Clean out unused trash from the NuttX configs.

12 files changed, 219 insertions, 1833 deletions

diff --git a/nuttx-configs/px4fmu-v1/Kconfig b/nuttx-configs/px4fmu-v1/Kconfig
deleted file mode 100644
index edbafa06f..000000000
--- a/nuttx-configs/px4fmu-v1/Kconfig
+++ /dev/null
@@ -1,21 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see misc/tools/kconfig-language.txt.
-#
-
-if ARCH_BOARD_PX4FMU_V1
-
-config HRT_TIMER
-	bool "High resolution timer support"
-	default y
-	---help---
-		Enable high resolution timer for PPM capture and system clocks.
-
-config HRT_PPM
-	bool "PPM input capture"
-	default y
-	depends on HRT_TIMER
-	---help---
-		Enable PPM input capture via HRT (for CPPM / PPM sum RC inputs)
-
-endif
diff --git a/nuttx-configs/px4fmu-v1/common/Make.defs b/nuttx-configs/px4fmu-v1/common/Make.defs
deleted file mode 100644
index 756286ccb..000000000
--- a/nuttx-configs/px4fmu-v1/common/Make.defs
+++ /dev/null
@@ -1,184 +0,0 @@
-############################################################################
-# configs/px4fmu/common/Make.defs
-#
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Generic Make.defs for the PX4FMU
-# Do not specify/use this file directly - it is included by config-specific
-# Make.defs in the per-config directories.
-#
-
-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			 = $(CROSSDEV)objdump
-
-MAXOPTIMIZATION		 = -O3
-ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
-			   -mthumb \
-			   -march=armv7e-m \
-			   -mfpu=fpv4-sp-d16 \
-			   -mfloat-abi=hard
-
-
-# enable precise stack overflow tracking
-INSTRUMENTATIONDEFINES	 = -finstrument-functions \
-			   -ffixed-r10
-
-# pull in *just* libm from the toolchain ... this is grody
-LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
-EXTRA_LIBS		+= $(LIBM)
-
-# use our linker script
-LDSCRIPT		 = ld.script
-
-ifeq ($(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)/common/$(LDSCRIPT)}"
-else
-  ifeq ($(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/$(CONFIG_ARCH_BOARD)/common/$(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/$(CONFIG_ARCH_BOARD)/common/$(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}
-
-# optimisation 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
-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
-#   -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
-define PRELINK
-	@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		 =
-
diff --git a/nuttx-configs/px4fmu-v1/common/ld.script b/nuttx-configs/px4fmu-v1/common/ld.script
deleted file mode 100644
index de8179e8d..000000000
--- a/nuttx-configs/px4fmu-v1/common/ld.script
+++ /dev/null
@@ -1,149 +0,0 @@
-/****************************************************************************
- * configs/px4fmu/common/ld.script
- *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The STM32F405 has 1024Kb of FLASH beginning at address 0x0800:0000 and
- * 192Kb of SRAM. SRAM is split up into three blocks:
- *
- * 1) 112Kb of SRAM beginning at address 0x2000:0000
- * 2)  16Kb of SRAM beginning at address 0x2001:c000
- * 3)  64Kb of TCM SRAM beginning at address 0x1000:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- *
- * The first 0x4000 of flash is reserved for the bootloader.
- */
-
-MEMORY
-{
-    flash (rx)   : ORIGIN = 0x08004000, LENGTH = 1008K
-    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 128K
-    ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
-}
-
-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).
- */
-EXTERN(abort)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		*(.text .text.*)        
-		*(.fixup)
-		*(.gnu.warning)
-		*(.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.
-		 */
-		__errno = get_errno_ptr;
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-        .init_section : {
-                _sinit = ABSOLUTE(.);
-                KEEP(*(.init_array .init_array.*))
-                _einit = ABSOLUTE(.);
-        } > flash
-
-	/*
-	 * Construction data for parameters.
-	 */
-	__param ALIGN(4): {
-		__param_start = ABSOLUTE(.);
-		KEEP(*(__param*))
-		__param_end = ABSOLUTE(.);
-	} > flash
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}
diff --git a/nuttx-configs/px4fmu-v1/nsh/Make.defs b/nuttx-configs/px4fmu-v1/nsh/Make.defs
index 81936334b..7b2ea703a 100644
--- a/nuttx-configs/px4fmu-v1/nsh/Make.defs
+++ b/nuttx-configs/px4fmu-v1/nsh/Make.defs
@@ -1,3 +1,179 @@
+############################################################################
+# configs/px4fmu-v1/nsh/Make.defs
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
 include ${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			 = $(CROSSDEV)objdump
+
+MAXOPTIMIZATION		 = -O3
+ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
+			   -mthumb \
+			   -march=armv7e-m \
+			   -mfpu=fpv4-sp-d16 \
+			   -mfloat-abi=hard
+
+
+# enable precise stack overflow tracking
+INSTRUMENTATIONDEFINES	 = -finstrument-functions \
+			   -ffixed-r10
+
+# pull in *just* libm from the toolchain ... this is grody
+LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
+EXTRA_LIBS		+= $(LIBM)
+
+# use our linker script
+LDSCRIPT		 = ld.script
+
+ifeq ($(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/$(LDSCRIPT)}"
+else
+  ifeq ($(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)
+  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)
+  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}
+
+# optimisation 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
+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
+#   -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
+define PRELINK
+	@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		 =
 
-include $(TOPDIR)/configs/px4fmu-v1/common/Make.defs
diff --git a/nuttx-configs/px4fmu-v1/ostest/Make.defs b/nuttx-configs/px4fmu-v1/ostest/Make.defs
deleted file mode 100644
index 7b807abdb..000000000
--- a/nuttx-configs/px4fmu-v1/ostest/Make.defs
+++ /dev/null
@@ -1,122 +0,0 @@
-############################################################################
-# configs/stm32f4discovery/ostest/Make.defs
-#
-#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-include ${TOPDIR}/.config
-include ${TOPDIR}/tools/Config.mk
-include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
-
-LDSCRIPT = ld.script
-
-ifeq ($(WINTOOL),y)
-  # Windows-native toolchains
-  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)}"
-  MAXOPTIMIZATION = -O2
-else
-  # Linux/Cygwin-native toolchain
-  ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
-  ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
-  ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
-endif
-
-CC = $(CROSSDEV)gcc
-CXX = $(CROSSDEV)g++
-CPP = $(CROSSDEV)gcc -E
-LD = $(CROSSDEV)ld
-AR = $(ARCROSSDEV)ar rcs
-NM = $(ARCROSSDEV)nm
-OBJCOPY = $(CROSSDEV)objcopy
-OBJDUMP = $(CROSSDEV)objdump
-
-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 $(ARCHCCVERSION) | cut -d'.' -f1}
-
-ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
-  ARCHOPTIMIZATION = -g
-else
-  ARCHOPTIMIZATION = $(MAXOPTIMIZATION) -fno-strict-aliasing -fno-strength-reduce -fomit-frame-pointer
-endif
-
-ARCHCFLAGS = -fno-builtin
-ARCHCXXFLAGS = -fno-builtin -fno-exceptions -fno-rtti
-ARCHWARNINGS = -Wall -Wstrict-prototypes -Wshadow
-ARCHWARNINGSXX = -Wall -Wshadow
-ARCHDEFINES =
-ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
-
-CFLAGS = $(ARCHCFLAGS) $(ARCHWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
-CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
-CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
-CPPFLAGS = $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES)
-AFLAGS = $(CFLAGS) -D__ASSEMBLY__
-
-NXFLATLDFLAGS1 = -r -d -warn-common
-NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections
-LDNXFLATFLAGS = -e main -s 2048
-
-OBJEXT = .o
-LIBEXT = .a
-EXEEXT =
-
-ifneq ($(CROSSDEV),arm-nuttx-elf-)
-  LDFLAGS += -nostartfiles -nodefaultlibs
-endif
-ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
-  LDFLAGS += -g
-endif
-
-
-HOSTCC = gcc
-HOSTINCLUDES = -I.
-HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
-HOSTLDFLAGS =
-ifeq ($(CONFIG_HOST_WINDOWS),y)
-  HOSTEXEEXT = .exe
-else
-  HOSTEXEEXT =
-endif
-
-ifeq ($(WINTOOL),y)
-  # Windows-native host tools
-  DIRLINK = $(TOPDIR)/tools/copydir.sh
-  DIRUNLINK = $(TOPDIR)/tools/unlink.sh
-  MKDEP = $(TOPDIR)/tools/mknulldeps.sh
-else
-  # Linux/Cygwin-native host tools 
-  MKDEP = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
-endif
-
diff --git a/nuttx-configs/px4fmu-v1/ostest/defconfig b/nuttx-configs/px4fmu-v1/ostest/defconfig
deleted file mode 100644
index c7fb6b2a5..000000000
--- a/nuttx-configs/px4fmu-v1/ostest/defconfig
+++ /dev/null
@@ -1,583 +0,0 @@
-#
-# 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 is not set
-CONFIG_HOST_WINDOWS=y
-# CONFIG_HOST_OTHER is not set
-# CONFIG_WINDOWS_NATIVE is not set
-CONFIG_WINDOWS_CYGWIN=y
-# CONFIG_WINDOWS_MSYS is not set
-# CONFIG_WINDOWS_OTHER is not set
-# CONFIG_WINDOWS_MKLINK is not set
-
-#
-# Build Configuration
-#
-# CONFIG_APPS_DIR="../apps"
-# CONFIG_BUILD_2PASS is not set
-
-#
-# Binary Output Formats
-#
-# CONFIG_RRLOAD_BINARY is not set
-CONFIG_INTELHEX_BINARY=y
-# CONFIG_MOTOROLA_SREC is not set
-CONFIG_RAW_BINARY=y
-
-#
-# Customize Header Files
-#
-# CONFIG_ARCH_STDBOOL_H is not set
-# CONFIG_ARCH_MATH_H is not set
-# CONFIG_ARCH_FLOAT_H is not set
-# CONFIG_ARCH_STDARG_H is not set
-
-#
-# Debug Options
-#
-# CONFIG_DEBUG is not set
-# CONFIG_DEBUG_SYMBOLS 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
-# CONFIG_ARCH_MIPS is not set
-# CONFIG_ARCH_RGMP is not set
-# CONFIG_ARCH_SH is not set
-# CONFIG_ARCH_SIM is not set
-# CONFIG_ARCH_X86 is not set
-# CONFIG_ARCH_Z16 is not set
-# CONFIG_ARCH_Z80 is not set
-CONFIG_ARCH="arm"
-
-#
-# ARM Options
-#
-# CONFIG_ARCH_CHIP_C5471 is not set
-# CONFIG_ARCH_CHIP_CALYPSO is not set
-# CONFIG_ARCH_CHIP_DM320 is not set
-# CONFIG_ARCH_CHIP_IMX is not set
-# CONFIG_ARCH_CHIP_KINETIS is not set
-# CONFIG_ARCH_CHIP_LM3S 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_SAM3U is not set
-CONFIG_ARCH_CHIP_STM32=y
-# CONFIG_ARCH_CHIP_STR71X is not set
-CONFIG_ARCH_CORTEXM4=y
-CONFIG_ARCH_FAMILY="armv7-m"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_HAVE_CMNVECTOR=y
-# CONFIG_ARMV7M_CMNVECTOR is not set
-# CONFIG_ARCH_FPU is not set
-CONFIG_ARCH_HAVE_MPU=y
-# CONFIG_ARMV7M_MPU is not set
-CONFIG_ARCH_IRQPRIO=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-# CONFIG_ARCH_CALIBRATION is not set
-# CONFIG_SERIAL_TERMIOS is not set
-
-#
-# STM32 Configuration Options
-#
-# CONFIG_ARCH_CHIP_STM32F100C8 is not set
-# CONFIG_ARCH_CHIP_STM32F100CB is not set
-# CONFIG_ARCH_CHIP_STM32F100R8 is not set
-# CONFIG_ARCH_CHIP_STM32F100RB is not set
-# CONFIG_ARCH_CHIP_STM32F100RC is not set
-# CONFIG_ARCH_CHIP_STM32F100RD is not set
-# CONFIG_ARCH_CHIP_STM32F100RE is not set
-# CONFIG_ARCH_CHIP_STM32F100V8 is not set
-# CONFIG_ARCH_CHIP_STM32F100VB is not set
-# CONFIG_ARCH_CHIP_STM32F100VC is not set
-# CONFIG_ARCH_CHIP_STM32F100VD is not set
-# CONFIG_ARCH_CHIP_STM32F100VE 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_STM32F107VC is not set
-# CONFIG_ARCH_CHIP_STM32F207IG is not set
-# CONFIG_ARCH_CHIP_STM32F405RG is not set
-# CONFIG_ARCH_CHIP_STM32F405VG is not set
-# CONFIG_ARCH_CHIP_STM32F405ZG is not set
-# CONFIG_ARCH_CHIP_STM32F407VE is not set
-CONFIG_ARCH_CHIP_STM32F407VG=y
-# CONFIG_ARCH_CHIP_STM32F407ZE is not set
-# CONFIG_ARCH_CHIP_STM32F407ZG is not set
-# CONFIG_ARCH_CHIP_STM32F407IE is not set
-# CONFIG_ARCH_CHIP_STM32F407IG is not set
-CONFIG_STM32_STM32F40XX=y
-# CONFIG_STM32_CODESOURCERYW is not set
-CONFIG_STM32_CODESOURCERYL=y
-# CONFIG_STM32_ATOLLIC_LITE is not set
-# CONFIG_STM32_ATOLLIC_PRO is not set
-# CONFIG_STM32_DEVKITARM is not set
-# CONFIG_STM32_RAISONANCE is not set
-# CONFIG_STM32_BUILDROOT is not set
-# CONFIG_STM32_DFU is not set
-
-#
-# STM32 Peripheral Support
-#
-# CONFIG_STM32_ADC1 is not set
-# CONFIG_STM32_ADC2 is not set
-# CONFIG_STM32_ADC3 is not set
-# CONFIG_STM32_BKPSRAM is not set
-# CONFIG_STM32_CAN1 is not set
-# CONFIG_STM32_CAN2 is not set
-# CONFIG_STM32_CCMDATARAM is not set
