TiltrotorEffectiveness: limit thrust axis tilt to z effectiveness scaling

During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle
the effectiveness of the thrust axis in z is apporaching 0, and by that is increasing
the motor output to max.
Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid
a thrust spike when the transition is initiated (as then the tilt is fully forward).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

.ci/Jenkinsfile-compile

@@ -40,6 +40,8 @@ pipeline {
                      "ark_can-flow_default",
                      "ark_can-gps_canbootloader",
                      "ark_can-gps_default",
+                     "ark_cannode_canbootloader",
+                     "ark_cannode_default",
                      "ark_can-rtk-gps_canbootloader",
                      "ark_can-rtk-gps_default",
                      "ark_fmu-v6x_bootloader",
@@ -53,8 +55,10 @@ pipeline {
                      "cuav_nora_default",
                      "cuav_x7pro_default",
                      "cubepilot_cubeorange_default",
+                     "cubepilot_cubeorangeplus_default",
                      "cubepilot_cubeyellow_default",
                      "diatone_mamba-f405-mk2_default",
+                     "flywoo_gn-f405_default",
                      "freefly_can-rtk-gps_canbootloader",
                      "freefly_can-rtk-gps_default",
                      "holybro_can-gps-v1_canbootloader",
@@ -72,7 +76,7 @@ pipeline {
                      "matek_h743_default",
                      "modalai_fc-v1_default",
                      "modalai_fc-v2_default",
-                     "modalai_voxl2-io_default",
+                     "mro_ctrl-zero-classic_default",
                      "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
                      "mro_ctrl-zero-h7-oem_default",
@@ -85,6 +89,7 @@ pipeline {
                      "nxp_fmuk66-v3_default",
                      "nxp_fmuk66-v3_socketcan",
                      "nxp_fmurt1062-v1_default",
+                     "nxp_mr-canhubk3_default",
                      "nxp_ucans32k146_canbootloader",
                      "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",

.github/PULL_REQUEST_TEMPLATE.md

@@ -23,7 +23,7 @@ For release notes:
 ```
 Feature/Bugfix XYZ
 New parameter: XYZ_Z
-Documentation: Need to clarfiy page ... / done, read docs.px4.io/...
+Documentation: Need to clarify page ... / done, read docs.px4.io/...
 ```
 
 ### Alternatives

.gitmodules

@@ -21,7 +21,7 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-10.3.0+-v1.14
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -17,6 +17,7 @@ param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 
+param set-default VT_B_TRANS_DUR 5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -7,6 +7,7 @@
 
 param set-default FW_LAUN_DETCN_ON 1
 param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
+param set-default FW_LAUN_AC_THLD 10
 
 param set-default FW_LND_ANG 8
 

ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter

@@ -48,35 +48,32 @@ param set-default PWM_MAIN_REV 96 # invert both elevons
 param set-default EKF2_MULTI_IMU 0
 param set-default SENS_IMU_MODE 1
 
-param set-default NPFG_PERIOD 12
-param set-default FW_PR_I 0.2
-param set-default FW_PR_P 0.2
+param set-default FW_P_TC 0.6
+
+param set-default FW_PR_FF 0.1
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_P 0.2
-param set-default FW_THR_TRIM 0.33
-param set-default FW_THR_MAX 0.6
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_I 0.2
+param set-default FW_RR_P 0.3
+param set-default FW_THR_TRIM 0.35
+param set-default FW_THR_MAX 0.8
 param set-default FW_THR_MIN 0.05
-param set-default FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
+param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 3
+param set-default FW_T_SINK_MIN 1.6
 
 param set-default MC_AIRMODE 1
+param set-default MC_ROLL_P 3
+param set-default MC_PITCH_P 3
 param set-default MC_ROLLRATE_P 0.3
+param set-default MC_PITCHRATE_P 0.3
 
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NAV_ACC_RAD 5
-
+param set-default VT_ARSP_TRANS 10
+param set-default VT_B_TRANS_DUR 5
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_S_Y 0.5
+param set-default VT_FW_DIFTHR_S_Y 1
 param set-default VT_F_TRANS_DUR 1.5
-param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0
 
 param set-default WV_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter

@@ -0,0 +1,74 @@
+#!/bin/sh
+#
+# @name Quadrotor + Tailsitter
+#
+# @type VTOL Quad Tailsitter
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default MAV_TYPE 20
+
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.23
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.23
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.23
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.23
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 0
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 0
+
+parm set-default FD_FAIL_R 70
+
+param set-default FW_P_TC 0.6
+
+param set-default FW_PR_I 0.3
+param set-default FW_PR_P 0.5
+param set-default FW_PSP_OFF 2
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_I 0.1
+param set-default FW_RR_P 0.2
+param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
+param set-default FW_YR_I 0
+param set-default FW_THR_TRIM 0.35
+param set-default FW_THR_MAX 0.8
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 3
+param set-default FW_T_SINK_MIN 1.6
+param set-default FW_AIRSPD_STALL 10
+param set-default FW_AIRSPD_MIN 14
+param set-default FW_AIRSPD_TRIM 18
+param set-default FW_AIRSPD_MAX 22
+
+param set-default MC_AIRMODE 2
+param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
+param set-default MC_ROLL_P 3
+param set-default MC_PITCH_P 3
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_PITCHRATE_P 0.3
+
+param set-default VT_ARSP_TRANS 15
+param set-default VT_B_TRANS_DUR 5
+param set-default VT_FW_DIFTHR_EN 7
+param set-default VT_FW_DIFTHR_S_Y 1
+param set-default VT_F_TRANS_DUR 1.5
+param set-default VT_TYPE 0
+
+param set-default WV_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -60,6 +60,7 @@ px4_add_romfs_files(
 	1042_gazebo-classic_tiltrotor
 	1043_gazebo-classic_standard_vtol_drop
 	1044_gazebo-classic_plane_lidar
+	1045_gazebo-classic_quadtailsitter
 	1060_gazebo-classic_rover
 	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -20,6 +20,7 @@
 param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
 
 param set UAVCAN_ENABLE 0
+param set-default VT_B_TRANS_DUR 5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0

ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter

@@ -31,3 +31,4 @@ param set-default CA_SV_CS1_TYPE 6
 param set-default MAV_TYPE 19
 param set-default VT_TYPE 0
 param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_B_TRANS_DUR 5

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -34,9 +34,7 @@ param set-default CA_ROTOR3_PX -0.25
 param set-default CA_ROTOR3_PY 0.25
 param set-default CA_ROTOR3_KM -0.05
 
-param set-default PWM_AUX_FUNC1 101
-param set-default PWM_AUX_FUNC2 102
-param set-default PWM_AUX_FUNC3 103
-param set-default PWM_AUX_FUNC4 104
-param set-default PWM_AUX_TIM0 -4
-
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104

ROMFS/px4fmu_common/init.d/rcS

@@ -254,6 +254,8 @@ else
 	#
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q
+	rgbled_lp5562 start -X -q
+	rgbled_is31fl3195 start -X -q
 
 	#
 	# Override parameters from user configuration file.

Tools/auterion/remote_update_fmu.sh

@@ -0,0 +1,115 @@
+#!/bin/bash
+# Flash PX4 to a device running AuterionOS in the local network
+if [ "$1" == "-h" ] || [ "$1" == "--help" ] || [ $# -lt 2 ]; then
+	echo "Usage: $0 -f <firmware.px4|.elf> [-c <configuration_dir>] -d <IP/Device> [-u <user>] [-p <ssh_port>] [--revert]"
+	exit 1
+fi
+
+ssh_port=22
+ssh_user=root
+
+while getopts ":f:c:d:p:u:r" opt; do
+	case ${opt} in
+		f )
+			if [ -n "$OPTARG" ]; then
+				firmware_file="$OPTARG"
+			else
+				echo "ERROR: -f requires a non-empty option argument."
+				exit 1
+			fi
+			;;
+		c )
+			if [ -f "$OPTARG/rc.autostart" ]; then
+				config_dir="$OPTARG"
+			else
+				echo "ERROR: -c configuration directory is empty or does not contain a valid rc.autostart"
+				exit 1
+			fi
+			;;
+		d )
+			if [ "$OPTARG" ]; then
+				device="$OPTARG"
+			else
+				echo "ERROR: -d requires a non-empty option argument."
+				exit 1
+			fi
+			;;
+		p )
+			if [[ "$OPTARG" =~ ^[0-9]+$ ]]; then
+				ssh_port="$OPTARG"
+			else
+				echo "ERROR: -p ssh_port must be a number."
+				exit 1
+			fi
+			;;
+		u )
+			if [ "$OPTARG" ]; then
+				ssh_user="$OPTARG"
+			else
+				echo "ERROR: -u requires a non-empty option argument."
+				exit 1
+			fi
+			;;
+		r )
+			revert=true
+			;;
+	esac
+done
+
+if [ -z "$device" ]; then
+	echo "Error: missing device"
+	exit 1
+fi
+
+target_dir=/shared_container_dir/fmu
+target_file_name="update-dev.tar"
+
+if [ "$revert" == true ]; then
+	# revert to the release version which was originally deployed
+	cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
+	ssh -t -p $ssh_port $ssh_user@$device "$cmd"
+else
+	# create custom update-dev.tar
+	tmp_dir="$(mktemp -d)"
+	config_path=""
+	firmware_path=""
+
+	if [ -d "$config_dir" ]; then
+		cp -r "$config_dir" "$tmp_dir/config"
+		config_path=config
+	fi
+
+	if [ -f "$firmware_file" ]; then
+		extension="${firmware_file##*.}"
+		cp "$firmware_file" "$tmp_dir/firmware.$extension"
+		if [ "$extension" == "elf" ]; then
+			# ensure the file is stripped to reduce file size
+			arm-none-eabi-strip "$tmp_dir/firmware.$extension"
+		fi
+		firmware_path="firmware.$extension"
+	fi
+
+	pushd "$tmp_dir" &>/dev/null
+
+	if [ -z $firmware_path ] && [ -z $config_path ]; then
+		exit 1
+	fi
+
+	tar_name="tar"
+
+	if [ -x "$(command -v gtar)" ]; then
+		# check if gnu-tar is installed on macOS and use that instead
+		tar_name="gtar"
+	fi
+
+	$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path
+
+	# send it to the target to start flashing
+	scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
+	popd &>/dev/null
+	rm -rf "$tmp_dir"
+fi
+
+# grab status output for flashing progress
+cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
+ssh -t -p $ssh_port $ssh_user@$device "$cmd"

Tools/auterion/upload_skynode.sh

@@ -0,0 +1,51 @@
+#!/usr/bin/env bash
+
+DIR="$(dirname $(readlink -f $0))"
+DEFAULT_AUTOPILOT_HOST=10.41.1.1
+DEFAULT_AUTOPILOT_PORT=33333
+DEFAULT_AUTOPILOT_USER=auterion
+
+for i in "$@"
+do
+    case $i in
+        --file=*)
+        PX4_BINARY_FILE="${i#*=}"
+        ;;
+        --default-ip=*)
+        DEFAULT_AUTOPILOT_HOST="${i#*=}"
+        ;;
+        --default-port=*)
+        DEFAULT_AUTOPILOT_PORT="${i#*=}"
+        ;;
+        --default-user=*)
+        DEFAULT_AUTOPILOT_USER="${i#*=}"
+        ;;
+        --revert)
+        REVERT_AUTOPILOT_ARGUMENT=-r
+        ;;
+        --wifi)
+        DEFAULT_AUTOPILOT_HOST=10.41.0.1
+        ;;
+        *)
+            # unknown option
+        ;;
+    esac
+done
+
+# allow these to be overridden
+[ -z "$AUTOPILOT_HOST" ] && AUTOPILOT_HOST=$DEFAULT_AUTOPILOT_HOST
+[ -z "$AUTOPILOT_PORT" ] && AUTOPILOT_PORT=$DEFAULT_AUTOPILOT_PORT
+[ -z "$AUTOPILOT_USER" ] && AUTOPILOT_USER=$DEFAULT_AUTOPILOT_USER
+
+ARGUMENTS=()
+ARGUMENTS+=(-d "$AUTOPILOT_HOST")
+ARGUMENTS+=(-p "$AUTOPILOT_PORT")
+ARGUMENTS+=(-u "$AUTOPILOT_USER")
+ARGUMENTS+=(${PX4_BINARY_FILE:+-f "$PX4_BINARY_FILE"})
+ARGUMENTS+=($REVERT_AUTOPILOT_ARGUMENT)
+
+echo "Flashing $AUTOPILOT_HOST ..."
+
+"$DIR"/remote_update_fmu.sh "${ARGUMENTS[@]}"
+
+exit 0

boards/ark/fmu-v6x/default.px4board

@@ -20,6 +20,7 @@ CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y

boards/ark/fmu-v6x/init/rc.board_defaults

@@ -17,12 +17,21 @@ param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
 param set-default SENS_EN_THERMAL 1
-param set-default SENS_TEMP_ID 2818058
 param set-default SENS_IMU_TEMP 10.0
 #param set-default SENS_IMU_TEMP_FF 0.0
 #param set-default SENS_IMU_TEMP_I 0.025
 #param set-default SENS_IMU_TEMP_P 1.0
 
+if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
+then
+	param set-default SENS_TEMP_ID 2818058
+fi
+
+if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
+then
+	param set-default SENS_TEMP_ID 3014666
+fi
+
 if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
 then
 	param set-default SYS_USE_IO 0

boards/ark/fmu-v6x/init/rc.board_sensors

@@ -47,14 +47,29 @@ then
 	fi
 fi
 
-# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
-iim42652 -R 3 -s -b 1 -C 32051 start
+if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
+then
+	# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
+	iim42652 -R 3 -s -b 1 -C 32051 start
 
-# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
-icm42688p -R 9 -s -b 2 -C 32051 start
+	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+	icm42688p -R 9 -s -b 2 -C 32051 start
 
-# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
-icm42688p -R 6 -s -b 3 -C 32051 start
+	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+	icm42688p -R 6 -s -b 3 -C 32051 start
+fi
+
+if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
+then
+	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
+	iim42653 -R 3 -s -b 1 -C 32051 start
+
+	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
+	iim42653 -R 9 -s -b 2 -C 32051 start
+
+	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
+	iim42653 -R 6 -s -b 3 -C 32051 start
+fi
 
 # Internal magnetometer on I2C
 bmm150 -I start

boards/ark/fmu-v6x/src/board_config.h

@@ -211,23 +211,18 @@
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 #define HW_INFO_INIT_PREFIX    "ARKV6X"
 
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 and Rev 3,4 Sensor sets
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 8 // Rev 0 and Rev 1
 //                 Base/FMUM
-#define ARKV6X00   HW_VER_REV(0x0,0x0) // ARKV6X,                 Rev 0
-#define ARKV6X01   HW_VER_REV(0x0,0x1) // ARKV6X,     BMI388 I2C2 Rev 1
-#define ARKV6X03   HW_VER_REV(0x0,0x3) // ARKV6X,     Sensor Set  Rev 3
-#define ARKV6X04   HW_VER_REV(0x0,0x4) // ARKV6X,     Sensor Set  Rev 4
-#define ARKV6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
-#define ARKV6X13   HW_VER_REV(0x1,0x3) // NO PX4IO,   Sensor Set  Rev 3
-#define ARKV6X14   HW_VER_REV(0x1,0x4) // NO PX4IO,   Sensor Set  Rev 4
-//#define ARKV6X40   HW_VER_REV(0x4,0x0) // ARKV6X,                    HB CM4 base Rev 0 // never shipped
-//#define ARKV6X41   HW_VER_REV(0x4,0x1) // ARKV6X,     BMI388 I2C2    HB CM4 base Rev 1 // never shipped
-#define ARKV6X43   HW_VER_REV(0x4,0x3) // ARKV6X,     Sensor Set     HB CM4 base Rev 3
-#define ARKV6X44   HW_VER_REV(0x4,0x4) // ARKV6X,     Sensor Set     HB CM4 base Rev 4
-#define ARKV6X50   HW_VER_REV(0x5,0x0) // ARKV6X, ARKV6X Rev 0 with HB Mini Rev 5
-//#define ARKV6X51   HW_VER_REV(0x5,0x1) // ARKV6X,     BMI388 I2C2    HB Mini Rev 1 // never shipped
-#define ARKV6X53   HW_VER_REV(0x5,0x3) // ARKV6X,     Sensor Set     HB Mini Rev 3
-#define ARKV6X54   HW_VER_REV(0x5,0x4) // ARKV6X,     Sensor Set     HB Mini Rev 4
+#define ARKV6X00   HW_VER_REV(0x0,0x0) // ARKV6X,     Sensor Set  Rev 0
+#define ARKV6X01   HW_VER_REV(0x0,0x1) // ARKV6X,     Sensor Set  Rev 1
+//#define ARKV6X03   HW_VER_REV(0x0,0x3) // ARKV6X,     Sensor Set  Rev 3
+//#define ARKV6X04   HW_VER_REV(0x0,0x4) // ARKV6X,     Sensor Set  Rev 4
+#define ARKV6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,   Sensor Set  Rev 0
+#define ARKV6X11   HW_VER_REV(0x1,0x1) // NO PX4IO,   Sensor Set  Rev 1
+#define ARKV6X40   HW_VER_REV(0x4,0x0) // ARKV6X,     Sensor Set  Rev 0   HB CM4 base Rev 3
+#define ARKV6X41   HW_VER_REV(0x4,0x1) // ARKV6X,     Sensor Set  Rev 1   HB CM4 base Rev 4
+#define ARKV6X50   HW_VER_REV(0x5,0x0) // ARKV6X,     Sensor Set  Rev 0   HB Mini Rev 5
+#define ARKV6X51   HW_VER_REV(0x5,0x1) // ARKV6X,     Sensor Set  Rev 1   HB Mini Rev 1 // never shipped
 
 #define UAVCAN_NUM_IFACES_RUNTIME  1
 

boards/ark/fmu-v6x/src/manifest.c

@@ -160,21 +160,14 @@ static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
 
 static px4_hw_mft_list_entry_t mft_lists[] = {
 //  ver_rev
-	{ARKV6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
-	{ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
-	{ARKV6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
-	//{ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, //                       HB CM4 base           // never shipped
-	//{ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2  HB CM4 base           // never shipped
-	{ARKV6X43, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3
-	{ARKV6X44, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4
-	{ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X Rev 0 with HB Mini Rev 5
-	//{ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2  HB Mini               // never shipped
-	{ARKV6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
-	{ARKV6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
-	{ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
-	{ARKV6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
-	{ARKV6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
-	{ARKV6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4
+	{ARKV6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X,     Sensor Set  Rev 0
+	{ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X,     Sensor Set  Rev 1
+	{ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO,   Sensor Set  Rev 0
+	{ARKV6X11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO,   Sensor Set  Rev 1
+	{ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X,     Sensor Set  Rev 0   HB CM4 base Rev 3
+	{ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X,     Sensor Set  Rev 1   HB CM4 base Rev 4
+	{ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X,     Sensor Set  Rev 0   HB Mini Rev 5
+	{ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X,     Sensor Set  Rev 1   HB Mini Rev 1 // never shipped
 };
 
 /************************************************************************************

boards/ark/fmu-v6x/src/spi.cpp

@@ -59,7 +59,30 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
-	initSPIHWVersion(ARKV6X01, { // Placeholder
+	initSPIHWVersion(ARKV6X01, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		}, {GPIO::PortF, GPIO::Pin4}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
+		initSPIBus(SPI::Bus::SPI5, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+		}),
+	}),
+
+	initSPIHWVersion(ARKV6X10, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
@@ -81,6 +104,121 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
 		}),
 	}),
+
+	initSPIHWVersion(ARKV6X11, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		}, {GPIO::PortF, GPIO::Pin4}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
+		initSPIBus(SPI::Bus::SPI5, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+		}),
+	}),
+
+	initSPIHWVersion(ARKV6X40, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		}, {GPIO::PortF, GPIO::Pin4}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
+		initSPIBus(SPI::Bus::SPI5, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+		}),
+	}),
+
+	initSPIHWVersion(ARKV6X41, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		}, {GPIO::PortF, GPIO::Pin4}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
+		initSPIBus(SPI::Bus::SPI5, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+		}),
+	}),
+
+	initSPIHWVersion(ARKV6X50, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		}, {GPIO::PortF, GPIO::Pin4}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
+		initSPIBus(SPI::Bus::SPI5, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+		}),
+	}),
+
+	initSPIHWVersion(ARKV6X51, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		}, {GPIO::PortF, GPIO::Pin4}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
+		initSPIBus(SPI::Bus::SPI5, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+		}),
+	}),
 };
 
 static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);

boards/bitcraze/crazyflie/src/board_config.h

@@ -140,15 +140,7 @@
 
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
-#define PWM_MOTOR_OFF	0
-#define PWM_SERVO_STOP	0
-#define PWM_DEFAULT_MIN 20
-#define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
-#define PWM_DEFAULT_MAX 255
-#define PWM_LOWEST_MAX 255
-#define PWM_DEFAULT_TRIM 1500
-
 
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */

boards/bitcraze/crazyflie21/src/board_config.h

@@ -141,15 +141,7 @@
 
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
-#define PWM_MOTOR_OFF	0
-#define PWM_SERVO_STOP	0
-#define PWM_DEFAULT_MIN 20
-#define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
-#define PWM_DEFAULT_MAX 255
-#define PWM_LOWEST_MAX 255
-#define PWM_DEFAULT_TRIM 1500
-
 
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */

boards/cubepilot/cubeorangeplus/init/rc.board_sensors

@@ -8,16 +8,22 @@ board_adc start
 # 1. Isolated {ICM42688p, ICM20948(with mag)}, body-fixed {ICM20649}
 # 2. Isolated {ICM42688p, ICM42688p}, body-fixed  {ICM20649, ICM45686, AK09918}
 # 3. Isolated {ICM42688p, ICM42688p}, body-fixed  {ICM45686, AK09918}
+# 4. Isolated {ICM45686, ICM45686}, body-fixed  {ICM45686, AK09918}
 
 # SPI4 is isolated, SPI1 is body-fixed
 
 # SPI4, isolated
 ms5611 -s -b 4 start
 
-icm42688p -s -b 4 -R 10 start -c 15
-if ! icm20948 -s -b 4 -R 10 -M -q start
+if icm42688p -s -b 4 -R 10 -q start -c 15
 then
-	icm42688p -s -b 4 -R 6 start -c 13
+	if ! icm20948 -s -b 4 -R 10 -M -q start
+	then
+		icm42688p -s -b 4 -R 6 start -c 13
+	fi
+else
+	icm45686 -s -b 4 -R 10 start -c 15
+	icm45686 -s -b 4 -R 6 start -c 13
 fi
 
 # SPI1, body-fixed

boards/cubepilot/cubeorangeplus/src/spi.cpp

@@ -49,7 +49,9 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI4, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin4}),  // MPU_EXT_CS
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, 	SPI::CS{GPIO::PortC, GPIO::Pin14}), // BARO_EXT_CS
 	}),
 };

boards/nxp/fmuk66-e/default.px4board

@@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
+CONFIG_DRIVERS_UWB_UWB_SR150=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y

boards/nxp/fmurt1062-v1/default.px4board

@@ -22,7 +22,7 @@ CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_COMMON_UWB=y
+CONFIG_DRIVERS_UWB_UWB_SR150=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y

boards/nxp/mr-canhubk3/fmu.px4board

@@ -1,20 +1,25 @@
 # CONFIG_BOARD_ROMFSROOT is not set
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_COMMON_LIGHT=y
 CONFIG_CYPHAL_BMS_SUBSCRIBER=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_CYPHAL=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_EXAMPLES_FAKE_GPS=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_ESC_BATTERY=y

boards/nxp/mr-canhubk3/init/rc.board_defaults

@@ -17,6 +17,17 @@ param set-default MAV_1_UDP_PRT 14550
 param set-default SENS_EXT_I2C_PRB 0
 param set-default CYPHAL_ENABLE 0
 
+if ver hwtypecmp MR-CANHUBK3-ADAP
+then
+	param set-default GPS_1_CONFIG 202
+	param set-default RC_PORT_CONFIG 104
+	param set-default SENS_INT_BARO_EN 0
+	param set-default SYS_HAS_BARO 0
+	# MR-CANHUBK3-ADAP voltage divider
+	param set-default BAT1_V_DIV 13.158
+	safety_button start
+fi
+
 if param greater -s UAVCAN_ENABLE 0
 then
 	ifup can0

boards/nxp/mr-canhubk3/init/rc.board_sensors

@@ -2,22 +2,31 @@
 #
 # NXP MR-CANHUBK3 specific board sensors init
 #------------------------------------------------------------------------------
+if ver hwtypecmp MR-CANHUBK3-ADAP
+then
+	icm42688p -c 2 -b 3 -R 0 -S -f 15000 start
+	# Internal magnetometer on I2c on ADAP
+	bmm150 -X -a 18 start
+	ist8310 -X -b 1 -R 10 start
+	# ADC for voltage input sensing
+	board_adc start
 
-#board_adc start FIXME no ADC drivers
+	# External SPI bus ICM20649
+	icm20649 -b 4 -S -R 10 start
 
-#FMUv5Xbase board orientation
+	# External SPI bus ICM42688p
+	icm42688p -c 1 -b 3 -R 10 -S -f 15000 start
+else
+	bmm150 -X start
+	# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+	ist8310 -X -b 2 -R 10 start
 
-# Internal SPI bus ICM20649
-icm20649 -s -R 6 start
+	# External SPI bus ICM20649
+	icm20649 -b 4 -S -R 6 start
 
-# Internal SPI bus ICM42688p
-icm42688p -R 6 -s start
-
-# Internal magnetometer on I2c
-bmm150 -I start
-
-# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
-ist8310 -X -b 2 -R 10 start
+	# External SPI bus ICM42688p
+	icm42688p -c 1 -b 3 -R 6 -S -f 15000 start
+fi
 
