Added param system command to voxl2 slpi build

boards/modalai/voxl2-slpi/default.px4board

@@ -10,7 +10,6 @@ CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
-CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_EKF2=y
@@ -28,4 +27,5 @@ CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_ORB_COMMUNICATOR=y

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

@@ -49,6 +49,6 @@ add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
 # add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
 # add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc)
-# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl)
 # add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/elrs_led)

boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp

@@ -989,10 +989,10 @@ handle_message_hil_gps_dsp(mavlink_message_t *msg)
 
 	gps.device_id = device_id.devid;
 
-	gps.lat = hil_gps.lat;
-	gps.lon = hil_gps.lon;
-	gps.alt = hil_gps.alt;
-	gps.alt_ellipsoid = hil_gps.alt;
+	gps.latitude_deg = hil_gps.lat;
+	gps.longitude_deg = hil_gps.lon;
+	gps.altitude_msl_m = hil_gps.alt;
+	gps.altitude_ellipsoid_m = hil_gps.alt;
 
 	gps.s_variance_m_s = 0.25f;
 	gps.c_variance_rad = 0.5f;

platforms/common/pab_manifest.c

@@ -48,6 +48,8 @@
 
 #include <board_config.h>
 
+#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
+
 #include <inttypes.h>
 #include <stdbool.h>
 #include <syslog.h>
@@ -57,7 +59,6 @@
 /****************************************************************************
  * Pre-Processor Definitions
  ****************************************************************************/
-#if defined(BOARD_HAS_HW_SPLIT_VERSIONING)
 
 typedef struct {
 	hw_base_id_t             hw_base_id; /* The ID of the Base */

platforms/posix/src/px4/common/px4_init.cpp

@@ -40,15 +40,34 @@
 #include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
 #include <uORB/uORB.h>
 
+#if defined(CONFIG_MODULES_MUORB_APPS)
+extern "C" { int muorb_init(); }
+#endif
+
 int px4_platform_init(void)
 {
 	hrt_init();
 
 	px4::WorkQueueManagerStart();
 
+// MUORB has slightly different startup requirements
+#if defined(CONFIG_MODULES_MUORB_APPS)
+	//Put sleeper in here to allow wq to finish initializing before param_init is called
+	usleep(10000);
+
+	uorb_start();
+
+	muorb_init();
+
+	// Give muorb some time to setup the DSP
+	usleep(100000);
+
+	param_init();
+#else
 	param_init();
 
 	uorb_start();
+#endif
 
 	px4_log_initialize();
 

src/drivers/voxl2_io/CMakeLists.txt

@@ -45,6 +45,7 @@ px4_add_module(
 		voxl2_io.cpp
 		voxl2_io.hpp
 	DEPENDS
+		rc
 		px4_work_queue
 		mixer_module
 	MODULE_CONFIG

src/modules/muorb/slpi/uORBProtobufChannel.cpp

@@ -275,10 +275,10 @@ int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
 		uORB::Manager::get_instance()->set_uorb_communicator(
 			uORB::ProtobufChannel::GetInstance());
 
-		param_init();
-
 		px4::WorkQueueManagerStart();
 
+		param_init();
+
 		uORB::ProtobufChannel::GetInstance()->RegisterSendHandler(muorb_func_ptrs.topic_data_func_ptr);
 
 		// Configure the I2C driver function pointers