From 9cef8346245b07c81dd52e679e0283eefaf66d97 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Tue, 5 Mar 2024 09:59:28 +0100 Subject: [PATCH] fmu-v6xrt: update px4board enables vtol --- boards/px4/fmu-v6xrt/default.px4board | 27 +++++++++++++++++++++++---- boards/px4/fmu-v6xrt/rover.px4board | 7 ++++++- 2 files changed, 29 insertions(+), 5 deletions(-) diff --git a/boards/px4/fmu-v6xrt/default.px4board b/boards/px4/fmu-v6xrt/default.px4board index b5e2e23af3..f9961fd7bb 100644 --- a/boards/px4/fmu-v6xrt/default.px4board +++ b/boards/px4/fmu-v6xrt/default.px4board @@ -6,21 +6,30 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS3" CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS5" CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6" +CONFIG_DRIVERS_ADC_ADS1115=y CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_BMP388=y +CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y CONFIG_DRIVERS_BAROMETER_MS5611=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y -CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y +CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y +CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y +CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y CONFIG_DRIVERS_IMU_BOSCH_BMI088=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y +CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y +CONFIG_COMMON_INS=y CONFIG_COMMON_LIGHT=y -CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y -CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y -CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y +CONFIG_COMMON_MAGNETOMETER=y +CONFIG_DRIVERS_OSD_MSP_OSD=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_POWER_MONITOR_INA228=y CONFIG_DRIVERS_POWER_MONITOR_INA238=y @@ -32,14 +41,20 @@ CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y CONFIG_DRIVERS_UAVCAN=y CONFIG_COMMON_UWB=y +CONFIG_MODULES_AIRSPEED_SELECTOR=y CONFIG_MODULES_BATTERY_STATUS=y CONFIG_MODULES_CAMERA_FEEDBACK=y CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y +CONFIG_MODULES_ESC_BATTERY=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y +CONFIG_MODULES_FW_ATT_CONTROL=y +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_FW_POS_CONTROL=y +CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y @@ -57,11 +72,15 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y +CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y +CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y diff --git a/boards/px4/fmu-v6xrt/rover.px4board b/boards/px4/fmu-v6xrt/rover.px4board index 639bac90a0..f754c54e36 100644 --- a/boards/px4/fmu-v6xrt/rover.px4board +++ b/boards/px4/fmu-v6xrt/rover.px4board @@ -1,11 +1,16 @@ +CONFIG_MODULES_AIRSPEED_SELECTOR=n CONFIG_MODULES_FLIGHT_MODE_MANAGER=n +CONFIG_MODULES_FW_ATT_CONTROL=n +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_FW_POS_CONTROL=n +CONFIG_MODULES_FW_RATE_CONTROL=n CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n -CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n CONFIG_MODULES_MC_ATT_CONTROL=n CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n CONFIG_MODULES_MC_POS_CONTROL=n CONFIG_MODULES_MC_RATE_CONTROL=n +CONFIG_MODULES_VTOL_ATT_CONTROL=n CONFIG_EKF2_AUX_GLOBAL_POSITION=y # CONFIG_EKF2_WIND is not set CONFIG_MODULES_DIFFERENTIAL_DRIVE=y