 # External compass on GPS1/I2C1 (the 3rd external bus): Drotek RTK GPS with LIS3MDL Compass
 lis3mdl -X -b 2 -R 2 start
@@ -25,5 +34,5 @@ lis3mdl -X -b 2 -R 2 start
 # Disable startup of internal baros if param is set to false
 if param compare SENS_INT_BARO_EN 1
 then
-	bmp388 -I -a 0x77 start
+	bmp388 -X -a 0x77 start
 fi

boards/nxp/mr-canhubk3/nuttx-config/include/board.h

@@ -152,6 +152,18 @@
 #define PIN_LPUART1_RX    (PIN_LPUART1_RX_3 | PIN_INPUT_PULLUP)   /* PTC6 */
 #define PIN_LPUART1_TX    PIN_LPUART1_TX_3   /* PTC7 */
 
+
+/* LPUART4 /dev/ttyS3  P8B 3X7 Pin 3 Single wire RC UART */
+
+#define PIN_LPUART4_RX    PIN_LPUART4_TX_3   /* Dummy since it's Single Wire TX-only */
+#define PIN_LPUART4_TX    PIN_LPUART4_TX_3   /* PTE11 */
+
+
+/* LPUART7 /dev/ttyS4  P8B 3X7 Pin 3 and Pin 8 */
+
+#define PIN_LPUART7_RX    (PIN_LPUART7_RX_3 | PIN_INPUT_PULLUP)   /* PTE0 */
+#define PIN_LPUART7_TX    PIN_LPUART7_TX_3   /* PTE1 */
+
 /* LPUART9   P24 UART connector */
 
 #define PIN_LPUART9_RX    (PIN_LPUART9_RX_1 | PIN_INPUT_PULLUP)   /* PTB2 */
@@ -209,7 +221,8 @@
 #define PIN_LPSPI4_PCS0   PIN_LPSPI4_PCS0_1  /* PTB8  */
 #define PIN_LPSPI4_PCS3   PIN_LPSPI4_PCS3_1  /* PTA16 */
 
-#define PIN_LPSPI4_PCS    (PIN_PTA16 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTA16 */
+#define PIN_LPSPI4_CS_P26 (PIN_PTA16 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTA16 */
+#define PIN_LPSPI4_CS_P8B (PIN_PTB8 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)   /* PTB8 */
 
 /* LPSPI5  P26 external IMU connector */
 

boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig

@@ -245,6 +245,8 @@ CONFIG_S32K3XX_LPUART13=y
 CONFIG_S32K3XX_LPUART14=y
 CONFIG_S32K3XX_LPUART1=y
 CONFIG_S32K3XX_LPUART2=y
+CONFIG_S32K3XX_LPUART4=y
+CONFIG_S32K3XX_LPUART7=y
 CONFIG_S32K3XX_LPUART9=y
 CONFIG_S32K3XX_LPUART_INVERT=y
 CONFIG_S32K3XX_LPUART_SINGLEWIRE=y

boards/nxp/mr-canhubk3/src/CMakeLists.txt

@@ -38,6 +38,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
 		clockconfig.c
 		periphclocks.c
 		timer_config.cpp
+		hw_rev_ver_canhubk3.c
 	)
 
 	target_link_libraries(drivers_board
@@ -65,6 +66,8 @@ else()
 		spi.cpp
 		timer_config.cpp
 		s32k3xx_userleds.c
+		hw_rev_ver_canhubk3.c
+		manifest.c
 	)
 
 	target_link_libraries(drivers_board

boards/nxp/mr-canhubk3/src/board_config.h

@@ -88,7 +88,7 @@ __BEGIN_DECLS
 #define DIRECT_PWM_OUTPUT_CHANNELS  8
 
 #define RC_SERIAL_PORT          "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
+#define RC_SERIAL_SINGLEWIRE_FORCE
 #define RC_SERIAL_INVERT_RX_ONLY
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -110,6 +110,40 @@ __BEGIN_DECLS
 /* Reboot and ulog we store on a wear-level filesystem */
 #define HARDFAULT_REBOOT_PATH "/mnt/progmem/reboot"
 
+/* To detect MR-CANHUBK3-ADAP board */
+#define BOARD_HAS_HW_VERSIONING  1
+#define CANHUBK3_ADAP_DETECT     (PIN_PTA12 | GPIO_INPUT | GPIO_PULLUP)
+
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4
+ * Firmware in the adc driver. ADC1 has 32 channels, with some a/b selection overlap
+ * in the AD4-AD7 range on the same ADC.
+ *
+ * Only ADC1 is used
+ *         Bits 31:0 are ADC1 channels 31:0
+ */
+
+#define ADC1_CH(c)    (((c) & 0x1f))	/* Define ADC number Channel number */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+
+#define ADC_BATTERY_VOLTAGE_CHANNEL ADC1_CH(0)     /* BAT_VSENS        85   PTB4  ADC1_SE10 */
+#define ADC_BATTERY_CURRENT_CHANNEL ADC1_CH(1)     /* Non-existant but needed for compilation */
+
+
+/* Mask use to initialize the ADC driver */
+
+#define ADC_CHANNELS ((1 << ADC_BATTERY_VOLTAGE_CHANNEL))
+
+/* Safety Switch
+ * TBD
+ */
+#define GPIO_LED_SAFETY         (PIN_PTE26 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO)
+#define GPIO_BTN_SAFETY         (PIN_PTA11 | GPIO_INPUT | GPIO_PULLDOWN)
+
 /****************************************************************************
  * Public Data
  ****************************************************************************/

boards/nxp/mr-canhubk3/src/hw_rev_ver_canhubk3.c

@@ -0,0 +1,142 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hw_rev_ver_canhubk3.c
+ * CANHUBK3 Hardware Revision and Version ID API
+ */
+#include <drivers/drv_adc.h>
+#include <px4_arch/adc.h>
+#include <px4_platform_common/micro_hal.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <stdio.h>
+#include <board_config.h>
+
+#include <systemlib/px4_macros.h>
+
+#if defined(BOARD_HAS_HW_VERSIONING)
+
+
+#define HW_INFO_SIZE HW_INFO_VER_DIGITS + HW_INFO_REV_DIGITS
+
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+static int is_adap_connected = 0;
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: board_get_hw_type
+ *
+ * Description:
+ *   Optional returns a 0 terminated string defining the HW type.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   a 0 terminated string defining the HW type. This my be a 0 length string ""
+ *
+ ************************************************************************************/
+
+__EXPORT const char *board_get_hw_type_name()
+{
+	if (is_adap_connected) {
+		return (const char *)"MR-CANHUBK3-ADAP";
+
+	} else {
+		return (const char *)"MR-CANHUBK344";
+	}
+}
+
+/************************************************************************************
+ * Name: board_get_hw_version
+ *
+ * Description:
+ *   Optional returns a integer HW version
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   An integer value of this boards hardware version.
+ *   A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
+ *   A value of 0 is the default for boards supporting the API but not having version.
+ *
+ ************************************************************************************/
+
+__EXPORT int board_get_hw_version()
+{
+	return  0;
+}
+
+/************************************************************************************
+ * Name: board_get_hw_revision
+ *
+ * Description:
+ *   Optional returns a integer HW revision
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   An integer value of this boards hardware revision.
+ *   A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
+ *   A value of 0 is the default for boards supporting the API but not having revision.
+ *
+ ************************************************************************************/
+
+__EXPORT int board_get_hw_revision()
+{
+	return  0;
+}
+
+/************************************************************************************
+  * Name: board_determine_hw_info
+ *
+ * Description:
+ *	Uses GPIO to detect MR-CANHUBK3-ADAP
+ *
+ ************************************************************************************/
+
+int board_determine_hw_info()
+{
+	s32k3xx_pinconfig(CANHUBK3_ADAP_DETECT);
+	is_adap_connected = !s32k3xx_gpioread(CANHUBK3_ADAP_DETECT);
+	return 0;
+}
+#endif

boards/nxp/mr-canhubk3/src/i2c.cpp

@@ -34,6 +34,6 @@
 #include <px4_arch/i2c_hw_description.h>
 
 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(0)),
-	initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(1)),
+	initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(0)),
+	initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(1)),
 };

boards/nxp/mr-canhubk3/src/init.c

@@ -44,6 +44,7 @@
 #include "board_config.h"
 
 #include <px4_platform_common/init.h>
+#include <px4_platform/board_determine_hw_info.h>
 
 #if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD)
 #include <nuttx/mmcsd.h>
@@ -96,6 +97,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	int rv;
 
+	board_determine_hw_info();
+
 
 #if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD)
 	/* LPSPI1 *****************************************************************/

boards/nxp/mr-canhubk3/src/manifest.c

@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file manifest.c
+ *
+ * This module supplies the interface to the manifest of hardware that is
+ * optional and dependent on the HW REV and HW VER IDs
+ *
+ * The manifest allows the system to know whether a hardware option
+ * say for example the PX4IO is an no-pop option vs it is broken.
+ *
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <stdbool.h>
+#include <syslog.h>
+
+#include "systemlib/px4_macros.h"
+#include "px4_log.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+
+/************************************************************************************
+ * Name: board_query_manifest
+ *
+ * Description:
+ *   Optional returns manifest item.
+ *
+ * Input Parameters:
+ *   manifest_id - the ID for the manifest item to retrieve
+ *
+ * Returned Value:
+ *   0 - item is not in manifest => assume legacy operations
+ *   pointer to a manifest item
+ *
+ ************************************************************************************/
+
+__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
+{
+	return px4_hw_mft_unsupported;
+}

boards/nxp/mr-canhubk3/src/s32k3xx_bringup.c

@@ -107,6 +107,9 @@ int s32k3xx_bringup(void)
 	s32k3xx_spidev_initialize();
 #endif
 
+	s32k3xx_pinconfig(GPIO_LED_SAFETY);
+	s32k3xx_pinconfig(GPIO_BTN_SAFETY);
+
 #ifdef CONFIG_INPUT_BUTTONS
 	/* Register the BUTTON driver */
 

boards/nxp/mr-canhubk3/src/s32k3xx_periphclocks.c

@@ -168,6 +168,22 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
 		.clkgate = true,
 #else
 		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART4_CLK,
+#ifdef CONFIG_S32K3XX_LPUART4
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART7_CLK,
+#ifdef CONFIG_S32K3XX_LPUART7
+		.clkgate = true,
+#else
+		.clkgate = false,
 #endif
 	},
 	{
@@ -258,6 +274,10 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
 		.clkname = EMIOS0_CLK,
 		.clkgate = true,
 	},
+	{
+		.clkname = ADC2_CLK,
+		.clkgate = true,
+	}
 };
 
 unsigned int const num_of_peripheral_clocks_0 =

boards/nxp/mr-canhubk3/src/spi.cpp

@@ -70,11 +70,12 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI3, { // SPI3 is ignored only used for FS26 by a NuttX driver
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin17})
 	}),
-	initSPIBus(SPI::Bus::SPI4, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin16}, SPI::DRDY{PIN_WKPU20})
+	initSPIBusExternal(SPI::Bus::SPI4, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin16}, SPI::DRDY{PIN_WKPU20}),
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin8}, SPI::DRDY{PIN_WKPU56})
 	}),
-	initSPIBus(SPI::Bus::SPI5, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortA, GPIO::Pin14}, SPI::DRDY{PIN_WKPU4})
+	initSPIBusExternal(SPI::Bus::SPI5, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin14}, SPI::DRDY{PIN_WKPU4})
 	}),
 };
 
@@ -337,7 +338,14 @@ void s32k3xx_lpspi4select(FAR struct spi_dev_s *dev, uint32_t devid,
 	spiinfo("devid: %" PRId32 ", CS: %s\n", devid,
 		selected ? "assert" : "de-assert");
 
-	s32k3xx_gpiowrite(PIN_LPSPI4_PCS, !selected);
+	devid = ((devid) & 0xF);
+
+	if (devid == 0) {
+		s32k3xx_gpiowrite(PIN_LPSPI4_CS_P26, !selected);
+
+	} else if (devid == 1) {
+		s32k3xx_gpiowrite(PIN_LPSPI4_CS_P8B, !selected);
+	}
 }
 
 uint8_t s32k3xx_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid)

boards/nxp/ucans32k146/default.px4board

@@ -13,6 +13,7 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_DRIVERS_UWB_UWB_SR150=y
 CONFIG_UAVCANNODE_ARMING_STATUS=y
 CONFIG_UAVCANNODE_BEEP_COMMAND=y
 CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y

boards/px4/fmu-v5/test.px4board

@@ -10,3 +10,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n

boards/px4/fmu-v5x/cmake/upload.cmake

@@ -0,0 +1,49 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+
+set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
+
+add_custom_target(upload_skynode_usb
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)
+
+add_custom_target(upload_skynode_wifi
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)

boards/px4/fmu-v6x/cmake/upload.cmake

@@ -0,0 +1,49 @@
+############################################################################
+#
+#   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+
+set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
+
+add_custom_target(upload_skynode_usb
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)
+
+add_custom_target(upload_skynode_wifi
+	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
+	DEPENDS ${PX4_FW_NAME}
+	COMMENT "Uploading PX4"
+	USES_TERMINAL
+)

boards/px4/fmu-v6x/default.px4board

@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
+CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
@@ -41,6 +42,7 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y

boards/px4/fmu-v6x/init/rc.board_sensors

@@ -102,13 +102,8 @@ if ver hwtypecmp V6X002001
 then
 	rm3100 -I -b 4 start
 else
-	if ver hwtypecmp V6X009010 V6X010010
-	then
-		# Internal magnetometer on I2C
-		bmm150 -I -R 0 start
-	else
-		bmm150 -I -R 6 start
-	fi
+	# Internal magnetometer on I2C
+	bmm150 -I -R 0 start
 fi
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)

boards/px4/raspberrypi/cmake/upload.cmake

@@ -38,7 +38,7 @@ else()
 endif()
 
 add_custom_target(upload
-	COMMAND rsync -arh --progress
+	COMMAND rsync -arh --progress -e "ssh -o StrictHostKeyChecking=no"
 			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_BINARY_DIR}/etc # source
 			pi@${AUTOPILOT_HOST}:/home/pi/px4 # destination
 	DEPENDS px4

boards/px4/raspberrypi/default.px4board

@@ -4,15 +4,15 @@ CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a53"
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_ADC_ADS1115=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_COMMON_IMU=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_RPI_RC_IN=y

msg/CMakeLists.txt

@@ -174,6 +174,7 @@ set(msg_files
 	SensorSelection.msg
 	SensorsStatus.msg
 	SensorsStatusImu.msg
+	SensorUwb.msg
 	SystemPower.msg
 	TakeoffStatus.msg
 	TaskStackInfo.msg
@@ -190,8 +191,6 @@ set(msg_files
 	UavcanParameterValue.msg
 	UlogStream.msg
 	UlogStreamAck.msg
-	UwbDistance.msg
-	UwbGrid.msg
 	VehicleAcceleration.msg
 	VehicleAirData.msg
 	VehicleAngularAccelerationSetpoint.msg

msg/SensorUwb.msg

@@ -0,0 +1,34 @@
+# UWB distance contains the distance information measured by an ultra-wideband positioning system,
+# such as Pozyx or NXP Rddrone.
+
+uint64 	timestamp		# time since system start (microseconds)
+
+uint32 	sessionid		# UWB SessionID
+uint32 	time_offset		# Time between Ranging Rounds in ms
+uint32 	counter			# Number of Ranges since last Start of Ranging
+uint16 	mac			# MAC adress of Initiator (controller)
+
+uint16 	mac_dest		# MAC adress of Responder (Controlee)
+uint16 	status			# status feedback #
+uint8 	nlos			# None line of site condition y/n
+float32 distance		# distance in m to the UWB receiver
+
+
+#Angle of arrival, Angle in Degree -60..+60; FOV in both axis is 120 degrees
+float32 aoa_azimuth_dev	# Angle of arrival of first incomming RX msg
+float32 aoa_elevation_dev	# Angle of arrival of first incomming RX msg
+float32 aoa_azimuth_resp	# Angle of arrival of first incomming RX msg at the responder
+float32 aoa_elevation_resp	# Angle of arrival of first incomming RX msg at the responder
+
+# Figure of merit for the angle measurements
+uint8 aoa_azimuth_fom		# AOA Azimuth FOM
+uint8 aoa_elevation_fom		# AOA Elevation FOM
+uint8 aoa_dest_azimuth_fom	# AOA Azimuth FOM
+uint8 aoa_dest_elevation_fom	# AOA Elevation FOM
+
+# Initiator physical configuration
+uint8 orientation		# Direction the sensor faces from MAV_SENSOR_ORIENTATION enum
+				# Standard configuration is Antennas facing down and azimuth aligened in forward direction
+float32 offset_x		# UWB initiator offset in X axis (NED drone frame)
+float32 offset_y		# UWB initiator offset in Y axis (NED drone frame)
+float32 offset_z		# UWB initiator offset in Z axis (NED drone frame)

msg/UwbDistance.msg

@@ -1,15 +0,0 @@
-# UWB distance contains the distance information measured by an ultra-wideband positioning system,
-# such as Pozyx or NXP Rddrone.
-
-uint64 	timestamp		# time since system start (microseconds)
-uint32 	time_uwb_ms		# Time of UWB device in ms
-uint32 	counter			# Number of Ranges since last Start of Ranging
-uint32 	sessionid		# UWB SessionID
-uint32 	time_offset		# Time between Ranging Rounds in ms
-uint16 	status			# status feedback #
-
-uint16[12] anchor_distance	# distance in cm to each UWB Anchor (UWB Device which takes part in Ranging)
-bool[12] nlos			# Visual line of sight yes/no
-float32[12] aoafirst		# Angle of arrival of first incoming RX msg
-
-float32[3] position		# Position of the Landing point in relation to the Drone (x,y,z in Meters NED)

msg/UwbGrid.msg

@@ -1,25 +0,0 @@
-# UWB report message contains the grid information measured by an ultra-wideband positioning system,
-# such as Pozyx or NXP Rddrone.
-
-uint64 	timestamp	# time since system start (microseconds)
-uint16 	initator_time	# time to synchronize clocks (microseconds)
-uint8 	num_anchors	# Number of anchors
-
-float64[4] target_gps	# GPS position of target of the UWB system (Lat / Lon / Alt / Yaw Offset to true North)
-
-# Grid position information
-# Position in x,y,z in  (x,y,z in centimeters NED)
-# staring with POI and Anchor 0 up to Anchor 11
-int16[3] target_pos 	# Point of Interest, mostly landing Target x,y,z
-int16[3] anchor_pos_0
-int16[3] anchor_pos_1
-int16[3] anchor_pos_2
-int16[3] anchor_pos_3
-int16[3] anchor_pos_4
-int16[3] anchor_pos_5
-int16[3] anchor_pos_6
-int16[3] anchor_pos_7
-int16[3] anchor_pos_8
-int16[3] anchor_pos_9
-int16[3] anchor_pos_10
-int16[3] anchor_pos_11

platforms/common/include/px4_platform_common/board_common.h

@@ -440,6 +440,8 @@ __BEGIN_DECLS
 
 #if defined(RC_SERIAL_SINGLEWIRE)
 static inline bool board_rc_singlewire(const char *device) { return strcmp(device, RC_SERIAL_PORT) == 0; }
+#elif defined(RC_SERIAL_SINGLEWIRE_FORCE)
+static inline bool board_rc_singlewire(const char *device) { return true; }
 #else
 static inline bool board_rc_singlewire(const char *device) { return false; }
 #endif

platforms/nuttx/NuttX/nuttx

@@ -1 +1 @@
-Subproject commit 3f77354c0dc88793a47ff3b57595195ab45f7ba9
+Subproject commit de41e7feaeffaec3ce65327e9569e8fdb553ca3d

platforms/nuttx/src/px4/nxp/s32k3xx/adc/adc.cpp

@@ -38,144 +38,76 @@
 
 #include <nuttx/analog/adc.h>
 
-#include <hardware/s32k1xx_sim.h>
-
-//todo S32K add ADC fior now steal the kinetis one
-#include <kinetis.h>
-#include <hardware/kinetis_adc.h>
-
-
-#define _REG(_addr)	(*(volatile uint32_t *)(_addr))
-
-/* ADC register accessors */
-
-#define REG(a, _reg)	_REG(KINETIS_ADC##a##_BASE + (_reg))
-
-#define rSC1A(adc)  REG(adc, KINETIS_ADC_SC1A_OFFSET) /* ADC status and control registers 1 */
-#define rSC1B(adc)  REG(adc, KINETIS_ADC_SC1B_OFFSET) /* ADC status and control registers 1 */
-#define rCFG1(adc)  REG(adc, KINETIS_ADC_CFG1_OFFSET) /* ADC configuration register 1 */
-#define rCFG2(adc)  REG(adc, KINETIS_ADC_CFG2_OFFSET) /* Configuration register 2 */
-#define rRA(adc)    REG(adc, KINETIS_ADC_RA_OFFSET)   /* ADC data result register */
-#define rRB(adc)    REG(adc, KINETIS_ADC_RB_OFFSET)   /* ADC data result register */
-#define rCV1(adc)   REG(adc, KINETIS_ADC_CV1_OFFSET)  /* Compare value registers */
-#define rCV2(adc)   REG(adc, KINETIS_ADC_CV2_OFFSET)  /* Compare value registers */
-#define rSC2(adc)   REG(adc, KINETIS_ADC_SC2_OFFSET)  /* Status and control register 2 */
-#define rSC3(adc)   REG(adc, KINETIS_ADC_SC3_OFFSET)  /* Status and control register 3 */
-#define rOFS(adc)   REG(adc, KINETIS_ADC_OFS_OFFSET)  /* ADC offset correction register */
-#define rPG(adc)    REG(adc, KINETIS_ADC_PG_OFFSET)   /* ADC plus-side gain register */
-#define rMG(adc)    REG(adc, KINETIS_ADC_MG_OFFSET)   /* ADC minus-side gain register */
-#define rCLPD(adc)  REG(adc, KINETIS_ADC_CLPD_OFFSET) /* ADC plus-side general calibration value register */
-#define rCLPS(adc)  REG(adc, KINETIS_ADC_CLPS_OFFSET) /* ADC plus-side general calibration value register */
-#define rCLP4(adc)  REG(adc, KINETIS_ADC_CLP4_OFFSET) /* ADC plus-side general calibration value register */
-#define rCLP3(adc)  REG(adc, KINETIS_ADC_CLP3_OFFSET) /* ADC plus-side general calibration value register */
-#define rCLP2(adc)  REG(adc, KINETIS_ADC_CLP2_OFFSET) /* ADC plus-side general calibration value register */
-#define rCLP1(adc)  REG(adc, KINETIS_ADC_CLP1_OFFSET) /* ADC plus-side general calibration value register */
-#define rCLP0(adc)  REG(adc, KINETIS_ADC_CLP0_OFFSET) /* ADC plus-side general calibration value register */
-#define rCLMD(adc)  REG(adc, KINETIS_ADC_CLMD_OFFSET) /* ADC minus-side general calibration value register */
-#define rCLMS(adc)  REG(adc, KINETIS_ADC_CLMS_OFFSET) /* ADC minus-side general calibration value register */
-#define rCLM4(adc)  REG(adc, KINETIS_ADC_CLM4_OFFSET) /* ADC minus-side general calibration value register */
-#define rCLM3(adc)  REG(adc, KINETIS_ADC_CLM3_OFFSET) /* ADC minus-side general calibration value register */
-#define rCLM2(adc)  REG(adc, KINETIS_ADC_CLM2_OFFSET) /* ADC minus-side general calibration value register */
-#define rCLM1(adc)  REG(adc, KINETIS_ADC_CLM1_OFFSET) /* ADC minus-side general calibration value register */
-#define rCLM0(adc)  REG(adc, KINETIS_ADC_CLM0_OFFSET) /* ADC minus-side general calibration value register */
+#include <hardware/s32k3xx_adc.h>
+#include <hardware/s32k344_pinmux.h>
 
 int px4_arch_adc_init(uint32_t base_address)
 {
-	/* Input is Buss Clock 56 Mhz We will use /8 for 7 Mhz */
+	uint32_t regval;
 
-	irqstate_t flags = px4_enter_critical_section();
+	/* Configure and perform calibration */
+	putreg32(ADC_MCR_ADCLKSEL_DIV4, S32K3XX_ADC2_MCR);
 
-	_REG(KINETIS_SIM_SCGC3) |= SIM_SCGC3_ADC1;
-	rCFG1(1) = ADC_CFG1_ADICLK_BUSCLK | ADC_CFG1_MODE_1213BIT | ADC_CFG1_ADIV_DIV8;
-	rCFG2(1) = 0;
-	rSC2(1) = ADC_SC2_REFSEL_DEFAULT;
+	regval = getreg32(S32K3XX_ADC2_AMSIO);
+	regval |= ADC_AMSIO_HSEN_MASK;
+	putreg32(regval, S32K3XX_ADC2_AMSIO);
 
-	px4_leave_critical_section(flags);
+	regval = getreg32(S32K3XX_ADC2_CAL2);
+	regval &= ~ADC_CAL2_ENX;
+	putreg32(regval, S32K3XX_ADC2_CAL2);
 
-	/* Clear the CALF and begin the calibration */
+	regval = getreg32(S32K3XX_ADC2_CALBISTREG);
+	regval &= ~(ADC_CALBISTREG_TEST_EN | ADC_CALBISTREG_AVG_EN | ADC_CALBISTREG_NR_SMPL_MASK |
+		    ADC_CALBISTREG_CALSTFUL | ADC_CALBISTREG_TSAMP_MASK | ADC_CALBISTREG_RESN_MASK);
+	regval |= ADC_CALBISTREG_TEST_EN | ADC_CALBISTREG_AVG_EN | ADC_CALBISTREG_NR_SMPL_4SMPL |
+		  ADC_CALBISTREG_CALSTFUL | ADC_CALBISTREG_RESN_14BIT;
+	putreg32(regval, S32K3XX_ADC2_CALBISTREG);
 
