Initial boardconfig working with FMUK66

Kconfig

@@ -23,3 +23,8 @@ endmenu
 menu "systemcmds"
 source src/systemcmds/Kconfig
 endmenu
+
+menu "examples"
+source src/examples/Kconfig
+endmenu
+

boards/nxp/fmuk66-v3/default-boardconfig

@@ -1,4 +1,3 @@
-# Generated by Kconfiglib (https://github.com/ulfalizer/Kconfiglib)
 
 #
 # Platform: nuttx
@@ -37,6 +36,8 @@
 #
 # CONFIG_DRIVERS_ADC_ADS1115 is not set
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
+# end of ADC
+
 CONFIG_DRIVERS_BAROMETER=y
 # CONFIG_DRIVERS_BAROMETER_BMP280 is not set
 # CONFIG_DRIVERS_BAROMETER_BMP388 is not set
@@ -70,6 +71,8 @@ CONFIG_DRIVERS_IMU_FXOS8701CQ=y
 # CONFIG_DRIVERS_IMU_L3GD20 is not set
 # CONFIG_DRIVERS_IMU_LSM303D is not set
 # CONFIG_DRIVERS_IMU_ST is not set
+# end of IMU
+
 CONFIG_DRIVERS_IRLOCK=y
 
 #
@@ -80,110 +83,159 @@ CONFIG_DRIVERS_LIGHTS_BLINKM=y
 CONFIG_DRIVERS_LIGHTS_RGBLED=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
+# end of Lights
+
 # CONFIG_DRIVERS_LINUX_PWM_OUT is not set
-# CONFIG_DRIVERS_MAGNETOMETER is not set
-# CONFIG_DRIVERS_OPTICAL_FLOW is not set
+CONFIG_DRIVERS_MAGNETOMETER=y
+# CONFIG_DRIVERS_MAGNETOMETER_AKM is not set
+# CONFIG_DRIVERS_MAGNETOMETER_BOSCH is not set
+# CONFIG_DRIVERS_MAGNETOMETER_HMC5883 is not set
+# CONFIG_DRIVERS_MAGNETOMETER_ISENTEK is not set
+# CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL is not set
+# CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL is not set
+# CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR is not set
+# CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG is not set
+# CONFIG_DRIVERS_MAGNETOMETER_QMC5883L is not set
+# CONFIG_DRIVERS_MAGNETOMETER_RM3100 is not set
+
+#
+# Optical flow
+#
+# CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902 is not set
+# CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901 is not set
+CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
+# CONFIG_DRIVERS_OPTICAL_FLOW_THONEFLOW is not set
+# end of Optical flow
+
 # CONFIG_DRIVERS_OSD is not set
-# CONFIG_DRIVERS_PCA9685 is not set
+CONFIG_DRIVERS_PCA9685=y
 # CONFIG_DRIVERS_PCA9685_PWM_OUT is not set
-# CONFIG_DRIVERS_POWER_MONITOR is not set
+
+#
+# Power monitor
+#
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+# CONFIG_DRIVERS_POWER_MONITOR_VOXLPM is not set
+# end of Power monitor
+
 # CONFIG_DRIVERS_PROTOCOL_SPLITTER is not set
 # CONFIG_DRIVERS_PWM_INPUT is not set
-# CONFIG_DRIVERS_PWM_OUT is not set
-# CONFIG_DRIVERS_PWM_OUT_SIM is not set
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PWM_OUT_SIM=y
 # CONFIG_DRIVERS_PX4IO is not set
 # CONFIG_DRIVERS_QSHELL is not set
-# CONFIG_DRIVERS_RC_INPUT is not set
-# CONFIG_DRIVERS_ROBOCLAW is not set
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_ROBOCLAW=y
 # CONFIG_DRIVERS_RPI_RC_IN is not set
 # CONFIG_DRIVERS_RPM is not set
-# CONFIG_DRIVERS_SAFETY_BUTTON is not set
+CONFIG_DRIVERS_SAFETY_BUTTON=y
 # CONFIG_DRIVERS_SPEKTRUM_RC is not set
-# CONFIG_DRIVERS_TELEMETRY is not set
+CONFIG_DRIVERS_TELEMETRY=y
 # CONFIG_DRIVERS_TEST_PPM is not set
-# CONFIG_DRIVERS_TONE_ALARM is not set
-# CONFIG_DRIVERS_UAVCAN is not set
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
 # CONFIG_DRIVERS_UAVCAN_V1 is not set
+# end of drivers
 
