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

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);