Commit Graph

2685 Commits

Author SHA1 Message Date
David Sidrane 8f02184669 px4io:Add 'supported' command and uses it in rcS 2023-11-20 08:54:32 -05:00
David Sidrane e90e8ae0ea Intial Commit PX4 FMUV6RT
nxp/rt117x:Fix Pin IRQ

nxp/rt117x:Support 4 i2c busses

nxp/rt117x:Add px4io_serial support

nxp/imxrt:Expand ToneAlarmInterface to GPT 3 & 4

px4_fmu-6xrt:Using imxrt_flexspi_nor_octal

px4_fmu-6xrt:Entry is start

px4_fmu-6xrt:Add Proper MTD

px4_fmu-6xrt:Set I2C Buses

px4_fmu-6xrt:Proper SPI usage

px4_fmu-6xrt:Adjust memory Map to use the 2 MB

px4_fmu-6xrt:Bring in ROMAPI

px4_fmu-6xrt:Push FLASH to 200Mhz

px4_fmu-6xrt:Use BOARD_I2C_LATEINIT

px4_fmu-6xrt:Clock Config remove unused devices

px4_fmu-6xrt:Remove EVK SDRAM IO

px4_fmu-6xrt:Enable SE550 using HW_VER_REV_DRIVE

px4_fmu-6xrt:Use MTD to mount FRAM on Flex SPI

px4_fmu-6xrt:Manifest

px4_fmu-6xrt:Restore board_peripheral_reset

px4_fmu-6xrt:Set I2C buss Interna/Externa and startup

nxp/rt117x:Set 6 I2C busses

px4_fmu-6xrt:Correct Clock Sources and Freqency Settings

px4_fmu-6xrt:Correct ADC Settings

px4_fmu-6xrt:Tune FlexSPI config and sync header with debug variant Linker prep for rodata ahb partitioning

px4_fmu-6xrt:FlexSPI prefetch partition split .text and .rodata

   Current config
     1KB Prefetch .rodata
     3KB Prefetch .text

px4_fmu-6xrt:Run imxrt_flash_setup_prefetch_partition from ram with barriers

px4_fmu-6xrt:Use All OCTL setting from FLASH g_flash_config SANS lookupTable

px4_fmu-6xrt:Octal spi boot/debug problem bypass

px4_fmu-6xrt:Add PWM test

px4_fmu-6xrt:Fix clockconfig and USB vbus sense

px4_fmu-6xrt: Use TCM

px4_fmu-6xrt: Ethernet bringup

imxrt: use unique_id register for board_identity

px4_fmu-6xrt: update ITCM mapping, todo proper trap on pc hitting 0x0

px4_fmu-6xrt:correct rotation icm42688p onboard imu

rt117x: Add SSARC HP RAM driver for memory dumps

px4_fmu-6xrt: Enable hardfault_log

px4_fmu-6xrt: Enable DMA pool

px4_fmu-6xrt: fix uart mapping

px4_fmu-6xrt: enable SocketCAN & DroneCAN

px4_fmu-6xrt:Command line history TAB completion

px4_fmu-6xrt:Fix pinning duplication

px4_fmu-6xrt:Support conditional PHY address based on selected PHY

px4_fmu-6xrt:Add Pull Downs on CTS, use GPIO for RTS

px4_fmu-6xrt:Set TelemN TX Slew rate and Drive Strenth to max

px4_fmu-6xrt::Set TELEM Buffers add HW HS

px4_fmu-6xrt:Turn off DMA poll

px4_fmu-6xrt:RC_SERIAL_PORT needed to be px4io to disable rc_input using TELEM2!

px4_fmu-6xrt: bootloader (#22228)

* imxrt:Add bootloader support
* bootloader:imxrt clear BOOT_RTC_SIGNATURE
* px4_fmu-6xrt:Add bootloader
* px4_fmu-6xrt:bootloader removed ADC
* px4_fmu-6xrt:bootloader base bootloader script off of script.ld
* px4_fmu-6xrt:add _bootdelay_signature & change entry from 0x30000000 to 0x30040000
* px4_fmu-6xrt:hw_config Bootloader has to have 12 bytes

px4_fmu-6xrt:Default to use LAN8742A PHY

px4_fmu-v6xrt:VID Set to Drone Code

board_reset:Enable ability to write RTC GP regs

px4_fmu-6xrt:Fix CMP0079 error

rt117x:micro_hal Add a PX4_MAKE_GPIO_PULLED_INPUT

px4_fmu-v6xrt:Set CTS High before VDD_5V applided to ports to avoid radios fro entering bootloaders

fmu-v6xrt: increase 5v down time

fmu-v6xrt:Ready for Release DEBUGASSERTS off and Console 57600,
Bootloder updated.

