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voxl2: Added components to the board build that are in the ModalAI fork but missing in mainline

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This commit is contained in:
Eric Katzfey 2026-02-21 16:43:16 -07:00 committed by Eric Katzfey
parent 6e418096b7
commit bd76832f34
23 changed files with 1351 additions and 63 deletions
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6
.gitmodules vendored
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@ -109,3 +109,9 @@
[submodule "src/lib/rl_tools/rl_tools"]
path = src/lib/rl_tools/rl_tools
url = https://github.com/rl-tools/rl-tools.git
[submodule "libmodal-json"]
path = boards/modalai/voxl2/src/lib/mpa/libmodal-json
url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
[submodule "libmodal-pipe"]
path = boards/modalai/voxl2/src/lib/mpa/libmodal-pipe
url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe.git

2
Tools/astyle/files_to_check_code_style.sh
View File

@ -39,6 +39,8 @@ exec find boards msg src platforms test \
-path src/lib/cdrstream/rosidl -prune -o \
-path src/modules/zenoh/zenoh-pico -prune -o \
-path boards/modalai/voxl2/libfc-sensor-api -prune -o \
-path boards/modalai/voxl2/src/lib/mpa/libmodal-json -prune -o \
-path boards/modalai/voxl2/src/lib/mpa/libmodal-pipe -prune -o \
-path src/drivers/actuators/vertiq_io/iq-module-communication-cpp -prune -o \
-path src/lib/tensorflow_lite_micro/tflite_micro -prune -o \
-path src/drivers/ins/sbgecom/sbgECom -prune -o \

7
boards/modalai/voxl2-slpi/default.px4board
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@ -5,6 +5,7 @@ CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_DRIVERS_BAROMETER_BMP280=y
CONFIG_DRIVERS_BAROMETER_BMP388=y
CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO=y
CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
@ -16,6 +17,7 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
CONFIG_DRIVERS_QSHELL_QURT=y
CONFIG_DRIVERS_RC_CRSF_RC=y
@ -29,6 +31,11 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y

2
boards/modalai/voxl2/default.px4board
View File

@ -3,6 +3,8 @@ CONFIG_BOARD_LINUX_TARGET=y
CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
CONFIG_BOARD_ROOT_PATH="/data/px4"
CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_OSD_MSP_OSD=y
CONFIG_DRIVERS_QSHELL_POSIX=y

5
boards/modalai/voxl2/scripts/install-voxl.sh
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@ -128,6 +128,11 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-flight_mode_manager"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-imu_server"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-apps_sbus"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-voxl_save_cal_params"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vehicle_air_data_bridge"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sensor_baro_bridge"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-dps310"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-icp101xx"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vehicle_local_position_bridge"
# Make sure any required directories exist
adb shell "/bin/mkdir -p /data/px4/param"

8
boards/modalai/voxl2/src/CMakeLists.txt
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@ -39,12 +39,20 @@ set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
add_library(drivers_board
board_config.h
i2c.cpp
init.c
boardctl.c
spi.cpp
)
# Add custom drivers
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/apps_sbus)
# Add custom libraries
add_subdirectory(${PX4_BOARD_DIR}/src/lib/mpa)
# Add custom modules
add_subdirectory(${PX4_BOARD_DIR}/src/modules/voxl_save_cal_params)
add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_air_data_bridge)
add_subdirectory(${PX4_BOARD_DIR}/src/modules/sensor_baro_bridge)
add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_local_position_bridge)

14
boards/modalai/voxl2/src/board_config.h
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@ -42,9 +42,21 @@
#define CONFIG_BOARDCTL_RESET
#define BOARD_HAS_NO_BOOTLOADER
// Define this as empty since there are no I2C buses
// Define this as empty since i2c clock init isn't required
#define BOARD_I2C_BUS_CLOCK_INIT
/*
* I2C buses
*/
#define CONFIG_I2C 1
#define PX4_NUMBER_I2C_BUSES 1
/*
* SPI buses
*/
#define CONFIG_SPI 1
#define BOARD_SPI_BUS_MAX_BUS_ITEMS 1
#include <system_config.h>
#include <px4_platform_common/board_common.h>

40
boards/modalai/voxl2/src/i2c.cpp Normal file
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@ -0,0 +1,40 @@
/****************************************************************************
*
* Copyright (C) 2025-2026 PX4 Development Team. 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 <px4_platform_common/i2c.h>
#include <px4_arch/i2c_hw_description.h>
#include <drivers/drv_sensor.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(0)
};

44
boards/modalai/voxl2/src/lib/mpa/CMakeLists.txt Normal file
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@ -0,0 +1,44 @@
############################################################################
#
# Copyright (c) 2025-2026 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.
#
############################################################################
px4_add_git_submodule(TARGET git_mpa_libmodal-json PATH "libmodal-json")
px4_add_git_submodule(TARGET git_mpa_libmodal-pipe PATH "libmodal-pipe")
px4_add_library(mpa mpa.cpp)
target_link_libraries(mpa PRIVATE ${CMAKE_DL_LIBS})
target_include_directories(mpa PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}/libmodal-json/library/include
${CMAKE_CURRENT_SOURCE_DIR}/libmodal-pipe/library/include
)