-# CONFIG_STM32_CRC is not set
-# CONFIG_STM32_CRYP is not set
-# CONFIG_STM32_DMA1 is not set
-# CONFIG_STM32_DMA2 is not set
-# CONFIG_STM32_DAC1 is not set
-# CONFIG_STM32_DAC2 is not set
-# CONFIG_STM32_DCMI is not set
-# CONFIG_STM32_ETHMAC is not set
-# CONFIG_STM32_FSMC is not set
-# CONFIG_STM32_HASH is not set
-# CONFIG_STM32_I2C1 is not set
-# CONFIG_STM32_I2C2 is not set
-# CONFIG_STM32_I2C3 is not set
-# CONFIG_STM32_IWDG is not set
-# CONFIG_STM32_OTGFS is not set
-# CONFIG_STM32_OTGHS is not set
-# CONFIG_STM32_PWR is not set
-# CONFIG_STM32_RNG is not set
-# CONFIG_STM32_SDIO is not set
-# CONFIG_STM32_SPI1 is not set
-# CONFIG_STM32_SPI2 is not set
-# CONFIG_STM32_SPI3 is not set
-CONFIG_STM32_SYSCFG=y
-# CONFIG_STM32_TIM1 is not set
-# CONFIG_STM32_TIM2 is not set
-# CONFIG_STM32_TIM3 is not set
-# CONFIG_STM32_TIM4 is not set
-# CONFIG_STM32_TIM5 is not set
-# CONFIG_STM32_TIM6 is not set
-# CONFIG_STM32_TIM7 is not set
-# CONFIG_STM32_TIM8 is not set
-# CONFIG_STM32_TIM9 is not set
-# CONFIG_STM32_TIM10 is not set
-# CONFIG_STM32_TIM11 is not set
-# CONFIG_STM32_TIM12 is not set
-# CONFIG_STM32_TIM13 is not set
-# CONFIG_STM32_TIM14 is not set
-# CONFIG_STM32_USART1 is not set
-CONFIG_STM32_USART2=y
-# CONFIG_STM32_USART3 is not set
-# CONFIG_STM32_UART4 is not set
-# CONFIG_STM32_UART5 is not set
-# CONFIG_STM32_USART6 is not set
-# CONFIG_STM32_WWDG is not set
-
-#
-# Alternate Pin Mapping
-#
-# CONFIG_STM32_JTAG_DISABLE is not set
-# CONFIG_STM32_JTAG_FULL_ENABLE is not set
-# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set
-CONFIG_STM32_JTAG_SW_ENABLE=y
-# CONFIG_STM32_FORCEPOWER is not set
-# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
-# CONFIG_STM32_CCMEXCLUDE is not set
-
-#
-# USB Host Configuration
-#
-
-#
-# Architecture Options
-#
-# CONFIG_ARCH_NOINTC is not set
-# CONFIG_ARCH_DMA is not set
-CONFIG_ARCH_STACKDUMP=y
-
-#
-# Board Settings
-#
-CONFIG_DRAM_START=0x20000000
-CONFIG_DRAM_SIZE=114688
-CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
-CONFIG_ARCH_INTERRUPTSTACK=0
-
-#
-# Boot options
-#
-# CONFIG_BOOT_RUNFROMEXTSRAM is not set
-CONFIG_BOOT_RUNFROMFLASH=y
-# CONFIG_BOOT_RUNFROMISRAM is not set
-# CONFIG_BOOT_RUNFROMSDRAM is not set
-# CONFIG_BOOT_COPYTORAM is not set
-
-#
-# Board Selection
-#
-CONFIG_ARCH_BOARD_STM32F4_DISCOVERY=y
-# CONFIG_ARCH_BOARD_CUSTOM is not set
-CONFIG_ARCH_BOARD="stm32f4discovery"
-
-#
-# Common Board Options
-#
-CONFIG_ARCH_HAVE_LEDS=y
-CONFIG_ARCH_LEDS=y
-CONFIG_ARCH_HAVE_BUTTONS=y
-# CONFIG_ARCH_BUTTONS is not set
-CONFIG_ARCH_HAVE_IRQBUTTONS=y
-
-#
-# Board-Specific Options
-#
-
-#
-# RTOS Features
-#
-CONFIG_MSEC_PER_TICK=10
-CONFIG_RR_INTERVAL=200
-# CONFIG_SCHED_INSTRUMENTATION is not set
-CONFIG_TASK_NAME_SIZE=0
-# CONFIG_JULIAN_TIME is not set
-CONFIG_START_YEAR=2009
-CONFIG_START_MONTH=9
-CONFIG_START_DAY=21
-CONFIG_DEV_CONSOLE=y
-# CONFIG_MUTEX_TYPES is not set
-# CONFIG_PRIORITY_INHERITANCE is not set
-# CONFIG_FDCLONE_DISABLE is not set
-# CONFIG_FDCLONE_STDIO is not set
-CONFIG_SDCLONE_DISABLE=y
-# CONFIG_SCHED_WORKQUEUE is not set
-# CONFIG_SCHED_WAITPID is not set
-# CONFIG_SCHED_ATEXIT is not set
-# CONFIG_SCHED_ONEXIT is not set
-CONFIG_USER_ENTRYPOINT="ostest_main"
-CONFIG_DISABLE_OS_API=y
-# CONFIG_DISABLE_CLOCK is not set
-# CONFIG_DISABLE_POSIX_TIMERS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_DISABLE_SIGNALS is not set
-# CONFIG_DISABLE_MQUEUE is not set
-CONFIG_DISABLE_MOUNTPOINT=y
-CONFIG_DISABLE_ENVIRON=y
-CONFIG_DISABLE_POLL=y
-
-#
-# Sizes of configurable things (0 disables)
-#
-CONFIG_MAX_TASKS=16
-CONFIG_MAX_TASK_ARGS=4
-CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=8
-CONFIG_NFILE_STREAMS=8
-CONFIG_NAME_MAX=32
-CONFIG_PREALLOC_MQ_MSGS=4
-CONFIG_MQ_MAXMSGSIZE=32
-CONFIG_MAX_WDOGPARMS=2
-CONFIG_PREALLOC_WDOGS=4
-CONFIG_PREALLOC_TIMERS=4
-
-#
-# Stack and heap information
-#
-# CONFIG_CUSTOM_STACK is not set
-CONFIG_IDLETHREAD_STACKSIZE=1024
-CONFIG_USERMAIN_STACKSIZE=2048
-CONFIG_PTHREAD_STACK_MIN=256
-CONFIG_PTHREAD_STACK_DEFAULT=2048
-
-#
-# Device Drivers
-#
-CONFIG_DEV_NULL=y
