From 12a81979a8e53b482f45b888faa1c8ed79d23ada Mon Sep 17 00:00:00 2001
From: Igor Misic <igy1000mb@gmail.com>
Date: Thu, 19 May 2022 15:27:08 +0200
Subject: [PATCH] px4io: replace safety_off state with safety button event
 (#19558)

internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
---
 .../extras/cubepilot_io-v2_default.bin        | Bin 39728 -> 39700 bytes
 .../extras/cubepilot_io-v2_default.bin        | Bin 39728 -> 39700 bytes
 .../durandal-v1/extras/px4_io-v2_default.bin  | Bin 39952 -> 39920 bytes
 .../pix32v5/extras/px4_io-v2_default.bin      | Bin 39952 -> 39920 bytes
 .../mro/x21-777/extras/px4_io-v2_default.bin  | Bin 39952 -> 39920 bytes
 .../px4/fmu-v2/extras/px4_io-v2_default.bin   | Bin 39952 -> 39920 bytes
 .../px4/fmu-v3/extras/px4_io-v2_default.bin   | Bin 39952 -> 39920 bytes
 .../fmu-v4pro/extras/px4_io-v2_default.bin    | Bin 39952 -> 39920 bytes
 .../px4/fmu-v5/extras/px4_io-v2_default.bin   | Bin 39952 -> 39920 bytes
 .../px4/fmu-v5x/extras/px4_io-v2_default.bin  | Bin 39952 -> 39920 bytes
 .../px4/fmu-v6x/extras/px4_io-v2_default.bin  | Bin 39952 -> 39920 bytes
 msg/px4io_status.msg                          |   2 +-
 src/drivers/drv_pwm_output.h                  |   6 -
 src/drivers/pca9685_pwm_out/main.cpp          |   2 -
 src/drivers/pwm_out/PWMOut.cpp                |   2 -
 src/drivers/px4io/px4io.cpp                   | 134 ++++--------------
 src/drivers/uavcan/uavcan_main.cpp            |   2 -
 src/modules/commander/commander_params.c      |   2 +-
 src/modules/commander/esc_calibration.cpp     |  10 --
 src/modules/px4iofirmware/CMakeLists.txt      |   2 +-
 src/modules/px4iofirmware/mixer.cpp           |   6 +-
 src/modules/px4iofirmware/protocol.h          |  13 +-
 src/modules/px4iofirmware/px4io.cpp           |  10 +-
 src/modules/px4iofirmware/px4io.h             |   6 +-
 src/modules/px4iofirmware/registers.c         |  19 ++-
 .../{safety.cpp => safety_button.cpp}         |  43 ++----
 26 files changed, 69 insertions(+), 190 deletions(-)
 rename src/modules/px4iofirmware/{safety.cpp => safety_button.cpp} (79%)

diff --git a/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin b/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
index fc9066700fbd65dc8c497a04666ced228cbc4148..c75ca85285ec0cafc4b54bea788887dbd1187089 100755
GIT binary patch
delta 4249
zcmZ8l4OA3YmVU3Qe~Le8KoIDl-IOSZKOkyIh@k<g&@|YfL`2jy!Jl?DiAqe&sD}ps
zDmodBPgfBgL!6vLL^nVWCP)xx$!3j)S%{h#Jw~%Ln}*SuDUndsKXmVX#GJEdIp^cM
z@4ox)ySMtj`>MP3B6IX2gEQOkD;V2J71js&LXiO>WZ2`}i@PvxB{^(1{I6r@;8tfF
z8?Kpfr4ey`fZKq-Hah<tbcw|_=euDc7;kqTn{Z!^H#@gYoT9><^H^*RR&!?&_giOJ
zd=17&NS*#Ae3N{oKaRh5Rz0&r%{)Hs{K5Dy7+-Ok`7^=zymM%ljDdcf^DM)7PCMi0
zPSb?#Y(^Xf(g8b*Ge1#jw7*AO;Ixxj_<RsPMHUKre9BoNOu|50UW(RWMD`cY!Pm&A
z#Zzh@xpj%ic(x!Qrz?z<ub{-Hq7RG96jheW7}*?2SgFZ-K9>=G9yndJyZtZqr!7oq
z;%<~=9r?{xh9DkI?;Aq=i30W*BiR*=;kcQVB7NAHH+lwn<wG7Sod)TECq;O__>%CM
z@Uf6LdJr^qFqdN)JqqGZ50VDGNcwsVNy`9{W1-Dhs&I!lY7C9-sgCfI5skaS@lRm$
z$jeAumEhxyWLA*$B!HwFV^}Kp_v*<9i{se>zm{|_o?crmHfj@YVrh<l!(z4Y?GT#V
z8?PZ%4;fYqQQsTVe7>fzI-l!Vkstg`WOK;-Skkz=m6d5B4Ie8gZN6=bZJih+F`B4;
zngNY>f@gX0Eyy)0&)knC)=%Ywxm-_uZq7GYnm)FqaEV1{UsAj+nZIp~m)3;F*=N~9
zy?8X#tNz(4y%l=VD~)z|ePox_7=8V=$r5kJbK`Aax=aPwzA#1X(U1<Sv9{H<pl|^=
zinEKk5&e`SL5jD9^v^AxYnicKYhWMdMyA8lNcN^~M||pLEH#a_KIB-A1UJqsta`|@
zLE|ZM_?Pf{M&^F9_CREFr=qg`QDGc^R8T9HYLw{4DIQU|(0;LfisztrhJX!yLpa9y
zj5$N-Q;;Jd*ZZ;b=9ohWem{b2DA5N^g}Ry=gbWMFdnFk`B``AOhNCj_RY?N=lDJCd
zKoL(WeR=)|X8bT855`_;*CylJC-O}LSo$B|Da)zC-XR7PF#sQGo@8Q)14|nfWau80
z_WvtsDve7xR7gaa8*$VS$Dr#yi)r+WiR{B1cExmLJV?GPUCX|1-9oaL7=t<;mmcGA
zlXQh_SdyA>&T)TGErlk|eZHW1Lv!=8)y>V#o8NLAJ-QeENZXRe^4aDi?E#q^JL2jR
z?`jX-%o`P=PURjPNP)`d$M(Cvc)~`gq;SMYX+8(o@FR{qy-FXdde9|KZ5xlNy30}H
z0)6$c%OK3#!$^7FjihC%-tuBV*EvmzHdVO1G<u0)y^f_WG^=)`^pn5l(UYK(F!sn7
z0|hRt6iB=E(^d`{YykQ+M}SqpX$&&dkchIEa1*I0GvdQ!M_FpbH$IgCNpE|a6@=6v
zZ6%+UWrdyhStZ0>6HEe<E|Wl+8P^l@%lcYfN8xZZ^2p%<Ly@7--gZ{3PzB$Nvg3@P
z)F_+wd+UfJ$B+<^d%gGpRI=@?7&YQ}W0EDlzf!c02DU^=OnClq3Cs1w36Vwg<ns2o
zoUig$JcA*FM4Lyx=I8C<se5`5&)am}E5svO?afLtfB5CnC<)IFkL_WN|LwAloXffI
zqRDN4n%F$x5KDs?G2+<54$w#9kv}2{%Xqw#<Sd&KvDBw-U8ShJtJWg!gMAn+AJ=9*
z)w)4jFo;nmX<BA1dc~7$_sT0h){)$$=|Zv{k<h|LyjM>0AU?z#4;ruhoQJp5660-5
z>*nr>i;zhL_yVFpz*m8H0mjym3FRxXk8CW@#xIbT^6B_la--Zh>x3Ke279~^CwS%a
z?o@E)U{h`CR;e5H(1p}t9q<u216PT0d0xU{cmLx>Xrw>XqTkL+*({UM`Y<p2(G3Fx
z;~;g*C(ZvF>}ddWeP)No;FV{%V=R-3Vr^=Wr@EspF~zaA{80uTjmuX!%mV*~^evx~
z^p1N0SS;{hKGl{x{0t=3J(y_<$p3X2_0Uv8X=)^*BFYkNN1U!hUleTM?YxA+5=+Gj
zZx1%)Jsk-!!Z6~-=dxj>*D|+gRqDEV`x=;0jnB*_Z&Xx9TvOD7D0~kcu~8cW-Spqd
z-3rU}uNAGuD8$;d1z3{CG?rMX1k_Xiw5I9(XM<WkLW)<U8dDXsnUOC0)q+7_rKySl
zqfh-<NER6BwE!#CkcJiIVHJUT;j=cKF%xPtf{d-0k7Gzi<%aZ|kljCa)@HvE$!0x?
zR-@Z6ru)#+S_6Azhp}j9Ffx<@eg}Gy^i`(dqeQM;h<_&YSJuYOSCZPG>Pt7mIiI6U
z2N{*xK~5okD^vJ+fiH&;W{j1fnV?jQJUo{?Nyk<@_;+yzUxy@~#H~u25|CMiF`5hf
zav)GGVk19pgZQEX-r<*jB&${}goqng<-pm!w<;SyCJC#Jcr(dfof7SU*pi>dO`l6Y
z$hXO^)y7&<c(?tVA!hyVClTVZziHXS#UTSN;wcS#3mblC_RA{+2IG6MrzxO+fF!dY
z@vRRv+`G`?wLuoRyK?hgHw?z)1i!2gKwec;iV4)42jFJvf}5#5xBNznxLi|yt3_<k
zl-=58*;U9s*5Rd!D&$~pZY_{|08MKV-zkDNP!rozExv7y?dg4DVzV~4(AH3+>8}=7
zXczZjzD4YP;)vQ@7zHzjg<tGj#McVP?W3YLpZ)FoLSy^VHawdf$l9LK)*|ZF>@9<F
z9VGCzzgmO<p}iQ?6$O#~ez_NtskNC`6vA6a2+rVA6M>ZhW?JNfKMkSve{kVxPM2T)
z!jESM4WtU?X6yg6%z{%EP-k_XfZC)|RA+;NO8(wnE#6m5O;M6A{3Oia0W@n(Kg{Fm
zP7K|%$c>H96&z5I&M()e_;bx_gI_-9r>0BWvbOW%?m{}5+3dhtF<R28RsD316xkA^
z(k*aLy%cN5QdJi(-q!wfYbL3)EyM|=#};RA?oWZ5Mv_axMh)Ge#4o4&Bh3vi)bnen
zKYa#qv=R(WTJ!*z-U1VWY3IKKJOua~U@nYR!1QKlfi<+!JAns5M@&_w@H@)4Lri)@
zZrJTKVN8BP4pq6C!87E*tLrEYznaTE0@D{hKpZhu$C8q26<J<AlTm`mzUt>Sn?OH!
z#`$ISY)s8Z*A(CxBzx_8t-+fnc;tKJ!diWV0uBaYPc##o=q-Phe82X3FxA>28d&yk
z>n`F(vUdIYgkSt2Zq|@wRSTiQnbt`HGHyy_o5$oVGPM39Ml(hZ+aIW@zfEM@hU}*y
zkV_j*)h7DrZQzzC1D^(t2R;ZK11&HbIMSChdI5NXuW0xXa4_gYfi=E@VKp!VtOE9X
z3y1Z<9&gTQJn*O&UN7P8(k)kl2g-j33l4Y)W~?JuO5E~dpS5;ecrb2^VKN_#DStPv
zi3RBe&`|#KxF!yy4A4;ik8zC#q#2;0{Q0;>3z88ul%3-m9Z0dDp?q#!69G~<XeLsj
z$=f~1nGnP~8AhtliGAZDwGR3QB5fNjY7V3rf;aJa3rX5EU0n^`mLsK`jCeJv*_4Di
z(y*x)50O=`{qvQHV5@`A%m7#f@;u-dfKAi~;1PWIvB1>lVF2x%B7k-&+DUaCXlkq_
zQHV9C8hVG&B9HtBzfpk0`)YK7TYi(Yyq*<h3Um+ZOpAs^2=-<t^;G9{zkZhq`V7Q&
z_>$D=ytl=Lb1uQ~3cv?@QuR)#oGuvm06qs?2E;cZ?nOWqU_anI;9CImA>w8`)o<3|
z`P2nnPM1`Gx*c#CKwbTV%D{Vor@@!0Z-J@%AaY?_94;gOxy>B?0LE7V{eaAlFd@(A
zlRqO#Z&hH4)V|e*Z#&c9u4Lk<2{qjVQPS<G`8;sxBp<zVDD3~v_LH37^yW8%&2qqb
zKr6rmC<815H~_j1l|W1I0uoylC~q`#^4$$^3nJ<4n04gGbi3e|2{G@;P?vypCaK$z
z!BZbI0m*<gz#zn+>j*01?I@MKLj%80zT1(Pf3E8n&x-sJln#9tDDBA^J%FgJ$mv~Z
z>iOJ>ceX=wyY8oDbpR>yVJ{u``sqqK7M-u`Okwj2U>kbC>DD8V?yl@(+2~5uBANnC
zi#`e&^fWA*9!;C3NYkcaW&)Nw`)WgQ1f8ZT>WW5Q;2d)BIF6=AlcAQ>8#STc21!zV
zrTQ8jk-hcT@rR^zcQkG$>v!klH_3(FQ}8y@w>ujzB4K-ya4yN%Q;fHhx;-B!o%9(5
z=3}qC#jlzia`)a46RB=goj}LDa>|%$GINJ%_R7V?x_1`5UGCcZT=Y%%48bU1&^~r+
zThqF!^aHuRSC4-nuDwQFPJ;I7BL<EkZm$_}nH{u?dF2E$e_toQNdCF67-x`$`=6aO
z{rImIDrl51`nclEPPg3ZJh*?M3THaMI;dAAv~5LPN)2>FKssPP;5mR1kmSUNk8}7c
wX*glwl21W*g<liMmZLF*Y1qn1@Zxm%SH%%fPzwWoYLR&I_gF{%bn=b=1$Xp`EdT%j

delta 4227
zcmZ8l4OCNCwm#?Hgxv5`0ulKWNC?y)q=FQsG7cfgEg@jQUlg^$6b)0S{!ksJwnM5=
zqtsD*u%alX`nn#qRDsk^X%>SWyR44211cTVI(4Sg2|V9SuNb-cfn@ff&RTCh*82GN
z*=L`9_P%$YeJ(VA!gPJYU~M;k0pney3dhSOVMv7#QnlL~u><3;NIshfzu#cz;jir7
zY<SR9-?k!d6yO4&llHIWpRxEg`~I*HjGOI8pZZRU-?HzVmL$O`_M<ViSekMMaUJ%s
zxLS<QkvHO>#{#(;e+)miSIyWhWy0F*e^LJe<8SSH&AY+)ihVR)#6W+Yw~%3`x7p+7
zKOGd-(t$V%qyV;;=A4%VY1$AM-)3hPFOuU=$znbpe`;UDM`NJv&qoE}r^vq2d3c!o
zt~9CM>ro^l^_il8nCWJO<!+SxUdidw6>dqcL><`?Nm${$uT#hHj|Wlesgk`t-|snT
zU_z7k8eOmMU<lH5@MrlC`0JxcbF7Fx$_THxgH-S6Ss`%(s|&{8MLzMMmrAEVvUz9o
z1>;R1?FC)_cr)@D#NT+4;PN41coGR40g02L9ayOGgts;tTYG|3;U^mOxz>nQR(K3n
zqK^^Ya0kOi6>cQ>14#JGBo;RLyB=^XX<r)0uJT(+-_n^84qJtk88X|B%Vyld!Xp1>
z^5fFz`i;frLau*pq5MW<N5~N@M0on#>oP))=UTH(+f5GJTIqCH(<)OA(U@tZ!QNG+
zLy(=afFHm@n4ii`I<9|@?&mkKkU3daTxOVVDJ$LiOw#a+s#r_9CBLAsV3(@fH$HyB
zCp^XraP~P}b3ampN77_eM*nG8YlySp`EjN{I<-aEvUqj_oh5doy58>0E?!_zSYj<U
zUBm$8NRZ-8Ap@DE^9^(AWGeQ7E;0k2Z?-S34r$W1Vd30l*8@4rk>J*};;IKMD~Gpo
zZ<ND7McMDlIA47rvg7x*kKN4SkKL#X!vl<JP4e#deAM$vPm;IEH;2cn>!a8{W12pT
zzwSnd1L7V(7WPcO!3Q5vkeaf1xfV()MUGU<$icEK`4$*yb>V0mxmuQhZxLtNJlsyA
z%U5Qf*5e0-cqHaxk8BnmZYk6bV&Tz5o1v}v(kO$8Eud=cDG;<Qv0~xZZlvlP5%#r^
z_sU}vjuaCc%(<+!#5&?UWYCU(F^zqY&#s+`)Cb9*%d6RK##)lMOfB!Te)bTDYlSaJ
z&9bzFbJp)hq(W%&{6$5bHJzQSHgxXp+}7F9(y||ZNcXbV`V9TsJpqxMeB0@;RZ0)t
zDj4ULCv{DOX;Ac<$$ic*9<dP;AsjKn&nK+T!m$wZN!`LhhfU+Mn&Tz$p$_ZLC)&B7
zor=-ya;o@e8yKO~x7qo#?vEc|sh`zvbX|ERc5Y68Y>JwH|Dh5gp(vo}eR{4tO1skO
zqYDLw^;wNhlwR*DJ^%LtdOjoq#$K@}u*7K;0vUtk$K|p35RtEV9{)EfU!lhDklGb#
z5noS8R7iN;+u=q?3Q`?8zalrRW5OsP?vK2dN5T~%uF&H)lD{&(KIcO5SQPS#ApuRP
zrX-~}$NnLlhLl@o+ijV8NNEX9Q{Vp3rgT}inr%-HC<P|GaIB0qjt91L{jq#(2|cYE
zOKkqtg0(X+#FuRHir4)bOL!VoszzhV>4WoNy641M!D&j<?Lni<S~V*nARhDGbhgT5
zi(sR|v6baY0f)!*v+8f0M%UT=n@-eED=33ODl2dWAjELo7U8mPX9ww{@QSTOzDk1|
zNcyUzh}9F)uJvw-ueus>?Qdd~Go{UYq7B=GxS|n^OyuAyb;(NaEQ?QE<~6!>%QN{|
z7DPgemuP%qyccOg^l_l^iSxV~3#~kjiRs$bH*E>hN&sI$6bN_#xDgPsnRr*N!((Li
z>O8!F99umTr<4BG>h#}wkVa*R<70WBc-oT&uB>dDN!lg!p?<oMI@}L@4vxkE39Bf;
zZ<6wgc(^%!SrMIm3ufq6)H3Hnkjf{jJkt%)B{3!`$Z?)1!}QV^Q{gxR58>WK@fZty
zoAg#B$+mhHfW=($T}4y^4Knme&~!fqfF{8KW|N3D%7k*a#uBV55HO^Pg<=?C7;#gh
z0+PQb7ILawQyKBKTguz`+isN6Dhq-Bc$s{;#xQfhEi<V37?Z3B3$Do^LySoQ+3n$w
z$^@YInh9RsIr7}vH1#~UUe5@B@Jo3W&kD2LJd7NE%+KN(VS9iTenlGBt`1ut*u#I?
ztx)Gcb;!u*+H4$0k}7L5zlBWx^;&)2)<`z@QIr(jhcVrU7RZaRM_w3<8iJ8(9pJa1
zKTLWnXX69p`^v@GL)7c)W7FKJ-B5SsFTo*Bb<YGDm0LhgBE9Qohvft=k0Q*dD?uY6
zKdy_yGl_J4YLZ{{1Q@lx$S*z)m~B|C5frT1iZmrf8mnLYGtsYK3=!^IpO24`tLyXd
zV<O+6#+yjmhS^azh-KE3IO%g32Khdz*`TgJT70+X#wb&`_fdpx#s5gzw~ZmtC|ZKp
zA*?#A_lwH{D)k}Qb3q{fJ`zg(NYnK|!Zks+mdXuqAL$C6H&yVA{9;4^@~EOxXrMtq
z2zSkgaMzsHZMf;MtqIyN<glFxsvN2})EBc46?nN@64Ip8)dP9pdUn`$m%yQ}4H|IJ
z!)>0?Z?;`}q-A$4&Du7lsSSQI6EtA9Rmzt3V~qnWtjev$O0YQ0)73Hk4%?REn0{EP
zRBk)-))Bt7XL&bH=LWOtvbr6%Bq=+jQoji4IQ(WCguA_7DX3(tiy{a7Vh`l@g1({{
zz9m9%7MGR`>>gxNBkzAciV9CTacZa2FWUV$T|Su0uhcL7f0kKwtPlt;=xu?@q*8qE
zaW`sz!F#}Kwi%2{K@px?#|(b<5QSF_z&x((#VV93=sj4yu;{sMesPCir<bby;t79l
z-SY0NI?a@;kX|O89jvxR2?{AYkXuJGOv%dm2Dp5lkFj8(%Av6h%l<KxPO43d>k|!g
z_&7b)_j)z(E%5sxE_u5CniHj+9Vq9^pw~LxSRGWf4<hr68oyHC3ayQv5L&&x?;?&?
ziRwKW8Ufw``f0$l?fnh-Az%zJAI1`37t9O5U&1<C`9mxSB&A9l{+0WiQ6}@aE^Ii1
zpA>%}wN)NQ(oSC9xQWs?8+B3_tg9diW&?wQ$uG={f^6-GleF8<nxDbc=FW>ncm~l_
zZ<a;+GI+1}Cvv1ZJ_11<OTZA##aeoa|DE(zUkj#M3+xZe-rn>HK1lSNHz)k$4{_<E
zf>Fwc^6z#<^GLlVneCVq)5-PC?=$WR@`~lYl=`!gH8pupLLhB5C+nw8(5~(g6~L!}
zLxG!sIcRWEz><ml@sEJfM9J78;0a&xSSYaDS2QLCb^%L(1<=O>|F189JPvro_tVFt
zM=S*o&7k=XEI8o1Fk^IGEc1xk31j_~aAV3C!{kCRrhIiu69dvSprL$mN)roGDrhMG
zZb}mb(hSg0J~yS2fusZt<@cvF3Xp<9L;2*CCITc3nrT!ZzP=Goi{N875k}(<Qu5Lg
zX$(ATjvRf-AXR{rNPc)pgUv*~Wu|l`^jihV-lE23Wc8L*tRSy%xrFbM{9pd~!VIug
zz&ld`N<e-VcnNS3^#S1CL!1hj`fLHv-gy{6`xfn`iVG+u#*oa%=+jh}M$r<l_>N!A
z!vWqHRpb#jkwY)%D(46KMikm5V>Sr(axe9C%6{+VyNvuIh@XWb)#vulw>xqEA7FR|
z5CeNs^=nW$mtg!Q;0wTIzyg?C3wRxH25<#121q=OxMKTgZ7t5GF6eT)WGAS<2HXKq
zSHbY75p~lJV;#t2z|?&zIkGbr^W?*w`lt~Y4*-S%ITynC0`-J=mdJOl!G9y>UETP;
zJ?dALOe{5_rVS7!-Hw`<flCM3|La3x|95tnq`rEounTNVfR6#60*V0Z02=@{fZ~FL
zrzQ9ivURzkywTjmyESkRBH_%W(e>9%3-1vdN&4<AX$4qoN%ih54fXLXAOnyC5FiG{
z1$l|ag3{PKH1I*<*j-R~((#jLH+)U?jpS$pVtIf5_yI&^x2SQTluq5WJ9W_FuK8(M
z9YAhzkB^Qo`RPhJe$`&^+HAJ447Q;MoNlf7FL)7oNAu9dswFf9nihQ&O3>4=XnHhl
znj%e`hN%UZ?A`StID$@76?H`;FSB2_YH%z~k0wJcsW)muy$M9Vr&4-@j!4a(YthYq
zNn+65IeaFMTLNNpK$0lE;}%a4!`?!;T#xKc!kbC=Ui!iHaBnJpmP9v{;$~9a@ImTZ
z6Dpqhz$co)L&)8GqfDf<Rnmfv!nfU|B$2tpboj(PlGT`wTS!&ob5WN)b9gn6LHoT&
z)|Jsmr2%rjF&+<)YmI8GC;x1WkND?N#5L*>mve!3HJ=zxV&Ck=9pvVlr8t$S_brSr
zIQAb42{g`(39dA!*CU>`Z{4?8g0=RKn&Kr1*LNVUuoiK8Kq;UcuoAEskZ=Ft&@m2o
xlGj@d+>(>fZQ=h0q^fy3`A5qRE)*1p|D)J-e8-f93O}(3I?;yblJ`$+{Wp7fd#nHe

diff --git a/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin b/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
index fc9066700fbd65dc8c497a04666ced228cbc4148..c75ca85285ec0cafc4b54bea788887dbd1187089 100755
GIT binary patch
delta 4249
zcmZ8l4OA3YmVU3Qe~Le8KoIDl-IOSZKOkyIh@k<g&@|YfL`2jy!Jl?DiAqe&sD}ps
zDmodBPgfBgL!6vLL^nVWCP)xx$!3j)S%{h#Jw~%Ln}*SuDUndsKXmVX#GJEdIp^cM
z@4ox)ySMtj`>MP3B6IX2gEQOkD;V2J71js&LXiO>WZ2`}i@PvxB{^(1{I6r@;8tfF
z8?Kpfr4ey`fZKq-Hah<tbcw|_=euDc7;kqTn{Z!^H#@gYoT9><^H^*RR&!?&_giOJ
zd=17&NS*#Ae3N{oKaRh5Rz0&r%{)Hs{K5Dy7+-Ok`7^=zymM%ljDdcf^DM)7PCMi0
zPSb?#Y(^Xf(g8b*Ge1#jw7*AO;Ixxj_<RsPMHUKre9BoNOu|50UW(RWMD`cY!Pm&A
z#Zzh@xpj%ic(x!Qrz?z<ub{-Hq7RG96jheW7}*?2SgFZ-K9>=G9yndJyZtZqr!7oq
z;%<~=9r?{xh9DkI?;Aq=i30W*BiR*=;kcQVB7NAHH+lwn<wG7Sod)TECq;O__>%CM
z@Uf6LdJr^qFqdN)JqqGZ50VDGNcwsVNy`9{W1-Dhs&I!lY7C9-sgCfI5skaS@lRm$
z$jeAumEhxyWLA*$B!HwFV^}Kp_v*<9i{se>zm{|_o?crmHfj@YVrh<l!(z4Y?GT#V
z8?PZ%4;fYqQQsTVe7>fzI-l!Vkstg`WOK;-Skkz=m6d5B4Ie8gZN6=bZJih+F`B4;
zngNY>f@gX0Eyy)0&)knC)=%Ywxm-_uZq7GYnm)FqaEV1{UsAj+nZIp~m)3;F*=N~9
zy?8X#tNz(4y%l=VD~)z|ePox_7=8V=$r5kJbK`Aax=aPwzA#1X(U1<Sv9{H<pl|^=
zinEKk5&e`SL5jD9^v^AxYnicKYhWMdMyA8lNcN^~M||pLEH#a_KIB-A1UJqsta`|@
zLE|ZM_?Pf{M&^F9_CREFr=qg`QDGc^R8T9HYLw{4DIQU|(0;LfisztrhJX!yLpa9y
zj5$N-Q;;Jd*ZZ;b=9ohWem{b2DA5N^g}Ry=gbWMFdnFk`B``AOhNCj_RY?N=lDJCd
zKoL(WeR=)|X8bT855`_;*CylJC-O}LSo$B|Da)zC-XR7PF#sQGo@8Q)14|nfWau80
z_WvtsDve7xR7gaa8*$VS$Dr#yi)r+WiR{B1cExmLJV?GPUCX|1-9oaL7=t<;mmcGA
zlXQh_SdyA>&T)TGErlk|eZHW1Lv!=8)y>V#o8NLAJ-QeENZXRe^4aDi?E#q^JL2jR
z?`jX-%o`P=PURjPNP)`d$M(Cvc)~`gq;SMYX+8(o@FR{qy-FXdde9|KZ5xlNy30}H
z0)6$c%OK3#!$^7FjihC%-tuBV*EvmzHdVO1G<u0)y^f_WG^=)`^pn5l(UYK(F!sn7
z0|hRt6iB=E(^d`{YykQ+M}SqpX$&&dkchIEa1*I0GvdQ!M_FpbH$IgCNpE|a6@=6v
zZ6%+UWrdyhStZ0>6HEe<E|Wl+8P^l@%lcYfN8xZZ^2p%<Ly@7--gZ{3PzB$Nvg3@P
z)F_+wd+UfJ$B+<^d%gGpRI=@?7&YQ}W0EDlzf!c02DU^=OnClq3Cs1w36Vwg<ns2o
zoUig$JcA*FM4Lyx=I8C<se5`5&)am}E5svO?afLtfB5CnC<)IFkL_WN|LwAloXffI
zqRDN4n%F$x5KDs?G2+<54$w#9kv}2{%Xqw#<Sd&KvDBw-U8ShJtJWg!gMAn+AJ=9*
z)w)4jFo;nmX<BA1dc~7$_sT0h){)$$=|Zv{k<h|LyjM>0AU?z#4;ruhoQJp5660-5
z>*nr>i;zhL_yVFpz*m8H0mjym3FRxXk8CW@#xIbT^6B_la--Zh>x3Ke279~^CwS%a
z?o@E)U{h`CR;e5H(1p}t9q<u216PT0d0xU{cmLx>Xrw>XqTkL+*({UM`Y<p2(G3Fx
z;~;g*C(ZvF>}ddWeP)No;FV{%V=R-3Vr^=Wr@EspF~zaA{80uTjmuX!%mV*~^evx~
z^p1N0SS;{hKGl{x{0t=3J(y_<$p3X2_0Uv8X=)^*BFYkNN1U!hUleTM?YxA+5=+Gj
zZx1%)Jsk-!!Z6~-=dxj>*D|+gRqDEV`x=;0jnB*_Z&Xx9TvOD7D0~kcu~8cW-Spqd
z-3rU}uNAGuD8$;d1z3{CG?rMX1k_Xiw5I9(XM<WkLW)<U8dDXsnUOC0)q+7_rKySl
zqfh-<NER6BwE!#CkcJiIVHJUT;j=cKF%xPtf{d-0k7Gzi<%aZ|kljCa)@HvE$!0x?
zR-@Z6ru)#+S_6Azhp}j9Ffx<@eg}Gy^i`(dqeQM;h<_&YSJuYOSCZPG>Pt7mIiI6U
z2N{*xK~5okD^vJ+fiH&;W{j1fnV?jQJUo{?Nyk<@_;+yzUxy@~#H~u25|CMiF`5hf
zav)GGVk19pgZQEX-r<*jB&${}goqng<-pm!w<;SyCJC#Jcr(dfof7SU*pi>dO`l6Y
z$hXO^)y7&<c(?tVA!hyVClTVZziHXS#UTSN;wcS#3mblC_RA{+2IG6MrzxO+fF!dY
z@vRRv+`G`?wLuoRyK?hgHw?z)1i!2gKwec;iV4)42jFJvf}5#5xBNznxLi|yt3_<k
zl-=58*;U9s*5Rd!D&$~pZY_{|08MKV-zkDNP!rozExv7y?dg4DVzV~4(AH3+>8}=7
zXczZjzD4YP;)vQ@7zHzjg<tGj#McVP?W3YLpZ)FoLSy^VHawdf$l9LK)*|ZF>@9<F
z9VGCzzgmO<p}iQ?6$O#~ez_NtskNC`6vA6a2+rVA6M>ZhW?JNfKMkSve{kVxPM2T)
z!jESM4WtU?X6yg6%z{%EP-k_XfZC)|RA+;NO8(wnE#6m5O;M6A{3Oia0W@n(Kg{Fm
zP7K|%$c>H96&z5I&M()e_;bx_gI_-9r>0BWvbOW%?m{}5+3dhtF<R28RsD316xkA^
z(k*aLy%cN5QdJi(-q!wfYbL3)EyM|=#};RA?oWZ5Mv_axMh)Ge#4o4&Bh3vi)bnen
zKYa#qv=R(WTJ!*z-U1VWY3IKKJOua~U@nYR!1QKlfi<+!JAns5M@&_w@H@)4Lri)@
zZrJTKVN8BP4pq6C!87E*tLrEYznaTE0@D{hKpZhu$C8q26<J<AlTm`mzUt>Sn?OH!
z#`$ISY)s8Z*A(CxBzx_8t-+fnc;tKJ!diWV0uBaYPc##o=q-Phe82X3FxA>28d&yk
z>n`F(vUdIYgkSt2Zq|@wRSTiQnbt`HGHyy_o5$oVGPM39Ml(hZ+aIW@zfEM@hU}*y
zkV_j*)h7DrZQzzC1D^(t2R;ZK11&HbIMSChdI5NXuW0xXa4_gYfi=E@VKp!VtOE9X
z3y1Z<9&gTQJn*O&UN7P8(k)kl2g-j33l4Y)W~?JuO5E~dpS5;ecrb2^VKN_#DStPv
zi3RBe&`|#KxF!yy4A4;ik8zC#q#2;0{Q0;>3z88ul%3-m9Z0dDp?q#!69G~<XeLsj
z$=f~1nGnP~8AhtliGAZDwGR3QB5fNjY7V3rf;aJa3rX5EU0n^`mLsK`jCeJv*_4Di
z(y*x)50O=`{qvQHV5@`A%m7#f@;u-dfKAi~;1PWIvB1>lVF2x%B7k-&+DUaCXlkq_
zQHV9C8hVG&B9HtBzfpk0`)YK7TYi(Yyq*<h3Um+ZOpAs^2=-<t^;G9{zkZhq`V7Q&
z_>$D=ytl=Lb1uQ~3cv?@QuR)#oGuvm06qs?2E;cZ?nOWqU_anI;9CImA>w8`)o<3|
z`P2nnPM1`Gx*c#CKwbTV%D{Vor@@!0Z-J@%AaY?_94;gOxy>B?0LE7V{eaAlFd@(A
zlRqO#Z&hH4)V|e*Z#&c9u4Lk<2{qjVQPS<G`8;sxBp<zVDD3~v_LH37^yW8%&2qqb
zKr6rmC<815H~_j1l|W1I0uoylC~q`#^4$$^3nJ<4n04gGbi3e|2{G@;P?vypCaK$z
z!BZbI0m*<gz#zn+>j*01?I@MKLj%80zT1(Pf3E8n&x-sJln#9tDDBA^J%FgJ$mv~Z
z>iOJ>ceX=wyY8oDbpR>yVJ{u``sqqK7M-u`Okwj2U>kbC>DD8V?yl@(+2~5uBANnC
zi#`e&^fWA*9!;C3NYkcaW&)Nw`)WgQ1f8ZT>WW5Q;2d)BIF6=AlcAQ>8#STc21!zV
zrTQ8jk-hcT@rR^zcQkG$>v!klH_3(FQ}8y@w>ujzB4K-ya4yN%Q;fHhx;-B!o%9(5
z=3}qC#jlzia`)a46RB=goj}LDa>|%$GINJ%_R7V?x_1`5UGCcZT=Y%%48bU1&^~r+
zThqF!^aHuRSC4-nuDwQFPJ;I7BL<EkZm$_}nH{u?dF2E$e_toQNdCF67-x`$`=6aO
z{rImIDrl51`nclEPPg3ZJh*?M3THaMI;dAAv~5LPN)2>FKssPP;5mR1kmSUNk8}7c
wX*glwl21W*g<liMmZLF*Y1qn1@Zxm%SH%%fPzwWoYLR&I_gF{%bn=b=1$Xp`EdT%j

