Modernize FMUv2 config (using the upstream NuttX config)

5 files changed, 594 insertions, 315 deletions

diff --git a/nuttx-configs/px4fmu-v2/include/board.h b/nuttx-configs/px4fmu-v2/include/board.h
index 3b3c6fa70..679e4b6c0 100755
--- a/nuttx-configs/px4fmu-v2/include/board.h
+++ b/nuttx-configs/px4fmu-v2/include/board.h
@@ -1,5 +1,5 @@
 /************************************************************************************
- * configs/px4fmu/include/board.h
+ * configs/px4fmu-v2_upstream/include/board.h
  * include/arch/board/board.h
  *
  *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
@@ -34,8 +34,8 @@
  *
  ************************************************************************************/
 
-#ifndef __ARCH_BOARD_BOARD_H
-#define __ARCH_BOARD_BOARD_H
+#ifndef __CONFIGS_PX4FMU_V2_UPSTREAM_INCLUDE_BOARD_H
+#define __CONFIGS_PX4FMU_V2_UPSTREAM_INCLUDE_BOARD_H
 
 /************************************************************************************
  * Included Files
@@ -141,26 +141,26 @@
 
 #define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
 #define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK1_FREQUENCY)
 
 /* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
- * otherwise frequency is 2xAPBx. 
+ * otherwise frequency is 2xAPBx.
  * Note: TIM1,8 are on APB2, others on APB1
  */
 
 #define STM32_TIM18_FREQUENCY   (2*STM32_PCLK2_FREQUENCY)
 #define STM32_TIM27_FREQUENCY   (2*STM32_PCLK1_FREQUENCY)
 
-/* SDIO dividers.  Note that slower clocking is required when DMA is disabled 
+/* SDIO dividers.  Note that slower clocking is required when DMA is disabled
  * in order to avoid RX overrun/TX underrun errors due to delayed responses
  * to service FIFOs in interrupt driven mode.  These values have not been
  * tuned!!!
  *
  * HCLK=72MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(178+2)=400 KHz
  */
-  
+
 #define SDIO_INIT_CLKDIV        (178 << SDIO_CLKCR_CLKDIV_SHIFT)
 
 /* DMA ON:  HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(2+2)=18 MHz
@@ -168,9 +168,9 @@
  */
 
 #ifdef CONFIG_SDIO_DMA
-#  define SDIO_MMCXFR_CLKDIV    (2 << SDIO_CLKCR_CLKDIV_SHIFT) 
+#  define SDIO_MMCXFR_CLKDIV    (2 << SDIO_CLKCR_CLKDIV_SHIFT)
 #else
-#  define SDIO_MMCXFR_CLKDIV    (3 << SDIO_CLKCR_CLKDIV_SHIFT) 
+#  define SDIO_MMCXFR_CLKDIV    (3 << SDIO_CLKCR_CLKDIV_SHIFT)
 #endif
 
 /* DMA ON:  HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(1+2)=24 MHz
@@ -196,82 +196,97 @@
 
 /* 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_USART3_RTS	GPIO_USART3_RTS_2
-#define GPIO_USART3_CTS	GPIO_USART3_CTS_2
+#define GPIO_USART3_RX   GPIO_USART3_RX_3
+#define GPIO_USART3_TX   GPIO_USART3_TX_3
+#define GPIO_USART3_RTS  GPIO_USART3_RTS_2
+#define GPIO_USART3_CTS  GPIO_USART3_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. 
+ * 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|GPIO_SPEED_50MHz)
-#define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
 
-#define GPIO_SPI2_MISO	(GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
+#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_SPI4_MISO	(GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI4_MOSI	(GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI4_SCK	(GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz)
 
+/* 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
  ************************************************************************************/
@@ -281,7 +296,8 @@
 #undef EXTERN
 #if defined(__cplusplus)
 #define EXTERN extern "C"
-extern "C" {
+extern "C"
+{
 #else
 #define EXTERN extern
 #endif
@@ -299,7 +315,7 @@ extern "C" {
  *
  ************************************************************************************/
 
-EXTERN void stm32_boardinitialize(void);
+void stm32_boardinitialize(void);
 
 #undef EXTERN
 #if defined(__cplusplus)
@@ -307,4 +323,4 @@ EXTERN void stm32_boardinitialize(void);
 #endif
 
 #endif /* __ASSEMBLY__ */
-#endif  /* __ARCH_BOARD_BOARD_H */
+#endif  /* __CONFIGS_PX4FMU_V2_UPSTREAM_INCLUDE_BOARD_H */
diff --git a/nuttx-configs/px4fmu-v2/nsh/Make.defs b/nuttx-configs/px4fmu-v2/nsh/Make.defs
index e70320aaa..bf6dee333 100644
--- a/nuttx-configs/px4fmu-v2/nsh/Make.defs
+++ b/nuttx-configs/px4fmu-v2/nsh/Make.defs
@@ -1,5 +1,5 @@
 ############################################################################
-# configs/px4fmu-v2/nsh/Make.defs
+# configs/px4fmu-v2_updstream/nsh/Make.defs
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -35,145 +35,141 @@
 
 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_EABI
-
 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
+CONFIG_ARMV7M_TOOLCHAIN        := GNU_EABI
 
-MAXOPTIMIZATION		 = -O3
-ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
-			   -mthumb \
-			   -march=armv7e-m \
-			   -mfpu=fpv4-sp-d16 \
-			   -mfloat-abi=hard
+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
 
+ARCHCPUFLAGS = -mcpu=cortex-m4 \
+    -mthumb \
+    -march=armv7e-m \
+    -mfpu=fpv4-sp-d16 \
+    -mfloat-abi=hard
 
 # enable precise stack overflow tracking
-INSTRUMENTATIONDEFINES	 = -finstrument-functions \
-			   -ffixed-r10
+INSTRUMENTATIONDEFINES   = -finstrument-functions \
+                           -ffixed-r10
 
-# pull in *just* libm from the toolchain ... this is grody
-LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
-EXTRA_LIBS		+= $(LIBM)
+# Pull in *just* libm from the toolchain ... this is grody
 
-# use our linker script
-LDSCRIPT		 = ld.script
+LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
+EXTRA_LIBS += $(LIBM)
+
+# Use our linker 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)
+    # 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)
   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
+
+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
 
