fix rangefinder params

* move P-init to ekf-derivation script

.github/workflows/failsafe_sim.yml

@@ -27,7 +27,7 @@ jobs:
           "failsafe_web",
         ]
     container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
       - name: Install Node v20.18.0

.github/workflows/flash_analysis.yml

@@ -28,7 +28,7 @@ jobs:
     name: Analyzing ${{ matrix.target }}
     runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
     strategy:
       matrix:
         target: [px4_fmu-v5x, px4_fmu-v6x]

.github/workflows/itcm_check.yml

@@ -22,7 +22,7 @@ jobs:
     name: Checking ${{ matrix.target }}
     runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
-      image: px4io/px4-dev:v1.16.0-ondemand
+      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
     strategy:
       fail-fast: false
       matrix:

.github/workflows/nuttx_env_config.yml

@@ -31,7 +31,7 @@ jobs:
     - name: Build PX4 and Run Test [${{ matrix.config }}]
       uses: addnab/docker-run-action@v3
       with:
-        image: px4io/px4-dev:v1.16.0-ondemand
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
         options: -v ${{ github.workspace }}:/workspace
         run: |
           cd /workspace

.github/workflows/ros_integration_tests.yml

@@ -11,13 +11,11 @@ on:
     - 'main'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
   pull_request:
     branches:
-    - '*'
+      - '**'
     paths-ignore:
       - 'docs/**'
-      - '.github/**'
 
 jobs:
   build:
@@ -33,6 +31,12 @@ jobs:
     - name: Git Ownership Workaround
       run: git config --system --add safe.directory '*'
 
+    - name: Update ROS Keys
+      run: |
+        sudo rm /etc/apt/sources.list.d/ros2.list && \
+        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
     - name: Install gazebo
       run: |
         apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev

.vscode/cmake-variants.yaml

@@ -6,6 +6,11 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_spacecraft:
+      short: px4_sitl_spacecraft
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_spacecraft
     px4_sitl_nolockstep:
       short: px4_sitl_nolockstep
       buildType: RelWithDebInfo
@@ -301,6 +306,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: holybro_durandal-v1_default
+    holybro_kakuteh7-wing_default:
+      short: holybro_kakuteh7-wing
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_kakuteh7-wing_default
     holybro_kakuteh7dualimu_default:
       short: holybro_kakuteh7dualimu
       buildType: MinSizeRel

ROMFS/CMakeLists.txt

@@ -216,12 +216,33 @@ foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
 			# generate rc.board_bootloader_upgrade
 			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
+			message(STATUS "ROMFS:  Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
+
+			# Generate the file using configure_file at configure time to a temporary location
+			set(bootloader_upgrade_tmp ${CMAKE_CURRENT_BINARY_DIR}/rc.board_bootloader_upgrade.tmp)
+			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${bootloader_upgrade_tmp} @ONLY)
+
+			# Then copy it at build time with proper dependencies
+			add_custom_command(
+				OUTPUT
+					${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
+					rc.board_bootloader_upgrade.stamp
+				COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_upgrade_tmp} ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
+				COMMAND ${CMAKE_COMMAND} -E touch rc.board_bootloader_upgrade.stamp
+				DEPENDS
+					${bootloader_upgrade_tmp}
+					${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in
+					romfs_copy.stamp
+				COMMENT "ROMFS: copying rc.board_bootloader_upgrade"
+			)
+
+			list(APPEND extras_dependencies
+				rc.board_bootloader_upgrade.stamp
+			)
 		else()
 			# remove bootloader from extras
 			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
 		endif()
-
 	endif()
 endforeach()
 

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -15,7 +15,6 @@ param set-default NAV_ACC_RAD 0.5
 
 # Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAX_THR_YAW_R 1.5
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 
@@ -31,14 +30,16 @@ param set-default RO_YAW_RATE_P 0.25
 param set-default RO_YAW_RATE_LIM 180
 param set-default RO_YAW_ACCEL_LIM 120
 param set-default RO_YAW_DECEL_LIM 1000
+param set-default RO_YAW_RATE_CORR 1.43
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5
 
-# Rover Position Control Parameters
+# Rover Velocity Control Parameters
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
+param set-defatul RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -1,51 +1,68 @@
 #!/bin/sh
-# @name Gazebo lawnmower
+# @name Gazebo - Zero Turn Lawnmower
 # @type Rover
 # @class Rover
 
 . ${R}etc/init.d/rc.rover_differential_defaults
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=lawn}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
+param set-default NAV_ACC_RAD 0.5
+
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1
 
-# Rover parameters
+# Differential Parameters
 param set-default RD_WHEEL_TRACK 0.9
-param set-default RD_YAW_RATE_I 0.1
-param set-default RD_YAW_RATE_P 5
-param set-default RD_MAX_ACCEL 1
-param set-default RD_MAX_JERK 3
-param set-default RD_MAX_SPEED 8
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0.1
-param set-default RD_MAX_YAW_RATE 30
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 
+# Rover Control Parameters
+param set-default RO_ACCEL_LIM 1.5
+param set-default RO_DECEL_LIM 5
+param set-default RO_JERK_LIM 15
+param set-default RO_MAX_THR_SPEED 2.7
+
+# Rover Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.2
+param set-default RO_YAW_RATE_P 1.0
+param set-default RO_YAW_RATE_LIM 60
+param set-default RO_YAW_ACCEL_LIM 50
+param set-default RO_YAW_DECEL_LIM 1000
+param set-default RO_YAW_RATE_CORR 1.0
+
+# Rover Attitude Control Parameters
+param set-default RO_YAW_P 5
+
+# Rover Velocity Control Parameters
+param set-default RO_SPEED_LIM 2.1
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
+param set-defatul RO_SPEED_RED 1.0
+
 # Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 30
-param set-default PP_LOOKAHD_MIN 2
 param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
 
 # Actuator mapping - set SITL motors/servos output parameters:
 
 # "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
-#param set-default SIM_GZ_WH_MIN1 0
-#param set-default SIM_GZ_WH_MAX1 200
-#param set-default SIM_GZ_WH_DIS1 100
-#param set-default SIM_GZ_WH_FAIL1 100
+param set-default SIM_GZ_WH_MIN1 87
+param set-default SIM_GZ_WH_MAX1 113
+param set-default SIM_GZ_WH_DIS1 100
+param set-default SIM_GZ_WH_FAIL1 100
 
 param set-default SIM_GZ_WH_FUNC2 102 # left wheel
-#param set-default SIM_GZ_WH_MIN2 0
-#param set-default SIM_GZ_WH_MAX2 200
-#param set-default SIM_GZ_WH_DIS2 100
-#param set-default SIM_GZ_WH_FAIL2 100
+param set-default SIM_GZ_WH_MIN2 87
+param set-default SIM_GZ_WH_MAX2 113
+param set-default SIM_GZ_WH_DIS2 100
+param set-default SIM_GZ_WH_FAIL2 100
 
 param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
 

ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann

@@ -30,14 +30,16 @@ param set-default RO_MAX_THR_SPEED 3.1
 param set-default RO_YAW_RATE_I 0.1
 param set-default RO_YAW_RATE_P 1
 param set-default RO_YAW_RATE_LIM 180
+param set-default RO_YAW_RATE_CORR 1
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 3
 
-# Rover Position Control Parameters
+# Rover Velocity Control Parameters
 param set-default RO_SPEED_LIM 3
 param set-default RO_SPEED_I 0.1
 param set-default RO_SPEED_P 1
+param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum

@@ -15,8 +15,6 @@ param set-default NAV_ACC_RAD 0.5
 
 # Mecanum Parameters
 param set-default RM_WHEEL_TRACK 0.3
-param set-default RM_MAX_THR_YAW_R 1.2
-param set-default RM_MISS_SPD_GAIN 1
 
 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -30,14 +28,16 @@ param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
+param set-default RO_YAW_RATE_CORR 1.75
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5
 
