[BACKPORT 1.15] Sf45 initialization fixes and per-sector publishing (#25399 )

* SF45 fixes to restart the state machine if sensor does not init correctly (#23565) * fixes to restart the state machine if sensor does not init correctly Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * fixes Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * increase fail count Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * remove extra flush, switch from warn to debug, add enum states for sensor bring-up Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * remove dead code, decrease restart fail count metric, break out of loop with consec errors if over the fail count and not init Signed-off-by: dirksavage88 <dirksavage88@gmail.com> --------- Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * remove tel2 default from sf45 (#24602) Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * fix to orientation offsets for scaled yaw, removed unused param Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * Shift vertical orientation above scaling yaw operation, cp angle sign change Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * SENS: RNG: SF45 changed data processing and publication design, moved to a publishing per sector design. other minor improvements * SENS: RNG: SF45: Fixed sf45 parser, added general checks to avoid potential out-of-bound access * SENS: RNG: SF45:Fix startup problems, increase frequency, robust parser, use nonblocking reads * SENS: RNG: SF45: Added timeout to sensor measurements, to compensate the lower loop time of CollisionPrevention --------- Signed-off-by: dirksavage88 <dirksavage88@gmail.com> Co-authored-by: Claudio Chies <61051109+Claudio-Chies@users.noreply.github.com> Co-authored-by: Alexander Lerach <alexander@auterion.com>
[backport] boards: ark fpv fw vtol 1.15 (#24768 )
2026-06-11 19:50:05 +08:00 · 2025-10-13 21:20:55 -08:00 · 2025-07-07 09:26:00 -08:00 · 2025-06-16 18:51:23 -08:00 · 2025-04-15 16:10:07 +12:00 · 2025-02-06 23:41:28 -05:00
982 changed files with 15707 additions and 21764 deletions
@@ -46,6 +46,8 @@ pipeline {
                     "ark_cannode_default",
                     "ark_fmu-v6x_bootloader",
                     "ark_fmu-v6x_default",
+                     "ark_fpv_bootloader",
+                     "ark_fpv_default",
                     "ark_pi6x_bootloader",
                     "ark_pi6x_default",
                     "atl_mantis-edu_default",
@@ -15,7 +15,6 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
-		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",
@@ -1,7 +1,7 @@
 root = true

 [*]
-insert_final_newline = true
+insert_final_newline = false

 [{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
 indent_style = tab
@@ -9,6 +9,6 @@ tab_width = 8
 # Not in the official standard, but supported by many editors
 max_line_length = 120

