Changes to get PX4 config to build. Also some warning removal

12 files changed, 661 insertions, 616 deletions

diff --git a/nuttx/configs/px4fmu-v2_upstream/Kconfig b/nuttx/configs/px4fmu-v2_upstream/Kconfig
new file mode 100644
index 000000000..ae2bf3130
--- /dev/null
+++ b/nuttx/configs/px4fmu-v2_upstream/Kconfig
@@ -0,0 +1,4 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
diff --git a/nuttx/configs/px4fmu-v2_upstream/include/board.h b/nuttx/configs/px4fmu-v2_upstream/include/board.h
index cffde4f38..ad08baee3 100644
--- a/nuttx/configs/px4fmu-v2_upstream/include/board.h
+++ b/nuttx/configs/px4fmu-v2_upstream/include/board.h
@@ -196,77 +196,92 @@
 
 /* Alternate function pin selections ************************************************/
 
-/*
- * UARTs.
- */
-#define GPIO_USART1_RX	GPIO_USART1_RX_1	/* console in from IO */
-#define GPIO_USART1_TX	0			/* USART1 is RX-only */
+/* UARTs */
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_1    /* Console in from IO */
+#define GPIO_USART1_TX   0                   /* USART1 is RX-only */
 
-#define GPIO_USART2_RX	GPIO_USART2_RX_2
-#define GPIO_USART2_TX	GPIO_USART2_TX_2
-#define GPIO_USART2_RTS	GPIO_USART2_RTS_2
-#define GPIO_USART2_CTS	GPIO_USART2_CTS_2
+#define GPIO_USART2_RX   GPIO_USART2_RX_2
+#define GPIO_USART2_TX   GPIO_USART2_TX_2
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_2
 
-#define GPIO_USART3_RX	GPIO_USART3_RX_3
-#define GPIO_USART3_TX	GPIO_USART3_TX_3
-#define GPIO_USART2_RTS	GPIO_USART2_RTS_2
-#define GPIO_USART2_CTS	GPIO_USART2_CTS_2
+#define GPIO_USART3_RX   GPIO_USART3_RX_3
+#define GPIO_USART3_TX   GPIO_USART3_TX_3
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_2
 
-#define GPIO_UART4_RX	GPIO_UART4_RX_1
-#define GPIO_UART4_TX	GPIO_UART4_TX_1
+#define GPIO_UART4_RX    GPIO_UART4_RX_1
+#define GPIO_UART4_TX    GPIO_UART4_TX_1
 
-#define GPIO_USART6_RX	GPIO_USART6_RX_1
-#define GPIO_USART6_TX	GPIO_USART6_TX_1
+#define GPIO_USART6_RX   GPIO_USART6_RX_1
+#define GPIO_USART6_TX   GPIO_USART6_TX_1
 
-#define GPIO_UART7_RX	GPIO_UART7_RX_1
-#define GPIO_UART7_TX	GPIO_UART7_TX_1
+#define GPIO_UART7_RX    GPIO_UART7_RX_1
+#define GPIO_UART7_TX    GPIO_UART7_TX_1
 
 /* UART8 has no alternate pin config */
 
 /* UART RX DMA configurations */
+
 #define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
 #define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
 
-/* 
- * CAN
+/* CAN
  *
  * CAN1 is routed to the onboard transceiver. 
  * CAN2 is routed to the expansion connector.
  */
-#define GPIO_CAN1_RX	GPIO_CAN1_RX_3
-#define GPIO_CAN1_TX	GPIO_CAN1_TX_3
-#define GPIO_CAN2_RX	GPIO_CAN2_RX_1
-#define GPIO_CAN2_TX	GPIO_CAN2_TX_2
 
-/*
- * I2C
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3
+#define GPIO_CAN2_RX     GPIO_CAN2_RX_1
+#define GPIO_CAN2_TX     GPIO_CAN2_TX_2
+
+/* I2C
  *
  * The optional _GPIO configurations allow the I2C driver to manually
  * reset the bus to clear stuck slaves.  They match the pin configuration,
  * but are normally-high GPIOs.
  */
-#define GPIO_I2C1_SCL		GPIO_I2C1_SCL_2
-#define GPIO_I2C1_SDA		GPIO_I2C1_SDA_2
-#define GPIO_I2C1_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
-#define GPIO_I2C1_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
-
-#define GPIO_I2C2_SCL		GPIO_I2C2_SCL_1
-#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
-#define GPIO_I2C2_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
-#define GPIO_I2C2_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
-
-/*
- * SPI
+
+#define GPIO_I2C1_SCL    GPIO_I2C1_SCL_2
+#define GPIO_I2C1_SDA    GPIO_I2C1_SDA_2
+#define GPIO_I2C1_SCL_GPIO \
+   (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO \
+   (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
+
+#define GPIO_I2C2_SCL    GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA    GPIO_I2C2_SDA_1
+#define GPIO_I2C2_SCL_GPIO \
+   (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_GPIO \
+   (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
+
+/* SPI
  *
  * There are sensors on SPI1, and SPI2 is connected to the FRAM.
  */
-#define GPIO_SPI1_MISO	GPIO_SPI1_MISO_1
-#define GPIO_SPI1_MOSI	GPIO_SPI1_MOSI_1
-#define GPIO_SPI1_SCK	GPIO_SPI1_SCK_1
 
-#define GPIO_SPI2_MISO	GPIO_SPI2_MISO_1
-#define GPIO_SPI2_MOSI	GPIO_SPI2_MOSI_1
-#define GPIO_SPI2_SCK	GPIO_SPI2_SCK_2
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1
+
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1
+#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_2
+
+/* LED Definitions.  Needed if CONFIG_ARCH_LEDs is defined */
+
+#define LED_STARTED      0
+#define LED_HEAPALLOCATE 0
+#define LED_IRQSENABLED  0
+#define LED_STACKCREATED 1
+#define LED_INIRQ        1
+#define LED_SIGNAL       1
+#define LED_ASSERTION    1
+#define LED_PANIC        1
 
 /************************************************************************************
  * Public Data
diff --git a/nuttx/configs/px4fmu-v2_upstream/include/nsh_romfsimg.h b/nuttx/configs/px4fmu-v2_upstream/include/nsh_romfsimg.h
index 15e4e7a8d..d2f0d7bee 100644
--- a/nuttx/configs/px4fmu-v2_upstream/include/nsh_romfsimg.h
+++ b/nuttx/configs/px4fmu-v2_upstream/include/nsh_romfsimg.h
@@ -1,4 +1,5 @@
 /****************************************************************************
+ * configs/px4fmu-v2_upstream/include/romfsimg.h
  *
  *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
  *
@@ -31,12 +32,14 @@
  *
  ****************************************************************************/
 
-/**
- * nsh_romfsetc.h
- *
- * This file is a stub for 'make export' purposes; the actual ROMFS
- * must be supplied by the library client.
- */
+#ifndef __CONFIGS_PX4FMU_V2_UPSTREAM_INCLUDE_ROMFSIMG_H
+#define __CONFIGS_PX4FMU_V2_UPSTREAM_INCLUDE_ROMFSIMG_H
+
+/****************************************************************************
+ * Public Variables
+ ****************************************************************************/
 
 extern unsigned char romfs_img[];
 extern unsigned int romfs_img_len;
+
+#endif /* __CONFIGS_PX4FMU_V2_UPSTREAM_INCLUDE_ROMFSIMG_H */
diff --git a/nuttx/configs/px4fmu-v2_upstream/nsh/Make.defs b/nuttx/configs/px4fmu-v2_upstream/nsh/Make.defs
index abdbe85be..ad18a1da3 100644
--- a/nuttx/configs/px4fmu-v2_upstream/nsh/Make.defs
+++ b/nuttx/configs/px4fmu-v2_upstream/nsh/Make.defs
@@ -35,142 +35,136 @@
 
 include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
-
-#
-# We only support building with the ARM bare-metal toolchain from
-# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
-#
-CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABIL
-
 include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
 