-# CONFIG_DEV_ZERO is not set
-# CONFIG_LOOP is not set
-# CONFIG_RAMDISK is not set
-# CONFIG_CAN is not set
-# CONFIG_PWM is not set
-# CONFIG_I2C is not set
-CONFIG_ARCH_HAVE_I2CRESET=y
-# CONFIG_SPI is not set
-# CONFIG_RTC is not set
-# CONFIG_WATCHDOG is not set
-# CONFIG_ANALOG is not set
-# CONFIG_BCH is not set
-# CONFIG_INPUT is not set
-# CONFIG_LCD is not set
-# CONFIG_MMCSD is not set
-# CONFIG_MTD is not set
-# CONFIG_PIPES is not set
-# 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=y
-# CONFIG_16550_UART is not set
-CONFIG_ARCH_HAVE_USART2=y
-CONFIG_MCU_SERIAL=y
-CONFIG_STANDARD_SERIAL=y
-CONFIG_USART2_SERIAL_CONSOLE=y
-# CONFIG_NO_SERIAL_CONSOLE is not set
-
-#
-# USART2 Configuration
-#
-CONFIG_USART2_RXBUFSIZE=128
-CONFIG_USART2_TXBUFSIZE=128
-CONFIG_USART2_BAUD=115200
-CONFIG_USART2_BITS=8
-CONFIG_USART2_PARITY=0
-CONFIG_USART2_2STOP=0
-# CONFIG_USBDEV is not set
-# CONFIG_USBHOST is not set
-# CONFIG_WIRELESS is not set
-
-#
-# System Logging Device Options
-#
-
-#
-# System Logging
-#
-# CONFIG_RAMLOG is not set
-
-#
-# Networking Support
-#
-# CONFIG_NET is not set
-
-#
-# File Systems
-#
-
-#
-# File system configuration
-#
-# CONFIG_FS_RAMMAP is not set
-
-#
-# System Logging
-#
-# CONFIG_SYSLOG is not set
-
-#
-# Graphics Support
-#
-# CONFIG_NX is not set
-
-#
-# Memory Management
-#
-# CONFIG_MM_SMALL is not set
-CONFIG_MM_REGIONS=2
-# CONFIG_GRAN is not set
-
-#
-# Binary Formats
-#
-# CONFIG_BINFMT_DISABLE is not set
-# CONFIG_NXFLAT is not set
-# CONFIG_ELF is not set
-CONFIG_SYMTAB_ORDEREDBYNAME=y
-
-#
-# Library Routines
-#
-CONFIG_STDIO_BUFFER_SIZE=64
-CONFIG_STDIO_LINEBUFFER=y
-CONFIG_NUNGET_CHARS=2
-# CONFIG_LIBM is not set
-# CONFIG_NOPRINTF_FIELDWIDTH is not set
-# CONFIG_LIBC_FLOATINGPOINT is not set
-# CONFIG_EOL_IS_CR is not set
-# CONFIG_EOL_IS_LF is not set
-# CONFIG_EOL_IS_BOTH_CRLF is not set
-CONFIG_EOL_IS_EITHER_CRLF=y
-# CONFIG_LIBC_STRERROR is not set
-# CONFIG_LIBC_PERROR_STDOUT is not set
-CONFIG_ARCH_LOWPUTC=y
-CONFIG_LIB_SENDFILE_BUFSIZE=512
-# CONFIG_ARCH_ROMGETC is not set
-# CONFIG_ARCH_OPTIMIZED_FUNCTIONS is not set
-
-#
-# Basic CXX Support
-#
-# CONFIG_HAVE_CXX is not set
-
-#
-# Application Configuration
-#
-
-#
-# Named Applications
-#
-# CONFIG_BUILTIN is not set
-
-#
-# Examples
-#
-# CONFIG_EXAMPLES_BUTTONS is not set
-# CONFIG_EXAMPLES_CAN is not set
-# CONFIG_EXAMPLES_CDCACM is not set
-# CONFIG_EXAMPLES_COMPOSITE is not set
-# CONFIG_EXAMPLES_DHCPD is not set
-# CONFIG_EXAMPLES_ELF is not set
-# CONFIG_EXAMPLES_FTPC is not set
-# CONFIG_EXAMPLES_FTPD is not set
-# CONFIG_EXAMPLES_HELLO is not set
-# CONFIG_EXAMPLES_HELLOXX is not set
-# CONFIG_EXAMPLES_JSON is not set
-# CONFIG_EXAMPLES_HIDKBD is not set
-# CONFIG_EXAMPLES_IGMP is not set
-# CONFIG_EXAMPLES_LCDRW is not set
-# CONFIG_EXAMPLES_MM is not set
-# CONFIG_EXAMPLES_MOUNT is not set
-# CONFIG_EXAMPLES_MODBUS is not set
-# CONFIG_EXAMPLES_NETTEST is not set
-# CONFIG_EXAMPLES_NSH is not set
-# CONFIG_EXAMPLES_NULL is not set
-# CONFIG_EXAMPLES_NX is not set
-# CONFIG_EXAMPLES_NXCONSOLE is not set
-# CONFIG_EXAMPLES_NXFFS is not set
-# CONFIG_EXAMPLES_NXFLAT is not set
-# CONFIG_EXAMPLES_NXHELLO is not set
-# CONFIG_EXAMPLES_NXIMAGE is not set
-# CONFIG_EXAMPLES_NXLINES is not set
-# CONFIG_EXAMPLES_NXTEXT is not set
-CONFIG_EXAMPLES_OSTEST=y
-# CONFIG_EXAMPLES_OSTEST_BUILTIN is not set
-CONFIG_EXAMPLES_OSTEST_LOOPS=1
-CONFIG_EXAMPLES_OSTEST_STACKSIZE=2048
-CONFIG_EXAMPLES_OSTEST_NBARRIER_THREADS=3
-CONFIG_EXAMPLES_OSTEST_RR_RANGE=10000
-CONFIG_EXAMPLES_OSTEST_RR_RUNS=10
-# CONFIG_EXAMPLES_PASHELLO is not set
-# CONFIG_EXAMPLES_PIPE is not set
-# CONFIG_EXAMPLES_POLL 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_SERLOOP is not set
-# CONFIG_EXAMPLES_TELNETD is not set
-# CONFIG_EXAMPLES_THTTPD is not set
-# 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_USBSERIAL is not set
-# CONFIG_EXAMPLES_USBMSC is not set
-# CONFIG_EXAMPLES_USBTERM is not set
-# CONFIG_EXAMPLES_WATCHDOG is not set
-# CONFIG_EXAMPLES_WLAN is not set
-
-#
-# Interpreters
-#
-
-#
-# Interpreters
-#
-# CONFIG_INTERPRETERS_FICL is not set