imxrt:board_hw_rev_ver Rework for 3.893V Ref

px4_fmu-v6xrt:Move ADC to Port3
2023-11-15 11:10:47 -05:00
David Sidrane e3f8d53718 nxp:imxrt 1060/1170 bifurcation and restructuring
imxrt:117x Reuse all but io_timer_hw_description and imxrt_pinirq.c

   imxrt:ADC & LPADC bifurcation and restructuring

   imxrt:hrt support Up to GPT6

   nxp/rt117x:adc Corrected
2023-11-15 11:10:47 -05:00
Damien SIX 833cd79e67 fix: remove depreciated parameter 2023-11-12 15:33:33 +01:00
Julian Oes 10a2e7e44f SITL: fix parse error on start
This fixes the error:
etc/init.d-posix/rcS: 39: [: Illegal number:

Signed-off-by: Julian Oes <julian@oes.ch>
2023-11-11 11:26:20 +13:00
Julian Oes 19b681ca1f Remove SYS_USE_IO param
The param is not really required anymore with the actuator
configuration. Also, when it is set to 0, RC doesn't work for some
boards which would be nice to avoid.

Signed-off-by: Julian Oes <julian@oes.ch>
2023-11-10 12:17:23 +13:00
Silvan Fuhrer 041e5069cb ROMFS: update tuning of SITL standard VTOL
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-11-09 09:42:43 +01:00
Frederik Markus 39fbfd8e0c
Port of Advanced Plane from Gazebo Classic to Gazebo (#22167)
* started tiltrotor port

* added advanced plane and changed some parameters on the tiltrotor

* added advanced plane

* removed tiltrotor for clean push

* removed standard vtol old model file

* removing the standard vtol changes from this PR, since it is not part of the advanced plane

* removed advanced plane meshes as they are already found in the rc_cessna

* updating and improving airframe parameters

* updated mesh paths

Signed-off-by: frederik <frederik@auterion.com>

---------

Signed-off-by: frederik <frederik@auterion.com>
Co-authored-by: frederik <frederik@auterion.com>
2023-11-06 09:31:04 +01:00
Peter van der Perk 019d232911 Add Zenoh pico support 2023-10-18 15:30:36 -04:00
Silvan Fuhrer cad595cb5c ROMFS: rcS: check for updated ext_autostart and rename if existing
This allows to inject an updated ext_autostart folder with the name
ext_autostart_new, and then PX4 takes care of renaming it to
ext_autostart during bootup.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-10-04 10:17:20 +02:00
Silvan Fuhrer 169ff6ccb0 ROMFS: advanced_plane config: remove deprecated settings
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-10-02 15:25:46 +02:00
Vincent Poon fafec397e8 Fix Default Output Protocol - Airframe 4019_x500_v2
Remove "param set-default PWM_MAIN_TIM0 -4"
2023-09-25 09:28:47 +02:00
Silvan Fuhrer 5fa8985477 ROMFS: SITL config iris_opt_flow: fix disabling of GPS fusion
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-09-19 10:04:30 +02:00
Matthias Grob f8d729147b Craziflie configs: remove default 100% thrust parameter 2023-09-14 09:50:21 -04:00
Daniel Agar 36010a9a7c ROMFS: rc.fw_defaults set more conservative range finder requirements
- for FW the primary range finder usage is estimating the distance to
   the ground (terrain estimate) to guide the landing approach and initiate flare
 - increase EKF2_RNG_QLTY_T default 1->3 seconds
2023-09-13 12:14:13 -04:00
Silvan Fuhrer 78ddf41aa2 ROMFS: SITL plane_catapult: reduce FW_LAUN_AC_THLD to 10m/s/s to detect every throw
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-09-13 09:50:41 +02:00
Denislav Petrov ece338ceef
Adding a new differential pressure sensor ASP5033 (#21568)
* added a new driver ASP5033 for measuring the differential pressure and airspeed

