[Kconfig] Add all distance sensors

4 years ago · b3e799e277
59 changed files with 120 additions and 85 deletions
--- a/26
+++ b/26
@ -15,7 +15,7 @@ pipeline {
				@@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:latest'
+        //       image 'px4io/px4-dev-ros-melodic:2021-08-18'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@ -56,7 +56,7 @@ pipeline {
				@@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:latest'
+              image 'px4io/px4-dev-ros2-foxy:2021-08-18'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@ -85,7 +85,7 @@ pipeline {
				@@ -85,7 +85,7 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:latest' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh 'make distclean'
@ -105,7 +105,7 @@ pipeline {
				@@ -105,7 +105,7 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:latest' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh 'make distclean'
@ -125,7 +125,7 @@ pipeline {
				@@ -125,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:latest' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh 'make distclean'
@ -145,7 +145,7 @@ pipeline {
				@@ -145,7 +145,7 @@ pipeline {

        stage('msg file docs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:latest' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
@ -164,7 +164,7 @@ pipeline {
				@@ -164,7 +164,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:latest'
+              image 'px4io/px4-dev-nuttx-focal:2021-08-18'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@ -194,7 +194,7 @@ pipeline {
				@@ -194,7 +194,7 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:latest' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh('export')
@ -228,7 +228,7 @@ pipeline {
				@@ -228,7 +228,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:latest' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh('export')
@ -256,7 +256,7 @@ pipeline {
				@@ -256,7 +256,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:latest' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh('export')
@ -286,7 +286,7 @@ pipeline {
				@@ -286,7 +286,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:latest' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh('export')
@ -315,7 +315,7 @@ pipeline {
				@@ -315,7 +315,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:latest' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh('export')
@ -358,7 +358,7 @@ pipeline {
				@@ -358,7 +358,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:latest' }
+            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
          }
          steps {
            sh('export')
--- a/18
+++ b/18
@ -7,12 +7,6 @@ comment "Vendor: $(VENDOR)"
				@@ -7,12 +7,6 @@ comment "Vendor: $(VENDOR)"
 comment "Model: $(MODEL)"
 comment "Label: $(LABEL)"

-if $(HAS_CUSTOM_BOARD_KCONFIG)
-    menu "Custom board config"
-        osource "$(CUSTOM_BOARD_KCONFIG)"
-    endmenu
-endif
-
 menu "Toolchain"
    choice
        prompt "Platform"
@ -31,6 +25,18 @@ menu "Toolchain"
				@@ -31,6 +25,18 @@ menu "Toolchain"
        default "posix" if PLATFORM_POSIX
        default "qurt" if PLATFORM_QURT