1
boards/modalai/voxl2/src/lib/mpa/libmodal-json Submodule

@ -0,0 +1 @@
Subproject commit a18d9eee62465b8eef52251515f7195874afa260

1
boards/modalai/voxl2/src/lib/mpa/libmodal-pipe Submodule

@ -0,0 +1 @@
Subproject commit be51027375ca4071a2c2ba7410fb2ddd4bbead0c

262
boards/modalai/voxl2/src/lib/mpa/mpa.cpp Normal file
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@ -0,0 +1,262 @@
/****************************************************************************
*
* Copyright (c) 2025-2026 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 "mpa.hpp"
#include <dlfcn.h>
#include <px4_log.h>
#include <string.h>
bool MPA::initialized = false;
void *MPA::handle = nullptr;
int MPA::current_client = 0;
int MPA::current_server = 0;
MPA::pipe_client_set_simple_helper_cb_t MPA::helper_cb = nullptr;
MPA::pipe_client_set_connect_cb_t MPA::connect_cb = nullptr;
MPA::pipe_client_set_disconnect_cb_t MPA::disconnect_cb = nullptr;
MPA::pipe_client_open_t MPA::open_pipe = nullptr;
MPA::pipe_server_create_t MPA::create_pipe = nullptr;
MPA::pipe_server_write_t MPA::write_pipe = nullptr;
MPA::pipe_server_set_control_cb_t MPA::set_control_cb = nullptr;
MPA::pipe_server_close_t MPA::close_pipe = nullptr;
MPA::mpa_data_cb_t MPA::data_cb[MAX_MPA_CLIENTS];
// called whenever we connect or reconnect to the server
void MPA::ConnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context)
{
PX4_INFO("vfc status server connected");
return;
}
// called whenever we disconnect from the server
void MPA::DisconnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context)
{
PX4_INFO("vfc status server disconnected");
return;
}
void MPA::HelperCB(__attribute__((unused)) int ch, char *data, int bytes, __attribute__((unused)) void *context)
{
// PX4_INFO("Got %d bytes in pipe callback", bytes);
if (data_cb[ch]) { data_cb[ch](data, bytes); }
return;
}
int MPA::PipeClient(const char *pipe_name, int size, mpa_data_cb_t cb)
{
if (!initialized) {
PX4_ERR("Cannot open pipe %s before initialization", pipe_name);
return -1;
}
printf("waiting for server for pipe %s\n", pipe_name);
if (open_pipe(current_client, pipe_name, "px4", EN_PIPE_CLIENT_SIMPLE_HELPER, size * 10) < 0) {
PX4_ERR("Error opening pipe %s", pipe_name);
return -1;
}
data_cb[current_client] = cb;
current_client++;
return current_client - 1;
}
int MPA::PipeCreate(char *pipe_name, int flags)
{
if (!initialized) {
PX4_ERR("Cannot open pipe %s before initialization", pipe_name);
return -1;
}
pipe_info_t server_pipe;
strncpy(server_pipe.name, pipe_name, MODAL_PIPE_MAX_NAME_LEN);
server_pipe.name[MODAL_PIPE_MAX_NAME_LEN - 1] = 0;
server_pipe.location[0] = 0;
server_pipe.type[0] = 0;
strncpy(server_pipe.server_name, "px4_mpa", MODAL_PIPE_MAX_NAME_LEN);
server_pipe.size_bytes = MODAL_PIPE_DEFAULT_PIPE_SIZE;
server_pipe.server_pid = 0;
if (create_pipe(current_server, server_pipe, flags) < 0) {
// remove_pid_file(server_pipe.server_name);
PX4_ERR("Error opening pipe %s", pipe_name);
return -1;
}
current_server++;
return current_server - 1;
}
int MPA::PipeWrite(int ch, const void *data, int bytes)
{
return write_pipe(ch, data, bytes);
}
int MPA::PipeServerSetControlCb(int ch, mpa_control_cb_t cb, void *context)
{
return set_control_cb(ch, cb, context);
}
void MPA::PipeServerClose(int ch)
{
if (close_pipe) {
close_pipe(ch);
}
}
int MPA::Initialize()
{
if (initialized) {
// Already successfully initialized
return 0;
}
char libname[] = "libmodal_pipe.so";
handle = dlopen(libname, RTLD_LAZY | RTLD_GLOBAL);
if (!handle) {
PX4_ERR("Error opening library %s: %s\n", libname, dlerror());
return -1;
} else {
PX4_INFO("Successfully loaded library %s", libname);
}
// set up all our MPA callbacks
char helper_cb_name[] = "pipe_client_set_simple_helper_cb";
helper_cb = (pipe_client_set_simple_helper_cb_t) dlsym(handle, helper_cb_name);
if (!helper_cb) {
PX4_ERR("Error finding symbol %s: %s\n", helper_cb_name, dlerror());
return -1;
} else {
PX4_DEBUG("Successfully loaded function %s", helper_cb_name);
}
helper_cb(0, HelperCB, NULL);
char connect_cb_name[] = "pipe_client_set_connect_cb";
connect_cb = (pipe_client_set_connect_cb_t) dlsym(handle, connect_cb_name);
if (!connect_cb) {
PX4_ERR("Error finding symbol %s: %s", connect_cb_name, dlerror());
return -1;
} else {
PX4_DEBUG("Successfully loaded function %s", connect_cb_name);
}
connect_cb(0, ConnectCB, NULL);
char disconnect_cb_name[] = "pipe_client_set_disconnect_cb";
disconnect_cb = (pipe_client_set_disconnect_cb_t) dlsym(handle, disconnect_cb_name);
if (!disconnect_cb) {
PX4_ERR("Error finding symbol %s: %s", disconnect_cb_name, dlerror());
return -1;
} else {
PX4_DEBUG("Successfully loaded function %s", disconnect_cb_name);
}
disconnect_cb(0, DisconnectCB, NULL);
// request a new pipe from the server
char open_pipe_name[] = "pipe_client_open";
open_pipe = (pipe_client_open_t) dlsym(handle, open_pipe_name);
if (!open_pipe) {
PX4_ERR("Error finding symbol %s: %s", open_pipe_name, dlerror());
return -1;
} else {
PX4_DEBUG("Successfully loaded function %s", open_pipe_name);
}
// Create a new server pipe
char create_pipe_name[] = "pipe_server_create";
create_pipe = (pipe_server_create_t) dlsym(handle, create_pipe_name);
if (!create_pipe) {
PX4_ERR("Error finding symbol %s: %s", create_pipe_name, dlerror());
return -1;
} else {
PX4_DEBUG("Successfully loaded function %s", create_pipe_name);
}
// Write to a server pipe
char write_pipe_name[] = "pipe_server_write";
write_pipe = (pipe_server_write_t) dlsym(handle, write_pipe_name);
if (!write_pipe) {
PX4_ERR("Error finding symbol %s: %s", write_pipe_name, dlerror());
return -1;
} else {
PX4_DEBUG("Successfully loaded function %s", write_pipe_name);
}
// Set control callback for server pipe
char set_control_cb_name[] = "pipe_server_set_control_cb";
set_control_cb = (pipe_server_set_control_cb_t) dlsym(handle, set_control_cb_name);
if (!set_control_cb) {
PX4_ERR("Error finding symbol %s: %s", set_control_cb_name, dlerror());
return -1;
} else {
PX4_DEBUG("Successfully loaded function %s", set_control_cb_name);
}
// Close server pipe
char close_pipe_name[] = "pipe_server_close";
close_pipe = (pipe_server_close_t) dlsym(handle, close_pipe_name);
if (!close_pipe) {
PX4_ERR("Error finding symbol %s: %s", close_pipe_name, dlerror());
return -1;
} else {
PX4_DEBUG("Successfully loaded function %s", close_pipe_name);
}
initialized = true;
return 0;
}