-	rSC3(1) = ADC_SC3_CAL | ADC_SC3_CALF;
+	while (getreg32(S32K3XX_ADC2_CALBISTREG) & ADC_CALBISTREG_C_T_BUSY) {};
 
-	while ((rSC1A(1) & ADC_SC1_COCO) == 0) {
-		usleep(100);
+	putreg32(ADC_MCR_PWDN, S32K3XX_ADC2_MCR);
 
-		if (rSC3(1) & ADC_SC3_CALF) {
-			return -1;
-		}
-	}
+	putreg32(22, S32K3XX_ADC2_CTR0);
 
-	/* dummy read to clear COCO of calibration */
+	putreg32(22, S32K3XX_ADC2_CTR1);
 
-	int32_t r = rRA(1);
+	putreg32(0, S32K3XX_ADC2_DMAE);
 
-	/* Check the state of CALF at the end of calibration */
+	putreg32(ADC_MCR_ADCLKSEL_DIV4 | ADC_MCR_AVGS_32CONV | ADC_MCR_AVGEN | ADC_MCR_BCTU_MODE | ADC_MCR_MODE,
+		 S32K3XX_ADC2_MCR);
 
-	if (rSC3(1) & ADC_SC3_CALF) {
-		return -1;
-	}
+	putreg32(0x10, S32K3XX_ADC2_NCMR0);
 
-	/* Calculate the calibration values for single ended positive */
+	putreg32(0x10, S32K3XX_ADC2_NCMR1);
 
-	r = rCLP0(1) + rCLP1(1)  + rCLP2(1)  + rCLP3(1)  + rCLP4(1)  + rCLPS(1) ;
-	r = 0x8000U | (r >> 1U);
-	rPG(1) = r;
+	regval = getreg32(S32K3XX_ADC2_MCR);
 
-	/* Calculate the calibration values for double ended Negitive */
+	regval |= ADC_MCR_NSTART;
 
-	r = rCLM0(1) + rCLM1(1)  + rCLM2(1)  + rCLM3(1)  + rCLM4(1)  + rCLMS(1) ;
-	r = 0x8000U | (r >> 1U);
-	rMG(1) = r;
-
-	/* kick off a sample and wait for it to complete */
-	hrt_abstime now = hrt_absolute_time();
-
-	rSC1A(1) =  ADC_SC1_ADCH(ADC_SC1_ADCH_TEMP);
-
-	while (!(rSC1A(1) & ADC_SC1_COCO)) {
-
-		/* don't wait for more than 500us, since that means something broke - should reset here if we see this */
-		if ((hrt_absolute_time() - now) > 500) {
-			return -1;
-		}
-	}
+	putreg32(regval, S32K3XX_ADC2_MCR);
 
 	return 0;
 }
 
 void px4_arch_adc_uninit(uint32_t base_address)
 {
-	irqstate_t flags = px4_enter_critical_section();
-	_REG(KINETIS_SIM_SCGC3) &= ~SIM_SCGC3_ADC1;
-	px4_leave_critical_section(flags);
 }
 
 uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
 {
-	irqstate_t flags = px4_enter_critical_section();
+	uint32_t result = 0;
 
-	/* clear any previous COCC */
-	rRA(1);
+	if (channel == 0) {
+		result = getreg32(S32K3XX_ADC2_PCDR4);
 
-	/* run a single conversion right now - should take about 35 cycles (5 microseconds) max */
-	rSC1A(1) = ADC_SC1_ADCH(channel);
+		if ((result & ADC_PCDR_VALID) == ADC_PCDR_VALID) {
+			result = result & 0xFFFF;
 
-	/* wait for the conversion to complete */
-	const hrt_abstime now = hrt_absolute_time();
-
-	while (!(rSC1A(1) & ADC_SC1_COCO)) {
-
-		/* don't wait for more than 10us, since that means something broke - should reset here if we see this */
-		if ((hrt_absolute_time() - now) > 10) {
-			px4_leave_critical_section(flags);
-			return 0xffff;
+		} else {
+			result = 0;
 		}
 	}
 
-	/* read the result and clear EOC */
-	uint32_t result = rRA(1);
-
-	px4_leave_critical_section(flags);
-
 	return result;
 }
 
@@ -186,10 +118,10 @@ float px4_arch_adc_reference_v()
 
 uint32_t px4_arch_adc_temp_sensor_mask()
 {
-	return 1 << (ADC_SC1_ADCH_TEMP >> ADC_SC1_ADCH_SHIFT);
+	return 0; // No temp sensor
 }
 
 uint32_t px4_arch_adc_dn_fullcount()
 {
-	return 1 << 12; // 12 bit ADC
+	return 1 << 15; // 15 bit conversion data
 }

src/drivers/actuators/modal_io/modal_io.cpp

@@ -48,7 +48,6 @@ const char *_device;
 
 ModalIo::ModalIo() :
 	OutputModuleInterface(MODULE_NAME, px4::serial_port_to_wq(MODAL_IO_DEFAULT_PORT)),
-	_mixing_output{"MODAL_IO", MODAL_IO_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false},
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
 	_output_update_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": output update interval"))
 {

src/drivers/actuators/modal_io/modal_io.hpp

@@ -174,7 +174,7 @@ private:
 	} led_rsc_t;
 
 	ch_assign_t		_output_map[MODAL_IO_OUTPUT_CHANNELS] {{1, 1}, {2, 1}, {3, 1}, {4, 1}};
-	MixingOutput 		_mixing_output;
+	MixingOutput _mixing_output{"MODAL_IO", MODAL_IO_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 
 	perf_counter_t		_cycle_perf;
 	perf_counter_t		_output_update_perf;

src/drivers/barometer/invensense/icp201xx/ICP201XX.cpp

@@ -250,7 +250,7 @@ ICP201XX::RunImpl()
 	case STATE::CONFIG: {
 			if (configure()) {
 				_state = STATE::WAIT_READ;
-				ScheduleDelayed(10_ms);
+				ScheduleDelayed(30_ms);
 
 			} else {
 				if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {

src/drivers/drv_pwm_output.h

@@ -61,41 +61,11 @@ __BEGIN_DECLS
  */
 #define PWM_LOWEST_MIN 90
 
-/**
- * Default value for a shutdown motor
- */
-#define PWM_MOTOR_OFF	900
-
-/**
- * Default minimum PWM in us
- */
-#define PWM_DEFAULT_MIN 1000
-
-/**
- * Highest PWM allowed as the minimum PWM
- */
-#define PWM_HIGHEST_MIN 1600
-
 /**
  * Highest maximum PWM in us
  */
 #define PWM_HIGHEST_MAX 2500
 
-/**
- * Default maximum PWM in us
- */
-#define PWM_DEFAULT_MAX 2000
-
-/**
- * Default trim PWM in us
- */
-#define PWM_DEFAULT_TRIM 0
-
-/**
- * Lowest PWM allowed as the maximum PWM
- */
-#define PWM_LOWEST_MAX 200
-
 #endif // not PX4_PWM_ALTERNATE_RANGES
 
 /**

src/drivers/drv_sensor.h

@@ -82,6 +82,7 @@
 #define DRV_IMU_DEVTYPE_IIM42652 0x2B
 #define DRV_IMU_DEVTYPE_IAM20680HP 0x2C
 #define DRV_IMU_DEVTYPE_ICM42686P 0x2D
+#define DRV_IMU_DEVTYPE_IIM42653 0x2E
 
 #define DRV_RNG_DEVTYPE_MB12XX   0x31
 #define DRV_RNG_DEVTYPE_LL40LS   0x32
@@ -157,6 +158,8 @@
 #define DRV_LED_DEVTYPE_RGBLED        0x7a
 #define DRV_LED_DEVTYPE_RGBLED_NCP5623C 0x7b
 #define DRV_LED_DEVTYPE_RGBLED_IS31FL3195    0xbf
+#define DRV_LED_DEVTYPE_RGBLED_LP5562    0xc0
+
 #define DRV_BAT_DEVTYPE_SMBUS         0x7c
 #define DRV_SENS_DEVTYPE_IRLOCK       0x7d
 #define DRV_SENS_DEVTYPE_PCF8583      0x7e

src/drivers/dshot/DShot.h

@@ -143,7 +143,7 @@ private:
 
 	void handle_vehicle_commands();
 
-	MixingOutput _mixing_output {PARAM_PREFIX, DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
+	MixingOutput _mixing_output{PARAM_PREFIX, DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 	uint32_t _reversible_outputs{};
 
 	Telemetry *_telemetry{nullptr};

src/drivers/gps/gps.cpp

@@ -60,6 +60,7 @@
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/topics/gps_dump.h>
 #include <uORB/topics/gps_inject_data.h>
 #include <uORB/topics/sensor_gps.h>
@@ -203,7 +204,7 @@ private:
 
 	const Instance 			_instance;
 
-	uORB::Subscription		     _orb_inject_data_sub{ORB_ID(gps_inject_data)};
+	uORB::SubscriptionMultiArray<gps_inject_data_s, gps_inject_data_s::MAX_INSTANCES> _orb_inject_data_sub{ORB_ID::gps_inject_data};
 	uORB::Publication<gps_inject_data_s> _gps_inject_data_pub{ORB_ID(gps_inject_data)};
 	uORB::Publication<gps_dump_s>	     _dump_communication_pub{ORB_ID(gps_dump)};
 	gps_dump_s			     *_dump_to_device{nullptr};
@@ -530,13 +531,15 @@ void GPS::handleInjectDataTopic()
 	// If there has not been a valid RTCM message for a while, try to switch to a different RTCM link
 	if ((hrt_absolute_time() - _last_rtcm_injection_time) > 5_s) {
 
-		for (uint8_t i = 0; i < gps_inject_data_s::MAX_INSTANCES; i++) {
-			if (_orb_inject_data_sub.ChangeInstance(i)) {
-				if (_orb_inject_data_sub.copy(&msg)) {
+		for (int instance = 0; instance < _orb_inject_data_sub.size(); instance++) {
+			const bool exists = _orb_inject_data_sub[instance].advertised();
+
+			if (exists) {
+				if (_orb_inject_data_sub[instance].copy(&msg)) {
 					if ((hrt_absolute_time() - msg.timestamp) < 5_s) {
 						// Remember that we already did a copy on this instance.
 						already_copied = true;
-						_selected_rtcm_instance = i;
+						_selected_rtcm_instance = instance;
 						break;
 					}
 				}
@@ -544,9 +547,6 @@ void GPS::handleInjectDataTopic()
 		}
 	}
 
-	// Reset instance in case we didn't actually want to switch
-	_orb_inject_data_sub.ChangeInstance(_selected_rtcm_instance);
-
 	bool updated = already_copied;
 
 	// Limit maximum number of GPS injections to 8 since usually
@@ -574,7 +574,7 @@ void GPS::handleInjectDataTopic()
 			}
 		}
 
-		updated = _orb_inject_data_sub.update(&msg);
+		updated = _orb_inject_data_sub[_selected_rtcm_instance].update(&msg);
 
 	} while (updated && num_injections < max_num_injections);
 }

src/drivers/imu/adis16497/ADIS16497.cpp

@@ -342,9 +342,9 @@ ADIS16497::read_reg16(uint8_t reg)
 
 	cmd[0] = ((reg | DIR_READ) << 8) & 0xff00;
 	transferhword(cmd, nullptr, 1);
-	up_udelay(T_STALL);
+	px4_udelay(T_STALL);
 	transferhword(nullptr, cmd, 1);
-	up_udelay(T_STALL);
+	px4_udelay(T_STALL);
 
 	return cmd[0];
 }
@@ -367,9 +367,9 @@ ADIS16497::write_reg16(uint8_t reg, uint16_t value)
 	cmd[1] = (((reg + 0x1) | DIR_WRITE) << 8) | ((0xff00 & value) >> 8);
 
 	transferhword(cmd, nullptr, 1);
-	up_udelay(T_STALL);
+	px4_udelay(T_STALL);
 	transferhword(cmd + 1, nullptr, 1);
-	up_udelay(T_STALL);
+	px4_udelay(T_STALL);
 }
 
 void

src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp

@@ -33,8 +33,6 @@
 
 #include "BMI055_Gyroscope.hpp"
 
-#include <px4_platform/board_dma_alloc.h>
-
 using namespace time_literals;
 
 namespace Bosch::BMI055::Gyroscope

src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp

@@ -33,8 +33,6 @@
 
 #include "BMI088_Gyroscope.hpp"
 
-#include <px4_platform/board_dma_alloc.h>
-
 using namespace time_literals;
 
 namespace Bosch::BMI088::Gyroscope

src/drivers/imu/invensense/iim42653/CMakeLists.txt

@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__imu__invensense__iim42653
+	MAIN iim42653
+	COMPILE_FLAGS
+		${MAX_CUSTOM_OPT_LEVEL}
+		#-DDEBUG_BUILD
+	SRCS
+		iim42653_main.cpp
+		IIM42653.cpp
+		IIM42653.hpp
+		InvenSense_IIM42653_registers.hpp
+	DEPENDS
+		px4_work_queue
+		drivers_accelerometer
+		drivers_gyroscope
+	)

src/drivers/imu/invensense/iim42653/IIM42653.cpp

@@ -0,0 +1,861 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "IIM42653.hpp"
+
+using namespace time_literals;
+
+static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
+{
+	return (msb << 8u) | lsb;
+}
+
+static constexpr uint16_t combine_uint(uint8_t msb, uint8_t lsb)
+{
+	return (msb << 8u) | lsb;
+}
+
+IIM42653::IIM42653(const I2CSPIDriverConfig &config) :
+	SPI(config),
+	I2CSPIDriver(config),
+	_drdy_gpio(config.drdy_gpio),
+	_px4_accel(get_device_id(), config.rotation),
+	_px4_gyro(get_device_id(), config.rotation)
+{
+	if (config.drdy_gpio != 0) {
+		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
+	}
+
+	if (config.custom1 != 0) {
+		_enable_clock_input = true;
+		_input_clock_freq = config.custom1;
+		ConfigureCLKIN();
+
+	} else {
+		_enable_clock_input = false;
+	}
+
+	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+}
+
+IIM42653::~IIM42653()
+{
+	perf_free(_bad_register_perf);
+	perf_free(_bad_transfer_perf);
+	perf_free(_fifo_empty_perf);
+	perf_free(_fifo_overflow_perf);
+	perf_free(_fifo_reset_perf);
+	perf_free(_drdy_missed_perf);
+}
+
+int IIM42653::init()
+{
+	int ret = SPI::init();
+
+	if (ret != PX4_OK) {
+		DEVICE_DEBUG("SPI::init failed (%i)", ret);
+		return ret;
+	}
+
+	return Reset() ? 0 : -1;
+}
+
+bool IIM42653::Reset()
+{
+	_state = STATE::RESET;
+	DataReadyInterruptDisable();
+	ScheduleClear();
+	ScheduleNow();
+	return true;
+}
+
+void IIM42653::exit_and_cleanup()
+{
+	DataReadyInterruptDisable();
+	I2CSPIDriverBase::exit_and_cleanup();
+}
+
+void IIM42653::print_status()
+{
+	I2CSPIDriverBase::print_status();
+
+	PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
+	PX4_INFO("Clock input: %s", _enable_clock_input ? "enabled" : "disabled");
+
+	perf_print_counter(_bad_register_perf);
+	perf_print_counter(_bad_transfer_perf);
+	perf_print_counter(_fifo_empty_perf);
+	perf_print_counter(_fifo_overflow_perf);
+	perf_print_counter(_fifo_reset_perf);
+	perf_print_counter(_drdy_missed_perf);
+}
+
+int IIM42653::probe()
+{
+	for (int i = 0; i < 3; i++) {
+		uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
+
+		if (whoami == WHOAMI) {
+			return PX4_OK;
+
+		} else {
+			DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
+
+			uint8_t reg_bank_sel = RegisterRead(Register::BANK_0::REG_BANK_SEL);
+			int bank = reg_bank_sel >> 4;
+
+			if (bank >= 1 && bank <= 3) {
+				DEVICE_DEBUG("incorrect register bank for WHO_AM_I REG_BANK_SEL:0x%02x, bank:%d", reg_bank_sel, bank);
+				// force bank selection and retry
+				SelectRegisterBank(REG_BANK_SEL_BIT::BANK_SEL_0, true);
+			}
+		}
+	}
+
+	return PX4_ERROR;
+}
+
+void IIM42653::RunImpl()
+{
+	const hrt_abstime now = hrt_absolute_time();
+
+	switch (_state) {
+	case STATE::RESET:
+		// DEVICE_CONFIG: Software reset configuration
+		RegisterWrite(Register::BANK_0::DEVICE_CONFIG, DEVICE_CONFIG_BIT::SOFT_RESET_CONFIG);
+		_reset_timestamp = now;
+		_failure_count = 0;
+		_state = STATE::WAIT_FOR_RESET;
+		ScheduleDelayed(1_ms); // wait 1 ms for soft reset to be effective
+		break;
+
+	case STATE::WAIT_FOR_RESET:
+		if ((RegisterRead(Register::BANK_0::WHO_AM_I) == WHOAMI)
+		    && (RegisterRead(Register::BANK_0::DEVICE_CONFIG) == 0x00)
+		    && (RegisterRead(Register::BANK_0::INT_STATUS) & INT_STATUS_BIT::RESET_DONE_INT)) {
+
+			// Wakeup accel and gyro and schedule remaining configuration
+			RegisterWrite(Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE);
+			_state = STATE::CONFIGURE;
+			ScheduleDelayed(30_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data
+
+		} else {
+			// RESET not complete
+			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+				PX4_DEBUG("Reset failed, retrying");
+				_state = STATE::RESET;
+				ScheduleDelayed(100_ms);
+
+			} else {
+				PX4_DEBUG("Reset not complete, check again in 10 ms");
+				ScheduleDelayed(10_ms);
+			}
+		}
+
+		break;
+
+	case STATE::CONFIGURE:
+		if (Configure()) {
+			// if configure succeeded then reset the FIFO
+			_state = STATE::FIFO_RESET;
+			ScheduleDelayed(1_ms);
+
+		} else {
+			// CONFIGURE not complete
+			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+				PX4_DEBUG("Configure failed, resetting");
+				_state = STATE::RESET;
+
+			} else {
+				PX4_DEBUG("Configure failed, retrying");
+			}
+
+			ScheduleDelayed(100_ms);
+		}
+
+		break;
+
+	case STATE::FIFO_RESET:
+
+		_state = STATE::FIFO_READ;
+		FIFOReset();
+
+		if (DataReadyInterruptConfigure()) {
+			_data_ready_interrupt_enabled = true;
+
+			// backup schedule as a watchdog timeout
+			ScheduleDelayed(100_ms);
+
+		} else {
+			_data_ready_interrupt_enabled = false;
+			ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
+		}
+
+		break;
+
+	case STATE::FIFO_READ: {
+			hrt_abstime timestamp_sample = now;
+			uint8_t samples = 0;
+
+			if (_data_ready_interrupt_enabled) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+					samples = _fifo_gyro_samples;
+
+				} else {
+					perf_count(_drdy_missed_perf);
+				}
+
+				// push backup schedule back
+				ScheduleDelayed(_fifo_empty_interval_us * 2);
+			}
+
+			if (samples == 0) {
+				// check current FIFO count
+				const uint16_t fifo_count = FIFOReadCount();
+
+				if (fifo_count >= FIFO::SIZE) {
+					FIFOReset();
+					perf_count(_fifo_overflow_perf);
+
+				} else if (fifo_count == 0) {
+					perf_count(_fifo_empty_perf);
+
+				} else {
+					// FIFO count (size in bytes)
+					samples = (fifo_count / sizeof(FIFO::DATA));
+
+					// tolerate minor jitter, leave sample to next iteration if behind by only 1
+					if (samples == _fifo_gyro_samples + 1) {
+						timestamp_sample -= static_cast<int>(FIFO_SAMPLE_DT);
+						samples--;
+					}
+
+					if (samples > FIFO_MAX_SAMPLES) {
+						// not technically an overflow, but more samples than we expected or can publish
+						FIFOReset();
+						perf_count(_fifo_overflow_perf);
+						samples = 0;
+					}
+				}
+			}
+
+			bool success = false;
+
+			if (samples >= 1) {
+				if (FIFORead(timestamp_sample, samples)) {
+					success = true;
+
+					if (_failure_count > 0) {
+						_failure_count--;
+					}
+				}
+			}
+
+			if (!success) {
+				_failure_count++;
+
+				// full reset if things are failing consistently
+				if (_failure_count > 10) {
+					Reset();
+					return;
+				}
+			}
+
+			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
+				// check configuration registers periodically or immediately following any failure
+				if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0])
+				    && RegisterCheck(_register_bank1_cfg[_checked_register_bank1])
+				    && RegisterCheck(_register_bank2_cfg[_checked_register_bank2])
+				   ) {
+					_last_config_check_timestamp = now;
+					_checked_register_bank0 = (_checked_register_bank0 + 1) % size_register_bank0_cfg;
+					_checked_register_bank1 = (_checked_register_bank1 + 1) % size_register_bank1_cfg;
+					_checked_register_bank2 = (_checked_register_bank2 + 1) % size_register_bank2_cfg;
+
+				} else {
+					// register check failed, force reset
+					perf_count(_bad_register_perf);
+					Reset();
+				}
+			}
+		}
+
+		break;
+	}
+}
+
+void IIM42653::ConfigureSampleRate(int sample_rate)
+{
+	// round down to nearest FIFO sample dt
+	const float min_interval = FIFO_SAMPLE_DT;
+	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
+
+	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
+
+	// recompute FIFO empty interval (us) with actual gyro sample limit
+	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
+
+	ConfigureFIFOWatermark(_fifo_gyro_samples);
+}
+
+void IIM42653::ConfigureFIFOWatermark(uint8_t samples)
+{
+	// FIFO watermark threshold in number of bytes
+	const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::DATA);
+
+	for (auto &r : _register_bank0_cfg) {
+		if (r.reg == Register::BANK_0::FIFO_CONFIG2) {
+			// FIFO_WM[7:0]  FIFO_CONFIG2
+			r.set_bits = fifo_watermark_threshold & 0xFF;
+
+		} else if (r.reg == Register::BANK_0::FIFO_CONFIG3) {
+			// FIFO_WM[11:8] FIFO_CONFIG3
+			r.set_bits = (fifo_watermark_threshold >> 8) & 0x0F;
+		}
+	}
+}
+
+void IIM42653::ConfigureCLKIN()
+{
+	for (auto &r0 : _register_bank0_cfg) {
+		if (r0.reg == Register::BANK_0::INTF_CONFIG1) {
+			r0.set_bits = INTF_CONFIG1_BIT::RTC_MODE;
+			r0.set_bits = INTF_CONFIG1_BIT::CLKSEL;
+			r0.clear_bits = INTF_CONFIG1_BIT::CLKSEL_CLEAR;
+		}
+	}
+
+	for (auto &r1 : _register_bank1_cfg) {
+		if (r1.reg == Register::BANK_1::INTF_CONFIG5) {
+			r1.set_bits = INTF_CONFIG5_BIT::PIN9_FUNCTION_CLKIN_SET;
+			r1.clear_bits = INTF_CONFIG5_BIT::PIN9_FUNCTION_CLKIN_CLEAR;
+		}
+	}
+}
+
+void IIM42653::SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force)
+{
+	if (bank != _last_register_bank || force) {
+		// select BANK_0
+		uint8_t cmd_bank_sel[2] {};
+		cmd_bank_sel[0] = static_cast<uint8_t>(Register::BANK_0::REG_BANK_SEL);
+		cmd_bank_sel[1] = bank;
+		transfer(cmd_bank_sel, cmd_bank_sel, sizeof(cmd_bank_sel));
+
+		_last_register_bank = bank;
+	}
+}
+
+bool IIM42653::Configure()
+{
+	// first set and clear all configured register bits
+	for (const auto &reg_cfg : _register_bank0_cfg) {
+		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+	}
+
+	for (const auto &reg_cfg : _register_bank1_cfg) {
+		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+	}
+
+	for (const auto &reg_cfg : _register_bank2_cfg) {
+		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+	}
+
+	// now check that all are configured
+	bool success = true;
+
+	for (const auto &reg_cfg : _register_bank0_cfg) {
+		if (!RegisterCheck(reg_cfg)) {
+			success = false;
+		}
+	}
+
+	for (const auto &reg_cfg : _register_bank1_cfg) {
+		if (!RegisterCheck(reg_cfg)) {
+			success = false;
+		}
+	}
+
+	for (const auto &reg_cfg : _register_bank2_cfg) {
+		if (!RegisterCheck(reg_cfg)) {
+			success = false;
+		}
+	}
+
+	// 20-bits data format used
+	//  the only FSR settings that are operational are ±2000dps for gyroscope and ±16g for accelerometer
+	_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
+	_px4_gyro.set_range(math::radians(2000.f));
+
+	return success;
+}
+
+int IIM42653::DataReadyInterruptCallback(int irq, void *context, void *arg)
+{
+	static_cast<IIM42653 *>(arg)->DataReady();
+	return 0;
+}
+
+void IIM42653::DataReady()
+{
+	_drdy_timestamp_sample.store(hrt_absolute_time());
+	ScheduleNow();
+}
+
+bool IIM42653::DataReadyInterruptConfigure()
+{
+	if (_drdy_gpio == 0) {
+		return false;
+	}
+
+	// Setup data ready on falling edge
+	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+}
+
+bool IIM42653::DataReadyInterruptDisable()
+{
+	if (_drdy_gpio == 0) {
+		return false;
+	}
+
+	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+}
+
+template <typename T>
+bool IIM42653::RegisterCheck(const T &reg_cfg)
+{
+	bool success = true;
+
+	const uint8_t reg_value = RegisterRead(reg_cfg.reg);
+
+	if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
+		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
+		success = false;
+	}
+
+	if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
+		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
+		success = false;
+	}
+
+	return success;
+}
+
+template <typename T>
+uint8_t IIM42653::RegisterRead(T reg)
+{
+	uint8_t cmd[2] {};
+	cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
+	SelectRegisterBank(reg);
+	transfer(cmd, cmd, sizeof(cmd));
+	return cmd[1];
+}
+
+template <typename T>
+void IIM42653::RegisterWrite(T reg, uint8_t value)
+{
+	uint8_t cmd[2] { (uint8_t)reg, value };
+	SelectRegisterBank(reg);
+	transfer(cmd, cmd, sizeof(cmd));
+}
+
+template <typename T>
+void IIM42653::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits)
+{
+	const uint8_t orig_val = RegisterRead(reg);
+
+	uint8_t val = (orig_val & ~clearbits) | setbits;
+
+	if (orig_val != val) {
+		RegisterWrite(reg, val);
+	}
+}
+
+uint16_t IIM42653::FIFOReadCount()
+{
+	// read FIFO count
+	uint8_t fifo_count_buf[3] {};
+	fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
+	SelectRegisterBank(REG_BANK_SEL_BIT::BANK_SEL_0);
+
+	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+		perf_count(_bad_transfer_perf);
+		return 0;
+	}
+
+	return combine(fifo_count_buf[1], fifo_count_buf[2]);
+}
+
+bool IIM42653::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
+{
+	FIFOTransferBuffer buffer{};
+	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, FIFO::SIZE);
+	SelectRegisterBank(REG_BANK_SEL_BIT::BANK_SEL_0);
+
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
+		perf_count(_bad_transfer_perf);
+		return false;
+	}
+
+	if (buffer.INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) {
+		perf_count(_fifo_overflow_perf);
+		FIFOReset();
+		return false;
+	}
+
+	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
+
+	if (fifo_count_bytes >= FIFO::SIZE) {
+		perf_count(_fifo_overflow_perf);
+		FIFOReset();
+		return false;
+	}
+
+	const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
+
+	if (fifo_count_samples == 0) {
+		perf_count(_fifo_empty_perf);
+		return false;
+	}
+
+	// check FIFO header in every sample
+	uint8_t valid_samples = 0;
+
+	for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
+		bool valid = true;
+
+		// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
+		const uint8_t FIFO_HEADER = buffer.f[i].FIFO_Header;
+
+		if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG) {
+			// FIFO sample empty if HEADER_MSG set
+			valid = false;
+
+		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL)) {
+			// accel bit not set
+			valid = false;
+
+		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO)) {
+			// gyro bit not set
+			valid = false;
+
+		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_20)) {
+			// Packet does not contain a new and valid extended 20-bit data
+			valid = false;
+
+		} else if ((FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_TIMESTAMP_FSYNC) != Bit3) {
+			// Packet does not contain ODR timestamp
+			valid = false;
+
+		} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL) {
+			// accel ODR changed
+			valid = false;
+
+		} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO) {
+			// gyro ODR changed
+			valid = false;
+		}
+
+		if (valid) {
+			valid_samples++;
+
+		} else {
+			perf_count(_bad_transfer_perf);
+			break;
+		}
+	}
+
+	if (valid_samples > 0) {
+		if (ProcessTemperature(buffer.f, valid_samples)) {
+			ProcessGyro(timestamp_sample, buffer.f, valid_samples);
+			ProcessAccel(timestamp_sample, buffer.f, valid_samples);
+			return true;
+		}
+	}
+
+	return false;
+}
+
+void IIM42653::FIFOReset()
+{
+	perf_count(_fifo_reset_perf);
+
+	// SIGNAL_PATH_RESET: FIFO flush
+	RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);
+
+	// reset while FIFO is disabled
+	_drdy_timestamp_sample.store(0);
+}
+
+static constexpr int32_t reassemble_20bit(const uint32_t a, const uint32_t b, const uint32_t c)
+{
+	// 0xXXXAABBC
+	uint32_t high   = ((a << 12) & 0x000FF000);
+	uint32_t low    = ((b << 4)  & 0x00000FF0);
+	uint32_t lowest = (c         & 0x0000000F);
+
+	uint32_t x = high | low | lowest;
+
+	if (a & Bit7) {
+		// sign extend
+		x |= 0xFFF00000u;
+	}
+
+	return static_cast<int32_t>(x);
+}
+
+void IIM42653::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
+{
+	sensor_accel_fifo_s accel{};
+	accel.timestamp_sample = timestamp_sample;
+	accel.samples = 0;
+
+	// 18-bits of accelerometer data
+	bool scale_20bit = false;
+
+	// first pass
+	for (int i = 0; i < samples; i++) {
+
+		uint16_t timestamp_fifo = combine_uint(fifo[i].TimeStamp_h, fifo[i].TimeStamp_l);
+
+		if (_enable_clock_input) {
+			accel.dt = (float)timestamp_fifo * ((1.f / _input_clock_freq) * 1e6f);
+
+		} else {
+			accel.dt = (float)timestamp_fifo * FIFO_TIMESTAMP_SCALING;
+		}
+
+		// 20 bit hires mode
+		// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
+		// Accel data is 18 bit ()
+		int32_t accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0,
+						   fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4);
+		int32_t accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0,
+						   fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4);
+		int32_t accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0,
+						   fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4);
+
+		// sample invalid if -524288
+		if (accel_x != -524288 && accel_y != -524288 && accel_z != -524288) {
+			// check if any values are going to exceed int16 limits
+			static constexpr int16_t max_accel = INT16_MAX;
+			static constexpr int16_t min_accel = INT16_MIN;
+
+			if (accel_x >= max_accel || accel_x <= min_accel) {
+				scale_20bit = true;
+			}
+
+			if (accel_y >= max_accel || accel_y <= min_accel) {
+				scale_20bit = true;
+			}
+
+			if (accel_z >= max_accel || accel_z <= min_accel) {
+				scale_20bit = true;
+			}
+
+			// shift by 2 (2 least significant bits are always 0)
+			accel.x[accel.samples] = accel_x / 4;
+			accel.y[accel.samples] = accel_y / 4;
+			accel.z[accel.samples] = accel_z / 4;
+			accel.samples++;
+		}
+	}
+
+	if (!scale_20bit) {
+		// if highres enabled accel data is always 4096 LSB/g
+		_px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f);
+
+	} else {
+		// 20 bit data scaled to 16 bit (2^4)
+		for (int i = 0; i < samples; i++) {
+			// 20 bit hires mode
+			// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
+			// Accel data is 18 bit ()
+			int16_t accel_x = combine(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0);
+			int16_t accel_y = combine(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0);
+			int16_t accel_z = combine(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0);
+
+			accel.x[i] = accel_x;
+			accel.y[i] = accel_y;
+			accel.z[i] = accel_z;
+		}
+
+		_px4_accel.set_scale(CONSTANTS_ONE_G / 1024.f);
+	}
+
+	// correct frame for publication
+	for (int i = 0; i < accel.samples; i++) {
+		// sensor's frame is +x forward, +y left, +z up
+		//  flip y & z to publish right handed with z down (x forward, y right, z down)
+		accel.x[i] = accel.x[i];
+		accel.y[i] = (accel.y[i] == INT16_MIN) ? INT16_MAX : -accel.y[i];
+		accel.z[i] = (accel.z[i] == INT16_MIN) ? INT16_MAX : -accel.z[i];
+	}
+
+	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+
+	if (accel.samples > 0) {
+		_px4_accel.updateFIFO(accel);
+	}
+}
+
+void IIM42653::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
+{
+	sensor_gyro_fifo_s gyro{};
+	gyro.timestamp_sample = timestamp_sample;
+	gyro.samples = 0;
+
+	// 20-bits of gyroscope data
+	bool scale_20bit = false;
+
+	// first pass
+	for (int i = 0; i < samples; i++) {
+
+		uint16_t timestamp_fifo = combine_uint(fifo[i].TimeStamp_h, fifo[i].TimeStamp_l);
+
+		if (_enable_clock_input) {
+			gyro.dt = (float)timestamp_fifo * ((1.f / _input_clock_freq) * 1e6f);
+
+		} else {
+			gyro.dt = (float)timestamp_fifo * FIFO_TIMESTAMP_SCALING;
+		}
+
+		// 20 bit hires mode
+		// Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte)
+		int32_t gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0, fifo[i].Ext_Accel_X_Gyro_X & 0x0F);
+		int32_t gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0, fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F);
+		int32_t gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0, fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F);
+
+		// check if any values are going to exceed int16 limits
+		static constexpr int16_t max_gyro = INT16_MAX;
+		static constexpr int16_t min_gyro = INT16_MIN;
+
+		if (gyro_x >= max_gyro || gyro_x <= min_gyro) {
+			scale_20bit = true;
+		}
+
+		if (gyro_y >= max_gyro || gyro_y <= min_gyro) {
+			scale_20bit = true;
+		}
+
+		if (gyro_z >= max_gyro || gyro_z <= min_gyro) {
+			scale_20bit = true;
+		}
+
+		gyro.x[gyro.samples] = gyro_x / 2;
+		gyro.y[gyro.samples] = gyro_y / 2;
+		gyro.z[gyro.samples] = gyro_z / 2;
+		gyro.samples++;
+	}
+
+	if (!scale_20bit) {
+		// if highres enabled gyro data is always 65.5 LSB/dps
+		_px4_gyro.set_scale(math::radians(1.f / 65.5f));
+
+	} else {
+		// 20 bit data scaled to 16 bit (2^4)
+		for (int i = 0; i < samples; i++) {
+			gyro.x[i] = combine(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0);
+			gyro.y[i] = combine(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0);
+			gyro.z[i] = combine(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0);
+		}
+
+		_px4_gyro.set_scale(math::radians(4000.f / 32768.f));
+	}
+
+	// correct frame for publication
+	for (int i = 0; i < gyro.samples; i++) {
+		// sensor's frame is +x forward, +y left, +z up
+		//  flip y & z to publish right handed with z down (x forward, y right, z down)
+		gyro.x[i] = gyro.x[i];
+		gyro.y[i] = (gyro.y[i] == INT16_MIN) ? INT16_MAX : -gyro.y[i];
+		gyro.z[i] = (gyro.z[i] == INT16_MIN) ? INT16_MAX : -gyro.z[i];
+	}
+
+	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+
+	if (gyro.samples > 0) {
+		_px4_gyro.updateFIFO(gyro);
+	}
+}
+
+bool IIM42653::ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples)
+{
+	int16_t temperature[FIFO_MAX_SAMPLES];
+	float temperature_sum{0};
+
+	int valid_samples = 0;
+
+	for (int i = 0; i < samples; i++) {
+		const int16_t t = combine(fifo[i].TEMP_DATA1, fifo[i].TEMP_DATA0);
+
+		// sample invalid if -32768
+		if (t != -32768) {
+			temperature_sum += t;
+			temperature[valid_samples] = t;
+			valid_samples++;
+		}
+	}
+
+	if (valid_samples > 0) {
+		const float temperature_avg = temperature_sum / valid_samples;
+
+		for (int i = 0; i < valid_samples; i++) {
+			// temperature changing wildly is an indication of a transfer error
+			if (fabsf(temperature[i] - temperature_avg) > 1000) {
+				perf_count(_bad_transfer_perf);
+				return false;
+			}
+		}
+
+		// use average temperature reading
+		const float TEMP_degC = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
+
+		if (PX4_ISFINITE(TEMP_degC)) {
+			_px4_accel.set_temperature(TEMP_degC);
+			_px4_gyro.set_temperature(TEMP_degC);
+			return true;
+
+		} else {
+			perf_count(_bad_transfer_perf);
+		}
+	}
+
+	return false;
+}

