add board architecture specific init defaults

ROMFS/CMakeLists.txt

@@ -83,7 +83,7 @@ if (px4_constrained_flash_build)
 endif()
 if(PX4_ETHERNET)
 	set(added_arguments ${added_arguments} --ethernet)
-endif()	
+endif()
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
@@ -158,6 +158,30 @@ if(config_build_bootloader)
 	)
 endif()
 
+
+# optional board architecture defaults
+set(board_arch_rc_file "rc.board_arch_defaults")
+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
+	message(STATUS "ROMFS: Adding ${board_arch_rc_file}")
+
+	add_custom_command(
+		OUTPUT
+			${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
+			${board_arch_rc_file}.stamp
+		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
+		COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp
+		DEPENDS
+			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}
+			romfs_copy.stamp
+		COMMENT "ROMFS: copying ${board_arch_rc_file}"
+	)
+
+	list(APPEND extras_dependencies
+		${board_arch_rc_file}.stamp
+	)
+endif()
+
+
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
 	rc.board_defaults

ROMFS/cannode/init.d/rcS

@@ -49,6 +49,17 @@ then
 	param reset_all
 fi
 
+#
+# Optional board architecture defaults: rc.board_arch_defaults
+#
+set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
+if [ -f $BOARD_ARCH_RC_DEFAULTS ]
+then
+	echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
+	. $BOARD_ARCH_RC_DEFAULTS
+fi
+unset BOARD_ARCH_RC_DEFAULTS
+
 #
 # Optional board defaults: rc.board_defaults
 #

ROMFS/px4fmu_common/init.d/rc.logging

@@ -4,12 +4,6 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-if param greater -s UAVCAN_ENABLE 1
-then
-	# Reduce logger buffer to free up some RAM for UAVCAN servers.
-	set LOGGER_BUF 6
-fi
-
 ###############################################################################
 #                 End Setup for board specific configurations.                #
 ###############################################################################

ROMFS/px4fmu_common/init.d/rcS

@@ -180,6 +180,17 @@ else
 		set AUTOCNF yes
 	fi
 
+	#
+	# Optional board architecture defaults: rc.board_arch_defaults
+	#
+	set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
+	if [ -f $BOARD_ARCH_RC_DEFAULTS ]
+	then
+		echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
+		. $BOARD_ARCH_RC_DEFAULTS
+	fi
+	unset BOARD_ARCH_RC_DEFAULTS
+
 	#
 	# Optional board defaults: rc.board_defaults
 	#

boards/airmind/mindpx-v2/init/rc.board_defaults

@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# Airmind Mindpx-v2 specific board defaults
-#------------------------------------------------------------------------------
-
-# Disable safety switch by default
-param set-default CBRK_IO_SAFETY 22027

boards/ark/can-flow/init/rc.board_defaults

@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-if [ $AUTOCNF = yes ]
-then
-
-fi

boards/av/x-v1/init/rc.board_defaults

@@ -1,13 +1,7 @@
 #!/bin/sh
 #
-# av_x1-v1 specific board init
+# board specific defaults
 #------------------------------------------------------------------------------
 
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281
-
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-
-set LOGGER_BUF 64

boards/bitcraze/crazyflie/init/rc.board_defaults

@@ -1,10 +1,11 @@
 #!/bin/sh
 #
-# Bitcraze Crazyflie specific board sensors init
+# board specific defaults
 #------------------------------------------------------------------------------
 
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281
+
 param set-default SYS_AUTOSTART 4900
 
 # don't probe external I2C

boards/bitcraze/crazyflie21/init/rc.board_defaults

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Bitcraze Crazyflie specific board sensors init
+# board specific defaults
 #------------------------------------------------------------------------------
 
