diff --git a/.gitignore b/.gitignore
index 481402c..57a92a1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -48,7 +48,9 @@ GTAGS
 *.includes
 
 # CLion ignores
-.idea
+/.idea/*
+#allow run config share
+!/.idea/runConfigurations
 cmake-build-*/
 
 posix-configs/SITL/init/test/*_generated
diff --git a/.idea/runConfigurations/build_afts.xml b/.idea/runConfigurations/build_afts.xml
new file mode 100644
index 0000000..249ee63
--- /dev/null
+++ b/.idea/runConfigurations/build_afts.xml
@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="build afts" type="MAKEFILE_TARGET_RUN_CONFIGURATION" factoryName="Makefile">
+    <makefile filename="$PROJECT_DIR$/Makefile" target="px4_fts-auto_default" workingDirectory="" arguments="">
+      <envs>
+        <env name="PYTHON_EXECUTABLE" value="$PROJECT_DIR$/venv/bin/python" />
+      </envs>
+    </makefile>
+    <method v="2" />
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.idea/runConfigurations/build_mfts.xml b/.idea/runConfigurations/build_mfts.xml
new file mode 100644
index 0000000..a6082ba
--- /dev/null
+++ b/.idea/runConfigurations/build_mfts.xml
@@ -0,0 +1,12 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="build mfts" type="MAKEFILE_TARGET_RUN_CONFIGURATION" factoryName="Makefile">
+    <makefile filename="$PROJECT_DIR$/Makefile" target="px4_fts-can_default" workingDirectory="" arguments="">
+      <envs>
+        <env name="PYTHON_EXECUTABLE" value="$PROJECT_DIR$/venv/bin/python" />
+      </envs>
+    </makefile>
+    <method v="2">
+      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_venv" />
+    </method>
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.idea/runConfigurations/clear.xml b/.idea/runConfigurations/clear.xml
new file mode 100644
index 0000000..f1da975
--- /dev/null
+++ b/.idea/runConfigurations/clear.xml
@@ -0,0 +1,17 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="clear" type="ShConfigurationType">
+    <option name="SCRIPT_TEXT" value="rm -rf build" />
+    <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
+    <option name="SCRIPT_PATH" value="rm" />
+    <option name="SCRIPT_OPTIONS" value="-rf build" />
+    <option name="INDEPENDENT_SCRIPT_WORKING_DIRECTORY" value="true" />
+    <option name="SCRIPT_WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
+    <option name="INTERPRETER_PATH" value="/bin/bash" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="EXECUTE_IN_TERMINAL" value="true" />
+    <option name="EXECUTE_SCRIPT_FILE" value="false" />
+    <envs />
+    <method v="2" />
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.idea/runConfigurations/debug_AFTS.xml b/.idea/runConfigurations/debug_AFTS.xml
new file mode 100644
index 0000000..7082621
--- /dev/null
+++ b/.idea/runConfigurations/debug_AFTS.xml
@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="debug AFTS" type="com.jetbrains.cidr.embedded.openocd.conf.type" factoryName="com.jetbrains.cidr.embedded.openocd.conf.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fts-can" TARGET_NAME="px4_fts-auto_default" CONFIG_NAME="px4_fts-auto_default" version="1" RUN_PATH="$PROJECT_DIR$/build/px4_fts-auto_default/px4_fts-auto_default.elf">
+    <openocd version="1" gdb-port="3333" telnet-port="4444" board-config="$PROJECT_DIR$/openocd.cfg" reset-type="RUN" download-type="ALWAYS">
+      <debugger kind="GDB" isBundled="true" />
+    </openocd>
+    <method v="2">
+      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_build afts" />
+    </method>
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.idea/runConfigurations/debug_MFTS.xml b/.idea/runConfigurations/debug_MFTS.xml
new file mode 100644
index 0000000..a4d7901
--- /dev/null
+++ b/.idea/runConfigurations/debug_MFTS.xml
@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="debug MFTS" type="com.jetbrains.cidr.embedded.openocd.conf.type" factoryName="com.jetbrains.cidr.embedded.openocd.conf.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fts-can" TARGET_NAME="px4_fts-can_default" CONFIG_NAME="px4_fts-can_default" version="1" RUN_PATH="$PROJECT_DIR$/build/px4_fts-can_default/px4_fts-can_default.elf">
+    <openocd version="1" gdb-port="3333" telnet-port="4444" board-config="$PROJECT_DIR$/openocd.cfg" reset-type="RUN" download-type="ALWAYS">
+      <debugger kind="GDB" isBundled="true" />
+    </openocd>
+    <method v="2">
+      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_build mfts" />
+    </method>
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.idea/runConfigurations/debug_mfts.run/debug MFTS.run.xml b/.idea/runConfigurations/debug_mfts.run/debug MFTS.run.xml
new file mode 100644
index 0000000..a4d7901
--- /dev/null
+++ b/.idea/runConfigurations/debug_mfts.run/debug MFTS.run.xml	
@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="debug MFTS" type="com.jetbrains.cidr.embedded.openocd.conf.type" factoryName="com.jetbrains.cidr.embedded.openocd.conf.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fts-can" TARGET_NAME="px4_fts-can_default" CONFIG_NAME="px4_fts-can_default" version="1" RUN_PATH="$PROJECT_DIR$/build/px4_fts-can_default/px4_fts-can_default.elf">
+    <openocd version="1" gdb-port="3333" telnet-port="4444" board-config="$PROJECT_DIR$/openocd.cfg" reset-type="RUN" download-type="ALWAYS">
+      <debugger kind="GDB" isBundled="true" />
+    </openocd>
+    <method v="2">
+      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_build mfts" />
+    </method>
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.idea/runConfigurations/debug_v6c.xml b/.idea/runConfigurations/debug_v6c.xml
new file mode 100644
index 0000000..34d36ae
--- /dev/null
+++ b/.idea/runConfigurations/debug_v6c.xml
@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="debug v6c" type="com.jetbrains.cidr.embedded.openocd.conf.type" factoryName="com.jetbrains.cidr.embedded.openocd.conf.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fts-can" TARGET_NAME="px4_fmu-v6c_default" CONFIG_NAME="px4_fmu-v6c_default" version="1" RUN_PATH="$PROJECT_DIR$/build/px4_fmu-v6c_default/px4_fmu-v6c_default.elf">
+    <openocd version="1" gdb-port="3333" telnet-port="4444" board-config="$PROJECT_DIR$/openocd.cfg" reset-type="RUN" download-type="UPDATED_ONLY">
+      <debugger kind="GDB" isBundled="true" />
+    </openocd>
+    <method v="2">
+      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_build v6c" />
+    </method>
+  </configuration>
+</component>
\ No newline at end of file