ArduPilot · klopezal · Jul 15, 2017 · Jul 15, 2017 · Jul 15, 2017 · Jul 15, 2017
diff --git a/.travis.yml b/.travis.yml
@@ -86,5 +86,7 @@ matrix:
       env: CI_BUILD_TARGET="px4-v3"
     - compiler: "gcc"
       env: CI_BUILD_TARGET="px4-v4"
+    - compiler: "gcc"
+      env: CI_BUILD_TARGET="px4-v4pro"
     - compiler: "gcc"
       env: CI_BUILD_TARGET="sitltest"
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
@@ -566,6 +566,16 @@ def __init__(self):
         self.romfs_exclude(['oreoled.bin'])
         self.with_uavcan = True
 
+class px4_v4pro(px4):
+    name = 'px4-v4pro'
+    def __init__(self):
+        super(px4_v4pro, self).__init__()
+        self.bootloader_name = 'px4fmuv4pro_bl.bin'
+        self.board_name = 'px4fmu-v4pro'
+        self.px4io_name = 'px4io-v2'
+        self.romfs_exclude(['oreoled.bin'])
+        self.with_uavcan = True		
+
 class aerofc_v1(px4):
     name = 'aerofc-v1'
     def __init__(self):

diff --git a/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v4pro_apm.cmake b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v4pro_apm.cmake
@@ -0,0 +1,11 @@
+include(configs/nuttx_px4fmu-common_apm)
+
+list(APPEND config_module_list
+    drivers/boards/px4fmu-v4pro
+    drivers/pwm_input
+    drivers/px4io
+)
+
+set(config_io_board
+    px4io-v2
+)
diff --git a/Tools/scripts/build_all_px4.sh b/Tools/scripts/build_all_px4.sh
@@ -11,7 +11,7 @@ set -x
 git submodule init
 git submodule update --recursive
 
-builds="px4-v1 px4-v2 px4-v3 px4-v4"
+builds="px4-v1 px4-v2 px4-v3 px4-v4 px4-v4pro"
 
 for b in $builds; do
     echo "Testing $b build"

diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
@@ -417,6 +417,7 @@ void AP_Baro::init(void)
     case AP_BoardConfig::PX4_BOARD_PHMINI:
     case AP_BoardConfig::PX4_BOARD_AUAV21:
     case AP_BoardConfig::PX4_BOARD_PH2SLIM:
+    case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
         break;

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h b/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h
@@ -11,7 +11,7 @@
  # define AP_BATT_CURR_PIN                  101
  # define AP_BATT_VOLTDIVIDER_DEFAULT       1.1f
  # define AP_BATT_CURR_AMP_PERVOLT_DEFAULT  17.0f
-#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && (defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4))
+#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 && (defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO))
  // pixhawk
  # define AP_BATT_VOLT_PIN                  2
  # define AP_BATT_CURR_PIN                  3

diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -43,6 +43,7 @@ class AP_BoardConfig {
         PX4_BOARD_PHMINI   = 5,
         PX4_BOARD_PH2SLIM  = 6,
         PX4_BOARD_AEROFC   = 13,
+        PX4_BOARD_PIXHAWK_PRO = 14,
         PX4_BOARD_AUAV21   = 20,
         PX4_BOARD_OLDDRIVERS = 100,
 #endif

diff --git a/libraries/AP_BoardConfig/px4_drivers.cpp b/libraries/AP_BoardConfig/px4_drivers.cpp
@@ -267,6 +267,7 @@ void AP_BoardConfig::px4_setup_drivers(void)
     case PX4_BOARD_AUAV21:
     case PX4_BOARD_PH2SLIM:
     case PX4_BOARD_AEROFC:
+    case PX4_BOARD_PIXHAWK_PRO:
         break;
     default:
         sensor_config_error("Unknown board type");
@@ -434,6 +435,10 @@ void AP_BoardConfig::validate_board_type(void)
         hal.console->printf("Forced PIXHAWK2\n");
     }
 #endif
+
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO)
+	// Nothing to do for the moment
+#endif
 }
 
