diff --git a/boards/auterion/fmu-v6x/default.px4board b/boards/auterion/fmu-v6x/default.px4board index f714280cdb..dece24a26f 100644 --- a/boards/auterion/fmu-v6x/default.px4board +++ b/boards/auterion/fmu-v6x/default.px4board @@ -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 diff --git a/boards/auterion/fmu-v6x/init/rc.board_defaults b/boards/auterion/fmu-v6x/init/rc.board_defaults index f371bbee78..1a6fc9673c 100644 --- a/boards/auterion/fmu-v6x/init/rc.board_defaults +++ b/boards/auterion/fmu-v6x/init/rc.board_defaults @@ -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 diff --git a/boards/auterion/fmu-v6x/init/rc.board_mavlink b/boards/auterion/fmu-v6x/init/rc.board_mavlink index 4952825bc4..88cdd87c66 100644 --- a/boards/auterion/fmu-v6x/init/rc.board_mavlink +++ b/boards/auterion/fmu-v6x/init/rc.board_mavlink @@ -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 diff --git a/boards/auterion/fmu-v6x/multicopter.px4board b/boards/auterion/fmu-v6x/multicopter.px4board index 147297d55e..4f1b9ef033 100644 --- a/boards/auterion/fmu-v6x/multicopter.px4board +++ b/boards/auterion/fmu-v6x/multicopter.px4board @@ -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 diff --git a/boards/auterion/fmu-v6x/nuttx-config/include/board.h b/boards/auterion/fmu-v6x/nuttx-config/include/board.h index 7907eafad1..964976318a 100644 --- a/boards/auterion/fmu-v6x/nuttx-config/include/board.h +++ b/boards/auterion/fmu-v6x/nuttx-config/include/board.h @@ -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 */ diff --git a/boards/auterion/fmu-v6x/nuttx-config/nsh/defconfig b/boards/auterion/fmu-v6x/nuttx-config/nsh/defconfig index 328a033bbf..6070e6696e 100644 --- a/boards/auterion/fmu-v6x/nuttx-config/nsh/defconfig +++ b/boards/auterion/fmu-v6x/nuttx-config/nsh/defconfig @@ -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