Merge branch 'rwanda_sih' into rwanda_base

small changes to be able to configure two ailerons
Signed-off-by: RomanBapst <bapstroman@gmail.com>
2026-06-02 07:10:04 +08:00 · 2024-10-04 11:08:14 +03:00 · 2024-10-04 10:03:26 +03:00 · 2024-10-03 15:09:27 +03:00 · 2024-10-02 17:18:30 +03:00 · 2024-10-02 08:39:28 +03:00
376 changed files with 1053 additions and 2036 deletions
@@ -88,7 +88,7 @@ jobs:
      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
    - name: Upload px4 coredump
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: coredump
        path: px4.core
@@ -103,21 +103,21 @@ jobs:

    - name: Upload px4 binary
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: binary
        path: build/px4_sitl_default/bin/px4

    - name: Store PX4 log
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: ros_log
        path: ~/.ros/**/rostest-*.log
@@ -83,7 +83,7 @@ jobs:
      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
    - name: Upload px4 coredump
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: coredump
        path: px4.core
@@ -98,21 +98,21 @@ jobs:

    - name: Upload px4 binary
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: binary
        path: build/px4_sitl_default/bin/px4

    - name: Store PX4 log
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
      with:
        name: ros_log
        path: ~/.ros/**/rostest-*.log
@@ -19,6 +19,8 @@ param set-default SENS_EN_MAGSIM 1
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
@@ -21,6 +21,8 @@ param set-default SENS_EN_ARSPDSIM 1
 param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
@@ -30,6 +30,8 @@ param set-default MAV_TYPE 19
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
@@ -97,6 +97,11 @@ param set-default IMU_GYRO_CUTOFF 100

 # Power Parameters
 param set-default BAT1_N_CELLS 4
+# param set-default BAT1_A_PER_V 36.364		Not found
+# param set-default BAT1_V_DIV 18.182		Not found
+
+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027

 param set-default THR_MDL_FAC 0.3

@@ -16,36 +16,39 @@ param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

 param set-default FW_LND_ANG 8
+param set-default NPFG_PERIOD 12

-param set-default FW_PR_FF 0.08
-param set-default FW_PR_I 0.3
-param set-default FW_PR_P 0.08
-
-param set-default FW_RR_FF 0.05
-param set-default FW_RR_I 0.2
-param set-default FW_RR_P 0.03
-
-param set-default FW_YR_FF 0.3
-param set-default FW_YR_I 0.4
-param set-default FW_YR_P 0.2
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5

 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_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
 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_THR_MAX 0.6

-param set-default FW_T_CLMB_R_SP 5
-param set-default FW_T_CLMB_MAX 6
+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_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
@@ -53,6 +56,7 @@ param set-default RWTO_TKOFF 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
@@ -18,6 +18,8 @@ param set UAVCAN_ENABLE 0
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
@@ -96,5 +96,7 @@ param set UAVCAN_ENABLE 0
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set-default MAV_TYPE 22
@@ -20,6 +20,8 @@ param set SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set SIH_VEHICLE_TYPE 0

@@ -41,6 +41,8 @@ param set-default SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set SIH_T_MAX 6
 param set SIH_MASS 0.3
@@ -63,6 +63,8 @@ param set-default SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set-default SENS_DPRES_OFF 0.001

@@ -0,0 +1,99 @@
+#!/bin/sh
+#
+# @name SIH Tailsitter Duo
+#
+# @type Simulation
+# @class VTOL
+#
+# @output Motor1 motor right
+# @output Motor2 motor left
+# @output Servo1 elevon right
+# @output Servo2 elevon left
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set UAVCAN_ENABLE 0
+param set-default VT_B_TRANS_DUR 5
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 2
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR0_PX 0.2
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_PX -0.2
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_ROTOR2_PX 0.2
+param set-default CA_ROTOR2_PY -0.2
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.2
+param set-default CA_ROTOR3_PY 0.2
+param set-default CA_ROTOR3_KM -0.05
+
+
+param set-default CA_ROTOR4_PX -0.3
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 0.5
+param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS1_TRQ_P 1
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1
+
+param set HIL_ACT_REV 32
+
+param set-default FW_AIRSPD_MAX 12
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+param set-default HIL_ACT_FUNC5 201
+param set-default HIL_ACT_FUNC6 202
+param set-default HIL_ACT_FUNC7 203
+param set-default HIL_ACT_FUNC8 105
+
+param set-default MAV_TYPE 22
+
+
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set-default SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default SENS_DPRES_OFF 0.001
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
+
+# sih as tailsitter
+param set SIH_VEHICLE_TYPE 3
+
+param set-default VT_ARSP_TRANS 6
@@ -29,6 +29,7 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025

