Add a standalone INA231 power monitor driver modeled after the existing
INA226 driver. The INA231 is register-compatible with the INA226 but
lacks manufacturer/die ID registers, so probe reads the config register
instead. Default parameter values (config, shunt, max current) are
aligned with the voxlpm driver's INA231 configuration.
Enable the driver on the voxl2 board and add INA231 support to the
voxl-px4-start script.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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.
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>
The mavlink_tests module was deleted in 1009268d31 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>
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>
The libfc-sensor-api submodule was not being initialized in CI,
causing the stub library build to fail silently. Use the existing
check_submodules.sh mechanism to ensure the submodule is fetched
before attempting to build, and add RESULT_VARIABLE checks so
cmake configuration and build failures are caught early.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Remove modalai_voxl2 and qurt from CI exclusion lists and add
container overrides to use the private ghcr.io/px4/px4-dev-voxl2
image which contains the Qualcomm Hexagon SDK.
- Add voxl2 build group with x64 runner for cross-compilation
- Add GHCR credentials to workflow for private container pull
- Add packages:read permission to workflow
- Auto-build libfc_sensor.so stub during cmake configure
- Handle missing .px4/.elf gracefully in artifact packaging
Signed-off-by: Ramon Roche <mrpollo@gmail.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>
- Updated to the latest version of the voxl2_io driver from the ModalAI fork.
- Moved to the platform independent Serial driver
- Added voxl2_io driver to the SLPI DSP build