delta 4227
zcmZ8l4OCNCwm#?Hgxv5`0ulKWNC?y)q=FQsG7cfgEg@jQUlg^$6b)0S{!ksJwnM5=
zqtsD*u%alX`nn#qRDsk^X%>SWyR44211cTVI(4Sg2|V9SuNb-cfn@ff&RTCh*82GN
z*=L`9_P%$YeJ(VA!gPJYU~M;k0pney3dhSOVMv7#QnlL~u><3;NIshfzu#cz;jir7
zY<SR9-?k!d6yO4&llHIWpRxEg`~I*HjGOI8pZZRU-?HzVmL$O`_M<ViSekMMaUJ%s
zxLS<QkvHO>#{#(;e+)miSIyWhWy0F*e^LJe<8SSH&AY+)ihVR)#6W+Yw~%3`x7p+7
zKOGd-(t$V%qyV;;=A4%VY1$AM-)3hPFOuU=$znbpe`;UDM`NJv&qoE}r^vq2d3c!o
zt~9CM>ro^l^_il8nCWJO<!+SxUdidw6>dqcL><`?Nm${$uT#hHj|Wlesgk`t-|snT
zU_z7k8eOmMU<lH5@MrlC`0JxcbF7Fx$_THxgH-S6Ss`%(s|&{8MLzMMmrAEVvUz9o
z1>;R1?FC)_cr)@D#NT+4;PN41coGR40g02L9ayOGgts;tTYG|3;U^mOxz>nQR(K3n
zqK^^Ya0kOi6>cQ>14#JGBo;RLyB=^XX<r)0uJT(+-_n^84qJtk88X|B%Vyld!Xp1>
z^5fFz`i;frLau*pq5MW<N5~N@M0on#>oP))=UTH(+f5GJTIqCH(<)OA(U@tZ!QNG+
zLy(=afFHm@n4ii`I<9|@?&mkKkU3daTxOVVDJ$LiOw#a+s#r_9CBLAsV3(@fH$HyB
zCp^XraP~P}b3ampN77_eM*nG8YlySp`EjN{I<-aEvUqj_oh5doy58>0E?!_zSYj<U
zUBm$8NRZ-8Ap@DE^9^(AWGeQ7E;0k2Z?-S34r$W1Vd30l*8@4rk>J*};;IKMD~Gpo
zZ<ND7McMDlIA47rvg7x*kKN4SkKL#X!vl<JP4e#deAM$vPm;IEH;2cn>!a8{W12pT
zzwSnd1L7V(7WPcO!3Q5vkeaf1xfV()MUGU<$icEK`4$*yb>V0mxmuQhZxLtNJlsyA
z%U5Qf*5e0-cqHaxk8BnmZYk6bV&Tz5o1v}v(kO$8Eud=cDG;<Qv0~xZZlvlP5%#r^
z_sU}vjuaCc%(<+!#5&?UWYCU(F^zqY&#s+`)Cb9*%d6RK##)lMOfB!Te)bTDYlSaJ
z&9bzFbJp)hq(W%&{6$5bHJzQSHgxXp+}7F9(y||ZNcXbV`V9TsJpqxMeB0@;RZ0)t
zDj4ULCv{DOX;Ac<$$ic*9<dP;AsjKn&nK+T!m$wZN!`LhhfU+Mn&Tz$p$_ZLC)&B7
zor=-ya;o@e8yKO~x7qo#?vEc|sh`zvbX|ERc5Y68Y>JwH|Dh5gp(vo}eR{4tO1skO
zqYDLw^;wNhlwR*DJ^%LtdOjoq#$K@}u*7K;0vUtk$K|p35RtEV9{)EfU!lhDklGb#
z5noS8R7iN;+u=q?3Q`?8zalrRW5OsP?vK2dN5T~%uF&H)lD{&(KIcO5SQPS#ApuRP
zrX-~}$NnLlhLl@o+ijV8NNEX9Q{Vp3rgT}inr%-HC<P|GaIB0qjt91L{jq#(2|cYE
zOKkqtg0(X+#FuRHir4)bOL!VoszzhV>4WoNy641M!D&j<?Lni<S~V*nARhDGbhgT5
zi(sR|v6baY0f)!*v+8f0M%UT=n@-eED=33ODl2dWAjELo7U8mPX9ww{@QSTOzDk1|
zNcyUzh}9F)uJvw-ueus>?Qdd~Go{UYq7B=GxS|n^OyuAyb;(NaEQ?QE<~6!>%QN{|
z7DPgemuP%qyccOg^l_l^iSxV~3#~kjiRs$bH*E>hN&sI$6bN_#xDgPsnRr*N!((Li
z>O8!F99umTr<4BG>h#}wkVa*R<70WBc-oT&uB>dDN!lg!p?<oMI@}L@4vxkE39Bf;
zZ<6wgc(^%!SrMIm3ufq6)H3Hnkjf{jJkt%)B{3!`$Z?)1!}QV^Q{gxR58>WK@fZty
zoAg#B$+mhHfW=($T}4y^4Knme&~!fqfF{8KW|N3D%7k*a#uBV55HO^Pg<=?C7;#gh
z0+PQb7ILawQyKBKTguz`+isN6Dhq-Bc$s{;#xQfhEi<V37?Z3B3$Do^LySoQ+3n$w
z$^@YInh9RsIr7}vH1#~UUe5@B@Jo3W&kD2LJd7NE%+KN(VS9iTenlGBt`1ut*u#I?
ztx)Gcb;!u*+H4$0k}7L5zlBWx^;&)2)<`z@QIr(jhcVrU7RZaRM_w3<8iJ8(9pJa1
zKTLWnXX69p`^v@GL)7c)W7FKJ-B5SsFTo*Bb<YGDm0LhgBE9Qohvft=k0Q*dD?uY6
zKdy_yGl_J4YLZ{{1Q@lx$S*z)m~B|C5frT1iZmrf8mnLYGtsYK3=!^IpO24`tLyXd
zV<O+6#+yjmhS^azh-KE3IO%g32Khdz*`TgJT70+X#wb&`_fdpx#s5gzw~ZmtC|ZKp
zA*?#A_lwH{D)k}Qb3q{fJ`zg(NYnK|!Zks+mdXuqAL$C6H&yVA{9;4^@~EOxXrMtq
z2zSkgaMzsHZMf;MtqIyN<glFxsvN2})EBc46?nN@64Ip8)dP9pdUn`$m%yQ}4H|IJ
z!)>0?Z?;`}q-A$4&Du7lsSSQI6EtA9Rmzt3V~qnWtjev$O0YQ0)73Hk4%?REn0{EP
zRBk)-))Bt7XL&bH=LWOtvbr6%Bq=+jQoji4IQ(WCguA_7DX3(tiy{a7Vh`l@g1({{
zz9m9%7MGR`>>gxNBkzAciV9CTacZa2FWUV$T|Su0uhcL7f0kKwtPlt;=xu?@q*8qE
zaW`sz!F#}Kwi%2{K@px?#|(b<5QSF_z&x((#VV93=sj4yu;{sMesPCir<bby;t79l
z-SY0NI?a@;kX|O89jvxR2?{AYkXuJGOv%dm2Dp5lkFj8(%Av6h%l<KxPO43d>k|!g
z_&7b)_j)z(E%5sxE_u5CniHj+9Vq9^pw~LxSRGWf4<hr68oyHC3ayQv5L&&x?;?&?
ziRwKW8Ufw``f0$l?fnh-Az%zJAI1`37t9O5U&1<C`9mxSB&A9l{+0WiQ6}@aE^Ii1
zpA>%}wN)NQ(oSC9xQWs?8+B3_tg9diW&?wQ$uG={f^6-GleF8<nxDbc=FW>ncm~l_
zZ<a;+GI+1}Cvv1ZJ_11<OTZA##aeoa|DE(zUkj#M3+xZe-rn>HK1lSNHz)k$4{_<E
zf>Fwc^6z#<^GLlVneCVq)5-PC?=$WR@`~lYl=`!gH8pupLLhB5C+nw8(5~(g6~L!}
zLxG!sIcRWEz><ml@sEJfM9J78;0a&xSSYaDS2QLCb^%L(1<=O>|F189JPvro_tVFt
zM=S*o&7k=XEI8o1Fk^IGEc1xk31j_~aAV3C!{kCRrhIiu69dvSprL$mN)roGDrhMG
zZb}mb(hSg0J~yS2fusZt<@cvF3Xp<9L;2*CCITc3nrT!ZzP=Goi{N875k}(<Qu5Lg
zX$(ATjvRf-AXR{rNPc)pgUv*~Wu|l`^jihV-lE23Wc8L*tRSy%xrFbM{9pd~!VIug
zz&ld`N<e-VcnNS3^#S1CL!1hj`fLHv-gy{6`xfn`iVG+u#*oa%=+jh}M$r<l_>N!A
z!vWqHRpb#jkwY)%D(46KMikm5V>Sr(axe9C%6{+VyNvuIh@XWb)#vulw>xqEA7FR|
z5CeNs^=nW$mtg!Q;0wTIzyg?C3wRxH25<#121q=OxMKTgZ7t5GF6eT)WGAS<2HXKq
zSHbY75p~lJV;#t2z|?&zIkGbr^W?*w`lt~Y4*-S%ITynC0`-J=mdJOl!G9y>UETP;
zJ?dALOe{5_rVS7!-Hw`<flCM3|La3x|95tnq`rEounTNVfR6#60*V0Z02=@{fZ~FL
zrzQ9ivURzkywTjmyESkRBH_%W(e>9%3-1vdN&4<AX$4qoN%ih54fXLXAOnyC5FiG{
z1$l|ag3{PKH1I*<*j-R~((#jLH+)U?jpS$pVtIf5_yI&^x2SQTluq5WJ9W_FuK8(M
z9YAhzkB^Qo`RPhJe$`&^+HAJ447Q;MoNlf7FL)7oNAu9dswFf9nihQ&O3>4=XnHhl
znj%e`hN%UZ?A`StID$@76?H`;FSB2_YH%z~k0wJcsW)muy$M9Vr&4-@j!4a(YthYq
zNn+65IeaFMTLNNpK$0lE;}%a4!`?!;T#xKc!kbC=Ui!iHaBnJpmP9v{;$~9a@ImTZ
z6Dpqhz$co)L&)8GqfDf<Rnmfv!nfU|B$2tpboj(PlGT`wTS!&ob5WN)b9gn6LHoT&
z)|Jsmr2%rjF&+<)YmI8GC;x1WkND?N#5L*>mve!3HJ=zxV&Ck=9pvVlr8t$S_brSr
zIQAb42{g`(39dA!*CU>`Z{4?8g0=RKn&Kr1*LNVUuoiK8Kq;UcuoAEskZ=Ft&@m2o
xlGj@d+>(>fZQ=h0q^fy3`A5qRE)*1p|D)J-e8-f93O}(3I?;yblJ`$+{Wp7fd#nHe

diff --git a/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin b/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..47e85b6bd08c4d3d9b31d298e01285e1ee28e44c 100755
GIT binary patch
delta 4392
zcmZ8l30M?Yw!XKjH?~JZi?V7L9TkGIXiQ9qp=qR~X-I>LsJJwPOS^B0(L_HQMJ<;k
z>UATy#4&yYaZG>?V+aq?rxW8Oc>$w&B#z^fn1&c<N+eWwSJVB@Mf2YKp5OQPf9|>G
zo^wytxu-7f{ge^UG1%CM=VSaKDaUa^iZG-{2<dIkZMYTVJtUjWg5N4O4exO_vf-+*
zqeqdZ9`Fg^g7fR3Ru;eP+!+>v@pR|Gf4i;31<u!pj8HH?opK(EUW=7KokAMBGc0x;
z#w$rx+!WkEuErh4&Cc@px0Lv6=Phm-#z&oI!--%lID5uQ80c==3k?3w88dFQDr{yw
z(oi5Ru(NRD#|q_-$C2iy6Hm$v!W+mWJ`Qhi&f<q*pfyvXR1jxJVH%!D&J~WBmg?0e
zBJOxzK+144qSK8Mj}{y&obFa+D!9nHNWzNYzCW87{<qE}1zVeb+=2{DXyR6u9I{yZ
z-dxKNWH^xbbq{F8|8lGJ`^~IaMUr1lt3;!>7k<Wn%GdLl%jrLcWa%|80%<o$tGt-Y
z?mqz1QZEvteMs~TAaOguG!R;c#hsq;T9v-GDa8@~UPSHd;L`*)@jgcUPj~QPMm+7t
zqQQ+s){jM}|5BWSls^b&m9UpvJqo-uf450f*}laTa}A3h_|<$t@5g8tFG~epCCI4|
zc8b^dOD@7mnhu*Kr~f#L*-#~7CU&(fC3>y>fwdKTYMY2@Xosmc9Avtlj;D0V(zE~L
zV<h!~aWdPP4IX4k>8%iI)d|<JxYTcXmDsF9EBXA2TuuAz+~8}Gbs_t(80Bem&q)ud
zsduCF3AQ!1MZ!>#QRzGA6Qa-MrYE!T20Tk$&RZQ=e8o>?$OTea2dO+iAWQc=zo&4^
z^CX4VPQ*34Qu9+ST6=2Y>q&+#tGFOE#y-{_8Y$!cP+9q#Ra_tX7g_9YmVE>l=?o`5
zBl15oMcDBpj3aF4yW%aec04ZD*5ZoK!}dwZLc5B*Si~t#xllWqQxqM9P9V*gAf%5Z
zn~SXB8FI=7WJp<!#SaG>9%#tTqPY0mA1&M!S=ZuL*gkPHj!)dE0gFZMsM--;!A-Qq
z!;%~UDFNQr<^cyEyzl(azp9ZwNdrd-Fopsm7){|QofH=*;Lpjb;xxRUoG30?_P!ZE
z$i>~!7n;;bxa&x+u@j3C14k`K^Dp%<m<R!=lN`~=5(gHSxskrDTikKTV(h;>gnf|B
z&K`w0`_r{TZd&KN`9uKwKF2!Z=ytvRzjmV$x0}qLx{zIIT|=%+<$_uqpFP6iM)3l9
zG&LpdL&xoIr5Ktx?xnoCC3ST(=GE2JtzPdqa9|t!LqkM1JhUBi=xJ4}h-KQ&(p2;Q
zrhxRhZ@;TmxT${kdQLyDJ8Ih9nG9#`u5X9y@?$naA%-JHoa1wVjiJwx6Q_s^RorP6
zo@pH1WksuFoeT68y)HffTs0%El9!RjX}T9V{`4aqLgFg{ZObTklyR0zrg@1BD?6sS
z(Adhp;*WpI$>~3V6e7l6>9s(f%PI!aZ;;CAG1y9Krcc2q$=&H3-b>h$l!(1Pg&v7-
zc<bB<DM4CGvPv?;minwB()^7#@<=>Sc9fX$JknVbSE+5z?~OuU>1)5fK%Z}KJSEIh
z1Yg(L@%W$=olX6{wa<~QPY6g=GQI=VY&#|B`W&l<Sz<fN1UO!6bRrX;+grqH+GF_0
z0@@u6_L%IeIkV$2>^9Nnl?1=R9-dO&jtmBywr#esU#-4gCgk>(6zfDB8y?-xa`#-;
zz7Ml+yJ%rL0O<_UzfAVc(BTSldWHd4ldCgEL{$2e4RhTJ`R+obd4D@bwn6RUr`pYn
zkS4DiBO^&J<whoWlkBn->$Ucore*L+c0@w+CmUqxM-MWDm}5aBOA=XC8Wr&s#6y#j
zu>*J;po$zUor`_sacLHQnT($~8vjPhW^!X^z)HP6mXCq%v(%Gf&k-GLicQ%dwxM>q
zZV33;3A_@@zk}4z%)zgchcn{}U-3N4Go0QYkW7L5a0+RxP{4JtrLpPSiOnj#EOonw
zT80%w+ms;Rb4OW*7Dn50`x$sSr+xXoEbvKEGHb+=7d+2{MV|*7Qf#K)c-CNR>z-%~
zNZ*`C?KBJOoqDD_(gG9!4WP!3G}`94f?&PDZV)l7!(yS^U=P;kJRR{c!Z6Yd&SjBX
zvtsZ#BF!p`=yxl5f&U(wU9CC<`r<!H#ca!Hw_9!D_-LCt4~y}Bl_eTpFlyfgO~4MI
zUrrmm$(7{B>=drlZ8kIFFMcJj=UHedJdA$yV?K#z#F_vro*-OVY1p>F7XH&lEjJNL
z?i;eLYyvis*0LoTe}{bjxv4U1RV17FI7*4`z?jCN6|(?hWQDP)IvDBa01knEFDaRm
zjHi;yIg>C)+U8WoJPwR(gkmmUmgkoq21bL7itQk~NXgt}gDvoR55f#r2AZz|6@met
zL5`?pD;$QMc)XzsiB@uQ?&zS40fsY!O&jT)tHUSA{kfB1hlY9Ccs^M;FAFD-)AKl-
zO0LXHjuK!m=}-4bpF<bOcZhO6S4r}3HeKss7H@qVA<Xzi&F(D>={zGGRk1g){vESl
ziVf(ww;_t(A9n|dultdq;ekrCGr#<SI>-W_AycmFTRoSQ;FrGlLmuT+y6)d%?u3s_
zD|}>{Or_tR5oW4NZ=4ZoRMT&4wrtL4A8GM4w<2V>$y5pC=|rQ>2pbFFG_Q+puMpm_
zMz>#jY-BT6pP?swovNckn5}-b9UIOFmmWKGtMhd*vzLEje@0l5KWMMhtv<D9A79%v
ztr4ecIx{znZ#*N!DcKu(ZV@D~%U>bD2BAynm9z39JN!}=BvWZK&(4P{N(dgWNl65D
zcQT_Q?_BIbi$8GTQBId%+TzElL7gdlsoDDfEHgK-VnCVMas+CTO1hRBH!6DAR3Y4U
z8&B#)ZTNdIgFDgK1syPtD_Sr#!2%EFUd-F&Mq0mQO!k}1O1)pQ`>E-)#>@?dL3bf7
zOe)*CP>2$>N<{~qBiC(-x(o|^h^9o_vG{hYLFiKdd}9m=DxXxDV0o60HB<e4uL150
z=Wl2dhnl~1p_ICgWT<N-y4;vk(Wpg!>0bkp<{CKv^kmSg-S|Gz(CW~iRHJU-H$fi{
zOncuw;75R7z&IF(0{dWo2dtsheh^q>K}o(SH-;Z^f7iog)R@A$()j_YkqrBT2VW);
z6^r3_V?~a#4-BKp#R>~XBy2&ZGVdhPTy_>NNW);Td7&A1lPe1skN<}^o%c$$a-eAk
zl%<}Bq^nkmQHp-olV50EP|%klG#Z1A^b7w1DPQzu5Y^gYQ<uqv#pm!W@^JCuguxJC
zIkrc%D)~_UM8hy1amy3gx&g^U*4R%&<Y7zhDyg?TGO#4;$)-s5(qol(WO_;SNPmCI
zvwe!etDZ+H@fm-ajBrwDJH4jS%brKND(AyB&?Eg7I1TusOuv*KsSWrTa0~Em;AWVQ
z0&bME`_BTO1@G?y*MmM3__UnYs{}q-34#KIV=xg1TmuVYfe*@0F1jAc3z`F<*#j0D
zU;$>VeHV&6(nI+PR}R`@nEMHADX$;YM1yn_G?Z5iYGOdT1{%r>1~nxr5U+xYa@n9t
z4blbBP@X!d(SmdiG?dMQnh20S0u5#3(<gUc{{6|dkc{Oze3;}epQ4P0_oX5GmRpos
zkcN}H%MA=WKvXM6DS!KS)UG8ND>y8YX)8uzE!nu@5`K$JTKO+qJQ!=?#p?kDAU_8@
z890wR0ek^fr3a=?j{s;V-V2~zkalKmGkPZ4lE_D!Q}ma5&}6Ulyr1KtIs73i&m*b)
zWY4OXbl3cC-CE=1UIDUL)Iwd&b$-9<CKGf4#Lq&J{-U#OtqW)W2MoUebU{$6-URh`
z3C33dmjRyx`e82ik4Q5KPyrACO@My@f}QtYTZf;gF6eT)WCHx{_731Z0Cn{@VCu#O
z%zOY#fvNlZr^q|&qw&w=PwUN5-Js|IbO9zdhw(X_Ps%6CH)i22Wd0kC_>MDTLm3l8
zO{i%#Y?H>L=34OCO18cEZrJ~w?IPS;mvS4x#s>HV@F^e<Fb6OXAON(@3iwlu7P8Rb
zmKtO<X86q|@LfgXsR3)>-3&YLkw%i_P2-g_!P-d5H;p$?AI|~O0TTft-9vLwfx(Va
z*dOS|*N}6Ya&lj8ed5_Iy&yliR}{l>+l8p?mM(pUp82zB$PXK!eV*{sOY$z{mJ($;
zKJ2F}={VMzwK<v1ErKw#PtedEknZNJgIVZ8`DB^`O^ZH?Z$VGDMbo2c(-djibel$i
z&3V=lf+OfORZ&-T=S9w|RR$bG)1%2yOX`i9P;VkpZY@(@qa(6#>zDXBl2ILnUm{bg
za~UYLcdCao>H+dm^(**0^00a&zD{)83h{JOzO8=b7@wYJ>Sc-bD~5;Myw$@*Dr*%-
z&_P*h^(lrkKQMK&bep7YAB$&_x!YfiS_Bt7j>n+g>QOhOw^3;|IkP<uuO?TvbGV1}
zY>$gLdkAT^nUQ8<Gwp}6^f8Ir(Sq~HH#-XPUrB=S!Z7y8?-mN^!yU4waAJ!`GC7wC
zlN8wKtltx-NSLq=Y0d%~0nLCGKpWsRpx$|R?_mx8m29lBXcWhwO~e0fkm7?w$-SDj
gny=t8w)c0%+V|EDTIlgp3#Rrs^XqZ)$J&+u4eL|l>i_@%

delta 4572
zcmZ8k3s@9Kwyx@)f#D_Ki1JdVX;Bo2C>ujUTpr`J^8gXwike~3IEhAlL?uy|QHc&d
zqNZX5iLaPkal<M&@+F95jJUhH#to>r7}wS8H5t&jw?RVBi<x^0^xpejzVGKhb^6q)
zbE;3Dsu90p_J7S_Z9RSi;|rt+#{>k2AQeJLWww5Rn=q~=*=#2K-^xzFwbptz)Gy@X
zr$})Pa2xQ@dLy8T#fz*JAwd|wYdtvRfgG>2t{)aBV`QIOKZ#t6<+9I_!eR}HUWf6A
zWNXYc+)A#+9K!9^qS#Gx{M34%TY>RKtByYwh-<7}DG~<yal$JM?z2Ws8tWHQdKxJx
zP#CZ^Fa4}c&K^Sww-ryx2*8zOiV%Y<tqX(^7--G32tWLLvNLZ2){?LC;%5EU6&8=U
zV_Kgy(ZPr<4itYR_h{a1hb%+J4XqhUSTW91o5KjdwpHbBKlh*85YGh1Z)eFNLw@i3
zYZ-$0gW4NipcU;7KNZoj;sG*l`h>E45h*SU-wK#h_Z>lQX}t@9v>T+=F3e^3eGJkH
z7ZMXZNDS~Ik@O=mzdyJJi-(<|)us8>=loQmhd1gn%;D9nI1{WAJ&gEI#|=lKnGw%B
zu=tV#i9@_tyzH%eqF`mD=t&?ehj{LH$?)5+>v!iUY}<08ZesDA*DU1roJG3?x1@K;
zL4FAq*SNACYY<LUv>FZSzN09rbgPJ&=+$mXMMCpq$_yQDDe-@-d1{UEIJPYtY~2#;
zYO>6iGwsEeD*xEqSX}SbPnQdKy3nMSXg>&rVf_a}@w=$e7i$!@g_?kyLu-N#U{U34
zb}UK_s>(3GY+Pe(vMiMI;HBDM)lRpHZcw}P)x7pH*i)r?V=ET5-gb}&(<y;;vijZ9
zKb$Yp_`7p3jj!4eS8q?&CmV*FlJnNT6xXp-6=g~>Wveyn4XS!~Utfb;{1s2eFQ3Wz
z*oL?liyd>u>CfbZn{YSA;l|4yv4&_9o)m2iX|~5|v1!V<a%xP{W^nv}*i8zkeke19
zup*T~s<tSkP=HPa^_CofRFlYiGxDcqx|2!~pR^i_U-#EN31Af@usT{_^n_&t2KGdO
z2a~b&{`1VTT|;ZWv7C1>`_DU29TwkkL{!JQDx73U!HDtueNrsE;643Yg}?*f{ETeB
z_#;&!jRBAh$c1&YazfDzl2<Si-zF;xCg9_wx?m3ejC2<$=f(9OH5}EqbTOD%e5&em
zYB7r?W-PwvK&s|Wac89=tMAG%_DMFoa17#1k(bW-C*lr^W<uKmJ+Xj&uX!CYciQ*;
zuiaS0?IndXm$9q!*O8W)TtKt=LN^Z060eY_Gm|EqF+b>(i^1`eUengTRa-lEN$sZE
z)wSi7l@;)ZhKX!wunlwQ`3E2)(`HqarRqL9=aa5@KC(Ai3g!E5tNR4yr#ZXZlHj9!
z;Mr-v@{A3aiJ^!Q-}ad8nx3HIPjg;rYqIdY=HeJxOmLHV{c~+HXa}M$?zO9g-;^`r
zd+z1-*Xz&!dbKRkmfw5z-KgYrThwSy_@Y~hkf`;AHI5M+5m|HWZaPt9ShqRfj#A2c
z^Ugj}tNV^2nTWAVTIHK+&li2EZ9l&c+fK`XzHSe2Ffc8J60&#pG<=G*&*tzaM4Fux
zzRM$1A#sbV#(|I=q*9VLCnIF3hjxa)3RwaYuaZr3bY;JXmlz9Pc7ZqQiLOAs(iPGh
z^gR*CCH=+A=kd9t_373x;j<fkyV!EqpKDi|0+YDAUs{yC=8|H|m{z68glc+bu=#zy
zH40ml5S2@N4{wUfzNTIniy@PEqf4sr@}|%vC~KZKrZ=OxywZ5zj?)5@l*YSl`Mu_%
z#F0K}miv~y+TR}*()7$JP>MJ-(#CRk?D@Ta$i8JqHX0la)&gt<1R1I<;l1WHY#ZG)
zmo$&;oy+4rq<(H(_;!!HZm~n=e!2`Pj_<%IYe2i=x%S|jNTKb-$V9^DafWbLqRA}{
zapm{s%$g`9nh*)rPvzax-<^mL(nW*DEj@AaCR)k7k*QnVJZvh;k^yc*6bQHjcrT!e
zY?-$h_mF$@GVx>*Gk+}ZBI@~EiXJ?vOwmFVbi*aiB=BTrlZ^5@u^HLuJnHWN@Q3hP
zI>>?f>XA9l*6yjOw>8)hQ_6~&ER$CEL>>CeEfvHviFD5&@$x^wo~}>lr#JYipg}o?
z8%E?t8s#A0aYPt~=S3PdeGKeOl}F#h0v{w(7Q`haIVXcfrxWu@#+;s5$f>zAJ<BJ3
z{|&OyOoC}<Wa|Q@q27cPVGS|4fhyj_ix@1iSm5AIfhzU$ksd}EMv8%FY8b`%Gwrl&
z!<u>1Qg|X8cruwhSWp=5a>xaXaMyuStNnwZgZB`_Lc>^(!{5LOkw$+lbZW1kA<`HI
z`$9{T7Ck-Jjquh#B+UzxxI%|c$B6&-$_16cinAR8jO<=4Bnpgp#K(#!NkHMekP6>6
z;p_S^E*+|>g}hVvG8V|m!nY<qg6#gixh%6}D4X#tLXJ9NOxK~6wG`IK3}MlpK#&2S
zfF2I=MdM)Z@<mf{0{LQ5S(M$EP!IK5utMvVe)Nq685Nj7zDK4k9>*{B{kaQahARZk
zC10_Hhka3tVQjIPufS>iRwT|M6^qA?Z16Fh4s7bd26Oy?1>$qHyxA)ea%1rnSTkrz
zHl9WDmSkd%>|Mg)cye~hxQP7_S?cqs>8?BkxsyCy!j&D=-#d4+i_vU<7H*mSSk8Ww
z9|WDL(vNM&s{J~zG{mRk_Q9Gx-k66-e9w#cx+gNlZa5?40R}iNb2Ro_D%dfvbi)f-
z6;bJ`w_Mi-2jQ1+u78%Z<W`eqf!~t$Cd*;J!uB#lnV#(q!?PT+pxrq+WkAk0l+a|^
zlncFKonLDc?GeSXwqi@mvn+PQ^t9CjnstHCpZK*FTMGTB+c4h*7G`CMUI`Za1v)#@
z)?`_!kF>!|rE>MjJqLv9bF=DkilQy8G_AhL5+`TdRoqfYXQQ{+0^zPHQ;I78dD@|^
zUTGEN_J(f09xhiwI8Bih5A0}T5{5qfwhL*F*l|Lw-7A%NaY{g2hA>Ar{r_2}!58NX
zR5w;aol+^LvC4stzv0^DDz+H%m10<EMk&*Fp&Nx3wZd~;*oakVqNsCX?iKB;tG&`o
z-W;7=<(1}oGfHRGr<L*pu7Vnw6t-=dB|;37v#lAW<h(InImrNL;<QK;7WX#smJa`)
z+fzuFaZ1@J!+0TDNA*9sc(|#2)2@gguDfnWNq=Z95N1Flw>vQBr`-vWd8G&aN?kQ{
z$QOr1)p4YtRiZlK4>!HR_D<V9?VgW;od6eL5{zlvr-zCI_!P{e-$4Tl0;ws=3bi=y
zbTJdFazZ*%g?{M-k&2x75$XQja`?ZXSS|O!taNgs*nkz}X>o?!bOI?JSyPryz+kX=
znGSc5Q_Gg8{mqpsxTM`~-?^Poo+<&7-dZ9?$olMq|B+1rh5ZOtMaejeUN5eY>^H9m
zP^}39dPE|Ye}#4A#`5JO2bKWKlrAw}E(8n5>P85NTN%&R^h;f&!1M(^PbAZia_Y@Q
z?!T2e7!={&K2p}|rk7Hu^xbpTdt?JwQ>UcyWIdjWaAL5HUN-6F)G0N(^>A%<N)5mh
zfa~4#pm9on1U>?M8hAJG7w|j+_=G#V?~lMo!23SnD$oZ5A9QPb<iH2YK#+m37aqg_
zSHOg5;1Aq`*K?=z7&IS)W;0kQfJ@;?e($9jPU*gTkV^(^F+95swv^u-&_sfC9W;~|
z4``x5x(pi1vj;SD{6K636=lPK${(aU&`{19(1d|>3N(~o9nge>bQCm{Q=jkL8TX5w
zJ59n@D)CN|uyUGQ1@9}2tXXN0M}jnle7lloo_Wa6E62!xx`=F%B>Wu?KO|}IB;ZK0
z;GGt{f{a}CU&hgN8oYQFU^d9V0nP=UL7f0Pp{f#rsng>C+Mg={v>VcX9oB$GM;hXV
zNL`Yur3+1UNn^a60BzxS5n89z*H2cKyr#VDZSD-qn%ZN5Eao;+S6i%&CHI(ss~}zu
zhLgs6WUU=%{}qO<00%5e)tjOIuEY3yz;}SZ0fv8u6t4jm1GWQd05<_%z<BGQ-d%?$
zQx|kPoigVnQk(%?08m$tfvFoaa6J4Ly$MX+%ReWpHbmk(WakE5gb0cbz(YWKLx`Z}
zJko3Arwt46T9Uc39(P*1Hx@Ec)P$OrLzr|uYMu%{TgbBa_l5l5rw<9<)S~$sY)pWQ
zfJ=ZGfTe&p0s8@A4KnxvNekIh=a7!OQSzvJZ^3Dc#FPE`y+2Mg2~H`31Z+-|8^Kyj
zvNxyk)W_?9bU+rs0WpL%1myB2l*Il(11}<nHmfzsO@p2t(pdN4oudFgw_S+J4#|1}
zjjqiZ_CqPO&SPGBU*Cls(oi=YAM(<fbR1}n+cJ*T%%@AypCP~^q`M{aU?#d$G?k`6
z)1q7P4D>WCnjTG?rbyGKVQK*;>t1sZ4yTW)in^ka&$pi5%Ht@S9!-W?Qg76RdUKGU
zwiU{Mpd+H$ejSe{;pGu{JQ-WAVW8Ajm5*X15BaeCxA@QGMtK6hLY|f9;de>)2d5Ka
zJt~1Y?UtVP%SHv=yWhnOl~>Cu(LuNLrAIc3`GKi%OW%{w9Vxh!Oxf{j#9ZfiffF!j
z*E#*`Qk$t{B)fOSU?VxTgTr^pwH-0xH$Fj%4|GV8-az}ITRKL5-O-5C$=RKGxPkQV
zd}Rb*`NBd5efW}Fk(b`+lqOjXmMJo<wN~tjk&T?Q4k>N`+5qi<yMX(EKLM^;zukXG
zfxjaQstk(JN9eCnq#_d!4kwqZ)+&C1E86}SikXMk4p^x0bBli+KFS0iBipK1{Ws}f
BE2{ti