83
boards/modalai/voxl2/src/lib/mpa/mpa.hpp Normal file
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@ -0,0 +1,83 @@
/****************************************************************************
*
* Copyright (c) 2025-2026 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 <modal_pipe.h>
#pragma once
class MPA
{
public:
static int Initialize();
typedef void (*mpa_data_cb_t)(char *data, int bytes);
typedef void (*mpa_control_cb_t)(int ch, char *data, int bytes, void *context);
static int PipeClient(const char *pipe_name, int size, mpa_data_cb_t cb);
static int PipeCreate(char *pipe_name, int flags = 0);
static int PipeWrite(int ch, const void *data, int bytes);
static int PipeServerSetControlCb(int ch, mpa_control_cb_t cb, void *context);
static void PipeServerClose(int ch);
private:
static void HelperCB(__attribute__((unused)) int ch, char *data, int bytes, __attribute__((unused)) void *context);
static void DisconnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context);
static void ConnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context);
typedef int (*pipe_client_set_simple_helper_cb_t)(int ch, client_simple_cb *cb, void *context);
typedef int (*pipe_client_set_connect_cb_t)(int ch, client_connect_cb *cb, void *context);
typedef int (*pipe_client_set_disconnect_cb_t)(int ch, client_disc_cb *cb, void *context);
typedef int (*pipe_client_open_t)(int ch, const char *name_or_location, const char *client_name, int flags, int buf_len);
typedef int (*pipe_server_create_t)(int ch, pipe_info_t info, int flags);
typedef int (*pipe_server_write_t)(int ch, const void *data, int bytes);
typedef int (*pipe_server_set_control_cb_t)(int ch, server_control_cb *cb, void *context);
typedef void (*pipe_server_close_t)(int ch);
static pipe_client_set_simple_helper_cb_t helper_cb;
static pipe_client_set_connect_cb_t connect_cb;
static pipe_client_set_disconnect_cb_t disconnect_cb;
static pipe_client_open_t open_pipe;
static pipe_server_create_t create_pipe;
static pipe_server_write_t write_pipe;
static pipe_server_set_control_cb_t set_control_cb;
static pipe_server_close_t close_pipe;
static bool initialized;
static void *handle;
static int current_client;
static int current_server;
static const int MAX_MPA_CLIENTS{8};
static mpa_data_cb_t data_cb[MAX_MPA_CLIENTS];
};

43
boards/modalai/voxl2/src/modules/sensor_baro_bridge/CMakeLists.txt Normal file
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@ -0,0 +1,43 @@
############################################################################
#
# Copyright (c) 2025-2026 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.
#
############################################################################
px4_add_module(
MODULE modules__sensor_baro_bridge
MAIN sensor_baro_bridge
INCLUDES
${CMAKE_CURRENT_SOURCE_DIR}/../../lib/mpa
SRCS
sensor_baro_bridge.cpp
DEPENDS
mpa
)