 #
 # modules
 #
-# CONFIG_AIRSHIP_ATT_CONTROL is not set
-# CONFIG_AIRSPEED_SELECTOR is not set
-# CONFIG_ANGULAR_VELOCITY_CONTROLLER is not set
-# CONFIG_ATTITUDE_ESTIMATOR_Q is not set
-# CONFIG_BATTERY_STATUS is not set
-# CONFIG_CAMERA_FEEDBACK is not set
-# CONFIG_COMMANDER is not set
-# CONFIG_CONTROL_ALLOCATOR is not set
-# CONFIG_DATAMAN is not set
-# CONFIG_EKF2 is not set
-# CONFIG_ESC_BATTERY is not set
-# CONFIG_EVENTS is not set
-# CONFIG_FLIGHT_MODE_MANAGER is not set
-# CONFIG_FW_ATT_CONTROL is not set
-# CONFIG_FW_POS_CONTROL_L1 is not set
-# CONFIG_GYRO_FFT is not set
-# CONFIG_LAND_DETECTOR is not set
-# CONFIG_LANDING_TARGET_ESTIMATOR is not set
-# CONFIG_LOAD_MON is not set
-# CONFIG_LOCAL_POSITION_ESTIMATOR is not set
-# CONFIG_LOGGER is not set
-# CONFIG_MAVLINK is not set
-# CONFIG_MC_ATT_CONTROL is not set
-# CONFIG_MC_HOVER_THRUST_ESTIMATOR is not set
-# CONFIG_MC_POS_CONTROL is not set
-# CONFIG_MC_RATE_CONTROL is not set
-# CONFIG_MICRORTPS_BRIDGE is not set
-# CONFIG_MUORB is not set
-# CONFIG_NAVIGATOR is not set
-# CONFIG_PX4IOFIRMWARE is not set
-# CONFIG_RC_UPDATE is not set
-# CONFIG_REPLAY is not set
-# CONFIG_ROVER_POS_CONTROL is not set
-# CONFIG_SENSORS is not set
-# CONFIG_SIH is not set
-# CONFIG_SIMULATOR is not set
-# CONFIG_TEMPERATURE_COMPENSATION is not set
-# CONFIG_UUV_ATT_CONTROL is not set
-# CONFIG_UUV_POS_CONTROL is not set
-# CONFIG_VMOUNT is not set
-# CONFIG_VTOL_ATT_CONTROL is not set
+# CONFIG_MODULES_AIRSHIP_ATT_CONTROL is not set
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+# CONFIG_MODULES_ANGULAR_VELOCITY_CONTROLLER is not set
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+# CONFIG_MODULES_CONTROL_ALLOCATOR is not set
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+# CONFIG_MODULES_ESC_BATTERY is not set
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+# CONFIG_MODULES_MICRORTPS_BRIDGE is not set
+# CONFIG_MODULES_MUORB is not set
+CONFIG_MODULES_NAVIGATOR=y
+# CONFIG_MODULES_PX4IOFIRMWARE is not set
+CONFIG_MODULES_RC_UPDATE=y
+# CONFIG_MODULES_REPLAY is not set
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIH=y
+# CONFIG_MODULES_SIMULATOR is not set
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+# CONFIG_MODULES_UUV_ATT_CONTROL is not set
+# CONFIG_MODULES_UUV_POS_CONTROL is not set
+CONFIG_MODULES_VMOUNT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+# end of modules
 
 #
 # systemcmds
 #
-# CONFIG_BL_UPDATE is not set
-# CONFIG_DMESG is not set
-# CONFIG_DUMPFILE is not set
-# CONFIG_DYN is not set
-# CONFIG_ESC_CALIB is not set
-# CONFIG_FAILURE is not set
-# CONFIG_GPIO is not set
-# CONFIG_HARDFAULT_LOG is not set
-# CONFIG_I2CDETECT is not set
-# CONFIG_LED_CONTROL is not set
-# CONFIG_MFT is not set
-# CONFIG_MIXER is not set
-# CONFIG_MOTOR_RAMP is not set
-# CONFIG_MOTOR_TEST is not set
-# CONFIG_MTD is not set
-# CONFIG_NETMAN is not set
-# CONFIG_NSHTERM is not set
-# CONFIG_PARAM is not set
-# CONFIG_PERF is not set
-# CONFIG_PWM is not set
-# CONFIG_REBOOT is not set
-# CONFIG_REFLECT is not set
-# CONFIG_SD_BENCH is not set
-# CONFIG_SERIAL_TEST is not set
-# CONFIG_SHUTDOWN is not set
-# CONFIG_SYSTEM_TIME is not set
-# CONFIG_TESTS is not set
-# CONFIG_TOP is not set
-# CONFIG_TOPIC_LISTENER is not set
-# CONFIG_TUNE_CONTROL is not set
-# CONFIG_UORB is not set
-# CONFIG_USB_CONNECTED is not set
-# CONFIG_VER is not set
-# CONFIG_WORK_QUEUE is not set
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+# CONFIG_SYSTEMCMDS_DMESG is not set
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+# CONFIG_SYSTEMCMDS_DYN is not set
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
+# CONFIG_SYSTEMCMDS_FAILURE is not set
+# CONFIG_SYSTEMCMDS_GPIO is not set
+# CONFIG_SYSTEMCMDS_HARDFAULT_LOG is not set
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
+CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+CONFIG_SYSTEMCMDS_MTD=y
+# CONFIG_SYSTEMCMDS_NETMAN is not set
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_PWM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+# CONFIG_SYSTEMCMDS_SERIAL_TEST is not set
+# CONFIG_SYSTEMCMDS_SHUTDOWN is not set
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TESTS=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+# end of systemcmds
+
+#
+# examples
+#
+# CONFIG_EXAMPLES_DYN_HELLO is not set
+CONFIG_EXAMPLES_FAKE_GPS=y
+# CONFIG_EXAMPLES_FAKE_GYRO is not set
+# CONFIG_EXAMPLES_FAKE_MAGNETOMETER is not set
+CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXAMPLES_HWTEST=y
+# CONFIG_EXAMPLES_MATLAB_CSV_SERIAL is not set
+CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
+CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
+CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
+CONFIG_EXAMPLES_WORK_ITEM=y
+# end of examples