+    config BOARD_LOCKSTEP
+        bool "Force enable lockstep"
+        depends on PLATFORM_POSIX
+        help
+            forces lockstep behaviour, despite REPLAY env variable
+
+    config BOARD_NOLOCKSTEP
+        bool "Force disable lockstep"
+        depends on PLATFORM_POSIX
+        help
+            forces nolockstep behaviour, despite REPLAY env variable
+
    config BOARD_LINUX
        bool "Linux OS"
        depends on PLATFORM_POSIX
--- a/Tools/kconfig/cmake_kconfig_lut.txt
+++ b/Tools/kconfig/cmake_kconfig_lut.txt
@ -29,7 +29,13 @@ bootloaders,CONFIG_DRIVERS_BOOTLOADERS=y
				@@ -29,7 +29,13 @@ bootloaders,CONFIG_DRIVERS_BOOTLOADERS=y
 camera_capture,CONFIG_DRIVERS_CAMERA_CAPTURE=y
 camera_trigger,CONFIG_DRIVERS_CAMERA_TRIGGER=y
 differential_pressure,CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-distance_sensor,CONFIG_DRIVERS_DISTANCE_SENSOR=y
+distance_sensor,CONFIG_COMMON_DISTANCE_SENSOR=y
+distance_sensor/ll40ls,CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
+distance_sensor/lightware_laser_serial,CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
+distance_sensor/broadcom/afbrs50,CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
+distance_sensor/vl53l0x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
+distance_sensor/vl53l1x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
+distance_sensor/srf05,CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
 dshot,CONFIG_DRIVERS_DSHOT=y
 gps,CONFIG_DRIVERS_GPS=y
 heater,CONFIG_DRIVERS_HEATER=y
@ -103,6 +109,7 @@ test_ppm,CONFIG_DRIVERS_TEST_PPM=y
				@@ -103,6 +109,7 @@ test_ppm,CONFIG_DRIVERS_TEST_PPM=y
 tone_alarm,CONFIG_DRIVERS_TONE_ALARM=y
 uavcan,CONFIG_DRIVERS_UAVCAN=y
 uavcannode,CONFIG_DRIVERS_UAVCANNODE=y
+uavcannode_gps_demo,CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
 airship_att_control,CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
 airspeed_selector,CONFIG_MODULES_AIRSPEED_SELECTOR=y
 velocity_controller,CONFIG_MODULES_ANGULAR_VELOCITY_CONTROLLER=y
--- a/boards/airmind/mindpx-v2/default.px4board
+++ b/boards/airmind/mindpx-v2/default.px4board
@ -11,7 +11,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -11,7 +11,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
--- a/boards/ark/can-flow/default.px4board
+++ b/boards/ark/can-flow/default.px4board
@ -4,6 +4,7 @@ CONFIG_BOARD_ROMFSROOT="cannode"
				@@ -4,6 +4,7 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
--- a/boards/av/x-v1/default.px4board
+++ b/boards/av/x-v1/default.px4board
@ -13,7 +13,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -13,7 +13,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ADIS16477=y
 CONFIG_DRIVERS_IMU_ADIS16497=y
--- a/boards/beaglebone/blue/default.px4board
+++ b/boards/beaglebone/blue/default.px4board
@ -10,7 +10,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -10,7 +10,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
--- a/boards/bitcraze/crazyflie/default.px4board
+++ b/boards/bitcraze/crazyflie/default.px4board
@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y
				@@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
 CONFIG_DRIVERS_BAROMETER_LPS25H=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
--- a/boards/bitcraze/crazyflie21/default.px4board
+++ b/boards/bitcraze/crazyflie21/default.px4board
@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y
				@@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
 CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
--- a/boards/cuav/nora/default.px4board
+++ b/boards/cuav/nora/default.px4board
@ -12,7 +12,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -12,7 +12,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
--- a/boards/cuav/x7pro/default.px4board
+++ b/boards/cuav/x7pro/default.px4board
@ -12,7 +12,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -12,7 +12,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
--- a/boards/cubepilot/cubeorange/default.px4board
+++ b/boards/cubepilot/cubeorange/default.px4board
@ -14,7 +14,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -14,7 +14,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
--- a/boards/cubepilot/cubeyellow/default.px4board
+++ b/boards/cubepilot/cubeyellow/default.px4board
@ -13,7 +13,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -13,7 +13,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
--- a/boards/emlid/navio2/default.px4board
+++ b/boards/emlid/navio2/default.px4board
@ -10,7 +10,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -10,7 +10,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
--- a/boards/holybro/durandal-v1/default.px4board
+++ b/boards/holybro/durandal-v1/default.px4board
@ -14,7 +14,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -14,7 +14,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
--- a/boards/holybro/pix32v5/default.px4board
+++ b/boards/holybro/pix32v5/default.px4board
@ -13,7 +13,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -13,7 +13,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
--- a/boards/modalai/fc-v1/default.px4board
+++ b/boards/modalai/fc-v1/default.px4board
@ -11,7 +11,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -11,7 +11,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
--- a/boards/modalai/fc-v2/default.px4board
+++ b/boards/modalai/fc-v2/default.px4board
@ -11,7 +11,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -11,7 +11,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
--- a/boards/mro/ctrl-zero-f7-oem/default.px4board
+++ b/boards/mro/ctrl-zero-f7-oem/default.px4board
@ -11,7 +11,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -11,7 +11,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
--- a/boards/mro/ctrl-zero-f7/default.px4board
+++ b/boards/mro/ctrl-zero-f7/default.px4board
@ -10,7 +10,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -10,7 +10,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
--- a/boards/mro/ctrl-zero-h7-oem/default.px4board
+++ b/boards/mro/ctrl-zero-h7-oem/default.px4board
@ -12,7 +12,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -12,7 +12,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
--- a/boards/mro/ctrl-zero-h7/default.px4board
+++ b/boards/mro/ctrl-zero-h7/default.px4board
@ -12,7 +12,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -12,7 +12,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
--- a/boards/mro/pixracerpro/default.px4board
+++ b/boards/mro/pixracerpro/default.px4board
@ -11,7 +11,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -11,7 +11,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
--- a/boards/mro/x21-777/default.px4board
+++ b/boards/mro/x21-777/default.px4board
@ -11,7 +11,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -11,7 +11,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
--- a/boards/mro/x21/default.px4board