-[*.yaml, *.yml]
+[*.yaml]
 indent_style = space
 indent_size = 2
@@ -1,89 +0,0 @@
-name: Build all targets
-
-on:
-  push:
-    branches:
-    - 'mrpollo/ci_runner_groups'
-
-jobs:
-  group_targets:
-    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
-    # container:
-    #   image: px4io/px4-dev-base-focal:2021-09-08
-      # options: --user 1001
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
-    steps:
-    - uses: actions/checkout@v4
-      #   token: ${{ secrets.ACCESS_TOKEN }}
-    - name: Install Python dependencies
-      uses: py-actions/py-dependency-install@v4
-      with:
-        path: "./Tools/setup/requirements.txt"
-    - id: set-matrix
-      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py --group)"
-    # - name: debug groups
-    #   run: |
-    #       echo "::group::DebugTargets"
-    #       ./Tools/generate_board_targets_json.py --group --verbose
-    #       echo "::endgroup::"
-    - id: set-timestamp
-      run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
-
-  setup:
-    name: ${{ matrix.group }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
-    needs: group_targets
-    strategy:
-      # matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
-      matrix:
-        include:
-          - group: 'nuttx-px4'
-            targets: 'px4_fmu-v5x_default,px4_fmu-v6x_default'
-            container: 'px4io/px4-dev-nuttx-focal:2022-08-12'
-            arch: 'nuttx'
-    container:
-      image: ${{ matrix.container }}
-      # options: --user 1001
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-        #   token: ${{ secrets.ACCESS_TOKEN }}
-      - name: debug permissions
-        run: |
-          echo "::group::DebugPermissions"
-          echo $UID
-          echo $PATH
-          echo "::endgroup::"
-      - name: ccache setup keys
-        uses: actions/cache@v4
-        with:
-          path: ~/.ccache
-          key: ${{ matrix.arch }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-          restore-keys: ${{ matrix.arch }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-
-      - name: setup ccache
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
-
-      - name: Debug with tmate session
-        uses: mxschmitt/action-tmate@v3
-        with:
-          detached: true
-          # sudo: false
-
-      - name: build target group
-        run: |
-            ./Tools/ci_build_all_runner.sh ${{matrix.targets}}
-
-      - name: ccache post-run
-        run: ccache -s
@@ -16,7 +16,6 @@ jobs:
      matrix:
        check: [
          "check_format",
-          "check_newlines",
          "tests",
          "tests_coverage",
          "px4_fmu-v2_default stack_check",
@@ -24,7 +23,6 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "px4_sitl_allyes",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
@@ -0,0 +1,58 @@
+name: Compile Linux Targets
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'stable'
+    - 'beta'
+    - 'release/*'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-armhf:2023-06-26
+    strategy:
+      matrix:
+        config: [
+          beaglebone_blue_default,
+          emlid_navio2_default,
+          px4_raspberrypi_default,
+          scumaker_pilotpi_default,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - name: ownership workaround
+      run: git config --system --add safe.directory '*'
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -0,0 +1,54 @@
+name: Compile Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'stable'
+    - 'beta'
+    - 'release/*'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:2022-08-12
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -0,0 +1,136 @@
+name: Compile Nuttx Targets
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'stable'
+    - 'beta'
+    - 'release/*'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    strategy:
+      fail-fast: false
+      matrix:
+        config: [
+          airmind_mindpx-v2,
+          ark_can-flow,
+          ark_can-gps,
+          ark_can-rtk-gps,
+          ark_cannode,
+          ark_fmu-v6x,
+          ark_pi6x,
+          ark_septentrio-gps,
+          atl_mantis-edu,
+          av_x-v1,
+          bitcraze_crazyflie,
+          bitcraze_crazyflie21,
+          cuav_can-gps-v1,
+          cuav_nora,
+          cuav_x7pro,
+          cubepilot_cubeorange,
+          cubepilot_cubeorangeplus,
+          cubepilot_cubeyellow,
+          diatone_mamba-f405-mk2,
+          freefly_can-rtk-gps,
+          holybro_can-gps-v1,
+          holybro_durandal-v1,
+          holybro_kakutef7,
+          holybro_kakuteh7,
+          holybro_pix32v5,
+          matek_gnss-m9n-f4,
+          matek_h743,
+          matek_h743-mini,
+          matek_h743-slim,
+          modalai_fc-v1,
+          modalai_fc-v2,
+          mro_ctrl-zero-classic,
+          mro_ctrl-zero-f7,
+          mro_ctrl-zero-f7-oem,
+          mro_ctrl-zero-h7,
+          mro_ctrl-zero-h7-oem,
+          mro_pixracerpro,
+          mro_x21,
+          mro_x21-777,
+          nxp_fmuk66-e,
+          nxp_fmuk66-v3,
+          nxp_mr-canhubk3,
+          nxp_ucans32k146,
+          omnibus_f4sd,
+          px4_fmu-v2,
+          px4_fmu-v3,
+          px4_fmu-v4,
+          px4_fmu-v4pro,
+          px4_fmu-v5,
+          px4_fmu-v5x,
+          px4_fmu-v6c,
+          px4_fmu-v6u,
+          px4_fmu-v6x,
+          px4_fmu-v6xrt,
+          raspberrypi_pico,
+          sky-drones_smartap-airlink,
+          spracing_h7extreme,
+          uvify_core,
+          siyi_n7
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 120M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make all_variants_${{matrix.config}}
+      run: make all_variants_${{matrix.config}}
+      timeout-minutes: 45
+    - name: make ${{matrix.config}} bloaty_compileunits
+      run: make ${{matrix.config}} bloaty_compileunits || true
+    - name: make ${{matrix.config}} bloaty_inlines
+      run: make ${{matrix.config}} bloaty_inlines || true
+    - name: make ${{matrix.config}} bloaty_segments
+      run: make ${{matrix.config}} bloaty_segments || true
+    - name: make ${{matrix.config}} bloaty_symbols
+      run: make ${{matrix.config}} bloaty_symbols || true
+    - name: make ${{matrix.config}} bloaty_templates
+      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
+    - name: make ${{matrix.config}} bloaty_compare_master
+      run: make ${{matrix.config}} bloaty_compare_master || true
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_package_${{matrix.config}}
+        path: |
+          build/**/*.px4
+          build/**/*.bin
@@ -54,3 +54,4 @@ jobs:
        AWS_REGION: 'us-west-1'
        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+
@@ -11,8 +11,6 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
      matrix:
@@ -11,8 +11,6 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
      matrix:
@@ -71,7 +71,7 @@
 [submodule "src/modules/zenoh/zenoh-pico"]
 	path = src/modules/zenoh/zenoh-pico
 	url = https://github.com/px4/zenoh-pico
-	branch = dev/1.0.0-px4
+	branch = pr-zubf-werror-fix
 [submodule "src/lib/heatshrink/heatshrink"]
 	path = src/lib/heatshrink/heatshrink
 	url = https://github.com/PX4/heatshrink.git
@@ -2,4 +2,4 @@
 	{
 		"name": "PX4 detect"
 	}
-]
+]
@@ -151,16 +151,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio-gps_default:
-      short: ark_septentrio-gps_default
+    ark_septentrio_gps_default:
+      short: ark_septentrio_gps_default
      buildType: MinSizeRel
      settings:
-        CONFIG: ark_septentrio-gps_default
-    ark_septentrio-gps_canbootloader:
-      short: ark_septentrio-gps_canbootloader
+        CONFIG: ark_septentrio_gps_default
+    ark_septentrio_gps_canbootloader:
+      short: ark_septentrio_gps_canbootloader
      buildType: MinSizeRel
      settings:
-        CONFIG: ark_septentrio-gps_canbootloader
+        CONFIG: ark_septentrio_gps_canbootloader
    ark_cannode_default:
      short: ark_cannode_default
      buildType: MinSizeRel
@@ -181,6 +181,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_fmu-v6x_default
+    ark_fpv_bootloader:
+      short: ark_fpv_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_fpv_bootloader
+    ark_fpv_default:
+      short: ark_fpv_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_fpv_default
    ark_pi6x_bootloader:
      short: ark_pi6x_bootloader
      buildType: MinSizeRel
@@ -4,7 +4,6 @@
    "recommendations": [
        "chiehyu.vscode-astyle",
        "dan-c-underwood.arm",
-        "editorconfig.editorconfig",
        "fredericbonnet.cmake-test-adapter",
        "github.vscode-pull-request-github",
        "marus25.cortex-debug",
@@ -15,7 +15,6 @@
        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
        "cmake.configureOnOpen": true,
        "cmake.ctest.parallelJobs": 1,
-        "cmake.options.statusBarVisibility": "compact",
        "cmake.skipConfigureIfCachePresent": true,
        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
        "cmakeExplorer.parallelJobs": 1,
@@ -185,17 +185,6 @@ menu "Serial ports"
        string "EXT2 tty port"
 endmenu

-menu "File paths"
-
-    config BOARD_ROOT_PATH
-        string "PX4 Root file path"
-        default "/fs/microsd"
-
-    config BOARD_PARAM_FILE
-        string "Parameter file"
-        default "/fs/mtd_params"
-endmenu
-
 menu "drivers"
 source "src/drivers/Kconfig"
 endmenu
@@ -325,6 +325,7 @@ px4io_update:

 bootloaders_update: \
 	ark_fmu-v6x_bootloader \
+	ark_fpv_bootloader \
 	ark_pi6x_bootloader \
 	cuav_nora_bootloader \
 	cuav_x7pro_bootloader \
@@ -379,9 +380,9 @@ doxygen:
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
 	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll

-# Style
+# Astyle
 # --------------------------------------------------------------------
-.PHONY: check_format format check_newlines
+.PHONY: check_format format

 check_format:
 	$(call colorecho,'Checking formatting with astyle')
@@ -392,10 +393,6 @@ format:
 	$(call colorecho,'Formatting with astyle')
 	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix

-check_newlines:
-	$(call colorecho,'Checking for missing or duplicate newlines at the end of files')
-	@"$(SRC_DIR)"/Tools/astyle/check_newlines.sh
-
 # Testing
 # --------------------------------------------------------------------
 .PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
@@ -120,7 +120,6 @@ add_custom_command(
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		${romfs_gen_root_dir}/init.d/rc.filepaths
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
@@ -132,9 +131,6 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
-		--rc-dir ${romfs_gen_root_dir}/init.d
-		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
@@ -324,7 +320,6 @@ add_custom_target(romfs_gen_files_target
 	DEPENDS
 		${romfs_copy_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
-		${romfs_gen_root_dir}/init.d/rc.filepaths
 		romfs_extras.stamp
 	)

