Merge branch 'main' into pr-boards_serial_rc

platforms/common/include/px4_platform_common/board_common.h

@@ -106,6 +106,13 @@
 #define ADC_V5_SCALE                    (2.0f) // The scale factor defined by HW's resistive divider (Rt+Rb)/ Rb
 #endif
 
+#if !defined(ADC_PAYLOAD_V_FULL_SCALE)
+#define ADC_PAYLOAD_V_FULL_SCALE        (25.3f)  // Payload volt Rail full scale voltage
+#endif
+#if !defined(ADC_PAYLOAD_SCALE)
+#define ADC_PAYLOAD_SCALE               (7.667f) // The scale factor defined by HW's resistive divider (Rt+Rb)/ Rb
+#endif
+
 #if !defined(ADC_3V3_V_FULL_SCALE)
 #define ADC_3V3_V_FULL_SCALE             (3.6f)  // 3.3V volt Rail full scale voltage
 #endif

platforms/common/pab_manifest.c

@@ -356,6 +356,52 @@ static const px4_hw_mft_item_t base_configuration_17[] = {
 	},
 };
 
+// BASE ID 18  Auterion Skynode S
+static const px4_hw_mft_item_t base_configuration_18[] = {
+	{
+		.id          = PX4_MFT_PX4IO,
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_USB,
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+	{
+		.id          = PX4_MFT_CAN2,
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_CAN3,
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+	{
+		.id          = PX4_MFT_PM2,
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_onboard,
+	},
+	{
+		.id          = PX4_MFT_ETHERNET,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_connector,
+	},
+	{
+		.id          = PX4_MFT_T100_ETH,
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+};
+
 // BASE ID 0x100 Holybro Pixhawk Jetson Baseboard Alaised to ID 0
 // BASE ID 0x150 ZeroOne Pixhawk Baseboard Alaised to ID 0
 
@@ -372,6 +418,7 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
 	{HW_BASE_ID(10),     base_configuration_9, arraySize(base_configuration_9)},   // Auterion Skynode ver 10
 	{HW_BASE_ID(16),     base_configuration_0, arraySize(base_configuration_0)},   // Auterion Skynode ver 16
 	{HW_BASE_ID(17),     base_configuration_17, arraySize(base_configuration_17)}, // Auterion Skynode ver 17
+	{HW_BASE_ID(18),     base_configuration_18, arraySize(base_configuration_18)}, // Auterion Skynode S ver 18
 	{HW_BASE_ID(0x100),  base_configuration_0, arraySize(base_configuration_0)},   // Holybro Pixhawk Jetson Baseboard ver 0x100 Alaised to ID 0
 	{HW_BASE_ID(0x150),  base_configuration_0, arraySize(base_configuration_0)},   // ZeroOne Pixhawk Baseboard ver 0x150
 };

platforms/common/spi.cpp

@@ -87,7 +87,12 @@ const px4_spi_bus_t *px4_spi_buses{nullptr};
 
 int px4_find_spi_bus(uint32_t devid)
 {
+// px4_spi_buses is only NULL on certain targets depending on defines
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Waddress"
+
 	for (int i = 0; ((px4_spi_bus_t *) px4_spi_buses) != nullptr && i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
+#pragma GCC diagnostic pop
 		const px4_spi_bus_t &bus_data = px4_spi_buses[i];
 
 		if (bus_data.bus == -1) {

platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp

@@ -146,7 +146,14 @@ int uORBTest::UnitTest::pubsublatency_main()
 
 	pubsubtest_passed = true;
 
-	if (mean > 150.0f) {
+#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
+	// relaxed on SITL (non-realtime)
+	const float kMaxMeanUs = 1000.f; // 1000 microseconds
+#else
+	const float kMaxMeanUs = 150.f; // 150 microseconds
+#endif
+
+	if (mean > kMaxMeanUs) {
 		pubsubtest_res = PX4_ERROR;
 
 	} else {