diff --git a/boards/holybro/pix32v5/extras/px4_io-v2_default.bin b/boards/holybro/pix32v5/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..47e85b6bd08c4d3d9b31d298e01285e1ee28e44c 100755
GIT binary patch
delta 4392
zcmZ8l30M?Yw!XKjH?~JZi?V7L9TkGIXiQ9qp=qR~X-I>LsJJwPOS^B0(L_HQMJ<;k
z>UATy#4&yYaZG>?V+aq?rxW8Oc>$w&B#z^fn1&c<N+eWwSJVB@Mf2YKp5OQPf9|>G
zo^wytxu-7f{ge^UG1%CM=VSaKDaUa^iZG-{2<dIkZMYTVJtUjWg5N4O4exO_vf-+*
zqeqdZ9`Fg^g7fR3Ru;eP+!+>v@pR|Gf4i;31<u!pj8HH?opK(EUW=7KokAMBGc0x;
z#w$rx+!WkEuErh4&Cc@px0Lv6=Phm-#z&oI!--%lID5uQ80c==3k?3w88dFQDr{yw
z(oi5Ru(NRD#|q_-$C2iy6Hm$v!W+mWJ`Qhi&f<q*pfyvXR1jxJVH%!D&J~WBmg?0e
zBJOxzK+144qSK8Mj}{y&obFa+D!9nHNWzNYzCW87{<qE}1zVeb+=2{DXyR6u9I{yZ
z-dxKNWH^xbbq{F8|8lGJ`^~IaMUr1lt3;!>7k<Wn%GdLl%jrLcWa%|80%<o$tGt-Y
z?mqz1QZEvteMs~TAaOguG!R;c#hsq;T9v-GDa8@~UPSHd;L`*)@jgcUPj~QPMm+7t
zqQQ+s){jM}|5BWSls^b&m9UpvJqo-uf450f*}laTa}A3h_|<$t@5g8tFG~epCCI4|
zc8b^dOD@7mnhu*Kr~f#L*-#~7CU&(fC3>y>fwdKTYMY2@Xosmc9Avtlj;D0V(zE~L
zV<h!~aWdPP4IX4k>8%iI)d|<JxYTcXmDsF9EBXA2TuuAz+~8}Gbs_t(80Bem&q)ud
zsduCF3AQ!1MZ!>#QRzGA6Qa-MrYE!T20Tk$&RZQ=e8o>?$OTea2dO+iAWQc=zo&4^
z^CX4VPQ*34Qu9+ST6=2Y>q&+#tGFOE#y-{_8Y$!cP+9q#Ra_tX7g_9YmVE>l=?o`5
zBl15oMcDBpj3aF4yW%aec04ZD*5ZoK!}dwZLc5B*Si~t#xllWqQxqM9P9V*gAf%5Z
zn~SXB8FI=7WJp<!#SaG>9%#tTqPY0mA1&M!S=ZuL*gkPHj!)dE0gFZMsM--;!A-Qq
z!;%~UDFNQr<^cyEyzl(azp9ZwNdrd-Fopsm7){|QofH=*;Lpjb;xxRUoG30?_P!ZE
z$i>~!7n;;bxa&x+u@j3C14k`K^Dp%<m<R!=lN`~=5(gHSxskrDTikKTV(h;>gnf|B
z&K`w0`_r{TZd&KN`9uKwKF2!Z=ytvRzjmV$x0}qLx{zIIT|=%+<$_uqpFP6iM)3l9
zG&LpdL&xoIr5Ktx?xnoCC3ST(=GE2JtzPdqa9|t!LqkM1JhUBi=xJ4}h-KQ&(p2;Q
zrhxRhZ@;TmxT${kdQLyDJ8Ih9nG9#`u5X9y@?$naA%-JHoa1wVjiJwx6Q_s^RorP6
zo@pH1WksuFoeT68y)HffTs0%El9!RjX}T9V{`4aqLgFg{ZObTklyR0zrg@1BD?6sS
z(Adhp;*WpI$>~3V6e7l6>9s(f%PI!aZ;;CAG1y9Krcc2q$=&H3-b>h$l!(1Pg&v7-
zc<bB<DM4CGvPv?;minwB()^7#@<=>Sc9fX$JknVbSE+5z?~OuU>1)5fK%Z}KJSEIh
z1Yg(L@%W$=olX6{wa<~QPY6g=GQI=VY&#|B`W&l<Sz<fN1UO!6bRrX;+grqH+GF_0
z0@@u6_L%IeIkV$2>^9Nnl?1=R9-dO&jtmBywr#esU#-4gCgk>(6zfDB8y?-xa`#-;
zz7Ml+yJ%rL0O<_UzfAVc(BTSldWHd4ldCgEL{$2e4RhTJ`R+obd4D@bwn6RUr`pYn
zkS4DiBO^&J<whoWlkBn->$Ucore*L+c0@w+CmUqxM-MWDm}5aBOA=XC8Wr&s#6y#j
zu>*J;po$zUor`_sacLHQnT($~8vjPhW^!X^z)HP6mXCq%v(%Gf&k-GLicQ%dwxM>q
zZV33;3A_@@zk}4z%)zgchcn{}U-3N4Go0QYkW7L5a0+RxP{4JtrLpPSiOnj#EOonw
zT80%w+ms;Rb4OW*7Dn50`x$sSr+xXoEbvKEGHb+=7d+2{MV|*7Qf#K)c-CNR>z-%~
zNZ*`C?KBJOoqDD_(gG9!4WP!3G}`94f?&PDZV)l7!(yS^U=P;kJRR{c!Z6Yd&SjBX
zvtsZ#BF!p`=yxl5f&U(wU9CC<`r<!H#ca!Hw_9!D_-LCt4~y}Bl_eTpFlyfgO~4MI
zUrrmm$(7{B>=drlZ8kIFFMcJj=UHedJdA$yV?K#z#F_vro*-OVY1p>F7XH&lEjJNL
z?i;eLYyvis*0LoTe}{bjxv4U1RV17FI7*4`z?jCN6|(?hWQDP)IvDBa01knEFDaRm
zjHi;yIg>C)+U8WoJPwR(gkmmUmgkoq21bL7itQk~NXgt}gDvoR55f#r2AZz|6@met
zL5`?pD;$QMc)XzsiB@uQ?&zS40fsY!O&jT)tHUSA{kfB1hlY9Ccs^M;FAFD-)AKl-
zO0LXHjuK!m=}-4bpF<bOcZhO6S4r}3HeKss7H@qVA<Xzi&F(D>={zGGRk1g){vESl
ziVf(ww;_t(A9n|dultdq;ekrCGr#<SI>-W_AycmFTRoSQ;FrGlLmuT+y6)d%?u3s_
zD|}>{Or_tR5oW4NZ=4ZoRMT&4wrtL4A8GM4w<2V>$y5pC=|rQ>2pbFFG_Q+puMpm_
zMz>#jY-BT6pP?swovNckn5}-b9UIOFmmWKGtMhd*vzLEje@0l5KWMMhtv<D9A79%v
ztr4ecIx{znZ#*N!DcKu(ZV@D~%U>bD2BAynm9z39JN!}=BvWZK&(4P{N(dgWNl65D
zcQT_Q?_BIbi$8GTQBId%+TzElL7gdlsoDDfEHgK-VnCVMas+CTO1hRBH!6DAR3Y4U
z8&B#)ZTNdIgFDgK1syPtD_Sr#!2%EFUd-F&Mq0mQO!k}1O1)pQ`>E-)#>@?dL3bf7
zOe)*CP>2$>N<{~qBiC(-x(o|^h^9o_vG{hYLFiKdd}9m=DxXxDV0o60HB<e4uL150
z=Wl2dhnl~1p_ICgWT<N-y4;vk(Wpg!>0bkp<{CKv^kmSg-S|Gz(CW~iRHJU-H$fi{
zOncuw;75R7z&IF(0{dWo2dtsheh^q>K}o(SH-;Z^f7iog)R@A$()j_YkqrBT2VW);
z6^r3_V?~a#4-BKp#R>~XBy2&ZGVdhPTy_>NNW);Td7&A1lPe1skN<}^o%c$$a-eAk
zl%<}Bq^nkmQHp-olV50EP|%klG#Z1A^b7w1DPQzu5Y^gYQ<uqv#pm!W@^JCuguxJC
zIkrc%D)~_UM8hy1amy3gx&g^U*4R%&<Y7zhDyg?TGO#4;$)-s5(qol(WO_;SNPmCI
zvwe!etDZ+H@fm-ajBrwDJH4jS%brKND(AyB&?Eg7I1TusOuv*KsSWrTa0~Em;AWVQ
z0&bME`_BTO1@G?y*MmM3__UnYs{}q-34#KIV=xg1TmuVYfe*@0F1jAc3z`F<*#j0D
zU;$>VeHV&6(nI+PR}R`@nEMHADX$;YM1yn_G?Z5iYGOdT1{%r>1~nxr5U+xYa@n9t
z4blbBP@X!d(SmdiG?dMQnh20S0u5#3(<gUc{{6|dkc{Oze3;}epQ4P0_oX5GmRpos
zkcN}H%MA=WKvXM6DS!KS)UG8ND>y8YX)8uzE!nu@5`K$JTKO+qJQ!=?#p?kDAU_8@
z890wR0ek^fr3a=?j{s;V-V2~zkalKmGkPZ4lE_D!Q}ma5&}6Ulyr1KtIs73i&m*b)
zWY4OXbl3cC-CE=1UIDUL)Iwd&b$-9<CKGf4#Lq&J{-U#OtqW)W2MoUebU{$6-URh`
z3C33dmjRyx`e82ik4Q5KPyrACO@My@f}QtYTZf;gF6eT)WCHx{_731Z0Cn{@VCu#O
z%zOY#fvNlZr^q|&qw&w=PwUN5-Js|IbO9zdhw(X_Ps%6CH)i22Wd0kC_>MDTLm3l8
zO{i%#Y?H>L=34OCO18cEZrJ~w?IPS;mvS4x#s>HV@F^e<Fb6OXAON(@3iwlu7P8Rb
zmKtO<X86q|@LfgXsR3)>-3&YLkw%i_P2-g_!P-d5H;p$?AI|~O0TTft-9vLwfx(Va
z*dOS|*N}6Ya&lj8ed5_Iy&yliR}{l>+l8p?mM(pUp82zB$PXK!eV*{sOY$z{mJ($;
zKJ2F}={VMzwK<v1ErKw#PtedEknZNJgIVZ8`DB^`O^ZH?Z$VGDMbo2c(-djibel$i
z&3V=lf+OfORZ&-T=S9w|RR$bG)1%2yOX`i9P;VkpZY@(@qa(6#>zDXBl2ILnUm{bg
za~UYLcdCao>H+dm^(**0^00a&zD{)83h{JOzO8=b7@wYJ>Sc-bD~5;Myw$@*Dr*%-
z&_P*h^(lrkKQMK&bep7YAB$&_x!YfiS_Bt7j>n+g>QOhOw^3;|IkP<uuO?TvbGV1}
zY>$gLdkAT^nUQ8<Gwp}6^f8Ir(Sq~HH#-XPUrB=S!Z7y8?-mN^!yU4waAJ!`GC7wC
zlN8wKtltx-NSLq=Y0d%~0nLCGKpWsRpx$|R?_mx8m29lBXcWhwO~e0fkm7?w$-SDj
gny=t8w)c0%+V|EDTIlgp3#Rrs^XqZ)$J&+u4eL|l>i_@%

delta 4572
zcmZ8k3s@9Kwyx@)f#D_Ki1JdVX;Bo2C>ujUTpr`J^8gXwike~3IEhAlL?uy|QHc&d
zqNZX5iLaPkal<M&@+F95jJUhH#to>r7}wS8H5t&jw?RVBi<x^0^xpejzVGKhb^6q)
zbE;3Dsu90p_J7S_Z9RSi;|rt+#{>k2AQeJLWww5Rn=q~=*=#2K-^xzFwbptz)Gy@X
zr$})Pa2xQ@dLy8T#fz*JAwd|wYdtvRfgG>2t{)aBV`QIOKZ#t6<+9I_!eR}HUWf6A
zWNXYc+)A#+9K!9^qS#Gx{M34%TY>RKtByYwh-<7}DG~<yal$JM?z2Ws8tWHQdKxJx
zP#CZ^Fa4}c&K^Sww-ryx2*8zOiV%Y<tqX(^7--G32tWLLvNLZ2){?LC;%5EU6&8=U
zV_Kgy(ZPr<4itYR_h{a1hb%+J4XqhUSTW91o5KjdwpHbBKlh*85YGh1Z)eFNLw@i3
zYZ-$0gW4NipcU;7KNZoj;sG*l`h>E45h*SU-wK#h_Z>lQX}t@9v>T+=F3e^3eGJkH
z7ZMXZNDS~Ik@O=mzdyJJi-(<|)us8>=loQmhd1gn%;D9nI1{WAJ&gEI#|=lKnGw%B
zu=tV#i9@_tyzH%eqF`mD=t&?ehj{LH$?)5+>v!iUY}<08ZesDA*DU1roJG3?x1@K;
zL4FAq*SNACYY<LUv>FZSzN09rbgPJ&=+$mXMMCpq$_yQDDe-@-d1{UEIJPYtY~2#;
zYO>6iGwsEeD*xEqSX}SbPnQdKy3nMSXg>&rVf_a}@w=$e7i$!@g_?kyLu-N#U{U34
zb}UK_s>(3GY+Pe(vMiMI;HBDM)lRpHZcw}P)x7pH*i)r?V=ET5-gb}&(<y;;vijZ9
zKb$Yp_`7p3jj!4eS8q?&CmV*FlJnNT6xXp-6=g~>Wveyn4XS!~Utfb;{1s2eFQ3Wz
z*oL?liyd>u>CfbZn{YSA;l|4yv4&_9o)m2iX|~5|v1!V<a%xP{W^nv}*i8zkeke19
zup*T~s<tSkP=HPa^_CofRFlYiGxDcqx|2!~pR^i_U-#EN31Af@usT{_^n_&t2KGdO
z2a~b&{`1VTT|;ZWv7C1>`_DU29TwkkL{!JQDx73U!HDtueNrsE;643Yg}?*f{ETeB
z_#;&!jRBAh$c1&YazfDzl2<Si-zF;xCg9_wx?m3ejC2<$=f(9OH5}EqbTOD%e5&em
zYB7r?W-PwvK&s|Wac89=tMAG%_DMFoa17#1k(bW-C*lr^W<uKmJ+Xj&uX!CYciQ*;
zuiaS0?IndXm$9q!*O8W)TtKt=LN^Z060eY_Gm|EqF+b>(i^1`eUengTRa-lEN$sZE
z)wSi7l@;)ZhKX!wunlwQ`3E2)(`HqarRqL9=aa5@KC(Ai3g!E5tNR4yr#ZXZlHj9!
z;Mr-v@{A3aiJ^!Q-}ad8nx3HIPjg;rYqIdY=HeJxOmLHV{c~+HXa}M$?zO9g-;^`r
zd+z1-*Xz&!dbKRkmfw5z-KgYrThwSy_@Y~hkf`;AHI5M+5m|HWZaPt9ShqRfj#A2c
z^Ugj}tNV^2nTWAVTIHK+&li2EZ9l&c+fK`XzHSe2Ffc8J60&#pG<=G*&*tzaM4Fux
zzRM$1A#sbV#(|I=q*9VLCnIF3hjxa)3RwaYuaZr3bY;JXmlz9Pc7ZqQiLOAs(iPGh
z^gR*CCH=+A=kd9t_373x;j<fkyV!EqpKDi|0+YDAUs{yC=8|H|m{z68glc+bu=#zy
zH40ml5S2@N4{wUfzNTIniy@PEqf4sr@}|%vC~KZKrZ=OxywZ5zj?)5@l*YSl`Mu_%
z#F0K}miv~y+TR}*()7$JP>MJ-(#CRk?D@Ta$i8JqHX0la)&gt<1R1I<;l1WHY#ZG)
zmo$&;oy+4rq<(H(_;!!HZm~n=e!2`Pj_<%IYe2i=x%S|jNTKb-$V9^DafWbLqRA}{
zapm{s%$g`9nh*)rPvzax-<^mL(nW*DEj@AaCR)k7k*QnVJZvh;k^yc*6bQHjcrT!e
zY?-$h_mF$@GVx>*Gk+}ZBI@~EiXJ?vOwmFVbi*aiB=BTrlZ^5@u^HLuJnHWN@Q3hP
zI>>?f>XA9l*6yjOw>8)hQ_6~&ER$CEL>>CeEfvHviFD5&@$x^wo~}>lr#JYipg}o?
z8%E?t8s#A0aYPt~=S3PdeGKeOl}F#h0v{w(7Q`haIVXcfrxWu@#+;s5$f>zAJ<BJ3
z{|&OyOoC}<Wa|Q@q27cPVGS|4fhyj_ix@1iSm5AIfhzU$ksd}EMv8%FY8b`%Gwrl&
z!<u>1Qg|X8cruwhSWp=5a>xaXaMyuStNnwZgZB`_Lc>^(!{5LOkw$+lbZW1kA<`HI
z`$9{T7Ck-Jjquh#B+UzxxI%|c$B6&-$_16cinAR8jO<=4Bnpgp#K(#!NkHMekP6>6
z;p_S^E*+|>g}hVvG8V|m!nY<qg6#gixh%6}D4X#tLXJ9NOxK~6wG`IK3}MlpK#&2S
zfF2I=MdM)Z@<mf{0{LQ5S(M$EP!IK5utMvVe)Nq685Nj7zDK4k9>*{B{kaQahARZk
zC10_Hhka3tVQjIPufS>iRwT|M6^qA?Z16Fh4s7bd26Oy?1>$qHyxA)ea%1rnSTkrz
zHl9WDmSkd%>|Mg)cye~hxQP7_S?cqs>8?BkxsyCy!j&D=-#d4+i_vU<7H*mSSk8Ww
z9|WDL(vNM&s{J~zG{mRk_Q9Gx-k66-e9w#cx+gNlZa5?40R}iNb2Ro_D%dfvbi)f-
z6;bJ`w_Mi-2jQ1+u78%Z<W`eqf!~t$Cd*;J!uB#lnV#(q!?PT+pxrq+WkAk0l+a|^
zlncFKonLDc?GeSXwqi@mvn+PQ^t9CjnstHCpZK*FTMGTB+c4h*7G`CMUI`Za1v)#@
z)?`_!kF>!|rE>MjJqLv9bF=DkilQy8G_AhL5+`TdRoqfYXQQ{+0^zPHQ;I78dD@|^
zUTGEN_J(f09xhiwI8Bih5A0}T5{5qfwhL*F*l|Lw-7A%NaY{g2hA>Ar{r_2}!58NX
zR5w;aol+^LvC4stzv0^DDz+H%m10<EMk&*Fp&Nx3wZd~;*oakVqNsCX?iKB;tG&`o
z-W;7=<(1}oGfHRGr<L*pu7Vnw6t-=dB|;37v#lAW<h(InImrNL;<QK;7WX#smJa`)
z+fzuFaZ1@J!+0TDNA*9sc(|#2)2@gguDfnWNq=Z95N1Flw>vQBr`-vWd8G&aN?kQ{
z$QOr1)p4YtRiZlK4>!HR_D<V9?VgW;od6eL5{zlvr-zCI_!P{e-$4Tl0;ws=3bi=y
zbTJdFazZ*%g?{M-k&2x75$XQja`?ZXSS|O!taNgs*nkz}X>o?!bOI?JSyPryz+kX=
znGSc5Q_Gg8{mqpsxTM`~-?^Poo+<&7-dZ9?$olMq|B+1rh5ZOtMaejeUN5eY>^H9m
zP^}39dPE|Ye}#4A#`5JO2bKWKlrAw}E(8n5>P85NTN%&R^h;f&!1M(^PbAZia_Y@Q
z?!T2e7!={&K2p}|rk7Hu^xbpTdt?JwQ>UcyWIdjWaAL5HUN-6F)G0N(^>A%<N)5mh
zfa~4#pm9on1U>?M8hAJG7w|j+_=G#V?~lMo!23SnD$oZ5A9QPb<iH2YK#+m37aqg_
zSHOg5;1Aq`*K?=z7&IS)W;0kQfJ@;?e($9jPU*gTkV^(^F+95swv^u-&_sfC9W;~|
z4``x5x(pi1vj;SD{6K636=lPK${(aU&`{19(1d|>3N(~o9nge>bQCm{Q=jkL8TX5w
zJ59n@D)CN|uyUGQ1@9}2tXXN0M}jnle7lloo_Wa6E62!xx`=F%B>Wu?KO|}IB;ZK0
z;GGt{f{a}CU&hgN8oYQFU^d9V0nP=UL7f0Pp{f#rsng>C+Mg={v>VcX9oB$GM;hXV
zNL`Yur3+1UNn^a60BzxS5n89z*H2cKyr#VDZSD-qn%ZN5Eao;+S6i%&CHI(ss~}zu
zhLgs6WUU=%{}qO<00%5e)tjOIuEY3yz;}SZ0fv8u6t4jm1GWQd05<_%z<BGQ-d%?$
zQx|kPoigVnQk(%?08m$tfvFoaa6J4Ly$MX+%ReWpHbmk(WakE5gb0cbz(YWKLx`Z}
zJko3Arwt46T9Uc39(P*1Hx@Ec)P$OrLzr|uYMu%{TgbBa_l5l5rw<9<)S~$sY)pWQ
zfJ=ZGfTe&p0s8@A4KnxvNekIh=a7!OQSzvJZ^3Dc#FPE`y+2Mg2~H`31Z+-|8^Kyj
zvNxyk)W_?9bU+rs0WpL%1myB2l*Il(11}<nHmfzsO@p2t(pdN4oudFgw_S+J4#|1}
zjjqiZ_CqPO&SPGBU*Cls(oi=YAM(<fbR1}n+cJ*T%%@AypCP~^q`M{aU?#d$G?k`6
z)1q7P4D>WCnjTG?rbyGKVQK*;>t1sZ4yTW)in^ka&$pi5%Ht@S9!-W?Qg76RdUKGU
zwiU{Mpd+H$ejSe{;pGu{JQ-WAVW8Ajm5*X15BaeCxA@QGMtK6hLY|f9;de>)2d5Ka
zJt~1Y?UtVP%SHv=yWhnOl~>Cu(LuNLrAIc3`GKi%OW%{w9Vxh!Oxf{j#9ZfiffF!j
z*E#*`Qk$t{B)fOSU?VxTgTr^pwH-0xH$Fj%4|GV8-az}ITRKL5-O-5C$=RKGxPkQV
zd}Rb*`NBd5efW}Fk(b`+lqOjXmMJo<wN~tjk&T?Q4k>N`+5qi<yMX(EKLM^;zukXG
zfxjaQstk(JN9eCnq#_d!4kwqZ)+&C1E86}SikXMk4p^x0bBli+KFS0iBipK1{Ws}f
BE2{ti

diff --git a/boards/mro/x21-777/extras/px4_io-v2_default.bin b/boards/mro/x21-777/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..47e85b6bd08c4d3d9b31d298e01285e1ee28e44c 100755
GIT binary patch
delta 4392
zcmZ8l30M?Yw!XKjH?~JZi?V7L9TkGIXiQ9qp=qR~X-I>LsJJwPOS^B0(L_HQMJ<;k
z>UATy#4&yYaZG>?V+aq?rxW8Oc>$w&B#z^fn1&c<N+eWwSJVB@Mf2YKp5OQPf9|>G
zo^wytxu-7f{ge^UG1%CM=VSaKDaUa^iZG-{2<dIkZMYTVJtUjWg5N4O4exO_vf-+*
zqeqdZ9`Fg^g7fR3Ru;eP+!+>v@pR|Gf4i;31<u!pj8HH?opK(EUW=7KokAMBGc0x;
z#w$rx+!WkEuErh4&Cc@px0Lv6=Phm-#z&oI!--%lID5uQ80c==3k?3w88dFQDr{yw
z(oi5Ru(NRD#|q_-$C2iy6Hm$v!W+mWJ`Qhi&f<q*pfyvXR1jxJVH%!D&J~WBmg?0e
zBJOxzK+144qSK8Mj}{y&obFa+D!9nHNWzNYzCW87{<qE}1zVeb+=2{DXyR6u9I{yZ
z-dxKNWH^xbbq{F8|8lGJ`^~IaMUr1lt3;!>7k<Wn%GdLl%jrLcWa%|80%<o$tGt-Y
z?mqz1QZEvteMs~TAaOguG!R;c#hsq;T9v-GDa8@~UPSHd;L`*)@jgcUPj~QPMm+7t
zqQQ+s){jM}|5BWSls^b&m9UpvJqo-uf450f*}laTa}A3h_|<$t@5g8tFG~epCCI4|
zc8b^dOD@7mnhu*Kr~f#L*-#~7CU&(fC3>y>fwdKTYMY2@Xosmc9Avtlj;D0V(zE~L
zV<h!~aWdPP4IX4k>8%iI)d|<JxYTcXmDsF9EBXA2TuuAz+~8}Gbs_t(80Bem&q)ud
zsduCF3AQ!1MZ!>#QRzGA6Qa-MrYE!T20Tk$&RZQ=e8o>?$OTea2dO+iAWQc=zo&4^
z^CX4VPQ*34Qu9+ST6=2Y>q&+#tGFOE#y-{_8Y$!cP+9q#Ra_tX7g_9YmVE>l=?o`5
zBl15oMcDBpj3aF4yW%aec04ZD*5ZoK!}dwZLc5B*Si~t#xllWqQxqM9P9V*gAf%5Z
zn~SXB8FI=7WJp<!#SaG>9%#tTqPY0mA1&M!S=ZuL*gkPHj!)dE0gFZMsM--;!A-Qq
z!;%~UDFNQr<^cyEyzl(azp9ZwNdrd-Fopsm7){|QofH=*;Lpjb;xxRUoG30?_P!ZE
z$i>~!7n;;bxa&x+u@j3C14k`K^Dp%<m<R!=lN`~=5(gHSxskrDTikKTV(h;>gnf|B
z&K`w0`_r{TZd&KN`9uKwKF2!Z=ytvRzjmV$x0}qLx{zIIT|=%+<$_uqpFP6iM)3l9
zG&LpdL&xoIr5Ktx?xnoCC3ST(=GE2JtzPdqa9|t!LqkM1JhUBi=xJ4}h-KQ&(p2;Q
zrhxRhZ@;TmxT${kdQLyDJ8Ih9nG9#`u5X9y@?$naA%-JHoa1wVjiJwx6Q_s^RorP6
zo@pH1WksuFoeT68y)HffTs0%El9!RjX}T9V{`4aqLgFg{ZObTklyR0zrg@1BD?6sS
z(Adhp;*WpI$>~3V6e7l6>9s(f%PI!aZ;;CAG1y9Krcc2q$=&H3-b>h$l!(1Pg&v7-
zc<bB<DM4CGvPv?;minwB()^7#@<=>Sc9fX$JknVbSE+5z?~OuU>1)5fK%Z}KJSEIh
z1Yg(L@%W$=olX6{wa<~QPY6g=GQI=VY&#|B`W&l<Sz<fN1UO!6bRrX;+grqH+GF_0
z0@@u6_L%IeIkV$2>^9Nnl?1=R9-dO&jtmBywr#esU#-4gCgk>(6zfDB8y?-xa`#-;
zz7Ml+yJ%rL0O<_UzfAVc(BTSldWHd4ldCgEL{$2e4RhTJ`R+obd4D@bwn6RUr`pYn
zkS4DiBO^&J<whoWlkBn->$Ucore*L+c0@w+CmUqxM-MWDm}5aBOA=XC8Wr&s#6y#j
zu>*J;po$zUor`_sacLHQnT($~8vjPhW^!X^z)HP6mXCq%v(%Gf&k-GLicQ%dwxM>q
zZV33;3A_@@zk}4z%)zgchcn{}U-3N4Go0QYkW7L5a0+RxP{4JtrLpPSiOnj#EOonw
zT80%w+ms;Rb4OW*7Dn50`x$sSr+xXoEbvKEGHb+=7d+2{MV|*7Qf#K)c-CNR>z-%~
zNZ*`C?KBJOoqDD_(gG9!4WP!3G}`94f?&PDZV)l7!(yS^U=P;kJRR{c!Z6Yd&SjBX
zvtsZ#BF!p`=yxl5f&U(wU9CC<`r<!H#ca!Hw_9!D_-LCt4~y}Bl_eTpFlyfgO~4MI
zUrrmm$(7{B>=drlZ8kIFFMcJj=UHedJdA$yV?K#z#F_vro*-OVY1p>F7XH&lEjJNL
z?i;eLYyvis*0LoTe}{bjxv4U1RV17FI7*4`z?jCN6|(?hWQDP)IvDBa01knEFDaRm
zjHi;yIg>C)+U8WoJPwR(gkmmUmgkoq21bL7itQk~NXgt}gDvoR55f#r2AZz|6@met
zL5`?pD;$QMc)XzsiB@uQ?&zS40fsY!O&jT)tHUSA{kfB1hlY9Ccs^M;FAFD-)AKl-
zO0LXHjuK!m=}-4bpF<bOcZhO6S4r}3HeKss7H@qVA<Xzi&F(D>={zGGRk1g){vESl
ziVf(ww;_t(A9n|dultdq;ekrCGr#<SI>-W_AycmFTRoSQ;FrGlLmuT+y6)d%?u3s_
zD|}>{Or_tR5oW4NZ=4ZoRMT&4wrtL4A8GM4w<2V>$y5pC=|rQ>2pbFFG_Q+puMpm_
zMz>#jY-BT6pP?swovNckn5}-b9UIOFmmWKGtMhd*vzLEje@0l5KWMMhtv<D9A79%v
ztr4ecIx{znZ#*N!DcKu(ZV@D~%U>bD2BAynm9z39JN!}=BvWZK&(4P{N(dgWNl65D
zcQT_Q?_BIbi$8GTQBId%+TzElL7gdlsoDDfEHgK-VnCVMas+CTO1hRBH!6DAR3Y4U
z8&B#)ZTNdIgFDgK1syPtD_Sr#!2%EFUd-F&Mq0mQO!k}1O1)pQ`>E-)#>@?dL3bf7
zOe)*CP>2$>N<{~qBiC(-x(o|^h^9o_vG{hYLFiKdd}9m=DxXxDV0o60HB<e4uL150
z=Wl2dhnl~1p_ICgWT<N-y4;vk(Wpg!>0bkp<{CKv^kmSg-S|Gz(CW~iRHJU-H$fi{
zOncuw;75R7z&IF(0{dWo2dtsheh^q>K}o(SH-;Z^f7iog)R@A$()j_YkqrBT2VW);
z6^r3_V?~a#4-BKp#R>~XBy2&ZGVdhPTy_>NNW);Td7&A1lPe1skN<}^o%c$$a-eAk
zl%<}Bq^nkmQHp-olV50EP|%klG#Z1A^b7w1DPQzu5Y^gYQ<uqv#pm!W@^JCuguxJC
zIkrc%D)~_UM8hy1amy3gx&g^U*4R%&<Y7zhDyg?TGO#4;$)-s5(qol(WO_;SNPmCI
zvwe!etDZ+H@fm-ajBrwDJH4jS%brKND(AyB&?Eg7I1TusOuv*KsSWrTa0~Em;AWVQ
z0&bME`_BTO1@G?y*MmM3__UnYs{}q-34#KIV=xg1TmuVYfe*@0F1jAc3z`F<*#j0D
zU;$>VeHV&6(nI+PR}R`@nEMHADX$;YM1yn_G?Z5iYGOdT1{%r>1~nxr5U+xYa@n9t
z4blbBP@X!d(SmdiG?dMQnh20S0u5#3(<gUc{{6|dkc{Oze3;}epQ4P0_oX5GmRpos
zkcN}H%MA=WKvXM6DS!KS)UG8ND>y8YX)8uzE!nu@5`K$JTKO+qJQ!=?#p?kDAU_8@
z890wR0ek^fr3a=?j{s;V-V2~zkalKmGkPZ4lE_D!Q}ma5&}6Ulyr1KtIs73i&m*b)
zWY4OXbl3cC-CE=1UIDUL)Iwd&b$-9<CKGf4#Lq&J{-U#OtqW)W2MoUebU{$6-URh`
z3C33dmjRyx`e82ik4Q5KPyrACO@My@f}QtYTZf;gF6eT)WCHx{_731Z0Cn{@VCu#O
z%zOY#fvNlZr^q|&qw&w=PwUN5-Js|IbO9zdhw(X_Ps%6CH)i22Wd0kC_>MDTLm3l8
zO{i%#Y?H>L=34OCO18cEZrJ~w?IPS;mvS4x#s>HV@F^e<Fb6OXAON(@3iwlu7P8Rb
zmKtO<X86q|@LfgXsR3)>-3&YLkw%i_P2-g_!P-d5H;p$?AI|~O0TTft-9vLwfx(Va
z*dOS|*N}6Ya&lj8ed5_Iy&yliR}{l>+l8p?mM(pUp82zB$PXK!eV*{sOY$z{mJ($;
zKJ2F}={VMzwK<v1ErKw#PtedEknZNJgIVZ8`DB^`O^ZH?Z$VGDMbo2c(-djibel$i
z&3V=lf+OfORZ&-T=S9w|RR$bG)1%2yOX`i9P;VkpZY@(@qa(6#>zDXBl2ILnUm{bg
za~UYLcdCao>H+dm^(**0^00a&zD{)83h{JOzO8=b7@wYJ>Sc-bD~5;Myw$@*Dr*%-
z&_P*h^(lrkKQMK&bep7YAB$&_x!YfiS_Bt7j>n+g>QOhOw^3;|IkP<uuO?TvbGV1}
zY>$gLdkAT^nUQ8<Gwp}6^f8Ir(Sq~HH#-XPUrB=S!Z7y8?-mN^!yU4waAJ!`GC7wC
zlN8wKtltx-NSLq=Y0d%~0nLCGKpWsRpx$|R?_mx8m29lBXcWhwO~e0fkm7?w$-SDj
gny=t8w)c0%+V|EDTIlgp3#Rrs^XqZ)$J&+u4eL|l>i_@%

