60 files changed, 1167 insertions, 227 deletions

diff --git a/Images/px4fmuv2.prototype b/Images/px4fmu-v2.prototype
index 5109b77d1..5109b77d1 100644
--- a/Images/px4fmuv2.prototype
+++ b/Images/px4fmu-v2.prototype
diff --git a/Images/px4io-v2.prototype b/Images/px4io-v2.prototype
new file mode 100644
index 000000000..af87924e9
--- /dev/null
+++ b/Images/px4io-v2.prototype
@@ -0,0 +1,12 @@
+{
+    "board_id": 10, 
+    "magic": "PX4FWv2", 
+    "description": "Firmware for the PX4IOv2 board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4IOv2",
+    "version": "2.0",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
diff --git a/Makefile b/Makefile
index 7f98ffaf2..9905f8a63 100644
--- a/Makefile
+++ b/Makefile
@@ -100,7 +100,7 @@ all:			$(STAGED_FIRMWARES)
 #     is taken care of.
 #
 $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
-	@echo %% Copying $@
+	@$(ECHO) %% Copying $@
 	$(Q) $(COPY) $< $@
 	$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
 
@@ -111,9 +111,9 @@ $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
 $(BUILD_DIR)%.build/firmware.px4: config   = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
 $(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
 $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
-	@echo %%%%
-	@echo %%%% Building $(config) in $(work_dir)
-	@echo %%%%
+	@$(ECHO) %%%%
+	@$(ECHO) %%%% Building $(config) in $(work_dir)
+	@$(ECHO) %%%%
 	$(Q) mkdir -p $(work_dir)
 	$(Q) make -r -C $(work_dir) \
 		-f $(PX4_MK_DIR)firmware.mk \
@@ -132,8 +132,6 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
 # XXX Should support fetching/unpacking from a separate directory to permit
 #     downloads of the prebuilt archives as well...
 #
-# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4"
-#
 NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
 .PHONY:			archives
 archives:		$(NUTTX_ARCHIVES)
@@ -146,16 +144,22 @@ endif
 
 $(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
 $(ARCHIVE_DIR)%.export:	configuration = nsh
-$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)
-	@echo %% Configuring NuttX for $(board)
+$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
+	@$(ECHO) %% Configuring NuttX for $(board)
 	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
 	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && ln -sf $(PX4_BASE)/nuttx-configs/* .)
 	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
-	@echo %% Exporting NuttX for $(board)
+	@$(ECHO) %% Exporting NuttX for $(board)
 	$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export
 	$(Q) mkdir -p $(dir $@)
 	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
 
+$(NUTTX_SRC):
+	@$(ECHO) ""
+	@$(ECHO) "NuttX sources missing - clone https://github.com/PX4/NuttX.git and try again."
+	@$(ECHO) ""
+
 #
 # Cleanup targets.  'clean' should remove all built products and force
 # a complete re-compilation, 'distclean' should remove everything 
@@ -170,46 +174,47 @@ clean:
 distclean: clean
 	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
 	$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && find . -type l -depth 1 -delete)
 
 #
 # Print some help text
 #
 .PHONY: help
 help:
-	@echo ""
-	@echo " PX4 firmware builder"
-	@echo " ===================="
-	@echo ""
-	@echo "  Available targets:"
-	@echo "  ------------------"
-	@echo ""
-	@echo "  archives"
-	@echo "    Build the NuttX RTOS archives that are used by the firmware build."
-	@echo ""
-	@echo "  all"
-	@echo "    Build all firmware configs: $(CONFIGS)"
-	@echo "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
-	@echo ""
+	@$(ECHO) ""
+	@$(ECHO) " PX4 firmware builder"
+	@$(ECHO) " ===================="
+	@$(ECHO) ""
+	@$(ECHO) "  Available targets:"
+	@$(ECHO) "  ------------------"
+	@$(ECHO) ""
+	@$(ECHO) "  archives"
+	@$(ECHO) "    Build the NuttX RTOS archives that are used by the firmware build."
+	@$(ECHO) ""
+	@$(ECHO) "  all"
+	@$(ECHO) "    Build all firmware configs: $(CONFIGS)"
+	@$(ECHO) "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
+	@$(ECHO) ""
 	@for config in $(CONFIGS); do \
 		echo "  $$config"; \
 		echo "    Build just the $$config firmware configuration."; \
 		echo ""; \
 	done
-	@echo "  clean"
-	@echo "    Remove all firmware build pieces."
-	@echo ""
-	@echo "  distclean"
-	@echo "    Remove all compilation products, including NuttX RTOS archives."
-	@echo ""
-	@echo "  upload"
-	@echo "    When exactly one config is being built, add this target to upload the"
-	@echo "    firmware to the board when the build is complete. Not supported for"
-	@echo "    all configurations."
-	@echo ""
-	@echo "  Common options:"
-	@echo "  ---------------"
-	@echo ""
-	@echo "  V=1"
-	@echo "    If V is set, more verbose output is printed during the build. This can"
-	@echo "    help when diagnosing issues with the build or toolchain."
-	@echo ""
+	@$(ECHO) "  clean"
+	@$(ECHO) "    Remove all firmware build pieces."
+	@$(ECHO) ""
+	@$(ECHO) "  distclean"
+	@$(ECHO) "    Remove all compilation products, including NuttX RTOS archives."
+	@$(ECHO) ""
+	@$(ECHO) "  upload"
+	@$(ECHO) "    When exactly one config is being built, add this target to upload the"
+	@$(ECHO) "    firmware to the board when the build is complete. Not supported for"
+	@$(ECHO) "    all configurations."
+	@$(ECHO) ""
+	@$(ECHO) "  Common options:"
+	@$(ECHO) "  ---------------"
+	@$(ECHO) ""
+	@$(ECHO) "  V=1"
+	@$(ECHO) "    If V is set, more verbose output is printed during the build. This can"
+	@$(ECHO) "    help when diagnosing issues with the build or toolchain."
+	@$(ECHO) ""
diff --git a/makefiles/board_px4fmuv2.mk b/makefiles/board_px4fmu-v2.mk
index 4b3b7e585..4b3b7e585 100644
--- a/makefiles/board_px4fmuv2.mk
+++ b/makefiles/board_px4fmu-v2.mk
diff --git a/makefiles/board_px4iov2.mk b/makefiles/board_px4io-v2.mk
index ee6b6125e..ee6b6125e 100644
--- a/makefiles/board_px4iov2.mk
+++ b/makefiles/board_px4io-v2.mk
diff --git a/makefiles/config_px4fmuv2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index c4499048c..c4499048c 100644
--- a/makefiles/config_px4fmuv2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
diff --git a/makefiles/config_px4fmuv2_test.mk b/makefiles/config_px4fmu-v2_test.mk
index 0bd6c18e5..9b3013a5b 100644
--- a/makefiles/config_px4fmuv2_test.mk
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -12,19 +12,14 @@ ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_test
 #
 MODULES		+= drivers/device
 MODULES		+= drivers/stm32
-MODULES		+= drivers/px4io
 MODULES		+= drivers/boards/px4fmuv2
 MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/reboot
 
-# needed because things use it for logging
-MODULES		+= modules/mavlink
-
 #
 # Library modules
 #
 MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/uORB
 