-# optimisation flags
-ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -fno-strict-aliasing \
-			   -fno-strength-reduce \
-			   -fomit-frame-pointer \
-   			   -funsafe-math-optimizations \
-   			   -fno-builtin-printf \
-   			   -ffunction-sections \
-   			   -fdata-sections
+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 \
-			   -Wunsuffixed-float-constants
-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/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig
index e31f40cd2..8e75c52a1 100644
--- a/nuttx-configs/px4fmu-v2/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v2/nsh/defconfig
@@ -2,14 +2,14 @@
 # Automatically generated file; DO NOT EDIT.
 # Nuttx/ Configuration
 #
-CONFIG_NUTTX_NEWCONFIG=y
 
 #
 # Build Setup
 #
 # CONFIG_EXPERIMENTAL is not set
-# CONFIG_HOST_LINUX is not set
-CONFIG_HOST_OSX=y
+# CONFIG_DEFAULT_SMALL is not set
+CONFIG_HOST_LINUX=y
+# CONFIG_HOST_OSX is not set
 # CONFIG_HOST_WINDOWS is not set
 # CONFIG_HOST_OTHER is not set
 
@@ -17,6 +17,7 @@ CONFIG_HOST_OSX=y
 # Build Configuration
 #
 CONFIG_APPS_DIR="../apps"
+CONFIG_BUILD_FLAT=y
 # CONFIG_BUILD_2PASS is not set
 
 #
@@ -26,10 +27,12 @@ CONFIG_APPS_DIR="../apps"
 # CONFIG_INTELHEX_BINARY is not set
 # CONFIG_MOTOROLA_SREC is not set
 CONFIG_RAW_BINARY=y
+# CONFIG_UBOOT_UIMAGE is not set
 
 #
 # Customize Header Files
 #
+# CONFIG_ARCH_STDINT_H is not set
 # CONFIG_ARCH_STDBOOL_H is not set
 CONFIG_ARCH_MATH_H=y
 # CONFIG_ARCH_FLOAT_H is not set
@@ -38,37 +41,20 @@ CONFIG_ARCH_MATH_H=y
 #
 # Debug Options
 #
-CONFIG_DEBUG=n
-CONFIG_DEBUG_VERBOSE=n
-
-#
-# Subsystem Debug Options
-#
-# CONFIG_DEBUG_MM is not set
-# CONFIG_DEBUG_SCHED is not set
-# CONFIG_DEBUG_USB is not set
-CONFIG_DEBUG_FS=y
-# CONFIG_DEBUG_LIB is not set
-# CONFIG_DEBUG_BINFMT is not set
-# CONFIG_DEBUG_GRAPHICS is not set
-
-#
-# Driver Debug Options
-#
-# CONFIG_DEBUG_ANALOG is not set
-# CONFIG_DEBUG_I2C is not set
-# CONFIG_DEBUG_SPI is not set
-# CONFIG_DEBUG_SDIO is not set
-# CONFIG_DEBUG_GPIO is not set
-CONFIG_DEBUG_DMA=y
-# CONFIG_DEBUG_WATCHDOG is not set
-# CONFIG_DEBUG_AUDIO is not set
+# CONFIG_DEBUG is not set
+CONFIG_ARCH_HAVE_STACKCHECK=y
+CONFIG_ARMV7M_STACKCHECK=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_ARCH_HAVE_HEAPCHECK=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_ARCH_HAVE_CUSTOMOPT=y
+CONFIG_DEBUG_NOOPT=y
+# CONFIG_DEBUG_CUSTOMOPT is not set
+# CONFIG_DEBUG_FULLOPT is not set
 
 #
 # System Type
 #
-# CONFIG_ARCH_8051 is not set
 CONFIG_ARCH_ARM=y
 # CONFIG_ARCH_AVR is not set
 # CONFIG_ARCH_HC is not set
@@ -84,23 +70,35 @@ CONFIG_ARCH="arm"
 #
 # ARM Options
 #
+# CONFIG_ARCH_CHIP_A1X is not set
 # CONFIG_ARCH_CHIP_C5471 is not set
 # CONFIG_ARCH_CHIP_CALYPSO is not set
 # CONFIG_ARCH_CHIP_DM320 is not set
+# CONFIG_ARCH_CHIP_EFM32 is not set
 # CONFIG_ARCH_CHIP_IMX is not set
 # CONFIG_ARCH_CHIP_KINETIS is not set
 # CONFIG_ARCH_CHIP_KL is not set
 # CONFIG_ARCH_CHIP_LM is not set
+# CONFIG_ARCH_CHIP_TIVA is not set
 # CONFIG_ARCH_CHIP_LPC17XX is not set
 # CONFIG_ARCH_CHIP_LPC214X is not set
 # CONFIG_ARCH_CHIP_LPC2378 is not set
 # CONFIG_ARCH_CHIP_LPC31XX is not set
 # CONFIG_ARCH_CHIP_LPC43XX is not set
 # CONFIG_ARCH_CHIP_NUC1XX is not set
+# CONFIG_ARCH_CHIP_SAMA5 is not set
+# CONFIG_ARCH_CHIP_SAMD is not set
 # CONFIG_ARCH_CHIP_SAM34 is not set
 CONFIG_ARCH_CHIP_STM32=y
 # CONFIG_ARCH_CHIP_STR71X is not set
+# CONFIG_ARCH_ARM7TDMI is not set
+# CONFIG_ARCH_ARM926EJS is not set
+# CONFIG_ARCH_ARM920T is not set
+# CONFIG_ARCH_CORTEXM0 is not set
+# CONFIG_ARCH_CORTEXM3 is not set
 CONFIG_ARCH_CORTEXM4=y
+# CONFIG_ARCH_CORTEXA5 is not set
+# CONFIG_ARCH_CORTEXA8 is not set
 CONFIG_ARCH_FAMILY="armv7-m"
 CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARMV7M_USEBASEPRI=y
@@ -108,17 +106,16 @@ CONFIG_ARCH_HAVE_CMNVECTOR=y
 CONFIG_ARMV7M_CMNVECTOR=y
 CONFIG_ARCH_HAVE_FPU=y
 CONFIG_ARCH_FPU=y
-CONFIG_ARCH_HAVE_MPU=y
 # CONFIG_ARMV7M_MPU is not set
-# CONFIG_DEBUG_HARDFAULT is not set
 
