Basic gps base station app

Start gps base board config
FW Attitdue controller: fix throttle in acro (use _rate_sp.throttle_body) (#20330 )
2026-08-20 15:30:35 +08:00 · 2022-09-30 21:41:17 -06:00 · 2022-09-30 20:51:58 -06:00 · 2022-09-30 13:45:20 +02:00 · 2022-09-29 14:25:16 -04:00 · 2022-09-29 14:23:16 -04:00
249 changed files with 5895 additions and 3869 deletions
@@ -23,6 +23,7 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
+          "NO_NINJA_BUILD=1 px4_sitl_gps_base",
          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
          "airframe_metadata",
          "module_documentation",
@@ -6,6 +6,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
+    px4_sitl_gps_base:
+      short: px4_sitl_gps_base
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_gps_base
    px4_sitl_rtps:
      short: px4_sitl_rtps
      buildType: RelWithDebInfo
@@ -218,10 +218,10 @@
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
-                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/ignition/models",
+                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
                }
            },
-            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/ignition/worlds/${input:ignWorld}.sdf",
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -342,8 +342,8 @@
    "inputs": [
        {
            "type": "pickString",
-            "id": "ignWorld",
-            "description": "Ignition world",
+            "id": "gzWorld",
+            "description": "gz world",
            "options": [
                "default"
            ],
@@ -0,0 +1,70 @@
+#!/bin/sh
+#
+# @name Advanced Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_MAN_P_MAX 30
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+#param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom
@@ -61,6 +61,7 @@ param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

+param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6

@@ -58,6 +58,7 @@ param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 param set-default FW_T_TAS_TC 2

+param set-default MC_AIRMODE 1
 param set-default MC_ROLLRATE_P 0.3

 param set-default MPC_ACC_HOR_MAX 2
@@ -34,8 +34,6 @@ param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
 param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_TL0_CT 0
-param set-default CA_SV_TL1_CT 0
 param set-default CA_SV_TL_COUNT 2

 param set-default PWM_MAIN_FUNC1 101
@@ -62,6 +60,7 @@ param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

+param set-default MC_AIRMODE 1
 param set-default MC_YAWRATE_P 0.3
 param set-default MC_YAWRATE_I 0.3

@@ -1,15 +1,15 @@
 #!/bin/sh
 #
-# @name Ignition Gazebo X3
+# @name Gazebo x500
 #
 # @type Quadrotor
 #

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

-PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
-PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}

 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
@@ -30,19 +30,19 @@ param set-default CA_ROTOR3_PX -0.13
 param set-default CA_ROTOR3_PY 0.20
 param set-default CA_ROTOR3_KM -0.05

-param set-default SIM_IGN_FUNC1 101
-param set-default SIM_IGN_FUNC2 102
-param set-default SIM_IGN_FUNC3 103
-param set-default SIM_IGN_FUNC4 104
+param set-default SIM_GZ_FUNC1 101
+param set-default SIM_GZ_FUNC2 102
+param set-default SIM_GZ_FUNC3 103
+param set-default SIM_GZ_FUNC4 104

-param set-default SIM_IGN_MIN1 150
-param set-default SIM_IGN_MIN2 150
-param set-default SIM_IGN_MIN3 150
-param set-default SIM_IGN_MIN4 150
+param set-default SIM_GZ_MIN1 150
+param set-default SIM_GZ_MIN2 150
+param set-default SIM_GZ_MIN3 150
+param set-default SIM_GZ_MIN4 150

-param set-default SIM_IGN_MAX1 1000
-param set-default SIM_IGN_MAX2 1000
-param set-default SIM_IGN_MAX3 1000
-param set-default SIM_IGN_MAX4 1000
+param set-default SIM_GZ_MAX1 1000
+param set-default SIM_GZ_MAX2 1000
+param set-default SIM_GZ_MAX3 1000
+param set-default SIM_GZ_MAX4 1000

 param set-default MPC_THR_HOVER 0.60
@@ -61,6 +61,7 @@ px4_add_romfs_files(
 	1036_malolo
 	1037_believer
 	1038_glider
+	1039_advanced_plane
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -17,7 +17,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		exit 1
 	fi

-elif [ "$PX4_SIMULATOR" = "ignition" ]; then
+elif [ "$PX4_SIMULATOR" = "gz" ]; then

 	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
 	if [ -f gazebo_env.sh ]; then
@@ -26,28 +26,52 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 		. ../gazebo_env.sh
 	fi

-	ign_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+# shellcheck disable=SC2236
+	if [ ! -z $PX4_GZ_VERBOSE ]; then
+		if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
+			gz_verbose=$PX4_GZ_VERBOSE
+		else
+			gz_verbose=4
+			echo "WARN  [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
+		fi
+		echo "INFO  [init] PX4_GZ_VERBOSE set to $gz_verbose."
+	else
+		gz_verbose=1
+		echo "INFO  [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
+	fi

-	if [ -z $ign_world ]; then
+	gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )

-		# starting ign gazebo with ${PX4_SIM_WORLD} world
+	if [ -z $gz_world ]; then
+
+		# starting ign gazebo with ${PX4_GZ_WORLD} world
 		echo "INFO  [init] starting ign gazebo"
-
-		ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
+# shellcheck disable=SC2153
+		ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &

 		if [ -z $HEADLESS ]; then
 			# HEADLESS not set, starting ign gazebo gui
 			ign gazebo -g &
 		fi
 	else
-		echo "INFO  [init] ign gazebo already running world: $ign_world"
-		PX4_SIM_WORLD=$ign_world
+		echo "INFO  [init] ign gazebo already running world: $gz_world"
+		PX4_GZ_WORLD=$gz_world
 	fi

-	if [ -z $PX4_IGN_MODEL_POSE ]; then
-		# start ignition bridge without pose arg.
-		echo "WARN  [init] PX4_IGN_MODEL_POSE not set, spawning at origin."
-		if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
+# shellcheck disable=SC2236
+	if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then
+
+# shellcheck disable=SC2236
+		if [ ! -z $PX4_GZ_MODEL_POSE ]; then
+			# Clean potential input line formatting.
+			model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+		else
+			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
+			model_pose="0,0,0,0,0,0"
+		fi
+		# start gz bridge with pose arg.
+		if gz_bridge start -p "${model_pose}"  -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
@@ -55,22 +79,29 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 			echo "ERROR  [init] ign gazebo failed to start"
 			exit 1
 		fi
+	elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+	elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
+		if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+
 	else
-
-		# Clean potential input line formatting.
-		model_pose="$( echo ${PX4_IGN_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
-		echo "INFO  [init] PX4_IGN_MODEL_POSE set, spawning at: ${model_pose}"
-
-		# start ignition bridge with pose arg.
-		if simulator_ignition_bridge start -p "${model_pose}"  -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
-		else
-			echo "ERROR  [init] ign gazebo failed to start"
-			exit 1
-		fi
-
+		echo "ERROR  [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
+		exit 1
 	fi

