WIP: TMotor Alpha ESC telemetry driver

boards: px4_fmu-v5_stackcheck disable common telemetry modules to save flash
tunes: Print warning if there is a tune error
2026-06-13 22:20:05 +08:00 · 2022-03-30 10:48:16 -04:00 · 2022-03-30 10:07:05 -04:00 · 2022-03-30 09:58:33 -04:00 · 2022-03-30 09:58:33 -04:00 · 2022-03-30 09:49:11 -04:00
389 changed files with 9474 additions and 3445 deletions
@@ -28,7 +28,7 @@ pipeline {
          ]

          def base_builds = [
-            target: ["px4_sitl_rtps"],
+            target: ["px4_sitl_default"],
            image: docker_images.base,
            archive: false
          ]
@@ -705,18 +705,21 @@ void quickCalibrate() {

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'

+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
+
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
 }
@@ -64,3 +64,6 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
+[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
+	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
+	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
@@ -412,6 +412,7 @@ endif()
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
+add_library(kernel_parameters_interface INTERFACE)

 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -434,7 +435,13 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)

 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
+
+if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
+target_link_libraries(parameters_interface INTERFACE usr_parameters)
+target_link_libraries(kernel_parameters_interface INTERFACE parameters)
+else()
 target_link_libraries(parameters_interface INTERFACE parameters)
+endif()

 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})
@@ -8,8 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -8,8 +8,5 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -67,4 +67,3 @@ param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108

 set MIXER skip
-
@@ -80,7 +80,5 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -7,6 +7,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 20
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4

@@ -78,7 +80,5 @@ param set-default VT_TYPE 0

 param set-default WV_EN 0

-set MAV_TYPE 20
-
 set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
 set MIXER custom
@@ -7,6 +7,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 21
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

@@ -88,7 +90,5 @@ param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1

-set MAV_TYPE 21
-
 set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
 set MIXER custom
@@ -51,7 +51,5 @@ param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10

-set MAV_TYPE 22
-
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -37,6 +37,4 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101

-set MAV_TYPE 10
-
 set MIXER_FILE skip
@@ -37,6 +37,4 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102

-set MAV_TYPE 10
-
 set MIXER_FILE skip
@@ -10,6 +10,8 @@

 . ${R}etc/init.d/rc.rover_defaults

+param set-default MAV_TYPE 10
+
 param set-default GND_L1_DIST 5
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_SPEED_D 3
@@ -33,6 +35,4 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0

-set MAV_TYPE 10
-
 set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -47,6 +47,4 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

-set MAV_TYPE 11
-
 set MIXER skip
@@ -9,6 +9,8 @@

 . ${R}etc/init.d/rc.mc_defaults

+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
@@ -24,6 +26,4 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2

-set MAV_TYPE 13
-
 set MIXER hexa_x
@@ -7,6 +7,8 @@

 . ${R}etc/init.d/rc.mc_defaults

+param set-default MAV_TYPE 13
+
 param set-default MC_PITCHRATE_P 0.0800
 param set-default MC_PITCHRATE_I 0.0400
 param set-default MC_PITCHRATE_D 0.0010
@@ -26,6 +28,4 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2

-set MAV_TYPE 13
-
 set MIXER hexa_x
@@ -7,6 +7,8 @@

 . ${R}etc/init.d/rc.mc_defaults

+param set-default MAV_TYPE 13
+
 param set-default SYS_CTRL_ALLOC 1

 param set-default MC_PITCHRATE_P 0.0800
@@ -58,7 +60,5 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106

-set MAV_TYPE 13
-
 set MIXER skip
 set MIXER_AUX none
@@ -24,7 +24,6 @@ fi

 # initialize script variables
 set IO_PRESENT                  no
-set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
@@ -224,6 +223,13 @@ rc_update start
 manual_control start
 sensors start
 commander start
+
+# Configure vehicle type specific parameters.
+# Note: rc.vehicle_setup is the entry point for rc.interface,
+#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+#
+. ${R}etc/init.d/rc.vehicle_setup
+
 navigator start

 # Try to start the micrortps_client with UDP transport if module exists
@@ -253,12 +259,6 @@ then
 	gyro_calibration start
 fi

-# Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-#
-. ${R}etc/init.d/rc.vehicle_setup
-
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink

@@ -36,4 +36,5 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
+
 set MIXER quad_w
@@ -104,7 +104,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

-set MAV_TYPE 22
+param set-default MAV_TYPE 22

 set MIXER standard_vtol_hitl

@@ -47,7 +47,7 @@ param set-default HIL_ACT_FUNC6 201
 param set-default HIL_ACT_REV 32

 param set-default MAV_TYPE 19
-set MAV_TYPE 19
+
 set MIXER vtol_tailsitter_duo_sat

 set PWM_OUT 1234
@@ -54,7 +54,8 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
+
+param set-default MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -19,7 +19,6 @@

 . ${R}etc/init.d/rc.vtol_defaults

-
 param set-default MAV_TYPE 19

 param set-default MC_ROLL_P 6
@@ -38,7 +37,6 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
-set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

@@ -23,6 +23,7 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 21

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -45,7 +46,6 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

 set MIXER firefly6
 set MIXER_AUX firefly6
@@ -13,6 +13,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 20
+
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
@@ -38,7 +40,6 @@ param set-default PWM_MAIN_MAX 2000
 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
-set MAV_TYPE 20

 set MIXER quad_x_vtol

@@ -22,13 +22,13 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 20
+
 param set-default PWM_MAIN_MAX 2000

 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0

-set MAV_TYPE 20
-
 set MIXER quad_+_vtol

 set PWM_OUT 1234
@@ -52,7 +52,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -41,7 +41,6 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_delta
@@ -33,7 +33,6 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAVVT
@@ -46,7 +46,6 @@ param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
-set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -77,8 +77,6 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

@@ -13,6 +13,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-defualt MAV_TYPE 21
+
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
@@ -28,7 +30,6 @@ param set-default VT_TILT_MC 0.08
 param set-default VT_TILT_TRANS 0.5
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

 set MIXER claire
 set MIXER_AUX claire
@@ -22,6 +22,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-defualt MAV_TYPE 21
+
 param set-default CBRK_AIRSPD_CHK 162128

 param set-default FW_ARSP_MODE 1
@@ -64,7 +66,6 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
-set MAV_TYPE 21

 set MIXER vtol_convergence

@@ -22,6 +22,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 22
+
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@@ -134,7 +136,6 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0
-set MAV_TYPE 22

 set MIXER deltaquad
 set MIXER_AUX pass
@@ -23,6 +23,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 22
+
 param set-default BAT1_N_CELLS 6

 param set-default FW_AIRSPD_MAX 30
@@ -94,8 +96,6 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

-set MAV_TYPE 22
-
 set MIXER babyshark
 set MIXER_AUX pass

@@ -27,6 +27,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 21
+
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
@@ -57,8 +59,6 @@ param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4

-set MAV_TYPE 21
-
 set MIXER quad_x
 set MIXER_AUX vtol_TTTTAAER

@@ -31,7 +31,6 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
 param set-default VT_FW_MOT_OFFID 12345678
-set MAV_TYPE 22

 set MIXER octo_cox
 set MIXER_AUX vtol_AAERT
@@ -19,6 +19,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default MAV_TYPE 19
+
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
@@ -37,8 +39,6 @@ param set-default CA_SV_CS1_TRQ_P 0.5
 param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 6

