Port PX4 to BeagleBone Blue Board using library librobotcontrol instead of a submodule

src/modules/commander/PreflightCheck.cpp

@@ -685,6 +685,9 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
 #elif defined(__PX4_POSIX_RPI)
 	PX4_WARN("Preflight checks for mag, acc, gyro always pass on RPI");
 	checkSensors = false;
+#elif defined(__PX4_POSIX_BBBLUE)
+	PX4_WARN("Preflight checks for mag, acc, gyro always pass on BBBLUE");
+	checkSensors = false;    
 #elif defined(__PX4_POSIX_BEBOP)
 	PX4_WARN("Preflight checks always pass on Bebop.");
 	checkSensors = false;

src/modules/commander/commander_helper.cpp

@@ -279,7 +279,7 @@ int led_init()
 	led_control.timestamp = hrt_absolute_time();
 	led_control_pub = orb_advertise_queue(ORB_ID(led_control), &led_control, LED_UORB_QUEUE_LENGTH);
 
-#ifndef CONFIG_ARCH_BOARD_RPI
+#if !defined(CONFIG_ARCH_BOARD_RPI) && !defined(CONFIG_ARCH_BOARD_BBBLUE)
 	/* first open normal LEDs */
 	DevMgr::getHandle(LED0_DEVICE_PATH, h_leds);
 
@@ -313,7 +313,7 @@ int led_init()
 void led_deinit()
 {
 	orb_unadvertise(led_control_pub);
-#ifndef CONFIG_ARCH_BOARD_RPI
+#if !defined(CONFIG_ARCH_BOARD_RPI) && !defined(CONFIG_ARCH_BOARD_BBBLUE)
 	DevMgr::releaseHandle(h_leds);
 #endif
 }

src/modules/commander/esc_calibration.cpp

@@ -67,7 +67,7 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* a
 {
 	int	return_code = PX4_OK;
 	
-#if defined(__PX4_POSIX_OCPOC)
+#if defined(__PX4_POSIX_OCPOC) || defined(__PX4_POSIX_BBBLUE)
 	hrt_abstime timeout_start = 0;
 	hrt_abstime timeout_wait = 60_s;
 	armed->in_esc_calibration_mode = true;

src/modules/mavlink/mavlink_main.cpp

@@ -1150,6 +1150,10 @@ Mavlink::find_broadcast_address()
 			const struct in_addr netmask_addr = query_netmask_addr(_socket_fd, *cur_ifreq);
 			const struct in_addr broadcast_addr = compute_broadcast_addr(sin_addr, netmask_addr);
 
+			#ifdef __PX4_POSIX_BBBLUE
+			if (strstr(cur_ifreq->ifr_name, _mavlink_wifi_name) == NULL) { continue; }
+			#endif
+
 			PX4_INFO("using network interface %s, IP: %s", cur_ifreq->ifr_name, inet_ntoa(sin_addr));
 			PX4_INFO("with netmask: %s", inet_ntoa(netmask_addr));
 			PX4_INFO("and broadcast IP: %s", inet_ntoa(broadcast_addr));
@@ -1945,6 +1949,10 @@ Mavlink::task_main(int argc, char *argv[])
 	_mode = MAVLINK_MODE_NORMAL;
 	bool _force_flow_control = false;
 
+#ifdef __PX4_POSIX_BBBLUE
+	_mavlink_wifi_name = __PX4_BBBLUE_DEFAULT_MAVLINK_WIFI;
+#endif
+
 #ifdef __PX4_NUTTX
 	/* the NuttX optarg handler does not
 	 * ignore argv[0] like the POSIX handler
@@ -1966,7 +1974,7 @@ Mavlink::task_main(int argc, char *argv[])
 	int temp_int_arg;
 #endif
 
-	while ((ch = px4_getopt(argc, argv, "b:r:d:u:o:m:t:fwxz", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "b:r:d:n:u:o:m:t:fwxz", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'b':
 			_baudrate = strtoul(myoptarg, nullptr, 10);
@@ -1993,6 +2001,12 @@ Mavlink::task_main(int argc, char *argv[])
 			set_protocol(SERIAL);
 			break;
 
+		case 'n':
+#ifdef __PX4_POSIX_BBBLUE
+			_mavlink_wifi_name = myoptarg;
+#endif
+			break;
+
 #ifdef __PX4_POSIX
 
 		case 'u':

src/modules/mavlink/mavlink_main.h

@@ -63,6 +63,12 @@
 #include <net/if.h>
 #endif
 
+#ifdef __PX4_POSIX_BBBLUE
+#ifndef __PX4_BBBLUE_DEFAULT_MAVLINK_WIFI
+#define __PX4_BBBLUE_DEFAULT_MAVLINK_WIFI "SoftAp"
+#endif
+#endif
+
 #include <uORB/uORB.h>
 #include <uORB/topics/mission.h>
 #include <uORB/topics/mission_result.h>
@@ -601,6 +607,11 @@ private:
 	uint8_t _network_buf[MAVLINK_MAX_PACKET_LEN];
 	unsigned _network_buf_len;
 #endif
+
+#ifdef __PX4_POSIX_BBBLUE
+	const char * _mavlink_wifi_name;
+#endif
+
 	int _socket_fd;
 	Protocol	_protocol;
 	unsigned short _network_port;