 #
 # ARMV7M Configuration Options
 #
 # CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
-CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
-CONFIG_ARMV7M_STACKCHECK=y
-CONFIG_SERIAL_TERMIOS=y
+# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set
+# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set
+CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL=y
+# CONFIG_ARMV7M_ITMSYSLOG is not set
 CONFIG_SDIO_DMA=y
 CONFIG_SDIO_DMAPRIO=0x00010000
 # CONFIG_SDIO_WIDTH_D1_ONLY is not set
@@ -144,6 +141,7 @@ CONFIG_SDIO_DMAPRIO=0x00010000
 # CONFIG_ARCH_CHIP_STM32L152V6 is not set
 # CONFIG_ARCH_CHIP_STM32L152V8 is not set
 # CONFIG_ARCH_CHIP_STM32L152VB is not set
+# CONFIG_ARCH_CHIP_STM32L162ZD is not set
 # CONFIG_ARCH_CHIP_STM32F100C8 is not set
 # CONFIG_ARCH_CHIP_STM32F100CB is not set
 # CONFIG_ARCH_CHIP_STM32F100R8 is not set
@@ -156,15 +154,25 @@ CONFIG_SDIO_DMAPRIO=0x00010000
 # CONFIG_ARCH_CHIP_STM32F100VC is not set
 # CONFIG_ARCH_CHIP_STM32F100VD is not set
 # CONFIG_ARCH_CHIP_STM32F100VE is not set
+# CONFIG_ARCH_CHIP_STM32F103T8 is not set
+# CONFIG_ARCH_CHIP_STM32F103TB is not set
 # CONFIG_ARCH_CHIP_STM32F103C4 is not set
 # CONFIG_ARCH_CHIP_STM32F103C8 is not set
-# CONFIG_ARCH_CHIP_STM32F103RET6 is not set
-# CONFIG_ARCH_CHIP_STM32F103VCT6 is not set
-# CONFIG_ARCH_CHIP_STM32F103VET6 is not set
-# CONFIG_ARCH_CHIP_STM32F103ZET6 is not set
-# CONFIG_ARCH_CHIP_STM32F105VBT7 is not set
+# CONFIG_ARCH_CHIP_STM32F103CB is not set
+# CONFIG_ARCH_CHIP_STM32F103R8 is not set
+# CONFIG_ARCH_CHIP_STM32F103RB is not set
+# CONFIG_ARCH_CHIP_STM32F103RC is not set
+# CONFIG_ARCH_CHIP_STM32F103RD is not set
+# CONFIG_ARCH_CHIP_STM32F103RE is not set
+# CONFIG_ARCH_CHIP_STM32F103V8 is not set
+# CONFIG_ARCH_CHIP_STM32F103VB is not set
+# CONFIG_ARCH_CHIP_STM32F103VC is not set
+# CONFIG_ARCH_CHIP_STM32F103VE is not set
+# CONFIG_ARCH_CHIP_STM32F103ZE is not set
+# CONFIG_ARCH_CHIP_STM32F105VB is not set
 # CONFIG_ARCH_CHIP_STM32F107VC is not set
 # CONFIG_ARCH_CHIP_STM32F207IG is not set
+# CONFIG_ARCH_CHIP_STM32F207ZE is not set
 # CONFIG_ARCH_CHIP_STM32F302CB is not set
 # CONFIG_ARCH_CHIP_STM32F302CC is not set
 # CONFIG_ARCH_CHIP_STM32F302RB is not set
@@ -177,6 +185,8 @@ CONFIG_SDIO_DMAPRIO=0x00010000
 # CONFIG_ARCH_CHIP_STM32F303RC is not set
 # CONFIG_ARCH_CHIP_STM32F303VB is not set
 # CONFIG_ARCH_CHIP_STM32F303VC is not set
+# CONFIG_ARCH_CHIP_STM32F401RE is not set
+# CONFIG_ARCH_CHIP_STM32F411RE is not set
 # CONFIG_ARCH_CHIP_STM32F405RG is not set
 # CONFIG_ARCH_CHIP_STM32F405VG is not set
 # CONFIG_ARCH_CHIP_STM32F405ZG is not set
@@ -189,6 +199,11 @@ CONFIG_SDIO_DMAPRIO=0x00010000
 CONFIG_ARCH_CHIP_STM32F427V=y
 # CONFIG_ARCH_CHIP_STM32F427Z is not set
 # CONFIG_ARCH_CHIP_STM32F427I is not set
+# CONFIG_ARCH_CHIP_STM32F429V is not set
+# CONFIG_ARCH_CHIP_STM32F429Z is not set
+# CONFIG_ARCH_CHIP_STM32F429I is not set
+# CONFIG_ARCH_CHIP_STM32F429B is not set
+# CONFIG_ARCH_CHIP_STM32F429N is not set
 # CONFIG_STM32_STM32L15XX is not set
 # CONFIG_STM32_ENERGYLITE is not set
 # CONFIG_STM32_STM32F10XX is not set
@@ -199,14 +214,55 @@ CONFIG_ARCH_CHIP_STM32F427V=y
 # CONFIG_STM32_MEDIUMDENSITY is not set
 # CONFIG_STM32_LOWDENSITY is not set
 # CONFIG_STM32_STM32F20XX is not set
+# CONFIG_STM32_STM32F207 is not set
 # CONFIG_STM32_STM32F30XX is not set
 CONFIG_STM32_STM32F40XX=y
+# CONFIG_STM32_STM32F401 is not set
+# CONFIG_STM32_STM32F411 is not set
+# CONFIG_STM32_STM32F405 is not set
+# CONFIG_STM32_STM32F407 is not set
 CONFIG_STM32_STM32F427=y
+# CONFIG_STM32_STM32F429 is not set
 # CONFIG_STM32_DFU is not set
 