boards/nxp/fmuk66-v3/default.cmake

@@ -10,121 +10,4 @@ px4_add_board(
 		GPS1:/dev/ttyS3
 		TEL1:/dev/ttyS4
 		TEL2:/dev/ttyS1
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		barometer/mpl3115a2
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		distance_sensor/srf05 # Specific driver
-		gps
-		#imu # all available imu drivers
-		imu/fxas21002c
-		imu/fxos8701cq
-		imu/invensense/icm20948 # required for ak09916 mag
-		irlock
-		lights # all available light drivers
-		lights/rgbled_pwm
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_out_sim
-		pwm_out
-		rc_input
-		roboclaw
-		rpm
-		safety_button
-		smart_battery/batmon
-		telemetry # all available telemetry drivers
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mag_bias_estimator
-		mavlink
-		mc_att_control
-		mc_autotune_attitude_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		#bl_update
-		#dmesg
-		dumpfile
-		esc_calib
-		#gpio
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		sd_stress
-		serial_test
-		system_time
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		#fake_imu
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
 	)

cmake/kconfig.cmake

@@ -1,5 +1,13 @@
 set(BOARD_DEFCONFIG ${PX4_BOARD_DIR}/${PX4_BOARD_LABEL}-boardconfig CACHE FILEPATH "path to defconfig" FORCE)
 
+
+find_program(MENUCONFIG_PATH menuconfig)
+find_program(GUICONFIG_PATH guiconfig)
+if(NOT MENUCONFIG_PATH AND NOT GUICONFIG_PATH)
+    message(WARNING "kconfiglib is not installed\n"
+                        "please install using \"pip3 install kconfiglib\"\n")
+endif()
+
 set(COMMON_KCONFIG_ENV_SETTINGS
 	PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 	KCONFIG_CONFIG=${BOARD_DEFCONFIG}
@@ -17,7 +25,16 @@ set(COMMON_KCONFIG_ENV_SETTINGS
 add_custom_target(boardconfig
 	${CMAKE_COMMAND} -E env
 	${COMMON_KCONFIG_ENV_SETTINGS}
-	${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/tools/menuconfig.py Kconfig
+	${MENUCONFIG_PATH} Kconfig
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	USES_TERMINAL
+	COMMAND_EXPAND_LISTS
+)
+
+add_custom_target(boardguiconfig
+	${CMAKE_COMMAND} -E env
+	${COMMON_KCONFIG_ENV_SETTINGS}
+	${GUICONFIG_PATH} Kconfig
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	USES_TERMINAL
 	COMMAND_EXPAND_LISTS
@@ -79,4 +96,40 @@ foreach(NameAndValue ${ConfigContents})
 		endif()
 		
 	endif()
+
+	# Find variable name
+	string(REGEX MATCH "^CONFIG_MODULES[^=]+" Modules ${NameAndValue})
+
+	if(Modules)
+		# Find the value
+		string(REPLACE "${Name}=" "" Value ${NameAndValue})
+		string(REPLACE "CONFIG_MODULES_" "" module ${Name})
+		string(TOLOWER ${module} module)
+		
+		list(APPEND config_module_list modules/${module})
+	endif()
+
+	# Find variable name
+	string(REGEX MATCH "^CONFIG_SYSTEMCMDS[^=]+" Systemcmds ${NameAndValue})
+
+	if(Systemcmds)
+		# Find the value
+		string(REPLACE "${Name}=" "" Value ${NameAndValue})
+		string(REPLACE "CONFIG_SYSTEMCMDS_" "" systemcmd ${Name})
+		string(TOLOWER ${systemcmd} systemcmd)
+		
+		list(APPEND config_module_list systemcmds/${systemcmd})
+	endif()
+
+	# Find variable name
+	string(REGEX MATCH "^CONFIG_EXAMPLES[^=]+" Examples ${NameAndValue})
+
+	if(Examples)
+		# Find the value
+		string(REPLACE "${Name}=" "" Value ${NameAndValue})
+		string(REPLACE "CONFIG_EXAMPLES_" "" example ${Name})
+		string(TOLOWER ${example} example)
+		
+		list(APPEND config_module_list examples/${example})
+	endif()
 endforeach()