delta 4572
zcmZ8k3s@9Kwyx@)f#D_Ki1JdVX;Bo2C>ujUTpr`J^8gXwike~3IEhAlL?uy|QHc&d
zqNZX5iLaPkal<M&@+F95jJUhH#to>r7}wS8H5t&jw?RVBi<x^0^xpejzVGKhb^6q)
zbE;3Dsu90p_J7S_Z9RSi;|rt+#{>k2AQeJLWww5Rn=q~=*=#2K-^xzFwbptz)Gy@X
zr$})Pa2xQ@dLy8T#fz*JAwd|wYdtvRfgG>2t{)aBV`QIOKZ#t6<+9I_!eR}HUWf6A
zWNXYc+)A#+9K!9^qS#Gx{M34%TY>RKtByYwh-<7}DG~<yal$JM?z2Ws8tWHQdKxJx
zP#CZ^Fa4}c&K^Sww-ryx2*8zOiV%Y<tqX(^7--G32tWLLvNLZ2){?LC;%5EU6&8=U
zV_Kgy(ZPr<4itYR_h{a1hb%+J4XqhUSTW91o5KjdwpHbBKlh*85YGh1Z)eFNLw@i3
zYZ-$0gW4NipcU;7KNZoj;sG*l`h>E45h*SU-wK#h_Z>lQX}t@9v>T+=F3e^3eGJkH
z7ZMXZNDS~Ik@O=mzdyJJi-(<|)us8>=loQmhd1gn%;D9nI1{WAJ&gEI#|=lKnGw%B
zu=tV#i9@_tyzH%eqF`mD=t&?ehj{LH$?)5+>v!iUY}<08ZesDA*DU1roJG3?x1@K;
zL4FAq*SNACYY<LUv>FZSzN09rbgPJ&=+$mXMMCpq$_yQDDe-@-d1{UEIJPYtY~2#;
zYO>6iGwsEeD*xEqSX}SbPnQdKy3nMSXg>&rVf_a}@w=$e7i$!@g_?kyLu-N#U{U34
zb}UK_s>(3GY+Pe(vMiMI;HBDM)lRpHZcw}P)x7pH*i)r?V=ET5-gb}&(<y;;vijZ9
zKb$Yp_`7p3jj!4eS8q?&CmV*FlJnNT6xXp-6=g~>Wveyn4XS!~Utfb;{1s2eFQ3Wz
z*oL?liyd>u>CfbZn{YSA;l|4yv4&_9o)m2iX|~5|v1!V<a%xP{W^nv}*i8zkeke19
zup*T~s<tSkP=HPa^_CofRFlYiGxDcqx|2!~pR^i_U-#EN31Af@usT{_^n_&t2KGdO
z2a~b&{`1VTT|;ZWv7C1>`_DU29TwkkL{!JQDx73U!HDtueNrsE;643Yg}?*f{ETeB
z_#;&!jRBAh$c1&YazfDzl2<Si-zF;xCg9_wx?m3ejC2<$=f(9OH5}EqbTOD%e5&em
zYB7r?W-PwvK&s|Wac89=tMAG%_DMFoa17#1k(bW-C*lr^W<uKmJ+Xj&uX!CYciQ*;
zuiaS0?IndXm$9q!*O8W)TtKt=LN^Z060eY_Gm|EqF+b>(i^1`eUengTRa-lEN$sZE
z)wSi7l@;)ZhKX!wunlwQ`3E2)(`HqarRqL9=aa5@KC(Ai3g!E5tNR4yr#ZXZlHj9!
z;Mr-v@{A3aiJ^!Q-}ad8nx3HIPjg;rYqIdY=HeJxOmLHV{c~+HXa}M$?zO9g-;^`r
zd+z1-*Xz&!dbKRkmfw5z-KgYrThwSy_@Y~hkf`;AHI5M+5m|HWZaPt9ShqRfj#A2c
z^Ugj}tNV^2nTWAVTIHK+&li2EZ9l&c+fK`XzHSe2Ffc8J60&#pG<=G*&*tzaM4Fux
zzRM$1A#sbV#(|I=q*9VLCnIF3hjxa)3RwaYuaZr3bY;JXmlz9Pc7ZqQiLOAs(iPGh
z^gR*CCH=+A=kd9t_373x;j<fkyV!EqpKDi|0+YDAUs{yC=8|H|m{z68glc+bu=#zy
zH40ml5S2@N4{wUfzNTIniy@PEqf4sr@}|%vC~KZKrZ=OxywZ5zj?)5@l*YSl`Mu_%
z#F0K}miv~y+TR}*()7$JP>MJ-(#CRk?D@Ta$i8JqHX0la)&gt<1R1I<;l1WHY#ZG)
zmo$&;oy+4rq<(H(_;!!HZm~n=e!2`Pj_<%IYe2i=x%S|jNTKb-$V9^DafWbLqRA}{
zapm{s%$g`9nh*)rPvzax-<^mL(nW*DEj@AaCR)k7k*QnVJZvh;k^yc*6bQHjcrT!e
zY?-$h_mF$@GVx>*Gk+}ZBI@~EiXJ?vOwmFVbi*aiB=BTrlZ^5@u^HLuJnHWN@Q3hP
zI>>?f>XA9l*6yjOw>8)hQ_6~&ER$CEL>>CeEfvHviFD5&@$x^wo~}>lr#JYipg}o?
z8%E?t8s#A0aYPt~=S3PdeGKeOl}F#h0v{w(7Q`haIVXcfrxWu@#+;s5$f>zAJ<BJ3
z{|&OyOoC}<Wa|Q@q27cPVGS|4fhyj_ix@1iSm5AIfhzU$ksd}EMv8%FY8b`%Gwrl&
z!<u>1Qg|X8cruwhSWp=5a>xaXaMyuStNnwZgZB`_Lc>^(!{5LOkw$+lbZW1kA<`HI
z`$9{T7Ck-Jjquh#B+UzxxI%|c$B6&-$_16cinAR8jO<=4Bnpgp#K(#!NkHMekP6>6
z;p_S^E*+|>g}hVvG8V|m!nY<qg6#gixh%6}D4X#tLXJ9NOxK~6wG`IK3}MlpK#&2S
zfF2I=MdM)Z@<mf{0{LQ5S(M$EP!IK5utMvVe)Nq685Nj7zDK4k9>*{B{kaQahARZk
zC10_Hhka3tVQjIPufS>iRwT|M6^qA?Z16Fh4s7bd26Oy?1>$qHyxA)ea%1rnSTkrz
zHl9WDmSkd%>|Mg)cye~hxQP7_S?cqs>8?BkxsyCy!j&D=-#d4+i_vU<7H*mSSk8Ww
z9|WDL(vNM&s{J~zG{mRk_Q9Gx-k66-e9w#cx+gNlZa5?40R}iNb2Ro_D%dfvbi)f-
z6;bJ`w_Mi-2jQ1+u78%Z<W`eqf!~t$Cd*;J!uB#lnV#(q!?PT+pxrq+WkAk0l+a|^
zlncFKonLDc?GeSXwqi@mvn+PQ^t9CjnstHCpZK*FTMGTB+c4h*7G`CMUI`Za1v)#@
z)?`_!kF>!|rE>MjJqLv9bF=DkilQy8G_AhL5+`TdRoqfYXQQ{+0^zPHQ;I78dD@|^
zUTGEN_J(f09xhiwI8Bih5A0}T5{5qfwhL*F*l|Lw-7A%NaY{g2hA>Ar{r_2}!58NX
zR5w;aol+^LvC4stzv0^DDz+H%m10<EMk&*Fp&Nx3wZd~;*oakVqNsCX?iKB;tG&`o
z-W;7=<(1}oGfHRGr<L*pu7Vnw6t-=dB|;37v#lAW<h(InImrNL;<QK;7WX#smJa`)
z+fzuFaZ1@J!+0TDNA*9sc(|#2)2@gguDfnWNq=Z95N1Flw>vQBr`-vWd8G&aN?kQ{
z$QOr1)p4YtRiZlK4>!HR_D<V9?VgW;od6eL5{zlvr-zCI_!P{e-$4Tl0;ws=3bi=y
zbTJdFazZ*%g?{M-k&2x75$XQja`?ZXSS|O!taNgs*nkz}X>o?!bOI?JSyPryz+kX=
znGSc5Q_Gg8{mqpsxTM`~-?^Poo+<&7-dZ9?$olMq|B+1rh5ZOtMaejeUN5eY>^H9m
zP^}39dPE|Ye}#4A#`5JO2bKWKlrAw}E(8n5>P85NTN%&R^h;f&!1M(^PbAZia_Y@Q
z?!T2e7!={&K2p}|rk7Hu^xbpTdt?JwQ>UcyWIdjWaAL5HUN-6F)G0N(^>A%<N)5mh
zfa~4#pm9on1U>?M8hAJG7w|j+_=G#V?~lMo!23SnD$oZ5A9QPb<iH2YK#+m37aqg_
zSHOg5;1Aq`*K?=z7&IS)W;0kQfJ@;?e($9jPU*gTkV^(^F+95swv^u-&_sfC9W;~|
z4``x5x(pi1vj;SD{6K636=lPK${(aU&`{19(1d|>3N(~o9nge>bQCm{Q=jkL8TX5w
zJ59n@D)CN|uyUGQ1@9}2tXXN0M}jnle7lloo_Wa6E62!xx`=F%B>Wu?KO|}IB;ZK0
z;GGt{f{a}CU&hgN8oYQFU^d9V0nP=UL7f0Pp{f#rsng>C+Mg={v>VcX9oB$GM;hXV
zNL`Yur3+1UNn^a60BzxS5n89z*H2cKyr#VDZSD-qn%ZN5Eao;+S6i%&CHI(ss~}zu
zhLgs6WUU=%{}qO<00%5e)tjOIuEY3yz;}SZ0fv8u6t4jm1GWQd05<_%z<BGQ-d%?$
zQx|kPoigVnQk(%?08m$tfvFoaa6J4Ly$MX+%ReWpHbmk(WakE5gb0cbz(YWKLx`Z}
zJko3Arwt46T9Uc39(P*1Hx@Ec)P$OrLzr|uYMu%{TgbBa_l5l5rw<9<)S~$sY)pWQ
zfJ=ZGfTe&p0s8@A4KnxvNekIh=a7!OQSzvJZ^3Dc#FPE`y+2Mg2~H`31Z+-|8^Kyj
zvNxyk)W_?9bU+rs0WpL%1myB2l*Il(11}<nHmfzsO@p2t(pdN4oudFgw_S+J4#|1}
zjjqiZ_CqPO&SPGBU*Cls(oi=YAM(<fbR1}n+cJ*T%%@AypCP~^q`M{aU?#d$G?k`6
z)1q7P4D>WCnjTG?rbyGKVQK*;>t1sZ4yTW)in^ka&$pi5%Ht@S9!-W?Qg76RdUKGU
zwiU{Mpd+H$ejSe{;pGu{JQ-WAVW8Ajm5*X15BaeCxA@QGMtK6hLY|f9;de>)2d5Ka
zJt~1Y?UtVP%SHv=yWhnOl~>Cu(LuNLrAIc3`GKi%OW%{w9Vxh!Oxf{j#9ZfiffF!j
z*E#*`Qk$t{B)fOSU?VxTgTr^pwH-0xH$Fj%4|GV8-az}ITRKL5-O-5C$=RKGxPkQV
zd}Rb*`NBd5efW}Fk(b`+lqOjXmMJo<wN~tjk&T?Q4k>N`+5qi<yMX(EKLM^;zukXG
zfxjaQstk(JN9eCnq#_d!4kwqZ)+&C1E86}SikXMk4p^x0bBli+KFS0iBipK1{Ws}f
BE2{ti

diff --git a/boards/px4/fmu-v2/extras/px4_io-v2_default.bin b/boards/px4/fmu-v2/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..47e85b6bd08c4d3d9b31d298e01285e1ee28e44c 100755
GIT binary patch
delta 4392
zcmZ8l30M?Yw!XKjH?~JZi?V7L9TkGIXiQ9qp=qR~X-I>LsJJwPOS^B0(L_HQMJ<;k
z>UATy#4&yYaZG>?V+aq?rxW8Oc>$w&B#z^fn1&c<N+eWwSJVB@Mf2YKp5OQPf9|>G
zo^wytxu-7f{ge^UG1%CM=VSaKDaUa^iZG-{2<dIkZMYTVJtUjWg5N4O4exO_vf-+*
zqeqdZ9`Fg^g7fR3Ru;eP+!+>v@pR|Gf4i;31<u!pj8HH?opK(EUW=7KokAMBGc0x;
z#w$rx+!WkEuErh4&Cc@px0Lv6=Phm-#z&oI!--%lID5uQ80c==3k?3w88dFQDr{yw
z(oi5Ru(NRD#|q_-$C2iy6Hm$v!W+mWJ`Qhi&f<q*pfyvXR1jxJVH%!D&J~WBmg?0e
zBJOxzK+144qSK8Mj}{y&obFa+D!9nHNWzNYzCW87{<qE}1zVeb+=2{DXyR6u9I{yZ
z-dxKNWH^xbbq{F8|8lGJ`^~IaMUr1lt3;!>7k<Wn%GdLl%jrLcWa%|80%<o$tGt-Y
z?mqz1QZEvteMs~TAaOguG!R;c#hsq;T9v-GDa8@~UPSHd;L`*)@jgcUPj~QPMm+7t
zqQQ+s){jM}|5BWSls^b&m9UpvJqo-uf450f*}laTa}A3h_|<$t@5g8tFG~epCCI4|
zc8b^dOD@7mnhu*Kr~f#L*-#~7CU&(fC3>y>fwdKTYMY2@Xosmc9Avtlj;D0V(zE~L
zV<h!~aWdPP4IX4k>8%iI)d|<JxYTcXmDsF9EBXA2TuuAz+~8}Gbs_t(80Bem&q)ud
zsduCF3AQ!1MZ!>#QRzGA6Qa-MrYE!T20Tk$&RZQ=e8o>?$OTea2dO+iAWQc=zo&4^
z^CX4VPQ*34Qu9+ST6=2Y>q&+#tGFOE#y-{_8Y$!cP+9q#Ra_tX7g_9YmVE>l=?o`5
zBl15oMcDBpj3aF4yW%aec04ZD*5ZoK!}dwZLc5B*Si~t#xllWqQxqM9P9V*gAf%5Z
zn~SXB8FI=7WJp<!#SaG>9%#tTqPY0mA1&M!S=ZuL*gkPHj!)dE0gFZMsM--;!A-Qq
z!;%~UDFNQr<^cyEyzl(azp9ZwNdrd-Fopsm7){|QofH=*;Lpjb;xxRUoG30?_P!ZE
z$i>~!7n;;bxa&x+u@j3C14k`K^Dp%<m<R!=lN`~=5(gHSxskrDTikKTV(h;>gnf|B
z&K`w0`_r{TZd&KN`9uKwKF2!Z=ytvRzjmV$x0}qLx{zIIT|=%+<$_uqpFP6iM)3l9
zG&LpdL&xoIr5Ktx?xnoCC3ST(=GE2JtzPdqa9|t!LqkM1JhUBi=xJ4}h-KQ&(p2;Q
zrhxRhZ@;TmxT${kdQLyDJ8Ih9nG9#`u5X9y@?$naA%-JHoa1wVjiJwx6Q_s^RorP6
zo@pH1WksuFoeT68y)HffTs0%El9!RjX}T9V{`4aqLgFg{ZObTklyR0zrg@1BD?6sS
z(Adhp;*WpI$>~3V6e7l6>9s(f%PI!aZ;;CAG1y9Krcc2q$=&H3-b>h$l!(1Pg&v7-
zc<bB<DM4CGvPv?;minwB()^7#@<=>Sc9fX$JknVbSE+5z?~OuU>1)5fK%Z}KJSEIh
z1Yg(L@%W$=olX6{wa<~QPY6g=GQI=VY&#|B`W&l<Sz<fN1UO!6bRrX;+grqH+GF_0
z0@@u6_L%IeIkV$2>^9Nnl?1=R9-dO&jtmBywr#esU#-4gCgk>(6zfDB8y?-xa`#-;
zz7Ml+yJ%rL0O<_UzfAVc(BTSldWHd4ldCgEL{$2e4RhTJ`R+obd4D@bwn6RUr`pYn
zkS4DiBO^&J<whoWlkBn->$Ucore*L+c0@w+CmUqxM-MWDm}5aBOA=XC8Wr&s#6y#j
zu>*J;po$zUor`_sacLHQnT($~8vjPhW^!X^z)HP6mXCq%v(%Gf&k-GLicQ%dwxM>q
zZV33;3A_@@zk}4z%)zgchcn{}U-3N4Go0QYkW7L5a0+RxP{4JtrLpPSiOnj#EOonw
zT80%w+ms;Rb4OW*7Dn50`x$sSr+xXoEbvKEGHb+=7d+2{MV|*7Qf#K)c-CNR>z-%~
zNZ*`C?KBJOoqDD_(gG9!4WP!3G}`94f?&PDZV)l7!(yS^U=P;kJRR{c!Z6Yd&SjBX
zvtsZ#BF!p`=yxl5f&U(wU9CC<`r<!H#ca!Hw_9!D_-LCt4~y}Bl_eTpFlyfgO~4MI
zUrrmm$(7{B>=drlZ8kIFFMcJj=UHedJdA$yV?K#z#F_vro*-OVY1p>F7XH&lEjJNL
z?i;eLYyvis*0LoTe}{bjxv4U1RV17FI7*4`z?jCN6|(?hWQDP)IvDBa01knEFDaRm
zjHi;yIg>C)+U8WoJPwR(gkmmUmgkoq21bL7itQk~NXgt}gDvoR55f#r2AZz|6@met
zL5`?pD;$QMc)XzsiB@uQ?&zS40fsY!O&jT)tHUSA{kfB1hlY9Ccs^M;FAFD-)AKl-
zO0LXHjuK!m=}-4bpF<bOcZhO6S4r}3HeKss7H@qVA<Xzi&F(D>={zGGRk1g){vESl
ziVf(ww;_t(A9n|dultdq;ekrCGr#<SI>-W_AycmFTRoSQ;FrGlLmuT+y6)d%?u3s_
zD|}>{Or_tR5oW4NZ=4ZoRMT&4wrtL4A8GM4w<2V>$y5pC=|rQ>2pbFFG_Q+puMpm_
zMz>#jY-BT6pP?swovNckn5}-b9UIOFmmWKGtMhd*vzLEje@0l5KWMMhtv<D9A79%v
ztr4ecIx{znZ#*N!DcKu(ZV@D~%U>bD2BAynm9z39JN!}=BvWZK&(4P{N(dgWNl65D
zcQT_Q?_BIbi$8GTQBId%+TzElL7gdlsoDDfEHgK-VnCVMas+CTO1hRBH!6DAR3Y4U
z8&B#)ZTNdIgFDgK1syPtD_Sr#!2%EFUd-F&Mq0mQO!k}1O1)pQ`>E-)#>@?dL3bf7
zOe)*CP>2$>N<{~qBiC(-x(o|^h^9o_vG{hYLFiKdd}9m=DxXxDV0o60HB<e4uL150
z=Wl2dhnl~1p_ICgWT<N-y4;vk(Wpg!>0bkp<{CKv^kmSg-S|Gz(CW~iRHJU-H$fi{
zOncuw;75R7z&IF(0{dWo2dtsheh^q>K}o(SH-;Z^f7iog)R@A$()j_YkqrBT2VW);
z6^r3_V?~a#4-BKp#R>~XBy2&ZGVdhPTy_>NNW);Td7&A1lPe1skN<}^o%c$$a-eAk
zl%<}Bq^nkmQHp-olV50EP|%klG#Z1A^b7w1DPQzu5Y^gYQ<uqv#pm!W@^JCuguxJC
zIkrc%D)~_UM8hy1amy3gx&g^U*4R%&<Y7zhDyg?TGO#4;$)-s5(qol(WO_;SNPmCI
zvwe!etDZ+H@fm-ajBrwDJH4jS%brKND(AyB&?Eg7I1TusOuv*KsSWrTa0~Em;AWVQ
z0&bME`_BTO1@G?y*MmM3__UnYs{}q-34#KIV=xg1TmuVYfe*@0F1jAc3z`F<*#j0D
zU;$>VeHV&6(nI+PR}R`@nEMHADX$;YM1yn_G?Z5iYGOdT1{%r>1~nxr5U+xYa@n9t
z4blbBP@X!d(SmdiG?dMQnh20S0u5#3(<gUc{{6|dkc{Oze3;}epQ4P0_oX5GmRpos
zkcN}H%MA=WKvXM6DS!KS)UG8ND>y8YX)8uzE!nu@5`K$JTKO+qJQ!=?#p?kDAU_8@
z890wR0ek^fr3a=?j{s;V-V2~zkalKmGkPZ4lE_D!Q}ma5&}6Ulyr1KtIs73i&m*b)
zWY4OXbl3cC-CE=1UIDUL)Iwd&b$-9<CKGf4#Lq&J{-U#OtqW)W2MoUebU{$6-URh`
z3C33dmjRyx`e82ik4Q5KPyrACO@My@f}QtYTZf;gF6eT)WCHx{_731Z0Cn{@VCu#O
z%zOY#fvNlZr^q|&qw&w=PwUN5-Js|IbO9zdhw(X_Ps%6CH)i22Wd0kC_>MDTLm3l8
zO{i%#Y?H>L=34OCO18cEZrJ~w?IPS;mvS4x#s>HV@F^e<Fb6OXAON(@3iwlu7P8Rb
zmKtO<X86q|@LfgXsR3)>-3&YLkw%i_P2-g_!P-d5H;p$?AI|~O0TTft-9vLwfx(Va
z*dOS|*N}6Ya&lj8ed5_Iy&yliR}{l>+l8p?mM(pUp82zB$PXK!eV*{sOY$z{mJ($;
zKJ2F}={VMzwK<v1ErKw#PtedEknZNJgIVZ8`DB^`O^ZH?Z$VGDMbo2c(-djibel$i
z&3V=lf+OfORZ&-T=S9w|RR$bG)1%2yOX`i9P;VkpZY@(@qa(6#>zDXBl2ILnUm{bg
za~UYLcdCao>H+dm^(**0^00a&zD{)83h{JOzO8=b7@wYJ>Sc-bD~5;Myw$@*Dr*%-
z&_P*h^(lrkKQMK&bep7YAB$&_x!YfiS_Bt7j>n+g>QOhOw^3;|IkP<uuO?TvbGV1}
zY>$gLdkAT^nUQ8<Gwp}6^f8Ir(Sq~HH#-XPUrB=S!Z7y8?-mN^!yU4waAJ!`GC7wC
zlN8wKtltx-NSLq=Y0d%~0nLCGKpWsRpx$|R?_mx8m29lBXcWhwO~e0fkm7?w$-SDj
gny=t8w)c0%+V|EDTIlgp3#Rrs^XqZ)$J&+u4eL|l>i_@%

delta 4572
zcmZ8k3s@9Kwyx@)f#D_Ki1JdVX;Bo2C>ujUTpr`J^8gXwike~3IEhAlL?uy|QHc&d
zqNZX5iLaPkal<M&@+F95jJUhH#to>r7}wS8H5t&jw?RVBi<x^0^xpejzVGKhb^6q)
zbE;3Dsu90p_J7S_Z9RSi;|rt+#{>k2AQeJLWww5Rn=q~=*=#2K-^xzFwbptz)Gy@X
zr$})Pa2xQ@dLy8T#fz*JAwd|wYdtvRfgG>2t{)aBV`QIOKZ#t6<+9I_!eR}HUWf6A
zWNXYc+)A#+9K!9^qS#Gx{M34%TY>RKtByYwh-<7}DG~<yal$JM?z2Ws8tWHQdKxJx
zP#CZ^Fa4}c&K^Sww-ryx2*8zOiV%Y<tqX(^7--G32tWLLvNLZ2){?LC;%5EU6&8=U
zV_Kgy(ZPr<4itYR_h{a1hb%+J4XqhUSTW91o5KjdwpHbBKlh*85YGh1Z)eFNLw@i3
zYZ-$0gW4NipcU;7KNZoj;sG*l`h>E45h*SU-wK#h_Z>lQX}t@9v>T+=F3e^3eGJkH
z7ZMXZNDS~Ik@O=mzdyJJi-(<|)us8>=loQmhd1gn%;D9nI1{WAJ&gEI#|=lKnGw%B
zu=tV#i9@_tyzH%eqF`mD=t&?ehj{LH$?)5+>v!iUY}<08ZesDA*DU1roJG3?x1@K;
zL4FAq*SNACYY<LUv>FZSzN09rbgPJ&=+$mXMMCpq$_yQDDe-@-d1{UEIJPYtY~2#;
zYO>6iGwsEeD*xEqSX}SbPnQdKy3nMSXg>&rVf_a}@w=$e7i$!@g_?kyLu-N#U{U34
zb}UK_s>(3GY+Pe(vMiMI;HBDM)lRpHZcw}P)x7pH*i)r?V=ET5-gb}&(<y;;vijZ9
zKb$Yp_`7p3jj!4eS8q?&CmV*FlJnNT6xXp-6=g~>Wveyn4XS!~Utfb;{1s2eFQ3Wz
z*oL?liyd>u>CfbZn{YSA;l|4yv4&_9o)m2iX|~5|v1!V<a%xP{W^nv}*i8zkeke19
zup*T~s<tSkP=HPa^_CofRFlYiGxDcqx|2!~pR^i_U-#EN31Af@usT{_^n_&t2KGdO
z2a~b&{`1VTT|;ZWv7C1>`_DU29TwkkL{!JQDx73U!HDtueNrsE;643Yg}?*f{ETeB
z_#;&!jRBAh$c1&YazfDzl2<Si-zF;xCg9_wx?m3ejC2<$=f(9OH5}EqbTOD%e5&em
zYB7r?W-PwvK&s|Wac89=tMAG%_DMFoa17#1k(bW-C*lr^W<uKmJ+Xj&uX!CYciQ*;
zuiaS0?IndXm$9q!*O8W)TtKt=LN^Z060eY_Gm|EqF+b>(i^1`eUengTRa-lEN$sZE
z)wSi7l@;)ZhKX!wunlwQ`3E2)(`HqarRqL9=aa5@KC(Ai3g!E5tNR4yr#ZXZlHj9!
z;Mr-v@{A3aiJ^!Q-}ad8nx3HIPjg;rYqIdY=HeJxOmLHV{c~+HXa}M$?zO9g-;^`r
zd+z1-*Xz&!dbKRkmfw5z-KgYrThwSy_@Y~hkf`;AHI5M+5m|HWZaPt9ShqRfj#A2c
z^Ugj}tNV^2nTWAVTIHK+&li2EZ9l&c+fK`XzHSe2Ffc8J60&#pG<=G*&*tzaM4Fux
zzRM$1A#sbV#(|I=q*9VLCnIF3hjxa)3RwaYuaZr3bY;JXmlz9Pc7ZqQiLOAs(iPGh
z^gR*CCH=+A=kd9t_373x;j<fkyV!EqpKDi|0+YDAUs{yC=8|H|m{z68glc+bu=#zy
zH40ml5S2@N4{wUfzNTIniy@PEqf4sr@}|%vC~KZKrZ=OxywZ5zj?)5@l*YSl`Mu_%
z#F0K}miv~y+TR}*()7$JP>MJ-(#CRk?D@Ta$i8JqHX0la)&gt<1R1I<;l1WHY#ZG)
zmo$&;oy+4rq<(H(_;!!HZm~n=e!2`Pj_<%IYe2i=x%S|jNTKb-$V9^DafWbLqRA}{
zapm{s%$g`9nh*)rPvzax-<^mL(nW*DEj@AaCR)k7k*QnVJZvh;k^yc*6bQHjcrT!e
zY?-$h_mF$@GVx>*Gk+}ZBI@~EiXJ?vOwmFVbi*aiB=BTrlZ^5@u^HLuJnHWN@Q3hP
zI>>?f>XA9l*6yjOw>8)hQ_6~&ER$CEL>>CeEfvHviFD5&@$x^wo~}>lr#JYipg}o?
z8%E?t8s#A0aYPt~=S3PdeGKeOl}F#h0v{w(7Q`haIVXcfrxWu@#+;s5$f>zAJ<BJ3
z{|&OyOoC}<Wa|Q@q27cPVGS|4fhyj_ix@1iSm5AIfhzU$ksd}EMv8%FY8b`%Gwrl&
z!<u>1Qg|X8cruwhSWp=5a>xaXaMyuStNnwZgZB`_Lc>^(!{5LOkw$+lbZW1kA<`HI
z`$9{T7Ck-Jjquh#B+UzxxI%|c$B6&-$_16cinAR8jO<=4Bnpgp#K(#!NkHMekP6>6
z;p_S^E*+|>g}hVvG8V|m!nY<qg6#gixh%6}D4X#tLXJ9NOxK~6wG`IK3}MlpK#&2S
zfF2I=MdM)Z@<mf{0{LQ5S(M$EP!IK5utMvVe)Nq685Nj7zDK4k9>*{B{kaQahARZk
zC10_Hhka3tVQjIPufS>iRwT|M6^qA?Z16Fh4s7bd26Oy?1>$qHyxA)ea%1rnSTkrz
zHl9WDmSkd%>|Mg)cye~hxQP7_S?cqs>8?BkxsyCy!j&D=-#d4+i_vU<7H*mSSk8Ww
z9|WDL(vNM&s{J~zG{mRk_Q9Gx-k66-e9w#cx+gNlZa5?40R}iNb2Ro_D%dfvbi)f-
z6;bJ`w_Mi-2jQ1+u78%Z<W`eqf!~t$Cd*;J!uB#lnV#(q!?PT+pxrq+WkAk0l+a|^
zlncFKonLDc?GeSXwqi@mvn+PQ^t9CjnstHCpZK*FTMGTB+c4h*7G`CMUI`Za1v)#@
z)?`_!kF>!|rE>MjJqLv9bF=DkilQy8G_AhL5+`TdRoqfYXQQ{+0^zPHQ;I78dD@|^
zUTGEN_J(f09xhiwI8Bih5A0}T5{5qfwhL*F*l|Lw-7A%NaY{g2hA>Ar{r_2}!58NX
zR5w;aol+^LvC4stzv0^DDz+H%m10<EMk&*Fp&Nx3wZd~;*oakVqNsCX?iKB;tG&`o
z-W;7=<(1}oGfHRGr<L*pu7Vnw6t-=dB|;37v#lAW<h(InImrNL;<QK;7WX#smJa`)
z+fzuFaZ1@J!+0TDNA*9sc(|#2)2@gguDfnWNq=Z95N1Flw>vQBr`-vWd8G&aN?kQ{
z$QOr1)p4YtRiZlK4>!HR_D<V9?VgW;od6eL5{zlvr-zCI_!P{e-$4Tl0;ws=3bi=y
zbTJdFazZ*%g?{M-k&2x75$XQja`?ZXSS|O!taNgs*nkz}X>o?!bOI?JSyPryz+kX=
znGSc5Q_Gg8{mqpsxTM`~-?^Poo+<&7-dZ9?$olMq|B+1rh5ZOtMaejeUN5eY>^H9m
zP^}39dPE|Ye}#4A#`5JO2bKWKlrAw}E(8n5>P85NTN%&R^h;f&!1M(^PbAZia_Y@Q
z?!T2e7!={&K2p}|rk7Hu^xbpTdt?JwQ>UcyWIdjWaAL5HUN-6F)G0N(^>A%<N)5mh
zfa~4#pm9on1U>?M8hAJG7w|j+_=G#V?~lMo!23SnD$oZ5A9QPb<iH2YK#+m37aqg_
zSHOg5;1Aq`*K?=z7&IS)W;0kQfJ@;?e($9jPU*gTkV^(^F+95swv^u-&_sfC9W;~|
z4``x5x(pi1vj;SD{6K636=lPK${(aU&`{19(1d|>3N(~o9nge>bQCm{Q=jkL8TX5w
zJ59n@D)CN|uyUGQ1@9}2tXXN0M}jnle7lloo_Wa6E62!xx`=F%B>Wu?KO|}IB;ZK0
z;GGt{f{a}CU&hgN8oYQFU^d9V0nP=UL7f0Pp{f#rsng>C+Mg={v>VcX9oB$GM;hXV
zNL`Yur3+1UNn^a60BzxS5n89z*H2cKyr#VDZSD-qn%ZN5Eao;+S6i%&CHI(ss~}zu
zhLgs6WUU=%{}qO<00%5e)tjOIuEY3yz;}SZ0fv8u6t4jm1GWQd05<_%z<BGQ-d%?$
zQx|kPoigVnQk(%?08m$tfvFoaa6J4Ly$MX+%ReWpHbmk(WakE5gb0cbz(YWKLx`Z}
zJko3Arwt46T9Uc39(P*1Hx@Ec)P$OrLzr|uYMu%{TgbBa_l5l5rw<9<)S~$sY)pWQ
zfJ=ZGfTe&p0s8@A4KnxvNekIh=a7!OQSzvJZ^3Dc#FPE`y+2Mg2~H`31Z+-|8^Kyj
zvNxyk)W_?9bU+rs0WpL%1myB2l*Il(11}<nHmfzsO@p2t(pdN4oudFgw_S+J4#|1}
zjjqiZ_CqPO&SPGBU*Cls(oi=YAM(<fbR1}n+cJ*T%%@AypCP~^q`M{aU?#d$G?k`6
z)1q7P4D>WCnjTG?rbyGKVQK*;>t1sZ4yTW)in^ka&$pi5%Ht@S9!-W?Qg76RdUKGU
zwiU{Mpd+H$ejSe{;pGu{JQ-WAVW8Ajm5*X15BaeCxA@QGMtK6hLY|f9;de>)2d5Ka
zJt~1Y?UtVP%SHv=yWhnOl~>Cu(LuNLrAIc3`GKi%OW%{w9Vxh!Oxf{j#9ZfiffF!j
z*E#*`Qk$t{B)fOSU?VxTgTr^pwH-0xH$Fj%4|GV8-az}ITRKL5-O-5C$=RKGxPkQV
zd}Rb*`NBd5efW}Fk(b`+lqOjXmMJo<wN~tjk&T?Q4k>N`+5qi<yMX(EKLM^;zukXG
zfxjaQstk(JN9eCnq#_d!4kwqZ)+&C1E86}SikXMk4p^x0bBli+KFS0iBipK1{Ws}f
BE2{ti