-CC			 = $(CROSSDEV)gcc
-CXX			 = $(CROSSDEV)g++
-CPP			 = $(CROSSDEV)gcc -E
-LD			 = $(CROSSDEV)ld
-AR			 = $(CROSSDEV)ar rcs
-NM			 = $(CROSSDEV)nm
-OBJCOPY			 = $(CROSSDEV)objcopy
-OBJDUMP			 = $(CROSSDEV)objdump
+CC = $(CROSSDEV)gcc
+CXX = $(CROSSDEV)g++
+CPP = $(CROSSDEV)gcc -E
+LD = $(CROSSDEV)ld
+AR = $(CROSSDEV)ar rcs
+NM = $(CROSSDEV)nm
+OBJCOPY = $(CROSSDEV)objcopy
+OBJDUMP = $(CROSSDEV)objdump
 
-MAXOPTIMIZATION		 = -O3
-ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
-			   -mthumb \
-			   -march=armv7e-m \
-			   -mfpu=fpv4-sp-d16 \
-			   -mfloat-abi=hard
+MAXOPTIMIZATION = -O3
+ARCHCPUFLAGS = -mcpu=cortex-m4 \
+    -mthumb \
+    -march=armv7e-m \
+    -mfpu=fpv4-sp-d16 \
+    -mfloat-abi=hard
 
+# Pull in *just* libm from the toolchain ... this is grody
 
-# enable precise stack overflow tracking
-INSTRUMENTATIONDEFINES	 = -finstrument-functions \
-			   -ffixed-r10
+LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
+EXTRA_LIBS += $(LIBM)
 
-# pull in *just* libm from the toolchain ... this is grody
-LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
-EXTRA_LIBS		+= $(LIBM)
+# Use our linker script
 
-# use our linker script
-LDSCRIPT		 = ld.script
+LDSCRIPT = ld.script
 
 ifeq ($(WINTOOL),y)
   # Windows-native toolchains
-  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
-  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
-  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
-  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
+  DIRLINK = $(TOPDIR)/tools/copydir.sh
+  DIRUNLINK = $(TOPDIR)/tools/unlink.sh
+  MKDEP = $(TOPDIR)/tools/mknulldeps.sh
+  ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
+  ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
+  ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
 else
   ifeq ($(PX4_WINTOOL),y)
     # Windows-native toolchains (MSYS)
-    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
-    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
-    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+    DIRLINK = $(TOPDIR)/tools/copydir.sh
+    DIRUNLINK = $(TOPDIR)/tools/unlink.sh
+    MKDEP = $(TOPDIR)/tools/mknulldeps.sh
+    ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   else
     # Linux/Cygwin-native toolchain 
-    MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
-    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
-    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+    MKDEP = $(TOPDIR)/tools/mkdeps.sh
+    ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
   endif
 endif
 
-# tool versions
-ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
-ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
+# Tool versions
 
-# optimisation flags
-ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -fno-strict-aliasing \
-			   -fno-strength-reduce \
-			   -fomit-frame-pointer \
-			   -funsafe-math-optimizations \
-			   -fno-builtin-printf \
-			   -ffunction-sections \
-			   -fdata-sections
+ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
+ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
+
+# Optimization flags
+
+ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
+    -fno-strict-aliasing \
+    -fno-strength-reduce \
+    -fomit-frame-pointer \
+    -funsafe-math-optimizations \
+    -fno-builtin-printf \
+    -ffunction-sections \
+    -fdata-sections
 
 ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
-ARCHOPTIMIZATION	+= -g
+ARCHOPTIMIZATION += -g
 endif
 
-ARCHCFLAGS		 = -std=gnu99
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
-ARCHWARNINGS		 = -Wall \
-			   -Wextra \
-			   -Wdouble-promotion \
-			   -Wshadow \
-			   -Wfloat-equal \
-			   -Wframe-larger-than=1024 \
-			   -Wpointer-arith \
-			   -Wlogical-op \
-			   -Wmissing-declarations \
-			   -Wpacked \
-			   -Wno-unused-parameter
+ARCHCFLAGS = -std=gnu99
+ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHWARNINGS = -Wall \
+    -Wextra \
+    -Wdouble-promotion \
+    -Wshadow \
+    -Wfloat-equal \
+    -Wframe-larger-than=1024 \
+    -Wpointer-arith \
+    -Wlogical-op \
+    -Wmissing-declarations \
+    -Wpacked \
+    -Wno-unused-parameter
 #   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
 #   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
 #   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
 
-ARCHCWARNINGS		 = $(ARCHWARNINGS) \
-			   -Wbad-function-cast \
-			   -Wstrict-prototypes \
-			   -Wold-style-declaration \
-			   -Wmissing-parameter-type \
-			   -Wmissing-prototypes \
-			   -Wnested-externs
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
-			   -Wno-psabi
-ARCHDEFINES		 =
-ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
-
-# this seems to be the only way to add linker flags
-EXTRA_LIBS		+= --warn-common \
-			   --gc-sections
-
-CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
-CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
-CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
-CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
-AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
-
-NXFLATLDFLAGS1		 = -r -d -warn-common
-NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
-LDNXFLATFLAGS		 = -e main -s 2048
-
-OBJEXT			 = .o
-LIBEXT			 = .a
-EXEEXT			 =
-
-# produce partially-linked $1 from files in $2
+ARCHCWARNINGS = $(ARCHWARNINGS) \
+    -Wbad-function-cast \
+    -Wstrict-prototypes \
+    -Wold-style-declaration \
+    -Wmissing-parameter-type \
+    -Wmissing-prototypes \
+    -Wnested-externs
+ARCHWARNINGSXX = $(ARCHWARNINGS) \
+    -Wno-psabi
+ARCHDEFINES =
+ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
+
+# This seems to be the only way to add linker flags
+
+EXTRA_LIBS += --warn-common \
+    --gc-sections
+
+CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
+CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
+AFLAGS = $(CFLAGS) -D__ASSEMBLY__
+
+NXFLATLDFLAGS1 = -r -d -warn-common
+NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
+LDNXFLATFLAGS = -e main -s 2048
+
+OBJEXT = .o
+LIBEXT = .a
+EXEEXT =
+
+# Produce partially-linked $1 from files in $2
+
 define PRELINK
-	@echo "PRELINK: $1"
-	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+ @echo "PRELINK: $1"
+ $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
 endef
 
-HOSTCC			 = gcc
-HOSTINCLUDES		 = -I.
-HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
-HOSTLDFLAGS		 =
+HOSTCC = gcc
+HOSTINCLUDES = -I.
+HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
+HOSTLDFLAGS =
diff --git a/nuttx/configs/px4fmu-v2_upstream/nsh/defconfig b/nuttx/configs/px4fmu-v2_upstream/nsh/defconfig
index 3c297d97d..1498a957d 100644
--- a/nuttx/configs/px4fmu-v2_upstream/nsh/defconfig
+++ b/nuttx/configs/px4fmu-v2_upstream/nsh/defconfig
@@ -16,7 +16,7 @@ CONFIG_HOST_LINUX=y
 #
 # Build Configuration
 #
-CONFIG_APPS_DIR="../apps"
+# CONFIG_APPS_DIR="../apps"
 # CONFIG_BUILD_2PASS is not set
 