src/modules/sensors/parameters.cpp

@@ -145,6 +145,7 @@ void initialize_parameter_handles(ParameterHandles &parameter_handles)
 	parameter_handles.battery_v_div = param_find("BAT_V_DIV");
 	parameter_handles.battery_a_per_v = param_find("BAT_A_PER_V");
 	parameter_handles.battery_source = param_find("BAT_SOURCE");
+	parameter_handles.battery_adc_channel = param_find("BAT_ADC_CHANNEL");
 
 	/* rotations */
 	parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");
@@ -423,7 +424,8 @@ int update_parameters(const ParameterHandles &parameter_handles, Parameters &par
 		param_set_no_notification(parameter_handles.battery_a_per_v, &parameters.battery_a_per_v);
 	}
 
-	param_get(parameter_handles.battery_source, &(parameters.battery_source));
+	param_get(parameter_handles.battery_source,      &(parameters.battery_source));
+	param_get(parameter_handles.battery_adc_channel, &(parameters.battery_adc_channel));
 
 	param_get(parameter_handles.board_rotation, &(parameters.board_rotation));
 

src/modules/sensors/parameters.h

@@ -143,6 +143,7 @@ struct Parameters {
 	float battery_v_div;
 	float battery_a_per_v;
 	int32_t battery_source;
+	int32_t battery_adc_channel;
 
 	float baro_qnh;
 
@@ -223,6 +224,7 @@ struct ParameterHandles {
 	param_t battery_v_div;
 	param_t battery_a_per_v;
 	param_t battery_source;
+	param_t battery_adc_channel;
 
 	param_t board_rotation;
 

src/modules/sensors/sensor_params_battery.c

@@ -98,10 +98,20 @@ PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0);
  * means that measurements are expected to come from a power module. If the value is set to
  * 'External' then the system expects to receive mavlink battery status messages.
  *
- * @min 0
+ * @min -1
  * @max 1
  * @value 0 Power Module
  * @value 1 External
  * @group Battery Calibration
  */
 PARAM_DEFINE_INT32(BAT_SOURCE, 0);
+
+/**
+ * Battery ADC Channel
+ *
+ * This parameter specifies the ADC channel used to monitor voltage of main power battery.
+ * A value of -1 means to use the board default.
+ *
+ * @group Battery Calibration
+ */
+PARAM_DEFINE_INT32(BAT_ADC_CHANNEL, -1);

src/modules/sensors/sensors.cpp

@@ -443,6 +443,10 @@ Sensors::adc_poll()
 		int   bat_voltage_v_chan[BOARD_NUMBER_BRICKS] = BOARD_BATT_V_LIST;
 		int   bat_voltage_i_chan[BOARD_NUMBER_BRICKS] = BOARD_BATT_I_LIST;
 
+		if (_parameters.battery_adc_channel >= 0) {  // overwrite default
+			bat_voltage_v_chan[0] = _parameters.battery_adc_channel;
+		}
+
 		/* The valid signals (HW dependent) are associated with each brick */
 		bool  valid_chan[BOARD_NUMBER_BRICKS] = BOARD_BRICK_VALID_LIST;
 

src/modules/sensors/voted_sensors_update.cpp

@@ -626,6 +626,7 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)
 
 	// write the best sensor data to the output variables
 	if (best_index >= 0) {
+		raw.timestamp = _last_sensor_data[best_index].timestamp;
 		raw.accelerometer_integral_dt = _last_sensor_data[best_index].accelerometer_integral_dt;
 		memcpy(&raw.accelerometer_m_s2, &_last_sensor_data[best_index].accelerometer_m_s2, sizeof(raw.accelerometer_m_s2));
 
@@ -1022,7 +1023,7 @@ void VotedSensorsUpdate::print_status()
 bool
 VotedSensorsUpdate::apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id)
 {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) && !defined(__PX4_POSIX_BBBLUE)
 
 	/* On most systems, we can just use the IOCTL call to set the calibration params. */
 	return !h.ioctl(GYROIOCSSCALE, (long unsigned int)gcal);
@@ -1036,7 +1037,7 @@ VotedSensorsUpdate::apply_gyro_calibration(DevHandle &h, const struct gyro_calib
 bool
 VotedSensorsUpdate::apply_accel_calibration(DevHandle &h, const struct accel_calibration_s *acal, const int device_id)
 {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) && !defined(__PX4_POSIX_BBBLUE)
 
 	/* On most systems, we can just use the IOCTL call to set the calibration params. */
 	return !h.ioctl(ACCELIOCSSCALE, (long unsigned int)acal);