-# CONFIG_INTERPRETERS_PCODE is not set
-
-#
-# Network Utilities
-#
-
-#
-# 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_WEBCLIENT is not set
-
-#
-# ModBus
-#
-
-#
-# FreeModbus
-#
-# CONFIG_MODBUS is not set
-
-#
-# NSH Library
-#
-# CONFIG_NSH_LIBRARY is not set
-
-#
-# NxWidgets/NxWM
-#
-
-#
-# System NSH Add-Ons
-#
-
-#
-# Custom Free Memory Command
-#
-# CONFIG_SYSTEM_FREE is not set
-
-#
-# I2C tool
-#
-
-#
-# FLASH Program Installation
-#
-# CONFIG_SYSTEM_INSTALL is not set
-
-#
-# readline()
-#
-# CONFIG_SYSTEM_READLINE is not set
-
-#
-# Power Off
-#
-# CONFIG_SYSTEM_POWEROFF is not set
-
-#
-# RAMTRON
-#
-# CONFIG_SYSTEM_RAMTRON is not set
-
-#
-# SD Card
-#
-# CONFIG_SYSTEM_SDCARD is not set
-
-#
-# Sysinfo
-#
-# CONFIG_SYSTEM_SYSINFO is not set
diff --git a/nuttx-configs/px4fmu-v1/ostest/setenv.sh b/nuttx-configs/px4fmu-v1/ostest/setenv.sh
deleted file mode 100755
index a67fdc5a8..000000000
--- a/nuttx-configs/px4fmu-v1/ostest/setenv.sh
+++ /dev/null
@@ -1,75 +0,0 @@
-#!/bin/bash
-# configs/stm32f4discovery/ostest/setenv.sh
-#
-#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-
-if [ "$_" = "$0" ] ; then
-  echo "You must source this script, not run it!" 1>&2
-  exit 1
-fi
-
-WD=`pwd`
-if [ ! -x "setenv.sh" ]; then
-  echo "This script must be executed from the top-level NuttX build directory"
-  exit 1
-fi
-
-if [ -z "${PATH_ORIG}" ]; then
-  export PATH_ORIG="${PATH}"
-fi
-
-# This is the Cygwin path to the location where I installed the RIDE
-# toolchain under windows.  You will also have to edit this if you install
-# the RIDE toolchain in any other location
-#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
-
-# This is the Cygwin path to the location where I installed the CodeSourcery
-# toolchain under windows.  You will also have to edit this if you install
-# the CodeSourcery toolchain in any other location
-export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
-
-# These are the Cygwin paths to the locations where I installed the Atollic
-# toolchain under windows.  You will also have to edit this if you install
-# the Atollic toolchain in any other location.  /usr/bin is added before
-# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
-# at those locations as well.
-#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
-#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
-
-# This is the Cygwin path to the location where I build the buildroot
-# toolchain.
-#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
-
-# Add the path to the toolchain to the PATH varialble
-export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
-
-echo "PATH : ${PATH}"
diff --git a/nuttx-configs/px4fmu-v1/scripts/gnu-elf.ld b/nuttx-configs/px4fmu-v1/scripts/gnu-elf.ld
deleted file mode 100644
index 1f29f02f5..000000000
--- a/nuttx-configs/px4fmu-v1/scripts/gnu-elf.ld
+++ /dev/null
@@ -1,129 +0,0 @@
-/****************************************************************************
- * configs/stm32f4discovery/scripts/gnu-elf.ld
- *
- *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-SECTIONS
-{
-  .text 0x00000000 :
-    {
-      _stext = . ;
-      *(.text)
-      *(.text.*)
-      *(.gnu.warning)
-      *(.stub)
-      *(.glue_7)
-      *(.glue_7t)
-      *(.jcr)
-
-      /* C++ support:  The .init and .fini sections contain specific logic
-       * to manage static constructors and destructors.
-       */
-
-      *(.gnu.linkonce.t.*)
-      *(.init)             /* Old ABI */
-      *(.fini)             /* Old ABI */
-      _etext = . ;
-    }
-
-  .rodata :
-    {
-      _srodata = . ;
-      *(.rodata)
-      *(.rodata1)
-      *(.rodata.*)
-      *(.gnu.linkonce.r*)
-      _erodata = . ;
-    }
-
-  .data :
-    {
-      _sdata = . ;
-      *(.data)
-      *(.data1)
-      *(.data.*)
-      *(.gnu.linkonce.d*)
-      _edata = . ;
-    }
-
-  /* C++ support. For each global and static local C++ object,
-   * GCC creates a small subroutine to construct the object. Pointers
-   * to these routines (not the routines themselves) are stored as
-   * simple, linear arrays in the .ctors section of the object file.