 /*
@@ -483,6 +488,10 @@ void AP_BoardConfig::px4_autodetect(void)
     // only one choice
     px4.board_type.set_and_notify(PX4_BOARD_PIXRACER);
     hal.console->printf("Detected Pixracer\n");
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO)
+    // only one choice
+    px4.board_type.set_and_notify(PX4_BOARD_PIXHAWK_PRO);
+    hal.console->printf("Detected Pixhawk Pro\n");	
 #elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
     px4.board_type.set_and_notify(PX4_BOARD_AEROFC);
     hal.console->printf("Detected Aero FC\n");

diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
@@ -35,7 +35,7 @@ extern AP_HAL::HAL& hal;
 #endif
 
 #ifndef AP_COMPASS_OFFSETS_MAX_DEFAULT
-#define AP_COMPASS_OFFSETS_MAX_DEFAULT 600
+#define AP_COMPASS_OFFSETS_MAX_DEFAULT 850
 #endif
 
 const AP_Param::GroupInfo Compass::var_info[] = {
@@ -541,7 +541,8 @@ void Compass::_detect_backends(void)
     case AP_BoardConfig::PX4_BOARD_AUAV21:
     case AP_BoardConfig::PX4_BOARD_PH2SLIM:
     case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
-    case AP_BoardConfig::PX4_BOARD_PIXRACER: {
+    case AP_BoardConfig::PX4_BOARD_PIXRACER: 
+    case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:{
         bool both_i2c_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
         // external i2c bus
         ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_HMC5843_I2C_ADDR),
@@ -628,6 +629,14 @@ void Compass::_detect_backends(void)
                      AP_Compass_HMC5843::name, false);
         ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
                      AP_Compass_AK8963::name, false);
+		break;
+
+    case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
+        ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
+                     AP_Compass_AK8963::name, false);
+        ADD_BACKEND(AP_Compass_LIS3MDL::probe(*this, hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME),
+                                              false, ROTATION_NONE),
+                     AP_Compass_LIS3MDL::name, false);
         break;
 
     case AP_BoardConfig::PX4_BOARD_PHMINI:

diff --git a/libraries/AP_Compass/AP_Compass_LIS3MDL.cpp b/libraries/AP_Compass/AP_Compass_LIS3MDL.cpp
@@ -49,7 +49,7 @@
 extern const AP_HAL::HAL &hal;
 
 AP_Compass_Backend *AP_Compass_LIS3MDL::probe(Compass &compass,
-                                              AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
+                                              AP_HAL::OwnPtr<AP_HAL::Device> dev,
                                               bool force_external,
                                               enum Rotation rotation)
 {
@@ -98,7 +98,7 @@ bool AP_Compass_LIS3MDL::init()
 
     dev->setup_checked_registers(5);
 
-    dev->write_register(ADDR_CTRL_REG1, 0x62, true); // 155Hz, UHP
+    dev->write_register(ADDR_CTRL_REG1, 0xFC, true); // 80Hz, UHP
     dev->write_register(ADDR_CTRL_REG2, 0, true); // 4Ga range
     dev->write_register(ADDR_CTRL_REG3, 0, true); // continuous
     dev->write_register(ADDR_CTRL_REG4, 0x0C, true); // z-axis ultra high perf
@@ -124,7 +124,7 @@ bool AP_Compass_LIS3MDL::init()
     set_dev_id(compass_instance, dev->get_bus_id());
 
     // call timer() at 155Hz
-    dev->register_periodic_callback(1000000U/155U,
+    dev->register_periodic_callback(1000000U/80U,
                                     FUNCTOR_BIND_MEMBER(&AP_Compass_LIS3MDL::timer, void));
 
     return true;

diff --git a/libraries/AP_Compass/AP_Compass_LIS3MDL.h b/libraries/AP_Compass/AP_Compass_LIS3MDL.h
@@ -16,7 +16,7 @@
 
