Integration with main Firmware repo, adjusting new-style configs

13 files changed, 185 insertions, 1756 deletions

diff --git a/nuttx/configs/px4fmu-v1/include/board.h b/nuttx/configs/px4fmu-v1/include/board.h
index 8d17488ff..bf825a899 100644
--- a/nuttx/configs/px4fmu-v1/include/board.h
+++ b/nuttx/configs/px4fmu-v1/include/board.h
@@ -149,12 +149,19 @@
 #define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
 
 /* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
- * otherwise frequency is 2xAPBx. 
+ * otherwise frequency is 2xAPBx.
  * Note: TIM1,8 are on APB2, others on APB1
  */
 
-#define STM32_TIM18_FREQUENCY   STM32_HCLK_FREQUENCY
-#define STM32_TIM27_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+#define STM32_TIM18_FREQUENCY   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_TIM27_FREQUENCY   (2*STM32_PCLK1_FREQUENCY)
+
+/* High-resolution timer
+ */
+#ifdef CONFIG_HRT_TIMER
+# define HRT_TIMER		1	/* use timer1 for the HRT */
+# define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
+#endif
 
 /* LED definitions ******************************************************************/
 /* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
@@ -209,29 +216,45 @@
 /* UART DMA configuration for USART1/6 */
 #define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
 #define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
-
+ 
 /*
- * SPI
+ * PWM
+ *
+ * Four PWM outputs can be configured on pins otherwise shared with
+ * USART2; two can take the flow control pins if they are not being used.
+ *
+ * Pins:
+ *
+ * CTS - PA0 - TIM2CH1
+ * RTS - PA1 - TIM2CH2
+ * TX  - PA2 - TIM2CH3
+ * RX  - PA3 - TIM2CH4
  *
- * There are sensors on SPI1, and SPI3 is connected to the microSD slot.
  */
-#define GPIO_SPI1_MISO	GPIO_SPI1_MISO_1
-#define GPIO_SPI1_MOSI	GPIO_SPI1_MOSI_1
-#define GPIO_SPI1_SCK	GPIO_SPI1_SCK_1
+#define GPIO_TIM2_CH1OUT	GPIO_TIM2_CH1OUT_1
+#define GPIO_TIM2_CH2OUT	GPIO_TIM2_CH2OUT_1
+#define GPIO_TIM2_CH3OUT	GPIO_TIM2_CH3OUT_1
+#define GPIO_TIM2_CH4OUT	GPIO_TIM2_CH4OUT_1
 
-#define GPIO_SPI3_MISO	GPIO_SPI3_MISO_2
-#define GPIO_SPI3_MOSI	GPIO_SPI3_MOSI_1
-#define GPIO_SPI3_SCK	GPIO_SPI3_SCK_2
-#define GPIO_SPI3_NSS	GPIO_SPI3_NSS_2
+/*
+ * PPM
+ *
+ * PPM input is handled by the HRT timer.
+ */
+#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM)
+# define HRT_PPM_CHANNEL	3	/* use capture/compare channel 3 */
+# define GPIO_PPM_IN	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
+#endif
 
 /*
- * Use these in place of the spi_dev_e enumeration to
- * select a specific SPI device on SPI1
+ * CAN
+ *
+ * CAN2 is routed to the expansion connector.
  */
-#define PX4_SPIDEV_GYRO		1
-#define PX4_SPIDEV_ACCEL	2
-#define PX4_SPIDEV_MPU		3
- 
+
+#define GPIO_CAN2_RX	GPIO_CAN2_RX_2
+#define GPIO_CAN2_TX	GPIO_CAN2_TX_2
+
 /*
  * I2C
  *
@@ -254,6 +277,60 @@
 #define GPIO_I2C3_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
 #define GPIO_I2C3_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9)
 