src/drivers/Kconfig

@@ -93,12 +93,13 @@ menuconfig DRIVERS_MAGNETOMETER
 	---help---
 		Enable support for all available magnetometer drivers
 		
-menuconfig DRIVERS_OPTICAL_FLOW
-	bool "Optical flow"
-	default n
-	---help---
-		Enable support for all available optical flow drivers
+if DRIVERS_MAGNETOMETER
+source src/drivers/magnetometer/Kconfig
+endif #DRIVERS_MAGNETOMETER
 
+menu "Optical flow"
+source src/drivers/optical_flow/Kconfig
+endmenu
 
 menuconfig DRIVERS_OSD
 	bool "osd"
@@ -118,11 +119,9 @@ menuconfig DRIVERS_PCA9685_PWM_OUT
 	---help---
 		Enable support for pca9685 pwm out
 
-menuconfig DRIVERS_POWER_MONITOR
-	bool "power monitor"
-	default n
-	---help---
-		Enable support for power monitor
+menu "Power monitor"
+source src/drivers/power_monitor/Kconfig
+endmenu
 		
 menuconfig DRIVERS_PROTOCOL_SPLITTER
 	bool "protocol splitter"

src/drivers/magnetometer/Kconfig

@@ -0,0 +1,59 @@
+menuconfig DRIVERS_MAGNETOMETER_AKM
+	bool "akm"
+	default n
+	---help---
+		Enable support for akm
+		
+menuconfig DRIVERS_MAGNETOMETER_BOSCH
+	bool "bosch"
+	default n
+	---help---
+		Enable support for bosch
+		
+menuconfig DRIVERS_MAGNETOMETER_HMC5883
+	bool "hmc5883"
+	default n
+	---help---
+		Enable support for hmc5883
+		
+menuconfig DRIVERS_MAGNETOMETER_ISENTEK
+	bool "isentek"
+	default n
+	---help---
+		Enable support for isentek
+		
+menuconfig DRIVERS_MAGNETOMETER_LIS2MDL
+	bool "lis2mdl"
+	default n
+	---help---
+		Enable support for lis2mdl
+		
+menuconfig DRIVERS_MAGNETOMETER_LIS3MDL
+	bool "lis3mdl"
+	default n
+	---help---
+		Enable support for lis3mdl
+		
+menuconfig DRIVERS_MAGNETOMETER_LSM303AGR
+	bool "lsm303agr"
+	default n
+	---help---
+		Enable support for lsm303agr
+		
+menuconfig DRIVERS_MAGNETOMETER_LSM9DS1_MAG
+	bool "lsm9ds1 mag"
+	default n
+	---help---
+		Enable support for lsm9ds1 mag
+		
+menuconfig DRIVERS_MAGNETOMETER_QMC5883L
+	bool "qmc5883l"
+	default n
+	---help---
+		Enable support for qmc5883l
+		
+menuconfig DRIVERS_MAGNETOMETER_RM3100
+	bool "rm3100"
+	default n
+	---help---
+		Enable support for rm3100

src/drivers/optical_flow/Kconfig

@@ -0,0 +1,23 @@
+menuconfig DRIVERS_OPTICAL_FLOW_PAW3902
+	bool "paw3902"
+	default n
+	---help---
+		Enable support for paw3902
+		
+menuconfig DRIVERS_OPTICAL_FLOW_PMW3901
+	bool "pmw3901"
+	default n
+	---help---
+		Enable support for pmw3901
+		
+menuconfig DRIVERS_OPTICAL_FLOW_PX4FLOW
+	bool "px4flow"
+	default n
+	---help---
+		Enable support for px4flow
+		
+menuconfig DRIVERS_OPTICAL_FLOW_THONEFLOW
+	bool "thoneflow"
+	default n
+	---help---
+		Enable support for thoneflow

src/drivers/power_monitor/Kconfig

@@ -0,0 +1,11 @@
+menuconfig DRIVERS_POWER_MONITOR_INA226
+	bool "ina226"
+	default n
+	---help---
+		Enable support for ina226
+		
+menuconfig DRIVERS_POWER_MONITOR_VOXLPM
+	bool "voxlpm"
+	default n
+	---help---
+		Enable support for voxlpm

