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boards: align auterion v6x with APX4

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This commit is contained in:
Alexander Lerach 2025-10-14 15:36:09 +02:00
parent 9fa4a57c66
commit 0f0fe8f1fa
6 changed files with 25 additions and 16 deletions
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10
boards/auterion/fmu-v6x/default.px4board
View File

@ -20,13 +20,11 @@ CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
CONFIG_DRIVERS_GPIO_MCP23009=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_HEATER=y
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_COMMON_LIGHT=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
@ -34,6 +32,7 @@ CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
CONFIG_DRIVERS_PWM_INPUT=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_PX4IO=y
CONFIG_DRIVERS_RPM_CAPTURE=y
CONFIG_COMMON_RC=y
CONFIG_DRIVERS_SAFETY_BUTTON=y
CONFIG_DRIVERS_TONE_ALARM=y
@ -53,10 +52,12 @@ CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_FIGURE_OF_EIGHT=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_HARDFAULT_STREAM=y
CONFIG_MODULES_INTERNAL_COMBUSTION_ENGINE_CONTROL=y
CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
CONFIG_MODULES_LOAD_MON=y
@ -64,7 +65,6 @@ CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MAVLINK_DIALECT="development"
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@ -74,8 +74,9 @@ CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_MECANUM=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@ -92,6 +93,7 @@ CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_SD_BENCH=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y

3
boards/auterion/fmu-v6x/init/rc.board_defaults
View File

@ -17,6 +17,9 @@ param set-default UXRCE_DDS_CFG 1000
# The buzzer draws too much power (0.2A) on the GPS power rail (limit 0.45A).
param set-default CBRK_BUZZER 782097
# Update default IP config if needed
netman update_default -i eth0
safety_button start
# GPIO Expander driver on external I2C3

12
boards/auterion/fmu-v6x/init/rc.board_mavlink
View File

@ -3,8 +3,16 @@
# Auterion FMUv6X specific board MAVLink startup script.
#------------------------------------------------------------------------------
# start Mavlink on Telem2
mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
if param compare MAV_S_FORWARD 1
then
set S_FORWARD "-f"
else
set S_FORWARD ""
fi
mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m p:MAV_S_MODE -x -z $S_FORWARD
unset S_FORWARD
# Ensure nothing else starts on TEL2 (ttyS4)
set PRT_TEL2_ 1

1
boards/auterion/fmu-v6x/multicopter.px4board
View File

@ -9,5 +9,4 @@ CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
CONFIG_COMMON_RC=y
# CONFIG_EKF2_SIDESLIP is not set
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set

6
boards/auterion/fmu-v6x/nuttx-config/include/board.h
View File

@ -377,7 +377,11 @@
#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */
#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
#ifdef PX4_RESTRICTED_BUILD
# define GPIO_USART3_RX 0 /* PD9 */
#else
# define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
#endif /* PX4_RESTRICTED_BUILD */
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
#define GPIO_UART4_RX GPIO_UART4_RX_6 /* PH14 */

9
boards/auterion/fmu-v6x/nuttx-config/nsh/defconfig
View File

@ -139,14 +139,13 @@ CONFIG_NETDB_DNSCLIENT=y
CONFIG_NETDB_DNSCLIENT_ENTRIES=8
CONFIG_NETDB_DNSSERVER_NOADDR=y
CONFIG_NETDEV_PHY_IOCTL=y
CONFIG_NETINIT_DHCPC=y
CONFIG_NETINIT_DNS=y
CONFIG_NETINIT_DNSIPADDR=0xA290AFE
CONFIG_NETINIT_DRIPADDR=0xA290AFE
CONFIG_NETINIT_IPADDR=0xA290A02
CONFIG_NETINIT_MONITOR=y
CONFIG_NETINIT_THREAD=y
CONFIG_NETINIT_THREAD_PRIORITY=49
CONFIG_NETUTILS_TELNETD=y
CONFIG_NET_ARP_IPIN=y
CONFIG_NET_ARP_SEND=y
CONFIG_NET_BROADCAST=y
@ -155,10 +154,6 @@ CONFIG_NET_ICMP=y
CONFIG_NET_ICMP_SOCKET=y
CONFIG_NET_NACTIVESOCKETS=16
CONFIG_NET_SOLINGER=y
CONFIG_NET_TCP=y
CONFIG_NET_TCPBACKLOG=y
CONFIG_NET_TCP_DELAYED_ACK=y
CONFIG_NET_TCP_WRITE_BUFFERS=y
CONFIG_NET_UDP=y
CONFIG_NET_UDP_CHECKSUMS=y
CONFIG_NET_UDP_WRITE_BUFFERS=y
@ -174,8 +169,6 @@ CONFIG_NSH_QUOTE=y
CONFIG_NSH_ROMFSETC=y
CONFIG_NSH_ROMFSSECTSIZE=128
CONFIG_NSH_STRERROR=y
CONFIG_NSH_TELNET=y
CONFIG_NSH_TELNET_LOGIN=y
CONFIG_NSH_VARS=y
CONFIG_OTG_ID_GPIO_DISABLE=y
CONFIG_PIPES=y