+/*
+ * I2C busses
+ */
+#define PX4_I2C_BUS_ESC		1
+#define PX4_I2C_BUS_ONBOARD	2
+#define PX4_I2C_BUS_EXPANSION	3
+
+/*
+ * Devices on the onboard bus.
+ *
+ * Note that these are unshifted addresses.
+ */
+#define PX4_I2C_OBDEV_HMC5883	0x1e
+#define PX4_I2C_OBDEV_MS5611	0x76
+#define PX4_I2C_OBDEV_EEPROM	NOTDEFINED
+
+#define PX4_I2C_OBDEV_PX4IO_BL	0x18
+#define PX4_I2C_OBDEV_PX4IO	0x1a
+
+/*
+ * SPI
+ *
+ * There are sensors on SPI1, and SPI3 is connected to the microSD slot.
+ */
+#define GPIO_SPI1_MISO	GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI	GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK	GPIO_SPI1_SCK_1
+
+#define GPIO_SPI3_MISO	GPIO_SPI3_MISO_2
+#define GPIO_SPI3_MOSI	GPIO_SPI3_MOSI_1
+#define GPIO_SPI3_SCK	GPIO_SPI3_SCK_2
+#define GPIO_SPI3_NSS	GPIO_SPI3_NSS_2
+
+/*
+ * Use these in place of the spi_dev_e enumeration to
+ * select a specific SPI device on SPI1
+ */
+#define PX4_SPIDEV_GYRO		1
+#define PX4_SPIDEV_ACCEL	2
+#define PX4_SPIDEV_MPU		3
+
+/*
+ * Optional devices on IO's external port
+ */
+#define PX4_SPIDEV_ACCEL_MAG 2
+
+/*
+ * Tone alarm output
+ */
+#define TONE_ALARM_TIMER	3	/* timer 3 */
+#define TONE_ALARM_CHANNEL	3	/* channel 3 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
+
 /************************************************************************************
  * Public Data
  ************************************************************************************/
diff --git a/nuttx/configs/px4fmu-v1/nsh/defconfig b/nuttx/configs/px4fmu-v1/nsh/defconfig
index 963d71a89..732bd41e0 100644
--- a/nuttx/configs/px4fmu-v1/nsh/defconfig
+++ b/nuttx/configs/px4fmu-v1/nsh/defconfig
@@ -421,7 +421,7 @@ CONFIG_PTHREAD_STACK_DEFAULT=2048
 #
 # Device Drivers
 #
-CONFIG_DISABLE_POLL=y
+# CONFIG_DISABLE_POLL is not set
 CONFIG_DEV_NULL=y
 # CONFIG_DEV_ZERO is not set
 # CONFIG_LOOP is not set
diff --git a/nuttx/configs/px4fmu-v1/usbnsh/Make.defs b/nuttx/configs/px4fmu-v1/usbnsh/Make.defs
deleted file mode 100644
index 81936334b..000000000
--- a/nuttx/configs/px4fmu-v1/usbnsh/Make.defs
+++ /dev/null
@@ -1,3 +0,0 @@
-include ${TOPDIR}/.config
-
-include $(TOPDIR)/configs/px4fmu-v1/common/Make.defs
diff --git a/nuttx/configs/px4fmu-v1/usbnsh/defconfig b/nuttx/configs/px4fmu-v1/usbnsh/defconfig
deleted file mode 100644
index 963d71a89..000000000
--- a/nuttx/configs/px4fmu-v1/usbnsh/defconfig
+++ /dev/null
@@ -1,912 +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=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_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_ARMV7M_USEBASEPRI=y
-CONFIG_ARCH_HAVE_CMNVECTOR=y
-CONFIG_ARMV7M_CMNVECTOR=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_SERIAL_TERMIOS=y
-
-#
-# 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=y
-# 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 is not set
-# 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_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 is not set
-# 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=y
-CONFIG_STM32_OTGFS=y
-# CONFIG_STM32_OTGHS is not set
-CONFIG_STM32_PWR=y
-# CONFIG_STM32_RNG is not set
-# CONFIG_STM32_SDIO is not set
-CONFIG_STM32_SPI1=y
-# CONFIG_STM32_SPI2 is not set
-CONFIG_STM32_SPI3=y
-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=y
-CONFIG_STM32_TIM5=y
-CONFIG_STM32_TIM6=y
-CONFIG_STM32_TIM7=y
-# 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=y
-CONFIG_STM32_TIM13=y
-CONFIG_STM32_TIM14=y
-CONFIG_STM32_USART1=y
-CONFIG_STM32_USART2=y
-# CONFIG_STM32_USART3 is not set
-# CONFIG_STM32_UART4 is not set
-CONFIG_STM32_UART5=y
-CONFIG_STM32_USART6=y
-# CONFIG_STM32_IWDG is not set
-# CONFIG_STM32_WWDG is not set
-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 is not set
-# CONFIG_STM32_FORCEPOWER is not set
-# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
-# CONFIG_STM32_CCMEXCLUDE is not set
-# CONFIG_STM32_TIM4_PWM is not set
-# CONFIG_STM32_TIM5_PWM is not set
-# CONFIG_STM32_TIM12_PWM is not set
-# CONFIG_STM32_TIM13_PWM is not set
-# CONFIG_STM32_TIM14_PWM is not set
-# CONFIG_STM32_TIM4_ADC is not set
-# CONFIG_STM32_TIM5_ADC is not set
-CONFIG_STM32_USART=y
-
-#
-# U[S]ART Configuration
-#
-# CONFIG_USART1_RS485 is not set
-# CONFIG_USART1_RXDMA is not set
-# CONFIG_USART2_RS485 is not set
-CONFIG_USART2_RXDMA=y
-# CONFIG_USART3_RXDMA is not set
-# CONFIG_UART4_RXDMA is not set
-# CONFIG_UART5_RS485 is not set
-CONFIG_UART5_RXDMA=y
-# CONFIG_USART6_RS485 is not set
-CONFIG_USART6_RXDMA=y
-# CONFIG_USART7_RXDMA is not set
-# CONFIG_USART8_RXDMA is not set
-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=500
-CONFIG_STM32_I2CTIMEOTICKS=500
-# CONFIG_STM32_I2C_DUTY16_9 is not set
-
-#
-# 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=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_PX4FMU_V1=y
-# CONFIG_ARCH_BOARD_CUSTOM is not set
-CONFIG_ARCH_BOARD="px4fmu-v1"
-
-#
-# Common Board Options
-#
-CONFIG_ARCH_HAVE_LEDS=y
-CONFIG_ARCH_LEDS=y
-CONFIG_NSH_MMCSDMINOR=0
-CONFIG_NSH_MMCSDSLOTNO=0
-CONFIG_NSH_MMCSDSPIPORTNO=0
-
-#
-# Board-Specific Options
-#
-
-#
-# RTOS Features
-#
-# CONFIG_BOARD_INITIALIZE is not set
-CONFIG_MSEC_PER_TICK=1
-CONFIG_RR_INTERVAL=5
-# CONFIG_SCHED_INSTRUMENTATION is not set
-CONFIG_TASK_NAME_SIZE=24
-# CONFIG_SCHED_HAVE_PARENT is not set
-# CONFIG_JULIAN_TIME is not set
-CONFIG_START_YEAR=2011
-CONFIG_START_MONTH=12
-CONFIG_START_DAY=6
-# CONFIG_DEV_CONSOLE is not set
-# CONFIG_MUTEX_TYPES is not set
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_SEM_PREALLOCHOLDERS=16
-CONFIG_SEM_NNESTPRIO=16
-# CONFIG_FDCLONE_DISABLE is not set
-# CONFIG_FDCLONE_STDIO is not set
-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=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_ENVIRON is not set
-
-#
-# Signal Numbers
-#
-CONFIG_SIG_SIGUSR1=1
-CONFIG_SIG_SIGUSR2=2
-CONFIG_SIG_SIGALARM=3
-CONFIG_SIG_SIGCONDTIMEDOUT=16
-CONFIG_SIG_SIGWORK=17
-
-#
-# Sizes of configurable things (0 disables)
-#
-CONFIG_MAX_TASKS=16
-CONFIG_MAX_TASK_ARGS=10
-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_IDLETHREAD_STACKSIZE=2048
-CONFIG_USERMAIN_STACKSIZE=2048
-CONFIG_PTHREAD_STACK_MIN=256
-CONFIG_PTHREAD_STACK_DEFAULT=2048
-
-#
-# Device Drivers
-#
-CONFIG_DISABLE_POLL=y
-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 is not set
-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 is not set
-# 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=y
-CONFIG_MMCSD_NSLOTS=1
-# CONFIG_MMCSD_READONLY is not set
-# CONFIG_MMCSD_MULTIBLOCK_DISABLE is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_HAVECARDDETECT is not set
-CONFIG_MMCSD_SPI=y
-CONFIG_MMCSD_SPICLOCK=20000000
-# CONFIG_MMCSD_SDIO is not set
-# CONFIG_MTD 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_UART5=y
-CONFIG_ARCH_HAVE_USART1=y
-CONFIG_ARCH_HAVE_USART2=y
-CONFIG_ARCH_HAVE_USART6=y
-CONFIG_MCU_SERIAL=y
-CONFIG_STANDARD_SERIAL=y
-# CONFIG_USART1_SERIAL_CONSOLE is not set
-# CONFIG_USART2_SERIAL_CONSOLE is not set
-# CONFIG_UART5_SERIAL_CONSOLE is not set
-# CONFIG_USART6_SERIAL_CONSOLE is not set
-CONFIG_NO_SERIAL_CONSOLE=y
-
-#
-# USART1 Configuration
-#
-CONFIG_USART1_RXBUFSIZE=256
-CONFIG_USART1_TXBUFSIZE=256
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_BITS=8
-CONFIG_USART1_PARITY=0
-CONFIG_USART1_2STOP=0
-
-#
-# USART2 Configuration
-#
-CONFIG_USART2_RXBUFSIZE=256
-CONFIG_USART2_TXBUFSIZE=256
-CONFIG_USART2_BAUD=115200
-CONFIG_USART2_BITS=8
-CONFIG_USART2_PARITY=0
-CONFIG_USART2_2STOP=0
-
-#
-# UART5 Configuration
-#
-CONFIG_UART5_RXBUFSIZE=256
-CONFIG_UART5_TXBUFSIZE=256