@@ -21,14 +21,25 @@ set R /
 #
 ver all

-# Load param file location from kconfig
-. ${R}etc/init.d/rc.filepaths
+if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
+then
+	set PARAM_FILE /dev/eeeprom0
+fi
+
+if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
+then
+	set PARAM_FILE /mnt/qspi/params
+fi

 #
 # Load parameters.
 #
 param select $PARAM_FILE
-
 if ! param load
 then
 	param reset_all
@@ -29,3 +29,4 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
+
@@ -30,3 +30,4 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default EKF2_RNG_A_HMAX 10
+
@@ -94,3 +94,4 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
+
@@ -12,3 +12,4 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
+
@@ -24,6 +24,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027

+param set-default BAT_N_CELLS 3
+
 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402
@@ -33,6 +33,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027

+param set-default BAT_N_CELLS 3
+
 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2
@@ -30,3 +30,4 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default LPE_FUSION 242
+
@@ -18,3 +18,4 @@ param set-default LPE_FUSION 132

 # AEQ: External heading set to use vision input
 param set-default ATT_EXT_HDG_M 1
+
@@ -41,3 +41,4 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
+
@@ -61,3 +61,4 @@ param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108
+
@@ -68,3 +68,5 @@ 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
+
+
@@ -39,6 +39,7 @@ 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
@@ -41,6 +41,7 @@ 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
@@ -70,3 +71,4 @@ 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
+
@@ -24,6 +24,7 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -55,3 +56,4 @@ 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
+
@@ -24,6 +24,7 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -54,3 +54,4 @@ 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
+
@@ -24,6 +24,7 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -55,3 +56,4 @@ 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
+
@@ -62,3 +62,4 @@ 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
+
@@ -39,6 +39,7 @@ 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
@@ -23,7 +23,9 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -78,3 +78,4 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_FWD_THRUST_SC 1
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2
+
@@ -75,3 +75,4 @@ param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_TYPE 0

 param set-default WV_EN 0
+
@@ -88,3 +88,4 @@ param set-default PWM_MAIN_FUNC11 422
 param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10
+
@@ -39,6 +39,7 @@ 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
@@ -31,3 +31,4 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
+
@@ -38,3 +38,4 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
+
@@ -41,3 +41,4 @@ param set-default CA_R_REV 3

 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
+
@@ -64,3 +64,4 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
+
@@ -69,3 +69,4 @@ param set-default PWM_MAIN_FUNC4 203
 param set-default PWM_MAIN_FUNC5 407
 param set-default PWM_MAIN_FUNC6 408
 param set-default PWM_MAIN_FUNC7 409
+
@@ -36,3 +36,4 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 201
 param set-default PWM_MAIN_FUNC4 103
+
@@ -52,4 +52,3 @@ param set-default SIM_GZ_EC_MAX3 1000
 param set-default SIM_GZ_EC_MAX4 1000

 param set-default MPC_THR_HOVER 0.60
-param set-default NAV_DLL_ACT 2
@@ -101,9 +101,8 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default NAV_ACC_RAD 5
-param set-default NAV_DLL_ACT 2

 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.3
+param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0
@@ -132,5 +132,3 @@ param set-default SIM_GZ_EC_MAX1 1100
 param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100
-
-param set-default NAV_DLL_ACT 2
@@ -1,49 +0,0 @@
-#!/bin/sh
-# @name Rover Ackermann
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-# Rover parameters
-param set-default NAV_ACC_RAD 0.5
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_MAX_ACCEL 1.5
-param set-default RA_MAX_JERK 15
-param set-default RA_MAX_SPEED 3
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 360
-param set-default RA_MISS_VEL_DEF 3
-param set-default RA_MISS_VEL_GAIN 5
-param set-default RA_MISS_VEL_MIN 1
-param set-default RA_SPEED_I 0.01
-param set-default RA_SPEED_P 2
-param set-default RA_WHEEL_BASE 0.321
-
-# Pure Pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
-# Wheels
-param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
-param set-default SIM_GZ_WH_DIS1 100
-
-# Steering
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_REV 1
@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 lidar
-#
-# @type Quadrotor
-#
-
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar}
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -63,3 +63,4 @@ param set-default PWM_MAIN_FUNC9 422
 # Landing gear
 param set-default PWM_MAIN_FUNC10 400
 param set-default PWM_MAIN_FUNC11 400
+
@@ -119,3 +119,4 @@ param set-default CA_METHOD 0
 # disable attitude failure detection
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0
+
@@ -83,8 +83,6 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
-	4012_gz_rover_ackermann
-	4013_gz_x500_lidar

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -15,9 +15,6 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 	if [ -n "${PX4_HOME_LON}" ]; then
 		param set SIH_LOC_LON0 ${PX4_HOME_LON}
 	fi
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIH_LOC_H0 ${PX4_HOME_ALT}
-	fi

 	if simulator_sih start; then

@@ -157,7 +157,6 @@ param set-default CBRK_SUPPLY_CHK 894281

 # disable check, no CPU load reported on posix yet
 param set-default COM_CPU_MAX -1
-param set-default COM_RAM_MAX -1

 # Don't require RC calibration and configuration
 param set-default COM_RC_IN_MODE 1
@@ -44,7 +44,6 @@ px4_add_romfs_files(
 	# TODO
 	rc.balloon_apps
 	rc.balloon_defaults
-	rc.sysinit
 )

 if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
@@ -85,13 +84,6 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_ACKERMANN)
-	px4_add_romfs_files(
-		rc.rover_ackermann_apps
-		rc.rover_ackermann_defaults
-	)
-endif()
-
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps
@@ -44,3 +44,4 @@ param set-default CA_ROTOR4_KM -0.05
 param set-default CA_ROTOR5_PX 0.25
 param set-default CA_ROTOR5_PY -0.433
 param set-default CA_ROTOR5_PZ 0.05
+
@@ -44,6 +44,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027

+param set-default BAT_N_CELLS 3
+
 param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402
@@ -62,6 +62,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027

+param set-default BAT_N_CELLS 3
+
 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
 param set SIH_MASS 0.2
@@ -66,6 +66,7 @@ param set-default MC_PITCHRATE_I 0.05
 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1