src/examples/Kconfig

@@ -0,0 +1,77 @@
+menuconfig EXAMPLES_DYN_HELLO
+	bool "dyn hello"
+	default n
+	---help---
+		Enable support for dyn hello
+		
+menuconfig EXAMPLES_FAKE_GPS
+	bool "fake gps"
+	default n
+	---help---
+		Enable support for fake gps
+		
+menuconfig EXAMPLES_FAKE_GYRO
+	bool "fake gyro"
+	default n
+	---help---
+		Enable support for fake gyro
+		
+menuconfig EXAMPLES_FAKE_MAGNETOMETER
+	bool "fake magnetometer"
+	default n
+	---help---
+		Enable support for fake magnetometer
+		
+menuconfig EXAMPLES_FIXEDWING_CONTROL
+	bool "fixedwing control"
+	default n
+	---help---
+		Enable support for fixedwing control
+		
+menuconfig EXAMPLES_HELLO
+	bool "hello"
+	default n
+	---help---
+		Enable support for hello
+		
+menuconfig EXAMPLES_HWTEST
+	bool "hwtest"
+	default n
+	---help---
+		Enable support for hwtest
+		
+menuconfig EXAMPLES_MATLAB_CSV_SERIAL
+	bool "matlab csv serial"
+	default n
+	---help---
+		Enable support for matlab csv serial
+		
+menuconfig EXAMPLES_PX4_MAVLINK_DEBUG
+	bool "px4 mavlink debug"
+	default n
+	---help---
+		Enable support for px4 mavlink debug
+		
+menuconfig EXAMPLES_PX4_SIMPLE_APP
+	bool "px4 simple app"
+	default n
+	---help---
+		Enable support for px4 simple app
+		
+menuconfig EXAMPLES_ROVER_STEERING_CONTROL
+	bool "rover steering control"
+	default n
+	---help---
+		Enable support for rover steering control
+		
+menuconfig EXAMPLES_UUV_EXAMPLE_APP
+	bool "uuv example app"
+	default n
+	---help---
+		Enable support for uuv example app
+		
+menuconfig EXAMPLES_WORK_ITEM
+	bool "work item"
+	default n
+	---help---
+		Enable support for work item

src/modules/Kconfig

@@ -1,245 +1,245 @@
-menuconfig AIRSHIP_ATT_CONTROL
-	bool "airship att control Support"
+menuconfig MODULES_AIRSHIP_ATT_CONTROL
+	bool "airship att control"
 	default n
 	---help---
 		Enable support for airship att control
 		
-menuconfig AIRSPEED_SELECTOR
-	bool "airspeed selector Support"
+menuconfig MODULES_AIRSPEED_SELECTOR
+	bool "airspeed selector"
 	default n
 	---help---
 		Enable support for airspeed selector
 		
-menuconfig ANGULAR_VELOCITY_CONTROLLER
-	bool "angular velocity controller Support"
+menuconfig MODULES_ANGULAR_VELOCITY_CONTROLLER
+	bool "angular velocity controller"
 	default n
 	---help---
 		Enable support for angular velocity controller
 		
-menuconfig ATTITUDE_ESTIMATOR_Q
-	bool "attitude estimator q Support"
+menuconfig MODULES_ATTITUDE_ESTIMATOR_Q
+	bool "attitude estimator q"
 	default n
 	---help---
 		Enable support for attitude estimator q
 		
-menuconfig BATTERY_STATUS
-	bool "battery status Support"
+menuconfig MODULES_BATTERY_STATUS
+	bool "battery status"
 	default n
 	---help---
 		Enable support for battery status
 		
-menuconfig CAMERA_FEEDBACK
-	bool "camera feedback Support"
+menuconfig MODULES_CAMERA_FEEDBACK
+	bool "camera feedback"
 	default n
 	---help---
 		Enable support for camera feedback
 		
-menuconfig COMMANDER
-	bool "commander Support"
+menuconfig MODULES_COMMANDER
+	bool "commander"
 	default n
 	---help---
 		Enable support for commander
 		
-menuconfig CONTROL_ALLOCATOR
-	bool "control allocator Support"
+menuconfig MODULES_CONTROL_ALLOCATOR
+	bool "control allocator"
 	default n
 	---help---
 		Enable support for control allocator
 		
-menuconfig DATAMAN
-	bool "dataman Support"
+menuconfig MODULES_DATAMAN
+	bool "dataman"
 	default n
 	---help---
 		Enable support for dataman
 		
-menuconfig EKF2
-	bool "ekf2 Support"
+menuconfig MODULES_EKF2
+	bool "ekf2"
 	default n
 	---help---
 		Enable support for ekf2
 		