---------

Co-authored-by: nano <nanobotzhe@abv.bg>
Co-authored-by: Denislav Petrov <you@example.com>
2023-09-05 10:21:05 +12:00
Daniel Mesham 86822171b9 Add SITL targets for Iris models with depth cameras 2023-08-22 11:50:29 -04:00
Dusan Zivkovic 29f352d49d px4-rc.simulator: set Gazebo coordinate frame reference (SIM_GZ_HOME_* params) from PX4_HOME_* env variables 2023-08-07 14:41:35 -04:00
Beat Küng 0277a6486f mavsdk_tests: add offboard attitude test & run with Q estimator 2023-08-04 11:27:31 -04:00
Ayham Alharbat 1c1f8da7d9
add a gz-omnicopter model (#21818)
* [not-working] add a gz-omnicopter model

* Fix axis directions on omnicopter model

The omnicopter joint axis directions had to be adapted for sdf 1.9 as it has different conventions for joint axis definitions.

* include model from gz-fuel & remove mesh files

* Fix omnicopter model using fuel

---------

Co-authored-by: Jaeyoung Lim <jalim@ethz.ch>
2023-07-27 11:34:27 +02:00
Beat Küng 05a5bbe120 boards/diatone/mamba-f405-mk2: disable modules to reduce flash 2023-07-24 13:10:31 +02:00
Theotime Balaguer e195a3c0c6 fix issue #21727 2023-07-21 13:13:56 +02:00
Beat Küng 8b780f2a96 airframes/x500_v2: move motors from AUX to MAIN 2023-07-18 11:13:16 -04:00
Julian Oes a6502c9f2b ROMFS: auto try RGBLED is31fl3195
This is required to auto-start the is31fl3195 driver if connected.

Signed-off-by: Julian Oes <julian@oes.ch>
2023-07-05 20:49:39 +12:00
Josh Henderson a07d10704b ROMFS : POSIX Airframes reserve space for custom models 2023-06-21 21:06:07 -04:00
Julian Oes cd485b3a13 lights: Add LP5562 RGBLED driver
This adds support for the TI LP5562 RGB LED driver.

Things to note:
- The driver is initialized in simple PWM mode using its internal clock,
  for R,G,B, but not for W(hite).
- The chip doesn't have a WHO_AM_I or DEVICE_ID register to check.
  Instead we read the W_CURRENT register that we're generally not using
  and therefore doesn't get changed.
- The current is left at the default 17.5 mA but could be changed using
  the command line argument.

Datasheet:
https://www.ti.com/lit/ds/symlink/lp5562.pdf

Signed-off-by: Julian Oes <julian@oes.ch>
2023-06-06 13:12:44 +12:00
Silvan Fuhrer f0b476bcba ROMFS: set default for VT_B_TRANS_DUR for all tailsitter configs to 5s
5s is a more reasobale time for tailsitters, which rely differently on this param
than other VTOL types. Tailsitters will ramp the pitch up withing this time,
while for other VTOLS types its only the max transitiont time.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-05-29 12:25:20 +02:00
Silvan Fuhrer ee19ec4670 ROMFS: tailsitter SITL config: improve tuning after model changes
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-05-29 12:25:20 +02:00
Silvan Fuhrer f96073f442 ROMFS: quadtailsitter SITL config: improve tuning
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-05-29 12:25:20 +02:00
Julian Oes 6977fd9956 ROMFS: initial quadtailsitter tuning
This is now using the advanced lift drag plugin.

The important step was to enable airmode for yaw, otherwise yaw gets
saturated at low throttle and we can barely roll.

The other trick was to raise airspeed a little bit to avoid operating
too much at the lower end of throttle where control authority is low.