+param set-default MIS_DIST_1WP 100
 param set-default MIS_TAKEOFF_ALT 15

 param set-default MPC_XY_P 0.8
@@ -119,3 +119,5 @@ param set-default PWM_MAIN_TIM0 50
 param set-default PWM_MAIN_DIS1 1500
 param set-default PWM_MAIN_DIS2 1500
 param set-default PWM_MAIN_DIS4 1500
+
+
@@ -32,3 +32,4 @@ param set-default CA_SV_TL0_MAXA 45
 param set-default CA_SV_TL0_MINA -45
 param set-default CA_SV_TL0_TD 90
 param set-default CA_SV_TL_COUNT 1
+
@@ -24,3 +24,5 @@ param set-default MC_PITCHRATE_D 0
 param set-default MC_PITCHRATE_FF 0.1

 param set-default CA_AIRFRAME 10
+
+
@@ -23,3 +23,4 @@ param set-default MAV_0_MODE 1
 param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600
+
@@ -72,3 +72,5 @@ param set-default PWM_MAIN_DIS5 1000
 param set-default PWM_MAIN_DIS6 1500
 param set-default PWM_MAIN_DIS7 1500
 param set-default PWM_MAIN_DIS8 1500
+
+
@@ -66,3 +66,4 @@ param set-default CA_ROTOR11_PX -0.344
 param set-default CA_ROTOR11_PY -0.25
 param set-default CA_ROTOR11_PZ -0.05
 param set-default CA_ROTOR11_KM -0.05
+
@@ -38,3 +38,4 @@ param set-default CA_SV_CS_COUNT 1
 param set-default CA_SV_CS0_TRQ_P 1

 param set-default CA_R_REV 7
+
@@ -6,7 +6,6 @@
 # @class Copter
 #
 # @board px4_fmu-v2 exclude
-# @board px4_fmu-v5x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>
@@ -7,10 +7,6 @@
 #
 # @maintainer
 # @board px4_fmu-v2 exclude
-# @board cuav_x7pro exclude
-# @board px4_fmu-v4pro exclude
-# @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -40,6 +36,7 @@ param set-default COM_RC_LOSS_T 3


 # ekf2
+param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_NOISE 2

 param set-default EKF2_BCOEF_X 31.5
@@ -12,7 +12,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #
@@ -10,7 +10,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #
@@ -8,7 +8,6 @@
 # @maintainer Oleg Kalachev <okalachev@gmail.com>
 #
 # @board px4_fmu-v2 exclude
-# @board px4_fmu-v4pro exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -25,6 +25,7 @@
 param set-default BAT1_CAPACITY 4000
 param set-default BAT1_N_CELLS 6
 param set-default BAT1_V_EMPTY 3.3
+param set-default BAT1_V_LOAD_DROP 0.5
 param set-default BAT_AVRG_CURRENT 13

 # Square quadrotor X PX4 numbering
@@ -68,9 +69,6 @@ param set-default MPC_THR_MIN 0.025
 param set-default MPC_VEL_MANUAL 5.0
 param set-default MPC_XY_VEL_MAX 8.0

-param set-default RC_CRSF_PRT_CFG 300
-param set-default RC_CRSF_TEL_EN 1
-
 param set-default RTL_RETURN_ALT 15

 param set-default SENS_FLOW_MINHGT 0.0
@@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults
@@ -48,3 +48,5 @@ param set-default PWM_MAIN_FUNC1 201
 param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101
+
+
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Generic ackermann rover
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
@@ -42,3 +42,4 @@ param set-default CA_ROTOR3_KM 0
 param set-default CA_ROTOR3_PX 0
 param set-default CA_ROTOR3_PY -0.3
 param set-default CA_ROTOR3_PZ 0.3
+
@@ -31,3 +31,5 @@ param set-default CA_ROTOR4_PY 0.25
 param set-default CA_ROTOR5_PX -0.43
 param set-default CA_ROTOR5_PY -0.25
 param set-default CA_ROTOR5_KM -0.05
+
+
@@ -123,3 +123,4 @@ param set-default PWM_MAIN_FUNC6 106
 param set-default PWM_MAIN_TIM0 -1
 param set-default PWM_MAIN_TIM1 -1
 param set-default PWM_MAIN_TIM2 -1
+
@@ -31,3 +31,5 @@ param set-default CA_ROTOR4_PY -0.43
 param set-default CA_ROTOR5_PX -0.25
 param set-default CA_ROTOR5_PY 0.43
 param set-default CA_ROTOR5_KM -0.05
+
+
@@ -36,3 +36,5 @@ param set-default CA_ROTOR6_PY -0.46
 param set-default CA_ROTOR7_KM -0.05
 param set-default CA_ROTOR7_PX -0.19
 param set-default CA_ROTOR7_PY 0.46
+
+
@@ -36,3 +36,4 @@ param set-default CA_ROTOR6_PY -0.5
 param set-default CA_ROTOR7_KM -0.05
 param set-default CA_ROTOR7_PX 0
 param set-default CA_ROTOR7_PY 0.5
+
@@ -149,12 +149,6 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_ACKERMANN)
-	px4_add_romfs_files(
-		50010_ackermann_rover_generic
-	)
-endif()
-
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		# [60000, 61000] (Unmanned) Underwater Robots
@@ -1,8 +0,0 @@
-#!/bin/sh
-# Standard apps for a ackermann drive rover.
-
-# Start rover ackermann drive controller.
-rover_ackermann start
-
-# Start Land Detector.
-land_detector start rover
@@ -1,13 +0,0 @@
-#!/bin/sh
-# Ackermann rover parameters.
-
-set VEHICLE_TYPE rover_ackermann
-param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
-param set-default CA_AIRFRAME 5 # Rover (Ackermann)
-param set-default CA_R_REV 1 # Motor is assumed to be reversible
-param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
-param set-default NAV_RCL_ACT 6 # Disarm on manual control loss
-param set-default COM_FAIL_ACT_T 1 # Delay before failsafe after rc loss
@@ -138,12 +138,6 @@ then
 	adis16507 -S start
 fi

-# SCH16T spi external IMU
-if param compare -s SENS_EN_SCH16T 1
-then
-	sch16t -S start
-fi
-
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then
@@ -204,6 +198,13 @@ then
 	spl06 -X -a 0x77 start
 fi

+# SPA06 sensor external I2C
+if param compare -s SENS_EN_SPA06 1
+then
+	spa06 -X start
+	spa06 -X -a 0x77 start
+fi
+
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then
@@ -1,4 +0,0 @@
-#!/bin/sh
-#
-# Standard system init script
-#
@@ -41,15 +41,6 @@ then
 	. ${R}etc/init.d/rc.rover_differential_apps
 fi

-#
-# Ackermann Rover setup.
-#
-if [ $VEHICLE_TYPE = rover_ackermann ]
-then
-	# Start ackermann drive rover apps.
-	. ${R}etc/init.d/rc.rover_ackermann_apps
-fi
-
 #
 # VTOL setup.
 #
@@ -36,12 +36,6 @@ set SDCARD_FORMAT no
 set STARTUP_TUNE 1
 set VEHICLE_TYPE none

