VOXL2: HRT updates for synchronization with Qurt time (#22881)

- Added offset to Posix hrt time to account for synchronization with Qurt hrt time
- Added new Kconfig to configure synchronization of HRT timestamps on VOXL2
- Moved voxl2 libfc sensor library submodule from muorb module to boards directory
- Added check to make sure hrt_elapsed_time can never be negative

boards/modalai/voxl2/cmake/init.cmake

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2024 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+include_directories(${PX4_BOARD_DIR}/libfc-sensor-api/inc)

boards/modalai/voxl2/cmake/link_libraries.cmake

@@ -1,7 +1,7 @@
 
 # Link against the public stub version of the proprietary fc sensor library
 target_link_libraries(px4 PRIVATE
-		${PX4_SOURCE_DIR}/src//modules/muorb/apps/libfc-sensor-api/build/libfc_sensor.so
+		${PX4_BOARD_DIR}/libfc-sensor-api/build/libfc_sensor.so
 		px4_layer
 		${module_libraries}
 )

boards/modalai/voxl2/scripts/build-deps.sh

@@ -1,10 +1,9 @@
 #!/bin/bash
 
-cd src/modules/muorb/apps/libfc-sensor-api
+cd boards/modalai/voxl2/libfc-sensor-api
 rm -fR build
 mkdir build
 cd build
 CC=/home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc cmake ..
 make
-cd ../../../../../..
-
+cd ../../../../..