-   * Similarly, pointers to global/static destructor routines are
-   * stored in .dtors.
-   */
-
-  .ctors :
-    {
-      _sctors = . ;
-      *(.ctors)       /* Old ABI:  Unallocated */
-      *(.init_array)  /* New ABI:  Allocated */
-      _edtors = . ;
-    }
-
-  .dtors :
-    {
-      _sdtors = . ;
-      *(.dtors)       /* Old ABI:  Unallocated */
-      *(.fini_array)  /* New ABI:  Allocated */
-      _edtors = . ;
-    }
-
-  .bss :
-    {
-      _sbss = . ;
-      *(.bss)
-      *(.bss.*)
-      *(.sbss)
-      *(.sbss.*)
-      *(.gnu.linkonce.b*)
-      *(COMMON)
-      _ebss = . ;
-    }
-
-    /* Stabs debugging sections.    */
-
-    .stab 0 : { *(.stab) }
-    .stabstr 0 : { *(.stabstr) }
-    .stab.excl 0 : { *(.stab.excl) }
-    .stab.exclstr 0 : { *(.stab.exclstr) }
-    .stab.index 0 : { *(.stab.index) }
-    .stab.indexstr 0 : { *(.stab.indexstr) }
-    .comment 0 : { *(.comment) }
-    .debug_abbrev 0 : { *(.debug_abbrev) }
-    .debug_info 0 : { *(.debug_info) }
-    .debug_line 0 : { *(.debug_line) }
-    .debug_pubnames 0 : { *(.debug_pubnames) }
-    .debug_aranges 0 : { *(.debug_aranges) }
-}
diff --git a/nuttx-configs/px4fmu-v1/scripts/ld.script b/nuttx-configs/px4fmu-v1/scripts/ld.script
index f6560743b..ced5b21b7 100644
--- a/nuttx-configs/px4fmu-v1/scripts/ld.script
+++ b/nuttx-configs/px4fmu-v1/scripts/ld.script
@@ -1,7 +1,7 @@
 /****************************************************************************
- * configs/stm32f4discovery/scripts/ld.script
+ * configs/px4fmu-v1/scripts/ld.script
  *
- *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -42,41 +42,67 @@
  *
  * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
  * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address
- * range.
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x4000 of flash is reserved for the bootloader.
  */
 
 MEMORY
 {
-    flash (rx) : ORIGIN = 0x08004000, LENGTH = 1008K
-    sram (rwx) : ORIGIN = 0x20000000, LENGTH = 112K
+    flash (rx)   : ORIGIN = 0x08004000, LENGTH = 1008K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 128K
+    ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
 }
 
 OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
+
+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).
+ */
+EXTERN(abort)
+
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
-		*(.text .text.*)
+		*(.text .text.*)        
 		*(.fixup)
 		*(.gnu.warning)
-		*(.rodata .rodata.*)
+		*(.rodata .rodata.*)        
 		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
 		*(.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.
+		 */
+		__errno = get_errno_ptr;
 	} > flash
 
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		*(.init_array .init_array.*)
-		_einit = ABSOLUTE(.);
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	/*
+	 * Construction data for parameters.
+	 */
+	__param ALIGN(4): {
+		__param_start = ABSOLUTE(.);
+		KEEP(*(__param*))
+		__param_end = ABSOLUTE(.);
 	} > flash
 
 	.ARM.extab : {
diff --git a/nuttx-configs/px4fmu-v1/tools/px_mkfw.py b/nuttx-configs/px4fmu-v1/tools/px_mkfw.py
deleted file mode 100755
index 9f4ddad62..000000000
--- a/nuttx-configs/px4fmu-v1/tools/px_mkfw.py
+++ /dev/null
@@ -1,110 +0,0 @@
-#!/usr/bin/env python
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# PX4 firmware image generator
-#
-# The PX4 firmware file is a JSON-encoded Python object, containing
-# metadata fields and a zlib-compressed base64-encoded firmware image.
-#
-
-import sys
-import argparse
-import json
-import base64
-import zlib
-import time
-import subprocess
-
-#
-# Construct a basic firmware description
-#
-def mkdesc():
-	proto = {}
-	proto['magic']		= "PX4FWv1"
-	proto['board_id']	= 0
-	proto['board_revision']	= 0
-	proto['version']	= ""
-	proto['summary']	= ""
-	proto['description']	= ""
-	proto['git_identity']	= ""
-	proto['build_time']	= 0
-	proto['image']		= base64.b64encode(bytearray())
-	proto['image_size']	= 0
-	return proto
-
-# Parse commandline
-parser = argparse.ArgumentParser(description="Firmware generator for the PX autopilot system.")
-parser.add_argument("--prototype",	action="store", help="read a prototype description from a file")
-parser.add_argument("--board_id",	action="store", help="set the board ID required")
-parser.add_argument("--board_revision",	action="store", help="set the board revision required")
-parser.add_argument("--version",	action="store", help="set a version string")
-parser.add_argument("--summary",	action="store", help="set a brief description")
-parser.add_argument("--description",	action="store", help="set a longer description")
-parser.add_argument("--git_identity",	action="store", help="the working directory to check for git identity")
-parser.add_argument("--image",		action="store", help="the firmware image")
-args = parser.parse_args()
-
-# Fetch the firmware descriptor prototype if specified
-if args.prototype != None:
-	f = open(args.prototype,"r")
-	desc = json.load(f)
-	f.close()
-else:
-	desc = mkdesc()
-
-desc['build_time'] 		= int(time.time())
-
-if args.board_id != None:
-	desc['board_id']	= int(args.board_id)
-if args.board_revision != None:
-	desc['board_revision']	= int(args.board_revision)
-if args.version != None:
-	desc['version']		= str(args.version)
-if args.summary != None:
-	desc['summary']		= str(args.summary)
-if args.description != None:
-	desc['description']	= str(args.description)
-if args.git_identity != None:
-	cmd = " ".join(["git", "--git-dir", args.git_identity + "/.git", "describe", "--always", "--dirty"])
-	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
-	desc['git_identity']	= p.read().strip()
-	p.close()
-if args.image != None:
-	f = open(args.image, "rb")
-	bytes = f.read()
-	desc['image_size'] = len(bytes)
-	desc['image'] = base64.b64encode(zlib.compress(bytes,9))
-
-print json.dumps(desc, indent=4)
diff --git a/nuttx-configs/px4fmu-v1/tools/px_uploader.py b/nuttx-configs/px4fmu-v1/tools/px_uploader.py
deleted file mode 100755
index 3b23f4f83..000000000
--- a/nuttx-configs/px4fmu-v1/tools/px_uploader.py
+++ /dev/null
@@ -1,416 +0,0 @@
-#!/usr/bin/env python
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Serial firmware uploader for the PX4FMU bootloader
-#
-# The PX4 firmware file is a JSON-encoded Python object, containing
-# metadata fields and a zlib-compressed base64-encoded firmware image.