183
boards/modalai/voxl2/src/modules/sensor_baro_bridge/sensor_baro_bridge.cpp Normal file
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@ -0,0 +1,183 @@
/****************************************************************************
*
* Copyright (c) 2025-2026 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 "mpa.hpp"
#include <sys/types.h>
#include <sys/stat.h>
#include <time.h>
#include <px4_log.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <uORB/uORB.h>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/sensor_baro.h>
class SensorBaroBridge : public ModuleBase, public px4::WorkItem
{
public:
static Descriptor desc;
SensorBaroBridge();
~SensorBaroBridge() override = default;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
bool init();
private:
void Run() override;
uORB::SubscriptionCallbackWorkItem _sensor_baro_sub{this, ORB_ID(sensor_baro)};
sensor_baro_s _sensor_baro{};
int baro_pipe_ch{0};
};
ModuleBase::Descriptor SensorBaroBridge::desc{task_spawn, custom_command, print_usage};
SensorBaroBridge::SensorBaroBridge() :
WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
{
}
bool SensorBaroBridge::init()
{
if (MPA::Initialize() == -1) {
PX4_ERR("MPA init failed");
return false;
}
char baro_pipe_name[] = "px4_sensor_baro";
baro_pipe_ch = MPA::PipeCreate(baro_pipe_name);
if (baro_pipe_ch == -1) {
PX4_ERR("Pipe create failed for %s", baro_pipe_name);
return false;
}
if (!_sensor_baro_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return false;
}
return true;
}
void SensorBaroBridge::Run()
{
if (should_exit()) {
_sensor_baro_sub.unregisterCallback();
exit_and_cleanup(desc);
return;
}
if (_sensor_baro_sub.updated()) {
if (_sensor_baro_sub.update(&_sensor_baro)) {
baro_data_t baro;
memset(&baro, 0, sizeof(baro));
baro.magic_number = BARO_MAGIC_NUMBER;
baro.pressure_pa = _sensor_baro.pressure;
baro.temp_c = _sensor_baro.temperature;
baro.alt_amsl_m = 0.0f; // sensor_baro does not include altitude
baro.timestamp_ns = _sensor_baro.timestamp * 1000; // Convert µs to ns
baro.reserved_1 = 0;
baro.reserved_2 = 0;
if (MPA::PipeWrite(baro_pipe_ch, (void *)&baro, sizeof(baro_data_t)) == -1) {
PX4_ERR("Pipe %d write failed!", baro_pipe_ch);
}
}
}
}
int SensorBaroBridge::custom_command(int argc, char *argv[])
{
return print_usage("unknown command");
}
int SensorBaroBridge::task_spawn(int argc, char *argv[])
{
SensorBaroBridge *instance = new SensorBaroBridge();
if (instance) {
desc.object.store(instance);
desc.task_id = task_id_is_work_queue;
if (instance->init()) {
return PX4_OK;
}
} else {
PX4_ERR("alloc failed");
}
delete instance;
desc.object.store(nullptr);
desc.task_id = -1;
return PX4_ERROR;
}
int SensorBaroBridge::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Sensor baro bridge
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("sensor_baro_bridge", "system");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
extern "C" __EXPORT int sensor_baro_bridge_main(int argc, char *argv[])
{
return ModuleBase::main(SensorBaroBridge::desc, argc, argv);
}

43
boards/modalai/voxl2/src/modules/vehicle_air_data_bridge/CMakeLists.txt Normal file
View File

@ -0,0 +1,43 @@
############################################################################
#
# Copyright (c) 2025-2026 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.
#
############################################################################
px4_add_module(
MODULE modules__vehicle_air_data_bridge
MAIN vehicle_air_data_bridge
INCLUDES
${CMAKE_CURRENT_SOURCE_DIR}/../../lib/mpa
SRCS
vehicle_air_data_bridge.cpp
DEPENDS
mpa
)

183
boards/modalai/voxl2/src/modules/vehicle_air_data_bridge/vehicle_air_data_bridge.cpp Normal file
View File