diff --git a/boards/px4/fmu-v3/extras/px4_io-v2_default.bin b/boards/px4/fmu-v3/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..47e85b6bd08c4d3d9b31d298e01285e1ee28e44c 100755
GIT binary patch
delta 4392
zcmZ8l30M?Yw!XKjH?~JZi?V7L9TkGIXiQ9qp=qR~X-I>LsJJwPOS^B0(L_HQMJ<;k
z>UATy#4&yYaZG>?V+aq?rxW8Oc>$w&B#z^fn1&c<N+eWwSJVB@Mf2YKp5OQPf9|>G
zo^wytxu-7f{ge^UG1%CM=VSaKDaUa^iZG-{2<dIkZMYTVJtUjWg5N4O4exO_vf-+*
zqeqdZ9`Fg^g7fR3Ru;eP+!+>v@pR|Gf4i;31<u!pj8HH?opK(EUW=7KokAMBGc0x;
z#w$rx+!WkEuErh4&Cc@px0Lv6=Phm-#z&oI!--%lID5uQ80c==3k?3w88dFQDr{yw
z(oi5Ru(NRD#|q_-$C2iy6Hm$v!W+mWJ`Qhi&f<q*pfyvXR1jxJVH%!D&J~WBmg?0e
zBJOxzK+144qSK8Mj}{y&obFa+D!9nHNWzNYzCW87{<qE}1zVeb+=2{DXyR6u9I{yZ
z-dxKNWH^xbbq{F8|8lGJ`^~IaMUr1lt3;!>7k<Wn%GdLl%jrLcWa%|80%<o$tGt-Y
z?mqz1QZEvteMs~TAaOguG!R;c#hsq;T9v-GDa8@~UPSHd;L`*)@jgcUPj~QPMm+7t
zqQQ+s){jM}|5BWSls^b&m9UpvJqo-uf450f*}laTa}A3h_|<$t@5g8tFG~epCCI4|
zc8b^dOD@7mnhu*Kr~f#L*-#~7CU&(fC3>y>fwdKTYMY2@Xosmc9Avtlj;D0V(zE~L
zV<h!~aWdPP4IX4k>8%iI)d|<JxYTcXmDsF9EBXA2TuuAz+~8}Gbs_t(80Bem&q)ud
zsduCF3AQ!1MZ!>#QRzGA6Qa-MrYE!T20Tk$&RZQ=e8o>?$OTea2dO+iAWQc=zo&4^
z^CX4VPQ*34Qu9+ST6=2Y>q&+#tGFOE#y-{_8Y$!cP+9q#Ra_tX7g_9YmVE>l=?o`5
zBl15oMcDBpj3aF4yW%aec04ZD*5ZoK!}dwZLc5B*Si~t#xllWqQxqM9P9V*gAf%5Z
zn~SXB8FI=7WJp<!#SaG>9%#tTqPY0mA1&M!S=ZuL*gkPHj!)dE0gFZMsM--;!A-Qq
z!;%~UDFNQr<^cyEyzl(azp9ZwNdrd-Fopsm7){|QofH=*;Lpjb;xxRUoG30?_P!ZE
z$i>~!7n;;bxa&x+u@j3C14k`K^Dp%<m<R!=lN`~=5(gHSxskrDTikKTV(h;>gnf|B
z&K`w0`_r{TZd&KN`9uKwKF2!Z=ytvRzjmV$x0}qLx{zIIT|=%+<$_uqpFP6iM)3l9
zG&LpdL&xoIr5Ktx?xnoCC3ST(=GE2JtzPdqa9|t!LqkM1JhUBi=xJ4}h-KQ&(p2;Q
zrhxRhZ@;TmxT${kdQLyDJ8Ih9nG9#`u5X9y@?$naA%-JHoa1wVjiJwx6Q_s^RorP6
zo@pH1WksuFoeT68y)HffTs0%El9!RjX}T9V{`4aqLgFg{ZObTklyR0zrg@1BD?6sS
z(Adhp;*WpI$>~3V6e7l6>9s(f%PI!aZ;;CAG1y9Krcc2q$=&H3-b>h$l!(1Pg&v7-
zc<bB<DM4CGvPv?;minwB()^7#@<=>Sc9fX$JknVbSE+5z?~OuU>1)5fK%Z}KJSEIh
z1Yg(L@%W$=olX6{wa<~QPY6g=GQI=VY&#|B`W&l<Sz<fN1UO!6bRrX;+grqH+GF_0
z0@@u6_L%IeIkV$2>^9Nnl?1=R9-dO&jtmBywr#esU#-4gCgk>(6zfDB8y?-xa`#-;
zz7Ml+yJ%rL0O<_UzfAVc(BTSldWHd4ldCgEL{$2e4RhTJ`R+obd4D@bwn6RUr`pYn
zkS4DiBO^&J<whoWlkBn->$Ucore*L+c0@w+CmUqxM-MWDm}5aBOA=XC8Wr&s#6y#j
zu>*J;po$zUor`_sacLHQnT($~8vjPhW^!X^z)HP6mXCq%v(%Gf&k-GLicQ%dwxM>q
zZV33;3A_@@zk}4z%)zgchcn{}U-3N4Go0QYkW7L5a0+RxP{4JtrLpPSiOnj#EOonw
zT80%w+ms;Rb4OW*7Dn50`x$sSr+xXoEbvKEGHb+=7d+2{MV|*7Qf#K)c-CNR>z-%~
zNZ*`C?KBJOoqDD_(gG9!4WP!3G}`94f?&PDZV)l7!(yS^U=P;kJRR{c!Z6Yd&SjBX
zvtsZ#BF!p`=yxl5f&U(wU9CC<`r<!H#ca!Hw_9!D_-LCt4~y}Bl_eTpFlyfgO~4MI
zUrrmm$(7{B>=drlZ8kIFFMcJj=UHedJdA$yV?K#z#F_vro*-OVY1p>F7XH&lEjJNL
z?i;eLYyvis*0LoTe}{bjxv4U1RV17FI7*4`z?jCN6|(?hWQDP)IvDBa01knEFDaRm
zjHi;yIg>C)+U8WoJPwR(gkmmUmgkoq21bL7itQk~NXgt}gDvoR55f#r2AZz|6@met
zL5`?pD;$QMc)XzsiB@uQ?&zS40fsY!O&jT)tHUSA{kfB1hlY9Ccs^M;FAFD-)AKl-
zO0LXHjuK!m=}-4bpF<bOcZhO6S4r}3HeKss7H@qVA<Xzi&F(D>={zGGRk1g){vESl
ziVf(ww;_t(A9n|dultdq;ekrCGr#<SI>-W_AycmFTRoSQ;FrGlLmuT+y6)d%?u3s_
zD|}>{Or_tR5oW4NZ=4ZoRMT&4wrtL4A8GM4w<2V>$y5pC=|rQ>2pbFFG_Q+puMpm_
zMz>#jY-BT6pP?swovNckn5}-b9UIOFmmWKGtMhd*vzLEje@0l5KWMMhtv<D9A79%v
ztr4ecIx{znZ#*N!DcKu(ZV@D~%U>bD2BAynm9z39JN!}=BvWZK&(4P{N(dgWNl65D
zcQT_Q?_BIbi$8GTQBId%+TzElL7gdlsoDDfEHgK-VnCVMas+CTO1hRBH!6DAR3Y4U
z8&B#)ZTNdIgFDgK1syPtD_Sr#!2%EFUd-F&Mq0mQO!k}1O1)pQ`>E-)#>@?dL3bf7
zOe)*CP>2$>N<{~qBiC(-x(o|^h^9o_vG{hYLFiKdd}9m=DxXxDV0o60HB<e4uL150
z=Wl2dhnl~1p_ICgWT<N-y4;vk(Wpg!>0bkp<{CKv^kmSg-S|Gz(CW~iRHJU-H$fi{
zOncuw;75R7z&IF(0{dWo2dtsheh^q>K}o(SH-;Z^f7iog)R@A$()j_YkqrBT2VW);
z6^r3_V?~a#4-BKp#R>~XBy2&ZGVdhPTy_>NNW);Td7&A1lPe1skN<}^o%c$$a-eAk
zl%<}Bq^nkmQHp-olV50EP|%klG#Z1A^b7w1DPQzu5Y^gYQ<uqv#pm!W@^JCuguxJC
zIkrc%D)~_UM8hy1amy3gx&g^U*4R%&<Y7zhDyg?TGO#4;$)-s5(qol(WO_;SNPmCI
zvwe!etDZ+H@fm-ajBrwDJH4jS%brKND(AyB&?Eg7I1TusOuv*KsSWrTa0~Em;AWVQ
z0&bME`_BTO1@G?y*MmM3__UnYs{}q-34#KIV=xg1TmuVYfe*@0F1jAc3z`F<*#j0D
zU;$>VeHV&6(nI+PR}R`@nEMHADX$;YM1yn_G?Z5iYGOdT1{%r>1~nxr5U+xYa@n9t
z4blbBP@X!d(SmdiG?dMQnh20S0u5#3(<gUc{{6|dkc{Oze3;}epQ4P0_oX5GmRpos
zkcN}H%MA=WKvXM6DS!KS)UG8ND>y8YX)8uzE!nu@5`K$JTKO+qJQ!=?#p?kDAU_8@
z890wR0ek^fr3a=?j{s;V-V2~zkalKmGkPZ4lE_D!Q}ma5&}6Ulyr1KtIs73i&m*b)
zWY4OXbl3cC-CE=1UIDUL)Iwd&b$-9<CKGf4#Lq&J{-U#OtqW)W2MoUebU{$6-URh`
z3C33dmjRyx`e82ik4Q5KPyrACO@My@f}QtYTZf;gF6eT)WCHx{_731Z0Cn{@VCu#O
z%zOY#fvNlZr^q|&qw&w=PwUN5-Js|IbO9zdhw(X_Ps%6CH)i22Wd0kC_>MDTLm3l8
zO{i%#Y?H>L=34OCO18cEZrJ~w?IPS;mvS4x#s>HV@F^e<Fb6OXAON(@3iwlu7P8Rb
zmKtO<X86q|@LfgXsR3)>-3&YLkw%i_P2-g_!P-d5H;p$?AI|~O0TTft-9vLwfx(Va
z*dOS|*N}6Ya&lj8ed5_Iy&yliR}{l>+l8p?mM(pUp82zB$PXK!eV*{sOY$z{mJ($;
zKJ2F}={VMzwK<v1ErKw#PtedEknZNJgIVZ8`DB^`O^ZH?Z$VGDMbo2c(-djibel$i
z&3V=lf+OfORZ&-T=S9w|RR$bG)1%2yOX`i9P;VkpZY@(@qa(6#>zDXBl2ILnUm{bg
za~UYLcdCao>H+dm^(**0^00a&zD{)83h{JOzO8=b7@wYJ>Sc-bD~5;Myw$@*Dr*%-
z&_P*h^(lrkKQMK&bep7YAB$&_x!YfiS_Bt7j>n+g>QOhOw^3;|IkP<uuO?TvbGV1}
zY>$gLdkAT^nUQ8<Gwp}6^f8Ir(Sq~HH#-XPUrB=S!Z7y8?-mN^!yU4waAJ!`GC7wC
zlN8wKtltx-NSLq=Y0d%~0nLCGKpWsRpx$|R?_mx8m29lBXcWhwO~e0fkm7?w$-SDj
gny=t8w)c0%+V|EDTIlgp3#Rrs^XqZ)$J&+u4eL|l>i_@%

delta 4572
zcmZ8k3s@9Kwyx@)f#D_Ki1JdVX;Bo2C>ujUTpr`J^8gXwike~3IEhAlL?uy|QHc&d
zqNZX5iLaPkal<M&@+F95jJUhH#to>r7}wS8H5t&jw?RVBi<x^0^xpejzVGKhb^6q)
zbE;3Dsu90p_J7S_Z9RSi;|rt+#{>k2AQeJLWww5Rn=q~=*=#2K-^xzFwbptz)Gy@X
zr$})Pa2xQ@dLy8T#fz*JAwd|wYdtvRfgG>2t{)aBV`QIOKZ#t6<+9I_!eR}HUWf6A
zWNXYc+)A#+9K!9^qS#Gx{M34%TY>RKtByYwh-<7}DG~<yal$JM?z2Ws8tWHQdKxJx
zP#CZ^Fa4}c&K^Sww-ryx2*8zOiV%Y<tqX(^7--G32tWLLvNLZ2){?LC;%5EU6&8=U
zV_Kgy(ZPr<4itYR_h{a1hb%+J4XqhUSTW91o5KjdwpHbBKlh*85YGh1Z)eFNLw@i3
zYZ-$0gW4NipcU;7KNZoj;sG*l`h>E45h*SU-wK#h_Z>lQX}t@9v>T+=F3e^3eGJkH
z7ZMXZNDS~Ik@O=mzdyJJi-(<|)us8>=loQmhd1gn%;D9nI1{WAJ&gEI#|=lKnGw%B
zu=tV#i9@_tyzH%eqF`mD=t&?ehj{LH$?)5+>v!iUY}<08ZesDA*DU1roJG3?x1@K;
zL4FAq*SNACYY<LUv>FZSzN09rbgPJ&=+$mXMMCpq$_yQDDe-@-d1{UEIJPYtY~2#;
zYO>6iGwsEeD*xEqSX}SbPnQdKy3nMSXg>&rVf_a}@w=$e7i$!@g_?kyLu-N#U{U34
zb}UK_s>(3GY+Pe(vMiMI;HBDM)lRpHZcw}P)x7pH*i)r?V=ET5-gb}&(<y;;vijZ9
zKb$Yp_`7p3jj!4eS8q?&CmV*FlJnNT6xXp-6=g~>Wveyn4XS!~Utfb;{1s2eFQ3Wz
z*oL?liyd>u>CfbZn{YSA;l|4yv4&_9o)m2iX|~5|v1!V<a%xP{W^nv}*i8zkeke19
zup*T~s<tSkP=HPa^_CofRFlYiGxDcqx|2!~pR^i_U-#EN31Af@usT{_^n_&t2KGdO
z2a~b&{`1VTT|;ZWv7C1>`_DU29TwkkL{!JQDx73U!HDtueNrsE;643Yg}?*f{ETeB
z_#;&!jRBAh$c1&YazfDzl2<Si-zF;xCg9_wx?m3ejC2<$=f(9OH5}EqbTOD%e5&em
zYB7r?W-PwvK&s|Wac89=tMAG%_DMFoa17#1k(bW-C*lr^W<uKmJ+Xj&uX!CYciQ*;
zuiaS0?IndXm$9q!*O8W)TtKt=LN^Z060eY_Gm|EqF+b>(i^1`eUengTRa-lEN$sZE
z)wSi7l@;)ZhKX!wunlwQ`3E2)(`HqarRqL9=aa5@KC(Ai3g!E5tNR4yr#ZXZlHj9!
z;Mr-v@{A3aiJ^!Q-}ad8nx3HIPjg;rYqIdY=HeJxOmLHV{c~+HXa}M$?zO9g-;^`r
zd+z1-*Xz&!dbKRkmfw5z-KgYrThwSy_@Y~hkf`;AHI5M+5m|HWZaPt9ShqRfj#A2c
z^Ugj}tNV^2nTWAVTIHK+&li2EZ9l&c+fK`XzHSe2Ffc8J60&#pG<=G*&*tzaM4Fux
zzRM$1A#sbV#(|I=q*9VLCnIF3hjxa)3RwaYuaZr3bY;JXmlz9Pc7ZqQiLOAs(iPGh
z^gR*CCH=+A=kd9t_373x;j<fkyV!EqpKDi|0+YDAUs{yC=8|H|m{z68glc+bu=#zy
zH40ml5S2@N4{wUfzNTIniy@PEqf4sr@}|%vC~KZKrZ=OxywZ5zj?)5@l*YSl`Mu_%
z#F0K}miv~y+TR}*()7$JP>MJ-(#CRk?D@Ta$i8JqHX0la)&gt<1R1I<;l1WHY#ZG)
zmo$&;oy+4rq<(H(_;!!HZm~n=e!2`Pj_<%IYe2i=x%S|jNTKb-$V9^DafWbLqRA}{
zapm{s%$g`9nh*)rPvzax-<^mL(nW*DEj@AaCR)k7k*QnVJZvh;k^yc*6bQHjcrT!e
zY?-$h_mF$@GVx>*Gk+}ZBI@~EiXJ?vOwmFVbi*aiB=BTrlZ^5@u^HLuJnHWN@Q3hP
zI>>?f>XA9l*6yjOw>8)hQ_6~&ER$CEL>>CeEfvHviFD5&@$x^wo~}>lr#JYipg}o?
z8%E?t8s#A0aYPt~=S3PdeGKeOl}F#h0v{w(7Q`haIVXcfrxWu@#+;s5$f>zAJ<BJ3
z{|&OyOoC}<Wa|Q@q27cPVGS|4fhyj_ix@1iSm5AIfhzU$ksd}EMv8%FY8b`%Gwrl&
z!<u>1Qg|X8cruwhSWp=5a>xaXaMyuStNnwZgZB`_Lc>^(!{5LOkw$+lbZW1kA<`HI
z`$9{T7Ck-Jjquh#B+UzxxI%|c$B6&-$_16cinAR8jO<=4Bnpgp#K(#!NkHMekP6>6
z;p_S^E*+|>g}hVvG8V|m!nY<qg6#gixh%6}D4X#tLXJ9NOxK~6wG`IK3}MlpK#&2S
zfF2I=MdM)Z@<mf{0{LQ5S(M$EP!IK5utMvVe)Nq685Nj7zDK4k9>*{B{kaQahARZk
zC10_Hhka3tVQjIPufS>iRwT|M6^qA?Z16Fh4s7bd26Oy?1>$qHyxA)ea%1rnSTkrz
zHl9WDmSkd%>|Mg)cye~hxQP7_S?cqs>8?BkxsyCy!j&D=-#d4+i_vU<7H*mSSk8Ww
z9|WDL(vNM&s{J~zG{mRk_Q9Gx-k66-e9w#cx+gNlZa5?40R}iNb2Ro_D%dfvbi)f-
z6;bJ`w_Mi-2jQ1+u78%Z<W`eqf!~t$Cd*;J!uB#lnV#(q!?PT+pxrq+WkAk0l+a|^
zlncFKonLDc?GeSXwqi@mvn+PQ^t9CjnstHCpZK*FTMGTB+c4h*7G`CMUI`Za1v)#@
z)?`_!kF>!|rE>MjJqLv9bF=DkilQy8G_AhL5+`TdRoqfYXQQ{+0^zPHQ;I78dD@|^
zUTGEN_J(f09xhiwI8Bih5A0}T5{5qfwhL*F*l|Lw-7A%NaY{g2hA>Ar{r_2}!58NX
zR5w;aol+^LvC4stzv0^DDz+H%m10<EMk&*Fp&Nx3wZd~;*oakVqNsCX?iKB;tG&`o
z-W;7=<(1}oGfHRGr<L*pu7Vnw6t-=dB|;37v#lAW<h(InImrNL;<QK;7WX#smJa`)
z+fzuFaZ1@J!+0TDNA*9sc(|#2)2@gguDfnWNq=Z95N1Flw>vQBr`-vWd8G&aN?kQ{
z$QOr1)p4YtRiZlK4>!HR_D<V9?VgW;od6eL5{zlvr-zCI_!P{e-$4Tl0;ws=3bi=y
zbTJdFazZ*%g?{M-k&2x75$XQja`?ZXSS|O!taNgs*nkz}X>o?!bOI?JSyPryz+kX=
znGSc5Q_Gg8{mqpsxTM`~-?^Poo+<&7-dZ9?$olMq|B+1rh5ZOtMaejeUN5eY>^H9m
zP^}39dPE|Ye}#4A#`5JO2bKWKlrAw}E(8n5>P85NTN%&R^h;f&!1M(^PbAZia_Y@Q
z?!T2e7!={&K2p}|rk7Hu^xbpTdt?JwQ>UcyWIdjWaAL5HUN-6F)G0N(^>A%<N)5mh
zfa~4#pm9on1U>?M8hAJG7w|j+_=G#V?~lMo!23SnD$oZ5A9QPb<iH2YK#+m37aqg_
zSHOg5;1Aq`*K?=z7&IS)W;0kQfJ@;?e($9jPU*gTkV^(^F+95swv^u-&_sfC9W;~|
z4``x5x(pi1vj;SD{6K636=lPK${(aU&`{19(1d|>3N(~o9nge>bQCm{Q=jkL8TX5w
zJ59n@D)CN|uyUGQ1@9}2tXXN0M}jnle7lloo_Wa6E62!xx`=F%B>Wu?KO|}IB;ZK0
z;GGt{f{a}CU&hgN8oYQFU^d9V0nP=UL7f0Pp{f#rsng>C+Mg={v>VcX9oB$GM;hXV
zNL`Yur3+1UNn^a60BzxS5n89z*H2cKyr#VDZSD-qn%ZN5Eao;+S6i%&CHI(ss~}zu
zhLgs6WUU=%{}qO<00%5e)tjOIuEY3yz;}SZ0fv8u6t4jm1GWQd05<_%z<BGQ-d%?$
zQx|kPoigVnQk(%?08m$tfvFoaa6J4Ly$MX+%ReWpHbmk(WakE5gb0cbz(YWKLx`Z}
zJko3Arwt46T9Uc39(P*1Hx@Ec)P$OrLzr|uYMu%{TgbBa_l5l5rw<9<)S~$sY)pWQ
zfJ=ZGfTe&p0s8@A4KnxvNekIh=a7!OQSzvJZ^3Dc#FPE`y+2Mg2~H`31Z+-|8^Kyj
zvNxyk)W_?9bU+rs0WpL%1myB2l*Il(11}<nHmfzsO@p2t(pdN4oudFgw_S+J4#|1}
zjjqiZ_CqPO&SPGBU*Cls(oi=YAM(<fbR1}n+cJ*T%%@AypCP~^q`M{aU?#d$G?k`6
z)1q7P4D>WCnjTG?rbyGKVQK*;>t1sZ4yTW)in^ka&$pi5%Ht@S9!-W?Qg76RdUKGU
zwiU{Mpd+H$ejSe{;pGu{JQ-WAVW8Ajm5*X15BaeCxA@QGMtK6hLY|f9;de>)2d5Ka
zJt~1Y?UtVP%SHv=yWhnOl~>Cu(LuNLrAIc3`GKi%OW%{w9Vxh!Oxf{j#9ZfiffF!j
z*E#*`Qk$t{B)fOSU?VxTgTr^pwH-0xH$Fj%4|GV8-az}ITRKL5-O-5C$=RKGxPkQV
zd}Rb*`NBd5efW}Fk(b`+lqOjXmMJo<wN~tjk&T?Q4k>N`+5qi<yMX(EKLM^;zukXG
zfxjaQstk(JN9eCnq#_d!4kwqZ)+&C1E86}SikXMk4p^x0bBli+KFS0iBipK1{Ws}f
BE2{ti

diff --git a/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin b/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..47e85b6bd08c4d3d9b31d298e01285e1ee28e44c 100755
GIT binary patch
delta 4392
zcmZ8l30M?Yw!XKjH?~JZi?V7L9TkGIXiQ9qp=qR~X-I>LsJJwPOS^B0(L_HQMJ<;k
z>UATy#4&yYaZG>?V+aq?rxW8Oc>$w&B#z^fn1&c<N+eWwSJVB@Mf2YKp5OQPf9|>G
zo^wytxu-7f{ge^UG1%CM=VSaKDaUa^iZG-{2<dIkZMYTVJtUjWg5N4O4exO_vf-+*
zqeqdZ9`Fg^g7fR3Ru;eP+!+>v@pR|Gf4i;31<u!pj8HH?opK(EUW=7KokAMBGc0x;
z#w$rx+!WkEuErh4&Cc@px0Lv6=Phm-#z&oI!--%lID5uQ80c==3k?3w88dFQDr{yw
z(oi5Ru(NRD#|q_-$C2iy6Hm$v!W+mWJ`Qhi&f<q*pfyvXR1jxJVH%!D&J~WBmg?0e
zBJOxzK+144qSK8Mj}{y&obFa+D!9nHNWzNYzCW87{<qE}1zVeb+=2{DXyR6u9I{yZ
z-dxKNWH^xbbq{F8|8lGJ`^~IaMUr1lt3;!>7k<Wn%GdLl%jrLcWa%|80%<o$tGt-Y
z?mqz1QZEvteMs~TAaOguG!R;c#hsq;T9v-GDa8@~UPSHd;L`*)@jgcUPj~QPMm+7t
zqQQ+s){jM}|5BWSls^b&m9UpvJqo-uf450f*}laTa}A3h_|<$t@5g8tFG~epCCI4|
zc8b^dOD@7mnhu*Kr~f#L*-#~7CU&(fC3>y>fwdKTYMY2@Xosmc9Avtlj;D0V(zE~L
zV<h!~aWdPP4IX4k>8%iI)d|<JxYTcXmDsF9EBXA2TuuAz+~8}Gbs_t(80Bem&q)ud
zsduCF3AQ!1MZ!>#QRzGA6Qa-MrYE!T20Tk$&RZQ=e8o>?$OTea2dO+iAWQc=zo&4^
z^CX4VPQ*34Qu9+ST6=2Y>q&+#tGFOE#y-{_8Y$!cP+9q#Ra_tX7g_9YmVE>l=?o`5
zBl15oMcDBpj3aF4yW%aec04ZD*5ZoK!}dwZLc5B*Si~t#xllWqQxqM9P9V*gAf%5Z
zn~SXB8FI=7WJp<!#SaG>9%#tTqPY0mA1&M!S=ZuL*gkPHj!)dE0gFZMsM--;!A-Qq
z!;%~UDFNQr<^cyEyzl(azp9ZwNdrd-Fopsm7){|QofH=*;Lpjb;xxRUoG30?_P!ZE
z$i>~!7n;;bxa&x+u@j3C14k`K^Dp%<m<R!=lN`~=5(gHSxskrDTikKTV(h;>gnf|B
z&K`w0`_r{TZd&KN`9uKwKF2!Z=ytvRzjmV$x0}qLx{zIIT|=%+<$_uqpFP6iM)3l9
zG&LpdL&xoIr5Ktx?xnoCC3ST(=GE2JtzPdqa9|t!LqkM1JhUBi=xJ4}h-KQ&(p2;Q
zrhxRhZ@;TmxT${kdQLyDJ8Ih9nG9#`u5X9y@?$naA%-JHoa1wVjiJwx6Q_s^RorP6
zo@pH1WksuFoeT68y)HffTs0%El9!RjX}T9V{`4aqLgFg{ZObTklyR0zrg@1BD?6sS
z(Adhp;*WpI$>~3V6e7l6>9s(f%PI!aZ;;CAG1y9Krcc2q$=&H3-b>h$l!(1Pg&v7-
zc<bB<DM4CGvPv?;minwB()^7#@<=>Sc9fX$JknVbSE+5z?~OuU>1)5fK%Z}KJSEIh
z1Yg(L@%W$=olX6{wa<~QPY6g=GQI=VY&#|B`W&l<Sz<fN1UO!6bRrX;+grqH+GF_0
z0@@u6_L%IeIkV$2>^9Nnl?1=R9-dO&jtmBywr#esU#-4gCgk>(6zfDB8y?-xa`#-;
zz7Ml+yJ%rL0O<_UzfAVc(BTSldWHd4ldCgEL{$2e4RhTJ`R+obd4D@bwn6RUr`pYn
zkS4DiBO^&J<whoWlkBn->$Ucore*L+c0@w+CmUqxM-MWDm}5aBOA=XC8Wr&s#6y#j
zu>*J;po$zUor`_sacLHQnT($~8vjPhW^!X^z)HP6mXCq%v(%Gf&k-GLicQ%dwxM>q
zZV33;3A_@@zk}4z%)zgchcn{}U-3N4Go0QYkW7L5a0+RxP{4JtrLpPSiOnj#EOonw
zT80%w+ms;Rb4OW*7Dn50`x$sSr+xXoEbvKEGHb+=7d+2{MV|*7Qf#K)c-CNR>z-%~
zNZ*`C?KBJOoqDD_(gG9!4WP!3G}`94f?&PDZV)l7!(yS^U=P;kJRR{c!Z6Yd&SjBX
zvtsZ#BF!p`=yxl5f&U(wU9CC<`r<!H#ca!Hw_9!D_-LCt4~y}Bl_eTpFlyfgO~4MI
zUrrmm$(7{B>=drlZ8kIFFMcJj=UHedJdA$yV?K#z#F_vro*-OVY1p>F7XH&lEjJNL
z?i;eLYyvis*0LoTe}{bjxv4U1RV17FI7*4`z?jCN6|(?hWQDP)IvDBa01knEFDaRm
zjHi;yIg>C)+U8WoJPwR(gkmmUmgkoq21bL7itQk~NXgt}gDvoR55f#r2AZz|6@met
zL5`?pD;$QMc)XzsiB@uQ?&zS40fsY!O&jT)tHUSA{kfB1hlY9Ccs^M;FAFD-)AKl-
zO0LXHjuK!m=}-4bpF<bOcZhO6S4r}3HeKss7H@qVA<Xzi&F(D>={zGGRk1g){vESl
ziVf(ww;_t(A9n|dultdq;ekrCGr#<SI>-W_AycmFTRoSQ;FrGlLmuT+y6)d%?u3s_
zD|}>{Or_tR5oW4NZ=4ZoRMT&4wrtL4A8GM4w<2V>$y5pC=|rQ>2pbFFG_Q+puMpm_
zMz>#jY-BT6pP?swovNckn5}-b9UIOFmmWKGtMhd*vzLEje@0l5KWMMhtv<D9A79%v
ztr4ecIx{znZ#*N!DcKu(ZV@D~%U>bD2BAynm9z39JN!}=BvWZK&(4P{N(dgWNl65D
zcQT_Q?_BIbi$8GTQBId%+TzElL7gdlsoDDfEHgK-VnCVMas+CTO1hRBH!6DAR3Y4U
z8&B#)ZTNdIgFDgK1syPtD_Sr#!2%EFUd-F&Mq0mQO!k}1O1)pQ`>E-)#>@?dL3bf7
zOe)*CP>2$>N<{~qBiC(-x(o|^h^9o_vG{hYLFiKdd}9m=DxXxDV0o60HB<e4uL150
z=Wl2dhnl~1p_ICgWT<N-y4;vk(Wpg!>0bkp<{CKv^kmSg-S|Gz(CW~iRHJU-H$fi{
zOncuw;75R7z&IF(0{dWo2dtsheh^q>K}o(SH-;Z^f7iog)R@A$()j_YkqrBT2VW);
z6^r3_V?~a#4-BKp#R>~XBy2&ZGVdhPTy_>NNW);Td7&A1lPe1skN<}^o%c$$a-eAk
zl%<}Bq^nkmQHp-olV50EP|%klG#Z1A^b7w1DPQzu5Y^gYQ<uqv#pm!W@^JCuguxJC
zIkrc%D)~_UM8hy1amy3gx&g^U*4R%&<Y7zhDyg?TGO#4;$)-s5(qol(WO_;SNPmCI
zvwe!etDZ+H@fm-ajBrwDJH4jS%brKND(AyB&?Eg7I1TusOuv*KsSWrTa0~Em;AWVQ
z0&bME`_BTO1@G?y*MmM3__UnYs{}q-34#KIV=xg1TmuVYfe*@0F1jAc3z`F<*#j0D
zU;$>VeHV&6(nI+PR}R`@nEMHADX$;YM1yn_G?Z5iYGOdT1{%r>1~nxr5U+xYa@n9t
z4blbBP@X!d(SmdiG?dMQnh20S0u5#3(<gUc{{6|dkc{Oze3;}epQ4P0_oX5GmRpos
zkcN}H%MA=WKvXM6DS!KS)UG8ND>y8YX)8uzE!nu@5`K$JTKO+qJQ!=?#p?kDAU_8@
z890wR0ek^fr3a=?j{s;V-V2~zkalKmGkPZ4lE_D!Q}ma5&}6Ulyr1KtIs73i&m*b)
zWY4OXbl3cC-CE=1UIDUL)Iwd&b$-9<CKGf4#Lq&J{-U#OtqW)W2MoUebU{$6-URh`
z3C33dmjRyx`e82ik4Q5KPyrACO@My@f}QtYTZf;gF6eT)WCHx{_731Z0Cn{@VCu#O
z%zOY#fvNlZr^q|&qw&w=PwUN5-Js|IbO9zdhw(X_Ps%6CH)i22Wd0kC_>MDTLm3l8
zO{i%#Y?H>L=34OCO18cEZrJ~w?IPS;mvS4x#s>HV@F^e<Fb6OXAON(@3iwlu7P8Rb
zmKtO<X86q|@LfgXsR3)>-3&YLkw%i_P2-g_!P-d5H;p$?AI|~O0TTft-9vLwfx(Va
z*dOS|*N}6Ya&lj8ed5_Iy&yliR}{l>+l8p?mM(pUp82zB$PXK!eV*{sOY$z{mJ($;
zKJ2F}={VMzwK<v1ErKw#PtedEknZNJgIVZ8`DB^`O^ZH?Z$VGDMbo2c(-djibel$i
z&3V=lf+OfORZ&-T=S9w|RR$bG)1%2yOX`i9P;VkpZY@(@qa(6#>zDXBl2ILnUm{bg
za~UYLcdCao>H+dm^(**0^00a&zD{)83h{JOzO8=b7@wYJ>Sc-bD~5;Myw$@*Dr*%-
z&_P*h^(lrkKQMK&bep7YAB$&_x!YfiS_Bt7j>n+g>QOhOw^3;|IkP<uuO?TvbGV1}
zY>$gLdkAT^nUQ8<Gwp}6^f8Ir(Sq~HH#-XPUrB=S!Z7y8?-mN^!yU4waAJ!`GC7wC
zlN8wKtltx-NSLq=Y0d%~0nLCGKpWsRpx$|R?_mx8m29lBXcWhwO~e0fkm7?w$-SDj
gny=t8w)c0%+V|EDTIlgp3#Rrs^XqZ)$J&+u4eL|l>i_@%

