This board is not available for purchase online and the author confirmed
that it is "only used for research and educational purposes". Given
there are no docs about it, we should just remove it.
The previous cleanup logic conflated two independent concerns into
SDLOG_MAX_SIZE: the maximum size of a single log file (rotation
trigger) AND the minimum free space to maintain. That was broken:
the 4095 MB default meant "keep 4 GB free", which over-cleaned on
large SD cards and was impossible to satisfy on small flash.
Disentangle the two:
- SDLOG_ROTATE (new, int %, default 90): maximum disk usage percentage.
Cleanup guarantees at least (100 - SDLOG_ROTATE)% free even during
writing of a new log file. Setting 0 disables space-based cleanup;
100 allows filling the disk completely.
- SDLOG_MAX_SIZE (default lowered from 4095 to 1024): pure max file
size. The value is added on top of the rotate-derived threshold as
headroom for the next file write, so the rotate guarantee holds
even mid-write.
- SDLOG_DIRS_MAX: removed. Directory count limits were confusing and
orthogonal to the space-management goal; free-space cleanup alone
covers the use case. Drop the param and all remaining overrides
(rc.board_defaults, rcS, rc.replay, 1002_standard_vtol.hil).
Cleanup threshold is now:
((100 - SDLOG_ROTATE)% of disk) + SDLOG_MAX_SIZE
Small-flash boards can override SDLOG_MAX_SIZE to get more retained
logs within the available space. kakuteh7v2 and airbrainh743 drop
their SDLOG_DIRS_MAX overrides accordingly.
Update docs/en/dev_log/logging.md with the new semantics and a
worked example for the typical 8 GB SD case.
The kakuteh7mini ships with a W25N01GV (1Gbit/128MB) SPI NAND flash on
SPI1, but the board init was treating SPI1 as an MMC/SD slot and the
W25N driver was not enabled. Enable the chip and use it for logging:
- spi.cpp: register the device as SPIDEV_FLASH(0) instead of SPIDEV_MMCSD(0)
- init.c: initialize the W25N MTD driver, register /dev/mtd0, mount
littlefs at /fs/flash with autoformat, and print the flash geometry
on boot for verification.
- nuttx defconfig: enable CONFIG_MTD_W25N, CONFIG_FS_LITTLEFS,
SPI1 DMA + DMAMUX1, drop the unused RAMTRON config.
- board_dma_map.h: define DMAMAP_SPI1_RX/TX for the SPI1 DMA channels.
- default.px4board: set CONFIG_BOARD_ROOT_PATH to /fs/flash.
- rc.board_defaults: drop the SDLOG_BACKEND=0 override that was
disabling logging entirely and the COM_ARM_SDCARD override (the
flash logging replaces the need for an SD card). Set SDLOG_MAX_SIZE=30
so a few recent logs fit within the 128 MB flash.
Add an NSH command to format a device with littlefs, analogous to
mkfatfs for FAT filesystems. The command unmounts the mount point,
then remounts with forceformat to format and mount in one step.
Enable the command on boards that use littlefs as primary storage
(airbrainh743 and kakuteh7v2), and document it in the airbrainh743
flight controller page as a recovery procedure for a corrupted
flash filesystem.
Usage: mklittlefs /dev/mtd0 /fs/flash
Move log cleanup from boot to log start, delete individual .ulg files
(oldest first) instead of entire directories, and add a max log file
size. This makes it practical to run the logger on small flash targets
(e.g. 128 MB W25N NAND) while still allowing logs to be downloaded via
MAVLink FTP before they are removed.
- Move cleanup from boot to log start so logs can be downloaded first.
- Delete individual .ulg files (oldest first) instead of whole dirs.
- Add SDLOG_MAX_SIZE parameter (default 4095 MiB, just under FAT32 limit).
- Prioritize directories from the naming scheme not currently in use
(e.g. delete sess dirs first when using date dirs).
- Simplify get_log_time to rely on clock_gettime (GPS driver sets it).
- Safer string handling in directory parsing.
- Log elapsed cleanup time for diagnostics.
- Split pure parsing helpers into util_parse.{h,cpp} and add unit tests
(loggerUtilTest.cpp). Move px4_add_unit_gtest outside the BUILD_TESTING
guard for consistency with the rest of the tree; the macro already
checks BUILD_TESTING internally.
Sponsored by CubePilot.
- Replace all MINDPX/MINDPXv2/PX4FMU board references with SaamPixV1_1
- Update Airmind Development Team to Saam Drones Development Team in copyright headers
- Update PX4 copyright year range to 2020-2026 on all C/C++ files
- Rename bootloader binary to match board version (v1_1)
- Remove untracked backup files
Set BOARD_FLASH_SECTORS to 13 so the bootloader does not erase the
parameter sectors (14 and 15) during firmware updates. Previously set
to 14 which allowed the bootloader to erase sector 14, potentially
wiping stored parameters.
Several helper scripts assumes bash is available at /bin/bash. That breaks on systems
such as NixOS, where bash is resolved from PATH instead of a fixed /bin location and
causes failures like `bad interpreter` during `make format`, e.g., on my host machine:
```sh
$ make format
/PX4-Autopilot/Tools/astyle/check_code_style.sh: /PX4-Autopilot/Tools/astyle/fix_code_style.sh: /bin/bash: bad interpreter: No such file or directory
```
This change switches these entrypoints to `#!/usr/bin/env bash` so they locate bash properly.
No functional changes intended.