@ -0,0 +1,183 @@
/****************************************************************************
*
* Copyright (c) 2025-2026 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 "mpa.hpp"
#include <sys/types.h>
#include <sys/stat.h>
#include <time.h>
#include <px4_log.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <uORB/uORB.h>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/vehicle_air_data.h>
class VehicleAirDataBridge : public ModuleBase, public px4::WorkItem
{
public:
static Descriptor desc;
VehicleAirDataBridge();
~VehicleAirDataBridge() override = default;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
bool init();
private:
void Run() override;
uORB::SubscriptionCallbackWorkItem _vehicle_air_data_sub{this, ORB_ID(vehicle_air_data)};
vehicle_air_data_s _vehicle_air_data{};
int baro_pipe_ch{0};
};
ModuleBase::Descriptor VehicleAirDataBridge::desc{task_spawn, custom_command, print_usage};
VehicleAirDataBridge::VehicleAirDataBridge() :
WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
{
}
bool VehicleAirDataBridge::init()
{
if (MPA::Initialize() == -1) {
PX4_ERR("MPA init failed");
return false;
}
char baro_pipe_name[] = "px4_vehicle_air_data";
baro_pipe_ch = MPA::PipeCreate(baro_pipe_name);
if (baro_pipe_ch == -1) {
PX4_ERR("Pipe create failed for %s", baro_pipe_name);
return false;
}
if (!_vehicle_air_data_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return false;
}
return true;
}
void VehicleAirDataBridge::Run()
{
if (should_exit()) {
_vehicle_air_data_sub.unregisterCallback();
exit_and_cleanup(desc);
return;
}
if (_vehicle_air_data_sub.updated()) {
if (_vehicle_air_data_sub.update(&_vehicle_air_data)) {
baro_data_t baro;
memset(&baro, 0, sizeof(baro));
baro.magic_number = BARO_MAGIC_NUMBER;
baro.pressure_pa = _vehicle_air_data.baro_pressure_pa;
baro.temp_c = _vehicle_air_data.ambient_temperature;
baro.alt_amsl_m = _vehicle_air_data.baro_alt_meter;
baro.timestamp_ns = _vehicle_air_data.timestamp * 1000; // Convert µs to ns
baro.reserved_1 = 0;
baro.reserved_2 = 0;
if (MPA::PipeWrite(baro_pipe_ch, (void *)&baro, sizeof(baro_data_t)) == -1) {
PX4_ERR("Pipe %d write failed!", baro_pipe_ch);
}
}
}
}
int VehicleAirDataBridge::custom_command(int argc, char *argv[])
{
return print_usage("unknown command");
}
int VehicleAirDataBridge::task_spawn(int argc, char *argv[])
{
VehicleAirDataBridge *instance = new VehicleAirDataBridge();
if (instance) {
desc.object.store(instance);
desc.task_id = task_id_is_work_queue;
if (instance->init()) {
return PX4_OK;
}
} else {
PX4_ERR("alloc failed");
}
delete instance;
desc.object.store(nullptr);
desc.task_id = -1;
return PX4_ERROR;
}
int VehicleAirDataBridge::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Vehicle air data bridge
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("vehicle_air_data_bridge", "system");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
extern "C" __EXPORT int vehicle_air_data_bridge_main(int argc, char *argv[])
{
return ModuleBase::main(VehicleAirDataBridge::desc, argc, argv);
}

43
boards/modalai/voxl2/src/modules/vehicle_local_position_bridge/CMakeLists.txt Normal file
View File

@ -0,0 +1,43 @@
############################################################################
#
# Copyright (c) 2025-2026 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.
#
############################################################################
px4_add_module(
MODULE modules__vehicle_local_position_bridge
MAIN vehicle_local_position_bridge
INCLUDES
${CMAKE_CURRENT_SOURCE_DIR}/../../lib/mpa
SRCS
vehicle_local_position_bridge.cpp
DEPENDS
mpa
)

238
boards/modalai/voxl2/src/modules/vehicle_local_position_bridge/vehicle_local_position_bridge.cpp Normal file
View File

@ -0,0 +1,238 @@
/****************************************************************************
*
* Copyright (c) 2025-2026 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 "mpa.hpp"
#include <sys/types.h>
#include <sys/stat.h>
#include <time.h>
#include <math.h>
#include <px4_log.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <uORB/uORB.h>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/vehicle_local_position.h>
class VehicleLocalPositionBridge : public ModuleBase, public px4::WorkItem
{
public:
static Descriptor desc;
VehicleLocalPositionBridge();
~VehicleLocalPositionBridge() override = default;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
bool init();
private:
void Run() override;
uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
vehicle_local_position_s _vehicle_local_position{};
int _pipe_ch{0};
};
ModuleBase::Descriptor VehicleLocalPositionBridge::desc{task_spawn, custom_command, print_usage};
VehicleLocalPositionBridge::VehicleLocalPositionBridge() :
WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
{
}
bool VehicleLocalPositionBridge::init()
{
if (MPA::Initialize() == -1) {
PX4_ERR("MPA init failed");
return false;
}
char pipe_name[] = "px4_vehicle_local_position";
_pipe_ch = MPA::PipeCreate(pipe_name);
if (_pipe_ch == -1) {
PX4_ERR("Pipe create failed for %s", pipe_name);
return false;
}
if (!_vehicle_local_position_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return false;
}
return true;
}
void VehicleLocalPositionBridge::Run()
{
if (should_exit()) {
_vehicle_local_position_sub.unregisterCallback();
exit_and_cleanup(desc);
return;
}
if (_vehicle_local_position_sub.updated()) {
if (_vehicle_local_position_sub.update(&_vehicle_local_position)) {
// Only publish if we have valid position data
if (!_vehicle_local_position.xy_valid && !_vehicle_local_position.z_valid) {
return;
}
pose_vel_6dof_t pose;
pose.magic_number = POSE_VEL_6DOF_MAGIC_NUMBER;
pose.timestamp_ns = _vehicle_local_position.timestamp * 1000; // Convert µs to ns
// Position (NED frame)
if (_vehicle_local_position.xy_valid) {
pose.T_child_wrt_parent[0] = _vehicle_local_position.x;
pose.T_child_wrt_parent[1] = _vehicle_local_position.y;
} else {
pose.T_child_wrt_parent[0] = NAN;
pose.T_child_wrt_parent[1] = NAN;
}
if (_vehicle_local_position.z_valid) {
pose.T_child_wrt_parent[2] = _vehicle_local_position.z;
} else {
pose.T_child_wrt_parent[2] = NAN;
}
// Rotation matrix from heading (yaw rotation around Z axis)
// R_z(heading) = [cos(h) -sin(h) 0]
// [sin(h) cos(h) 0]
// [0 0 1]
float cos_h = cosf(_vehicle_local_position.heading);
float sin_h = sinf(_vehicle_local_position.heading);
pose.R_child_to_parent[0][0] = cos_h;
pose.R_child_to_parent[0][1] = -sin_h;
pose.R_child_to_parent[0][2] = 0.0f;
pose.R_child_to_parent[1][0] = sin_h;
pose.R_child_to_parent[1][1] = cos_h;
pose.R_child_to_parent[1][2] = 0.0f;
pose.R_child_to_parent[2][0] = 0.0f;
pose.R_child_to_parent[2][1] = 0.0f;
pose.R_child_to_parent[2][2] = 1.0f;
// Velocity (NED frame)
if (_vehicle_local_position.v_xy_valid) {
pose.v_child_wrt_parent[0] = _vehicle_local_position.vx;
pose.v_child_wrt_parent[1] = _vehicle_local_position.vy;
} else {
pose.v_child_wrt_parent[0] = NAN;
pose.v_child_wrt_parent[1] = NAN;
}
if (_vehicle_local_position.v_z_valid) {
pose.v_child_wrt_parent[2] = _vehicle_local_position.vz;
} else {
pose.v_child_wrt_parent[2] = NAN;
}
// Angular velocity not available in vehicle_local_position
pose.w_child_wrt_child[0] = NAN;
pose.w_child_wrt_child[1] = NAN;
pose.w_child_wrt_child[2] = NAN;
if (MPA::PipeWrite(_pipe_ch, (void *)&pose, sizeof(pose_vel_6dof_t)) == -1) {
PX4_ERR("Pipe %d write failed!", _pipe_ch);
}
}
}
}
int VehicleLocalPositionBridge::custom_command(int argc, char *argv[])
{
return print_usage("unknown command");
}
int VehicleLocalPositionBridge::task_spawn(int argc, char *argv[])
{
VehicleLocalPositionBridge *instance = new VehicleLocalPositionBridge();
if (instance) {
desc.object.store(instance);
desc.task_id = task_id_is_work_queue;
if (instance->init()) {
return PX4_OK;
}
} else {
PX4_ERR("alloc failed");
}
delete instance;
desc.object.store(nullptr);
desc.task_id = -1;
return PX4_ERROR;
}
int VehicleLocalPositionBridge::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Vehicle local position bridge - publishes vehicle_local_position to MPA pipe as pose_vel_6dof_t
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("vehicle_local_position_bridge", "system");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
extern "C" __EXPORT int vehicle_local_position_bridge_main(int argc, char *argv[])
{
return ModuleBase::main(VehicleLocalPositionBridge::desc, argc, argv);
}