 # system_power unavailable

boards/cuav/can-gps-v1/init/rc.board_defaults

@@ -3,12 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
-if [ $AUTOCNF = yes ]
-then
-
-fi
-
 neopixel start
 safety_button start
 tone_alarm start
-

boards/cuav/nora/init/rc.board_defaults

@@ -30,19 +30,8 @@ param set-default BAT_A_PER_V 24
 param set-default BAT1_A_PER_V 24
 param set-default BAT2_A_PER_V 24
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-param set-default EKF2_MULTI_MAG 3
-param set-default SENS_MAG_MODE 0
-
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
 
-param set-default UAVCAN_ENABLE 2
-
-
-set LOGGER_BUF 64
-
 rgbled_pwm start
 safety_button start

boards/cuav/x7pro/init/rc.board_defaults

@@ -30,19 +30,8 @@ param set-default BAT_A_PER_V 24
 param set-default BAT1_A_PER_V 24
 param set-default BAT2_A_PER_V 24
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-param set-default EKF2_MULTI_MAG 3
-param set-default SENS_MAG_MODE 0
-
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
 
-param set-default UAVCAN_ENABLE 2
-
-
-set LOGGER_BUF 64
-
 rgbled_pwm start
 safety_button start

boards/cubepilot/cubeorange/init/rc.board_defaults

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Board specific defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
 #
@@ -30,17 +30,7 @@ param set-default BAT_A_PER_V 17
 param set-default BAT1_A_PER_V 17
 param set-default BAT2_A_PER_V 17
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-param set-default EKF2_MULTI_MAG 3
-param set-default SENS_MAG_MODE 0
-
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0
 
-param set-default UAVCAN_ENABLE 2
-
-
-set LOGGER_BUF 64
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

boards/cubepilot/cubeyellow/init/rc.board_defaults

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Board specific defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
 
@@ -12,15 +12,7 @@ param set-default BAT_A_PER_V 17
 param set-default BAT1_A_PER_V 17
 param set-default BAT2_A_PER_V 17
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0
 
-param set-default UAVCAN_ENABLE 2
-
-
-set LOGGER_BUF 64
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

boards/holybro/can-gps-v1/init/rc.board_defaults

@@ -3,4 +3,4 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
-rgbled_ncp5623c -I -b 1 -a 0x39  start
+rgbled_ncp5623c -I -b 1 -a 0x39 start

boards/holybro/durandal-v1/init/rc.board_defaults

@@ -23,16 +23,5 @@ fi
 unset BL_FILE
 
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-param set-default EKF2_MULTI_MAG 3
-param set-default SENS_MAG_MODE 0
-
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
-
-param set-default UAVCAN_ENABLE 2
-
-
-set LOGGER_BUF 64

boards/holybro/kakutef7/init/rc.board_defaults

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# KakuteF7 specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
 # system_power unavailable

boards/holybro/pix32v5/init/rc.board_defaults

@@ -1,18 +1,7 @@
 #!/bin/sh
 #
-# PX4 FMUv5 specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 2
-param set-default SENS_IMU_MODE 0
-param set-default EKF2_MULTI_MAG 2
-param set-default SENS_MAG_MODE 0
-
-param set-default UAVCAN_ENABLE 2
-
-
-set LOGGER_BUF 64
-
 rgbled_pwm start
 safety_button start

boards/modalai/fc-v1/init/rc.board_defaults

@@ -1,7 +1,6 @@
 #!/bin/sh
 #
-# ModalAI FC-v1 specific board defaults
+# board specific defaults
-# Maintainer: travis@modalai.com
 #------------------------------------------------------------------------------
 
 #
@@ -24,12 +23,6 @@
 #  V110 - J1011 pin 5
 param set-default CBRK_IO_SAFETY 22027
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-
-param set-default UAVCAN_ENABLE 2
-
 #
 # Stand Alone configuration
 #
@@ -98,6 +91,5 @@ then
 	fi
 fi
 
