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[BACKPORT] Add minimal Skynode RC13 config to the PAB manifest

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This commit is contained in:
Niklas Hauser
2024-02-29 10:07:54 +01:00
committed by David Sidrane
parent 1b26e9061a
commit 16bf9ab14e
7 changed files with 64 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/px4/fmu-v5x/init/rc.board_defaults
+6
View File
@@ -16,4 +16,10 @@ param set-default SENS_EN_INA238 0
param set-default SENS_EN_INA228 0
param set-default SENS_EN_INA226 1
if ver hwbasecmp 008 009 00a 010 011
then
# Skynode: use the "custom participant" config for uxrce_dds_client
param set-default UXRCE_DDS_PTCFG 2
fi
safety_button start
boards/px4/fmu-v5x/init/rc.board_mavlink
+1 -1
View File
@@ -3,7 +3,7 @@
# board specific MAVLink startup script.
#------------------------------------------------------------------------------
if ver hwbasecmp 008 009 00a 010
if ver hwbasecmp 008 009 00a 010 011
then
# Start MAVLink on the UART connected to the mission computer
mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
boards/px4/fmu-v5x/init/rc.board_sensors
+1 -1
View File
@@ -49,7 +49,7 @@ then
fi
fi
if ver hwbasecmp 008 009 00a 010
if ver hwbasecmp 008 009 00a 010 011
then
#SKYNODE base fmu board orientation
boards/px4/fmu-v6x/init/rc.board_defaults
+5
View File
@@ -16,5 +16,10 @@ param set-default SENS_EN_INA238 0
param set-default SENS_EN_INA228 0
param set-default SENS_EN_INA226 1
if ver hwbasecmp 009 010 011
then
# Skynode: use the "custom participant" config for uxrce_dds_client
param set-default UXRCE_DDS_PTCFG 2
fi
safety_button start
boards/px4/fmu-v6x/init/rc.board_sensors
+3 -4
View File
@@ -47,7 +47,6 @@ then
fi
fi
# Keep nesting shallow
if ver hwtypecmp V6X006 V6X008
then
@@ -70,7 +69,7 @@ else
icm20649 -s -R 6 start
else
# Internal SPI BMI088
if ver hwbasecmp 009 010
if ver hwbasecmp 009 010 011
then
bmi088 -A -R 6 -s start
bmi088 -G -R 6 -s start
@@ -87,7 +86,7 @@ else
fi
# Internal SPI bus ICM42688p
if ver hwbasecmp 009 010
if ver hwbasecmp 009 010 011
then
icm42688p -R 12 -s start
else
@@ -104,7 +103,7 @@ else
# Internal SPI bus ICM-42670-P (hard-mounted)
icm42670p -R 10 -s start
else
if ver hwbasecmp 009 010
if ver hwbasecmp 009 010 011
then
icm20602 -R 6 -s start
else
boards/px4/fmu-v6xrt/init/rc.board_mavlink
+1 -1
View File
@@ -4,7 +4,7 @@
#------------------------------------------------------------------------------
# if skynode base board is detected start Mavlink on Telem2
if ver hwbasecmp 009 010
if ver hwbasecmp 009 010 011
then
mavlink start -d /dev/ttyS5 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
platforms/common/pab_manifest.c
+47 -6
View File
@@ -292,12 +292,6 @@ static const px4_hw_mft_item_t base_configuration_9[] = {
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
.id = PX4_MFT_PM2,
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
.id = PX4_MFT_ETHERNET,
.present = 1,
@@ -315,6 +309,52 @@ static const px4_hw_mft_item_t base_configuration_9[] = {
// BASE ID 10 Skynode QS no USB Alaised to ID 9
// BASE ID 16 Auterion Skynode RC10, RC11, RC12, RC13 Alaised to ID 0
// BASE ID 17 Auterion Skynode RC13 with many parts removed
static const px4_hw_mft_item_t base_configuration_17[] = {
{
.id = PX4_MFT_PX4IO,
.present = 0,
.mandatory = 0,
.connection = px4_hw_con_onboard,
},
{
.id = PX4_MFT_USB,
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_unknown,
},
{
.id = PX4_MFT_CAN2,
.present = 0,
.mandatory = 0,
.connection = px4_hw_con_onboard,
},
{
.id = PX4_MFT_CAN3,
.present = 0,
.mandatory = 0,
.connection = px4_hw_con_unknown,
},
{
.id = PX4_MFT_PM2,
.present = 0,
.mandatory = 0,
.connection = px4_hw_con_onboard,
},
{
.id = PX4_MFT_ETHERNET,
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_connector,
},
{
.id = PX4_MFT_T100_ETH,
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
};
static px4_hw_mft_list_entry_t mft_lists[] = {
// ver_rev
@@ -328,6 +368,7 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
{HW_BASE_ID(9), base_configuration_9, arraySize(base_configuration_9)}, // Auterion Skynode ver 9
{HW_BASE_ID(10), base_configuration_9, arraySize(base_configuration_9)}, // Auterion Skynode ver 10
{HW_BASE_ID(16), base_configuration_0, arraySize(base_configuration_0)}, // Auterion Skynode ver 16
{HW_BASE_ID(17), base_configuration_17, arraySize(base_configuration_17)}, // Auterion Skynode ver 17
};
/************************************************************************************