src/drivers/imu/invensense/iim42653/IIM42653.hpp

@@ -0,0 +1,227 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file IIM42653.hpp
+ *
+ * Driver for the Invensense IIM42653 connected via SPI.
+ *
+ */
+
+#pragma once
+
+#include "InvenSense_IIM42653_registers.hpp"
+
+#include <drivers/drv_hrt.h>
+#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
+#include <lib/drivers/device/spi.h>
+#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
+#include <lib/geo/geo.h>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/atomic.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+
+using namespace InvenSense_IIM42653;
+
+class IIM42653 : public device::SPI, public I2CSPIDriver<IIM42653>
+{
+public:
+	IIM42653(const I2CSPIDriverConfig &config);
+	~IIM42653() override;
+
+	static void print_usage();
+
+	void RunImpl();
+
+	int init() override;
+	void print_status() override;
+
+private:
+	void exit_and_cleanup() override;
+
+	// Sensor Configuration
+	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};     // 8000 Hz accel & gyro ODR configured
+	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
+	static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
+
+	static constexpr float FIFO_TIMESTAMP_SCALING{16.f *(32.f / 30.f)}; // Used when not using clock input
+
+	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+
+	// Transfer data
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
+		uint8_t INT_STATUS{0};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	};
+	// ensure no struct padding
+	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+
+	struct register_bank0_config_t {
+		Register::BANK_0 reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	struct register_bank1_config_t {
+		Register::BANK_1 reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	struct register_bank2_config_t {
+		Register::BANK_2 reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	int probe() override;
+
+	bool Reset();
+
+	bool Configure();
+	void ConfigureSampleRate(int sample_rate);
+	void ConfigureFIFOWatermark(uint8_t samples);
+	void ConfigureCLKIN();
+
+	void SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force = false);
+	void SelectRegisterBank(Register::BANK_0 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::BANK_SEL_0); }
+	void SelectRegisterBank(Register::BANK_1 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::BANK_SEL_1); }
+	void SelectRegisterBank(Register::BANK_2 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::BANK_SEL_2); }
+
+	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
+	void DataReady();
+	bool DataReadyInterruptConfigure();
+	bool DataReadyInterruptDisable();
+
+	template <typename T> bool RegisterCheck(const T &reg_cfg);
+	template <typename T> uint8_t RegisterRead(T reg);
+	template <typename T> void RegisterWrite(T reg, uint8_t value);
+	template <typename T> void RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits);
+	template <typename T> void RegisterSetBits(T reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); }
+	template <typename T> void RegisterClearBits(T reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); }
+
+	uint16_t FIFOReadCount();
+	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
+	void FIFOReset();
+
+	void ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
+	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
+	bool ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples);
+
+	const spi_drdy_gpio_t _drdy_gpio;
+
+	PX4Accelerometer _px4_accel;
+	PX4Gyroscope _px4_gyro;
+
+	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
+	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
+	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
+	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
+	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
+	perf_counter_t _drdy_missed_perf{nullptr};
+
+	hrt_abstime _reset_timestamp{0};
+	hrt_abstime _last_config_check_timestamp{0};
+	hrt_abstime _temperature_update_timestamp{0};
+	int _failure_count{0};
+
+	bool _enable_clock_input{false};
+	float _input_clock_freq{0.f};
+
+	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::BANK_SEL_0};
+
+	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
+	bool _data_ready_interrupt_enabled{false};
+
+	enum class STATE : uint8_t {
+		RESET,
+		WAIT_FOR_RESET,
+		CONFIGURE,
+		FIFO_RESET,
+		FIFO_READ,
+	} _state{STATE::RESET};
+
+	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+
+	uint8_t _checked_register_bank0{0};
+	static constexpr uint8_t size_register_bank0_cfg{16};
+	register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] {
+		// Register                              | Set bits, Clear bits
+		{ Register::BANK_0::INT_CONFIG,           INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY },
+		{ Register::BANK_0::FIFO_CONFIG,          FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 },
+		{ Register::BANK_0::INTF_CONFIG1,         0, 0}, // RTC_MODE[2] set at runtime
+		{ Register::BANK_0::PWR_MGMT0,            PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE, 0 },
+		{ Register::BANK_0::GYRO_CONFIG0,         GYRO_CONFIG0_BIT::GYRO_FS_SEL_4000_DPS | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR },
+		{ Register::BANK_0::ACCEL_CONFIG0,        ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_32G | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR },
+		{ Register::BANK_0::GYRO_CONFIG1,         0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD },
+		{ Register::BANK_0::GYRO_ACCEL_CONFIG0,   0, GYRO_ACCEL_CONFIG0_BIT::ACCEL_UI_FILT_BW | GYRO_ACCEL_CONFIG0_BIT::GYRO_UI_FILT_BW },
+		{ Register::BANK_0::ACCEL_CONFIG1,        0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD },
+		{ Register::BANK_0::TMST_CONFIG,          TMST_CONFIG_BIT::TMST_EN | TMST_CONFIG_BIT::TMST_DELTA_EN | TMST_CONFIG_BIT::TMST_TO_REGS_EN | TMST_CONFIG_BIT::TMST_RES, TMST_CONFIG_BIT::TMST_FSYNC_EN },
+		{ Register::BANK_0::FIFO_CONFIG1,         FIFO_CONFIG1_BIT::FIFO_WM_GT_TH | FIFO_CONFIG1_BIT::FIFO_HIRES_EN | FIFO_CONFIG1_BIT::FIFO_TEMP_EN | FIFO_CONFIG1_BIT::FIFO_GYRO_EN | FIFO_CONFIG1_BIT::FIFO_ACCEL_EN, FIFO_CONFIG1_BIT::FIFO_TMST_FSYNC_EN },
+		{ Register::BANK_0::FIFO_CONFIG2,         0, 0 }, // FIFO_WM[7:0] set at runtime
+		{ Register::BANK_0::FIFO_CONFIG3,         0, 0 }, // FIFO_WM[11:8] set at runtime
+		{ Register::BANK_0::INT_CONFIG0,          INT_CONFIG0_BIT::CLEAR_ON_FIFO_READ, 0 },
+		{ Register::BANK_0::INT_CONFIG1,          0, INT_CONFIG1_BIT::INT_ASYNC_RESET },
+		{ Register::BANK_0::INT_SOURCE0,          INT_SOURCE0_BIT::FIFO_THS_INT1_EN, 0 },
+	};
+
+	uint8_t _checked_register_bank1{0};
+	static constexpr uint8_t size_register_bank1_cfg{5};
+	register_bank1_config_t _register_bank1_cfg[size_register_bank1_cfg] {
+		// Register                              | Set bits, Clear bits
+		{ Register::BANK_1::GYRO_CONFIG_STATIC2,  0, GYRO_CONFIG_STATIC2_BIT::GYRO_NF_DIS | GYRO_CONFIG_STATIC2_BIT::GYRO_AAF_DIS },
+		{ Register::BANK_1::GYRO_CONFIG_STATIC3,  GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_585HZ_SET, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_585HZ_CLEAR},
+		{ Register::BANK_1::GYRO_CONFIG_STATIC4,  GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LSB_585HZ_SET, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LSB_585HZ_CLEAR},
+		{ Register::BANK_1::GYRO_CONFIG_STATIC5,  GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_585HZ_SET | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_MSB_585HZ_SET, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_585HZ_CLEAR | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_MSB_585HZ_CLEAR},
+		{ Register::BANK_1::INTF_CONFIG5,         0, 0 },
+	};
+
+	uint8_t _checked_register_bank2{0};
+	static constexpr uint8_t size_register_bank2_cfg{8};
+	register_bank2_config_t _register_bank2_cfg[size_register_bank2_cfg] {
+		// Register                              | Set bits, Clear bits
+		{ Register::BANK_2::ACCEL_CONFIG_STATIC2, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_585HZ_SET, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_585HZ_CLEAR | ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DIS },
+		{ Register::BANK_2::ACCEL_CONFIG_STATIC3, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LSB_585HZ_SET, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LSB_585HZ_CLEAR },
+		{ Register::BANK_2::ACCEL_CONFIG_STATIC4, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_585HZ_SET | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_MSB_SET, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_585HZ_CLEAR | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_MSB_CLEAR },
+		{ Register::BANK_2::AUX1_CONFIG1,         0, AUX1_CONFIG1_BIT::AUX1_ACCEL_LP_CLK_SEL | AUX1_CONFIG1_BIT::GYRO_AUX1_EN | AUX1_CONFIG1_BIT::ACCEL_AUX1_EN},
+		{ Register::BANK_2::AUX1_CONFIG2,         AUX1_CONFIG2_BIT::GYRO_AUX1_HPF_DIS, 0},
+		{ Register::BANK_2::AUX1_SPI_REG1,        AUX1_SPI_REG1_BIT::AUX1_SPI_REG1_SET, AUX1_SPI_REG1_BIT::AUX1_SPI_REG1_CLEAR },
+		{ Register::BANK_2::AUX1_SPI_REG2,        AUX1_SPI_REG2_BIT::AUX1_SPI_REG2_SET, AUX1_SPI_REG2_BIT::AUX1_SPI_REG2_CLEAR },
+		{ Register::BANK_2::AUX1_SPI_REG3,        AUX1_SPI_REG3_BIT::AUX1_SPI_REG3_SET, AUX1_SPI_REG3_BIT::AUX1_SPI_REG3_CLEAR },
+	};
+};