 else
@@ -28,12 +28,13 @@ args = parser.parse_args()
 verbose = args.verbose

 build_configs = []
+excluded_boards = ['modalai_voxl2']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
 excluded_platforms = ['qurt']
 excluded_labels = [
    'stackcheck',
    'nolockstep', 'replay', 'test',
-    'uavcanv1' # TODO: fix and enable
+    'uavcanv1', # TODO: fix and enable
    ]

 def process_target(px4board_file, target_name):
@@ -87,10 +88,18 @@ for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
    for board in os.scandir(manufacturer.path):
        if not board.is_dir():
            continue
+
        for files in os.scandir(board.path):
            if files.is_file() and files.name.endswith('.px4board'):
+
+                board_name = manufacturer.name + '_' + board.name
                label = files.name[:-9]
                target_name = manufacturer.name + '_' + board.name + '_' + label
+
+                if board_name in excluded_boards:
+                    if verbose: print(f'excluding board {board_name} ({target_name})')
+                    continue
+
                if label in excluded_labels:
                    if verbose: print(f'excluding label {label} ({target_name})')
                    continue
@@ -16,6 +16,7 @@ set -e
 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
 INSTALL_ARCH=`uname -m`
+INSTALL_SIM_JAMMY="false"

 # Parse arguments
 for arg in "$@"
@@ -28,6 +29,10 @@ do
 		INSTALL_SIM="false"
 	fi

+	if [[ $arg == "--sim_jammy" ]]; then
+		INSTALL_SIM_JAMMY="true"
+	fi
+
 done

 # detect if running in docker
@@ -67,6 +72,10 @@ elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 	echo "Ubuntu 18.04"
 elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
+elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+	echo "Ubuntu 22.04, simulation build off by default." 
+	echo "Use --sim_jammy to enable simulation build."
+	INSTALL_SIM=$INSTALL_SIM_JAMMY
 fi


@@ -146,7 +155,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		util-linux \
 		vim-common \
 		;
-	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+	if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" ]]; then
 		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		kconfig-frontends \
 		;
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-Depth'>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+    </include>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
+      <pose>.12 .03 .242 0 0 0</pose>
+    </include>
+    <joint name="CameraJoint" type="fixed">
+      <parent>base_link</parent>
+      <child>OakD-Lite/base_link</child>
+      <pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
+    </joint>
+  </model>
+</sdf>
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500'>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+    </include>
+  </model>
+</sdf>
@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>x500-Base</name>
-  <version>1.0</version>
-  <sdf version="1.9">model.sdf</sdf>
-  <author>
-    <name>Benjamin Perseghetti</name>
-    <email>bperseghetti@rudislabs.com</email>
-  </author>
-  <description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC.  Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
-</model>
@@ -1,516 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <model name='x500-Base'>
-    <pose>0 0 .24 0 0 0</pose>
-    <self_collide>false</self_collide>
-    <static>false</static>
-    <link name="base_link">
-      <inertial>
-        <mass>2.0</mass>
-        <inertia>
-          <ixx>0.02166666666666667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.02166666666666667</iyy>
-          <iyz>0</iyz>
-          <izz>0.04000000000000001</izz>
-        </inertia>
-      </inertial>
-      <gravity>true</gravity>
-      <velocity_decay/>
-      <visual name="base_link_visual">
-        <pose>0 0 .025 0 0 3.141592654</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/NXP-HGD-CF.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_0">
-        <pose>0.174 0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_1">
-        <pose>-0.174 0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_2">
-        <pose>0.174 -0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_3">
-        <pose>-0.174 -0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="NXP_FMUK66_FRONT">
-        <pose>0.047 .001 .043 1 0 1.57</pose>
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>.013 .007</size>
-          </plane>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0</diffuse>
-          <specular>1.0 1.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>model://x500-Base/materials/textures/nxp.png</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="NXP_FMUK66_TOP">
-        <pose>-0.023 0 .0515 0 0 -1.57</pose>
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>.013 .007</size>
-          </plane>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0</diffuse>
-          <specular>1.0 1.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>model://x500-Base/materials/textures/nxp.png</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="RDDRONE_FMUK66_TOP">
-        <pose>-.03 0 .0515 0 0 -1.57</pose>
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>.032 .0034</size>
-          </plane>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0</diffuse>
-          <specular>1.0 1.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>model://x500-Base/materials/textures/rd.png</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <collision name="base_link_collision_0">
-        <pose>0 0 .007 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.35355339059327373 0.35355339059327373 0.05</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_1">
-        <pose>0 -0.098 -.123 -0.35 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.015 0.015 0.21</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_2">
-        <pose>0 0.098 -.123 0.35 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.015 0.015 0.21</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_3">
-        <pose>0 -0.132 -.2195 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.25 0.015 0.015</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_4">
-        <pose>0 0.132 -.2195 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.25 0.015 0.015</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <sensor name="imu_sensor" type="imu">
-        <always_on>1</always_on>
-        <update_rate>250</update_rate>
-      </sensor>
-    </link>
-    <link name="rotor_0">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>0.174 -0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_0_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500-Base/meshes/1345_prop_ccw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_0_visual_motor_bell">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_0_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_0_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_0</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rotor_1">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>-0.174 0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_1_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500-Base/meshes/1345_prop_ccw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_1_visual_motor_top">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_1_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_1_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_1</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rotor_2">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>0.174 0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_2_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500-Base/meshes/1345_prop_cw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_2_visual_motor_top">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_2_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_2_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_2</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <link name="rotor_3">
-      <gravity>true</gravity>
-      <self_collide>false</self_collide>
-      <velocity_decay/>
-      <pose>-0.174 -0.174 0.06 0 0 0</pose>
-      <inertial>
-          <mass>0.016076923076923075</mass>
-          <inertia>
-            <ixx>3.8464910483993325e-07</ixx>
-            <iyy>2.6115851691700804e-05</iyy>
-            <izz>2.649858234714004e-05</izz>
-          </inertia>
-        </inertial>
-      <visual name="rotor_3_visual">
-        <pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
-            <uri>model://x500-Base/meshes/1345_prop_cw.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-          </script>
-        </material>
-      </visual>
-      <visual name="rotor_3_visual_motor_top">
-        <pose>0 0 -.032 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Bell.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="rotor_3_collision">
-        <pose>0 0 0 0 0 0 </pose>
-        <geometry>
-          <box>
-            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <joint name="rotor_3_joint" type="revolute">
-      <parent>base_link</parent>
-      <child>rotor_3</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-  </model>
-</sdf>
@@ -1,85 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <model name='x500-Depth'>
-    <include merge='true'>
-      <uri>model://x500-Base</uri>
-    </include>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
-      <jointName>rotor_0_joint</jointName>
-      <linkName>rotor_0</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>0</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
-      <jointName>rotor_1_joint</jointName>
-      <linkName>rotor_1</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>1</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
-      <jointName>rotor_2_joint</jointName>
-      <linkName>rotor_2</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>2</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
-      <jointName>rotor_3_joint</jointName>
-      <linkName>rotor_3</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>3</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <include merge='true'>
-      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
-      <pose>.12 .03 .242 0 0 0</pose>
-    </include>
-    <joint name="CameraJoint" type="fixed">
-      <parent>base_link</parent>
-      <child>OakD-Lite/base_link</child>
-      <pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
-    </joint>
-  </model>
-</sdf>
@@ -1,76 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <model name='x500'>
-    <include merge='true'>
-      <uri>model://x500-Base</uri>
-    </include>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
-      <jointName>rotor_0_joint</jointName>
-      <linkName>rotor_0</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>0</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
-      <jointName>rotor_1_joint</jointName>
-      <linkName>rotor_1</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>1</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
-      <jointName>rotor_2_joint</jointName>
-      <linkName>rotor_2</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>2</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
-      <jointName>rotor_3_joint</jointName>
-      <linkName>rotor_3</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>3</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-  </model>
-</sdf>
@@ -548,6 +548,9 @@ Syslink::handle_raw(syslink_message_t *sys)
 		rc.values[3] = cmd->thrust * 1000 / USHRT_MAX + 1000;
 		rc.values[4] = 1000; // Dummy channel as px4 needs at least 5