 #
@@ -31,7 +31,7 @@ CONFIG_RAW_BINARY=y
 # Customize Header Files
 #
 # CONFIG_ARCH_STDBOOL_H is not set
-CONFIG_ARCH_MATH_H=n
+# CONFIG_ARCH_MATH_H is not set
 # CONFIG_ARCH_FLOAT_H is not set
 # CONFIG_ARCH_STDARG_H is not set
 
@@ -106,7 +106,6 @@ CONFIG_ARCH_HAVE_MPU=y
 # CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set
 # CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set
 CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL=y
-CONFIG_ARMV7M_STACKCHECK=n
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SDIO_DMA=y
 CONFIG_SDIO_DMAPRIO=0x00010000
@@ -209,6 +208,8 @@ CONFIG_STM32_STM32F427=y
 #
 # STM32 Peripheral Support
 #
+# CONFIG_STM32_HAVE_USBDEV is not set
+CONFIG_STM32_HAVE_OTGFS=y
 CONFIG_STM32_ADC1=y
 # CONFIG_STM32_ADC2 is not set
 # CONFIG_STM32_ADC3 is not set
@@ -297,20 +298,19 @@ CONFIG_STM32_USART=y
 # U[S]ART Configuration
 #
 # CONFIG_USART1_RS485 is not set
-CONFIG_USART1_RXDMA=n
+# CONFIG_USART1_RXDMA is not set
 # CONFIG_USART2_RS485 is not set
-CONFIG_USART2_RXDMA=n
+# CONFIG_USART2_RXDMA is not set
 # CONFIG_USART3_RS485 is not set
-CONFIG_USART3_RXDMA=n
+# CONFIG_USART3_RXDMA is not set
 # CONFIG_UART4_RS485 is not set
-CONFIG_UART4_RXDMA=n
-CONFIG_UART5_RXDMA=n
+# CONFIG_UART4_RXDMA is not set
 # CONFIG_USART6_RS485 is not set
-CONFIG_USART6_RXDMA=n
+# CONFIG_USART6_RXDMA is not set
 # CONFIG_UART7_RS485 is not set
 # CONFIG_UART7_RXDMA is not set
 # CONFIG_UART8_RS485 is not set
-CONFIG_UART8_RXDMA=n
+# CONFIG_UART8_RXDMA is not set
 CONFIG_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_USART_SINGLEWIRE=y
 
@@ -391,7 +391,8 @@ CONFIG_RAM_SIZE=262144
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_PX4FMU_V2=y
+# CONFIG_ARCH_BOARD_CUSTOM is not set
 CONFIG_ARCH_BOARD="px4fmu-v2_upstream"
 
 #
@@ -411,7 +412,7 @@ CONFIG_NSH_MMCSDSLOTNO=0
 CONFIG_MSEC_PER_TICK=1
 # CONFIG_SYSTEM_TIME64 is not set
 CONFIG_RR_INTERVAL=0
-CONFIG_SCHED_INSTRUMENTATION=n
+# CONFIG_SCHED_INSTRUMENTATION is not set
 CONFIG_TASK_NAME_SIZE=24
 # CONFIG_SCHED_HAVE_PARENT is not set
 # CONFIG_JULIAN_TIME is not set
@@ -733,7 +734,7 @@ CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
 CONFIG_FAT_MAXFNAME=32
 CONFIG_FS_FATTIME=y
-CONFIG_FAT_DMAMEMORY=n
+# CONFIG_FAT_DMAMEMORY is not set
 CONFIG_FS_NXFFS=y
 # CONFIG_NXFFS_SCAN_VOLUME is not set
 CONFIG_NXFFS_PREALLOCATED=y
@@ -794,6 +795,7 @@ CONFIG_STDIO_BUFFER_SIZE=32
 CONFIG_STDIO_LINEBUFFER=y
 CONFIG_NUNGET_CHARS=2
 CONFIG_LIB_HOMEDIR="/"
+CONFIG_LIBM=y
 # CONFIG_NOPRINTF_FIELDWIDTH is not set
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIB_RAND_ORDER=1
@@ -843,14 +845,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=4000
 # Basic CXX Support
 #
 CONFIG_C99_BOOL8=y
-CONFIG_HAVE_CXX=n
-CONFIG_HAVE_CXXINITIALIZE=n
-# CONFIG_CXX_NEWLONG is not set
-
-#
-# uClibc++ Standard C++ Library
-#
-# CONFIG_UCLIBCXX is not set
+# CONFIG_HAVE_CXX is not set
 
 #
 # Application Configuration
@@ -867,7 +862,6 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024
 # CONFIG_EXAMPLES_BUTTONS is not set
 # CONFIG_EXAMPLES_CAN is not set
 # CONFIG_EXAMPLES_CONFIGDATA is not set
-# CONFIG_EXAMPLES_CXXTEST is not set
 # CONFIG_EXAMPLES_DHCPD is not set
 # CONFIG_EXAMPLES_ELF is not set
 # CONFIG_EXAMPLES_FTPC is not set
@@ -882,9 +876,13 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024
 # CONFIG_EXAMPLES_MM is not set
 # CONFIG_EXAMPLES_MODBUS is not set
 CONFIG_EXAMPLES_MOUNT=y
+# CONFIG_EXAMPLES_MOUNT_BLOCKDEVICE is not set
+CONFIG_EXAMPLES_MOUNT_NSECTORS=2048
+CONFIG_EXAMPLES_MOUNT_SECTORSIZE=512
+CONFIG_EXAMPLES_MOUNT_RAMDEVNO=0
+# CONFIG_EXAMPLES_MTDPART is not set
 # CONFIG_EXAMPLES_NRF24L01TERM is not set
 CONFIG_EXAMPLES_NSH=y
-# CONFIG_EXAMPLES_NSH_CXXINITIALIZE is not set
 # CONFIG_EXAMPLES_NULL is not set
 # CONFIG_EXAMPLES_NX is not set
 # CONFIG_EXAMPLES_NXCONSOLE is not set
@@ -936,14 +934,11 @@ CONFIG_EXAMPLES_USBTERM=y
 # Networking Utilities
 #
 # CONFIG_NETUTILS_CODECS is not set
-# CONFIG_NETUTILS_DHCPC is not set
 # CONFIG_NETUTILS_DHCPD is not set
 # CONFIG_NETUTILS_FTPC is not set
 # CONFIG_NETUTILS_FTPD is not set
 # CONFIG_NETUTILS_JSON is not set
-# CONFIG_NETUTILS_RESOLV is not set
 # CONFIG_NETUTILS_SMTP is not set
-# CONFIG_NETUTILS_TELNETD is not set
 # CONFIG_NETUTILS_TFTPC is not set
 # CONFIG_NETUTILS_THTTPD is not set
 # CONFIG_NETUTILS_UIPLIB is not set
@@ -1015,7 +1010,10 @@ CONFIG_NSH_CODECS_BUFSIZE=128
 CONFIG_NSH_FILEIOSIZE=512
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_LINELEN=128
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_CMDPARMS is not set
 CONFIG_NSH_MAXARGUMENTS=12
+# CONFIG_NSH_ARGCAT is not set
 CONFIG_NSH_NESTDEPTH=8
 # CONFIG_NSH_DISABLESCRIPT is not set
 # CONFIG_NSH_DISABLEBG is not set
diff --git a/nuttx/configs/px4fmu-v2_upstream/src/Makefile b/nuttx/configs/px4fmu-v2_upstream/src/Makefile
index 9f468bc4a..82b6864d3 100644
--- a/nuttx/configs/px4fmu-v2_upstream/src/Makefile
+++ b/nuttx/configs/px4fmu-v2_upstream/src/Makefile
@@ -35,24 +35,24 @@
 