-CONFIG_UART5_BAUD=115200
-CONFIG_UART5_BITS=8
-CONFIG_UART5_PARITY=0
-CONFIG_UART5_2STOP=0
-
-#
-# USART6 Configuration
-#
-CONFIG_USART6_RXBUFSIZE=256
-CONFIG_USART6_TXBUFSIZE=256
-CONFIG_USART6_BAUD=115200
-CONFIG_USART6_BITS=8
-CONFIG_USART6_PARITY=0
-CONFIG_USART6_2STOP=0
-CONFIG_USBDEV=y
-
-#
-# USB Device Controller Driver Options
-#
-# CONFIG_USBDEV_ISOCHRONOUS is not set
-# CONFIG_USBDEV_DUALSPEED is not set
-CONFIG_USBDEV_SELFPOWERED=y
-# CONFIG_USBDEV_BUSPOWERED is not set
-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_RXBUFSIZE=256
-CONFIG_CDCACM_TXBUFSIZE=256
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_PRODUCTID=0x10
-CONFIG_CDCACM_VENDORSTR="3D Robotics"
-CONFIG_CDCACM_PRODUCTSTR="PX4FMU v1.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 is not set
-# CONFIG_FS_NXFFS is not set
-# CONFIG_FS_ROMFS is not set
-# CONFIG_FS_SMARTFS is not set
-# CONFIG_FS_BINFS is not set
-
-#
-# 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=64
-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 is not set
-
-#
-# Non-standard Library Support
-#
-CONFIG_SCHED_WORKQUEUE=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_WORKPRIORITY=192
-CONFIG_SCHED_WORKPERIOD=50000
-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 is not set
-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 is not set
-# 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 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 is not set
-CONFIG_NSH_LINELEN=64
-CONFIG_NSH_NESTDEPTH=3
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLEBG is not set
-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/px4fmu-v1/usbnsh/setenv.sh b/nuttx/configs/px4fmu-v1/usbnsh/setenv.sh
deleted file mode 100755
index db372217c..000000000
--- a/nuttx/configs/px4fmu-v1/usbnsh/setenv.sh
+++ /dev/null
@@ -1,75 +0,0 @@
-#!/bin/bash
-# configs/px4fmu-v1/usbnsh/setenv.sh
-#
-#   Copyright (C) 2013 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/px4io-v1/io/Make.defs b/nuttx/configs/px4io-v1/io/Make.defs
deleted file mode 100644
index c7f6effd9..000000000
--- a/nuttx/configs/px4io-v1/io/Make.defs
+++ /dev/null
@@ -1,3 +0,0 @@
-include ${TOPDIR}/.config
-
-include $(TOPDIR)/configs/px4io-v1/common/Make.defs
diff --git a/nuttx/configs/px4io-v1/io/appconfig b/nuttx/configs/px4io-v1/io/appconfig
deleted file mode 100644
index 48a41bcdb..000000000
--- a/nuttx/configs/px4io-v1/io/appconfig
+++ /dev/null
@@ -1,32 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
diff --git a/nuttx/configs/px4io-v1/io/defconfig b/nuttx/configs/px4io-v1/io/defconfig
deleted file mode 100755
index 43dd1b0e8..000000000
--- a/nuttx/configs/px4io-v1/io/defconfig
+++ /dev/null
@@ -1,552 +0,0 @@
-############################################################################
-# configs/px4io/nsh/defconfig
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#   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.
-#
-############################################################################
-#
-# architecture selection
-#
-# CONFIG_ARCH - identifies the arch subdirectory and, hence, the
-#   processor architecture.
-# CONFIG_ARCH_family - for use in C code.  This identifies the
-#   particular chip family that the architecture is implemented
-#   in.
-# CONFIG_ARCH_architecture - for use in C code.  This identifies the
-#   specific architecture within the chip family.
-# CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
-# CONFIG_ARCH_CHIP_name - For use in C code
-# CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence,
-#   the board that supports the particular chip or SoC.
-# CONFIG_ARCH_BOARD_name - for use in C code
-# CONFIG_ENDIAN_BIG - define if big endian (default is little endian)
-# CONFIG_BOARD_LOOPSPERMSEC - for delay loops
-# CONFIG_DRAM_SIZE - Describes the installed DRAM.
-# CONFIG_DRAM_START - The start address of DRAM (physical)
-# CONFIG_ARCH_IRQPRIO - The ST32F100CB supports interrupt prioritization
-# CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
-#   stack. If defined, this symbol is the size of the interrupt
-#   stack in bytes.  If not defined, the user task stacks will be
-#   used during interrupt handling.
-# CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
-# CONFIG_ARCH_BOOTLOADER - Set if you are using a bootloader.
-# CONFIG_ARCH_LEDS -  Use LEDs to show state. Unique to board architecture.
-# CONFIG_ARCH_BUTTONS -  Enable support for buttons. Unique to board architecture.
-# CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
-#   cause a 100 second delay during boot-up.  This 100 second delay
-#   serves no purpose other than it allows you to calibrate
-#   CONFIG_BOARD_LOOPSPERMSEC.  You simply use a stop watch to measure
-#   the 100 second delay then adjust CONFIG_BOARD_LOOPSPERMSEC until
-#   the delay actually is 100 seconds.
-# CONFIG_ARCH_DMA - Support DMA initialization
-#
-CONFIG_ARCH="arm"
-CONFIG_ARCH_ARM=y
-CONFIG_ARCH_CORTEXM3=y
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32F100C8=y
-#
-# Board Selection
-#
-CONFIG_ARCH_BOARD_PX4IO_V1=y
-# CONFIG_ARCH_BOARD_CUSTOM is not set
-CONFIG_ARCH_BOARD="px4io-v1"
-CONFIG_BOARD_LOOPSPERMSEC=2000
-CONFIG_DRAM_SIZE=0x00002000
-CONFIG_DRAM_START=0x20000000
-CONFIG_ARCH_IRQPRIO=y
-CONFIG_ARCH_INTERRUPTSTACK=n
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARCH_BOOTLOADER=n
-CONFIG_ARCH_LEDS=n
-CONFIG_ARCH_BUTTONS=n
-CONFIG_ARCH_CALIBRATION=n
-CONFIG_ARCH_DMA=y
-CONFIG_ARCH_MATH_H=y
-
-CONFIG_ARMV7M_CMNVECTOR=y
-
-#
-# JTAG Enable settings (by default JTAG-DP and SW-DP are disabled):
-#
-#   CONFIG_STM32_DFU - Use the DFU bootloader, not JTAG
-#
-# JTAG Enable options:
-#
-#   CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
-#   CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
-#     but without JNTRST.
-#   CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled
-#
-CONFIG_STM32_DFU=n
-CONFIG_STM32_JTAG_FULL_ENABLE=y
-CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n
-CONFIG_STM32_JTAG_SW_ENABLE=n
-
-#
-# Individual subsystems can be enabled:
-#
-# AHB: 
-CONFIG_STM32_DMA1=y
-CONFIG_STM32_DMA2=n
-CONFIG_STM32_CRC=n
-# APB1:
-# Timers 2,3 and 4 are owned by the PWM driver
-CONFIG_STM32_TIM2=n
-CONFIG_STM32_TIM3=n
-CONFIG_STM32_TIM4=n
-CONFIG_STM32_TIM5=n
-CONFIG_STM32_TIM6=n
-CONFIG_STM32_TIM7=n
-CONFIG_STM32_WWDG=n
-CONFIG_STM32_SPI2=n
-CONFIG_STM32_USART2=y
-CONFIG_STM32_USART3=y
-CONFIG_STM32_I2C1=y
-CONFIG_STM32_I2C2=n
-CONFIG_STM32_BKP=n
-CONFIG_STM32_PWR=n
-CONFIG_STM32_DAC=n
-# APB2:
-# We use our own ADC driver, but leave this on for clocking purposes.
-CONFIG_STM32_ADC1=y
-CONFIG_STM32_ADC2=n
-# TIM1 is owned by the HRT
-CONFIG_STM32_TIM1=n
-CONFIG_STM32_SPI1=n
-CONFIG_STM32_TIM8=n
-CONFIG_STM32_USART1=y
-CONFIG_STM32_ADC3=n
-
-
-#
-# STM32F100 specific serial device driver settings
-#
-# CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the
-#   console and ttys0 (default is the USART1).
-# CONFIG_USARTn_RXBUFSIZE - Characters are buffered as received.
-#   This specific the size of the receive buffer
-# CONFIG_USARTn_TXBUFSIZE - Characters are buffered before
-#   being sent.  This specific the size of the transmit buffer
-# CONFIG_USARTn_BAUD - The configure BAUD of the UART.  Must be
-# CONFIG_USARTn_BITS - The number of bits.  Must be either 7 or 8.
-# CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
-# CONFIG_USARTn_2STOP - Two stop bits
-#
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_STANDARD_SERIAL=y
-
-CONFIG_USART1_SERIAL_CONSOLE=y
-CONFIG_USART2_SERIAL_CONSOLE=n
-CONFIG_USART3_SERIAL_CONSOLE=n