+		rc.link_quality = -1;
+		rc.rssi_dbm = NAN;
+
 		_rc_pub.publish(rc);

 	} else if (c->port == CRTP_PORT_MAVLINK) {
@@ -23,7 +23,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -152,6 +152,9 @@ void NavioSysRCInput::Run()
 	data.timestamp_last_signal = timestamp_sample;
 	data.channel_count = CHANNELS;
 	data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
+	data.link_quality = -1;
+	data.rssi_dbm = NAN;
+
 	data.timestamp = hrt_absolute_time();

 	_input_rc_pub.publish(data);
@@ -24,7 +24,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
+CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -23,7 +23,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
+CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -0,0 +1,91 @@
+# PX4 on VOXL 2
+
+VOXL 2 from ModalAI can be used as a companion computer to a flight control board
+but it can also run PX4 directly.
+
+## Overview
+
+When running PX4 directly on the QRB5165 SoC it runs partially on the Sensor Low Power Island (SLPI) DSP (aka sdsp) and partially on the application processor (ARM64 / aarch64).
+The portion running on the DSP hosts the flight critical portions of PX4 such as
+the IMU, barometer, magnetometer, GPS, ESC, and power management drivers, and the
+state estimation. The DSP acts as the real time portion of the system. Non flight
+critical applications such as Mavlink, logging, and commander are running on the
+ARM CPU cluster (aka apps proc). The DSP and ARM CPU cluster communicate via a
+Qualcomm proprietary shared memory interface.
+
+## Build environment
+
+In order to build for this platform both the Qualcomm Hexagon (DSP) toolchain and the Linaro ARM64 toolchain need to be installed. The (nearly) complete setup including the ARM64 toolchain is provided in the base Docker image provided by ModalAI, but since ModalAI is not allowed to redistribute the Qualcomm Hexagon DSP SDK this must be added by the end user.
+
+The full instructions are available here:
+- https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker
+
+## Build overview
+
+- Clone the repo (Don't forget to update and initialize all submodules)
+- In the top level directory
+```
+px4$ boards/modalai/voxl2/run-docker.sh
+root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/clean.sh
+root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/build-posix.sh
+root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/build-qurt.sh
+root@9373fa1401b8:/usr/local/workspace# exit
+```
+
+## Install and run on VOXL 2
+
+Once the DSP and Linux images have been built they can be installed on a VOXL 2
+board using ADB. There is a script to do this.
+```
+px4$ boards/modalai/voxl2/install-voxl.sh
+```
+
+## Running PX4 on VOXL 2
+
+After installing PX4 on the board, open a terminal on VOXL 2 using ADB shell.
+PX4 can be run using a start script.
+```
+root@m0054:/# voxl-px4
+Found DSP signature file
+/
+INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
+INFO  [px4] assuming working directory is rootfs, no symlinks needed.
+
+______  __   __    ___
+| ___ \ \ \ / /   /   |
+| |_/ /  \ V /   / /| |
+|  __/   /   \  / /_| |
+| |     / /^\ \ \___  |
+\_|     \/   \/     |_/
+
+px4 starting.
+
+INFO  [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4.config 0
+INFO  [muorb] muorb protobuf initalize method succeeded
+INFO  [px4] Startup script returned successfully
+pxh>
+```
+
+## Tips
+
+Start with a VOXL 2 that only has the system image installed, not the SDK
+
+In order to see DSP specific debug messages the mini-dm tool in the Hexagon SDK
+can be used:
+```
+modalai@modalai-XPS-15-9570:/local/mnt/workspace/Qualcomm/Hexagon_SDK/4.1.0.4/tools/debug/mini-dm/Ubuntu18$ sudo ./mini-dm
+[sudo] password for modalai:
+Running mini-dm version: 3.2
+Completed processing command line ---
+Connecting to the only usbport connected
+mini-dm is waiting for a DMSS connection...
+DMSS is connected. Running mini-dm...
+------------Mini-dm is ready to log-------------
+[08500/02]  06:21.030  0069:01: SDSP: Creating new instance.  0355  sns_flight_controller_sensor.
+[08500/02]  06:21.030  0069:01: SDSP: Creating data streams  0292  sns_flight_controller_sensor_
+[08500/02]  06:21.030  0069:01: SDSP: Configuring devices  0305  sns_flight_controller_sensor_
+[08500/02]  06:21.030  0069:01: SDSP: Flight controller sensor instance initialized  0344  sns_flight_controller_sensor_
+[08500/01]  06:21.092  0069:01: SDSP: Hello, world!  0000  test
+[08500/02]  06:21.092  006a:01: SDSP: CPU Utilization: 0.04, wait percentage 99.94  0162  sns_flight_controller_sensor.
+[08500/02]  06:21.092  006a:01: SDSP: Got interrupt registered event  0082  sns_flight_controller_sensor_
+```
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+echo "*** Starting posix build ***"
+
+source /home/build-env.sh
+
+make modalai_voxl2_default
+
+cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
+
+
+echo "*** End of posix build ***"
@@ -0,0 +1,11 @@
+#!/bin/bash
+
+echo "*** Starting qurt build ***"
+
+source /home/build-env.sh
+
+make modalai_voxl2_qurt
+
+cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
+
+echo "*** End of qurt build ***"
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+# Clean out the build artifacts
+source /home/build-env.sh
+make clean
@@ -0,0 +1,54 @@
+############################################################################
+#
+# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+#
+# Overview:
+# Voxl2 PX4 is built in 2 parts, the part that runs on the
+# application (apps) processor, and the library that is loaded on the DSP.
+#
+############################################################################
+
+include(px4_git)
+
+list(APPEND CMAKE_MODULE_PATH
+	"${PX4_SOURCE_DIR}/platforms/posix/cmake"
+)
+
+# set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+add_definitions(-DORB_COMMUNICATOR)
+
+set(CONFIG_PARAM_SERVER "1")
+
+add_definitions( -D__PX4_LINUX )
+
+include(CMakeParseArguments)
@@ -0,0 +1,43 @@
+############################################################################
+#
+# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
+#
+############################################################################
+#
+# This cmake config builds for QURT which is the operating system running on
+# the DSP side of VOXL 2
+#
+# Required environment variables:
+#	HEXAGON_TOOLS_ROOT
+#	HEXAGON_SDK_ROOT
+#
+############################################################################
+
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
+
+if ("$ENV{HEXAGON_TOOLS_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Environment variable HEXAGON_TOOLS_ROOT must be set")
+else()
+	set(HEXAGON_TOOLS_ROOT $ENV{HEXAGON_TOOLS_ROOT})
+endif()
+
+include(px4_git)
+
+list(APPEND CMAKE_MODULE_PATH
+	"${PX4_SOURCE_DIR}/platforms/qurt/cmake"
+)
+
+include(Toolchain-qurt)
+include(qurt_reqs)
+
+include_directories(${HEXAGON_SDK_INCLUDES})
+
+add_definitions(-DORB_COMMUNICATOR)
+
+set(CONFIG_PARAM_CLIENT "1")
+
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
@@ -0,0 +1,4 @@
+CONFIG_PLATFORM_POSIX=y
+CONFIG_BOARD_LINUX=y
+CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
+CONFIG_MODULES_MUORB_APPS=y
@@ -0,0 +1,19 @@
+#!/bin/bash
+
+# Push qurt image to voxl2
+adb push build/modalai_voxl2_qurt/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
+
+# Push posix image to voxl2
+adb push build/modalai_voxl2_default/bin/px4 /usr/bin
+
+# Push scripts to voxl2
+adb push build/modalai_voxl2_default/bin/px4-alias.sh /usr/bin
+adb push boards/modalai/voxl2/voxl-px4 /usr/bin
+adb shell chmod a+x /usr/bin/px4-alias.sh
+adb shell chmod a+x /usr/bin/voxl-px4
+
+# Push configuration file
+adb shell mkdir -p /etc/modalai
+adb push boards/modalai/voxl2/voxl-px4.config /etc/modalai
+
+adb shell sync
@@ -0,0 +1,3 @@
+CONFIG_PLATFORM_QURT=y
+CONFIG_BOARD_TOOLCHAIN="qurt"
+CONFIG_MODULES_MUORB_SLPI=y
@@ -0,0 +1,4 @@
+#!/bin/bash
+
+# Run this from the px4 project top level directory
+docker run -it --rm -v `pwd`:/usr/local/workspace rb5-flight-px4-build-docker
@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2022 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(drivers_board
+	board_config.h
+	init.c
+    )
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * VOXL2 internal definitions
+ */
+
+#pragma once
+
+#define BOARD_HAS_NO_RESET
+#define BOARD_HAS_NO_BOOTLOADER
+
+/*
+ * I2C buses
+ */
+#define PX4_NUMBER_I2C_BUSES    3
+
+#include <system_config.h>
+#include <px4_platform_common/board_common.h>
@@ -0,0 +1,35 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2022 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include "board_config.h"
+
+// Place holder for VOXL2-specific early startup code
@@ -0,0 +1,38 @@
+#!/bin/bash
+
+# Make sure that the SLPI DSP test signature is there otherwise px4 cannot run
+# on the DSP
+if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
+    /bin/echo "Found DSP signature file"
+else
+    /bin/echo "Error, could not find DSP signature file"
+    # Look for the DSP signature generation script
+    if [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
+        /bin/echo "Attempting to generate the DSP signature file"
+        # Automatically generate the test signature so that px4 can run on SLPI DSP
+        /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh
+    else
+        /bin/echo "Could not find the DSP signature file generation script"
+        exit 0
+    fi
+fi
+
+# Make sure to setup all of the needed px4 aliases.
+cd /usr/bin
+/bin/ln -f -s px4 px4-muorb
+cd -
+
+DAEMON=" "
+S="OFF"
+
+while getopts "ds" flag
+do
+    case "${flag}" in
+        # Use -d to put PX4 into daemon mode
+        d) DAEMON="-d";;
+        # Use -s to run self tests
+        s) S="ON";;
+    esac
+done
+
+TESTMODE=$S px4 $DAEMON -s /etc/modalai/voxl-px4.config
@@ -0,0 +1,19 @@
+#!/bin/sh
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+. px4-alias.sh
+
+if [ $TESTMODE = "ON" ]; then
+    /bin/echo "Running self tests"
+    muorb test
+    MUORB_TEST_STATUS=$?
+    if [ $MUORB_TEST_STATUS -ne 0 ]; then
+        /bin/echo "muorb test failed"
+        shutdown
+        exit 0
+    else
+        /bin/echo "muorb test passed"
+    fi
+fi
+
+muorb start
@@ -27,7 +27,7 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -29,7 +29,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
+CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -28,6 +28,7 @@ CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -3,6 +3,7 @@ CONFIG_BOARD_TESTING=y
 CONFIG_BOARD_ETHERNET=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
@@ -40,7 +41,7 @@ CONFIG_MODULES_REPLAY=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_COMMON_SIMULATION=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_IGNITION_BRIDGE=y
+CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
@@ -0,0 +1,27 @@
+CONFIG_PLATFORM_POSIX=y
+CONFIG_BOARD_TESTING=y
+CONFIG_BOARD_ETHERNET=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_GPS_BASE_STATION=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_REPLAY=y
+CONFIG_COMMON_SIMULATION=y
+CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_FAILURE=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SHUTDOWN=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
+CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+CONFIG_EXAMPLES_WORK_ITEM=y
@@ -34,7 +34,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
    # Depend on BOARD_DEFCONFIG so that we reconfigure on config change
    set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${BOARD_DEFCONFIG})

-    if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "recovery" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCHES "canbootloader")
+    if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "qurt" OR ${LABEL} MATCHES "recovery" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCHES "canbootloader")
        # Generate boardconfig from saved defconfig
        execute_process(COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
                        ${DEFCONFIG_PATH} ${BOARD_DEFCONFIG}
@@ -228,6 +228,10 @@ if(EXISTS ${BOARD_DEFCONFIG})