 #
diff --git a/makefiles/config_px4iov2_default.mk b/makefiles/config_px4io-v2_default.mk
index f9f35d629..f9f35d629 100644
--- a/makefiles/config_px4iov2_default.mk
+++ b/makefiles/config_px4io-v2_default.mk
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
index 92461fafb..a0e880a0d 100644
--- a/makefiles/setup.mk
+++ b/makefiles/setup.mk
@@ -45,7 +45,6 @@ export PX4_INCLUDE_DIR	 = $(abspath $(PX4_BASE)/src/include)/
 export PX4_MODULE_SRC	 = $(abspath $(PX4_BASE)/src)/
 export PX4_MK_DIR	 = $(abspath $(PX4_BASE)/makefiles)/
 export NUTTX_SRC	 = $(abspath $(PX4_BASE)/NuttX/nuttx)/
-export NUTTX_APP_SRC	 = $(abspath $(PX4_BASE)/NuttX/apps)/
 export MAVLINK_SRC	 = $(abspath $(PX4_BASE)/mavlink)/
 export ROMFS_SRC	 = $(abspath $(PX4_BASE)/ROMFS)/
 export IMAGE_DIR	 = $(abspath $(PX4_BASE)/Images)/
diff --git a/makefiles/upload.mk b/makefiles/upload.mk
index 4b01b447d..c55e3f188 100644
--- a/makefiles/upload.mk
+++ b/makefiles/upload.mk
@@ -27,7 +27,7 @@ all:	upload-$(METHOD)-$(BOARD)
 upload-serial-px4fmu-v1:	$(BUNDLE) $(UPLOADER)
 	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
-upload-serial-px4fmuv2:	$(BUNDLE) $(UPLOADER)
+upload-serial-px4fmu-v2:	$(BUNDLE) $(UPLOADER)
 	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
 #
diff --git a/nuttx/configs/px4fmuv2/Kconfig b/nuttx-configs/px4fmu-v2/Kconfig
index a10a02ba4..069b25f9e 100644
--- a/nuttx/configs/px4fmuv2/Kconfig
+++ b/nuttx-configs/px4fmu-v2/Kconfig
@@ -3,5 +3,5 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-if ARCH_BOARD_PX4FMUV2
+if ARCH_BOARD_PX4FMU_V2
 endif
diff --git a/nuttx/configs/px4fmuv2/common/Make.defs b/nuttx-configs/px4fmu-v2/common/Make.defs
index be387dce1..be387dce1 100644
--- a/nuttx/configs/px4fmuv2/common/Make.defs
+++ b/nuttx-configs/px4fmu-v2/common/Make.defs
diff --git a/nuttx/configs/px4fmuv2/common/ld.script b/nuttx-configs/px4fmu-v2/common/ld.script
index 1be39fb87..1be39fb87 100644
--- a/nuttx/configs/px4fmuv2/common/ld.script
+++ b/nuttx-configs/px4fmu-v2/common/ld.script
diff --git a/nuttx/configs/px4fmuv2/include/board.h b/nuttx-configs/px4fmu-v2/include/board.h
index 0055d65e1..a6cdfb4d2 100755
--- a/nuttx/configs/px4fmuv2/include/board.h
+++ b/nuttx-configs/px4fmu-v2/include/board.h
@@ -46,6 +46,8 @@
 # include <stdint.h>
 #endif
 
+#include <stm32.h>
+
 /************************************************************************************
  * Definitions
  ************************************************************************************/
@@ -194,10 +196,8 @@
 
 /* High-resolution timer
  */
-#ifdef CONFIG_HRT_TIMER
-# define HRT_TIMER		8	/* use timer8 for the HRT */
-# define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
-#endif
+#define HRT_TIMER		8	/* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
 
 /* Alternate function pin selections ************************************************/
 