-param set-default MAV_TYPE 19
-set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo

 set PWM_OUT 1234
@@ -18,4 +18,7 @@

 . ${R}etc/init.d/rc.mc_defaults

+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw+
@@ -18,4 +18,7 @@

 . ${R}etc/init.d/rc.mc_defaults

+# MAV_TYPE_TRICOPTER 15
+param set-default MAV_TYPE 15
+
 set MIXER tri_y_yaw-
@@ -17,7 +17,9 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-set MIXER coax
+
+# MAV_TYPE_COAXIAL 3
+param set-default MAV_TYPE 3

 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
@@ -36,6 +38,9 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
+
+set MIXER coax
+
 # This is the gimbal pass mixer
 set MIXER_AUX pass

@@ -20,7 +20,7 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Configure as helicopter (number 4 defined in commander_helper.cpp)
-set MAV_TYPE 4
+param set-default MAV_TYPE 4

 set MIXER blade130

@@ -41,5 +41,6 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
+
 set MIXER TF-G2
 set MIXER_AUX pass
@@ -24,8 +24,5 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

-set MAV_TYPE 8
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER IO_pass
 set MIXER_AUX pass
@@ -26,7 +26,7 @@
 # @board px4_fmu-v2 exclude
 #

-set VEHICLE_TYPE mc
+. ${R}etc/init.d/rc.mc_defaults

 param set-default NAV_ACC_RAD 2

@@ -39,6 +39,7 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
+
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox

@@ -41,9 +41,6 @@ param set-default FW_RR_P 0.04

 param set-default PWM_MAIN_DISARM 1000

-# Configure this as plane.
-set MAV_TYPE 1
-
 # Set mixer.
 set MIXER fw_generic_wing

@@ -24,8 +24,6 @@

 set MIXER quad_s250aq

-set MAV_TYPE 2
-
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@@ -21,10 +21,7 @@
 # @board cuav_x7pro exclude
 #

-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -21,10 +21,7 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #

-set VEHICLE_TYPE mc
-set MIXER quad_x
-set PWM_OUT 1234
-
+. ${R}etc/init.d/rc.mc_defaults

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -24,10 +24,6 @@

 . ${R}etc/init.d/rc.mc_defaults

-
-# Configure this as Quadrotor
-# set MAV_TYPE 14
-
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
@@ -48,8 +48,6 @@ param set-default NAV_ACC_RAD 0.5
 param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_MAX 2000
 param set-default PWM_MAIN_MIN 1000
-# Configure this as rover
-set MAV_TYPE 10

 # Set mixer
 set MIXER rover_generic
@@ -76,9 +76,6 @@ param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
 # roboclaw start /dev/ttyS3

-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER generic_diff_rover

@@ -65,9 +65,6 @@ param set-default PWM_MAIN_MIN4 970
 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-# Configure this as rover
-set MAV_TYPE 10
-
 # Set mixer
 set MIXER rover_diff_and_servo

@@ -16,7 +16,4 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER uuv_x
@@ -16,7 +16,4 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-set MAV_TYPE 12
-param set MAV_TYPE ${MAV_TYPE}
-
 set MIXER uuv_x
@@ -23,6 +23,9 @@

 . ${R}etc/init.d/rc.mc_defaults

+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
+
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.0
 param set-default CA_ROTOR0_PY 0.5
@@ -27,9 +27,8 @@

 . ${R}etc/init.d/rc.mc_defaults

-set MIXER hexa_x
-set PWM_OUT 12345678
-
+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13

 ###############################################
 # Attitude & rate gains
@@ -120,3 +119,7 @@ param set-default MAV_1_MODE 2
 param set-default MAV_1_FORWARD 1
 param set-default MAV_1_RATE 800000
 param set-default SER_TEL2_BAUD 921600
+
+
+set MIXER hexa_x
+set PWM_OUT 12345678
@@ -23,6 +23,9 @@

 . ${R}etc/init.d/rc.mc_defaults

+# MAV_TYPE_HEXAROTOR 13
+param set-default MAV_TYPE 13
+
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.5
 param set-default CA_ROTOR0_PY 0.0
@@ -25,6 +25,9 @@

 . ${R}etc/init.d/rc.mc_defaults

+# MAV_TYPE_OCTOROTOR 14
+param set-default MAV_TYPE 14
+
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_ROTOR0_KM -0.05
 param set-default CA_ROTOR0_PX 0.46
@@ -25,6 +25,9 @@

 . ${R}etc/init.d/rc.mc_defaults

+# MAV_TYPE_OCTOROTOR 14
+param set-default MAV_TYPE 14
+
 set MIXER octo_+

 set PWM_OUT 12345678
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE airship

+# MAV_TYPE_AIRSHIP 7
+param set-default MAV_TYPE 7
+
 #
 # This is the gimbal pass mixer.
 #
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE fw

+# MAV_TYPE_FREE_BALLOON 8
+param set-default MAV_TYPE 8
+
 #
 # Default parameters for balloon UAVs.
 #
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE rover

+# MAV_TYPE_SURFACE_BOAT 11
+param set-default MAV_TYPE 11
+
 #
 # Default parameters for UGVs.
 #
@@ -7,14 +7,15 @@

 set VEHICLE_TYPE fw

+# MAV_TYPE_FIXED_WING 1
+param set-default MAV_TYPE 1
+
 #
 # Default parameters for fixed wing UAVs.
 #
 param set-default COM_POS_FS_DELAY 5
 param set-default COM_POS_FS_EPH 15
 param set-default COM_POS_FS_EPV 30
-param set-default COM_POS_FS_GAIN 0
-param set-default COM_POS_FS_PROB 1
 param set-default COM_VEL_FS_EVH 5
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE mc

+# MAV_TYPE_QUADROTOR 2
+param set-default MAV_TYPE 2
+
 if param compare IMU_GYRO_RATEMAX 400
 then
 	param set-default IMU_GYRO_RATEMAX 800
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE rover

+# MAV_TYPE_GROUND_ROVER 10
+param set-default MAV_TYPE 10
+
 #
 # Default parameters for UGVs.
 #
@@ -155,6 +155,13 @@ then
 	irlock start -X
 fi

+# SPL06 sensor external I2C
+if param compare -s SENS_EN_SPL06 1
+then
+	spl06 -X start
+	spl06 -X -a 0x77 start
+fi
+
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE uuv