 param set-default SYS_HAS_NUM_ASPD 0
+param set-default CBRK_IO_SAFETY 22027

 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12
@@ -16,6 +16,7 @@
 . ${R}etc/init.d/rc.balloon_defaults

 param set-default COM_PREARM_MODE 2  # always in prearm state
+param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
 param set-default SDLOG_MODE 2
 param set-default MAV_0_MODE 1
@@ -16,6 +16,7 @@
 . ${R}etc/init.d/rc.airship_defaults

 param set-default COM_PREARM_MODE 2
+param set-default CBRK_IO_SAFETY 22027

 param set-default CA_AIRFRAME 9

@@ -92,6 +92,9 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_A_PER_V 36.364
 param set-default BAT1_V_DIV 18.182

+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default THR_MDL_FAC 0.3

 # Square quadrotor X PX4 numbering
@@ -93,6 +93,9 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_A_PER_V 36.364
 param set-default BAT1_V_DIV 18.182

+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default THR_MDL_FAC 0.3

 # Square quadrotor X PX4 numbering
@@ -23,6 +23,9 @@
 . ${R}etc/init.d/rc.uuv_defaults


+# companion computer is connected via USB permanently
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
@@ -73,6 +73,8 @@ param set-default SENS_EN_PX4FLOW 1
 param set-default SENS_EN_LL40LS 2
 param set-default SENS_FLOW_ROT 2

+#
+param set-default CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 3

 # Battery
@@ -48,6 +48,7 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
 		1100_rc_quad_x_sih.hil
 		1101_rc_plane_sih.hil
 		1102_tailsitter_duo_sih.hil
+		1103_standard_vtol_sih.hil
 	)
 endif()

@@ -184,13 +184,6 @@ then
 	asp5033 start -X
 fi

-# AUAV absolute/differential pressure sensor external I2C
-if param greater -s SENS_EN_AUAVX 0
-then
-	auav start -D -X
-	auav start -A -X
-fi
-
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
@@ -105,6 +105,13 @@ then
 		fi
 	fi

+  if [ -e /fs/microsd/new ]
+  then
+    echo "Updating external autostart files"
+    rm -r $SDCARD_EXT_PATH
+    mv /fs/microsd/new $SDCARD_EXT_PATH
+  fi
+
 	# Check for an update of the ext_autostart folder, and replace the old one with it
 	if [ -e /fs/microsd/ext_autostart_new ]
 	then
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file mindpx_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file mindpx2_init.c
 *
 * MINDPX-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file mindpx2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file mindpx_usb.c
 *
 * Board-specific USB functions.
 */
@@ -33,7 +33,7 @@
 ****************************************************************************/

 /**
- * @file pwr.cpp
+ * @file pwr.c
 *
 * Board-specific power button functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.cpp
+ * @file init.c
 *
 * BBBLUE specific initialization
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file crazyflie_init.c
 *
 * Crazyflie specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file crazyflie_led.c
 *
 * Crazyflie LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file crazyflie_usb.c
 *
 * Board-specific USB functions.
 */
@@ -402,12 +402,11 @@ Syslink::handle_message(syslink_message_t *msg)

 		float vbat; //, iset;
 		memcpy(&vbat, &msg->data[1], sizeof(float));
+		//memcpy(&iset, &msg->data[5], sizeof(float));

-		Battery::InputSample sample{
-			.timestamp = t,
-			.voltage_v = vbat,
-		};
-		_battery.updateAndPublishBatteryStatus(sample);
+		_battery.setConnected(true);
+		_battery.updateVoltage(vbat);
+		_battery.updateAndPublishBatteryStatus(t);

 		// Update battery charge state
 		if (charging) {
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file crazyflie_init.c
 *
 * Crazyflie specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file crazyflie_led.c
 *
 * Crazyflie LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file crazyflie_usb.c
 *
 * Board-specific USB functions.
 */
@@ -6,4 +6,7 @@
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

+# Disable safety switch by default
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default SYS_HAS_MAG 0
@@ -9,6 +9,9 @@ param set-default SYS_AUTOSTART 4001
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

+# Disable safety switch by default
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default EKF2_MAG_TYPE 5
 param set-default SENS_BOARD_ROT 6