-menuconfig ESC_BATTERY
-	bool "esc battery Support"
+menuconfig MODULES_ESC_BATTERY
+	bool "esc battery"
 	default n
 	---help---
 		Enable support for esc battery
 		
-menuconfig EVENTS
-	bool "events Support"
+menuconfig MODULES_EVENTS
+	bool "events"
 	default n
 	---help---
 		Enable support for events
 		
-menuconfig FLIGHT_MODE_MANAGER
-	bool "flight mode manager Support"
+menuconfig MODULES_FLIGHT_MODE_MANAGER
+	bool "flight mode manager"
 	default n
 	---help---
 		Enable support for flight mode manager
 		
-menuconfig FW_ATT_CONTROL
-	bool "fw att control Support"
+menuconfig MODULES_FW_ATT_CONTROL
+	bool "fw att control"
 	default n
 	---help---
 		Enable support for fw att control
 		
-menuconfig FW_POS_CONTROL_L1
-	bool "fw pos control l1 Support"
+menuconfig MODULES_FW_POS_CONTROL_L1
+	bool "fw pos control l1"
 	default n
 	---help---
 		Enable support for fw pos control l1
 		
-menuconfig GYRO_FFT
-	bool "gyro fft Support"
+menuconfig MODULES_GYRO_FFT
+	bool "gyro fft"
 	default n
 	---help---
 		Enable support for gyro fft
 		
-menuconfig LAND_DETECTOR
-	bool "land detector Support"
+menuconfig MODULES_LAND_DETECTOR
+	bool "land detector"
 	default n
 	---help---
 		Enable support for land detector
 		
-menuconfig LANDING_TARGET_ESTIMATOR
-	bool "landing target estimator Support"
+menuconfig MODULES_LANDING_TARGET_ESTIMATOR
+	bool "landing target estimator"
 	default n
 	---help---
 		Enable support for landing target estimator
 		
-menuconfig LOAD_MON
-	bool "load mon Support"
+menuconfig MODULES_LOAD_MON
+	bool "load mon"
 	default n
 	---help---
 		Enable support for load mon
 		
-menuconfig LOCAL_POSITION_ESTIMATOR
-	bool "local position estimator Support"
+menuconfig MODULES_LOCAL_POSITION_ESTIMATOR
+	bool "local position estimator"
 	default n
 	---help---
 		Enable support for local position estimator
 		
-menuconfig LOGGER
-	bool "logger Support"
+menuconfig MODULES_LOGGER
+	bool "logger"
 	default n
 	---help---
 		Enable support for logger
 		
-menuconfig MAVLINK
-	bool "mavlink Support"
+menuconfig MODULES_MAVLINK
+	bool "mavlink"
 	default n
 	---help---
 		Enable support for mavlink
 		
-menuconfig MC_ATT_CONTROL
-	bool "mc att control Support"
+menuconfig MODULES_MC_ATT_CONTROL
+	bool "mc att control"
 	default n
 	---help---
 		Enable support for mc att control
 		
-menuconfig MC_HOVER_THRUST_ESTIMATOR
-	bool "mc hover thrust estimator Support"
+menuconfig MODULES_MC_HOVER_THRUST_ESTIMATOR
+	bool "mc hover thrust estimator"
 	default n
 	---help---
 		Enable support for mc hover thrust estimator
 		
-menuconfig MC_POS_CONTROL
-	bool "mc pos control Support"
+menuconfig MODULES_MC_POS_CONTROL
+	bool "mc pos control"
 	default n
 	---help---
 		Enable support for mc pos control
 		
-menuconfig MC_RATE_CONTROL
-	bool "mc rate control Support"
+menuconfig MODULES_MC_RATE_CONTROL
+	bool "mc rate control"
 	default n
 	---help---
 		Enable support for mc rate control
 		
-menuconfig MICRORTPS_BRIDGE
-	bool "micrortps bridge Support"
+menuconfig MODULES_MICRORTPS_BRIDGE
+	bool "micrortps bridge"
 	default n
 	---help---
 		Enable support for micrortps bridge
 		
-menuconfig MUORB
-	bool "muorb Support"
+menuconfig MODULES_MUORB
+	bool "muorb"
 	default n
 	---help---
 		Enable support for muorb
 		
-menuconfig NAVIGATOR
-	bool "navigator Support"
+menuconfig MODULES_NAVIGATOR
+	bool "navigator"
 	default n
 	---help---
 		Enable support for navigator
 		
-menuconfig PX4IOFIRMWARE
-	bool "px4iofirmware Support"
+menuconfig MODULES_PX4IOFIRMWARE
+	bool "px4iofirmware"
 	default n
 	---help---
 		Enable support for px4iofirmware
 		
-menuconfig RC_UPDATE
-	bool "rc update Support"
+menuconfig MODULES_RC_UPDATE
+	bool "rc update"
 	default n
 	---help---
 		Enable support for rc update
 		