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
-#include <AP_HAL/I2CDevice.h>
+#include <AP_HAL/Device.h>
 #include <AP_Math/AP_Math.h>
 
 #include "AP_Compass.h"
@@ -31,7 +31,7 @@ class AP_Compass_LIS3MDL : public AP_Compass_Backend
 {
 public:
     static AP_Compass_Backend *probe(Compass &compass,
-                                     AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
+                                     AP_HAL::OwnPtr<AP_HAL::Device> dev,
                                      bool force_external = false,
                                      enum Rotation rotation = ROTATION_NONE);
 

diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -44,6 +44,7 @@
 #define HAL_BOARD_SUBTYPE_PX4_V4           2002
 #define HAL_BOARD_SUBTYPE_PX4_V3           2003
 #define HAL_BOARD_SUBTYPE_PX4_AEROFC_V1    2004
+#define HAL_BOARD_SUBTYPE_PX4_V4PRO        2005
 
 /* HAL VRBRAIN sub-types, starting at 4000 */
 #define HAL_BOARD_SUBTYPE_VRBRAIN_V45      4000

diff --git a/libraries/AP_HAL/board/px4.h b/libraries/AP_HAL/board/px4.h
@@ -30,7 +30,11 @@
 #elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
 #define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V4
 #define HAL_STORAGE_SIZE            16384
-#define HAL_WITH_UAVCAN             1
+#define HAL_WITH_UAVCAN				1
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO)
+#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V4PRO
+#define HAL_STORAGE_SIZE            16384
+#define HAL_WITH_UAVCAN				1
 #elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
 #define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_AEROFC_V1
 #define HAL_STORAGE_SIZE            16384
@@ -71,6 +75,7 @@
 #define HAL_INS_ICM20608_EXT_NAME "icm20608_ext"
 
 #define HAL_COMPASS_HMC5843_NAME "hmc5843"
+#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"
 
 /* px4fmu-v1 */
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1

diff --git a/libraries/AP_HAL_PX4/AnalogIn.cpp b/libraries/AP_HAL_PX4/AnalogIn.cpp
@@ -46,7 +46,7 @@ static const struct {
     { 11,  6.6f/4096  }, // analog airspeed input, 2:1 scaling
     { 12,  3.3f/4096  }, // analog2, on SPI port pin 3
     { 13, 16.8f/4096  }, // analog3, on SPI port pin 4
-#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO)
     { 2,   3.3f/4096  },    // 3DR Brick voltage, usually 10.1:1
                             // scaled from battery voltage
     { 3,   3.3f/4096  },    // 3DR Brick current, usually 17:1 scaled
@@ -275,7 +275,7 @@ void PX4AnalogIn::_timer_tick(void)
     if (ret > 0) {
         // match the incoming channels to the currently active pins
         for (uint8_t i=0; i<ret/sizeof(buf_adc[0]); i++) {
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO)
             if (buf_adc[i].am_channel == 4) {
                 // record the Vcc value for later use in
                 // voltage_average_ratiometric()
@@ -331,7 +331,7 @@ void PX4AnalogIn::_timer_tick(void)
     }
 #endif
 
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO)
     // check for new servorail data on FMUv2
     if (_servorail_handle != -1) {
         struct servorail_status_s servorail;

diff --git a/libraries/AP_HAL_PX4/AnalogIn.h b/libraries/AP_HAL_PX4/AnalogIn.h
@@ -11,7 +11,7 @@
 // these are virtual pins that read from the ORB
 #define PX4_ANALOG_ORB_BATTERY_VOLTAGE_PIN     100
 #define PX4_ANALOG_ORB_BATTERY_CURRENT_PIN     101
-#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO)
 #define PX4_ANALOG_VCC_5V_PIN                4
 #define PX4_ANALOG_ORB_SERVO_VOLTAGE_PIN       102
 #define PX4_ANALOG_ORB_SERVO_VRSSI_PIN         103

