mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-24 04:27:35 +08:00
Compare commits
16 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 mahima-yoga
|
3779acb1d9 | ||
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PX4BuildBot
|
2828162f72 | ||
|
Nick
|
76eca4b7a4 | ||
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PX4BuildBot
|
0b621009d5 | ||
|
alexcekay
|
56c69f4c07 | ||
|
alexcekay
|
c7295c8a4f | ||
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PX4BuildBot
|
3ba440c332 | ||
|
Hamish Willee
|
b04518c0bc | ||
|
Hamish Willee
|
45abdb14b3 | ||
|
Hamish Willee
|
701ac9b257 | ||
|
PX4BuildBot
|
6db00a2326 | ||
|
ttechnick
|
935a21d05c | ||
|
ttechnick
|
d2e3668ad9 | ||
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PX4BuildBot
|
541ee6f81d | ||
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CUAV Chen
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8b870e364e | ||
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Ramon Roche
|
b142342c3a |
@@ -0,0 +1,207 @@
|
||||
---
|
||||
name: review-pr
|
||||
description: Review a pull request with structured, domain-aware feedback
|
||||
argument-hint: "<PR number or URL>"
|
||||
allowed-tools: Bash, Read, Glob, Grep, Agent
|
||||
---
|
||||
|
||||
# PX4 Pull Request Review
|
||||
|
||||
Review a pull request with domain-aware checks based on which files are changed.
|
||||
|
||||
**No Claude attribution anywhere.**
|
||||
|
||||
## Steps
|
||||
|
||||
1. **Fetch PR context.** Run these in parallel:
|
||||
- `gh pr view <PR> --json number,title,body,baseRefName,headRefName,files,commits,reviewRequests,reviews,author`
|
||||
- `gh pr checks <PR>` (exit code 8 means some checks are pending, this is normal, not an error)
|
||||
- `gh pr diff <PR>` -- if this fails with HTTP 406 (300+ files), do NOT retry. Instead use `gh api repos/OWNER/REPO/pulls/NUMBER/files --paginate` to get the full file list in one call, then fetch patches for key infrastructure files individually and sample representative changes from each domain touched.
|
||||
- `gh api repos/OWNER/REPO/pulls/NUMBER/comments --paginate --jq '.[] | {user: .user.login, body: .body, path: .path, created_at: .created_at}'` to get inline review comments
|
||||
- `gh api repos/OWNER/REPO/issues/NUMBER/comments --paginate --jq '.[] | {user: .user.login, body: .body, created_at: .created_at}'` to get PR conversation comments
|
||||
|
||||
From the PR metadata, note:
|
||||
- **Assigned reviewers**: who has been requested to review (from `reviewRequests`)
|
||||
- **Existing reviews**: who has already reviewed and their verdict (from `reviews` -- approved, changes_requested, commented, dismissed)
|
||||
- **PR comments and inline comments**: read all existing feedback to avoid duplicating points already raised by other reviewers, and to build on their discussion rather than ignoring it
|
||||
|
||||
2. **Check CI status.** From the `gh pr checks` output in step 1, summarize pass/fail/pending. If there are failures, fetch logs with `gh run view <run-id> --log-failed`. Include CI status in the output.
|
||||
|
||||
3. **Recommend merge strategy.** Analyze the commit history and recommend squash or rebase merge. This decision informs all subsequent commit hygiene feedback.
|
||||
|
||||
**Recommend rebase merge** when:
|
||||
- Commits are atomic, each builds/works independently
|
||||
- Each commit has a proper `type(scope): description` message
|
||||
- The PR intentionally separates logical changes (e.g., refactor + feature, or one commit per module)
|
||||
- The commit history tells a useful story that would be lost by squashing
|
||||
|
||||
**Recommend squash merge** when:
|
||||
- There are WIP, fixup, or review-response commits
|
||||
- Commit messages are messy or inconsistent
|
||||
- The PR is a single logical change spread across multiple commits
|
||||
- There are "oops" or "make format" commits mixed in
|
||||
|
||||
Include the recommendation in the output. If recommending rebase, flag any commits that break atomicity or have bad messages. If recommending squash, don't bother flagging individual commit messages (they'll be discarded) but ensure the PR title is correct since it becomes the squash commit message.
|
||||
|
||||
4. **Check conventional commit title.** Verify the PR title follows `type(scope): description` per CONTRIBUTING.md. The PR title becomes the commit message on squash-merge, so it must be accurate and descriptive. Verify the scope matches the primary area of changed files. If the PR introduces breaking changes, the title must include `!` before the colon. If rebase merge was recommended in step 3, also scan individual commit messages for anti-patterns: vague messages ("fix", "update"), missing type prefix, review-response noise ("apply suggestions from code review", "do make format"), or WIP markers. Flag these for rewording.
|
||||
|
||||
5. **Identify domains touched.** Classify changed files into domains based on paths (a PR may touch multiple):
|
||||
- **Estimation**: `src/modules/ekf2/`, `src/lib/wind_estimator/`, `src/lib/world_magnetic_model/`
|
||||
- **Control**: `src/modules/mc_*control*/`, `src/modules/fw_*control*/`, `src/modules/flight_mode_manager/`, `src/lib/rate_control/`, `src/lib/npfg/`, `src/modules/vtol_att_control/`
|
||||
- **Drivers/CAN**: `src/drivers/`, `src/modules/cyphal/`, `src/drivers/uavcan*/`
|
||||
- **Simulation**: `src/modules/simulation/`, `Tools/simulation/`
|
||||
- **System**: `src/modules/commander/`, `src/modules/logger/`, `src/systemcmds/`, `platforms/`, `src/modules/dataman/`
|
||||
- **Board Addition**: `boards/{manufacturer}/{board}/` (new directories only, not modifications to existing boards)
|
||||
- **CI/Build**: `.github/`, `CMakeLists.txt`, `Makefile`, `cmake/`, `Tools/`, `Kconfig`
|
||||
- **Messages/Protocol**: `msg/`, `src/modules/mavlink/`, `src/modules/uxrce_dds_client/`
|
||||
|
||||
6. **Apply core checks** (always):
|
||||
- **Correctness**: logic errors, off-by-ones, unhandled edge cases
|
||||
- **Type safety**: int16 overflow, float/double promotion, unsigned subtraction, use `uint64_t` for absolute time
|
||||
- **Initialization**: uninitialized variables, missing default construction
|
||||
- **Buffer safety**: unchecked array access, stack allocation of large buffers, snprintf bounds
|
||||
- **Magic numbers**: every numeric literal needs a named constant or justification
|
||||
- **Framework reuse**: use PX4_ERR/WARN/INFO, existing libraries (AlphaFilter, SlewRate, RateControl), MAVLink constants from the library
|
||||
- **Naming**: accurate, no unjustified abbreviations, current terminology (GPS -> GNSS for new code)
|
||||
- **Unnecessary complexity**: can code be removed instead of added? Is there a simpler pattern?
|
||||
- **Test coverage**: new features should include unit or integration tests; bug fixes should include regression tests where practical. When automated testing is infeasible (hardware-specific), require a flight log link from https://logs.px4.io or bench test evidence.
|
||||
- **PR hygiene**: focused scope, no unrelated formatting, no stale submodule changes. Commits should be atomic and independently revertable. Multiple WIP or review-response commits should be squashed. Clean, logical commits will be preserved individually on main via rebase merge. **Do NOT assume PRs are squash-merged. Both squash and rebase merge are enabled; merge commits are disabled.** Verify the PR targets `main` unless it is a backport or release-specific fix.
|
||||
- **Formatting**: `make format` / `make check_format` (astyle) for C/C++ files; `clang-tidy` clean. Python files checked with `mypy` and `flake8`. PRs failing CI format or lint checks will not be merged.
|
||||
- **Coding style**: C/C++ must follow the [PX4 coding style](https://docs.px4.io/main/en/contribute/code.html)
|
||||
- **Necessity**: challenge every addition with "Why?" Is this actually needed or just copied? Can we change a default instead of adding runtime detection?
|
||||
- **Root cause vs symptom**: is this fixing the real problem or masking it?
|
||||
- **Ecosystem impact**: what does this change mean for QGC users, log analysis tools, and third-party integrations?
|
||||
- **Sustainability**: who will maintain this? Does it create long-term burden?
|
||||
- **Architecture fit**: does the code live in the module that naturally owns the data? Are there unnecessary cross-module dependencies?
|
||||
- **End user impact**: will parameters confuse less-technical users? Are error messages actionable in QGC?
|
||||
|
||||
7. **Apply domain checks** based on step 5:
|
||||
|
||||
**Estimation:**
|
||||
- Singularities in aerospace math (euler angles near gimbal lock, sideslip at low airspeed)
|
||||
- Aliasing from downsampling sensor data without filtering
|
||||
- Kalman filter correctness (Joseph form, innovation variance, covariance symmetry)
|
||||
- CPU cost on embedded targets (avoid unnecessary sqrt, limit fusion rate)
|
||||
- Frame/coordinate system correctness (FRD vs NED, body vs earth)
|
||||
|
||||
**Control:**
|
||||
- Phase margin: output filters consume margin for no benefit; prefer adjusting gyro/d-gyro cutoffs
|
||||
- Circular dependencies: sensor data feeding back into its own control loop (e.g., throttle-based airspeed in TECS)
|
||||
- NaN propagation in flight-critical math; check `PX4_ISFINITE` before magnitude checks
|
||||
- Setpoint generation vs output-stage hacks: prefer proper setpoint smoothing over controller output filtering
|
||||
- Yaw control edge cases: heading lock, drift, setpoint propagation
|
||||
- Flight task inheritance chain: correct base class for the desired behavior
|
||||
- Control allocation: actuator function ordering, motor index mapping
|
||||
|
||||
**Drivers/CAN:**
|
||||
- CAN bus devices behave differently from serial/SPI; check driver assumptions
|
||||
- ESC index mapping: telemetry index != channel when motors are disabled
|
||||
- ESC hardware quirks: 4-in-1 ESCs may report current on only one channel
|
||||
- device_id correctness and I2CSPIDriver patterns
|
||||
- Time representation: prefer `hrt_abstime` over iteration counts
|
||||
|
||||
**Simulation:**
|
||||
- Physics fidelity: noise models should match reality (GPS noise is not Gaussian)
|
||||
- Keep gz_bridge generic; vehicle-specific logic belongs in plugins
|
||||
- Prefer gz-transport over ROS2 dependencies when possible
|
||||
- Wrench commands for physics correctness vs kinematic constraints
|
||||
- Library generic/specific boundary: only base classes in common libs
|
||||
|
||||
**System:**
|
||||
- Race conditions and concurrency: no partial fixes, demand complete solutions
|
||||
- Semaphore/scheduling edge cases; understand RTOS guarantees
|
||||
- State machine sequential-logic bugs (consecutive RTL, armed/disarmed alternation)
|
||||
- uORB-driven scheduling (`SubscriptionCallback`), not extra threads
|
||||
- param_set triggers auto-save; no redundant param_save_default
|
||||
- Flash/memory efficiency: avoid `std::string` on embedded, minimize SubscriptionData usage
|
||||
- Constructor initialization order matters
|
||||
|
||||
**CI/Build:**
|
||||
- Pipeline race conditions (tag + branch push double-trigger, git describe correctness)
|
||||
- Container image size (check layer bloat)
|
||||
- Ubuntu LTS support policy (latest + one prior only)
|
||||
- Build time impact
|
||||
- CMake preferred over Makefiles
|
||||
|
||||
**Messages/Protocol:**
|
||||
- Backwards compatibility: will this break QGC, post-flight tools, or uLog parsers?