 -include $(TOPDIR)/Make.defs
 
-CFLAGS		+= -I$(TOPDIR)/sched
+CFLAGS += -I$(TOPDIR)/sched
 
-ASRCS		= 
-AOBJS		= $(ASRCS:.S=$(OBJEXT))
+ASRCS = 
+AOBJS = $(ASRCS:.S=$(OBJEXT))
 
-CSRCS		= px4fmu_can.c px4fmu_spi.c px4fmu_usb.c px4fmu2_init.c px4fmu2_led.c
-COBJS		= $(CSRCS:.c=$(OBJEXT))
+CSRCS = px4fmu_can.c px4fmu_spi.c px4fmu_usb.c px4fmu2_init.c px4fmu2_led.c
+COBJS = $(CSRCS:.c=$(OBJEXT))
 
-SRCS		= $(ASRCS) $(CSRCS)
-OBJS		= $(AOBJS) $(COBJS)
+SRCS = $(ASRCS) $(CSRCS)
+OBJS = $(AOBJS) $(COBJS)
 
-ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
+ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
 ifeq ($(WINTOOL),y)
-  CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
-  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
-  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
+  CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
+            -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
+            -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
 else
-  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
+  CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
 endif
 
 all: libboard$(LIBEXT)
diff --git a/nuttx/configs/px4fmu-v2_upstream/src/board_config.h b/nuttx/configs/px4fmu-v2_upstream/src/board_config.h
index c3405303c..246fa7fd4 100644
--- a/nuttx/configs/px4fmu-v2_upstream/src/board_config.h
+++ b/nuttx/configs/px4fmu-v2_upstream/src/board_config.h
@@ -1,4 +1,5 @@
 /****************************************************************************
+ * configs/px4fmu-v2_upstream/src/board_config.h
  *
  *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
@@ -31,17 +32,9 @@
  *
  ****************************************************************************/
 
-/**
- * @file board_config.h
- *
- * PX4FMUv2 internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
+/****************************************************************************
  * Included Files
- ****************************************************************************************************/
+ ****************************************************************************/
 
 #include <nuttx/config.h>
 #include <nuttx/compiler.h>
@@ -51,111 +44,144 @@
 __BEGIN_DECLS
 #endif
 
-/* these headers are not C++ safe */
+/* These headers are not C++ safe */
+
 #include <stm32.h>
 #include <arch/board/board.h>
 
-#define UDID_START		0x1FFF7A10
- 
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-/* Configuration ************************************************************************************/
+#define UDID_START        0x1FFF7A10
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+/* Configuration ************************************************************/
 
 /* PX4IO connection configuration */
-#define PX4IO_SERIAL_DEVICE	"/dev/ttyS4"
-#define PX4IO_SERIAL_TX_GPIO	GPIO_USART6_TX
-#define PX4IO_SERIAL_RX_GPIO	GPIO_USART6_RX
-#define PX4IO_SERIAL_BASE	STM32_USART6_BASE	/* hardwired on the board */
-#define PX4IO_SERIAL_VECTOR	STM32_IRQ_USART6
-#define PX4IO_SERIAL_TX_DMAMAP	DMAMAP_USART6_TX_2
-#define PX4IO_SERIAL_RX_DMAMAP	DMAMAP_USART6_RX_2
-#define PX4IO_SERIAL_CLOCK	STM32_PCLK2_FREQUENCY
-#define PX4IO_SERIAL_BITRATE	1500000			/* 1.5Mbps -> max rate for IO */
-
-
-/* PX4FMU GPIOs ***********************************************************************************/
+
+#define PX4IO_SERIAL_DEVICE    "/dev/ttyS4"
+#define PX4IO_SERIAL_TX_GPIO    GPIO_USART6_TX
+#define PX4IO_SERIAL_RX_GPIO    GPIO_USART6_RX
+#define PX4IO_SERIAL_BASE       STM32_USART6_BASE    /* hardwired on the board */
+#define PX4IO_SERIAL_VECTOR     STM32_IRQ_USART6
+#define PX4IO_SERIAL_TX_DMAMAP  DMAMAP_USART6_TX_2
+#define PX4IO_SERIAL_RX_DMAMAP  DMAMAP_USART6_RX_2
+#define PX4IO_SERIAL_CLOCK      STM32_PCLK2_FREQUENCY
+#define PX4IO_SERIAL_BITRATE    1500000              /* 1.5Mbps -> max rate for IO */
+
+/* PX4FMU GPIOs *************************************************************/
 /* LEDs */
 
-#define GPIO_LED1		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
+#define GPIO_LED1 \
+  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
 
 /* External interrupts */
-#define GPIO_EXTI_GYRO_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_EXTI_MAG_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_EXTI_ACCEL_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
-#define GPIO_EXTI_MPU_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
+
+#define GPIO_EXTI_GYRO_DRDY     (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_EXTI_MAG_DRDY      (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_EXTI_ACCEL_DRDY    (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
+#define GPIO_EXTI_MPU_DRDY      (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
 
 /* Data ready pins off */
-#define GPIO_GYRO_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_MAG_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_ACCEL_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
-#define GPIO_EXTI_MPU_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
+
+#define GPIO_GYRO_DRDY_OFF      (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_MAG_DRDY_OFF       (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_ACCEL_DRDY_OFF     (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
+#define GPIO_EXTI_MPU_DRDY_OFF  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
 
 /* SPI1 off */
-#define GPIO_SPI1_SCK_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
-#define GPIO_SPI1_MISO_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
-#define GPIO_SPI1_MOSI_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
+
+#define GPIO_SPI1_SCK_OFF       (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
+#define GPIO_SPI1_MISO_OFF      (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_SPI1_MOSI_OFF      (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
 
 /* SPI1 chip selects off */
-#define GPIO_SPI_CS_GYRO_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
-#define GPIO_SPI_CS_ACCEL_MAG_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
-#define GPIO_SPI_CS_BARO_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
-#define GPIO_SPI_CS_MPU_OFF			(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
+
+#define GPIO_SPI_CS_GYRO_OFF \
+  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_SPI_CS_ACCEL_MAG_OFF \
+  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_SPI_CS_BARO_OFF \
+  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
+#define GPIO_SPI_CS_MPU_OFF \
+  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
 
 /* SPI chip selects */
-#define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
-#define GPIO_SPI_CS_ACCEL_MAG	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
-#define GPIO_SPI_CS_BARO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
-#define GPIO_SPI_CS_FRAM	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
-#define GPIO_SPI_CS_MPU		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
-
-/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
-#define PX4_SPIDEV_GYRO		1
-#define PX4_SPIDEV_ACCEL_MAG	2
-#define PX4_SPIDEV_BARO		3
-#define PX4_SPIDEV_MPU		4
+
+#define GPIO_SPI_CS_GYRO \
+  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_SPI_CS_ACCEL_MAG \
+  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_SPI_CS_BARO \
+  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
+#define GPIO_SPI_CS_FRAM \
+  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
+#define GPIO_SPI_CS_MPU \
+  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
+
+/* Use these in place of the spi_dev_e enumeration to select a specific SPI
+ * device on SPI1
+ */
+
+#define PX4_SPIDEV_GYRO         1
+#define PX4_SPIDEV_ACCEL_MAG    2
+#define PX4_SPIDEV_BARO         3
+#define PX4_SPIDEV_MPU          4
 