-#
-# The uploader uses the following fields from the firmware file:
-#
-# image
-#	The firmware that will be uploaded.
-# image_size
-#	The size of the firmware in bytes.
-# board_id
-#	The board for which the firmware is intended.
-# board_revision
-#	Currently only used for informational purposes.
-#
-
-import sys
-import argparse
-import binascii
-import serial
-import os
-import struct
-import json
-import zlib
-import base64
-import time
-import array
-
-from sys import platform as _platform
-
-class firmware(object):
-	'''Loads a firmware file'''
-
-	desc = {}
-	image = bytes()
-	crctab = array.array('I', [
-		0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
-		0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
-		0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
-		0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
-		0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
-		0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
-		0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
-		0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
-		0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
-		0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
-		0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
-		0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
-		0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
-		0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
-		0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
-		0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
-		0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
-		0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
-		0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
-		0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
-		0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
-		0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
-		0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
-		0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
-		0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
-		0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
-		0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
-		0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
-		0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
-		0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
-		0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
-		0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d ])
-	crcpad = bytearray('\xff\xff\xff\xff')
-
-	def __init__(self, path):
-
-		# read the file
-		f = open(path, "r")
-		self.desc = json.load(f)
-		f.close()
-
-		self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
-
-		# pad image to 4-byte length
-		while ((len(self.image) % 4) != 0):
-			self.image.append('\xff')
-
-	def property(self, propname):
-		return self.desc[propname]
-
-	def __crc32(self, bytes, state):
-		for byte in bytes:
-			index = (state ^ byte) & 0xff
-			state = self.crctab[index] ^ (state >> 8)
-		return state
-
-	def crc(self, padlen):
-		state = self.__crc32(self.image, int(0))
-		for i in range(len(self.image), (padlen - 1), 4):
-			state = self.__crc32(self.crcpad, state)
-		return state
-
-class uploader(object):
-	'''Uploads a firmware file to the PX FMU bootloader'''
-
-	# protocol bytes
-	INSYNC		= chr(0x12)
-	EOC		= chr(0x20)
-
-	# reply bytes
-	OK		= chr(0x10)
-	FAILED		= chr(0x11)
-	INVALID		= chr(0x13)	# rev3+
-
-	# command bytes
-	NOP		= chr(0x00)	# guaranteed to be discarded by the bootloader
-	GET_SYNC	= chr(0x21)
-	GET_DEVICE	= chr(0x22)
-	CHIP_ERASE	= chr(0x23)
-	CHIP_VERIFY	= chr(0x24)	# rev2 only
-	PROG_MULTI	= chr(0x27)
-	READ_MULTI	= chr(0x28)	# rev2 only
-	GET_CRC		= chr(0x29)	# rev3+
-	REBOOT		= chr(0x30)
-	
-	INFO_BL_REV	= chr(1)	# bootloader protocol revision
-	BL_REV_MIN	= 2		# minimum supported bootloader protocol 
-	BL_REV_MAX	= 3		# maximum supported bootloader protocol 
-	INFO_BOARD_ID	= chr(2)	# board type
-	INFO_BOARD_REV	= chr(3)	# board revision
-	INFO_FLASH_SIZE	= chr(4)	# max firmware size in bytes
-
-	PROG_MULTI_MAX	= 60		# protocol max is 255, must be multiple of 4
-	READ_MULTI_MAX	= 60		# protocol max is 255, something overflows with >= 64
-
-	def __init__(self, portname, baudrate):
-		# open the port, keep the default timeout short so we can poll quickly
-		self.port = serial.Serial(portname, baudrate, timeout=0.25)
-
-	def close(self):
-		if self.port is not None:
-			self.port.close()
-
-	def __send(self, c):
-#		print("send " + binascii.hexlify(c))
-		self.port.write(str(c))
-
-	def __recv(self, count = 1):
-		c = self.port.read(count)
-		if len(c) < 1:
-			raise RuntimeError("timeout waiting for data")
-#		print("recv " + binascii.hexlify(c))
-		return c
-
-	def __recv_int(self):
-		raw = self.__recv(4)
-		val = struct.unpack("<I", raw)
-		return val[0]
-
-	def __getSync(self):
-		self.port.flush()
-		c = self.__recv()
-		if c is not self.INSYNC:
-			raise RuntimeError("unexpected 0x%x instead of INSYNC" % ord(c))
-		c = self.__recv()
-		if c == self.INVALID:
-			raise RuntimeError("bootloader reports INVALID OPERATION")
-		if c == self.FAILED:
-			raise RuntimeError("bootloader reports OPERATION FAILED")
-		if c != self.OK:
-			raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
-
-	# attempt to get back into sync with the bootloader
-	def __sync(self):
-		# send a stream of ignored bytes longer than the longest possible conversation
-		# that we might still have in progress
-#		self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
-		self.port.flushInput()
-		self.__send(uploader.GET_SYNC 
-				+ uploader.EOC)
-		self.__getSync()
-		
-#	def __trySync(self):
-#		c = self.__recv()
-#		if (c != self.INSYNC):
-#			#print("unexpected 0x%x instead of INSYNC" % ord(c))
-#			return False;
-#		c = self.__recv()
-#		if (c != self.OK):
-#			#print("unexpected 0x%x instead of OK" % ord(c))
-#			return False
-#		return True
-
-	# send the GET_DEVICE command and wait for an info parameter
-	def __getInfo(self, param):
-		self.__send(uploader.GET_DEVICE + param + uploader.EOC)
-		value = self.__recv_int()
-		self.__getSync()
-		return value
-
-	# send the CHIP_ERASE command and wait for the bootloader to become ready