-# Rover Position Control Parameters
+# Rover Velocity Control Parameters
 param set-default RO_SPEED_LIM 2
 param set-default RO_SPEED_I 0.5
 param set-default RO_SPEED_P 1
+param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5

ROMFS/px4fmu_common/init.d-posix/airframes/4016_gz_x500_lidar_down

@@ -8,3 +8,6 @@
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_down}
 
 . ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+param set-default EKF2_RNG_POS_Z -0.177
+param set-default EKF2_MIN_RNG 0

ROMFS/px4fmu_common/init.d-posix/airframes/71001_gazebo-classic_spacecraft_dart

@@ -1,155 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Spacecraft Model
-#
-# @type Freeflyer with 8 thrusters
-#
-# @maintainer Pedro Roque <padr@kth.se>
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-param set-default CA_AIRFRAME 15
-param set-default MAV_TYPE 99
-
-param set-default CA_THRUSTER_CNT 12
-param set-default CA_R_REV 0
-
-# param set-default FW_ARSP_MODE 1
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-param set-default COM_LOW_BAT_ACT 0
-param set-default NAV_DLL_ACT 0
-param set-default GF_ACTION 1
-param set-default NAV_RCL_ACT 1
-param set-default COM_POSCTL_NAVL 2
-
-# Set thrusters
-param set-default CA_THRUSTER0_PX -0.50
-param set-default CA_THRUSTER0_PY 0.50
-param set-default CA_THRUSTER0_PZ 0.0
-param set-default CA_THRUSTER0_CT 0.237
-param set-default CA_THRUSTER0_AX 0.0
-param set-default CA_THRUSTER0_AY -1.0
-param set-default CA_THRUSTER0_AZ 0.0
-
-param set-default CA_THRUSTER1_PX 0.50
-param set-default CA_THRUSTER1_PY 0.50
-param set-default CA_THRUSTER1_PZ 0.0
-param set-default CA_THRUSTER1_CT 0.237
-param set-default CA_THRUSTER1_AX 0.0
-param set-default CA_THRUSTER1_AY -1.0
-param set-default CA_THRUSTER1_AZ 0.0
-
-param set-default CA_THRUSTER2_PX 0.50
-param set-default CA_THRUSTER2_PY -0.50
-param set-default CA_THRUSTER2_PZ 0.0
-param set-default CA_THRUSTER2_CT 0.237
-param set-default CA_THRUSTER2_AX 0.0
-param set-default CA_THRUSTER2_AY 1.0
-param set-default CA_THRUSTER2_AZ 0.0
-
-param set-default CA_THRUSTER3_PX -0.50
-param set-default CA_THRUSTER3_PY -0.50
-param set-default CA_THRUSTER3_PZ 0.0
-param set-default CA_THRUSTER3_CT 0.237
-param set-default CA_THRUSTER3_AX 0.0
-param set-default CA_THRUSTER3_AY 1.0
-param set-default CA_THRUSTER3_AZ 0.0
-
-param set-default CA_THRUSTER4_PX -0.50
-param set-default CA_THRUSTER4_PY 0.0
-param set-default CA_THRUSTER4_PZ -0.50
-param set-default CA_THRUSTER4_CT 0.237
-param set-default CA_THRUSTER4_AX 1.0
-param set-default CA_THRUSTER4_AY 0.0
-param set-default CA_THRUSTER4_AZ 0.0
-
-param set-default CA_THRUSTER5_PX 0.50
-param set-default CA_THRUSTER5_PY 0.0
-param set-default CA_THRUSTER5_PZ -0.50
-param set-default CA_THRUSTER5_CT 0.237
-param set-default CA_THRUSTER5_AX -1.0
-param set-default CA_THRUSTER5_AY 0.0
-param set-default CA_THRUSTER5_AZ 0.0
-
-param set-default CA_THRUSTER6_PX 0.50
-param set-default CA_THRUSTER6_PY 0.0
-param set-default CA_THRUSTER6_PZ 0.50
-param set-default CA_THRUSTER6_CT 0.237
-param set-default CA_THRUSTER6_AX -1.0
-param set-default CA_THRUSTER6_AY 0.0
-param set-default CA_THRUSTER6_AZ 0.0
-
-param set-default CA_THRUSTER7_PX -0.50
-param set-default CA_THRUSTER7_PY 0.0
-param set-default CA_THRUSTER7_PZ 0.50
-param set-default CA_THRUSTER7_CT 0.237
-param set-default CA_THRUSTER7_AX 1.0
-param set-default CA_THRUSTER7_AY 0.0
-param set-default CA_THRUSTER7_AZ 0.0
-
-param set-default CA_THRUSTER8_PX 0.0
-param set-default CA_THRUSTER8_PY -0.50
-param set-default CA_THRUSTER8_PZ -0.50
-param set-default CA_THRUSTER8_CT 0.237
-param set-default CA_THRUSTER8_AX 0.0
-param set-default CA_THRUSTER8_AY 0.0
-param set-default CA_THRUSTER8_AZ 1.0
-
-param set-default CA_THRUSTER9_PX 0.0
-param set-default CA_THRUSTER9_PY 0.50
-param set-default CA_THRUSTER9_PZ -0.50
-param set-default CA_THRUSTER9_CT 0.237
-param set-default CA_THRUSTER9_AX 0.0
-param set-default CA_THRUSTER9_AY 0.0
-param set-default CA_THRUSTER9_AZ 1.0
-
-param set-default CA_THRUSTER10_PX 0.0
-param set-default CA_THRUSTER10_PY 0.50
-param set-default CA_THRUSTER10_PZ 0.50
-param set-default CA_THRUSTER10_CT 0.237
-param set-default CA_THRUSTER10_AX 0.0
-param set-default CA_THRUSTER10_AY 0.0
-param set-default CA_THRUSTER10_AZ -1.0
-
-param set-default CA_THRUSTER11_PX 0.0
-param set-default CA_THRUSTER11_PY -0.50
-param set-default CA_THRUSTER11_PZ 0.50
-param set-default CA_THRUSTER11_CT 0.237
-param set-default CA_THRUSTER11_AX 0.0
-param set-default CA_THRUSTER11_AY 0.0
-param set-default CA_THRUSTER11_AZ -1.0
-
-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
-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
-param set-default PWM_MAIN_FUNC9 109
-param set-default PWM_MAIN_FUNC10 110
-param set-default PWM_MAIN_FUNC11 111
-param set-default PWM_MAIN_FUNC12 112
-
-# PWM Simulation
-param set PWM_SIM_PWM_MAX 10000
-param set PWM_SIM_PWM_MIN 0
-
-# Controller Tunings
-param set-default SC_ROLLRATE_P 0.14
-param set-default SC_PITCHRATE_P 0.14
-param set-default SC_ROLLRATE_I 0.3
-param set-default SC_PITCHRATE_I 0.3
-param set-default SC_ROLLRATE_D 0.004
-param set-default SC_PITCHRATE_D 0.004

ROMFS/px4fmu_common/init.d-posix/airframes/71002_gz_spacecraft_2d

@@ -20,7 +20,7 @@ param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
 param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
 
 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 99
+param set-default MAV_TYPE 45
 
 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -114,7 +114,6 @@ px4_add_romfs_files(
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
 
-	71001_gazebo-classic_spacecraft_dart
 	71002_gz_spacecraft_2d
 
 	# [22000, 22999] Reserve for custom models

ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover

@@ -26,7 +26,6 @@ param set-default NAV_ACC_RAD 0.5
 
 # Differential Parameters
 param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAX_THR_YAW_R 0.7
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.139626
 
@@ -42,14 +41,16 @@ param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 600
 param set-default RO_YAW_DECEL_LIM 600
+param set-default RO_YAW_RATE_CORR 2.7
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 2.5
 
-# Rover Position Control Parameters
+# Rover Velocity Control Parameters
 param set-default RO_SPEED_LIM 1.6
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 1
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho

@@ -33,14 +33,16 @@ param set-default RO_MAX_THR_SPEED 2.8
 param set-default RO_YAW_RATE_I 0.1
 param set-default RO_YAW_RATE_P 0.1
 param set-default RO_YAW_RATE_LIM 120
+param set-default RO_YAW_RATE_CORR 1
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 2.5
 
-# Rover Position Control Parameters
+# Rover Velocity Control Parameters
 param set-default RO_SPEED_LIM 2.5
 param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 1
 
 # Pure pursuit parameters
 param set-default PP_LOOKAHD_GAIN 1

ROMFS/px4fmu_common/init.d/airframes/70000_spacecraft_2d

@@ -11,7 +11,7 @@
 . ${R}etc/init.d/rc.sc_defaults
 
 param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 99
+param set-default MAV_TYPE 45
 
 param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0

ROMFS/px4fmu_common/init.d/rc.sc_defaults

@@ -3,10 +3,10 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-set VEHICLE_TYPE sc
+set VEHICLE_TYPE spacecraft
 
-# MAV_TYPE_QUADROTOR 2
-#param set-default MAV_TYPE 12
+# MAV_TYPE_SPACECRAFT_ORBITTER
+param set-default MAV_TYPE 45
 
 # Set micro-dds-client to use ethernet and IP-address 192.168.0.1
 param set-default UXRCE_DDS_AG_IP -1062731775

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -68,6 +68,15 @@ then
 	. ${R}etc/init.d/rc.vtol_apps
 fi
 
+#
+# Spapcecraft setup.
+#
+if [ $VEHICLE_TYPE = spacecraft ]
+then
+	# Start standard multicopter apps.
+	. ${R}etc/init.d/rc.sc_apps
+fi
+
 #
 # Airship setup.
 #

ROMFS/px4fmu_common/init.d/rcS

@@ -280,6 +280,14 @@ else
 	#
 	send_event start
 
+	#
+	# Start the hardfault streamer.
+	#
+	if param compare -s SYS_HF_MAV 1
+	then
+		hardfault_stream start
+	fi
+
 	#
 	# Start the resource load monitor.
 	#

Tools/ci/generate_board_targets_json.py

@@ -35,6 +35,7 @@ if args.filter:
     for board in args.filter.split(','):
         board_filter.append(board)
 
+default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
 grouped_targets = {}
 excluded_boards = ['modalai_voxl2', 'px4_ros2']  # TODO: fix and enable
@@ -86,7 +87,7 @@ def process_target(px4board_file, target_name):
     assert platform, f"PLATFORM not found in {px4board_file}"
 
     if platform not in excluded_platforms:
-        container = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
+        container = default_container
         if platform == 'posix':
             group = 'base'
             if toolchain:
@@ -120,7 +121,7 @@ if(verbose):
 # - Events
 metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
 grouped_targets['base'] = {}
-grouped_targets['base']['container'] = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
+grouped_targets['base']['container'] = default_container
 grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets

Tools/docker_run.sh

@@ -15,7 +15,7 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-ondemand"
+	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"
 fi
 
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";

Tools/setup/requirements.txt

@@ -27,3 +27,4 @@ six>=1.12.0
 toml>=0.9
 sympy>=1.10.1
 pycryptodome
+lark

boards/ark/fmu-v6x/default.px4board

@@ -62,6 +62,7 @@ CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y

boards/auterion/cannode/canbootloader.px4board

@@ -1,5 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_ROMFSROOT=""
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_DRIVERS_BOOTLOADERS=y

boards/auterion/cannode/default.px4board

@@ -1,56 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m4"
-CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_EXTERNAL_METADATA=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_COMMON_BAROMETERS=y
-CONFIG_DRIVERS_BATT_SMBUS=y
-CONFIG_DRIVERS_BOOTLOADERS=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_COMMON_HYGROMETERS=y
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_IRLOCK=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_COMMON_OSD=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_UAVCANNODE_ARMING_STATUS=y
-CONFIG_UAVCANNODE_BEEP_COMMAND=y
-CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
-CONFIG_UAVCANNODE_ESC_STATUS=y
-CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
-CONFIG_UAVCANNODE_GNSS_FIX=y
-CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
-CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
-CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
-CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
-CONFIG_UAVCANNODE_RAW_AIR_DATA=y
-CONFIG_UAVCANNODE_RAW_IMU=y
-CONFIG_UAVCANNODE_RTK_DATA=y
-CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
-CONFIG_UAVCANNODE_STATIC_PRESSURE=y
-CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/auterion/cannode/firmware.prototype

@@ -1,13 +0,0 @@
-{
-    "board_id": 83,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the ARK CANnode board",
-    "image": "",
-    "build_time": 0,
-    "summary": "ARKCANNODE",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 2080768,
-    "git_identity": "",
-    "board_revision": 0
-}

boards/auterion/cannode/init/rc.board_defaults

@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default MBE_ENABLE 0
-param set-default SENS_IMU_CLPNOTI 0
-param set-default SENS_EN_AUAVX 1
-
-pwm_out start
-
-dshot start

boards/auterion/cannode/init/rc.board_sensors

@@ -1,123 +0,0 @@
-#!/bin/sh
-#
-# board sensors init
-#------------------------------------------------------------------------------
-icm42688p -R 0 -s start
-
-if param compare -s SENS_EN_BATT 1
-then
-	batt_smbus start -X
-fi
-
-# Lidar-Lite on I2C
-if param compare -s SENS_EN_LL40LS 2
-then
-	ll40ls start -X
-fi
-
-# mappydot lidar sensor
-if param compare -s SENS_EN_MPDT 1
-then
-	mappydot start -X
-fi
-
-# mb12xx sonar sensor
-if param greater -s SENS_EN_MB12XX 0
-then
-	mb12xx start -X
-fi
-
-# Lightware i2c lidar sensor
-if param greater -s SENS_EN_SF1XX 0
-then
-	lightware_laser_i2c start -X
-fi
-
-# vl53l1x i2c distance sensor
-if param compare -s SENS_EN_VL53L1X 1
-then
-	vl53l1x start -X
-fi
-
-# ADIS16448 spi external IMU
-if param compare -s SENS_EN_ADIS164X 1
-then
-	if param compare -s SENS_OR_ADIS164X 0
-	then
-		adis16448 -S start
-	fi
-	if param compare -s SENS_OR_ADIS164X 4
-	then
-		adis16448 -S start -R 4
-	fi
-fi
-
-# Eagle Tree airspeed sensor external I2C
-if param compare -s SENS_EN_ETSASPD 1
-then
-	ets_airspeed start -X
-fi
-
-# Sensirion SDP3X differential pressure sensor external I2C
-if param compare -s SENS_EN_SDP3X 1
-then
-	if ! sdp3x start -X
-	then
-		# try another common address
-		sdp3x start -X -a 0x22
-	fi
-fi
-
-# SHT3x temperature and hygrometer sensor, external I2C
-if param compare -s SENS_EN_SHT3X 1
-then
-	sht3x start -X
-	sht3x start -X -a 0x45
-fi
-
-# TE MS4525DO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS4525DO 1
-then
-	ms4525do start -X
-fi
-
-# TE MS5525DSO differential pressure sensor external I2C
-if param compare -s SENS_EN_MS5525DS 1
-then
-	ms5525dso start -X
-fi
-
-# IR-LOCK sensor external I2C
-if param compare -s SENS_EN_IRLOCK 1
-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
-
-# 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
-
-# probe for optional external I2C devices
-icm20948_i2c_passthrough -X -q start
-
-# compasses
-hmc5883 -T -X -q start
-ist8308 -X -q start
-ist8310 -X -q start
-iis2mdc -X -q start
-lis3mdl -X -q start
-qmc5883l -X -q start
-rm3100 -X -q start
-
-# start last (wait for possible icm20948 passthrough mode)
-ak09916 -X -q start