|
||||
- uORB: `timestamp` for publication metadata, `timestamp_sample` close to physical sample, include `device_id`
|
||||
- Don't version messages unless strictly needed
|
||||
- Parameter UX: will this confuse users in a GCS? Every new param is a configuration burden
|
||||
- MAVLink: use library constants, don't implement custom stream rates
|
||||
|
||||
**Board Addition:**
|
||||
- **Flight logs**: require a link to https://logs.px4.io demonstrating basic operation for the vehicle type (hover for multicopters, stable flight for fixed-wing, driving for rovers, etc.); short bench-only logs are insufficient
|
||||
- **Documentation**: require a docs page in `docs/en/flight_controller/` with pinout, where-to-buy, connector types, version badge, and manufacturer-supported notice block
|
||||
- **USB VID/PID**: must not reuse another manufacturer's Vendor ID; manufacturer must use their own
|
||||
- **Board naming**: directory is `boards/{manufacturer}/{board}/`, both lowercase, hyphens for board name
|
||||
- **Unique board_id**: registered in `boards/boards.json`, no collisions
|
||||
- **Copied code cleanup**: check for leftover files, configs, or comments from the template board; "Is this real or leftover?"
|
||||
- **RC configuration**: prefer `CONFIG_DRIVERS_COMMON_RC` over legacy `CONFIG_DRIVERS_RC_INPUT`
|
||||
- **No board-specific custom modules**: reject copy-pasted drivers (e.g., custom heater) when existing infrastructure works
|
||||
- **Bootloader**: expect a bootloader defconfig (`nuttx-config/bootloader/defconfig`) or explanation of shared bootloader
|
||||
- **CI integration**: board must be added to CI compile workflows so it builds on every PR
|
||||
- **Flash constraints**: verify enabled modules fit in flash; we are running low across all board targets
|
||||
- **Port labels**: serial port labels must match what is physically printed on the board
|
||||
- **Hardware availability**: for unknown manufacturers, verify the product exists and is purchasable (no vaporware)
|
||||
|
||||
8. **Format output** as:
|
||||
- **CI status**: pass/fail summary, link to failed runs if any
|
||||
- **Merge strategy**: recommend squash or rebase merge with reasoning
|
||||
- **Title check**: pass/fail with suggestion
|
||||
- **Review status**: list assigned reviewers and any existing reviews (who approved, who requested changes, key points already raised). Note if your review would duplicate feedback already given.
|
||||
- **Domains detected**: list which domain checks were applied
|
||||
- **Summary**: one paragraph on what the PR does and whether the approach is sound
|
||||
- **Issues**: numbered list, each with file:line, severity (blocker/warning/nit), and explanation. Skip issues already raised by other reviewers unless you have something to add.
|
||||
- **Verdict**: approve, request changes, or needs discussion
|
||||
|
||||
After the structured output, also display a **draft PR comment** formatted using the PR comment formatting rules from step 9. This gives the user a preview of what would be posted.
|
||||
|
||||
9. **Interactive dialog.** After displaying the review, present the user with these options:
|
||||
|
||||
Present options based on the verdict:
|
||||
|
||||
If verdict is **approve**:
|
||||
```
|
||||
What would you like to do?
|
||||
1. Chat about this PR (ask questions, explore code) [default]
|
||||
2. Approve this PR and post the review comment
|
||||
3. Adjust the review or draft (tell me what to change)
|
||||
4. Done for now
|
||||
```
|
||||
|
||||
If verdict is **request changes**:
|
||||
```
|
||||
What would you like to do?
|
||||
1. Chat about this PR (ask questions, explore code) [default]
|
||||
2. Request changes on this PR and post the review comment
|
||||
3. Adjust the review or draft (tell me what to change)
|
||||
4. Done for now
|
||||
```
|
||||
|
||||
If verdict is **needs discussion**:
|
||||
```
|
||||
What would you like to do?
|
||||
1. Chat about this PR (ask questions, explore code) [default]
|
||||
2. Post the review as a comment (no approval or rejection)
|
||||
3. Adjust the review or draft (tell me what to change)
|
||||
4. Done for now
|
||||
```
|
||||
|
||||
Wait for the user to choose before proceeding. If they pick:
|
||||
- **1 (chat)**: enter a free-form conversation about the PR. The user can ask about specific files, code paths, or decisions. When done, loop back to the options. This is the default if the user just presses enter.
|
||||
- **2 (submit)**: use the draft PR comment already shown. Before posting, check if you have review permissions: run `gh api repos/OWNER/REPO/collaborators/$(gh api user --jq .login)/permission --jq .permission` -- if `admin` or `write`, submit as a formal review with `gh pr review <PR> --approve --body "..."` or `gh pr review <PR> --request-changes --body "..."` based on the verdict. If no write access, fall back to `gh pr comment <PR> --body "..."`. Always confirm with the user before posting.
|
||||
- **3 (adjust)**: ask what to change, update the review and draft, then loop back to the options.
|
||||
- **4 (done)**: stop.
|
||||
|
||||
**PR comment formatting rules** (for the draft):
|
||||
When writing the GitHub comment, rewrite the review to sound like a human reviewer, not a structured report. Do NOT include the full skill output. Instead:
|
||||
- Drop most meta-sections (CI status, title check, domains detected, severity labels) but keep the merge strategy recommendation (e.g., "I'd suggest a rebase merge here since the commits are clean and atomic" or "This should be squash-merged, the commit history is messy")
|
||||
- Write conversationally: "Nice work on this. A few things I noticed:" not "Issues: 1. file:line (warning):"
|
||||
- Lead with a brief take on the overall change (1-2 sentences)
|
||||
- List only actionable feedback as natural review comments, not numbered checklists
|
||||
- Skip nits unless they are particularly useful
|
||||
- End with a clear stance: looks good to merge, needs a few changes, or let's discuss X
|
||||
- Post with `gh pr comment <PR> --body "$(cat <<'EOF' ... EOF)"`. Do not post without explicit confirmation.
|
||||
|
||||
If the user provided arguments, use them as context: $ARGUMENTS
|
||||
@@ -0,0 +1,21 @@
|
||||
---
|
||||
applyTo: "boards/**"
|
||||
---
|
||||
|
||||
# Board Addition Review Guidelines
|
||||
|
||||
In addition to the core code review guidelines, when reviewing new board additions:
|
||||
|
||||
- **Flight logs**: require a link to https://logs.px4.io demonstrating basic operation for the vehicle type (hover for multicopters, stable flight for fixed-wing, driving for rovers, etc.); short bench-only logs are insufficient
|
||||
- **Documentation**: require a docs page in `docs/en/flight_controller/` with pinout, where-to-buy, connector types, version badge, and manufacturer-supported notice block
|
||||
- **USB VID/PID**: must not reuse another manufacturer's Vendor ID; manufacturer must use their own
|
||||
- **Board naming**: directory is `boards/{manufacturer}/{board}/`, both lowercase, hyphens for board name
|
||||
- **Unique board_id**: registered in `boards/boards.json`, no collisions
|
||||
- **Copied code cleanup**: check for leftover files, configs, or comments from the template board. Ask "Is this real or leftover?"
|
||||
- **RC configuration**: prefer `CONFIG_DRIVERS_COMMON_RC` over legacy `CONFIG_DRIVERS_RC_INPUT`
|
||||
- **No board-specific custom modules**: reject copy-pasted drivers (e.g., custom heater) when existing infrastructure works
|
||||
- **Bootloader**: expect a bootloader defconfig (`nuttx-config/bootloader/defconfig`) or explanation of shared bootloader
|
||||
- **CI integration**: board must be added to CI compile workflows so it builds on every PR
|
||||
- **Flash constraints**: verify enabled modules fit in flash; we are running low across all board targets
|
||||
- **Port labels**: serial port labels must match what is physically printed on the board
|
||||
- **Hardware availability**: for unknown manufacturers, verify the product exists and is purchasable (no vaporware)
|
||||
@@ -0,0 +1,13 @@
|
||||
---
|
||||
applyTo: ".github/**,cmake/**,Makefile,CMakeLists.txt,Tools/**,**/Kconfig"
|
||||
---
|
||||
|
||||
# CI/Build Review Guidelines
|
||||
|
||||
In addition to the core code review guidelines:
|
||||
|
||||
- Check for pipeline race conditions (tag + branch push double-trigger, git describe correctness)
|
||||
- Container image size: check for layer bloat
|
||||
- Ubuntu LTS support policy: only latest + one prior LTS version
|
||||
- Consider build time impact of changes
|
||||
- Prefer CMake over Makefiles
|
||||
@@ -0,0 +1,32 @@
|
||||
---
|
||||
applyTo: "src/**,boards/**,platforms/**,msg/**,cmake/**,Makefile,CMakeLists.txt,Tools/**,.github/**"
|
||||
---
|
||||
|
||||
# PX4 Code Review Guidelines
|
||||
|
||||
## Conventions
|
||||
|
||||
- PR titles must follow conventional commits: `type(scope): description` (see CONTRIBUTING.md)
|
||||
- Types: `feat`, `fix`, `docs`, `style`, `refactor`, `perf`, `test`, `build`, `ci`, `chore`, `revert`
|
||||
- Scope should match the primary area of changed files
|
||||
- Append `!` before the colon for breaking changes
|
||||
- Both squash merge and rebase merge are enabled; merge commits are disabled
|
||||
- Commits should be atomic and independently revertable
|
||||
- WIP or review-response commits should be squashed before merge
|
||||
|
||||
## Core Checks (always apply)
|
||||
|
||||
- **Correctness**: logic errors, off-by-ones, unhandled edge cases
|
||||
- **Type safety**: int16 overflow, float/double promotion, unsigned subtraction, use `uint64_t` for absolute time
|
||||
- **Initialization**: uninitialized variables, missing default construction
|
||||
- **Buffer safety**: unchecked array access, stack allocation of large buffers, snprintf bounds
|
||||
- **Magic numbers**: every numeric literal needs a named constant or justification
|
||||
- **Framework reuse**: use PX4_ERR/WARN/INFO, existing libraries (AlphaFilter, SlewRate, RateControl), MAVLink constants from the library
|
||||
- **Naming**: accurate, no unjustified abbreviations, current terminology (GPS -> GNSS for new code)
|
||||
- **Unnecessary complexity**: can code be removed instead of added? Is there a simpler pattern?
|
||||
- **Test coverage**: new features should include unit or integration tests; bug fixes should include regression tests where practical
|
||||
- **Formatting**: `make format` / `make check_format` (astyle) for C/C++ files; `clang-tidy` clean
|
||||
- **Coding style**: C/C++ must follow the PX4 coding style (https://docs.px4.io/main/en/contribute/code.html)
|
||||
- **Necessity**: challenge every addition. Is this actually needed or just copied?
|
||||
- **Architecture fit**: does the code live in the module that naturally owns the data? No unnecessary cross-module dependencies
|
||||
- **Ecosystem impact**: consider QGC users, log analysis tools, and third-party integrations
|
||||
@@ -0,0 +1,15 @@
|
||||
---
|
||||
applyTo: "src/modules/mc_*control*/**,src/modules/fw_*control*/**,src/modules/flight_mode_manager/**,src/lib/rate_control/**,src/lib/npfg/**,src/modules/vtol_att_control/**"
|
||||
---
|
||||
|
||||
# Control Review Guidelines
|
||||
|
||||
In addition to the core code review guidelines:
|
||||
|
||||
- Phase margin: output filters consume margin for no benefit; prefer adjusting gyro/d-gyro cutoffs
|
||||
- Check for circular dependencies: sensor data feeding back into its own control loop (e.g., throttle-based airspeed in TECS)
|
||||
- NaN propagation in flight-critical math; check `PX4_ISFINITE` before magnitude checks
|
||||
- Prefer proper setpoint smoothing over controller output filtering (setpoint generation vs output-stage hacks)
|
||||
- Check yaw control edge cases: heading lock, drift, setpoint propagation
|
||||
- Verify flight task inheritance chain uses the correct base class for desired behavior
|
||||
- Control allocation: verify actuator function ordering and motor index mapping
|
||||
@@ -0,0 +1,13 @@
|
||||
---
|
||||
applyTo: "src/drivers/**,src/modules/cyphal/**"
|
||||
---
|
||||
|
||||
# Drivers/CAN Review Guidelines
|
||||
|
||||
In addition to the core code review guidelines:
|
||||
|
||||
- CAN bus devices behave differently from serial/SPI; check driver assumptions
|
||||
- ESC index mapping: telemetry index != channel when motors are disabled
|
||||
- ESC hardware quirks: 4-in-1 ESCs may report current on only one channel
|
||||
- Verify device_id correctness and I2CSPIDriver patterns
|
||||
- Time representation: prefer `hrt_abstime` over iteration counts
|
||||
@@ -0,0 +1,13 @@
|
||||
---
|
||||
applyTo: "src/modules/ekf2/**,src/lib/wind_estimator/**,src/lib/world_magnetic_model/**"
|
||||
---
|
||||
|
||||
# Estimation Review Guidelines
|
||||
|
||||
In addition to the core code review guidelines:
|
||||
|
||||
- Check for singularities in aerospace math (euler angles near gimbal lock, sideslip at low airspeed)
|
||||
- Flag aliasing from downsampling sensor data without proper filtering
|
||||
- Verify Kalman filter correctness (Joseph form, innovation variance, covariance symmetry)
|
||||
- Consider CPU cost on embedded targets (avoid unnecessary sqrt, limit fusion rate)
|
||||
- Verify frame/coordinate system correctness (FRD vs NED, body vs earth frame)
|
||||
@@ -0,0 +1,13 @@
|
||||
---
|
||||
applyTo: "msg/**,src/modules/mavlink/**,src/modules/uxrce_dds_client/**"
|
||||
---
|
||||
|
||||
# Messages/Protocol Review Guidelines
|
||||
|
||||
In addition to the core code review guidelines:
|
||||
|
||||
- Backwards compatibility: will this break QGC, post-flight tools, or uLog parsers?