+# MAV_TYPE_SUBMARINE 12
+param set-default MAV_TYPE 12
+
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1050
 param set-default PWM_MAIN_DISARM 1500
@@ -12,19 +12,9 @@ if [ $VEHICLE_TYPE = fw ]
 then
 	if [ $MIXER = none ]
 	then
-		# Set default mixer for fixed wing if not defined.
-		set MIXER AERT
+		echo "FW mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 1 if not defined.
-		set MAV_TYPE 1
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -42,41 +32,6 @@ then
 		echo "MC mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 2 if not defined.
-		set MAV_TYPE 2
-
-		# Use mixer to detect vehicle type
-		if [ $MIXER = coax ]
-		then
-			set MAV_TYPE 3
-		fi
-		if [ $MIXER = hexa_x -o $MIXER = hexa_+ ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER = hexa_cox ]
-		then
-			set MAV_TYPE 13
-		fi
-		if [ $MIXER = octo_x -o $MIXER = octo_+ ]
-		then
-			set MAV_TYPE 14
-		fi
-		if [ $MIXER = octo_cox -o $MIXER = octo_cox_w ]
-		then
-			set MAV_TYPE 14
-		fi
-		if [ $MIXER = tri_y_yaw- -o $MIXER = tri_y_yaw+ ]
-		then
-			set MAV_TYPE 15
-		fi
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -91,19 +46,9 @@ if [ $VEHICLE_TYPE = rover ]
 then
 	if [ $MIXER = none ]
 	then
-		# Set default mixer for UGV if not defined.
-		set MIXER rover_generic
+		echo "rover mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 10 if not defined.
-		set MAV_TYPE 10
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -121,25 +66,6 @@ then
 		echo "VTOL mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 19 if not defined.
-		set MAV_TYPE 19
-
-		# Use mixer to detect vehicle type.
-		if [ $MIXER = firefly6 ]
-		then
-			set MAV_TYPE 21
-		fi
-		if [ $MIXER = quad_x_pusher_vtol ]
-		then
-			set MAV_TYPE 22
-		fi
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -157,15 +83,6 @@ then
 		echo "Airship mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set a default MAV_TYPE = 7 if not defined.
-		set MAV_TYPE 7
-	fi
-
-	# Set the mav type parameter.
-	param set MAV_TYPE ${MAV_TYPE}
-
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -183,19 +100,11 @@ then
 		echo "UUV mixer undefined"
 	fi

-	if [ $MAV_TYPE = none ]
-	then
-		# Set default MAV_TYPE to submarine if not defined
-		set MAV_TYPE 12
-	fi
-
-	param set MAV_TYPE ${MAV_TYPE}
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.uuv_apps
-
 fi


@@ -7,6 +7,9 @@

 set VEHICLE_TYPE vtol

+# MAV_TYPE_VTOL_RESERVED2 22
+param set-default MAV_TYPE 22
+
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10

@@ -29,7 +29,6 @@ set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
-set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
 set MIXER_FILE none
@@ -409,6 +408,13 @@ else
 		commander start
 	fi

+	#
+	# Configure vehicle type specific parameters.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+	#
+	. ${R}etc/init.d/rc.vehicle_setup
+
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -459,13 +465,6 @@ else
 		fi
 	fi

-	#
-	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-	#
-	. ${R}etc/init.d/rc.vehicle_setup
-
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#
@@ -573,7 +572,6 @@ unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
-unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
@@ -1,5 +1,7 @@
 Mixer for Tailsitter with x motor configuration and elevons
 ===========================================================
+# @board px4_fmu-v2 exclude
+# @board omnibus_f4sd exclude

 This file defines a single mixer for tailsitter with motors in X configuration.  All controls
 are mixed 100%.
@@ -27,4 +27,5 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
    -path src/lib/crypto/libtommath -prune -o \
+    -path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \
    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
@@ -139,6 +139,7 @@ mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
 mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
 micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
+microdds_client,CONFIG_MODULES_MICRODDS_CLIENT=y
 navigator,CONFIG_MODULES_NAVIGATOR=y
 px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
 rc_update,CONFIG_MODULES_RC_UPDATE=y
@@ -21,7 +21,6 @@ CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOGGER=y
@@ -33,7 +32,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_DMESG=n
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -0,0 +1,2 @@
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_EKF2=y
@@ -1,20 +1,17 @@
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS5525=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_VER=y
@@ -1,16 +1,6 @@
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL_L1=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
-CONFIG_DRIVERS_CAMERA_CAPTURE=n
-CONFIG_DRIVERS_CAMERA_TRIGGER=n
-CONFIG_DRIVERS_DISTANCE_SENSOR_CM8JL65=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_LEDDAR_ONE=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -3,8 +3,6 @@ CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
@@ -1,15 +0,0 @@
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
-CONFIG_DRIVERS_GPS=n
-CONFIG_DRIVERS_IMU_L3GD20=n
-CONFIG_DRIVERS_IMU_LSM303D=n
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_EKF2=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL_L1=n
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
-CONFIG_SYSTEMCMDS_BL_UPDATE=n
-CONFIG_BOARD_ROMFSROOT="px4fmu_test"
-CONFIG_BOARD_TESTING=y
-CONFIG_SYSTEMCMDS_MICROBENCH=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_VER=y
@@ -12,15 +12,16 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
+CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
@@ -40,6 +41,7 @@ CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TMOTOR_ALPHA_ESC=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6
@@ -57,6 +59,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -80,7 +83,6 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
@@ -9,9 +9,9 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152

-if ver hwtypecmp V550 V560
+if ver hwtypecmp V550 V552 V560 V562
 then
-	# CUAV V5+ (V550) and V5nano (V560) have 3 IMUs
+	# CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs
 	# Multi-EKF (IMUs only)
 	param set-default EKF2_MULTI_IMU 3
 	param set-default SENS_IMU_MODE 0
@@ -5,8 +5,14 @@

 board_adc start

-# Internal SPI bus ICM-20602
-icm20602 -s -R 2 -q start
+if ver hwtypecmp V552 V562
+then
+	# Internal SPI bus ICM-42688-P
+	icm42688p -s -R 2 -q start
+else
+	# Internal SPI bus ICM-20602
+	icm20602 -s -R 2 -q start
+fi