 /* I2C busses */
-#define PX4_I2C_BUS_EXPANSION	1
-#define PX4_I2C_BUS_LED		2
+#define PX4_I2C_BUS_EXPANSION   1
+#define PX4_I2C_BUS_LED         2
 
 /* Devices on the onboard bus.
  *
  * Note that these are unshifted addresses.
  */
-#define PX4_I2C_OBDEV_LED	0x55
-#define PX4_I2C_OBDEV_HMC5883	0x1e
+
+#define PX4_I2C_OBDEV_LED       0x55
+#define PX4_I2C_OBDEV_HMC5883   0x1e
 
 /* User GPIOs
  *
  * GPIO0-5 are the PWM servo outputs.
  */
-#define GPIO_GPIO0_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
-#define GPIO_GPIO1_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
-#define GPIO_GPIO2_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
-#define GPIO_GPIO3_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
-#define GPIO_GPIO4_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_GPIO5_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
-#define GPIO_GPIO0_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
-#define GPIO_GPIO1_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
-#define GPIO_GPIO2_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
-#define GPIO_GPIO3_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
-#define GPIO_GPIO4_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_GPIO5_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
+
+#define GPIO_GPIO0_INPUT        (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
+#define GPIO_GPIO1_INPUT        (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
+#define GPIO_GPIO2_INPUT        (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
+#define GPIO_GPIO3_INPUT        (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
+#define GPIO_GPIO4_INPUT        (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_GPIO5_INPUT        (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_GPIO0_OUTPUT \
+  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
+#define GPIO_GPIO1_OUTPUT \
+  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
+#define GPIO_GPIO2_OUTPUT \
+  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
+#define GPIO_GPIO3_OUTPUT \
+  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
+#define GPIO_GPIO4_OUTPUT \
+  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_GPIO5_OUTPUT \
+  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
 
 /* Power supply control and monitoring GPIOs */
-#define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
-#define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
-#define GPIO_VDD_SERVO_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
-#define GPIO_VDD_3V3_SENSORS_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
-#define GPIO_VDD_5V_HIPOWER_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
-#define GPIO_VDD_5V_PERIPH_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
+
+#define GPIO_VDD_5V_PERIPH_EN \
+  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+#define GPIO_VDD_BRICK_VALID    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_VDD_SERVO_VALID    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
+#define GPIO_VDD_3V3_SENSORS_EN \
+  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+#define GPIO_VDD_5V_HIPOWER_OC  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
+#define GPIO_VDD_5V_PERIPH_OC   (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
 
 /* Tone alarm output */
-#define TONE_ALARM_TIMER	2	/* timer 2 */
-#define TONE_ALARM_CHANNEL	1	/* channel 1 */
-#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
-#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
+
+#define TONE_ALARM_TIMER        2    /* timer 2 */
+#define TONE_ALARM_CHANNEL      1    /* channel 1 */
+#define GPIO_TONE_ALARM_IDLE \
+  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
+#define GPIO_TONE_ALARM \
+  (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
 
 /* PWM
  *
@@ -170,47 +196,62 @@ __BEGIN_DECLS
  * CH5 : PD13 : TIM4_CH2
  * CH6 : PD14 : TIM4_CH3
  */
-#define GPIO_TIM1_CH1OUT	GPIO_TIM1_CH1OUT_2
-#define GPIO_TIM1_CH2OUT	GPIO_TIM1_CH2OUT_2
-#define GPIO_TIM1_CH3OUT	GPIO_TIM1_CH3OUT_2
-#define GPIO_TIM1_CH4OUT	GPIO_TIM1_CH4OUT_2
-#define GPIO_TIM4_CH2OUT	GPIO_TIM4_CH2OUT_2
-#define GPIO_TIM4_CH3OUT	GPIO_TIM4_CH3OUT_2
+
+#define GPIO_TIM1_CH1OUT        GPIO_TIM1_CH1OUT_2
+#define GPIO_TIM1_CH2OUT        GPIO_TIM1_CH2OUT_2
+#define GPIO_TIM1_CH3OUT        GPIO_TIM1_CH3OUT_2
+#define GPIO_TIM1_CH4OUT        GPIO_TIM1_CH4OUT_2
+#define GPIO_TIM4_CH2OUT        GPIO_TIM4_CH2OUT_2
+#define GPIO_TIM4_CH3OUT        GPIO_TIM4_CH3OUT_2
 
 /* USB OTG FS
  *
  * PA9  OTG_FS_VBUS VBUS sensing (also connected to the green LED)
  */
-#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+
+#define GPIO_OTGFS_VBUS \
+  (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
 
 /* High-resolution timer */
-#define HRT_TIMER		8	/* use timer8 for the HRT */
-#define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
 
-/****************************************************************************************************
+#define HRT_TIMER               8    /* Use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL       1    /* Use capture/compare channel */
+
+/****************************************************************************
  * Public Types
- ****************************************************************************************************/
+ ****************************************************************************/
 
-/****************************************************************************************************
+/****************************************************************************
  * Public data
- ****************************************************************************************************/
+ ****************************************************************************/
 
 #ifndef __ASSEMBLY__
 
-/****************************************************************************************************
+/****************************************************************************
  * Public Functions
- ****************************************************************************************************/
+ ****************************************************************************/
 
-/****************************************************************************************************
+/****************************************************************************
  * Name: stm32_spiinitialize
  *
  * Description:
  *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
  *
- ****************************************************************************************************/
+ ****************************************************************************/
 
 void stm32_spiinitialize(void);
 
+/* Ideally we'd be able to get these from up_internal.h,  but since we want
+ * to be able to disable the NuttX use of leds for system indication at will
+ * and there is no separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+
+void led_init(void);
+void led_on(int led);
+void led_off(int led);
+void led_toggle(int led);
+
 #endif /* __ASSEMBLY__ */
 
 #ifdef __cplusplus
diff --git a/nuttx/configs/px4fmu-v2_upstream/src/px4fmu2_init.c b/nuttx/configs/px4fmu-v2_upstream/src/px4fmu2_init.c
index 724a5fd91..4d0395122 100644
--- a/nuttx/configs/px4fmu-v2_upstream/src/px4fmu2_init.c
+++ b/nuttx/configs/px4fmu-v2_upstream/src/px4fmu2_init.c
@@ -1,4 +1,11 @@
 /****************************************************************************
+ * configs/px4fmu-v2_upstream/src/px4fmu_init.c
+ *
+ * PX4FMU-specific early startup code.  This file implements the
+ * nsh_archinitialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start
+ * required subsystems and perform board-specific initialisation.
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
  *
@@ -31,16 +38,6 @@
  *
  ****************************************************************************/
 
-/**
- * @file px4fmu_init.c
- *
- * PX4FMU-specific early startup code.  This file implements the
- * nsh_archinitialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
- */
-
 /****************************************************************************
  * Included Files
  ****************************************************************************/
@@ -49,6 +46,7 @@
 
 #include <stdbool.h>
 #include <stdio.h>
+#include <math.h>
 #include <debug.h>
 #include <errno.h>
 
@@ -72,6 +70,19 @@
 
 /* Configuration ************************************************************/
 
+#ifdef CONFIG_FAT_DMAMEMORY
+# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
+#  error microSD DMA support requires CONFIG_GRAN
+# endif
+#endif
+
+/* PX4 LED colour codes */
+
+#define LED_AMBER      1
+#define LED_RED        1  /* Some boards have red rather than amber */
+#define LED_BLUE       0
+#define LED_SAFETY     2
+
 /* Debug ********************************************************************/
 