diff --git a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
@@ -59,7 +59,7 @@ static PX4::SPIDeviceManager spi_mgr_instance;
 #define UARTD_DEFAULT_DEVICE "/dev/ttyS2"
 #define UARTE_DEFAULT_DEVICE "/dev/ttyS6"
 #define UARTF_DEFAULT_DEVICE "/dev/null"
-#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO)
 #define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
 #define UARTB_DEFAULT_DEVICE "/dev/ttyS3"
 #define UARTC_DEFAULT_DEVICE "/dev/ttyS1"

diff --git a/libraries/AP_HAL_PX4/SPIDevice.cpp b/libraries/AP_HAL_PX4/SPIDevice.cpp
@@ -26,7 +26,7 @@
 /*
   NuttX on STM32 doesn't produce the exact SPI bus frequency
   requested. This is a table mapping requested to achieved SPI
-  frequency:
+  frequency for a 168 MHz processor :
 
   2  -> 1.3 MHz
   4  -> 2.6 MHz
@@ -42,6 +42,25 @@
   20 -> 10
   21 -> 20
   28 -> 20
+
+For a 180 MHz processor :
+
+ 2  -> 1.4 MHz
+ 4  -> 2.8 MHz
+ 6  -> 5.6 MHz
+ 8  -> 5.6 MHz
+ 10 -> 5.6 MHz
+ 11 -> 5.6 MHz
+ 12 -> 11.25 MHz
+ 13 -> 11.25 MHz
+ 14 -> 11.25 MHz
+ 16 -> 11.25 MHz
+ 18 -> 11.25 MHz
+ 20 -> 11.25 MHz
+ 22 -> 11.25 MHz
+ 24 -> 22.5 MHz
+ 28 -> 22.5 MHz
+
  */
 
 namespace PX4 {
@@ -93,6 +112,9 @@ SPIDesc SPIDeviceManager::device_table[] = {
 #ifdef PX4_SPIDEV_HMC
     SPIDesc("hmc5843",      PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_HMC, SPIDEV_MODE3, 11*MHZ, 11*MHZ),
 #endif
+#ifdef PX4_SPIDEV_LIS
+	SPIDesc("lis3mdl",      PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_LIS, SPIDEV_MODE3, 500*KHZ, 500*KHZ),
+#endif
 
 #ifdef PX4_SPI_BUS_EXT
 #ifdef PX4_SPIDEV_EXT0

diff --git a/libraries/AP_HAL_PX4/Util.cpp b/libraries/AP_HAL_PX4/Util.cpp
@@ -120,6 +120,8 @@ bool PX4Util::get_system_id(char buf[40])
     const char *board_type = "PX4v2";
 #elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
     const char *board_type = "PX4v4";
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO)
+    const char *board_type = "PX4v4PRO";
 #elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
     const char *board_type = "AEROFCv1";
 #else

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -726,6 +726,12 @@ AP_InertialSensor::detect_backends(void)
         _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90));
         break;
 
+    case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
+        _fast_sampling_mask.set_default(3);
+        _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_NAME), ROTATION_ROLL_180_YAW_90));
+        _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90));
+        break;		
+
     case AP_BoardConfig::PX4_BOARD_PHMINI:
         // PHMINI uses ICM20608 on the ACCEL_MAG device and a MPU9250 on the old MPU6000 CS line
         _fast_sampling_mask.set_default(3);