        # platform-specific include path
        include_directories(${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include)
+
+        if(PLATFORM STREQUAL "qurt")
+            include(${PX4_SOURCE_DIR}/boards/modalai/voxl2/cmake/voxl2_qurt.cmake)
+        endif()
    endif()

 	if(ARCHITECTURE)
@@ -44,7 +44,11 @@ function(px4_add_library target)
 	target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}")

 	# all PX4 libraries have access to parameters and uORB
-	add_dependencies(${target} uorb_headers parameters)
+	# TODO: Exclusion of qurt is temporary until these modules
+	#       build cleanly.
+	if(NOT ${PLATFORM} MATCHES "qurt")
+		add_dependencies(${target} uorb_headers parameters)
+	endif()
 	target_link_libraries(${target} PRIVATE prebuild_targets)

 	set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
@@ -89,9 +89,8 @@ function(px4_parse_function_args)
 	cmake_parse_arguments(IN "" "NAME" "OPTIONS;ONE_VALUE;MULTI_VALUE;REQUIRED;ARGN" "${ARGN}")
 	cmake_parse_arguments(OUT "${IN_OPTIONS}" "${IN_ONE_VALUE}" "${IN_MULTI_VALUE}" "${IN_ARGN}")

-	if (OUT_UNPARSED_ARGUMENTS)
-		#message(FATAL_ERROR "${IN_NAME}: unparsed ${OUT_UNPARSED_ARGUMENTS}")
-		# TODO: reenable
+	if(OUT_UNPARSED_ARGUMENTS)
+		message(FATAL_ERROR "${IN_NAME}: unparsed ${OUT_UNPARSED_ARGUMENTS}")
 	endif()

 	foreach(arg ${IN_REQUIRED})
@@ -1,5 +1,5 @@
 uint64 timestamp			# time since system start (microseconds)
-uint8 NUM_ACTUATOR_CONTROLS = 8
+uint8 NUM_ACTUATOR_CONTROLS = 9
 uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
 uint8 INDEX_ROLL = 0
 uint8 INDEX_PITCH = 1
@@ -35,3 +35,6 @@ uint16 rc_ppm_frame_length		# Length of a single PPM frame. Zero for non-PPM sys

 uint8 input_source			# Input source
 uint16[18] values			# measured pulse widths for each of the supported channels
+
+int8 link_quality			# link quality. Percentage 0-100%. -1 = invalid
+float32 rssi_dbm			# Actual rssi in units of dBm. NaN = invalid
@@ -32,7 +32,7 @@ float32 yawspeed		# yawspeed (only for multirotors, in rad/s)
 bool yawspeed_valid		# true if yawspeed setpoint valid

 float32 loiter_radius		# loiter radius (only for fixed wing), in m
-int8 loiter_direction		# loiter direction: 1 = CW, -1 = CCW
+bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field

 float32 acceptance_radius   # navigation acceptance_radius if we're doing waypoint navigation

@@ -39,7 +39,7 @@

 #pragma once

-#include <px4_platform_common/log.h>
+#include <sys/ioctl.h>

 /****************************************************************************
 * Defines for all platforms.
@@ -40,6 +40,7 @@
 #include <containers/List.hpp>
 #include <lib/conversion/rotation.h>
 #include <px4_platform_common/atomic.h>
+#include <px4_platform_common/log.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <px4_platform_common/sem.h>

@@ -31,6 +31,7 @@
 *
 ****************************************************************************/

+#include <px4_platform_common/log.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

 namespace px4
@@ -36,6 +36,7 @@

 #include <string.h>

+#include <px4_platform_common/log.h>
 #include <px4_platform_common/tasks.h>
 #include <px4_platform_common/time.h>
 #include <drivers/drv_hrt.h>
@@ -36,6 +36,7 @@
 #include <px4_platform_common/px4_work_queue/WorkQueue.hpp>

 #include <drivers/drv_hrt.h>
+#include <px4_platform_common/log.h>
 #include <px4_platform_common/posix.h>
 #include <px4_platform_common/tasks.h>
 #include <px4_platform_common/time.h>
@@ -37,14 +37,12 @@ class ORBSet
 {
 public:
 	struct Node {
-		struct Node *next;
-		const char *node_name;
+		Node *next{nullptr};
+		const char *node_name{nullptr};
 	};

-	ORBSet() :
-		_top(nullptr),
-		_end(nullptr)
-	{ }
+	ORBSet() = default;
+
 	~ORBSet()
 	{
 		while (_top != nullptr) {
@@ -52,11 +50,14 @@ public:

 			if (_top->next == nullptr) {
 				free((void *)_top->node_name);
-				free(_top);
+				_top->node_name = nullptr;
+
+				delete _top;
 				_top = nullptr;
 			}
 		}
 	}
+
 	void insert(const char *node_name)
 	{
 		Node **p;
@@ -68,7 +69,7 @@ public:
 			p = &_end->next;
 		}

-		*p = (Node *)malloc(sizeof(Node));
+		*p = new Node();

 		if (_end) {
 			_end = _end->next;
@@ -102,8 +103,13 @@ public:

 		if (_top && (strcmp(_top->node_name, node_name) == 0)) {
 			p = _top->next;
-			free((void *)_top->node_name);
-			free(_top);
+
+			if (_top->node_name) {
+				free((void *)_top->node_name);
+				_top->node_name = nullptr;
+			}
+
+			delete _top;
 			_top = p;

 			if (_top == nullptr) {
@@ -135,11 +141,17 @@ private:
 			}

 			a->next = b->next;
-			free((void *)b->node_name);
-			free(b);
+
+			if (b->node_name) {
+				free((void *)b->node_name);
+				b->node_name = nullptr;
+			}
+
+			delete b;
+			b = nullptr;
 		}
 	}

-	Node *_top;
-	Node *_end;
+	Node *_top{nullptr};
+	Node *_end{nullptr};
 };
@@ -120,7 +120,12 @@ int	uORB::Manager::orb_ioctl(unsigned int cmd, unsigned long arg)
 			orbiocdevexists_t *data = (orbiocdevexists_t *)arg;

 			if (data->check_advertised) {
-				data->ret = uORB::Manager::orb_exists(get_orb_meta(data->orb_id), data->instance);
+				if (uORB::Manager::get_instance()) {
+					data->ret = uORB::Manager::get_instance()->orb_exists(get_orb_meta(data->orb_id), data->instance);
+
+				} else {
+					data->ret = PX4_ERROR;
+				}