-menuconfig REPLAY
-	bool "replay Support"
+menuconfig MODULES_REPLAY
+	bool "replay"
 	default n
 	---help---
 		Enable support for replay
 		
-menuconfig ROVER_POS_CONTROL
-	bool "rover pos control Support"
+menuconfig MODULES_ROVER_POS_CONTROL
+	bool "rover pos control"
 	default n
 	---help---
 		Enable support for rover pos control
 		
-menuconfig SENSORS
-	bool "sensors Support"
+menuconfig MODULES_SENSORS
+	bool "sensors"
 	default n
 	---help---
 		Enable support for sensors
 		
-menuconfig SIH
-	bool "sih Support"
+menuconfig MODULES_SIH
+	bool "sih"
 	default n
 	---help---
 		Enable support for sih
 		
-menuconfig SIMULATOR
-	bool "simulator Support"
+menuconfig MODULES_SIMULATOR
+	bool "simulator"
 	default n
 	---help---
 		Enable support for simulator
 		
-menuconfig TEMPERATURE_COMPENSATION
-	bool "temperature compensation Support"
+menuconfig MODULES_TEMPERATURE_COMPENSATION
+	bool "temperature compensation"
 	default n
 	---help---
 		Enable support for temperature compensation
 		
-menuconfig UUV_ATT_CONTROL
-	bool "uuv att control Support"
+menuconfig MODULES_UUV_ATT_CONTROL
+	bool "uuv att control"
 	default n
 	---help---
 		Enable support for uuv att control
 		
-menuconfig UUV_POS_CONTROL
-	bool "uuv pos control Support"
+menuconfig MODULES_UUV_POS_CONTROL
+	bool "uuv pos control"
 	default n
 	---help---
 		Enable support for uuv pos control
 		
-menuconfig VMOUNT
-	bool "vmount Support"
+menuconfig MODULES_VMOUNT
+	bool "vmount"
 	default n
 	---help---
 		Enable support for vmount
 		
-menuconfig VTOL_ATT_CONTROL
-	bool "vtol att control Support"
+menuconfig MODULES_VTOL_ATT_CONTROL
+	bool "vtol att control"
 	default n
 	---help---
 		Enable support for vtol att control

src/systemcmds/Kconfig

@@ -1,203 +1,203 @@
-menuconfig BL_UPDATE
-	bool "bl update Support"
+menuconfig SYSTEMCMDS_BL_UPDATE
+	bool "bl update"
 	default n
 	---help---
 		Enable support for bl update
 		
-menuconfig DMESG
-	bool "dmesg Support"
+menuconfig SYSTEMCMDS_DMESG
+	bool "dmesg"
 	default n
 	---help---
 		Enable support for dmesg
 		
-menuconfig DUMPFILE
-	bool "dumpfile Support"
+menuconfig SYSTEMCMDS_DUMPFILE
+	bool "dumpfile"
 	default n
 	---help---
 		Enable support for dumpfile
 		
-menuconfig DYN
-	bool "dyn Support"
+menuconfig SYSTEMCMDS_DYN
+	bool "dyn"
 	default n
 	---help---
 		Enable support for dyn
 		
-menuconfig ESC_CALIB
-	bool "esc calib Support"
+menuconfig SYSTEMCMDS_ESC_CALIB
+	bool "esc calib"
 	default n
 	---help---
 		Enable support for esc calib
 		
-menuconfig FAILURE
-	bool "failure Support"
+menuconfig SYSTEMCMDS_FAILURE
+	bool "failure"
 	default n
 	---help---
 		Enable support for failure
 		
-menuconfig GPIO
-	bool "gpio Support"
+menuconfig SYSTEMCMDS_GPIO
+	bool "gpio"
 	default n
 	---help---
 		Enable support for gpio
 		
-menuconfig HARDFAULT_LOG
-	bool "hardfault log Support"
+menuconfig SYSTEMCMDS_HARDFAULT_LOG
+	bool "hardfault log"
 	default n
 	---help---
 		Enable support for hardfault log
 		
-menuconfig I2CDETECT
-	bool "i2cdetect Support"
+menuconfig SYSTEMCMDS_I2CDETECT
+	bool "i2cdetect"
 	default n
 	---help---
 		Enable support for i2cdetect
 		
-menuconfig LED_CONTROL
-	bool "led control Support"
+menuconfig SYSTEMCMDS_LED_CONTROL
+	bool "led control"
 	default n
 	---help---
 		Enable support for led control
 		
-menuconfig MFT
-	bool "mft Support"
+menuconfig SYSTEMCMDS_MFT
+	bool "mft"
 	default n
 	---help---
 		Enable support for mft
 		