src/drivers/imu/invensense/iim42653/InvenSense_IIM42653_registers.hpp

@@ -0,0 +1,453 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file InvenSense_IIM42653_registers.hpp
+ *
+ * Invensense IIM-42653 registers.
+ *
+ */
+
+#pragma once
+
+#include <cstdint>
+#include <cstddef>
+
+namespace InvenSense_IIM42653
+{
+// TODO: move to a central header
+static constexpr uint8_t Bit0 = (1 << 0);
+static constexpr uint8_t Bit1 = (1 << 1);
+static constexpr uint8_t Bit2 = (1 << 2);
+static constexpr uint8_t Bit3 = (1 << 3);
+static constexpr uint8_t Bit4 = (1 << 4);
+static constexpr uint8_t Bit5 = (1 << 5);
+static constexpr uint8_t Bit6 = (1 << 6);
+static constexpr uint8_t Bit7 = (1 << 7);
+
+static constexpr uint32_t SPI_SPEED = 24 * 1000 * 1000; // 24 MHz SPI
+static constexpr uint8_t DIR_READ = 0x80;
+
+static constexpr uint8_t WHOAMI = 0x56;
+
+static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C
+static constexpr float TEMPERATURE_OFFSET = 25.f; // C
+
+namespace Register
+{
+
+enum class BANK_0 : uint8_t {
+	DEVICE_CONFIG      = 0x11,
+
+	INT_CONFIG         = 0x14,
+
+	FIFO_CONFIG        = 0x16,
+
+	TEMP_DATA1         = 0x1D,
+	TEMP_DATA0         = 0x1E,
+
+	INT_STATUS         = 0x2D,
+	FIFO_COUNTH        = 0x2E,
+	FIFO_COUNTL        = 0x2F,
+	FIFO_DATA          = 0x30,
+
+	SIGNAL_PATH_RESET  = 0x4B,
+	INTF_CONFIG0       = 0x4C,
+	INTF_CONFIG1       = 0x4D,
+	PWR_MGMT0          = 0x4E,
+	GYRO_CONFIG0       = 0x4F,
+	ACCEL_CONFIG0      = 0x50,
+	GYRO_CONFIG1       = 0x51,
+	GYRO_ACCEL_CONFIG0 = 0x52,
+	ACCEL_CONFIG1      = 0x53,
+	TMST_CONFIG        = 0x54,
+
+	FIFO_CONFIG1       = 0x5F,
+	FIFO_CONFIG2       = 0x60,
+	FIFO_CONFIG3       = 0x61,
+
+	INT_CONFIG0        = 0x63,
+	INT_CONFIG1        = 0x64,
+
+	INT_SOURCE0        = 0x65,
+
+	SELF_TEST_CONFIG   = 0x70,
+
+	WHO_AM_I           = 0x75,
+	REG_BANK_SEL       = 0x76,
+};
+
+enum class BANK_1 : uint8_t {
+	GYRO_CONFIG_STATIC2  = 0x0B,
+	GYRO_CONFIG_STATIC3  = 0x0C,
+	GYRO_CONFIG_STATIC4  = 0x0D,
+	GYRO_CONFIG_STATIC5  = 0x0E,
+
+	INTF_CONFIG5         = 0x7B,
+};
+
+enum class BANK_2 : uint8_t {
+	ACCEL_CONFIG_STATIC2 = 0x03,
+	ACCEL_CONFIG_STATIC3 = 0x04,
+	ACCEL_CONFIG_STATIC4 = 0x05,
+	AUX1_CONFIG1         = 0x44,
+	AUX1_CONFIG2         = 0x45,
+	AUX1_CONFIG3         = 0x46,
+	AUX1_SPI_REG1        = 0x71,
+	AUX1_SPI_REG2        = 0x72,
+	AUX1_SPI_REG3        = 0x73,
+};
+
+};
+
+//---------------- BANK0 Register bits
+
+// DEVICE_CONFIG
+enum DEVICE_CONFIG_BIT : uint8_t {
+	SOFT_RESET_CONFIG = Bit0, //
+};
+
+// INT_CONFIG
+enum INT_CONFIG_BIT : uint8_t {
+	INT1_MODE           = Bit2,
+	INT1_DRIVE_CIRCUIT  = Bit1,
+	INT1_POLARITY       = Bit0,
+};
+
+// FIFO_CONFIG
+enum FIFO_CONFIG_BIT : uint8_t {
+	// 7:6 FIFO_MODE
+	FIFO_MODE_STOP_ON_FULL = Bit7 | Bit6, // 11: STOP-on-FULL Mode
+};
+
+// INT_STATUS
+enum INT_STATUS_BIT : uint8_t {
+	RESET_DONE_INT = Bit4,
+	DATA_RDY_INT   = Bit3,
+	FIFO_THS_INT   = Bit2,
+	FIFO_FULL_INT  = Bit1,
+};
+
+// SIGNAL_PATH_RESET
+enum SIGNAL_PATH_RESET_BIT : uint8_t {
+	ABORT_AND_RESET = Bit3,
+	FIFO_FLUSH      = Bit1,
+};
+
+enum INTF_CONFIG1_BIT : uint8_t {
+	RTC_MODE = Bit2, // 0: No input RTC clock is required, 1: RTC clock input is required
+	CLKSEL = Bit0,
+	CLKSEL_CLEAR = Bit1,
+};
+
+// PWR_MGMT0
+enum PWR_MGMT0_BIT : uint8_t {
+	GYRO_MODE_LOW_NOISE  = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode
+	ACCEL_MODE_LOW_NOISE = Bit1 | Bit0, // 11: Places accelerometer in Low Noise (LN) Mode
+};
+
+// GYRO_CONFIG0
+enum GYRO_CONFIG0_BIT : uint8_t {
+	// 7:5 GYRO_FS_SEL
+	GYRO_FS_SEL_4000_DPS = 0, // 0b000 = ±4000dps (default)
+	GYRO_FS_SEL_2000_DPS = Bit5,
+	GYRO_FS_SEL_1000_DPS = Bit6,
+	GYRO_FS_SEL_500_DPS  = Bit6 | Bit5,
+	GYRO_FS_SEL_250_DPS  = Bit7,
+
+
+	// 3:0 GYRO_ODR
+	//  0001: 32kHz
+	GYRO_ODR_32KHZ_SET   = Bit0,
+	GYRO_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0010: 16kHz
+	GYRO_ODR_16KHZ_SET   = Bit1,
+	GYRO_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0011: 8kHz
+	GYRO_ODR_8KHZ_SET    = Bit1 | Bit0,
+	GYRO_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
+	//  0110: 1kHz (default)
+	GYRO_ODR_1KHZ_SET    = Bit2 | Bit1,
+	GYRO_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
+};
+
+// ACCEL_CONFIG0
+enum ACCEL_CONFIG0_BIT : uint8_t {
+	// 7:5 ACCEL_FS_SEL
+	ACCEL_FS_SEL_32G = 0, // 000: ±32g (default)
+	ACCEL_FS_SEL_16G = Bit5,
+	ACCEL_FS_SEL_8G  = Bit6,
+	ACCEL_FS_SEL_4G  = Bit6 | Bit5,
+
+
+	// 3:0 ACCEL_ODR
+	//  0001: 32kHz
+	ACCEL_ODR_32KHZ_SET   = Bit0,
+	ACCEL_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0010: 16kHz
+	ACCEL_ODR_16KHZ_SET   = Bit1,
+	ACCEL_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0011: 8kHz
+	ACCEL_ODR_8KHZ_SET    = Bit1 | Bit0,
+	ACCEL_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
+	//  0110: 1kHz (default)
+	ACCEL_ODR_1KHZ_SET    = Bit2 | Bit1,
+	ACCEL_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
+};
+
+// GYRO_CONFIG1
+enum GYRO_CONFIG1_BIT : uint8_t {
+	GYRO_UI_FILT_ORD = Bit3 | Bit2, // 00: 1st Order
+};
+
+// GYRO_ACCEL_CONFIG0
+enum GYRO_ACCEL_CONFIG0_BIT : uint8_t {
+	// 7:4 ACCEL_UI_FILT_BW
+	ACCEL_UI_FILT_BW = Bit7 | Bit6 | Bit5 | Bit4, // 0: BW=ODR/2
+
+	// 3:0 GYRO_UI_FILT_BW
+	GYRO_UI_FILT_BW  = Bit3 | Bit2 | Bit1 | Bit0, // 0: BW=ODR/2
+};
+
+// ACCEL_CONFIG1
+enum ACCEL_CONFIG1_BIT : uint8_t {
+	ACCEL_UI_FILT_ORD = Bit4 | Bit3, // 00: 1st Order
+};
+
+// TMST_CONFIG
+enum TMST_CONFIG_BIT : uint8_t {
+	TMST_TO_REGS_EN = Bit4, // 1: TMST_VALUE[19:0] read returns timestamp value
+	TMST_RES	= Bit3, // 0: 1us resolution, 1: 16us resolution
+	TMST_DELTA_EN   = Bit2, // 1: Time Stamp delta enable
+	TMST_FSYNC_EN   = Bit1, // 1: The contents of the Timestamp feature of FSYNC is enabled
+	TMST_EN		= Bit0, // 1: Time Stamp register enable (default)
+};
+
+// FIFO_CONFIG1
+enum FIFO_CONFIG1_BIT : uint8_t {
+	FIFO_RESUME_PARTIAL_RD = Bit6,
+	FIFO_WM_GT_TH          = Bit5,
+	FIFO_HIRES_EN          = Bit4,
+	FIFO_TMST_FSYNC_EN     = Bit3,
+	FIFO_TEMP_EN           = Bit2,
+	FIFO_GYRO_EN           = Bit1,
+	FIFO_ACCEL_EN          = Bit0,
+};
+
+// INT_CONFIG0
+enum INT_CONFIG0_BIT : uint8_t {
+	// 3:2 FIFO_THS_INT_CLEAR
+	CLEAR_ON_FIFO_READ = Bit3,
+};
+
+// INT_CONFIG1
+enum INT_CONFIG1_BIT : uint8_t {
+	INT_ASYNC_RESET  = Bit4,
+};
+
+// INT_SOURCE0
+enum INT_SOURCE0_BIT : uint8_t {
+	UI_FSYNC_INT1_EN   = Bit6,
+	PLL_RDY_INT1_EN    = Bit5,
+	RESET_DONE_INT1_EN = Bit4,
+	UI_DRDY_INT1_EN    = Bit3,
+	FIFO_THS_INT1_EN   = Bit2, // FIFO threshold interrupt routed to INT1
+	FIFO_FULL_INT1_EN  = Bit1,
+	UI_AGC_RDY_INT1_EN = Bit0,
+};
+
+// REG_BANK_SEL
+enum REG_BANK_SEL_BIT : uint8_t {
+	// 2:0 BANK_SEL
+	BANK_SEL_0 = 0,           // 000: Bank 0 (default)
+	BANK_SEL_1 = Bit0,        // 001: Bank 1
+	BANK_SEL_2 = Bit1,        // 010: Bank 2
+	BANK_SEL_3 = Bit1 | Bit0, // 011: Bank 3
+	BANK_SEL_4 = Bit2,        // 100: Bank 4
+};
+
+
+//---------------- BANK1 Register bits
+
+// GYRO_CONFIG_STATIC2
+enum GYRO_CONFIG_STATIC2_BIT : uint8_t {
+	GYRO_AAF_DIS = Bit1, // 1: Disable gyroscope anti-aliasing filter
+	GYRO_NF_DIS  = Bit0, // 1: Disable Notch Filter
+};
+
+// GYRO_CONFIG_STATIC3
+enum GYRO_CONFIG_STATIC3_BIT : uint8_t {
+	// 5:0 GYRO_AAF_DELT
+	//  585 Hz = 13 (0b00'1101)
+	GYRO_AAF_DELT_585HZ_SET   = Bit3 | Bit2 | Bit0,
+	GYRO_AAF_DELT_585HZ_CLEAR = Bit5 | Bit4 | Bit1,
+};
+
+// GYRO_CONFIG_STATIC4
+enum GYRO_CONFIG_STATIC4_BIT : uint8_t {
+	// 7:0 GYRO_AAF_DELTSQR
+	//  585 Hz = 170 (0b1010'1010)
+	GYRO_AAF_DELTSQR_LSB_585HZ_SET   = Bit7 | Bit5 | Bit3 | Bit1,
+	GYRO_AAF_DELTSQR_LSB_585HZ_CLEAR = Bit6 | Bit4 | Bit2 | Bit0,
+};
+
+// GYRO_CONFIG_STATIC5
+enum GYRO_CONFIG_STATIC5_BIT : uint8_t {
+	// 7:4 GYRO_AAF_BITSHIFT
+	//  585 Hz = 8 (0b1000)
+	GYRO_AAF_BITSHIFT_585HZ_SET      = Bit7,
+	GYRO_AAF_BITSHIFT_585HZ_CLEAR    = Bit6 | Bit5 | Bit4,
+
+	// 3:0 GYRO_AAF_DELTSQR[11:8]
+	//  585 Hz = 170 (0b0000'1010'1010)
+	GYRO_AAF_DELTSQR_MSB_585HZ_SET   = 0,
+	GYRO_AAF_DELTSQR_MSB_585HZ_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
+};
+
+// INTF_CONFIG5
+enum INTF_CONFIG5_BIT : uint8_t {
+	// 2:1 PIN9_FUNCTION
+	PIN9_FUNCTION_CLKIN_SET   = Bit2, // 0b10: CLKIN
+	PIN9_FUNCTION_CLKIN_CLEAR = Bit1,
+
+	PIN9_FUNCTION_RESET_SET   = 0,
+	PIN9_FUNCTION_RESET_CLEAR = Bit2 | Bit1,
+};
+
+//---------------- BANK2 Register bits
+
+// ACCEL_CONFIG_STATIC2
+enum ACCEL_CONFIG_STATIC2_BIT : uint8_t {
+	// 6:1 ACCEL_AAF_DELT
+	//  585 Hz = 13 (0b00'1101)
+	ACCEL_AAF_DELT_585HZ_SET   = Bit4 | Bit3 | Bit1,
+	ACCEL_AAF_DELT_585HZ_CLEAR = Bit6 | Bit5 | Bit2,
+
+	// 0 ACCEL_AAF_DIS
+	ACCEL_AAF_DIS              = Bit0, // 0: Enable accelerometer anti-aliasing filter (default)
+};
+
+// ACCEL_CONFIG_STATIC3
+enum ACCEL_CONFIG_STATIC3_BIT : uint8_t {
+	// 7:0 ACCEL_AAF_DELTSQR[7:0]
+	//  585 Hz = 170 (0b0000'1010'1010)
+	ACCEL_AAF_DELTSQR_LSB_585HZ_SET   = Bit7 | Bit5 | Bit3 | Bit1,
+	ACCEL_AAF_DELTSQR_LSB_585HZ_CLEAR = Bit6 | Bit4 | Bit2 | Bit0,
+};
+
+// ACCEL_CONFIG_STATIC4
+enum ACCEL_CONFIG_STATIC4_BIT : uint8_t {
+	// 7:4 ACCEL_AAF_BITSHIFT
+	//  585 Hz = 8 (0b1000)
+	ACCEL_AAF_BITSHIFT_585HZ_SET   = Bit7,
+	ACCEL_AAF_BITSHIFT_585HZ_CLEAR = Bit6 | Bit5 | Bit4,
+
+	// 3:0 ACCEL_AAF_DELTSQR[11:8]
+	//  585 Hz = 170 (0b0000'1010'1010)
+	ACCEL_AAF_DELTSQR_MSB_SET      = 0,
+	ACCEL_AAF_DELTSQR_MSB_CLEAR    = Bit3 | Bit2 | Bit1 | Bit0,
+};
+
+// AUX1_CONFIG1
+enum AUX1_CONFIG1_BIT : uint8_t {
+	AUX1_ACCEL_LP_CLK_SEL = Bit5,
+	GYRO_AUX1_EN = Bit1,
+	ACCEL_AUX1_EN = Bit0,
+};
+
+// AUX1_CONFIG2
+enum AUX1_CONFIG2_BIT : uint8_t {
+	GYRO_AUX1_HPF_DIS = Bit6,
+};
+
+// AUX1_SPI_REG1
+enum AUX1_SPI_REG1_BIT : uint8_t {
+	AUX1_SPI_REG1_CLEAR = Bit1,
+	AUX1_SPI_REG1_SET = Bit0,
+};
+
+// AUX1_SPI_REG2
+enum AUX1_SPI_REG2_BIT : uint8_t {
+	AUX1_SPI_REG2_CLEAR = Bit1,
+	AUX1_SPI_REG2_SET = Bit0,
+};
+
+// AUX1_SPI_REG3
+enum AUX1_SPI_REG3_BIT : uint8_t {
+	AUX1_SPI_REG3_CLEAR = Bit1,
+	AUX1_SPI_REG3_SET = Bit0,
+};
+
+namespace FIFO
+{
+static constexpr size_t SIZE = 2048;
+
+// FIFO_DATA layout when FIFO_CONFIG1 has FIFO_GYRO_EN and FIFO_ACCEL_EN set
+
+// Packet 4
+struct DATA {
+	uint8_t FIFO_Header;
+	uint8_t ACCEL_DATA_X1; // Accel X [19:12]
+	uint8_t ACCEL_DATA_X0; // Accel X [11:4]
+	uint8_t ACCEL_DATA_Y1; // Accel Y [19:12]
+	uint8_t ACCEL_DATA_Y0; // Accel Y [11:4]
+	uint8_t ACCEL_DATA_Z1; // Accel Z [19:12]
+	uint8_t ACCEL_DATA_Z0; // Accel Z [11:4]
+	uint8_t GYRO_DATA_X1;  // Gyro X [19:12]
+	uint8_t GYRO_DATA_X0;  // Gyro X [11:4]
+	uint8_t GYRO_DATA_Y1;  // Gyro Y [19:12]
+	uint8_t GYRO_DATA_Y0;  // Gyro Y [11:4]
+	uint8_t GYRO_DATA_Z1;  // Gyro Z [19:12]
+	uint8_t GYRO_DATA_Z0;  // Gyro Z [11:4]
+	uint8_t TEMP_DATA1;    // Temperature[15:8]
+	uint8_t TEMP_DATA0;    // Temperature[7:0]
+	uint8_t TimeStamp_h;   // TimeStamp[15:8]
+	uint8_t TimeStamp_l;   // TimeStamp[7:0]
+	uint8_t Ext_Accel_X_Gyro_X; // Accel X [3:0] Gyro X [3:0]
+	uint8_t Ext_Accel_Y_Gyro_Y; // Accel Y [3:0] Gyro Y [3:0]
+	uint8_t Ext_Accel_Z_Gyro_Z; // Accel Z [3:0] Gyro Z [3:0]
+};
+
+// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
+enum FIFO_HEADER_BIT : uint8_t {
+	HEADER_MSG             = Bit7, // 1: FIFO is empty
+	HEADER_ACCEL           = Bit6, // 1: Packet is sized so that accel data have location in the packet, FIFO_ACCEL_EN must be 1
+	HEADER_GYRO            = Bit5, // 1: Packet is sized so that gyro data have location in the packet, FIFO_GYRO_EN must be1
+	HEADER_20              = Bit4, // 1: Packet has a new and valid sample of extended 20-bit data for gyro and/or accel
+	HEADER_TIMESTAMP_FSYNC = Bit3 | Bit2, // 10: Packet contains ODR Timestamp
+	HEADER_ODR_ACCEL       = Bit1, // 1: The ODR for accel is different for this accel data packet compared to the previous accel packet
+	HEADER_ODR_GYRO        = Bit0, // 1: The ODR for gyro is different for this gyro data packet compared to the previous gyro packet
+};
+
+}
+} // namespace InvenSense_IIM42653

src/drivers/imu/invensense/iim42653/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_IMU_INVENSENSE_IIM42653
+	bool "iim42653"
+	default n
+	---help---
+		Enable support for iim42653

src/drivers/imu/invensense/iim42653/iim42653_main.cpp

@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "IIM42653.hpp"
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+
+void IIM42653::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("iim42653", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
+	PRINT_MODULE_USAGE_PARAM_INT('C', 0, 0, 35000, "Input clock frequency (Hz)", true);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" int iim42653_main(int argc, char *argv[])
+{
+	int ch;
+	using ThisDriver = IIM42653;
+	BusCLIArguments cli{false, true};
+	cli.default_spi_frequency = SPI_SPEED;
+
+	while ((ch = cli.getOpt(argc, argv, "C:R:")) != EOF) {
+		switch (ch) {
+		case 'C':
+			cli.custom1 = atoi(cli.optArg());
+			break;
+
+		case 'R':
+			cli.rotation = (enum Rotation)atoi(cli.optArg());
+			break;
+		}
+	}
+
+	const char *verb = cli.optArg();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_IIM42653);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}

src/drivers/lights/CMakeLists.txt

@@ -35,4 +35,5 @@
 add_subdirectory(rgbled)
 add_subdirectory(rgbled_ncp5623c)
 add_subdirectory(rgbled_is31fl3195)
+add_subdirectory(rgbled_lp5562)
 #add_subdirectory(rgbled_pwm) # requires board support (BOARD_HAS_LED_PWM/BOARD_HAS_UI_LED_PWM)

src/drivers/lights/Kconfig

@@ -5,6 +5,7 @@ menu "Lights"
         select DRIVERS_LIGHTS_RGBLED
         select DRIVERS_LIGHTS_RGBLED_NCP5623C
         select DRIVERS_LIGHTS_RGBLED_IS31FL3195
+        select DRIVERS_LIGHTS_RGBLED_LP5562
         ---help---
             Enable default set of light drivers
     rsource "*/Kconfig"

src/drivers/lights/rgbled_lp5562/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE drivers__rgbled_lp5562
+	MAIN rgbled_lp5562
+	SRCS
+		rgbled_lp5562.cpp
+	DEPENDS
+		drivers__device
+		led
+	)

src/drivers/lights/rgbled_lp5562/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_LIGHTS_RGBLED_LP5562
+	bool "rgbled lp5562"
+	default n
+	---help---
+		Enable support for RGBLED LP5562 driver

src/drivers/lights/rgbled_lp5562/rgbled_lp5562.cpp

@@ -0,0 +1,329 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file rgbled_lp5562.cpp
+ *
+ * Driver for the RGB LED controller Texas Instruments LP5562 connected via I2C.
+ *
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#include <stdint.h>
+#include <string.h>
+
+#include <drivers/device/i2c.h>
+#include <lib/led/led.h>
+#include <lib/parameters/param.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <px4_platform_common/module.h>
+
+
+using namespace time_literals;
+
+// The addresses are 0x60, 0x62, 0x64, 0x66 according to the datasheet page 27.
+// We specify 7bit addresses, hence 0x60 becomes 0x30.
+#define I2C_ADDR 0x30
+
+// Unfortunately, there is no WHO_AM_I or device id register, so
+// instead we query the W_CURRENT which has a certain pattern
+// after reset, and we don't use it or change it, so we don't have
+// to reset it and therefore don't mess with a device that we're
+// not sure what it is.
+static constexpr uint8_t LED_MAP_ADDR = 0x70;
+static constexpr uint8_t LED_MAP_ALL_PWM = 0b00000000;
+
+static constexpr uint8_t ENABLE_ADDR = 0x00;
+static constexpr uint8_t ENABLE_CHIP_EN = 0b01000000;
+
+static constexpr uint8_t CONFIG_ADDR = 0x08;
+static constexpr uint8_t CONFIG_ENABLE_INTERNAL_CLOCK = 0b00000001;
+
+static constexpr uint8_t RESET_ADDR = 0x0D;
+static constexpr uint8_t RESET_DO_RESET = 0xFF;
+
+static constexpr uint8_t B_PWM_ADDR = 0x02;
+
+static constexpr uint8_t B_CURRENT_ADDR = 0x05;
+
+static constexpr uint8_t W_CURRENT_ADDR = 0x0F;
+static constexpr uint8_t W_CURRENT_DEFAULT = 0b10101111;
+
+
+class RGBLED_LP5562: public device::I2C, public I2CSPIDriver<RGBLED_LP5562>
+{
+public:
+	RGBLED_LP5562(const I2CSPIDriverConfig &config);
+	virtual ~RGBLED_LP5562() = default;
+
+	static void print_usage();
+
+	int init() override;
+	int probe() override;
+
+	void RunImpl();
+
+private:
+	int read(uint8_t address, uint8_t *data, unsigned count);
+	int write(uint8_t address, uint8_t *data, unsigned count);
+	int send_led_rgb(uint8_t r, uint8_t g, uint8_t b);
+
+	LedController _led_controller;
+	uint8_t _current = 175; // matching default current of 17.5mA
+};
+
+RGBLED_LP5562::RGBLED_LP5562(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config)
+{
+	_current = config.custom1;
+}
+
+int
+RGBLED_LP5562::init()
+{
+	int ret = I2C::init();
+
+	if (ret != OK) {
+		return ret;
+	}
+
+	uint8_t command[1] = {ENABLE_CHIP_EN};
+	ret = write(ENABLE_ADDR, command, sizeof(command));
+
+	if (ret != OK) {
+		return ret;
+	}
+
+	// We have to wait 500us after enable.
+	px4_usleep(500);
+
+	command[0] = CONFIG_ENABLE_INTERNAL_CLOCK;
+	ret = write(CONFIG_ADDR, command, sizeof(command));
+
+	if (ret != OK) {
+		return ret;
+	}
+
+	command[0] = LED_MAP_ALL_PWM;
+	ret = write(LED_MAP_ADDR, command, sizeof(command));
+
+	if (ret != OK) {
+		return ret;
+	}
+
+	// Write all 3 colors at once.
+	uint8_t currents[3] = {_current, _current, _current};
+	ret = write(B_CURRENT_ADDR, currents, sizeof(currents));
+
+	if (ret != OK) {
+		return ret;
+	}
+
+	ScheduleNow();
+
+	return OK;
+}
+
+int
+RGBLED_LP5562::probe()
+{
+	uint8_t result[1] = {0};
+	int ret = read(W_CURRENT_ADDR, result, sizeof(result));
+
+	if (ret != OK) {
+		return ret;
+	}
+
+	_retries = 1;
+
+	return (result[0] == W_CURRENT_DEFAULT) ? OK : ERROR;
+}
+
+int
+RGBLED_LP5562::read(uint8_t address, uint8_t *data, unsigned count)
+{
+	uint8_t cmd = address;
+	return transfer(&cmd, 1, (uint8_t *)data, count);
+}
+
+int
+RGBLED_LP5562::write(uint8_t address, uint8_t *data, unsigned count)
+{
+	uint8_t buf[4];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = address;
+	memcpy(&buf[1], data, count);
+
+	return transfer(&buf[0], count + 1, nullptr, 0);
+}
+
+void
+RGBLED_LP5562::RunImpl()
+{
+	if (should_exit()) {
+		send_led_rgb(0, 0, 0);
+		return;
+	}
+
+	LedControlData led_control_data;
+
+	if (_led_controller.update(led_control_data) == 1) {
+
+		const uint8_t on = led_control_data.leds[0].brightness;
+
+		switch (led_control_data.leds[0].color) {
+		case led_control_s::COLOR_RED:
+			send_led_rgb(on, 0, 0);
+			break;
+
+		case led_control_s::COLOR_GREEN:
+			send_led_rgb(0, on, 0);
+			break;
+
+		case led_control_s::COLOR_BLUE:
+			send_led_rgb(0, 0, on);
+			break;
+
+		case led_control_s::COLOR_AMBER: // same as yellow
+		case led_control_s::COLOR_YELLOW:
+			send_led_rgb(on, on, 0);
+			break;
+
+		case led_control_s::COLOR_PURPLE:
+			send_led_rgb(on, 0, on);
+			break;
+
+		case led_control_s::COLOR_CYAN:
+			send_led_rgb(0, on, on);
+			break;
+
+		case led_control_s::COLOR_WHITE:
+			send_led_rgb(on, on, on);
+			break;
+
+		case led_control_s::COLOR_OFF:
+		default:
+			send_led_rgb(0, 0, 0);
+			break;
+		}
+
+	}
+
+	ScheduleDelayed(_led_controller.maximum_update_interval());
+}
+
+int
+RGBLED_LP5562::send_led_rgb(uint8_t r, uint8_t g, uint8_t b)
+{
+	uint8_t leds[3] = {b, g, r};
+	return write(B_PWM_ADDR, leds, sizeof(leds));
+}
+
+void
+RGBLED_LP5562::print_usage()
+{
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Driver for [LP5562](https://www.ti.com/product/LP5562) LED driver connected via I2C.
+
+This used in some GPS modules by Holybro for [PX4 status notification](../getting_started/led_meanings.md)
+
+The driver is included by default in firmware (KConfig key DRIVERS_LIGHTS_RGBLED_LP5562) and is always enabled.
+)DESCR_STR");
+	PRINT_MODULE_USAGE_NAME("rgbled_lp5562", "driver");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(I2C_ADDR);
+	PRINT_MODULE_USAGE_PARAM_FLOAT('u', 17.5f, 0.1f, 25.5f, "Current in mA", true);
+
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" __EXPORT int rgbled_lp5562_main(int argc, char *argv[])
+{
+	int ch;
+	using ThisDriver = RGBLED_LP5562;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 100000;
+	cli.i2c_address = I2C_ADDR;
+	cli.custom1 = 175;
+
+	while ((ch = cli.getOpt(argc, argv, "u:")) != EOF) {
+		switch (ch) {
+		case 'u':
+			float v = atof(cli.optArg());
+
+			if (v >= 0.1f && v <= 25.5f) {
+				cli.custom1 = ((uint8_t)(v * 10.f));
+
+			} else {
+				PX4_ERR("current out of range");
+				return -1;
+			}
+
+			break;
+		}
+	}
+
+
+	const char *verb = cli.optArg();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_LED_DEVTYPE_RGBLED_LP5562);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}

src/drivers/linux_pwm_out/module.yaml

@@ -4,7 +4,7 @@ actuator_output:
     - param_prefix: PWM_MAIN
       channel_label: 'Channel'
       standard_params:
-        disarmed: { min: 800, max: 2200, default: 900 }
+        disarmed: { min: 800, max: 2200, default: 1000 }
         min: { min: 800, max: 1400, default: 1000 }
         max: { min: 1600, max: 2200, default: 2000 }
         failsafe: { min: 800, max: 2200 }

src/drivers/magnetometer/lis2mdl/lis2mdl_i2c.cpp

@@ -40,7 +40,6 @@
 #include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
-#include <debug.h>
 #include <errno.h>
 #include <stdint.h>
 #include <stdbool.h>

src/drivers/magnetometer/lis2mdl/lis2mdl_spi.cpp

@@ -40,7 +40,6 @@
 #include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
-#include <debug.h>
 #include <errno.h>
 #include <stdint.h>
 #include <stdbool.h>

src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp

@@ -40,7 +40,6 @@
 #include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
-#include <debug.h>
 #include <errno.h>
 #include <stdint.h>
 #include <stdbool.h>

src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp

@@ -40,7 +40,6 @@
 #include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
-#include <debug.h>
 #include <errno.h>
 #include <stdint.h>
 #include <stdbool.h>

src/drivers/magnetometer/rm3100/rm3100_i2c.cpp

@@ -40,7 +40,6 @@
 #include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
-#include <debug.h>
 #include <errno.h>
 #include <stdint.h>
 #include <stdbool.h>

src/drivers/magnetometer/rm3100/rm3100_spi.cpp

@@ -40,7 +40,6 @@
 #include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
-#include <debug.h>
 #include <errno.h>
 #include <stdint.h>
 #include <stdbool.h>

src/drivers/optical_flow/paa3905/PAA3905.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2022-2023 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
@@ -194,13 +194,13 @@ void PAA3905::RunImpl()
 			_state = STATE::READ;
 
 			if (DataReadyInterruptConfigure()) {
-				_data_ready_interrupt_enabled = true;
+				_motion_interrupt_enabled = true;
 