 #
 # STM32 Peripheral Support
 #
+CONFIG_STM32_HAVE_CCM=y
+# CONFIG_STM32_HAVE_USBDEV is not set
+CONFIG_STM32_HAVE_OTGFS=y
+CONFIG_STM32_HAVE_FSMC=y
+CONFIG_STM32_HAVE_USART3=y
+CONFIG_STM32_HAVE_UART4=y
+CONFIG_STM32_HAVE_UART5=y
+CONFIG_STM32_HAVE_USART6=y
+CONFIG_STM32_HAVE_UART7=y
+CONFIG_STM32_HAVE_UART8=y
+CONFIG_STM32_HAVE_TIM1=y
+CONFIG_STM32_HAVE_TIM5=y
+CONFIG_STM32_HAVE_TIM6=y
+CONFIG_STM32_HAVE_TIM7=y
+CONFIG_STM32_HAVE_TIM8=y
+CONFIG_STM32_HAVE_TIM9=y
+CONFIG_STM32_HAVE_TIM10=y
+CONFIG_STM32_HAVE_TIM11=y
+CONFIG_STM32_HAVE_TIM12=y
+CONFIG_STM32_HAVE_TIM13=y
+CONFIG_STM32_HAVE_TIM14=y
+# CONFIG_STM32_HAVE_TIM15 is not set
+# CONFIG_STM32_HAVE_TIM16 is not set
+# CONFIG_STM32_HAVE_TIM17 is not set
+CONFIG_STM32_HAVE_ADC2=y
+CONFIG_STM32_HAVE_ADC3=y
+# CONFIG_STM32_HAVE_ADC4 is not set
+CONFIG_STM32_HAVE_CAN1=y
+CONFIG_STM32_HAVE_CAN2=y
+CONFIG_STM32_HAVE_RNG=y
+CONFIG_STM32_HAVE_ETHMAC=y
+CONFIG_STM32_HAVE_SPI2=y
+CONFIG_STM32_HAVE_SPI3=y
+CONFIG_STM32_HAVE_SPI4=y
+CONFIG_STM32_HAVE_SPI5=y
 CONFIG_STM32_ADC1=y
 # CONFIG_STM32_ADC2 is not set
 # CONFIG_STM32_ADC3 is not set
@@ -302,7 +358,6 @@ CONFIG_USART2_RXDMA=y
 CONFIG_USART3_RXDMA=y
 # CONFIG_UART4_RS485 is not set
 CONFIG_UART4_RXDMA=y
-CONFIG_UART5_RXDMA=y
 # CONFIG_USART6_RS485 is not set
 CONFIG_USART6_RXDMA=y
 # CONFIG_UART7_RS485 is not set
@@ -321,26 +376,30 @@ CONFIG_STM32_USART_SINGLEWIRE=y
 #
 # I2C Configuration
 #
+# CONFIG_STM32_I2C_ALT is not set
 # CONFIG_STM32_I2C_DYNTIMEO is not set
 CONFIG_STM32_I2CTIMEOSEC=0
-CONFIG_STM32_I2CTIMEOMS=1
+CONFIG_STM32_I2CTIMEOMS=10
 # CONFIG_STM32_I2C_DUTY16_9 is not set
 
 #
 # SDIO Configuration
 #
-CONFIG_SDIO_PRI=128
 
 #
-# USB Host Configuration
+# USB FS Host Configuration
 #
 
 #
-# USB Device Configuration
+# USB HS Host Configuration
 #
 
 #
-# External Memory Configuration
+# USB Host Debug Configuration
+#
+
+#
+# USB Device Configuration
 #
 
 #
@@ -349,12 +408,21 @@ CONFIG_SDIO_PRI=128
 # CONFIG_ARCH_NOINTC is not set
 # CONFIG_ARCH_VECNOTIRQ is not set
 CONFIG_ARCH_DMA=y
-# CONFIG_ARCH_IRQPRIO is not set
-# CONFIG_CUSTOM_STACK is not set
-# CONFIG_ADDRENV is not set
+CONFIG_ARCH_HAVE_IRQPRIO=y
+# CONFIG_ARCH_L2CACHE is not set
+# CONFIG_ARCH_HAVE_COHERENT_DCACHE is not set
+# CONFIG_ARCH_HAVE_ADDRENV is not set
+# CONFIG_ARCH_NEED_ADDRENV_MAPPING is not set
 CONFIG_ARCH_HAVE_VFORK=y
+# CONFIG_ARCH_HAVE_MMU is not set
+CONFIG_ARCH_HAVE_MPU=y
+# CONFIG_ARCH_NAND_HWECC is not set
+# CONFIG_ARCH_HAVE_EXTCLK is not set
+# CONFIG_ARCH_USE_MPU is not set
+# CONFIG_ARCH_IRQPRIO is not set
 CONFIG_ARCH_STACKDUMP=y
 # CONFIG_ENDIAN_BIG is not set
+# CONFIG_ARCH_IDLE_CUSTOM is not set
 # CONFIG_ARCH_HAVE_RAMFUNCS is not set
 CONFIG_ARCH_HAVE_RAMVECTORS=y
 # CONFIG_ARCH_RAMVECTORS is not set
@@ -364,10 +432,14 @@ CONFIG_ARCH_HAVE_RAMVECTORS=y
 #
 CONFIG_BOARD_LOOPSPERMSEC=16717
 # CONFIG_ARCH_CALIBRATION is not set
-CONFIG_DRAM_START=0x20000000
-CONFIG_DRAM_SIZE=262144
+
+#
+# Interrupt options
+#
 CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
 CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARCH_HAVE_HIPRI_INTERRUPT=y
+# CONFIG_ARCH_HIPRI_INTERRUPT is not set
 
 #
 # Boot options
@@ -379,10 +451,18 @@ CONFIG_BOOT_RUNFROMFLASH=y
 # CONFIG_BOOT_COPYTORAM is not set
 
 #
+# Boot Memory Configuration
+#
+CONFIG_RAM_START=0x20000000
+CONFIG_RAM_SIZE=262144
+# CONFIG_ARCH_HAVE_SDRAM is not set
+
+#
 # Board Selection
 #
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD=""
+CONFIG_ARCH_BOARD_PX4FMU_V2=y
+# CONFIG_ARCH_BOARD_CUSTOM is not set
+CONFIG_ARCH_BOARD="px4fmu-v2"
 