 # Internal SPI bus ICM-20689
 icm20689 -s -R 2 start
@@ -0,0 +1,251 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v5/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32f7"
+CONFIG_ARCH_CHIP_STM32F765II=y
+CONFIG_ARCH_CHIP_STM32F7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_ARM_MPU_NREGIONS=8
+CONFIG_BOARDCTL_IOCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=22114
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILD_PROTECTED=y
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0032
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="3D Robotics"
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_USRWORK=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_KERNEL_HEAPSIZE=131072
+CONFIG_MM_REGIONS=3
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_NUTTX_USERSPACE=0x08100000
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SDMMC1_SDIO_MODE=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32F7_ADC1=y
+CONFIG_STM32F7_BBSRAM=y
+CONFIG_STM32F7_BBSRAM_FILES=5
+CONFIG_STM32F7_BKPSRAM=y
+CONFIG_STM32F7_DMA1=y
+CONFIG_STM32F7_DMA2=y
+CONFIG_STM32F7_DMACAPABLE=y
+CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32F7_I2C1=y
+CONFIG_STM32F7_I2C2=y
+CONFIG_STM32F7_I2C3=y
+CONFIG_STM32F7_I2C4=y
+CONFIG_STM32F7_I2C_DYNTIMEO=y
+CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32F7_OTGFS=y
+CONFIG_STM32F7_PROGMEM=y
+CONFIG_STM32F7_PWR=y
+CONFIG_STM32F7_RTC=y
+CONFIG_STM32F7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
+CONFIG_STM32F7_RTC_MAGIC_REG=1
+CONFIG_STM32F7_SAVE_CRASHDUMP=y
+CONFIG_STM32F7_SDMMC1=y
+CONFIG_STM32F7_SDMMC_DMA=y
+CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32F7_SPI1=y
+CONFIG_STM32F7_SPI1_DMA=y
+CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32F7_SPI2=y
+CONFIG_STM32F7_SPI4=y
+CONFIG_STM32F7_SPI5=y
+CONFIG_STM32F7_SPI6=y
+CONFIG_STM32F7_SPI_DMA=y
+CONFIG_STM32F7_SPI_DMATHRESHOLD=8
+CONFIG_STM32F7_TIM10=y
+CONFIG_STM32F7_TIM11=y
+CONFIG_STM32F7_UART4=y
+CONFIG_STM32F7_UART7=y
+CONFIG_STM32F7_UART8=y
+CONFIG_STM32F7_USART1=y
+CONFIG_STM32F7_USART2=y
+CONFIG_STM32F7_USART3=y
+CONFIG_STM32F7_USART6=y
+CONFIG_STM32F7_USART_BREAKS=y
+CONFIG_STM32F7_USART_INVERT=y
+CONFIG_STM32F7_USART_SINGLEWIRE=y
+CONFIG_STM32F7_USART_SWAP=y
+CONFIG_STM32F7_WWDG=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYS_RESERVED=9
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_RXDMA=y
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_SERIAL_CONSOLE=y
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_RXDMA=y
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART3_TXDMA=y
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_RXDMA=y
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="px4_entry"
@@ -0,0 +1,44 @@
+CONFIG_BOARD_PROTECTED=y
+CONFIG_COMMON_BAROMETERS=n
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
+CONFIG_COMMON_DISTANCE_SENSOR=n
+CONFIG_COMMON_OPTICAL_FLOW=n
+CONFIG_COMMON_TELEMETRY=n
+CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
+CONFIG_DRIVERS_OSD=n
+CONFIG_DRIVERS_ROBOCLAW=n
+CONFIG_DRIVERS_RPM=n
+CONFIG_DRIVERS_UAVCAN=n
+CONFIG_EXAMPLES_FAKE_GPS=n
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_CAMERA_FEEDBACK=n
+CONFIG_MODULES_ESC_BATTERY=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL_L1=n
+CONFIG_MODULES_ROVER_POS_CONTROL=n
+CONFIG_MODULES_SIH=n
+CONFIG_MODULES_UUV_ATT_CONTROL=n
+CONFIG_MODULES_UUV_POS_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
+CONFIG_SYSTEMCMDS_BL_UPDATE=n
+CONFIG_SYSTEMCMDS_DMESG=n
+CONFIG_SYSTEMCMDS_DUMPFILE=n
+CONFIG_SYSTEMCMDS_ESC_CALIB=n
+CONFIG_SYSTEMCMDS_GPIO=n
+CONFIG_SYSTEMCMDS_I2CDETECT=n
+CONFIG_SYSTEMCMDS_LED_CONTROL=n
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=n
+CONFIG_SYSTEMCMDS_MOTOR_TEST=n
+CONFIG_SYSTEMCMDS_MTD=n
+CONFIG_SYSTEMCMDS_NSHTERM=n
+CONFIG_SYSTEMCMDS_REFLECT=n
+CONFIG_SYSTEMCMDS_SD_BENCH=n
+CONFIG_SYSTEMCMDS_SD_STRESS=n
+CONFIG_SYSTEMCMDS_SERIAL_TEST=n
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=n
+CONFIG_SYSTEMCMDS_USB_CONNECTED=n
@@ -1,3 +1,4 @@
 CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_OSD=n
 CONFIG_MODULES_MICRORTPS_BRIDGE=y
+CONFIG_MODULES_MICRODDS_CLIENT=y
@@ -31,19 +31,23 @@
 #
 ############################################################################

+add_library(board_bus_info
+	i2c.cpp
+	spi.cpp
+)
+add_dependencies(board_bus_info nuttx_context)
+
 add_library(drivers_board
 	can.c
-	i2c.cpp
 	init.c
 	led.c
 	manifest.c
 	sdio.c
-	spi.cpp
 	timer_config.cpp
 	usb.c
 	toc.c
 )
-add_dependencies(drivers_board arch_board_hw_info)
+add_dependencies(drivers_board nuttx_context)

 target_link_libraries(drivers_board
 	PRIVATE
@@ -52,5 +56,16 @@ target_link_libraries(drivers_board
 		drivers__led # drv_led_start
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
-		px4_layer
 )
+
+if (NOT DEFINED CONFIG_BUILD_FLAT)
+	target_link_libraries(drivers_board PRIVATE px4_kernel_layer)
+else()
+	target_link_libraries(drivers_board PRIVATE px4_layer board_bus_info)
+endif()
+
+add_library(drivers_userspace
+	stm32_userspace.c
+)
+
+add_dependencies(drivers_userspace nuttx_context)
@@ -49,6 +49,11 @@

 #include <stm32_gpio.h>

+#if !defined(CONFIG_BUILD_FLAT)
+#include <sys/boardctl.h>
+#include <px4_platform/board_ctrl.h>
+#endif
+
 /****************************************************************************************************
 * Definitions
 ****************************************************************************************************/
@@ -186,6 +191,15 @@
 #define HW_INFO_INIT         {'V','5','x', 'x',0}
 #define HW_INFO_INIT_VER     2
 #define HW_INFO_INIT_REV     3
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
+#define V500   HW_VER_REV(0x0,0x0) // FMUV5,                    Rev 0
+#define V515   HW_VER_REV(0x1,0x5) // CUAV V5,                  Rev 5
+#define V540   HW_VER_REV(0x4,0x0) // HolyBro mini no can 2,3,  Rev 0
+#define V550   HW_VER_REV(0x5,0x0) // CUAV V5+,                 Rev 0
+#define V552   HW_VER_REV(0x5,0x2) // CUAV V5+ ICM42688P,       Rev 2
+#define V560   HW_VER_REV(0x6,0x0) // CUAV V5nano with can 2,   Rev 0
+#define V562   HW_VER_REV(0x6,0x2) // CUAV V5nano ICM42688P,    Rev 2
+
 /* CAN Silence
 *
 * Silent mode control \ ESC Mux select
@@ -211,8 +225,26 @@
 #define GPIO_nARMED_INIT     /* PI0 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN0)
 #define GPIO_nARMED          /* PI0 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)

+/* For protected build, define the LOCKOUT_STATE macros as function calls */
+#ifdef CONFIG_BUILD_FLAT
 #define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
 #define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
+#else
+static inline void board_indicate_external_lockout_state(bool enable)
+{
+	platformioclockoutstate_t state = {enable};
+	boardctl(PLATFORMIOCINDICATELOCKOUT, (uintptr_t)&state);
+}
+
+static inline bool board_get_external_lockout_state(void)
+{
+	platformioclockoutstate_t state = {false};
+	boardctl(PLATFORMIOCGETLOCKOUT, (uintptr_t)&state);
+	return state.enabled;
+}
+#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) board_indicate_external_lockout_state(enabled)
+#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() board_get_external_lockout_state()
+#endif

 /* PWM
 */
@@ -157,11 +157,13 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {


 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0000, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},
-	{0x0105, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5 R:5 V:1
-	{0x0500, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5+ R:0 V:5
-	{0x0400, hw_mft_list_v0540,        arraySize(hw_mft_list_v0540)},  // HolyBro mini no can 2,3
-	{0x0600, hw_mft_list_v0600,        arraySize(hw_mft_list_v0600)},  // CUAV V5nano R:0 V:6 with can 2
+	{V500, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},
+	{V515, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5 R:5 V:1
+	{V540, hw_mft_list_v0540,        arraySize(hw_mft_list_v0540)},  // HolyBro mini no can 2,3
+	{V550, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5+ R:0 V:5
+	{V552, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5+ R:2 V:5 ICM42688P
+	{V560, hw_mft_list_v0600,        arraySize(hw_mft_list_v0600)},  // CUAV V5nano R:0 V:6 with can 2
+	{V562, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},  // Alias for CUAV V5nano R:2 V:6 ICM42688P
 };

 /************************************************************************************
@@ -35,29 +35,81 @@
 #include <drivers/drv_sensor.h>
 #include <nuttx/spi/spi.h>

-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
-		initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
-		initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
-	}, {GPIO::PortE, GPIO::Pin3}),
-	initSPIBus(SPI::Bus::SPI2, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5})
+constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
+	initSPIHWVersion(V500, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
+			initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
+		}, {GPIO::PortE, GPIO::Pin3}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5})
+		}),
+		initSPIBus(SPI::Bus::SPI4, {
+			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortF, GPIO::Pin10}),
+		}),
+		initSPIBusExternal(SPI::Bus::SPI5, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin11})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin6}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin7}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin8})
+		}),
 	}),
-	initSPIBus(SPI::Bus::SPI4, {
-		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortF, GPIO::Pin10}),
+
+	initSPIHWVersion(V552, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortF, GPIO::Pin11}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
+			initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
+		}, {GPIO::PortE, GPIO::Pin3}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5})
+		}),
+		initSPIBus(SPI::Bus::SPI4, {
+			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortF, GPIO::Pin10}),
+		}),
+		initSPIBusExternal(SPI::Bus::SPI5, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin11})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin6}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin7}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin8})
+		}),
 	}),
-	initSPIBusExternal(SPI::Bus::SPI5, {
-		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
-		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
-		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin11})
-	}),
-	initSPIBusExternal(SPI::Bus::SPI6, {
-		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin6}),
-		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin7}),
-		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin8})
+
+	initSPIHWVersion(V562, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortF, GPIO::Pin11}, SPI::DRDY{GPIO::PortC, GPIO::Pin5}),
+			initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
+		}, {GPIO::PortE, GPIO::Pin3}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5})
+		}),
+		initSPIBus(SPI::Bus::SPI4, {
+			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortF, GPIO::Pin10}),
+		}),
+		initSPIBusExternal(SPI::Bus::SPI5, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin11})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin6}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin7}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin8})
+		}),
 	}),
 };

-static constexpr bool unused = validateSPIConfig(px4_spi_buses);
+static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);
@@ -0,0 +1,146 @@
+/****************************************************************************
+ * boards/px4/fmu-v5/src/stm32_userspace.c
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdlib.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/mm/mm.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/userspace.h>
+#include <sys/boardctl.h>
+
+#if !defined(CONFIG_BUILD_FLAT) && !defined(__KERNEL__)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+#ifndef CONFIG_NUTTX_USERSPACE
+#  error "CONFIG_NUTTX_USERSPACE not defined"
+#endif
+
+#if CONFIG_NUTTX_USERSPACE != 0x08100000
+#  error "CONFIG_NUTTX_USERSPACE must be 0x08100000 to match memory.ld"
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* These 'addresses' of these values are setup by the linker script. They are
+ * not actual uint32_t storage locations! They are only used meaningfully in
+ * the following way:
+ *
+ *  - The linker script defines, for example, the symbol_sdata.
+ *  - The declaration extern uint32_t _sdata; makes C happy.  C will believe
+ *    that the value _sdata is the address of a uint32_t variable _data (it
+ *    is not!).
+ *  - We can recover the linker value then by simply taking the address of
+ *    of _data.  like:  uint32_t *pdata = &_sdata;
+ */
+
+extern uint32_t _stext;           /* Start of .text */
+extern uint32_t _etext;           /* End_1 of .text + .rodata */
+extern const uint32_t _eronly;    /* End+1 of read only section (.text + .rodata) */
+extern uint32_t _sdata;           /* Start of .data */
+extern uint32_t _edata;           /* End+1 of .data */
+extern uint32_t _sbss;            /* Start of .bss */
+extern uint32_t _ebss;            /* End+1 of .bss */
+
+/* This is the user space entry point */
+
+int CONFIG_USER_ENTRYPOINT(int argc, char *argv[]);
+int nsh_main(int argc, char *argv[]);
+
+const struct userspace_s userspace __attribute__((section(".userspace"))) = {
+	/* General memory map */
+
+	.us_entrypoint    = (main_t)CONFIG_USER_ENTRYPOINT,
+	.us_textstart     = (uintptr_t) &_stext,
+	.us_textend       = (uintptr_t) &_etext,
+	.us_datasource    = (uintptr_t) &_eronly,
+	.us_datastart     = (uintptr_t) &_sdata,
+	.us_dataend       = (uintptr_t) &_edata,
+	.us_bssstart      = (uintptr_t) &_sbss,
+	.us_bssend        = (uintptr_t) &_ebss,
+
+	/* Memory manager heap structure */
+
+	.us_heap          = &g_mmheap,
+
+	/* Task/thread startup routines */
+
+	.task_startup     = nxtask_startup,
+
+	/* Signal handler trampoline */
+
+	.signal_handler   = up_signal_handler,
+
+	/* User-space work queue support (declared in include/nuttx/wqueue.h) */
+
+#ifdef CONFIG_LIB_USRWORK
+	.work_usrstart    = work_usrstart,
+#endif
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+void px4_userspace_init(void);
+
+int CONFIG_USER_ENTRYPOINT(int argc, char *argv[])
+{
+
+#ifdef CONFIG_NSH_ARCHINIT
+#error CONFIG_NSH_ARCHINIT must not be defined!
+#endif
+
+	boardctl(BOARDIOC_INIT, 0);
+
+	px4_userspace_init();
+
+	return nsh_main(argc, argv);
+}
+
+#endif /* !CONFIG_BUILD_FLAT && !__KERNEL__ */
@@ -1,5 +1,6 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_COMMON_HYGROMETERS=n
+CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_BATT_SMBUS=n
 CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
@@ -31,6 +32,8 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
+CONFIG_MODULES_UUV_ATT_CONTROL=n
+CONFIG_MODULES_UUV_POS_CONTROL=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
@@ -44,6 +44,7 @@ CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TMOTOR_ALPHA_ESC=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
@@ -60,6 +61,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -81,7 +83,6 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
@@ -1 +1,7 @@
+CONFIG_EXAMPLES_FAKE_GPS=n
+CONFIG_SYSTEMCMDS_DUMPFILE=n
+CONFIG_SYSTEMCMDS_REFLECT=n
+CONFIG_SYSTEMCMDS_SD_BENCH=n
+CONFIG_SYSTEMCMDS_SD_STRESS=n
+CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -20,6 +20,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -39,6 +40,7 @@ CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -47,6 +49,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -61,17 +64,15 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -32,8 +32,14 @@ bmi088 -G -R 4 -s start
 # Internal SPI bus ICM42688p
 icm42688p -R 6 -s start

