# Conflicts:
#	Tools/sitl_gazebo

 - this is to minimize missed sensor data (and unnecessary error output) between EKF2 construction and once it actually starts running

There are settings that have to be the same for a split output across multiple instances, like for example the PWM mask and rate configurations. This change collects them for all outputs of the same underlying driver structure and applies the complete set.

The baby shark config did mark main rate outputs (50 Hz) as alt rate, resulting in the alt rate being set to 50 Hz.

    - public_regulated_data_types in PX4/Firmware (9101f5707a251c33048289249bd565eba5d3a848): https://github.com/UAVCAN/public_regulated_data_types/commit/53a7dbbf85554e11517c13ad91b9efb871599ad1
    - public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/309b251a7e8d713d6bf428e18e28d91d5f07b73e
    - Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/53a7dbbf85554e11517c13ad91b9efb871599ad1...309b251a7e8d713d6bf428e18e28d91d5f07b73e

    309b251 2021-04-11 Peter van der Perk - reg.drone Battery parameters add nominal voltage (#113)

This change reflects the medium-term experience with users using USB as data link or power source in R&D setups. While we still discourage this for volume products, not allowing it seems like a major hurdle and blocker in R&D setups.

The simpler logic is more robust towards future refactoring.

    - sitl_gazebo in PX4/Firmware (8acdb8ca): https://github.com/PX4/PX4-SITL_gazebo/commit/5761bd66cd36ded2d0dccf8127e30a1522fe1ac6
    - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/05e2cd9c03ffa77f0c0d5bd3e788d33e06480b25
    - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/5761bd66cd36ded2d0dccf8127e30a1522fe1ac6...05e2cd9c03ffa77f0c0d5bd3e788d33e06480b25

    05e2cd9 2021-04-10 Manuel Galliker - Removed unused computation of CoG (#737)

Bootup failed in some cases with:
ERROR [mixer] can't reset mixers on /dev/pwm_output1

The reason was the mode change was not applied yet.

    - public_regulated_data_types in PX4/Firmware (9f25ac4175fd81259b11cfe79f0f875a21562d3d): https://github.com/UAVCAN/public_regulated_data_types/commit/53a7dbbf85554e11517c13ad91b9efb871599ad1
    - public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/309b251a7e8d713d6bf428e18e28d91d5f07b73e
    - Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/53a7dbbf85554e11517c13ad91b9efb871599ad1...309b251a7e8d713d6bf428e18e28d91d5f07b73e

    309b251 2021-04-11 Peter van der Perk - reg.drone Battery parameters add nominal voltage (#113)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>