-# Airframe parameter versioning
-# Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
-# Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
-# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enfoces a reset.
-set PARAM_DEFAULTS_VER 1
-
 #
 # Print full system version.
 #
@@ -120,14 +114,13 @@ then
 	. $FRC
 else

-	# Load param file location from kconfig
-	. ${R}etc/init.d/rc.filepaths
-
-	# Check if /fs/mtd_params is a valid BSON file
-	if ! bsondump docsize /fs/mtd_caldata
+	#
+	# Set the parameter file the board supports params on
+	# MTD device.
+	#
+	if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
 	then
-		echo "New /fs/mtd_caldata size is:"
-		bsondump docsize /fs/mtd_caldata
+		set PARAM_FILE /fs/mtd_params
 	fi

 	#
@@ -182,11 +175,13 @@ else
 		netman update -i eth0
 	fi

-	# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
+	#
+	# If the airframe has been previously reset SYS_AUTCONFIG will have been set to 1 and other params will be reset on the next boot.
+	#
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, flight modes, total flight time, flight UUID
-		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
+		# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
+		param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	fi

 	#
@@ -211,42 +206,25 @@ else
 	fi
 	unset BOARD_RC_DEFAULTS

-	# Load airframe configuration based on SYS_AUTOSTART parameter
+	#
+	# Set parameters and env variables for selected SYS_AUTOSTART.
+	#
+	set AUTOSTART_PATH etc/init.d/rc.autostart
 	if ! param compare SYS_AUTOSTART 0
 	then
-		# rc.autostart directly run the right airframe script which sets the VEHICLE_TYPE
-		# Look for airframe in ROMFS
-		. ${R}etc/init.d/rc.autostart
-
-		if [ ${VEHICLE_TYPE} == none ]
+		if param greater SYS_AUTOSTART 1000000
 		then
-			# Look for airframe on SD card
+			# Use external startup file
 			if [ $SDCARD_AVAILABLE = yes ]
 			then
-				. ${R}etc/init.d/rc.autostart_ext
+				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
 			else
-				echo "ERROR [init] SD card not mounted - can't load external airframe"
+				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
 			fi
 		fi
-
-		if [ ${VEHICLE_TYPE} == none ]
-		then
-			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
-			param set SYS_AUTOSTART 0
-			tune_control play error
-		fi
-	fi
-
-	# Check parameter version and reset upon airframe configuration version mismatch.
-	# Reboot required because "param reset_all" would reset all "param set" lines from airframe.
-	if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
-	then
-		echo "Switched to different parameter version. Resetting parameters."
-		param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
-		param set SYS_AUTOCONFIG 1
-		param save
-		reboot
+		. ${R}$AUTOSTART_PATH
 	fi
+	unset AUTOSTART_PATH

 	#
 	# Start the tone_alarm driver.
@@ -613,7 +591,6 @@ unset LOGGER_ARGS
 unset LOGGER_BUF
 unset PARAM_FILE
 unset PARAM_BACKUP_FILE
-unset PARAM_DEFAULTS_VER
 unset RC_INPUT_ARGS
 unset SDCARD_AVAILABLE
 unset SDCARD_EXT_PATH
@@ -45,7 +45,7 @@ function [ center, radii, evecs, v ] = ellipsoid_fit( X, flag, equals )
 % * center    -  ellispoid center coordinates [xc; yc; zc]
 % * ax        -  ellipsoid radii [a; b; c]
 % * evecs     -  ellipsoid radii directions as columns of the 3x3 matrix
-% * v         -  the 9 parameters describing the ellipsoid algebraically:
+% * v         -  the 9 parameters describing the ellipsoid algebraically: 
 %                Ax^2 + By^2 + Cz^2 + 2Dxy + 2Exz + 2Fyz + 2Gx + 2Hy + 2Iz = 1
 %
 % Author:
@@ -59,7 +59,7 @@ end
 if flag == 2 && nargin == 2
    equals = 'xy';
 end
-
+    
 if size( X, 2 ) ~= 3
    error( 'Input data must have three columns!' );
 else
@@ -69,7 +69,7 @@ else
 end

 % need nine or more data points
-if length( x ) < 9 && flag == 0
+if length( x ) < 9 && flag == 0 
   error( 'Must have at least 9 points to fit a unique ellipsoid' );
 end
 if length( x ) < 6 && flag == 1
@@ -91,7 +91,7 @@ if flag == 0
      2 * x .* z, ...
      2 * y .* z, ...
      2 * x, ...
-      2 * y, ...
+      2 * y, ... 
      2 * z ];  % ndatapoints x 9 ellipsoid parameters
 elseif flag == 1
    % fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Gx + 2Hy + 2Iz = 1
@@ -99,7 +99,7 @@ elseif flag == 1
          y .* y, ...
          z .* z, ...
      2 * x, ...
-      2 * y, ...
+      2 * y, ... 
      2 * z ];  % ndatapoints x 6 ellipsoid parameters
 elseif flag == 2
    % fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Gx + 2Hy + 2Iz = 1,
@@ -127,7 +127,7 @@ else
    % fit sphere in the form A(x^2 + y^2 + z^2) + 2Gx + 2Hy + 2Iz = 1
    D = [ x .* x + y .* y + z .* z, ...
      2 * x, ...
-      2 * y, ...
+      2 * y, ... 
      2 * z ];  % ndatapoints x 4 sphere parameters
 end

@@ -170,3 +170,5 @@ else
    radii = ( sqrt( gam ./ v( 1:3 ) ) )';
    evecs = eye( 3 );
 end
+
+
@@ -3,20 +3,22 @@
 FILE=$1
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

-CHECK_FAILED=$(${DIR}/fix_code_style.sh --dry-run --formatted $FILE)
-if [ -n "$CHECK_FAILED" ]; then
-	${DIR}/fix_code_style.sh --quiet < $FILE > $FILE.pretty
+if [ -f "$FILE" ]; then
+	CHECK_FAILED=$(${DIR}/fix_code_style.sh --dry-run --formatted $FILE)
+	if [ -n "$CHECK_FAILED" ]; then
+		${DIR}/fix_code_style.sh --quiet < $FILE > $FILE.pretty

-	echo -e 'Formatting issue found in' $FILE
-	echo
-	git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty | grep -vE -e "^.{,4}diff.*\.pretty.{,3}$" -e "^.{,4}--- a/.*$" -e "^.{,4}\+\+\+ b/.*$" -e "^.{,5}@@ .* @@.*$" -e "^.{,4}index .{10}\.\."
-	rm -f $FILE.pretty
-	echo
+		echo -e 'Formatting issue found in' $FILE
+		echo
+		git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty | grep -vE -e "^.{,4}diff.*\.pretty.{,3}$" -e "^.{,4}--- a/.*$" -e "^.{,4}\+\+\+ b/.*$" -e "^.{,5}@@ .* @@.*$" -e "^.{,4}index .{10}\.\."
+		rm -f $FILE.pretty
+		echo