|
||||
- uORB: `timestamp` for publication metadata, `timestamp_sample` close to physical sample, include `device_id`
|
||||
- Don't version messages unless strictly needed
|
||||
- Parameter UX: will this confuse users in a GCS? Every new param is a configuration burden
|
||||
- MAVLink: use library constants, don't implement custom stream rates
|
||||
@@ -0,0 +1,13 @@
|
||||
---
|
||||
applyTo: "src/modules/simulation/**,Tools/simulation/**"
|
||||
---
|
||||
|
||||
# Simulation Review Guidelines
|
||||
|
||||
In addition to the core code review guidelines:
|
||||
|
||||
- Physics fidelity: noise models should match reality (GPS noise is not Gaussian)
|
||||
- Keep gz_bridge generic; vehicle-specific logic belongs in plugins
|
||||
- Prefer gz-transport over ROS2 dependencies when possible
|
||||
- Use wrench commands for physics correctness vs kinematic constraints
|
||||
- Library generic/specific boundary: only base classes in common libs
|
||||
@@ -0,0 +1,15 @@
|
||||
---
|
||||
applyTo: "src/modules/commander/**,src/modules/logger/**,src/systemcmds/**,platforms/**,src/modules/dataman/**"
|
||||
---
|
||||
|
||||
# System Review Guidelines
|
||||
|
||||
In addition to the core code review guidelines:
|
||||
|
||||
- Race conditions and concurrency: no partial fixes, demand complete solutions
|
||||
- Semaphore/scheduling edge cases; understand RTOS guarantees
|
||||
- State machine sequential-logic bugs (consecutive RTL, armed/disarmed alternation)
|
||||
- Use uORB-driven scheduling (`SubscriptionCallback`), not extra threads
|
||||
- `param_set` triggers auto-save; no redundant `param_save_default`
|
||||
- Flash/memory efficiency: avoid `std::string` on embedded, minimize SubscriptionData usage
|
||||
- Constructor initialization order matters
|
||||
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|
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@@ -171,6 +171,7 @@
|
||||
- [CUAV V5 nano (FMUv5)](flight_controller/cuav_v5_nano.md)
|
||||
- [CUAV V5 nano Wiring Quickstart](assembly/quick_start_cuav_v5_nano.md)
|
||||
- [CUAV X25 EVO](flight_controller/cuav_x25-evo.md)
|
||||
- [CUAV X25 EVO Wiring Quick Start](assembly/quick_start_cuav_x25_evo.md)
|
||||
- [CUAV X25 SUPER](flight_controller/cuav_x25-super.md)
|
||||
- [CubePilot Cube Orange+ (CubePilot)](flight_controller/cubepilot_cube_orangeplus.md)
|
||||
- [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md)
|
||||
|
||||
@@ -27,6 +27,8 @@ Supported flight controllers include:
|
||||
|
||||
- [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md)
|
||||
- [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md)
|
||||
- [CUAV X25 EVO](../flight_controller/cuav_x25-evo.md)
|
||||
- [CUAV X25 SUPER](../flight_controller/cuav_x25-super.md)
|
||||
- [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md)
|
||||
- [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md)
|
||||
- [RaccoonLab FMUv6X Autopilot](../flight_controller/raccoonlab_fmu6x.md)
|
||||
|
||||
@@ -23104,6 +23104,26 @@ This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.
|
||||
| ------ | -------- | -------- | --------- | ------- | ---- |
|
||||
| | -0.5 | 0.5 | 0.01 | 0.0 | |
|
||||
|
||||
### FW_FLAPS_MAN (`INT32`) {#FW_FLAPS_MAN}
|
||||
|
||||
Flap input in manual flight.
|
||||
|
||||
Chose source for manual setting of flaps in manual flight modes.
|
||||
|
||||
**Values:**
|
||||
|
||||
- `0`: Disabled
|
||||
- `1`: Aux1
|
||||
- `2`: Aux2
|
||||
- `3`: Aux3
|
||||
- `4`: Aux4
|
||||
- `5`: Aux5
|
||||
- `6`: Flaps channel
|
||||
|
||||
| Reboot | minValue | maxValue | increment | default | unit |
|
||||
| ------ | -------- | -------- | --------- | ------- | ---- |
|
||||
| | | | | 0 | |
|
||||
|
||||
### FW_GC_EN (`INT32`) {#FW_GC_EN}
|
||||
|
||||
Enable rate gain compression.
|
||||
@@ -23264,6 +23284,10 @@ Chose source for manual setting of spoilers in manual flight modes.
|
||||
- `0`: Disabled
|
||||
- `1`: Flaps channel
|
||||
- `2`: Aux1
|
||||
- `3`: Aux2
|
||||
- `4`: Aux3
|
||||
- `5`: Aux4
|
||||
- `6`: Aux5
|
||||
|
||||
| Reboot | minValue | maxValue | increment | default | unit |
|
||||
| ------ | -------- | -------- | --------- | ------- | ---- |
|
||||
|
||||
@@ -409,6 +409,7 @@ They recommend sensors, power systems, and other components from the same manufa
|
||||
- [CUAV Pixhawk V6X Wiring QuickStart](../assembly/quick_start_cuav_pixhawk_v6x.md)
|
||||
- [CUAV V5+ Wiring Quickstart](../assembly/quick_start_cuav_v5_plus.md)
|
||||
- [CUAV V5 nano Wiring Quickstart](../assembly/quick_start_cuav_v5_nano.md)
|
||||
- [CUAV X25 EVO Wiring Quickstart](../assembly/quick_start_cuav_x25_evo.md)
|
||||
- [Holybro Pixhawk 6C Wiring Quickstart](../assembly/quick_start_pixhawk6c.md)
|
||||
- [Holybro Pixhawk 6X Wiring Quickstart](../assembly/quick_start_pixhawk6x.md)
|
||||
- [Holybro Pixhawk 5X Wiring Quickstart](../assembly/quick_start_pixhawk5x.md)
|
||||
|
||||
@@ -0,0 +1,153 @@
|
||||
# CUAV X25 EVO Wiring Quick Start
|
||||
|
||||
::: warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
This quick start guide shows how to power the [X25 EVO](../flight_controller/cuav_x25-evo.md) flight controller and connect its most important peripherals.
|
||||
|
||||
::: info
|
||||
The following flight controller models are applicable to this quick start guide.
|
||||
[CUAV X25 SUPER](../flight_controller/cuav_x25-super.md)
|
||||
:::
|
||||
|
||||
## Wiring Chart Overview
|
||||
|
||||
The image below shows how to connect the most important sensors and peripherals (except the motor and servo outputs).
|
||||
We'll go through each of these in detail in the following sections.
|
||||
|
||||
|
||||
|
||||
| Interface | **Function** |
|
||||
| :------------ | :----------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| POWER C1/C2 | Connect the PMU2 Lite to this port; this port is used for connecting the DroneCAN power module |
|
||||
| M1 ~ M16 | PWM signal output ports, usable for controlling motors or servos; support 3.3V/5V PWM configuration |
|
||||
| RC IN | Connect remote controller receivers with one-way protocols (e.g., SBUS/DSM/PPM). Note: ELRS/CRSF receivers should be connected to any serial port, not RC IN |
|
||||
| RSSI | For connecting signal strength feedback modules |
|
||||
| GPS&SAFETY | Connect Neo-series GPS or C-RTK-series RTK; this port includes interfaces for GPS, safety switch, and buzzer |
|
||||
| GPS2 | Usable for connecting additional GPS/RTK modules |
|
||||
| DEBUG (DSU) | For FMU chip debugging and reading debug device information; with ArduPilot firmware, it can be configured for other serial port functions |
|
||||
| ADC3V3 | For analog level signal detection; the maximum detectable level signal is 3.3V |
|
||||
| ADC6V6 | For analog level signal detection; the maximum detectable level signal is 6.6V (PX4 is not supported.) |
|
||||
| TF CARD | Insert an SD card here to enable log storage functionality |
|
||||
| ETH | Ethernet port, usable for connecting Ethernet devices such as companion computers |
|
||||
| I2C1/2/3 | Connect external I2C devices (e.g., external compasses) for communication between the controller and I2C devices |
|
||||
| TELEM1/TELEM2 | Connect telemetry modules (for data transmission) to enable MAVLINK data interaction |
|
||||
| CAN1/2 | For communication between the controller and DroneCAN devices (e.g., connecting NEO4 SE GPS) |
|
||||
| TYPE C | USB port of the controller, usable for connecting to the ground station, flashing firmware, and other operations |
|
||||
| SPI6 | SPI port for external expansion; generally not used |
|
||||
|
||||
## Vehicle Front
|
||||
|
||||
::: info
|
||||
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
|
||||
:::
|
||||
|
||||
|
||||
|
||||
## GPS + Compass + Buzzer + Safety Switch + LED
|
||||
|
||||
We recommend using a CAN GPS/RTK (such as [Neo 4SE](https://store.cuav.net/shop/cuav-neo-4-se-gps-module/)); simply connect it to the **CAN 1** or **CAN 2** port.
|
||||
|
||||
You can also use a standard GPS/RTK module(such as [NEO3 GPS](https://store.cuav.net/shop/neo-3/) (10-pin connector)) by connecting it to the **GPS&SAFETY** port.
|
||||
Most commonly used GPS modules today integrate GPS, compass, safety switch, buzzer, and LED status light.
|
||||
|
||||
If you need to use assisted GPS, connect to the **GPS2** port.
|
||||
|
||||
The GPS/compass should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible (separating the compass from other electronics will reduce interference), with the direction markings towards the front of the vehicle (the arrow on the NEO GPS should match the arrow on the flight controller).
|
||||
|
||||
|
||||
|
||||
::: info
|
||||
The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
|
||||
To disable the safety, press and hold the safety switch for 1 second.
|
||||
You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station).
|
||||
:::
|
||||
|
||||
## Radio Control
|
||||
|
||||
A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
|
||||
|
||||
You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
|
||||
|
||||
Connection methods vary by remote controller and receiver type:
|
||||
|
||||
### Android Remote Controllers
|
||||
|
||||
Take the H16 as an example:
|
||||
|
||||
|
||||
|
||||
Connect **TELEM1/TELEM2** to the UART0 port of the H16 remote controller, and link the H16’s SBUS pin to the **RC IN** port.
|
||||
|
||||
### SBUS/DSM/PPM Protocol Receivers
|
||||
|
||||
|
||||
|
||||
Use wires to connect the receiver to the **RC IN** port at the rear of the controller.
