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px4-firmware
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Merge remote-tracking branch 'px4/main' into pr-bidirectional-dshot

This commit is contained in:
Daniel Agar 2023-10-04 12:20:01 -04:00
parent b4412e9fbc cad595cb5c
commit 44600804bc
962 changed files with 47998 additions and 27027 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
.ci/Jenkinsfile-compile
View File

@ -9,7 +9,7 @@ pipeline {
script {
def build_nodes = [:]
def docker_images = [
armhf: "px4io/px4-dev-armhf:2022-08-12",
armhf: "px4io/px4-dev-armhf:2023-06-26",
arm64: "px4io/px4-dev-aarch64:2022-08-12",
base: "px4io/px4-dev-ros2-foxy:2022-08-12",
nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
@ -40,6 +40,8 @@ pipeline {
"ark_can-flow_default",
"ark_can-gps_canbootloader",
"ark_can-gps_default",
"ark_cannode_canbootloader",
"ark_cannode_default",
"ark_can-rtk-gps_canbootloader",
"ark_can-rtk-gps_default",
"ark_fmu-v6x_bootloader",
@ -53,8 +55,10 @@ pipeline {
"cuav_nora_default",
"cuav_x7pro_default",
"cubepilot_cubeorange_default",
"cubepilot_cubeorangeplus_default",
"cubepilot_cubeyellow_default",
"diatone_mamba-f405-mk2_default",
"flywoo_gn-f405_default",
"freefly_can-rtk-gps_canbootloader",
"freefly_can-rtk-gps_default",
"holybro_can-gps-v1_canbootloader",
@ -72,7 +76,7 @@ pipeline {
"matek_h743_default",
"modalai_fc-v1_default",
"modalai_fc-v2_default",
"modalai_voxl2-io_default",
"mro_ctrl-zero-classic_default",
"mro_ctrl-zero-f7_default",
"mro_ctrl-zero-f7-oem_default",
"mro_ctrl-zero-h7-oem_default",
@ -85,6 +89,7 @@ pipeline {
"nxp_fmuk66-v3_default",
"nxp_fmuk66-v3_socketcan",
"nxp_fmurt1062-v1_default",
"nxp_mr-canhubk3_default",
"nxp_ucans32k146_canbootloader",
"nxp_ucans32k146_default",
"omnibus_f4sd_default",
@ -112,7 +117,8 @@ pipeline {
"spracing_h7extreme_default",
"thepeach_k1_default",
"thepeach_r1_default",
"uvify_core_default"
"uvify_core_default",
"siyi_n7_default"
],
image: docker_images.nuttx,
archive: true
@ -164,7 +170,7 @@ pipeline {
}
options {
buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
timeout(time: 90, unit: 'MINUTES')
timeout(time: 120, unit: 'MINUTES')
}
}

20
.ci/Jenkinsfile-hardware
View File

@ -12,7 +12,7 @@ pipeline {
stage("build cubepilot_cubeorange_test") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
@ -91,7 +91,7 @@ pipeline {
stage("build cuav_x7pro_test") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
@ -165,7 +165,7 @@ pipeline {
stage("build px4_fmu-v4_test") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
@ -238,7 +238,7 @@ pipeline {
stage("build px4_fmu-v4pro_test") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
@ -312,7 +312,7 @@ pipeline {
stage("build px4_fmu-v5_debug") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
@ -362,7 +362,7 @@ pipeline {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
// test dataman
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
@ -403,7 +403,7 @@ pipeline {
stage("build px4_fmu-v5_stackcheck") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
@ -449,7 +449,7 @@ pipeline {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
// test dataman
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
}
}
stage("status") {
@ -486,7 +486,7 @@ pipeline {
stage("build px4_fmu-v5_test") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
@ -560,7 +560,7 @@ pipeline {
stage("build nxp_fmuk66-v3_test") {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}

5
.devcontainer/devcontainer.json
View File

@ -2,7 +2,7 @@
// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
{
"name": "px4-dev-nuttx",
"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
"image": "px4io/px4-dev-nuttx-focal:2022-08-12",
"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
@ -29,7 +29,8 @@
"twxs.cmake",
"uavcan.dsdl",
"wholroyd.jinja",
"zixuanwang.linkerscript"
"zixuanwang.linkerscript",
"ms-vscode.makefile-tools"
],
"containerUser": "user",

34
.github/ISSUE_TEMPLATE/1_Bug_report.md vendored
View File

@ -1,34 +0,0 @@
---
name: 🐛 Bug report
about: Create a report to help us improve
labels: bug-report
---
## Describe the bug
A clear and concise description of the bug.
## To Reproduce
Steps to reproduce the behavior:
1. Drone switched on '...'
2. Uploaded mission '....' (attach QGC mission file)
3. Took off '....'
4. See error
## Expected behavior
A clear and concise description of what you expected to happen.
## Log Files and Screenshots
*Always* provide a link to the flight log file:
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
- Share the link to the log (Copy and paste the URL of the log)
Add screenshots to help explain your problem.
## Drone (please complete the following information):
- Describe the type of drone.
- Photo of the IMU / autopilot setup if possible.
## Additional context
Add any other context about the problem here.

20
.github/ISSUE_TEMPLATE/2_Feature_request.md vendored
View File

@ -1,20 +0,0 @@
---
name: 🚀 Feature Request
about: Suggest an idea for this project
labels: feature-request
---
For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).
## Describe problem solved by the proposed feature
A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
## Describe your preferred solution
A clear and concise description of what you want to happen.
## Describe possible alternatives
A clear and concise description of alternative solutions or features you've considered.
## Additional context
Add any other context or screenshots for the feature request here.

13
.github/ISSUE_TEMPLATE/3_Support_question.md vendored
View File

@ -1,13 +0,0 @@
---
name: ⛔ Support Question
about: See http://discuss.px4.io/ for questions about using PX4.
---
## Attention! Please read the note below
We use GitHub issues only to discuss PX4 bugs and new features.
**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
Thanks!

11
.github/ISSUE_TEMPLATE/4_Documentation_issue.md vendored
View File

@ -1,11 +0,0 @@
---
name: ⛔ Documentation Issue
about: See https://github.com/PX4/px4_user_guide for documentation issues
---
## Attention! Please read the note below
**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
Thanks!

94
.github/ISSUE_TEMPLATE/bug_report.yml vendored Normal file
View File

@ -0,0 +1,94 @@
name: 🐛 Bug report
description: Create a report to help us improve
title: "[Bug] "
labels: ["bug-report"]
body:
- type: textarea
attributes:
label: Describe the bug
description: A clear and concise description of the bug.
validations:
required: true
- type: textarea
attributes:
label: To Reproduce
description: |
Steps to reproduce the behavior.
1. Drone switched on '...'
2. Uploaded mission '....' (attach QGC mission file)
3. Took off '....'
4. See error
validations:
required: true
- type: textarea
attributes:
label: Expected behavior
description: A clear and concise description of what you expected to happen.
validations:
required: true
- type: textarea
attributes:
label: Screenshot / Media
description: Add screenshot / media if you have them
- type: textarea
attributes:
label: Flight Log
description: |
*Always* provide a link to the flight log file:
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
- Share the link to the log (Copy and paste the URL of the log)
placeholder: |
# PASTE HERE THE LINK TO THE LOG
validations:
required: true
- type: markdown
attributes:
value: |
## Setup
- type: textarea
attributes:
label: Software Version
description: |
Which version of PX4 are you using?
placeholder: |
# If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
validations:
required: true
- type: input
attributes:
label: Flight controller
description: Specify your flight controller model (what type is it, where was it bought from, ...).
validations:
required: true
- type: dropdown
attributes:
label: Vehicle type
options:
- Multicopter
- Helicopter
- Fixed Wing
- Hybrid VTOL
- Airship/Balloon
- Rover
- Boat
- Submarine
- Other
- type: textarea
attributes:
label: How are the different components wired up (including port information)
description: Details about how all is wired.
- type: textarea
attributes:
label: Additional context
description: Add any other context about the problem here.