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

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file rc_controller.cpp
+ * @file px4_simple_app.c
 * Minimal application example for PX4 autopilot
 *
 * @author Example User <mail@example.com>
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.cpp
+ * @file timer_config.c
 *
 * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
 *
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.cpp
+ * @file timer_config.c
 *
 * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
 *
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.cpp
+ * @file timer_config.c
 *
 * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
 *
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.cpp
+ * @file timer_config.c
 *
 * Configuration data for the S32K1XX pwm_servo, input capture and pwm input driver.
 *
@@ -9,4 +9,7 @@ param set-default BAT1_A_PER_V 31
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

+# Disable safety switch by default
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default SYS_HAS_MAG 0
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file i2c.cpp
+ * @file px4fmu_i2c.c
 *
 * Board-specific I2C functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file px4fmu2_init.c
 *
 * PX4FMUv2-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file i2c.cpp
+ * @file px4fmu_i2c.c
 *
 * Board-specific I2C functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file px4fmu2_init.c
 *
 * PX4FMUv2-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file px4fmu_init.c
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initializ() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -22,27 +22,20 @@ CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_DRIVERS_TONE_ALARM=n
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
-CONFIG_MODULES_EVENTS=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_SYSTEMCMDS_REFLECT=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.cpp
+ * @file init.c
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -23,26 +23,27 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
-CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=n
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=n
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=n
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=n
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=n
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
-CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=n
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_UAVCAN=y
+CONFIG_DRIVERS_UAVCAN=n
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.cpp
+ * @file init.c
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -8,3 +8,6 @@ param set-default BAT1_A_PER_V 36.367515152

 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281
+
+# Disable safety switch by default
+param set-default CBRK_IO_SAFETY 22027
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -21,6 +21,9 @@ param set-default BAT1_A_PER_V 36.00

 param set-default BAT_V_OFFS_CURR 0.413

+# Disable safety switch
+param set-default CBRK_IO_SAFETY 22027
+
 safety_button start

 set LOGGER_BUF 32
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file px4fmu_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.cpp
+ * @file init.c
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file px4fmu2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file px4fmu_usb.c
 *
 * Board-specific USB functions.
 */
@@ -46,7 +46,7 @@ uint8 BATTERY_FAULT_CELL_FAIL= 2 		# One or more cells have failed
 uint8 BATTERY_FAULT_OVER_CURRENT = 3 		# Over-current
 uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4 	# Over-temperature
 uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5 	# Under-temperature fault
-uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 	# Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
+uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 	# Vehicle voltage is not compatible with battery one
 uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 	# Battery firmware is not compatible with current autopilot firmware
 uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 	# Battery model is not supported by the system
 uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 	# hardware problem
@@ -2,7 +2,6 @@ uint64 timestamp		# time since system start (microseconds)

 float32 altitude_sp			# Altitude setpoint AMSL [m]
 float32 altitude_reference		# Altitude setpoint reference AMSL [m]
-float32 altitude_time_constant		# Time constant of the altitude tracker [s]
 float32 height_rate_reference		# Height rate setpoint reference [m/s]
 float32 height_rate_direct		# Direct height rate setpoint from velocity reference generator [m/s]
 float32 height_rate_setpoint		# Height rate setpoint [m/s]
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file module.h
+ * @file px4_module.h
 */

 #pragma once
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file module_params.h
+ * @file px4_module_params.h
 *
 * @class ModuleParams is a C++ base class for modules/classes using configuration parameters.
 */
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
RomanBapst	04ea8d26f2	Merge branch 'rwanda_sih' into rwanda_base	2024-10-04 11:08:14 +03:00
RomanBapst	f97ca30c3f	small changes to be able to configure two ailerons Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-10-04 10:03:26 +03:00
RomanBapst	d847f20515	enable sih for v6x Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-10-03 15:09:27 +03:00
RomanBapst	563d0dffd4	enable sih for v6x Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-10-02 17:18:30 +03:00
RomanBapst	27edc5c4d8	added full support for external autostart scripts Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-10-02 08:39:28 +03:00
RomanBapst	84150189d4	added some more changes Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-09-27 14:46:45 +03:00
RomanBapst	0b7cddeca0	reverse pitch Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-09-27 11:36:38 +03:00
RomanBapst	580c196600	all changes Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-09-27 11:29:41 +03:00
RomanBapst	d4defb7a81	commit all changes Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-09-27 09:40:06 +03:00