delta 4572
zcmZ8k3s@9Kwyx@)f#D_Ki1JdVX;Bo2C>ujUTpr`J^8gXwike~3IEhAlL?uy|QHc&d
zqNZX5iLaPkal<M&@+F95jJUhH#to>r7}wS8H5t&jw?RVBi<x^0^xpejzVGKhb^6q)
zbE;3Dsu90p_J7S_Z9RSi;|rt+#{>k2AQeJLWww5Rn=q~=*=#2K-^xzFwbptz)Gy@X
zr$})Pa2xQ@dLy8T#fz*JAwd|wYdtvRfgG>2t{)aBV`QIOKZ#t6<+9I_!eR}HUWf6A
zWNXYc+)A#+9K!9^qS#Gx{M34%TY>RKtByYwh-<7}DG~<yal$JM?z2Ws8tWHQdKxJx
zP#CZ^Fa4}c&K^Sww-ryx2*8zOiV%Y<tqX(^7--G32tWLLvNLZ2){?LC;%5EU6&8=U
zV_Kgy(ZPr<4itYR_h{a1hb%+J4XqhUSTW91o5KjdwpHbBKlh*85YGh1Z)eFNLw@i3
zYZ-$0gW4NipcU;7KNZoj;sG*l`h>E45h*SU-wK#h_Z>lQX}t@9v>T+=F3e^3eGJkH
z7ZMXZNDS~Ik@O=mzdyJJi-(<|)us8>=loQmhd1gn%;D9nI1{WAJ&gEI#|=lKnGw%B
zu=tV#i9@_tyzH%eqF`mD=t&?ehj{LH$?)5+>v!iUY}<08ZesDA*DU1roJG3?x1@K;
zL4FAq*SNACYY<LUv>FZSzN09rbgPJ&=+$mXMMCpq$_yQDDe-@-d1{UEIJPYtY~2#;
zYO>6iGwsEeD*xEqSX}SbPnQdKy3nMSXg>&rVf_a}@w=$e7i$!@g_?kyLu-N#U{U34
zb}UK_s>(3GY+Pe(vMiMI;HBDM)lRpHZcw}P)x7pH*i)r?V=ET5-gb}&(<y;;vijZ9
zKb$Yp_`7p3jj!4eS8q?&CmV*FlJnNT6xXp-6=g~>Wveyn4XS!~Utfb;{1s2eFQ3Wz
z*oL?liyd>u>CfbZn{YSA;l|4yv4&_9o)m2iX|~5|v1!V<a%xP{W^nv}*i8zkeke19
zup*T~s<tSkP=HPa^_CofRFlYiGxDcqx|2!~pR^i_U-#EN31Af@usT{_^n_&t2KGdO
z2a~b&{`1VTT|;ZWv7C1>`_DU29TwkkL{!JQDx73U!HDtueNrsE;643Yg}?*f{ETeB
z_#;&!jRBAh$c1&YazfDzl2<Si-zF;xCg9_wx?m3ejC2<$=f(9OH5}EqbTOD%e5&em
zYB7r?W-PwvK&s|Wac89=tMAG%_DMFoa17#1k(bW-C*lr^W<uKmJ+Xj&uX!CYciQ*;
zuiaS0?IndXm$9q!*O8W)TtKt=LN^Z060eY_Gm|EqF+b>(i^1`eUengTRa-lEN$sZE
z)wSi7l@;)ZhKX!wunlwQ`3E2)(`HqarRqL9=aa5@KC(Ai3g!E5tNR4yr#ZXZlHj9!
z;Mr-v@{A3aiJ^!Q-}ad8nx3HIPjg;rYqIdY=HeJxOmLHV{c~+HXa}M$?zO9g-;^`r
zd+z1-*Xz&!dbKRkmfw5z-KgYrThwSy_@Y~hkf`;AHI5M+5m|HWZaPt9ShqRfj#A2c
z^Ugj}tNV^2nTWAVTIHK+&li2EZ9l&c+fK`XzHSe2Ffc8J60&#pG<=G*&*tzaM4Fux
zzRM$1A#sbV#(|I=q*9VLCnIF3hjxa)3RwaYuaZr3bY;JXmlz9Pc7ZqQiLOAs(iPGh
z^gR*CCH=+A=kd9t_373x;j<fkyV!EqpKDi|0+YDAUs{yC=8|H|m{z68glc+bu=#zy
zH40ml5S2@N4{wUfzNTIniy@PEqf4sr@}|%vC~KZKrZ=OxywZ5zj?)5@l*YSl`Mu_%
z#F0K}miv~y+TR}*()7$JP>MJ-(#CRk?D@Ta$i8JqHX0la)&gt<1R1I<;l1WHY#ZG)
zmo$&;oy+4rq<(H(_;!!HZm~n=e!2`Pj_<%IYe2i=x%S|jNTKb-$V9^DafWbLqRA}{
zapm{s%$g`9nh*)rPvzax-<^mL(nW*DEj@AaCR)k7k*QnVJZvh;k^yc*6bQHjcrT!e
zY?-$h_mF$@GVx>*Gk+}ZBI@~EiXJ?vOwmFVbi*aiB=BTrlZ^5@u^HLuJnHWN@Q3hP
zI>>?f>XA9l*6yjOw>8)hQ_6~&ER$CEL>>CeEfvHviFD5&@$x^wo~}>lr#JYipg}o?
z8%E?t8s#A0aYPt~=S3PdeGKeOl}F#h0v{w(7Q`haIVXcfrxWu@#+;s5$f>zAJ<BJ3
z{|&OyOoC}<Wa|Q@q27cPVGS|4fhyj_ix@1iSm5AIfhzU$ksd}EMv8%FY8b`%Gwrl&
z!<u>1Qg|X8cruwhSWp=5a>xaXaMyuStNnwZgZB`_Lc>^(!{5LOkw$+lbZW1kA<`HI
z`$9{T7Ck-Jjquh#B+UzxxI%|c$B6&-$_16cinAR8jO<=4Bnpgp#K(#!NkHMekP6>6
z;p_S^E*+|>g}hVvG8V|m!nY<qg6#gixh%6}D4X#tLXJ9NOxK~6wG`IK3}MlpK#&2S
zfF2I=MdM)Z@<mf{0{LQ5S(M$EP!IK5utMvVe)Nq685Nj7zDK4k9>*{B{kaQahARZk
zC10_Hhka3tVQjIPufS>iRwT|M6^qA?Z16Fh4s7bd26Oy?1>$qHyxA)ea%1rnSTkrz
zHl9WDmSkd%>|Mg)cye~hxQP7_S?cqs>8?BkxsyCy!j&D=-#d4+i_vU<7H*mSSk8Ww
z9|WDL(vNM&s{J~zG{mRk_Q9Gx-k66-e9w#cx+gNlZa5?40R}iNb2Ro_D%dfvbi)f-
z6;bJ`w_Mi-2jQ1+u78%Z<W`eqf!~t$Cd*;J!uB#lnV#(q!?PT+pxrq+WkAk0l+a|^
zlncFKonLDc?GeSXwqi@mvn+PQ^t9CjnstHCpZK*FTMGTB+c4h*7G`CMUI`Za1v)#@
z)?`_!kF>!|rE>MjJqLv9bF=DkilQy8G_AhL5+`TdRoqfYXQQ{+0^zPHQ;I78dD@|^
zUTGEN_J(f09xhiwI8Bih5A0}T5{5qfwhL*F*l|Lw-7A%NaY{g2hA>Ar{r_2}!58NX
zR5w;aol+^LvC4stzv0^DDz+H%m10<EMk&*Fp&Nx3wZd~;*oakVqNsCX?iKB;tG&`o
z-W;7=<(1}oGfHRGr<L*pu7Vnw6t-=dB|;37v#lAW<h(InImrNL;<QK;7WX#smJa`)
z+fzuFaZ1@J!+0TDNA*9sc(|#2)2@gguDfnWNq=Z95N1Flw>vQBr`-vWd8G&aN?kQ{
z$QOr1)p4YtRiZlK4>!HR_D<V9?VgW;od6eL5{zlvr-zCI_!P{e-$4Tl0;ws=3bi=y
zbTJdFazZ*%g?{M-k&2x75$XQja`?ZXSS|O!taNgs*nkz}X>o?!bOI?JSyPryz+kX=
znGSc5Q_Gg8{mqpsxTM`~-?^Poo+<&7-dZ9?$olMq|B+1rh5ZOtMaejeUN5eY>^H9m
zP^}39dPE|Ye}#4A#`5JO2bKWKlrAw}E(8n5>P85NTN%&R^h;f&!1M(^PbAZia_Y@Q
z?!T2e7!={&K2p}|rk7Hu^xbpTdt?JwQ>UcyWIdjWaAL5HUN-6F)G0N(^>A%<N)5mh
zfa~4#pm9on1U>?M8hAJG7w|j+_=G#V?~lMo!23SnD$oZ5A9QPb<iH2YK#+m37aqg_
zSHOg5;1Aq`*K?=z7&IS)W;0kQfJ@;?e($9jPU*gTkV^(^F+95swv^u-&_sfC9W;~|
z4``x5x(pi1vj;SD{6K636=lPK${(aU&`{19(1d|>3N(~o9nge>bQCm{Q=jkL8TX5w
zJ59n@D)CN|uyUGQ1@9}2tXXN0M}jnle7lloo_Wa6E62!xx`=F%B>Wu?KO|}IB;ZK0
z;GGt{f{a}CU&hgN8oYQFU^d9V0nP=UL7f0Pp{f#rsng>C+Mg={v>VcX9oB$GM;hXV
zNL`Yur3+1UNn^a60BzxS5n89z*H2cKyr#VDZSD-qn%ZN5Eao;+S6i%&CHI(ss~}zu
zhLgs6WUU=%{}qO<00%5e)tjOIuEY3yz;}SZ0fv8u6t4jm1GWQd05<_%z<BGQ-d%?$
zQx|kPoigVnQk(%?08m$tfvFoaa6J4Ly$MX+%ReWpHbmk(WakE5gb0cbz(YWKLx`Z}
zJko3Arwt46T9Uc39(P*1Hx@Ec)P$OrLzr|uYMu%{TgbBa_l5l5rw<9<)S~$sY)pWQ
zfJ=ZGfTe&p0s8@A4KnxvNekIh=a7!OQSzvJZ^3Dc#FPE`y+2Mg2~H`31Z+-|8^Kyj
zvNxyk)W_?9bU+rs0WpL%1myB2l*Il(11}<nHmfzsO@p2t(pdN4oudFgw_S+J4#|1}
zjjqiZ_CqPO&SPGBU*Cls(oi=YAM(<fbR1}n+cJ*T%%@AypCP~^q`M{aU?#d$G?k`6
z)1q7P4D>WCnjTG?rbyGKVQK*;>t1sZ4yTW)in^ka&$pi5%Ht@S9!-W?Qg76RdUKGU
zwiU{Mpd+H$ejSe{;pGu{JQ-WAVW8Ajm5*X15BaeCxA@QGMtK6hLY|f9;de>)2d5Ka
zJt~1Y?UtVP%SHv=yWhnOl~>Cu(LuNLrAIc3`GKi%OW%{w9Vxh!Oxf{j#9ZfiffF!j
z*E#*`Qk$t{B)fOSU?VxTgTr^pwH-0xH$Fj%4|GV8-az}ITRKL5-O-5C$=RKGxPkQV
zd}Rb*`NBd5efW}Fk(b`+lqOjXmMJo<wN~tjk&T?Q4k>N`+5qi<yMX(EKLM^;zukXG
zfxjaQstk(JN9eCnq#_d!4kwqZ)+&C1E86}SikXMk4p^x0bBli+KFS0iBipK1{Ws}f
BE2{ti

diff --git a/boards/px4/fmu-v5/extras/px4_io-v2_default.bin b/boards/px4/fmu-v5/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..47e85b6bd08c4d3d9b31d298e01285e1ee28e44c 100755
GIT binary patch
delta 4392
zcmZ8l30M?Yw!XKjH?~JZi?V7L9TkGIXiQ9qp=qR~X-I>LsJJwPOS^B0(L_HQMJ<;k
z>UATy#4&yYaZG>?V+aq?rxW8Oc>$w&B#z^fn1&c<N+eWwSJVB@Mf2YKp5OQPf9|>G
zo^wytxu-7f{ge^UG1%CM=VSaKDaUa^iZG-{2<dIkZMYTVJtUjWg5N4O4exO_vf-+*
zqeqdZ9`Fg^g7fR3Ru;eP+!+>v@pR|Gf4i;31<u!pj8HH?opK(EUW=7KokAMBGc0x;
z#w$rx+!WkEuErh4&Cc@px0Lv6=Phm-#z&oI!--%lID5uQ80c==3k?3w88dFQDr{yw
z(oi5Ru(NRD#|q_-$C2iy6Hm$v!W+mWJ`Qhi&f<q*pfyvXR1jxJVH%!D&J~WBmg?0e
zBJOxzK+144qSK8Mj}{y&obFa+D!9nHNWzNYzCW87{<qE}1zVeb+=2{DXyR6u9I{yZ
z-dxKNWH^xbbq{F8|8lGJ`^~IaMUr1lt3;!>7k<Wn%GdLl%jrLcWa%|80%<o$tGt-Y
z?mqz1QZEvteMs~TAaOguG!R;c#hsq;T9v-GDa8@~UPSHd;L`*)@jgcUPj~QPMm+7t
zqQQ+s){jM}|5BWSls^b&m9UpvJqo-uf450f*}laTa}A3h_|<$t@5g8tFG~epCCI4|
zc8b^dOD@7mnhu*Kr~f#L*-#~7CU&(fC3>y>fwdKTYMY2@Xosmc9Avtlj;D0V(zE~L
zV<h!~aWdPP4IX4k>8%iI)d|<JxYTcXmDsF9EBXA2TuuAz+~8}Gbs_t(80Bem&q)ud
zsduCF3AQ!1MZ!>#QRzGA6Qa-MrYE!T20Tk$&RZQ=e8o>?$OTea2dO+iAWQc=zo&4^
z^CX4VPQ*34Qu9+ST6=2Y>q&+#tGFOE#y-{_8Y$!cP+9q#Ra_tX7g_9YmVE>l=?o`5
zBl15oMcDBpj3aF4yW%aec04ZD*5ZoK!}dwZLc5B*Si~t#xllWqQxqM9P9V*gAf%5Z
zn~SXB8FI=7WJp<!#SaG>9%#tTqPY0mA1&M!S=ZuL*gkPHj!)dE0gFZMsM--;!A-Qq
z!;%~UDFNQr<^cyEyzl(azp9ZwNdrd-Fopsm7){|QofH=*;Lpjb;xxRUoG30?_P!ZE
z$i>~!7n;;bxa&x+u@j3C14k`K^Dp%<m<R!=lN`~=5(gHSxskrDTikKTV(h;>gnf|B
z&K`w0`_r{TZd&KN`9uKwKF2!Z=ytvRzjmV$x0}qLx{zIIT|=%+<$_uqpFP6iM)3l9
zG&LpdL&xoIr5Ktx?xnoCC3ST(=GE2JtzPdqa9|t!LqkM1JhUBi=xJ4}h-KQ&(p2;Q
zrhxRhZ@;TmxT${kdQLyDJ8Ih9nG9#`u5X9y@?$naA%-JHoa1wVjiJwx6Q_s^RorP6
zo@pH1WksuFoeT68y)HffTs0%El9!RjX}T9V{`4aqLgFg{ZObTklyR0zrg@1BD?6sS
z(Adhp;*WpI$>~3V6e7l6>9s(f%PI!aZ;;CAG1y9Krcc2q$=&H3-b>h$l!(1Pg&v7-
zc<bB<DM4CGvPv?;minwB()^7#@<=>Sc9fX$JknVbSE+5z?~OuU>1)5fK%Z}KJSEIh
z1Yg(L@%W$=olX6{wa<~QPY6g=GQI=VY&#|B`W&l<Sz<fN1UO!6bRrX;+grqH+GF_0
z0@@u6_L%IeIkV$2>^9Nnl?1=R9-dO&jtmBywr#esU#-4gCgk>(6zfDB8y?-xa`#-;
zz7Ml+yJ%rL0O<_UzfAVc(BTSldWHd4ldCgEL{$2e4RhTJ`R+obd4D@bwn6RUr`pYn
zkS4DiBO^&J<whoWlkBn->$Ucore*L+c0@w+CmUqxM-MWDm}5aBOA=XC8Wr&s#6y#j
zu>*J;po$zUor`_sacLHQnT($~8vjPhW^!X^z)HP6mXCq%v(%Gf&k-GLicQ%dwxM>q
zZV33;3A_@@zk}4z%)zgchcn{}U-3N4Go0QYkW7L5a0+RxP{4JtrLpPSiOnj#EOonw
zT80%w+ms;Rb4OW*7Dn50`x$sSr+xXoEbvKEGHb+=7d+2{MV|*7Qf#K)c-CNR>z-%~
zNZ*`C?KBJOoqDD_(gG9!4WP!3G}`94f?&PDZV)l7!(yS^U=P;kJRR{c!Z6Yd&SjBX
zvtsZ#BF!p`=yxl5f&U(wU9CC<`r<!H#ca!Hw_9!D_-LCt4~y}Bl_eTpFlyfgO~4MI
zUrrmm$(7{B>=drlZ8kIFFMcJj=UHedJdA$yV?K#z#F_vro*-OVY1p>F7XH&lEjJNL
z?i;eLYyvis*0LoTe}{bjxv4U1RV17FI7*4`z?jCN6|(?hWQDP)IvDBa01knEFDaRm
zjHi;yIg>C)+U8WoJPwR(gkmmUmgkoq21bL7itQk~NXgt}gDvoR55f#r2AZz|6@met
zL5`?pD;$QMc)XzsiB@uQ?&zS40fsY!O&jT)tHUSA{kfB1hlY9Ccs^M;FAFD-)AKl-
zO0LXHjuK!m=}-4bpF<bOcZhO6S4r}3HeKss7H@qVA<Xzi&F(D>={zGGRk1g){vESl
ziVf(ww;_t(A9n|dultdq;ekrCGr#<SI>-W_AycmFTRoSQ;FrGlLmuT+y6)d%?u3s_
zD|}>{Or_tR5oW4NZ=4ZoRMT&4wrtL4A8GM4w<2V>$y5pC=|rQ>2pbFFG_Q+puMpm_
zMz>#jY-BT6pP?swovNckn5}-b9UIOFmmWKGtMhd*vzLEje@0l5KWMMhtv<D9A79%v
ztr4ecIx{znZ#*N!DcKu(ZV@D~%U>bD2BAynm9z39JN!}=BvWZK&(4P{N(dgWNl65D
zcQT_Q?_BIbi$8GTQBId%+TzElL7gdlsoDDfEHgK-VnCVMas+CTO1hRBH!6DAR3Y4U
z8&B#)ZTNdIgFDgK1syPtD_Sr#!2%EFUd-F&Mq0mQO!k}1O1)pQ`>E-)#>@?dL3bf7
zOe)*CP>2$>N<{~qBiC(-x(o|^h^9o_vG{hYLFiKdd}9m=DxXxDV0o60HB<e4uL150
z=Wl2dhnl~1p_ICgWT<N-y4;vk(Wpg!>0bkp<{CKv^kmSg-S|Gz(CW~iRHJU-H$fi{
zOncuw;75R7z&IF(0{dWo2dtsheh^q>K}o(SH-;Z^f7iog)R@A$()j_YkqrBT2VW);
z6^r3_V?~a#4-BKp#R>~XBy2&ZGVdhPTy_>NNW);Td7&A1lPe1skN<}^o%c$$a-eAk
zl%<}Bq^nkmQHp-olV50EP|%klG#Z1A^b7w1DPQzu5Y^gYQ<uqv#pm!W@^JCuguxJC
zIkrc%D)~_UM8hy1amy3gx&g^U*4R%&<Y7zhDyg?TGO#4;$)-s5(qol(WO_;SNPmCI
zvwe!etDZ+H@fm-ajBrwDJH4jS%brKND(AyB&?Eg7I1TusOuv*KsSWrTa0~Em;AWVQ
z0&bME`_BTO1@G?y*MmM3__UnYs{}q-34#KIV=xg1TmuVYfe*@0F1jAc3z`F<*#j0D
zU;$>VeHV&6(nI+PR}R`@nEMHADX$;YM1yn_G?Z5iYGOdT1{%r>1~nxr5U+xYa@n9t
z4blbBP@X!d(SmdiG?dMQnh20S0u5#3(<gUc{{6|dkc{Oze3;}epQ4P0_oX5GmRpos
zkcN}H%MA=WKvXM6DS!KS)UG8ND>y8YX)8uzE!nu@5`K$JTKO+qJQ!=?#p?kDAU_8@
z890wR0ek^fr3a=?j{s;V-V2~zkalKmGkPZ4lE_D!Q}ma5&}6Ulyr1KtIs73i&m*b)
zWY4OXbl3cC-CE=1UIDUL)Iwd&b$-9<CKGf4#Lq&J{-U#OtqW)W2MoUebU{$6-URh`
z3C33dmjRyx`e82ik4Q5KPyrACO@My@f}QtYTZf;gF6eT)WCHx{_731Z0Cn{@VCu#O
z%zOY#fvNlZr^q|&qw&w=PwUN5-Js|IbO9zdhw(X_Ps%6CH)i22Wd0kC_>MDTLm3l8
zO{i%#Y?H>L=34OCO18cEZrJ~w?IPS;mvS4x#s>HV@F^e<Fb6OXAON(@3iwlu7P8Rb
zmKtO<X86q|@LfgXsR3)>-3&YLkw%i_P2-g_!P-d5H;p$?AI|~O0TTft-9vLwfx(Va
z*dOS|*N}6Ya&lj8ed5_Iy&yliR}{l>+l8p?mM(pUp82zB$PXK!eV*{sOY$z{mJ($;
zKJ2F}={VMzwK<v1ErKw#PtedEknZNJgIVZ8`DB^`O^ZH?Z$VGDMbo2c(-djibel$i
z&3V=lf+OfORZ&-T=S9w|RR$bG)1%2yOX`i9P;VkpZY@(@qa(6#>zDXBl2ILnUm{bg
za~UYLcdCao>H+dm^(**0^00a&zD{)83h{JOzO8=b7@wYJ>Sc-bD~5;Myw$@*Dr*%-
z&_P*h^(lrkKQMK&bep7YAB$&_x!YfiS_Bt7j>n+g>QOhOw^3;|IkP<uuO?TvbGV1}
zY>$gLdkAT^nUQ8<Gwp}6^f8Ir(Sq~HH#-XPUrB=S!Z7y8?-mN^!yU4waAJ!`GC7wC
zlN8wKtltx-NSLq=Y0d%~0nLCGKpWsRpx$|R?_mx8m29lBXcWhwO~e0fkm7?w$-SDj
gny=t8w)c0%+V|EDTIlgp3#Rrs^XqZ)$J&+u4eL|l>i_@%

delta 4572
zcmZ8k3s@9Kwyx@)f#D_Ki1JdVX;Bo2C>ujUTpr`J^8gXwike~3IEhAlL?uy|QHc&d
zqNZX5iLaPkal<M&@+F95jJUhH#to>r7}wS8H5t&jw?RVBi<x^0^xpejzVGKhb^6q)
zbE;3Dsu90p_J7S_Z9RSi;|rt+#{>k2AQeJLWww5Rn=q~=*=#2K-^xzFwbptz)Gy@X
zr$})Pa2xQ@dLy8T#fz*JAwd|wYdtvRfgG>2t{)aBV`QIOKZ#t6<+9I_!eR}HUWf6A
zWNXYc+)A#+9K!9^qS#Gx{M34%TY>RKtByYwh-<7}DG~<yal$JM?z2Ws8tWHQdKxJx
zP#CZ^Fa4}c&K^Sww-ryx2*8zOiV%Y<tqX(^7--G32tWLLvNLZ2){?LC;%5EU6&8=U
zV_Kgy(ZPr<4itYR_h{a1hb%+J4XqhUSTW91o5KjdwpHbBKlh*85YGh1Z)eFNLw@i3
zYZ-$0gW4NipcU;7KNZoj;sG*l`h>E45h*SU-wK#h_Z>lQX}t@9v>T+=F3e^3eGJkH
z7ZMXZNDS~Ik@O=mzdyJJi-(<|)us8>=loQmhd1gn%;D9nI1{WAJ&gEI#|=lKnGw%B
zu=tV#i9@_tyzH%eqF`mD=t&?ehj{LH$?)5+>v!iUY}<08ZesDA*DU1roJG3?x1@K;
zL4FAq*SNACYY<LUv>FZSzN09rbgPJ&=+$mXMMCpq$_yQDDe-@-d1{UEIJPYtY~2#;
zYO>6iGwsEeD*xEqSX}SbPnQdKy3nMSXg>&rVf_a}@w=$e7i$!@g_?kyLu-N#U{U34
zb}UK_s>(3GY+Pe(vMiMI;HBDM)lRpHZcw}P)x7pH*i)r?V=ET5-gb}&(<y;;vijZ9
zKb$Yp_`7p3jj!4eS8q?&CmV*FlJnNT6xXp-6=g~>Wveyn4XS!~Utfb;{1s2eFQ3Wz
z*oL?liyd>u>CfbZn{YSA;l|4yv4&_9o)m2iX|~5|v1!V<a%xP{W^nv}*i8zkeke19
zup*T~s<tSkP=HPa^_CofRFlYiGxDcqx|2!~pR^i_U-#EN31Af@usT{_^n_&t2KGdO
z2a~b&{`1VTT|;ZWv7C1>`_DU29TwkkL{!JQDx73U!HDtueNrsE;643Yg}?*f{ETeB
z_#;&!jRBAh$c1&YazfDzl2<Si-zF;xCg9_wx?m3ejC2<$=f(9OH5}EqbTOD%e5&em
zYB7r?W-PwvK&s|Wac89=tMAG%_DMFoa17#1k(bW-C*lr^W<uKmJ+Xj&uX!CYciQ*;
zuiaS0?IndXm$9q!*O8W)TtKt=LN^Z060eY_Gm|EqF+b>(i^1`eUengTRa-lEN$sZE
z)wSi7l@;)ZhKX!wunlwQ`3E2)(`HqarRqL9=aa5@KC(Ai3g!E5tNR4yr#ZXZlHj9!
z;Mr-v@{A3aiJ^!Q-}ad8nx3HIPjg;rYqIdY=HeJxOmLHV{c~+HXa}M$?zO9g-;^`r
zd+z1-*Xz&!dbKRkmfw5z-KgYrThwSy_@Y~hkf`;AHI5M+5m|HWZaPt9ShqRfj#A2c
z^Ugj}tNV^2nTWAVTIHK+&li2EZ9l&c+fK`XzHSe2Ffc8J60&#pG<=G*&*tzaM4Fux
zzRM$1A#sbV#(|I=q*9VLCnIF3hjxa)3RwaYuaZr3bY;JXmlz9Pc7ZqQiLOAs(iPGh
z^gR*CCH=+A=kd9t_373x;j<fkyV!EqpKDi|0+YDAUs{yC=8|H|m{z68glc+bu=#zy
zH40ml5S2@N4{wUfzNTIniy@PEqf4sr@}|%vC~KZKrZ=OxywZ5zj?)5@l*YSl`Mu_%
z#F0K}miv~y+TR}*()7$JP>MJ-(#CRk?D@Ta$i8JqHX0la)&gt<1R1I<;l1WHY#ZG)
zmo$&;oy+4rq<(H(_;!!HZm~n=e!2`Pj_<%IYe2i=x%S|jNTKb-$V9^DafWbLqRA}{
zapm{s%$g`9nh*)rPvzax-<^mL(nW*DEj@AaCR)k7k*QnVJZvh;k^yc*6bQHjcrT!e
zY?-$h_mF$@GVx>*Gk+}ZBI@~EiXJ?vOwmFVbi*aiB=BTrlZ^5@u^HLuJnHWN@Q3hP
zI>>?f>XA9l*6yjOw>8)hQ_6~&ER$CEL>>CeEfvHviFD5&@$x^wo~}>lr#JYipg}o?
z8%E?t8s#A0aYPt~=S3PdeGKeOl}F#h0v{w(7Q`haIVXcfrxWu@#+;s5$f>zAJ<BJ3
z{|&OyOoC}<Wa|Q@q27cPVGS|4fhyj_ix@1iSm5AIfhzU$ksd}EMv8%FY8b`%Gwrl&
z!<u>1Qg|X8cruwhSWp=5a>xaXaMyuStNnwZgZB`_Lc>^(!{5LOkw$+lbZW1kA<`HI
z`$9{T7Ck-Jjquh#B+UzxxI%|c$B6&-$_16cinAR8jO<=4Bnpgp#K(#!NkHMekP6>6
z;p_S^E*+|>g}hVvG8V|m!nY<qg6#gixh%6}D4X#tLXJ9NOxK~6wG`IK3}MlpK#&2S
zfF2I=MdM)Z@<mf{0{LQ5S(M$EP!IK5utMvVe)Nq685Nj7zDK4k9>*{B{kaQahARZk
zC10_Hhka3tVQjIPufS>iRwT|M6^qA?Z16Fh4s7bd26Oy?1>$qHyxA)ea%1rnSTkrz
zHl9WDmSkd%>|Mg)cye~hxQP7_S?cqs>8?BkxsyCy!j&D=-#d4+i_vU<7H*mSSk8Ww
z9|WDL(vNM&s{J~zG{mRk_Q9Gx-k66-e9w#cx+gNlZa5?40R}iNb2Ro_D%dfvbi)f-
z6;bJ`w_Mi-2jQ1+u78%Z<W`eqf!~t$Cd*;J!uB#lnV#(q!?PT+pxrq+WkAk0l+a|^
zlncFKonLDc?GeSXwqi@mvn+PQ^t9CjnstHCpZK*FTMGTB+c4h*7G`CMUI`Za1v)#@
z)?`_!kF>!|rE>MjJqLv9bF=DkilQy8G_AhL5+`TdRoqfYXQQ{+0^zPHQ;I78dD@|^
zUTGEN_J(f09xhiwI8Bih5A0}T5{5qfwhL*F*l|Lw-7A%NaY{g2hA>Ar{r_2}!58NX
zR5w;aol+^LvC4stzv0^DDz+H%m10<EMk&*Fp&Nx3wZd~;*oakVqNsCX?iKB;tG&`o
z-W;7=<(1}oGfHRGr<L*pu7Vnw6t-=dB|;37v#lAW<h(InImrNL;<QK;7WX#smJa`)
z+fzuFaZ1@J!+0TDNA*9sc(|#2)2@gguDfnWNq=Z95N1Flw>vQBr`-vWd8G&aN?kQ{
z$QOr1)p4YtRiZlK4>!HR_D<V9?VgW;od6eL5{zlvr-zCI_!P{e-$4Tl0;ws=3bi=y
zbTJdFazZ*%g?{M-k&2x75$XQja`?ZXSS|O!taNgs*nkz}X>o?!bOI?JSyPryz+kX=
znGSc5Q_Gg8{mqpsxTM`~-?^Poo+<&7-dZ9?$olMq|B+1rh5ZOtMaejeUN5eY>^H9m
zP^}39dPE|Ye}#4A#`5JO2bKWKlrAw}E(8n5>P85NTN%&R^h;f&!1M(^PbAZia_Y@Q
z?!T2e7!={&K2p}|rk7Hu^xbpTdt?JwQ>UcyWIdjWaAL5HUN-6F)G0N(^>A%<N)5mh
zfa~4#pm9on1U>?M8hAJG7w|j+_=G#V?~lMo!23SnD$oZ5A9QPb<iH2YK#+m37aqg_
zSHOg5;1Aq`*K?=z7&IS)W;0kQfJ@;?e($9jPU*gTkV^(^F+95swv^u-&_sfC9W;~|
z4``x5x(pi1vj;SD{6K636=lPK${(aU&`{19(1d|>3N(~o9nge>bQCm{Q=jkL8TX5w
zJ59n@D)CN|uyUGQ1@9}2tXXN0M}jnle7lloo_Wa6E62!xx`=F%B>Wu?KO|}IB;ZK0
z;GGt{f{a}CU&hgN8oYQFU^d9V0nP=UL7f0Pp{f#rsng>C+Mg={v>VcX9oB$GM;hXV
zNL`Yur3+1UNn^a60BzxS5n89z*H2cKyr#VDZSD-qn%ZN5Eao;+S6i%&CHI(ss~}zu
zhLgs6WUU=%{}qO<00%5e)tjOIuEY3yz;}SZ0fv8u6t4jm1GWQd05<_%z<BGQ-d%?$
zQx|kPoigVnQk(%?08m$tfvFoaa6J4Ly$MX+%ReWpHbmk(WakE5gb0cbz(YWKLx`Z}
zJko3Arwt46T9Uc39(P*1Hx@Ec)P$OrLzr|uYMu%{TgbBa_l5l5rw<9<)S~$sY)pWQ
zfJ=ZGfTe&p0s8@A4KnxvNekIh=a7!OQSzvJZ^3Dc#FPE`y+2Mg2~H`31Z+-|8^Kyj
zvNxyk)W_?9bU+rs0WpL%1myB2l*Il(11}<nHmfzsO@p2t(pdN4oudFgw_S+J4#|1}
zjjqiZ_CqPO&SPGBU*Cls(oi=YAM(<fbR1}n+cJ*T%%@AypCP~^q`M{aU?#d$G?k`6
z)1q7P4D>WCnjTG?rbyGKVQK*;>t1sZ4yTW)in^ka&$pi5%Ht@S9!-W?Qg76RdUKGU
zwiU{Mpd+H$ejSe{;pGu{JQ-WAVW8Ajm5*X15BaeCxA@QGMtK6hLY|f9;de>)2d5Ka
zJt~1Y?UtVP%SHv=yWhnOl~>Cu(LuNLrAIc3`GKi%OW%{w9Vxh!Oxf{j#9ZfiffF!j
z*E#*`Qk$t{B)fOSU?VxTgTr^pwH-0xH$Fj%4|GV8-az}ITRKL5-O-5C$=RKGxPkQV
zd}Rb*`NBd5efW}Fk(b`+lqOjXmMJo<wN~tjk&T?Q4k>N`+5qi<yMX(EKLM^;zukXG
zfxjaQstk(JN9eCnq#_d!4kwqZ)+&C1E86}SikXMk4p^x0bBli+KFS0iBipK1{Ws}f
BE2{ti