|
||||
|
||||
### ELRS/CRSF Receivers
|
||||
|
||||
|
||||
|
||||
Connect the [ELRS/CRSF](../telemetry/crsf_telemetry.md) receiver to any UART serial port of the X25 EVO (e.g., **TELEM2**).
|
||||
|
||||
## Power
|
||||
|
||||
The X25 EVO comes standard with the PMU2 Lite power module, which supports 20–70V input and can measure a maximum current of 220A.
|
||||
It can be directly connected to the **Power C1/C2** port of the X25 EVO and is plug-and-play (no configuration required).
|
||||
|
||||
|
||||
|
||||
## Telemetry (Radio) System
|
||||
|
||||
[Telemetry system](../telemetry/index.md) allows you to communicate with the unmanned system via ground station software, enabling you to monitor and control the UAV’s status during flight. Connect the on-board unit of the telemetry system to the **TELEM1** or **TELEM2** port.
|
||||
|
||||
You can also purchase telemetry radios from the [CUAV store](https://store.cuav.net/uav-telemetry-module/).
|
||||
|
||||
|
||||
|
||||
## SD Card
|
||||
|
||||
SD cards are highly recommended as they are required for [recording and analyzing flight details](../getting_started/flight_reporting.md), running tasks and using UAVCAN bus hardware.
|
||||
An SD card is already installed on X25 EVO when it leaves the factory.
|
||||
|
||||
::: tip
|
||||
For more information see [Basic Concepts > SD Cards (Removable Memory)](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory).
|
||||
:::
|
||||
|
||||
## Motors/Servo
|
||||
|
||||
Motors/servos are connected to the **M1~M16** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
|
||||
|
||||
|
||||
## Servo Power Supply
|
||||
|
||||
The X25 EVO does not supply power to servos. If you need to power servos:
|
||||
|
||||
1. Connect a BEC to the positive and negative terminals of any column among **M1 ~ M16** (the positive and negative terminals of **M1 ~ M16** are interconnected).
|
||||
2. Then connect the servos to the same column.
|
||||
|
||||
|
||||
|
||||
::: info
|
||||
The power rail voltage must be appropriate for the servo being used!
|
||||
:::
|
||||
|
||||
## Other Peripherals
|
||||
|
||||
The wiring and configuration of optional/less common components is covered within the topics for individual [peripherals](../peripherals/index.md).
|
||||
|
||||
## Configuration
|
||||
|
||||
General configuration information is covered in: [Autopilot Configuration](../config/index.md).
|
||||
|
||||
QuadPlane-specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
|
||||
|
||||
## Further information
|
||||
|
||||
- [CUAV Docs](https://doc.cuav.net/) (CUAV)
|
||||
- [X25 EVO](../flight_controller/cuav_x25-evo.md) (PX4 Doc Overview page)
|
||||
- [X25 SUPER](../flight_controller/cuav_x25-super.md) (PX4 Doc Overview page)
|
||||
@@ -175,7 +175,7 @@ The fields are:
|
||||
|
||||
#### Flap Scale and Spoiler Scale Configuration
|
||||
|
||||
"Flap-control" and "Spoiler-control" are aerodynamic configurations that can either be commanded manually by the pilot (using RC, say), or are set automatically by the controller.
|
||||
"Flap-control" and "Spoiler-control" are aerodynamic configurations that can either be commanded manually by the pilot (using RC or a Joystick, say) (see [Flaps and Spoiler Control with Manual Control](#flaps-and-spoiler-control-with-manual-control)), or are set automatically by the controller.
|
||||
For example, a pilot or the landing system might engage "Spoiler-control" in order to reduce the airspeed before landing.
|
||||
|
||||
The configurations are an _abstract_ way for the controller to tell the allocator how much it should adjust the aerodynamic properties of the wings relative to the "full flaps" or "full spoiler" configuration (between `[0,1]`, where "1" indicates the full range).
|
||||
@@ -198,6 +198,20 @@ In the following example, the vehicle has two ailerons, one elevator, one rudder
|
||||
These are the elevator deflections added to compensate for the pitching moments generated by the flaps and spoiler actuators.
|
||||
In the case here the elevator would be deflected 0.3 up when the flaps are fully deployed to counteract the pitching down moment caused by the flaps.
|
||||
|
||||
#### Flaps and Spoiler Control with Manual Control
|
||||
|
||||
The preferred method to manually actuate spoilers and flaps is to map a manual control switch to an `AUX` output (see [Generic Actuator Control with RC](#generic-actuator-control-with-rc)), and then map that AUX output to the flap or spoiler function using [FW_FLAPS_MAN](../advanced_config/parameter_reference.md#FW_FLAPS_MAN) or [FW_SPOILERS_MAN](../advanced_config/parameter_reference.md#FW_SPOILERS_MAN).
|
||||
The source for the manual control can be RC or MAVLink.
|
||||
|
||||
::: warning
|
||||
The following method is not recommended, and will be removed in a future release.
|
||||
If using it you should migrate to using the AUX-based method.
|
||||
|
||||
It is also possible to define a flaps channel directly on the RC using [RC_MAP_FLAPS](../advanced_config/parameter_reference.md#RC_MAP_FLAPS).
|
||||
This channel can also be used to control the spoilers by setting [FW_SPOILERS_MAN](../advanced_config/parameter_reference.md#FW_SPOILERS_MAN) to `Flaps channel`.
|
||||
This method is not possible when the source for the manual control is MAVLink.
|
||||
:::
|
||||
|
||||
#### Actuator Roll, Pitch, and Yaw Scaling
|
||||
|
||||
::: info
|
||||
|
||||
+15
-14
@@ -314,23 +314,24 @@ The relevant parameters are shown below:
|
||||
|
||||
### Motor Failure Trigger
|
||||
|
||||
The failure detector can be configured to detect a motor failure while armed (and trigger an associated action) in the following conditions:
|
||||
The failure detector can be configured to detect a motor failure while armed (and trigger an associated action) if the ESC current falls outside expected bounds for more than [MOTFAIL_TIME](#MOTFAIL_TIME) seconds.
|
||||
Motor failures are non-latching: if the failure condition clears, the failure is cleared.
|
||||
|
||||
- A 300 ms timeout occurs in telemetry from an ESC that was previously available.
|
||||
- The input current in the telemetry of an ESC which was previously positive gets too low for more than [`FD_ACT_MOT_TOUT`](FD_ACT_MOT_TOUT) ms.
|
||||
The "too low" condition is defined by:
|
||||
The undercurrent and overcurrent conditions are defined by:
|
||||
|
||||
```text
|
||||
{esc current} < {parameter FD_ACT_MOT_C2T} * {motor command between 0 and 1}
|
||||
```
|
||||
```text
|
||||
undercurrent: {esc current} < {MOTFAIL_C2T} * {motor command [0,1]} - {MOTFAIL_LOW_OFF}
|
||||
overcurrent: {esc current} > {MOTFAIL_C2T} * {motor command [0,1]} + {MOTFAIL_HIGH_OFF}
|
||||
```
|
||||
|
||||
| Parameter | Description |
|
||||
| -------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
|
||||
| <a id="FD_ACT_MOT_THR"></a>[FD_ACT_MOT_THR](../advanced_config/parameter_reference.md#FD_ACT_MOT_THR) | Minimum normalized [0,1] motor command below which motor under current is ignored. |
|
||||
| <a id="FD_ACT_MOT_C2T"></a>[FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported current when the rotor is healthy. |
|
||||
| <a id="FD_ACT_MOT_TOUT"></a>[FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in milliseconds for which the under current detection condition needs to stay true. |
|
||||
| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
|
||||
| Parameter | Description |
|
||||
| ----------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
|
||||
| <a id="MOTFAIL_C2T"></a>[MOTFAIL_C2T](../advanced_config/parameter_reference.md#MOTFAIL_C2T) | Slope between normalized motor command [0–1] and expected steady-state current (FD_ACT_MOT_C2T at 100%) (A/%). |
|
||||
| <a id="MOTFAIL_LOW_OFF"></a>[MOTFAIL_LOW_OFF](../advanced_config/parameter_reference.md#MOTFAIL_LOW_OFF) | Undercurrent detection threshold offset (A). Subtracted from the expected current to form the lower bound. |
|
||||
| <a id="MOTFAIL_HIGH_OFF"></a>[MOTFAIL_HIGH_OFF](../advanced_config/parameter_reference.md#MOTFAIL_HIGH_OFF) | Overcurrent detection threshold offset (A). Added to the expected current to form the upper bound. |
|
||||
| <a id="MOTFAIL_TIME"></a>[MOTFAIL_TIME](../advanced_config/parameter_reference.md#MOTFAIL_TIME) | Hysteresis time (s) for which the current threshold must remain exceeded before a motor failure is triggered. |
|
||||
| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
|
||||
|
||||
### External Automatic Trigger System (ATS)
|
||||
|
||||
|
||||
@@ -23,7 +23,7 @@ The boards in this category are:
|
||||
- [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5)
|
||||
- [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (FMUv5)
|
||||
- [CUAV X25 EVO](../flight_controller/cuav_x25-evo.md)
|
||||
[CUAV X25 SUPER](../flight_controller/cuav_x25-super.md)
|
||||
- [CUAV X25 SUPER](../flight_controller/cuav_x25-super.md)
|
||||
- [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md)
|
||||
- [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md)
|
||||
- [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
|
||||
|
||||
@@ -9,7 +9,7 @@ The _X25-EVO_ is an advanced autopilot manufactured by CUAV<sup>®</sup>.
|
||||
|
||||
The autopilot is recommended for commercial system integration but is also suitable for academic research and any other applications.
|
||||
|
||||
|
||||
|
||||
|
||||
The X25-EVO brings you ultimate performance, stability, and reliability in every aspect.
|
||||
|
||||
@@ -19,12 +19,17 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
|
||||
|
||||
### Features
|
||||
|
||||
- Arm® Cortex-M7® processor (STM32H743XI) with Floating-Point Unit (FPU), operating at 480MHz, and featuring 2MB Flash memory. Enables developers to enhance productivity and efficiency, allowing for more complex algorithms and models.
|
||||
- Automotive-grade RM3100 compass. Designed for better stability and anti-interference capability.
|
||||
- Triple-redundant IMUs and dual-redundant barometers located on separate buses. If the PX4 autopilot detects a sensor failure, the system seamlessly switches to another sensor to maintain flight control reliability.
|
||||
- Independent LDO power control supplies power to each sensor group. A vibration isolation system filters high-frequency vibrations and reduces noise to ensure accurate readings, enabling better overall flight performance for the vehicle.
|
||||
- Arm® Cortex-M7® processor (STM32H743XI) with Floating-Point Unit (FPU), operating at 480MHz, and featuring 2MB Flash memory.
|
||||
Enables developers to enhance productivity and efficiency, allowing for more complex algorithms and models.
|
||||
- Automotive-grade RM3100 compass.
|
||||
Designed for better stability and anti-interference capability.
|
||||
- Triple-redundant IMUs and dual-redundant barometers located on separate buses.
|
||||
If the PX4 autopilot detects a sensor failure, the system seamlessly switches to another sensor to maintain flight control reliability.
|
||||
- Independent LDO power control supplies power to each sensor group.
|
||||
A vibration isolation system filters high-frequency vibrations and reduces noise to ensure accurate readings, enabling better overall flight performance for the vehicle.
|
||||
- Integrated Microchip Ethernet PHY for high-speed communication with onboard devices like mission computers via Ethernet.
|
||||
- Dual temperature compensation systems, located on the IMU board and FMU board respectively. Temperature is controlled by onboard heating resistors to achieve the optimal operating temperature for the IMUs.
|
||||
- Dual temperature compensation systems, located on the IMU board and FMU board respectively.
|
||||
Temperature is controlled by onboard heating resistors to achieve the optimal operating temperature for the IMUs.
|
||||
- PWM servo output voltage switchable between 3.3V or 5V.
