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Author SHA1 Message Date
Peter van der Perk 921e91863a dshot: IMXRT BDSHOT baud training 
AM32 bdshot doesn't do clock compensation like BLHeli32 did.
Instead we traing BDSHOT timing on known zero value to lock on
best bdshot baudrate to receive.

Reduces CRC and frame errors on AM32 a lot
 2025-11-24 09:24:49 -09:00
Peter van der Perk 4498475515 fmu-v6x: zenoh config set CONSTRAINED_FLASH 
Fixes flash overflow with zenoh target on fmu-v6x
 2025-11-21 10:10:32 -09:00
Peter van der Perk b8974cb77b Zenoh: Improve out-of-memory behaviour 
Abort publication immediately when not enough memory is available.
Zero _zenoh_publishers and _zenoh_subscribers to ensure we're not
dereferencing a wrong pointer
 2025-11-21 10:10:32 -09:00
Peter van der Perk 042a251542 Zenoh: Update zenoh-pico library 2025-11-21 10:10:32 -09:00
Peter van der Perk aaf6632a22 imxrt: move teensy bootloader to normal bootloader 
Best for teensy is to use the teeny as normal bl
 2025-11-10 00:52:58 -05:00
Peter van der Perk 24572cf358 tropic-community: Fix RWW race condition and enet stability 2025-11-10 00:52:58 -05:00
Peter van der Perk c1d15d0e09 Zenoh: use strncpy and bool 2025-08-22 08:22:59 +02:00
Peter van der Perk 8689c00be7 Zenoh: cleanup and review 2025-08-22 08:22:59 +02:00
Peter van der Perk 17e843a985 zenoh: remove MessageFormat since Zenoh RIHS01 already provides it 
RIHS01 has the same functionality and already provides type safety with
rmw_zenoh_cpp. The user on ROS2 can compare the PX4 ros2_lv hashes with
their own px4_msgs for a mismatch
 2025-08-22 08:22:59 +02:00
Peter van der Perk 44ff6d9c62 zenoh: exclude src/modules/zenoh/dds_topics.yaml from yaml check 2025-08-22 08:22:59 +02:00
Peter van der Perk 747bcc9db5 zenoh: Move ROS2 Rmw attachment code to rmw_attachment.h 
Allows for re-use for later ROS2 Service / Zenoh queryable
 2025-08-22 08:22:59 +02:00
Peter van der Perk 9ffd31097d zenoh: Use CDRv1 to match ROS2 
Fixes various padding related serialization issues.
 2025-08-22 08:22:59 +02:00
Peter van der Perk f99759db87 zenoh: Fix status keyexpr printf 2025-08-22 08:22:59 +02:00
Peter van der Perk 231128c68e Zenoh set transport lease to 60000 to match ros2 2025-08-22 08:22:59 +02:00
Peter van der Perk 5622565eea Zenoh optimize memory usage and add optional publish on matching 2025-08-22 08:22:59 +02:00
Peter van der Perk 7887f16daa Update NuttX config for use with Zenoh 2025-08-22 08:22:59 +02:00
Peter van der Perk 0763bbe2cf Generate default Zenoh config from dds_topics.yaml 
For easy transition from uxrce to zenoh and a sane base config to begin with
 2025-08-22 08:22:59 +02:00
Peter van der Perk bac009c2b8 Enable Zenoh by default on big-flash targets 
These targets can easily support Zenoh by default eases adoption and testing
 2025-08-22 08:22:59 +02:00
Peter van der Perk ac2627cca9 rmw attachment serialization changes 
Use new atachment serialization format
Subscriber fix parsing payload and remove uorb publisher on destructor
 2025-08-22 08:22:59 +02:00
Peter van der Perk 61e2f566ca Zenoh config, lv and connection fixes 
Fixes a bug in the csv parsing
Use % for / seperators in ros2_lv
On startup retry connecting
 2025-08-22 08:22:59 +02:00