 #
 # Common Board Options
@@ -397,31 +477,71 @@ CONFIG_NSH_MMCSDSLOTNO=0
 #
 # RTOS Features
 #
-# CONFIG_BOARD_INITIALIZE is not set
-CONFIG_MSEC_PER_TICK=1
-CONFIG_RR_INTERVAL=0
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_TASK_NAME_SIZE=24
-# CONFIG_SCHED_HAVE_PARENT is not set
+# CONFIG_DISABLE_OS_API is not set
+
+#
+# Clocks and Timers
+#
+CONFIG_USEC_PER_TICK=1000
+# CONFIG_SYSTEM_TIME64 is not set
+# CONFIG_CLOCK_MONOTONIC is not set
 # CONFIG_JULIAN_TIME is not set
 CONFIG_START_YEAR=1970
 CONFIG_START_MONTH=1
 CONFIG_START_DAY=1
-CONFIG_DEV_CONSOLE=y
+CONFIG_MAX_WDOGPARMS=2
+CONFIG_PREALLOC_WDOGS=50
+CONFIG_WDOG_INTRESERVE=4
+CONFIG_PREALLOC_TIMERS=50
+
+#
+# Tasks and Scheduling
+#
+# CONFIG_INIT_NONE is not set
+CONFIG_INIT_ENTRYPOINT=y
+# CONFIG_INIT_FILEPATH is not set
+CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_RR_INTERVAL=0
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_MAX_TASK_ARGS=10
+CONFIG_MAX_TASKS=32
+# CONFIG_SCHED_HAVE_PARENT is not set
+CONFIG_SCHED_WAITPID=y
+
+#
+# Pthread Options
+#
 # CONFIG_MUTEX_TYPES is not set
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SEM_NNESTPRIO=8
+CONFIG_NPTHREAD_KEYS=4
+
+#
+# Performance Monitoring
+#
+# CONFIG_SCHED_CPULOAD is not set
+CONFIG_SCHED_INSTRUMENTATION=y
+
+#
+# Files and I/O
+#
+CONFIG_DEV_CONSOLE=y
 # CONFIG_FDCLONE_DISABLE is not set
 CONFIG_FDCLONE_STDIO=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SCHED_WAITPID=y
+CONFIG_NFILE_DESCRIPTORS=32
+CONFIG_NFILE_STREAMS=8
+CONFIG_NAME_MAX=32
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_NNESTPRIO=8
+
+#
+# RTOS hooks
+#
+# CONFIG_BOARD_INITIALIZE is not set
 # CONFIG_SCHED_STARTHOOK is not set
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_ATEXIT_MAX=1
 # CONFIG_SCHED_ONEXIT is not set
-CONFIG_USER_ENTRYPOINT="nsh_main"
-# CONFIG_DISABLE_OS_API is not set
 
 #
 # Signal Numbers
@@ -433,27 +553,34 @@ CONFIG_SIG_SIGCONDTIMEDOUT=16
 CONFIG_SIG_SIGWORK=4
 
 #
-# Sizes of configurable things (0 disables)
+# POSIX Message Queue Options
 #
-CONFIG_MAX_TASKS=32
-CONFIG_MAX_TASK_ARGS=10
-CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=38
-CONFIG_NFILE_STREAMS=8
-CONFIG_NAME_MAX=32
 CONFIG_PREALLOC_MQ_MSGS=4
 CONFIG_MQ_MAXMSGSIZE=32
-CONFIG_MAX_WDOGPARMS=2
-CONFIG_PREALLOC_WDOGS=50
-CONFIG_PREALLOC_TIMERS=50
+
+#
+# Work Queue Support
+#
+CONFIG_SCHED_WORKQUEUE=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=192
+CONFIG_SCHED_HPWORKPERIOD=5000
+CONFIG_SCHED_HPWORKSTACKSIZE=4000
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPNTHREADS=1
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKPRIOMAX=176
+CONFIG_SCHED_LPWORKPERIOD=50000
+CONFIG_SCHED_LPWORKSTACKSIZE=4000
 
 #
 # Stack and heap information
 #
-CONFIG_IDLETHREAD_STACKSIZE=3500
-CONFIG_USERMAIN_STACKSIZE=3000
+CONFIG_IDLETHREAD_STACKSIZE=6000
+CONFIG_USERMAIN_STACKSIZE=4096
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_PTHREAD_STACK_DEFAULT=2048
+# CONFIG_LIB_SYSCALL is not set
 
 #
 # Device Drivers
@@ -462,25 +589,37 @@ CONFIG_PTHREAD_STACK_DEFAULT=2048
 CONFIG_DEV_NULL=y
 # CONFIG_DEV_ZERO is not set
 # CONFIG_LOOP is not set
+
+#
+# Buffering
+#
+# CONFIG_DRVR_WRITEBUFFER is not set
+# CONFIG_DRVR_READAHEAD is not set
 # CONFIG_RAMDISK is not set
 # CONFIG_CAN is not set
+# CONFIG_ARCH_HAVE_PWM_PULSECOUNT is not set
 # CONFIG_PWM is not set
+CONFIG_ARCH_HAVE_I2CRESET=y
 CONFIG_I2C=y
 # CONFIG_I2C_SLAVE is not set
 CONFIG_I2C_TRANSFER=y
 # CONFIG_I2C_WRITEREAD is not set
 # CONFIG_I2C_POLLED is not set
 # CONFIG_I2C_TRACE is not set
-CONFIG_ARCH_HAVE_I2CRESET=y
 CONFIG_I2C_RESET=y
 CONFIG_SPI=y
 # CONFIG_SPI_OWNBUS is not set
 CONFIG_SPI_EXCHANGE=y
 # CONFIG_SPI_CMDDATA is not set
+# CONFIG_SPI_BITBANG is not set
+# CONFIG_I2S is not set
 # CONFIG_RTC is not set
 CONFIG_WATCHDOG=y
+CONFIG_WATCHDOG_DEVPATH="/dev/watchdog0"
+# CONFIG_TIMER is not set
 # CONFIG_ANALOG is not set
 # CONFIG_AUDIO_DEVICES is not set
+# CONFIG_VIDEO_DEVICES is not set
 # CONFIG_BCH is not set
 # CONFIG_INPUT is not set
 # CONFIG_LCD is not set
@@ -491,7 +630,9 @@ CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_HAVECARDDETECT is not set
 # CONFIG_MMCSD_SPI is not set
+CONFIG_ARCH_HAVE_SDIO=y
 CONFIG_MMCSD_SDIO=y
+CONFIG_SDIO_PREFLIGHT=y
 # CONFIG_SDIO_MUXBUS is not set
 # CONFIG_SDIO_BLOCKSETUP is not set
 CONFIG_MTD=y
@@ -500,39 +641,69 @@ CONFIG_MTD=y
 # MTD Configuration
 #
 CONFIG_MTD_PARTITION=y
+# CONFIG_MTD_SECT512 is not set
 CONFIG_MTD_BYTE_WRITE=y
+# CONFIG_MTD_CONFIG is not set
 