boards/auterion/cannode/nuttx-config/canbootloader/defconfig

@@ -1,56 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/auterion/cannode/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F412CE=y
-CONFIG_ARCH_INTERRUPTSTACK=4096
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BINFMT_DISABLE=y
-CONFIG_BOARDCTL=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DISABLE_MOUNTPOINT=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=4096
-CONFIG_INIT_STACKSIZE=4096
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MM_REGIONS=2
-CONFIG_NAME_MAX=0
-CONFIG_NUNGET_CHARS=0
-CONFIG_PREALLOC_TIMERS=0
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_DISABLE_BUFFERING=y
-CONFIG_STM32_FLASH_CONFIG_G=y
-CONFIG_STM32_NOEXT_VECTORS=y
-CONFIG_TASK_NAME_SIZE=0
-CONFIG_USEC_PER_TICK=1000

boards/auterion/cannode/nuttx-config/include/board.h

@@ -1,149 +0,0 @@
-/************************************************************************************
- * configs/px4fmu/include/board.h
- * include/arch/board/board.h
- *
- *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-#include "board_dma_map.h"
-
-#ifndef __ARCH_BOARD_BOARD_H
-#define __ARCH_BOARD_BOARD_H
-
-#include <nuttx/config.h>
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include <stm32.h>
-
-/* HSI - 8 MHz RC factory-trimmed
- * LSI - 32 KHz RC
- * HSE - 8  MHz Crystal
- * LSE - not installed
- */
-#define STM32_BOARD_USEHSE      1
-#define STM32_BOARD_XTAL        8000000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-
-/* Main PLL Configuration */
-#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
-#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
-#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
-#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
-
-#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
-
-#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
-#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
-#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
-
-#define STM32_SYSCLK_FREQUENCY  96000000ul
-
-/* AHB clock (HCLK) is SYSCLK (96MHz) */
-#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
-#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
-
-/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* APB2 clock (PCLK2) is HCLK (96MHz) */
-#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
-#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
-
-/* Timers driven from APB2 will be PCLK2 since no prescale division */
-#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
-
-/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
-#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
-
-/* Alternate function pin selections ************************************************/
-
-/* UARTs */
-#define GPIO_USART1_RX	GPIO_USART1_RX_2
-#define GPIO_USART1_TX	GPIO_USART1_TX_3
-
-#define GPIO_USART2_RX	GPIO_USART2_RX_1
-#define GPIO_USART2_TX	GPIO_USART2_TX_1
-
-/* CAN */
-#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
-#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
-
-/* SPI */
-#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
-#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
-#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
-
-#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
-#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
-#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_2  /* PB13 */
-
-/* I2C */
-#define GPIO_MCU_I2C1_SCL
-#define GPIO_MCU_I2C1_SDA
-
-#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
-#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_2
-
-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
-
-#endif /* __ARCH_BOARD_BOARD_H */

boards/auterion/cannode/nuttx-config/include/board_dma_map.h

@@ -1,50 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-// DMA1 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX   // DMA1, Stream 3, Channel 0
-#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX   // DMA1, Stream 4, Channel 0
-
-//  DMA2 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
-#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_2   // DMA2, Stream 5, Channel 3
-
-// Assigned in timer_config.cpp
-
-// Timer 2                                    /* DMA1, Stream 7, Channel 3 DMAMAP_TIM2_UP_2 */
-// Timer 3                                    /* DMA1, Stream 2, Channel 5 DMAMAP_TIM3_UP   */
-// Timer 4                                    /* DMA1, Stream 6, Channel 2 DMAMAP_TIM4_UP   */

boards/auterion/cannode/nuttx-config/nsh/defconfig

@@ -1,153 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/auterion/cannode/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F412CE=y
-CONFIG_ARCH_INTERRUPTSTACK=768
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2624
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MM_REGIONS=2
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_VARS=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20000000
-CONFIG_RAW_BINARY=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=254
-CONFIG_SCHED_HPWORKSTACKSIZE=3000
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
-CONFIG_SCHED_WAITPID=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32_ADC1=y
-CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
-CONFIG_STM32_DMA1=y
-CONFIG_STM32_DMA2=y
-CONFIG_STM32_FLASH_CONFIG_G=y
-CONFIG_STM32_FLASH_PREFETCH=y
-CONFIG_STM32_FLOWCONTROL_BROKEN=y
-CONFIG_STM32_I2C1=y
-CONFIG_STM32_JTAG_SW_ENABLE=y
-CONFIG_STM32_PWR=y
-CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32_SPI1=y
-CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=2048
-CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI2_DMA=y
-CONFIG_STM32_SPI2_DMA_BUFFER=2048
-CONFIG_STM32_USART1=y
-CONFIG_STM32_USART2=y
-CONFIG_STM32_USART_BREAKS=y
-CONFIG_STM32_WWDG=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1100
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_SERIAL_CONSOLE=y
-CONFIG_USART2_TXBUFSIZE=1100
-CONFIG_USEC_PER_TICK=1000

boards/auterion/cannode/nuttx-config/scripts/canbootloader_script.ld

@@ -1,134 +0,0 @@
-/****************************************************************************
- * nuttx-config/scripts/canbootloader_script.ld
- *
- *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
- * 256Kb of SRAM. SRAM is split up into three blocks:
- *
- * 1) 112Kb of SRAM beginning at address 0x2000:0000
- * 2)  16Kb of SRAM beginning at address 0x2001:c000
- * 3)  64Kb of SRAM beginning at address 0x2002:0000
- * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- *
- * The first 0x10000 of flash is reserved for the bootloader.
- */
-
-MEMORY
-{
-    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
-    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
-}
-
-OUTPUT_ARCH(arm)
-
-ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
-EXTERN(_vectors)	/* force the vectors to be included in the output */
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-        .init_section : {
-                _sinit = ABSOLUTE(.);
-                KEEP(*(.init_array .init_array.*))
-                _einit = ABSOLUTE(.);
-        } > flash
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}

boards/auterion/cannode/nuttx-config/scripts/script.ld

@@ -1,146 +0,0 @@
-/****************************************************************************
- * scripts/ld.script
- *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The STM32F412CG has 1Mb of FLASH beginning at address 0x0800:0000 and
- * 256Kb of SRAM. SRAM is split up into three blocks:
- *
- * 1) 112Kb of SRAM beginning at address 0x2000:0000
- * 2)  16Kb of SRAM beginning at address 0x2001:c000
- * 3)  64Kb of SRAM beginning at address 0x2002:0000
- * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- *
- * The first 0x10000 of flash is reserved for the bootloader.
- */
-
-MEMORY
-{
-    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 928K
-    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
-}
-
-OUTPUT_ARCH(arm)
-
-ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
-EXTERN(_vectors)	/* force the vectors to be included in the output */
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(8);
-		/*
-		* This section positions the app_descriptor_t used
-		* by the make_can_boot_descriptor.py tool to set
-		* the application image's descriptor so that the
-		* uavcan bootloader has the ability to validate the
-		* image crc, size etc
-		*/
-		KEEP(*(.app_descriptor))
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-        .init_section : {
-                _sinit = ABSOLUTE(.);
-                KEEP(*(.init_array .init_array.*))
-                _einit = ABSOLUTE(.);
-        } > flash
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}

boards/auterion/cannode/src/CMakeLists.txt

@@ -1,68 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
-
-	add_library(drivers_board
-		boot_config.h
-		boot.c
-		led.c
-		led.h
-	)
-	target_link_libraries(drivers_board
-		PRIVATE
-			nuttx_arch
-			nuttx_drivers
-			canbootloader
-	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
-
-else()
-	add_library(drivers_board
-		can.c
-		i2c.cpp
-		init.c
-		led.c
-		spi.cpp
-		timer_config.cpp
-	)
-
-	target_link_libraries(drivers_board
-		PRIVATE
-			arch_spi
-			drivers__led # drv_led_start
-			nuttx_arch
-			nuttx_drivers
-			px4_layer
-	)
-endif()