-menuconfig MIXER
-	bool "mixer Support"
+menuconfig SYSTEMCMDS_MIXER
+	bool "mixer"
 	default n
 	---help---
 		Enable support for mixer
 		
-menuconfig MOTOR_RAMP
-	bool "motor ramp Support"
+menuconfig SYSTEMCMDS_MOTOR_RAMP
+	bool "motor ramp"
 	default n
 	---help---
 		Enable support for motor ramp
 		
-menuconfig MOTOR_TEST
-	bool "motor test Support"
+menuconfig SYSTEMCMDS_MOTOR_TEST
+	bool "motor test"
 	default n
 	---help---
 		Enable support for motor test
 		
-menuconfig MTD
-	bool "mtd Support"
+menuconfig SYSTEMCMDS_MTD
+	bool "mtd"
 	default n
 	---help---
 		Enable support for mtd
 		
-menuconfig NETMAN
-	bool "netman Support"
+menuconfig SYSTEMCMDS_NETMAN
+	bool "netman"
 	default n
 	---help---
 		Enable support for netman
 		
-menuconfig NSHTERM
-	bool "nshterm Support"
+menuconfig SYSTEMCMDS_NSHTERM
+	bool "nshterm"
 	default n
 	---help---
 		Enable support for nshterm
 		
-menuconfig PARAM
-	bool "param Support"
+menuconfig SYSTEMCMDS_PARAM
+	bool "param"
 	default n
 	---help---
 		Enable support for param
 		
-menuconfig PERF
-	bool "perf Support"
+menuconfig SYSTEMCMDS_PERF
+	bool "perf"
 	default n
 	---help---
 		Enable support for perf
 		
-menuconfig PWM
-	bool "pwm Support"
+menuconfig SYSTEMCMDS_PWM
+	bool "pwm"
 	default n
 	---help---
 		Enable support for pwm
 		
-menuconfig REBOOT
-	bool "reboot Support"
+menuconfig SYSTEMCMDS_REBOOT
+	bool "reboot"
 	default n
 	---help---
 		Enable support for reboot
 		
-menuconfig REFLECT
-	bool "reflect Support"
+menuconfig SYSTEMCMDS_REFLECT
+	bool "reflect"
 	default n
 	---help---
 		Enable support for reflect
 		
-menuconfig SD_BENCH
-	bool "sd bench Support"
+menuconfig SYSTEMCMDS_SD_BENCH
+	bool "sd bench"
 	default n
 	---help---
 		Enable support for sd bench
 		
-menuconfig SERIAL_TEST
-	bool "serial test Support"
+menuconfig SYSTEMCMDS_SERIAL_TEST
+	bool "serial test"
 	default n
 	---help---
 		Enable support for serial test
 		
-menuconfig SHUTDOWN
-	bool "shutdown Support"
+menuconfig SYSTEMCMDS_SHUTDOWN
+	bool "shutdown"
 	default n
 	---help---
 		Enable support for shutdown
 		
-menuconfig SYSTEM_TIME
-	bool "system time Support"
+menuconfig SYSTEMCMDS_SYSTEM_TIME
+	bool "system time"
 	default n
 	---help---
 		Enable support for system time
 		
-menuconfig TESTS
-	bool "tests Support"
+menuconfig SYSTEMCMDS_TESTS
+	bool "tests"
 	default n
 	---help---
 		Enable support for tests
 		
-menuconfig TOP
-	bool "top Support"
+menuconfig SYSTEMCMDS_TOP
+	bool "top"
 	default n
 	---help---
 		Enable support for top
 		
-menuconfig TOPIC_LISTENER
-	bool "topic listener Support"
+menuconfig SYSTEMCMDS_TOPIC_LISTENER
+	bool "topic listener"
 	default n
 	---help---
 		Enable support for topic listener
 		
-menuconfig TUNE_CONTROL
-	bool "tune control Support"
+menuconfig SYSTEMCMDS_TUNE_CONTROL
+	bool "tune control"
 	default n
 	---help---
 		Enable support for tune control
 		
-menuconfig UORB
-	bool "uorb Support"
+menuconfig SYSTEMCMDS_UORB
+	bool "uorb"
 	default n
 	---help---
 		Enable support for uorb
 		
-menuconfig USB_CONNECTED
-	bool "usb connected Support"
+menuconfig SYSTEMCMDS_USB_CONNECTED
+	bool "usb connected"
 	default n
 	---help---
 		Enable support for usb connected
 		
-menuconfig VER
-	bool "ver Support"
+menuconfig SYSTEMCMDS_VER
+	bool "ver"
 	default n
 	---help---
 		Enable support for ver
 		
-menuconfig WORK_QUEUE
-	bool "work queue Support"
+menuconfig SYSTEMCMDS_WORK_QUEUE
+	bool "work queue"
 	default n
 	---help---
 		Enable support for work queue