-	if [[ $PX4_ASTYLE_FIX -eq 1 ]]; then
-		${DIR}/fix_code_style.sh $FILE
-	else
-		echo 'to fix automatically run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
-		exit 1
+		if [[ $PX4_ASTYLE_FIX -eq 1 ]]; then
+			${DIR}/fix_code_style.sh $FILE
+		else
+			echo 'to fix automatically run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
+			exit 1
+		fi
 	fi
 fi
@@ -1,19 +0,0 @@
-#!/usr/bin/env bash
-
-return_value=0
-
-# Check if there are files checked in that don't end in a newline (POSIX requirement)
-git grep --cached -Il '' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
-
-if [ $? -ne 0 ]; then
-	return_value=1
-fi
-
-# Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks)
-git grep --cached -Il '' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
-
-if [ $? -ne 0 ]; then
-	return_value=1
-fi
-
-exit $return_value
@@ -18,8 +18,7 @@ exec find boards msg src platforms test \
    -path src/lib/events/libevents -prune -o \
    -path src/lib/parameters/uthash -prune -o \
    -path src/lib/wind_estimator/python/generated -prune -o \
-    -path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \
-    -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
+    -path src/modules/ekf2/EKF -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
@@ -32,4 +31,4 @@ exec find boards msg src platforms test \
    -path src/lib/cdrstream/rosidl -prune -o \
    -path src/modules/zenoh/zenoh-pico -prune -o \
    -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
-    \( -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) -print \) | grep $PATTERN
+    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
@@ -6,7 +6,7 @@ function check_git_submodule {
 if [[ -f $1"/.git" || -d $1"/.git" ]]; then

