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Merge branch 'main' into pr-ekf2_dist_sensor_validation

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This commit is contained in:
Jacob Dahl
2025-06-09 13:41:33 -08:00
committed by GitHub
parent 88cb8875f0 df2ee22d1b
commit 2c1e8a2f6b
690 changed files with 17847 additions and 12233 deletions
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.github/workflows/build_all_targets.yml
+7 -1
View File
@@ -54,7 +54,13 @@ jobs:
run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
- id: set-branch
run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
run: |
echo "branchname=${{
github.event_name == 'pull_request' &&
format('pr-{0}', github.event.pull_request.number) ||
github.head_ref ||
github.ref_name
}}" >> $GITHUB_OUTPUT
- name: Debug Matrix Output
if: runner.debug == '1'
.github/workflows/itcm_check.yml
+61
View File
@@ -0,0 +1,61 @@
name: ITCM check
permissions:
contents: read
on:
push:
branches:
- 'main'
paths-ignore:
- 'docs/**'
- '.github/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
jobs:
check_itcm:
name: Checking ${{ matrix.target }}
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
container:
image: px4io/px4-dev:v1.16.0-ondemand
strategy:
fail-fast: false
matrix:
include:
- target: px4_fmu-v5x
scripts: >
boards/px4/fmu-v5x/nuttx-config/scripts/itcm_gen_functions.ld
boards/px4/fmu-v5x/nuttx-config/scripts/itcm_static_functions.ld
- target: px4_fmu-v6xrt
scripts: >
boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
- target: nxp_tropic-community
scripts: >
boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
steps:
- uses: actions/checkout@v4
with:
fetch-depth: 0
submodules: recursive
- name: Git ownership workaround
run: git config --system --add safe.directory '*'
- name: Build Target
run: make ${{ matrix.target }}
- name: Copy built ELF
run: cp ./build/**/*.elf ./built.elf
- name: Install itcm-check dependencies
run: pip3 install -r Tools/setup/optional-requirements.txt --break-system-packages
- name: Execute the itcm-check
run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}
MAINTAINERS.md
+17 -16
View File
@@ -7,33 +7,34 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
| Name | Sector | GitHub | Chat | email
|-------------------------|--------|--------|------|----------------
| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] | | <lorenz@px4.io>
| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
| Paul Riseborough | State Estimation | [priseborough][priseborough] | |
| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
| Lorenz Meier | Founder | [@LorenzMeier](https://github.com/LorenzMeier) | | <lorenz@px4.io>
| Daniel Agar | Architecture | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
| Beat Küng | Architecture | [@bkueng](https://github.com/bkueng) | beatkueng | <beat-kueng@gmx.net>
| Ramón Roche | CI / Testing | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
| Mathieu Bresciani | State Estimation | [@bresch](https://github.com/bresch) | mbresch |
| Paul Riseborough | State Estimation | [@priseborough](https://github.com/priseborough) | |
| David Sidrane | RTOS / NuttX | [@davids5](https://github.com/davids5) | david_s5 | <David.Sidrane@Nscdg.com>
| Jayoung Lim | Simulation | [@Jaeyoung-Lim](https://github.com/Jaeyoung-Lim) | jaeyounglim. | <jalim@ethz.ch>
| Beniamino Pozzan | ROS 2 | [@beniaminopozzan](https://github.com/beniaminopozzan) | beniaminopozzan | <beniamino.pozzan@gmail.com>
| Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
| Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
| Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <padr@kth.se>
| Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>
**Documentation Maintainers**
| Name | GitHub | Chat | email
|------|--------|------|----------------------
| Hamish Willee | [hamishwillee][hamishwillee] | hamishwillee |
| Hamish Willee | [@hamishwillee](https://github.com/hamishwillee) | hamishwillee |
**Release Managers**
| Name | GitHub | Chat | email
|------|--------|------|----------------------
| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
| Ramón Roche | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
| Daniel Agar | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
**Retired Maintainers**
ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex
+47
View File
@@ -0,0 +1,47 @@
#!/bin/sh
#
# @name HexarotorX SITL for SIH
#
# @type Hexarotor x
# @class Copter
#
# @maintainer Matthias Grob <maetugr@gmail.com>
#
. ${R}etc/init.d/rc.mc_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set SIH_VEHICLE_TYPE 4
# Symmetric hexacopter X clockwise motor numbering
param set-default CA_ROTOR_COUNT 6
param set-default CA_ROTOR0_PX 0.866
param set-default CA_ROTOR0_PY 0.5
param set-default CA_ROTOR1_PX 0
param set-default CA_ROTOR1_PY 1
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR2_PX -0.866
param set-default CA_ROTOR2_PY 0.5
param set-default CA_ROTOR3_PX -0.866
param set-default CA_ROTOR3_PY -0.5
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX 0
param set-default CA_ROTOR4_PY -1
param set-default CA_ROTOR5_PX 0.866
param set-default CA_ROTOR5_PY -0.5
param set-default CA_ROTOR5_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 105
param set-default PWM_MAIN_FUNC6 106
param set-default EKF2_GPS_DELAY 0
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+1
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@@ -109,6 +109,7 @@ px4_add_romfs_files(
10041_sihsim_airplane
10042_sihsim_xvert
10043_sihsim_standard_vtol
10044_sihsim_hex
17001_flightgear_tf-g1
17002_flightgear_tf-g2
ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
+23 -12
View File
@@ -110,25 +110,36 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
POSE_ARG=""
if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
pos_x=${pos_x:-0}
pos_y=${pos_y:-0}
pos_z=${pos_z:-0}
sdf_pose_str=""
POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
echo "INFO [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
pose_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
pose_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
pose_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
pose_roll=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $4}')
pose_pitch=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $5}')
pose_yaw=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $6}')
pose_x=${pose_x:-0}
pose_y=${pose_y:-0}
pose_z=${pose_z:-0}
pose_roll=${pose_roll:-0}
pose_pitch=${pose_pitch:-0}
pose_yaw=${pose_yaw:-0}
sdf_pose_str="<pose> ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw} </pose>"
echo "INFO [init] Gazebo model pose: ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw}"
fi
echo "INFO [init] Spawning model"
echo "INFO [init] Spawning Gazebo model"
# include the actual SDF in this one, containing the pose if given
sdf_str="<sdf version=\"1.6\"> <include> <uri>file://${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf</uri> ${sdf_pose_str} </include> </sdf>"
# Spawn model
${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
--reptype gz.msgs.Boolean --timeout 5000 \
--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
--req "name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false, sdf: '${sdf_str}'" > /dev/null 2>&1
# Wait for model to spawn
sleep 1
ROMFS/px4fmu_common/init.d-posix/rcS
+9 -4
View File
@@ -295,10 +295,15 @@ then
# for multi intances setup, add namespace prefix
uxrce_dds_ns="-n px4_$px4_instance"
fi
if [ -n "$PX4_UXRCE_DDS_NS" ]
then
# Override namespace if environment variable is defined
uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
if [ "${PX4_UXRCE_DDS_NS+x}" ]; then
# Override, as variable is set (empty or not)
if [ -n "$PX4_UXRCE_DDS_NS" ]; then
# Override namespace if environment variable is non-empty
uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
else
# Clear namespace if variable is empty
uxrce_dds_ns=""
fi
fi
if [ -n "$ROS_DOMAIN_ID" ]
then
ROMFS/px4fmu_common/init.d/rc.fw_apps
+2 -1
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@@ -15,7 +15,8 @@ control_allocator start
#
fw_rate_control start
fw_att_control start
fw_pos_control start
fw_mode_manager start
fw_lat_lon_control start
airspeed_selector start
#
ROMFS/px4fmu_common/init.d/rc.fw_defaults
-2
View File
@@ -13,8 +13,6 @@ param set-default MAV_TYPE 1
#
# Default parameters for fixed wing UAVs.
#
# there is a 2.5 factor applied on the _FS thresholds if for invalidation
param set-default COM_POS_FS_EPH 50
param set-default COM_VEL_FS_EVH 3
param set-default COM_POS_LOW_EPH 50
ROMFS/px4fmu_common/init.d/rc.mc_defaults
-2
View File
@@ -20,7 +20,5 @@ param set-default NAV_ACC_RAD 2
param set-default RTL_RETURN_ALT 30
param set-default RTL_DESCEND_ALT 10
param set-default GPS_UBX_DYNMODEL 6
# lower RNG_FOG since MC are expected to fly closer over obstacles
param set-default EKF2_RNG_FOG 1.0
ROMFS/px4fmu_common/init.d/rc.vtol_apps
+2 -1
View File
@@ -27,7 +27,8 @@ fi
fw_rate_control start vtol
fw_att_control start vtol
fw_pos_control start vtol
fw_mode_manager start
fw_lat_lon_control start vtol
fw_autotune_attitude_control start vtol
# Start Land Detector
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
-3
View File
@@ -10,9 +10,6 @@ set VEHICLE_TYPE vtol
# MAV_TYPE_VTOL_FIXEDROTOR 22
param set-default MAV_TYPE 22
# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
param set-default COM_POS_FS_EPH 50
param set-default COM_POS_LOW_EPH 50
param set-default MIS_TAKEOFF_ALT 20
ROMFS/px4fmu_common/init.d/rcS
+1 -1
View File
@@ -39,7 +39,7 @@ set VEHICLE_TYPE none
# Airframe parameter versioning
# Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
# Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enfoces a reset.
# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enforces a reset.
set PARAM_DEFAULTS_VER 1
#
Tools/ci/check_msg_versioning.sh
+3 -3
View File
@@ -27,9 +27,9 @@ do
# - An old .msg version exists
# - A translation header exists and is included
# Ignore changes to comments or constants
content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
# Ignore changes to comments or constants and trim whitespace
content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v = | sed 's/^ *//;s/[ \t]*$//')
content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v = | sed 's/^ *//;s/[ \t]*$//')
if [ "${content_a}" == "${content_b}" ]; then
echo "No version update required for ${file}"
continue
Tools/docker_run.sh
+2 -22
View File
@@ -2,19 +2,7 @@
if [ -z ${PX4_DOCKER_REPO+x} ]; then
echo "guessing PX4_DOCKER_REPO based on input";
if [[ $@ =~ .*px4_fmu.* ]]; then
# nuttx-px4fmu-v{1,2,3,4,5}
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]] || [[ $@ =~ .*navigator.* ]]; then
# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default, bluerobotics_navigator_default
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
elif [[ $@ =~ .*pilotpi.arm64 ]]; then
# scumaker_pilotpi_arm64
PX4_DOCKER_REPO="px4io/px4-dev-aarch64:2022-08-12"
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
# posix_rpi_cross, posix_bebop_default
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
# clang tools
PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
elif [[ $@ =~ .*tests* ]]; then
@@ -27,17 +15,9 @@ fi
# otherwise default to nuttx
if [ -z ${PX4_DOCKER_REPO+x} ]; then
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-ondemand"
fi
# docker hygiene
#Delete all stopped containers (including data-only containers)
# docker container prune
#Delete all 'untagged/dangling' (<none>) images
# docker image prune
echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
Tools/itcm_check.py
+185
View File
@@ -0,0 +1,185 @@
#! /usr/bin/env python3
"""
Checks if the functions that should be mapped to ITCM are contained in the built ELF file.
This helps against linker scripts that "rot" as the linker does not warn in case of a function
not existing. Thus, it is possible to forget to update the linker script after a code update.
The tool uses the DWARF debug info and the ELF symbol table section to identify which functions
exist in the built ELF file.
It is expected that the linker scripts that are analyzed by the tool are linker script include
files that only contain the name of the sections (functions) that should be mapped to ITCM in
the following format:
```
*(.text.arm_ack_irq)
*(.text.arm_doirq)
*(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
*(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE)
[...]
```
A specific entry in the linker script file can be ignored by adding a comment, as shown in the following example:
```
*(.text.arm_ack_irq) /* itcm-check-ignore */
```
"""
import argparse
import re
from elftools.elf.elffile import ELFFile
from elftools.elf.sections import SymbolTableSection
from elftools.dwarf.die import DIE
from pathlib import Path
from typing import List, Set
def die_get_funcs_rec(die: DIE, ret: Set[str]):
"""
Recursively gets the mangled and demangled name of all functions in the given `die`.
:param die: DIE to be processed. Is gathered recursively after passing a top DIE.
:param ret: Output set where all function names are added to.
"""
if die.tag in ("DW_TAG_subprogram", "DW_TAG_inlined_subroutine"):
link_name_att = die.attributes.get("DW_AT_linkage_name")
name_att = die.attributes.get("DW_AT_name")
if link_name_att:
ret.add(link_name_att.value.decode("utf-8"))
if name_att:
ret.add(name_att.value.decode("utf-8"))
# Recurse into the DIE children
for child in die.iter_children():
die_get_funcs_rec(child, ret)
def get_elf_symbols_from_debug(elf_path: Path) -> Set[str]:
"""
Gets all functions contained in the built ELF file using the DWARF debug info.
:param elf_path: Path to the ELF file.
:return: The names of the contained functions.
"""
ret = set()
with open(elf_path, 'rb') as f:
elf = ELFFile(f)
if not elf.has_dwarf_info():
print("ELF does not have debug info. Compile with debug info.")
exit(1)
dwarf_info = elf.get_dwarf_info()
for CU in dwarf_info.iter_CUs():
top_die = CU.get_top_DIE()
die_get_funcs_rec(top_die, ret)
return ret
def get_elf_symbols_from_sections(elf_path: Path) -> Set[str]:
"""
Gets all functions contained in the built ELF file using the symbol table section.
:param elf_path: Path to the ELF file.
:return: The names of the contained functions.
"""
ret = set()
with open(elf_path, 'rb') as f:
elf = ELFFile(f)
for section in elf.iter_sections():
if isinstance(section, SymbolTableSection):
for sym in section.iter_symbols():
ret.add(sym.name)
return ret
def is_section_supported(section: str) -> bool:
"""
Returns whether this type of section can be checked.
:param section: Name of the section that should be checked for support.
:return: Whether the type of section is supported.
"""
not_supported_sections = [".isra", ".part", ".constprop"]
return not any(not_supported in section for not_supported in not_supported_sections)
def get_input_sections(script_path: Path) -> List[str]:
"""
Gets all sections (named after the functions) that should be mapped to ITCM according
to the linker script.
:param script_path: Path of the linker script.
:return: The names of the sections
"""
ret = []
section_pattern = re.compile(r"^\*\(\.([a-zA-Z0-9_\.]+)\)$")
ignored_marker = "itcm-check-ignore"
with open(script_path, 'r') as f:
for line in f:
match = section_pattern.match(line)
if match and ignored_marker not in line:
section_name = match.group(1).replace("text.", "")
if is_section_supported(section_name):
ret.append(section_name)
return ret
def check_itcm(elf_path: Path, script_paths: List[Path]):
"""
Checks if all the functions that should be mapped to ITCM are contained in the built ELF file.
:param elf_path: Path of the ELF file.
:param script_paths: Path of all linker scripts that should be checked.
"""
elf_symbols_from_debug = get_elf_symbols_from_debug(elf_path)
elf_symbols_from_sections = get_elf_symbols_from_sections(elf_path)
elf_symbols = elf_symbols_from_debug.union(elf_symbols_from_sections)
input_sections = []
for script_path in script_paths:
script_input_sections = get_input_sections(script_path)
if script_input_sections:
input_sections.extend(script_input_sections)
else:
print(f"No input sections found in {script_path}, please check if the path is correct.")
check_passed = True
for input_section in input_sections:
if input_section not in elf_symbols:
check_passed = False
print(f"Section: {input_section} not found in the ELF file!")
if check_passed:
print("ITCM check passed!")
exit(0)
else:
print("ITCM check failed!")
exit(1)
def main():
parser = argparse.ArgumentParser(description="Checks if functions marked for ITCM mapping exist in the ELF file.")
parser.add_argument(
"--elf-file",
help="Path of the compiled ELF file",
type=Path,
required=True
)
parser.add_argument(
"--script-files",
help="Paths of the linker script files",
nargs="+",
type=Path,
required=True
)
args = parser.parse_args()
check_itcm(args.elf_file, args.script_files)
if __name__ == '__main__':
main()
Tools/msg/generate_msg_docs.py
+97
View File
@@ -2,6 +2,7 @@
"""
Generate docs from .msg files
Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
"""
import os
@@ -9,6 +10,99 @@ import argparse
import sys
import yaml
def generate_dds_yaml_doc(allMessageFiles, output_file = 'dds_topics.md'):
"""
Generates human readable version of dds_topics.yaml.
Default output is to docs/en/middleware/dds_topics.md
"""
dds_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../src/modules/uxrce_dds_client/dds_topics.yaml")
output_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),f"../../docs/en/middleware/{output_file}")
try:
with open(dds_file_path, 'r') as file:
data = yaml.safe_load(file)
# Get messages and topics that are not published by default
# Start by getting all that are published.
all_messages_in_source = set()
all_message_types =set()
all_topics =set()
for message in data["publications"]:
all_message_types.add(message['type'].split("::")[-1])
all_topics.add(message['topic'].split('/')[-1])
for message in data["subscriptions"]:
all_message_types.add(message['type'].split("::")[-1])
all_topics.add(message['topic'].split('/')[-1])
if data["subscriptions_multi"]: # There is none now
dds_markdown += "None\n"
for message in data["subscriptions_multi"]:
all_message_types.add(message['type'].split("::")[-1])
all_topics.add(message['topic'].split('/')[-1])
for message in allMessageFiles:
all_messages_in_source.add(message.split('/')[-1].split('.')[0])
messagesNotExported = all_messages_in_source - all_message_types
# write out the dds file
dds_markdown="""# dds_topics.yaml — PX4 Topics Exposed to ROS 2
::: info
This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
:::
The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.
## Publications
Topic | Type| Rate Limit
--- | --- | ---
"""
for message in data["publications"]:
type = message['type']
px4Type=type.split("::")[-1]
dds_markdown += f"`{message['topic']}` | [{type}](../msg_docs/{px4Type}.md) | {message.get('rate_limit','')}\n"
dds_markdown += "\n## Subscriptions\n\nTopic | Type\n--- | ---\n"
for message in data["subscriptions"]:
type = message['type']
px4Type=type.split("::")[-1]
dds_markdown += f"{message['topic']} | [{type}](../msg_docs/{px4Type}.md)\n"
dds_markdown += "\n## Subscriptions Multi\n\n"
if not data["subscriptions_multi"]: # There is none now
dds_markdown += "None\n"
else:
print("Warning - we now have subscription_multi data - check format")
dds_markdown += "Topic | Type\n--- | ---\n"
for message in data["subscriptions_multi"]:
dds_markdown += f"{message['topic']} | {message['type']}\n"
if messagesNotExported:
# Print the topics that are not exported to DDS
dds_markdown += "\n## Not Exported\n\nThese messages are not listed in the yaml file.\nThey are not build into the module, and hence are neither published or subscribed."
dds_markdown += "\n\n::: details See messages\n"
for item in messagesNotExported:
dds_markdown += f"\n- [{item}](../msg_docs/{item}.md)"
dds_markdown += "\n:::\n" # End of details block
#print(dds_markdown)
with open(output_file_path, 'w') as content_file:
content_file.write(dds_markdown)
except yaml.YAMLError as exc:
print(f"Error parsing YAML: {exc}")
except FileNotFoundError:
print(f"Error: {dds_file_path} not found.")
def get_msgs_list(msgdir):
"""
Makes a list of relative paths of .msg files in the given directory
@@ -30,6 +124,7 @@ def get_msgs_list(msgdir):
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Generate docs from .msg files')
parser.add_argument('-d', dest='dir', help='output directory', required=True)
args = parser.parse_args()
@@ -132,3 +227,5 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
index_file = os.path.join(output_dir, 'index.md')
with open(index_file, 'w') as content_file:
content_file.write(index_text)
generate_dds_yaml_doc(msg_files)
Tools/px4moduledoc/markdownout.py
+11 -11
View File
@@ -40,25 +40,25 @@ The generated files will be written to the `modules` directory.