40
boards/modalai/voxl2/src/spi.cpp Normal file
View File

@ -0,0 +1,40 @@
/****************************************************************************
*
* Copyright (C) 2025-2026 PX4 Development Team. 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 <px4_arch/spi_hw_description.h>
#include <px4_platform_common/spi.h>
#include <drivers/drv_sensor.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(1, {initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, 0), }),
};

23
boards/modalai/voxl2/target/voxl-px4
View File

@ -2,10 +2,12 @@
CONFIG_FILE="/etc/modalai/voxl-px4.conf"
AIRFRAME=MULTICOPTER
GPS=NONE
RC=SPEKTRUM
ESC=VOXL_ESC
POWER_MANAGER=VOXLPM
AIRSPEED_SENSOR=NONE
DISTANCE_SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=DISABLE
@ -39,12 +41,14 @@ else
fi
print_usage() {
echo -e "\nUsage: voxl-px4 [-b (Specify Holybro GPS unit)]"
echo -e "\nUsage: voxl-px4 [-a (Specify Airspeed Sensor)]"
echo " [-b (Specify Holybro GPS unit)]"
echo " [-c delete configuration file and exit]"
echo " [-d start px4 without daemon mode]"
echo " [-f (Use fake rc input instead of from a real transmitter)]"
echo " [-m (Specify Matek GPS unit)]"
echo " [-o (Start OSD module on the apps processor)]"
echo " [-p (Specify Fixed Wing airframe selected)]"
echo " [-r (Specify TBS Crossfire RC receiver, MAVLINK)]"
echo " [-w (Specify TBS Crossfire RC receiver, raw)]"
echo " [-z (Use fake sensor calibration values)]"
@ -55,10 +59,12 @@ print_usage() {
print_config_settings(){
echo -e "\n*************************"
echo "AIRFRAME=$AIRFRAME"
echo "GPS=$GPS"
echo "RC=$RC"
echo "ESC=$ESC"
echo "POWER MANAGER=$POWER_MANAGER"
echo "AIRSPEED SENSOR=$AIRSPEED_SENSOR"
echo "DISTANCE SENSOR=$DISTANCE_SENSOR"
echo "OSD=$OSD"
echo "DAEMON_MODE=$DAEMON_MODE"
@ -71,9 +77,13 @@ print_config_settings(){
echo -e "*************************\n"
}
while getopts "bcdhfmorwz" flag
while getopts "abcdhfmoprwz" flag
do
case "${flag}" in
a)
echo "[INFO] MRO AIRSPEED Sensor selected"
AIRSPEED_SENSOR=MS4525DO
;;
b)
echo "[INFO] Holybro GPS selected"
GPS=HOLYBRO
@ -104,6 +114,10 @@ do
echo "[INFO] OSD module selected"
OSD=ENABLE
;;
p)
echo "[INFO] Airframe Selected as Fixed Wing"
AIRFRAME=FIXED_WING
;;
r)
echo "[INFO] TBS Crossfire RC receiver, MAVLINK selected"
RC=CRSF_MAV
@ -137,5 +151,6 @@ fi
print_config_settings
GPS=$GPS RC=$RC ESC=$ESC POWER_MANAGER=$POWER_MANAGER DISTANCE_SENSOR=$DISTANCE_SENSOR \
OSD=$OSD EXTRA_STEPS=$EXTRA_STEPS px4 $DAEMON -s /usr/bin/voxl-px4-start
AIRFRAME=$AIRFRAME GPS=$GPS RC=$RC ESC=$ESC POWER_MANAGER=$POWER_MANAGER DISTANCE_SENSOR=$DISTANCE_SENSOR \
AIRSPEED_SENSOR=$AIRSPEED_SENSOR OSD=$OSD EXTRA_STEPS=$EXTRA_STEPS \
px4 $DAEMON -s /usr/bin/voxl-px4-start