+++ b/boards/mro/x21/default.px4board
@ -12,7 +12,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -12,7 +12,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
--- a/boards/nxp/fmuk66-e/default.px4board
+++ b/boards/nxp/fmuk66-e/default.px4board
@ -12,7 +12,8 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -12,7 +12,8 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
--- a/boards/nxp/fmuk66-v3/default.px4board
+++ b/boards/nxp/fmuk66-v3/default.px4board
@ -13,7 +13,6 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -13,7 +13,6 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_FXAS21002C=y
--- a/boards/nxp/fmurt1062-v1/default.px4board
+++ b/boards/nxp/fmurt1062-v1/default.px4board
@ -9,7 +9,7 @@ CONFIG_COMMON_BAROMETERS=y
				@@ -9,7 +9,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
--- a/boards/px4/fmu-v2/fixedwing.px4board
+++ b/boards/px4/fmu-v2/fixedwing.px4board
@ -1,6 +1,8 @@
				@@ -1,6 +1,8 @@
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
--- a/boards/px4/fmu-v2/multicopter.px4board
+++ b/boards/px4/fmu-v2/multicopter.px4board
@ -1,6 +1,6 @@
				@@ -1,6 +1,6 @@
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
--- a/boards/px4/fmu-v2/rover.px4board
+++ b/boards/px4/fmu-v2/rover.px4board
@ -1,7 +1,7 @@
				@@ -1,7 +1,7 @@
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
--- a/boards/px4/fmu-v2/test.px4board
+++ b/boards/px4/fmu-v2/test.px4board
@ -1,4 +1,6 @@
				@@ -1,4 +1,6 @@
 CONFIG_BOARD_ROMFSROOT="px4fmu_test"
 CONFIG_BOARD_TESTING=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_VER=y
--- a/boards/px4/fmu-v3/default.px4board
+++ b/boards/px4/fmu-v3/default.px4board
@ -13,7 +13,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -13,7 +13,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
--- a/boards/px4/fmu-v4/cannode.px4board
+++ b/boards/px4/fmu-v4/cannode.px4board
@ -1,4 +1,3 @@
				@@ -1,4 +1,3 @@
-CONFIG_DRIVERS_UAVCAN=n
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_UAVCANNODE=y
--- a/boards/px4/fmu-v4/default.px4board
+++ b/boards/px4/fmu-v4/default.px4board
@ -11,7 +11,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -11,7 +11,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
--- a/boards/px4/fmu-v4pro/default.px4board
+++ b/boards/px4/fmu-v4pro/default.px4board
@ -14,7 +14,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -14,7 +14,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
--- a/boards/px4/fmu-v5/ctrlalloc.px4board
+++ b/boards/px4/fmu-v5/ctrlalloc.px4board
@ -1,3 +1,4 @@
				@@ -1,3 +1,4 @@
 CONFIG_COMMON_BAROMETERS=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
--- a/boards/px4/fmu-v5/debug.px4board
+++ b/boards/px4/fmu-v5/debug.px4board
@ -1,5 +1,6 @@
				@@ -1,5 +1,6 @@
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_TEST_PPM=y
--- a/boards/px4/fmu-v5/default.px4board
+++ b/boards/px4/fmu-v5/default.px4board
@ -11,7 +11,6 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -11,7 +11,6 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
--- a/boards/px4/fmu-v5/fixedwing.px4board
+++ b/boards/px4/fmu-v5/fixedwing.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
 CONFIG_COMMON_BAROMETERS=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_COMMON_MAGNETOMETER=y
--- a/boards/px4/fmu-v5/multicopter.px4board
+++ b/boards/px4/fmu-v5/multicopter.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
 CONFIG_COMMON_BAROMETERS=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_COMMON_MAGNETOMETER=y
--- a/boards/px4/fmu-v5/optimized.px4board
+++ b/boards/px4/fmu-v5/optimized.px4board
@ -1,5 +1,6 @@
				@@ -1,5 +1,6 @@
 CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_BOARD_TESTING=y
 CONFIG_COMMON_BAROMETERS=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_TEST_PPM=y
--- a/boards/px4/fmu-v5/rover.px4board
+++ b/boards/px4/fmu-v5/rover.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
 CONFIG_COMMON_BAROMETERS=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_COMMON_MAGNETOMETER=y
--- a/boards/px4/fmu-v5/stackcheck.px4board
+++ b/boards/px4/fmu-v5/stackcheck.px4board
@ -1,4 +1,5 @@
				@@ -1,4 +1,5 @@
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
--- a/boards/px4/fmu-v5/test.px4board
+++ b/boards/px4/fmu-v5/test.px4board
@ -1,5 +1,6 @@
				@@ -1,5 +1,6 @@
 CONFIG_BOARD_TESTING=y
 CONFIG_COMMON_BAROMETERS=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_EXAMPLES_FAKE_IMU=y
--- a/boards/px4/fmu-v5x/default.px4board
+++ b/boards/px4/fmu-v5x/default.px4board
@ -14,7 +14,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -14,7 +14,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
--- a/boards/px4/fmu-v6u/default.px4board
+++ b/boards/px4/fmu-v6u/default.px4board
@ -13,7 +13,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -13,7 +13,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
--- a/boards/px4/fmu-v6x/default.px4board
+++ b/boards/px4/fmu-v6x/default.px4board
@ -15,7 +15,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -15,7 +15,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
--- a/boards/px4/raspberrypi/default.px4board
+++ b/boards/px4/raspberrypi/default.px4board
@ -9,7 +9,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -9,7 +9,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
--- a/boards/px4/sitl/Kconfig
+++ b/boards/px4/sitl/Kconfig
@ -1,9 +0,0 @@
				@@ -1,9 +0,0 @@
-config BOARD_LOCKSTEP
-    bool "Force enable lockstep"
-    help
-        forces lockstep behaviour, despite REPLAY env variable
-
-config BOARD_NOLOCKSTEP
-    bool "Force disable lockstep"
-    help
-        forces nolockstep behaviour, despite REPLAY env variable
--- a/boards/px4/sitl/test.px4board
+++ b/boards/px4/sitl/test.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_BOARD_NOLOCKSTEP=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
--- a/boards/scumaker/pilotpi/default.px4board
+++ b/boards/scumaker/pilotpi/default.px4board
@ -9,7 +9,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
				@@ -9,7 +9,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
--- a/boards/spracing/h7extreme/default.px4board
+++ b/boards/spracing/h7extreme/default.px4board
@ -4,7 +4,7 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
				@@ -4,7 +4,7 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
--- a/boards/uvify/core/default.px4board
+++ b/boards/uvify/core/default.px4board
@ -10,7 +10,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
				@@ -10,7 +10,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
--- a/cmake/kconfig.cmake
+++ b/cmake/kconfig.cmake
@ -23,8 +23,6 @@ set(COMMON_KCONFIG_ENV_SETTINGS
				@@ -23,8 +23,6 @@ set(COMMON_KCONFIG_ENV_SETTINGS
 	TOOLCHAIN=${CMAKE_TOOLCHAIN_FILE}
 	ARCHITECTURE=${CMAKE_SYSTEM_PROCESSOR}
 	ROMFSROOT=${config_romfs_root}
-	HAS_CUSTOM_BOARD_KCONFIG=${HAS_CUSTOM_BOARD_KCONFIG}
-	CUSTOM_BOARD_KCONFIG=${CUSTOM_BOARD_KCONFIG}
 )