## Categories
"""
for category in sorted(module_groups):
result += "- [%s](modules_%s.md)\n" % (category.capitalize(), category)
result += f"- [{category.capitalize()}](modules_{category}.md)\n"
self._outputs['main'] = result
for category in sorted(module_groups):
result = "# Modules Reference: %s\n" % category.capitalize()
result = f"# Modules Reference: {category.capitalize()}\n\n"
subcategories = module_groups[category]
if len(subcategories) > 1:
result += 'Subcategories:\n'
for subcategory in subcategories:
result += 'Subcategories:\n\n'
for subcategory in sorted(subcategories):
if subcategory == '':
continue
subcategory_label = subcategory.replace('_', ' ').title()
subcategory_file_name = category+'_'+subcategory
result += '- [%s](modules_%s.md)\n' % (subcategory_label, subcategory_file_name)
result += f'- [{subcategory_label}](modules_{subcategory_file_name}.md)\n'
# add a sub-page for the subcategory
result_subpage = '# Modules Reference: %s (%s)\n' % \
(subcategory_label, category.capitalize())
result_subpage = f'# Modules Reference: {subcategory_label} ({category.capitalize()})\n'
result_subpage += self._ProcessModules(subcategories[subcategory])
self._outputs[subcategory_file_name] = result_subpage
@@ -68,14 +68,14 @@ The generated files will be written to the `modules` directory.
def _ProcessModules(self, module_list):
result = ''
for module in module_list:
result += "## %s\n" % module.name()
result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/main/src/%s)\n\n" % (module.scope(), module.scope())
result += f"\n## {module.name()}\n\n"
result += f"Source: [{module.scope()}](https://github.com/PX4/PX4-Autopilot/tree/main/src/{module.scope()})\n\n"
doc = module.documentation()
if len(doc) > 0:
result += "%s\n" % doc
result += f"{doc}\n"
usage_string = module.usage_string()
if len(usage_string) > 0:
result += '<a id="%s_usage"></a>\n### Usage\n```\n%s\n```\n' % (module.name(), usage_string)
result += f'### Usage {{#{module.name()}_usage}}\n\n```\n{usage_string}\n```\n'
return result
def Save(self, dirname):
Tools/px4moduledoc/srcparser.py
+2 -2
View File
@@ -12,11 +12,11 @@ class ModuleDocumentation(object):
"""
# If you add categories or subcategories, they also need to be added to the
# TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
# TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
valid_categories = ['driver', 'estimator', 'controller', 'system',
'communication', 'command', 'template', 'simulation', 'autotune']
valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']
max_line_length = 80 # wrap lines that are longer than this
Tools/setup/optional-requirements.txt
+1
View File
@@ -1 +1,2 @@
pyelftools>=0.32,<1
symforce>=0.9.0
boards/3dr/ctrl-zero-h7-oem-revg/default.px4board
+3 -1
View File
@@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
@@ -41,7 +42,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/airmind/mindpx-v2/default.px4board
+2 -1
View File
@@ -46,7 +46,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/ark/fmu-v6x/default.px4board
+2 -1
View File
@@ -56,7 +56,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/ark/fpv/default.px4board
+4 -1
View File
@@ -37,7 +37,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -56,9 +57,11 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
boards/ark/fpv/nuttx-config/include/board_dma_map.h
+18 -68
View File
@@ -34,75 +34,25 @@
#pragma once
// DMAMUX1 Using at most 8 Channels on DMA1 -------- Assigned
// V
// Timer 4 Channel 1 /* DMA1:29 TIM4CH1 */
#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* 1 DMA1:37 IIM-42653 */
#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* 2 DMA1:38 IIM-42653 */
//#define DMAMAP_SPI2_RX DMAMAP_DMA12_SPI2RX_0 /* 3 DMA1:39 ICM-42688-P */
//#define DMAMAP_SPI2_TX DMAMAP_DMA12_SPI2TX_0 /* 4 DMA1:40 ICM-42688-P */
#define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_0 /* DMA1:41 GPS1 */
#define DMAMAP_USART1_TX DMAMAP_DMA12_USART1TX_0 /* DMA1:42 GPS1 */
//#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_0 /* DMA1:45 DEBUG */
//#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_0 /* DMA1:46 DEBUG */
// Timer 8 Channel 1 /* DMA1:47 TIM8CH1 */
// Timer 8 Channel 2 /* DMA1:48 TIM8CH2 */
// Timer 8 Channel 3 /* DMA1:49 TIM8CH3 */
// Timer 8 Channel 4 /* DMA1:50 TIM8CH4 */
// Timer 5 Channel 1 /* DMA1:55 TIM5CH1 */
// Timer 5 Channel 2 /* DMA1:56 TIM5CH2 */
// Timer 5 Channel 3 /* DMA1:57 TIM5CH3 */
// Timer 5 Channel 4 /* DMA1:58 TIM5CH4 */
// #define DMAMAP_UART4_RX DMAMAP_DMA12_UART4RX_0 /* DMA1:63 UART4 */
// #define DMAMAP_UART4_TX DMAMAP_DMA12_UART4TX_0 /* DMA1:64 UART4 */
#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 RC */
// #define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 RC */
// Assigned in timer_config.cpp
// Timer 4 /* 7 DMA1:32 TIM4UP */
// Timer 5 /* 8 DMA1:50 TIM5UP */
#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 // 1 DMA1:37 IIM-42653
#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 // 2 DMA1:38 IIM-42653
#define DMAMAP_USART1_RX DMAMAP_DMA12_USART1RX_0 // 3 DMA1:41 GPS1
#define DMAMAP_USART1_TX DMAMAP_DMA12_USART1TX_0 // 4 DMA1:42 GPS1
#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_0 // 5 DMA1:71 RC
#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_0 // 6 DMA1:72 RC
// Timer 4 (DMAMAP_DMA12_TIM4UP_0) // 7 DMA1:32 TIM4UP/TIM4CH1-4
// Timer 5 (DMAMAP_DMA12_TIM5UP_0) // 8 DMA1:50 TIM5UP/TIM5CH1-4
// DMAMUX2 Using at most 8 Channels on DMA2 -------- Assigned
// V
// Timer 4 Channel 1 /* DMA2:29 TIM4CH1 */
#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_1 /* 3 DMA2:43 TELEM3 */
#define DMAMAP_USART2_TX DMAMAP_DMA12_USART2TX_1 /* 4 DMA2:44 TELEM3 */
#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_1 /* 3 DMA2:45 DEBUG */
#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_1 /* 4 DMA2:46 DEBUG */
// Timer 8 Channel 1 /* DMA2:47 TIM8CH1 */
// Timer 8 Channel 2 /* DMA2:48 TIM8CH2 */
// Timer 8 Channel 3 /* DMA2:49 TIM8CH3 */
// Timer 8 Channel 4 /* DMA2:50 TIM8CH4 */
// Timer 5 Channel 1 /* DMA2:55 TIM5CH1 */
// Timer 5 Channel 2 /* DMA2:56 TIM5CH2 */
// Timer 5 Channel 3 /* DMA2:57 TIM5CH3 */
// Timer 5 Channel 4 /* DMA2:58 TIM5CH4 */
//#define DMAMAP_SPI3_RX DMAMAP_DMA12_SPI3RX_1 /* 1 DMA2:61 BMI088 */
//#define DMAMAP_SPI3_TX DMAMAP_DMA12_SPI3TX_1 /* 2 DMA2:62 BMI088 */
#define DMAMAP_UART5_RX DMAMAP_DMA12_UART5RX_1 /* 5 DMA2:65 TELEM2 */
#define DMAMAP_UART5_TX DMAMAP_DMA12_UART5TX_1 /* 6 DMA2:66 TELEM2 */
#define DMAMAP_UART7_RX DMAMAP_DMA12_UART7RX_1 /* 7 DMA1:79 TELEM1 */
#define DMAMAP_UART7_TX DMAMAP_DMA12_UART7TX_1 /* 8 DMA1:80 TELEM1 */
#define DMAMAP_USART2_RX DMAMAP_DMA12_USART2RX_1 // 1 DMA2:43 VTX
#define DMAMAP_UART5_RX DMAMAP_DMA12_UART5RX_1 // 2 DMA2:65 VTX
#define DMAMAP_UART5_TX DMAMAP_DMA12_UART5TX_1 // 3 DMA2:66 VTX
#define DMAMAP_UART7_RX DMAMAP_DMA12_UART7RX_1 // 4 DMA2:79 TELEM1
#define DMAMAP_UART7_TX DMAMAP_DMA12_UART7TX_1 // 5 DMA2:80 TELEM1
#define DMAMAP_USART3_RX DMAMAP_DMA12_USART3RX_1 // 6 DMA2:45 DEBUG
#define DMAMAP_USART3_TX DMAMAP_DMA12_USART3TX_1 // 7 DMA2:46 DEBUG
// available
// DMAMUX2 Using at most 8 Channels on BDMA -------- Assigned
// V
#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX /* 1 BDMA:11 SPI J11 */
#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX /* 2 BDMA:12 SPI J11 */
#define DMAMAP_SPI6_RX DMAMAP_BDMA_SPI6_RX // 1 BDMA:11 SPI J11
#define DMAMAP_SPI6_TX DMAMAP_BDMA_SPI6_TX // 2 BDMA:12 SPI J11
boards/ark/fpv/nuttx-config/nsh/defconfig