 #ifdef CONFIG_CPP_HAVE_VARARGS
@@ -88,75 +99,69 @@
 #  endif
 #endif
 
-/* PX4 LED colour codes */
-#define LED_AMBER		1
-#define LED_RED			1	/* some boards have red rather than amber */
-#define LED_BLUE		0
-#define LED_SAFETY		2
-
 /****************************************************************************
- * Protected Functions
+ * Private Data
  ****************************************************************************/
 
-#if defined(CONFIG_FAT_DMAMEMORY)
-# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
-#  error microSD DMA support requires CONFIG_GRAN
-# endif
-
+#ifdef CONFIG_FAT_DMAMEMORY
 static GRAN_HANDLE dma_allocator;
 
-/* 
- * The DMA heap size constrains the total number of things that can be 
+/* The DMA heap size constrains the total number of things that can be
  * ready to do DMA at a time.
  *
  * For example, FAT DMA depends on one sector-sized buffer per filesystem plus
- * one sector-sized buffer per file. 
+ * one sector-sized buffer per file.
  *
  * We use a fundamental alignment / granule size of 64B; this is sufficient
  * to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits).
  */
+
 static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
+#endif
+
+static struct spi_dev_s *spi1;
+static struct spi_dev_s *spi2;
+static struct sdio_dev_s *sdio;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
 
-static void
-dma_alloc_init(void)
+#ifdef CONFIG_FAT_DMAMEMORY
+static void dma_alloc_init(void)
 {
-	dma_allocator = gran_initialize(g_dma_heap,
-					sizeof(g_dma_heap),
-					7,  /* 128B granule - must be > alignment (XXX bug?) */
-					6); /* 64B alignment */
-	if (dma_allocator == NULL) {
-		message("[boot] DMA allocator setup FAILED");
-	}
+  dma_allocator =
+    gran_initialize(g_dma_heap,
+                    sizeof(g_dma_heap),
+                    7,  /* 128B granule - must be > alignment (XXX bug?) */
+                    6); /* 64B alignment */
+
+  if (dma_allocator == NULL)
+    {
+      message("[boot] DMA allocator setup FAILED");
+    }
 }
+#else
+# define dma_alloc_init()
+#endif
 
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
 
-/*
- * DMA-aware allocator stubs for the FAT filesystem.
- */
-
-__EXPORT void *fat_dma_alloc(size_t size);
-__EXPORT void fat_dma_free(FAR void *memory, size_t size);
+#ifdef CONFIG_FAT_DMAMEMORY
+/* DMA-aware allocator stubs for the FAT filesystem. */
 
-void *
-fat_dma_alloc(size_t size)
+void *fat_dma_alloc(size_t size)
 {
-	perf_count(g_dma_perf);
-	return gran_alloc(dma_allocator, size);
+  return gran_alloc(dma_allocator, size);
 }
 
-void
-fat_dma_free(FAR void *memory, size_t size)
+void fat_dma_free(FAR void *memory, size_t size)
 {
-	gran_free(dma_allocator, memory, size);
+  gran_free(dma_allocator, memory, size);
 }
 
-#else
-
-# define dma_alloc_init()
-
 #endif
 
 /************************************************************************************
@@ -164,19 +169,20 @@ fat_dma_free(FAR void *memory, size_t size)
  *
  * Description:
  *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the intitialization -- after all memory has been configured
+ *   is called early in the initialization -- after all memory has been configured
  *   and mapped but before any devices have been initialized.
  *
  ************************************************************************************/
 
-void
-stm32_boardinitialize(void)
+void stm32_boardinitialize(void)
 {
-	/* configure SPI interfaces */
-	stm32_spiinitialize();
+  /* Configure SPI interfaces */
 
-	/* configure LEDs */
-	up_ledinit();
+  stm32_spiinitialize();
+
+  /* Configure LEDs */
+
+  up_ledinit();
 }
 
 /****************************************************************************
@@ -187,125 +193,119 @@ stm32_boardinitialize(void)
  *
  ****************************************************************************/
 
-static struct spi_dev_s *spi1;
-static struct spi_dev_s *spi2;
-static struct sdio_dev_s *sdio;
+int nsh_archinitialize(void)
+{
+  int ret;
 
-#include <math.h>
+  /* Configure ADC pins */
 
-#ifdef __cplusplus
-int matherr(struct __exception *e)
-{
-	return 1;
-}
-#else
-int matherr(struct exception *e)
-{
-	return 1;
-}
-#endif
+  stm32_configgpio(GPIO_ADC1_IN2);   /* BATT_VOLTAGE_SENS */
+  stm32_configgpio(GPIO_ADC1_IN3);   /* BATT_CURRENT_SENS */
+  stm32_configgpio(GPIO_ADC1_IN4);   /* VDD_5V_SENS */
+//stm32_configgpio(GPIO_ADC1_IN10);  /* used by VBUS valid */
+//stm32_configgpio(GPIO_ADC1_IN11);  /* unused */
+//stm32_configgpio(GPIO_ADC1_IN12);  /* used by MPU6000 CS */
+  stm32_configgpio(GPIO_ADC1_IN13);  /* FMU_AUX_ADC_1 */
+  stm32_configgpio(GPIO_ADC1_IN14);  /* FMU_AUX_ADC_2 */
+  stm32_configgpio(GPIO_ADC1_IN15);  /* PRESSURE_SENS */
+
+  /* Configure power supply control/sense pins */
+
+  stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
+  stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
+  stm32_configgpio(GPIO_VDD_BRICK_VALID);
+  stm32_configgpio(GPIO_VDD_SERVO_VALID);
+  stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
+  stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
+
+  /* Configure the DMA allocator */
+
+  dma_alloc_init();
+
+  /* Configure CPU load estimation */
 
-int nsh_archinitialize(void)
-{
-	/* configure ADC pins */
-	stm32_configgpio(GPIO_ADC1_IN2);	/* BATT_VOLTAGE_SENS */
-	stm32_configgpio(GPIO_ADC1_IN3);	/* BATT_CURRENT_SENS */
-	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
-	// stm32_configgpio(GPIO_ADC1_IN10);	/* used by VBUS valid */
-	// stm32_configgpio(GPIO_ADC1_IN11);	/* unused */
-	// stm32_configgpio(GPIO_ADC1_IN12);	/* used by MPU6000 CS */
-	stm32_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
-	stm32_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
-	stm32_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
-
-	/* configure power supply control/sense pins */
-	stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
-	stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
-	stm32_configgpio(GPIO_VDD_BRICK_VALID);
-	stm32_configgpio(GPIO_VDD_SERVO_VALID);
-	stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
-	stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
-
-	/* configure the high-resolution time/callout interface */
-	hrt_init();
-
-	/* configure the DMA allocator */
-	dma_alloc_init();
-
-	/* configure CPU load estimation */
 #ifdef CONFIG_SCHED_INSTRUMENTATION
-	cpuload_initialize_once();
+  cpuload_initialize_once();
 #endif
 
-	/* initial LED state */
-	drv_led_start();
-	led_off(LED_AMBER);
+  /* Initial LED state */
 
-	/* Configure SPI-based devices */
+  led_off(LED_AMBER);
 
-	spi1 = up_spiinitialize(1);
+  /* Configure SPI-based devices */
 
-	if (!spi1) {
-		message("[boot] FAILED to initialize SPI port 1\n");
-		up_ledon(LED_AMBER);
-		return -ENODEV;
-	}
+  spi1 = up_spiinitialize(1);
+  if (!spi1)
+    {
+      message("[boot] FAILED to initialize SPI port 1\n");
+      up_ledon(LED_AMBER);
+      return -ENODEV;
+    }
 