 if(EXISTS ${BOARD_DEFCONFIG})
@ -104,6 +102,10 @@ if(EXISTS ${BOARD_DEFCONFIG})
				@@ -104,6 +102,10 @@ if(EXISTS ${BOARD_DEFCONFIG})
            string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+)_([a-z]+[a-z0-9]+).*$" "\\2" driver_p3_subfolder ${driver})
            string(REGEX REPLACE "(^[a-z]+)_([a-z0-9]+_[a-z0-9]+)_([a-z]+[a-z0-9]+).*$" "\\3" driver_p3_subsubfolder ${driver})

+            # Pattern 4 XXX_XXX / XXX_XXX_XXX
+            string(REGEX REPLACE "(^[a-z]+_[a-z0-9]+)_([a-z_0-9]+).*$" "\\1" driver_p4_folder ${driver})
+            string(REGEX REPLACE "(^[a-z]+_[a-z0-9]+)_([a-z_0-9]+).*$" "\\2" driver_p4_subfolder ${driver})
+
            # Trick circumvent PX4 src naming problem with underscores and slashes
            if(EXISTS ${PX4_SOURCE_DIR}/src/drivers/${driver})
                list(APPEND config_module_list drivers/${driver})
@ -115,6 +117,8 @@ if(EXISTS ${BOARD_DEFCONFIG})
				@@ -115,6 +117,8 @@ if(EXISTS ${BOARD_DEFCONFIG})
                list(APPEND config_module_list drivers/${driver_p1_folder}/${driver_p1_subfolder})
            elseif(EXISTS ${PX4_SOURCE_DIR}/src/drivers/${driver_p2_folder}/${driver_p2_subfolder})
                list(APPEND config_module_list drivers/${driver_p2_folder}/${driver_p2_subfolder})
+            elseif(EXISTS ${PX4_SOURCE_DIR}/src/drivers/${driver_p4_folder}/${driver_p4_subfolder})
+                list(APPEND config_module_list drivers/${driver_p4_folder}/${driver_p4_subfolder})
            else()
                message(FATAL_ERROR "Couldn't find path for ${driver}")
            endif()
--- a/cmake/px4_config.cmake
+++ b/cmake/px4_config.cmake
@ -91,7 +91,6 @@ endif()
				@@ -91,7 +91,6 @@ endif()

