ROMFS handle bl_update generically

- include all available legacy bootloaders

.ci/Jenkinsfile-hardware

@@ -258,6 +258,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
@@ -333,6 +334,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
@@ -407,6 +409,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
@@ -482,6 +485,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
@@ -560,6 +564,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
@@ -635,6 +640,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
@@ -713,6 +719,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'       // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
                   }
@@ -787,6 +794,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }
@@ -941,6 +949,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                   }

ROMFS/CMakeLists.txt

@@ -31,11 +31,12 @@
 #
 ############################################################################
 
-message(STATUS "ROMFS: ${config_romfs_root}")
-
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
 set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
 
+file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
+message(STATUS "ROMFS: ${romfs_path_relative}")
+
 set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
 set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
 
@@ -149,9 +150,22 @@ if(config_io_board)
 		copy_px4io_bin
 		${fw_io_bin}
 	)
+	file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
+	message(STATUS "ROMFS:  Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
 endif()
 
-if(config_build_bootloader)
+
+# board bootloader (built or included)
+if(TARGET copy_bootloader_bin)
+
+	if(board_bootloader_firmware)
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	else()
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	endif()
+
 	list(APPEND extras_dependencies
 		copy_bootloader_bin
 		${bootloader_bin}
@@ -162,7 +176,8 @@ endif()
 # optional board architecture defaults
 set(board_arch_rc_file "rc.board_arch_defaults")
 if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
-	message(STATUS "ROMFS: Adding ${board_arch_rc_file}")
+	file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
+	message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")
 
 	add_custom_command(
 		OUTPUT
@@ -193,7 +208,8 @@ list(APPEND OPTIONAL_BOARD_RC
 foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 
 	if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
-		message(STATUS "ROMFS: Adding ${board_rc_file}")
+		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
+		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")
 
 		add_custom_command(
 			OUTPUT
@@ -221,7 +237,7 @@ if(config_uavcan_peripheral_firmware)
 
 	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
 		# include the px4io binary in ROMFS
-		message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}")
+		message(STATUS "ROMFS:  Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
 		ExternalProject_Add(build_${uavcan_peripheral_config}
 			SOURCE_DIR ${CMAKE_SOURCE_DIR}
 			DOWNLOAD_COMMAND ""

ROMFS/px4fmu_common/extras/README.txt

@@ -1,5 +0,0 @@
-px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader
-  (https://github.com/PX4/Bootloader)
-  based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f
-  for the target px4fmuv3_bl
-

ROMFS/px4fmu_common/init.d/rcS

@@ -549,6 +549,22 @@ else
 		. ${R}etc/init.d/rc.autostart.post
 	fi
 
+	#
+	# Bootloader upgrade
+	#
+	if param compare -s SYS_BL_UPDATE 1
+	then
+		if [ -f "/etc/extras/bootloader.bin" ]
+		then
+			param set SYS_BL_UPDATE 0
+			param save
+			echo "bootloader update..."
+			bl_update "/etc/extras/bootloader.bin"
+			echo "bootloader update done, rebooting"
+			reboot
+		fi
+	fi
+
 	if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
 	then
 		echo "Switched to different parameter version. Resetting parameters."

boards/bitcraze/crazyflie/default.cmake

@@ -14,8 +14,8 @@ px4_add_board(
 		barometer/lps25h
 		distance_sensor/vl53l0x
 		gps
-		magnetometer/akm/ak8963
 		imu/invensense/mpu9250
+		magnetometer/akm/ak8963
 		optical_flow/pmw3901
 		pwm_out
 	MODULES
@@ -45,7 +45,7 @@ px4_add_board(
 		#bl_update
 		dmesg
 		dumpfile
-		esc_calib
+		#esc_calib
 		hardfault_log
 		i2cdetect
 		led_control