-# Internal SPI bus ICM-20649 (hard-mounted)
-icm20649 -R 14 -s start
+if ver hwtypecmp V6X03 V6X13
+then
+	# Internal SPI bus ICM-42670-P (hard-mounted)
+	icm42670p -R 14 -s start
+else
+	# Internal SPI bus ICM-20649 (hard-mounted)
+	icm20649 -R 14 -s start
+fi

 # Internal magnetometer on I2c
 bmm150 -I start
@@ -44,7 +50,7 @@ ist8310 -X -b 1 -R 10 start
 # Possible internal Baro
 bmp388 -I -a 0x77 start

-if ver hwtypecmp V6X00
+if ver hwtypecmp V6X00 V6X10
 then
 	bmp388 -I start
 else
@@ -215,6 +215,15 @@
 #define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
 #define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */

+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 and Rev 3 Sensor sets
+//                 Base/FMUM
+#define V6X00   HW_VER_REV(0x0,0x0) // FMUV6X,                 Rev 0
+#define V6X01   HW_VER_REV(0x0,0x1) // FMUV6X,     BMI388 I2C2 Rev 1
+#define V6X03   HW_VER_REV(0x0,0x3) // FMUV6X,     Sensor Set  Rev 3
+#define V6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
+#define V6X13   HW_VER_REV(0x1,0x3) // NO PX4IO,   Sensor Set  Rev 3
+
+
 /* HEATER
 * PWM in future
 */
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -173,12 +173,6 @@ stm32_boardinitialize(void)
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));

-	/* configure SPI interfaces (we can do this here as long as we only have a single SPI hw config version -
-	 * otherwise we need to move this after board_determine_hw_info()) */
-	_Static_assert(BOARD_NUM_SPI_CFG_HW_VERSIONS == 1, "Need to move the SPI initialization for multi-version support");
-
-	stm32_spiinitialize();
-
 	/* configure USB interfaces */

 	stm32_usbinitialize();
@@ -212,14 +206,12 @@ stm32_boardinitialize(void)
 *
 ****************************************************************************/

-
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
-	board_spi_reset(10, 0xffff);
 	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);

@@ -236,6 +228,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
 	}

+	stm32_spiinitialize();
+
+	board_spi_reset(10, 0xffff);
+
 	/* configure the DMA allocator */

 	if (board_dma_alloc_init() < 0) {
@@ -81,10 +81,27 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
 	},
 };

+static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
+	{
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+	{
+		.present     = 1,
+		.mandatory   = 1,
+		.connection  = px4_hw_con_onboard,
+	},
+};
+
+
 static px4_hw_mft_list_entry_t mft_lists[] = {
 //  ver_rev
-	{0x0000, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
-	{0x0001, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
+	{V6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
+	{V6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
+	{V6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
+	{V6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
+	{V6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
 };