8
.github/ISSUE_TEMPLATE/config.yml vendored Normal file
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@ -0,0 +1,8 @@
blank_issues_enabled: false
contact_links:
- name: Support Question
url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
about: For questions about using PX4 or related components, please use the discuss forum and discord server
- name: Documentation Issue
url: https://github.com/PX4/PX4-user_guide/issues
about: If you found an issue in documentation, please submit it directly to the docs repository issues

35
.github/ISSUE_TEMPLATE/feature_request.yml vendored Normal file
View File

@ -0,0 +1,35 @@
name: 🚀 Feature Request
description: Suggest an idea for this project
labels: ["feature-request"]
body:
- type: markdown
attributes:
value: |
## Please note that feature requests are not 'fire and forget'
It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
- type: textarea
attributes:
label: Describe problem solved by the proposed feature
description: A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
validations:
required: true
- type: textarea
attributes:
label: Describe your preferred solution
description: A clear and concise description of what you want to happen.
validations:
required: true
- type: textarea
attributes:
label: Describe possible alternatives
description: A clear and concise description of any alternative solutions or features you've considered.
validations:
required: true
- type: textarea
attributes:
label: Additional context
description: Add any other context or screenshots for the feature request here.

2
.github/PULL_REQUEST_TEMPLATE.md vendored
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@ -23,7 +23,7 @@ For release notes:
```
Feature/Bugfix XYZ
New parameter: XYZ_Z
Documentation: Need to clarfiy page ... / done, read docs.px4.io/...
Documentation: Need to clarify page ... / done, read docs.px4.io/...
```
### Alternatives

24
.github/slack.svg vendored
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@ -1,24 +0,0 @@
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
<linearGradient id="smooth" x2="0" y2="100%">
<stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
<stop offset="1" stop-opacity=".1"/>
</linearGradient>
<mask id="round">
<rect width="90" height="20" rx="3" fill="#fff"/>
</mask>
<g mask="url(#round)">
<rect width="42" height="20" fill="#555"/>
<rect x="42" width="48" height="20" fill="#E01563"/>
<rect width="90" height="20" fill="url(#smooth)"/>
</g>
<g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
<text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
<text x="22" y="14">slack</text>
<text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
<text x="65" y="14">Join us!</text>
</g>
</svg>
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15
.github/stale.yml vendored
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@ -1,15 +0,0 @@
# Number of days of inactivity before an issue becomes stale
daysUntilStale: 90
# Number of days of inactivity before a stale issue is closed, or `false` to disable
daysUntilClose: false
# Issues with these labels will never be considered stale
exemptLabels:
- pinned
# Label to use when marking an issue as stale
staleLabel: stale
# Comment to post when marking an issue as stale. Set to `false` to disable
markComment: >
This issue has been automatically marked as stale because it has not had
recent activity. Thank you for your contributions.
# Comment to post when closing a stale issue. Set to `false` to disable
closeComment: false

2
.github/workflows/checks.yml vendored
View File

@ -28,7 +28,7 @@ jobs:
"parameters_metadata",
]
container:
image: px4io/px4-dev-nuttx-focal:2021-09-08
image: px4io/px4-dev-nuttx-focal:2022-08-12
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
steps:
- uses: actions/checkout@v1

10
.github/workflows/compile_linux.yml vendored
View File

@ -1,9 +1,12 @@
name: Linux Targets
name: Compile Linux Targets
on:
push:
branches:
- 'main'
- 'stable'
- 'beta'
- 'release/*'
pull_request:
branches:
- '*'
@ -11,7 +14,7 @@ on:
jobs:
build:
runs-on: ubuntu-latest
container: px4io/px4-dev-armhf:2021-09-08
container: px4io/px4-dev-armhf:2023-06-26
strategy:
matrix:
config: [
@ -24,7 +27,8 @@ jobs:
- uses: actions/checkout@v1
with:
token: ${{secrets.ACCESS_TOKEN}}
- name: ownership workaround
run: git config --system --add safe.directory '*'
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}

7
.github/workflows/compile_linux_arm64.yml vendored
View File

@ -1,9 +1,12 @@
name: Linux ARM64 Targets
name: Compile Linux ARM64 Targets
on:
push:
branches:
- 'main'
- 'stable'
- 'beta'
- 'release/*'
pull_request:
branches:
- '*'
@ -11,7 +14,7 @@ on:
jobs:
build:
runs-on: ubuntu-latest
container: px4io/px4-dev-aarch64:2021-09-08
container: px4io/px4-dev-aarch64:2022-08-12
strategy:
matrix:
config: [

3
.github/workflows/compile_macos.yml vendored
View File

@ -10,13 +10,12 @@ on:
jobs:
build:
runs-on: macos-10.15
runs-on: macos-latest
strategy:
matrix:
config: [
px4_fmu-v5_default,
px4_sitl
#tests, # includes px4_sitl
]
steps:
- uses: actions/checkout@v1

10
.github/workflows/compile_nuttx.yml vendored
View File

@ -1,9 +1,12 @@
name: Nuttx Targets
name: Compile Nuttx Targets
on:
push:
branches:
- 'main'
- 'stable'
- 'beta'
- 'release/*'
pull_request:
branches:
- '*'
@ -11,7 +14,7 @@ on:
jobs:
build:
runs-on: ubuntu-latest
container: px4io/px4-dev-nuttx-focal:2021-09-08
container: px4io/px4-dev-nuttx-focal:2022-08-12
strategy:
fail-fast: false
matrix:
@ -70,7 +73,8 @@ jobs:
raspberrypi_pico,
sky-drones_smartap-airlink,
spracing_h7extreme,
uvify_core
uvify_core,
siyi_n7
]
steps:
- uses: actions/checkout@v1

5
.github/workflows/deploy_all.yml vendored
View File

@ -24,12 +24,15 @@ jobs:
needs: enumerate_targets
strategy:
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
container: ${{ matrix.container }}
steps:
- uses: actions/checkout@v1
with:
token: ${{secrets.ACCESS_TOKEN}}
- name: ownership workaround
run: git config --system --add safe.directory '*'
- name: make ${{matrix.target}}
run: make ${{matrix.target}}

2
.github/workflows/failsafe_sim.yml vendored
View File

@ -21,7 +21,7 @@ jobs:
"failsafe_web",
]
container:
image: px4io/px4-dev-nuttx-focal:2021-09-08
image: px4io/px4-dev-nuttx-focal:2022-08-12
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
steps:
- uses: actions/checkout@v1

2
.github/workflows/metadata.yml vendored
View File

@ -103,7 +103,7 @@ jobs:
uorb_graph:
runs-on: ubuntu-latest
container: px4io/px4-dev-nuttx-focal:2021-09-08
container: px4io/px4-dev-nuttx-focal:2022-08-12
steps:
- uses: actions/checkout@v1
with:

16
.github/workflows/stale.yml vendored Normal file
View File

@ -0,0 +1,16 @@
name: 'Handle stale issues and PRs'
on:
schedule:
- cron: '30 1 * * *'
jobs:
stale:
runs-on: ubuntu-latest
steps:
- uses: actions/stale@v8
with:
days-before-stale: 30
days-before-close: -1
stale-issue-label: 'stale'
stale-pr-label: 'stale'
remove-stale-when-updated: true

3
.vscode/extensions.json vendored
View File

@ -18,6 +18,7 @@
"twxs.cmake",
"uavcan.dsdl",
"wholroyd.jinja",
"zixuanwang.linkerscript"
"zixuanwang.linkerscript",
"ms-vscode.makefile-tools"
]
}

3
.vscode/settings.json vendored
View File

@ -127,5 +127,6 @@
"terminal.integrated.scrollback": 15000,
"yaml.schemas": {
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
}
},
"ros.distro": "humble"
}

5
CMakeLists.txt
View File

@ -414,6 +414,8 @@ endif()
#
add_library(parameters_interface INTERFACE)
add_library(kernel_parameters_interface INTERFACE)
add_library(events_interface INTERFACE)
add_library(kernel_events_interface INTERFACE)
include(px4_add_library)
add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@ -440,8 +442,11 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
target_link_libraries(parameters_interface INTERFACE usr_parameters)
target_link_libraries(kernel_parameters_interface INTERFACE parameters)
target_link_libraries(events_interface INTERFACE usr_events)
target_link_libraries(kernel_events_interface INTERFACE events)
else()
target_link_libraries(parameters_interface INTERFACE parameters)
target_link_libraries(events_interface INTERFACE events)
endif()
# firmware added last to generate the builtin for included modules

4
Jenkinsfile vendored
View File

@ -94,7 +94,7 @@ pipeline {
stage('failsafe docs') {
agent {
docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
docker { image 'px4io/px4-dev-nuttx-focal:2022-08-12' }
}
steps {
sh '''#!/bin/bash -l
@ -125,7 +125,7 @@ pipeline {
stage('uORB graphs') {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-08-18'
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}

1
ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
View File

@ -17,6 +17,7 @@ param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default VT_B_TRANS_DUR 5
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_TYPE 0
param set-default VT_FW_DIFTHR_EN 1