boards/bitcraze/crazyflie21/default.cmake

@@ -11,12 +11,12 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	CONSTRAINED_FLASH
 	DRIVERS
+		barometer/bmp388
 		distance_sensor/vl53l1x
 		gps
+		imu/bosch/bmi088/bmi088_i2c
 		optical_flow/pmw3901
 		pwm_out
-		imu/bosch/bmi088/bmi088_i2c
-		barometer/bmp388
 	MODULES
 		attitude_estimator_q
 		#camera_feedback
@@ -24,7 +24,8 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		gyro_fft
+		flight_mode_manager
+		#gyro_fft
 		land_detector
 		landing_target_estimator
 		load_mon
@@ -40,10 +41,10 @@ px4_add_board(
 		sensors
 		#temperature_compensation
 	SYSTEMCMDS
-		bl_update
+		#bl_update
 		dmesg
 		dumpfile
-		esc_calib
+		#esc_calib
 		hardfault_log
 		i2cdetect
 		led_control

boards/bitcraze/crazyflie21/src/spi.cpp

@@ -49,15 +49,14 @@
 #include <stm32_gpio.h>
 #include "board_config.h"
 
-
 #include <px4_arch/spi_hw_description.h>
 #include <drivers/drv_sensor.h>
 #include <nuttx/spi/spi.h>
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_FLOW_DEVTYPE_PMW3901, SPI::CS{GPIO::PortB, GPIO::Pin4}),
 		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortC, GPIO::Pin12}),
+		initSPIDevice(DRV_FLOW_DEVTYPE_PMW3901, SPI::CS{GPIO::PortB, GPIO::Pin4}),
 		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin5}),
 	}),
 };

boards/cuav/nora/init/rc.board_defaults

@@ -3,25 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
-#
-# Bootloader upgrade
-#
-set BL_FILE /etc/extras/cuav_nora_bootloader.bin
-if [ -f $BL_FILE ]
-then
-	if param compare SYS_BL_UPDATE 1
-	then
-		param set SYS_BL_UPDATE 0
-		param save
-		echo "BL update..."
-		bl_update $BL_FILE
-		echo "BL update done"
-		reboot
-	fi
-fi
-unset BL_FILE
-
-
 param set-default BAT_V_DIV 18
 param set-default BAT1_V_DIV 18
 param set-default BAT2_V_DIV 18

boards/cuav/x7pro/init/rc.board_defaults

@@ -3,25 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
-#
-# Bootloader upgrade
-#
-set BL_FILE /etc/extras/cuav_x7pro_bootloader.bin
-if [ -f $BL_FILE ]
-then
-	if param compare SYS_BL_UPDATE 1
-	then
-		param set SYS_BL_UPDATE 0
-		param save
-		echo "BL update..."
-		bl_update $BL_FILE
-		echo "BL update done"
-		reboot
-	fi
-fi
-unset BL_FILE
-
-
 param set-default BAT_V_DIV 18
 param set-default BAT1_V_DIV 18
 param set-default BAT2_V_DIV 18

boards/cubepilot/cubeorange/init/rc.board_defaults

@@ -3,24 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
-#
-# Bootloader upgrade
-#
-set BL_FILE /etc/extras/cubepilot_cubeorange_bootloader.bin
-if [ -f $BL_FILE ]
-then
-	if param compare SYS_BL_UPDATE 1
-	then
-		param set SYS_BL_UPDATE 0
-		param save
-		echo "BL update..."
-		bl_update $BL_FILE
-		echo "BL update done"
-		reboot
-	fi
-fi
-unset BL_FILE
-
 
 param set-default BAT_V_DIV 10.1
 param set-default BAT1_V_DIV 10.1

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

@@ -3,25 +3,5 @@
 # Holybro Durandal V1 specific board defaults
 #------------------------------------------------------------------------------
 
-
-#
-# Bootloader upgrade
-#
-set BL_FILE /etc/extras/holybro_durandal-v1_bootloader.bin
-if [ -f $BL_FILE ]
-then
-	if param compare SYS_BL_UPDATE 1
-	then
-		param set SYS_BL_UPDATE 0
-		param save
-		echo "BL update..."
-		bl_update $BL_FILE
-		echo "BL update done"
-		reboot
-	fi
-fi
-unset BL_FILE
-
-
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1

