From 5bb183afdeeec529216dd3bc833a8cbef6a7ebed Mon Sep 17 00:00:00 2001 From: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com> Date: Tue, 1 Jul 2025 20:31:12 +0200 Subject: [PATCH] Update fmu rover builds (#25139) * rover: add rover build for all fmu versions * rover: remove board specific exclusion of rover airframes --- .../50000_generic_rover_differential | 3 --- .../airframes/50001_aion_robotics_r1_rover | 3 --- .../airframes/51000_generic_rover_ackermann | 3 --- .../51001_axial_scx10_2_trail_honcho | 3 --- .../airframes/52000_generic_rover_mecanum | 3 --- boards/px4/fmu-v2/rover.px4board | 24 ++++++++++--------- boards/px4/fmu-v3/rover.px4board | 17 +++++++++++++ boards/px4/fmu-v4/rover.px4board | 17 +++++++++++++ boards/px4/fmu-v4pro/rover.px4board | 17 +++++++++++++ boards/px4/fmu-v5/rover.px4board | 6 ----- boards/px4/fmu-v5x/rover.px4board | 3 --- boards/px4/fmu-v6c/rover.px4board | 2 -- boards/px4/fmu-v6u/rover.px4board | 2 -- boards/px4/fmu-v6x/rover.px4board | 2 -- boards/px4/fmu-v6xrt/rover.px4board | 5 +--- 15 files changed, 65 insertions(+), 45 deletions(-) create mode 100644 boards/px4/fmu-v3/rover.px4board create mode 100644 boards/px4/fmu-v4/rover.px4board create mode 100644 boards/px4/fmu-v4pro/rover.px4board diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential index 8c490d497b..e360514380 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential +++ b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential @@ -5,8 +5,5 @@ # @type Rover # @class Rover # -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# . ${R}etc/init.d/rc.rover_differential_defaults diff --git a/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover index 7b29f208aa..735dd6854a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover +++ b/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover @@ -7,9 +7,6 @@ # @type Rover # @class Rover # -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# . ${R}etc/init.d/rc.rover_differential_defaults diff --git a/ROMFS/px4fmu_common/init.d/airframes/51000_generic_rover_ackermann b/ROMFS/px4fmu_common/init.d/airframes/51000_generic_rover_ackermann index 43620a50dd..ef1896eacf 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/51000_generic_rover_ackermann +++ b/ROMFS/px4fmu_common/init.d/airframes/51000_generic_rover_ackermann @@ -5,8 +5,5 @@ # @type Rover # @class Rover # -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# . ${R}etc/init.d/rc.rover_ackermann_defaults diff --git a/ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho b/ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho index dd5835c8c5..78b24b6870 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho +++ b/ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho @@ -7,9 +7,6 @@ # @type Rover # @class Rover # -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# . ${R}etc/init.d/rc.rover_ackermann_defaults diff --git a/ROMFS/px4fmu_common/init.d/airframes/52000_generic_rover_mecanum b/ROMFS/px4fmu_common/init.d/airframes/52000_generic_rover_mecanum index 8fc0409152..da058b2e45 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/52000_generic_rover_mecanum +++ b/ROMFS/px4fmu_common/init.d/airframes/52000_generic_rover_mecanum @@ -5,8 +5,5 @@ # @type Rover # @class Rover # -# @board px4_fmu-v2 exclude -# @board bitcraze_crazyflie exclude -# . ${R}etc/init.d/rc.rover_mecanum_defaults diff --git a/boards/px4/fmu-v2/rover.px4board b/boards/px4/fmu-v2/rover.px4board index f274a94b74..cd49a241b5 100644 --- a/boards/px4/fmu-v2/rover.px4board +++ b/boards/px4/fmu-v2/rover.px4board @@ -1,15 +1,17 @@ +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_MODE_MANAGER=n +CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n +CONFIG_MODULES_FW_RATE_CONTROL=n CONFIG_MODULES_MC_ATT_CONTROL=n +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n CONFIG_MODULES_MC_POS_CONTROL=n CONFIG_MODULES_MC_RATE_CONTROL=n -CONFIG_DRIVERS_CAMERA_CAPTURE=y -CONFIG_DRIVERS_CAMERA_TRIGGER=y -CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y -CONFIG_MODULES_CAMERA_FEEDBACK=y -CONFIG_MODULES_LOAD_MON=y -CONFIG_MODULES_ROVER_POS_CONTROL=y -CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_SYSTEMCMDS_PERF=y -CONFIG_SYSTEMCMDS_UORB=y -CONFIG_SYSTEMCMDS_USB_CONNECTED=y -CONFIG_SYSTEMCMDS_WORK_QUEUE=y +CONFIG_MODULES_VTOL_ATT_CONTROL=n +CONFIG_DRIVERS_ROBOCLAW=y +CONFIG_MODULES_ROVER_ACKERMANN=y +CONFIG_MODULES_ROVER_DIFFERENTIAL=y +CONFIG_MODULES_ROVER_MECANUM=y diff --git a/boards/px4/fmu-v3/rover.px4board b/boards/px4/fmu-v3/rover.px4board new file mode 100644 index 0000000000..cd49a241b5 --- /dev/null +++ b/boards/px4/fmu-v3/rover.px4board @@ -0,0 +1,17 @@ +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_MODE_MANAGER=n +CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n +CONFIG_MODULES_FW_RATE_CONTROL=n +CONFIG_MODULES_MC_ATT_CONTROL=n +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n +CONFIG_MODULES_MC_POS_CONTROL=n +CONFIG_MODULES_MC_RATE_CONTROL=n +CONFIG_MODULES_VTOL_ATT_CONTROL=n +CONFIG_DRIVERS_ROBOCLAW=y +CONFIG_MODULES_ROVER_ACKERMANN=y +CONFIG_MODULES_ROVER_DIFFERENTIAL=y +CONFIG_MODULES_ROVER_MECANUM=y diff --git a/boards/px4/fmu-v4/rover.px4board b/boards/px4/fmu-v4/rover.px4board new file mode 100644 index 0000000000..cd49a241b5 --- /dev/null +++ b/boards/px4/fmu-v4/rover.px4board @@ -0,0 +1,17 @@ +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_MODE_MANAGER=n +CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n +CONFIG_MODULES_FW_RATE_CONTROL=n +CONFIG_MODULES_MC_ATT_CONTROL=n +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n +CONFIG_MODULES_MC_POS_CONTROL=n +CONFIG_MODULES_MC_RATE_CONTROL=n +CONFIG_MODULES_VTOL_ATT_CONTROL=n +CONFIG_DRIVERS_ROBOCLAW=y +CONFIG_MODULES_ROVER_ACKERMANN=y +CONFIG_MODULES_ROVER_DIFFERENTIAL=y +CONFIG_MODULES_ROVER_MECANUM=y diff --git a/boards/px4/fmu-v4pro/rover.px4board b/boards/px4/fmu-v4pro/rover.px4board new file mode 100644 index 0000000000..cd49a241b5 --- /dev/null +++ b/boards/px4/fmu-v4pro/rover.px4board @@ -0,0 +1,17 @@ +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_MODE_MANAGER=n +CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n +CONFIG_MODULES_FW_RATE_CONTROL=n +CONFIG_MODULES_MC_ATT_CONTROL=n +CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n +CONFIG_MODULES_MC_POS_CONTROL=n +CONFIG_MODULES_MC_RATE_CONTROL=n +CONFIG_MODULES_VTOL_ATT_CONTROL=n +CONFIG_DRIVERS_ROBOCLAW=y +CONFIG_MODULES_ROVER_ACKERMANN=y +CONFIG_MODULES_ROVER_DIFFERENTIAL=y +CONFIG_MODULES_ROVER_MECANUM=y diff --git a/boards/px4/fmu-v5/rover.px4board b/boards/px4/fmu-v5/rover.px4board index 1d4d56e9a7..cd49a241b5 100644 --- a/boards/px4/fmu-v5/rover.px4board +++ b/boards/px4/fmu-v5/rover.px4board @@ -1,23 +1,17 @@ -CONFIG_DRIVERS_IRLOCK=n CONFIG_MODULES_AIRSPEED_SELECTOR=n -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_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 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n CONFIG_MODULES_MC_POS_CONTROL=n CONFIG_MODULES_MC_RATE_CONTROL=n -CONFIG_MODULES_UUV_ATT_CONTROL=n -CONFIG_MODULES_UUV_POS_CONTROL=n CONFIG_MODULES_VTOL_ATT_CONTROL=n CONFIG_DRIVERS_ROBOCLAW=y -# CONFIG_EKF2_WIND is not set CONFIG_MODULES_ROVER_ACKERMANN=y CONFIG_MODULES_ROVER_DIFFERENTIAL=y CONFIG_MODULES_ROVER_MECANUM=y diff --git a/boards/px4/fmu-v5x/rover.px4board