-	/* Default SPI1 to 1MHz and de-assert the known chip selects. */
-	SPI_SETFREQUENCY(spi1, 10000000);
-	SPI_SETBITS(spi1, 8);
-	SPI_SETMODE(spi1, SPIDEV_MODE3);
-	SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
-	SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
-	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
-	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
-	up_udelay(20);
+  /* Default SPI1 to 1MHz and de-assert the known chip selects. */
 
-	message("[boot] Initialized SPI port 1 (SENSORS)\n");
+  SPI_SETFREQUENCY(spi1, 10000000);
+  SPI_SETBITS(spi1, 8);
+  SPI_SETMODE(spi1, SPIDEV_MODE3);
+  SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
+  SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
+  SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
+  SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
+  up_udelay(20);
 
-	/* Get the SPI port for the FRAM */
+  message("[boot] Initialized SPI port 1 (SENSORS)\n");
 
-	spi2 = up_spiinitialize(2);
+  /* Get the SPI port for the FRAM */
 
-	if (!spi2) {
-		message("[boot] FAILED to initialize SPI port 2\n");
-		up_ledon(LED_AMBER);
-		return -ENODEV;
-	}
+  spi2 = up_spiinitialize(2);
+  if (!spi2)
+    {
+      message("[boot] FAILED to initialize SPI port 2\n");
+      up_ledon(LED_AMBER);
+      return -ENODEV;
+    }
 
-	/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
-	 * and de-assert the known chip selects. */
+  /* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
+   * and de-assert the known chip selects.
+   */
 
-	// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
-	SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
-	SPI_SETBITS(spi2, 8);
-	SPI_SETMODE(spi2, SPIDEV_MODE3);
-	SPI_SELECT(spi2, SPIDEV_FLASH, false);
+  // XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
 
-	message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
+  SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
+  SPI_SETBITS(spi2, 8);
+  SPI_SETMODE(spi2, SPIDEV_MODE3);
+  SPI_SELECT(spi2, SPIDEV_FLASH, false);
 
-	#ifdef CONFIG_MMCSD
-	/* First, get an instance of the SDIO interface */
+  message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
 
-	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
-	if (!sdio) {
-		message("[boot] Failed to initialize SDIO slot %d\n",
-			CONFIG_NSH_MMCSDSLOTNO);
-		return -ENODEV;
-	}
+#ifdef CONFIG_MMCSD
+  /* First, get an instance of the SDIO interface */
 
-	/* Now bind the SDIO interface to the MMC/SD driver */
-	int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
-	if (ret != OK) {
-		message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
-		return ret;
-	}
+  sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
+  if (!sdio)
+    {
+      message("[boot] Failed to initialize SDIO slot %d\n",
+              CONFIG_NSH_MMCSDSLOTNO);
+      return -ENODEV;
+    }
 
-	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
-	sdio_mediachange(sdio, true);
+  /* Now bind the SDIO interface to the MMC/SD driver */
 
-	message("[boot] Initialized SDIO\n");
-	#endif
+  ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
+  if (ret != OK)
+    {
+      message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+      return ret;
+    }
+
+  /* Then let's guess and say that there is a card in the slot. There is no
+   * card detect GPIO.
+   */
+
+  sdio_mediachange(sdio, true);
+
+  message("[boot] Initialized SDIO\n");
+#endif
 
-	return OK;
+  return OK;
 }
diff --git a/nuttx/configs/px4fmu-v2_upstream/src/px4fmu2_led.c b/nuttx/configs/px4fmu-v2_upstream/src/px4fmu2_led.c
index e9ddfdfb2..84f2fa850 100644
--- a/nuttx/configs/px4fmu-v2_upstream/src/px4fmu2_led.c
+++ b/nuttx/configs/px4fmu-v2_upstream/src/px4fmu2_led.c
@@ -1,4 +1,5 @@
 /****************************************************************************
+ * configs/px4fmu-v2_upstream/src/px4fmu_led.c
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
@@ -31,11 +32,9 @@
  *
  ****************************************************************************/
 
-/**
- * @file px4fmu2_led.c
- *
- * PX4FMU LED backend.
- */
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
 
 #include <nuttx/config.h>
 
@@ -46,50 +45,48 @@
 
 #include <arch/board/board.h>
 
-/*
- * Ideally we'd be able to get these from up_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-extern void led_init();
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
 
 void led_init()
 {
-	/* Configure LED1 GPIO for output */
+  /* Configure LED1 GPIO for output */
 
-	stm32_configgpio(GPIO_LED1);
+  stm32_configgpio(GPIO_LED1);
 }
 
 void led_on(int led)
 {
-	if (led == 1)
-	{
-		/* Pull down to switch on */
-		stm32_gpiowrite(GPIO_LED1, false);
-	}
+  if (led == 1)
+    {
+      /* Pull down to switch on */
+
+      stm32_gpiowrite(GPIO_LED1, false);
+    }
 }
 
 void led_off(int led)
 {
-	if (led == 1)
-	{
-		/* Pull up to switch off */
-		stm32_gpiowrite(GPIO_LED1, true);
-	}
+  if (led == 1)
+    {
+      /* Pull up to switch off */
+
+      stm32_gpiowrite(GPIO_LED1, true);
+    }
 }
 
 void led_toggle(int led)
 {
-	if (led == 1)
-	{
-		if (stm32_gpioread(GPIO_LED1))
-			stm32_gpiowrite(GPIO_LED1, false);
-		else
-			stm32_gpiowrite(GPIO_LED1, true);
-	}
+  if (led == 1)
+    {
+      if (stm32_gpioread(GPIO_LED1))
+        {
+          stm32_gpiowrite(GPIO_LED1, false);
+        }
+      else
+        {
+          stm32_gpiowrite(GPIO_LED1, true);
+        }
+    }
 }
diff --git a/nuttx/configs/px4fmu-v2_upstream/src/px4fmu_can.c b/nuttx/configs/px4fmu-v2_upstream/src/px4fmu_can.c
index 1e1f10040..2e3813400 100644
--- a/nuttx/configs/px4fmu-v2_upstream/src/px4fmu_can.c
+++ b/nuttx/configs/px4fmu-v2_upstream/src/px4fmu_can.c
@@ -1,4 +1,5 @@
 /****************************************************************************
+ * configs/px4fmu-v2_upstream/src/px4fmu_can.c
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
  *
@@ -31,12 +32,6 @@
  *
  ****************************************************************************/
 
-/**
- * @file px4fmu_can.c
- *
- * Board-specific CAN functions.
- */
-
 /************************************************************************************
  * Included Files
  ************************************************************************************/
@@ -108,37 +103,40 @@
 
 int can_devinit(void)
 {
-	static bool initialized = false;
-	struct can_dev_s *can;
-	int ret;
+  static bool initialized = false;
+  struct can_dev_s *can;
+  int ret;
 
-	/* Check if we have already initialized */
+  /* Check if we have already initialized */
 
-	if (!initialized) {
-		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+  if (!initialized)
+    {
+      /* Call stm32_caninitialize() to get an instance of the CAN interface */
 
-		can = stm32_caninitialize(CAN_PORT);
+      can = stm32_caninitialize(CAN_PORT);
 
-		if (can == NULL) {
-			candbg("ERROR:  Failed to get CAN interface\n");
-			return -ENODEV;
-		}
+      if (can == NULL)
+        {
+          candbg("ERROR:  Failed to get CAN interface\n");
+          return -ENODEV;
+        }
 
-		/* Register the CAN driver at "/dev/can0" */
+      /* Register the CAN driver at "/dev/can0" */
 
-		ret = can_register("/dev/can0", can);
+      ret = can_register("/dev/can0", can);
 