+1 -2
View File
@@ -260,8 +260,6 @@ CONFIG_USART1_TXDMA=y
CONFIG_USART2_BAUD=57600
CONFIG_USART2_RXBUFSIZE=600
CONFIG_USART2_RXDMA=y
CONFIG_USART2_TXBUFSIZE=1500
CONFIG_USART2_TXDMA=y
CONFIG_USART3_BAUD=57600
CONFIG_USART3_RXBUFSIZE=180
CONFIG_USART3_RXDMA=y
@@ -272,6 +270,7 @@ CONFIG_USART6_BAUD=57600
CONFIG_USART6_RXBUFSIZE=600
CONFIG_USART6_RXDMA=y
CONFIG_USART6_TXBUFSIZE=1500
CONFIG_USART6_TXDMA=y
CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
boards/auterion/fmu-v6s/default.px4board
+2 -1
View File
@@ -37,7 +37,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_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
boards/auterion/fmu-v6s/init/rc.board_defaults
+3
View File
@@ -26,3 +26,6 @@ nshterm /dev/ttyS3 &
# Start the time_persistor to cyclically store the RTC in FRAM
time_persistor start
# Start the ESC telemetry
dshot telemetry -d /dev/ttyS5 -x
boards/auterion/fmu-v6s/multicopter.px4board
+2 -1
View File
@@ -3,7 +3,8 @@ CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
CONFIG_MODULES_AIRSPEED_SELECTOR=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
CONFIG_COMMON_RC=y
boards/auterion/fmu-v6s/rover.px4board
+2 -1
View File
@@ -2,7 +2,8 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
CONFIG_MODULES_MC_ATT_CONTROL=n
boards/av/x-v1/default.px4board
+2 -1
View File
@@ -42,7 +42,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/beaglebone/blue/default.px4board
+2 -1
View File
@@ -30,7 +30,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/bluerobotics/navigator/default.px4board
+2 -1
View File
@@ -49,7 +49,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MC_ATT_CONTROL=y
boards/corvon/743v1/default.px4board
+2 -1
View File
@@ -38,7 +38,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
boards/cuav/7-nano/default.px4board
+2 -1
View File
@@ -42,7 +42,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/cuav/nora/default.px4board
+2 -1
View File
@@ -50,7 +50,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/cuav/x7pro/default.px4board
+2 -1
View File
@@ -50,7 +50,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/cubepilot/cubeorange/default.px4board
+2 -1
View File
@@ -49,7 +49,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/cubepilot/cubeorangeplus/default.px4board
+2 -1
View File
@@ -50,7 +50,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/cubepilot/cubeyellow/default.px4board
+2 -1
View File
@@ -46,7 +46,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/emlid/navio2/default.px4board
+2 -1
View File
@@ -32,7 +32,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/hkust/nxt-dual/default.px4board
+2 -1
View File
@@ -39,7 +39,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/hkust/nxt-dual/init/rc.board_extras
+1 -1
View File
@@ -10,4 +10,4 @@
# fi
# DShot telemetry is always on UART7
# dshot telemetry /dev/ttyS5
# dshot telemetry -d /dev/ttyS5
boards/hkust/nxt-v1/default.px4board
+2 -1
View File
@@ -41,7 +41,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/hkust/nxt-v1/init/rc.board_extras
+1 -1
View File
@@ -10,4 +10,4 @@
# fi
# DShot telemetry is always on UART7
# dshot telemetry /dev/ttyS5
# dshot telemetry -d /dev/ttyS5
boards/holybro/durandal-v1/default.px4board
+2 -1
View File
@@ -44,7 +44,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/holybro/kakutef7/init/rc.board_extras
+1 -1
View File
@@ -9,4 +9,4 @@ then
fi
# DShot telemetry is always on UART7
dshot telemetry /dev/ttyS5
dshot telemetry -d /dev/ttyS5
boards/holybro/kakuteh7-wing/default.px4board
+3 -5
View File
@@ -13,13 +13,11 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_OSD_ATXXXX=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_COMMON_OPTICAL_FLOW=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_COMMON_TELEMETRY=y
@@ -37,7 +35,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -57,9 +56,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_NAVIGATOR=y
CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
@@ -69,6 +66,7 @@ CONFIG_SYSTEMCMDS_MFT=y
CONFIG_SYSTEMCMDS_NSHTERM=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SD_BENCH=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
boards/holybro/kakuteh7-wing/firmware.prototype
+1 -1
View File
@@ -7,7 +7,7 @@
"summary": "KAKUTEH7-WING",
"version": "0.1",
"image_size": 0,
"image_maxsize": 1835008,
"image_maxsize": 1703936,
"git_identity": "",
"board_revision": 0
}
boards/holybro/kakuteh7-wing/nuttx-config/scripts/script.ld
+1 -1
View File
@@ -110,7 +110,7 @@
MEMORY
{
ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1664K /* params in last two sectors */
DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
boards/holybro/kakuteh7-wing/src/board_config.h
+16 -13
View File
@@ -114,7 +114,6 @@
#define BOARD_NUMBER_BRICKS 2
// TODO: fix
#define GPIO_nVDD_BRICK1_VALID (1) /* Brick 1 Is Chosen */
#define GPIO_nVDD_BRICK2_VALID (0) /* Brick 2 Is Chosen */
@@ -129,17 +128,20 @@
*/
#define UAVCAN_NUM_IFACES_RUNTIME 1
#define GPIO_VDD_5V_PERIPH_nEN /* PE2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
#define GPIO_VDD_5V_PERIPH_nOC /* PE3 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN3)
#define GPIO_VDD_5V_HIPOWER_nEN /* PC10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN10)
#define GPIO_VDD_5V_HIPOWER_nOC /* PC11 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTC|GPIO_PIN11)
#define GPIO_VDD_3V3_SENSORS_EN /* PB2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN2)
#define GPIO_VDD_3V3_SENSORS_EN /* PB2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN2)
#define GPIO_VTX_9V_EN /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
#define GPIO_CAM_SWITCH /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
/* Define True logic Power Control in arch agnostic form */
#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
#define VDD_3V3_SENSORS_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
#define VDD_3V3_SENSORS_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
#define VTX_9V_EN(on_true) px4_arch_gpiowrite(GPIO_VTX_9V_EN, (on_true))
#define CAM_SWITCH_CAM1 px4_arch_gpiowrite(GPIO_CAM_SWITCH, false) // low is CAM1
#define CAM_SWITCH_CAM2 px4_arch_gpiowrite(GPIO_CAM_SWITCH, true) // high is CAM2
/* Tone alarm output */
@@ -196,11 +198,10 @@
#define BOARD_ADC_SERVO_VALID (1)
#define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
#define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
#define BOARD_ADC_BRICK1_VALID (1)
#define BOARD_ADC_BRICK2_VALID (1)
#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
#define BOARD_ADC_SERVO_VALID (1)
/* This board provides a DMA pool and APIs */
@@ -217,6 +218,8 @@
GPIO_VDD_3V3_SENSORS_EN, \
GPIO_TONE_ALARM_IDLE, \
GPIO_PPM_IN, \
GPIO_VTX_9V_EN, \
GPIO_CAM_SWITCH, \
}
#define BOARD_ENABLE_CONSOLE_BUFFER
boards/holybro/kakuteh7-wing/src/init.c
+7 -10
View File
@@ -108,21 +108,21 @@ __END_DECLS
************************************************************************************/
__EXPORT void board_peripheral_reset(int ms)
{
/* set the peripheral rails off */
/* off */
VTX_9V_EN(false);
VDD_3V3_SENSORS_EN(false);
VDD_5V_PERIPH_EN(false);
board_control_spi_sensors_power(false, 0xffff);
/* wait for the peripheral rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
/* switch the peripheral rail back on */
board_control_spi_sensors_power(true, 0xffff);
VDD_5V_PERIPH_EN(true);
VDD_3V3_SENSORS_EN(true);
VTX_9V_EN(true);
CAM_SWITCH_CAM1;
}
/************************************************************************************