Peter van der Perk 3d30eaae5f Fix NuttX keepalive socketoption 2025-08-22 08:22:59 +02:00
Peter van der Perk e052f35664 zenoh: omit timestamp attachment 
This isn't needed for the rmw_zenoh zenohd configuration
 2025-08-22 08:22:59 +02:00
Peter van der Perk 2bc9cb4ead zenoh: implemement experimental liveliness to get ROS2 graph to work 2025-08-22 08:22:59 +02:00
Peter van der Perk 5211d9c92e zenoh: pubsub factory fix datatype naming convention 2025-08-22 08:22:59 +02:00
Peter van der Perk 575923b534 Zenoh: fix topic_name and datatype mapping 
Using substring was buggy instad we make dictionary based on datatypes and the get_topics function
 2025-08-22 08:22:59 +02:00
Peter van der Perk e37f20e94d zenoh: Don't use uORB o_name as type but check for parent type 
For example vehicle_local_position_groundtruth has ROS2 type
vehicle_local_position, so we've to use px4_msgs/VehicleLocalPosition as typename
 2025-08-22 08:22:59 +02:00
Peter van der Perk cb74cee970 zenoh: Increase CDR safety margin 
Figure out by trial and error with padding on vehicle_local_position
 2025-08-22 08:22:59 +02:00
Peter van der Perk 70536766db zenoh: Handle parsing errors in config 2025-08-22 08:22:59 +02:00
Peter van der Perk 40bba0069d zenoh: Fix handling for non-existing types 2025-08-22 08:22:59 +02:00
Peter van der Perk 35004e357c zenoh: Add px4_sitl_zenoh to cmake-variants.yaml 2025-08-22 08:22:59 +02:00
Peter van der Perk 923257779a zenoh: Default to 127.0.0.1 when using sitl/posix 
Also improve error message when connection failed
 2025-08-22 08:22:59 +02:00
Peter van der Perk a24b3a121c zenoh: Improve error message when there are no scouting results 2025-08-22 08:22:59 +02:00
Peter van der Perk 85cab5a4db sitl: autostart zenoh if enabled 2025-08-22 08:22:59 +02:00
Peter van der Perk 859ba81e33 Zenoh fix gcc/sitl compile errors 2025-08-22 08:22:59 +02:00
Peter van der Perk 4aff095f9b IDL 2 RIHS01 remove tempfile and print 2025-08-22 08:22:59 +02:00
Peter van der Perk 796efeebe7 Implement Domain id parameter and move gid to zenoh 2025-08-22 08:22:59 +02:00
Peter van der Perk 9d02698987 Update Zenoh for library and implement rmw_zenoh features 
New zenoh-pico library
Keyexpr instrospection
RIHS01 Types
 2025-08-22 08:22:59 +02:00
Peter van der Perk e1a7fbce71 Update cdrstream code generator including typehash 2025-08-22 08:22:59 +02:00
Peter van der Perk a87456b38b Update rosidl 
Adds support for typehashes
 2025-08-22 08:22:59 +02:00
Peter van der Perk 33a5122916 Update Zenoh-pico 2025-08-22 08:22:59 +02:00
Peter van der Perk aa15512762 fmu-v6xrt: Add V6XRT001 and V6XRT002 sensor set 2025-08-06 16:49:42 -04:00
Peter van der Perk d9bc3bc6bb fmu-v6xrt: Enable lis2dml and bmm350 magnetometer 2025-08-06 16:49:42 -04:00
Peter van der Perk 7687e6e33f dshot: Telem set baudrate before pin-swapping 
On IMXRT setbaudrate resets swap state
 2025-06-17 14:54:48 +02:00
Peter van der Perk 001efc1c0b Bosch: BMM350: Fix self-test on high ODR rate 
We've to wait for atleast 6000us before doing self-test
 2025-06-17 12:01:45 +02:00
Peter van der Perk 0369abd556 Add lark to python requirements for the rosidl parser 2025-06-16 12:41:48 -07:00
Peter van der Perk 0fe8738ed9 msp_osd: Add VTX config, stick commands and arming status 