-
-CONFIG_USART1_TXBUFSIZE=64
-CONFIG_USART2_TXBUFSIZE=64
-CONFIG_USART3_TXBUFSIZE=64
-
-CONFIG_USART1_RXBUFSIZE=64
-CONFIG_USART2_RXBUFSIZE=64
-CONFIG_USART3_RXBUFSIZE=64
-
-CONFIG_USART1_BAUD=115200
-CONFIG_USART2_BAUD=115200
-CONFIG_USART3_BAUD=115200
-
-CONFIG_USART1_BITS=8
-CONFIG_USART2_BITS=8
-CONFIG_USART3_BITS=8
-
-CONFIG_USART1_PARITY=0
-CONFIG_USART2_PARITY=0
-CONFIG_USART3_PARITY=0
-
-CONFIG_USART1_2STOP=0
-CONFIG_USART2_2STOP=0
-CONFIG_USART3_2STOP=0
-
-CONFIG_USART1_RXDMA=y
-SERIAL_HAVE_CONSOLE_DMA=y
-# Conflicts with I2C1 DMA
-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
-#   BSPs from www.ridgerun.com using the tools/mkimage.sh script
-# CONFIG_INTELHEX_BINARY - make the Intel HEX binary format
-#   used with many different loaders using the GNU objcopy program
-#   Should not be selected if you are not using the GNU toolchain.
-# CONFIG_MOTOROLA_SREC - make the Motorola S-Record binary format
-#   used with many different loaders using the GNU objcopy program
-#   Should not be selected if you are not using the GNU toolchain.
-# CONFIG_RAW_BINARY - make a raw binary format file used with many
-#   different loaders using the GNU objcopy program.  This option
-#   should not be selected if you are not using the GNU toolchain.
-# CONFIG_HAVE_LIBM - toolchain supports libm.a
-#
-CONFIG_RRLOAD_BINARY=n
-CONFIG_INTELHEX_BINARY=n
-CONFIG_MOTOROLA_SREC=n
-CONFIG_RAW_BINARY=y
-CONFIG_HAVE_LIBM=n
-
-#
-# General OS setup
-#
-# CONFIG_APPS_DIR - Identifies the relative path to the directory
-#   that builds the application to link with NuttX.  Default: ../apps
-# CONFIG_DEBUG - enables built-in debug options
-# CONFIG_DEBUG_VERBOSE - enables verbose debug output
-# CONFIG_DEBUG_SYMBOLS - build without optimization and with
-#   debug symbols (needed for use with a debugger).
-# CONFIG_HAVE_CXX - Enable support for C++
-# CONFIG_HAVE_CXXINITIALIZE - The platform-specific logic includes support
-#   for initialization of static C++ instances for this architecture
-#   and for the selected toolchain (via up_cxxinitialize()).
-# CONFIG_MM_REGIONS - If the architecture includes multiple
-#   regions of memory to allocate from, this specifies the
-#   number of memory regions that the memory manager must
-#   handle and enables the API mm_addregion(start, end);
-# CONFIG_ARCH_LOWPUTC - architecture supports low-level, boot
-#   time console output
-# CONFIG_MSEC_PER_TICK - The default system timer is 100Hz
-#   or MSEC_PER_TICK=10.  This setting may be defined to
-#   inform NuttX that the processor hardware is providing
-#   system timer interrupts at some interrupt interval other
-#   than 10 msec.
-# CONFIG_RR_INTERVAL - The round robin timeslice will be set
-#   this number of milliseconds;  Round robin scheduling can
-#   be disabled by setting this value to zero.
-# CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in 
-#   scheduler to monitor system performance
-# CONFIG_TASK_NAME_SIZE - Spcifies that maximum size of a
-#   task name to save in the TCB.  Useful if scheduler
-#   instrumentation is selected.  Set to zero to disable.
-# CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY -
-#   Used to initialize the internal time logic.
-# CONFIG_GREGORIAN_TIME - Enables Gregorian time conversions.
-#   You would only need this if you are concerned about accurate
-#   time conversions in the past or in the distant future.
-# CONFIG_JULIAN_TIME - Enables Julian time conversions. You
-#   would only need this if you are concerned about accurate
-#   time conversion in the distand past.  You must also define
-#   CONFIG_GREGORIAN_TIME in order to use Julian time.
-# CONFIG_DEV_CONSOLE - Set if architecture-specific logic
-#   provides /dev/console.  Enables stdout, stderr, stdin.
-# CONFIG_DEV_LOWCONSOLE - Use the simple, low-level serial console
-#   driver (minimul support)
-# CONFIG_MUTEX_TYPES: Set to enable support for recursive and
-#   errorcheck mutexes. Enables pthread_mutexattr_settype().
-# CONFIG_PRIORITY_INHERITANCE : Set to enable support for priority
-#   inheritance on mutexes and semaphores. 
-# CONFIG_SEM_PREALLOCHOLDERS: This setting is only used if priority
-#   inheritance is enabled.  It defines the maximum number of
-#   different threads (minus one) that can take counts on a
-#   semaphore with priority inheritance support.  This may be 
-#   set to zero if priority inheritance is disabled OR if you
-#   are only using semaphores as mutexes (only one holder) OR
-#   if no more than two threads participate using a counting
-#   semaphore.
-# CONFIG_SEM_NNESTPRIO.  If priority inheritance is enabled,
-#   then this setting is the maximum number of higher priority
-#   threads (minus 1) than can be waiting for another thread
-#   to release a count on a semaphore.  This value may be set
-#   to zero if no more than one thread is expected to wait for
-#   a semaphore.
-# CONFIG_FDCLONE_DISABLE. Disable cloning of all file descriptors
-#   by task_create() when a new task is started.  If set, all
-#   files/drivers will appear to be closed in the new task.
-# CONFIG_FDCLONE_STDIO. Disable cloning of all but the first
-#   three file descriptors (stdin, stdout, stderr) by task_create()
-#   when a new task is started. If set, all files/drivers will
-#   appear to be closed in the new task except for stdin, stdout,
-#   and stderr.
-# CONFIG_SDCLONE_DISABLE. Disable cloning of all socket
-#   desciptors by task_create() when a new task is started. If
-#   set, all sockets will appear to be closed in the new task.
-# CONFIG_SCHED_WORKQUEUE.  Create a dedicated "worker" thread to
-#  handle delayed processing from interrupt handlers.  This feature
-#  is required for some drivers but, if there are not complaints,
-#  can be safely disabled.  The worker thread also performs
-#  garbage collection -- completing any delayed memory deallocations
-#  from interrupt handlers.  If the worker thread is disabled,
-#  then that clean will be performed by the IDLE thread instead
-#  (which runs at the lowest of priority and may not be appropriate
-#  if memory reclamation is of high priority).  If CONFIG_SCHED_WORKQUEUE
-#  is enabled, then the following options can also be used:
-# CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker
-#  thread.  Default: 50
-# CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for
-#  work in units of microseconds.  Default: 50*1000 (50 MS).
-# CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker
-#  thread.  Default: CONFIG_IDLETHREAD_STACKSIZE.
-# CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up
-#  the worker thread.  Default: 4
-# CONFIG_SCHED_WAITPID - Enable the waitpid() API
-# CONFIG_SCHED_ATEXIT - Enabled the atexit() API
-#
-CONFIG_USER_ENTRYPOINT="user_start"
-#CONFIG_APPS_DIR=
-CONFIG_DEBUG=n
-CONFIG_DEBUG_VERBOSE=n
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_FS=n
-CONFIG_DEBUG_GRAPHICS=n
-CONFIG_DEBUG_LCD=n
-CONFIG_DEBUG_USB=n
-CONFIG_DEBUG_NET=n
-CONFIG_DEBUG_RTC=n
-CONFIG_DEBUG_ANALOG=n
-CONFIG_DEBUG_PWM=n
-CONFIG_DEBUG_CAN=n
-CONFIG_DEBUG_I2C=n
-CONFIG_DEBUG_INPUT=n
-
-CONFIG_MSEC_PER_TICK=1
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_MM_REGIONS=1
-CONFIG_MM_SMALL=y
-CONFIG_ARCH_LOWPUTC=y
-CONFIG_RR_INTERVAL=0
-CONFIG_SCHED_INSTRUMENTATION=n
-CONFIG_TASK_NAME_SIZE=8
-CONFIG_START_YEAR=1970
-CONFIG_START_MONTH=1
-CONFIG_START_DAY=1
-CONFIG_GREGORIAN_TIME=n
-CONFIG_JULIAN_TIME=n
-# this eats ~1KiB of RAM ... work out why
-CONFIG_DEV_CONSOLE=y
-CONFIG_DEV_LOWCONSOLE=n
-CONFIG_MUTEX_TYPES=n