 			} else {
 				data->ret = uORB::Manager::orb_device_node_exists(data->orb_id, data->instance) ? PX4_OK : PX4_ERROR;
@@ -130,7 +135,7 @@ int	uORB::Manager::orb_ioctl(unsigned int cmd, unsigned long arg)

 	case ORBIOCDEVADVERTISE: {
 			orbiocdevadvertise_t *data = (orbiocdevadvertise_t *)arg;
-			uORB::DeviceMaster *dev =  uORB::Manager::get_instance()->get_device_master();
+			uORB::DeviceMaster *dev = uORB::Manager::get_instance()->get_device_master();

 			if (dev) {
 				data->ret = dev->advertise(data->meta, data->is_advertiser, data->instance);
@@ -230,6 +235,10 @@ int	uORB::Manager::orb_ioctl(unsigned int cmd, unsigned long arg)

 int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 {
+	if (meta == nullptr) {
+		return PX4_ERROR;
+	}
+
 	int ret = PX4_ERROR;

 	// instance valid range: [0, ORB_MULTI_MAX_INSTANCES)
@@ -237,7 +246,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 		return ret;
 	}

-	uORB::DeviceMaster *dev =  uORB::Manager::get_instance()->get_device_master();
+	uORB::DeviceMaster *dev = uORB::Manager::get_instance()->get_device_master();

 	if (dev) {
 		uORB::DeviceNode *node = dev->getDeviceNode(meta, instance);
@@ -266,8 +275,10 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)

 	ret = px4_access(path, F_OK);

-	if (ret == -1 && meta != nullptr && !_remote_topics.empty()) {
-		ret = (_remote_topics.find(meta->o_name) != _remote_topics.end()) ? OK : PX4_ERROR;
+	if (ret == -1) {
+		if (_remote_topics.find(meta->o_name)) {
+			ret = 0;
+		}
 	}

 	if (ret == 0) {
@@ -709,12 +720,9 @@ int16_t uORB::Manager::process_received_message(const char *messageName, int32_t

 bool uORB::Manager::is_remote_subscriber_present(const char *messageName)
 {
-#ifdef __PX4_NUTTX
 	return _remote_subscriber_topics.find(messageName);
-#else
-	return (_remote_subscriber_topics.find(messageName) != _remote_subscriber_topics.end());
-#endif
 }
+
 #endif /* ORB_COMMUNICATOR */

 #ifdef ORB_USE_PUBLISHER_RULES
@@ -41,15 +41,8 @@
 #include <uORB/topics/uORBTopics.hpp> // For ORB_ID enum
 #include <stdint.h>

-#ifdef __PX4_NUTTX
-#include "ORBSet.hpp"
-#else
-#include <string>
-#include <set>
-#define ORBSet std::set<std::string>
-#endif
-
 #ifdef ORB_COMMUNICATOR
+#include "ORBSet.hpp"
 #include "uORBCommunicator.hpp"
 #endif /* ORB_COMMUNICATOR */

@@ -409,7 +402,7 @@ public:
 	 * @param instance  ORB instance
 	 * @return    OK if the topic exists, PX4_ERROR otherwise.
 	 */
-	static int  orb_exists(const struct orb_metadata *meta, int instance);
+	int  orb_exists(const struct orb_metadata *meta, int instance);

 	/**
 	 * Set the minimum interval between which updates are seen for a subscription.
@@ -39,6 +39,7 @@

 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
+#include <px4_platform_common/log.h>
 #include <px4_platform_common/posix.h>
 #include <px4_platform_common/time.h>
 #include <px4_platform_common/tasks.h>
@@ -43,6 +43,7 @@
 #include <stdio.h>

 #include <px4_platform/cpuload.h>
+#include <px4_platform_common/log.h>
 #include <px4_platform_common/printload.h>
 #include <drivers/drv_hrt.h>

@@ -32,6 +32,7 @@
 ****************************************************************************/

 #include <px4_platform_common/init.h>
+#include <px4_platform_common/log.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/px4_manifest.h>
 #include <px4_platform_common/console_buffer.h>
@@ -37,6 +37,8 @@
 * PX4 Middleware Wrapper NuttX Implementation
 */

+#include <cstdio>
+
 #include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>

@@ -33,6 +33,7 @@

 #if defined(PX4_CRYPTO)

+#include <px4_platform/board_ctrl.h>
 #include <px4_platform_common/crypto.h>
 #include <px4_platform_common/crypto_backend.h>
 #include <sys/boardctl.h>
@@ -33,6 +33,8 @@

 #include <nuttx/config.h>

+#include <stdbool.h>
+
 #include <px4_platform/board_ctrl.h>

 #include <sys/boardctl.h>
@@ -38,6 +38,7 @@
 */

 #include <systemlib/px4_macros.h>
+#include <px4_platform_common/log.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform/board_determine_hw_info.h>
@@ -101,6 +101,14 @@ endif()
 if("${PX4_BOARD}" MATCHES "beaglebone_blue")
 	target_link_libraries(px4 PRIVATE robotics_cape)

+elseif("${PX4_BOARD}" MATCHES "modalai_voxl2")
+	# libfc_sensor.so is provided in the Docker build environment
+	target_link_libraries(px4 PRIVATE
+			/home/libfc_sensor.so
+			px4_layer
+			${module_libraries}
+	)
+
 elseif("${PX4_BOARD}" MATCHES "emlid_navio2")
 	target_link_libraries(px4 PRIVATE atomic)

@@ -126,6 +134,14 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
 		include(sitl_tests)
 	endif()

+	# "none" legacy SITL helper target
+	add_custom_target(none
+		COMMAND $<TARGET_FILE:px4>
+		WORKING_DIRECTORY ${SITL_WORKING_DIR}
+		USES_TERMINAL
+		DEPENDS px4
+	)
+
 	# install

 	# px4 dirs
@@ -2,7 +2,7 @@
    "version": "0.2.0",
    "configurations": [
        {
-            "name": "SITL (Ignition Gazebo)",
+            "name": "SITL (GZ)",
            "type": "cppdbg",
            "request": "launch",
            "program": "${command:cmake.launchTargetPath}",
@@ -15,7 +15,7 @@
            "environment": [
                {
                    "name": "PX4_SIM_MODEL",
-                    "value": "${input:PX4_IGN_GZ_SIM_MODEL}"
+                    "value": "${input:PX4_GZ_MODEL}"
                }
            ],
            "externalConsole": false,
@@ -226,8 +226,8 @@
    "inputs": [
        {
            "type": "pickString",
-            "id": "PX4_IGN_GZ_SIM_MODEL",
-            "description": "Ignition Gazebo vehicle model",
+            "id": "PX4_GZ_MODEL",
+            "description": "GZ vehicle model",
            "options": [
              "x500",
            ],
@@ -1,13 +1,22 @@
 # arm-linux-gnueabihf-gcc toolchain