-set LOGGER_BUF 64
 
 safety_button start

boards/mro/ctrl-zero-f7-oem/init/rc.board_defaults

@@ -1,19 +1,6 @@
 #!/bin/sh
 #
-# mRo Control Zero specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
-
-if [ $AUTOCNF = yes ]
-then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-
-	param set UAVCAN_ENABLE 2
-fi
-
-set LOGGER_BUF 64
-set MIXER_AUX none
-
 safety_button start

boards/mro/ctrl-zero-f7/init/rc.board_defaults

@@ -1,16 +1,6 @@
 #!/bin/sh
 #
-# mRo Control Zero specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-
-param set-default UAVCAN_ENABLE 2
-
-
-set LOGGER_BUF 64
-set MIXER_AUX none
-
 safety_button start

boards/mro/ctrl-zero-h7-oem/init/rc.board_defaults

@@ -6,7 +6,7 @@
 #
 # Bootloader upgrade
 #
-set BL_FILE /etc/extras/mro_ctrl-zero-h7_bootloader.bin
+set BL_FILE /etc/extras/mro_ctrl-zero-h7-oem_bootloader.bin
 if [ -f $BL_FILE ]
 then
 	if param compare SYS_BL_UPDATE 1
@@ -28,15 +28,5 @@ param set-default BAT1_V_DIV 10.1
 param set-default BAT_A_PER_V 24
 param set-default BAT1_A_PER_V 24
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-param set-default EKF2_MULTI_MAG 3
-param set-default SENS_MAG_MODE 0
-
-param set-default UAVCAN_ENABLE 2
-
-
-set LOGGER_BUF 64
 
 safety_button start

boards/mro/ctrl-zero-h7/init/rc.board_defaults

@@ -28,15 +28,5 @@ param set-default BAT1_V_DIV 10.1
 param set-default BAT_A_PER_V 24
 param set-default BAT1_A_PER_V 24
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-param set-default EKF2_MULTI_MAG 3
-param set-default SENS_MAG_MODE 0
-
-param set-default UAVCAN_ENABLE 2
-
-
-set LOGGER_BUF 64
 
 safety_button start

boards/mro/pixracerpro/init/rc.board_defaults

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Board specific defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
 #
@@ -27,15 +27,3 @@ param set-default BAT1_V_DIV 10.1
 
 param set-default BAT_A_PER_V 17
 param set-default BAT1_A_PER_V 17
-
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-param set-default EKF2_MULTI_MAG 3
-param set-default SENS_MAG_MODE 0
-
-param set-default UAVCAN_ENABLE 2
-
-
-set LOGGER_BUF 64
-set MIXER_AUX none

boards/nxp/fmuk66-e/init/rc.board_defaults

@@ -1,13 +1,7 @@
 #!/bin/sh
 #
-# NXP fmuk66-e specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
-
-if [ $AUTOCNF = yes ]
-then
-
-fi
-
 rgbled_pwm start
 safety_button start

boards/nxp/fmuk66-v3/init/rc.board_defaults

@@ -1,14 +1,8 @@
 #!/bin/sh
 #
-# NXP fmuk66-v3 specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
-
-if [ $AUTOCNF = yes ]
-then
-
-fi
-
 rgbled_pwm start
 safety_button start
 

boards/nxp/fmurt1062-v1/init/rc.board_defaults

@@ -1,15 +1,7 @@
 #!/bin/sh
 #
-# PX4 FMUv5 specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
-
-if [ $AUTOCNF = yes ]
-then
-
-fi
-
-set LOGGER_BUF 64
-
 rgbled_pwm start
 safety_button start

boards/nxp/ucans32k146/init/rc.board_defaults

@@ -1,12 +1,6 @@
 #!/bin/sh
 #
-# board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
-
-if [ $AUTOCNF = yes ]
-then
-
-fi
-
 pwm_out mode_pwm1 start

boards/omnibus/f4sd/init/rc.board_defaults

@@ -1,18 +1,11 @@
 #!/bin/sh
 #
-# Omnibus F4SD specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281
 