@@ -210,10 +210,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
{
#if !defined(BOOTLOADER)
/* Power on Interfaces */
VDD_5V_PERIPH_EN(true);
VDD_5V_HIPOWER_EN(true);
/* Need hrt running before using the ADC */
px4_platform_init();
@@ -254,6 +250,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#if defined(FLASH_BASED_PARAMS)
static sector_descriptor_t params_sector_map[] = {
{14, 128 * 1024, 0x081C0000},
{15, 128 * 1024, 0x081E0000},
{0, 0, 0},
};
boards/holybro/kakuteh7/default.px4board
+2 -1
View File
@@ -45,7 +45,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/holybro/kakuteh7/init/rc.board_extras
+1 -1
View File
@@ -9,4 +9,4 @@ then
fi
# DShot telemetry is always on UART7
dshot telemetry /dev/ttyS5
dshot telemetry -d /dev/ttyS5
boards/holybro/kakuteh7dualimu/default.px4board
+2 -1
View File
@@ -48,7 +48,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/holybro/kakuteh7dualimu/init/rc.board_extras
+1 -1
View File
@@ -9,4 +9,4 @@ then
fi
# DShot telemetry is always on UART7
dshot telemetry /dev/ttyS5
dshot telemetry -d /dev/ttyS5
boards/holybro/kakuteh7mini/default.px4board
+2 -1
View File
@@ -45,7 +45,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/holybro/kakuteh7mini/init/rc.board_extras
+1 -1
View File
@@ -9,4 +9,4 @@ then
fi
# DShot telemetry is always on UART7
dshot telemetry /dev/ttyS5
dshot telemetry -d /dev/ttyS5
boards/holybro/kakuteh7v2/default.px4board
+2 -1
View File
@@ -45,7 +45,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/holybro/kakuteh7v2/init/rc.board_extras
+1 -1
View File
@@ -9,4 +9,4 @@ then
fi
# DShot telemetry is always on UART7
dshot telemetry /dev/ttyS5
dshot telemetry -d /dev/ttyS5
boards/holybro/pix32v5/default.px4board
+2 -1
View File
@@ -50,7 +50,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/matek/h743-mini/default.px4board
+2 -1
View File
@@ -30,7 +30,8 @@ CONFIG_MODULES_EKF2=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
boards/matek/h743-mini/init/rc.board_extras
+1 -1
View File
@@ -11,4 +11,4 @@
atxxxx start -s
# DShot telemetry is always on UART7
# dshot telemetry /dev/ttyS5
# dshot telemetry -d /dev/ttyS5
boards/matek/h743-slim/default.px4board
+2 -1
View File
@@ -33,7 +33,8 @@ CONFIG_MODULES_EKF2=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
boards/matek/h743-slim/init/rc.board_extras
+1 -1
View File
@@ -12,4 +12,4 @@ atxxxx start -s
# DShot telemetry is always on UART7
# dshot telemetry /dev/ttyS5
# dshot telemetry -d /dev/ttyS5
boards/matek/h743/default.px4board
+2 -1
View File
@@ -32,7 +32,8 @@ CONFIG_MODULES_EKF2=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
boards/matek/h743/init/rc.board_extras
+1 -1
View File
@@ -12,4 +12,4 @@ atxxxx start -s
# DShot telemetry is always on UART7
# dshot telemetry /dev/ttyS5
# dshot telemetry -d /dev/ttyS5
boards/micoair/h743-aio/default.px4board
+2 -1
View File
@@ -39,7 +39,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
boards/micoair/h743-v2/default.px4board
+2 -1
View File
@@ -40,7 +40,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
boards/micoair/h743/default.px4board
+2 -1
View File
@@ -38,7 +38,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
boards/modalai/fc-v1/default.px4board
+2 -1
View File
@@ -49,7 +49,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/modalai/fc-v2/default.px4board
+2 -1
View File
@@ -40,7 +40,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/mro/ctrl-zero-classic/default.px4board
+2 -1
View File
@@ -46,7 +46,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/mro/ctrl-zero-f7-oem/default.px4board
+2 -1
View File
@@ -44,7 +44,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/mro/ctrl-zero-f7/default.px4board
+2 -1
View File
@@ -44,7 +44,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/mro/ctrl-zero-h7-oem/default.px4board
+2 -1
View File
@@ -42,7 +42,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/mro/ctrl-zero-h7/default.px4board
+2 -1
View File
@@ -43,7 +43,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/mro/pixracerpro/default.px4board
+2 -1
View File
@@ -43,7 +43,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/mro/x21-777/default.px4board
+2 -1
View File
@@ -45,7 +45,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/mro/x21/default.px4board
+2 -1
View File
@@ -46,7 +46,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/nxp/fmuk66-e/default.px4board
+2 -1
View File
@@ -47,7 +47,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/nxp/fmuk66-v3/default.px4board
+2 -1
View File
@@ -48,7 +48,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/nxp/mr-canhubk3/fmu.px4board
+2 -1
View File
@@ -33,7 +33,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
boards/nxp/mr-canhubk3/sysview.px4board
+2 -1
View File
@@ -20,7 +20,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
boards/nxp/mr-canhubk3/zenoh.px4board
+2 -1
View File
@@ -24,7 +24,8 @@ CONFIG_MODULES_ESC_BATTERY=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_GYRO_FFT=y
boards/nxp/tropic-community/default.px4board
+5 -1
View File
@@ -15,15 +15,19 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
CONFIG_COMMON_INS=y
CONFIG_COMMON_LIGHT=y
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_DRIVERS_OSD_MSP_OSD=y
CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
CONFIG_COMMON_OPTICAL_FLOW=y
CONFIG_COMMON_OSD=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
boards/nxp/tropic-community/nuttx-config/nsh/defconfig
+3 -1
View File
@@ -30,7 +30,7 @@ CONFIG_ARM_MPU=y
CONFIG_ARM_MPU_RESET=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_ASSERT_RESET_VALUE=0
CONFIG_BOARD_LOOPSPERMSEC=114325
CONFIG_BOARD_LOOPSPERMSEC=115000
CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_BUILTIN=y
CONFIG_CDCACM=y
@@ -73,6 +73,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_I2C=y
CONFIG_I2C_RESET=y
CONFIG_IDLETHREAD_STACKSIZE=2048
CONFIG_IMXRT_DTCM_HEAP=y
CONFIG_IMXRT_EDMA=y
CONFIG_IMXRT_EDMA_EDBG=y
CONFIG_IMXRT_EDMA_ELINK=y
@@ -140,6 +141,7 @@ CONFIG_MEMSET_64BIT=y
CONFIG_MEMSET_OPTSPEED=y
CONFIG_MMCSD=y
CONFIG_MMCSD_SDIO=y
CONFIG_MM_REGIONS=2
CONFIG_MTD=y
CONFIG_MTD_BYTE_WRITE=y
CONFIG_MTD_PARTITION=y
boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
+23 -70
View File
@@ -2,7 +2,7 @@
*(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
*(.text._ZN13MavlinkStream6updateERKy)
*(.text._ZN7Mavlink16update_rate_multEv)
*(.text._ZN3sym17PredictCovarianceIfEEN6matrix6MatrixIT_Lj23ELj23EEERKNS2_IS3_Lj24ELj1EEERKS4_RKNS2_IS3_Lj3ELj1EEES3_SC_SC_S3_S3_)
*(.text._ZN3sym17PredictCovarianceIfEEN6matrix6MatrixIT_Lj23ELj23EEERKNS2_IS3_Lj24ELj1EEERKS4_RKNS2_IS3_Lj3ELj1EEES3_SC_SC_S3_S3_) /* itcm-check-ignore */
*(.text._ZN13MavlinkStream12get_size_avgEv)
*(.text._ZN16ControlAllocator3RunEv)
*(.text._ZN22MulticopterRateControl3RunEv.part.0)
@@ -57,7 +57,6 @@
*(.text._ZN3px49WorkQueue3AddEPNS_8WorkItemE)
*(.text._ZN4EKF220PublishLocalPositionERKy)
*(.text._mav_finalize_message_chan_send)
*(.text._ZN3Ekf19fixCovarianceErrorsEb)
*(.text._ZN7sensors22VehicleAngularVelocity16ParametersUpdateEb)
*(.text._ZN6events12SendProtocol6updateERKy)
*(.text._ZN6device3SPI8transferEPhS1_j)
@@ -68,7 +67,7 @@
*(.text.nx_poll)
*(.text._ZN15MavlinkReceiver3runEv)
*(.text._ZN9ICM42688P18ProcessTemperatureEPKN20InvenSense_ICM42688P4FIFO4DATAEh)
*(.text._ZN15OutputPredictor19correctOutputStatesEyRKN6matrix10QuaternionIfEERKNS0_7Vector3IfEES8_S8_S8_)
*(.text._ZN15OutputPredictor19correctOutputStatesEyRKN6matrix10QuaternionIfEERKNS0_7Vector3IfEERK9LatLonAltS8_S8_)
