fixup! Update submodules nuttx, apps

New Branch: px4/pr-fdcan-socketcan-latest Includes IRQ -> work queue updates
mro_ctrl-zero-h7-oem: Update socketcan NuttX config
2026-06-12 23:40:04 +08:00 · 2022-05-04 08:36:02 -07:00 · 2022-04-12 15:57:21 -07:00 · 2022-04-12 15:57:21 -07:00 · 2022-04-12 15:57:21 -07:00 · 2022-04-12 15:57:21 -07:00
411 changed files with 7295 additions and 3119 deletions
@@ -24,12 +24,12 @@
 	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.1.0+
+	url = https://github.com/JacobCrabill/incubator-nuttx.git
+	branch = dev/stm32h7-socketcan
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
-	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.1.0+
+	url = git@github.com:JacobCrabill/incubator-nuttx-apps.git
+	branch = dev/nuttx-10.2.0
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -412,6 +412,7 @@ endif()
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
+add_library(kernel_parameters_interface INTERFACE)

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

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

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

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

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

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

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

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

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

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

 param set-default WV_EN 0

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 # initialize script variables
 set IO_PRESENT                  no
-set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
@@ -36,4 +36,5 @@ param set-default MC_PITCHRATE_P 0.19
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
+
 set MIXER quad_w
@@ -104,7 +104,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

-set MAV_TYPE 22
+param set-default MAV_TYPE 22

 set MIXER standard_vtol_hitl

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

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

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

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

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

-
 param set-default MAV_TYPE 19

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

 set MIXER vtol_tailsitter_duo

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

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

+param set-default MAV_TYPE 21

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

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

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

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

 set MIXER quad_x_vtol

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

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

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

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

-set MAV_TYPE 20
-
 set MIXER quad_+_vtol

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

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

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

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

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

-set MAV_TYPE 22
-
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

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

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

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

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

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

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

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

 set MIXER vtol_convergence

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

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

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

 param set-default COM_RC_OVERRIDE 0
-set MAV_TYPE 22

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

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

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

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

-set MAV_TYPE 22
-
 set MIXER babyshark
 set MIXER_AUX pass

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

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

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

-set MAV_TYPE 21
-
 set MIXER quad_x
 set MIXER_AUX vtol_TTTTAAER

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 set MIXER blade130

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

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

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

 param set-default NAV_ACC_RAD 2

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

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

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

 param set-default PWM_MAIN_DISARM 1000

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

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

 set MIXER quad_s250aq

-set MAV_TYPE 2
-
 param set-default ATT_BIAS_MAX 0

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 set VEHICLE_TYPE airship

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

 set VEHICLE_TYPE fw

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

 set VEHICLE_TYPE rover

+# MAV_TYPE_SURFACE_BOAT 11
+param set-default MAV_TYPE 11
+
 #
 # Default parameters for UGVs.
 #
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE fw

+# MAV_TYPE_FIXED_WING 1
+param set-default MAV_TYPE 1
+
 #
 # Default parameters for fixed wing UAVs.
 #
@@ -7,6 +7,9 @@

 set VEHICLE_TYPE mc

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

 set VEHICLE_TYPE rover

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

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

 set VEHICLE_TYPE uuv

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

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

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

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

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

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

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

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

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

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

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

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

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


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

 set VEHICLE_TYPE vtol

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

@@ -29,7 +29,6 @@ set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
-set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
 set MIXER_FILE none
@@ -573,7 +572,6 @@ unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
-unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
@@ -1,5 +1,7 @@
 Mixer for Tailsitter with x motor configuration and elevons
 ===========================================================
+# @board px4_fmu-v2 exclude
+# @board omnibus_f4sd exclude

 This file defines a single mixer for tailsitter with motors in X configuration.  All controls
 are mixed 100%.
@@ -111,6 +111,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -124,6 +125,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -227,5 +229,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"

@@ -58,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
@@ -88,6 +88,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -101,6 +102,7 @@ CONFIG_SCHED_HPWORKPRIORITY=254
 CONFIG_SCHED_HPWORKSTACKSIZE=3000
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -150,5 +152,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -58,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
@@ -90,6 +90,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -103,6 +104,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -155,5 +157,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -58,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
@@ -90,6 +90,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -103,6 +104,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -156,5 +158,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -118,6 +118,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -133,6 +134,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -235,5 +237,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -55,7 +55,7 @@
 #include <uORB/uORB.h>
 #include <uORB/Publication.hpp>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include "board_config.h"
 #include <stm32_pwr.h>

@@ -141,6 +141,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -155,6 +156,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -267,5 +269,5 @@ CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -109,6 +109,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=196608
@@ -121,6 +122,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -185,5 +187,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -44,7 +44,7 @@
 #include <systemlib/px4_macros.h>
 #include <nuttx/mmcsd.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include "board_config.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"