-		if (ret < 0) {
-			candbg("ERROR: can_register failed: %d\n", ret);
-			return ret;
-		}
+      if (ret < 0)
+        {
+          candbg("ERROR: can_register failed: %d\n", ret);
+          return ret;
+        }
 
-		/* Now we are initialized */
+      /* Now we are initialized */
 
-		initialized = true;
-	}
+      initialized = true;
+    }
 
-	return OK;
+  return OK;
 }
 
 #endif
diff --git a/nuttx/configs/px4fmu-v2_upstream/src/px4fmu_spi.c b/nuttx/configs/px4fmu-v2_upstream/src/px4fmu_spi.c
index 7152103cb..89d936f35 100644
--- a/nuttx/configs/px4fmu-v2_upstream/src/px4fmu_spi.c
+++ b/nuttx/configs/px4fmu-v2_upstream/src/px4fmu_spi.c
@@ -1,4 +1,5 @@
 /****************************************************************************
+ * configs/px4fmu-v2_upstream/src/px4fmu_spi.c
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
  *
@@ -31,12 +32,6 @@
  *
  ****************************************************************************/
 
-/**
- * @file px4fmu_spi.c
- *
- * Board-specific SPI functions.
- */
-
 /************************************************************************************
  * Included Files
  ************************************************************************************/
@@ -70,90 +65,94 @@
 void weak_function stm32_spiinitialize(void)
 {
 #ifdef CONFIG_STM32_SPI1
-	stm32_configgpio(GPIO_SPI_CS_GYRO);
-	stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
-	stm32_configgpio(GPIO_SPI_CS_BARO);
-	stm32_configgpio(GPIO_SPI_CS_MPU);
-
-	/* De-activate all peripherals,
-	 * required for some peripheral
-	 * state machines
-	 */
-	stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
-	stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
-
-	stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
-	stm32_configgpio(GPIO_EXTI_MAG_DRDY);
-	stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
-	stm32_configgpio(GPIO_EXTI_MPU_DRDY);
+  stm32_configgpio(GPIO_SPI_CS_GYRO);
+  stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
+  stm32_configgpio(GPIO_SPI_CS_BARO);
+  stm32_configgpio(GPIO_SPI_CS_MPU);
+
+  /* De-activate all peripherals, required for some peripheral state machines */
+
+  stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+  stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+  stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+  stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+
+  stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
+  stm32_configgpio(GPIO_EXTI_MAG_DRDY);
+  stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
+  stm32_configgpio(GPIO_EXTI_MPU_DRDY);
 #endif
 
 #ifdef CONFIG_STM32_SPI2
-	stm32_configgpio(GPIO_SPI_CS_FRAM);
-	stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
+  stm32_configgpio(GPIO_SPI_CS_FRAM);
+  stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
 #endif
 }
 
 void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
-	/* SPI select is active low, so write !selected to select the device */
-
-	switch (devid) {
-	case PX4_SPIDEV_GYRO:
-		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
-		break;
-
-	case PX4_SPIDEV_ACCEL_MAG:
-		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
-		break;
-
-	case PX4_SPIDEV_BARO:
-		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
-		break;
-
-	case PX4_SPIDEV_MPU:
-		/* Making sure the other peripherals are not selected */
-		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
-		stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
-		break;
-
-	default:
-		break;
-	}
+  /* SPI select is active low, so write !selected to select the device */
+
+  switch (devid)
+    {
+    case PX4_SPIDEV_GYRO:
+      /* Making sure the other peripherals are not selected */
+
+      stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
+      stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+      stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+      stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+      break;
+
+    case PX4_SPIDEV_ACCEL_MAG:
+      /* Making sure the other peripherals are not selected */
+
+      stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+      stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
+      stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+      stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+      break;
+
+    case PX4_SPIDEV_BARO:
+      /* Making sure the other peripherals are not selected */
+
+      stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+      stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+      stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
+      stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+      break;
+
+    case PX4_SPIDEV_MPU:
+      /* Making sure the other peripherals are not selected */
+
+      stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+      stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+      stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+      stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
+      break;
+
+    default:
+      break;
+    }
 }
 
 uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
 {
-	return SPI_STATUS_PRESENT;
+  return SPI_STATUS_PRESENT;
 }
 
-
 #ifdef CONFIG_STM32_SPI2
 void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
-	/* there can only be one device on this bus, so always select it */
-	stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
+  /* There can only be one device on this bus, so always select it */
+
+  stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
 }
 
 uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
 {
-	/* FRAM is always present */
-	return SPI_STATUS_PRESENT;
+  /* FRAM is always present */
+
+  return SPI_STATUS_PRESENT;
 }
 #endif
diff --git a/nuttx/configs/px4fmu-v2_upstream/src/px4fmu_usb.c b/nuttx/configs/px4fmu-v2_upstream/src/px4fmu_usb.c
index 32a551794..42b6acef0 100644
--- a/nuttx/configs/px4fmu-v2_upstream/src/px4fmu_usb.c
+++ b/nuttx/configs/px4fmu-v2_upstream/src/px4fmu_usb.c
@@ -1,4 +1,5 @@
 /****************************************************************************
+ * configs/px4fmu-v2_upstream/src/px4fmu_usb.c
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
  *
@@ -31,15 +32,9 @@
  *
  ****************************************************************************/
 
-/**
- * @file px4fmu_usb.c
- *
- * Board-specific USB functions.
- */
-
-/************************************************************************************
+/****************************************************************************
  * Included Files
- ************************************************************************************/
+ ****************************************************************************/
 
 #include <nuttx/config.h>
 
@@ -55,53 +50,54 @@
 #include <stm32.h>
 #include "board_config.h"
 
-/************************************************************************************
- * Definitions
- ************************************************************************************/
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
 
-/************************************************************************************
+/****************************************************************************
  * Private Functions
- ************************************************************************************/
+ ****************************************************************************/
 
-/************************************************************************************
+/****************************************************************************
  * Public Functions
- ************************************************************************************/
+ ****************************************************************************/
 
-/************************************************************************************
+/****************************************************************************
  * Name: stm32_usbinitialize
  *
  * Description:
  *   Called to setup USB-related GPIO pins for the PX4FMU board.
  *
- ************************************************************************************/
+ ****************************************************************************/
 
 void stm32_usbinitialize(void)
 {
-	/* The OTG FS has an internal soft pull-up */
+  /* The OTG FS has an internal soft pull-up */
 
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+  /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
 
 #ifdef CONFIG_STM32_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-	/* XXX We only support device mode
-	stm32_configgpio(GPIO_OTGFS_PWRON);
-	stm32_configgpio(GPIO_OTGFS_OVER);
-	*/
+  stm32_configgpio(GPIO_OTGFS_VBUS);
+
+  /* XXX We only support device mode
+  stm32_configgpio(GPIO_OTGFS_PWRON);
+  stm32_configgpio(GPIO_OTGFS_OVER);
+  */
 #endif
 }
 
-/************************************************************************************
+/****************************************************************************
  * Name:  stm32_usbsuspend
  *
  * Description:
- *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
- *   used.  This function is called whenever the USB enters or leaves suspend mode.
- *   This is an opportunity for the board logic to shutdown clocks, power, etc.
- *   while the USB is suspended.
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV
+ *   driver is used.  This function is called whenever the USB enters or
+ *   leaves suspend mode.  This is an opportunity for the board logic to
+ *   shutdown clocks, power, etc. while the USB is suspended.
  *
- ************************************************************************************/
+ ****************************************************************************/
 
 void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
 {
-	ulldbg("resume: %d\n", resume);
+  ulldbg("resume: %d\n", resume);
 }