 	# always update within CI environment or configuring withing VSCode CMake where you can't interact
-	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ] || [ -n "${CLION_IDE+set}" ]; then
+	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
 		git submodule --quiet sync --recursive -- $1
 		git submodule --quiet update --init --recursive --jobs=8 -- $1  || true
 		git submodule --quiet sync --recursive -- $1
@@ -1,12 +0,0 @@
-#!/bin/bash
-# This script is meant to be used by the build_all.yml workflow in a github runner
-# Please only modify if you know what you are doing
-set -e
-
-targets=$1
-for target in ${targets//,/ }
-do
-    echo "::group::Building: [${target}]"
-    make $target
-    echo "::endgroup::"
-done
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Andrew Brahim	85df8c2281	[BACKPORT 1.15] Sf45 initialization fixes and per-sector publishing (#25399 ) * SF45 fixes to restart the state machine if sensor does not init correctly (#23565) * fixes to restart the state machine if sensor does not init correctly Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * fixes Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * increase fail count Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * remove extra flush, switch from warn to debug, add enum states for sensor bring-up Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * remove dead code, decrease restart fail count metric, break out of loop with consec errors if over the fail count and not init Signed-off-by: dirksavage88 <dirksavage88@gmail.com> --------- Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * remove tel2 default from sf45 (#24602) Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * fix to orientation offsets for scaled yaw, removed unused param Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * Shift vertical orientation above scaling yaw operation, cp angle sign change Signed-off-by: dirksavage88 <dirksavage88@gmail.com> * SENS: RNG: SF45 changed data processing and publication design, moved to a publishing per sector design. other minor improvements * SENS: RNG: SF45: Fixed sf45 parser, added general checks to avoid potential out-of-bound access * SENS: RNG: SF45:Fix startup problems, increase frequency, robust parser, use nonblocking reads * SENS: RNG: SF45: Added timeout to sensor measurements, to compensate the lower loop time of CollisionPrevention --------- Signed-off-by: dirksavage88 <dirksavage88@gmail.com> Co-authored-by: Claudio Chies <61051109+Claudio-Chies@users.noreply.github.com> Co-authored-by: Alexander Lerach <alexander@auterion.com>	2025-10-13 21:20:55 -08:00
Alex Klimaj	d66956a682	[backport] boards: ark fpv fw vtol 1.15 (#24768 ) * boards: ark_fpv add vtol att control * boards: ark_fpv add camera trigger and capture drivers (#24643) * boards: ark_fpv add fw controller * boards: ark_fpv 1.15 backport change to old RC driver	2025-07-07 09:26:00 -08:00
Jacob Dahl	d9c5acb669	[BACKPORT 1.15] ark_fpv: use rc_input module, fix make upload (#25061 )	2025-06-16 18:51:23 -08:00
Julian Oes	a7659ddf12	boards: fix startup delay for all Kakute H7 This configures the RTC clock to use the HSE instead of the not existing LSE clock which prevents boot waiting for the not existing LSE crystal for a few seconds on startup.	2025-04-15 16:10:07 +12:00
Julian Oes	99c40407ff	gps: revert ubx changes, point to 1.15 branch This reverts UBX changes that we don't want to backport into v1.15. We now point to a release/1.15 branch within the PX4-GPSDrivers submodule.	2025-02-06 23:41:28 -05:00
bresch	03b4ad46e8	fw-att: fix wheel controller	2025-01-03 16:29:49 +01:00
Julian Oes	51000107a9	[BACKPORT v1.15] gps: heading fixes for NMEA/Unicore (#24092 ) * gps: heading fixes for NMEA/Unicore This updates the GPS submodule which includes NMEA/Unicore fixes: - Add correct return value for sat infos - Only publish on position updates - Request required topics at 5 Hz for Unicore * gps: build fix	2024-12-13 08:52:01 +13:00
Julian Oes	dba5383e99	boards: add SPA06 to KakuteH7/H7mini/H7v2 boards	2024-12-12 11:12:21 -05:00
Julian Oes	ca611f1580	drivers: add SPA06	2024-12-12 11:12:21 -05:00
Julian Oes	faa7bb91d0	drivers: Copy SPL06 to SPA06	2024-12-12 11:12:21 -05:00
Jacob Dahl	8017135965	Update platforms/nuttx/src/bootloader/stm/stm32_common/main.c	2024-11-19 12:19:19 -05:00
alexklimaj	eb76cc6001	stm32 bootloader: use STM32_CPUCLK_FREQUENCY for systick_mhz	2024-11-19 12:19:19 -05:00
alexklimaj	15dd55e86a	boards: ark fpv fix current adc	2024-11-19 12:19:19 -05:00
Alex Klimaj	4798b6b631	boards: ark fpv change bootloader uart to telem1 (#23898 )	2024-11-19 12:19:19 -05:00
Alex Klimaj	b8e7237317	boards: ark fpv add SCH16T (#23883 ) * boards: ark fpv add SCH16T * boards: ark fpv fix spi6	2024-11-19 12:19:19 -05:00
Alex Klimaj	510d6a1f70	boards: new ARK FPV FC (#23830 ) * add new payload power switch (RC_MAP_PAY_SW)	2024-11-19 12:19:19 -05:00
Alexis Guijarro	4817c0618a	mRo boards: Fix for USART clock selection (#23524 )	2024-11-06 12:20:00 -08:00
QiTao Weng	e85ffa0991	Add airspeed message to uxrce dds topics (#23847 ) Co-authored-by: Weng <q350w358@ENGR-GQT56X3-X.home.ku.edu>	2024-11-04 19:18:29 -09:00
Silvan Fuhrer	aa25964942	Navigator: land: set lat/lon fields of triplet to NAN if global position is not valid Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-10-31 13:34:45 +01:00
Julian Oes	53dda3576b	boards: add Septentrio GNSS drivers to 6XRT	2024-10-29 19:58:01 +13:00
Julian Oes	31582270ae	boards: add Sepentrio GNSS drivers to 6C and 6X	2024-10-29 19:58:01 +13:00
Jacob Dahl	93eef0c787	set file descriptor to -1 after close()	2024-10-01 13:13:18 -04:00
alexklimaj	dd5e81470c	failure detector use per index esc current	2024-09-30 15:45:56 -04:00
Mathieu Bresciani	1d06f62399	fix VehicleCommand.msg syntax	2024-09-30 15:28:24 -04:00
Daniel Agar	f5f7dfc45e	commander: ignore REQUEST_CAMERA_INFORMATION - add answer command logging	2024-09-30 15:28:24 -04:00
Ramon Roche	cf1c03e412	drivers/gnss/septentrio: disable default assignment of GPS1	2024-09-25 06:54:51 -07:00
Ramon Roche	30e763b678	Commander: lock down mav sys and comp id - keeps them as local params at init - only allow to set at init	2024-08-27 15:27:32 -04:00
Julian Oes	fe26cdebc0	stm32h7: Reset USART clock selection (#23498 ) (#23516 ) This resets the USARTs' clock source selection to the default, in case it has been changed by the bootloader. This is required if booting from the ArduPilot bootloader which happens to reset the clock selection to PLL. Without this fix, UARTs (including the console) is garbled, so presumably at an invalid baudrate.	2024-08-09 10:25:19 +12:00
Silvan Fuhrer	631f36b1ee	TECS: reduce default of FW_T_SPD_STD to reduce airspeed measurement delay Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-08-07 17:45:20 +02:00
Beat Küng	96cddf5ed1	fix metadata.cmake: add missing paths to json & xml parameter outputs (#23464 )	2024-08-07 08:39:43 +02:00
chiara-septentrio	5216453b39	drivers/gnss/septentrio : 1.15-compatible extracted septentrio driver, with new features and fixes (#23386 ) Co-authored-by: Chiara de Saint Giniez <chiarastginiez@gmail.com>	2024-07-25 11:39:38 -04:00
David Sidrane	3dc97908db	spracing_h7extreme:rcc Tack upstream name fix	2024-07-15 13:52:44 +02:00
Matthias Grob	762d87285c	Jankinsfile-compile: add missing comma after `ark_pi6x_default`	2024-07-15 13:52:44 +02:00
Matthias Grob	5216d5c569	SubscriptionInterval: move updated, update, copy function to a cpp file Saves 17.3 kilobytes of flash 😮	2024-07-15 11:31:52 +02:00
Matthias Grob	920005a235	uORB: SubscriptionInterval fix timestamp wrapping when initializing less than the interval time after boot (#23384 ) * SubscriptionInterval: ensure _last_update is never before timer start	2024-07-11 16:36:55 +02:00