diff --git a/nuttx/configs/px4fmuv2/include/nsh_romfsimg.h b/nuttx-configs/px4fmu-v2/include/nsh_romfsimg.h
index 15e4e7a8d..15e4e7a8d 100644
--- a/nuttx/configs/px4fmuv2/include/nsh_romfsimg.h
+++ b/nuttx-configs/px4fmu-v2/include/nsh_romfsimg.h
diff --git a/nuttx-configs/px4fmu-v2/nsh/Make.defs b/nuttx-configs/px4fmu-v2/nsh/Make.defs
new file mode 100644
index 000000000..00257d546
--- /dev/null
+++ b/nuttx-configs/px4fmu-v2/nsh/Make.defs
@@ -0,0 +1,3 @@
+include ${TOPDIR}/.config
+
+include $(TOPDIR)/configs/px4fmu-v2/common/Make.defs
diff --git a/nuttx/configs/px4fmuv2/nsh/appconfig b/nuttx-configs/px4fmu-v2/nsh/appconfig
index 0e18aa8ef..0e18aa8ef 100644
--- a/nuttx/configs/px4fmuv2/nsh/appconfig
+++ b/nuttx-configs/px4fmu-v2/nsh/appconfig
diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig
new file mode 100644
index 000000000..efbb883a5
--- /dev/null
+++ b/nuttx-configs/px4fmu-v2/nsh/defconfig
@@ -0,0 +1,1022 @@
+#
+# 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_HOST_WINDOWS is not set
+# CONFIG_HOST_OTHER 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 is not set
+# CONFIG_MOTOROLA_SREC is not set
+CONFIG_RAW_BINARY=y
+
+#
+# Customize Header Files
+#
+# CONFIG_ARCH_STDBOOL_H is not set
+CONFIG_ARCH_MATH_H=y
+# CONFIG_ARCH_FLOAT_H is not set
+# CONFIG_ARCH_STDARG_H is not set
+
+#
+# Debug Options
+#
+# CONFIG_DEBUG is not set
+CONFIG_DEBUG_SYMBOLS=y
+
+#
+# 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_KL is not set
+# CONFIG_ARCH_CHIP_LM 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_SAM34 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_ARMV7M_USEBASEPRI=y
+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
+
+#
+# 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_SDIO_DMA=y
+# CONFIG_SDIO_DMAPRIO is not set
+# CONFIG_SDIO_WIDTH_D1_ONLY is not set
+
+#
+# STM32 Configuration Options
+#
+# CONFIG_ARCH_CHIP_STM32L151C6 is not set
+# CONFIG_ARCH_CHIP_STM32L151C8 is not set
+# CONFIG_ARCH_CHIP_STM32L151CB is not set
+# CONFIG_ARCH_CHIP_STM32L151R6 is not set
+# CONFIG_ARCH_CHIP_STM32L151R8 is not set
+# CONFIG_ARCH_CHIP_STM32L151RB is not set
+# CONFIG_ARCH_CHIP_STM32L151V6 is not set
+# CONFIG_ARCH_CHIP_STM32L151V8 is not set
+# CONFIG_ARCH_CHIP_STM32L151VB is not set
+# CONFIG_ARCH_CHIP_STM32L152C6 is not set
+# CONFIG_ARCH_CHIP_STM32L152C8 is not set
+# CONFIG_ARCH_CHIP_STM32L152CB is not set
+# CONFIG_ARCH_CHIP_STM32L152R6 is not set
+# CONFIG_ARCH_CHIP_STM32L152R8 is not set
+# CONFIG_ARCH_CHIP_STM32L152RB is not set
+# CONFIG_ARCH_CHIP_STM32L152V6 is not set
+# CONFIG_ARCH_CHIP_STM32L152V8 is not set
+# CONFIG_ARCH_CHIP_STM32L152VB is not set
+# 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_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_STM32F107VC is not set
+# CONFIG_ARCH_CHIP_STM32F207IG is not set
+# CONFIG_ARCH_CHIP_STM32F302CB is not set
+# CONFIG_ARCH_CHIP_STM32F302CC is not set
+# CONFIG_ARCH_CHIP_STM32F302RB is not set
+# CONFIG_ARCH_CHIP_STM32F302RC is not set
+# CONFIG_ARCH_CHIP_STM32F302VB is not set
+# CONFIG_ARCH_CHIP_STM32F302VC is not set
+# CONFIG_ARCH_CHIP_STM32F303CB is not set
+# CONFIG_ARCH_CHIP_STM32F303CC is not set
+# CONFIG_ARCH_CHIP_STM32F303RB is not set
+# CONFIG_ARCH_CHIP_STM32F303RC is not set
+# CONFIG_ARCH_CHIP_STM32F303VB is not set
+# CONFIG_ARCH_CHIP_STM32F303VC 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 is not set
+# 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_ARCH_CHIP_STM32F427V=y
+# CONFIG_ARCH_CHIP_STM32F427Z is not set
+# CONFIG_ARCH_CHIP_STM32F427I is not set
+# CONFIG_STM32_STM32L15XX is not set
+# CONFIG_STM32_ENERGYLITE is not set
+# CONFIG_STM32_STM32F10XX is not set
+# CONFIG_STM32_VALUELINE is not set
+# CONFIG_STM32_CONNECTIVITYLINE is not set
+# CONFIG_STM32_PERFORMANCELINE is not set
+# CONFIG_STM32_HIGHDENSITY is not set
+# CONFIG_STM32_MEDIUMDENSITY is not set
+# CONFIG_STM32_LOWDENSITY is not set
+# CONFIG_STM32_STM32F20XX is not set
+# CONFIG_STM32_STM32F30XX is not set
+CONFIG_STM32_STM32F40XX=y
+CONFIG_STM32_STM32F427=y
+# CONFIG_STM32_DFU is not set
+
+#
+# STM32 Peripheral Support
+#
+CONFIG_STM32_ADC1=y
+# CONFIG_STM32_ADC2 is not set
+# CONFIG_STM32_ADC3 is not set
+CONFIG_STM32_BKPSRAM=y
+# CONFIG_STM32_CAN1 is not set
+# CONFIG_STM32_CAN2 is not set
+CONFIG_STM32_CCMDATARAM=y
+# CONFIG_STM32_CRC is not set
+# CONFIG_STM32_CRYP is not set
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+# 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=y
+CONFIG_STM32_I2C2=y
+# CONFIG_STM32_I2C3 is not set
+CONFIG_STM32_OTGFS=y
+# CONFIG_STM32_OTGHS is not set
+CONFIG_STM32_PWR=y
+# CONFIG_STM32_RNG is not set
+CONFIG_STM32_SDIO=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI2=y
+# CONFIG_STM32_SPI3 is not set
+# CONFIG_STM32_SPI4 is not set
+# CONFIG_STM32_SPI5 is not set
+# CONFIG_STM32_SPI6 is not set
+CONFIG_STM32_SYSCFG=y
+CONFIG_STM32_TIM1=y
+# CONFIG_STM32_TIM2 is not set
+CONFIG_STM32_TIM3=y
+CONFIG_STM32_TIM4=y
+# 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=y
+CONFIG_STM32_TIM10=y
+CONFIG_STM32_TIM11=y
+# CONFIG_STM32_TIM12 is not set
+# CONFIG_STM32_TIM13 is not set
+# CONFIG_STM32_TIM14 is not set
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_UART4=y
+# CONFIG_STM32_UART5 is not set
+CONFIG_STM32_USART6=y
+CONFIG_STM32_UART7=y
+CONFIG_STM32_UART8=y
+# CONFIG_STM32_IWDG is not set
+CONFIG_STM32_WWDG=y
+CONFIG_STM32_ADC=y
+CONFIG_STM32_SPI=y
+CONFIG_STM32_I2C=y
+
+#
+# Alternate Pin Mapping
+#
+CONFIG_STM32_FLASH_PREFETCH=y
+# 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_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+# CONFIG_STM32_FORCEPOWER is not set
+# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
+# CONFIG_STM32_CCMEXCLUDE is not set
+CONFIG_STM32_DMACAPABLE=y
+# CONFIG_STM32_TIM1_PWM is not set
+# CONFIG_STM32_TIM3_PWM is not set
+# CONFIG_STM32_TIM4_PWM is not set
+# CONFIG_STM32_TIM9_PWM is not set
+# CONFIG_STM32_TIM10_PWM is not set
+# CONFIG_STM32_TIM11_PWM is not set
+# CONFIG_STM32_TIM1_ADC is not set
+# CONFIG_STM32_TIM3_ADC is not set
+# CONFIG_STM32_TIM4_ADC is not set
+CONFIG_STM32_USART=y
+
+#
+# U[S]ART Configuration
+#
+# CONFIG_USART1_RS485 is not set
+CONFIG_USART1_RXDMA=y
+# CONFIG_USART2_RS485 is not set
+CONFIG_USART2_RXDMA=y
+# CONFIG_USART3_RS485 is not set
+CONFIG_USART3_RXDMA=y
+# CONFIG_UART4_RS485 is not set
+CONFIG_UART4_RXDMA=y
+# CONFIG_UART5_RXDMA is not set
+# CONFIG_USART6_RS485 is not set
+# CONFIG_USART6_RXDMA is not set
+# CONFIG_USART7_RXDMA is not set
+CONFIG_USART8_RXDMA=y
+CONFIG_STM32_USART_SINGLEWIRE=y
+
+#
+# SPI Configuration
+#
+# CONFIG_STM32_SPI_INTERRUPTS is not set
+# CONFIG_STM32_SPI_DMA is not set
+
+#
+# I2C Configuration
+#
+# CONFIG_STM32_I2C_DYNTIMEO is not set
+CONFIG_STM32_I2CTIMEOSEC=0
+CONFIG_STM32_I2CTIMEOMS=10
+CONFIG_STM32_I2CTIMEOTICKS=500
+# CONFIG_STM32_I2C_DUTY16_9 is not set
+
+#
+# SDIO Configuration
+#
+CONFIG_SDIO_PRI=128
+
+#
+# USB Host Configuration
+#
+
+#
+# USB Device Configuration
+#
+
+#
+# External Memory Configuration
+#
+
+#
+# Architecture Options
+#
+# CONFIG_ARCH_NOINTC is not set
+# CONFIG_ARCH_VECNOTIRQ is not set
+CONFIG_ARCH_DMA=y
+CONFIG_ARCH_IRQPRIO=y
+# CONFIG_CUSTOM_STACK is not set
+# CONFIG_ADDRENV is not set
+CONFIG_ARCH_HAVE_VFORK=y
+CONFIG_ARCH_STACKDUMP=y
+# CONFIG_ENDIAN_BIG is not set
+# CONFIG_ARCH_HAVE_RAMFUNCS is not set
+CONFIG_ARCH_HAVE_RAMVECTORS=y
+# CONFIG_ARCH_RAMVECTORS is not set
+
+#
+# Board Settings
+#
+CONFIG_BOARD_LOOPSPERMSEC=16717
+# CONFIG_ARCH_CALIBRATION is not set
+CONFIG_DRAM_START=0x20000000
+CONFIG_DRAM_SIZE=262144
+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_PX4FMU_V2=y
+# CONFIG_ARCH_BOARD_CUSTOM is not set
+CONFIG_ARCH_BOARD="px4fmu-v2"
+
+#
+# Common Board Options
+#
+CONFIG_NSH_MMCSDMINOR=0
+
+#
+# Board-Specific Options
+#
+
+#
+# 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_JULIAN_TIME is not set
+CONFIG_START_YEAR=1970
+CONFIG_START_MONTH=1
+CONFIG_START_DAY=1
+# CONFIG_DEV_CONSOLE is not set
+# CONFIG_MUTEX_TYPES is not set
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_SEM_PREALLOCHOLDERS=8
+CONFIG_SEM_NNESTPRIO=8
+# CONFIG_FDCLONE_DISABLE is not set
+CONFIG_FDCLONE_STDIO=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SCHED_WAITPID=y
+# 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
+#
+CONFIG_SIG_SIGUSR1=1
+CONFIG_SIG_SIGUSR2=2
+CONFIG_SIG_SIGALARM=3
+CONFIG_SIG_SIGCONDTIMEDOUT=16
+CONFIG_SIG_SIGWORK=4
+
+#
+# Sizes of configurable things (0 disables)
+#
+CONFIG_MAX_TASKS=32
+CONFIG_MAX_TASK_ARGS=10
+CONFIG_NPTHREAD_KEYS=4
+CONFIG_NFILE_DESCRIPTORS=32
+CONFIG_NFILE_STREAMS=25
+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
+
+#
+# Stack and heap information
+#
+CONFIG_IDLETHREAD_STACKSIZE=6000
+CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_PTHREAD_STACK_DEFAULT=2048
+
+#
+# Device Drivers
+#
+# CONFIG_DISABLE_POLL is not set
+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=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_RTC is not set
+CONFIG_WATCHDOG=y
+# CONFIG_ANALOG is not set
+# CONFIG_AUDIO_DEVICES 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=y
+
+#
+# MTD Configuration
+#
+# CONFIG_MTD_PARTITION is not set
+# CONFIG_MTD_BYTE_WRITE is not set
+
+#
+# MTD Device Drivers
+#
+# CONFIG_RAMMTD is not set
+# CONFIG_MTD_AT24XX 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_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_SERIAL=y
+# CONFIG_DEV_LOWCONSOLE is not set
