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.
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>