 				// backup schedule as a watchdog timeout
 				ScheduleDelayed(1_s);
 
 			} else {
-				_data_ready_interrupt_enabled = false;
+				_motion_interrupt_enabled = false;
 				ScheduleOnInterval(_scheduled_interval_us, _scheduled_interval_us);
 			}
 
@@ -222,7 +222,7 @@ void PAA3905::RunImpl()
 	case STATE::READ: {
 			hrt_abstime timestamp_sample = now;
 
-			if (_data_ready_interrupt_enabled) {
+			if (_motion_interrupt_enabled) {
 				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
 				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
 
@@ -258,12 +258,6 @@ void PAA3905::RunImpl()
 					PX4_ERR("invalid RawData_Sum > 0x98");
 				}
 
-				// Number of Features = SQUAL * 4
-				// RawData_Sum maximum register value is 0x98
-				bool data_valid = (buffer.data.SQUAL > 0)
-						  && (buffer.data.RawData_Sum <= 0x98)
-						  && (_discard_reading == 0);
-
 				// Bit [5:0] check if chip is working correctly
 				//  0x3F: chip is working correctly
 				if ((buffer.data.Observation & 0x3F) != 0x3F) {
@@ -313,7 +307,7 @@ void PAA3905::RunImpl()
 
 					if (prev_mode != _mode) {
 						// update scheduling on mode change
-						if (!_data_ready_interrupt_enabled) {
+						if (!_motion_interrupt_enabled) {
 							ScheduleOnInterval(_scheduled_interval_us, _scheduled_interval_us);
 						}
 					}
@@ -348,6 +342,14 @@ void PAA3905::RunImpl()
 
 				const uint32_t shutter = (shutter_upper << 16) | (shutter_middle << 8) | shutter_lower;
 
+				// Number of Features = SQUAL * 4
+				// RawData_Sum maximum register value is 0x98
+				bool data_valid = (buffer.data.SQUAL > 0)
+						  && (buffer.data.RawData_Sum > 0)
+						  && (buffer.data.RawData_Sum <= 0x98)
+						  && (shutter > 0)
+						  && (_discard_reading == 0);
+
 				switch (_mode) {
 				case Mode::Bright:
 					sensor_optical_flow.integration_timespan_us = SAMPLE_INTERVAL_MODE_0;
@@ -392,12 +394,17 @@ void PAA3905::RunImpl()
 				// motion in burst transfer
 				const bool motion_reported = (buffer.data.Motion & Motion_Bit::MotionOccurred);
 
-				if (data_valid) {
-					if (motion_reported) {
-						// only populate flow if data valid (motion and quality > 0)
-						const int16_t delta_x_raw = combine(buffer.data.Delta_X_H, buffer.data.Delta_X_L);
-						const int16_t delta_y_raw = combine(buffer.data.Delta_Y_H, buffer.data.Delta_Y_L);
+				const int16_t delta_x_raw = combine(buffer.data.Delta_X_H, buffer.data.Delta_X_L);
+				const int16_t delta_y_raw = combine(buffer.data.Delta_Y_H, buffer.data.Delta_Y_L);
 
+				if (data_valid) {
+
+					const bool zero_flow = (delta_x_raw == 0) && (delta_y_raw == 0);
+					const bool little_to_no_flow = (abs(delta_x_raw) <= 1) && (abs(delta_y_raw) <= 1);
+
+					bool publish = false;
+
+					if (motion_reported) {
 						// rotate measurements in yaw from sensor frame to body frame
 						const matrix::Vector3f pixel_flow_rotated = _rotation * matrix::Vector3f{(float)delta_x_raw, (float)delta_y_raw, 0.f};
 
@@ -412,15 +419,53 @@ void PAA3905::RunImpl()
 						sensor_optical_flow.pixel_flow[1] = pixel_flow_rotated(1) * SCALE;
 
 						sensor_optical_flow.quality = buffer.data.SQUAL;
+
+						publish = true;
+
+						_last_motion = timestamp_sample;
+
+					} else if (zero_flow && (timestamp_sample > _last_motion)) {
+						// no motion, but burst read looks valid and we should have seen new data by now if there was any motion
+						const bool burst_read_changed = (delta_x_raw != _delta_x_raw_prev) || (delta_y_raw != _delta_y_raw_prev)
+										|| (shutter != _shutter_prev)
+										|| (buffer.data.RawData_Sum != _raw_data_sum_prev)
+										|| (buffer.data.SQUAL != _quality_prev);
+
+						if (burst_read_changed) {
+
+							sensor_optical_flow.pixel_flow[0] = 0;
+							sensor_optical_flow.pixel_flow[1] = 0;
+
+							sensor_optical_flow.quality = buffer.data.SQUAL;
+
+							publish = true;
+						}
 					}
 
-					// only publish when there's motion or at least every second
-					if (motion_reported || (hrt_elapsed_time(&_last_publish) >= kBackupScheduleIntervalUs)) {
+					// only publish when there's valid data or on timeout
+					if (publish || (hrt_elapsed_time(&_last_publish) >= kBackupScheduleIntervalUs)) {
 
 						sensor_optical_flow.timestamp = hrt_absolute_time();
 						_sensor_optical_flow_pub.publish(sensor_optical_flow);
 
-						_last_publish = sensor_optical_flow.timestamp;
+						_last_publish = sensor_optical_flow.timestamp_sample;
+					}
+
+					// backup schedule if we're reliant on the motion interrupt and there's very little flow
+					if (_motion_interrupt_enabled && little_to_no_flow) {
+						switch (_mode) {
+						case Mode::Bright:
+							ScheduleDelayed(SAMPLE_INTERVAL_MODE_0);
+							break;
+
+						case Mode::LowLight:
+							ScheduleDelayed(SAMPLE_INTERVAL_MODE_1);
+							break;
+
+						case Mode::SuperLowLight:
+							ScheduleDelayed(SAMPLE_INTERVAL_MODE_2);
+							break;
+						}
 					}
 
 					success = true;
@@ -430,6 +475,12 @@ void PAA3905::RunImpl()
 					}
 				}
 
+				_delta_x_raw_prev = delta_x_raw;
+				_delta_y_raw_prev = delta_y_raw;
+				_shutter_prev = shutter;
+				_raw_data_sum_prev = buffer.data.RawData_Sum;
+				_quality_prev = buffer.data.SQUAL;
+
 			} else {
 				perf_count(_bad_transfer_perf);
 			}

src/drivers/optical_flow/paa3905/PAA3905.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2022-2023 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
@@ -114,14 +114,22 @@ private:
 
 	hrt_abstime _reset_timestamp{0};
 	hrt_abstime _last_publish{0};
+	hrt_abstime _last_motion{0};
+
+	int16_t _delta_x_raw_prev{0};
+	int16_t _delta_y_raw_prev{0};
+	uint32_t _shutter_prev{0};
+	uint8_t _quality_prev{0};
+	uint8_t _raw_data_sum_prev{0};
+
 	int _failure_count{0};
 	int _discard_reading{0};
 
 	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
-	bool _data_ready_interrupt_enabled{false};
+	bool _motion_interrupt_enabled{false};
 
 	uint32_t _scheduled_interval_us{SAMPLE_INTERVAL_MODE_0 / 2};
-	static constexpr uint32_t kBackupScheduleIntervalUs{200_ms};
+	static constexpr uint32_t kBackupScheduleIntervalUs{SAMPLE_INTERVAL_MODE_2}; // longest expected interval
 
 	Mode _mode{Mode::LowLight};
 

src/drivers/optical_flow/paw3902/PAW3902.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019-2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2023 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
@@ -199,13 +199,13 @@ void PAW3902::RunImpl()
 			_state = STATE::READ;
 
 			if (DataReadyInterruptConfigure()) {
-				_data_ready_interrupt_enabled = true;
+				_motion_interrupt_enabled = true;
 
 				// backup schedule as a watchdog timeout
 				ScheduleDelayed(1_s);
 
 			} else {
-				_data_ready_interrupt_enabled = false;
+				_motion_interrupt_enabled = false;
 				ScheduleOnInterval(_scheduled_interval_us, _scheduled_interval_us);
 			}
 
@@ -227,7 +227,7 @@ void PAW3902::RunImpl()
 	case STATE::READ: {
 			hrt_abstime timestamp_sample = now;
 
-			if (_data_ready_interrupt_enabled) {
+			if (_motion_interrupt_enabled) {
 				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
 				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
 
@@ -263,12 +263,6 @@ void PAW3902::RunImpl()
 					PX4_ERR("invalid RawData_Sum > 0x98");
 				}
 
-				// Number of Features = SQUAL * 4
-				// RawData_Sum maximum register value is 0x98
-				bool data_valid = (buffer.data.SQUAL > 0)
-						  && (buffer.data.RawData_Sum <= 0x98)
-						  && (_discard_reading == 0);
-
 				// publish sensor_optical_flow
 				sensor_optical_flow_s sensor_optical_flow{};
 				sensor_optical_flow.timestamp_sample = timestamp_sample;
@@ -293,6 +287,14 @@ void PAW3902::RunImpl()
 
 				const uint16_t shutter = (shutter_upper << 8) | shutter_lower;
 
+				// Number of Features = SQUAL * 4
+				// RawData_Sum maximum register value is 0x98
+				bool data_valid = (buffer.data.SQUAL > 0)
+						  && (buffer.data.RawData_Sum > 0)
+						  && (buffer.data.RawData_Sum <= 0x98)
+						  && (shutter > 0)
+						  && (_discard_reading == 0);
+
 				switch (_mode) {
 				case Mode::Bright:
 					sensor_optical_flow.integration_timespan_us = SAMPLE_INTERVAL_MODE_0;
@@ -395,12 +397,17 @@ void PAW3902::RunImpl()
 				// motion in burst transfer
 				const bool motion_reported = (buffer.data.Motion & Motion_Bit::MOT);
 
-				if (data_valid) {
-					if (motion_reported) {
-						// only populate flow if data valid (motion and quality > 0)
-						const int16_t delta_x_raw = combine(buffer.data.Delta_X_H, buffer.data.Delta_X_L);
-						const int16_t delta_y_raw = combine(buffer.data.Delta_Y_H, buffer.data.Delta_Y_L);
+				const int16_t delta_x_raw = combine(buffer.data.Delta_X_H, buffer.data.Delta_X_L);
+				const int16_t delta_y_raw = combine(buffer.data.Delta_Y_H, buffer.data.Delta_Y_L);
 
+				if (data_valid) {
+
+					const bool zero_flow = (delta_x_raw == 0) && (delta_y_raw == 0);
+					const bool little_to_no_flow = (abs(delta_x_raw) <= 1) && (abs(delta_y_raw) <= 1);
+
+					bool publish = false;
+
+					if (motion_reported) {
 						// rotate measurements in yaw from sensor frame to body frame
 						const matrix::Vector3f pixel_flow_rotated = _rotation * matrix::Vector3f{(float)delta_x_raw, (float)delta_y_raw, 0.f};
 
@@ -415,15 +422,53 @@ void PAW3902::RunImpl()
 						sensor_optical_flow.pixel_flow[1] = pixel_flow_rotated(1) * SCALE;
 
 						sensor_optical_flow.quality = buffer.data.SQUAL;
+
+						publish = true;
+
+						_last_motion = timestamp_sample;
+
+					} else if (zero_flow && (timestamp_sample > _last_motion)) {
+						// no motion, but burst read looks valid and we should have seen new data by now if there was any motion
+						const bool burst_read_changed = (delta_x_raw != _delta_x_raw_prev) || (delta_y_raw != _delta_y_raw_prev)
+										|| (shutter != _shutter_prev)
+										|| (buffer.data.RawData_Sum != _raw_data_sum_prev)
+										|| (buffer.data.SQUAL != _quality_prev);
+
+						if (burst_read_changed) {
+
+							sensor_optical_flow.pixel_flow[0] = 0;
+							sensor_optical_flow.pixel_flow[1] = 0;
+
+							sensor_optical_flow.quality = buffer.data.SQUAL;
+
+							publish = true;
+						}
 					}
 
-					// only publish when there's motion or at least every second
-					if (motion_reported || (hrt_elapsed_time(&_last_publish) >= kBackupScheduleIntervalUs)) {
+					// only publish when there's valid data or on timeout
+					if (publish || (hrt_elapsed_time(&_last_publish) >= kBackupScheduleIntervalUs)) {
 
 						sensor_optical_flow.timestamp = hrt_absolute_time();
 						_sensor_optical_flow_pub.publish(sensor_optical_flow);
 
-						_last_publish = sensor_optical_flow.timestamp;
+						_last_publish = sensor_optical_flow.timestamp_sample;
+					}
+
+					// backup schedule if we're reliant on the motion interrupt and there's very little flow
+					if (_motion_interrupt_enabled && little_to_no_flow) {
+						switch (_mode) {
+						case Mode::Bright:
+							ScheduleDelayed(SAMPLE_INTERVAL_MODE_0);
+							break;
+
+						case Mode::LowLight:
+							ScheduleDelayed(SAMPLE_INTERVAL_MODE_1);
+							break;
+
+						case Mode::SuperLowLight:
+							ScheduleDelayed(SAMPLE_INTERVAL_MODE_2);
+							break;
+						}
 					}
 
 					success = true;
@@ -433,6 +478,12 @@ void PAW3902::RunImpl()
 					}
 				}
 
+				_delta_x_raw_prev = delta_x_raw;
+				_delta_y_raw_prev = delta_y_raw;
+				_shutter_prev = shutter;
+				_raw_data_sum_prev = buffer.data.RawData_Sum;
+				_quality_prev = buffer.data.SQUAL;
+
 			} else {
 				perf_count(_bad_transfer_perf);
 			}

src/drivers/optical_flow/paw3902/PAW3902.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019-2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2023 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
@@ -114,14 +114,22 @@ private:
 
 	hrt_abstime _reset_timestamp{0};
 	hrt_abstime _last_publish{0};
+	hrt_abstime _last_motion{0};
+
+	int16_t _delta_x_raw_prev{0};
+	int16_t _delta_y_raw_prev{0};
+	uint16_t _shutter_prev{0};
+	uint8_t _quality_prev{0};
+	uint8_t _raw_data_sum_prev{0};
+
 	int _failure_count{0};
 	int _discard_reading{0};
 
 	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
-	bool _data_ready_interrupt_enabled{false};
+	bool _motion_interrupt_enabled{false};
 
 	uint32_t _scheduled_interval_us{SAMPLE_INTERVAL_MODE_0 / 2};
-	static constexpr uint32_t kBackupScheduleIntervalUs{200_ms};
+	static constexpr uint32_t kBackupScheduleIntervalUs{SAMPLE_INTERVAL_MODE_2}; // longest expected interval
 
 	Mode _mode{Mode::LowLight};
 

src/drivers/pca9685_pwm_out/main.cpp

@@ -133,6 +133,15 @@ int PCA9685Wrapper::init()
 		return ret;
 	}
 
+	param_t param_h = param_find("PCA9685_RATE");
+
+	if (param_h != PARAM_INVALID) {
+		param_get(param_h, &_targetFreq);
+
+	} else {
+		PX4_DEBUG("PARAM_INVALID: PCA9685_RATE");
+	}
+
 	this->ChangeWorkQueue(px4::device_bus_to_wq(pca9685->get_device_id()));
 
 	PX4_INFO("running on I2C bus %d address 0x%.2x", pca9685->get_device_bus(), pca9685->get_device_address());

src/drivers/pca9685_pwm_out/module.yaml

@@ -4,8 +4,24 @@ actuator_output:
     - param_prefix: PCA9685
       channel_label: 'Channel'
       standard_params:
-        disarmed: { min: 800, max: 2200, default: 900 }
+        disarmed: { min: 800, max: 2200, default: 1000 }
         min: { min: 800, max: 1400, default: 1000 }
         max: { min: 1600, max: 2200, default: 2000 }
         failsafe: { min: 800, max: 2200 }
       num_channels: 16
+parameters:
+    - group: PCA9685
+      definitions:
+        PCA9685_RATE:
+            description:
+                short: PWM frequency for PCA9685
+                long: |
+                    Update rate at which the PWM signal is sent to the ESC.
+            type: float
+            decimal: 1
+            increment: 0.1
+            default: 50
+            min: 50
+            max: 450
+            unit: Hz
+            reboot_required: true

src/drivers/pwm_out/PWMOut.cpp

@@ -218,42 +218,55 @@ void PWMOut::update_params()
 
 	updateParams();
 
-	// Automatically set the PWM rate and disarmed value when a channel is first set to a servo
+	// Automatically set PWM configuration when a channel is first assigned
 	if (!_first_update_cycle) {
 		for (size_t i = 0; i < _num_outputs; i++) {
 			if ((previously_set_functions & (1u << i)) == 0 && _mixing_output.functionParamHandle(i) != PARAM_INVALID) {
 				int32_t output_function;
 
-				if (param_get(_mixing_output.functionParamHandle(i), &output_function) == 0
-				    && output_function >= (int)OutputFunction::Servo1
-				    && output_function <= (int)OutputFunction::ServoMax) { // Function got set to a servo
-					int32_t val = 1500;
-					PX4_INFO("Setting disarmed to %i for channel %i", (int) val, i);
-					param_set(_mixing_output.disarmedParamHandle(i), &val);
+				if (param_get(_mixing_output.functionParamHandle(i), &output_function) == 0) {
+					// Servos need PWM rate 50Hz and disramed value 1500us
+					if (output_function >= (int)OutputFunction::Servo1
+					    && output_function <= (int)OutputFunction::ServoMax) { // Function got set to a servo
+						int32_t val = 1500;
+						PX4_INFO("Setting channel %i disarmed to %i", (int) val, i);
+						param_set(_mixing_output.disarmedParamHandle(i), &val);
 
-					// If the whole timer group was not set previously, then set the pwm rate to 50 Hz
-					for (int timer = 0; timer < MAX_IO_TIMERS; ++timer) {
+						// If the whole timer group was not set previously, then set the pwm rate to 50 Hz
+						for (int timer = 0; timer < MAX_IO_TIMERS; ++timer) {
 
-						uint32_t channels = io_timer_get_group(timer);
+							uint32_t channels = io_timer_get_group(timer);
 
-						if ((channels & (1u << i)) == 0) {
-							continue;
-						}
+							if ((channels & (1u << i)) == 0) {
+								continue;
+							}
 
-						if ((channels & previously_set_functions) == 0) { // None of the channels was set
-							char param_name[17];
-							snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer);
+							if ((channels & previously_set_functions) == 0) { // None of the channels was set
+								char param_name[17];
+								snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer);
 
-							int32_t tim_config = 0;
-							param_t handle = param_find(param_name);
+								int32_t tim_config = 0;
+								param_t handle = param_find(param_name);
 
-							if (param_get(handle, &tim_config) == 0 && tim_config == 400) {
-								tim_config = 50;
-								PX4_INFO("setting timer %i to %i Hz", timer, (int) tim_config);
-								param_set(handle, &tim_config);
+								if (param_get(handle, &tim_config) == 0 && tim_config == 400) {
+									tim_config = 50;
+									PX4_INFO("setting timer %i to %i Hz", timer, (int) tim_config);
+									param_set(handle, &tim_config);
+								}
 							}
 						}
 					}
+
+					// Motors need a minimum value that idles the motor and have a deadzone at the top of the range
+					if (output_function >= (int)OutputFunction::Motor1
+					    && output_function <= (int)OutputFunction::MotorMax) { // Function got set to a motor
+						int32_t val = 1100;
+						PX4_INFO("Setting channel %i minimum to %i", (int) val, i);
+						param_set(_mixing_output.minParamHandle(i), &val);
+						val = 1900;
+						PX4_INFO("Setting channel %i maximum to %i", (int) val, i);
+						param_set(_mixing_output.maxParamHandle(i), &val);
+					}
 				}
 			}
 		}

src/drivers/pwm_out/module.yaml

@@ -5,7 +5,7 @@ actuator_output:
       param_prefix: '${PWM_MAIN_OR_AUX}'
       channel_labels: ['${PWM_MAIN_OR_AUX}', '${PWM_MAIN_OR_AUX_CAP}']
       standard_params:
-        disarmed: { min: 800, max: 2200, default: 900 }
+        disarmed: { min: 800, max: 2200, default: 1000 }
         min: { min: 800, max: 1400, default: 1000 }
         max: { min: 1600, max: 2200, default: 2000 }
         failsafe: { min: 800, max: 2200 }

src/drivers/px4io/module.yaml

@@ -7,7 +7,7 @@ actuator_output:
       channel_label_module_name_prefix: false
       timer_config_file: "boards/px4/io-v2/src/timer_config.cpp"
       standard_params:
-        disarmed: { min: 800, max: 2200, default: 900 }
+        disarmed: { min: 800, max: 2200, default: 1000 }
         min: { min: 800, max: 1400, default: 1000 }
         max: { min: 1600, max: 2200, default: 2000 }
         failsafe: { min: 800, max: 2200 }

src/drivers/px4io/px4io.cpp

@@ -702,36 +702,48 @@ void PX4IO::update_params()
 				if ((previously_set_functions & (1u << i)) == 0 && _mixing_output.functionParamHandle(i) != PARAM_INVALID) {
 					int32_t output_function;
 
-					if (param_get(_mixing_output.functionParamHandle(i), &output_function) == 0
-					    && output_function >= (int)OutputFunction::Servo1
-					    && output_function <= (int)OutputFunction::ServoMax) { // Function got set to a servo
-						int32_t val = 1500;
-						PX4_INFO("Setting disarmed to %i for channel %i", (int) val, i);
-						param_set(_mixing_output.disarmedParamHandle(i), &val);
+					if (param_get(_mixing_output.functionParamHandle(i), &output_function) == 0) {
+						if (output_function >= (int)OutputFunction::Servo1
+						    && output_function <= (int)OutputFunction::ServoMax) { // Function got set to a servo
+							int32_t val = 1500;
+							PX4_INFO("Setting channel %i disarmed to %i", (int) val, i);
+							param_set(_mixing_output.disarmedParamHandle(i), &val);
 
-						// If the whole timer group was not set previously, then set the pwm rate to 50 Hz
-						for (int timer = 0; timer < (int)(sizeof(_group_channels) / sizeof(_group_channels[0])); ++timer) {
+							// If the whole timer group was not set previously, then set the pwm rate to 50 Hz
+							for (int timer = 0; timer < (int)(sizeof(_group_channels) / sizeof(_group_channels[0])); ++timer) {
 
-							uint32_t channels = _group_channels[timer];
+								uint32_t channels = _group_channels[timer];
 
-							if ((channels & (1u << i)) == 0) {
-								continue;
-							}
+								if ((channels & (1u << i)) == 0) {
+									continue;
+								}
 
-							if ((channels & previously_set_functions) == 0) { // None of the channels was set
-								char param_name[17];
-								snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer);
+								if ((channels & previously_set_functions) == 0) { // None of the channels was set
+									char param_name[17];
+									snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer);
 
-								int32_t tim_config = 0;
-								param_t handle = param_find(param_name);
+									int32_t tim_config = 0;
+									param_t handle = param_find(param_name);
 
-								if (param_get(handle, &tim_config) == 0 && tim_config == 400) {
-									tim_config = 50;
-									PX4_INFO("setting timer %i to %i Hz", timer, (int) tim_config);
-									param_set(handle, &tim_config);
+									if (param_get(handle, &tim_config) == 0 && tim_config == 400) {
+										tim_config = 50;
+										PX4_INFO("setting timer %i to %i Hz", timer, (int) tim_config);
+										param_set(handle, &tim_config);
+									}
 								}
 							}
 						}
+
+						// Motors need a minimum value that idles the motor
+						if (output_function >= (int)OutputFunction::Motor1
+						    && output_function <= (int)OutputFunction::MotorMax) { // Function got set to a motor
+							int32_t val = 1100;
+							PX4_INFO("Setting channel %i minimum to %i", (int) val, i);
+							param_set(_mixing_output.minParamHandle(i), &val);
+							val = 1900;
+							PX4_INFO("Setting channel %i maximum to %i", (int) val, i);
+							param_set(_mixing_output.maxParamHandle(i), &val);
+						}
 					}
 				}
 			}

src/drivers/rc/crsf_rc/CrsfParser.cpp

@@ -293,9 +293,9 @@ bool CrsfParser_TryParseCrsfPacket(CrsfPacket_t *const new_packet, CrsfParserSta
 			} else {
 				// We don't know what this packet is, so we'll let the parser continue
 				// just so that we can dequeue it in one shot
-				working_segment_size = packet_size + PACKET_SIZE_TYPE_SIZE;
+				working_segment_size = packet_size - PACKET_SIZE_TYPE_SIZE;
 
-				if (working_segment_size > CRSF_MAX_PACKET_LEN) {
+				if (working_index + working_segment_size + CRC_SIZE > CRSF_MAX_PACKET_LEN) {
 					parser_statistics->invalid_unknown_packet_sizes++;
 					parser_state = PARSER_STATE_HEADER;
 					working_segment_size = HEADER_SIZE;

src/drivers/uavcan/sensors/gnss.cpp

@@ -467,29 +467,61 @@ void UavcanGnssBridge::update()
 // to work.
 void UavcanGnssBridge::handleInjectDataTopic()
 {
-	// Limit maximum number of GPS injections to 6 since usually
-	// GPS injections should consist of 1-4 packets (GPS, Glonass, BeiDou, Galileo).
-	// Looking at 6 packets thus guarantees, that at least a full injection
-	// data set is evaluated.
-	static constexpr size_t MAX_NUM_INJECTIONS = 6;
+	// We don't want to call copy again further down if we have already done a
+	// copy in the selection process.
+	bool already_copied = false;
+	gps_inject_data_s msg;
 