+CONFIG_SERIAL_REMOVABLE=y
+# CONFIG_16550_UART is not set
+CONFIG_ARCH_HAVE_UART4=y
+CONFIG_ARCH_HAVE_UART7=y
+CONFIG_ARCH_HAVE_UART8=y
+CONFIG_ARCH_HAVE_USART1=y
+CONFIG_ARCH_HAVE_USART2=y
+CONFIG_ARCH_HAVE_USART3=y
+CONFIG_ARCH_HAVE_USART6=y
+CONFIG_MCU_SERIAL=y
+CONFIG_STANDARD_SERIAL=y
+CONFIG_SERIAL_NPOLLWAITERS=2
+# CONFIG_USART1_SERIAL_CONSOLE is not set
+# CONFIG_USART2_SERIAL_CONSOLE is not set
+# CONFIG_USART3_SERIAL_CONSOLE is not set
+# CONFIG_UART4_SERIAL_CONSOLE is not set
+# CONFIG_USART6_SERIAL_CONSOLE is not set
+# CONFIG_UART7_SERIAL_CONSOLE is not set
+# CONFIG_UART8_SERIAL_CONSOLE is not set
+CONFIG_NO_SERIAL_CONSOLE=y
+
+#
+# USART1 Configuration
+#
+CONFIG_USART1_RXBUFSIZE=16
+CONFIG_USART1_TXBUFSIZE=16
+CONFIG_USART1_BAUD=115200
+CONFIG_USART1_BITS=8
+CONFIG_USART1_PARITY=0
+CONFIG_USART1_2STOP=0
+# CONFIG_USART1_IFLOWCONTROL is not set
+# CONFIG_USART1_OFLOWCONTROL is not set
+
+#
+# USART2 Configuration
+#
+CONFIG_USART2_RXBUFSIZE=512
+CONFIG_USART2_TXBUFSIZE=512
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_BITS=8
+CONFIG_USART2_PARITY=0
+CONFIG_USART2_2STOP=0
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+
+#
+# USART3 Configuration
+#
+CONFIG_USART3_RXBUFSIZE=512
+CONFIG_USART3_TXBUFSIZE=512
+CONFIG_USART3_BAUD=115200
+CONFIG_USART3_BITS=8
+CONFIG_USART3_PARITY=0
+CONFIG_USART3_2STOP=0
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+
+#
+# UART4 Configuration
+#
+CONFIG_UART4_RXBUFSIZE=128
+CONFIG_UART4_TXBUFSIZE=128
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_BITS=8
+CONFIG_UART4_PARITY=0
+CONFIG_UART4_2STOP=0
+# CONFIG_UART4_IFLOWCONTROL is not set
+# CONFIG_UART4_OFLOWCONTROL is not set
+
+#
+# USART6 Configuration
+#
+CONFIG_USART6_RXBUFSIZE=16
+CONFIG_USART6_TXBUFSIZE=16
+CONFIG_USART6_BAUD=115200
+CONFIG_USART6_BITS=8
+CONFIG_USART6_PARITY=0
+CONFIG_USART6_2STOP=0
+# CONFIG_USART6_IFLOWCONTROL is not set
+# CONFIG_USART6_OFLOWCONTROL is not set
+
+#
+# UART7 Configuration
+#
+CONFIG_UART7_RXBUFSIZE=128
+CONFIG_UART7_TXBUFSIZE=128
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_BITS=8
+CONFIG_UART7_PARITY=0
+CONFIG_UART7_2STOP=0
+# CONFIG_UART7_IFLOWCONTROL is not set
+# CONFIG_UART7_OFLOWCONTROL is not set
+
+#
+# UART8 Configuration
+#
+CONFIG_UART8_RXBUFSIZE=128
+CONFIG_UART8_TXBUFSIZE=128
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_BITS=8
+CONFIG_UART8_PARITY=0
+CONFIG_UART8_2STOP=0
+# CONFIG_UART8_IFLOWCONTROL is not set
+# CONFIG_UART8_OFLOWCONTROL is not set
+CONFIG_SERIAL_IFLOWCONTROL=y
+CONFIG_SERIAL_OFLOWCONTROL=y
+CONFIG_USBDEV=y
+
+#
+# USB Device Controller Driver Options
+#
+# CONFIG_USBDEV_ISOCHRONOUS is not set
+# CONFIG_USBDEV_DUALSPEED is not set
+# CONFIG_USBDEV_SELFPOWERED is not set
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+# CONFIG_USBDEV_DMA is not set
+# CONFIG_USBDEV_TRACE is not set
+
+#
+# USB Device Class Driver Options
+#
+# CONFIG_USBDEV_COMPOSITE is not set
+# CONFIG_PL2303 is not set
+CONFIG_CDCACM=y
+CONFIG_CDCACM_CONSOLE=y
+CONFIG_CDCACM_EP0MAXPACKET=64
+CONFIG_CDCACM_EPINTIN=1
+CONFIG_CDCACM_EPINTIN_FSSIZE=64
+CONFIG_CDCACM_EPINTIN_HSSIZE=64
+CONFIG_CDCACM_EPBULKOUT=3
+CONFIG_CDCACM_EPBULKOUT_FSSIZE=64
+CONFIG_CDCACM_EPBULKOUT_HSSIZE=512
+CONFIG_CDCACM_EPBULKIN=2
+CONFIG_CDCACM_EPBULKIN_FSSIZE=64
+CONFIG_CDCACM_EPBULKIN_HSSIZE=512
+CONFIG_CDCACM_NWRREQS=4
+CONFIG_CDCACM_NRDREQS=4
+CONFIG_CDCACM_BULKIN_REQLEN=96
+CONFIG_CDCACM_RXBUFSIZE=256
+CONFIG_CDCACM_TXBUFSIZE=256
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_PRODUCTID=0x0010
+CONFIG_CDCACM_VENDORSTR="3D Robotics"
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v2.x"
+# CONFIG_USBMSC 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_DISABLE_MOUNTPOINT is not set
+# CONFIG_FS_RAMMAP is not set
+CONFIG_FS_FAT=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_MAXFNAME=32
+CONFIG_FS_FATTIME=y
+# CONFIG_FAT_DMAMEMORY is not set
+CONFIG_FS_NXFFS=y
+CONFIG_NXFFS_PREALLOCATED=y
+CONFIG_NXFFS_ERASEDSTATE=0xff
+CONFIG_NXFFS_PACKTHRESHOLD=32
+CONFIG_NXFFS_MAXNAMLEN=32
+CONFIG_NXFFS_TAILTHRESHOLD=2048
+CONFIG_FS_ROMFS=y
+# CONFIG_FS_SMARTFS is not set
+CONFIG_FS_BINFS=y
+
+#
+# System Logging
+#
+# CONFIG_SYSLOG_ENABLE is not set
+CONFIG_SYSLOG=y
+CONFIG_SYSLOG_CHAR=y
+CONFIG_SYSLOG_DEVPATH="/dev/ttyS0"
+
+#
+# Graphics Support
+#
+# CONFIG_NX is not set
+
+#
+# Memory Management
+#
+# CONFIG_MM_MULTIHEAP is not set
+# CONFIG_MM_SMALL is not set
+CONFIG_MM_REGIONS=2
+CONFIG_GRAN=y
+CONFIG_GRAN_SINGLE=y
+CONFIG_GRAN_INTR=y
+
+#
+# Audio Support
+#
+# CONFIG_AUDIO is not set
+
+#
+# Binary Formats
+#
+# CONFIG_BINFMT_DISABLE is not set
+# CONFIG_BINFMT_EXEPATH is not set
+# CONFIG_NXFLAT is not set
+# CONFIG_ELF is not set
+CONFIG_BUILTIN=y
+# CONFIG_PIC is not set
+# CONFIG_SYMTAB_ORDEREDBYNAME is not set
+
+#
+# Library Routines
+#
+
+#
+# Standard C Library Options
+#
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STDIO_LINEBUFFER=y
+CONFIG_NUNGET_CHARS=2
+CONFIG_LIB_HOMEDIR="/"
+# CONFIG_NOPRINTF_FIELDWIDTH is not set
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIB_RAND_ORDER=1
+# 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_EXECFUNCS is not set
+CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024
+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_ARCH_LOWPUTC=y
+CONFIG_LIB_SENDFILE_BUFSIZE=512
+# CONFIG_ARCH_ROMGETC is not set
+CONFIG_ARCH_OPTIMIZED_FUNCTIONS=y
+CONFIG_ARCH_MEMCPY=y
+# CONFIG_ARCH_MEMCMP is not set
+# CONFIG_ARCH_MEMMOVE is not set
+# CONFIG_ARCH_MEMSET is not set
+# CONFIG_MEMSET_OPTSPEED is not set
+# CONFIG_ARCH_STRCHR is not set
+# CONFIG_ARCH_STRCMP is not set
+# CONFIG_ARCH_STRCPY is not set
+# CONFIG_ARCH_STRNCPY is not set
+# CONFIG_ARCH_STRLEN is not set
+# CONFIG_ARCH_STRNLEN is not set
+# CONFIG_ARCH_BZERO is not set
+
+#
+# Non-standard Library Support
+#
+CONFIG_SCHED_WORKQUEUE=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_WORKPRIORITY=192
+CONFIG_SCHED_WORKPERIOD=5000
+CONFIG_SCHED_WORKSTACKSIZE=2048
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKPERIOD=50000
+CONFIG_SCHED_LPWORKSTACKSIZE=2048
+# CONFIG_LIB_KBDCODEC is not set
+# CONFIG_LIB_SLCDCODEC is not set
+
+#
+# Basic CXX Support
+#
+CONFIG_C99_BOOL8=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+# CONFIG_CXX_NEWLONG is not set
+
+#
+# uClibc++ Standard C++ Library
+#
+# CONFIG_UCLIBCXX is not set
+
+#
+# Application Configuration
+#
+
+#
+# Built-In Applications
+#
+CONFIG_BUILTIN_PROXY_STACKSIZE=1024
+
+#
+# Examples
+#
+# 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_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_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_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_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 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_SERLOOP is not set
+# CONFIG_EXAMPLES_SLCD is not set
+# CONFIG_EXAMPLES_SMART_TEST is not set
+# CONFIG_EXAMPLES_SMART is not set
+# CONFIG_EXAMPLES_TCPECHO 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
+
+#
+# Graphics Support
+#
+# CONFIG_TIFF is not set
+
+#
+# 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
+
+#
+# FreeModBus
+#
+# CONFIG_MODBUS is not set
+
+#
+# NSH Library
+#
+CONFIG_NSH_LIBRARY=y
+CONFIG_NSH_BUILTIN_APPS=y
+
+#
+# Disable Individual commands
+#
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DD is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
+# CONFIG_NSH_DISABLE_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOSETUP is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MB is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MKFIFO is not set
+# CONFIG_NSH_DISABLE_MKRD is not set
+# 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
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SH is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_NSH_DISABLE_WGET is not set
+# CONFIG_NSH_DISABLE_XD is not set
+
+#
+# Configure Command Options
+#
+# CONFIG_NSH_CMDOPT_DF_H is not set
+CONFIG_NSH_CODECS_BUFSIZE=128
+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
+# CONFIG_NSH_ROMFSRC is not set
+CONFIG_NSH_ROMFSMOUNTPT="/etc"
+CONFIG_NSH_INITSCRIPT="init.d/rcS"
+CONFIG_NSH_ROMFSDEVNO=0
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_ARCHROMFS=y
+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
+#
+# CONFIG_NSH_CONDEV is not set
+CONFIG_NSH_ARCHINIT=y
+
+#
+# NxWidgets/NxWM
+#
+
+#
+# System NSH Add-Ons
+#
+
+#
+# Custom Free Memory Command
+#
+# CONFIG_SYSTEM_FREE is not set
+
+#
+# I2C tool
+#
+# CONFIG_SYSTEM_I2CTOOL is not set
+
+#
+# FLASH Program Installation
+#
+# CONFIG_SYSTEM_INSTALL is not set
+
+#
+# FLASH Erase-all Command
+#
+
+#
+# readline()
+#
+CONFIG_SYSTEM_READLINE=y
+CONFIG_READLINE_ECHO=y
+
+#
+# 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=y
+
+#
+# USB Monitor
+#
diff --git a/nuttx/configs/px4fmuv2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig.prev
index 17803c4d7..42910ce0a 100755
--- a/nuttx/configs/px4fmuv2/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v2/nsh/defconfig.prev
@@ -75,8 +75,8 @@ CONFIG_ARCH_ARM=y
 CONFIG_ARCH_CORTEXM4=y
 CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32F427V=y
-CONFIG_ARCH_BOARD="px4fmuv2"
-CONFIG_ARCH_BOARD_PX4FMUV2=y
+CONFIG_ARCH_BOARD="px4fmu-v2"
+CONFIG_ARCH_BOARD_PX4FMU_V2=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_DRAM_SIZE=0x00040000
 CONFIG_DRAM_START=0x20000000
@@ -298,22 +298,6 @@ CONFIG_UART7_RXDMA=n
 CONFIG_UART8_RXDMA=n
 