diff --git a/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin b/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..47e85b6bd08c4d3d9b31d298e01285e1ee28e44c 100755
GIT binary patch
delta 4392
zcmZ8l30M?Yw!XKjH?~JZi?V7L9TkGIXiQ9qp=qR~X-I>LsJJwPOS^B0(L_HQMJ<;k
z>UATy#4&yYaZG>?V+aq?rxW8Oc>$w&B#z^fn1&c<N+eWwSJVB@Mf2YKp5OQPf9|>G
zo^wytxu-7f{ge^UG1%CM=VSaKDaUa^iZG-{2<dIkZMYTVJtUjWg5N4O4exO_vf-+*
zqeqdZ9`Fg^g7fR3Ru;eP+!+>v@pR|Gf4i;31<u!pj8HH?opK(EUW=7KokAMBGc0x;
z#w$rx+!WkEuErh4&Cc@px0Lv6=Phm-#z&oI!--%lID5uQ80c==3k?3w88dFQDr{yw
z(oi5Ru(NRD#|q_-$C2iy6Hm$v!W+mWJ`Qhi&f<q*pfyvXR1jxJVH%!D&J~WBmg?0e
zBJOxzK+144qSK8Mj}{y&obFa+D!9nHNWzNYzCW87{<qE}1zVeb+=2{DXyR6u9I{yZ
z-dxKNWH^xbbq{F8|8lGJ`^~IaMUr1lt3;!>7k<Wn%GdLl%jrLcWa%|80%<o$tGt-Y
z?mqz1QZEvteMs~TAaOguG!R;c#hsq;T9v-GDa8@~UPSHd;L`*)@jgcUPj~QPMm+7t
zqQQ+s){jM}|5BWSls^b&m9UpvJqo-uf450f*}laTa}A3h_|<$t@5g8tFG~epCCI4|
zc8b^dOD@7mnhu*Kr~f#L*-#~7CU&(fC3>y>fwdKTYMY2@Xosmc9Avtlj;D0V(zE~L
zV<h!~aWdPP4IX4k>8%iI)d|<JxYTcXmDsF9EBXA2TuuAz+~8}Gbs_t(80Bem&q)ud
zsduCF3AQ!1MZ!>#QRzGA6Qa-MrYE!T20Tk$&RZQ=e8o>?$OTea2dO+iAWQc=zo&4^
z^CX4VPQ*34Qu9+ST6=2Y>q&+#tGFOE#y-{_8Y$!cP+9q#Ra_tX7g_9YmVE>l=?o`5
zBl15oMcDBpj3aF4yW%aec04ZD*5ZoK!}dwZLc5B*Si~t#xllWqQxqM9P9V*gAf%5Z
zn~SXB8FI=7WJp<!#SaG>9%#tTqPY0mA1&M!S=ZuL*gkPHj!)dE0gFZMsM--;!A-Qq
z!;%~UDFNQr<^cyEyzl(azp9ZwNdrd-Fopsm7){|QofH=*;Lpjb;xxRUoG30?_P!ZE
z$i>~!7n;;bxa&x+u@j3C14k`K^Dp%<m<R!=lN`~=5(gHSxskrDTikKTV(h;>gnf|B
z&K`w0`_r{TZd&KN`9uKwKF2!Z=ytvRzjmV$x0}qLx{zIIT|=%+<$_uqpFP6iM)3l9
zG&LpdL&xoIr5Ktx?xnoCC3ST(=GE2JtzPdqa9|t!LqkM1JhUBi=xJ4}h-KQ&(p2;Q
zrhxRhZ@;TmxT${kdQLyDJ8Ih9nG9#`u5X9y@?$naA%-JHoa1wVjiJwx6Q_s^RorP6
zo@pH1WksuFoeT68y)HffTs0%El9!RjX}T9V{`4aqLgFg{ZObTklyR0zrg@1BD?6sS
z(Adhp;*WpI$>~3V6e7l6>9s(f%PI!aZ;;CAG1y9Krcc2q$=&H3-b>h$l!(1Pg&v7-
zc<bB<DM4CGvPv?;minwB()^7#@<=>Sc9fX$JknVbSE+5z?~OuU>1)5fK%Z}KJSEIh
z1Yg(L@%W$=olX6{wa<~QPY6g=GQI=VY&#|B`W&l<Sz<fN1UO!6bRrX;+grqH+GF_0
z0@@u6_L%IeIkV$2>^9Nnl?1=R9-dO&jtmBywr#esU#-4gCgk>(6zfDB8y?-xa`#-;
zz7Ml+yJ%rL0O<_UzfAVc(BTSldWHd4ldCgEL{$2e4RhTJ`R+obd4D@bwn6RUr`pYn
zkS4DiBO^&J<whoWlkBn->$Ucore*L+c0@w+CmUqxM-MWDm}5aBOA=XC8Wr&s#6y#j
zu>*J;po$zUor`_sacLHQnT($~8vjPhW^!X^z)HP6mXCq%v(%Gf&k-GLicQ%dwxM>q
zZV33;3A_@@zk}4z%)zgchcn{}U-3N4Go0QYkW7L5a0+RxP{4JtrLpPSiOnj#EOonw
zT80%w+ms;Rb4OW*7Dn50`x$sSr+xXoEbvKEGHb+=7d+2{MV|*7Qf#K)c-CNR>z-%~
zNZ*`C?KBJOoqDD_(gG9!4WP!3G}`94f?&PDZV)l7!(yS^U=P;kJRR{c!Z6Yd&SjBX
zvtsZ#BF!p`=yxl5f&U(wU9CC<`r<!H#ca!Hw_9!D_-LCt4~y}Bl_eTpFlyfgO~4MI
zUrrmm$(7{B>=drlZ8kIFFMcJj=UHedJdA$yV?K#z#F_vro*-OVY1p>F7XH&lEjJNL
z?i;eLYyvis*0LoTe}{bjxv4U1RV17FI7*4`z?jCN6|(?hWQDP)IvDBa01knEFDaRm
zjHi;yIg>C)+U8WoJPwR(gkmmUmgkoq21bL7itQk~NXgt}gDvoR55f#r2AZz|6@met
zL5`?pD;$QMc)XzsiB@uQ?&zS40fsY!O&jT)tHUSA{kfB1hlY9Ccs^M;FAFD-)AKl-
zO0LXHjuK!m=}-4bpF<bOcZhO6S4r}3HeKss7H@qVA<Xzi&F(D>={zGGRk1g){vESl
ziVf(ww;_t(A9n|dultdq;ekrCGr#<SI>-W_AycmFTRoSQ;FrGlLmuT+y6)d%?u3s_
zD|}>{Or_tR5oW4NZ=4ZoRMT&4wrtL4A8GM4w<2V>$y5pC=|rQ>2pbFFG_Q+puMpm_
zMz>#jY-BT6pP?swovNckn5}-b9UIOFmmWKGtMhd*vzLEje@0l5KWMMhtv<D9A79%v
ztr4ecIx{znZ#*N!DcKu(ZV@D~%U>bD2BAynm9z39JN!}=BvWZK&(4P{N(dgWNl65D
zcQT_Q?_BIbi$8GTQBId%+TzElL7gdlsoDDfEHgK-VnCVMas+CTO1hRBH!6DAR3Y4U
z8&B#)ZTNdIgFDgK1syPtD_Sr#!2%EFUd-F&Mq0mQO!k}1O1)pQ`>E-)#>@?dL3bf7
zOe)*CP>2$>N<{~qBiC(-x(o|^h^9o_vG{hYLFiKdd}9m=DxXxDV0o60HB<e4uL150
z=Wl2dhnl~1p_ICgWT<N-y4;vk(Wpg!>0bkp<{CKv^kmSg-S|Gz(CW~iRHJU-H$fi{
zOncuw;75R7z&IF(0{dWo2dtsheh^q>K}o(SH-;Z^f7iog)R@A$()j_YkqrBT2VW);
z6^r3_V?~a#4-BKp#R>~XBy2&ZGVdhPTy_>NNW);Td7&A1lPe1skN<}^o%c$$a-eAk
zl%<}Bq^nkmQHp-olV50EP|%klG#Z1A^b7w1DPQzu5Y^gYQ<uqv#pm!W@^JCuguxJC
zIkrc%D)~_UM8hy1amy3gx&g^U*4R%&<Y7zhDyg?TGO#4;$)-s5(qol(WO_;SNPmCI
zvwe!etDZ+H@fm-ajBrwDJH4jS%brKND(AyB&?Eg7I1TusOuv*KsSWrTa0~Em;AWVQ
z0&bME`_BTO1@G?y*MmM3__UnYs{}q-34#KIV=xg1TmuVYfe*@0F1jAc3z`F<*#j0D
zU;$>VeHV&6(nI+PR}R`@nEMHADX$;YM1yn_G?Z5iYGOdT1{%r>1~nxr5U+xYa@n9t
z4blbBP@X!d(SmdiG?dMQnh20S0u5#3(<gUc{{6|dkc{Oze3;}epQ4P0_oX5GmRpos
zkcN}H%MA=WKvXM6DS!KS)UG8ND>y8YX)8uzE!nu@5`K$JTKO+qJQ!=?#p?kDAU_8@
z890wR0ek^fr3a=?j{s;V-V2~zkalKmGkPZ4lE_D!Q}ma5&}6Ulyr1KtIs73i&m*b)
zWY4OXbl3cC-CE=1UIDUL)Iwd&b$-9<CKGf4#Lq&J{-U#OtqW)W2MoUebU{$6-URh`
z3C33dmjRyx`e82ik4Q5KPyrACO@My@f}QtYTZf;gF6eT)WCHx{_731Z0Cn{@VCu#O
z%zOY#fvNlZr^q|&qw&w=PwUN5-Js|IbO9zdhw(X_Ps%6CH)i22Wd0kC_>MDTLm3l8
zO{i%#Y?H>L=34OCO18cEZrJ~w?IPS;mvS4x#s>HV@F^e<Fb6OXAON(@3iwlu7P8Rb
zmKtO<X86q|@LfgXsR3)>-3&YLkw%i_P2-g_!P-d5H;p$?AI|~O0TTft-9vLwfx(Va
z*dOS|*N}6Ya&lj8ed5_Iy&yliR}{l>+l8p?mM(pUp82zB$PXK!eV*{sOY$z{mJ($;
zKJ2F}={VMzwK<v1ErKw#PtedEknZNJgIVZ8`DB^`O^ZH?Z$VGDMbo2c(-djibel$i
z&3V=lf+OfORZ&-T=S9w|RR$bG)1%2yOX`i9P;VkpZY@(@qa(6#>zDXBl2ILnUm{bg
za~UYLcdCao>H+dm^(**0^00a&zD{)83h{JOzO8=b7@wYJ>Sc-bD~5;Myw$@*Dr*%-
z&_P*h^(lrkKQMK&bep7YAB$&_x!YfiS_Bt7j>n+g>QOhOw^3;|IkP<uuO?TvbGV1}
zY>$gLdkAT^nUQ8<Gwp}6^f8Ir(Sq~HH#-XPUrB=S!Z7y8?-mN^!yU4waAJ!`GC7wC
zlN8wKtltx-NSLq=Y0d%~0nLCGKpWsRpx$|R?_mx8m29lBXcWhwO~e0fkm7?w$-SDj
gny=t8w)c0%+V|EDTIlgp3#Rrs^XqZ)$J&+u4eL|l>i_@%

delta 4572
zcmZ8k3s@9Kwyx@)f#D_Ki1JdVX;Bo2C>ujUTpr`J^8gXwike~3IEhAlL?uy|QHc&d
zqNZX5iLaPkal<M&@+F95jJUhH#to>r7}wS8H5t&jw?RVBi<x^0^xpejzVGKhb^6q)
zbE;3Dsu90p_J7S_Z9RSi;|rt+#{>k2AQeJLWww5Rn=q~=*=#2K-^xzFwbptz)Gy@X
zr$})Pa2xQ@dLy8T#fz*JAwd|wYdtvRfgG>2t{)aBV`QIOKZ#t6<+9I_!eR}HUWf6A
zWNXYc+)A#+9K!9^qS#Gx{M34%TY>RKtByYwh-<7}DG~<yal$JM?z2Ws8tWHQdKxJx
zP#CZ^Fa4}c&K^Sww-ryx2*8zOiV%Y<tqX(^7--G32tWLLvNLZ2){?LC;%5EU6&8=U
zV_Kgy(ZPr<4itYR_h{a1hb%+J4XqhUSTW91o5KjdwpHbBKlh*85YGh1Z)eFNLw@i3
zYZ-$0gW4NipcU;7KNZoj;sG*l`h>E45h*SU-wK#h_Z>lQX}t@9v>T+=F3e^3eGJkH
z7ZMXZNDS~Ik@O=mzdyJJi-(<|)us8>=loQmhd1gn%;D9nI1{WAJ&gEI#|=lKnGw%B
zu=tV#i9@_tyzH%eqF`mD=t&?ehj{LH$?)5+>v!iUY}<08ZesDA*DU1roJG3?x1@K;
zL4FAq*SNACYY<LUv>FZSzN09rbgPJ&=+$mXMMCpq$_yQDDe-@-d1{UEIJPYtY~2#;
zYO>6iGwsEeD*xEqSX}SbPnQdKy3nMSXg>&rVf_a}@w=$e7i$!@g_?kyLu-N#U{U34
zb}UK_s>(3GY+Pe(vMiMI;HBDM)lRpHZcw}P)x7pH*i)r?V=ET5-gb}&(<y;;vijZ9
zKb$Yp_`7p3jj!4eS8q?&CmV*FlJnNT6xXp-6=g~>Wveyn4XS!~Utfb;{1s2eFQ3Wz
z*oL?liyd>u>CfbZn{YSA;l|4yv4&_9o)m2iX|~5|v1!V<a%xP{W^nv}*i8zkeke19
zup*T~s<tSkP=HPa^_CofRFlYiGxDcqx|2!~pR^i_U-#EN31Af@usT{_^n_&t2KGdO
z2a~b&{`1VTT|;ZWv7C1>`_DU29TwkkL{!JQDx73U!HDtueNrsE;643Yg}?*f{ETeB
z_#;&!jRBAh$c1&YazfDzl2<Si-zF;xCg9_wx?m3ejC2<$=f(9OH5}EqbTOD%e5&em
zYB7r?W-PwvK&s|Wac89=tMAG%_DMFoa17#1k(bW-C*lr^W<uKmJ+Xj&uX!CYciQ*;
zuiaS0?IndXm$9q!*O8W)TtKt=LN^Z060eY_Gm|EqF+b>(i^1`eUengTRa-lEN$sZE
z)wSi7l@;)ZhKX!wunlwQ`3E2)(`HqarRqL9=aa5@KC(Ai3g!E5tNR4yr#ZXZlHj9!
z;Mr-v@{A3aiJ^!Q-}ad8nx3HIPjg;rYqIdY=HeJxOmLHV{c~+HXa}M$?zO9g-;^`r
zd+z1-*Xz&!dbKRkmfw5z-KgYrThwSy_@Y~hkf`;AHI5M+5m|HWZaPt9ShqRfj#A2c
z^Ugj}tNV^2nTWAVTIHK+&li2EZ9l&c+fK`XzHSe2Ffc8J60&#pG<=G*&*tzaM4Fux
zzRM$1A#sbV#(|I=q*9VLCnIF3hjxa)3RwaYuaZr3bY;JXmlz9Pc7ZqQiLOAs(iPGh
z^gR*CCH=+A=kd9t_373x;j<fkyV!EqpKDi|0+YDAUs{yC=8|H|m{z68glc+bu=#zy
zH40ml5S2@N4{wUfzNTIniy@PEqf4sr@}|%vC~KZKrZ=OxywZ5zj?)5@l*YSl`Mu_%
z#F0K}miv~y+TR}*()7$JP>MJ-(#CRk?D@Ta$i8JqHX0la)&gt<1R1I<;l1WHY#ZG)
zmo$&;oy+4rq<(H(_;!!HZm~n=e!2`Pj_<%IYe2i=x%S|jNTKb-$V9^DafWbLqRA}{
zapm{s%$g`9nh*)rPvzax-<^mL(nW*DEj@AaCR)k7k*QnVJZvh;k^yc*6bQHjcrT!e
zY?-$h_mF$@GVx>*Gk+}ZBI@~EiXJ?vOwmFVbi*aiB=BTrlZ^5@u^HLuJnHWN@Q3hP
zI>>?f>XA9l*6yjOw>8)hQ_6~&ER$CEL>>CeEfvHviFD5&@$x^wo~}>lr#JYipg}o?
z8%E?t8s#A0aYPt~=S3PdeGKeOl}F#h0v{w(7Q`haIVXcfrxWu@#+;s5$f>zAJ<BJ3
z{|&OyOoC}<Wa|Q@q27cPVGS|4fhyj_ix@1iSm5AIfhzU$ksd}EMv8%FY8b`%Gwrl&
z!<u>1Qg|X8cruwhSWp=5a>xaXaMyuStNnwZgZB`_Lc>^(!{5LOkw$+lbZW1kA<`HI
z`$9{T7Ck-Jjquh#B+UzxxI%|c$B6&-$_16cinAR8jO<=4Bnpgp#K(#!NkHMekP6>6
z;p_S^E*+|>g}hVvG8V|m!nY<qg6#gixh%6}D4X#tLXJ9NOxK~6wG`IK3}MlpK#&2S
zfF2I=MdM)Z@<mf{0{LQ5S(M$EP!IK5utMvVe)Nq685Nj7zDK4k9>*{B{kaQahARZk
zC10_Hhka3tVQjIPufS>iRwT|M6^qA?Z16Fh4s7bd26Oy?1>$qHyxA)ea%1rnSTkrz
zHl9WDmSkd%>|Mg)cye~hxQP7_S?cqs>8?BkxsyCy!j&D=-#d4+i_vU<7H*mSSk8Ww
z9|WDL(vNM&s{J~zG{mRk_Q9Gx-k66-e9w#cx+gNlZa5?40R}iNb2Ro_D%dfvbi)f-
z6;bJ`w_Mi-2jQ1+u78%Z<W`eqf!~t$Cd*;J!uB#lnV#(q!?PT+pxrq+WkAk0l+a|^
zlncFKonLDc?GeSXwqi@mvn+PQ^t9CjnstHCpZK*FTMGTB+c4h*7G`CMUI`Za1v)#@
z)?`_!kF>!|rE>MjJqLv9bF=DkilQy8G_AhL5+`TdRoqfYXQQ{+0^zPHQ;I78dD@|^
zUTGEN_J(f09xhiwI8Bih5A0}T5{5qfwhL*F*l|Lw-7A%NaY{g2hA>Ar{r_2}!58NX
zR5w;aol+^LvC4stzv0^DDz+H%m10<EMk&*Fp&Nx3wZd~;*oakVqNsCX?iKB;tG&`o
z-W;7=<(1}oGfHRGr<L*pu7Vnw6t-=dB|;37v#lAW<h(InImrNL;<QK;7WX#smJa`)
z+fzuFaZ1@J!+0TDNA*9sc(|#2)2@gguDfnWNq=Z95N1Flw>vQBr`-vWd8G&aN?kQ{
z$QOr1)p4YtRiZlK4>!HR_D<V9?VgW;od6eL5{zlvr-zCI_!P{e-$4Tl0;ws=3bi=y
zbTJdFazZ*%g?{M-k&2x75$XQja`?ZXSS|O!taNgs*nkz}X>o?!bOI?JSyPryz+kX=
znGSc5Q_Gg8{mqpsxTM`~-?^Poo+<&7-dZ9?$olMq|B+1rh5ZOtMaejeUN5eY>^H9m
zP^}39dPE|Ye}#4A#`5JO2bKWKlrAw}E(8n5>P85NTN%&R^h;f&!1M(^PbAZia_Y@Q
z?!T2e7!={&K2p}|rk7Hu^xbpTdt?JwQ>UcyWIdjWaAL5HUN-6F)G0N(^>A%<N)5mh
zfa~4#pm9on1U>?M8hAJG7w|j+_=G#V?~lMo!23SnD$oZ5A9QPb<iH2YK#+m37aqg_
zSHOg5;1Aq`*K?=z7&IS)W;0kQfJ@;?e($9jPU*gTkV^(^F+95swv^u-&_sfC9W;~|
z4``x5x(pi1vj;SD{6K636=lPK${(aU&`{19(1d|>3N(~o9nge>bQCm{Q=jkL8TX5w
zJ59n@D)CN|uyUGQ1@9}2tXXN0M}jnle7lloo_Wa6E62!xx`=F%B>Wu?KO|}IB;ZK0
z;GGt{f{a}CU&hgN8oYQFU^d9V0nP=UL7f0Pp{f#rsng>C+Mg={v>VcX9oB$GM;hXV
zNL`Yur3+1UNn^a60BzxS5n89z*H2cKyr#VDZSD-qn%ZN5Eao;+S6i%&CHI(ss~}zu
zhLgs6WUU=%{}qO<00%5e)tjOIuEY3yz;}SZ0fv8u6t4jm1GWQd05<_%z<BGQ-d%?$
zQx|kPoigVnQk(%?08m$tfvFoaa6J4Ly$MX+%ReWpHbmk(WakE5gb0cbz(YWKLx`Z}
zJko3Arwt46T9Uc39(P*1Hx@Ec)P$OrLzr|uYMu%{TgbBa_l5l5rw<9<)S~$sY)pWQ
zfJ=ZGfTe&p0s8@A4KnxvNekIh=a7!OQSzvJZ^3Dc#FPE`y+2Mg2~H`31Z+-|8^Kyj
zvNxyk)W_?9bU+rs0WpL%1myB2l*Il(11}<nHmfzsO@p2t(pdN4oudFgw_S+J4#|1}
zjjqiZ_CqPO&SPGBU*Cls(oi=YAM(<fbR1}n+cJ*T%%@AypCP~^q`M{aU?#d$G?k`6
z)1q7P4D>WCnjTG?rbyGKVQK*;>t1sZ4yTW)in^ka&$pi5%Ht@S9!-W?Qg76RdUKGU
zwiU{Mpd+H$ejSe{;pGu{JQ-WAVW8Ajm5*X15BaeCxA@QGMtK6hLY|f9;de>)2d5Ka
zJt~1Y?UtVP%SHv=yWhnOl~>Cu(LuNLrAIc3`GKi%OW%{w9Vxh!Oxf{j#9ZfiffF!j
z*E#*`Qk$t{B)fOSU?VxTgTr^pwH-0xH$Fj%4|GV8-az}ITRKL5-O-5C$=RKGxPkQV
zd}Rb*`NBd5efW}Fk(b`+lqOjXmMJo<wN~tjk&T?Q4k>N`+5qi<yMX(EKLM^;zukXG
zfxjaQstk(JN9eCnq#_d!4kwqZ)+&C1E86}SikXMk4p^x0bBli+KFS0iBipK1{Ws}f
BE2{ti

diff --git a/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin b/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..47e85b6bd08c4d3d9b31d298e01285e1ee28e44c 100755
GIT binary patch
delta 4392
zcmZ8l30M?Yw!XKjH?~JZi?V7L9TkGIXiQ9qp=qR~X-I>LsJJwPOS^B0(L_HQMJ<;k
z>UATy#4&yYaZG>?V+aq?rxW8Oc>$w&B#z^fn1&c<N+eWwSJVB@Mf2YKp5OQPf9|>G
zo^wytxu-7f{ge^UG1%CM=VSaKDaUa^iZG-{2<dIkZMYTVJtUjWg5N4O4exO_vf-+*
zqeqdZ9`Fg^g7fR3Ru;eP+!+>v@pR|Gf4i;31<u!pj8HH?opK(EUW=7KokAMBGc0x;
z#w$rx+!WkEuErh4&Cc@px0Lv6=Phm-#z&oI!--%lID5uQ80c==3k?3w88dFQDr{yw
z(oi5Ru(NRD#|q_-$C2iy6Hm$v!W+mWJ`Qhi&f<q*pfyvXR1jxJVH%!D&J~WBmg?0e
zBJOxzK+144qSK8Mj}{y&obFa+D!9nHNWzNYzCW87{<qE}1zVeb+=2{DXyR6u9I{yZ
z-dxKNWH^xbbq{F8|8lGJ`^~IaMUr1lt3;!>7k<Wn%GdLl%jrLcWa%|80%<o$tGt-Y
z?mqz1QZEvteMs~TAaOguG!R;c#hsq;T9v-GDa8@~UPSHd;L`*)@jgcUPj~QPMm+7t
zqQQ+s){jM}|5BWSls^b&m9UpvJqo-uf450f*}laTa}A3h_|<$t@5g8tFG~epCCI4|
zc8b^dOD@7mnhu*Kr~f#L*-#~7CU&(fC3>y>fwdKTYMY2@Xosmc9Avtlj;D0V(zE~L
zV<h!~aWdPP4IX4k>8%iI)d|<JxYTcXmDsF9EBXA2TuuAz+~8}Gbs_t(80Bem&q)ud
zsduCF3AQ!1MZ!>#QRzGA6Qa-MrYE!T20Tk$&RZQ=e8o>?$OTea2dO+iAWQc=zo&4^
z^CX4VPQ*34Qu9+ST6=2Y>q&+#tGFOE#y-{_8Y$!cP+9q#Ra_tX7g_9YmVE>l=?o`5
zBl15oMcDBpj3aF4yW%aec04ZD*5ZoK!}dwZLc5B*Si~t#xllWqQxqM9P9V*gAf%5Z
zn~SXB8FI=7WJp<!#SaG>9%#tTqPY0mA1&M!S=ZuL*gkPHj!)dE0gFZMsM--;!A-Qq
z!;%~UDFNQr<^cyEyzl(azp9ZwNdrd-Fopsm7){|QofH=*;Lpjb;xxRUoG30?_P!ZE
z$i>~!7n;;bxa&x+u@j3C14k`K^Dp%<m<R!=lN`~=5(gHSxskrDTikKTV(h;>gnf|B
z&K`w0`_r{TZd&KN`9uKwKF2!Z=ytvRzjmV$x0}qLx{zIIT|=%+<$_uqpFP6iM)3l9
zG&LpdL&xoIr5Ktx?xnoCC3ST(=GE2JtzPdqa9|t!LqkM1JhUBi=xJ4}h-KQ&(p2;Q
zrhxRhZ@;TmxT${kdQLyDJ8Ih9nG9#`u5X9y@?$naA%-JHoa1wVjiJwx6Q_s^RorP6
zo@pH1WksuFoeT68y)HffTs0%El9!RjX}T9V{`4aqLgFg{ZObTklyR0zrg@1BD?6sS
z(Adhp;*WpI$>~3V6e7l6>9s(f%PI!aZ;;CAG1y9Krcc2q$=&H3-b>h$l!(1Pg&v7-
zc<bB<DM4CGvPv?;minwB()^7#@<=>Sc9fX$JknVbSE+5z?~OuU>1)5fK%Z}KJSEIh
z1Yg(L@%W$=olX6{wa<~QPY6g=GQI=VY&#|B`W&l<Sz<fN1UO!6bRrX;+grqH+GF_0
z0@@u6_L%IeIkV$2>^9Nnl?1=R9-dO&jtmBywr#esU#-4gCgk>(6zfDB8y?-xa`#-;
zz7Ml+yJ%rL0O<_UzfAVc(BTSldWHd4ldCgEL{$2e4RhTJ`R+obd4D@bwn6RUr`pYn
zkS4DiBO^&J<whoWlkBn->$Ucore*L+c0@w+CmUqxM-MWDm}5aBOA=XC8Wr&s#6y#j
zu>*J;po$zUor`_sacLHQnT($~8vjPhW^!X^z)HP6mXCq%v(%Gf&k-GLicQ%dwxM>q
zZV33;3A_@@zk}4z%)zgchcn{}U-3N4Go0QYkW7L5a0+RxP{4JtrLpPSiOnj#EOonw
zT80%w+ms;Rb4OW*7Dn50`x$sSr+xXoEbvKEGHb+=7d+2{MV|*7Qf#K)c-CNR>z-%~
zNZ*`C?KBJOoqDD_(gG9!4WP!3G}`94f?&PDZV)l7!(yS^U=P;kJRR{c!Z6Yd&SjBX
zvtsZ#BF!p`=yxl5f&U(wU9CC<`r<!H#ca!Hw_9!D_-LCt4~y}Bl_eTpFlyfgO~4MI
zUrrmm$(7{B>=drlZ8kIFFMcJj=UHedJdA$yV?K#z#F_vro*-OVY1p>F7XH&lEjJNL
z?i;eLYyvis*0LoTe}{bjxv4U1RV17FI7*4`z?jCN6|(?hWQDP)IvDBa01knEFDaRm
zjHi;yIg>C)+U8WoJPwR(gkmmUmgkoq21bL7itQk~NXgt}gDvoR55f#r2AZz|6@met
zL5`?pD;$QMc)XzsiB@uQ?&zS40fsY!O&jT)tHUSA{kfB1hlY9Ccs^M;FAFD-)AKl-
zO0LXHjuK!m=}-4bpF<bOcZhO6S4r}3HeKss7H@qVA<Xzi&F(D>={zGGRk1g){vESl
ziVf(ww;_t(A9n|dultdq;ekrCGr#<SI>-W_AycmFTRoSQ;FrGlLmuT+y6)d%?u3s_
zD|}>{Or_tR5oW4NZ=4ZoRMT&4wrtL4A8GM4w<2V>$y5pC=|rQ>2pbFFG_Q+puMpm_
zMz>#jY-BT6pP?swovNckn5}-b9UIOFmmWKGtMhd*vzLEje@0l5KWMMhtv<D9A79%v
ztr4ecIx{znZ#*N!DcKu(ZV@D~%U>bD2BAynm9z39JN!}=BvWZK&(4P{N(dgWNl65D
zcQT_Q?_BIbi$8GTQBId%+TzElL7gdlsoDDfEHgK-VnCVMas+CTO1hRBH!6DAR3Y4U
z8&B#)ZTNdIgFDgK1syPtD_Sr#!2%EFUd-F&Mq0mQO!k}1O1)pQ`>E-)#>@?dL3bf7
zOe)*CP>2$>N<{~qBiC(-x(o|^h^9o_vG{hYLFiKdd}9m=DxXxDV0o60HB<e4uL150
z=Wl2dhnl~1p_ICgWT<N-y4;vk(Wpg!>0bkp<{CKv^kmSg-S|Gz(CW~iRHJU-H$fi{
zOncuw;75R7z&IF(0{dWo2dtsheh^q>K}o(SH-;Z^f7iog)R@A$()j_YkqrBT2VW);
z6^r3_V?~a#4-BKp#R>~XBy2&ZGVdhPTy_>NNW);Td7&A1lPe1skN<}^o%c$$a-eAk
zl%<}Bq^nkmQHp-olV50EP|%klG#Z1A^b7w1DPQzu5Y^gYQ<uqv#pm!W@^JCuguxJC
zIkrc%D)~_UM8hy1amy3gx&g^U*4R%&<Y7zhDyg?TGO#4;$)-s5(qol(WO_;SNPmCI
zvwe!etDZ+H@fm-ajBrwDJH4jS%brKND(AyB&?Eg7I1TusOuv*KsSWrTa0~Em;AWVQ
z0&bME`_BTO1@G?y*MmM3__UnYs{}q-34#KIV=xg1TmuVYfe*@0F1jAc3z`F<*#j0D
zU;$>VeHV&6(nI+PR}R`@nEMHADX$;YM1yn_G?Z5iYGOdT1{%r>1~nxr5U+xYa@n9t
z4blbBP@X!d(SmdiG?dMQnh20S0u5#3(<gUc{{6|dkc{Oze3;}epQ4P0_oX5GmRpos
zkcN}H%MA=WKvXM6DS!KS)UG8ND>y8YX)8uzE!nu@5`K$JTKO+qJQ!=?#p?kDAU_8@
z890wR0ek^fr3a=?j{s;V-V2~zkalKmGkPZ4lE_D!Q}ma5&}6Ulyr1KtIs73i&m*b)
zWY4OXbl3cC-CE=1UIDUL)Iwd&b$-9<CKGf4#Lq&J{-U#OtqW)W2MoUebU{$6-URh`
z3C33dmjRyx`e82ik4Q5KPyrACO@My@f}QtYTZf;gF6eT)WCHx{_731Z0Cn{@VCu#O
z%zOY#fvNlZr^q|&qw&w=PwUN5-Js|IbO9zdhw(X_Ps%6CH)i22Wd0kC_>MDTLm3l8
zO{i%#Y?H>L=34OCO18cEZrJ~w?IPS;mvS4x#s>HV@F^e<Fb6OXAON(@3iwlu7P8Rb
zmKtO<X86q|@LfgXsR3)>-3&YLkw%i_P2-g_!P-d5H;p$?AI|~O0TTft-9vLwfx(Va
z*dOS|*N}6Ya&lj8ed5_Iy&yliR}{l>+l8p?mM(pUp82zB$PXK!eV*{sOY$z{mJ($;
zKJ2F}={VMzwK<v1ErKw#PtedEknZNJgIVZ8`DB^`O^ZH?Z$VGDMbo2c(-djibel$i
z&3V=lf+OfORZ&-T=S9w|RR$bG)1%2yOX`i9P;VkpZY@(@qa(6#>zDXBl2ILnUm{bg
za~UYLcdCao>H+dm^(**0^00a&zD{)83h{JOzO8=b7@wYJ>Sc-bD~5;Myw$@*Dr*%-
z&_P*h^(lrkKQMK&bep7YAB$&_x!YfiS_Bt7j>n+g>QOhOw^3;|IkP<uuO?TvbGV1}
zY>$gLdkAT^nUQ8<Gwp}6^f8Ir(Sq~HH#-XPUrB=S!Z7y8?-mN^!yU4waAJ!`GC7wC
zlN8wKtltx-NSLq=Y0d%~0nLCGKpWsRpx$|R?_mx8m29lBXcWhwO~e0fkm7?w$-SDj
gny=t8w)c0%+V|EDTIlgp3#Rrs^XqZ)$J&+u4eL|l>i_@%