-# transition from LPE+Q to Q estimator (2019-06-05)
-if param compare SYS_MC_EST_GROUP 1
-then
-	param set SYS_MC_EST_GROUP 3
-fi
-
-
 # Disable safety switch by default
 param set-default CBRK_IO_SAFETY 22027
 

boards/px4/fmu-v2/init/rc.board_defaults

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# PX4 FMUv2 specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
 

boards/px4/fmu-v3/init/rc.board_defaults

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# PX4 FMUv3 specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
 

boards/px4/fmu-v4/init/rc.board_defaults

@@ -1,21 +1,15 @@
 #!/bin/sh
 #
-# PX4 FMUv4 specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
 
-if [ $AUTOCNF = yes ]
+# start MAVLink on Wifi (ESP8266 port). Except for the TealOne airframe.
+if ! param compare SYS_AUTOSTART 4250
 then
-	# Disable safety switch by default
+	param set-default MAV_2_CONFIG 301
-	param set-default CBRK_IO_SAFETY 22027
+	param set-default MAV_2_RATE 20000
-
+	param set-default SER_WIFI_BAUD 921600
-	# start MAVLink on Wifi (ESP8266 port). Except for the TealOne airframe.
-	if ! param compare SYS_AUTOSTART 4250
-	then
-		param set-default MAV_2_CONFIG 301
-		param set-default MAV_2_RATE 20000
-		param set-default SER_WIFI_BAUD 921600
-	fi
 fi
 
 if param compare SER_WIFI_BAUD 1
@@ -30,5 +24,5 @@ then
 	fi
 fi
 
-safety_button start
 
+safety_button start

boards/px4/fmu-v4pro/init/rc.board_defaults

@@ -1,13 +1,10 @@
 #!/bin/sh
 #
-# PX4 FMUv4pro specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
 # Multi-EKF
-param set-default EKF2_MULTI_IMU 3
+param set-default EKF2_MULTI_IMU 2
 param set-default SENS_IMU_MODE 0
 
-param set-default UAVCAN_ENABLE 2
-
-
 set LOGGER_BUF 64

boards/px4/fmu-v5/init/rc.board_defaults

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# PX4 FMUv5 specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
 
@@ -18,10 +18,5 @@ else
 	param set-default SENS_MAG_MODE 0
 fi
 
-param set-default UAVCAN_ENABLE 2
-
-
-set LOGGER_BUF 64
-
 rgbled_pwm start
 safety_button start

boards/px4/fmu-v5x/init/rc.board_defaults

@@ -1,15 +1,6 @@
 #!/bin/sh
 #
-# PX4 FMUv5X specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-
-param set-default UAVCAN_ENABLE 2
-
-
-set LOGGER_BUF 64
-
 safety_button start

boards/px4/fmu-v6u/init/rc.board_defaults

@@ -1,17 +1,6 @@
 #!/bin/sh
 #
-# PX4 FMUv6U specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-param set-default EKF2_MULTI_MAG 3
-param set-default SENS_MAG_MODE 0
-
-param set-default UAVCAN_ENABLE 2
-
-
-set LOGGER_BUF 64
-
 safety_button start

boards/px4/fmu-v6x/init/rc.board_defaults

@@ -1,17 +1,6 @@
 #!/bin/sh
 #
-# PX4 FMUv6X specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
-# Multi-EKF
-param set-default EKF2_MULTI_IMU 3
-param set-default SENS_IMU_MODE 0
-param set-default EKF2_MULTI_MAG 3
-param set-default SENS_MAG_MODE 0
-
-param set-default UAVCAN_ENABLE 2
-
-
-set LOGGER_BUF 64
-
 safety_button start

boards/spracing/h7extreme/init/rc.board_defaults

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# SP Racing H7 EXTREME specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
 # system_power unavailable
@@ -9,9 +9,6 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Select the Generic 250 Racer by default
 param set-default SYS_AUTOSTART 4050
 