4
ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow
View File

@ -31,6 +31,7 @@ param set-default PWM_MAIN_FUNC4 104
# EKF2
param set-default EKF2_GPS_CTRL 0
param set-default EKF2_HGT_REF 0
param set-default EKF2_EVP_NOISE 0.05
param set-default EKF2_EVA_NOISE 0.05
param set-default EKF2_OF_CTRL 1
@ -39,6 +40,9 @@ param set-default EKF2_OF_CTRL 1
param set-default LPE_FUSION 242
param set-default LPE_FAKE_ORIGIN 1
# Commander
# param set-default COM_HOME_EN 0 # Disable setting of home position
param set-default MPC_ALT_MODE 2
param set-default SENS_FLOW_ROT 6

0
ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid → ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid
View File

0
ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid.post → ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post
View File

8
ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_depth_camera Normal file
View File

@ -0,0 +1,8 @@
#!/bin/sh
#
# @name 3DR Iris Quadrotor with a depth camera (forward-facing)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris

8
ROMFS/px4fmu_common/init.d-posix/airframes/1016_gazebo-classic_iris_downward_depth_camera Normal file
View File

@ -0,0 +1,8 @@
#!/bin/sh
#
# @name 3DR Iris Quadrotor with a depth camera (downward-facing)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris

1
ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult
View File

@ -7,6 +7,7 @@
param set-default FW_LAUN_DETCN_ON 1
param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
param set-default FW_LAUN_AC_THLD 10
param set-default FW_LND_ANG 8

6
ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane
View File

@ -8,7 +8,6 @@
param set-default FW_LND_ANG 8
param set-default FW_THR_LND_MAX 0
param set-default NPFG_PERIOD 12
@ -36,7 +35,6 @@ param set-default NAV_DLL_ACT 2
param set-default RWTO_TKOFF 1
#param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
@ -61,7 +59,3 @@ param set-default PWM_MAIN_FUNC7 202
param set-default PWM_MAIN_FUNC8 203
param set-default PWM_MAIN_FUNC9 206
param set-default PWM_MAIN_REV 256
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom

41
ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter
View File

@ -47,38 +47,33 @@ param set-default PWM_MAIN_REV 96 # invert both elevons
# Single-EKF (for replay)
param set-default EKF2_MULTI_IMU 0
param set-default SENS_IMU_MODE 1
param set-default EKF2_MULTI_MAG 0
param set-default SENS_MAG_MODE 1
param set-default NPFG_PERIOD 12
param set-default FW_PR_I 0.2
param set-default FW_PR_P 0.2
param set-default FW_P_TC 0.6
param set-default FW_PR_FF 0.1
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_P 0.2
param set-default FW_THR_TRIM 0.33
param set-default FW_THR_MAX 0.6
param set-default FW_RR_FF 0.1
param set-default FW_RR_I 0.2
param set-default FW_RR_P 0.3
param set-default FW_THR_TRIM 0.35
param set-default FW_THR_MAX 0.8
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set-default FW_T_CLMB_MAX 6
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 1.6
param set-default MC_AIRMODE 1
param set-default MC_ROLL_P 3
param set-default MC_PITCH_P 3
param set-default MC_ROLLRATE_P 0.3
param set-default MC_PITCHRATE_P 0.3
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default NAV_ACC_RAD 5
param set-default VT_ARSP_TRANS 10
param set-default VT_B_TRANS_DUR 5
param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_S_Y 0.5
param set-default VT_FW_DIFTHR_S_Y 1
param set-default VT_F_TRANS_DUR 1.5
param set-default VT_F_TRANS_THR 0.7
param set-default VT_TYPE 0
param set-default WV_EN 0

74
ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter Normal file
View File

@ -0,0 +1,74 @@
#!/bin/sh
#
# @name Quadrotor + Tailsitter
#
# @type VTOL Quad Tailsitter
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default MAV_TYPE 20
param set-default CA_AIRFRAME 4
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.23
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.23
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.23
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.23
param set-default CA_ROTOR3_KM -0.05
param set-default CA_SV_CS_COUNT 0
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 0
parm set-default FD_FAIL_R 70
param set-default FW_P_TC 0.6
param set-default FW_PR_I 0.3
param set-default FW_PR_P 0.5
param set-default FW_PSP_OFF 2
param set-default FW_RR_FF 0.1
param set-default FW_RR_I 0.1
param set-default FW_RR_P 0.2
param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
param set-default FW_YR_I 0
param set-default FW_THR_TRIM 0.35
param set-default FW_THR_MAX 0.8
param set-default FW_THR_MIN 0.05
param set-default FW_T_CLMB_MAX 6
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 1.6
param set-default FW_AIRSPD_STALL 10
param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 18
param set-default FW_AIRSPD_MAX 22
param set-default MC_AIRMODE 2
param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
param set-default MC_ROLL_P 3
param set-default MC_PITCH_P 3
param set-default MC_ROLLRATE_P 0.3
param set-default MC_PITCHRATE_P 0.3
param set-default VT_ARSP_TRANS 15
param set-default VT_B_TRANS_DUR 5
param set-default VT_FW_DIFTHR_EN 7
param set-default VT_FW_DIFTHR_S_Y 1
param set-default VT_F_TRANS_DUR 1.5
param set-default VT_TYPE 0
param set-default WV_EN 0

122
ROMFS/px4fmu_common/init.d-posix/airframes/8011_gz_omnicopter Normal file
View File

@ -0,0 +1,122 @@
#!/bin/sh
#
# @name 6DoF Omnicopter SITL
#
# @type Quadrotor Wide
#
# @maintainer Jaeyoung Lim <jalim@ethz.ch>
#
. ${R}etc/init.d/rc.mc_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=omnicopter}
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 8
param set-default CA_R_REV 255
param set-default CA_ROTOR0_PX 0.14435
param set-default CA_ROTOR0_PY -0.14435
param set-default CA_ROTOR0_PZ -0.14435
param set-default CA_ROTOR0_KM 0.05 # CCW
param set-default CA_ROTOR0_AX -0.788675
param set-default CA_ROTOR0_AY -0.211325
param set-default CA_ROTOR0_AZ -0.57735
param set-default CA_ROTOR1_PX -0.14435
param set-default CA_ROTOR1_PY -0.14435
param set-default CA_ROTOR1_PZ -0.14435
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR1_AX 0.211325
param set-default CA_ROTOR1_AY -0.788675
param set-default CA_ROTOR1_AZ 0.57735
param set-default CA_ROTOR2_PX 0.14435
param set-default CA_ROTOR2_PY 0.14435
param set-default CA_ROTOR2_PZ -0.14435
param set-default CA_ROTOR2_KM 0.05
param set-default CA_ROTOR2_AX -0.211325
param set-default CA_ROTOR2_AY 0.788675
param set-default CA_ROTOR2_AZ 0.57735
param set-default CA_ROTOR3_PX -0.14435
param set-default CA_ROTOR3_PY 0.14435
param set-default CA_ROTOR3_PZ -0.14435
param set-default CA_ROTOR3_KM 0.05
param set-default CA_ROTOR3_AX 0.788675
param set-default CA_ROTOR3_AY 0.211325
param set-default CA_ROTOR3_AZ -0.57735
param set-default CA_ROTOR4_PX 0.14435
param set-default CA_ROTOR4_PY -0.14435
param set-default CA_ROTOR4_PZ 0.14435
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR4_AX 0.788675
param set-default CA_ROTOR4_AY 0.211325
param set-default CA_ROTOR4_AZ -0.57735
param set-default CA_ROTOR5_PX -0.14435
param set-default CA_ROTOR5_PY -0.14435
param set-default CA_ROTOR5_PZ 0.14435
param set-default CA_ROTOR5_KM 0.05
param set-default CA_ROTOR5_AX -0.211325
param set-default CA_ROTOR5_AY 0.788675
param set-default CA_ROTOR5_AZ 0.57735
param set-default CA_ROTOR6_PX 0.14435
param set-default CA_ROTOR6_PY 0.14435
param set-default CA_ROTOR6_PZ 0.14435
param set-default CA_ROTOR6_KM 0.05
param set-default CA_ROTOR6_AX 0.211325
param set-default CA_ROTOR6_AY -0.788675
param set-default CA_ROTOR6_AZ 0.57735
param set-default CA_ROTOR7_PX -0.14435
param set-default CA_ROTOR7_PY 0.14435
param set-default CA_ROTOR7_PZ 0.14435
param set-default CA_ROTOR7_KM 0.05
param set-default CA_ROTOR7_AX -0.788675
param set-default CA_ROTOR7_AY -0.211325
param set-default CA_ROTOR7_AZ -0.57735
param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_FUNC2 102
param set-default SIM_GZ_EC_FUNC3 103
param set-default SIM_GZ_EC_FUNC4 104
param set-default SIM_GZ_EC_FUNC5 105
param set-default SIM_GZ_EC_FUNC6 106
param set-default SIM_GZ_EC_FUNC7 107
param set-default SIM_GZ_EC_FUNC8 108
param set-default SIM_GZ_EC_MIN1 0
param set-default SIM_GZ_EC_MIN2 0
param set-default SIM_GZ_EC_MIN3 0
param set-default SIM_GZ_EC_MIN4 0
param set-default SIM_GZ_EC_MIN5 0
param set-default SIM_GZ_EC_MIN6 0
param set-default SIM_GZ_EC_MIN7 0
param set-default SIM_GZ_EC_MIN8 0
param set-default SIM_GZ_EC_MAX1 1100
param set-default SIM_GZ_EC_MAX2 1100
param set-default SIM_GZ_EC_MAX3 1100
param set-default SIM_GZ_EC_MAX4 1100
param set-default SIM_GZ_EC_MAX5 1100
param set-default SIM_GZ_EC_MAX6 1100
param set-default SIM_GZ_EC_MAX7 1100
param set-default SIM_GZ_EC_MAX8 1100
# disable MC desaturation which improves attitude tracking
param set-default CA_METHOD 0
# disable attitude failure detection
param set-default FD_FAIL_P 0
param set-default FD_FAIL_R 0