-	size_t num_injections = 0;
-	gps_inject_data_s gps_inject_data;
+	// If there has not been a valid RTCM message for a while, try to switch to a different RTCM link
+	if ((hrt_absolute_time() - _last_rtcm_injection_time) > 5_s) {
 
-	while ((num_injections <= MAX_NUM_INJECTIONS) && _gps_inject_data_sub.update(&gps_inject_data)) {
-		// Write the message to the gps device. Note that the message could be fragmented.
-		// But as we don't write anywhere else to the device during operation, we don't
-		// need to assemble the message first.
-		if (_publish_rtcm_stream) {
-			PublishRTCMStream(gps_inject_data.data, gps_inject_data.len);
+		for (int instance = 0; instance < _orb_inject_data_sub.size(); instance++) {
+			const bool exists = _orb_inject_data_sub[instance].advertised();
+
+			if (exists) {
+				if (_orb_inject_data_sub[instance].copy(&msg)) {
+					if ((hrt_absolute_time() - msg.timestamp) < 5_s) {
+						// Remember that we already did a copy on this instance.
+						already_copied = true;
+						_selected_rtcm_instance = instance;
+						break;
+					}
+				}
+			}
 		}
-
-		if (_publish_moving_baseline_data) {
-			PublishMovingBaselineData(gps_inject_data.data, gps_inject_data.len);
-		}
-
-		num_injections++;
 	}
+
+	bool updated = already_copied;
+
+	// Limit maximum number of GPS injections to 8 since usually
+	// GPS injections should consist of 1-4 packets (GPS, Glonass, BeiDou, Galileo).
+	// Looking at 8 packets thus guarantees, that at least a full injection
+	// data set is evaluated.
+	// Moving Base reuires a higher rate, so we allow up to 8 packets.
+	const size_t max_num_injections = gps_inject_data_s::ORB_QUEUE_LENGTH;
+	size_t num_injections = 0;
+
+	do {
+		if (updated) {
+			num_injections++;
+
+			// Write the message to the gps device. Note that the message could be fragmented.
+			// But as we don't write anywhere else to the device during operation, we don't
+			// need to assemble the message first.
+			if (_publish_rtcm_stream) {
+				PublishRTCMStream(msg.data, msg.len);
+			}
+
+			if (_publish_moving_baseline_data) {
+				PublishMovingBaselineData(msg.data, msg.len);
+			}
+
+			_last_rtcm_injection_time = hrt_absolute_time();
+		}
+
+		updated = _orb_inject_data_sub[_selected_rtcm_instance].update(&msg);
+
+	} while (updated && num_injections < max_num_injections);
 }
 
 bool UavcanGnssBridge::PublishRTCMStream(const uint8_t *const data, const size_t data_len)

src/drivers/uavcan/sensors/gnss.hpp

@@ -45,6 +45,7 @@
 #pragma once
 
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/gps_inject_data.h>
@@ -123,7 +124,9 @@ private:
 	float		_last_gnss_auxiliary_hdop{0.0f};
 	float		_last_gnss_auxiliary_vdop{0.0f};
 
-	uORB::Subscription _gps_inject_data_sub{ORB_ID(gps_inject_data)};
+	uORB::SubscriptionMultiArray<gps_inject_data_s, gps_inject_data_s::MAX_INSTANCES> _orb_inject_data_sub{ORB_ID::gps_inject_data};
+	hrt_abstime		_last_rtcm_injection_time{0};	///< time of last rtcm injection
+	uint8_t			_selected_rtcm_instance{0};	///< uorb instance that is being used for RTCM corrections
 
 	bool _system_clock_set{false};  ///< Have we set the system clock at least once from GNSS data?
 

src/drivers/uwb/uwb_sr150/module.yaml

@@ -4,12 +4,11 @@ serial_config:
     port_config_param:
       name: UWB_PORT_CFG
       group: UWB
-      default: ""
+      default: "TEL2"
 
 parameters:
     - group: UWB
       definitions:
-
         UWB_INIT_OFF_X:
           description:
             short: UWB sensor X offset in body frame
@@ -32,7 +31,7 @@ parameters:
 
         UWB_INIT_OFF_Z:
           description:
-            short: UWB sensor Y offset in body frame
+            short: UWB sensor Z offset in body frame
             long: UWB sensor positioning in relation to Drone in NED. Z offset.
           type: float
           unit: m
@@ -40,14 +39,52 @@ parameters:
           increment: 0.01
           default: 0.00
 
-        UWB_INIT_OFF_YAW:
+        UWB_SENS_ROT:
           description:
-            short: UWB sensor YAW offset in body frame
-            long: UWB sensor positioning in relation to Drone in NED. Yaw rotation in relation to direction of FMU.
-          type: float
-          unit: deg
-          decimal: 1
-          increment: 0.1
-          default: 0.00
-
-
+            short: UWB sensor orientation
+            long: The orientation of the sensor relative to the forward direction of the body frame. Look up table in src/lib/conversion/rotation.h
+                  Default position is the antannaes downward facing, UWB board parallel with body frame.
+          type: enum
+          values:
+            0: ROTATION_NONE
+            1: ROTATION_YAW_45
+            2: ROTATION_YAW_90
+            3: ROTATION_YAW_135
+            4: ROTATION_YAW_180
+            5: ROTATION_YAW_225
+            6: ROTATION_YAW_270
+            7: ROTATION_YAW_315
+            8: ROTATION_ROLL_180
+            9: ROTATION_ROLL_180_YAW_45
+            10: ROTATION_ROLL_180_YAW_90
+            11: ROTATION_ROLL_180_YAW_135
+            12: ROTATION_PITCH_180
+            13: ROTATION_ROLL_180_YAW_225
+            14: ROTATION_ROLL_180_YAW_270
+            15: ROTATION_ROLL_180_YAW_315
+            16: ROTATION_ROLL_90
+            17: ROTATION_ROLL_90_YAW_45
+            18: ROTATION_ROLL_90_YAW_90
+            19: ROTATION_ROLL_90_YAW_135
+            20: ROTATION_ROLL_270
+            21: ROTATION_ROLL_270_YAW_45
+            22: ROTATION_ROLL_270_YAW_90
+            23: ROTATION_ROLL_270_YAW_135
+            24: ROTATION_PITCH_90
+            25: ROTATION_PITCH_270
+            26: ROTATION_PITCH_180_YAW_90
+            27: ROTATION_PITCH_180_YAW_270
+            28: ROTATION_ROLL_90_PITCH_90
+            29: ROTATION_ROLL_180_PITCH_90
+            30: ROTATION_ROLL_270_PITCH_90
+            31: ROTATION_ROLL_90_PITCH_180
+            32: ROTATION_ROLL_270_PITCH_180
+            33: ROTATION_ROLL_90_PITCH_270
+            34: ROTATION_ROLL_180_PITCH_270
+            35: ROTATION_ROLL_270_PITCH_270
+            36: ROTATION_ROLL_90_PITCH_180_YAW_90
+            37: ROTATION_ROLL_90_YAW_270
+            38: ROTATION_ROLL_90_PITCH_68_YAW_293
+            39: ROTATION_PITCH_315
+            40: ROTATION_ROLL_90_PITCH_315
+          default: 0

src/drivers/uwb/uwb_sr150/uwb_sr150.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2023 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
@@ -63,128 +63,130 @@
 // The default baudrate of the uwb_sr150 module before configuration
 #define DEFAULT_BAUD B115200
 
-const uint8_t CMD_RANGING_STOP[UWB_CMD_LEN ] = {UWB_CMD, 0x00, 0x02, UWB_DRONE_CTL, UWB_CMD_STOP};
-const uint8_t CMD_RANGING_START[UWB_CMD_LEN ] = {UWB_CMD, 0x00, 0x02, UWB_DRONE_CTL, UWB_CMD_START};
-const uint8_t CMD_APP_START[UWB_CMD_LEN ] = {0x01, 0x00, 0x02, UWB_APP_START, UWB_PRECNAV_APP};
-const uint8_t CMD_APP_STOP[0x04 ] = {0x01, 0x00, 0x01, UWB_APP_STOP};
-
 extern "C" __EXPORT int uwb_sr150_main(int argc, char *argv[]);
 
-UWB_SR150::UWB_SR150(const char *device_name, speed_t baudrate, bool uwb_pos_debug):
+UWB_SR150::UWB_SR150(const char *port):
 	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
 	_read_count_perf(perf_alloc(PC_COUNT, "uwb_sr150_count")),
 	_read_err_perf(perf_alloc(PC_COUNT, "uwb_sr150_err"))
 {
-	_uwb_pos_debug = uwb_pos_debug;
-	// start serial port
-	_uart = open(device_name, O_RDWR | O_NOCTTY);
-
-	if (_uart < 0) { err(1, "could not open %s", device_name); }
-
-	int ret = 0;
-	struct termios uart_config {};
-	ret = tcgetattr(_uart, &uart_config);
-
-	if (ret < 0) { err(1, "failed to get attr"); }
-
-	uart_config.c_oflag &= ~ONLCR; // no CR for every LF
-	ret = cfsetispeed(&uart_config, baudrate);
-
-	if (ret < 0) { err(1, "failed to set input speed"); }
-
-	ret = cfsetospeed(&uart_config, baudrate);
-
-	if (ret < 0) { err(1, "failed to set output speed"); }
-
-	ret = tcsetattr(_uart, TCSANOW, &uart_config);
-
-	if (ret < 0) { err(1, "failed to set attr"); }
+	/* store port name */
+	strncpy(_port, port, sizeof(_port) - 1);
+	/* enforce null termination */
+	_port[sizeof(_port) - 1] = '\0';
 }
 
 UWB_SR150::~UWB_SR150()
 {
 	printf("UWB: Ranging Stopped\t\n");
-	int written = write(_uart, &CMD_APP_STOP, sizeof(CMD_APP_STOP));
-
-	if (written < (int) sizeof(CMD_APP_STOP)) {
-		PX4_ERR("Only wrote %d bytes out of %d.", written, (int) sizeof(CMD_APP_STOP));
-	}
 
+	// stop{}; will be implemented when this is changed to a scheduled work task
 	perf_free(_read_err_perf);
 	perf_free(_read_count_perf);
 
 	close(_uart);
 }
 
-void UWB_SR150::run()
+bool UWB_SR150::init()
 {
-	// Subscribe to parameter_update message
-	parameters_update();
-
-	//TODO replace with BLE grid configuration
-	grid_info_read(&_uwb_grid_info.target_pos);
-	_uwb_grid_info.num_anchors = 4;
-	_uwb_grid_info.initator_time = hrt_absolute_time();
-	_uwb_grid_info.mac_mode = 0x00;
-
-	/* Grid Info Message*/
-	_uwb_grid.timestamp = hrt_absolute_time();
-	_uwb_grid.initator_time = _uwb_grid_info.initator_time;
-	_uwb_grid.num_anchors = _uwb_grid_info.num_anchors;
-
-	memcpy(&_uwb_grid.target_pos, &_uwb_grid_info.target_pos, sizeof(position_t) * 5); //write Grid positions
-
-	_uwb_grid_pub.publish(_uwb_grid);
-
-	/* Ranging  Command */
-	int written = write(_uart, CMD_RANGING_START, UWB_CMD_LEN);
-
-	if (written <  UWB_CMD_LEN) {
-		PX4_ERR("Only wrote %d bytes out of %d.", written, (int) sizeof(uint8_t) *  UWB_CMD_LEN);
+	// execute Run() on every sensor_accel publication
+	if (!_sensor_uwb_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
 	}
 
-	while (!should_exit()) {
-		written = UWB_SR150::distance(); //evaluate Ranging Messages until Stop
-	}
+	// alternatively, Run on fixed interval
+	// ScheduleOnInterval(5000_us); // 2000 us interval, 200 Hz rate
 
-	if (!written) { printf("ERROR: Distance Failed"); }
-
-	// Automatic Stop. This should not be reachable
-	written = write(_uart, &CMD_RANGING_STOP, UWB_CMD_LEN);
-
-	if (written < (int) sizeof(CMD_RANGING_STOP)) {
-		PX4_ERR("Only wrote %d bytes out of %d.", written, (int) sizeof(CMD_RANGING_STOP));
-	}
+	return true;
 }
 
-void UWB_SR150::grid_info_read(position_t *grid)
+void UWB_SR150::start()
 {
-	//place holder, until UWB initiator can respond with Grid info
-	/*	This Reads the position of each Anchor in the Grid.
-		Right now the Grid configuration is saved on the SD card.
-		In the future, we would like, that the Initiator responds with the Grid Information (Including Position). */
-	PX4_INFO("Reading UWB GRID from SD... \t\n");
-	FILE *file;
-	file = fopen(UWB_GRID_CONFIG, "r");
+	/* schedule a cycle to start things */
+	ScheduleNow();
+}
 
-	int  bread = 0;
+void UWB_SR150::stop()
+{
+	ScheduleClear();
+}
 
-	for (int i = 0; i < 5; i++) {
-		bread += fscanf(file, "%hd,%hd,%hd\n", &grid[i].x, &grid[i].y, &grid[i].z);
+void UWB_SR150::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+		return;
 	}
 
-	if (bread == 5 * 3) {
-		PX4_INFO("GRID INFO READ! bytes read: %d \t\n", bread);
+	if (_uart < 0) {
+		/* open fd */
+		_uart = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK);
 
-	} else { //use UUID from Grid survey
-		PX4_INFO("GRID INFO Missing! bytes read: %d \t\n Using standrd Grid \t\n", bread);
-		position_t grid_setup[5] = {{0x0, 0x0, 0x0}, {(int16_t)0xff68, 0x0, 0x0a}, {0x99, 0x0, 0x0a}, {0x0, 0x96, 0x64}, {0x0, (int16_t)0xff6a, 0x63}};
-		memcpy(grid, &grid_setup, sizeof(grid_setup));
-		PX4_INFO("Insert \"uwb_grid_config.csv\" containing gridinfo in cm at \"/fs/microsd/etc/\".\t\n");
-		PX4_INFO("n + 1 Anchor Positions starting with Landing Target. Int16 Format:  \"x,y,z\" \t\n");
+		if (_uart < 0) {
+			PX4_ERR("open failed (%i)", errno);
+			return;
+		}
+
+		struct termios uart_config;
+
+		int termios_state;
+
+		/* fill the struct for the new configuration */
+		tcgetattr(_uart, &uart_config);
+
+		/* clear ONLCR flag (which appends a CR for every LF) */
+		uart_config.c_oflag &= ~ONLCR;
+
+		//TODO: should I keep this?
+		/* no parity, one stop bit */
+		uart_config.c_cflag &= ~(CSTOPB | PARENB);
+
+		unsigned speed = DEFAULT_BAUD;
+
+		/* set baud rate */
+		if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
+			PX4_ERR("CFG: %d ISPD", termios_state);
+		}
+
+		if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
+			PX4_ERR("CFG: %d OSPD", termios_state);
+		}
+
+		if ((termios_state = tcsetattr(_uart, TCSANOW, &uart_config)) < 0) {
+			PX4_ERR("baud %d ATTR", termios_state);
+		}
 	}
 
-	fclose(file);
+	/* perform collection */
+	int collect_ret = collectData();
+
+	if (collect_ret == -EAGAIN) {
+		/* reschedule to grab the missing bits, time to transmit 8 bytes @ 9600 bps */
+		ScheduleDelayed(1042 * 8);
+
+		return;
+	}
+
+	if (OK != collect_ret) {
+
+		/* we know the sensor needs about four seconds to initialize */
+		if (hrt_absolute_time() > 5 * 1000 * 1000LL && _consecutive_fail_count < 5) {
+			PX4_ERR("collection error #%u", _consecutive_fail_count);
+		}
+
+		_consecutive_fail_count++;
+
+		/* restart the measurement state machine */
+		start();
+		return;
+
+	} else {
+		/* apparently success */
+		_consecutive_fail_count = 0;
+	}
 }
 
 int UWB_SR150::custom_command(int argc, char *argv[])
@@ -214,43 +216,20 @@ $ uwb start -d /dev/ttyS2
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "Name of device for serial communication with UWB", false);
 	PRINT_MODULE_USAGE_PARAM_STRING('b', nullptr, "<int>", "Baudrate for serial communication", false);
-	PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, "<int>", "Position Debug: displays errors in Multilateration", false);
 	PRINT_MODULE_USAGE_COMMAND("stop");
 	PRINT_MODULE_USAGE_COMMAND("status");
 	return 0;
 }
 
 int UWB_SR150::task_spawn(int argc, char *argv[])
-{
-	int task_id = px4_task_spawn_cmd(
-			      "uwb_driver",
-			      SCHED_DEFAULT,
-			      SCHED_PRIORITY_DEFAULT,
-			      2048,
-			      &run_trampoline,
-			      argv
-		      );
-
-	if (task_id < 0) {
-		return -errno;
-
-	} else {
-		_task_id = task_id;
-		return 0;
-	}
-}
-
-UWB_SR150 *UWB_SR150::instantiate(int argc, char *argv[])
 {
 	int ch;
 	int option_index = 1;
 	const char *option_arg;
-	const char *device_name = nullptr;
-	bool error_flag = false;
+	const char *device_name = UWB_DEFAULT_PORT;
 	int baudrate = 0;
-	bool uwb_pos_debug = false; // Display UWB position calculation debug Messages
 
-	while ((ch = px4_getopt(argc, argv, "d:b:p", &option_index, &option_arg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "d:b", &option_index, &option_arg)) != EOF) {
 		switch (ch) {
 		case 'd':
 			device_name = option_arg;
@@ -260,47 +239,54 @@ UWB_SR150 *UWB_SR150::instantiate(int argc, char *argv[])
 			px4_get_parameter_value(option_arg, baudrate);
 			break;
 
-		case 'p':
-
-			uwb_pos_debug = true;
-			break;
-
 		default:
 			PX4_WARN("Unrecognized flag: %c", ch);
-			error_flag = true;
 			break;
 		}
 	}
 
-	if (!error_flag && device_name == nullptr) {
-		print_usage("Device name not provided. Using default Device: TEL1:/dev/ttyS4 \n");
-		device_name = "TEL2";
-		error_flag = true;
-	}
+	UWB_SR150 *instance = new UWB_SR150(device_name);
 
-	if (!error_flag && baudrate == 0) {
-		printf("Baudrate not provided. Using default Baud: 115200 \n");
-		baudrate = B115200;
-	}
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
 
-	if (!error_flag && uwb_pos_debug == true) {
-		printf("UWB Position algorithm Debugging \n");
-	}
+		instance->ScheduleOnInterval(5000_us);
 
-	if (error_flag) {
-		PX4_WARN("Failed to start UWB driver. \n");
-		return nullptr;
+		if (instance->init()) {
+			return PX4_OK;
+		}
 
 	} else {
-		PX4_INFO("Constructing UWB_SR150. Device: %s", device_name);
-		return new UWB_SR150(device_name, baudrate, uwb_pos_debug);
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int uwb_sr150_main(int argc, char *argv[])
+{
+	return UWB_SR150::main(argc, argv);
+}
+
+void UWB_SR150::parameters_update()
+{
+	if (_parameter_update_sub.updated()) {
+		parameter_update_s param_update;
+		_parameter_update_sub.copy(&param_update);
+
+		// If any parameter updated, call updateParams() to check if
+		// this class attributes need updating (and do so).
+		updateParams();
 	}
 }
 
-int UWB_SR150::distance()
+int UWB_SR150::collectData()
 {
-	_uwb_init_offset_v3f = matrix::Vector3f(_uwb_init_off_x.get(), _uwb_init_off_y.get(),
-						_uwb_init_off_z.get()); //set offset at the start
 	uint8_t *buffer = (uint8_t *) &_distance_result_msg;
 
 	FD_ZERO(&_uart_set);
@@ -350,366 +336,54 @@ int UWB_SR150::distance()
 	perf_count(_read_count_perf);
 
 	// All of the following criteria must be met for the message to be acceptable:
-	//  - Size of message == sizeof(distance_msg_t) (51 bytes)
+	//  - Size of message == sizeof(distance_msg_t) (36 bytes)
 	//  - status == 0x00
-	//  - Values of all 3 position measurements are reasonable
-	//      (If one or more anchors is missed, then position might be an unreasonably large number.)
-	bool ok = (buffer_location == sizeof(distance_msg_t) && _distance_result_msg.stop == 0x1b); //||
-	//(buffer_location == sizeof(grid_msg_t) && _distance_result_msg.stop == 0x1b)
-	//);
+	bool ok = (buffer_location == sizeof(distance_msg_t) && _distance_result_msg.stop == 0x1b);
 
 	if (ok) {
 
 		/* Ranging Message*/
-		_uwb_distance.timestamp = hrt_absolute_time();
-		_uwb_distance.time_uwb_ms = _distance_result_msg.time_uwb_ms;
-		_uwb_distance.counter = _distance_result_msg.seq_ctr;
-		_uwb_distance.sessionid = _distance_result_msg.sessionId;
-		_uwb_distance.time_offset = _distance_result_msg.range_interval;
+		_sensor_uwb.timestamp 		= hrt_absolute_time();
 
-		for (int i = 0; i < 4; i++) {
-			_uwb_distance.anchor_distance[i] = _distance_result_msg.measurements[i].distance;
-			_uwb_distance.nlos[i] = _distance_result_msg.measurements[i].nLos;
-			_uwb_distance.aoafirst[i] = float(_distance_result_msg.measurements[i].aoaFirst) /
-						    128; // Angle of Arrival has Format Q9.7; dividing by 2^7 results in the correct value
-		}
+		_sensor_uwb.sessionid 		= _distance_result_msg.sessionId;
+		_sensor_uwb.time_offset 	= _distance_result_msg.range_interval;
+		_sensor_uwb.counter 		= _distance_result_msg.seq_ctr;
+		_sensor_uwb.mac			= _distance_result_msg.MAC;
 
-		// Algorithm goes here
-		UWB_POS_ERROR_CODES UWB_POS_ERROR = UWB_SR150::localization();
+		_sensor_uwb.mac_dest		= _distance_result_msg.measurements.MAC;
+		_sensor_uwb.status		= _distance_result_msg.measurements.status;
+		_sensor_uwb.nlos 		= _distance_result_msg.measurements.nLos;
+		_sensor_uwb.distance 		= double(_distance_result_msg.measurements.distance) / 100;
 
-		_uwb_distance.status = UWB_POS_ERROR;
 
-		if (UWB_OK == UWB_POS_ERROR) {
+		/*Angle of Arrival has Format Q9.7; dividing by 2^7 and negating results in the correct value*/
+		_sensor_uwb.aoa_azimuth_dev 	= - double(_distance_result_msg.measurements.aoa_azimuth) / 128;
+		_sensor_uwb.aoa_elevation_dev 	= - double(_distance_result_msg.measurements.aoa_elevation) / 128;
+		_sensor_uwb.aoa_azimuth_resp 	= - double(_distance_result_msg.measurements.aoa_dest_azimuth) / 128;
+		_sensor_uwb.aoa_elevation_resp 	= - double(_distance_result_msg.measurements.aoa_dest_elevation) / 128;
 
-			_uwb_distance.position[0] = _rel_pos(0);
-			_uwb_distance.position[1] = _rel_pos(1);
-			_uwb_distance.position[2] = _rel_pos(2);
 
-		} else {
-			//only print the error if debug is enabled
-			if (_uwb_pos_debug) {
-				switch (UWB_POS_ERROR) { //UWB POSITION ALGORItHM Errors
-				case UWB_ANC_BELOW_THREE:
-					PX4_INFO("UWB not enough anchors for doing localization");
-					break;
+		/*Angle of Arrival has Format Q9.7; dividing by 2^7 and negating results in the correct value*/
+		_sensor_uwb.aoa_azimuth_fom 		= - double(_distance_result_msg.measurements.aoa_azimuth) / 128;
+		_sensor_uwb.aoa_elevation_fom 		= - double(_distance_result_msg.measurements.aoa_elevation) / 128;
+		_sensor_uwb.aoa_dest_azimuth_fom	= - double(_distance_result_msg.measurements.aoa_dest_azimuth) / 128;
+		_sensor_uwb.aoa_dest_elevation_fom	= - double(_distance_result_msg.measurements.aoa_dest_elevation) / 128;
 
-				case UWB_LIN_DEP_FOR_THREE:
-					PX4_INFO("UWB localization: linear dependent with 3 Anchors");
-					break;
+		/* Sensor physical offset*/ //for now we propagate the physical configuration via Uorb
+		_sensor_uwb.orientation		= _sensor_rot.get();
+		_sensor_uwb.offset_x		= _offset_x.get();
+		_sensor_uwb.offset_y		= _offset_y.get();
+		_sensor_uwb.offset_z		= _offset_z.get();
 
-				case UWB_ANC_ON_ONE_LEVEL:
-					PX4_INFO("UWB localization: Anchors are on a X,Y Plane and there are not enought Anchors");
-					break;
-
-				case UWB_LIN_DEP_FOR_FOUR:
-					PX4_INFO("UWB localization: linear dependent with four or more Anchors");
-					break;
-
-				case UWB_RANK_ZERO:
-					PX4_INFO("UWB localization: rank is zero");
-					break;
-
-				default:
-					PX4_INFO("UWB localization: Unknown failure in Position Algorithm");
-					break;
-				}
-			}
-		}
-
-		_uwb_distance_pub.publish(_uwb_distance);
+		_sensor_uwb_pub.publish(_sensor_uwb);
 