- Adds MSPv1 rx parsing to fetch VTX config
 - Allows to inspect and change VTX channel through CLI
 - Forward MSP_RC for stick commands osd
 - Forward MSP_STATUS for arming status for PIT and LP mode
 2025-06-11 11:32:32 -04:00
Peter van der Perk b8fa208bb5 Update NuttX 
Fixes RT117X OCRAM M7 memory freeze
 2025-06-05 06:03:59 -07:00
Peter van der Perk 1656278b5e Update NuttX 2025-05-29 05:15:18 -04:00
Peter van der Perk 64b9b52eb4 tropic-community: Update PX4 config 2025-05-29 05:15:18 -04:00
Peter van der Perk a89ec34e95 tropic-community: Add DTCM to heap move vectors to ITCM 2025-05-29 05:15:18 -04:00
Peter van der Perk 65c180852f i2c_launcher: Dehardcode battery index 2025-05-22 12:09:05 -07:00
Peter van der Perk b35753ded9 mr-canhubk3: Enable navigator in default target 2025-03-20 11:45:26 +01:00
Peter van der Perk 64d8f9a3c6 cmake: for vscode launch fallback to gdb-multiarch 
Newer toolchains don't ship with arm-none-eabi-gdb hence we should use gdb-multiarch instead
 2025-02-03 23:12:30 -05:00
Peter van der Perk 92b1f51623 tropic: Fix runtime error on new GCC 2025-01-27 14:20:16 -05:00
Peter van der Perk dc3f6a1608 fmu-v6xrt: Fix runtime error on new GCC 
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
 2025-01-27 14:20:16 -05:00
Peter van der Perk 7f5bf9cf86 ci: add nxp tropic and s32k344 fmu target 2024-11-07 21:33:59 -05:00
Peter van der Perk 80edb91c01 boards: tropic store param on sdcard 
Tropic doesn't have a mtd, store param on sdcard instead
 2024-11-06 17:28:35 -05:00
Peter van der Perk 5d29c7811b imxrt: tone_alarm: Add FlexPWM based Tone alarm driver 2024-11-06 17:28:35 -05:00
Peter van der Perk a7e4000861 rgbled_pwm: Change linker so we can make board specific override for led functionality 2024-11-06 17:28:35 -05:00
Peter van der Perk df54caba1e tropic: enable dshot 2024-11-06 17:28:35 -05:00
Peter van der Perk 8f2ede870e tropic: fix system power 2024-11-06 17:28:35 -05:00
Peter van der Perk 5bec4d7aae Initial support for Tropic VMU 2024-11-06 17:28:35 -05:00
Peter van der Perk c6e86fdea0 Add Tropic teensy loader upload support 2024-11-06 17:28:35 -05:00
Peter van der Perk 4ca3e1b6e6 mr_canhubk3: add netman in default.px4board 2024-07-24 11:39:44 -04:00
Peter van der Perk af36c0b6ec mr_canhubk3: generate mtd_net when file is missing 2024-07-24 11:39:44 -04:00
Peter van der Perk a99cc0a20b Remove unused kconfig symbol 2024-07-24 11:39:44 -04:00
Peter van der Perk 46e43ec725 Decouple filepaths from rcS/MTD 2024-07-24 11:39:44 -04:00
Peter van der Perk ac1effa32a fmu-v6xrt: MTD use full FRAM (32KB) 2024-07-05 10:25:08 -04:00
Peter van der Perk aa55a777ba Add px4_sitl_allyes to CI target 2024-06-17 15:04:31 -04:00
Peter van der Perk c22f725d85 fmu-v6xrt: Support RC telemetry 2024-06-03 08:31:18 -04:00
Peter van der Perk cd93e2982c dshot: telemetry esc_status use sequential numbering for each motor 
channel != telemetry_index, we've to count from 0 and increment for each enabled ESC
 2024-05-30 04:56:42 -04:00
Peter van der Perk 7982f54a6a dshot: refactoring 2024-05-30 04:56:42 -04:00
Peter van der Perk ff6966da57 imxrt: dshot fix erpm calculation by implementing 3-bit exponent and 9-bit period 2024-05-30 04:56:42 -04:00