@@ -108,6 +108,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=196608
@@ -120,6 +121,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -184,5 +186,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -44,7 +44,7 @@
 #include <systemlib/px4_macros.h>
 #include <nuttx/mmcsd.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include "board_config.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"

@@ -59,4 +59,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
@@ -91,6 +91,7 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -104,6 +105,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -152,5 +154,5 @@ CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -89,5 +89,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
@@ -118,6 +118,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -133,6 +134,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -238,6 +240,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -89,5 +89,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
@@ -117,6 +117,7 @@ CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_DISABLE_PTHREAD=n
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
@@ -132,6 +133,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -237,6 +239,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -89,5 +89,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
JacobCrabill	05a2a32150	fixup! Update submodules nuttx, apps New Branch: px4/pr-fdcan-socketcan-latest Includes IRQ -> work queue updates	2022-05-04 08:36:02 -07:00
JacobCrabill	5d63091d35	mro_ctrl-zero-h7-oem: Update socketcan NuttX config	2022-04-12 15:57:21 -07:00
JacobCrabill	7092e1074c	fmu-v4: Add SocketCAN board config	2022-04-12 15:57:21 -07:00
JacobCrabill	02891125fd	boards: Fix CONFIG_DISABLE_PTHREAD Previously, the default was 'n'. Now, the default is based on CONFIG_DEFAULT_SMALL, so to re-enable, it must be set to 'n' in defconfig.	2022-04-12 15:57:21 -07:00
JacobCrabill	d6c505ad96	boards: Fix cpuload breakage from nuttx-10.3.0 Add CONFIG_SCHED_INTSTRUMENTATION_SWITCH=y to all boards with CONFIG_SCHED_INTSTRUMENTATION=y	2022-04-12 15:57:21 -07:00
JacobCrabill	88100f516d	boards: Changes for nuttx-10.3.0 sed -i 's/arm_arch.h/arm_internal.h/g'	2022-04-12 15:57:21 -07:00
JacobCrabill	e37382edcb	boards: Update NuttX configs for NuttX 10.3.0 Rename USER_ENTRYPOINT -> INIT_ENTRYPOINT Rename USERMAIN_STACKSIZE -> INIT_STACKSIZE	2022-04-12 15:57:21 -07:00
JacobCrabill	093abc42fb	nuttx/px4/common: Rename MTDIOC_XIPBASE -> BIOC_XIPBASE Reuired by nuttx-10.2.0	2022-04-12 15:57:21 -07:00
JacobCrabill	6230f72ce7	uavcan_v1: Fix UavcanEscController / MixingOutput + Fix bug: lack of use of CONFIG_UAVCAN_V1_ESC_CONTROLLER + Properly initialize _esc_controller and _mixing_output	2022-04-12 15:57:21 -07:00
JacobCrabill	369f7e9e85	boards: update SocketCAN / UAVCANv1 board configs	2022-04-12 15:57:21 -07:00
JacobCrabill	1dfb98714d	uavcan_v1: Publishers now SubscriptionCallbackWorkItems Publishers now register the UavcanNode WorkItem for callback upon update to uORB topics, triggering Publisher updates and immediate transmission This should resolve transmission latency issues	2022-04-12 15:57:21 -07:00
JacobCrabill	2096e3ebf2	uavcan_v1: Add Publishers dir to includes	2022-04-12 15:57:21 -07:00
JacobCrabill	d3ac2a0869	uavcan_v1: SocketCAN set 'can_fd' based on CONFIG	2022-04-12 15:57:21 -07:00
JacobCrabill	aba7e592c3	uavcan_v1: Immediate transmit() from Publishers Add 'do_transmit()' to UavcanNode Add 'transmit()' to Publisher base class to call do_transmit() Call transmit() after canardTxPush from Publishers	2022-04-12 15:57:21 -07:00
JacobCrabill	8cd4055da9	mro/ctrl-zero-h7-oem: Start adding socketcan support	2022-04-12 15:57:21 -07:00
JacobCrabill	03ab57d80c	cubeorange: Add TX_DEADLINE support	2022-04-12 15:57:21 -07:00
JacobCrabill	e128227293	HACK: Disable SO_TIMESTAMP in uavcan_v1 temporarily while bringing up H7 SocketCAN driver	2022-04-12 15:57:21 -07:00
JacobCrabill	0a77f87715	mavlink: Replace CONFIG_NET with CONFIG_NET_UDP Allows use of SocketCAN w/o also enabling UDP support in NuttX	2022-04-12 15:57:21 -07:00
JacobCrabill	8662dd83ab	Orange Cube: Add socketcan target	2022-04-12 15:57:14 -07:00
JacobCrabill	99cad3ea9f	Update submodules nuttx, apps	2022-04-12 15:55:57 -07:00
Konrad	e080fab8f6	Set up landing gear logic for tiltrotor and tailsitter VTOL. Gear is set down when in hover mode, esle gear is set up.	2022-03-21 09:30:04 +01:00
Konrad	d7de67844f	Set up landing gear logic for standard VTOL. Gear is set down when in hover mode, else gear is set up.	2022-03-21 09:30:04 +01:00
Daniel Agar	c86d5769ea	boards: px4_fmu-v2_{fixedwing,multicopter} module selection changes to save flash	2022-03-19 14:43:45 -04:00
