We should not build and release with the MAVLink development dialect
because messages in development.xml can change at any time and break
things.
Instead we should prototype and test things using specific mavlink-dev
targets.
Move ramvectors from DTCM to ITCM, this seems to better in general.
Also ITCM is marked as RO so is safer anyhow, now that DTCM is fully
unused we add DTCM region of 256kB to memory allocator. Increases usable
memory from 1536kB to 1792kB and decrease system load a bit since DTCM
is faster
* drivers: disable INS by default
With the growing number of INS drivers some targets are running out of flash
and its becoming challenge to keep them under the limit.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* Update boards/nxp/tropic-community/default.px4board
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Update boards/px4/fmu-v6xrt/default.px4board
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Add tflm to px4 with module
- Add TensorFlow Lite Micro(TFLM) as a library in px4
- Make a module that uses neural network inference for control, which uses TFLM for inference
- Make board config files for PX4 with neural module
* Added neural flight mode
* Add posibility to read of inference times
* Fix comments from review:
- Switch ssh link to https link in submodule
- Remove mc_nn_control from startup
* Add tflm to px4 with module
- Add TensorFlow Lite Micro(TFLM) as a library in px4
- Make a module that uses neural network inference for control, which uses TFLM for inference
- Make board config files for PX4 with neural module
* Added neural flight mode
* Add posibility to read of inference times
* Remove auto start
* Add logging from neural control module
* Fix automatic startup to only be when module is included
* Switch to flight mode registration
* Add docs
* Change min/max/coeff to actual parameters
* add figures to neural network docs
* Switch to e2e network
* Remove toolchain changes and replace with instructions in docs
* Get ready for merge after toolchain upgrade
* switch back to submodule
* Try to figure out cmake
* Get CI working with new toolchain
* Remove fork dependency
* Finalize PR
* fix toolchain inclusion
* Fix ctype_base.h include
* Cleanup includes for TFLM
* Remove redundant std
* Update FW module names in board files
* Fix docs
* Remove cstdlib copy
* Copy header from nuttx
* Prettier, markup, layout
* NeuralControl.msg - update uorb comments to current standard
* Add description to neural topic
* Fix typo
* Typo
* TFLM and Module utitlities
* Neural networks top level
* Update docs
* Add manual control
* Update docs
* Revert the manual control attempt
* Update docs/en/advanced/nn_module_utilities.md
* Add posibility to set trajectory setpoint with manual control
---------
Co-authored-by: Pedro Roque <padr@kth.se>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
* rft: clean merge to PX4
* fix: formatting
* fix: extra line
* fix: moved submarine out of "is_ground_vehicle", added proper check for center-throttle
* feat: updated gazebo models to include bluerov update
* fix: use 'is_uuv_vehicle', remove FW_MM/LLC from uuv build
* fix: added saturation to thrust and torque messages via param
* doc: updated parameters documentation for uuv
* fix: formatting
* feat: matching hardware reference
* fix: thrusters kg
* rft: removed commented lines
* fix: update gz reference given hw setup
* fix: hardware references
* fix: recommendations
* fix: updated settings to match hardware
* rft: check only for fixed and rotary wing for high throttle
Co-authored-by: Daniel Agar <daniel@agar.ca>
* fix: commit oupsie
* fix: format
* rft: remove is_uuv
* fix: hw parameters, uuv build target for v6x
* feat: added support for D-pad attitude changes in stabilized position control
* fix: position setpoint update and parametrized trajectory age and att change
* fix: format
* fix: removed duplicated call to check_validity_setpoint
* fix: setpoint update on arming logic
* fix: setpoint initialization for stabilized mode
---------
Co-authored-by: Daniel Agar <daniel@agar.ca>
* rft: initial merging of controllers for spacecraft vehicles
* feat: rate controller nominal
* feat: spacecraft tooling for commander and VehicleStatus
* feat: spacecraft tooling for commander and VehicleStatus
* fix: format
* fix: format
* fix: remove iostream
* fix: remove iostream
* feat: spacecraft attitude control and minor refactoring of params
* feat: add position controller
* fix: format
* fix: moved trajectories to new message, removed derivative filters
* fix: format
* fix: removed extra newline
* fix: spacecraft allocation builds
* feat: add thrusters to effectivenes, add spacecraft build to cmake, clean comments
* feat: required changes for allocation
* feat: thruster simulation interface
* fix: update maximum and minimums
* fix: format
* fix: added newline at the end of spacecraft actuator effectiveness
* feat: configurable board pwm freq from Kconfig
* feat: mavlink compliant spacecraft definition
* feat: add orbiter to define
* boards: Increase TELEM2 rx buffer size for DDS over serial use-case (ARK Jetson)
feat: spacecraft tooling for commander and VehicleStatus
fix: format
fix: remove iostream
feat: mavlink compliant spacecraft definition
* feat: add orbiter to define
* feat: add orbiter to define
* fix: change mav_type to new spacecraft orbiter enum value