*(.text._ZN3Ekf12predictStateERKN9estimator9imuSampleE)
*(.text._ZN3px46logger6Logger3runEv)
*(.text._ZN4uORB20SubscriptionInterval7updatedEv)
@@ -99,7 +98,6 @@
*(.text.file_vioctl)
*(.text._ZN7sensors18VotedSensorsUpdate11sensorsPollER17sensor_combined_s)
*(.text.nxsig_nanosleep)
*(.text.imxrt_lpspi1select)
*(.text.sem_wait)
*(.text.perf_count_interval.part.0)
*(.text._ZN16ControlAllocator37update_effectiveness_matrix_if_neededE25EffectivenessUpdateReason)
@@ -122,7 +120,6 @@
*(.text._ZN22MulticopterRateControl28updateActuatorControlsStatusERK25vehicle_torque_setpoint_sf)
*(.text._ZN11RateControl6updateERKN6matrix7Vector3IfEES4_S4_fb)
*(.text._ZN39ControlAllocationSequentialDesaturation19desaturateActuatorsERN6matrix6VectorIfLj16EEERKS2_b)
*(.text._ZN22MavlinkStreamCollision4sendEv)
*(.text.imxrt_lpi2c_transfer)
*(.text.uart_putxmitchar)
*(.text.clock_nanosleep)
@@ -154,7 +151,6 @@
*(.text._ZN3Ekf20updateIMUBiasInhibitERKN9estimator9imuSampleE)
*(.text._ZN9Commander13dataLinkCheckEv)
*(.text._ZN17FlightModeManager10switchTaskE15FlightTaskIndex)
*(.text._ZNK3Ekf26get_innovation_test_statusERtRfS1_S1_S1_S1_S1_S1_)
*(.text._ZN12PX4Gyroscope9set_scaleEf)
*(.text._ZN12FailsafeBase6updateERKyRKNS_5StateEbbRK16failsafe_flags_s)
*(.text._ZN18MavlinkStreamDebug4sendEv)
@@ -167,11 +163,10 @@
*(.text._ZN13land_detector23MulticopterLandDetector25_get_ground_contact_stateEv)
*(.text.imxrt_dmach_start)
*(.text._ZN3ADC19update_system_powerEy)
*(.text._ZNK3Ekf19get_ekf_soln_statusEPt)
*(.text._ZNK3Ekf19get_ekf_soln_statusEv)
*(.text._ZN3px46logger15watchdog_updateERNS0_15watchdog_data_tEb)
*(.text.imxrt_gpio_read)
*(.text._ZN32MavlinkStreamNavControllerOutput4sendEv)
*(.text._ZN15ArchPX4IOSerial13_bus_exchangeEP8IOPacket)
*(.text._ZN39MavlinkStreamGimbalDeviceAttitudeStatus4sendEv)
*(.text._ZNK10ConstLayer3getEt)
*(.text.__aeabi_uldivmod)
@@ -194,11 +189,9 @@
*(.text._ZN22MavlinkStreamGPSStatus4sendEv)
*(.text._ZN4EKF220UpdateAirspeedSampleER17ekf2_timestamps_s)
*(.text._ZN23MavlinkStreamStatustext4sendEv)
*(.text._ZN3Ekf15constrainStatesEv)
*(.text._ZN12PX4IO_serial4readEjPvj)
*(.text.uart_poll)
*(.text._ZN24MavlinkParametersManager4sendEv)
*(.text._ZN26MulticopterPositionControl18set_vehicle_statesERK24vehicle_local_position_s)
*(.text._ZN26MulticopterPositionControl18set_vehicle_statesERK24vehicle_local_position_sf)
*(.text.file_poll)
*(.text.hrt_elapsed_time)
*(.text._ZN7Mavlink11send_finishEv)
@@ -232,8 +225,7 @@
*(.text._ZN6matrix5EulerIfEC1ERKNS_10QuaternionIfEE)
*(.text.imxrt_queuedtd)
*(.text._ZN27MavlinkStreamDistanceSensor8get_sizeEv)
*(.text._ZN3Ekf16fuseVelPosHeightEffi)
*(.text._ZN3Ekf23controlBaroHeightFusionEv)
*(.text._ZN3Ekf23controlBaroHeightFusionERKN9estimator9imuSampleE)
*(.text._ZN16PX4Accelerometer9set_scaleEf)
*(.text._ZN11ControlMath11constrainXYERKN6matrix7Vector2IfEES4_RKf)
*(.text._ZN22MavlinkStreamEfiStatus4sendEv)
@@ -243,13 +235,11 @@
*(.text._ZN15PositionControl11_inputValidEv)
*(.text._ZN7sensors14VehicleAirData3RunEv)
*(.text.perf_count)
*(.text._ZN3Ekf16controlMagFusionEv)
*(.text._ZN3Ekf16controlMagFusionERKN9estimator9imuSampleE)
*(.text.pthread_sem_give)
*(.text._ZN7sensors10VehicleIMU16ParametersUpdateEb)
*(.text._ZN30MavlinkStreamUTMGlobalPosition4sendEv)
*(.text._ZN4uORB20SubscriptionInterval4copyEPv)
*(.text._ZN12I2CSPIDriverI9ICM42688PE3RunEv)
*(.text._ZN17ObstacleAvoidanceC1EP12ModuleParams)
*(.text.imxrt_epcomplete.constprop.0)
*(.text._ZNK6matrix6MatrixIfLj3ELj1EEmiERKS1_)
*(.text._ZN9Commander30handleModeIntentionAndFailsafeEv)
@@ -260,7 +250,6 @@
*(.text._ZN29MavlinkStreamHygrometerSensor8get_sizeEv)
*(.text.pthread_mutex_add)
*(.text._ZN12HomePosition6updateEbb)
*(.text._ZN5PX4IO3RunEv)
*(.text.poll_fdsetup)
*(.text._ZN15PositionControl20_accelerationControlEv)
*(.text._ZN3Ekf19controlHeightFusionERKN9estimator9imuSampleE)
@@ -280,7 +269,7 @@
*(.text._ZN6matrix6MatrixIfLj3ELj1EEC1ERKS1_)
*(.text.udp_pollsetup)
*(.text._ZL14timer_callbackPv)
*(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj23EEEf)
*(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj24EEEf)
*(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
*(.text.nxsem_wait_irq)
*(.text._ZN20MavlinkCommandSender4lockEv)
@@ -299,7 +288,7 @@
*(.text._ZN25MavlinkStreamHomePosition4sendEv)
*(.text._ZN24MavlinkParametersManager8send_oneEv)
*(.text._ZN15OutputPredictor29applyCorrectionToOutputBufferERKN6matrix7Vector3IfEES4_)
*(.text._ZN21HealthAndArmingChecks6updateEb)
*(.text._ZN21HealthAndArmingChecks6updateEbb)
*(.text._ZThn24_N22MulticopterRateControl3RunEv)
*(.text._ZN26MavlinkStreamManualControl4sendEv)
*(.text._ZN27MavlinkStreamOpticalFlowRad4sendEv)
@@ -307,14 +296,11 @@
*(.text._ZN4uORB7Manager11orb_publishEPK12orb_metadataPvPKv)
*(.text._ZN24MavlinkParametersManager18send_untransmittedEv)
*(.text._ZN10MavlinkFTP4sendEv)
*(.text._ZN15ArchPX4IOSerial13_do_interruptEv)
*(.text._ZN3Ekf27controlExternalVisionFusionEv)
*(.text._ZN3Ekf27controlExternalVisionFusionERKN9estimator9imuSampleE)
*(.text.clock_gettime)
*(.text._ZN3ADC17update_adc_reportEy)
*(.text._ZN3sym25ComputeYaw312InnovVarAndHIfEEvRKN6matrix6MatrixIT_Lj24ELj1EEERKNS2_IS3_Lj23ELj23EEES3_S3_PS3_PNS2_IS3_Lj23ELj1EEE)
*(.text._ZN3Ekf19runTerrainEstimatorERKN9estimator9imuSampleE)
*(.text._ZN32MavlinkStreamGimbalManagerStatus4sendEv)
*(.text._ZN9LockGuardD1Ev)
*(.text._ZN9LockGuardD1Ev) /* itcm-check-ignore */
*(.text._ZN4EKF213PublishStatesERKy)
*(.text._ZN3ADC3RunEv)
*(.text._ZN6BMP38815compensate_dataEhPK16bmp3_uncomp_dataP9bmp3_data)
@@ -336,13 +322,11 @@
*(.text._ZThn16_N7sensors22VehicleAngularVelocity3RunEv)
*(.text._ZN29MavlinkStreamObstacleDistance4sendEv)
*(.text._ZN24MavlinkStreamOrbitStatus4sendEv)
*(.text._ZN16PreFlightChecker26preFlightCheckHeightFailedERK23estimator_innovations_sf)
*(.text._ZN9Navigator3runEv)
*(.text._ZN24MavlinkParametersManager11send_paramsEv)
*(.text._ZN17MavlinkLogHandler4sendEv)
*(.text._ZN7control10SuperBlock5setDtEf)
*(.text._ZN29MavlinkStreamMountOrientation8get_sizeEv)
*(.text._ZN5PX4IO13io_get_statusEv)
*(.text._ZN26MulticopterAttitudeControl3RunEv)
*(.text._ZThn16_N31ActuatorEffectivenessMultirotor22getEffectivenessMatrixERN21ActuatorEffectiveness13ConfigurationE25EffectivenessUpdateReason)
*(.text._ZN4EKF218PublishStatusFlagsERKy)
@@ -350,13 +334,12 @@
*(.text._ZN15FailureDetector6updateERK16vehicle_status_sRK22vehicle_control_mode_s)
*(.text._ZN7Mavlink10send_startEi)
*(.text.imxrt_lpspi_setbits)
*(.text._ZN15OutputPredictor37applyCorrectionToVerticalOutputBufferEf)
*(.text._ZN15OutputPredictor37applyCorrectionToVerticalOutputBufferEff)
*(.text._ZN4EKF222UpdateAccelCalibrationERKy)
*(.text._ZN7sensors19VehicleMagnetometer3RunEv)
*(.text._ZN29MavlinkStreamMountOrientation4sendEv)
*(.text._ZN13land_detector12LandDetector19UpdateVehicleAtRestEv)
*(.text._ZN10FlightTask29_evaluateVehicleLocalPositionEv)
*(.text.board_autoled_off)
*(.text.__aeabi_f2lz)
*(.text._ZN32MavlinkStreamCameraImageCaptured4sendEv)
*(.text._ZN21MavlinkStreamOdometry8get_sizeEv)
@@ -365,24 +348,19 @@
*(.text.poll)
*(.text._ZN14FlightTaskAutoD1Ev)
*(.text._ZN4uORB10DeviceNode22get_initial_generationEv)
*(.text._ZN3Ekf23controlGnssHeightFusionERKN9estimator9gpsSampleE)
*(.text._ZN3Ekf23controlGnssHeightFusionERKN9estimator10gnssSampleE)
*(.text._ZN3Ekf40updateOnGroundMotionForOpticalFlowChecksEv)
*(.text._ZN6matrix6MatrixIfLj3ELj1EEC1Ev)
*(.text._ZN14ZeroGyroUpdate6updateER3EkfRKN9estimator9imuSampleE)
