Add more to Voxl2 build and fix associated build errors (#20821)

- Do not pull in PWM parameters when DISABLE_PARAMS_MODULE_SCOPING is TRUE since VOXL2 has no PWM nor any of the required timer_config files that go along with that
 - Replace non-standard M_PI constants with PX4 defined M_PI_F constants
 - Include missing header file for function hrt_absolute_time declaration
 - Add new PX4_SOC_ARCH_ID for the VOXL2 board

boards/modalai/voxl2-slpi/default.px4board

@@ -6,3 +6,10 @@ CONFIG_ORB_COMMUNICATOR=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_ACTUATORS_MODALAI_ESC=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_LAND_DETECTOR=y

boards/modalai/voxl2-slpi/src/CMakeLists.txt

@@ -31,6 +31,11 @@
 #
 ############################################################################
 
+# Need to make sure that the DSP processor on VOXL2
+# knows about all parameters since some modules need parameters
+# from other modules that are not running on the DSP.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
+
 add_library(drivers_board
 	board_config.h
 	init.c

boards/modalai/voxl2/default.px4board

@@ -9,3 +9,10 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_DRIVERS_QSHELL_POSIX=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_MAVLINK=y

boards/modalai/voxl2/src/CMakeLists.txt

@@ -31,6 +31,12 @@
 #
 ############################################################################
 
+# Need to make sure that the Linux processor on VOXL2
+# knows about all parameters since it is acting as the
+# parameter server for other processors that may define
+# parameters that it doesn't normally know about.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
+
 add_library(drivers_board
 	board_config.h
 	init.c

boards/modalai/voxl2/src/board_config.h

@@ -47,3 +47,6 @@
 
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>
+
+#define BOARD_OVERRIDE_UUID "MODALAIVOXL20000" // must be of length 16
+#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_VOXL2

platforms/common/include/px4_platform_common/board_common.h

@@ -351,6 +351,8 @@ typedef enum PX4_SOC_ARCH_ID_t {
 
 	PX4_SOC_ARCH_ID_BBBLUE         =  0x1008,
 
+	PX4_SOC_ARCH_ID_VOXL2          =  0x100A,
+
 } PX4_SOC_ARCH_ID_t;
 
 

src/lib/controllib/BlockHighPass.cpp

@@ -47,7 +47,7 @@ namespace control
 
 float BlockHighPass::update(float input)
 {
-	float b = 2 * float(M_PI) * getFCut() * getDt();
+	float b = 2 * M_PI_F * getFCut() * getDt();
 	float a = 1 / (1 + b);
 	setY(a * (getY() + input - getU()));
 	setU(input);

src/lib/controllib/BlockLowPass.cpp

@@ -51,7 +51,7 @@ float BlockLowPass::update(float input)
 		setState(input);
 	}
 
-	float b = 2 * float(M_PI) * getFCut() * getDt();
+	float b = 2 * M_PI_F * getFCut() * getDt();
 	float a = b / (1 + b);
 	setState(a * input + (1 - a)*getState());
 	return getState();

src/lib/controllib/BlockLowPassVector.hpp

@@ -79,7 +79,7 @@ public:
 			}
 		}
 
-		float b = 2 * float(M_PI) * getFCut() * getDt();
+		float b = 2 * M_PI_F * getFCut() * getDt();
 		float a = b / (1 + b);
 		setState(input * a + getState() * (1 - a));
 		return getState();

src/lib/parameters/CMakeLists.txt

@@ -57,7 +57,14 @@ if(DISABLE_PARAMS_MODULE_SCOPING)
 		${PX4_SOURCE_DIR}/src/*.yaml
 		)
 	foreach(file_path ${yaml_files})
-		list(APPEND module_config_files "${file_path}")
+		# VOXL2 doesn't support PWM and so it has no timer configurations
+		# that are expected when dealing with certain pwm modules. This will
+		# allow those timer configurations to be skipped.
+		if ((${PX4_BOARD_NAME} MATCHES "MODALAI_VOXL2") AND (file_path MATCHES pwm_out))
+			message(STATUS "Skipping pwm file path ${file_path} for VOXL2")
+		else()
+			list(APPEND module_config_files "${file_path}")
+		endif()
 	endforeach()
 
 	list(REMOVE_DUPLICATES module_config_files)

src/modules/sensors/data_validator/DataValidator.cpp

@@ -42,6 +42,7 @@
 #include "DataValidator.hpp"
 
 #include <px4_platform_common/log.h>
+#include <drivers/drv_hrt.h>
 
 void DataValidator::put(uint64_t timestamp, float val, uint32_t error_count_in, uint8_t priority_in)
 {