11
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
View File

@ -39,8 +39,10 @@ px4_add_romfs_files(
1012_gazebo-classic_iris_rplidar
1013_gazebo-classic_iris_vision
1013_gazebo-classic_iris_vision.post
1015_gazebo-classic_iris_obs_avoid
1015_gazebo-classic_iris_obs_avoid.post
1014_gazebo-classic_iris_obs_avoid
1014_gazebo-classic_iris_obs_avoid.post
1015_gazebo-classic_iris_depth_camera
1016_gazebo-classic_iris_downward_depth_camera
1017_gazebo-classic_iris_opt_flow_mockup
1019_gazebo-classic_iris_dual_gps
1021_gazebo-classic_uuv_hippocampus
@ -60,6 +62,7 @@ px4_add_romfs_files(
1042_gazebo-classic_tiltrotor
1043_gazebo-classic_standard_vtol_drop
1044_gazebo-classic_plane_lidar
1045_gazebo-classic_quadtailsitter
1060_gazebo-classic_rover
1061_gazebo-classic_r1_rover
1062_flightgear_tf-r1
@ -80,6 +83,8 @@ px4_add_romfs_files(
6011_gazebo-classic_typhoon_h480
6011_gazebo-classic_typhoon_h480.post
8011_gz_omnicopter
10015_gazebo-classic_iris
10016_none_iris
10017_jmavsim_iris
@ -93,4 +98,6 @@ px4_add_romfs_files(
17001_flightgear_tf-g1
17002_flightgear_tf-g2
# [22000, 22999] Reserve for custom models
)

15
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
View File

@ -38,6 +38,19 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then
# set local coordinate frame reference
if [ -n "${PX4_HOME_LAT}" ]; then
param set SIM_GZ_HOME_LAT ${PX4_HOME_LAT}
fi
if [ -n "${PX4_HOME_LON}" ]; then
param set SIM_GZ_HOME_LON ${PX4_HOME_LON}
fi
if [ -n "${PX4_HOME_ALT}" ]; then
param set SIM_GZ_HOME_ALT ${PX4_HOME_LON}
fi
# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
if [ -f ./gz_env.sh ]; then
. ./gz_env.sh
@ -59,7 +72,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
fi
# look for running ${gz_command} gazebo world
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
# shellcheck disable=SC2153
if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then

7
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@ -168,8 +168,6 @@ param set-default EKF2_REQ_GPS_H 0.5
# Multi-EKF
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0
param set-default EKF2_MULTI_MAG 2
param set-default SENS_MAG_MODE 0
param set-default IMU_GYRO_FFT_EN 1
param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
@ -189,6 +187,11 @@ param set-default SYS_FAILURE_EN 1
# does not go below 50% by default, but failure injection can trigger failsafes.
param set-default COM_LOW_BAT_ACT 2
# Allow to override SYS_MC_EST_GROUP via env
if [ -n "$SYS_MC_EST_GROUP" ]; then
param set SYS_MC_EST_GROUP $SYS_MC_EST_GROUP
fi
# Adapt timeout parameters if simulation runs faster or slower than realtime.
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)

1
ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
View File

@ -20,6 +20,7 @@
param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
param set UAVCAN_ENABLE 0
param set-default VT_B_TRANS_DUR 5
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_MOT_COUNT 2
param set-default VT_TYPE 0

1
ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
View File

@ -31,3 +31,4 @@ param set-default CA_SV_CS1_TYPE 6
param set-default MAV_TYPE 19
param set-default VT_TYPE 0
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_B_TRANS_DUR 5

1
ROMFS/px4fmu_common/init.d/airframes/2106_albatross
View File

@ -17,6 +17,7 @@
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @board bitcraze_crazyflie exclude
# @board diatone_mamba-f405-mk2 exclude
#
. ${R}etc/init.d/rc.fw_defaults

10
ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2
View File

@ -34,9 +34,7 @@ param set-default CA_ROTOR3_PX -0.25
param set-default CA_ROTOR3_PY 0.25
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_AUX_FUNC1 101
param set-default PWM_AUX_FUNC2 102
param set-default PWM_AUX_FUNC3 103
param set-default PWM_AUX_FUNC4 104
param set-default PWM_AUX_TIM0 -4
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104

2
ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
View File

@ -13,6 +13,7 @@
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board diatone_mamba-f405-mk2 exclude
#
. ${R}etc/init.d/rc.mc_defaults
@ -42,7 +43,6 @@ param set-default MC_ROLLRATE_P 0.07
param set-default MC_YAW_P 3
param set-default MPC_THR_HOVER 0.7
param set-default MPC_THR_MAX 1
param set-default MPC_Z_P 1.5
param set-default MPC_Z_VEL_P_ACC 8
param set-default MPC_Z_VEL_I_ACC 6

2
ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
View File

@ -13,6 +13,7 @@
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board diatone_mamba-f405-mk2 exclude
#
. ${R}etc/init.d/rc.mc_defaults
@ -41,7 +42,6 @@ param set-default MC_ROLLRATE_P 0.07
param set-default MC_YAW_P 3
param set-default MPC_THR_HOVER 0.7
param set-default MPC_THR_MAX 1
param set-default MPC_Z_P 1.5
param set-default MPC_Z_VEL_P_ACC 8
param set-default MPC_Z_VEL_I_ACC 6

1
ROMFS/px4fmu_common/init.d/rc.fw_defaults
View File

@ -34,6 +34,7 @@ param set-default EKF2_REQ_EPV 10
param set-default EKF2_REQ_HDRIFT 0.5
param set-default EKF2_REQ_SACC 1
param set-default EKF2_REQ_VDRIFT 1.0
param set-default EKF2_RNG_QLTY_T 3.0
param set-default RTL_TYPE 1
param set-default RTL_RETURN_ALT 100

6
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -172,6 +172,12 @@ then
ms5525dso start -X
fi
# TE ASP5033 differential pressure sensor external I2C
if param compare -s SENS_EN_ASP5033 1
then
asp5033 start -X
fi
# SHT3x temperature and hygrometer sensor, external I2C
if param compare -s SENS_EN_SHT3X 1
then

10
ROMFS/px4fmu_common/init.d/rcS
View File

@ -93,6 +93,14 @@ then
fi
fi
# Check for an update of the ext_autostart folder, and replace the old one with it
if [ -e /fs/microsd/ext_autostart_new ]
then
echo "Updating external autostart files"
rm -r $SDCARD_EXT_PATH
mv /fs/microsd/ext_autostart_new $SDCARD_EXT_PATH
fi
set PARAM_FILE /fs/microsd/params
set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
fi
@ -254,6 +262,8 @@ else
#
rgbled start -X -q
rgbled_ncp5623c start -X -q
rgbled_lp5562 start -X -q
rgbled_is31fl3195 start -X -q
#
# Override parameters from user configuration file.