boards/auterion/cannode/src/board_config.h

@@ -1,115 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * board internal definitions
- */
-
-#pragma once
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-/* CAN  Silent mode control */
-#define GPIO_CAN1_SILENT_S0   /* PC14  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
-
-/* CAN termination software control */
-#define GPIO_CAN1_TERMINATION /* PC15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
-#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION
-
-/* Boot config */
-#define GPIO_BOOT_CONFIG      /* PH1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN1|GPIO_EXTI)
-
-/* ICM42688p FSYNC */
-#define GPIO_42688P_FSYNC     /* PB8  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
-
-/* LEDs are driven with open drain to support Anode to 5V or 3.3V */
-#define GPIO_TIM1_CH1         /* PA8  */  (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
-#define GPIO_TIM1_CH2         /* PA9  */  (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
-#define GPIO_TIM1_CH3         /* PA10 */  (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
-
-/* PWM Outputs */
-#define BOARD_NUM_IO_TIMERS         3
-#define DIRECT_PWM_OUTPUT_CHANNELS  8
-
-#define GPIO_TIM2_CH1_RESET   /* PA0  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_TIM2_CH2_RESET   /* PA1  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_TIM2_CH3_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define GPIO_TIM3_CH1_RESET   /* PB4  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4)
-#define GPIO_TIM3_CH2_RESET   /* PB5  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
-#define GPIO_TIM3_CH3_RESET   /* PB0  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_TIM3_CH4_RESET   /* PB1  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_TIM4_CH4_RESET   /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
-
-#define GPIO_I2C1_SCL_RESET   /* PB6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
-#define GPIO_I2C1_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
-
-#define GPIO_USART1_RX_GPIO   /* PB3  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN3)
-#define GPIO_USART1_TX_GPIO   /* PA15  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN15)
-
-#define GPIO_USART2_RX_GPIO   /* PA3  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN3)
-#define GPIO_USART2_TX_GPIO   /* PA2  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN2)
-
-#define FLASH_BASED_PARAMS
-
-/* High-resolution timer */
-#define HRT_TIMER                    8  /* use timer 8 for the HRT */
-#define HRT_TIMER_CHANNEL            1  /* use capture/compare channel 1 */
-
-#define PX4_GPIO_INIT_LIST { \
-		GPIO_CAN1_SILENT_S0,              \
-		GPIO_CAN1_TERMINATION,            \
-		GPIO_42688P_FSYNC,                \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_I2C1_SCL_RESET,              \
-		GPIO_I2C1_SDA_RESET,              \
-	}
-
-__BEGIN_DECLS
-
-#define BOARD_HAS_N_S_RGB_LED       1
-#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
-
-#ifndef __ASSEMBLY__
-
-extern void stm32_spiinitialize(void);
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS

boards/auterion/cannode/src/boot.c

@@ -1,188 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *       Author: Ben Dyer <ben_dyer@mac.com>
- *               Pavel Kirienko <pavel.kirienko@zubax.com>
- *               David Sidrane <david_s5@nscdg.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <px4_config.h>
-#include <stdint.h>
-#include "boot_config.h"
-#include "board.h"
-
-#include <debug.h>
-#include <string.h>
-#include <arch/board/board.h>
-
-#include <nuttx/board.h>
-#include "led.h"
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
-	stm32_configgpio(GPIO_CAN1_RX);
-	stm32_configgpio(GPIO_CAN1_TX);
-	stm32_configgpio(GPIO_CAN1_SILENT_S0);
-	stm32_configgpio(GPIO_CAN1_TERMINATION);
-	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
-	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
-
-#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
-	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
-#endif
-
-}
-
-/************************************************************************************
- * Name: board_deinitialize
- *
- * Description:
- *   This function is called by the bootloader code prior to booting
- *   the application. Is should place the HW into an benign initialized state.
- *
- ************************************************************************************/
-
-void board_deinitialize(void)
-{
-	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
-}
-
-/****************************************************************************
- * Name: board_get_product_name
- *
- * Description:
- *   Called to retrieve the product name. The returned value is a assumed
- *   to be written to a pascal style string that will be length prefixed
- *   and not null terminated
- *
- * Input Parameters:
- *    product_name - A pointer to a buffer to write the name.
- *    maxlen       - The maximum number of charter that can be written
- *
- * Returned Value:
- *   The length of characters written to the buffer.
- *
- ****************************************************************************/
-
-uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
-{
-	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
-	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
-	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
-}
-
-/****************************************************************************
- * Name: board_get_hardware_version
- *
- * Description:
- *   Called to retrieve the hardware version information. The function
- *   will first initialize the the callers struct to all zeros.
- *
- * Input Parameters:
- *    hw_version - A pointer to a uavcan_hardwareversion_t.
- *
- * Returned Value:
- *   Length of the unique_id
- *
- ****************************************************************************/
-
-size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
-{
-	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
-
-	hw_version->major = HW_VERSION_MAJOR;
-	hw_version->minor = HW_VERSION_MINOR;
-
-	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
-}
-
-/****************************************************************************
- * Name: board_indicate
- *
- * Description:
- *   Provides User feedback to indicate the state of the bootloader
- *   on board specific  hardware.
- *
- * Input Parameters:
- *    indication - A member of the uiindication_t
- *
- * Returned Value:
- *   None
- *
- ****************************************************************************/
-#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
-
-typedef begin_packed_struct struct led_t {
-	uint8_t red;
-	uint8_t green;
-	uint8_t blue;
-	uint8_t hz;
-} end_packed_struct led_t;
-
-static const  led_t i2l[] = {
-
-	led(0, off,                             0,     0,     0,     0),
-	led(1, reset,                          128,   128,   128,   30),
-	led(2, autobaud_start,                  0,   128,     0,     1),
-	led(3, autobaud_end,                    0,   128,     0,     2),
-	led(4, allocation_start,                0,     0,    64,     2),
-	led(5, allocation_end,                  0,   128,    64,     3),
-	led(6, fw_update_start,                32,   128,    64,     3),
-	led(7, fw_update_erase_fail,           32,   128,    32,     3),
-	led(8, fw_update_invalid_response,     64,     0,     0,     1),
-	led(9, fw_update_timeout,              64,     0,     0,     2),
-	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
-	led(b, jump_to_app,                     0,   128,     0,    10),
-
-};
-
-void board_indicate(uiindication_t indication)
-{
-	rgb_led(i2l[indication].red,
-		i2l[indication].green,
-		i2l[indication].blue,
-		i2l[indication].hz);
-}