+set(triple aarch64-linux-gnu)
+
+if("${PX4_BOARD}" MATCHES "modalai_voxl2")
+	set(CMAKE_LIBRARY_ARCHITECTURE ${ARM_CROSS_GCC_ROOT}/bin/${triple})
+	set(TOOLCHAIN_PREFIX ${ARM_CROSS_GCC_ROOT}/bin/${triple})
+	set(ARM_CROSS_GCC_ROOT $ENV{ARM_CROSS_GCC_ROOT})
+	set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
+	set(CMAKE_EXE_LINKER_FLAGS "-Wl,-gc-sections -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib/aarch64-linux-gnu -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib/aarch64-linux-gnu")
+else()
+	set(CMAKE_LIBRARY_ARCHITECTURE ${triple})
+	set(TOOLCHAIN_PREFIX ${triple})
+endif()
+
 set(CMAKE_SYSTEM_NAME Linux)
 set(CMAKE_SYSTEM_PROCESSOR arm)
 set(CMAKE_SYSTEM_VERSION 1)

-set(triple aarch64-linux-gnu)
-set(CMAKE_LIBRARY_ARCHITECTURE ${triple})
-set(TOOLCHAIN_PREFIX ${triple})
-
 set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
 set(CMAKE_C_COMPILER_TARGET ${triple})

@@ -46,6 +46,7 @@
 #include <stdio.h>
 #include <stdbool.h>

+#include <px4_platform_common/log.h>
 #include <px4_platform_common/printload.h>
 #include <drivers/drv_hrt.h>

@@ -34,6 +34,7 @@
 #include <px4_platform_common/init.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
+#include <px4_platform_common/log.h>
 #include <drivers/drv_hrt.h>
 #include <lib/parameters/param.h>
 #include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
@@ -38,6 +38,7 @@
 */