 message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")

-
 include_directories(${PX4_BOARD_DIR}/src)

 set(PX4_BOARD ${VENDOR}_${MODEL} CACHE STRING "PX4 board" FORCE)
@ -115,11 +114,3 @@ endif()
				@@ -115,11 +114,3 @@ endif()
 if(EXISTS "${PX4_BOARD_DIR}/sitl.cmake")
 include ("${PX4_BOARD_DIR}/sitl.cmake")
 endif()
-
-set(CUSTOM_BOARD_KCONFIG "${PX4_BOARD_DIR}/Kconfig" CACHE STRING "PX4 board custom config" FORCE)
-
-if(EXISTS ${CUSTOM_BOARD_KCONFIG})
-    set(HAS_CUSTOM_BOARD_KCONFIG "y" CACHE STRING "PX4 board custom config" FORCE)
-else()
-    set(HAS_CUSTOM_BOARD_KCONFIG "n" CACHE STRING "PX4 board custom config" FORCE)
-endif()
--- a/src/drivers/distance_sensor/Kconfig
+++ b/src/drivers/distance_sensor/Kconfig
@ -1,9 +1,25 @@
				@@ -1,9 +1,25 @@
-menuconfig DRIVERS_DISTANCE_SENSOR
-	bool "distance_sensor"
-	default n
-	---help---
-		Enable support for distance_sensor
-		
-if DRIVERS_DISTANCE_SENSOR
-rsource "*/Kconfig"
-endif #DRIVERS_DISTANCE_SENSOR
+menu "Distance sensors"
+    menuconfig COMMON_DISTANCE_SENSOR
+        bool "Common distance sensor's"
+        default n
+        select DRIVERS_DISTANCE_SENSOR_CM8JL65
+        select DRIVERS_DISTANCE_SENSOR_LEDDAR_ONE
+        select DRIVERS_DISTANCE_SENSOR_LL40LS
+        select DRIVERS_DISTANCE_SENSOR_LL40LS_PWM
+        select DRIVERS_DISTANCE_SENSOR_MAPPYDOT
+        select DRIVERS_DISTANCE_SENSOR_MB12XX
+        select DRIVERS_DISTANCE_SENSOR_PGA460
+        select DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C
+        select DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL
+        select DRIVERS_DISTANCE_SENSOR_SRF02
+        select DRIVERS_DISTANCE_SENSOR_TERARANGER
+        select DRIVERS_DISTANCE_SENSOR_TFMINI
+        select DRIVERS_DISTANCE_SENSOR_ULANDING_RADAR
+        select DRIVERS_DISTANCE_SENSOR_VL53L0X
+        select DRIVERS_DISTANCE_SENSOR_VL53L1X
+        select DRIVERS_DISTANCE_SENSOR_GY_US42
+        ---help---
+            Enable default set of distance sensor drivers
+
+    rsource "*/Kconfig"
+endmenu
--- a/src/drivers/distance_sensor/broadcom/Kconfig
+++ b/src/drivers/distance_sensor/broadcom/Kconfig
@ -0,0 +1 @@
				@@ -0,0 +1 @@
+rsource "*/Kconfig"
--- a/src/drivers/distance_sensor/broadcom/afbrs50/Kconfig
+++ b/src/drivers/distance_sensor/broadcom/afbrs50/Kconfig
@ -0,0 +1,5 @@
				@@ -0,0 +1,5 @@
+menuconfig DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50
+	bool "AFBRS50"
+	default n
+	---help---
+		Enable support for AFBRS50