-CONFIG_PRIORITY_INHERITANCE=n
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SEM_NNESTPRIO=0
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SCHED_WORKQUEUE=n
-CONFIG_SCHED_WORKPRIORITY=50
-CONFIG_SCHED_WORKPERIOD=50000
-CONFIG_SCHED_WORKSTACKSIZE=1024
-CONFIG_SIG_SIGWORK=4
-CONFIG_SCHED_WAITPID=n
-CONFIG_SCHED_ATEXIT=n
-
-#
-# The following can be used to disable categories of
-# APIs supported by the OS.  If the compiler supports
-# weak functions, then it should not be necessary to
-# disable functions unless you want to restrict usage
-# of those APIs.
-#
-# There are certain dependency relationships in these
-# features.
-#
-# o mq_notify logic depends on signals to awaken tasks
-#   waiting for queues to become full or empty.
-# o pthread_condtimedwait() depends on signals to wake
-#   up waiting tasks.
-#
-CONFIG_DISABLE_CLOCK=n
-CONFIG_DISABLE_POSIX_TIMERS=y
-CONFIG_DISABLE_PTHREAD=y
-CONFIG_DISABLE_SIGNALS=y
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_DISABLE_MOUNTPOINT=y
-CONFIG_DISABLE_ENVIRON=y
-CONFIG_DISABLE_POLL=y
-
-#
-# Misc libc settings
-#
-# CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a
-#   little smaller if we do not support fieldwidthes
-#
-CONFIG_NOPRINTF_FIELDWIDTH=n
-
-#
-# Allow for architecture optimized implementations
-#
-# The architecture can provide optimized versions of the
-# following to improve system performance
-#
-CONFIG_ARCH_MEMCPY=n
-CONFIG_ARCH_MEMCMP=n
-CONFIG_ARCH_MEMMOVE=n
-CONFIG_ARCH_MEMSET=n
-CONFIG_ARCH_STRCMP=n
-CONFIG_ARCH_STRCPY=n
-CONFIG_ARCH_STRNCPY=n
-CONFIG_ARCH_STRLEN=n
-CONFIG_ARCH_STRNLEN=n
-CONFIG_ARCH_BZERO=n
-
-#
-# Sizes of configurable things (0 disables)
-#
-# CONFIG_MAX_TASKS - The maximum number of simultaneously
-#   active tasks.  This value must be a power of two.
-# CONFIG_MAX_TASK_ARGS - This controls the maximum number of
-#   of parameters that a task may receive (i.e., maxmum value
-#   of 'argc')
-# CONFIG_NPTHREAD_KEYS - The number of items of thread-
-#   specific data that can be retained
-# CONFIG_NFILE_DESCRIPTORS - The maximum number of file
-#   descriptors (one for each open)
-# CONFIG_NFILE_STREAMS - The maximum number of streams that
-#   can be fopen'ed
-# CONFIG_NAME_MAX - The maximum size of a file name.
-# CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate
-#   on fopen. (Only if CONFIG_NFILE_STREAMS > 0)
-# CONFIG_STDIO_LINEBUFFER - If standard C buffered I/O is enabled
-#   (CONFIG_STDIO_BUFFER_SIZE > 0), then this option may be added
-#   to force automatic, line-oriented flushing the output buffer
-#   for putc(), fputc(), putchar(), puts(), fputs(), printf(),
-#   fprintf(), and vfprintf().  When a newline is encountered in
-#   the output string, the output buffer will be flushed.  This
-#   (slightly) increases the NuttX footprint but supports the kind
-#   of behavior that people expect for printf().
-# CONFIG_NUNGET_CHARS - Number of characters that can be
-#   buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0)
-# CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message
-#   structures.  The system manages a pool of preallocated
-#   message structures to minimize dynamic allocations
-# CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with
-#   a fixed payload size given by this settin (does not include
-#   other message structure overhead.
-# CONFIG_MAX_WDOGPARMS - Maximum number of parameters that
-#   can be passed to a watchdog handler
-# CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog
-#   structures.  The system manages a pool of preallocated
-#   watchdog structures to minimize dynamic allocations
-# CONFIG_PREALLOC_TIMERS - The number of pre-allocated POSIX
-#   timer structures.  The system manages a pool of preallocated
-#   timer structures to minimize dynamic allocations.  Set to
-#   zero for all dynamic allocations.
-#
-CONFIG_MAX_TASKS=4
-CONFIG_MAX_TASK_ARGS=4
-CONFIG_NPTHREAD_KEYS=2
-CONFIG_NFILE_DESCRIPTORS=8
-CONFIG_NFILE_STREAMS=0
-CONFIG_NAME_MAX=12
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STDIO_LINEBUFFER=n
-CONFIG_NUNGET_CHARS=2
-CONFIG_PREALLOC_MQ_MSGS=4
-CONFIG_MQ_MAXMSGSIZE=32
-CONFIG_MAX_WDOGPARMS=2
-CONFIG_PREALLOC_WDOGS=4
-CONFIG_PREALLOC_TIMERS=0
-
-
-#
-# Settings for apps/nshlib
-#
-# CONFIG_NSH_BUILTIN_APPS - Support external registered,
-#   "named" applications that can be executed from the NSH
-#   command line (see apps/README.txt for more information).
-# CONFIG_NSH_FILEIOSIZE - Size of a static I/O buffer
-# CONFIG_NSH_STRERROR - Use strerror(errno)
-# CONFIG_NSH_LINELEN - Maximum length of one command line
-# CONFIG_NSH_NESTDEPTH - Max number of nested if-then[-else]-fi
-# CONFIG_NSH_DISABLESCRIPT - Disable scripting support
-# CONFIG_NSH_DISABLEBG - Disable background commands
-# CONFIG_NSH_ROMFSETC - Use startup script in /etc
-# CONFIG_NSH_CONSOLE - Use serial console front end
-# CONFIG_NSH_TELNET - Use telnetd console front end
-# CONFIG_NSH_ARCHINIT - Platform provides architecture
-#   specific initialization (nsh_archinitialize()).
-#
-
-# Disable NSH completely
-CONFIG_NSH_CONSOLE=n
-
-#
-# Stack and heap information
-#
-# CONFIG_BOOT_RUNFROMFLASH - Some configurations support XIP
-#   operation from FLASH but must copy initialized .data sections to RAM.
-#   (should also be =n for the STM3210E-EVAL which always runs from flash)
-# CONFIG_BOOT_COPYTORAM -  Some configurations boot in FLASH
-#   but copy themselves entirely into RAM for better performance.
-# CONFIG_CUSTOM_STACK - The up_ implementation will handle
-#   all stack operations outside of the nuttx model.
-# CONFIG_STACK_POINTER - The initial stack pointer (arm7tdmi only)
-# CONFIG_IDLETHREAD_STACKSIZE - The size of the initial stack.
-#  This is the thread that (1) performs the inital boot of the system up
-#  to the point where user_start() is spawned, and (2) there after is the
-#  IDLE thread that executes only when there is no other thread ready to
-#  run.
-# CONFIG_USERMAIN_STACKSIZE - The size of the stack to allocate
-#  for the main user thread that begins at the user_start() entry point.
-# CONFIG_PTHREAD_STACK_MIN - Minimum pthread stack size
-# CONFIG_PTHREAD_STACK_DEFAULT - Default pthread stack size
-# CONFIG_HEAP_BASE - The beginning of the heap
-# CONFIG_HEAP_SIZE - The size of the heap
-#
-CONFIG_BOOT_RUNFROMFLASH=n
-CONFIG_BOOT_COPYTORAM=n
-CONFIG_CUSTOM_STACK=n
-CONFIG_STACK_POINTER=
-CONFIG_IDLETHREAD_STACKSIZE=1024
-CONFIG_USERMAIN_STACKSIZE=1200
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_PTHREAD_STACK_DEFAULT=1024
-CONFIG_HEAP_BASE=
-CONFIG_HEAP_SIZE=
diff --git a/nuttx/configs/px4io-v1/io/setenv.sh b/nuttx/configs/px4io-v1/io/setenv.sh
deleted file mode 100755
index ff9a4bf8a..000000000
--- a/nuttx/configs/px4io-v1/io/setenv.sh
+++ /dev/null
@@ -1,47 +0,0 @@
-#!/bin/bash
-# configs/stm3210e-eval/dfu/setenv.sh
-#
-#   Copyright (C) 2009 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 [ "$(basename $0)" = "setenv.sh" ] ; then
-  echo "You must source this script, not run it!" 1>&2
-  exit 1
-fi
-
-if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
-
-WD=`pwd`
-export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
-export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
-export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
-
-echo "PATH : ${PATH}"
diff --git a/nuttx/configs/px4io-v1/nsh/Make.defs b/nuttx/configs/px4io-v1/nsh/Make.defs
index 87508e22e..c7f6effd9 100644
--- a/nuttx/configs/px4io-v1/nsh/Make.defs
+++ b/nuttx/configs/px4io-v1/nsh/Make.defs
@@ -1,3 +1,3 @@
 include ${TOPDIR}/.config
 