8
Tools/HIL/run_nsh_cmd.py
View File

@ -39,7 +39,7 @@ def print_line(line):
print('{0}'.format(line), end='')
def do_nsh_cmd(port_url, baudrate, cmd):
def do_nsh_cmd(port_url, baudrate, cmd, ignore_stdout_errors=False):
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
timeout_start = time.monotonic()
@ -106,7 +106,7 @@ def do_nsh_cmd(port_url, baudrate, cmd):
if success_cmd in serial_line:
sys.exit(return_code)
else:
if "ERROR " in serial_line:
if "ERROR " in serial_line and not ignore_stdout_errors:
return_code = -1
print_line(serial_line)
@ -148,6 +148,8 @@ def main():
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
parser.add_argument('--ignore-stdout-errors', action='store_true',
help='Ignore errors printed to stdout')
args = parser.parse_args()
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
@ -155,7 +157,7 @@ def main():
print("pyserial url: {0}".format(port_url))
do_nsh_cmd(port_url, args.baudrate, args.cmd)
do_nsh_cmd(port_url, args.baudrate, args.cmd, args.ignore_stdout_errors)
if __name__ == "__main__":
main()

3
Tools/HIL/test_airframes.sh
View File

@ -57,7 +57,4 @@ do
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink status' || true
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps status' || true
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
done

115
Tools/auterion/remote_update_fmu.sh Executable file
View File

@ -0,0 +1,115 @@
#!/bin/bash
# Flash PX4 to a device running AuterionOS in the local network
if [ "$1" == "-h" ] || [ "$1" == "--help" ] || [ $# -lt 2 ]; then
echo "Usage: $0 -f <firmware.px4|.elf> [-c <configuration_dir>] -d <IP/Device> [-u <user>] [-p <ssh_port>] [--revert]"
exit 1
fi
ssh_port=22
ssh_user=root
while getopts ":f:c:d:p:u:r" opt; do
case ${opt} in
f )
if [ -n "$OPTARG" ]; then
firmware_file="$OPTARG"
else
echo "ERROR: -f requires a non-empty option argument."
exit 1
fi
;;
c )
if [ -f "$OPTARG/rc.autostart" ]; then
config_dir="$OPTARG"
else
echo "ERROR: -c configuration directory is empty or does not contain a valid rc.autostart"
exit 1
fi
;;
d )
if [ "$OPTARG" ]; then
device="$OPTARG"
else
echo "ERROR: -d requires a non-empty option argument."
exit 1
fi
;;
p )
if [[ "$OPTARG" =~ ^[0-9]+$ ]]; then
ssh_port="$OPTARG"
else
echo "ERROR: -p ssh_port must be a number."
exit 1
fi
;;
u )
if [ "$OPTARG" ]; then
ssh_user="$OPTARG"
else
echo "ERROR: -u requires a non-empty option argument."
exit 1
fi
;;
r )
revert=true
;;
esac
done
if [ -z "$device" ]; then
echo "Error: missing device"
exit 1
fi
target_dir=/shared_container_dir/fmu
target_file_name="update-dev.tar"
if [ "$revert" == true ]; then
# revert to the release version which was originally deployed
cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
ssh -t -p $ssh_port $ssh_user@$device "$cmd"
else
# create custom update-dev.tar
tmp_dir="$(mktemp -d)"
config_path=""
firmware_path=""
if [ -d "$config_dir" ]; then
cp -r "$config_dir" "$tmp_dir/config"
config_path=config
fi
if [ -f "$firmware_file" ]; then
extension="${firmware_file##*.}"
cp "$firmware_file" "$tmp_dir/firmware.$extension"
if [ "$extension" == "elf" ]; then
# ensure the file is stripped to reduce file size
arm-none-eabi-strip "$tmp_dir/firmware.$extension"
fi
firmware_path="firmware.$extension"
fi
pushd "$tmp_dir" &>/dev/null
if [ -z $firmware_path ] && [ -z $config_path ]; then
exit 1
fi
tar_name="tar"
if [ -x "$(command -v gtar)" ]; then
# check if gnu-tar is installed on macOS and use that instead
tar_name="gtar"
fi
$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path
# send it to the target to start flashing
scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
popd &>/dev/null
rm -rf "$tmp_dir"
fi
# grab status output for flashing progress
cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
ssh -t -p $ssh_port $ssh_user@$device "$cmd"

51
Tools/auterion/upload_skynode.sh Executable file
View File

@ -0,0 +1,51 @@
#!/usr/bin/env bash
DIR="$(dirname $(readlink -f $0))"
DEFAULT_AUTOPILOT_HOST=10.41.1.1
DEFAULT_AUTOPILOT_PORT=33333
DEFAULT_AUTOPILOT_USER=auterion
for i in "$@"
do
case $i in
--file=*)
PX4_BINARY_FILE="${i#*=}"
;;
--default-ip=*)
DEFAULT_AUTOPILOT_HOST="${i#*=}"
;;
--default-port=*)
DEFAULT_AUTOPILOT_PORT="${i#*=}"
;;
--default-user=*)
DEFAULT_AUTOPILOT_USER="${i#*=}"
;;
--revert)
REVERT_AUTOPILOT_ARGUMENT=-r
;;
--wifi)
DEFAULT_AUTOPILOT_HOST=10.41.0.1
;;
*)
# unknown option
;;
esac
done
# allow these to be overridden
[ -z "$AUTOPILOT_HOST" ] && AUTOPILOT_HOST=$DEFAULT_AUTOPILOT_HOST
[ -z "$AUTOPILOT_PORT" ] && AUTOPILOT_PORT=$DEFAULT_AUTOPILOT_PORT
[ -z "$AUTOPILOT_USER" ] && AUTOPILOT_USER=$DEFAULT_AUTOPILOT_USER
ARGUMENTS=()
ARGUMENTS+=(-d "$AUTOPILOT_HOST")
ARGUMENTS+=(-p "$AUTOPILOT_PORT")
ARGUMENTS+=(-u "$AUTOPILOT_USER")
ARGUMENTS+=(${PX4_BINARY_FILE:+-f "$PX4_BINARY_FILE"})
ARGUMENTS+=($REVERT_AUTOPILOT_ARGUMENT)
echo "Flashing $AUTOPILOT_HOST ..."
"$DIR"/remote_update_fmu.sh "${ARGUMENTS[@]}"
exit 0

10
Tools/docker_run.sh
View File

@ -4,16 +4,16 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
echo "guessing PX4_DOCKER_REPO based on input";
if [[ $@ =~ .*px4_fmu.* ]]; then
# nuttx-px4fmu-v{1,2,3,4,5}
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
elif [[ $@ =~ .*pilotpi.arm64 ]]; then
# scumaker_pilotpi_arm64
PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
PX4_DOCKER_REPO="px4io/px4-dev-aarch64:2022-08-12"
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
# posix_rpi_cross, posix_bebop_default
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
# clang tools
PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
@ -27,7 +27,7 @@ fi
# otherwise default to nuttx
if [ -z ${PX4_DOCKER_REPO+x} ]; then
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
fi
# docker hygiene

13
Tools/ecl_ekf/analysis/checks.py
View File

@ -56,11 +56,14 @@ def perform_imu_checks(
# perform the vibration check
imu_status['imu_vibration_check'] = 'Pass'
for imu_vibr_metric in ['imu_coning', 'imu_hfgyro', 'imu_hfaccel']:
mean_metric = '{:s}_mean'.format(imu_vibr_metric)
peak_metric = '{:s}_peak'.format(imu_vibr_metric)
if imu_metrics[mean_metric] > check_levels['{:s}_warn'.format(mean_metric)] \
or imu_metrics[peak_metric] > check_levels['{:s}_warn'.format(peak_metric)]:
imu_status['imu_vibration_check'] = 'Warning'
mean_metric = '{:s}_mean_warn'.format(imu_vibr_metric)
peak_metric = '{:s}_peak_warn'.format(imu_vibr_metric)
mean_key = '{:s}_mean'.format(imu_vibr_metric)
peak_key = '{:s}_peak'.format(imu_vibr_metric)
if mean_key in imu_metrics and peak_key in imu_metrics:
if imu_metrics[mean_key] > check_levels[mean_metric] \
or imu_metrics[peak_key] > check_levels[peak_metric]:
imu_status['imu_vibration_check'] = 'Warning'
if imu_status['imu_vibration_check'] == 'Warning':
print('IMU vibration check warning.')

