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How does MP know whether to use px4 v1, v2, v3, or v4?

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@Pedals2Paddles wrote:

How does MP know whether to install the v2, v2, v3, or v4 versions of the px4 files on a Pixhawk? Maybe reading the board type first? For example, my Solo's Pixhawk 2 doesn't have a BRD_TYPE parameter. Would it still know to use the v3.px4 file?

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