-include $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/Make.defs
+include $(TOPDIR)/configs/px4io-v1/common/Make.defs
diff --git a/nuttx/configs/px4io-v1/nsh/appconfig b/nuttx/configs/px4io-v1/nsh/appconfig
index d5809a939..48a41bcdb 100644
--- a/nuttx/configs/px4io-v1/nsh/appconfig
+++ b/nuttx/configs/px4io-v1/nsh/appconfig
@@ -1,8 +1,6 @@
 ############################################################################
-# configs/stm3210e-eval/nsh/appconfig
 #
-#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <gnutt@nuttx.org>
+#   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
@@ -14,7 +12,7 @@
 #    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
+# 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.
 #
@@ -32,12 +30,3 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-
-# Path to example in apps/examples containing the user_start entry point
-
-CONFIGURED_APPS += examples/nsh
-
-CONFIGURED_APPS += system/readline
-CONFIGURED_APPS += nshlib
-CONFIGURED_APPS += reboot
-
diff --git a/nuttx/configs/px4io-v1/nsh/defconfig b/nuttx/configs/px4io-v1/nsh/defconfig
index 6f4e20869..43dd1b0e8 100755
--- a/nuttx/configs/px4io-v1/nsh/defconfig
+++ b/nuttx/configs/px4io-v1/nsh/defconfig
@@ -1,7 +1,8 @@
 ############################################################################
 # configs/px4io/nsh/defconfig
 #
-#   Copyright (C) 2009-2012 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   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
@@ -41,7 +42,7 @@
 #   particular chip family that the architecture is implemented
 #   in.
 # CONFIG_ARCH_architecture - for use in C code.  This identifies the
-#   specific architecture within the chip familyl.
+#   specific architecture within the chip family.
 # CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
 # CONFIG_ARCH_CHIP_name - For use in C code
 # CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence,
@@ -51,7 +52,6 @@
 # CONFIG_BOARD_LOOPSPERMSEC - for delay loops
 # CONFIG_DRAM_SIZE - Describes the installed DRAM.
 # CONFIG_DRAM_START - The start address of DRAM (physical)
-# CONFIG_DRAM_END - Last address+1 of installed RAM
 # CONFIG_ARCH_IRQPRIO - The ST32F100CB supports interrupt prioritization
 # CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
 #   stack. If defined, this symbol is the size of the interrupt
@@ -69,25 +69,30 @@
 #   the delay actually is 100 seconds.
 # CONFIG_ARCH_DMA - Support DMA initialization
 #
-CONFIG_ARCH=arm
+CONFIG_ARCH="arm"
 CONFIG_ARCH_ARM=y
 CONFIG_ARCH_CORTEXM3=y
-CONFIG_ARCH_CHIP=stm32
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32F100C8=y
-CONFIG_ARCH_BOARD=px4io
-CONFIG_ARCH_BOARD_PX4IO=y
-CONFIG_BOARD_LOOPSPERMSEC=24000
+#
+# Board Selection
+#
+CONFIG_ARCH_BOARD_PX4IO_V1=y
+# CONFIG_ARCH_BOARD_CUSTOM is not set
+CONFIG_ARCH_BOARD="px4io-v1"
+CONFIG_BOARD_LOOPSPERMSEC=2000
 CONFIG_DRAM_SIZE=0x00002000
 CONFIG_DRAM_START=0x20000000
-CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE)
 CONFIG_ARCH_IRQPRIO=y
 CONFIG_ARCH_INTERRUPTSTACK=n
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARCH_BOOTLOADER=n
-CONFIG_ARCH_LEDS=y
-CONFIG_ARCH_BUTTONS=y
+CONFIG_ARCH_LEDS=n
+CONFIG_ARCH_BUTTONS=n
 CONFIG_ARCH_CALIBRATION=n
-CONFIG_ARCH_DMA=n
+CONFIG_ARCH_DMA=y
+CONFIG_ARCH_MATH_H=y
+
 CONFIG_ARMV7M_CMNVECTOR=y
 
