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.
The mavlink_tests module was deleted in 1009268d311 but several
references were left behind, breaking builds on all targets.
Removed:
- CMakeLists.txt: add_subdirectory(mavlink_tests)
- mavlink_ftp.cpp: #include of deleted mavlink_ftp_test.h
- mavlink_ftp.h: MavlinkFtpTest forward decl and friend class
- posix-configs/SITL/init/test/test_mavlink: dead init script
- sitl_tests.cmake: sitl-mavlink CTest target
- install-voxl.sh: px4-mavlink_tests symlink
Ref: https://github.com/PX4/PX4-Autopilot/issues/26738
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* refactor: use parseDefaultArguments
* style: reverted changes to docs (should be auto-generated)
* refactor: use parseDefaultArguments
* style: reverted changes to docs (should be auto-generated)
* boards: cuav/x25-super: add multi-instance heater support
Restore heater support removed in #26621 using the generic
multi-instance heater driver from #26325. Defines HEATER_NUM 2
for the two IMU heater outputs (PB10, PE6).
* boards: cuav/x25-super: fix heater IMU IDs and temp from hw test
Update defaults per @cuav-chen2 hardware testing:
- HEATER1_IMU_ID: 2818066 (SCH16T)
- HEATER2_IMU_ID: 3014698 (IIM42653)
- HEATER2_TEMP: 65°C
* Update boards/cuav/x25-super/init/rc.board_defaults
* heater: add multi-instance support, refactor parameter handling, remove legacy params file
This change introduces multi-instance heater support to allow independent temperature control for multiple IMUs.
Main changes:
- Add support for multiple heater instances
- Refactor parameter handling to use per-instance parameters
- Remove the legacy parameter file and migrate to the updated parameter structure
This improves scalability and makes heater configuration consistent across setups with multiple sensors.
* Refactor heater configuration across multiple boards
- Updated heater GPIO definitions to introduce a new naming convention for better clarity and consistency.
- Replaced `GPIO_HEATER_OUTPUT` with `GPIO_HEATER1_OUTPUT` and adjusted the corresponding output enable macros.
- Changed parameter names from `SENS_TEMP_ID` to `HEATER1_IMU_ID` in various board default configurations to reflect the new heater setup.
- Ensured all affected board configurations are updated to maintain functionality with the new heater definitions.
* heater: fix missing HEATER1_OUTPUT_EN control
* heater: fix more missing HEATER1_OUTPUT_EN control
* heater: tidy config, docs, and instance handling
- Remove unused controller period member and use CONTROLLER_PERIOD_DEFAULT
- Improve HEATER${i}_IMU_ID description and instance-related logging/behavior
- Add a guard when HEATER_NUM exceeds HEATER_MAX_INSTANCES
Note: drop intermediate/reverted change around the 'celsius' spelling.
* heater: refactor constructor to remove unused parameter and add instance name function
- Remove unused ModuleParams argument from Heater constructor
- Add heater_instance_name() helper to provide per-instance work queue task names
- Use instance-specific parameter lookup (HEATER{n}_*) during initialization
Use heater_instance_name() to label each instance (heater_1/2/3) in work queue.
Also drop unused ModuleParams argument from constructor and keep per-instance
parameter handle lookup in initialization.
* format
* board: update GPIO configuration for multiple heater instances, add HEATER_NUM for boards using PX4IO
* heater: update heater control to use HEATER1_OUTPUT_EN when using PX4IO for consistency
* heater: add a TODO for px4io multi-instance
* heater: update missing GPIO_HEATER1_OUTPUT in sky-drones
* heater: fix multiple newlines at EOF (resolve CI check failure)
* heater: switch to PublicationMulti for heater_status and log multi-instance
- Changed _heater_status_pub from Publication to PublicationMulti to support independent per-instance publications without overwriting.
- Updated logged_topics.cpp to use add_optional_topic_multi("heater_status")
This fixes the issue where multiple heater instances were writing to the same heater_status topic, causing data overwriting and incorrect update rates in logs.
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
The core_heater driver was written against the old CRTP ModuleBase<T>
pattern which was removed in ce3e62841fd. Replace with the
descriptor-based API matching src/drivers/heater/.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
The SLPI drivers dsp_hitl and mavlink_rc_in hardcoded an include path
into the voxl2-default build output for MAVLink headers. This created
an undeclared cross-target dependency that required voxl2-default to be
built first.
Generate the MAVLink common dialect headers directly during the SLPI
build using mavgen.py, outputting to the SLPI build's own directory.
An INTERFACE library (mavlink_common_headers) propagates the include
paths and warning suppression flags to both drivers.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* ark fpv board_config: update battery ADC current filter time constant to 0.5s
* battery: add configurable voltage and current filter time constants
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