 #
-# PX4FMU specific driver settings
-#
-# CONFIG_HRT_TIMER
-#   Enables the high-resolution timer.  The board definition must
-#   set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
-#   compare channels to be used.
-# CONFIG_HRT_PPM
-#   Enables R/C PPM input using the HRT.  The board definition must
-#   set HRT_PPM_CHANNEL to the timer capture/compare channel to be
-#   used, and define GPIO_PPM_IN to configure the appropriate timer
-#   GPIO.
-#
-CONFIG_HRT_TIMER=y
-CONFIG_HRT_PPM=n
-
-#
 # STM32F40xxx specific SPI device driver settings
 #
 CONFIG_SPI_EXCHANGE=y
diff --git a/nuttx/configs/px4fmuv2/nsh/setenv.sh b/nuttx-configs/px4fmu-v2/nsh/setenv.sh
index 265520997..265520997 100755
--- a/nuttx/configs/px4fmuv2/nsh/setenv.sh
+++ b/nuttx-configs/px4fmu-v2/nsh/setenv.sh
diff --git a/nuttx/configs/px4fmuv2/src/Makefile b/nuttx-configs/px4fmu-v2/src/Makefile
index d4276f7fc..d4276f7fc 100644
--- a/nuttx/configs/px4fmuv2/src/Makefile
+++ b/nuttx-configs/px4fmu-v2/src/Makefile
diff --git a/nuttx/configs/px4fmuv2/src/empty.c b/nuttx-configs/px4fmu-v2/src/empty.c
index ace900866..ace900866 100644
--- a/nuttx/configs/px4fmuv2/src/empty.c
+++ b/nuttx-configs/px4fmu-v2/src/empty.c
diff --git a/nuttx/configs/px4iov2/README.txt b/nuttx-configs/px4io-v2/README.txt
index 9b1615f42..9b1615f42 100755
--- a/nuttx/configs/px4iov2/README.txt
+++ b/nuttx-configs/px4io-v2/README.txt
diff --git a/nuttx/configs/px4iov2/common/Make.defs b/nuttx-configs/px4io-v2/common/Make.defs
index 7f782b5b2..7f782b5b2 100644
--- a/nuttx/configs/px4iov2/common/Make.defs
+++ b/nuttx-configs/px4io-v2/common/Make.defs
diff --git a/nuttx/configs/px4iov2/common/ld.script b/nuttx-configs/px4io-v2/common/ld.script
index 69c2f9cb2..69c2f9cb2 100755
--- a/nuttx/configs/px4iov2/common/ld.script
+++ b/nuttx-configs/px4io-v2/common/ld.script
diff --git a/nuttx/configs/px4iov2/common/setenv.sh b/nuttx-configs/px4io-v2/common/setenv.sh
index ff9a4bf8a..ff9a4bf8a 100755
--- a/nuttx/configs/px4iov2/common/setenv.sh
+++ b/nuttx-configs/px4io-v2/common/setenv.sh
diff --git a/nuttx/configs/px4iov2/include/README.txt b/nuttx-configs/px4io-v2/include/README.txt
index 2264a80aa..2264a80aa 100755
--- a/nuttx/configs/px4iov2/include/README.txt
+++ b/nuttx-configs/px4io-v2/include/README.txt
diff --git a/nuttx/configs/px4iov2/include/board.h b/nuttx-configs/px4io-v2/include/board.h
index 21aacda87..b93ad4220 100755
--- a/nuttx/configs/px4iov2/include/board.h
+++ b/nuttx-configs/px4io-v2/include/board.h
@@ -45,11 +45,8 @@
 #include <nuttx/config.h>
 #ifndef __ASSEMBLY__
 # include <stdint.h>
-# include <stdbool.h>
 #endif
-#include <stm32_rcc.h>
-#include <stm32_sdio.h>
-#include <stm32_internal.h>
+#include <stm32.h>
 