diff --git a/mk/PX4/bootloader/px4fmuv4pro_bl.bin b/mk/PX4/bootloader/px4fmuv4pro_bl.bin
diff --git a/mk/PX4/config_px4fmu-v4pro_APM.mk b/mk/PX4/config_px4fmu-v4pro_APM.mk
@@ -0,0 +1,9 @@
+#
+# Makefile for the px4fmu-v2_APM configuration
+#
+include $(SKETCHBOOK)/mk/PX4/px4_common.mk
+
+MODULES		+= drivers/boards/px4fmu-v4pro
+MODULES		+= drivers/pwm_input
+MODULES		+= drivers/px4io
+
diff --git a/mk/px4_targets.mk b/mk/px4_targets.mk
@@ -45,6 +45,7 @@ PX4_V1_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v1_APM.mk
 PX4_V2_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v2_APM.mk
 PX4_V3_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v3_APM.mk
 PX4_V4_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v4_APM.mk
+PX4_V4PRO_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v4pro_APM.mk
 
 # Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
 # because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
@@ -126,13 +127,24 @@ px4-v4: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADER
 	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v4.px4" "$(SKETCH)-v4.px4"
 	$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v4.px4"
 
+px4-v4pro: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v4pro.export $(SKETCHCPP) module_mk px4-io-v2
+	$(v) echo Building px4-v4pro
+	$(RULEHDR)
+	$(v) cp $(PX4_V4PRO_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
+	$(PX4_MAKE) px4fmu-v4pro_APM
+	$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v4pro_APM.build/firmware.elf
+	$(v) cp $(PX4_ROOT)/Images/px4fmu-v4pro_APM.px4 $(SKETCH)-v4pro.px4
+	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v4pro.px4" "$(SKETCH)-v4pro.px4"
+	$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v4pro.px4"
+
 # force the 3 build types to not run in parallel. We got bad binaries with incorrect parameter handling
 # when these were allowed to happen in parallel
 px4:
 	$(MAKE) px4-v1
 	$(MAKE) px4-v2
 	$(MAKE) px4-v3
 	$(MAKE) px4-v4
+	$(MAKE) px4-v4pro
 
 px4-clean: clean CHECK_MODULES px4-archives-clean px4-cleandep
 	$(v) /bin/rm -rf $(PX4_ROOT)/makefiles/build $(PX4_ROOT)/Build $(PX4_ROOT)/Images/*.px4 $(PX4_ROOT)/Images/*.bin
@@ -166,6 +178,10 @@ px4-v4-upload: px4-v4
 	$(RULEHDR)
 	$(v) $(PX4_MAKE) px4fmu-v4_APM upload
 
+px4-v4pro-upload: px4-v4pro
+	$(RULEHDR)
+	$(v) $(PX4_MAKE) px4fmu-v4pro_APM upload	
+
 px4-upload: px4-v1-upload
 
 px4-archives-clean:
@@ -207,6 +223,7 @@ px4-io: px4-io-v1 px4-io-v2
 	$(PX4_ROOT)/Archives/px4fmu-v2.export \
 	$(PX4_ROOT)/Archives/px4fmu-v3.export \
 	$(PX4_ROOT)/Archives/px4fmu-v4.export \
+	$(PX4_ROOT)/Archives/px4fmu-v4pro.export \
 	$(PX4_ROOT)/Archives/px4io-v1.export \
 	$(PX4_ROOT)/Archives/px4io-v2.export
 
@@ -222,11 +239,14 @@ $(PX4_ROOT)/Archives/px4fmu-v3.export:
 $(PX4_ROOT)/Archives/px4fmu-v4.export:
 	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v4"
 
+$(PX4_ROOT)/Archives/px4fmu-v4pro.export:
+	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v4pro"
+
 $(PX4_ROOT)/Archives/px4io-v1.export:
 	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1"
 
 $(PX4_ROOT)/Archives/px4io-v2.export:
 	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v2"
 
 px4-archives:
-	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1 px4io-v2 px4fmu-v1 px4fmu-v2 px4fmu-v3 px4fmu-v4"
+	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1 px4io-v2 px4fmu-v1 px4fmu-v2 px4fmu-v3 px4fmu-v4 px4fmu-v4pro"