Merge branch 'main' into dev-sc_pos_control

msg/CMakeLists.txt

@@ -210,6 +210,7 @@ set(msg_files
 	TelemetryStatus.msg
 	TiltrotorExtraControls.msg
 	TimesyncStatus.msg
+	TrajectorySetpoint6dof.msg
 	TransponderReport.msg
 	TuneControl.msg
 	UavcanParameterRequest.msg

msg/TrajectorySetpoint6dof.msg

@@ -0,0 +1,13 @@
+# Trajectory setpoint in NED frame
+# Input to position controller.
+
+uint64 timestamp # time since system start (microseconds)
+
+# NED local world frame
+float32[3] position               # in meters
+float32[3] velocity               # in meters/second
+float32[3] acceleration           # in meters/second^2
+float32[3] jerk                   # in meters/second^3 (for logging only)
+
+float32[4] quaternion             # unit quaternion
+float32[3] angular_velocity       # angular velocity in radians/second

platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c

@@ -156,8 +156,17 @@
 # if CONFIG_STM32_TIM11
 #  error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11
 # endif
+#elif HRT_TIMER == 12
+# define HRT_TIMER_BASE		STM32_TIM12_BASE
+# define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
+# define HRT_TIMER_POWER_BIT	RCC_APB1LENR_TIM12EN
+# define HRT_TIMER_VECTOR	STM32_IRQ_TIM12
+# define HRT_TIMER_CLOCK	STM32_APB1_TIM12_CLKIN
+# if CONFIG_STM32_TIM12
+#  error must not set CONFIG_STM32_TIM12=y and HRT_TIMER=12
+# endif
 #else
-# error HRT_TIMER must be a value between 1 and 11
+# error HRT_TIMER must be a value between 1 and 12
 #endif
 
 /*