Daniel Agar	475bd42ab8	sensors: add 2nd static notch and migrate existing parameters - new static notch filter configured via IMU_GYRO_NF1_FRQ and IMU_GYRO_NF1_BW - existing notch parameters IMU_GYRO_NF_FREQ and IMU_GYRO_NF_BW become IMU_GYRO_NF0_FRQ and IMU_GYRO_NF0_BW	2022-03-19 14:38:04 -04:00
Daniel Agar	afeab9587e	gyro_fft: peak detection exclude side FFT buckets - when estimating the peak frequency the magnitude of side buckets will be factored in, so it doesn't make sense to potentially treat them as separatey detected peaks	2022-03-19 14:37:36 -04:00
Matthias Grob	9ab99a7689	MatrixHelperTest: don't rely on FLOAT_EQ accepting FLT_EPSILON inaccuracy	2022-03-18 13:35:18 +01:00
Thomas Stastny	144697bb6a	MatrixHelperTest: correct wrap compare values	2022-03-18 13:35:18 +01:00
benjinne	620f25503c	Add geofence predict param (#17795 )	2022-03-18 11:44:13 +01:00
Thomas Debrunner	5b0fc8f507	print_load: Removed unused variable to fix compilation on macos	2022-03-18 10:42:19 +01:00
Daniel Agar	36e6527013	ROMFS: MAV_TYPE cleanup - set MAV_TYPE as a parameter default per vehicle type, or airframe if necessary - cleanup MAV_TYPE param metadata and commander helper to only include what's currently used in PX4	2022-03-17 09:28:10 -04:00
Matthias Grob	cde7b1bc41	Matrix: remove deprecated minimal test framework	2022-03-17 13:02:22 +01:00
Matthias Grob	91493307b9	Matrix: convert vector test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	4b63f6b29a	Matrix: convert vector assignment test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	f4b53d2762	Matrix: convert vector3 test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	ddfd62dfc2	Matrix: convert vector2 test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	be28aeb3ee	Matrix: convert upper right triangle test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	4d43aad847	Matrix: convert transpose test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	b3cc18c6de	Matrix: convert square test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	555ed9b9d8	Matrix: convert slice test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	46df8ab60c	Matrix: convert set identity test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	831f0e9aac	Matrix: convert scalar multiplication test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	38d742f1b5	Matrix: convert pseudo inverse test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	57e443c4a4	Matrix: convert multiplication test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	719898f1e3	Matrix: convert least squares test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	fddcf342e9	Matrix: convert inverse test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	f5ec4b2339	Matrix: convert integral test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	7c9e28c168	Matrix: convert helper test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	0c4c3a917c	Matrix: convert hat vee test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	8f695a5613	Matrix: convert filter test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	79e8152f05	Matrix: convert dual test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	62571b6984	Matrix: convert copy to test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	35b035e880	Matrix: convert attitude test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	c33bf5b705	Matrix: convert assignment test to gtest	2022-03-17 13:02:22 +01:00
Matthias Grob	fa35635486	Matrix: change naming of sparse vector test	2022-03-17 13:02:22 +01:00
Jukka Laitinen	3d35929f3e	Put gyro_fft in kernel by default in protected build It is a performance issue to run it on user side Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	4658a627d7	Separate i2c and spi board bus configuration into and own library for protected build target This info is needed on both kernel and user sides, and is just data. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	543c7bd0c5	uORB: Build uorb systemcmd always in kernel side in memory protected build Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	d167f91eb8	logger/watchdog: Disable watchdog for NuttX protected/kernel builds It accesses kernel internal structures directly; this needs to be worked out with some proper userspace-kernel interface Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	56c6120e83	Use IOCTL for board_read_VBUS_state in NuttX protected builds Direct gpio read is not possible from user side applications, so use boardctl interface instead. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	0cf3079401	px4_fmuv5: Implement BOARD_*_LOCKOUT_STATE in protected/kernel builds In memory protected builds these perform nuttx boardctl ioctl calls to kerenel Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	356328056a	Add px4_fmu-v5_protected target Add a target for nuttx protected build development Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	005095d199	Add gran allocator also to user side in protected build This is needed for DMA capable memory for fat also in the user side; the file system doesn't seem to work reliably without. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	49b089f149	Add a simple way to launch kernel side modules Add launch_kmod command to start/execute px4 modules in kenel space in NuttX protected build Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	c43c71f4af	platforms/nuttx/src/px4/common/board_ctrl: Add handlers for vbus & shutdown lockout Add kernel side ioctls and handlers for vbus state and managing shutdown lockout Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	4a74d266be	Initialize cxx static variables also in kernel side For protected/kernel builds the cxx static initializations needs to be done also in kernel side, since px4 creates c++ objects in kernel Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
Jukka Laitinen	c1a7b8df1d	Add a px4 userspace initialization in protected build The px4_userspace_init function is called from userspace entrypoint before starting NSH Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-17 08:01:51 +01:00
bresch	f3f09c1344	PreFlightCheck: add data timeout detection for mag, baro accel and gyro	2022-03-16 11:46:01 +01:00
bresch	75aa11c955	PreFlightCheck: refactor sensors preflight checks	2022-03-16 11:46:01 +01:00
bresch	b1c1163ee4	PreFlightCheck: remove unused device_id argument	2022-03-16 11:46:01 +01:00
bresch	5f1b577b6d	PreFlightCheck: mark sensor required if used by an EKF2 instance	2022-03-16 11:46:01 +01:00
stmoon	6d0b11ca99	add custom target for uorb_sources_microcdr_gen	2022-03-15 17:59:22 -04:00
wangwwno1	746c16400a	Typo Fix: ChangeWorkQeue Fix the typo of 'WorkItem::ChangeWorkQeue' to 'WorkItem::ChangeWorkQueue'	2022-03-15 13:31:52 -04:00
Daniel Agar	4746a19c0c	boards: px4_fmu-v5_stackcheck disable UUV modules to save flash	2022-03-15 12:10:03 -04:00
Daniel Agar	233c7fd293	goertek/spl06: parameters.c add copyright header and fix formatting	2022-03-15 10:14:46 -04:00
Ncerzzk	cb23179c50	Add Goertek SPL06 barometer driver (#19229 ) Signed-off-by: ncer <huangzzk@bupt.edu.cn>	2022-03-15 10:13:03 -04:00
Konrad	963f6a91d9	exclude Mixer for Tailsitter with x motor configuration and elevons for fmu-v2 and omnibus to avoid flash size issues	2022-03-15 10:44:27 +01:00
KonradRudin	5f43be9d60	preflight checks: add check for distance sensor (via parameter)	2022-03-15 10:44:27 +01:00
Jukka Laitinen	0d31aadcc3	src/lib/paramters: Add a new interface library for protected build user side Implement an interface for protected build to access parameters. The implementation only does IOCTL calls to the kernel, where the parameters live. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-15 07:52:26 +01:00
Jukka Laitinen	41a7ae3db2	src/lib/parameters: Refactor common functions to an own file Put all functions which are commont to flat build and protected kernel and userspace to an own source file Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-03-15 07:52:26 +01:00
Daniel Agar	7ef38112d2	ekf2: return saved mag bias variance when not in 3d magnetometer fusion - the estimated mag bias was requiring > 30 seconds of continuous 3d mag fusion to be reported stable (and saved back to mag cal), this restores the original intent requiring 30 seconds of accumulated valid 3d mag fusion	2022-03-14 21:03:41 -04:00
Daniel Agar	5717434e93	ekf2: initialize GPS drift metrics to NAN rather than 0	2022-03-14 10:09:24 -04:00
alessandro	62d1058cc2	log irlock_report and landing_target_pose messages Need to log both, because on some systems the information will come in directly as a landing_target_pose message, and on others it's coming in as irlock_report and then filtered in PX4 to produce the landing_target_pose message.	2022-03-14 10:13:08 +01:00
Matthias Grob	f1e44c6e2a	PreFlightCheck: only allow modes suitable for takeoff	2022-03-14 09:03:39 +01:00
Daniel Agar	a430f0ccae	ekf2: add simple zero velocity update when vehicle at rest (#19149 ) - further decreases initial tilt alignment time (now down to 2.5 seconds if still) and improves initial bias estimates	2022-03-12 12:56:31 -05:00
Daniel Agar	3d54d25867	sensor calibration delete temperature (CAL_ACCx_TEMP, CAL_GYROx_TEMP, CAL_MAGx_TEMP) - this was an experiment to casually monitor sensor offsets relative to temperature, but now that all calibration offsets can be adjusted post-flight the stored temperature can be misleading - deleting to save a little bit of flash (and storing the temperature wasn't useful)	2022-03-12 11:38:49 -05:00
wangwwno1	aa64789792	sensors/vehicle_imu: Fix Integration Rate greater than Gyro Rate (#19318 )	2022-03-12 11:29:23 -05:00