delta 4572
zcmZ8k3s@9Kwyx@)f#D_Ki1JdVX;Bo2C>ujUTpr`J^8gXwike~3IEhAlL?uy|QHc&d
zqNZX5iLaPkal<M&@+F95jJUhH#to>r7}wS8H5t&jw?RVBi<x^0^xpejzVGKhb^6q)
zbE;3Dsu90p_J7S_Z9RSi;|rt+#{>k2AQeJLWww5Rn=q~=*=#2K-^xzFwbptz)Gy@X
zr$})Pa2xQ@dLy8T#fz*JAwd|wYdtvRfgG>2t{)aBV`QIOKZ#t6<+9I_!eR}HUWf6A
zWNXYc+)A#+9K!9^qS#Gx{M34%TY>RKtByYwh-<7}DG~<yal$JM?z2Ws8tWHQdKxJx
zP#CZ^Fa4}c&K^Sww-ryx2*8zOiV%Y<tqX(^7--G32tWLLvNLZ2){?LC;%5EU6&8=U
zV_Kgy(ZPr<4itYR_h{a1hb%+J4XqhUSTW91o5KjdwpHbBKlh*85YGh1Z)eFNLw@i3
zYZ-$0gW4NipcU;7KNZoj;sG*l`h>E45h*SU-wK#h_Z>lQX}t@9v>T+=F3e^3eGJkH
z7ZMXZNDS~Ik@O=mzdyJJi-(<|)us8>=loQmhd1gn%;D9nI1{WAJ&gEI#|=lKnGw%B
zu=tV#i9@_tyzH%eqF`mD=t&?ehj{LH$?)5+>v!iUY}<08ZesDA*DU1roJG3?x1@K;
zL4FAq*SNACYY<LUv>FZSzN09rbgPJ&=+$mXMMCpq$_yQDDe-@-d1{UEIJPYtY~2#;
zYO>6iGwsEeD*xEqSX}SbPnQdKy3nMSXg>&rVf_a}@w=$e7i$!@g_?kyLu-N#U{U34
zb}UK_s>(3GY+Pe(vMiMI;HBDM)lRpHZcw}P)x7pH*i)r?V=ET5-gb}&(<y;;vijZ9
zKb$Yp_`7p3jj!4eS8q?&CmV*FlJnNT6xXp-6=g~>Wveyn4XS!~Utfb;{1s2eFQ3Wz
z*oL?liyd>u>CfbZn{YSA;l|4yv4&_9o)m2iX|~5|v1!V<a%xP{W^nv}*i8zkeke19
zup*T~s<tSkP=HPa^_CofRFlYiGxDcqx|2!~pR^i_U-#EN31Af@usT{_^n_&t2KGdO
z2a~b&{`1VTT|;ZWv7C1>`_DU29TwkkL{!JQDx73U!HDtueNrsE;643Yg}?*f{ETeB
z_#;&!jRBAh$c1&YazfDzl2<Si-zF;xCg9_wx?m3ejC2<$=f(9OH5}EqbTOD%e5&em
zYB7r?W-PwvK&s|Wac89=tMAG%_DMFoa17#1k(bW-C*lr^W<uKmJ+Xj&uX!CYciQ*;
zuiaS0?IndXm$9q!*O8W)TtKt=LN^Z060eY_Gm|EqF+b>(i^1`eUengTRa-lEN$sZE
z)wSi7l@;)ZhKX!wunlwQ`3E2)(`HqarRqL9=aa5@KC(Ai3g!E5tNR4yr#ZXZlHj9!
z;Mr-v@{A3aiJ^!Q-}ad8nx3HIPjg;rYqIdY=HeJxOmLHV{c~+HXa}M$?zO9g-;^`r
zd+z1-*Xz&!dbKRkmfw5z-KgYrThwSy_@Y~hkf`;AHI5M+5m|HWZaPt9ShqRfj#A2c
z^Ugj}tNV^2nTWAVTIHK+&li2EZ9l&c+fK`XzHSe2Ffc8J60&#pG<=G*&*tzaM4Fux
zzRM$1A#sbV#(|I=q*9VLCnIF3hjxa)3RwaYuaZr3bY;JXmlz9Pc7ZqQiLOAs(iPGh
z^gR*CCH=+A=kd9t_373x;j<fkyV!EqpKDi|0+YDAUs{yC=8|H|m{z68glc+bu=#zy
zH40ml5S2@N4{wUfzNTIniy@PEqf4sr@}|%vC~KZKrZ=OxywZ5zj?)5@l*YSl`Mu_%
z#F0K}miv~y+TR}*()7$JP>MJ-(#CRk?D@Ta$i8JqHX0la)&gt<1R1I<;l1WHY#ZG)
zmo$&;oy+4rq<(H(_;!!HZm~n=e!2`Pj_<%IYe2i=x%S|jNTKb-$V9^DafWbLqRA}{
zapm{s%$g`9nh*)rPvzax-<^mL(nW*DEj@AaCR)k7k*QnVJZvh;k^yc*6bQHjcrT!e
zY?-$h_mF$@GVx>*Gk+}ZBI@~EiXJ?vOwmFVbi*aiB=BTrlZ^5@u^HLuJnHWN@Q3hP
zI>>?f>XA9l*6yjOw>8)hQ_6~&ER$CEL>>CeEfvHviFD5&@$x^wo~}>lr#JYipg}o?
z8%E?t8s#A0aYPt~=S3PdeGKeOl}F#h0v{w(7Q`haIVXcfrxWu@#+;s5$f>zAJ<BJ3
z{|&OyOoC}<Wa|Q@q27cPVGS|4fhyj_ix@1iSm5AIfhzU$ksd}EMv8%FY8b`%Gwrl&
z!<u>1Qg|X8cruwhSWp=5a>xaXaMyuStNnwZgZB`_Lc>^(!{5LOkw$+lbZW1kA<`HI
z`$9{T7Ck-Jjquh#B+UzxxI%|c$B6&-$_16cinAR8jO<=4Bnpgp#K(#!NkHMekP6>6
z;p_S^E*+|>g}hVvG8V|m!nY<qg6#gixh%6}D4X#tLXJ9NOxK~6wG`IK3}MlpK#&2S
zfF2I=MdM)Z@<mf{0{LQ5S(M$EP!IK5utMvVe)Nq685Nj7zDK4k9>*{B{kaQahARZk
zC10_Hhka3tVQjIPufS>iRwT|M6^qA?Z16Fh4s7bd26Oy?1>$qHyxA)ea%1rnSTkrz
zHl9WDmSkd%>|Mg)cye~hxQP7_S?cqs>8?BkxsyCy!j&D=-#d4+i_vU<7H*mSSk8Ww
z9|WDL(vNM&s{J~zG{mRk_Q9Gx-k66-e9w#cx+gNlZa5?40R}iNb2Ro_D%dfvbi)f-
z6;bJ`w_Mi-2jQ1+u78%Z<W`eqf!~t$Cd*;J!uB#lnV#(q!?PT+pxrq+WkAk0l+a|^
zlncFKonLDc?GeSXwqi@mvn+PQ^t9CjnstHCpZK*FTMGTB+c4h*7G`CMUI`Za1v)#@
z)?`_!kF>!|rE>MjJqLv9bF=DkilQy8G_AhL5+`TdRoqfYXQQ{+0^zPHQ;I78dD@|^
zUTGEN_J(f09xhiwI8Bih5A0}T5{5qfwhL*F*l|Lw-7A%NaY{g2hA>Ar{r_2}!58NX
zR5w;aol+^LvC4stzv0^DDz+H%m10<EMk&*Fp&Nx3wZd~;*oakVqNsCX?iKB;tG&`o
z-W;7=<(1}oGfHRGr<L*pu7Vnw6t-=dB|;37v#lAW<h(InImrNL;<QK;7WX#smJa`)
z+fzuFaZ1@J!+0TDNA*9sc(|#2)2@gguDfnWNq=Z95N1Flw>vQBr`-vWd8G&aN?kQ{
z$QOr1)p4YtRiZlK4>!HR_D<V9?VgW;od6eL5{zlvr-zCI_!P{e-$4Tl0;ws=3bi=y
zbTJdFazZ*%g?{M-k&2x75$XQja`?ZXSS|O!taNgs*nkz}X>o?!bOI?JSyPryz+kX=
znGSc5Q_Gg8{mqpsxTM`~-?^Poo+<&7-dZ9?$olMq|B+1rh5ZOtMaejeUN5eY>^H9m
zP^}39dPE|Ye}#4A#`5JO2bKWKlrAw}E(8n5>P85NTN%&R^h;f&!1M(^PbAZia_Y@Q
z?!T2e7!={&K2p}|rk7Hu^xbpTdt?JwQ>UcyWIdjWaAL5HUN-6F)G0N(^>A%<N)5mh
zfa~4#pm9on1U>?M8hAJG7w|j+_=G#V?~lMo!23SnD$oZ5A9QPb<iH2YK#+m37aqg_
zSHOg5;1Aq`*K?=z7&IS)W;0kQfJ@;?e($9jPU*gTkV^(^F+95swv^u-&_sfC9W;~|
z4``x5x(pi1vj;SD{6K636=lPK${(aU&`{19(1d|>3N(~o9nge>bQCm{Q=jkL8TX5w
zJ59n@D)CN|uyUGQ1@9}2tXXN0M}jnle7lloo_Wa6E62!xx`=F%B>Wu?KO|}IB;ZK0
z;GGt{f{a}CU&hgN8oYQFU^d9V0nP=UL7f0Pp{f#rsng>C+Mg={v>VcX9oB$GM;hXV
zNL`Yur3+1UNn^a60BzxS5n89z*H2cKyr#VDZSD-qn%ZN5Eao;+S6i%&CHI(ss~}zu
zhLgs6WUU=%{}qO<00%5e)tjOIuEY3yz;}SZ0fv8u6t4jm1GWQd05<_%z<BGQ-d%?$
zQx|kPoigVnQk(%?08m$tfvFoaa6J4Ly$MX+%ReWpHbmk(WakE5gb0cbz(YWKLx`Z}
zJko3Arwt46T9Uc39(P*1Hx@Ec)P$OrLzr|uYMu%{TgbBa_l5l5rw<9<)S~$sY)pWQ
zfJ=ZGfTe&p0s8@A4KnxvNekIh=a7!OQSzvJZ^3Dc#FPE`y+2Mg2~H`31Z+-|8^Kyj
zvNxyk)W_?9bU+rs0WpL%1myB2l*Il(11}<nHmfzsO@p2t(pdN4oudFgw_S+J4#|1}
zjjqiZ_CqPO&SPGBU*Cls(oi=YAM(<fbR1}n+cJ*T%%@AypCP~^q`M{aU?#d$G?k`6
z)1q7P4D>WCnjTG?rbyGKVQK*;>t1sZ4yTW)in^ka&$pi5%Ht@S9!-W?Qg76RdUKGU
zwiU{Mpd+H$ejSe{;pGu{JQ-WAVW8Ajm5*X15BaeCxA@QGMtK6hLY|f9;de>)2d5Ka
zJt~1Y?UtVP%SHv=yWhnOl~>Cu(LuNLrAIc3`GKi%OW%{w9Vxh!Oxf{j#9ZfiffF!j
z*E#*`Qk$t{B)fOSU?VxTgTr^pwH-0xH$Fj%4|GV8-az}ITRKL5-O-5C$=RKGxPkQV
zd}Rb*`NBd5efW}Fk(b`+lqOjXmMJo<wN~tjk&T?Q4k>N`+5qi<yMX(EKLM^;zukXG
zfxjaQstk(JN9eCnq#_d!4kwqZ)+&C1E86}SikXMk4p^x0bBli+KFS0iBipK1{Ws}f
BE2{ti

diff --git a/msg/px4io_status.msg b/msg/px4io_status.msg
index df072e71c2..295c8fba66 100644
--- a/msg/px4io_status.msg
+++ b/msg/px4io_status.msg
@@ -19,7 +19,7 @@ bool status_rc_ppm
 bool status_rc_sbus
 bool status_rc_st24
 bool status_rc_sumd
-bool status_safety_off
+bool status_safety_button_event # px4io safety button was pressed for longer than 1 second
 
 # PX4IO alarms (PX4IO_P_STATUS_ALARMS)
 bool alarm_pwm_error
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 87fc629f6f..43721f9cb0 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -188,12 +188,6 @@ typedef uint16_t	servo_position_t;
 /** get the maximum PWM value the output will send */
 #define PWM_SERVO_GET_MAX_PWM	_PX4_IOC(_PWM_SERVO_BASE, 19)
 
-/** force safety switch off (to disable use of safety switch) */
-#define PWM_SERVO_SET_FORCE_SAFETY_OFF		_PX4_IOC(_PWM_SERVO_BASE, 25)
-
-/** force safety switch on (to enable use of safety switch) */
-#define PWM_SERVO_SET_FORCE_SAFETY_ON		_PX4_IOC(_PWM_SERVO_BASE, 28)
-
 /*
  *
  *
diff --git a/src/drivers/pca9685_pwm_out/main.cpp b/src/drivers/pca9685_pwm_out/main.cpp
index 7e230fc567..c748d526e7 100644
--- a/src/drivers/pca9685_pwm_out/main.cpp
+++ b/src/drivers/pca9685_pwm_out/main.cpp
@@ -492,9 +492,7 @@ int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
 		break;
 
 	case PWM_SERVO_SET_ARM_OK:
-	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
 	case PWM_SERVO_CLEAR_ARM_OK:
-	case PWM_SERVO_SET_FORCE_SAFETY_ON:
 	case PWM_SERVO_ARM:
 	case PWM_SERVO_DISARM:
 		break;
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index 25b94c70d5..f32f579597 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -717,8 +717,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 
 	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
-	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
-	case PWM_SERVO_SET_FORCE_SAFETY_ON:
 		break;
 
 	case PWM_SERVO_DISARM:
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index ceb34bc1cd..bfcb3227da 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -74,6 +74,7 @@
 #include <uORB/topics/input_rc.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
+#include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/px4io_status.h>
 #include <uORB/topics/parameter_update.h>
 
@@ -196,7 +197,8 @@ private:
 	uint16_t		_last_written_arming_c{0};	///< the last written arming state reg
 
 	uORB::Subscription	_t_actuator_armed{ORB_ID(actuator_armed)};		///< system armed control topic
-	uORB::Subscription	_t_vehicle_command{ORB_ID(vehicle_command)};		///< vehicle command topic
+	uORB::Subscription	_t_vehicle_command{ORB_ID(vehicle_command)};	///< vehicle command topic
+	uORB::Subscription	_t_vehicle_status{ORB_ID(vehicle_status)};		///< vehicle status topic
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
@@ -443,15 +445,14 @@ int PX4IO::init()
 		// the startup script to be able to load a new IO
 		// firmware
 
-		// If IO has already safety off it won't accept going into bootloader mode,
-		// therefore we need to set safety on first.
-		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
-
 		// Now the reboot into bootloader mode should succeed.
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, PX4IO_REBOOT_BL_MAGIC);
 		return -1;
 	}
 
+	/* Set safety_off to false when FMU boot*/
+	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SAFETY_OFF, 0);
+
 	if (_max_rc_input > input_rc_s::RC_INPUT_MAX_CHANNELS) {
 		_max_rc_input = input_rc_s::RC_INPUT_MAX_CHANNELS;
 	}
@@ -476,14 +477,6 @@ int PX4IO::init()
 		return ret;
 	}
 
-	/* set safety to off if circuit breaker enabled */
-	if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) {
-		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
-
-	} else {
-		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
-	}
-
 	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
 	if (_param_sys_hitl.get() <= 0 && _param_sys_use_io.get() == 1) {
 		_class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);
@@ -621,11 +614,6 @@ void PX4IO::Run()
 
 			update_params();
 
-			/* Check if the IO safety circuit breaker has been updated */
-			bool circuit_breaker_io_safety_enabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
-			/* Bypass IO safety switch logic by setting FORCE_SAFETY_OFF */
-			io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, circuit_breaker_io_safety_enabled);
-
 			/* Check if the flight termination circuit breaker has been updated */
 			bool disable_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY);
 			/* Tell IO that it can terminate the flight if FMU is not responding or if a failure has been reported by the FailureDetector logic */
@@ -974,15 +962,12 @@ int PX4IO::io_handle_status(uint16_t status)
 	 */
 
 	/* check for IO reset - force it back to armed if necessary */
-	if (_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF && !(status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
-	    && !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
+	if (!(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
 		/* set the arming flag */
-		ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0,
-				    PX4IO_P_STATUS_FLAGS_SAFETY_OFF | PX4IO_P_STATUS_FLAGS_ARM_SYNC);
+		ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARM_SYNC);
 
 		/* set new status */
 		_status = status;
-		_status &= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
 
 	} else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
 
@@ -999,18 +984,26 @@ int PX4IO::io_handle_status(uint16_t status)
 	}
 
 	/**
-	 * Get and handle the safety status
+	 * Get and handle the safety button status
 	 */
-	const bool safety_off = status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
+	const bool safety_button_pressed = status & PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT;
 
-	/* px4io board will change safety_off from false to true and stay like that until the vehicle is rebooted
-	 * where safety will change back to false. Here we are triggering the safety button event once.
-	 * TODO: change px4io firmware to act on the event. This will enable the "force safety on disarming" feature. */
-	if (_previous_safety_off != safety_off) {
+	if (safety_button_pressed) {
+		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SAFETY_BUTTON_ACK, 0);
 		_button_publisher.safetyButtonTriggerEvent();
 	}
 
-	_previous_safety_off = safety_off;
+	/**
+	 * Inform PX4IO board about safety_off state for LED control
+	 */
+	vehicle_status_s vehicle_status;
+
+	if (_t_vehicle_status.update(&vehicle_status)) {
+		if (_previous_safety_off != vehicle_status.safety_off) {
+			io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SAFETY_OFF, vehicle_status.safety_off);
+			_previous_safety_off = vehicle_status.safety_off;
+		}
+	}
 
 	return ret;
 }
@@ -1033,37 +1026,17 @@ int PX4IO::dsm_bind_ioctl(int dsmMode)
 		return -EINVAL;
 	}
 
-	// Check if safety was off
-	bool safety_off = (_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
-	int ret = -1;
-
-	// Put safety on
-	if (safety_off) {
-		// re-enable safety
-		ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, PX4IO_P_STATUS_FLAGS_SAFETY_OFF, 0);
-
-		// set new status
-		_status &= ~(PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
-	}
-
 	PX4_INFO("Binding DSM%s RX", (dsmMode == DSM2_BIND_PULSES) ? "2" : ((dsmMode == DSMX_BIND_PULSES) ? "-X" : "-X8"));
 
-	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
+	int ret = OK;
+	ret |= io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
 	px4_usleep(500000);
-	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
-	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
+	ret |= io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
+	ret |= io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
 	px4_usleep(72000);
-	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (dsmMode << 4));
+	ret |= io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (dsmMode << 4));
 	px4_usleep(50000);
-	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
-	ret = OK;
-
-	// Put safety back off
-	if (safety_off) {
-		ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0,
-				    PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
-		_status |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
-	}
+	ret |= io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
 
 	if (ret != OK) {
 		PX4_INFO("Binding DSM failed");
@@ -1133,7 +1106,7 @@ int PX4IO::io_get_status()
 		status.status_arm_sync        = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_ARM_SYNC;
 		status.status_init_ok         = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_INIT_OK;
 		status.status_failsafe        = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_FAILSAFE;
-		status.status_safety_off      = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
+		status.status_safety_button_event = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT;
 
 		// PX4IO_P_STATUS_ALARMS
 		status.alarm_rc_lost       = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_RC_LOST;
@@ -1644,18 +1617,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		*(unsigned *)arg = _max_actuators;
 		break;
 
-	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
-		PX4_DEBUG("PWM_SERVO_SET_FORCE_SAFETY_OFF");
-		/* force safety swith off */
-		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
-		break;
-
-	case PWM_SERVO_SET_FORCE_SAFETY_ON:
-		PX4_DEBUG("PWM_SERVO_SET_FORCE_SAFETY_ON");
-		/* force safety switch on */
-		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
-		break;
-
 	case DSM_BIND_START:
 		/* bind a DSM receiver */
 		ret = dsm_bind_ioctl(arg);
@@ -1725,16 +1686,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 
 		}
 
-		// re-enable safety
-		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
-
-		if (ret != PX4_OK) {
-			PX4_WARN("IO refused to re-enable safety");
-		}
-
-		// set new status
-		_status &= ~(PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
-
 		/* reboot into bootloader - arg must be PX4IO_REBOOT_BL_MAGIC */
 		usleep(1);
 		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, arg);
@@ -2058,29 +2009,6 @@ int PX4IO::custom_command(int argc, char *argv[])
 		return 1;
 	}
 
-
-	if (!strcmp(verb, "safety_off")) {
-		int ret = get_instance()->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
-
-		if (ret != OK) {
-			PX4_ERR("failed to disable safety (%i)", ret);
-			return 1;
-		}
-
-		return 0;
-	}
-
-	if (!strcmp(verb, "safety_on")) {
-		int ret = get_instance()->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_ON, 0);
-
-		if (ret != OK) {
-			PX4_ERR("failed to enable safety (%i)", ret);
-			return 1;
-		}
-
-		return 0;
-	}
-
 	if (!strcmp(verb, "debug")) {
 		if (argc <= 1) {
 			PX4_ERR("usage: px4io debug LEVEL");
@@ -2162,8 +2090,6 @@ Output driver communicating with the IO co-processor.
 	PRINT_MODULE_USAGE_ARG("<filename>", "Firmware file", false);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("update", "Update IO firmware");
 	PRINT_MODULE_USAGE_ARG("<filename>", "Firmware file", true);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("safety_off", "Turn off safety (force)");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("safety_on", "Turn on safety (force)");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("debug", "set IO debug level");
 	PRINT_MODULE_USAGE_ARG("<debug_level>", "0=disabled, 9=max verbosity", false);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("bind", "DSM bind");
diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp
index e1bfc231b0..cc87e8e070 100644
--- a/src/drivers/uavcan/uavcan_main.cpp
+++ b/src/drivers/uavcan/uavcan_main.cpp
@@ -951,8 +951,6 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
 	switch (cmd) {
 	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
-	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
-		// these are no-ops, as no safety switch
 		break;
 
 	case MIXERIOCRESET:
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index f1bb34c84c..c22c489987 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -927,7 +927,7 @@ PARAM_DEFINE_INT32(COM_PREARM_MODE, 0);
 /**
  * Enable force safety
  *
- * Force safety when the vehicle disarms. Not supported when safety button used over PX4IO board.
+ * Force safety when the vehicle disarms
  *
  * @boolean
  * @group Commander
diff --git a/src/modules/commander/esc_calibration.cpp b/src/modules/commander/esc_calibration.cpp
index 1f43cc6a4d..865017ac27 100644
--- a/src/modules/commander/esc_calibration.cpp
+++ b/src/modules/commander/esc_calibration.cpp
@@ -187,13 +187,6 @@ static int do_esc_calibration_ioctl(orb_advert_t *mavlink_log_pub)
 		goto Out;
 	}
 
-	/* tell IO to switch off safety without using the safety switch */
-	if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0) != PX4_OK) {
-		calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Unable to force safety off");
-		return_code = PX4_ERROR;
-		goto Out;
-	}
-
 	calibration_log_info(mavlink_log_pub, "[cal] Connect battery now");
 
 	timeout_start = hrt_absolute_time();
@@ -233,9 +226,6 @@ static int do_esc_calibration_ioctl(orb_advert_t *mavlink_log_pub)
 Out:
 
 	if (fd != -1) {
-		if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_ON, 0) != PX4_OK) {
-			calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Safety switch still off");
-		}
 
 		if (px4_ioctl(fd, PWM_SERVO_DISARM, 0) != PX4_OK) {
 			calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Servos still armed");
diff --git a/src/modules/px4iofirmware/CMakeLists.txt b/src/modules/px4iofirmware/CMakeLists.txt
index 6e4bcdee66..3df90ffdac 100644
--- a/src/modules/px4iofirmware/CMakeLists.txt
+++ b/src/modules/px4iofirmware/CMakeLists.txt
@@ -39,7 +39,7 @@ add_library(px4iofirmware
 	mixer.cpp
 	px4io.cpp
 	registers.c
-	safety.cpp
+	safety_button.cpp
 	serial.cpp
 )
 
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 2e0e5bb14f..9fc40dcbde 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -134,13 +134,11 @@ mixer_tick()
 	 * FMU or from the mixer.
 	 *
 	 */
-	should_arm = (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)				/* IO initialised without error */
-		     && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)			/* and IO is armed */
+	should_arm = (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)		/* IO initialised without error */
 		     && (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)		/* and FMU is armed */
 		     ;
 
-	should_arm_nothrottle = ((r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)              /* IO initialised without error */
-				 && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)        /* and IO is armed */
+	should_arm_nothrottle = ((r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)  /* IO initialised without error */
 				 && ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_PREARMED)     /* and FMU is prearmed */
 				     || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)       /* or direct PWM is set */
 				    ));
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 73c82dae9d..a0389d78b4 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2022 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
@@ -114,6 +114,7 @@
 #define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED	(1 << 11) /* FMU was initialized and OK once */
 #define PX4IO_P_STATUS_FLAGS_RC_ST24		(1 << 12) /* ST24 input is valid */
 #define PX4IO_P_STATUS_FLAGS_RC_SUMD		(1 << 13) /* SUMD input is valid */
+#define PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT	(1 << 14) /* px4io safety button was pressed for longer than 1 second */
 
 #define PX4IO_P_STATUS_ALARMS			3	 /* alarm flags - alarms latch, write 1 to a bit to clear it */
 #define PX4IO_P_STATUS_ALARMS_RC_LOST           (1 << 0) /* timed out waiting for RC input */
@@ -184,12 +185,8 @@ enum {							/* DSM bind states */
 
 #define PX4IO_P_SETUP_CRC			11	/* get CRC of IO firmware */
 /* storage space of 12 occupied by CRC */
-#define PX4IO_P_SETUP_FORCE_SAFETY_OFF		12	/* force safety switch into
-                                                           'armed' (PWM enabled) state - this is a non-data write and
-                                                           hence index 12 can safely be used. */
-
-#define PX4IO_P_SETUP_FORCE_SAFETY_ON		14	/* force safety switch into 'disarmed' (PWM disabled state) */
-#define PX4IO_FORCE_SAFETY_MAGIC		22027	/* required argument for force safety (random) */
+#define PX4IO_P_SETUP_SAFETY_BUTTON_ACK	14	/**< ACK from FMU when it gets safety button pressed status */
+#define PX4IO_P_SETUP_SAFETY_OFF		15	/**< FMU inform PX4IO about safety_off for LED indication*/
 #define PX4IO_P_SETUP_SBUS_RATE			16	/**< frame rate of SBUS1 output in Hz */
 #define PX4IO_P_SETUP_THERMAL			17	/**< thermal management */
 #define PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION	18	/**< flight termination; false if the circuit breaker (CBRK_FLIGHTTERM) is set */
@@ -212,7 +209,7 @@ enum {							/* DSM bind states */
 #define PX4IO_PAGE_TEST				127
 #define PX4IO_P_TEST_LED			0		/**< set the amber LED on/off */
 
-/* PWM disarmed values that are active, even when SAFETY_SAFE */
+/* PWM disarmed values that are active */
 #define PX4IO_PAGE_DISARMED_PWM			109		/* 0..CONFIG_ACTUATOR_COUNT-1 */
 
 /**
diff --git a/src/modules/px4iofirmware/px4io.cpp b/src/modules/px4iofirmware/px4io.cpp
index 74f6637f46..69527d7bf2 100644
--- a/src/modules/px4iofirmware/px4io.cpp
+++ b/src/modules/px4iofirmware/px4io.cpp
@@ -154,8 +154,7 @@ show_debug_messages(void)
 static void
 update_mem_usage(void)
 {
-	if (/* IO armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
-			   /* and FMU is armed */ && (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
+	if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
 		return;
 	}
 
@@ -183,8 +182,7 @@ ring_blink(void)
 {
 #if defined(LED_GREEN)
 
-	if (/* IO armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
-			   /* and FMU is armed */ && (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
+	if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
 		LED_GREEN(true);
 		return;
 	}
@@ -314,8 +312,8 @@ extern "C" __EXPORT int user_start(int argc, char *argv[])
 	ENABLE_SBUS_OUT(false);
 #endif
 
-	/* start the safety switch handler */
-	safety_init();
+	/* start the safety button handler */
+	safety_button_init();
 
 	/* initialise the control inputs */
 	controls_init();
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index c8872c8aa0..99cba83e67 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -131,8 +131,6 @@ extern struct sys_state_s system_state;
 # define ADC_VSERVO			4
 # define ADC_RSSI			5
 
-#define BUTTON_SAFETY		px4_arch_gpioread(GPIO_BTN_SAFETY)
-
 #define PX4_CRITICAL_SECTION(cmd)	{ irqstate_t flags = px4_enter_critical_section(); cmd; px4_leave_critical_section(flags); }
 
 void atomic_modify_or(volatile uint16_t *target, uint16_t modification);
@@ -145,9 +143,9 @@ void atomic_modify_and(volatile uint16_t *target, uint16_t modification);
 extern void	mixer_tick(void);
 
 /**
- * Safety switch/LED.
+ * Safety button/LED.
  */
-extern void	safety_init(void);
+extern void	safety_button_init(void);
 extern void	failsafe_led_init(void);
 
 /**
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index dfe0a6f8ec..1bf9b98763 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -413,7 +413,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			break;
 
 		case PX4IO_P_SETUP_REBOOT_BL:
-			if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
+			if (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) {
 				// don't allow reboot while armed
 				break;
 			}
@@ -433,22 +433,19 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			dsm_bind(value & 0x0f, (value >> 4) & 0xF);
 			break;
 
-		case PX4IO_P_SETUP_FORCE_SAFETY_ON:
-			if (value == PX4IO_FORCE_SAFETY_MAGIC) {
-				r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
-
-			} else {
-				return -1;
-			}
+		case PX4IO_P_SETUP_SAFETY_BUTTON_ACK:
+			// clear safety button pressed flag so it can be used again
+			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT;
 
 			break;
 
-		case PX4IO_P_SETUP_FORCE_SAFETY_OFF:
-			if (value == PX4IO_FORCE_SAFETY_MAGIC) {
+		case PX4IO_P_SETUP_SAFETY_OFF:
+
+			if (value) {
 				r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
 
 			} else {
-				return -1;
+				r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
 			}
 
 			break;
diff --git a/src/modules/px4iofirmware/safety.cpp b/src/modules/px4iofirmware/safety_button.cpp
similarity index 79%
rename from src/modules/px4iofirmware/safety.cpp
rename to src/modules/px4iofirmware/safety_button.cpp
index 1a5eedb7d7..6d4672d5f2 100644
--- a/src/modules/px4iofirmware/safety.cpp
+++ b/src/modules/px4iofirmware/safety_button.cpp
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file safety.cpp
+ * @file safety_button.cpp
  * Safety button logic.
  *
  * @author Lorenz Meier <lorenz@px4.io>
@@ -46,7 +46,7 @@
 
 #include "px4io.h"
 
-static struct hrt_call arming_call;
+static struct hrt_call safety_button_call;
 static struct hrt_call failsafe_call;
 
 /*
@@ -59,30 +59,23 @@ static unsigned counter = 0;
  * Define the various LED flash sequences for each system state.
  */
 #define LED_PATTERN_FMU_OK_TO_ARM		0x0003			/**< slow blinking			*/
-#define LED_PATTERN_FMU_REFUSE_TO_ARM		0x5555		/**< fast blinking			*/
+#define LED_PATTERN_FMU_REFUSE_TO_ARM	0x5555			/**< fast blinking			*/
 #define LED_PATTERN_IO_ARMED			0x5050			/**< long off, then double blink 	*/
 #define LED_PATTERN_FMU_ARMED			0x5500			/**< long off, then quad blink 		*/
 #define LED_PATTERN_IO_FMU_ARMED		0xffff			/**< constantly on			*/
 
 static unsigned blink_counter = 0;
 
-/*
- * IMPORTANT: The arming state machine critically
- * 	      depends on using the same threshold
- *            for arming and disarming. Since disarming
- *            is quite deadly for the system, a similar
- *            length can be justified.
- */
-#define ARM_COUNTER_THRESHOLD	10
+#define SAFETY_SWITCH_THRESHOLD	10
 
-static void safety_check_button(void *arg);
+static void safety_button_check(void *arg);
 static void failsafe_blink(void *arg);
 
 void
-safety_init(void)
+safety_button_init(void)
 {
 	/* arrange for the button handler to be called at 10Hz */
-	hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL);
+	hrt_call_every(&safety_button_call, 1000, 100000, safety_button_check, NULL);
 }
 
 void
@@ -93,26 +86,20 @@ failsafe_led_init(void)
 }
 
 static void
-safety_check_button(void *arg)
+safety_button_check(void *arg)
 {
-	const bool safety_button_pressed = BUTTON_SAFETY;
+	const bool safety_button_pressed = px4_arch_gpioread(GPIO_BTN_SAFETY);
 
-	/* Keep safety button pressed for one second to turn off safety
-	 *
-	 * Note that safety cannot be turned on again by button because a button
-	 * hardware problem could accidentally disable it in flight.
+	/* Keep safety button pressed for one second to trigger safety button event.
+	 * The logic to prevent turning on safety again is in the commander.
 	 */
-	if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
-	    (r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)) {
 
-		if (counter <= ARM_COUNTER_THRESHOLD) {
-			counter++;
+	if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT)) {
 
-		}
+		counter++;
 
-		if (counter == ARM_COUNTER_THRESHOLD) {
-			// switch safety off -> ready to arm state
-			atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
+		if (counter >= SAFETY_SWITCH_THRESHOLD) {
+			atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT);
 		}
 
 	} else {