 /************************************************************************************
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	42a9e540a8	WIP: TMotor Alpha ESC telemetry driver	2022-03-30 10:48:16 -04:00
Daniel Agar	82c1ffb8f8	boards: px4_fmu-v5_stackcheck disable common telemetry modules to save flash	2022-03-30 10:07:05 -04:00
Alex Mikhalev	9e57c5d217	tunes: Print warning if there is a tune error	2022-03-30 09:58:33 -04:00
Alex Mikhalev	f6cda64f0d	tunes: Fixed unspecified behaviour This fixes unspecified behaviour due to evaluation order of args. It's up to the compiler whether next_number() or next_dots() is executed first which means that the behaviour is not properly specified.	2022-03-30 09:58:33 -04:00
Kabir Mohammed	d3b3de7159	mavlink: Use round instead of ceil on BATTERY_STATUS percentage Co-authored-by: Alex Mikhalev <alex@corvus-robotics.com>	2022-03-30 09:49:11 -04:00
CUAVmengxiao	1870b9245b	fmu-v5: add macro definitions for different version revisions	2022-03-29 17:09:34 -04:00
CUAVmengxiao	f540335998	spi: get the correct version revision	2022-03-29 17:09:34 -04:00
CUAVmengxiao	c0d5ae2f9f	fmu-v5: Add support for ICM-42688-P	2022-03-29 17:09:34 -04:00
Matthias Grob	7cd57b4415	FlightTaskOrbit: alert user about exceeded radius (mavlink_log)	2022-03-29 18:46:37 +02:00
Matthias Grob	3e8d2fea94	FlightTaskOrbit: alert user about exceeded radius (events)	2022-03-29 18:46:37 +02:00
Matthias Grob	8ad44ee128	FlightModeManager: remove needless space at the end of invalid task error string	2022-03-29 18:46:37 +02:00
Matthias Grob	9bdde98a68	FlightModeManager: refactor flight task switch result condition for vehicle commands	2022-03-29 18:46:37 +02:00
Matthias Grob	ffaef906c4	FlightModeManager: don't ack with result failed when parameters are invalid Command denied is defined as "supported but has invalid parameters" which matches the case.	2022-03-29 18:46:37 +02:00
Matthias Grob	fc0be6c4fc	FlightModeManager: switch to failsafe task if orbit is rejected	2022-03-29 18:46:37 +02:00
RomanBapst	18074dec5a	simulator: fix conversion from hPa to Pa Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-03-29 17:41:54 +03:00
Daniel Agar	8a552fac78	uavcannode: publish RelPosHeading (from sensor_gnss_relative)	2022-03-29 07:59:41 +02:00
Daniel Agar	84e796c385	drives/gps: add new sensor_gnsss_relative msg - for ublox this corresponds to NAV_RELPOSNED	2022-03-29 07:59:41 +02:00
Daniel Agar	dfe13e16e8	boards: px4_fmu-v2_multicopter disable distance_sensor/tfmini to save flash	2022-03-28 15:40:46 -04:00
Daniel Agar	67920f089b	boards: px4_fmu-v5x_rtps disable unused systemcmds and examples to save flash	2022-03-28 12:01:21 -04:00
Matthias Grob	c7f114a26a	FlightTaskOrbit: increase radius limit	2022-03-28 17:57:56 +02:00
Matthias Grob	d0794c1189	FlightTaskOrbit: don't start Orbit if radius is not in range	2022-03-28 17:57:56 +02:00
Daniel Agar	0595efbd9b	sensors/vehicle_magnetometer: publish sensors_status_mag and other minor updates to stay in sync with air data	2022-03-26 16:08:41 -04:00
Daniel Agar	0c31f63896	sensors: add baro calibration and cleanup - sensor_baro.msg use SI (pressure in Pascals) - update all barometer drivers to publish directly and remove PX4Barometer helper - introduce baro cal (offset) mainly as a mechanism to adjust relative priority - commander: add simple baro cal that sets baro offsets to align with GPS altitude (if available) - create new sensors_status.msg to generalize sensor reporting	2022-03-26 16:08:41 -04:00
Daniel Agar	5800c417c8	boards: px4_fmu-v2_rover disable unused drivers to save flash	2022-03-25 17:30:42 -04:00
Daniel Agar	01eb27c703	Jenkinsfile-compile: skip px4_sitl_rtps for now	2022-03-25 15:07:20 -04:00
Daniel Agar	eb666e94a4	bords: omnibus_f4sd move ekf2 from default to new ekf2 board variant - temporary solution to flash overflow	2022-03-25 12:47:25 -04:00
Daniel Agar	bc26b73c07	px4io: only publish valid input_rc	2022-03-25 10:56:24 -04:00
Daniel Agar	3d08e031d2	rc_update: improve manual_switches simple protections - require back to back matching switch decode to match within 1 second - clear any previous manual switches if RC is unstable	2022-03-25 10:56:24 -04:00
Daniel Agar	875a2cc423	commander: remove loop counters and update UI LED control to use monotonic time	2022-03-24 22:43:26 -04:00
Daniel Agar	879622547c	commander: only process one vehicle_command/action_request per cycle - things like arming requests can be dependent on current nav state that might requested by a previous command, but the state machine transition will only happen after command processing	2022-03-24 22:43:26 -04:00
Daniel Agar	e528eb5dc4	commander: fix status flags usage (condition_global_position_valid->global_position_valid) - broken due to the merge timing of https://github.com/PX4/PX4-Autopilot/pull/19378 and https://github.com/PX4/PX4-Autopilot/pull/19351	2022-03-24 09:40:15 -04:00
Jaeyoung-Lim	106044be38	Initialize global local projection for rovers This commit initializes the global and local projection for rovers	2022-03-24 08:57:53 -04:00
Jonas Perolini	e31304d7d5	Quadchute param update (#19351 ) New parameter for actions after a quadchute (COM_QC_ACT) Co-authored-by: Jonas <jonas.perolini@rigi.tech> Co-authored-by: Matthias Grob <maetugr@gmail.com>	2022-03-24 10:27:32 +01:00
Jacob Schloss	5ae4cae073	orb_advertise_multi: might return nullptr (#19387 )	2022-03-24 07:47:48 +01:00
Daniel Agar	6135bb384b	cleanup module callback registration failed errors	2022-03-23 20:44:50 -04:00
Daniel Agar	f4c3084c26	init adjustments to ensure used topics are advertised early (primarily for logging) - multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)	2022-03-23 16:51:16 -04:00
Matthias Grob	e6ed595651	Commander: make last_fail_time_us parameter a reference instead of pointer	2022-03-23 15:04:48 -04:00
Matthias Grob	eee4aaee4f	Commander: remove dynamic position velocity probation period	2022-03-23 15:04:48 -04:00
David Sidrane	9fe2dfc2e3	px4_fmuv-6x Sensor set 3	2022-03-23 12:24:31 -04:00
Thies Lennart Alff	f1ec6ea026	make mavlink atttitude setpoints non-exlusive for offboard setpoints	2022-03-23 11:06:40 -04:00
Daniel Agar	94e30f5efb	boards: delete unused px4_fmu-v2_test	2022-03-23 10:39:58 -04:00
Silvan Fuhrer	a7ddaf08c4	vehicle_status_flags.msg: remove condition_ prefix to reduce message size Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-03-23 10:37:51 -04:00
Silvan Fuhrer	c30f2b9493	vehicle_status_flags.msg: remove unused condition_system_returned_to_home Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-03-23 10:37:51 -04:00
Jaeyoung-Lim	194a281fae	Project local coordinates for all fw landing states	2022-03-23 13:34:13 +01:00
Jaeyoung-Lim	cb81c6ac8c	Address review comments	2022-03-23 13:34:13 +01:00
Jaeyoung-Lim	71bfb9c0de	Convert NPFG to local coordinates	2022-03-23 13:34:13 +01:00
Jaeyoung-Lim	f804b3516f	Remove local planar vector	2022-03-23 13:34:13 +01:00
Jaeyoung Lim	28d34bf095	Convert L1 controller to local coordinates	2022-03-23 13:34:13 +01:00
Matthias Grob	897506267d	Sticks: name getThrottle() explicitly about range	2022-03-23 11:54:05 +01:00
Junwoo Hwang	0e5c305163	Stick Verbose Functinos : Make get functions for roll, pitch, yaw and throttle const to specify that it's not changing Sticks' internal variables	2022-03-23 11:54:05 +01:00
Junwoo Hwang	f78465428c	Stick Verbose Functions : Edit other FlightTasks using checkAndUpdateStickInputs() functions and correct Throttle returned value inverse issue	2022-03-23 11:54:05 +01:00
Junwoo Hwang	8266a4df98	Sticks : Add utility functions to get pitch, roll, throttle and yaw values intuitively and rename ambiguously named function checkAndSetStickInputs()	2022-03-23 11:54:05 +01:00
Matthias Grob	db7430aa65	matrix helper: remove needless comment line	2022-03-23 10:51:45 +01:00
Matthias Grob	18629bb535	FlightTaskOrbit: fix tangential yaw stick input for rotation direction changes	2022-03-23 10:51:45 +01:00
Matthias Grob	74c0ae6e55	Functions: add sign from boolean function with unit tests	2022-03-23 10:51:45 +01:00
Matthias Grob	e03585ca06	FlightTaskOrbit: remap stick input when vehicle faces tangential	2022-03-23 10:51:45 +01:00
Matthias Grob	db1fb6acf7	Commander: no battery time based RTL when already landed	2022-03-23 10:49:38 +01:00
Matthias Grob	69f6092031	mavlink_receiver: remove unused land detection publication	2022-03-23 10:49:38 +01:00
Matthias Grob	c1b9b8a1c0	MulticopterLandDetector: correct comment with outdated time constant reference	2022-03-23 10:49:38 +01:00
Matthias Grob	b85c4ec475	Commander: rename land detection subscription for consistency	2022-03-23 10:49:38 +01:00
Matthias Grob	4a5a8d59fe	matrix helper: add documentation for sign function	2022-03-23 08:47:52 +01:00
Matthias Grob	d0abcc1ca3	MatrixHelperTest: add unit tests for the signum function	2022-03-23 08:47:52 +01:00
Matthias Grob	03f836f79d	matrix helper: fix sign function zero case	2022-03-23 08:47:52 +01:00
David Sidrane	1a17e9df4d	board_hw_rev_ve:Use 97.50% for ADC ref for "High" detection	2022-03-22 21:15:03 -04:00
David Sidrane	ebc8ecdee6	board_hw_rev_ve:ADC returns 32 bits	2022-03-22 21:15:03 -04:00