142
boards/modalai/voxl2/target/voxl-px4-start
View File

@ -4,10 +4,12 @@
. px4-alias.sh
echo -e "\n*************************"
echo "AIRFRAME: $AIRFRAME"
echo "GPS: $GPS"
echo "RC: $RC"
echo "ESC: $ESC"
echo "POWER MANAGER: $POWER_MANAGER"
echo "AIRSPEED SENSOR: $AIRSPEED_SENSOR"
echo "DISTANCE SENSOR: $DISTANCE_SENSOR"
echo "OSD: $OSD"
echo "EXTRA STEPS:"
@ -23,6 +25,8 @@ echo -e "*************************\n"
# and modules manually from the px4 command shell
if [ ! -z $MINIMAL_PX4 ]; then
/bin/echo "Running minimal script"
param select /data/px4/param/parameters
param load
exit 0
fi
@ -33,16 +37,21 @@ if [ $RETURNCODE -ne 0 ]; then
# If we couldn't get the platform from the voxl-platform utility then check
# /etc/version to see if there is an M0052 substring in the version string. If so,
# then we assume that we are on M0052.
VERSIONSTRING=$(</etc/version)
VERSIONSTRING=""
if [ -f /etc/version ]; then
VERSIONSTRING=$(</etc/version)
fi
M0052SUBSTRING="M0052"
if [[ "$VERSIONSTRING" == *"$M0052SUBSTRING"* ]]; then
PLATFORM="M0052"
fi
fi
# We can only run on M0052, M0054, M0104, or M0197 so exit with error if that is not the case
# We can only run on M0054, M0104, or M0197 so exit with error if that is not the case
if [ $PLATFORM = "M0052" ]; then
/bin/echo "Running on M0052"
/bin/echo "Error M0052 is no longer supported!!!"
exit 1
elif [ $PLATFORM = "M0054" ]; then
/bin/echo "Running on M0054"
elif [ $PLATFORM = "M0104" ]; then
@ -51,7 +60,7 @@ elif [ $PLATFORM = "M0197" ]; then
/bin/echo "Running on M0197"
else
/bin/echo "Error, cannot determine platform!"
exit 0
exit 1
fi
# Sleep a little here. A lot happens when the uorb and muorb start
@ -87,13 +96,33 @@ else
qshell icm42688p start -s -C 32768
fi
# Start onboard barometer
if [ "$PLATFORM" == "M0197" ]; then
/bin/echo "Starting dps368 barometer on M0197"
qshell dps310 start -I -b 5
else
# Start Invensense ICP 101xx barometer built on to VOXL 2
qshell icp101xx start -I -b 5
# First look for any external barometers connected to the apps proc
EXTERNAL_BAROMETER=0
/bin/echo "Looking for external DPS368 barometer"
if dps310 start -X -b /dev/i2c-0; then
/bin/echo "Detected external DPS368 barometer"
EXTERNAL_BAROMETER=1
fi
if (( EXTERNAL_BAROMETER == 0 )); then
/bin/echo "Looking for external ICP10100 barometer"
if icp101xx start -X -b /dev/i2c-0; then
/bin/echo "Detected external ICP10100 barometer"
EXTERNAL_BAROMETER=1
fi
fi
# If no external barometers found, use the builtin barometer
if (( EXTERNAL_BAROMETER == 0 )); then
/bin/echo "Did not detect an external barometer, starting onboard barometer"
if [ "$PLATFORM" == "M0197" ]; then
/bin/echo "Starting dps368 barometer on M0197"
qshell dps310 start -I -b 5
else
# Start Invensense ICP 101xx barometer built on to VOXL 2
qshell icp101xx start -I -b 5
fi
fi
# Auto detect the magnetometer. If one or both of these devices
@ -102,18 +131,19 @@ fi
qshell qmc5883l start -R 10 -X -b 1
/bin/echo "Looking for ist8310 magnetometer"
qshell ist8310 start -R 10 -X -b 1
/bin/echo "Looking for ist8308 magnetometer"
# Rotation 12 = PITCH_180
qshell ist8308 start -R 12 -X -b 1
/bin/echo "Looking for iis2mdc magnetometer"
# Note: Rotation may not be correct
qshell iis2mdc start -R 10 -X -b 1
# GPS and magnetometer
if [ "$GPS" != "NONE" ]; then
# On M0052 the GPS driver runs on the apps processor
if [ $PLATFORM = "M0052" ]; then
gps start -d /dev/ttyHS2
# On M0197 the GPS driver runs on the apps processor
elif [ $PLATFORM = "M0197" ]; then
gps start -d /dev/ttyHS7
# On M0054 and M0104 the GPS driver runs on SLPI DSP
if [ "$PLATFORM" == "M0197" ]; then
gps start -d /dev/ttyHS7
else
qshell gps start -d 6
qshell gps start
fi
fi
@ -158,20 +188,12 @@ elif [ "$RC" == "CRSF_MAV" ]; then
qshell mavlink_rc_in start -m -p 7 -b 115200
elif [ "$RC" == "SPEKTRUM" ]; then
/bin/echo "Starting Spektrum RC"
# On M0052 the RC driver runs on the apps processor
if [ $PLATFORM = "M0052" ]; then
rc_input start -d /dev/ttyHS1
# On M0054 and M0104 the RC driver runs on SLPI DSP
else