 #
@@ -109,8 +114,9 @@ CONFIG_STM32_JTAG_SW_ENABLE=n
 
 #
 # Individual subsystems can be enabled:
+#
 # AHB: 
-CONFIG_STM32_DMA1=n
+CONFIG_STM32_DMA1=y
 CONFIG_STM32_DMA2=n
 CONFIG_STM32_CRC=n
 # APB1:
@@ -131,6 +137,7 @@ CONFIG_STM32_BKP=n
 CONFIG_STM32_PWR=n
 CONFIG_STM32_DAC=n
 # APB2:
+# We use our own ADC driver, but leave this on for clocking purposes.
 CONFIG_STM32_ADC1=y
 CONFIG_STM32_ADC2=n
 # TIM1 is owned by the HRT
@@ -140,10 +147,6 @@ CONFIG_STM32_TIM8=n
 CONFIG_STM32_USART1=y
 CONFIG_STM32_ADC3=n
 
-#
-# Timer and I2C devices may need to the following to force power to be applied:
-#
-#CONFIG_STM32_FORCEPOWER=y
 
 #
 # STM32F100 specific serial device driver settings
@@ -159,6 +162,9 @@ CONFIG_STM32_ADC3=n
 # CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
 # CONFIG_USARTn_2STOP - Two stop bits
 #
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_STANDARD_SERIAL=y
+
 CONFIG_USART1_SERIAL_CONSOLE=y
 CONFIG_USART2_SERIAL_CONSOLE=n
 CONFIG_USART3_SERIAL_CONSOLE=n
@@ -171,7 +177,7 @@ CONFIG_USART1_RXBUFSIZE=64
 CONFIG_USART2_RXBUFSIZE=64
 CONFIG_USART3_RXBUFSIZE=64
 
-CONFIG_USART1_BAUD=57600
+CONFIG_USART1_BAUD=115200
 CONFIG_USART2_BAUD=115200
 CONFIG_USART3_BAUD=115200
 
@@ -187,6 +193,12 @@ CONFIG_USART1_2STOP=0
 CONFIG_USART2_2STOP=0
 CONFIG_USART3_2STOP=0
 
+CONFIG_USART1_RXDMA=y
+SERIAL_HAVE_CONSOLE_DMA=y
+# Conflicts with I2C1 DMA
+CONFIG_USART2_RXDMA=n
+CONFIG_USART3_RXDMA=y
+
 #
 # PX4IO specific driver settings
 #
@@ -208,7 +220,6 @@ CONFIG_USART3_2STOP=0
 #
 CONFIG_HRT_TIMER=y
 CONFIG_HRT_PPM=y
-CONFIG_PWM_SERVO=y
 
 #
 # General build options
@@ -306,9 +317,6 @@ CONFIG_HAVE_LIBM=n
 # CONFIG_SDCLONE_DISABLE. Disable cloning of all socket
 #   desciptors by task_create() when a new task is started. If
 #   set, all sockets will appear to be closed in the new task.
-# CONFIG_NXFLAT. Enable support for the NXFLAT binary format.
-#  This format will support execution of NuttX binaries located
-#  in a ROMFS filesystem (see examples/nxflat).
 # CONFIG_SCHED_WORKQUEUE.  Create a dedicated "worker" thread to
 #  handle delayed processing from interrupt handlers.  This feature
 #  is required for some drivers but, if there are not complaints,
@@ -327,39 +335,57 @@ CONFIG_HAVE_LIBM=n
 #  thread.  Default: CONFIG_IDLETHREAD_STACKSIZE.
 # CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up
 #  the worker thread.  Default: 4
+# CONFIG_SCHED_WAITPID - Enable the waitpid() API
+# CONFIG_SCHED_ATEXIT - Enabled the atexit() API
 #
+CONFIG_USER_ENTRYPOINT="user_start"
 #CONFIG_APPS_DIR=
 CONFIG_DEBUG=n
 CONFIG_DEBUG_VERBOSE=n
 CONFIG_DEBUG_SYMBOLS=y
-CONFIG_HAVE_CXX=n
-CONFIG_HAVE_CXXINITIALIZE=n
+CONFIG_DEBUG_FS=n
+CONFIG_DEBUG_GRAPHICS=n
+CONFIG_DEBUG_LCD=n
+CONFIG_DEBUG_USB=n
+CONFIG_DEBUG_NET=n
+CONFIG_DEBUG_RTC=n
+CONFIG_DEBUG_ANALOG=n
+CONFIG_DEBUG_PWM=n
+CONFIG_DEBUG_CAN=n
+CONFIG_DEBUG_I2C=n
+CONFIG_DEBUG_INPUT=n
+
+CONFIG_MSEC_PER_TICK=1
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_MM_REGIONS=1
 CONFIG_MM_SMALL=y
 CONFIG_ARCH_LOWPUTC=y
-CONFIG_RR_INTERVAL=200
+CONFIG_RR_INTERVAL=0
 CONFIG_SCHED_INSTRUMENTATION=n
-CONFIG_TASK_NAME_SIZE=0
-CONFIG_START_YEAR=2009
-CONFIG_START_MONTH=9
-CONFIG_START_DAY=21
+CONFIG_TASK_NAME_SIZE=8
+CONFIG_START_YEAR=1970
+CONFIG_START_MONTH=1
+CONFIG_START_DAY=1
 CONFIG_GREGORIAN_TIME=n
 CONFIG_JULIAN_TIME=n
+# this eats ~1KiB of RAM ... work out why
 CONFIG_DEV_CONSOLE=y
 CONFIG_DEV_LOWCONSOLE=n
 CONFIG_MUTEX_TYPES=n
 CONFIG_PRIORITY_INHERITANCE=n
 CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SEM_NNESTPRIO=0
-CONFIG_FDCLONE_DISABLE=n
+CONFIG_FDCLONE_DISABLE=y
 CONFIG_FDCLONE_STDIO=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_NXFLAT=n
 CONFIG_SCHED_WORKQUEUE=n
 CONFIG_SCHED_WORKPRIORITY=50
-CONFIG_SCHED_WORKPERIOD=(50*1000)
-CONFIG_SCHED_WORKSTACKSIZE=512
+CONFIG_SCHED_WORKPERIOD=50000
+CONFIG_SCHED_WORKSTACKSIZE=1024
 CONFIG_SIG_SIGWORK=4
+CONFIG_SCHED_WAITPID=n
+CONFIG_SCHED_ATEXIT=n
 