Peter van der Perk	50dd011c5e	Update NuttX Backports: stm32h755II backport stm32h7: allow Ethernet MAC without PHY imxrt: imxrt11xx set core clock to 1p15v regardless of ocotp imxrt: Correctly update PLL, bit has to toggled instead of being set	2024-07-10 22:00:47 -04:00
Peter van der Perk	e00101b771	[BACKPORT] imxrt: Change PLL settings for more accurate dshot timing	2024-07-10 22:00:47 -04:00
Peter van der Perk	c8fedda09a	[BACKPORT] fmu-v6xrt: MTD use full FRAM (32KB)	2024-07-10 22:00:47 -04:00
alexklimaj	de07e2bef0	boards ark pi6x add vl53l0x	2024-06-26 17:09:48 -04:00
fury1895	9a422dbfe8	gimbal - input_mavlink: return NoUpdate by default	2024-06-19 14:49:04 +02:00
Julian Oes	e2558046b8	mavlink: enable gimbal controls in QGC over USB	2024-06-11 15:08:38 +12:00
Julian Oes	00b6df1de5	gimbal: fix auto RC and MAVLink mode This fixes various edge cases when input is set to both: RC and MAVLink gimbal protocol v2. Specifically: - We no longer immediately reset primary control if there is no update, otherwise this will reset immediately after an commands. - Talking of commands: GIMBAL_MANAGER_CONFIGURE no longer switches control to MAVLink but only an actual incoming setpoint command does. - And incoming setpoint command only triggers UpdatedActiveOnce which means we will check RC again afterwards and if there is big movement switch back to RC. That's the intuitive thing to do until we have better reporting about who/what is in control. - Also, with RC we no longer always set us to be in control but only on major movement.	2024-06-11 15:08:38 +12:00
Jacob Dahl	061373f45b	cdcacm_autostart: handle USB power only	2024-06-07 08:05:15 -04:00
Silvan Fuhrer	f3787708d7	VTOL: remove _dt passing as it's no longer used (and was wrong) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-06 21:52:40 -04:00
Silvan Fuhrer	4fe51d4911	VTOL Standard: fix transition pusher motor slew rate Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-06 21:52:40 -04:00
Julian Oes	71bf06af56	boards: update all bootloaders	2024-06-07 09:24:40 +12:00
Peize-Liu	5f2568231d	[Fix][hkust_nxt-dual]:board hkust_nxt-dual fix hw_config.h missing APP_RESERVATION_SIZE param (#23204 )	2024-06-07 09:24:40 +12:00
Julian Oes	ce9109cf5e	Makefile: add missing bootloader targets Quite a few were missing, and everything on one line was hard to diff.	2024-06-07 09:24:40 +12:00
David Sidrane	ec2c91fa90	nxp/imxrt_common/main:Fix Breakage from `a9962dc`	2024-06-07 09:24:40 +12:00
Julian Oes	9f07f2a076	px_uploader: catch serial exception correctly Signed-off-by: Julian Oes <julian@oes.ch>	2024-06-07 09:24:40 +12:00
Julian Oes	9dc3f6ea12	bootloader: remove unused/duplicate defines	2024-06-07 09:24:40 +12:00
Julian Oes	0d957e9e87	bootloader: track ArduPilot protocol Just so we don't conflict on these commands in the future.	2024-06-07 09:24:40 +12:00
Julian Oes	62e61a3d7e	px_uploader.py: clean up various tidbits Includes: - Remove some of the outdated Python2 checks and compatibility. - Try not catch all exceptions but only the expected ones. Otherwise, this makes it really hard to debug if anything unexpected actually goes wrong. - Make use of fstrings. - Make output slightly prettier. Signed-off-by: Julian Oes <julian@oes.ch>	2024-06-07 09:24:40 +12:00
Julian Oes	cc83186dcc	bootloader: add bootloader version This adds a new protocol extension which allows to get the bootloader version. The bootloader version is different from the bootloader protocol revision which has stabilized at 5 and is not easy to update unless a bootloader is actually breaking the protocol. The reason being that both the Python script as well as the uploader used in QGC will not attempt to load firmware if they don't know the bootloader version, so it could basically be considered a "breaking" protocol revision. Signed-off-by: Julian Oes <julian@oes.ch>	2024-06-07 09:24:40 +12:00
Julian Oes	eb9fd7ec76	tools/bootloader: add force-erase option If the STM32H7 fails to program or erase a full chunk of 256 bytes, the ECC check will trigger a busfault when trying to read from it. To speed up erasing and optimize wear, we read before erasing to check if it actually needs erasing. That's when a busfault happens and the erase time outs. The workaround is to add an option to do a full erase without check. Credit goes to: https://github.com/ArduPilot/ardupilot/pull/22090 And the protocol option added to the bootloader is the same as for ArduPilot, so compatible. Signed-off-by: Julian Oes <julian@oes.ch>	2024-06-07 09:24:40 +12:00
Peter van der Perk	d8655fdde9	[BACKPORT] fmu-v6xrt: Support RC telemetry	2024-06-05 11:15:45 -04:00
Peter van der Perk	d8b6b2a5ad	[BACKPORT] fmu-v6xrt: Fix flash configuration Fixes correct dummy cycle count of 20	2024-06-05 11:15:45 -04:00
David Sidrane	ef9b1b75c3	[BACKPORT] Update px4_fmu-v6xrt Bootloader	2024-06-05 11:15:45 -04:00
David Sidrane	f10650e114	[BACKPORT] px4_fmu-v6xrt & bootloader:Bootloader enusres that ITCM memory is writable before jump to APP	2024-06-05 11:15:45 -04:00
David Sidrane	82a259cebe	[BACKPORT] bootloader/common/bl.c:Fixed Wrong vec_base caculation - only effects imxrt	2024-06-05 11:15:45 -04:00
David Sidrane	5903a815b7	NuttX with imxrt:lpuart & 1170 MPU Backports [BACKPORT] imxrt: lpuart singlewire transfer support These correctly enables mpu_rest on MPU init if CONFIG_ARM_MPU_RESET is defined. [BACKPORT] imxrt: 1170 MPU config ensure no lockups can occur [BACKPORT] armv{7\|8}-{m\|r}:MPU fix CONFIG naming to include ARM	2024-06-05 11:15:45 -04:00
Peter van der Perk	b5e5b2a186	[BACKPORT] dronecan: SocketCAN driver check size before copying Avoids memory corruption if we get packets to big	2024-06-05 11:15:45 -04:00
Peter van der Perk	901ac16583	[BACKPORT] fmu-v6xrt: Add I2C driver launcher	2024-06-05 11:15:45 -04:00
Peter van der Perk	27ed745b95	[BACKPORT] fmu-v6xrt: Enable debug features for more verbose hardfault output	2024-06-05 11:15:45 -04:00
David Sidrane	0ca57a5547	NuttX with imxrt_sd-preflight backport	2024-06-05 11:15:45 -04:00
David Sidrane	d182b202c8	[BACKPORT] px4_fmu-v6xrt:Support_MMCSD_MULTIBLOCK with preflight	2024-06-05 11:15:45 -04:00
alexklimaj	192bbd177b	airframes: dexi remove EKF2_HGT_REF default	2024-05-29 20:39:10 -04:00
alexklimaj	bb1f104a1a	boards: ark-pi6x remove ekf delay param defaults	2024-05-29 11:23:16 -04:00
Jacob Dahl	e173520273	boards: ark: pi6x: CONFIG_DRIVERS_CDCACM_AUTOSTART=y (#23163 )	2024-05-29 11:23:16 -04:00
Jacob Dahl	b8e43e1649	[mavlink] Parameter to always start on USB (#22234 ) * usb: Added parameter to enable always starting mavlink on USB. Refactored cdcacm_init into a module and added a paramter to allow always starting mavlink on USB, also added a paramter to choose the mode. The current default behavior is to wait and listen for data on USB and auto-detect the protocol (mavlink, nsh, ublox). This results in the mavlink stream not starting until something else on the mavlink network sends a packet first. The new default behavior is to always start mavlink. Added parameters MAV_USB_ENABLE -- default 1 (always start mavlink on USB) MAV_USE_MODE -- default 3 (onboard) * added 3 retries for opening serial port in mavlink, removed sleep before sercon * added DRIVERS_CDCACM_AUTOSTART to ark-v6x default.px4board * added CONFIG_DRIVERS_CDCACM_AUTOSTART=y to default.px4board for boards with CONFIG_CDCACM in their nsh/defconfig * format * remove PGA460 from COMMON_DISTANCE_SENSOR to save flash * remove LIS2MDL from COMMON_MAGNETOMETER to save flash * disable CONFIG_DRIVERS_CDCACM_AUTOSTART for fmu-v5 protected.px4board * moved and renamed parameters, removed mode logic in mavlink * changed parameter names, added mode none * remove parameters from mavlink	2024-05-29 11:23:16 -04:00
alexklimaj	a59b6fe5e9	boards: add iis2mdc mag to ark pi6x	2024-05-29 11:23:16 -04:00
Jacob Dahl	3b0a712c70	drivers/magnetometer: new ST IIS2MDC Magnetometer driver	2024-05-29 11:23:16 -04:00
Alexis Guijarro	60138da56b	mRo Control Zero Classic: Definition for GPS2 by default added	2024-05-23 18:29:10 -07:00