|
||||
- Modular design for DIY carrier boards.
|
||||
|
||||
@@ -33,7 +38,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
|
||||
- Main Processor: STM32H743XI
|
||||
- 32-bit Arm® Cortex®-M7, 480MHz, 2MB Flash, 1MB RAM
|
||||
- Onboard Sensors:
|
||||
- Accel/Gyro: IIM42652\*2
|
||||
- Accel/Gyro: IIM42652 (x2)
|
||||
- Accel/Gyro: IIM42653
|
||||
- Magnetometer: RM3100
|
||||
- Barometer: BMP581
|
||||
@@ -47,14 +52,14 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
|
||||
- Servo Rail Input: 0~9.9V
|
||||
- Rated Current:
|
||||
- Total Output Max Current: 10A
|
||||
- TELEM1 and TELEM2 Output Current limiter: 4A
|
||||
- CAN1 and CAN2 Output Current limiter: 2.4A
|
||||
- `TELEM1` and `TELEM2` Output Current limiter: 4A
|
||||
- `CAN1` and `CAN2` Output Current limiter: 2.4A
|
||||
- Other Ports Output Current limiter: 1.5A
|
||||
|
||||
### Interfaces
|
||||
|
||||
- 16x PWM Servo Outputs
|
||||
- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus
|
||||
- 1x Dedicated R/C Input(`RC IN`) for Spektrum / DSM and S.Bus
|
||||
- 1x Analog/PWM RSSI Input
|
||||
- 2x TELEM Ports (with full flow control)
|
||||
- 1x UART4 Port
|
||||
@@ -83,7 +88,12 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
|
||||
|
||||
### Mechanical Data
|
||||
|
||||
- Not provided.
|
||||
- Weight
|
||||
- Flight Controller Module: 110g
|
||||
- Operating & storage temperature: -20 ~ 85°C
|
||||
- Dimensions:
|
||||
|
||||
|
||||
|
||||
## Purchase Channels {#store}
|
||||
|
||||
@@ -91,11 +101,11 @@ Order from [CUAV](https://store.cuav.net/).
|
||||
|
||||
## Assembly/Setup
|
||||
|
||||
- Not provided.
|
||||
The [X25 EVO Wiring Quick Start](../assembly/quick_start_cuav_x25_evo.md) provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
|
||||
|
||||
## Pin Definitions
|
||||
## Pinouts
|
||||
|
||||
- Not provided.
|
||||
|
||||
|
||||
## Serial Port Mapping
|
||||
|
||||
@@ -106,12 +116,34 @@ Order from [CUAV](https://store.cuav.net/).
|
||||
| USART3 | /dev/ttyS2 | Debug Console |
|
||||
| UART4 | /dev/ttyS3 | UART4 |
|
||||
| UART5 | /dev/ttyS4 | TELEM2 |
|
||||
| USART6 | /dev/ttyS5 | RC |
|
||||
| USART6 | /dev/ttyS5 | RC IN |
|
||||
| UART7 | /dev/ttyS6 | TELEM1 |
|
||||
|
||||
## PWM Outputs {#pwm_outputs}
|
||||
|
||||
This flight controller supports up to 16 FMU PWM outputs (MAIN).
|
||||
|
||||
Outputs:
|
||||
|
||||
- Outputs 1-8 support [DShot](../peripherals/dshot.md).
|
||||
- Outputs 9-16 do not support DShot.
|
||||
- Outputs 1-7 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
|
||||
- Output 8 supports Bidirectional DShot output only (no eRPM capture).
|
||||
|
||||
The 16 outputs are in 5 groups:
|
||||
|
||||
- Outputs 1-4 in group1 (Timer5)
|
||||
- Outputs 5-8 in group2 (Timer4)
|
||||
- Outputs 9-11 in group3 (Timer1)
|
||||
- Outputs 12-14 in group4 (Timer8)
|
||||
- Outputs 15-16 in group5 (Timer12)
|
||||
|
||||
All outputs within the same group must use the same output protocol and rate.
|
||||
|
||||
## Voltage Ratings
|
||||
|
||||
The _X25-EVO_ achieves triple redundancy on power supplies if three power sources are provided. The three power rails are POWERC1, POWERC2, and USB.
|
||||
The _X25-EVO_ achieves triple redundancy on power supplies if three power sources are provided.
|
||||
The three power rails are `POWERC1`, `POWERC2`, and `USB`.
|
||||
|
||||
- **POWER C1** and **POWER C2** are DroneCAN/UAVCAN battery interfaces.
|
||||
|
||||
@@ -154,7 +186,8 @@ The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debu
|
||||
|
||||
## Supported Platforms / Airframes
|
||||
|
||||
Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).
|
||||
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
|
||||
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
|
||||
|
||||
## Further info
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
# CUAV X25-SUPER
|
||||
|
||||
<Badge type="tip" text="PX4 v1.18)" />
|
||||
<Badge type="tip" text="PX4 v1.18" />
|
||||
|
||||
::: warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
@@ -21,12 +21,17 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
|
||||
|
||||
### Features
|
||||
|
||||
- Arm® Cortex-M7® processor (STM32H743XI) with Floating-Point Unit (FPU), operating at 480MHz, and featuring 2MB Flash memory. Enables developers to enhance productivity and efficiency, allowing for more complex algorithms and models.
|
||||
- Automotive-grade RM3100 compass. Designed for better stability and anti-interference capability.
|
||||
- Triple-redundant IMUs and dual-redundant barometers located on separate buses. If the PX4 autopilot detects a sensor failure, the system seamlessly switches to another sensor to maintain flight control reliability.
|
||||
- Independent LDO power control supplies power to each sensor group. A vibration isolation system filters high-frequency vibrations and reduces noise to ensure accurate readings, enabling better overall flight performance for the vehicle.
|
||||
- Arm® Cortex-M7® processor (STM32H743XI) with Floating-Point Unit (FPU), operating at 480MHz, and featuring 2MB Flash memory.
|
||||
Enables developers to enhance productivity and efficiency, allowing for more complex algorithms and models.
|
||||
- Automotive-grade RM3100 compass.
|
||||
Designed for better stability and anti-interference capability.
|
||||
- Triple-redundant IMUs and dual-redundant barometers located on separate buses.
|
||||
If the PX4 autopilot detects a sensor failure, the system seamlessly switches to another sensor to maintain flight control reliability.
|
||||
- Independent LDO power control supplies power to each sensor group.
|
||||
A vibration isolation system filters high-frequency vibrations and reduces noise to ensure accurate readings, enabling better overall flight performance for the vehicle.
|
||||
- Integrated Microchip Ethernet PHY for high-speed communication with onboard devices like mission computers via Ethernet.
|
||||
- Dual temperature compensation systems, located on the IMU board and FMU board respectively. Temperature is controlled by onboard heating resistors to achieve the optimal operating temperature for the IMUs.
|
||||
- Dual temperature compensation systems, located on the IMU board and FMU board respectively.
|
||||
Temperature is controlled by onboard heating resistors to achieve the optimal operating temperature for the IMUs.
|
||||
- PWM servo output voltage switchable between 3.3V or 5V.
|
||||
- Modular design for DIY carrier boards.
|
||||
|
||||
@@ -50,14 +55,14 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
|
||||
- Servo Rail Input: 0~9.9V
|
||||
- Rated Current:
|
||||
- Total Output Max Current: 10A
|
||||
- TELEM1 and TELEM2 Output Current limiter: 4A
|
||||
- CAN1 and CAN2 Output Current limiter: 2.4A
|
||||
- `TELEM1` and `TELEM2` Output Current limiter: 4A
|
||||
- `CAN1` and `CAN2` Output Current limiter: 2.4A
|
||||
- Other Ports Output Current limiter: 1.5A
|
||||
|
||||
### Interfaces
|
||||
|
||||
- 16x PWM Servo Outputs
|
||||
- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus
|
||||
- 1x Dedicated R/C Input(`RC IN`) for Spektrum / DSM and S.Bus
|
||||
- 1x Analog/PWM RSSI Input
|
||||
- 2x TELEM Ports (with full flow control)
|
||||
- 1x UART4 Port
|
||||
@@ -80,16 +85,15 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
|
||||
- DroneCAN/UAVCAN Power Input
|
||||
- 2x AD Ports
|
||||
- Analog Input (3.3V)
|
||||
- Analog Input (6.6V - not supported)
|
||||
- Analog Input (6.6V - not supported by PX4)
|
||||
- 1x Dedicated Debug Port
|
||||
- FMU Debug
|
||||
|
||||
### Mechanical Data
|
||||
|
||||
- Size
|
||||
- Flight controller
|
||||
- Dimensions:
|
||||
|
||||
|
||||
|
||||
|
||||
## Purchase Channels {#store}
|
||||
|
||||
@@ -97,7 +101,7 @@ Order from [CUAV](https://store.cuav.net/).
|
||||
|
||||
## Assembly/Setup
|
||||
|
||||
- Not provided.
|
||||
The [X25 SUPER Wiring Quick Start](../assembly/quick_start_cuav_x25_evo.md) provides instructions on how to assemble required/important peripherals including GPS, Power Module etc.
|
||||
|
||||
## Pinouts
|
||||
|
||||
@@ -113,7 +117,7 @@ Order from [CUAV](https://store.cuav.net/).
|
||||
| USART3 | /dev/ttyS2 | Debug Console |
|
||||
| UART4 | /dev/ttyS3 | UART4 |
|
||||
| UART5 | /dev/ttyS4 | TELEM2 |
|
||||
| USART6 | /dev/ttyS5 | RC |
|
||||
| USART6 | /dev/ttyS5 | RC IN |
|
||||
| UART7 | /dev/ttyS6 | TELEM1 |
|
||||
|
||||
## RC Input
|
||||
@@ -122,7 +126,8 @@ The RC input pin is directly connected to the FMU UART6 TX.
|
||||
|
||||
## Voltage Ratings
|
||||
|
||||
The _X25-SUPER_ achieves triple redundancy on power supplies if three power sources are provided. The three power rails are POWERC1, POWERC2, and USB.
|
||||
The _X25-SUPER_ achieves triple redundancy on power supplies if three power sources are provided.
|
||||
The three power rails are `POWERC1`, `POWERC2`, and `USB`.
|
||||
|
||||
- **POWER C1** and **POWER C2** are DroneCAN/UAVCAN battery interfaces.
|
||||
|
||||
@@ -140,13 +145,13 @@ Digital DroneCAN/UAVCAN battery monitoring is enabled by default.
|
||||
## Building Firmware
|
||||
|
||||
::: tip
|
||||
Most users will not need to build this firmware from PX4 v1.18.
|
||||
Most users will not need to build this firmware (from PX4 v1.18).