-# Disable safety switch by default
-param set-default CBRK_IO_SAFETY 22027
-
 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
 param set-default ATT_ACC_COMP 0
@@ -21,6 +18,3 @@ param set-default ATT_W_GYRO_BIAS 0.0000
 param set-default SYS_HAS_MAG 0
 
 param set-default DSHOT_CONFIG 600
-
-
-set LOGGER_BUF 64

boards/uvify/core/init/rc.board_defaults

@@ -1,10 +1,7 @@
 #!/bin/sh
 #
-# UVify Core specific board defaults
+# board specific defaults
 #------------------------------------------------------------------------------
 
-# Disable safety switch by default
-param set-default CBRK_IO_SAFETY 22027
-
 # don't probe external I2C
 param set-default SENS_EXT_I2C_PRB 0

platforms/nuttx/init/imxrt/rc.board_arch_defaults

@@ -1,4 +1,6 @@
 #!/bin/sh
 #
-# mRo x21 specific board defaults
+# imxrt specific defaults
 #------------------------------------------------------------------------------
+
+set LOGGER_BUF 32

platforms/nuttx/init/kinetis/rc.board_arch_defaults

@@ -0,0 +1,18 @@
+#!/bin/sh
+#
+# Kinetis specific defaults
+#------------------------------------------------------------------------------
+
+# Multi-EKF (off by default)
+param set-default EKF2_MULTI_IMU 0
+param set-default SENS_IMU_MODE 1
+param set-default EKF2_MULTI_MAG 0
+param set-default SENS_MAG_MODE 1
+
+set LOGGER_BUF 12
+
+if param greater -s UAVCAN_ENABLE 1
+then
+	# Reduce logger buffer to free up some RAM for UAVCAN servers.
+	set LOGGER_BUF 4
+fi

platforms/nuttx/init/s32k1xx/rc.board_arch_defaults

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# S32K1XX specific defaults
+#------------------------------------------------------------------------------
+
+set LOGGER_BUF 12
+
+if param greater -s UAVCAN_ENABLE 1
+then
+	# Reduce logger buffer to free up some RAM for UAVCAN servers.
+	set LOGGER_BUF 4
+fi

platforms/nuttx/init/stm32/rc.board_arch_defaults

@@ -0,0 +1,18 @@
+#!/bin/sh
+#
+# STM32 (STM32F4) specific defaults
+#------------------------------------------------------------------------------
+
+# Multi-EKF (off by default)
+param set-default EKF2_MULTI_IMU 0
+param set-default SENS_IMU_MODE 1
+param set-default EKF2_MULTI_MAG 0
+param set-default SENS_MAG_MODE 1
+
+set LOGGER_BUF 12
+
+if param greater -s UAVCAN_ENABLE 1
+then
+	# Reduce logger buffer to free up some RAM for UAVCAN servers.
+	set LOGGER_BUF 4
+fi

platforms/nuttx/init/stm32f7/rc.board_arch_defaults

@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# STM32F7 specific defaults
+#------------------------------------------------------------------------------
+
+# Multi-EKF (across IMUs only)
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+param set-default EKF2_MULTI_MAG 0
+param set-default SENS_MAG_MODE 1
+
+param set-default UAVCAN_ENABLE 2
+
+set LOGGER_BUF 64

platforms/nuttx/init/stm32h7/rc.board_arch_defaults

@@ -1,16 +1,14 @@
 #!/bin/sh
 #
-# Board specific defaults
+# STM32H7 specific defaults
 #------------------------------------------------------------------------------
 
-
 # Multi-EKF
-param set-default EKF2_MULTI_IMU 2
+param set-default EKF2_MULTI_IMU 3
 param set-default SENS_IMU_MODE 0
-param set-default EKF2_MULTI_MAG 2
+param set-default EKF2_MULTI_MAG 3
 param set-default SENS_MAG_MODE 0
 
 param set-default UAVCAN_ENABLE 2
 
-
 set LOGGER_BUF 64