qshell spektrum_rc start
fi
qshell spektrum_rc start
elif [ "$RC" == "GHST" ]; then
/bin/echo "Starting GHST RC driver"
qshell ghst_rc start -d 7
elif [ "$RC" == "M0065_SBUS" ]; then
if [ $PLATFORM = "M0052" ]; then
apps_sbus start
elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
if [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
/bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
qshell dsp_sbus start
retVal=$?
@ -195,6 +217,10 @@ if [ "$POWER_MANAGER" == "VOXLPM" ]; then
qshell voxlpm start -X -b 2
fi
if [ "$AIRSPEED_SENSOR" == "MS4525DO" ]; then
qshell ms4525do start -X -b 4
fi
# Optional distance sensor on spare i2c
# qshell vl53l0x start -X -b 4
# qshell vl53l1x start -X -b 4
@ -202,22 +228,27 @@ fi
# Start all of the processing modules on DSP
qshell sensors start
qshell ekf2 start
qshell mc_pos_control start
qshell mc_att_control start
qshell mc_rate_control start
qshell mc_hover_thrust_estimator start
qshell mc_autotune_attitude_control start
qshell land_detector start multicopter
if [ "$AIRFRAME" == "FIXED_WING" ]; then
qshell fw_pos_control start
qshell fw_att_control start
qshell fw_rate_control start
qshell airspeed_selector start
qshell fw_autotune_attitude_control start
qshell land_detector start fixedwing
elif [ $AIRFRAME = "MULTICOPTER" ]; then
qshell mc_pos_control start
qshell mc_att_control start
qshell mc_rate_control start
qshell mc_hover_thrust_estimator start
qshell mc_autotune_attitude_control start
qshell land_detector start multicopter
fi
qshell manual_control start
qshell control_allocator start
qshell load_mon start
# Only start the rc_update module if an actual RC driver
# is publishing input_rc topics. Otherwise for external RC
# over Mavlink this isn't needed.
if [ "$RC" != "EXTERNAL" ]; then
qshell rc_update start
fi
qshell rc_update start
qshell commander start
@ -227,21 +258,15 @@ qshell flight_mode_manager start
# Start all of the processing modules on the applications processor
dataman start
navigator start
# This bridge allows raw data packets to be sent over UART to the ESC
# voxl2_io_bridge start
vehicle_air_data_bridge start
sensor_baro_bridge start
vehicle_local_position_bridge start
# Start uxrce_dds_client for ros2 offboard messages from agent over localhost
uxrce_dds_client start -t udp -h 127.0.0.1 -p 8888
voxl_save_cal_params start
# On M0052 there is only one IMU. So, PX4 needs to
# publish IMU samples externally for VIO to use.
if [ $PLATFORM = "M0052" ]; then
imu_server start
fi
# start the onboard fast link to connect to voxl-mavlink-server
mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard
@ -252,17 +277,12 @@ mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 10
mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30
mavlink stream -u 14556 -s SCALED_PRESSURE -r 10
# Increase heartbeat rate so VFC can get faster mode updates
mavlink stream -u 14556 -s HEARTBEAT -r 10
# start the slow normal mode for voxl-mavlink-server to forward to GCS
mavlink start -x -u 14558 -o 14559 -r 100000 -n lo
# Start logging and use timestamps for log files when possible.
# Add the "-e" option to start logging immediately. Default is
# to log only when armed. Caution must be used with the "-e" option
# because if power is removed without stopping the logger gracefully then
# the log file may be corrupted. Rather than using "-e" option it's better
# to use the SDLOG_MODE to do that.
logger start -t -b 256
mavlink boot_complete
# Optional MSP OSD driver for DJI goggles
@ -277,3 +297,9 @@ for i in "${EXTRA_STEPS[@]}"
do
$i
done
# Start logging module. This is done as the last step because any topics
# marked as optional will only be logged if they have been advertised when
# this is started. By starting it last it makes sure to see those
# advertisements as the other modules are starting before it.
logger start

1
src/drivers/barometer/dps310/CMakeLists.txt
View File

@ -40,5 +40,6 @@ px4_add_module(
DPS310_SPI.cpp
dps310_main.cpp
DEPENDS
drivers__device
px4_work_queue
)