Signed-off-by: Julian Oes <julian@oes.ch>
2023-05-29 12:25:20 +02:00
JaeyoungLim e3aea937c3 Support quadtailsitter in SITL 2023-05-29 12:25:20 +02:00
Daniel Agar bb0f2875a9 ekf2: disable multi-EKF across mags by default (H7 & SITL) for now
- re-enable once the estimator selector respects configured mag
priority (at least initially) or is otherwise able to automatically
prefer an external mag over internal
 - for SITL disabled because the full matrix of esitmator instances
(IMUs X mags) was too many topics for logger currently
2023-05-19 18:35:57 -06:00
Alejandro Hernández Cordero be03b7f098 Allow to modify uxrce_dds_client port with a env var
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
2023-05-10 08:17:56 -07:00
Silvan Fuhrer 9c42dcbb0b ROMFS: plane_catapult: enable launch detection and set IDLE to 0.1 to detect arming
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-05-10 14:23:12 +02:00
Silvan Fuhrer 87c8f170ae ROMFS: FW simulations: remove re-declaration of params to vehicle default
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-05-10 14:23:12 +02:00
Silvan Fuhrer 6fb55a8ad8 ROMFS: remove param RWTO_TKOFF from configs where only set to default again
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-05-10 14:23:12 +02:00
Silvan Fuhrer cad61fcb84 ROMFS: remove outdated param FW_LND_AIRSPD_SC from all simulation configs
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-05-10 14:23:12 +02:00
alexklimaj 000a3c10e2 Add ADIS16507 params 2023-05-06 17:11:42 -04:00
Beniamino Pozzan 9e5420bbbd microdds_client: rename to uxrce_dds_client
| | old version | new version (second proposal) |
|-|-|-|
| module name | `microdds_client` | **`uxrce_dds_client`** |
| strings / comments about the module | non consistent | **UXRCE-DDS Client** |
| menuconfig option | `MODULES_MICRODDS_CLIENT` | **`MODULES_UXRCE_DDS_CLIENT`** |
| module parameters group name | `Micro XRCE-DDS` | **UXRCE-DDS Client** |
| module parameters name prefix | `XRCE_DDS_` | `UXRCE_DDS_` |
| module class name | `MicroddsClient` | **`UxrceddsClient`** |
|`init.d/rcS` whenever the module is mentioned | `microdds` | **`uxrce_dds`** |
| main doc page name | XRCE-DDS (PX4-FastDDS Bridge) | **uXRCE-DDS (PX4-micro XRCE-DDS Bridge)**|
| environment variable to have custom namespace in simulation | PX4_MICRODDS_NS | **PX4_UXRCE_DDS_NS** |

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
2023-05-03 11:51:53 -07:00
bresch 521abecbbf ekf2: remove all remaining uses of EKF2_AID_MASK 2023-04-28 22:31:17 -04:00
Silvan Fuhrer b874eaf5f9 VTOL: remove deprecated VT_B_TRANS_THR
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-04-19 10:22:10 +02:00
Silvan Fuhrer db379c9049 airframe configs: remove params set to default in custom config from configs
Removes duplication.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-04-19 10:22:10 +02:00
Silvan Fuhrer 9975db2d2f airframe configs: disable airspeed CBRK in rover and UUV defaults
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-04-19 10:22:10 +02:00
Silvan Fuhrer 88bf18a2fe airframe configs: remove custom tuning if close to param default and not required due to hardware
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-04-19 10:22:10 +02:00
Silvan Fuhrer cbbd514c1b VTOL: increase default of VT_B_TRANS_DUR to 10s
A default of 10s makes more sense compared to the old 4s, as this is only the
max time of a back transition and it's also decleared completed if the
speed drops below the hover cruising speed (MPC_XY_CRUISE).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-04-19 10:22:10 +02:00
Silvan Fuhrer f2c392e187 VTOL configs: reset TECS gains to default
There have been substantial TECS changes lately, and the config files
for custom VTOLs have not been updated since a long time. I would thus
rather use the default TECS gains for lightly maintained configs.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-04-19 10:22:10 +02:00
Beniamino Pozzan 89a00f9505 rcS-posix: use ROS_DOMAIN_ID to set XRCE_DDS_DOM_ID
set XRCE_DDS_KEY to MAV_SYS_ID to avoid collisions

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
2023-04-17 20:21:05 -04:00
Thomas Stastny 82fd2987c9
fw pos control: revert name until we delineate this module a bit more (#21442) 2023-04-13 17:00:04 +02:00
TheotimeBlg 67d03461d1
Port px4vision airframe to gz environment (#21409)
* Port of the PX4 Vision gazebo-classic model to Gazebo. With Gazebo Garden, everything seems functionnal.

* Port of the PX4 Vision gazebo-classic model to Gazebo.

With Gazebo Garden, everything seems functionnal.

* Added airframe for command make px4_sitl gz_px4vision

* revert author field

* Import model from Ignition Fuel instead of defining it directly in the .sdf
2023-04-12 18:46:49 +02:00