 	} else {
-		//PX4_ERR("Read %d bytes instead of %d.", (int) buffer_location, (int) sizeof(distance_msg_t));
 		perf_count(_read_err_perf);
 
 		if (buffer_location == 0) {
 			PX4_WARN("UWB module is not responding.");
-
-			//TODO add retry Ranging Start Message. Sometimes the UWB devices Crashes. (Check Power)
 		}
 	}
 
 	return 1;
 }
-
-UWB_POS_ERROR_CODES UWB_SR150::localization()
-{
-// 			WIP
-	/******************************************************
-	 ****************** 3D Localization *******************
-	 *****************************************************/
-
-	/*!@brief: This function calculates the 3D position of the initiator from the anchor distances and positions using least squared errors.
-	 *	 	   The function expects more than 4 anchors. The used equation system looks like follows:\n
-	 \verbatim
-	  		    -					-
-	  		   | M_11	M_12	M_13 |	 x	  b[0]
-	  		   | M_12	M_22	M_23 | * y	= b[1]
-	  		   | M_23	M_13	M_33 |	 z	  b[2]
-	  		    -					-
-	 \endverbatim
-	 * @param distances_cm_in_pt: 			Pointer to array that contains the distances to the anchors in cm (including invalid results)
-	 * @param no_distances: 				Number of valid distances in distance array (it's not the size of the array)
-	 * @param anchor_pos: 	Pointer to array that contains anchor positions in cm (including positions related to invalid results)
-	 * @param no_anc_positions: 			Number of valid anchor positions in the position array (it's not the size of the array)
-	 * @param position_result_pt: 			Pointer toposition. position_t variable that holds the result of this calculation
-	 * @return: The function returns a status code. */
-
-	/* 		Algorithm used:
-	 *		Linear Least Sqaures to solve Multilateration
-	 * 		with a Special case if there are only 3 Anchors.
-	 * 		Output is the Coordinates of the Initiator in relation to Anchor 0 in NEU (North-East-Up) Framing
-	 * 		In cm
-	 */
-
-	/* Resulting Position Vector*/
-	int64_t x_pos = 0;
-	int64_t y_pos = 0;
-	int64_t z_pos = 0;
-	/* Matrix components (3*3 Matrix resulting from least square error method) [cm^2] */
-	int64_t M_11 = 0;
-	int64_t M_12 = 0;																						// = M_21
-	int64_t M_13 = 0;																						// = M_31
-	int64_t M_22 = 0;
-	int64_t M_23 = 0;																						// = M_23
-	int64_t M_33 = 0;
-
-	/* Vector components (3*1 Vector resulting from least square error method) [cm^3] */
-	int64_t b[3] = {0};
-
-	/* Miscellaneous variables */
-	int64_t temp = 0;
-	int64_t temp2 = 0;
-	int64_t nominator = 0;
-	int64_t denominator = 0;
-	bool	anchors_on_x_y_plane = true;																		// Is true, if all anchors are on the same height => x-y-plane
-	bool	lin_dep = true;																						// All vectors are linear dependent, if this variable is true
-	uint8_t ind_y_indi =
-		0;	//numberr of independet vectors																					// First anchor index, for which the second row entry of the matrix [(x_1 - x_0) (x_2 - x_0) ... ; (y_1 - x_0) (y_2 - x_0) ...] is non-zero => linear independent
-
-	/* Arrays for used distances and anchor positions (without rejected ones) */
-	uint8_t 	no_distances = _uwb_grid_info.num_anchors;
-	uint32_t 	distances_cm[no_distances];
-	position_t 	anchor_pos[no_distances]; //position in CM
-	uint8_t		no_valid_distances = 0;
-
-	/* Reject invalid distances (including related anchor position) */
-	for (int i = 0; i < no_distances; i++) {
-		if (_distance_result_msg.measurements[i].distance != 0xFFFFu) {
-			//excludes any distance that is 0xFFFFU (int16 Maximum Value)
-			distances_cm[no_valid_distances] 		= _distance_result_msg.measurements[i].distance;
-			anchor_pos[no_valid_distances] 	= _uwb_grid_info.anchor_pos[i];
-			no_valid_distances++;
-
-		}
-	}
-
-	/* Check, if there are enough valid results for doing the localization at all */
-	if (no_valid_distances < 3) {
-		return UWB_ANC_BELOW_THREE;
-	}
-
-	/* Check, if anchors are on the same x-y plane */
-	for (int i = 1; i < no_valid_distances; i++) {
-		if (anchor_pos[i].z != anchor_pos[0].z) {
-			anchors_on_x_y_plane = false;
-			break;
-		}
-	}
-
-	/**** Check, if there are enough linear independent anchor positions ****/
-
-	/* Check, if the matrix |(x_1 - x_0) (x_2 - x_0) ... | has rank 2
-	 * 			|(y_1 - y_0) (y_2 - y_0) ... | 				*/
-
-	for (ind_y_indi = 2; ((ind_y_indi < no_valid_distances) && (lin_dep == true)); ind_y_indi++) {
-		temp = ((int64_t)anchor_pos[ind_y_indi].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[1].x -
-				(int64_t)anchor_pos[0].x);
-		temp2 = ((int64_t)anchor_pos[1].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[ind_y_indi].x -
-				(int64_t)anchor_pos[0].x);
-
-		if ((temp - temp2) != 0) {
-			lin_dep = false;
-			break;
-		}
-	}
-
-	/* Leave function, if rank is below 2 */
-	if (lin_dep == true) {
-		return UWB_LIN_DEP_FOR_THREE;
-	}
-
-	/* If the anchors are not on the same plane, three vectors must be independent => check */
-	if (!anchors_on_x_y_plane) {
-		/* Check, if there are enough valid results for doing the localization */
-		if (no_valid_distances < 4) {
-			return UWB_ANC_ON_ONE_LEVEL;
-		}
-
-		/* Check, if the matrix |(x_1 - x_0) (x_2 - x_0) (x_3 - x_0) ... | has rank 3 (Rank y, y already checked)
-		 * 			|(y_1 - y_0) (y_2 - y_0) (y_3 - y_0) ... |
-		 * 			|(z_1 - z_0) (z_2 - z_0) (z_3 - z_0) ... |											*/
-		lin_dep = true;
-
-		for (int i = 2; ((i < no_valid_distances) && (lin_dep == true)); i++) {
-			if (i != ind_y_indi) {
-				/* (x_1 - x_0)*[(y_2 - y_0)(z_n - z_0) - (y_n - y_0)(z_2 - z_0)] */
-				temp 	= ((int64_t)anchor_pos[ind_y_indi].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[i].z -
-						(int64_t)anchor_pos[0].z);
-				temp 	-= ((int64_t)anchor_pos[i].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[ind_y_indi].z -
-						(int64_t)anchor_pos[0].z);
-				temp2 	= ((int64_t)anchor_pos[1].x - (int64_t)anchor_pos[0].x) * temp;
-
-				/* Add (x_2 - x_0)*[(y_n - y_0)(z_1 - z_0) - (y_1 - y_0)(z_n - z_0)] */
-				temp 	= ((int64_t)anchor_pos[i].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[1].z - (int64_t)anchor_pos[0].z);
-				temp 	-= ((int64_t)anchor_pos[1].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[i].z - (int64_t)anchor_pos[0].z);
-				temp2 	+= ((int64_t)anchor_pos[ind_y_indi].x - (int64_t)anchor_pos[0].x) * temp;
-
-				/* Add (x_n - x_0)*[(y_1 - y_0)(z_2 - z_0) - (y_2 - y_0)(z_1 - z_0)] */
-				temp 	= ((int64_t)anchor_pos[1].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[ind_y_indi].z -
-						(int64_t)anchor_pos[0].z);
-				temp 	-= ((int64_t)anchor_pos[ind_y_indi].y - (int64_t)anchor_pos[0].y) * ((int64_t)anchor_pos[1].z -
-						(int64_t)anchor_pos[0].z);
-				temp2 	+= ((int64_t)anchor_pos[i].x - (int64_t)anchor_pos[0].x) * temp;
-
-				if (temp2 != 0) { lin_dep = false; }
-			}
-		}
-
-		/* Leave function, if rank is below 3 */
-		if (lin_dep == true) {
-			return UWB_LIN_DEP_FOR_FOUR;
-		}
-	}
-
-	/************************************************** Algorithm ***********************************************************************/
-
-	/* Writing values resulting from least square error method (A_trans*A*x = A_trans*r; row 0 was used to remove x^2,y^2,z^2 entries => index starts at 1) */
-	for (int i = 1; i < no_valid_distances; i++) {
-		/* Matrix (needed to be multiplied with 2, afterwards) */
-		M_11 += sq((int64_t)(anchor_pos[i].x - anchor_pos[0].x));
-		M_12 += (int64_t)((int64_t)(anchor_pos[i].x - anchor_pos[0].x) * (int64_t)(anchor_pos[i].y - anchor_pos[0].y));
-		M_13 += (int64_t)((int64_t)(anchor_pos[i].x - anchor_pos[0].x) * (int64_t)(anchor_pos[i].z - anchor_pos[0].z));
-		M_22 += sq((int64_t)(anchor_pos[i].y - anchor_pos[0].y));
-		M_23 += (int64_t)((int64_t)(anchor_pos[i].y - anchor_pos[0].y) * (int64_t)(anchor_pos[i].z - anchor_pos[0].z));
-		M_33 += sq((int64_t)(anchor_pos[i].z - anchor_pos[0].z));
-
-		/* Vector */
-		temp = sq(distances_cm[0]) - sq(distances_cm[i])
-		       + sq(anchor_pos[i].x) + sq(anchor_pos[i].y)
-		       + sq(anchor_pos[i].z) - sq(anchor_pos[0].x)
-		       - sq(anchor_pos[0].y) - sq(anchor_pos[0].z);
-
-		b[0] += (int64_t)((int64_t)(anchor_pos[i].x - anchor_pos[0].x) * temp);
-		b[1] += (int64_t)((int64_t)(anchor_pos[i].y - anchor_pos[0].y) * temp);
-		b[2] += (int64_t)((int64_t)(anchor_pos[i].z - anchor_pos[0].z) * temp);
-	}
-
-	M_11 = 2 * M_11;
-	M_12 = 2 * M_12;
-	M_13 = 2 * M_13;
-	M_22 = 2 * M_22;
-	M_23 = 2 * M_23;
-	M_33 = 2 * M_33;
-
-	/* Calculating the z-position, if calculation is possible (at least one anchor at z != 0) */
-	if (anchors_on_x_y_plane == false) {
-		nominator = b[0] * (M_12 * M_23 - M_13 * M_22) + b[1] * (M_12 * M_13 - M_11 * M_23) + b[2] *
-			    (M_11 * M_22 - M_12 * M_12);			// [cm^7]
-		denominator = M_11 * (M_33 * M_22 - M_23 * M_23) + 2 * M_12 * M_13 * M_23 - M_33 * M_12 * M_12 - M_22 * M_13 *
-			      M_13;				// [cm^6]
-
-		/* Check, if denominator is zero (Rank of matrix not high enough) */
-		if (denominator == 0) {
-			return UWB_RANK_ZERO;
-		}
-
-		z_pos = ((nominator * 10) / denominator + 5) / 10;	// [cm]
-	}
-
-	/* Else prepare for different calculation approach (after x and y were calculated) */
-	else {
-		z_pos = 0;
-	}
-
-	/* Calculating the y-position */
-	nominator = b[1] * M_11 - b[0] * M_12 - (z_pos * (M_11 * M_23 - M_12 * M_13));	// [cm^5]
-	denominator = M_11 * M_22 - M_12 * M_12;// [cm^4]
-
-	/* Check, if denominator is zero (Rank of matrix not high enough) */
-	if (denominator == 0) {
-		return UWB_RANK_ZERO;
-	}
-
-	y_pos = ((nominator * 10) / denominator + 5) / 10;	// [cm]
-
-	/* Calculating the x-position */
-	nominator = b[0] - z_pos * M_13 - y_pos * M_12;	// [cm^3]
-	denominator = M_11;	// [cm^2]
-
-	x_pos = ((nominator * 10) / denominator + 5) / 10;// [cm]
-
-	/* Calculate z-position form x and y coordinates, if z can't be determined by previous steps (All anchors at z_n = 0) */
-	if (anchors_on_x_y_plane == true) {
-		/* Calculate z-positon relative to the anchor grid's height */
-		for (int i = 0; i < no_distances; i++) {
-			/* z² = dis_meas_n² - (x - x_anc_n)² - (y - y_anc_n)² */
-			temp = (int64_t)((int64_t)pow(distances_cm[i], 2)
-					 - (int64_t)pow((x_pos - (int64_t)anchor_pos[i].x), 2)
-					 - (int64_t)pow((y_pos - (int64_t)anchor_pos[i].y), 2));
-
-			/* z² must be positive, else x and y must be wrong => calculate positive sqrt and sum up all calculated heights, if positive */
-			if (temp >= 0) {
-				z_pos += (int64_t)sqrt(temp);
-
-			} else {
-				z_pos = 0;
-			}
-		}
-
-		z_pos = z_pos / no_distances;										// Divide sum by number of distances to get the average
-
-		/* Add height of the anchor grid's height */
-		z_pos += anchor_pos[0].z;
-	}
-
-	//Output is the Coordinates of the Initiator in relation to 0,0,0 in NEU (North-East-Up) Framing
-	// The end goal of this math is to get the position relative to the landing point in the NED frame.
-	_current_position_uwb_init = matrix::Vector3f(x_pos, y_pos, z_pos);
-
-	// Construct the rotation from the UWB_R4frame to the NWU frame.
-	// The UWB_SR150 frame is just NWU, rotated by some amount about the Z (up) axis. (Parameter Yaw offset)
-	// To get back to NWU, just rotate by negative this amount about Z.
-	_uwb_init_to_nwu = matrix::Dcmf(matrix::Eulerf(0.0f, 0.0f,
-					-(_uwb_init_off_yaw.get() * M_PI_F / 180.0f))); //
-	// The actual conversion:
-	//  - Subtract _landing_point to get the position relative to the landing point, in UWB_R4 frame
-	//  - Rotate by _rddrone_to_nwu to get into the NWU frame
-	//  - Rotate by _nwu_to_ned to get into the NED frame
-	_current_position_ned = _nwu_to_ned * _uwb_init_to_nwu * _current_position_uwb_init;
-
-	// Now the position is the landing point relative to the vehicle.
-	// so the only thing left is to convert cm to Meters and to add the Initiator offset
-	_rel_pos =  _current_position_ned / 100 + _uwb_init_offset_v3f;
-
-	// The UWB report contains the position of the vehicle relative to the landing point.
-
-	return UWB_OK;
-}
-
-int uwb_sr150_main(int argc, char *argv[])
-{
-	return UWB_SR150::main(argc, argv);
-}
-
-void UWB_SR150::parameters_update()
-{
-	if (_parameter_update_sub.updated()) {
-		parameter_update_s param_update;
-		_parameter_update_sub.copy(&param_update);
-
-		// If any parameter updated, call updateParams() to check if
-		// this class attributes need updating (and do so).
-		updateParams();
-	}
-}

src/drivers/uwb/uwb_sr150/uwb_sr150.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2023 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
@@ -38,101 +38,63 @@
 #include <poll.h>
 #include <sys/select.h>
 #include <sys/time.h>
+#include <perf/perf_counter.h>
+#include <lib/conversion/rotation.h>
 
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/module.h>
-#include <perf/perf_counter.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+
 #include <uORB/Publication.hpp>
-#include <uORB/topics/landing_target_pose.h>
-#include <uORB/topics/uwb_grid.h>
-#include <uORB/topics/uwb_distance.h>
-#include <uORB/topics/parameter_update.h>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
 #include <uORB/SubscriptionInterval.hpp>
-#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/sensor_uwb.h>
+#include <uORB/topics/parameter_update.h>
+
 #include <matrix/math.hpp>
-#include <matrix/Matrix.hpp>
+
+#define UWB_DEFAULT_PORT "/dev/ttyS1"
 
 using namespace time_literals;
 
-#define UWB_CMD  0x8e
-#define UWB_CMD_START  0x01
-#define UWB_CMD_STOP  0x00
-#define UWB_CMD_RANGING  0x0A
-#define STOP_B 0x0A
-
-#define UWB_PRECNAV_APP   0x04
-#define UWB_APP_START     0x10
-#define UWB_APP_STOP      0x11
-#define UWB_SESSION_START 0x22
-#define UWB_SESSION_STOP  0x23
-#define UWB_RANGING_START 0x01
-#define UWB_RANGING_STOP  0x00
-#define UWB_DRONE_CTL     0x0A
-
-#define UWB_CMD_LEN  0x05
-#define UWB_CMD_DISTANCE_LEN 0x21
-#define UWB_MAC_MODE 2
-#define MAX_ANCHORS 12
-#define UWB_GRID_CONFIG "/fs/microsd/etc/uwb_grid_config.csv"
-
-typedef struct {  //needs higher accuracy?
-	float lat, lon, alt, yaw; //offset to true North
-} gps_pos_t;
-
 typedef struct {
-	int16_t x, y, z; //axis in cm
-} position_t; // Position of a device or target in 3D space
-
-enum UWB_POS_ERROR_CODES {
-	UWB_OK,
-	UWB_ANC_BELOW_THREE,
-	UWB_LIN_DEP_FOR_THREE,
-	UWB_ANC_ON_ONE_LEVEL,
-	UWB_LIN_DEP_FOR_FOUR,
-	UWB_RANK_ZERO
-};
-
-typedef struct {
-	uint8_t MAC[2];		// MAC Adress of UWB device
-	uint8_t status;		// Status of Measurement
-	uint16_t distance; 	// Distance in cm
-	uint8_t nLos; 		// line of sight y/n
-	uint16_t aoaFirst;	// Angle of Arrival of incoming msg
+	uint16_t MAC;					// MAC address of UWB device
+	uint8_t status;					// Status of Measurement
+	uint16_t distance; 				// Distance in cm
+	uint8_t nLos; 					// line of sight y/n
+	int16_t aoa_azimuth;				// AOA of incoming msg for Azimuth antenna pairing
+	int16_t aoa_elevation;				// AOA of incoming msg for Altitude antenna pairing
+	int16_t aoa_dest_azimuth;			// AOA destination Azimuth
+	int16_t aoa_dest_elevation; 			// AOA destination elevation
+	uint8_t aoa_azimuth_FOM;			// AOA Azimuth FOM
+	uint8_t aoa_elevation_FOM;			// AOA Elevation FOM
+	uint8_t aoa_dest_azimuth_FOM;			// AOA Azimuth FOM
+	uint8_t aoa_dest_elevation_FOM;			// AOA Elevation FOM
 } __attribute__((packed)) UWB_range_meas_t;
 
 typedef struct {
-	uint32_t initator_time;  	//timestamp of init
-	uint32_t sessionId;	// Session ID of UWB session
-	uint8_t	num_anchors;	//number of anchors
-	gps_pos_t target_gps; //GPS position of Landing Point
-	uint8_t  mac_mode;	// MAC adress mode, either 2 Byte or 8 Byte
-	uint8_t MAC[UWB_MAC_MODE][MAX_ANCHORS];
-	position_t target_pos; //target position
-	position_t anchor_pos[MAX_ANCHORS]; // Position of each anchor
-	uint8_t stop; 		// Should be 27
-} grid_msg_t;
-
-typedef struct {
-	uint8_t cmd;      	// Should be 0x8E for distance result message
-	uint16_t len; 		// Should be 0x30 for distance result message
-	uint32_t time_uwb_ms;	// Timestamp of UWB device in ms
-	uint32_t seq_ctr;	// Number of Ranges since last Start of Ranging
-	uint32_t sessionId;	// Session ID of UWB session
-	uint32_t range_interval;	// Time between ranging rounds
-	uint8_t  mac_mode;	// MAC adress mode, either 2 Byte or 8 Byte
-	uint8_t  no_measurements;	// MAC adress mode, either 2 Byte or 8 Byte
-	UWB_range_meas_t measurements[4]; //Raw anchor_distance distances in CM 2*9
-	uint8_t stop; 		// Should be 0x1B
+	uint8_t cmd;      				// Should be 0x8E for distance result message
+	uint16_t len; 					// Should be 0x30 for distance result message
+	uint32_t seq_ctr;				// Number of Ranges since last Start of Ranging
+	uint32_t sessionId;				// Session ID of UWB session
+	uint32_t range_interval;			// Time between ranging rounds
+	uint16_t MAC;					// MAC address of UWB device
+	UWB_range_meas_t measurements; 			//Raw anchor_distance distances in CM 2*9
+	uint8_t stop; 					// Should be 0x1B
 } __attribute__((packed)) distance_msg_t;
 
-class UWB_SR150 : public ModuleBase<UWB_SR150>, public ModuleParams
+class UWB_SR150 : public ModuleBase<UWB_SR150>, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
-	UWB_SR150(const char *device_name, speed_t baudrate, bool uwb_pos_debug);
-
+	UWB_SR150(const char *port);
 	~UWB_SR150();
 
+	/**
+	 * @see ModuleBase::task_spawn
+	 */
+	static int task_spawn(int argc, char *argv[]);
+
 	/**
 	 * @see ModuleBase::custom_command
 	 */
@@ -143,67 +105,51 @@ public:
 	 */
 	static int print_usage(const char *reason = nullptr);
 
-	/**
-	 * @see ModuleBase::Multilateration
-	 */
-	UWB_POS_ERROR_CODES localization();
+	bool init();
 
-	/**
-	 * @see ModuleBase::Distance Result
-	 */
-	int distance();
+	void start();
 
-	/**
-	 * @see ModuleBase::task_spawn
-	 */
-	static int task_spawn(int argc, char *argv[]);
+	void stop();
 
-	static UWB_SR150 *instantiate(int argc, char *argv[]);
-
-	void run() override;
+	int collectData();
 
 private:
-	static constexpr int64_t sq(int64_t x) { return x * x; }
 
 	void parameters_update();
 
-	void grid_info_read(position_t *grid);
+	void Run() override;
 
-	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::UWB_INIT_OFF_X>) _uwb_init_off_x,
-		(ParamFloat<px4::params::UWB_INIT_OFF_Y>) _uwb_init_off_y,
-		(ParamFloat<px4::params::UWB_INIT_OFF_Z>) _uwb_init_off_z,
-		(ParamFloat<px4::params::UWB_INIT_OFF_YAW>) _uwb_init_off_yaw
-	)
+	// Publications
+	uORB::Publication<sensor_uwb_s> _sensor_uwb_pub{ORB_ID(sensor_uwb)};
 
+	// Subscriptions
+	uORB::SubscriptionCallbackWorkItem _sensor_uwb_sub{this, ORB_ID(sensor_uwb)};
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
-	int _uart;
-	fd_set _uart_set;
-	struct timeval _uart_timeout {};
-	bool _uwb_pos_debug;
-
-	uORB::Publication<uwb_grid_s> _uwb_grid_pub{ORB_ID(uwb_grid)};
-	uwb_grid_s _uwb_grid{};
-
-	uORB::Publication<uwb_distance_s> _uwb_distance_pub{ORB_ID(uwb_distance)};
-	uwb_distance_s _uwb_distance{};
-
-	uORB::Publication<landing_target_pose_s> _landing_target_pub{ORB_ID(landing_target_pose)};
-	landing_target_pose_s _landing_target{};
-
-	grid_msg_t _uwb_grid_info{};
-	distance_msg_t _distance_result_msg{};
-	matrix::Vector3f _rel_pos;
-
-	matrix::Dcmf _uwb_init_to_nwu;
-	matrix::Dcmf _nwu_to_ned{matrix::Eulerf(M_PI_F, 0.0f, 0.0f)};
-	matrix::Vector3f _current_position_uwb_init;
-	matrix::Vector3f _current_position_ned;
-	matrix::Vector3f _uwb_init_offset_v3f;
-
+	// Parameters
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::UWB_PORT_CFG>) 			_uwb_port_cfg,
+		(ParamFloat<px4::params::UWB_INIT_OFF_X>) 		_offset_x,
+		(ParamFloat<px4::params::UWB_INIT_OFF_Y>) 		_offset_y,
+		(ParamFloat<px4::params::UWB_INIT_OFF_Z>) 		_offset_z,
+		(ParamInt<px4::params::UWB_SENS_ROT>) 			_sensor_rot
+	)
+	// Performance (perf) counters
 	perf_counter_t _read_count_perf;
 	perf_counter_t _read_err_perf;
-};
 
+	sensor_uwb_s _sensor_uwb{};
+
+	char _port[20] {};
+	hrt_abstime param_timestamp{0};
+
+	int _uart{-1};
+	fd_set _uart_set;
+	struct timeval _uart_timeout {};
+
+	unsigned _consecutive_fail_count;
+	int _interval{100000};
+
+	distance_msg_t 		_distance_result_msg{};
+};
 #endif //PX4_RDDRONE_H

src/lib/mixer_module/actuator_test.cpp

@@ -75,7 +75,7 @@ void ActuatorTest::update(int num_outputs, float thrust_curve)
 					float value = actuator_test.value;
 
 					// handle motors
-					if (actuator_test.function >= (int)OutputFunction::Motor1 && actuator_test.function <= (int)OutputFunction::MotorMax) {
+					if ((int)OutputFunction::Motor1 <= actuator_test.function && actuator_test.function <= (int)OutputFunction::MotorMax) {
 						actuator_motors_s motors;
 						motors.reversible_flags = 0;
 						_actuator_motors_sub.copy(&motors);
@@ -84,7 +84,7 @@ void ActuatorTest::update(int num_outputs, float thrust_curve)
 					}
 
 					// handle servos: add trim
-					if (actuator_test.function >= (int)OutputFunction::Servo1 && actuator_test.function <= (int)OutputFunction::ServoMax) {
+					if ((int)OutputFunction::Servo1 <= actuator_test.function && actuator_test.function <= (int)OutputFunction::ServoMax) {
 						actuator_servos_trim_s trim{};
 						_actuator_servos_trim_sub.copy(&trim);
 						int idx = actuator_test.function - (int)OutputFunction::Servo1;