|
||||
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
|
||||
:::
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target, execute:
|
||||
|
||||
```
|
||||
```sh
|
||||
make cuav_x25-super_default
|
||||
```
|
||||
|
||||
|
||||
+198
-198
@@ -95,206 +95,206 @@ They are not build into the module, and hence are neither published or subscribe
|
||||
|
||||
::: details See messages
|
||||
|
||||
- [HomePositionV0](../msg_docs/HomePositionV0.md)
|
||||
- [GimbalControls](../msg_docs/GimbalControls.md)
|
||||
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
|
||||
- [GpioOut](../msg_docs/GpioOut.md)
|
||||
- [SensorAccel](../msg_docs/SensorAccel.md)
|
||||
- [AirspeedWind](../msg_docs/AirspeedWind.md)
|
||||
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
|
||||
- [DatamanResponse](../msg_docs/DatamanResponse.md)
|
||||
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
|
||||
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
|
||||
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
|
||||
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
|
||||
- [VehicleRoi](../msg_docs/VehicleRoi.md)
|
||||
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
|
||||
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
|
||||
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
|
||||
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
|
||||
- [DebugArray](../msg_docs/DebugArray.md)
|
||||
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
|
||||
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
|
||||
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
|
||||
- [RcChannels](../msg_docs/RcChannels.md)
|
||||
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
|
||||
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
|
||||
- [GainCompression](../msg_docs/GainCompression.md)
|
||||
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
|
||||
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
|
||||
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
|
||||
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
|
||||
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
|
||||
- [DebugValue](../msg_docs/DebugValue.md)
|
||||
- [GpioConfig](../msg_docs/GpioConfig.md)
|
||||
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
|
||||
- [GeofenceResult](../msg_docs/GeofenceResult.md)
|
||||
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
|
||||
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
|
||||
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
|
||||
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
|
||||
- [AdcReport](../msg_docs/AdcReport.md)
|
||||
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
|
||||
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
|
||||
- [CameraTrigger](../msg_docs/CameraTrigger.md)
|
||||
- [EscEepromRead](../msg_docs/EscEepromRead.md)
|
||||
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
|
||||
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
|
||||
- [VelocityLimits](../msg_docs/VelocityLimits.md)
|
||||
- [LedControl](../msg_docs/LedControl.md)
|
||||
- [DatamanRequest](../msg_docs/DatamanRequest.md)
|
||||
- [WheelEncoders](../msg_docs/WheelEncoders.md)
|
||||
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
|
||||
- [PowerButtonState](../msg_docs/PowerButtonState.md)
|
||||
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
|
||||
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
|
||||
- [RadioStatus](../msg_docs/RadioStatus.md)
|
||||
- [SensorTemp](../msg_docs/SensorTemp.md)
|
||||
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
|
||||
- [GpioRequest](../msg_docs/GpioRequest.md)
|
||||
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
|
||||
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
|
||||
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
|
||||
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
|
||||
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
|
||||
- [Mission](../msg_docs/Mission.md)
|
||||
- [SystemPower](../msg_docs/SystemPower.md)
|
||||
- [VehicleImu](../msg_docs/VehicleImu.md)
|
||||
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
|
||||
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
|
||||
- [QshellReq](../msg_docs/QshellReq.md)
|
||||
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
|
||||
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
|
||||
- [SensorSelection](../msg_docs/SensorSelection.md)
|
||||
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
|
||||
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
|
||||
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
|
||||
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
|
||||
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
|
||||
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
|
||||
- [SensorsStatus](../msg_docs/SensorsStatus.md)
|
||||
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
|
||||
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
|
||||
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
|
||||
- [RtlStatus](../msg_docs/RtlStatus.md)
|
||||
- [SensorUwb](../msg_docs/SensorUwb.md)
|
||||
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
|
||||
- [RaptorStatus](../msg_docs/RaptorStatus.md)
|
||||
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
|
||||
- [OrbTest](../msg_docs/OrbTest.md)
|
||||
- [TecsStatus](../msg_docs/TecsStatus.md)
|
||||
- [CameraStatus](../msg_docs/CameraStatus.md)
|
||||
- [GpsDump](../msg_docs/GpsDump.md)
|
||||
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
|
||||
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
|
||||
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
|
||||
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
|
||||
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
|
||||
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
|
||||
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
|
||||
- [MissionResult](../msg_docs/MissionResult.md)
|
||||
- [LogMessage](../msg_docs/LogMessage.md)
|
||||
- [QshellRetval](../msg_docs/QshellRetval.md)
|
||||
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
|
||||
- [IrlockReport](../msg_docs/IrlockReport.md)
|
||||
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
|
||||
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
|
||||
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
|
||||
- [ButtonEvent](../msg_docs/ButtonEvent.md)
|
||||
- [SensorCorrection](../msg_docs/SensorCorrection.md)
|
||||
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
|
||||
- [DeviceInformation](../msg_docs/DeviceInformation.md)
|
||||
- [Gripper](../msg_docs/Gripper.md)
|
||||
- [SensorMag](../msg_docs/SensorMag.md)
|
||||
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
|
||||
- [EscReport](../msg_docs/EscReport.md)
|
||||
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
|
||||
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
|
||||
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
|
||||
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
|
||||
- [MagWorkerData](../msg_docs/MagWorkerData.md)
|
||||
- [EstimatorStates](../msg_docs/EstimatorStates.md)
|
||||
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
|
||||
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
|
||||
- [Cpuload](../msg_docs/Cpuload.md)
|
||||
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
|
||||
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
|
||||
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
|
||||
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
|
||||
- [PpsCapture](../msg_docs/PpsCapture.md)
|
||||
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
|
||||
- [Event](../msg_docs/Event.md)
|
||||
- [GpioIn](../msg_docs/GpioIn.md)
|
||||
- [PowerMonitor](../msg_docs/PowerMonitor.md)
|
||||
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
|
||||
- [RaptorInput](../msg_docs/RaptorInput.md)
|
||||
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
|
||||
- [ActionRequest](../msg_docs/ActionRequest.md)
|
||||
- [ActuatorTest](../msg_docs/ActuatorTest.md)
|
||||
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
|
||||
- [SensorBaro](../msg_docs/SensorBaro.md)
|
||||
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
|
||||
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
|
||||
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
|
||||
- [SensorGyro](../msg_docs/SensorGyro.md)
|
||||
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
|
||||
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
|
||||
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
|
||||
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
|
||||
- [MountOrientation](../msg_docs/MountOrientation.md)
|
||||
- [HealthReport](../msg_docs/HealthReport.md)
|
||||
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
|
||||
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
|
||||
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
|
||||
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
|
||||
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
|
||||
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
|
||||
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
|
||||
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
|
||||
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
|
||||
- [HeaterStatus](../msg_docs/HeaterStatus.md)
|
||||
- [UlogStream](../msg_docs/UlogStream.md)
|
||||
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
|
||||
- [PwmInput](../msg_docs/PwmInput.md)
|
||||
- [EventV0](../msg_docs/EventV0.md)
|
||||
- [FollowTarget](../msg_docs/FollowTarget.md)
|
||||
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
|
||||
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
|
||||
- [Ping](../msg_docs/Ping.md)
|
||||
- [RcParameterMap](../msg_docs/RcParameterMap.md)
|
||||
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
|
||||
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
|
||||
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
|
||||
- [Airspeed](../msg_docs/Airspeed.md)
|
||||
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
|
||||
- [BatteryInfo](../msg_docs/BatteryInfo.md)
|
||||
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
|
||||
- [LoggerStatus](../msg_docs/LoggerStatus.md)
|
||||
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
|
||||
- [CellularStatus](../msg_docs/CellularStatus.md)
|
||||
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
|
||||
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
|
||||
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
|
||||
- [MavlinkLog](../msg_docs/MavlinkLog.md)
|
||||
- [GpsInjectData](../msg_docs/GpsInjectData.md)
|
||||
- [InputRc](../msg_docs/InputRc.md)
|
||||
- [DebugVect](../msg_docs/DebugVect.md)
|
||||
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
|
||||
- [SensorAirflow](../msg_docs/SensorAirflow.md)
|
||||
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
|
||||
- [EscStatus](../msg_docs/EscStatus.md)
|
||||
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
|
||||
- [Vtx](../msg_docs/Vtx.md)
|
||||
- [RangingBeacon](../msg_docs/RangingBeacon.md)
|
||||
- [NeuralControl](../msg_docs/NeuralControl.md)
|
||||
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
|
||||
- [OrbitStatus](../msg_docs/OrbitStatus.md)
|
||||
- [VehicleAirData](../msg_docs/VehicleAirData.md)
|
||||
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
|
||||
- [Rpm](../msg_docs/Rpm.md)
|
||||
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
|
||||
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
|
||||
- [CameraCapture](../msg_docs/CameraCapture.md)
|
||||
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
|
||||
- [FollowTarget](../msg_docs/FollowTarget.md)
|
||||
- [EstimatorBias](../msg_docs/EstimatorBias.md)
|
||||
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
|
||||
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
|
||||
- [LedControl](../msg_docs/LedControl.md)
|
||||
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
|
||||
- [VelocityLimits](../msg_docs/VelocityLimits.md)
|
||||
- [QshellReq](../msg_docs/QshellReq.md)
|
||||
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
|
||||
- [SystemPower](../msg_docs/SystemPower.md)
|
||||
- [UlogStream](../msg_docs/UlogStream.md)
|
||||
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
|
||||
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
|
||||
- [DeviceInformation](../msg_docs/DeviceInformation.md)
|
||||
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
|
||||
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
|
||||
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
|
||||
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
|
||||
- [HeaterStatus](../msg_docs/HeaterStatus.md)
|
||||
- [WheelEncoders](../msg_docs/WheelEncoders.md)
|
||||
- [GpioIn](../msg_docs/GpioIn.md)
|
||||
- [CameraTrigger](../msg_docs/CameraTrigger.md)
|
||||
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
|
||||
- [RcParameterMap](../msg_docs/RcParameterMap.md)
|
||||
- [SensorSelection](../msg_docs/SensorSelection.md)
|
||||
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
|
||||
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
|
||||
- [PpsCapture](../msg_docs/PpsCapture.md)
|
||||
- [DatamanResponse](../msg_docs/DatamanResponse.md)
|
||||
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
|
||||
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
|
||||
- [AirspeedWind](../msg_docs/AirspeedWind.md)
|
||||
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
|
||||
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
|
||||
- [OrbTest](../msg_docs/OrbTest.md)
|
||||
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
|
||||
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
|
||||
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
|
||||
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
|
||||
- [VehicleImu](../msg_docs/VehicleImu.md)
|
||||
- [EventV0](../msg_docs/EventV0.md)
|
||||
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
|
||||
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
|
||||
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
|
||||
- [EscReport](../msg_docs/EscReport.md)
|
||||
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
|
||||
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
|
||||
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
|
||||
- [Ping](../msg_docs/Ping.md)
|
||||
- [BatteryInfo](../msg_docs/BatteryInfo.md)
|
||||
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
|
||||
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
|
||||
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