-	def __erase(self):
-		self.__send(uploader.CHIP_ERASE 
-				+ uploader.EOC)
-		# erase is very slow, give it 10s
-		deadline = time.time() + 10
-		while time.time() < deadline:
-			try:
-				self.__getSync()
-				return
-			except RuntimeError as ex:
-				# we timed out, that's OK
-				continue
-
-		raise RuntimeError("timed out waiting for erase")
-
-	# send a PROG_MULTI command to write a collection of bytes
-	def __program_multi(self, data):
-		self.__send(uploader.PROG_MULTI
-				+ chr(len(data)))
-		self.__send(data)
-		self.__send(uploader.EOC)
-		self.__getSync()
-		
-	# verify multiple bytes in flash
-	def __verify_multi(self, data):
-		self.__send(uploader.READ_MULTI
-				+ chr(len(data))
-				+ uploader.EOC)
-		self.port.flush()
-		programmed = self.__recv(len(data))
-		if programmed != data:
-			print("got    " + binascii.hexlify(programmed))
-			print("expect " + binascii.hexlify(data))
-			return False
-		self.__getSync()
-		return True
-		
-	# send the reboot command
-	def __reboot(self):
-		self.__send(uploader.REBOOT
-				+ uploader.EOC)
-		self.port.flush()
-
-		# v3+ can report failure if the first word flash fails
-		if self.bl_rev >= 3:
-			self.__getSync()
-
-	# split a sequence into a list of size-constrained pieces
-	def __split_len(self, seq, length):
-    		return [seq[i:i+length] for i in range(0, len(seq), length)]
-
-	# upload code
-	def __program(self, fw):
-		code = fw.image
-		groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
-		for bytes in groups:
-			self.__program_multi(bytes)
-
-	# verify code
-	def __verify_v2(self, fw):
-		self.__send(uploader.CHIP_VERIFY
-				+ uploader.EOC)
-		self.__getSync()
-		code = fw.image
-		groups = self.__split_len(code, uploader.READ_MULTI_MAX)
-		for bytes in groups:
-			if (not self.__verify_multi(bytes)):
-				raise RuntimeError("Verification failed")
-
-	def __verify_v3(self, fw):
-		expect_crc = fw.crc(self.fw_maxsize)
-		self.__send(uploader.GET_CRC
-				+ uploader.EOC)
-		report_crc = self.__recv_int()
-		self.__getSync()
-		if report_crc != expect_crc:
-			print("Expected 0x%x" % expect_crc)
-			print("Got      0x%x" % report_crc)
-			raise RuntimeError("Program CRC failed")
-
-	# get basic data about the board
-	def identify(self):
-		# make sure we are in sync before starting
-		self.__sync()
-
-		# get the bootloader protocol ID first
-		self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
-		if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
-			print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
-			raise RuntimeError("Bootloader protocol mismatch")
-
-		self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
-		self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
-		self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
-
-	# upload the firmware
-	def upload(self, fw):
-		# Make sure we are doing the right thing
-		if self.board_type != fw.property('board_id'):
-			raise RuntimeError("Firmware not suitable for this board (run 'make configure_px4fmu && make clean' or 'make configure_px4io && make clean' to reconfigure).")
-		if self.fw_maxsize < fw.property('image_size'):
-			raise RuntimeError("Firmware image is too large for this board")
-
-		print("erase...")
-		self.__erase()
-
-		print("program...")
-		self.__program(fw)
-
-		print("verify...")
-		if self.bl_rev == 2:
-			self.__verify_v2(fw)
-		else:
-			self.__verify_v3(fw)
-
-		print("done, rebooting.")
-		self.__reboot()
-		self.port.close()
-	
-
-# Parse commandline arguments
-parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
-parser.add_argument('--port', action="store", required=True, help="Serial port(s) to which the FMU may be attached")
-parser.add_argument('--baud', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200), only required for true serial ports.")
-parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
-args = parser.parse_args()
-
-# Load the firmware file
-fw = firmware(args.firmware)
-print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision')))
-
-# Spin waiting for a device to show up
-while True:
-	for port in args.port.split(","):
-
-		#print("Trying %s" % port)
-
-		# create an uploader attached to the port
-		try:
-			if "linux" in _platform:
-			# Linux, don't open Mac OS and Win ports
-				if not "COM" in port and not "tty.usb" in port:
-					up = uploader(port, args.baud)
-			elif "darwin" in _platform:
-				# OS X, don't open Windows and Linux ports
-				if not "COM" in port and not "ACM" in port:
-					up = uploader(port, args.baud)
-			elif "win" in _platform:
-				# Windows, don't open POSIX ports
-				if not "/" in port:
-					up = uploader(port, args.baud)
-		except:
-			# open failed, rate-limit our attempts
-			time.sleep(0.05)
-
-			# and loop to the next port
-			continue
-
-		# port is open, try talking to it
-		try:
-			# identify the bootloader
-			up.identify()
-			print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
-
-		except:
-			# most probably a timeout talking to the port, no bootloader
-			continue
-
-		try:
-			# ok, we have a bootloader, try flashing it
-			up.upload(fw)
-
-		except RuntimeError as ex:
-
-			# print the error
-			print("ERROR: %s" % ex.args)
-
-		finally:
-			# always close the port
-			up.close()
-
-		# we could loop here if we wanted to wait for more boards...
-		sys.exit(0)
diff --git a/nuttx-configs/px4fmu-v1/tools/upload.sh b/nuttx-configs/px4fmu-v1/tools/upload.sh
deleted file mode 100755
index 4e6597b3a..000000000
--- a/nuttx-configs/px4fmu-v1/tools/upload.sh
+++ /dev/null
@@ -1,27 +0,0 @@
-#!/bin/sh
-#
-# Wrapper to upload a PX4 firmware binary
-#
-TOOLS=`dirname $0`
-MKFW=${TOOLS}/px_mkfw.py
-UPLOAD=${TOOLS}/px_uploader.py
-
-BINARY=nuttx.bin
-PAYLOAD=nuttx.px4
-PORTS="/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4"
-
-function abort() {
-	echo "ABORT: $*"
-	exit 1
-}
-
-if [ ! -f ${MKFW} -o ! -f ${UPLOAD} ]; then
-	abort "Missing tools ${MKFW} and/or ${UPLOAD}"
-fi
-if [ ! -f ${BINARY} ]; then
-	abort "Missing nuttx binary in current directory."
-fi
-
-rm -f ${PAYLOAD}
-${MKFW} --board_id 5 --image ${BINARY} > ${PAYLOAD}
-${UPLOAD} --port ${PORTS} ${PAYLOAD}