boards/auterion/cannode/src/boot_config.h

@@ -1,134 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*
- * @file boot_config.h
- *
- * bootloader definitions that configures the behavior and options
- * of the Boot loader
- * This file is relies on the parent folder's boot_config.h file and defines
- * different usages of the hardware for bootloading
- */
-
-#pragma once
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-/* Bring in the board_config.h definitions
- * todo:make this be pulled in from a targed's build
- * files in nuttx*/
-
-#include "board_config.h"
-#include "uavcan.h"
-#include <nuttx/compiler.h>
-
-#include <stdint.h>
-
-#include <stm32_flash.h>
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
-
-//todo:wrap OPT_x in in ifdefs for command line definitions
-#define OPT_TBOOT_MS                    3000
-#define OPT_NODE_STATUS_RATE_MS         800
-#define OPT_NODE_INFO_RATE_MS           50
-#define OPT_BL_NUMBER_TIMERS            7
-
-/*
- *  This Option set is set to 1 ensure a provider of firmware has an
- *  opportunity update the node's firmware.
- *  This Option is the default policy and can be overridden by
- *  a jumper
- *  When this Policy is set, the node will ignore tboot and
- *  wait indefinitely for a GetNodeInfo request before booting.
- *
- *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
- *  the polarity of the jumper to be True Active
- *
- *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
- *                                                 Jumper
- *   yes           1                       0         x
- *   yes           1                       1       Active
- *   no            1                       1       Not Active
- *   no            0                       0         X
- *   yes           0                       1       Active
- *   no            0                       1       Not Active
- *
- */
-#define OPT_WAIT_FOR_GETNODEINFO                    0
-/* The ARK CANnode uses PH1 for GPIO_BOOT_CONFIG but it is not
- * compatible with px4_arch_gpioread as Port H = 7 which is greater
- * than STM32_NPORTS
- * #define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        0
- */
-#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
-
-#define OPT_ENABLE_WD           1
-
-#define OPT_RESTART_TIMEOUT_MS          20000
-
-/* Reserved for the Booloader */
-#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
-
-/* Reserved for the application out of the total
- * system flash minus the BOOTLOADER_SIZE_IN_K
- */
-#define OPT_APPLICATION_RESERVER_IN_K    0
-
-#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
-#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
-
-
-#define FLASH_BASE              STM32_FLASH_BASE
-#define FLASH_SIZE              STM32_FLASH_SIZE
-
-#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
-#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
-#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
-
-/* If this board uses big flash that have large sectors */
-
-#define OPT_USE_YIELD
-
-/* Bootloader Option*****************************************************************
- *
- */
-#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)

boards/auterion/cannode/src/can.c

@@ -1,130 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file can.c
- *
- * Board-specific CAN functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/can/can.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "arm_internal.h"
-
-#include "stm32.h"
-#include "stm32_can.h"
-#include "board_config.h"
-
-#ifdef CONFIG_CAN
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-/* Configuration ********************************************************************/
-
-#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
-#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
-#  undef CONFIG_STM32_CAN2
-#endif
-
-#ifdef CONFIG_STM32_CAN1
-#  define CAN_PORT 1
-#else
-#  define CAN_PORT 2
-#endif
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-int can_devinit(void);
-
-/************************************************************************************
- * Name: can_devinit
- *
- * Description:
- *   All STM32 architectures must provide the following interface to work with
- *   examples/can.
- *
- ************************************************************************************/
-
-int can_devinit(void)
-{
-	static bool initialized = false;
-	struct can_dev_s *can;
-	int ret;
-
-	/* Check if we have already initialized */
-
-	if (!initialized) {
-		/* Call stm32_caninitialize() to get an instance of the CAN interface */
-
-		can = stm32_caninitialize(CAN_PORT);
-
-		if (can == NULL) {
-			canerr("ERROR:  Failed to get CAN interface\n");
-			return -ENODEV;
-		}
-
-		/* Register the CAN driver at "/dev/can0" */
-
-		ret = can_register("/dev/can0", can);
-
-		if (ret < 0) {
-			canerr("ERROR: can_register failed: %d\n", ret);
-			return ret;
-		}
-
-		/* Now we are initialized */
-
-		initialized = true;
-	}
-
-	return OK;
-}
-
-#endif

boards/auterion/cannode/src/i2c.cpp

@@ -1,38 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(1),
-};

boards/auterion/cannode/src/init.c

@@ -1,186 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file init.c
- *
- * board specific early startup code.  This file implements the
- * board_app_initialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialization.
- */
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/tasks.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
-#include <syslog.h>
-
-#include <nuttx/board.h>
-
-#include <stm32.h>
-#include "board_config.h"
-#include "led.h"
-#include <stm32_uart.h>
-
-#include <arch/board/board.h>
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-#include <drivers/drv_watchdog.h>
-
-#include <systemlib/px4_macros.h>
-
-#include <px4_platform_common/init.h>
-#include <px4_platform/gpio.h>
-
-#include <px4_arch/io_timer.h>
-
-# if defined(FLASH_BASED_PARAMS)
-#  include <parameters/flashparams/flashfs.h>
-#endif
-
-/************************************************************************************
- * Name: board_on_reset
- *
- * Description:
- * Optionally provided function called on entry to board_system_reset
- * It should perform any house keeping prior to the rest.
- *
- * status - 1 if resetting to boot loader
- *          0 if just resetting
- *
- ************************************************************************************/
-__EXPORT void board_on_reset(int status)
-{
-	// Configure the GPIO pins to outputs and keep them low.
-	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
-	}
-
-	/*
-	 * On resets invoked from system (not boot) insure we establish a low
-	 * output state (discharge the pins) on PWM pins before they become inputs.
-	 */
-
-	if (status >= 0) {
-		up_mdelay(400);
-	}
-}
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	// Reset all PWM to Low outputs.
-	board_on_reset(-1);
-
-	watchdog_init();
-
-	/* configure pins */
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-
-	// Configure SPI all interfaces GPIO & enable power.
-	stm32_spiinitialize();
-}
-
-/****************************************************************************
- * Name: board_app_initialize
- *
- * Description:
- *   Perform application specific initialization.  This function is never
- *   called directly from application code, but only indirectly via the
- *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
- *
- * Input Parameters:
- *   arg - The boardctl() argument is passed to the board_app_initialize()
- *         implementation without modification.  The argument has no
- *         meaning to NuttX; the meaning of the argument is a contract
- *         between the board-specific initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	px4_platform_init();
-
-#if defined(SERIAL_HAVE_RXDMA)
-	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
-	static struct hrt_call serial_dma_call;
-	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
-
-#if defined(FLASH_BASED_PARAMS)
-	static sector_descriptor_t params_sector_map[] = {
-		{2, 16 * 1024, 0x08008000},
-		{3, 16 * 1024, 0x0800C000},
-		{0, 0, 0},
-	};
-
-	/* Initialize the flashfs layer to use heap allocated memory */
-	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
-
-	if (result != OK) {
-		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
-	}
-
-#endif // FLASH_BASED_PARAMS
-
-	/* Configure the HW based on the manifest */
-	//px4_platform_configure();
-
-	return OK;
-}

boards/auterion/cannode/src/led.c

@@ -1,124 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file led.c
- *
- * LED backend.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-#include "led.h"
-
-#define TMR_BASE        STM32_TIM1_BASE
-#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
-#define TMR_REG(o)      (TMR_BASE+(o))
-
-void rgb_led(int r, int g, int b, int freqs)
-{
-
-	long fosc = TMR_FREQUENCY;
-	long prescale = 2048;
-	long p1s = fosc / prescale;
-	long p0p5s  = p1s / 2;
-	uint16_t val;
-	static bool once = 0;
-
-	if (!once) {
-		once = 1;
-
-		/* Enable Clock to Block */
-		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
-
-		/* Reload */
-
-		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
-		val |= ATIM_EGR_UG;
-		putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
-
-		/* Set Prescaler STM32_TIM_SETCLOCK */
-
-		putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
-
-		/* Enable STM32_TIM_SETMODE*/
-
-		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
-
-
-		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
-			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
-		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
-		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
-			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
-			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
-
-
-		stm32_configgpio(GPIO_TIM1_CH1);
-		stm32_configgpio(GPIO_TIM1_CH2);
-		stm32_configgpio(GPIO_TIM1_CH3);
-
-		/* master output enable = on */
-		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
-	}
-
-	long p  = freqs == 0 ? p1s : p1s / freqs;
-	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
-
-	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
-
-	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
-	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
-	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
-
-	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
-
-	if (freqs == 0) {
-		val &= ~ATIM_CR1_CEN;
-
-	} else {
-		val |= ATIM_CR1_CEN;
-	}
-
-	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
-
-}

boards/auterion/cannode/src/spi.cpp

@@ -1,48 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
-	}),
-	initSPIBusExternal(SPI::Bus::SPI2, {
-		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin12}),
-		initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin13}),
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/auterion/cannode/src/timer_config.cpp