 #
 # MTD Device Drivers
 #
+# CONFIG_MTD_NAND is not set
 # CONFIG_RAMMTD is not set
 # CONFIG_MTD_AT24XX is not set
+# CONFIG_MTD_AT25 is not set
 # CONFIG_MTD_AT45DB is not set
 # CONFIG_MTD_M25P is not set
 # CONFIG_MTD_SMART is not set
 CONFIG_MTD_RAMTRON=y
 # CONFIG_MTD_SST25 is not set
+# CONFIG_MTD_SST25XX is not set
 # CONFIG_MTD_SST39FV is not set
 # CONFIG_MTD_W25 is not set
 CONFIG_PIPES=y
 # CONFIG_PM is not set
 # CONFIG_POWER is not set
 # CONFIG_SENSORS is not set
+# CONFIG_SERCOMM_CONSOLE is not set
 CONFIG_SERIAL=y
 # CONFIG_DEV_LOWCONSOLE is not set
 CONFIG_SERIAL_REMOVABLE=y
 # CONFIG_16550_UART is not set
+# CONFIG_ARCH_HAVE_UART is not set
+# CONFIG_ARCH_HAVE_UART0 is not set
+# CONFIG_ARCH_HAVE_UART1 is not set
+# CONFIG_ARCH_HAVE_UART2 is not set
+# CONFIG_ARCH_HAVE_UART3 is not set
 CONFIG_ARCH_HAVE_UART4=y
+# CONFIG_ARCH_HAVE_UART5 is not set
+# CONFIG_ARCH_HAVE_UART6 is not set
 CONFIG_ARCH_HAVE_UART7=y
 CONFIG_ARCH_HAVE_UART8=y
+# CONFIG_ARCH_HAVE_SCI0 is not set
+# CONFIG_ARCH_HAVE_SCI1 is not set
+# CONFIG_ARCH_HAVE_USART0 is not set
 CONFIG_ARCH_HAVE_USART1=y
 CONFIG_ARCH_HAVE_USART2=y
 CONFIG_ARCH_HAVE_USART3=y
+# CONFIG_ARCH_HAVE_USART4 is not set
+# CONFIG_ARCH_HAVE_USART5 is not set
 CONFIG_ARCH_HAVE_USART6=y
+# CONFIG_ARCH_HAVE_USART7 is not set
+# CONFIG_ARCH_HAVE_USART8 is not set
+# CONFIG_ARCH_HAVE_OTHER_UART is not set
+
+#
+# USART Configuration
+#
+CONFIG_USART1_ISUART=y
+CONFIG_USART2_ISUART=y
+CONFIG_USART3_ISUART=y
+CONFIG_USART6_ISUART=y
 CONFIG_MCU_SERIAL=y
 CONFIG_STANDARD_SERIAL=y
 CONFIG_SERIAL_NPOLLWAITERS=2
-# CONFIG_SERIAL_TIOCSERGSTRUCT is not set
+CONFIG_ARCH_HAVE_SERIAL_TERMIOS=y
+CONFIG_SERIAL_TERMIOS=y
 # CONFIG_USART1_SERIAL_CONSOLE is not set
 # CONFIG_USART2_SERIAL_CONSOLE is not set
 # CONFIG_USART3_SERIAL_CONSOLE is not set
@@ -540,6 +711,7 @@ CONFIG_SERIAL_NPOLLWAITERS=2
 # CONFIG_USART6_SERIAL_CONSOLE is not set
 CONFIG_UART7_SERIAL_CONSOLE=y
 # CONFIG_UART8_SERIAL_CONSOLE is not set
+# CONFIG_OTHER_SERIAL_CONSOLE is not set
 # CONFIG_NO_SERIAL_CONSOLE is not set
 
 #
@@ -638,6 +810,7 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 # CONFIG_USBDEV_DMA is not set
+# CONFIG_ARCH_USBDEV_STALLQUEUE is not set
 # CONFIG_USBDEV_TRACE is not set
 
 #
@@ -682,9 +855,16 @@ CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v2.x"
 #
 # Networking Support
 #
+# CONFIG_ARCH_HAVE_NET is not set
+# CONFIG_ARCH_HAVE_PHY is not set
 # CONFIG_NET is not set
 
 #
+# Crypto API
+#
+# CONFIG_CRYPTO is not set
+
+#
 # File Systems
 #
 
@@ -692,6 +872,13 @@ CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v2.x"
 # File system configuration
 #
 # CONFIG_DISABLE_MOUNTPOINT is not set
+# CONFIG_FS_AUTOMOUNTER is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+CONFIG_FS_READABLE=y
+CONFIG_FS_WRITABLE=y
+# CONFIG_FS_AIO is not set
+# CONFIG_FS_NAMED_SEMAPHORES is not set
+CONFIG_FS_MQUEUE_MPATH="/var/mqueue"
 # CONFIG_FS_RAMMAP is not set
 CONFIG_FS_FAT=y
 CONFIG_FAT_LCNAMES=y
@@ -700,6 +887,7 @@ CONFIG_FAT_MAXFNAME=32
 CONFIG_FS_FATTIME=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FS_NXFFS=y
+# CONFIG_NXFFS_SCAN_VOLUME is not set
 CONFIG_NXFFS_PREALLOCATED=y
 CONFIG_NXFFS_ERASEDSTATE=0xff
 CONFIG_NXFFS_PACKTHRESHOLD=32
@@ -708,12 +896,13 @@ CONFIG_NXFFS_TAILTHRESHOLD=2048
 CONFIG_FS_ROMFS=y
 # CONFIG_FS_SMARTFS is not set
 CONFIG_FS_BINFS=y
+# CONFIG_FS_PROCFS is not set
 
 #
 # System Logging
 #
-# CONFIG_SYSLOG_ENABLE is not set
 # CONFIG_SYSLOG is not set
+# CONFIG_SYSLOG_TIMESTAMP is not set
 
 #
 # Graphics Support
@@ -723,13 +912,12 @@ CONFIG_FS_BINFS=y
 #
 # Memory Management
 #
-# CONFIG_MM_MULTIHEAP is not set
 # CONFIG_MM_SMALL is not set
 CONFIG_MM_REGIONS=2
+# CONFIG_ARCH_HAVE_HEAP2 is not set
 CONFIG_GRAN=y
 # CONFIG_GRAN_SINGLE is not set
-# CONFIG_GRAN_INTR is not set
-# CONFIG_DEBUG_GRAN is not set
+CONFIG_GRAN_INTR=y
 