|
||||
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
|
||||
- [DebugValue](../msg_docs/DebugValue.md)
|
||||
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
|
||||
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
|
||||
- [SensorUwb](../msg_docs/SensorUwb.md)
|
||||
- [Gripper](../msg_docs/Gripper.md)
|
||||
- [CameraStatus](../msg_docs/CameraStatus.md)
|
||||
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
|
||||
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
|
||||
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
|
||||
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
|
||||
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
|
||||
- [RaptorStatus](../msg_docs/RaptorStatus.md)
|
||||
- [InputRc](../msg_docs/InputRc.md)
|
||||
- [Mission](../msg_docs/Mission.md)
|
||||
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
|
||||
- [GpioConfig](../msg_docs/GpioConfig.md)
|
||||
- [Rpm](../msg_docs/Rpm.md)
|
||||
- [IrlockReport](../msg_docs/IrlockReport.md)
|
||||
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
|
||||
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
|
||||
- [HomePositionV0](../msg_docs/HomePositionV0.md)
|
||||
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
|
||||
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
|
||||
- [NeuralControl](../msg_docs/NeuralControl.md)
|
||||
- [CameraCapture](../msg_docs/CameraCapture.md)
|
||||
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
|
||||
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
|
||||
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
|
||||
- [RcChannels](../msg_docs/RcChannels.md)
|
||||
- [GpioOut](../msg_docs/GpioOut.md)
|
||||
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
|
||||
- [TuneControl](../msg_docs/TuneControl.md)
|
||||
- [SensorTemp](../msg_docs/SensorTemp.md)
|
||||
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
|
||||
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
|
||||
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
|
||||
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
|
||||
- [PowerButtonState](../msg_docs/PowerButtonState.md)
|
||||
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
|
||||
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
|
||||
- [Cpuload](../msg_docs/Cpuload.md)
|
||||
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
|
||||
- [EscEepromRead](../msg_docs/EscEepromRead.md)
|
||||
- [MavlinkLog](../msg_docs/MavlinkLog.md)
|
||||
- [QshellRetval](../msg_docs/QshellRetval.md)
|
||||
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
|
||||
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
|
||||
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
|
||||
- [GpsDump](../msg_docs/GpsDump.md)
|
||||
- [LoggerStatus](../msg_docs/LoggerStatus.md)
|
||||
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
|
||||
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
|
||||
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
|
||||
- [PowerMonitor](../msg_docs/PowerMonitor.md)
|
||||
- [VehicleRoi](../msg_docs/VehicleRoi.md)
|
||||
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
|
||||
- [Airspeed](../msg_docs/Airspeed.md)
|
||||
- [RangingBeacon](../msg_docs/RangingBeacon.md)
|
||||
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
|
||||
- [MissionResult](../msg_docs/MissionResult.md)
|
||||
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
|
||||
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
|
||||
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
|
||||
- [EscStatus](../msg_docs/EscStatus.md)
|
||||
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
|
||||
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
|
||||
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
|
||||
- [RadioStatus](../msg_docs/RadioStatus.md)
|
||||
- [SensorAccel](../msg_docs/SensorAccel.md)
|
||||
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
|
||||
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
|
||||
- [GpsInjectData](../msg_docs/GpsInjectData.md)
|
||||
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
|
||||
- [GainCompression](../msg_docs/GainCompression.md)
|
||||
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
|
||||
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
|
||||
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
|
||||
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
|
||||
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
|
||||
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
|
||||
- [MagWorkerData](../msg_docs/MagWorkerData.md)
|
||||
- [ButtonEvent](../msg_docs/ButtonEvent.md)
|
||||
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
|
||||
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
|
||||
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
|
||||
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
|
||||
- [PwmInput](../msg_docs/PwmInput.md)
|
||||
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
|
||||
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
|
||||
- [VehicleAirData](../msg_docs/VehicleAirData.md)
|
||||
- [MountOrientation](../msg_docs/MountOrientation.md)
|
||||
- [RaptorInput](../msg_docs/RaptorInput.md)
|
||||
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
|
||||
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
|
||||
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
|
||||
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
|
||||
- [OrbitStatus](../msg_docs/OrbitStatus.md)
|
||||
- [GpioRequest](../msg_docs/GpioRequest.md)
|
||||
- [SensorsStatus](../msg_docs/SensorsStatus.md)
|
||||
- [Vtx](../msg_docs/Vtx.md)
|
||||
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
|
||||
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
|
||||
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
|
||||
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
|
||||
- [SensorBaro](../msg_docs/SensorBaro.md)
|
||||
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
|
||||
- [Event](../msg_docs/Event.md)
|
||||
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
|
||||
- [ActuatorTest](../msg_docs/ActuatorTest.md)
|
||||
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
|
||||
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
|
||||
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
|
||||
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
|
||||
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
|
||||
- [RtlStatus](../msg_docs/RtlStatus.md)
|
||||
- [DebugArray](../msg_docs/DebugArray.md)
|
||||
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
|
||||
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
|
||||
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
|
||||
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
|
||||
- [LogMessage](../msg_docs/LogMessage.md)
|
||||
- [TecsStatus](../msg_docs/TecsStatus.md)
|
||||
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
|
||||
- [DatamanRequest](../msg_docs/DatamanRequest.md)
|
||||
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
|
||||
- [ActionRequest](../msg_docs/ActionRequest.md)
|
||||
- [SensorMag](../msg_docs/SensorMag.md)
|
||||
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
|
||||
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
|
||||
- [HealthReport](../msg_docs/HealthReport.md)
|
||||
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
|
||||
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
|
||||
- [DebugVect](../msg_docs/DebugVect.md)
|
||||
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
|
||||
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
|
||||
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
|
||||
- [SensorGyro](../msg_docs/SensorGyro.md)
|
||||
- [GimbalControls](../msg_docs/GimbalControls.md)
|
||||
- [EstimatorStates](../msg_docs/EstimatorStates.md)
|
||||
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
|
||||
- [GeofenceResult](../msg_docs/GeofenceResult.md)
|
||||
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
|
||||
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
|
||||
- [SensorCorrection](../msg_docs/SensorCorrection.md)
|
||||
- [AdcReport](../msg_docs/AdcReport.md)
|
||||
:::
|
||||
|
||||
File diff suppressed because one or more lines are too long
Binary file not shown.
File diff suppressed because one or more lines are too long
@@ -80,6 +80,11 @@ __EXPORT ssize_t px4_mtd_get_partition_size(const mtd_instance_s *instance, cons
|
||||
int px4_at24c_initialize(FAR struct i2c_master_s *dev,
|
||||
uint8_t address, FAR struct mtd_dev_s **mtd_dev);
|
||||
|
||||
/*
|
||||
Update the page count of an already-initialised device.
|
||||
*/
|
||||
int px4_at24c_set_npages(FAR struct mtd_dev_s *dev, uint16_t npages);
|
||||
|
||||
void px4_at24c_deinitialize(void);
|
||||
|
||||
int flexspi_attach(mtd_instance_s *instance);
|
||||
|
||||
@@ -618,6 +618,13 @@ int px4_at24c_initialize(FAR struct i2c_master_s *dev,
|
||||
return 0;
|
||||
}
|
||||
|
||||
int px4_at24c_set_npages(FAR struct mtd_dev_s *dev, uint16_t npages)
|
||||
{
|
||||
FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev;
|
||||
priv->npages = npages;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*
|
||||
* XXX: debug hackery
|
||||
*/
|
||||
|
||||
+5
-18
@@ -103,31 +103,18 @@ void TECSAirspeedFilter::update(const float dt, const Input &input, const Param
|
||||
new_state_predicted(0) = _airspeed_state.speed + dt * _airspeed_state.speed_rate;
|
||||
new_state_predicted(1) = _airspeed_state.speed_rate;
|
||||
|
||||
const float airspeed_noise_inv{1.0f / param.airspeed_measurement_std_dev};
|
||||
const float airspeed_rate_noise_inv{1.0f / param.airspeed_rate_measurement_std_dev};
|
||||
const float airspeed_rate_noise_inv_squared_process_noise{airspeed_rate_noise_inv *airspeed_rate_noise_inv * param.airspeed_rate_noise_std_dev};
|
||||
const float denom{airspeed_noise_inv + airspeed_rate_noise_inv_squared_process_noise};
|
||||
const float common_nom{std::sqrt(param.airspeed_rate_noise_std_dev * (2.0f * airspeed_noise_inv + airspeed_rate_noise_inv_squared_process_noise))};
|
||||
|
||||
matrix::Matrix<float, 2, 2> kalman_gain;
|
||||
kalman_gain(0, 0) = airspeed_noise_inv * common_nom / denom;
|
||||
kalman_gain(0, 1) = airspeed_rate_noise_inv_squared_process_noise / denom;
|
||||
kalman_gain(1, 0) = airspeed_noise_inv * airspeed_noise_inv * param.airspeed_rate_noise_std_dev / denom;
|
||||
kalman_gain(1, 1) = airspeed_rate_noise_inv_squared_process_noise * common_nom / denom;
|
||||
|
||||
const matrix::Vector2f innovation{(airspeed - new_state_predicted(0)), (airspeed_derivative - new_state_predicted(1))};
|
||||
|
||||
matrix::Vector2f new_state;
|
||||
new_state = new_state_predicted + dt * (kalman_gain * (innovation));
|
||||
new_state(0) = new_state_predicted(0) + dt * (kKg00 * innovation(0) + kKg01 * innovation(1));
|
||||
new_state(1) = new_state_predicted(1) + dt * (kKg10 * innovation(0) + kKg11 * innovation(1));
|
||||
|
||||
// Clip airspeed at zero
|
||||
if (new_state(0) < FLT_EPSILON) {
|
||||
new_state(0) = 0.0f;
|
||||
// calculate input that would result in zero speed.
|
||||
const float desired_airspeed_innovation = (-new_state_predicted(0) / dt - kalman_gain(0,
|
||||
1) * innovation(1)) / kalman_gain(0,
|
||||
0);
|
||||
new_state(1) = new_state_predicted(1) + dt * (kalman_gain(1, 0) * desired_airspeed_innovation + kalman_gain(1,
|
||||
1) * innovation(1));
|
||||
const float desired_airspeed_innovation = (-new_state_predicted(0) / dt - kKg01 * innovation(1)) / kKg00;
|
||||
new_state(1) = new_state_predicted(1) + dt * (kKg10 * desired_airspeed_innovation + kKg11 * innovation(1));
|
||||
}
|
||||
|
||||
// Update states
|
||||
|
||||
+17
-9
@@ -70,9 +70,6 @@ public:
|
||||
*/
|
||||
struct Param {
|
||||
float equivalent_airspeed_trim; ///< the trim value of the equivalent airspeed [m/s].
|
||||
float airspeed_measurement_std_dev; ///< airspeed measurement standard deviation in [m/s].
|
||||
float airspeed_rate_measurement_std_dev;///< airspeed rate measurement standard deviation in [m/s²].
|
||||
float airspeed_rate_noise_std_dev; ///< standard deviation on the airspeed rate deviation in the model in [m/s²].
|
||||
};
|
||||
|
||||
/**
|
||||
@@ -116,6 +113,23 @@ public:
|
||||
private:
|
||||
// States
|
||||
AirspeedFilterState _airspeed_state{.speed = 0.0f, .speed_rate = 0.0f}; ///< Complimentary filter state
|
||||
|
||||
static constexpr float kAirspeedMeasurementStdDev{0.07f}; ///< Airspeed measurement standard deviation [m/s].
|
||||
static constexpr float kAirspeedRateMeasurementStdDev{0.2f}; ///< Airspeed rate measurement standard deviation [m/s²].
|
||||
static constexpr float kAirspeedRateNoiseStdDev{0.2f}; ///< Standard deviation of the airspeed rate process noise [m/s²].
|
||||
|
||||
// Intermediate values for the steady-state Kalman gain (all compile-time constants)
|
||||
static constexpr float _kNoiseInv{1.0f / kAirspeedMeasurementStdDev};
|
||||
static constexpr float _kRateNoiseInv{1.0f / kAirspeedRateMeasurementStdDev};
|
||||
static constexpr float _kRateInvSqProc{_kRateNoiseInv *_kRateNoiseInv * kAirspeedRateNoiseStdDev};
|
||||
static constexpr float _kDenom{_kNoiseInv + _kRateInvSqProc};
|
||||
static constexpr float _kCommonNom{__builtin_sqrtf(kAirspeedRateNoiseStdDev * (2.0f * _kNoiseInv + _kRateInvSqProc))};
|
||||
|
||||
/// Steady-state Kalman gain entries, fixed because the noise constants are fixed.
|
||||
static constexpr float kKg00{_kNoiseInv *_kCommonNom / _kDenom};
|
||||
static constexpr float kKg01{_kRateInvSqProc / _kDenom};
|
||||
static constexpr float kKg10{_kNoiseInv *_kNoiseInv *kAirspeedRateNoiseStdDev / _kDenom};
|
||||
static constexpr float kKg11{_kRateInvSqProc *_kCommonNom / _kDenom};
|
||||
};
|
||||
|
||||
class TECSAltitudeReferenceModel
|
||||
@@ -598,9 +612,6 @@ public:
|
||||
void set_detect_underspeed_enabled(bool enabled) { _control_flag.detect_underspeed_enabled = enabled; };
|
||||
|
||||
// setters for parameters
|
||||
void set_airspeed_measurement_std_dev(float std_dev) {_airspeed_filter_param.airspeed_measurement_std_dev = std_dev;};
|
||||
void set_airspeed_rate_measurement_std_dev(float std_dev) {_airspeed_filter_param.airspeed_rate_measurement_std_dev = std_dev;};
|
||||
void set_airspeed_filter_process_std_dev(float std_dev) {_airspeed_filter_param.airspeed_rate_noise_std_dev = std_dev;};
|
||||
|
||||
void set_integrator_gain_throttle(float gain) { _control_param.integrator_gain_throttle = gain;};
|
||||
void set_integrator_gain_pitch(float gain) { _control_param.integrator_gain_pitch = gain; };
|
||||
@@ -710,9 +721,6 @@ private:
|
||||
/// Airspeed filter parameters.