 #include <px4_platform_common/defines.h>
+#include <px4_platform_common/log.h>
 #include <px4_platform_common/workqueue.h>
 #include <px4_platform_common/time.h>
 #include <stdint.h>
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2022 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+set(module_libraries modules__muorb__slpi)
+
+QURT_LIB(LIB_NAME px4
+	SOURCES
+		${PX4_SOURCE_DIR}/platforms/qurt/unresolved_symbols.c
+	LINK_LIBS
+		${module_libraries}
+	)
@@ -0,0 +1,71 @@
+#
+# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#	notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#	notice, this list of conditions and the following disclaimer in
+#	the documentation and/or other materials provided with the
+#	distribution.
+# 3. Neither the name ATLFlight nor the names of its contributors may be
+#	used to endorse or promote products derived from this software
+#	without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+include(CMakeForceCompiler)
+
+set(V_ARCH "v66")
+set(CROSSDEV "hexagon-")
+
+set(HEXAGON_BIN	${HEXAGON_TOOLS_ROOT}/bin)
+
+set(CMAKE_C_COMPILER	${HEXAGON_BIN}/${CROSSDEV}clang)
+set(CMAKE_CXX_COMPILER  ${HEXAGON_BIN}/${CROSSDEV}clang++)
+
+set(CMAKE_AR	  ${HEXAGON_BIN}/${CROSSDEV}ar CACHE FILEPATH "Archiver")
+    SET(CMAKE_CXX_ARCHIVE_CREATE "<CMAKE_AR> qcD <TARGET> <LINK_FLAGS> <OBJECTS>")
+    SET(CMAKE_C_ARCHIVE_CREATE "<CMAKE_AR> qcD <TARGET> <LINK_FLAGS> <OBJECTS>")
+set(CMAKE_RANLIB  ${HEXAGON_BIN}/${CROSSDEV}ranlib)
+set(CMAKE_OBJDUMP ${HEXAGON_BIN}/${CROSSDEV}objdump)
+set(CMAKE_OBJCOPY ${HEXAGON_BIN}/${CROSSDEV}objcopy)
+set(HEXAGON_LINK  ${HEXAGON_BIN}/${CROSSDEV}link)
+
+set(HEXAGON_ARCH_FLAGS
+	-march=hexagon
+	-mcpu=hexagonv66)
+
+set(CMAKE_SKIP_RPATH TRUE CACHE BOOL SKIP_RPATH FORCE)
+
+# where is the target environment
+set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
+
+set(CMAKE_C_COMPILER_ID, "Clang")
+set(CMAKE_CXX_COMPILER_ID, "Clang")
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+macro(__linux_compiler_gnu lang)
+	set(CMAKE_SHARED_LIBRARY_LINK_${lang}_FLAGS "")
+endmacro()
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
alexklimaj	e339297388	Basic gps base station app	2022-09-30 21:41:17 -06:00
alexklimaj	59360b6cab	Start gps base board config	2022-09-30 20:51:58 -06:00
Silvan Fuhrer	9b3cb6c758	FW Attitdue controller: fix throttle in acro (use _rate_sp.throttle_body) (#20330 ) * FW Attitdue controller: fix throttle in acro (use _rate_sp.throttle_body) Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * FW Attitude controller: do manual control polling before attitude setpoint polling Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-09-30 13:45:20 +02:00
Silvan Fuhrer	34b6786f79	actuator_controls.msg: fix NUM_ACTUATOR_CONTROLS (9) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-09-29 14:25:16 -04:00
Beat Küng	64ae0049de	mission: add support for NAV_CMD_DO_SET_ACTUATOR	2022-09-29 14:23:16 -04:00
Daniel Agar	a27aeb30bf	mc_pos_control: fix trajectory setpoint copy - trajectory_setpoint and vehicle_local_position_setpoint used to be the same data type - we got extremely lucky here that this didn't cause any issues due to all the fields still aligning	2022-09-29 14:17:00 -04:00
bresch	20b46ad33f	ekf2_test: test validity of local position when not at rest At rest, the zero velocity update keeps the local position valid all the time. Deactivate it to be able to test the validity checks	2022-09-29 14:16:36 -04:00
bresch	1914053db2	ekf2: synchronize z_valid and v_z_valid mc_pos_control doesn't handle all the cases at the moment	2022-09-29 14:16:36 -04:00
bresch	f753b92cff	ekf2: start fake pos fusion after dead-reckoning timeout Starting the fake position as soon as all the aiding sources stop makes the local position immediately invalid while we could continue to navigate for a couple of second with inertial dead-reckoning	2022-09-29 14:16:36 -04:00
bresch	bb790c9bec	ekf2: add vertical dead-reckoning timeout check for height validity	2022-09-29 14:16:36 -04:00
Thomas Stastny	da99387215	welford mean: protect against negative variances	2022-09-29 14:14:16 -04:00
Thomas Stastny	d3849c0265	welford mean: convert to matrix only template	2022-09-29 14:14:16 -04:00
Daniel Agar	d4e5876d4c	vehicle_imu: only reset raw accel/gyro Welford mean periodically - vehicle_imu_status can publish immediately on any measured sample rate change or sensor error increment, but the windowed mean/variance shouldn't necessarily reset that often	2022-09-29 14:14:16 -04:00
Benjamin Perseghetti	f9522e831c	Gazebo Simulation Enablement (#20319 )	2022-09-29 13:49:31 -04:00
Silvan Fuhrer	f89df9d986	VTOL: make const and return when either of mc or fw att sp isn't updated Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-09-29 16:01:43 +02:00
Silvan Fuhrer	fdcbabeb9e	VTOL Tailsitter: don't use the fw attitude sp for determing the initial pitch if not recent Use a pitch of 0 to initialize the ramp otherwise. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-09-29 16:01:43 +02:00
Silvan Fuhrer	9c5a423753	VTOL: in update_transition_state(): check that needed virtual attitude setpoints are recent This is to prevent that that data from non-recent publications of the virtual attitude setpoints are used in the transition code. It removes the previous implementation where the update_transition_state() method was only run when both mc and fw virtual att sp where recent, independetly of whether both are used or not. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-09-29 16:01:43 +02:00