 /************************************************************************************
  * Definitions
@@ -118,10 +115,8 @@
 /* 
  * High-resolution timer
  */
-#ifdef CONFIG_HRT_TIMER
-# define HRT_TIMER		1	/* use timer1 for the HRT */
-# define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
-#endif
+#define HRT_TIMER		1	/* use timer1 for the HRT */
+#define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
 
 /*
  * PPM
@@ -130,10 +125,8 @@
  *
  * Pin is PA8, timer 1, channel 1
  */
-#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM)
-# define HRT_PPM_CHANNEL	1	/* use capture/compare channel 1 */
-# define GPIO_PPM_IN		GPIO_TIM1_CH1IN
-#endif
+#define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 */
+#define GPIO_PPM_IN		GPIO_TIM1_CH1IN
 
 /* LED definitions ******************************************************************/
 /* PX4 has two LEDs that we will encode as: */
diff --git a/nuttx-configs/px4io-v2/nsh/Make.defs b/nuttx-configs/px4io-v2/nsh/Make.defs
new file mode 100644
index 000000000..bdfc4e3e2
--- /dev/null
+++ b/nuttx-configs/px4io-v2/nsh/Make.defs
@@ -0,0 +1,3 @@
+include ${TOPDIR}/.config
+
+include $(TOPDIR)/configs/px4io-v2/common/Make.defs
diff --git a/nuttx/configs/px4iov2/io/appconfig b/nuttx-configs/px4io-v2/nsh/appconfig
index 48a41bcdb..48a41bcdb 100644
--- a/nuttx/configs/px4iov2/io/appconfig
+++ b/nuttx-configs/px4io-v2/nsh/appconfig
diff --git a/nuttx/configs/px4iov2/io/defconfig b/nuttx-configs/px4io-v2/nsh/defconfig
index 1eaf4f2d1..846ea8fb9 100755
--- a/nuttx/configs/px4iov2/io/defconfig
+++ b/nuttx-configs/px4io-v2/nsh/defconfig
@@ -74,8 +74,8 @@ CONFIG_ARCH_ARM=y
 CONFIG_ARCH_CORTEXM3=y
 CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32F100C8=y
-CONFIG_ARCH_BOARD="px4iov2"
-CONFIG_ARCH_BOARD_PX4IOV2=y
+CONFIG_ARCH_BOARD="px4io-v2"
+CONFIG_ARCH_BOARD_PX4IO_V2=y
 CONFIG_BOARD_LOOPSPERMSEC=2000
 CONFIG_DRAM_SIZE=0x00002000
 CONFIG_DRAM_START=0x20000000
@@ -196,28 +196,6 @@ CONFIG_USART2_RXDMA=n
 CONFIG_USART3_RXDMA=y
 
 #
-# PX4IO specific driver settings
-#
-# CONFIG_HRT_TIMER
-#   Enables the high-resolution timer.  The board definition must
-#   set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
-#   compare channels to be used.
-# CONFIG_HRT_PPM
-#   Enables R/C PPM input using the HRT.  The board definition must
-#   set HRT_PPM_CHANNEL to the timer capture/compare channel to be
-#   used, and define GPIO_PPM_IN to configure the appropriate timer
-#   GPIO.
-# CONFIG_PWM_SERVO
-#   Enables the PWM servo driver.  The driver configuration must be
-#   supplied by the board support at initialisation time.
-#   Note that USART2 must be disabled on the PX4 board for this to
-#   be available.
-#
-#
-CONFIG_HRT_TIMER=y
-CONFIG_HRT_PPM=y
-
-#
 # General build options
 #
 # CONFIG_RRLOAD_BINARY - make the rrload binary format used with
diff --git a/nuttx/configs/px4iov2/io/setenv.sh b/nuttx-configs/px4io-v2/nsh/setenv.sh
index ff9a4bf8a..ff9a4bf8a 100755
--- a/nuttx/configs/px4iov2/io/setenv.sh
+++ b/nuttx-configs/px4io-v2/nsh/setenv.sh
diff --git a/nuttx/configs/px4iov2/src/Makefile b/nuttx-configs/px4io-v2/src/Makefile
index bb9539d16..bb9539d16 100644
--- a/nuttx/configs/px4iov2/src/Makefile
+++ b/nuttx-configs/px4io-v2/src/Makefile
diff --git a/nuttx/configs/px4iov2/src/README.txt b/nuttx-configs/px4io-v2/src/README.txt
index d4eda82fd..d4eda82fd 100644
--- a/nuttx/configs/px4iov2/src/README.txt
+++ b/nuttx-configs/px4io-v2/src/README.txt
diff --git a/nuttx/configs/px4iov2/src/empty.c b/nuttx-configs/px4io-v2/src/empty.c
index ace900866..ace900866 100644
--- a/nuttx/configs/px4iov2/src/empty.c
+++ b/nuttx-configs/px4io-v2/src/empty.c
diff --git a/nuttx/configs/px4iov2/nsh/Make.defs b/nuttx-configs/px4io-v2/test/Make.defs
index 87508e22e..87508e22e 100644
--- a/nuttx/configs/px4iov2/nsh/Make.defs
+++ b/nuttx-configs/px4io-v2/test/Make.defs
diff --git a/nuttx/configs/px4iov2/nsh/appconfig b/nuttx-configs/px4io-v2/test/appconfig
index 3cfc41b43..3cfc41b43 100644
--- a/nuttx/configs/px4iov2/nsh/appconfig
+++ b/nuttx-configs/px4io-v2/test/appconfig
diff --git a/nuttx/configs/px4iov2/nsh/defconfig b/nuttx-configs/px4io-v2/test/defconfig
index 14d7a6401..19dfefdf8 100755
--- a/nuttx/configs/px4iov2/nsh/defconfig
+++ b/nuttx-configs/px4io-v2/test/defconfig
@@ -75,7 +75,7 @@ CONFIG_ARCH_CORTEXM3=y
 CONFIG_ARCH_CHIP=stm32
 CONFIG_ARCH_CHIP_STM32F100C8=y
 CONFIG_ARCH_BOARD=px4iov2
-CONFIG_ARCH_BOARD_PX4IOV2=y
+CONFIG_ARCH_BOARD_PX4IO_V2=y
 CONFIG_BOARD_LOOPSPERMSEC=24000
 CONFIG_DRAM_SIZE=0x00002000
 CONFIG_DRAM_START=0x20000000
@@ -188,29 +188,6 @@ CONFIG_USART2_2STOP=0
 CONFIG_USART3_2STOP=0
 
 #
-# PX4IO specific driver settings
-#
-# CONFIG_HRT_TIMER
-#   Enables the high-resolution timer.  The board definition must
-#   set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
-#   compare channels to be used.
-# CONFIG_HRT_PPM
-#   Enables R/C PPM input using the HRT.  The board definition must
-#   set HRT_PPM_CHANNEL to the timer capture/compare channel to be
-#   used, and define GPIO_PPM_IN to configure the appropriate timer
-#   GPIO.
-# CONFIG_PWM_SERVO
-#   Enables the PWM servo driver.  The driver configuration must be
-#   supplied by the board support at initialisation time.
-#   Note that USART2 must be disabled on the PX4 board for this to
-#   be available.
-#
-#
-CONFIG_HRT_TIMER=y
-CONFIG_HRT_PPM=y
-CONFIG_PWM_SERVO=y
-
-#
 # General build options
 #
 # CONFIG_RRLOAD_BINARY - make the rrload binary format used with
diff --git a/nuttx/configs/px4iov2/nsh/setenv.sh b/nuttx-configs/px4io-v2/test/setenv.sh
index d83685192..d83685192 100755
--- a/nuttx/configs/px4iov2/nsh/setenv.sh
+++ b/nuttx-configs/px4io-v2/test/setenv.sh
diff --git a/nuttx/configs/px4fmuv2/nsh/Make.defs b/nuttx/configs/px4fmuv2/nsh/Make.defs
deleted file mode 100644
index 3306e4bf1..000000000
--- a/nuttx/configs/px4fmuv2/nsh/Make.defs
+++ /dev/null
@@ -1,3 +0,0 @@
-include ${TOPDIR}/.config
-
-include $(TOPDIR)/configs/px4fmuv2/common/Make.defs
diff --git a/nuttx/configs/px4iov2/io/Make.defs b/nuttx/configs/px4iov2/io/Make.defs
deleted file mode 100644
index 369772d03..000000000
--- a/nuttx/configs/px4iov2/io/Make.defs
+++ /dev/null
@@ -1,3 +0,0 @@
-include ${TOPDIR}/.config
-
-include $(TOPDIR)/configs/px4io/common/Make.defs
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_init.c b/src/drivers/boards/px4fmuv2/px4fmu_init.c
index 03ec5a255..f9d1b8022 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu_init.c
+++ b/src/drivers/boards/px4fmuv2/px4fmu_init.c
@@ -59,9 +59,9 @@
 #include <nuttx/mmcsd.h>
 #include <nuttx/analog/adc.h>
 