* fix: build issue
* feat: update mavlink
* feat: update mavlink to latest master with spacecraft
* feat: update mavlink
* feat: update mavlink to latest
* feat: cleanup and synchronization with new mavlink vehicle definition
* fix: get away without specifying spacecraft vehicle
* fix: removed unnecessary definition
* fix: format
* feat: cmake variant for spacecraft
* feat: proper mav_type and rc init
* fix: removed dart from build system
* add: thrusters to actuator type
* rft: reordering actuator type
* rft: initial merging of controllers for spacecraft vehicles
* feat: rate controller nominal
* fix: format
* feat: spacecraft attitude control and minor refactoring of params
* feat: add position controller
* fix: format
* fix: moved trajectories to new message, removed derivative filters
* fix: format
* fix: removed extra newline
* fix: spacecraft allocation builds
* feat: add thrusters to effectivenes, add spacecraft build to cmake, clean comments
* feat: required changes for allocation
* feat: thruster simulation interface
* fix: update maximum and minimums
* fix: format
* fix: added newline at the end of spacecraft actuator effectiveness
* feat: configurable board pwm freq from Kconfig
* feat: add orbiter to define
* feat: cleanup and synchronization with new mavlink vehicle definition
* fix: get away without specifying spacecraft vehicle
* fix: conflicts
* fix: format
* fix: remove duplicate entry
* rft: remove Kconfig changes
* rft: revert main Kconfig
* rft: revert main kcoonfig on platforms
* rft: remove changes to board PWm (go on another PR)
* rft: revert changes to commander (main is correct)
* fix: extra char on commander_helper
* rft: removed extra spaces
* rft: moved effectiveness to spacecraft
* fix: spacecraft effectiveness
* fix: extra space
* feat: preliminary version, still using thrusters
* rft: initial pipeline on PX4 side with rotors instead of thrusters
* feat: add atmos model
* feat: spacecraft with rotor pipeline tested, working
* feat: update gz
* rft: removed thruster interfaces
* fix: format
* fix: remove control allocation
* fix: thruster normalization
* fix: format
* fix: nuttx version
* fix: clang tidy error
* feat: updated gz to add atmos model
* fix: update gz
* fix: update mavlink
* fix: remove friend class from allocation lib
* fix: remove actuator_outputs/motors
---------
Co-authored-by: Alexander Lerach <alexander@auterion.com>
* feat: configurable board pwm freq from Kconfig
* feat: add board_pwm_config to submenu
* fix: define sequence correction
* fix: revert Tools/simulation/gz
* fix: track upstream gz
* fix: track upstream mavlink
* feat: adjustable pwm for multiple board types
* feat: add conditional check for CONFIG_ for correct fallback
* add: spacecraft board with correct BOARD_PWM_FREQ supporting 10Hz actuation rate
* fix: set dependencies for submenu arch chips
* fix: keep only upper arch level
* fix: proper checking - still not showing up for board config
* feat: add hidden kconfig for platforms
* Merge Nuttx config into px4board
Allows to expose nuttx into PX4 if needed
* Kconfig: Include nuttx symbols in updateconfig
Only if applicable i.e. defined in the kconfig
* fix: merged config with previously generated boardconfig
* doc: updated code comment
---------
Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com>
- split up old module into two, one handling setpoint generation, one control
- add lateral and longitudinal control setpoints topics that can also be
injected from companion computer
- add configuration topics that (optionally) configure the controller
with limits and momentary settings
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Signed-off-by: Silvan <silvan@auterion.com>
boards: increase max mission items for boards with >=1kb RAM to 1000
Signed-off-by: Silvan <silvan@auterion.com>
boards: increase NUM_MISSION_ITMES_SUPPORTED for SITL to 10000
Signed-off-by: Silvan <silvan@auterion.com>
* add sf45 driver to 6xrt
* disable the sf45 driver on rover, since collision prevention is tied with MPC params
---------
Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
* added optical flow to gz bridge
* log high rate sensor data
* it builds
* it builds and publishes, need to figure out build system now
* single library
* rename files
* add gz_msg for proto, fix build, test basic flow impl
* update rate, no blur
* PX4-OpticalFlow impl
* rename OpticalFlowSensor
* rename plugins
* disable gps, add plugin path
* cleanup
* fix plugin path export
* properly add OpticalFlowSystem dependency to gz
* move everything under gz_bridge
* cleanup
* add GZ_VEBOSE
* cleanup model/world build target cmake
* added GZ_DISTRO env, harmonic or ionic
* fix gz transport, unstage ark fpv bootloader
* unstage logged_topics.cpp
* cleanup
* make format
* ci fixes
* fix cmake
* remove required for gz-transport
* use model/world namespace for multi vehicle sim. Make format
* make format
* license
* remove needless member var
* made separate Kconfig for gz_msgs, gz_plugins, and gz_bridge
* move OpticalFlow build to it's own cmake
* fix clang
* cleanup comments
* fix rebase
New GCC versions inline builtin function like memcpy. On the fmu-v6xrt we can't call the functions inside imxrt_ocram_initialize because the ram function still needs to be initialized.
This commit add a compile hint to not use builtins inside the imxrt_ocram_initialize function
