ SECTIONS
 	{
 	} > SRAM4
 
+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }

boards/mro/pixracerpro/src/board_config.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 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
@@ -58,19 +58,19 @@
 	/* PA2 */  GPIO_ADC12_INP14,  \
 	/* PA3 */  GPIO_ADC12_INP15,  \
 	/* PA4 */  GPIO_ADC12_INP18,  \
-	/* PC1 */  GPIO_ADC123_INN10
+	/* PC1 */  GPIO_ADC123_INP11
 
-/* Define Channel numbers must match above GPIO pin */
+/* Define Channel numbers must match above GPIO pins */
 #define ADC_BATTERY_VOLTAGE_CHANNEL       14 /* PA2 BATT_VOLT_SENS */
 #define ADC_BATTERY_CURRENT_CHANNEL       15 /* PA3 BATT_CURRENT_SENS */
 #define ADC_SCALED_V5_CHANNEL             18 /* PA4 VDD_5V_SENS */
-#define ADC_RSSI_IN_CHANNEL                10 /* PC1 */
+#define ADC_RC_RSSI_CHANNEL               11 /* PC1 */
 
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)       | \
 	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
 	 (1 << ADC_SCALED_V5_CHANNEL)             | \
-	 (1 << ADC_RSSI_IN_CHANNEL))
+	 (1 << ADC_RC_RSSI_CHANNEL))
 
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
@@ -80,6 +80,7 @@
 #define GPIO_CAN2_SILENT_S0     /* PF14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN14)
 
 #define GPIO_LEVEL_SHIFTER_OE   /* PI3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN3)
+#define GPIO_VDD_3V3_SENSORS_EN /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
 #define GPIO_PWM_VOLT_SEL       /* PG6  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6)
 
 /* PWM */
@@ -118,7 +119,7 @@
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
 
 /* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS3"
+#define RC_SERIAL_PORT          "/dev/ttyS4"
 
 #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
 
@@ -148,7 +149,7 @@
 
 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
 #define BOARD_NUM_IO_TIMERS 3
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
 #define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -162,6 +163,7 @@
 		GPIO_CAN1_SILENT_S0,              \
 		GPIO_CAN2_SILENT_S0,              \
 		GPIO_LEVEL_SHIFTER_OE,            \
+		GPIO_VDD_3V3_SENSORS_EN,          \
 		GPIO_PWM_VOLT_SEL,                \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \

boards/mro/pixracerpro/src/init.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   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
@@ -193,5 +193,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	sdio_mediachange(sdio_dev, true);
 #endif /* CONFIG_MMCSD */
 
+	/* Configure the HW based on the manifest */
+	px4_platform_configure();
+
 	return OK;
 }

boards/mro/pixracerpro/src/spi.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2020-2021 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
@@ -39,7 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
-	}, {GPIO::PortE, GPIO::Pin3}),
+	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
 		initSPIDevice(DRV_BARO_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),

boards/mro/x21-777/default.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 		# CONSOLE:/dev/tty5
 		# 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
@@ -83,6 +83,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -117,6 +119,7 @@ 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

@@ -16,6 +16,7 @@ px4_add_board(
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -23,7 +24,7 @@ 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
@@ -31,14 +32,12 @@ 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
-		optical_flow/px4flow
+		osd
-		#osd
 		pca9685
+		pca9685_pwm_out
 		#power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -46,6 +45,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -58,6 +58,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -80,6 +81,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -87,6 +90,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -113,6 +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/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
@@ -30,21 +31,20 @@ px4_add_board(
 		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
@@ -58,6 +58,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -73,12 +74,15 @@ 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
@@ -86,7 +90,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
-		#hardfault_log # Needs bbsrm
+		gpio
 		i2cdetect
 		led_control
 		mft
@@ -112,6 +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/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
@@ -24,7 +25,6 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/mpu6000
 		#irlock
-		#lights/blinkm
 		lights/rgbled
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
@@ -46,6 +46,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		#esc_battery
 		events
 		flight_mode_manager
 		#fw_att_control
@@ -61,12 +62,15 @@ 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
@@ -74,6 +78,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		#gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -89,6 +94,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		#system_time
 		#tests # tests and test runner
 		top
 		#topic_listener
@@ -99,6 +105,8 @@ 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

@@ -33,25 +33,21 @@ px4_add_board(
 		gps
 		#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 +55,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		#roboclaw
+		#rpm
 		#telemetry # all available telemetry drivers
 		#test_ppm
 		tone_alarm
@@ -94,6 +91,8 @@ px4_add_board(
 		sensors
 		#sih
 		#temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		#vmount
 		#vtol_att_control
 	SYSTEMCMDS
@@ -101,6 +100,7 @@ px4_add_board(
 		#dmesg
 		#dumpfile
 		#esc_calib
+		#gpio
 		hardfault_log
 		#i2cdetect
 		#led_control
@@ -116,7 +116,7 @@ px4_add_board(
 		reboot
 		#reflect
 		#sd_bench
-		#shutdown
+		#system_time
 		#tests # tests and test runner
 		top
 		#topic_listener
@@ -127,6 +127,8 @@ 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
@@ -32,8 +30,6 @@ px4_add_board(
 		#heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/l3gd20
 		imu/lsm303d
 		imu/invensense/icm20608g
@@ -41,13 +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
@@ -57,6 +50,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -92,6 +86,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -126,6 +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/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
@@ -30,28 +29,24 @@ px4_add_board(
 		heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		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

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
@@ -94,6 +93,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -120,6 +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