 #
 # Audio Support
@@ -737,7 +925,7 @@ CONFIG_GRAN=y
 # CONFIG_AUDIO is not set
 
 #
-# Binary Formats
+# Binary Loader
 #
 # CONFIG_BINFMT_DISABLE is not set
 # CONFIG_BINFMT_EXEPATH is not set
@@ -758,6 +946,7 @@ 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
@@ -771,7 +960,10 @@ CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048
 CONFIG_LIBC_STRERROR=y
 # CONFIG_LIBC_STRERROR_SHORT is not set
 # CONFIG_LIBC_PERROR_STDOUT is not set
+CONFIG_LIBC_TMPDIR="/tmp"
+CONFIG_LIBC_MAX_TMPFILE=32
 CONFIG_ARCH_LOWPUTC=y
+# CONFIG_LIBC_LOCALTIME is not set
 CONFIG_LIB_SENDFILE_BUFSIZE=512
 # CONFIG_ARCH_ROMGETC is not set
 CONFIG_ARCH_OPTIMIZED_FUNCTIONS=y
@@ -791,15 +983,6 @@ CONFIG_ARCH_MEMCPY=y
 #
 # Non-standard Library Support
 #
-CONFIG_SCHED_WORKQUEUE=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_WORKPRIORITY=192
-CONFIG_SCHED_WORKPERIOD=5000
-CONFIG_SCHED_WORKSTACKSIZE=2000
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKPERIOD=50000
-CONFIG_SCHED_LPWORKSTACKSIZE=2000
 # CONFIG_LIB_KBDCODEC is not set
 # CONFIG_LIB_SLCDCODEC is not set
 
@@ -812,11 +995,6 @@ CONFIG_HAVE_CXXINITIALIZE=y
 # CONFIG_CXX_NEWLONG is not set
 
 #
-# uClibc++ Standard C++ Library
-#
-# CONFIG_UCLIBCXX is not set
-
-#
 # Application Configuration
 #
 
@@ -830,9 +1008,8 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024
 #
 # CONFIG_EXAMPLES_BUTTONS is not set
 # CONFIG_EXAMPLES_CAN is not set
-CONFIG_EXAMPLES_CDCACM=y
-# CONFIG_EXAMPLES_COMPOSITE is not set
-# CONFIG_EXAMPLES_CXXTEST is not set
+# CONFIG_EXAMPLES_CONFIGDATA is not set
+# CONFIG_EXAMPLES_CPUHOG is not set
 # CONFIG_EXAMPLES_DHCPD is not set
 # CONFIG_EXAMPLES_ELF is not set
 # CONFIG_EXAMPLES_FTPC is not set
@@ -843,15 +1020,19 @@ CONFIG_EXAMPLES_CDCACM=y
 # CONFIG_EXAMPLES_HIDKBD is not set
 # CONFIG_EXAMPLES_KEYPADTEST is not set
 # CONFIG_EXAMPLES_IGMP is not set
-# CONFIG_EXAMPLES_LCDRW is not set
 # 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_NULL is not set
 # CONFIG_EXAMPLES_NX is not set
-# CONFIG_EXAMPLES_NXCONSOLE is not set
+# CONFIG_EXAMPLES_NXTERM is not set
 # CONFIG_EXAMPLES_NXFFS is not set
 # CONFIG_EXAMPLES_NXFLAT is not set
 # CONFIG_EXAMPLES_NXHELLO is not set
@@ -859,13 +1040,14 @@ CONFIG_EXAMPLES_NSH=y
 # CONFIG_EXAMPLES_NXLINES is not set
 # CONFIG_EXAMPLES_NXTEXT is not set
 # CONFIG_EXAMPLES_OSTEST is not set
-# CONFIG_EXAMPLES_PASHELLO is not set
 # CONFIG_EXAMPLES_PIPE is not set
 # CONFIG_EXAMPLES_POSIXSPAWN is not set
 # CONFIG_EXAMPLES_QENCODER is not set
 # CONFIG_EXAMPLES_RGMP is not set
 # CONFIG_EXAMPLES_ROMFS is not set
 # CONFIG_EXAMPLES_SENDMAIL is not set
+# CONFIG_EXAMPLES_SERIALBLASTER is not set
+# CONFIG_EXAMPLES_SERIALRX is not set
 # CONFIG_EXAMPLES_SERLOOP is not set
 # CONFIG_EXAMPLES_SLCD is not set
 # CONFIG_EXAMPLES_SMART_TEST is not set
@@ -876,9 +1058,8 @@ CONFIG_EXAMPLES_NSH=y
 # CONFIG_EXAMPLES_TIFF is not set
 # CONFIG_EXAMPLES_TOUCHSCREEN is not set
 # CONFIG_EXAMPLES_UDP is not set
-# CONFIG_EXAMPLES_UIP is not set
+# CONFIG_EXAMPLES_WEBSERVER is not set
 # CONFIG_EXAMPLES_USBSERIAL is not set
-# CONFIG_EXAMPLES_USBMSC is not set
 # CONFIG_EXAMPLES_USBTERM is not set
 # CONFIG_EXAMPLES_WATCHDOG is not set
 
@@ -901,17 +1082,14 @@ CONFIG_EXAMPLES_NSH=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
+# CONFIG_NETUTILS_NETLIB is not set
 # CONFIG_NETUTILS_WEBCLIENT is not set
 
 #
@@ -923,15 +1101,32 @@ CONFIG_EXAMPLES_NSH=y
 # NSH Library
 #
 CONFIG_NSH_LIBRARY=y
+
+#
+# Command Line Configuration
+#
+CONFIG_NSH_READLINE=y
+# CONFIG_NSH_CLE is not set
+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_DISABLEBG is not set
 CONFIG_NSH_BUILTIN_APPS=y
 