David Sidrane	1c224be8f6	stm32h7:ADC fix CCr Access	2022-03-22 21:15:03 -04:00
RomanBapst	60231bbcb6	navigator: don't reset cruise speed and throttle during a transition as part of the VTOL takeoff navigation state - the reset causes the loiter circle to be reset to home Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-03-22 15:14:02 +01:00
Daniel Mesham	06a9be74fa	microdds: add xrce client	2022-03-22 09:01:05 +01:00
Konrad	e080fab8f6	Set up landing gear logic for tiltrotor and tailsitter VTOL. Gear is set down when in hover mode, esle gear is set up.	2022-03-21 09:30:04 +01:00
Konrad	d7de67844f	Set up landing gear logic for standard VTOL. Gear is set down when in hover mode, else gear is set up.	2022-03-21 09:30:04 +01:00
Daniel Agar	c86d5769ea	boards: px4_fmu-v2_{fixedwing,multicopter} module selection changes to save flash	2022-03-19 14:43:45 -04:00
Daniel Agar	475bd42ab8	sensors: add 2nd static notch and migrate existing parameters - new static notch filter configured via IMU_GYRO_NF1_FRQ and IMU_GYRO_NF1_BW - existing notch parameters IMU_GYRO_NF_FREQ and IMU_GYRO_NF_BW become IMU_GYRO_NF0_FRQ and IMU_GYRO_NF0_BW	2022-03-19 14:38:04 -04:00
Daniel Agar	afeab9587e	gyro_fft: peak detection exclude side FFT buckets - when estimating the peak frequency the magnitude of side buckets will be factored in, so it doesn't make sense to potentially treat them as separatey detected peaks	2022-03-19 14:37:36 -04:00
Matthias Grob	9ab99a7689	MatrixHelperTest: don't rely on FLOAT_EQ accepting FLT_EPSILON inaccuracy	2022-03-18 13:35:18 +01:00
Thomas Stastny	144697bb6a	MatrixHelperTest: correct wrap compare values	2022-03-18 13:35:18 +01:00
benjinne	620f25503c	Add geofence predict param (#17795 )	2022-03-18 11:44:13 +01:00
Thomas Debrunner	5b0fc8f507	print_load: Removed unused variable to fix compilation on macos	2022-03-18 10:42:19 +01:00
Daniel Agar	36e6527013	ROMFS: MAV_TYPE cleanup - set MAV_TYPE as a parameter default per vehicle type, or airframe if necessary - cleanup MAV_TYPE param metadata and commander helper to only include what's currently used in PX4	2022-03-17 09:28:10 -04:00
Matthias Grob	cde7b1bc41	Matrix: remove deprecated minimal test framework	2022-03-17 13:02:22 +01:00
Matthias Grob	91493307b9	Matrix: convert vector test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	4b63f6b29a	Matrix: convert vector assignment test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	f4b53d2762	Matrix: convert vector3 test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	ddfd62dfc2	Matrix: convert vector2 test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	be28aeb3ee	Matrix: convert upper right triangle test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	4d43aad847	Matrix: convert transpose test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	b3cc18c6de	Matrix: convert square test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	555ed9b9d8	Matrix: convert slice test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	46df8ab60c	Matrix: convert set identity test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	831f0e9aac	Matrix: convert scalar multiplication test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	38d742f1b5	Matrix: convert pseudo inverse test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	57e443c4a4	Matrix: convert multiplication test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	719898f1e3	Matrix: convert least squares test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	fddcf342e9	Matrix: convert inverse test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	f5ec4b2339	Matrix: convert integral test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	7c9e28c168	Matrix: convert helper test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	0c4c3a917c	Matrix: convert hat vee test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	8f695a5613	Matrix: convert filter test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	79e8152f05	Matrix: convert dual test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	62571b6984	Matrix: convert copy to test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	35b035e880	Matrix: convert attitude test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	c33bf5b705	Matrix: convert assignment test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	fa35635486	Matrix: change naming of sparse vector test	2022-03-17 13:02:22 +01:00
Jukka Laitinen	3d35929f3e	Put gyro_fft in kernel by default in protected build It is a performance issue to run it on user side Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	4658a627d7	Separate i2c and spi board bus configuration into and own library for protected build target This info is needed on both kernel and user sides, and is just data. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	543c7bd0c5	uORB: Build uorb systemcmd always in kernel side in memory protected build Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	d167f91eb8	logger/watchdog: Disable watchdog for NuttX protected/kernel builds It accesses kernel internal structures directly; this needs to be worked out with some proper userspace-kernel interface Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	56c6120e83	Use IOCTL for board_read_VBUS_state in NuttX protected builds Direct gpio read is not possible from user side applications, so use boardctl interface instead. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	0cf3079401	px4_fmuv5: Implement BOARD_*_LOCKOUT_STATE in protected/kernel builds In memory protected builds these perform nuttx boardctl ioctl calls to kerenel Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	356328056a	Add px4_fmu-v5_protected target Add a target for nuttx protected build development Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	005095d199	Add gran allocator also to user side in protected build This is needed for DMA capable memory for fat also in the user side; the file system doesn't seem to work reliably without. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	49b089f149	Add a simple way to launch kernel side modules Add launch_kmod command to start/execute px4 modules in kenel space in NuttX protected build Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	c43c71f4af	platforms/nuttx/src/px4/common/board_ctrl: Add handlers for vbus & shutdown lockout Add kernel side ioctls and handlers for vbus state and managing shutdown lockout Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	4a74d266be	Initialize cxx static variables also in kernel side For protected/kernel builds the cxx static initializations needs to be done also in kernel side, since px4 creates c++ objects in kernel Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	c1a7b8df1d	Add a px4 userspace initialization in protected build The px4_userspace_init function is called from userspace entrypoint before starting NSH Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
bresch	f3f09c1344	PreFlightCheck: add data timeout detection for mag, baro accel and gyro	2022-03-16 11:46:01 +01:00
bresch	75aa11c955	PreFlightCheck: refactor sensors preflight checks	2022-03-16 11:46:01 +01:00
bresch	b1c1163ee4	PreFlightCheck: remove unused device_id argument	2022-03-16 11:46:01 +01:00
bresch	5f1b577b6d	PreFlightCheck: mark sensor required if used by an EKF2 instance	2022-03-16 11:46:01 +01:00
stmoon	6d0b11ca99	add custom target for uorb_sources_microcdr_gen	2022-03-15 17:59:22 -04:00
wangwwno1	746c16400a	Typo Fix: ChangeWorkQeue Fix the typo of 'WorkItem::ChangeWorkQeue' to 'WorkItem::ChangeWorkQueue'	2022-03-15 13:31:52 -04:00
Daniel Agar	4746a19c0c	boards: px4_fmu-v5_stackcheck disable UUV modules to save flash	2022-03-15 12:10:03 -04:00
Daniel Agar	233c7fd293	goertek/spl06: parameters.c add copyright header and fix formatting	2022-03-15 10:14:46 -04:00
Ncerzzk	cb23179c50	Add Goertek SPL06 barometer driver (#19229 ) Signed-off-by: ncer <huangzzk@bupt.edu.cn>	2022-03-15 10:13:03 -04:00
Konrad	963f6a91d9	exclude Mixer for Tailsitter with x motor configuration and elevons for fmu-v2 and omnibus to avoid flash size issues	2022-03-15 10:44:27 +01:00
KonradRudin	5f43be9d60	preflight checks: add check for distance sensor (via parameter)	2022-03-15 10:44:27 +01:00
Jukka Laitinen	0d31aadcc3	src/lib/paramters: Add a new interface library for protected build user side Implement an interface for protected build to access parameters. The implementation only does IOCTL calls to the kernel, where the parameters live. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-15 07:52:26 +01:00
Jukka Laitinen	41a7ae3db2	src/lib/parameters: Refactor common functions to an own file Put all functions which are commont to flat build and protected kernel and userspace to an own source file Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-15 07:52:26 +01:00
Daniel Agar	7ef38112d2	ekf2: return saved mag bias variance when not in 3d magnetometer fusion - the estimated mag bias was requiring > 30 seconds of continuous 3d mag fusion to be reported stable (and saved back to mag cal), this restores the original intent requiring 30 seconds of accumulated valid 3d mag fusion	2022-03-14 21:03:41 -04:00