-#include "stm32_internal.h"
+#include <stm32.h>
 #include "px4fmu_internal.h"
-#include "stm32_uart.h"
+#include <stm32_uart.h>
 
 #include <arch/board/board.h>
 
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_internal.h b/src/drivers/boards/px4fmuv2/px4fmu_internal.h
index dd291b9b7..dce51bcda 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu_internal.h
+++ b/src/drivers/boards/px4fmuv2/px4fmu_internal.h
@@ -50,7 +50,7 @@
 __BEGIN_DECLS
 
 /* these headers are not C++ safe */
-#include <stm32_internal.h>
+#include <stm32.h>
 
  
 /****************************************************************************************************
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c
index 14e4052be..d1656005b 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c
+++ b/src/drivers/boards/px4fmuv2/px4fmu_pwm_servo.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_spi.c b/src/drivers/boards/px4fmuv2/px4fmu_spi.c
index f90f25071..5e90c227d 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmuv2/px4fmu_spi.c
@@ -50,9 +50,9 @@
 #include <nuttx/spi.h>
 #include <arch/board/board.h>
 
-#include "up_arch.h"
-#include "chip.h"
-#include "stm32_internal.h"
+#include <up_arch.h>
+#include <chip.h>
+#include <stm32.h>
 #include "px4fmu_internal.h"
 
 /************************************************************************************
diff --git a/src/drivers/boards/px4fmuv2/px4fmu_usb.c b/src/drivers/boards/px4fmuv2/px4fmu_usb.c
index b0b669fbe..3492e2c68 100644
--- a/src/drivers/boards/px4fmuv2/px4fmu_usb.c
+++ b/src/drivers/boards/px4fmuv2/px4fmu_usb.c
@@ -51,8 +51,8 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include "up_arch.h"
-#include "stm32_internal.h"
+#include <up_arch.h>
+#include <stm32.h>
 #include "px4fmu_internal.h"
 
 /************************************************************************************
diff --git a/src/drivers/boards/px4iov2/px4iov2_init.c b/src/drivers/boards/px4iov2/px4iov2_init.c
index 5d7b22560..e95298bf5 100644
--- a/src/drivers/boards/px4iov2/px4iov2_init.c
+++ b/src/drivers/boards/px4iov2/px4iov2_init.c
@@ -54,7 +54,7 @@
 
 #include <nuttx/arch.h>
 
-#include "stm32_internal.h"
+#include <stm32.h>
 #include "px4iov2_internal.h"
 
 #include <arch/board/board.h>
diff --git a/src/drivers/boards/px4iov2/px4iov2_internal.h b/src/drivers/boards/px4iov2/px4iov2_internal.h
index 81a75431c..2bf65e047 100755
--- a/src/drivers/boards/px4iov2/px4iov2_internal.h
+++ b/src/drivers/boards/px4iov2/px4iov2_internal.h
@@ -48,7 +48,7 @@
 #include <stdint.h>
 
 /* these headers are not C++ safe */
-#include <stm32_internal.h>
+#include <stm32.h>
 
  
 /******************************************************************************
diff --git a/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c b/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c
index 5e1aafa49..4f1b9487c 100644
--- a/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c
+++ b/src/drivers/boards/px4iov2/px4iov2_pwm_servo.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
index a4c59d218..faeb9cf60 100644
--- a/src/drivers/drv_gpio.h
+++ b/src/drivers/drv_gpio.h
@@ -42,7 +42,7 @@
 
 #include <sys/ioctl.h>
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMU
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 /*
  * PX4FMU GPIO numbers.
  *
@@ -67,7 +67,7 @@
 
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMUV2
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
 /*
  * PX4FMUv2 GPIO numbers.
  *
@@ -93,36 +93,14 @@
 
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_PX4IO
-/*
- * PX4IO GPIO numbers.
- *
- * XXX note that these are here for reference/future use; currently
- * there is no good way to wire these up without a common STM32 GPIO
- * driver, which isn't implemented yet.
- */
-/* outputs */
-# define GPIO_ACC1_POWER	(1<<0)		/**< accessory power 1 */
-# define GPIO_ACC2_POWER	(1<<1)		/**< accessory power 2 */
-# define GPIO_SERVO_POWER	(1<<2)		/**< servo power */
-# define GPIO_RELAY1		(1<<3)		/**< relay 1 */
-# define GPIO_RELAY2		(1<<4)		/**< relay 2 */
-# define GPIO_LED_BLUE		(1<<5)		/**< blue LED */
-# define GPIO_LED_AMBER		(1<<6)		/**< amber/red LED */
-# define GPIO_LED_SAFETY	(1<<7)		/**< safety LED */
-
-/* inputs */
-# define GPIO_ACC_OVERCURRENT	(1<<8)		/**< accessory 1/2 overcurrent detect */
-# define GPIO_SERVO_OVERCURRENT	(1<<9)		/**< servo overcurrent detect */
-# define GPIO_SAFETY_BUTTON	(1<<10)		/**< safety button pressed */
-
-/**
- * Default GPIO device - other devices may also support this protocol if
- * they also export GPIO-like things.  This is always the GPIOs on the
- * main board.
- */
-# define GPIO_DEVICE_PATH	"/dev/px4io"
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
+/* no GPIO driver on the PX4IOv1 board */
+# define GPIO_DEVICE_PATH	"/nonexistent"
+#endif
 
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
+/* no GPIO driver on the PX4IOv2 board */
+# define GPIO_DEVICE_PATH	"/nonexistent"
 #endif
 
 #ifndef GPIO_DEVICE_PATH
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index ff99de02f..7d3af4b0d 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -59,10 +59,10 @@
 #include <drivers/drv_gpio.h>
 #include <drivers/drv_hrt.h>
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 # include <drivers/boards/px4fmu/px4fmu_internal.h>
 # define FMU_HAVE_PPM
-#elif defined(CONFIG_ARCH_BOARD_PX4FMUV2)
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 # include <drivers/boards/px4fmuv2/px4fmu_internal.h>
 # undef FMU_HAVE_PPM
 #else
@@ -158,7 +158,7 @@ private:
 };
 
 const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
 	{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
 	{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
@@ -168,7 +168,7 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
 	{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
 	{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
 #endif
-#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 	{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
 	{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
 	{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0},
@@ -873,7 +873,7 @@ PX4FMU::gpio_reset(void)
 		}
 	}
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	/* if we have a GPIO direction control, set it to zero (input) */
 	stm32_gpiowrite(GPIO_GPIO_DIR, 0);
 	stm32_configgpio(GPIO_GPIO_DIR);
@@ -883,7 +883,7 @@ PX4FMU::gpio_reset(void)
 void
 PX4FMU::gpio_set_function(uint32_t gpios, int function)
 {
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	/*
 	 * GPIOs 0 and 1 must have the same direction as they are buffered
 	 * by a shared 2-port driver.  Any attempt to set either sets both.
@@ -918,7 +918,7 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
 		}
 	}
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	/* flip buffer to input mode if required */
 	if ((GPIO_SET_INPUT == function) && (gpios & 3))
 		stm32_gpiowrite(GPIO_GPIO_DIR, 0);
@@ -1024,17 +1024,17 @@ fmu_new_mode(PortMode new_mode)
 		break;
 
 	case PORT_FULL_PWM:
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 		/* select 4-pin PWM mode */
 		servo_mode = PX4FMU::MODE_4PWM;
 #endif
-#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 		servo_mode = PX4FMU::MODE_6PWM;
 #endif
 		break;
 