 #
 # The following can be used to disable categories of
@@ -378,8 +404,8 @@ CONFIG_SIG_SIGWORK=4
 #
 CONFIG_DISABLE_CLOCK=n
 CONFIG_DISABLE_POSIX_TIMERS=y
-CONFIG_DISABLE_PTHREAD=n
-CONFIG_DISABLE_SIGNALS=n
+CONFIG_DISABLE_PTHREAD=y
+CONFIG_DISABLE_SIGNALS=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_ENVIRON=y
@@ -427,6 +453,14 @@ CONFIG_ARCH_BZERO=n
 # CONFIG_NAME_MAX - The maximum size of a file name.
 # CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate
 #   on fopen. (Only if CONFIG_NFILE_STREAMS > 0)
+# CONFIG_STDIO_LINEBUFFER - If standard C buffered I/O is enabled
+#   (CONFIG_STDIO_BUFFER_SIZE > 0), then this option may be added
+#   to force automatic, line-oriented flushing the output buffer
+#   for putc(), fputc(), putchar(), puts(), fputs(), printf(),
+#   fprintf(), and vfprintf().  When a newline is encountered in
+#   the output string, the output buffer will be flushed.  This
+#   (slightly) increases the NuttX footprint but supports the kind
+#   of behavior that people expect for printf().
 # CONFIG_NUNGET_CHARS - Number of characters that can be
 #   buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0)
 # CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message
@@ -448,16 +482,17 @@ CONFIG_ARCH_BZERO=n
 CONFIG_MAX_TASKS=4
 CONFIG_MAX_TASK_ARGS=4
 CONFIG_NPTHREAD_KEYS=2
-CONFIG_NFILE_DESCRIPTORS=6
-CONFIG_NFILE_STREAMS=4
-CONFIG_NAME_MAX=32
-CONFIG_STDIO_BUFFER_SIZE=64
+CONFIG_NFILE_DESCRIPTORS=8
+CONFIG_NFILE_STREAMS=0
+CONFIG_NAME_MAX=12
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STDIO_LINEBUFFER=n
 CONFIG_NUNGET_CHARS=2
-CONFIG_PREALLOC_MQ_MSGS=1
+CONFIG_PREALLOC_MQ_MSGS=4
 CONFIG_MQ_MAXMSGSIZE=32
 CONFIG_MAX_WDOGPARMS=2
-CONFIG_PREALLOC_WDOGS=3
-CONFIG_PREALLOC_TIMERS=1
+CONFIG_PREALLOC_WDOGS=4
+CONFIG_PREALLOC_TIMERS=0
 
 
 #
@@ -478,57 +513,9 @@ CONFIG_PREALLOC_TIMERS=1
 # CONFIG_NSH_ARCHINIT - Platform provides architecture
 #   specific initialization (nsh_archinitialize()).
 #
-# If CONFIG_NSH_TELNET is selected:
-# CONFIG_NSH_IOBUFFER_SIZE -- Telnetd I/O buffer size
-# CONFIG_NSH_DHCPC - Obtain address using DHCP
-# CONFIG_NSH_IPADDR - Provides static IP address
-# CONFIG_NSH_DRIPADDR - Provides static router IP address
-# CONFIG_NSH_NETMASK - Provides static network mask
-# CONFIG_NSH_NOMAC - Use a bogus MAC address
-#
-# If CONFIG_NSH_ROMFSETC is selected:
-# CONFIG_NSH_ROMFSMOUNTPT - ROMFS mountpoint
-# CONFIG_NSH_INITSCRIPT - Relative path to init script
-# CONFIG_NSH_ROMFSDEVNO - ROMFS RAM device minor
-# CONFIG_NSH_ROMFSSECTSIZE - ROMF sector size
-# CONFIG_NSH_FATDEVNO - FAT FS RAM device minor
-# CONFIG_NSH_FATSECTSIZE - FAT FS sector size
-# CONFIG_NSH_FATNSECTORS - FAT FS number of sectors
-# CONFIG_NSH_FATMOUNTPT - FAT FS mountpoint
-#
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_FILEIOSIZE=64
-CONFIG_NSH_STRERROR=n
-CONFIG_NSH_LINELEN=64
-CONFIG_NSH_NESTDEPTH=1
-CONFIG_NSH_DISABLESCRIPT=y
-CONFIG_NSH_DISABLEBG=n
-CONFIG_NSH_ROMFSETC=n
-CONFIG_NSH_CONSOLE=y
-CONFIG_NSH_TELNET=n
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_IOBUFFER_SIZE=256
-#CONFIG_NSH_STACKSIZE=1024
-CONFIG_NSH_DHCPC=n
-CONFIG_NSH_NOMAC=n
-CONFIG_NSH_IPADDR=(10<<24|0<<16|0<<8|2)
-CONFIG_NSH_DRIPADDR=(10<<24|0<<16|0<<8|1)
-CONFIG_NSH_NETMASK=(255<<24|255<<16|255<<8|0)
-CONFIG_NSH_ROMFSMOUNTPT="/etc"
-CONFIG_NSH_INITSCRIPT="init.d/rcS"
-CONFIG_NSH_ROMFSDEVNO=0
-CONFIG_NSH_ROMFSSECTSIZE=64
-CONFIG_NSH_FATDEVNO=1
-CONFIG_NSH_FATSECTSIZE=512
-CONFIG_NSH_FATNSECTORS=1024
-CONFIG_NSH_FATMOUNTPT=/tmp
 
-#
-# Architecture-specific NSH options
-#
-CONFIG_NSH_MMCSDSPIPORTNO=0
-CONFIG_NSH_MMCSDSLOTNO=0
-CONFIG_NSH_MMCSDMINOR=0
+# Disable NSH completely
+CONFIG_NSH_CONSOLE=n
 
 #
 # Stack and heap information
@@ -557,9 +544,9 @@ CONFIG_BOOT_RUNFROMFLASH=n
 CONFIG_BOOT_COPYTORAM=n
 CONFIG_CUSTOM_STACK=n
 CONFIG_STACK_POINTER=
-CONFIG_IDLETHREAD_STACKSIZE=800
-CONFIG_USERMAIN_STACKSIZE=1024
-CONFIG_PTHREAD_STACK_MIN=256
-CONFIG_PTHREAD_STACK_DEFAULT=512
+CONFIG_IDLETHREAD_STACKSIZE=1024
+CONFIG_USERMAIN_STACKSIZE=1200
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_PTHREAD_STACK_DEFAULT=1024
 CONFIG_HEAP_BASE=
 CONFIG_HEAP_SIZE=
diff --git a/nuttx/configs/px4io-v1/nsh/setenv.sh b/nuttx/configs/px4io-v1/nsh/setenv.sh
index d83685192..ff9a4bf8a 100755
--- a/nuttx/configs/px4io-v1/nsh/setenv.sh
+++ b/nuttx/configs/px4io-v1/nsh/setenv.sh
@@ -2,7 +2,7 @@
 # configs/stm3210e-eval/dfu/setenv.sh
 #
 #   Copyright (C) 2009 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#   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
@@ -41,7 +41,7 @@ if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
 
 WD=`pwd`
 export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
-export BUILDROOT_BIN="${WD}/../buildroot/build_arm_nofpu/staging_dir/bin"
+export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
 export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
 
 echo "PATH : ${PATH}"