b/boards/px4/fmu-v5x/rover.px4board index 916b009897..cd49a241b5 100644 --- a/boards/px4/fmu-v5x/rover.px4board +++ b/boards/px4/fmu-v5x/rover.px4board @@ -1,4 +1,3 @@ -CONFIG_DRIVERS_IRLOCK=n CONFIG_MODULES_AIRSPEED_SELECTOR=n CONFIG_MODULES_FLIGHT_MODE_MANAGER=n CONFIG_MODULES_FW_ATT_CONTROL=n @@ -6,7 +5,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_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 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n @@ -14,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n CONFIG_MODULES_MC_RATE_CONTROL=n CONFIG_MODULES_VTOL_ATT_CONTROL=n CONFIG_DRIVERS_ROBOCLAW=y -# CONFIG_EKF2_WIND is not set CONFIG_MODULES_ROVER_ACKERMANN=y CONFIG_MODULES_ROVER_DIFFERENTIAL=y CONFIG_MODULES_ROVER_MECANUM=y diff --git a/boards/px4/fmu-v6c/rover.px4board b/boards/px4/fmu-v6c/rover.px4board index ee2e5a13e5..cd49a241b5 100644 --- a/boards/px4/fmu-v6c/rover.px4board +++ b/boards/px4/fmu-v6c/rover.px4board @@ -5,7 +5,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_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 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n @@ -13,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n CONFIG_MODULES_MC_RATE_CONTROL=n CONFIG_MODULES_VTOL_ATT_CONTROL=n CONFIG_DRIVERS_ROBOCLAW=y -# CONFIG_EKF2_WIND is not set CONFIG_MODULES_ROVER_ACKERMANN=y CONFIG_MODULES_ROVER_DIFFERENTIAL=y CONFIG_MODULES_ROVER_MECANUM=y diff --git a/boards/px4/fmu-v6u/rover.px4board b/boards/px4/fmu-v6u/rover.px4board index ee2e5a13e5..cd49a241b5 100644 --- a/boards/px4/fmu-v6u/rover.px4board +++ b/boards/px4/fmu-v6u/rover.px4board @@ -5,7 +5,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_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 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n @@ -13,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n CONFIG_MODULES_MC_RATE_CONTROL=n CONFIG_MODULES_VTOL_ATT_CONTROL=n CONFIG_DRIVERS_ROBOCLAW=y -# CONFIG_EKF2_WIND is not set CONFIG_MODULES_ROVER_ACKERMANN=y CONFIG_MODULES_ROVER_DIFFERENTIAL=y CONFIG_MODULES_ROVER_MECANUM=y diff --git a/boards/px4/fmu-v6x/rover.px4board b/boards/px4/fmu-v6x/rover.px4board index ee2e5a13e5..cd49a241b5 100644 --- a/boards/px4/fmu-v6x/rover.px4board +++ b/boards/px4/fmu-v6x/rover.px4board @@ -5,7 +5,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_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 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n @@ -13,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n CONFIG_MODULES_MC_RATE_CONTROL=n CONFIG_MODULES_VTOL_ATT_CONTROL=n CONFIG_DRIVERS_ROBOCLAW=y -# CONFIG_EKF2_WIND is not set CONFIG_MODULES_ROVER_ACKERMANN=y CONFIG_MODULES_ROVER_DIFFERENTIAL=y CONFIG_MODULES_ROVER_MECANUM=y diff --git a/boards/px4/fmu-v6xrt/rover.px4board b/boards/px4/fmu-v6xrt/rover.px4board index 458ebe7d08..0a092749c5 100644 --- a/boards/px4/fmu-v6xrt/rover.px4board +++ b/boards/px4/fmu-v6xrt/rover.px4board @@ -1,4 +1,3 @@ -CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=n CONFIG_MODULES_AIRSPEED_SELECTOR=n CONFIG_MODULES_FLIGHT_MODE_MANAGER=n CONFIG_MODULES_FW_ATT_CONTROL=n @@ -6,16 +5,14 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_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_LOCAL_POSITION_ESTIMATOR=n CONFIG_MODULES_MC_ATT_CONTROL=n CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n CONFIG_MODULES_MC_POS_CONTROL=n CONFIG_MODULES_MC_RATE_CONTROL=n CONFIG_MODULES_VTOL_ATT_CONTROL=n +CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=n CONFIG_DRIVERS_ROBOCLAW=y -# CONFIG_EKF2_WIND is not set CONFIG_MODULES_ROVER_ACKERMANN=y CONFIG_MODULES_ROVER_DIFFERENTIAL=y CONFIG_MODULES_ROVER_MECANUM=y