 	/* mixed modes supported on v1 board only */
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	case PORT_FULL_SERIAL:
 		/* set all multi-GPIOs to serial mode */
 		gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4;
@@ -1116,7 +1116,7 @@ test(void)
 
 	if (ioctl(fd, PWM_SERVO_SET(3), 1600) < 0) err(1, "servo 4 set failed");
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 	if (ioctl(fd, PWM_SERVO_SET(4), 1800) < 0) err(1, "servo 5 set failed");
 
 	if (ioctl(fd, PWM_SERVO_SET(5), 2000) < 0) err(1, "servo 6 set failed");
@@ -1183,7 +1183,7 @@ fmu_main(int argc, char *argv[])
 	} else if (!strcmp(verb, "mode_pwm")) {
 		new_mode = PORT_FULL_PWM;
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	} else if (!strcmp(verb, "mode_serial")) {
 		new_mode = PORT_FULL_SERIAL;
 
@@ -1217,9 +1217,9 @@ fmu_main(int argc, char *argv[])
 		fake(argc - 1, argv + 1);
 
 	fprintf(stderr, "FMU: unrecognised command, try:\n");
-#if defined(CONFIG_ARCH_BOARD_PX4FMU)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	fprintf(stderr, "  mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n");
-#elif defined(CONFIG_ARCH_BOARD_PX4FMUV2)
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 	fprintf(stderr, "  mode_gpio, mode_pwm\n");
 #endif
 	exit(1);
diff --git a/src/drivers/px4io/interface_serial.cpp b/src/drivers/px4io/interface_serial.cpp
index 9727daa71..06b955971 100644
--- a/src/drivers/px4io/interface_serial.cpp
+++ b/src/drivers/px4io/interface_serial.cpp
@@ -56,7 +56,6 @@
 #include <chip.h>
 #include <up_internal.h>
 #include <up_arch.h>
-#include <stm32_internal.h>
 
 #include <debug.h>
 
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 15e213afb..29624018f 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1604,9 +1604,9 @@ start(int argc, char *argv[])
 
 	PX4IO_interface *interface;
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 	interface = io_serial_interface();
-#elif defined(CONFIG_ARCH_BOARD_PX4FMU)
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	interface = io_i2c_interface(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO);
 #else
 # error Unknown board - cannot select interface.
@@ -1741,9 +1741,9 @@ if_test(unsigned mode)
 {
 	PX4IO_interface *interface;
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 	interface = io_serial_interface();
-#elif defined(CONFIG_ARCH_BOARD_PX4FMU)
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	interface = io_i2c_interface(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO);
 #else
 # error Unknown board - cannot select interface.
diff --git a/src/drivers/px4io/uploader.cpp b/src/drivers/px4io/uploader.cpp
index 28c584438..ec22a5e17 100644
--- a/src/drivers/px4io/uploader.cpp
+++ b/src/drivers/px4io/uploader.cpp
@@ -56,10 +56,10 @@
 
 #include "uploader.h"
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMUV2
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
 #include <drivers/boards/px4fmuv2/px4fmu_internal.h>
 #endif
-#ifdef CONFIG_ARCH_BOARD_PX4FMU
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 #include <drivers/boards/px4fmu/px4fmu_internal.h>
 #endif
 
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index 7ef3db970..1cc18afda 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -70,7 +70,7 @@
 #include "stm32_gpio.h"
 #include "stm32_tim.h"
 
-#ifdef CONFIG_HRT_TIMER
+#ifdef HRT_TIMER
 
 /* HRT configuration */
 #if   HRT_TIMER == 1
@@ -275,7 +275,7 @@ static void		hrt_call_invoke(void);
 /*
  * Specific registers and bits used by PPM sub-functions
  */
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
 /* 
  * If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
  *
@@ -377,7 +377,7 @@ static void	hrt_ppm_decode(uint32_t status);
 # define CCMR1_PPM	0
 # define CCMR2_PPM	0
 # define CCER_PPM	0
-#endif /* CONFIG_HRT_PPM */
+#endif /* HRT_PPM_CHANNEL */
 
 /*
  * Initialise the timer we are going to use.
@@ -907,4 +907,4 @@ hrt_latency_update(void)
 }
 
 
-#endif /* CONFIG_HRT_TIMER */
+#endif /* HRT_TIMER */
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index 167ef30a8..2284be84d 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -117,10 +117,6 @@
 
 #include <systemlib/err.h>
 
-#ifndef CONFIG_HRT_TIMER
-# error This driver requires CONFIG_HRT_TIMER
-#endif
-
 /* Tone alarm configuration */
 #if   TONE_ALARM_TIMER == 2
 # define TONE_ALARM_BASE		STM32_TIM2_BASE
diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk
index 4dd1aa8d7..59f470a94 100644
--- a/src/modules/px4iofirmware/module.mk
+++ b/src/modules/px4iofirmware/module.mk
@@ -15,10 +15,10 @@ SRCS		= adc.c \
 		  ../systemlib/mixer/mixer_multirotor.cpp \
 		  ../systemlib/mixer/mixer_simple.cpp \
 
-ifeq ($(BOARD),px4io)
+ifeq ($(BOARD),px4io-v1)
 SRCS		+= i2c.c
 endif
-ifeq ($(BOARD),px4iov2)
+ifeq ($(BOARD),px4io-v2)
 SRCS		+= serial.c \
 		   ../systemlib/hx_stream.c
 endif
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index b32782285..ccf175e45 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -42,10 +42,10 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#ifdef CONFIG_ARCH_BOARD_PX4IO
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
 # include <drivers/boards/px4io/px4io_internal.h>
 #endif
-#ifdef CONFIG_ARCH_BOARD_PX4IOV2
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
 # include <drivers/boards/px4iov2/px4iov2_internal.h>
 #endif
 
@@ -129,18 +129,7 @@ extern struct sys_state_s system_state;
 #define LED_AMBER(_s)			stm32_gpiowrite(GPIO_LED2, !(_s))
 #define LED_SAFETY(_s)			stm32_gpiowrite(GPIO_LED3, !(_s))
 
-#ifdef CONFIG_ARCH_BOARD_PX4IOV2
-
-# define PX4IO_RELAY_CHANNELS		0
-# define POWER_SPEKTRUM(_s)		stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
-
-# define VDD_SERVO_FAULT		(!stm32_gpioread(GPIO_SERVO_FAULT_DETECT))
-
-# define PX4IO_ADC_CHANNEL_COUNT	2
-# define ADC_VSERVO			4
-# define ADC_RSSI			5
-
-#else /* CONFIG_ARCH_BOARD_PX4IOV1 */
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
 
 # define PX4IO_RELAY_CHANNELS		4
 # define POWER_SERVO(_s)		stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
@@ -158,6 +147,19 @@ extern struct sys_state_s system_state;
 
 #endif
 
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
+
+# define PX4IO_RELAY_CHANNELS		0
+# define POWER_SPEKTRUM(_s)		stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
+
+# define VDD_SERVO_FAULT		(!stm32_gpioread(GPIO_SERVO_FAULT_DETECT))
+
+# define PX4IO_ADC_CHANNEL_COUNT	2
+# define ADC_VSERVO			4
+# define ADC_RSSI			5
+
+#endif
+
 #define BUTTON_SAFETY		stm32_gpioread(GPIO_BTN_SAFETY)
 
 /*
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index f4541936b..873ee73f1 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -59,7 +59,7 @@ static void	pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t alt
  */
 static const uint16_t	r_page_config[] = {
 	[PX4IO_P_CONFIG_PROTOCOL_VERSION]	= PX4IO_PROTOCOL_VERSION,
-#ifdef CONFIG_ARCH_BOARD_PX4IOV2
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
 	[PX4IO_P_CONFIG_HARDWARE_VERSION]	= 2,
 #else
 	[PX4IO_P_CONFIG_HARDWARE_VERSION]	= 1,
diff --git a/src/modules/px4iofirmware/serial.c b/src/modules/px4iofirmware/serial.c
index e4bc68f58..2f3184623 100644
--- a/src/modules/px4iofirmware/serial.c
+++ b/src/modules/px4iofirmware/serial.c
@@ -50,7 +50,7 @@
 #include <chip.h>
 #include <up_internal.h>
 #include <up_arch.h>
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <systemlib/perf_counter.h>
 
 //#define DEBUG