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

@@ -3,25 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
-#
-# Bootloader upgrade
-#
-set BL_FILE /etc/extras/mro_ctrl-zero-h7-oem_bootloader.bin
-if [ -f $BL_FILE ]
-then
-	if param compare SYS_BL_UPDATE 1
-	then
-		param set SYS_BL_UPDATE 0
-		param save
-		echo "BL update..."
-		bl_update $BL_FILE
-		echo "BL update done"
-		reboot
-	fi
-fi
-unset BL_FILE
-
-
 param set-default BAT_V_DIV 10.1
 param set-default BAT1_V_DIV 10.1
 

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

@@ -3,25 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
-#
-# Bootloader upgrade
-#
-set BL_FILE /etc/extras/mro_ctrl-zero-h7_bootloader.bin
-if [ -f $BL_FILE ]
-then
-	if param compare SYS_BL_UPDATE 1
-	then
-		param set SYS_BL_UPDATE 0
-		param save
-		echo "BL update..."
-		bl_update $BL_FILE
-		echo "BL update done"
-		reboot
-	fi
-fi
-unset BL_FILE
-
-
 param set-default BAT_V_DIV 10.1
 param set-default BAT1_V_DIV 10.1
 

boards/mro/pixracerpro/init/rc.board_defaults

@@ -3,25 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
-#
-# Bootloader upgrade
-#
-set BL_FILE /etc/extras/mro_pixracerpro_bootloader.bin
-if [ -f $BL_FILE ]
-then
-	if param compare SYS_BL_UPDATE 1
-	then
-		param set SYS_BL_UPDATE 0
-		param save
-		echo "BL update..."
-		bl_update $BL_FILE
-		echo "BL update done"
-		reboot
-	fi
-fi
-unset BL_FILE
-
-
 param set-default BAT_V_DIV 10.1
 param set-default BAT1_V_DIV 10.1
 

boards/nxp/fmuk66-e/default.cmake

@@ -82,7 +82,7 @@ px4_add_board(
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
-		bl_update
+		#bl_update
 		#dmesg
 		dumpfile
 		esc_calib

boards/nxp/fmuk66-v3/default.cmake

@@ -82,7 +82,7 @@ px4_add_board(
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
-		bl_update
+		#bl_update
 		#dmesg
 		dumpfile
 		esc_calib

boards/px4/fmu-v2/default.cmake

@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
-	BOOTLOADER ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin
 	IO px4_io-v2_default
 	#TESTING
 	#UAVCAN_INTERFACES 2

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

@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-
-#
-# Bootloader upgrade
-#
-set BL_FILE /etc/extras/px4fmuv3_bl.bin
-if [ -f $BL_FILE ]
-then
-	if param compare SYS_BL_UPDATE 1
-	then
-		param set SYS_BL_UPDATE 0
-		param save
-		echo "BL update..."
-		bl_update $BL_FILE
-		echo "BL update done"
-		reboot
-	fi
-fi
-unset BL_FILE

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

@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-
-#
-# Bootloader upgrade
-#
-set BL_FILE /etc/extras/px4fmuv3_bl.bin
-if [ -f $BL_FILE ]
-then
-	if param compare SYS_BL_UPDATE 1
-	then
-		param set SYS_BL_UPDATE 0
-		param save
-		echo "BL update..."
-		bl_update $BL_FILE
-		echo "BL update done"
-		reboot
-	fi
-fi
-unset BL_FILE

boards/px4/fmu-v5x/default.cmake

@@ -37,13 +37,13 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm42688p
 		irlock
-		lights/blinkm
+		#lights/blinkm
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
 		#osd
-		pca9685
+		#pca9685
 		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter

cmake/px4_add_board.cmake

@@ -48,7 +48,6 @@
 #			[ ROMFSROOT <string> ]
 #			[ BUILD_BOOTLOADER ]
 #			[ IO <string> ]
-#			[ BOOTLOADER <string> ]
 #			[ UAVCAN_INTERFACES <string> ]
 #			[ UAVCAN_PERIPHERALS <list> ]
 #			[ DRIVERS <list> ]
@@ -74,7 +73,6 @@
 #		ROMFSROOT		: relative path to the ROMFS root directory
 #		BUILD_BOOTLOADER	: flag to enable building and including the bootloader config
 #		IO			: name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
-#		BOOTLOADER		: bootloader file to include for flashing via bl_update (currently NuttX only)
 #		UAVCAN_INTERFACES	: number of interfaces for UAVCAN
 #		UAVCAN_PERIPHERALS      : list of UAVCAN peripheral firmware to build and embed
 #		DRIVERS			: list of drivers to build for this board (relative to src/drivers)
@@ -148,7 +146,6 @@ function(px4_add_board)
 			ARCHITECTURE
 			ROMFSROOT
 			IO
-			BOOTLOADER
 			UAVCAN_INTERFACES
 			UAVCAN_TIMER_OVERRIDE
 			LINKER_PREFIX
@@ -210,9 +207,6 @@ function(px4_add_board)
 
 	set(romfs_extra_files)
 	set(config_romfs_extra_dependencies)
-	if(BOOTLOADER)
-		list(APPEND romfs_extra_files ${BOOTLOADER})
-	endif()
 	foreach(metadata ${EMBEDDED_METADATA})
 		if(${metadata} STREQUAL "parameters")
 			list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/params.json.xz)

src/systemcmds/bl_update/CMakeLists.txt

@@ -64,10 +64,10 @@ if(config_build_bootloader)
 
 	ExternalProject_Get_Property(bootloader_firmware BINARY_DIR)
 
-	set(bootloader_exe "${BINARY_DIR}/${bootloader_config}.elf")
-	set(bootloader_bin "${PX4_BINARY_DIR}/romfs_extras/${bootloader_config}.bin" CACHE FILEPATH "bootloader binary path")
+	set(board_bootloader_firmware "${BINARY_DIR}/${bootloader_config}.elf" CACHE FILEPATH "bootloader original binary path")
+	set(bootloader_bin "${PX4_BINARY_DIR}/romfs_extras/bootloader.bin" CACHE FILEPATH "bootloader binary path")
 
-	file(RELATIVE_PATH bootloader_exe_relative ${CMAKE_CURRENT_BINARY_DIR} ${bootloader_exe})
+	file(RELATIVE_PATH bootloader_exe_relative ${CMAKE_CURRENT_BINARY_DIR} ${board_bootloader_firmware})
 	file(RELATIVE_PATH bootloader_bin_relative ${CMAKE_CURRENT_BINARY_DIR} ${bootloader_bin})
 
 	add_custom_command(OUTPUT ${bootloader_bin}
@@ -77,4 +77,25 @@ if(config_build_bootloader)
 		COMMENT "Copying ${bootloader_config} to ROMFS extras"
 		)
 	add_custom_target(copy_bootloader_bin DEPENDS ${bootloader_bin})
+
+elseif(EXISTS "${PX4_BOARD_DIR}/bootloader/")
+
+	if(EXISTS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
+		set(board_bootloader_firmware ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin CACHE FILEPATH "bootloader original binary path")
+		set(bootloader_bin "${PX4_BINARY_DIR}/romfs_extras/bootloader.bin" CACHE FILEPATH "bootloader binary path")
+
+		add_custom_command(OUTPUT ${bootloader_bin}
+			COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras
+			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${board_bootloader_firmware} ${PX4_BINARY_DIR}/romfs_extras/bootloader.bin
+			DEPENDS ${board_bootloader_firmware}
+			COMMENT "Copying ${board_bootloader_firmware} to ROMFS extras"
+		)
+		add_custom_target(copy_bootloader_bin DEPENDS ${bootloader_bin})
+
+	else()
+		file(GLOB bootloader_bin_files ${PX4_BOARD_DIR}/bootloader/*.bin)
+		foreach(bin_file ${bootloader_bin_files})
+			message(FATAL_ERROR "incorrect bootloader filename ${bin_file} should be ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
+		endforeach()
+	endif()
 endif()