6
Tools/ecl_ekf/analysis/metrics.py
View File

@ -104,9 +104,9 @@ def calculate_innov_fail_metrics(
# calculate innovation check fail metrics
for signal_id, signal, result in [('posv', 'reject_ver_pos', 'hgt_fail_percentage'),
('magx', 'reject_mag_x', 'magx_fail_percentage'),
('magy', 'reject_mag_y', 'magy_fail_percentage'),
('magz', 'reject_mag_z', 'magz_fail_percentage'),
('magx', 'fs_bad_mag_x', 'magx_fail_percentage'),
('magy', 'fs_bad_mag_y', 'magy_fail_percentage'),
('magz', 'fs_bad_mag_z', 'magz_fail_percentage'),
('yaw', 'reject_yaw', 'yaw_fail_percentage'),
('velh', 'reject_hor_vel', 'vel_fail_percentage'),
('velv', 'reject_ver_vel', 'vel_fail_percentage'),

2
Tools/ecl_ekf/plotting/pdf_report.py
View File

@ -222,7 +222,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
data_plot = CheckFlagsPlot(
status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
'reject_hagl'],
['reject_mag_x', 'reject_mag_y', 'reject_mag_z',
['fs_bad_mag_x', 'fs_bad_mag_y', 'fs_bad_mag_z',
'reject_yaw'], ['reject_airspeed'], ['reject_sideslip'],
['reject_optflow_x',
'reject_optflow_y']], x_label='time (sec)',

14
Tools/generate_board_targets_json.py
View File

@ -61,18 +61,19 @@ def process_target(px4board_file, target_name):
if platform not in excluded_platforms:
# get the container based on the platform and toolchain
container = platform
if platform == 'posix':
container = 'base-focal'
container = 'px4io/px4-dev-base-focal:2021-09-08'
if toolchain:
if toolchain.startswith('aarch64'):
container = 'aarch64'
container = 'px4io/px4-dev-aarch64:2022-08-12'
elif toolchain == 'arm-linux-gnueabihf':
container = 'armhf'
container = 'px4io/px4-dev-armhf:2023-06-26'
else:
if verbose: print(f'possibly unmatched toolchain: {toolchain}')
if verbose: print(f'unmatched toolchain: {toolchain}')
elif platform == 'nuttx':
container = 'nuttx-focal'
container = 'px4io/px4-dev-nuttx-focal:2022-08-12'
else:
if verbose: print(f'unmatched platform: {platform}')
ret = {'target': target_name, 'container': container}
@ -113,4 +114,3 @@ extra_args = {}
if args.pretty:
extra_args['indent'] = 2
print(json.dumps(github_action_config, **extra_args))

3
Tools/msg/templates/ucdr/msg.h.em
View File

@ -124,8 +124,9 @@ static inline constexpr int ucdr_topic_size_@(topic)()
return @(struct_size);
}
bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf, int64_t time_offset = 0)
bool ucdr_serialize_@(topic)(const void* data, ucdrBuffer& buf, int64_t time_offset = 0)
{
const @(uorb_struct)& topic = *static_cast<const @(uorb_struct)*>(data);
@{
for field_type, field_name, field_size, padding in fields:
if padding > 0:

2
Tools/msg/templates/uorb/msg.cpp.em
View File

@ -77,7 +77,7 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field
constexpr char __orb_@(name_snake_case)_fields[] = "@( ";".join(topic_fields) );";
@[for topic in topics]@
ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<uint8_t>(ORB_ID::@topic));
ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<orb_id_size_t>(ORB_ID::@topic));
@[end for]
void print_message(const orb_metadata *meta, const @uorb_struct& message)

2
Tools/msg/templates/uorb/uORBTopics.cpp.em
View File

@ -76,5 +76,5 @@ const struct orb_metadata *get_orb_meta(ORB_ID id)
return nullptr;
}
return uorb_topics_list[static_cast<uint8_t>(id)];
return uorb_topics_list[static_cast<orb_id_size_t>(id)];
}

2
Tools/msg/templates/uorb/uORBTopics.hpp.em
View File

@ -62,7 +62,7 @@ static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
*/
extern const struct orb_metadata *const *orb_get_topics() __EXPORT;
enum class ORB_ID : uint8_t {
enum class ORB_ID : orb_id_size_t {
@[for idx, topic_name in enumerate(topic_names_all)]@
@(topic_name) = @(idx),
@[end for]

1630
Tools/process_sensor_caldata.py
View File

File diff suppressed because it is too large Load Diff

2
Tools/setup/optional-requirements.txt
View File

@ -1 +1 @@
symforce>=0.5.0
symforce>=0.9.0

2
Tools/simulation/gazebo-classic/sitl_gazebo-classic

@ -1 +1 @@
Subproject commit 3f2b9678af781bccb621dde5b75bb2b59419dcc7
Subproject commit 20ded0757b4f2cb362833538716caf1e938b162a

15
Tools/simulation/gz/models/omnicopter/model.config Normal file
View File

@ -0,0 +1,15 @@
<?xml version="1.0"?>
<model>
<name>Omnicopter</name>
<version>1.0</version>
<sdf version='1.9'>model.sdf</sdf>
<author>
<name>Jaeyoung Lim</name>
<email>jalim@ethz.ch</email>
</author>
<description>
Omnicopter model for over actuated system
</description>
</model>

8
Tools/simulation/gz/models/omnicopter/model.sdf Normal file
View File

@ -0,0 +1,8 @@
<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<include>
<name>omnicopter</name>
<pose>0 0 0 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/PX4/models/Omnicopter</uri>
</include>
</sdf>

1
Tools/simulation/gz/worlds/default.sdf
View File

@ -11,6 +11,7 @@
<plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
<plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
<plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
<plugin name='gz::sim::systems::ApplyLinkWrench' filename='gz-sim-apply-link-wrench-system'/>
<plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
<render_engine>ogre2</render_engine>
</plugin>

2
Tools/simulation/sitl_multiple_run.sh
View File

@ -10,7 +10,7 @@ sitl_num=2
[ -n "$1" ] && sitl_num="$1"
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
src_path="$SCRIPT_DIR/.."
src_path="$SCRIPT_DIR/../../"
build_path=${src_path}/build/px4_sitl_default

0
_last_entry Normal file
View File

4
boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
View File

@ -106,7 +106,7 @@ CONFIG_I2C=y
CONFIG_I2C_RESET=y
CONFIG_IDLETHREAD_STACKSIZE=750
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INIT_STACKSIZE=2944
CONFIG_INIT_STACKSIZE=3194
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
CONFIG_LIBC_MAX_EXITFUNS=1
@ -140,6 +140,8 @@ CONFIG_PREALLOC_TIMERS=50
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
CONFIG_RAMTRON_SETSPEED=y
CONFIG_RAM_SIZE=262144
CONFIG_RAM_START=0x20000000

2
boards/ark/can-flow/nuttx-config/nsh/defconfig
View File

@ -115,6 +115,8 @@ CONFIG_PREALLOC_TIMERS=50
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
CONFIG_RAMTRON_SETSPEED=y
CONFIG_RAM_SIZE=262144
CONFIG_RAM_START=0x20000000

4
boards/ark/can-flow/src/boot_config.h
View File

@ -65,7 +65,7 @@
#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
//todo:wrap OPT_x in in ifdefs for command line definitions
#define OPT_TBOOT_MS 5000
#define OPT_TBOOT_MS 3000
#define OPT_NODE_STATUS_RATE_MS 800
#define OPT_NODE_INFO_RATE_MS 50
#define OPT_BL_NUMBER_TIMERS 7
@ -93,7 +93,7 @@
*/
#define OPT_WAIT_FOR_GETNODEINFO 0
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
#define OPT_ENABLE_WD 1

6
boards/ark/can-flow/uavcan_board_identity
View File

@ -1,6 +1,6 @@
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
@ -14,4 +14,4 @@ add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
)

2
boards/ark/can-gps/nuttx-config/nsh/defconfig
View File

@ -117,6 +117,8 @@ CONFIG_PREALLOC_TIMERS=50
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
CONFIG_RAMTRON_SETSPEED=y
CONFIG_RAM_SIZE=262144
CONFIG_RAM_START=0x20000000

4
boards/ark/can-gps/src/boot_config.h
View File

@ -65,7 +65,7 @@
#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
//todo:wrap OPT_x in in ifdefs for command line definitions
#define OPT_TBOOT_MS 5000
#define OPT_TBOOT_MS 3000
#define OPT_NODE_STATUS_RATE_MS 800
#define OPT_NODE_INFO_RATE_MS 50
#define OPT_BL_NUMBER_TIMERS 7
@ -93,7 +93,7 @@
*/
#define OPT_WAIT_FOR_GETNODEINFO 0
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
#define OPT_ENABLE_WD 1