 #
 # Disable Individual commands
 #
+# CONFIG_NSH_DISABLE_ADDROUTE is not set
 # CONFIG_NSH_DISABLE_CAT is not set
 # CONFIG_NSH_DISABLE_CD is not set
 # CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_CMP is not set
 # CONFIG_NSH_DISABLE_DD is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_DELROUTE is not set
 # CONFIG_NSH_DISABLE_ECHO is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
@@ -951,9 +1146,7 @@ CONFIG_NSH_BUILTIN_APPS=y
 # CONFIG_NSH_DISABLE_MH is not set
 # CONFIG_NSH_DISABLE_MOUNT is not set
 # CONFIG_NSH_DISABLE_MW is not set
-# CONFIG_NSH_DISABLE_NSFMOUNT is not set
 # CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PING is not set
 # CONFIG_NSH_DISABLE_PUT is not set
 # CONFIG_NSH_DISABLE_PWD is not set
 # CONFIG_NSH_DISABLE_RM is not set
@@ -973,11 +1166,9 @@ CONFIG_NSH_BUILTIN_APPS=y
 #
 # CONFIG_NSH_CMDOPT_DF_H is not set
 CONFIG_NSH_CODECS_BUFSIZE=128
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
 CONFIG_NSH_FILEIOSIZE=512
 CONFIG_NSH_STRERROR=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=12
-CONFIG_NSH_NESTDEPTH=8
 # CONFIG_NSH_DISABLESCRIPT is not set
 # CONFIG_NSH_DISABLEBG is not set
 CONFIG_NSH_ROMFSETC=y
@@ -991,14 +1182,20 @@ CONFIG_NSH_FATDEVNO=1
 CONFIG_NSH_FATSECTSIZE=512
 CONFIG_NSH_FATNSECTORS=1024
 CONFIG_NSH_FATMOUNTPT="/tmp"
-CONFIG_NSH_CONSOLE=y
-# CONFIG_NSH_USBCONSOLE is not set
 
 #
-# USB Trace Support
+# Scripting Support
 #
-# CONFIG_NSH_USBDEV_TRACE is not set
-# CONFIG_NSH_CONDEV is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+
+#
+# Console Configuration
+#
+CONFIG_NSH_CONSOLE=y
+# CONFIG_NSH_USBCONSOLE is not set
+# CONFIG_NSH_ALTCONDEV is not set
 CONFIG_NSH_ARCHINIT=y
 
 #
@@ -1006,7 +1203,12 @@ CONFIG_NSH_ARCHINIT=y
 #
 
 #
-# System NSH Add-Ons
+# Platform-specific Support
+#
+# CONFIG_PLATFORM_CONFIGDATA is not set
+
+#
+# System Libraries and NSH Add-Ons
 #
 
 #
@@ -1015,9 +1217,9 @@ CONFIG_NSH_ARCHINIT=y
 # CONFIG_SYSTEM_FREE is not set
 
 #
-# I2C tool
+# EMACS-like Command Line Editor
 #
-# CONFIG_SYSTEM_I2CTOOL is not set
+# CONFIG_SYSTEM_CLE is not set
 
 #
 # FLASH Program Installation
@@ -1030,12 +1232,45 @@ CONFIG_NSH_ARCHINIT=y
 # CONFIG_SYSTEM_FLASH_ERASEALL is not set
 
 #
+# Intel HEX to binary conversion
+#
+# CONFIG_SYSTEM_HEX2BIN is not set
+
+#
+# I2C tool
+#
+# CONFIG_SYSTEM_I2CTOOL is not set
+
+#
+# INI File Parser
+#
+# CONFIG_SYSTEM_INIFILE is not set
+
+#
+# NxPlayer media player library / command Line
+#
+# CONFIG_SYSTEM_NXPLAYER is not set
+
+#
+# RAM test
+#
+# CONFIG_SYSTEM_RAMTEST is not set
+
+#
 # readline()
 #
 CONFIG_SYSTEM_READLINE=y
 CONFIG_READLINE_ECHO=y
 
 #
+# P-Code Support
+#
+
+#
+# PHY Tool
+#
+
+#
 # Power Off
 #
 # CONFIG_SYSTEM_POWEROFF is not set
@@ -1051,10 +1286,43 @@ CONFIG_READLINE_ECHO=y
 # CONFIG_SYSTEM_SDCARD is not set
 
 #
+# Sudoku
+#
+# CONFIG_SYSTEM_SUDOKU is not set
+
+#
 # Sysinfo
 #
 CONFIG_SYSTEM_SYSINFO=y
+CONFIG_SYSTEM_SYSINFO_STACKSIZE=1024
+
+#
+# VI Work-Alike Editor
+#
+# CONFIG_SYSTEM_VI is not set
+
+#
+# Stack Monitor
+#
+
+#
+# USB CDC/ACM Device Commands
+#
+CONFIG_SYSTEM_CDCACM=y
+
+#
+# USB Composite Device Commands
+#
+
+#
+# USB Mass Storage Device Commands
+#
 
 #
 # USB Monitor
 #
+
+#
+# Zmodem Commands
+#
+# CONFIG_SYSTEM_ZMODEM is not set
diff --git a/nuttx-configs/px4fmu-v2/scripts/ld.script b/nuttx-configs/px4fmu-v2/scripts/ld.script
index 1be39fb87..1017c649a 100644
--- a/nuttx-configs/px4fmu-v2/scripts/ld.script
+++ b/nuttx-configs/px4fmu-v2/scripts/ld.script
@@ -1,5 +1,5 @@
 /****************************************************************************
- * configs/px4fmu/common/ld.script
+ * configs/px4fmu-v2_upstream/common/ld.script
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -60,7 +60,7 @@ OUTPUT_ARCH(arm)
 ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
 EXTERN(_vectors)	/* force the vectors to be included in the output */
 
-/* 
+/*
  * Ensure that abort() is present in the final object.  The exception handling
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
@@ -71,17 +71,17 @@ SECTIONS
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
-		*(.text .text.*)        
+		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)
-		*(.rodata .rodata.*)        
+		*(.rodata .rodata.*)
 		*(.gnu.linkonce.t.*)
 		*(.got)
 		*(.gcc_except_table)
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);
 
-		/* 
+		/*
 		 * This is a hack to make the newlib libm __errno() call
 		 * use the NuttX get_errno_ptr() function.
 		 */
diff --git a/nuttx-configs/px4fmu-v2/src/Makefile b/nuttx-configs/px4fmu-v2/src/Makefile
index d4276f7fc..35ad52a2d 100644
--- a/nuttx-configs/px4fmu-v2/src/Makefile
+++ b/nuttx-configs/px4fmu-v2/src/Makefile
@@ -1,5 +1,5 @@
 ############################################################################
-# configs/px4fmu/src/Makefile
+# configs/px4fmu-v2_upstream/src/Makefile
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -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		= empty.c
-COBJS		= $(CSRCS:.c=$(OBJEXT))
+CSRCS = empty.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)
@@ -81,4 +81,3 @@ distclean: clean
 	$(call DELFILE, .depend)
 
 -include Make.dep
-