*(.text._ZN30MavlinkStreamOpenDroneIdSystem4sendEv)
*(.text._ZN22MavlinkStreamScaledIMU4sendEv)
*(.text._ZN46MavlinkStreamTrajectoryRepresentationWaypoints4sendEv)
*(.text.imxrt_ioctl)
*(.text._ZN3Ekf25checkMagBiasObservabilityEv)
*(.text._ZN36MavlinkStreamGimbalDeviceSetAttitude4sendEv)
*(.text._ZN16PreFlightChecker6updateEfRK23estimator_innovations_s)
*(.text._ZN4math13expo_deadzoneIfEEKT_RS2_S3_S3_.isra.0)
*(.text._ZN19StickAccelerationXYC1EP12ModuleParams)
*(.text.imxrt_epsubmit)
*(.text._ZN15PositionControl6updateEf)
*(.text._ZN3Ekf29checkVerticalAccelerationBiasERKN9estimator9imuSampleE)
*(.text._ZN23MavlinkStreamScaledIMU24sendEv)
*(.text._ZN5PX4IO10io_reg_getEhhPtj)
*(.text.imxrt_dma_send)
*(.text._ZN20MavlinkStreamWindCov4sendEv)
*(.text._ZN7sensors18VotedSensorsUpdate13checkFailoverERNS0_10SensorDataEPKcN6events3px45enums13sensor_type_tE)
@@ -405,7 +383,7 @@
*(.text._ZN9Commander11updateTunesEv)
*(.text._ZN4EKF215UpdateMagSampleER17ekf2_timestamps_s)
*(.text._ZN18DataValidatorGroup3putEjyPKfmh)
*(.text._ZNK3Ekf19get_ekf_ctrl_limitsEPfS0_S0_S0_)
*(.text._ZNK3Ekf19get_ekf_ctrl_limitsEPfS0_S0_S0_S0_)
*(.text._ZN12FailsafeBase13checkFailsafeEibbRKNS_13ActionOptionsE)
*(.text._ZN17FlightTaskDescendD1Ev)
*(.text._ZN30MavlinkStreamOpenDroneIdSystem8get_sizeEv)
@@ -413,7 +391,6 @@
*(.text._ZN24FlightTaskManualAltitudeD1Ev)
*(.text._Z35px4_indicate_external_reset_lockout16LockoutComponentb)
*(.text.uart_pollnotify)
*(.text._ZN3Ekf11predictHaglERKN9estimator9imuSampleE)
*(.text._ZN4EKF215PublishBaroBiasERKy)
*(.text._ZN4EKF221UpdateGyroCalibrationERKy)
*(.text._ZN6matrix9constrainIfLj3ELj1EEENS_6MatrixIT_XT0_EXT1_EEERKS3_S2_S2_)
@@ -444,7 +421,7 @@
*(.text.clock_systime_timespec)
*(.text._ZN4uORB10DeviceNode26remove_internal_subscriberEv)
*(.text._ZThn16_N4EKF23RunEv)
*(.text._ZNK3Ekf22computeYawInnovVarAndHEfRfRN6matrix6VectorIfLj23EEE)
*(.text._ZNK3Ekf22computeYawInnovVarAndHEfRfRN6matrix6VectorIfLj24EEE)
*(.text._ZN12ActuatorTest6updateEif)
*(.text._ZN17VelocitySmoothingC1Efff)
*(.text._ZN13AnalogBattery19get_voltage_channelEv)
@@ -459,11 +436,10 @@
*(.text._ZN14FlightTaskAuto17_evaluateTripletsEv)
*(.text._ZN11calibration9Gyroscope23SensorCorrectionsUpdateEb)
*(.text._ZN25MavlinkStreamMagCalReport4sendEv)
*(.text._ZN16PreFlightChecker27preFlightCheckHeadingFailedERK23estimator_innovations_sf)
*(.text.imxrt_config_gpio)
*(.text.nxsig_timeout)
*(.text._ZN11RateControl19setSaturationStatusERKN6matrix7Vector3IbEES4_)
*(.text._ZN3Ekf17measurementUpdateERN6matrix6VectorIfLj23EEEff)
*(.text._ZN3Ekf17measurementUpdateERN6matrix6VectorIfLj24EEERKS2_ff)
*(.text.dq_addlast)
*(.text._ZN19MavlinkStreamVFRHUD4sendEv)
*(.text.hrt_call_reschedule)
@@ -487,14 +463,13 @@
*(.text._ZNK6matrix6MatrixIfLj3ELj1EE5emultERKS1_)
*(.text.mallinfo_handler)
*(.text._ZN13land_detector23MulticopterLandDetector14_update_topicsEv)
*(.text._ZN24ManualVelocitySmoothingZC1Ev)
*(.text._ZN24ManualVelocitySmoothingZC1Ev) /* itcm-check-ignore */
*(.text._ZN3ADC6sampleEj)
*(.text._ZNK3Ekf22isTerrainEstimateValidEv)
*(.text._ZN15EstimatorChecks23setModeRequirementFlagsERK7ContextbbRK24vehicle_local_position_sRK12sensor_gps_sR16failsafe_flags_sR6Report)
*(.text._ZN15EstimatorChecks23setModeRequirementFlagsERK7ContextbbbRK24vehicle_local_position_sRK12sensor_gps_sR16failsafe_flags_sR6Report)
*(.text._ZN11ControlMath11addIfNotNanERff)
*(.text._ZN9Commander21checkForMissionUpdateEv)
*(.text._Z8set_tunei)
*(.text._ZN3Ekf13stopGpsFusionEv)
*(.text._ZNK6matrix7Vector3IfE5crossERKNS_6MatrixIfLj3ELj1EEE)
*(.text._ZN10FlightTask22_checkEkfResetCountersEv)
*(.text._ZNK6matrix6MatrixIfLj3ELj1EE11isAllFiniteEv)
@@ -516,7 +491,6 @@
*(.text.MEM_DataCopy2_2)
*(.text._ZN10FlightTask8activateERK21trajectory_setpoint_s)
*(.text.sock_file_poll)
*(.text._ZN3Ekf20controlHaglRngFusionEv)
*(.text._ZN10Ringbuffer9pop_frontEPhj)
*(.text.nx_write)
*(.text._ZN9Commander18manualControlCheckEv)
@@ -527,18 +501,15 @@
*(.text.sem_clockwait)
*(.text.inet_poll)
*(.text._ZN6BMP3887collectEv)
*(.text._ZN15ArchPX4IOSerial19_do_rx_dma_callbackEbi)
*(.text._ZN15ArchPX4IOSerial10_abort_dmaEv)
*(.text._ZNK15PositionControl24getLocalPositionSetpointER33vehicle_local_position_setpoint_s)
*(.text._ZN3Ekf16controlGpsFusionERKN9estimator9imuSampleE)
*(.text._ZN23MavlinkStreamRCChannels8get_sizeEv)
*(.text._ZN20MavlinkStreamESCInfo8get_sizeEv)
*(.text._ZNK6matrix6VectorIfLj2EE4normEv)
*(.text._Z15arm_auth_updateyb)
*(.text._ZN3LED5ioctlEP4fileim)
*(.text._ZN3LED5ioctlEP4fileim) /* itcm-check-ignore */
*(.text._ZNK3px46logger9LogWriter20had_file_write_errorEv)
*(.text._ZN29MavlinkStreamLocalPositionNED4sendEv)
*(.text._ZN6matrix6MatrixIfLj2ELj1EEC1ILj3ELj1EEERKNS_5SliceIfLj2ELj1EXT_EXT0_EEE)
*(.text._ZNK6matrix6VectorIfLj3EE3dotERKNS_6MatrixIfLj3ELj1EEE)
*(.text.imxrt_lpi2c_setclock)
*(.text._ZN6matrix12typeFunction9constrainIfEET_S2_S2_S2_.part.0)
@@ -559,16 +530,13 @@
*(.text._ZN6BMP38815get_sensor_dataEhP9bmp3_data)
*(.text._ZN18MavlinkRateLimiter5checkERKy)
*(.text._ZThn24_N26MulticopterAttitudeControl3RunEv)
*(.text._ZN15ArchPX4IOSerial10_interruptEiPvS0_)
*(.text.imxrt_periphclk_configure)
*(.text._ZN3Ekf8initHaglEv)
*(.text._ZN4EKF218UpdateAuxVelSampleER17ekf2_timestamps_s)
*(.text._ZN3RTL11on_inactiveEv)
*(.text._ZN12FailsafeBase10modeCanRunERK16failsafe_flags_sh)
*(.text._ZN4EKF216PublishEvPosBiasERKy)
*(.text._ZN21MavlinkStreamAttitude8get_sizeEv)
*(.text._ZThn16_N7sensors19VehicleAcceleration3RunEv)
*(.text._ZN3Ekf24controlRangeHeightFusionEv)
*(.text._ZN33MavlinkStreamTimeEstimateToTarget4sendEv)
*(.text._ZN6matrix6MatrixIfLj3ELj1EE6setAllEf)
*(.text._ZN12ModuleParamsD1Ev)
@@ -586,22 +554,19 @@
*(.text._ZN26MulticopterPositionControl3RunEv)
*(.text._ZN8Failsafe21fromQuadchuteActParamEi)
*(.text._ZN24VariableLengthRingbuffer9pop_frontEPhj)
*(.text._ZN7control15BlockDerivative6updateEf)
*(.text._ZN5PX4IO10io_reg_getEhh)
*(.text._ZN7control15BlockDerivative6updateEf) /* itcm-check-ignore */
*(.text._ZN9Commander18safetyButtonUpdateEv)
*(.text._ZN13BatteryChecks14checkAndReportERK7ContextR6Report)
*(.text._ZN18DataValidatorGroup16get_sensor_stateEj)
*(.text.uart_xmitchars_done)
*(.text._ZN4EKF225PublishYawEstimatorStatusERKy)
*(.text.sin)
*(.text._ZN16PreFlightChecker27preFlightCheckVertVelFailedERK23estimator_innovations_sf)
*(.text._ZN6Safety19safetyButtonHandlerEv)
*(.text._ZN3Ekf19controlAuxVelFusionEv)
*(.text._ZN3Ekf19controlAuxVelFusionERKN9estimator9imuSampleE)
*(.text._ZNK6matrix6MatrixIfLj2ELj1EEplERKS1_)
*(.text._ZThn24_N7Sensors3RunEv)
*(.text._ZN6matrix6MatrixIfLj2ELj1EEC1ERKS1_)
*(.text._ZN10FlightTask10reActivateEv)
*(.text._ZN5PX4IO17io_publish_raw_rcEv)
*(.text._ZNK15PositionControl19getAttitudeSetpointER27vehicle_attitude_setpoint_s)
*(.text._ZN4cdev4CDev4pollEP4fileP6pollfdb)
*(.text._ZN9Commander20offboardControlCheckEv)
@@ -613,7 +578,6 @@
*(.text._ZN8Failsafe17updateArmingStateERKybRK16failsafe_flags_s)
*(.text.imxrt_lpi2c_modifyreg)
*(.text.up_flush_dcache)
*(.text._ZN5PX4IO16io_handle_statusEt)
*(.text._ZN15GyroCalibration3RunEv)
*(.text.mavlink_start_uart_send)
*(.text.MEM_DataCopy2)
@@ -647,7 +611,6 @@
*(.text._ZN12FailsafeBase11updateDelayERKy)
*(.text._ZN10FlightTask25_evaluateDistanceToGroundEv)
*(.text._ZN4EKF218PublishGnssHgtBiasERKy)
*(.text._ZN3Ekf21controlHaglFlowFusionEv)
*(.text._ZN6matrix6VectorIfLj3EE9normalizeEv)
*(.text._ZThn16_N7sensors10VehicleIMU3RunEv)
*(.text.__kernel_cos)
@@ -659,22 +622,18 @@
*(.text._Z15blink_msg_statev)