Silvan Fuhrer	dd2e6bd416	ROMFS: SITL configs: enable airmode by default for all VTOLs Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-09-29 16:01:43 +02:00
Silvan Fuhrer	fbc7e6a435	ROMFS: tiltrotor sitl config: use tilt for yaw in hover as opposed to differential thrust Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-09-29 16:01:43 +02:00
Silvan Fuhrer	97e3b76a2e	VTOL: improve readability of VT_FWD_THRUST_EN param Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-09-29 16:01:43 +02:00
Roman Bapst	20457c5e2e	position_setpoint: replaced loiter_direction integer by boolean (#20317 ) * position_setpoint: replaced loiter_direction integer by boolean (loiter_direction_counter_clockwise) Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-09-29 11:06:10 +02:00
Yang Hau	5d39fdba6d	fix: Add boundary protection for array access	2022-09-29 08:11:03 +02:00
Yang Hau	2dcde93d96	fix: Fix misuse of atoi()	2022-09-29 08:11:03 +02:00
Yang Hau	e2f3157ecb	fix: Add missing comma for const strings	2022-09-29 08:11:03 +02:00
David Sidrane	99ef597719	Nuttx with backport of stm32h7:SDMMC fix unaligned access	2022-09-29 07:56:46 +02:00
Ville Juven	59e86c490d	Remove include <log.h> from defines.h The reason for this is that log.h includes drv_hrt.h which sucks in half the project's include files with it, which causes strange build issues	2022-09-29 07:56:24 +02:00
Daniel Agar	1f7080a710	ekf2: extend sensor bias stability requirement - for accel/gyro/mag estimated bias only consider them stable (valid for calibration updates) if the value isn't changing (10% of limit) over the validity period	2022-09-28 10:40:52 -04:00
Daniel Agar	16f8adb4b3	hysteresis: avoid subtracting unsigned integers - avoid potential errors with timestamp passed in from different sources	2022-09-28 09:51:16 -04:00
bresch	06f2004580	Mag: fix estimated bias save to calibration Clear the calibration at the end only otherwise everything gets erased at the end of the first iteration of the outer loop	2022-09-28 10:43:54 +02:00
Karthik S	70d73c8690	Advanced Plane Airframe for SITL Advanced Lift-Drag Plugin (#20207 ) * Changed sitl_gazebo to the advanced liftdrag plugin fork. * Added advanced plane and its associated parameters to PX4. Also tweaked one of the plugins to fix a compilation error (upcasting from float to double). * Switched gazebo back to main branch, to avoid merge conflicts. * Change simulator bridge back to what it was in main branch * Changed sitl_gazebo to match the PX4 main branch's (commit hash b968405) * Changed SimulatorIgnitionBridge to match most recent main.	2022-09-27 23:09:27 +02:00
jmackay2	0ee4d89744	drivers/osd/msp_osd: fix uorb_to_msg isnan floating-point check (#20309 )	2022-09-27 14:41:43 -04:00
Eric Katzfey	a5bfc3fbc2	Added a self test feature to the VOXL 2 muorb module (#20307 ) * Removed exit after dsp signature generation. * First full test suite * Cleaned up the muorb tests * Improved VOXL 2 self test trigger in startup file * Removed unneeded include file	2022-09-26 16:25:24 -04:00
Daniel Agar	7bc79b491f	sensors/vehicle_magnetometer: more granular in flight mag cal reset on parameter changes - if mag calibration parameters change only reset any inflight mag cal for the corresponding magnetometer	2022-09-26 12:42:32 -04:00
Daniel Agar	462d0af384	uORB: fix static orb_exists call for protected build - unify ORBSet to maximum code coverage	2022-09-26 12:38:58 -04:00
Silvan Fuhrer	2717137982	RTL params: remove some unnecessary param constraints Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-09-26 13:32:35 +02:00
Silvan Fuhrer	b0a7d206f3	RTL params: increase max of RTL_RETURN_ALT and improve description Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-09-26 13:32:35 +02:00
Charles Cross	cfdaba35cc	Adds reset counter logic to EV height fusion	2022-09-26 11:48:18 +02:00
Daniel M. Sahu	779e738143	MSP OSD Revision	2022-09-24 18:40:47 -04:00
chris1seto	770f8080c0	CRSF: Validate unknown packet sizes to be smaller than max packet size Co-authored-by: Chris Seto <chris1seto@gmail.com>	2022-09-24 16:36:17 -04:00
Daniel Agar	57bdac2b26	cmake: px4_parse_function_args re-enable failure on unparsed (invalid) arguments	2022-09-24 13:48:51 -04:00
Daniel Agar	ca0465aeca	Tools/generate_board_targets_json.py: properly exclude VOXL2 for now	2022-09-24 11:27:31 -04:00
Daniel Agar	e58275e6f5	platforms/posix: restore none SITL helper target for replay	2022-09-23 19:20:01 -04:00
chris1seto	77fdce9f3c	drivers/rc/crsf_rc: update standalone driver for CRSF and direct support for lq/rssi (#20084 ) Co-authored-by: Chris Seto <chris1seto@gmail.com>	2022-09-23 19:19:25 -04:00
chris1seto	86cddc6a52	fw_autotune_attitude_control : Add better support for RC TX control while in FW AT (#20069 ) Co-authored-by: Chris Seto <chris1seto@gmail.com>	2022-09-23 19:17:51 -04:00
Daniel Agar	b7fab39165	icm20948_i2c_passthrough: PX4_ERR is reset/configure fails and check temperature for validity	2022-09-23 19:16:10 -04:00
Daniel Agar	eb2a714aa5	ak09916: PX4_ERR if reset/configure is failing after 5s	2022-09-23 19:16:10 -04:00
Daniel Agar	16b4149492	Tools/generate_board_targets_json.py exclude VOXL2 for now (dev environment not yet available to github)	2022-09-23 16:40:56 -04:00
Thomas Debrunner	32277f6332	uavcan rgbled: Scale brightness for constant illumination	2022-09-23 14:33:20 -04:00
Eric Katzfey	d30ccb2b1d	initial board and platform support for the ModalAI VOXL 2 (POSIX + QuRT)	2022-09-23 12:03:05 -04:00