|
||||
TECSAirspeedFilter::Param _airspeed_filter_param{
|
||||
.equivalent_airspeed_trim = 15.0f,
|
||||
.airspeed_measurement_std_dev = 0.2f,
|
||||
.airspeed_rate_measurement_std_dev = 0.05f,
|
||||
.airspeed_rate_noise_std_dev = 0.02f
|
||||
};
|
||||
/// Reference model parameters.
|
||||
TECSAltitudeReferenceModel::Param _reference_param{
|
||||
|
||||
@@ -307,19 +307,16 @@ void FixedwingAttitudeControl::Run()
|
||||
// Turn coordination
|
||||
const float V = math::max(get_airspeed_constrained(), 0.1f);
|
||||
const float q1 = 2.f * (q_current(0) * q_current(1) + q_current(2) * q_current(3)); // equivalent to 2.f * sin(roll) * cos(pitch)
|
||||
const float r_tc_ff = CONSTANTS_ONE_G * q1 / V;
|
||||
const float p_tc_ff = q1 * r_tc_ff / (1.f - 2.f * q_current(1) * q_current(1) - 2.f * q_current(2) * q_current(2));
|
||||
|
||||
body_rates_setpoint(1) += p_tc_ff;
|
||||
body_rates_setpoint(2) += r_tc_ff;
|
||||
const float yawrate_ff = CONSTANTS_ONE_G * q1 / V;
|
||||
const float pitchrate_ff = q1 * yawrate_ff / (1.f - 2.f * q_current(1) * q_current(1) - 2.f * q_current(2) * q_current(2));
|
||||
|
||||
// Limit turn coordination to normal flight envelope
|
||||
const float cos_tilt = 1.f - 2.f * (q_current(1) * q_current(1) + q_current(2) * q_current(2));
|
||||
const float tilt = acosf(math::constrain((cos_tilt), -1.f, 1.f));
|
||||
const float ff_scale = math::interpolate(tilt, radians(70.f), radians(75.f), 1.f, 0.f);
|
||||
|
||||
body_rates_setpoint(1) += ff_scale * p_tc_ff;
|
||||
body_rates_setpoint(2) += ff_scale * r_tc_ff;
|
||||
body_rates_setpoint(1) += ff_scale * pitchrate_ff;
|
||||
body_rates_setpoint(2) += ff_scale * yawrate_ff;
|
||||
|
||||
body_rates_setpoint(0) = math::constrain(body_rates_setpoint(0), -radians(_param_fw_r_rmax.get()), radians(_param_fw_r_rmax.get()));
|
||||
body_rates_setpoint(1) = math::constrain(body_rates_setpoint(1), -radians(_param_fw_p_rmax_neg.get()), radians(_param_fw_p_rmax_pos.get()));
|
||||
|
||||
@@ -110,9 +110,6 @@ FwLateralLongitudinalControl::parameters_update()
|
||||
_tecs.set_airspeed_error_time_constant(_param_fw_t_tas_error_tc.get());
|
||||
_tecs.set_ste_rate_time_const(_param_ste_rate_time_const.get());
|
||||
_tecs.set_seb_rate_ff_gain(_param_seb_rate_ff.get());
|
||||
_tecs.set_airspeed_measurement_std_dev(_param_speed_standard_dev.get());
|
||||
_tecs.set_airspeed_rate_measurement_std_dev(_param_speed_rate_standard_dev.get());
|
||||
_tecs.set_airspeed_filter_process_std_dev(_param_process_noise_standard_dev.get());
|
||||
|
||||
_roll_slew_rate.setSlewRate(radians(_param_fw_pn_r_slew_max.get()));
|
||||
|
||||
|
||||
@@ -160,9 +160,6 @@ private:
|
||||
(ParamFloat<px4::params::FW_T_STE_R_TC>) _param_ste_rate_time_const,
|
||||
(ParamFloat<px4::params::FW_T_SEB_R_FF>) _param_seb_rate_ff,
|
||||
(ParamFloat<px4::params::FW_T_SPDWEIGHT>) _param_t_spdweight,
|
||||
(ParamFloat<px4::params::FW_T_SPD_STD>) _param_speed_standard_dev,
|
||||
(ParamFloat<px4::params::FW_T_SPD_DEV_STD>) _param_speed_rate_standard_dev,
|
||||
(ParamFloat<px4::params::FW_T_SPD_PRC_STD>) _param_process_noise_standard_dev,
|
||||
(ParamFloat<px4::params::FW_T_CLMB_R_SP>) _param_climbrate_target,
|
||||
(ParamFloat<px4::params::FW_T_SINK_R_SP>) _param_sinkrate_target,
|
||||
(ParamFloat<px4::params::FW_THR_MAX>) _param_fw_thr_max,
|
||||
|
||||
@@ -103,41 +103,6 @@ parameters:
|
||||
max: 10.0
|
||||
decimal: 1
|
||||
increment: 0.5
|
||||
FW_T_SPD_STD:
|
||||
description:
|
||||
short: Airspeed measurement standard deviation
|
||||
long: For the airspeed filter in TECS.
|
||||
type: float
|
||||
default: 0.07
|
||||
unit: m/s
|
||||
min: 0.01
|
||||
max: 10.0
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
FW_T_SPD_DEV_STD:
|
||||
description:
|
||||
short: Airspeed rate measurement standard deviation
|
||||
long: For the airspeed filter in TECS.
|
||||
type: float
|
||||
default: 0.2
|
||||
unit: m/s^2
|
||||
min: 0.01
|
||||
max: 10.0
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
FW_T_SPD_PRC_STD:
|
||||
description:
|
||||
short: Process noise standard deviation for the airspeed rate
|
||||
long: |-
|
||||
This is defining the noise in the airspeed rate for the constant airspeed rate model
|
||||
of the TECS airspeed filter.
|
||||
type: float
|
||||
default: 0.2
|
||||
unit: m/s^2
|
||||
min: 0.01
|
||||
max: 10.0
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
FW_T_RLL2THR:
|
||||
description:
|
||||
short: Roll -> Throttle feedforward
|
||||
|
||||
@@ -469,9 +469,35 @@ void FixedwingRateControl::Run()
|
||||
// Flaps control
|
||||
float flaps_control = 0.f; // default to no flaps
|
||||
|
||||
/* map flaps by default to manual if valid */
|
||||
if (PX4_ISFINITE(_manual_control_setpoint.flaps)) {
|
||||
flaps_control = math::max(_manual_control_setpoint.flaps, 0.f); // do not consider negative switch settings
|
||||
switch (_param_fw_flaps_man.get()) { // do not consider negative switch settings
|
||||
case 0:
|
||||
break;
|
||||
|
||||
case 1:
|
||||
flaps_control = PX4_ISFINITE(_manual_control_setpoint.aux1) ? math::max(_manual_control_setpoint.aux1, 0.f) : 0.f;
|
||||
break;
|
||||
|
||||
case 2:
|
||||
flaps_control = PX4_ISFINITE(_manual_control_setpoint.aux2) ? math::max(_manual_control_setpoint.aux2, 0.f) : 0.f;
|
||||
break;
|
||||
|
||||
case 3:
|
||||
flaps_control = PX4_ISFINITE(_manual_control_setpoint.aux3) ? math::max(_manual_control_setpoint.aux3, 0.f) : 0.f;
|
||||
break;
|
||||
|
||||
case 4:
|
||||
flaps_control = PX4_ISFINITE(_manual_control_setpoint.aux4) ? math::max(_manual_control_setpoint.aux4, 0.f) : 0.f;
|
||||
break;
|
||||
|
||||
case 5:
|
||||
flaps_control = PX4_ISFINITE(_manual_control_setpoint.aux5) ? math::max(_manual_control_setpoint.aux5, 0.f) : 0.f;
|
||||
break;
|
||||
|
||||
case 6:
|
||||
flaps_control = PX4_ISFINITE(_manual_control_setpoint.flaps) ? math::max(_manual_control_setpoint.flaps, 0.f) : 0.f;
|
||||
break;
|
||||
|
||||
|
||||
}
|
||||
|
||||
normalized_unsigned_setpoint_s flaps_setpoint;
|
||||
@@ -482,19 +508,29 @@ void FixedwingRateControl::Run()
|
||||
// Spoilers control
|
||||
float spoilers_control = 0.f; // default to no spoilers
|
||||
|
||||
switch (_param_fw_spoilers_man.get()) {
|
||||
switch (_param_fw_spoilers_man.get()) { // do not consider negative switch settings
|
||||
case 0:
|
||||
break;
|
||||
|
||||
case 1:
|
||||
// do not consider negative switch settings
|
||||
spoilers_control = PX4_ISFINITE(_manual_control_setpoint.flaps) ? math::max(_manual_control_setpoint.flaps, 0.f) : 0.f;
|
||||
break;
|
||||
|
||||
case 2:
|
||||
// do not consider negative switch settings
|
||||
spoilers_control = PX4_ISFINITE(_manual_control_setpoint.aux1) ? math::max(_manual_control_setpoint.aux1, 0.f) : 0.f;
|
||||
break;
|
||||
|
||||
case 3:
|
||||
spoilers_control = PX4_ISFINITE(_manual_control_setpoint.aux2) ? math::max(_manual_control_setpoint.aux2, 0.f) : 0.f;
|
||||
break;
|
||||
|
||||
case 4:
|
||||
spoilers_control = PX4_ISFINITE(_manual_control_setpoint.aux3) ? math::max(_manual_control_setpoint.aux3, 0.f) : 0.f;
|
||||
break;
|
||||
|
||||
case 5:
|
||||
spoilers_control = PX4_ISFINITE(_manual_control_setpoint.aux4) ? math::max(_manual_control_setpoint.aux4, 0.f) : 0.f;
|
||||
break;
|
||||
}
|
||||
|
||||
normalized_unsigned_setpoint_s spoilers_setpoint;
|
||||
|
||||
@@ -213,7 +213,8 @@ private:
|
||||
(ParamFloat<px4::params::TRIM_ROLL>) _param_trim_roll,
|
||||
(ParamFloat<px4::params::TRIM_YAW>) _param_trim_yaw,
|
||||
|
||||
(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man
|
||||
(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man,
|
||||
(ParamInt<px4::params::FW_FLAPS_MAN>) _param_fw_flaps_man
|
||||
)
|
||||
|
||||
RateControl _rate_control; ///< class for rate control calculations
|
||||
|
||||
@@ -326,6 +326,24 @@ parameters:
|
||||
0: Disabled
|
||||
1: Flaps channel
|
||||
2: Aux1
|
||||
3: Aux2
|
||||
4: Aux3
|
||||
5: Aux4
|
||||
6: Aux5
|
||||
default: 0
|
||||
FW_FLAPS_MAN:
|
||||
description:
|
||||
short: Flap input in manual flight
|
||||
long: Chose source for manual setting of flaps in manual flight modes.
|
||||
type: enum
|
||||
values:
|
||||
0: Disabled
|
||||
1: Aux1
|
||||
2: Aux2
|
||||
3: Aux3
|
||||
4: Aux4
|
||||
5: Aux5
|
||||
6: Flaps channel
|
||||
default: 0
|
||||
FW_ACRO_YAW_EN:
|
||||
description:
|
||||
|
||||
@@ -141,7 +141,9 @@ MavlinkFTP::_process_request(
|
||||
mavlink_file_transfer_protocol_t *last_reply = reinterpret_cast<mavlink_file_transfer_protocol_t *>(_last_reply);
|
||||
PayloadHeader *last_payload = reinterpret_cast<PayloadHeader *>(&last_reply->payload[0]);
|
||||
|
||||
if (payload->seq_number + 1 == last_payload->seq_number) {
|
||||
if (payload->seq_number + 1 == last_payload->seq_number
|
||||
&& last_reply->target_system == target_system_id
|
||||
&& last_reply->target_component == target_comp_id) {
|
||||
// this is the same request as the one we replied to last. It means the (n)ack got lost, and the GCS
|
||||
// resent the request
|
||||
mavlink_msg_file_transfer_protocol_send_struct(_mavlink.get_channel(), last_reply);
|
||||
|
||||
Reference in New Issue
Block a user