*(.text._ZN19AccelerometerChecks14checkAndReportERK7ContextR6Report)
*(.text._ZN8Failsafe14fromGfActParamEi)
*(.text._ZN3Ekf27checkAndFixCovarianceUpdateERKN6matrix12SquareMatrixIfLj23EEE)
*(.text._ZN3Ekf17controlBetaFusionERKN9estimator9imuSampleE)
*(.text._ZN36do_not_explicitly_use_this_namespace5ParamIfLN3px46paramsE919EEC1Ev)
*(.text._ZN36do_not_explicitly_use_this_namespace5ParamIfLN3px46paramsE919EEC1Ev) /* itcm-check-ignore */
*(.text._ZN22MavlinkStreamHeartbeat8get_sizeEv)
*(.text._ZN6matrix6MatrixIfLj3ELj1EEdVEf)
*(.text._ZN17FlightTaskDescendC1Ev)
*(.text._ZN26MavlinkStreamCameraTrigger8get_sizeEv)
*(.text.iob_navail)
*(.text._ZN12FailsafeBase25removeNonActivatedActionsEv)
*(.text._ZN16PreFlightChecker28preFlightCheckHorizVelFailedERK23estimator_innovations_sf)
*(.text._ZN15TakeoffHandling10updateRampEff)
*(.text._Z7led_offi)
*(.text._ZN16PreFlightChecker22selectHeadingTestLimitEv)
*(.text.led_off)
*(.text.udp_wrbuffer_test)
*(.text._ZNK3Ekf34updateVerticalPositionAidSrcStatusERKyfffR24estimator_aid_source1d_s)
*(.text._ZNK4math17WelfordMeanVectorIfLj3EE8varianceEv)
*(.text._ZN27MavlinkStreamAttitudeTarget4sendEv)
*(.text._ZN12MixingOutput19updateSubscriptionsEb)
@@ -683,7 +642,6 @@
*(.text._ZN18MavlinkStreamDebug8get_sizeEv)
*(.text._ZN12GPSDriverUBX7receiveEj)
*(.text._ZN13BatteryStatus21parameter_update_pollEb)
*(.text._ZN3Ekf26checkYawAngleObservabilityEv)
*(.text._ZN3RTL18updateDatamanCacheEv)
*(.text.__ieee754_sqrtf)
*(.text._ZThn24_N18mag_bias_estimator16MagBiasEstimator3RunEv)
@@ -701,11 +659,9 @@
*(.text._ZN12SystemChecks14checkAndReportERK7ContextR6Report)
*(.text._ZN6matrix6MatrixIfLj3ELj1EEC1EPKf)
*(.text.imxrt_padmux_address)
*(.text._ZN3Ekf15setVelPosStatusEib)
*(.text._ZN19MavlinkStreamVFRHUD8get_sizeEv)
*(.text._ZN15EstimatorChecks15checkSensorBiasERK7ContextR6Report8NavModes)
*(.text._ZN20ImuConsistencyChecks14checkAndReportERK7ContextR6Report)
*(.text._ZN17ObstacleAvoidanceD1Ev)
*(.text._ZN28MavlinkStreamGpsGlobalOrigin8get_sizeEv)
*(.text.MEM_DataCopy2_1)
*(.text._ZN6BMP3887measureEv)
@@ -713,7 +669,7 @@
*(.text._ZN36MavlinkStreamPositionTargetGlobalInt8get_sizeEv)
*(.text._ZN28MavlinkStreamEstimatorStatus8get_sizeEv)
*(.text.up_clean_dcache)
*(.text._ZThn56_N26MulticopterPositionControl3RunEv)
*(.text._ZThn24_N26MulticopterPositionControl3RunEv)
*(.text._ZN16FlightTimeChecks14checkAndReportERK7ContextR6Report)
*(.text._ZN13ManualControl12processInputEy)
*(.text._ZN17CpuResourceChecks14checkAndReportERK7ContextR6Report)
@@ -725,9 +681,8 @@
*(.text._ZN32MavlinkStreamNavControllerOutput8get_sizeEv)
*(.text._ZN6matrix8wrap_2piIfEET_S1_)
*(.text._ZN4uORB7Manager30orb_remove_internal_subscriberEPv)
*(.text._ZN10BMP388_I2C7get_regEh)
*(.text._ZN10BMP388_I2C7get_regEhPh)
*(.text._ZN4math17WelfordMeanVectorIfLj3EE5resetEv)
*(.text._ZN30MavlinkStreamUTMGlobalPosition10const_rateEv)
*(.text._ZN27MavlinkStreamScaledPressure8get_sizeEv)
*(.text._ZN3RTL17parameters_updateEv)
*(.text._ZN18EstimatorInterface11setBaroDataERKN9estimator10baroSampleE.part.0)
@@ -741,7 +696,6 @@
*(.text._ZN4uORB10DeviceNode10poll_stateEP4file)
*(.text._ZN4uORB7Manager8orb_copyEPK12orb_metadataiPv)
*(.text._ZN27MavlinkStreamServoOutputRawILi0EE8get_sizeEv)
*(.text._ZN30MavlinkStreamUTMGlobalPosition8get_sizeEv)
*(.text._ZN8Geofence3runEv)
*(.text._ZN15EstimatorChecks25checkEstimatorStatusFlagsERK7ContextR6ReportRK18estimator_status_sRK24vehicle_local_position_s)
*(.text._ZN18MagnetometerChecks14checkAndReportERK7ContextR6Report)
@@ -752,7 +706,6 @@
*(.text.read)
*(.text._ZN4uORB15PublicationBaseD1Ev)
*(.text._ZN22MavlinkStreamDebugVect8get_sizeEv)
*(.text._ZN22MavlinkStreamCollision8get_sizeEv)
*(.text._ZN7Mission11on_inactiveEv)
*(.text._ZN7sensors19VehicleMagnetometer20UpdateMagCalibrationEv)
*(.text._ZN11calibration27FindCurrentCalibrationIndexEPKcm)
boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
+3 -6
View File
@@ -3,7 +3,6 @@
*(.text.arm_doirq)
*(.text.arm_svcall)
*(.text.arm_switchcontext)
*(.text.board_autoled_on)
*(.text.clock_timer)
*(.text.exception_common)
*(.text.flexio_irq_handler)
@@ -20,7 +19,6 @@
*(.text.imxrt_endwait)
*(.text.imxrt_enet_interrupt)
*(.text.imxrt_enet_interrupt_work)
*(.text.imxrt_gpio3_16_31_interrupt)
*(.text.imxrt_interrupt)
*(.text.imxrt_lpi2c_isr)
*(.text.imxrt_lpspi_exchange)
@@ -105,13 +103,12 @@
*(.text.devif_event_trigger)
*(.text.devif_poll_icmp)
*(.text.icmp_poll)
*(.text.devif_packet_conversion)
*(.text.arp_out)
*(.text.arp_find)
*(.text.arp_format)
*(.text.net_ipv4addr_hdrcmp)
*(.text.net_ipv4addr_copy)
*(.text.net_ipv4addr_broadcast)
*(.text.net_ipv4addr_hdrcmp) /* itcm-check-ignore */
*(.text.net_ipv4addr_copy) /* itcm-check-ignore */
*(.text.net_ipv4addr_broadcast) /* itcm-check-ignore */
*(.text.wd_start)
*(.text.arp_arpin)
*(.text.ipv4_input)
boards/nxp/tropic-community/nuttx-config/scripts/script.ld
+2 -14
View File
@@ -1,5 +1,5 @@
/****************************************************************************
* boards/arm/imxrt/teensy-4.x/scripts/flash.ld
* boards/nxp/tropic-community/nuttx-config/scripts/script.ld
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
@@ -67,6 +67,7 @@ SECTIONS
_sitcmfuncs = ABSOLUTE(.);
FILL(0xFF)
. = 0x40 ;
*(.ram_vectors)
INCLUDE "itcm_static_functions.ld"
INCLUDE "itcm_functions_includes.ld"
. = ALIGN(8);
@@ -75,19 +76,6 @@ SECTIONS
_fitcmfuncs = LOADADDR(.itcmfunc);
/* The RAM vector table (if present) should lie at the beginning of SRAM */
.ram_vectors (COPY) : {
*(.ram_vectors)
} > dtcm
/* Workaround for ethernet issue, by placing g_desc_pool into DTCM,
which effectively puts it into a no-cache region */
.dtcm : {
*(.bss.g_desc_pool)
} > dtcm
.text :
{
_stext = ABSOLUTE(.);
boards/px4/fmu-v2/fixedwing.px4board
+2 -1
View File
@@ -8,5 +8,6 @@ CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
boards/px4/fmu-v3/default.px4board
+2 -1
View File
@@ -51,7 +51,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/px4/fmu-v4/default.px4board
+2 -1
View File
@@ -52,7 +52,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/px4/fmu-v4pro/default.px4board
+2 -1
View File
@@ -47,7 +47,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/px4/fmu-v5/default.px4board
+2 -1
View File
@@ -55,7 +55,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/px4/fmu-v5/protected.px4board
+2 -1
View File
@@ -17,7 +17,8 @@ CONFIG_MODULES_CAMERA_FEEDBACK=n
CONFIG_MODULES_ESC_BATTERY=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_ROVER_POS_CONTROL=n
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
boards/px4/fmu-v5/rover.px4board
+2 -1
View File
@@ -4,7 +4,8 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
CONFIG_MODULES_MC_ATT_CONTROL=n
boards/px4/fmu-v5/stackcheck.px4board
+2 -1
View File
@@ -29,7 +29,8 @@ CONFIG_MODULES_ESC_BATTERY=n
CONFIG_MODULES_EVENTS=n
CONFIG_MODULES_FW_ATT_CONTROL=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_POS_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_GIMBAL=n
CONFIG_MODULES_GYRO_CALIBRATION=n
boards/px4/fmu-v5x/default.px4board
+2 -1
View File
@@ -59,7 +59,8 @@ CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_MODE_MANAGER=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/px4/fmu-v5x/init/rc.board_defaults
+3
View File
@@ -13,6 +13,9 @@ then
param set-default UXRCE_DDS_PTCFG 2
param set-default UXRCE_DDS_AG_IP 170461697
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
else
# Mavlink ethernet (CFG 1000)
param set-default MAV_2_CONFIG 1000

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