@@ -1,54 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/io_timer_hw_description.h>
-
-constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream7, DMA::Channel3}),
-	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
-	initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
-};
-
-constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortB, GPIO::Pin4}),
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortB, GPIO::Pin5}),
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
-};
-
-constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
-	initIOTimerChannelMapping(io_timers, timer_io_channels);

boards/auterion/cannode/uavcan_board_identity

@@ -1,17 +0,0 @@
-# UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
-add_definitions(
-	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
-)
-
-set(uavcanblid_hw_version_major 0)
-set(uavcanblid_hw_version_minor 83)
-set(uavcanblid_name "\"org.auterion.cannode\"")
-
-add_definitions(
-	-DHW_UAVCAN_NAME=${uavcanblid_name}
-	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)

boards/auterion/fmu-v6s/default.px4board

@@ -43,6 +43,7 @@ CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y

boards/cuav/7-nano/default.px4board

@@ -20,6 +20,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -42,8 +43,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y

boards/cuav/7-nano/init/rc.board_sensors

@@ -12,10 +12,17 @@ else
 fi
 
 iim42652 -s -R 22 start
-bmi088 -A -R 29 -s start
-bmi088 -G -R 29 -s start
 
-ist8310 -I -R 18 start
+bmi088 -A -R 29 -s start
+if ! bmi088 -G -R 29 -s start
+then
+	iim42653 -s -b 2 -R 22 start
+fi
+
+if ! ist8310 -I -R 18 start
+then
+	iis2mdc -I -R 37 start
+fi
 
 bmp581 -s start
 icp201xx -I start

boards/cuav/7-nano/src/spi.cpp

@@ -42,6 +42,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortG, GPIO::Pin2}, SPI::DRDY{GPIO::PortG, GPIO::Pin3}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortD, GPIO::Pin12}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 	}, {GPIO::PortI, GPIO::Pin11}),
 	// initSPIBus(SPI::Bus::SPI3,{
 	// 	// no devices

boards/holybro/kakuteh7-wing/default.px4board

@@ -5,6 +5,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y

boards/holybro/kakuteh7-wing/src/hw_config.h

@@ -74,7 +74,7 @@
 #define BOARD_TYPE                     1105
 #define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (2 * 128 * 1024)
 
 #define OSC_FREQ                       16
 

boards/px4/fmu-v5x/default.px4board

@@ -64,6 +64,7 @@ CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y

boards/px4/fmu-v6x/default.px4board

@@ -62,6 +62,7 @@ CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y

boards/px4/fmu-v6xrt/default.px4board

@@ -63,6 +63,7 @@ CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y

docs/en/advanced_config/bootloader_update.md

@@ -9,11 +9,45 @@ This topic explains how to build the PX4 bootloader, and several methods for fla
 
 ::: info
 
-- Most boards will need to use the [Debug Probe](#debug-probe-bootloader-update) to update the bootloader.
+- You can use [QGC Bootloader Update](#qgc-bootloader-update-sys-bl-update) with firmware that includes the [`bl-update` module](../modules/modules_command.md#bl-update).
+  This is the easiest way to update the bootloader, provided the board is able to load firmware.
+- You can also use the [Debug Probe](#debug-probe-bootloader-update) to update the bootloader.
+  This is useful for updating/fixing the bootloader when the board is bricked.
 - On [FMUv6X-RT](../flight_controller/pixhawk6x-rt.md) you can [install bootloader/unbrick boards via USB](bootloader_update_v6xrt.md).
   This is useful if you don't have a debug probe.
-- On FMUv2 and some custom firmware (only) you can use [QGC Bootloader Update](#qgc-bootloader-update).
-  :::
+
+:::
+
+## QGC Bootloader Update (`SYS_BL_UPDATE`)
+
+The easiest way to update the bootloader is to first use _QGroundControl_ to install firmware that contains the desired/latest bootloader.
+You can then initiate bootloader update on next restart by setting the parameter: [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
+
+This approach can be used if the [`bl-update` module](../modules/modules_command.md#bl-update) is present in the firmware.
+The easiest way to check this is just to see if the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter is [found in QGroundControl](../advanced_config/parameters.md#finding-a-parameter).
+
+:::warning
+Boards that include the module will have the line `CONFIG_SYSTEMCMDS_BL_UPDATE=y` in their `default.px4board` file (for examples [see this search](https://github.com/search?q=repo%3APX4%2FPX4-Autopilot+path%3A**%2Fdefault.px4board+CONFIG_SYSTEMCMDS_BL_UPDATE%3Dy&type=code)).
+You can enable this key in your own custom firmware if needed.
+:::
+
+The steps are:
+
+1. Insert an SD card (enables boot logging to debug any problems).
+1. [Update the Firmware](../config/firmware.md#custom) with an image containing the new/desired bootloader.
+
+   ::: info
+   The updated bootloader might be included the default firmware for your board or supplied in custom firmware.
+   :::
+
+1. Wait for the vehicle to reboot.
+1. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
+1. Reboot (disconnect/reconnect the board).
+   The bootloader update will only take a few seconds.
+
+Generally at this point you may then want to [update the firmware](../config/firmware.md) again using the correct/newly installed bootloader.
+
+An specific example of this process for updating the [FMUv2 bootloader](#fmuv2-bootloader-update) is given below.
 
 ## Building the PX4 Bootloader
 
@@ -49,11 +83,9 @@ The instructions in the repo README explain how to use it.
 The following steps explain how you can "manually" update the bootloader using a [compatible Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware):
 
 1. Get a binary containing the bootloader (either from dev team or [build it yourself](#building-the-px4-bootloader)).
-
-1. Get a [Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware).
+2. Get a [Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware).
    Connect the probe your PC via USB and setup the `gdbserver`.
-
-1. Go into the directory containing the binary and run the command for your target bootloader in the terminal:
+3. Go into the directory containing the binary and run the command for your target bootloader in the terminal:
 
    - FMUv6X
 
@@ -78,7 +110,7 @@ The following steps explain how you can "manually" update the bootloader using a
    Bootloaders from [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader) are named with the pattern `*_bl.elf`.
    :::
 
-1. The _gdb terminal_ appears and it should display the following output:
+4. The _gdb terminal_ appears and it should display the following output:
 
    ```sh
    GNU gdb (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 8.0.50.20171128-git
@@ -98,28 +130,27 @@ The following steps explain how you can "manually" update the bootloader using a
    Reading symbols from px4fmuv5_bl.elf...done.
    ```
 
-1. Find your `<dronecode-probe-id>` by running an `ls` command in the **/dev/serial/by-id** directory.
-
-1. Now connect to the debug probe with the following command:
+5. Find your `<dronecode-probe-id>` by running an `ls` command in the **/dev/serial/by-id** directory.
+6. Now connect to the debug probe with the following command:
 
    ```sh
    tar ext /dev/serial/by-id/<dronecode-probe-id>
    ```
 
-1. Power on the Pixhawk with another USB cable and connect the probe to the `FMU-DEBUG` port.
+7. Power on the Pixhawk with another USB cable and connect the probe to the `FMU-DEBUG` port.
 
    ::: info
    If using a Dronecode probe you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver).
    :::
 
-1. Use the following command to scan for the Pixhawk`s SWD and connect to it:
+8. Use the following command to scan for the Pixhawk`s SWD and connect to it:
 
    ```sh
    (gdb) mon swdp_scan
    (gdb) attach 1
    ```
 
-1. Load the binary into the Pixhawk:
+9. Load the binary into the Pixhawk:
 
    ```sh
    (gdb) load
@@ -127,38 +158,10 @@ The following steps explain how you can "manually" update the bootloader using a
 
 After the bootloader has updated you can [Load PX4 Firmware](../config/firmware.md) using _QGroundControl_.
 