Signed-off-by: Onur Özkan <work@onurozkan.dev>
Disable EKF2 fusion features with no corresponding hardware:
- px4_fmu-v2: optical flow, range finder (~17 KB saved)
- mamba-f405-mk2: optical flow, range finder, external vision,
aux global position, aux velocity, baro compensation,
drag fusion (~42 KB saved)
Add INA226 and INA228 power monitor drivers to the voxl2 SLPI board
config and add startup options in voxl-px4-start to select them via
the POWER_MANAGER environment variable.
* boards: corvon 743v1 support (Docs and LED alignment)
This PR addresses #24769 by providing the required official documentation, while simultaneously aligning the board's LED semantics entirely with the PX4 standard.
Key Changes:
- Add complete corvon 743v1 hardware documentation and manufacturer link.
- Fix LED out-of-bounds bug and strictly align RGB states to Pixhawk standard (LED_BLUE=0, LED_RED=1, LED_GREEN=3).
- Update bootloader pin config (hw_config.h) to use red LED for boot/error, and update pre-built bootloader.bin.
* Prettier and file reduce
* docs: address reviewer feedback & board ID fix
* Apply suggestion from @hamishwillee
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* docs: resolve final reviewer feedback (PPM, Debug Port, Manufacturer List)
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
Add a scalable .deb packaging framework for VOXL2, built on the
existing cmake/package.cmake CPack infrastructure. The framework
handles multi-processor boards by having the POSIX (_default) build
own the .deb and pull in the companion SLPI build's artifacts.
Board-specific files:
- cmake/package.cmake: CPack variable overrides (name, deps, version)
- cmake/install.cmake: install() rules for all .deb contents
- debian/postinst: px4-* symlinks, DSP signature, directory setup
- debian/prerm: service stop, symlink cleanup
- debian/voxl-px4.service: systemd unit (after sscrpcd)
Infrastructure changes:
- cmake/package.cmake: hook for board-specific CPack overrides
- platforms/posix/CMakeLists.txt: hook for board install.cmake
- Makefile: %_deb pattern rule (build _default, then cpack -G DEB)
- CI: auto-discover _deb targets, collect .deb artifacts, upload
to GitHub Releases
Future boards: add cmake/package.cmake + cmake/install.cmake and
CI discovers it automatically. No new file formats or tools needed.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Add Makefile rules so that both `make modalai_voxl2` and
`make modalai_voxl2_default` build the SLPI DSP firmware first.
Add companion_targets file listing modalai_voxl2_slpi so CI knows
to exclude it from independent build groups.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Consolidate the VOXL2 SLPI (DSP) board from a separate directory into
the existing voxl2 board as a variant. Multi-processor SoCs like the
QRB5165 should use one board directory with multiple .px4board files
rather than separate directories per processor.
Changes:
- Add slpi.px4board (QURT/DSP) alongside default.px4board (POSIX/apps)
- Merge board_config.h with __PX4_QURT / __PX4_POSIX preprocessor guards
- Merge CMakeLists.txt with PX4_PLATFORM conditionals
- Split bus definitions into platform-specific files (i2c/spi_posix/qurt)
- Reorganize drivers into drivers/posix/ and drivers/qurt/ subdirectories
- Guard cmake/init.cmake and cmake/link_libraries.cmake for posix-only
- Update build and install scripts for new target names
- Delete boards/modalai/voxl2-slpi/ entirely
Build targets change:
- modalai_voxl2-slpi_default -> modalai_voxl2_slpi
- modalai_voxl2_default (unchanged)
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Overhauls the DShot driver with per-timer BDShot selection, multi-timer
sequential capture, Extended DShot Telemetry (EDT), and AM32 ESC EEPROM
read/write via MAVLink. Expands ESC support from 8 to 12 channels.
BDShot:
- Per-timer BDShot protocol selection via actuator config UI
- Multi-timer sequential burst/capture on any DMA-capable timer
- Adaptive per-channel GCR bitstream decoding
- Per-channel online/offline detection with hysteresis
Extended DShot Telemetry (EDT):
- Temperature, voltage, current from BDShot frames (no serial wire)
- New DSHOT_BIDIR_EDT parameter
- EDT data merged with serial telemetry when both available
AM32 EEPROM:
- Read/write AM32 ESC settings via MAVLink ESC_EEPROM message
- ESCSettingsInterface abstraction for future ESC firmware types
- New DSHOT_ESC_TYPE parameter
Other changes:
- Per-motor pole count params DSHOT_MOT_POL1–12 (replaces MOT_POLE_COUNT)
- EscStatus/EscReport expanded to 12 ESCs with uint16 bitmasks
- Numerous bounds-check, overflow, and concurrency fixes
- Updated DShot documentation
* fix(fmu-v6c): correct GPIO_VDD_3V3_SENSORS_EN macro name
VDD_3V3_SENSORS_EN() referenced GPIO_VDD_3V3_SENSORS4_EN which
does not exist. The correct macro is GPIO_VDD_3V3_SENSORS_EN.
Fixes#26454
* fix(boards): rename VDD_3V3_SENSORS4_EN to VDD_3V3_SENSORS_EN
These boards have a single sensor power rail that was incorrectly
named SENSORS4_EN (copy-paste from boards with 4 rails). Rename
to SENSORS_EN to match the actual hardware.
Boards with legitimately numbered rails (fmu-v6xrt, x25-evo,
x25-super) are not changed.
Ramon Roche