4
boards/ark/can-gps/uavcan_board_identity
View File

@ -1,6 +1,6 @@
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}

5
boards/ark/can-rtk-gps/init/rc.board_sensors
View File

@ -6,6 +6,9 @@ gps start -d /dev/ttyS0 -p ubx
icm42688p -R 0 -s start
bmp388 -I -b 2 start
if ! bmp388 -I -b 2 start
then
bmp388 -I -b 1 start
fi
bmm150 -I -b 1 start

2
boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig
View File

@ -117,6 +117,8 @@ CONFIG_PREALLOC_TIMERS=50
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
CONFIG_RAMTRON_SETSPEED=y
CONFIG_RAM_SIZE=262144
CONFIG_RAM_START=0x20000000

4
boards/ark/can-rtk-gps/src/boot_config.h
View File

@ -65,7 +65,7 @@
#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
//todo:wrap OPT_x in in ifdefs for command line definitions
#define OPT_TBOOT_MS 5000
#define OPT_TBOOT_MS 3000
#define OPT_NODE_STATUS_RATE_MS 800
#define OPT_NODE_INFO_RATE_MS 50
#define OPT_BL_NUMBER_TIMERS 7
@ -93,7 +93,7 @@
*/
#define OPT_WAIT_FOR_GETNODEINFO 0
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
#define OPT_ENABLE_WD 1

4
boards/ark/can-rtk-gps/uavcan_board_identity
View File

@ -1,6 +1,6 @@
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}

1
boards/ark/cannode/default.px4board
View File

@ -20,6 +20,7 @@ CONFIG_DRIVERS_IRLOCK=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_COMMON_OPTICAL_FLOW=y
CONFIG_COMMON_OSD=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_DRIVERS_UAVCANNODE=y

2
boards/ark/cannode/nuttx-config/nsh/defconfig
View File

@ -117,6 +117,8 @@ CONFIG_PREALLOC_TIMERS=50
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
CONFIG_RAMTRON_SETSPEED=y
CONFIG_RAM_SIZE=262144
CONFIG_RAM_START=0x20000000

10
boards/ark/cannode/src/boot_config.h
View File

@ -65,7 +65,7 @@
#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
//todo:wrap OPT_x in in ifdefs for command line definitions
#define OPT_TBOOT_MS 5000
#define OPT_TBOOT_MS 3000
#define OPT_NODE_STATUS_RATE_MS 800
#define OPT_NODE_INFO_RATE_MS 50
#define OPT_BL_NUMBER_TIMERS 7
@ -92,8 +92,12 @@
*
*/
#define OPT_WAIT_FOR_GETNODEINFO 0
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
/* The ARK CANnode uses PH1 for GPIO_BOOT_CONFIG but it is not
* compatible with px4_arch_gpioread as Port H = 7 which is greater
* than STM32_NPORTS
* #define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 0
*/
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
#define OPT_ENABLE_WD 1

4
boards/ark/cannode/uavcan_board_identity
View File

@ -1,6 +1,6 @@
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}

1
boards/ark/fmu-v6x/default.px4board
View File

@ -20,6 +20,7 @@ CONFIG_DRIVERS_HEATER=y
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_COMMON_OPTICAL_FLOW=y

BIN
boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin
View File

Binary file not shown.

11
boards/ark/fmu-v6x/init/rc.board_defaults
View File

@ -17,12 +17,21 @@ param set-default SENS_EN_INA228 0
param set-default SENS_EN_INA226 1
param set-default SENS_EN_THERMAL 1
param set-default SENS_TEMP_ID 2818058
param set-default SENS_IMU_TEMP 10.0
#param set-default SENS_IMU_TEMP_FF 0.0
#param set-default SENS_IMU_TEMP_I 0.025
#param set-default SENS_IMU_TEMP_P 1.0
if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
then
param set-default SENS_TEMP_ID 2818058
fi
if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
then
param set-default SENS_TEMP_ID 3014666
fi
if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
then
param set-default SYS_USE_IO 0

47
boards/ark/fmu-v6x/init/rc.board_sensors
View File

@ -3,10 +3,12 @@
# ARK FMUARKV6X specific board sensors init
#------------------------------------------------------------------------------
set HAVE_PM2 yes
set HAVE_PM3 yes
if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X005004
then
set HAVE_PM2 no
set HAVE_PM3 no
fi
if param compare -s ADC_ADS1115_EN 1
@ -25,36 +27,68 @@ then
then
ina226 -X -b 2 -t 2 -k start
fi
if [ $HAVE_PM3 = yes ]
then
ina226 -X -b 3 -t 2 -k start
fi
fi
if param compare SENS_EN_INA228 1
then
# Start Digital power monitors
ina228 -X -b 1 -t 1 -k start
if [ $HAVE_PM2 = yes ]
then
ina228 -X -b 2 -t 2 -k start
fi
if [ $HAVE_PM3 = yes ]
then
ina228 -X -b 3 -t 2 -k start
fi
fi
if param compare SENS_EN_INA238 1
then
# Start Digital power monitors
ina238 -X -b 1 -t 1 -k start
if [ $HAVE_PM2 = yes ]
then
ina238 -X -b 2 -t 2 -k start
fi
if [ $HAVE_PM3 = yes ]
then
ina238 -X -b 3 -t 2 -k start
fi
fi
# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
iim42652 -R 3 -s -b 1 -C 32051 start
if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
then
# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
iim42652 -R 3 -s -b 1 -C 32051 start
# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
icm42688p -R 9 -s -b 2 -C 32051 start
# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
icm42688p -R 9 -s -b 2 -C 32051 start
# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
icm42688p -R 6 -s -b 3 -C 32051 start
# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
icm42688p -R 6 -s -b 3 -C 32051 start
fi
if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
then
# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
iim42653 -R 3 -s -b 1 -C 32051 start
# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
iim42653 -R 9 -s -b 2 -C 32051 start
# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
iim42653 -R 6 -s -b 3 -C 32051 start
fi
# Internal magnetometer on I2C
bmm150 -I start
@ -63,3 +97,4 @@ bmm150 -I start
bmp388 -I start
unset HAVE_PM2
unset HAVE_PM3

4
boards/ark/fmu-v6x/nuttx-config/bootloader/defconfig
View File

@ -7,6 +7,7 @@
#
# CONFIG_DEV_CONSOLE is not set
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
# CONFIG_DISABLE_PTHREAD is not set
# CONFIG_SPI_EXCHANGE is not set
# CONFIG_STM32H7_SYSCFG is not set
CONFIG_ARCH="arm"
@ -48,13 +49,14 @@ CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_IDLETHREAD_STACKSIZE=750
CONFIG_INIT_ENTRYPOINT="bootloader_main"
CONFIG_INIT_STACKSIZE=2944
CONFIG_INIT_STACKSIZE=3194
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
CONFIG_LIBC_STRERROR=y
CONFIG_MEMSET_64BIT=y
CONFIG_MEMSET_OPTSPEED=y
CONFIG_PREALLOC_TIMERS=50
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAM_SIZE=245760
CONFIG_RAM_START=0x20010000

2
boards/ark/fmu-v6x/nuttx-config/include/board.h
View File

@ -387,7 +387,7 @@
#define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */
#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
#define GPIO_UART7_RTS (GPIO_UART7_RTS_2 | GPIO_PULLDOWN) /* PF8 */
#define GPIO_UART7_RTS GPIO_UART7_RTS_2 /* PF8 */
#define GPIO_UART7_CTS (GPIO_UART7_CTS_1 | GPIO_PULLDOWN) /* PE10 */
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */

6
boards/ark/fmu-v6x/nuttx-config/nsh/defconfig
View File

@ -118,7 +118,7 @@ CONFIG_I2C=y
CONFIG_I2C_RESET=y
CONFIG_IDLETHREAD_STACKSIZE=750
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INIT_STACKSIZE=2944
CONFIG_INIT_STACKSIZE=3194
CONFIG_IOB_NBUFFERS=24
CONFIG_IOB_THROTTLE=0
CONFIG_IPCFG_BINARY=y
@ -189,6 +189,8 @@ CONFIG_PREALLOC_TIMERS=50
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
CONFIG_RAMTRON_SETSPEED=y
CONFIG_RAM_SIZE=245760
CONFIG_RAM_START=0x20010000
@ -292,7 +294,7 @@ CONFIG_UART4_TXBUFSIZE=1500
CONFIG_UART5_IFLOWCONTROL=y
CONFIG_UART5_OFLOWCONTROL=y
CONFIG_UART5_RXDMA=y
CONFIG_UART5_TXBUFSIZE=3000
CONFIG_UART5_TXBUFSIZE=10000
CONFIG_UART5_TXDMA=y
CONFIG_UART7_BAUD=57600
CONFIG_UART7_IFLOWCONTROL=y