Peter van der Perk 3874b4c55d imxrt: move flexio irq handler to itcm 2024-05-30 04:56:42 -04:00
Peter van der Perk 5d2fda6172 dshot: bdshot fix esc offline/online checks 2024-05-30 04:56:42 -04:00
Peter van der Perk 0e41f9730f imxrt: dshot improve state machine reduce's no response count 2024-05-30 04:56:42 -04:00
Peter van der Perk f3ef0d6610 dshot: fix clearing out esc status 2024-05-30 04:56:42 -04:00
Peter van der Perk e2969952d3 drivers: dshot: prepare to extend for bidrectional dshot 2024-05-30 04:56:42 -04:00
Peter van der Perk 2de0af52e8 px4_fmuv6xrt: bidirectional dshot driver 2024-05-30 04:56:42 -04:00
Peter van der Perk 6b0ac49daf hardfault_log: Add jump to 0x0 & write 0x0 faults 2024-05-17 14:43:23 -04:00
Peter van der Perk ebfa53286f dronecan: SocketCAN driver check size before copying 
Avoids memory corruption if we get packets to big
 2024-05-17 14:39:52 -04:00
Peter van der Perk 470bea9ba8 Update NuttX 
Fixes imxrt1170 mpu config for extra checks
 2024-05-17 14:32:43 -04:00
Peter van der Perk 253208fdd4 fmu-v6xrt: Add I2C driver launcher 2024-05-08 11:34:13 -04:00
Peter van der Perk 5789803665 fmu-v6xrt: Enable debug features for more verbose hardfault output 2024-05-08 06:14:24 -04:00
Peter van der PerkandDavid Sidrane f382e585e8 sd_bench: Add U option for forcing byte aligned 
Co-authored-by: David Sidrane <david.sidrane@nscdg.com>
 2024-05-02 12:33:25 -04:00
Peter van der Perk 500332e424 imxrt: flexpwm remove 1:1 mapping requirement 2024-04-27 07:57:32 -04:00
Peter van der Perk 7bfad2502b Update NuttX 2024-04-10 11:04:07 -04:00
Peter van der Perk 047e900c2a px4io: Fix dependency problem caused by #22957 2024-04-04 09:10:09 -04:00
Peter van der Perk a9ba0acb2a cmake: all allyes target for better CI coverage 
Currently only v6x-rt and SITL are supported
But targets with label allyes will try to enable all kconfig symbols
 2024-04-01 22:05:20 -04:00
Peter van der Perk 791d7894c8 modules: zenoh: remove broken serial config and update topics 2024-04-01 22:05:20 -04:00
Peter van der Perk f082de5db7 kconfig: Add dependencies 2024-04-01 22:05:20 -04:00
Peter van der Perk 8817f59108 v6x-rt: Split ITCM static and auto-generated functions 2024-04-01 22:05:20 -04:00
Peter van der Perk d5b66cac2c drivers: cyphal: Fix ARM/x86 printf werror portability error 2024-04-01 22:05:20 -04:00
Peter van der Perk fe8a5eae99 drivers: bmi088_i2c: Enforce I2C driver can only be used when SPI version isn't selected 
Solves multiple references compilation errors
 2024-04-01 22:05:20 -04:00
Peter van der Perk 127d74f2e1 drivers: vector: Fix PX4 SITL x86 compilation 2024-04-01 22:05:20 -04:00
Peter van der Perk 4889ac0ebb drivers: uavcan: fix werror uninitialized error 2024-04-01 22:05:20 -04:00
Peter van der Perk 650ea6ef4a drivers: transponder: don't free pre-allocated memory 2024-04-01 22:05:20 -04:00
Peter van der Perk 0c5b25efc5 systemcmds: reflect: write return needs to be used for werror checks 2024-04-01 22:05:20 -04:00
Peter van der Perk 05badb5d76 systemcmds: microbench: %s doesn't except nullptr use "null" instead 2024-04-01 22:05:20 -04:00
Peter van der Perk 54f044c04a examples: matlab_csv_serial: fix compilation 
Update uORB definition and sprintf float formatting
 2024-04-01 22:05:20 -04:00