27
boards/ark/fmu-v6x/src/board_config.h
View File

@ -211,23 +211,18 @@
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
#define HW_INFO_INIT_PREFIX "ARKV6X"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 and Rev 3,4 Sensor sets
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 8 // Rev 0 and Rev 1
// Base/FMUM
#define ARKV6X00 HW_VER_REV(0x0,0x0) // ARKV6X, Rev 0
#define ARKV6X01 HW_VER_REV(0x0,0x1) // ARKV6X, BMI388 I2C2 Rev 1
#define ARKV6X03 HW_VER_REV(0x0,0x3) // ARKV6X, Sensor Set Rev 3
#define ARKV6X04 HW_VER_REV(0x0,0x4) // ARKV6X, Sensor Set Rev 4
#define ARKV6X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0
#define ARKV6X13 HW_VER_REV(0x1,0x3) // NO PX4IO, Sensor Set Rev 3
#define ARKV6X14 HW_VER_REV(0x1,0x4) // NO PX4IO, Sensor Set Rev 4
//#define ARKV6X40 HW_VER_REV(0x4,0x0) // ARKV6X, HB CM4 base Rev 0 // never shipped
//#define ARKV6X41 HW_VER_REV(0x4,0x1) // ARKV6X, BMI388 I2C2 HB CM4 base Rev 1 // never shipped
#define ARKV6X43 HW_VER_REV(0x4,0x3) // ARKV6X, Sensor Set HB CM4 base Rev 3
#define ARKV6X44 HW_VER_REV(0x4,0x4) // ARKV6X, Sensor Set HB CM4 base Rev 4
#define ARKV6X50 HW_VER_REV(0x5,0x0) // ARKV6X, ARKV6X Rev 0 with HB Mini Rev 5
//#define ARKV6X51 HW_VER_REV(0x5,0x1) // ARKV6X, BMI388 I2C2 HB Mini Rev 1 // never shipped
#define ARKV6X53 HW_VER_REV(0x5,0x3) // ARKV6X, Sensor Set HB Mini Rev 3
#define ARKV6X54 HW_VER_REV(0x5,0x4) // ARKV6X, Sensor Set HB Mini Rev 4
#define ARKV6X00 HW_VER_REV(0x0,0x0) // ARKV6X, Sensor Set Rev 0
#define ARKV6X01 HW_VER_REV(0x0,0x1) // ARKV6X, Sensor Set Rev 1
//#define ARKV6X03 HW_VER_REV(0x0,0x3) // ARKV6X, Sensor Set Rev 3
//#define ARKV6X04 HW_VER_REV(0x0,0x4) // ARKV6X, Sensor Set Rev 4
#define ARKV6X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Sensor Set Rev 0
#define ARKV6X11 HW_VER_REV(0x1,0x1) // NO PX4IO, Sensor Set Rev 1
#define ARKV6X40 HW_VER_REV(0x4,0x0) // ARKV6X, Sensor Set Rev 0 HB CM4 base Rev 3
#define ARKV6X41 HW_VER_REV(0x4,0x1) // ARKV6X, Sensor Set Rev 1 HB CM4 base Rev 4
#define ARKV6X50 HW_VER_REV(0x5,0x0) // ARKV6X, Sensor Set Rev 0 HB Mini Rev 5
#define ARKV6X51 HW_VER_REV(0x5,0x1) // ARKV6X, Sensor Set Rev 1 HB Mini Rev 1 // never shipped
#define UAVCAN_NUM_IFACES_RUNTIME 1

23
boards/ark/fmu-v6x/src/manifest.c
View File

@ -160,21 +160,14 @@ static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
static px4_hw_mft_list_entry_t mft_lists[] = {
// ver_rev
{ARKV6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
{ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
{ARKV6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
//{ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // HB CM4 base // never shipped
//{ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2 HB CM4 base // never shipped
{ARKV6X43, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3
{ARKV6X44, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4
{ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X Rev 0 with HB Mini Rev 5
//{ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2 HB Mini // never shipped
{ARKV6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
{ARKV6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
{ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
{ARKV6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
{ARKV6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
{ARKV6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4
{ARKV6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X, Sensor Set Rev 0
{ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X, Sensor Set Rev 1
{ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO, Sensor Set Rev 0
{ARKV6X11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO, Sensor Set Rev 1
{ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X, Sensor Set Rev 0 HB CM4 base Rev 3
{ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X, Sensor Set Rev 1 HB CM4 base Rev 4
{ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X, Sensor Set Rev 0 HB Mini Rev 5
{ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X, Sensor Set Rev 1 HB Mini Rev 1 // never shipped
};
/************************************************************************************

12
boards/ark/fmu-v6x/src/mtd.cpp
View File

@ -34,7 +34,7 @@
#include <nuttx/spi/spi.h>
#include <px4_platform_common/px4_manifest.h>
// KiB BS nB
static const px4_mft_device_t spi5 = { // FM25V02A on FMUM 32K 512 X 64
static const px4_mft_device_t spi5 = { // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
.bus_type = px4_mft_device_t::SPI,
.devid = SPIDEV_FLASH(0)
};
@ -45,18 +45,12 @@ static const px4_mft_device_t i2c3 = { // 24LC64T on Base 8K 32 X 2
static const px4_mtd_entry_t fmum_fram = {
.device = &spi5,
.npart = 2,
.npart = 1,
.partd = {
{
.type = MTD_PARAMETERS,
.path = "/fs/mtd_params",
.nblocks = 32
},
{
.type = MTD_WAYPOINTS,
.path = "/fs/mtd_waypoints",
.nblocks = 32
.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT))
}
},
};

140
boards/ark/fmu-v6x/src/spi.cpp
View File

@ -59,7 +59,30 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}),
}),
initSPIHWVersion(ARKV6X01, { // Placeholder
initSPIHWVersion(ARKV6X01, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
initSPIHWVersion(ARKV6X10, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
@ -81,6 +104,121 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
initSPIHWVersion(ARKV6X11, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
initSPIHWVersion(ARKV6X40, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
initSPIHWVersion(ARKV6X41, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
initSPIHWVersion(ARKV6X50, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
initSPIHWVersion(ARKV6X51, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);

5
boards/atl/mantis-edu/init/rc.board_defaults
View File

@ -11,11 +11,6 @@ param set-default COM_ARM_SDCARD 0
param set-default SENS_EXT_I2C_PRB 0
param set-default EKF2_MULTI_IMU 1
param set-default EKF2_MULTI_MAG 1
param set-default SENS_IMU_MODE 0
param set-default SENS_MAG_MODE 0
param set-default EV_TSK_STAT_DIS 1
param set-default SYS_DM_BACKEND 1

4
boards/atl/mantis-edu/nuttx-config/nsh/defconfig
View File

@ -112,7 +112,7 @@ CONFIG_I2C=y
CONFIG_I2C_RESET=y
CONFIG_IDLETHREAD_STACKSIZE=750
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INIT_STACKSIZE=2944
CONFIG_INIT_STACKSIZE=3194
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
CONFIG_LIBC_MAX_EXITFUNS=1
@ -147,6 +147,8 @@ CONFIG_PREALLOC_TIMERS=50
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
CONFIG_RAMTRON_SETSPEED=y
CONFIG_RAM_SIZE=245760
CONFIG_RAM_START=0x20010000

2
boards/av/x-v1/nuttx-config/nsh/defconfig
View File

@ -120,7 +120,7 @@ CONFIG_I2C=y
CONFIG_I2C_RESET=y
CONFIG_IDLETHREAD_STACKSIZE=750
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INIT_STACKSIZE=2944
CONFIG_INIT_STACKSIZE=3194
CONFIG_IOB_NBUFFERS=24
CONFIG_IOB_THROTTLE=0
CONFIG_LIBC_LONG_LONG=y

2
boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig
View File

@ -105,7 +105,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_I2C_RESET=y
CONFIG_IDLETHREAD_STACKSIZE=750
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INIT_STACKSIZE=2944
CONFIG_INIT_STACKSIZE=3194
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
CONFIG_LIBC_MAX_EXITFUNS=1

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