-## QGC Bootloader Update
-
-The easiest approach is to first use _QGroundControl_ to install firmware that contains the desired/latest bootloader.
-You can then initiate bootloader update on next restart by setting the parameter: [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
-
-This approach can only be used if [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) is present in firmware.
-
-:::warning
-Currently only FMUv2 and some custom firmware includes the desired bootloader.
-:::
-
-The steps are:
-
-1. Insert an SD card (enables boot logging to debug any problems).
-1. [Update the Firmware](../config/firmware.md#custom) with an image containing the new/desired bootloader.
-
-   ::: info
-   The updated bootloader might be supplied in custom firmware (i.e. from the dev team), or it or may be included in the latest main branch.
-   :::
-
-1. Wait for the vehicle to reboot.
-1. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
-1. Reboot (disconnect/reconnect the board).
-   The bootloader update will only take a few seconds.
-
-Generally at this point you may then want to [update the firmware](../config/firmware.md) again using the correct/newly installed bootloader.
-
-An specific example of this process for updating the FMUv2 bootloader is given below.
-
-### FMUv2 Bootloader Update
+## FMUv2 Bootloader Update
 
 If _QGroundControl_ installs the FMUv2 target (see console during installation), and you have a newer board, you may need to update the bootloader in order to access all the memory on your flight controller.
+This example explains how you can use [QGC Bootloader Update](qgc-bootloader-update-sys-bl-update) to update the bootloader.
 
 ::: info
 Early FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions) flight controllers had a [hardware issue](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) that restricted them to using 1MB of flash memory.
@@ -168,17 +171,17 @@ The problem is fixed on newer boards, but you may need to update the factory-pro
 To update the bootloader:
 
 1. Insert an SD card (enables boot logging to debug any problems).
-1. [Update the Firmware](../config/firmware.md) to PX4 _master_ version (when updating the firmware, check **Advanced settings** and then select **Developer Build (master)** from the dropdown list).
+2. [Update the Firmware](../config/firmware.md) to PX4 _master_ version (when updating the firmware, check **Advanced settings** and then select **Developer Build (master)** from the dropdown list).
    _QGroundControl_ will automatically detect that the hardware supports FMUv2 and install the appropriate Firmware.
 
    ![FMUv2 update](../../assets/qgc/setup/firmware/bootloader_update.jpg)
 
    Wait for the vehicle to reboot.
 
-1. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
-1. Reboot (disconnect/reconnect the board).
+3. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
+4. Reboot (disconnect/reconnect the board).
    The bootloader update will only take a few seconds.
-1. Then [Update the Firmware](../config/firmware.md) again.
+5. Then [Update the Firmware](../config/firmware.md) again.
    This time _QGroundControl_ should autodetect the hardware as FMUv3 and update the Firmware appropriately.
 
    ![FMUv3 update](../../assets/qgc/setup/firmware/bootloader_fmu_v3_update.jpg)

docs/en/computer_vision/collision_prevention.md

@@ -3,7 +3,7 @@
 _Collision Prevention_ may be used to automatically slow and stop a vehicle before it can crash into an obstacle.
 It can be enabled for multicopter vehicles when using acceleration-based [Position mode](../flight_modes_mc/position.md) (or VTOL vehicles in MC mode).
 
-It can be enabled for multicopter vehicles in [Position mode](../flight_modes_mc/position.md), and can use sensor data from an offboard companion computer, offboard rangefinders over MAVLink, a rangefinder attached to the flight controller, or any combination of the above.
+It can be enabled for multicopter vehicles in [Position mode](../flight_modes_mc/position.md) (with [MPC_POS_MODE](#MPC_POS_MODE) set to `Acceleration based`), and can use sensor data from an offboard companion computer, offboard rangefinders over MAVLink, a rangefinder attached to the flight controller, or any combination of the above.
 
 Collision prevention may restrict vehicle maximum speed if the sensor range isn't large enough!
 It also prevents motion in directions where no sensor data is available (i.e. if you have no rear-sensor data, you will not be able to fly backwards).
@@ -26,15 +26,14 @@ Users are notified through _QGroundControl_ while _Collision Prevention_ is acti
 
 PX4 software setup is covered in the next section.
 If you are using a distance sensor attached to your flight controller for collision prevention, it will need to be attached and configured as described in [PX4 Distance Sensor](#rangefinder).
-If you are using a companion computer to provide obstacle information see [companion setup](#companion
+If you are using a companion computer to provide obstacle information see [companion setup](#companion) below.
 
-## Supported Rangefinders  {#rangefinder}
+## Supported Rangefinders {#rangefinder}
 
 ### Lanbao PSK-CM8JL65-CC5 [Discontinued]
 
 At time of writing PX4 allows you to use the [Lanbao PSK-CM8JL65-CC5](../sensor/cm8jl65_ir_distance_sensor.md) IR distance sensor for collision prevention “out of the box”, with minimal additional configuration:
 
-
 - First [attach and configure the sensor](../sensor/cm8jl65_ir_distance_sensor.md), and enable collision prevention (as described above, using [CP_DIST](#CP_DIST)).
 - Set the sensor orientation using [SENS_CM8JL65_R_0](../advanced_config/parameter_reference.md#SENS_CM8JL65_R_0).
 
@@ -51,7 +50,6 @@ Other sensors may be enabled, but this requires modification of driver code to s
   This should be done by mimicking the `SENS_CM8JL65_R_0` parameter (though you might also hard-code the orientation in the sensor _module.yaml_ file to something like `sf0x start -d ${SERIAL_DEV} -R 25` - where 25 is equivalent to `ROTATION_DOWNWARD_FACING`).
 - Modify the driver to set the _field of view_ in the distance sensor UORB topic (`distance_sensor_s.h_fov`).
 
-
 ## PX4 (Software) Setup
 
 Configure collision prevention by [setting the following parameters](../advanced_config/parameters.md) in _QGroundControl_:
@@ -62,7 +60,7 @@ Configure collision prevention by [setting the following parameters](../advanced
 | <a id="CP_DELAY"></a>[CP_DELAY](../advanced_config/parameter_reference.md#CP_DELAY)                | Set the sensor and velocity setpoint tracking delay. See [Delay Tuning](#delay_tuning) below.                                                                                                                                                                                                   |
 | <a id="CP_GUIDE_ANG"></a>[CP_GUIDE_ANG](../advanced_config/parameter_reference.md#CP_GUIDE_ANG)    | Set the angle (to both sides of the commanded direction) within which the vehicle may deviate if it finds fewer obstacles in that direction. See [Guidance Tuning](#angle_change_tuning) below.                                                                                                 |
 | <a id="CP_GO_NO_DATA"></a>[CP_GO_NO_DATA](../advanced_config/parameter_reference.md#CP_GO_NO_DATA) | Set to 1 to allow the vehicle to move in directions where there is no sensor coverage (default is 0/`False`).                                                                                                                                                                                   |
-| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)    | Set to `Direct velocity` or `Smoothed velocity` to enable Collision Prevention in Position Mode (default is `Acceleration based`).                                                                                                                                                              |
+| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)    | Must be set to `Acceleration based`.                                                                                                                                                                                                                                                           |
 
 ## Algorithm Description
 
@@ -131,7 +129,6 @@ The guidance feature will never direct the vehicle in a direction without sensor
 If the vehicle feels stuck with only a single distance sensor pointing forwards, this is probably because the guidance cannot safely adapt the direction due to lack of information.
 :::
 
-
 ## Algorithm Description
 
 The data from all sensors are fused into an internal representation of 72 sectors around the vehicle, each containing either the sensor data and information about when it was last observed, or an indication that no data for the sector was available.
@@ -212,7 +209,7 @@ The steps are:
      type: px4_msgs::msg::ObstacleDistance
    ```
 
-   For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in [uXRCE-DDS](../middleware/uxrce_dds.md) (PX4-ROS 2/DDS Bridge)_.
+   For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in [uXRCE-DDS](../middleware/uxrce_dds.md) (PX4-ROS 2/DDS Bridge)\_.
 
 3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
    In the **Script Editor** tab, add following scripts in the appropriate sections:

docs/en/peripherals/dshot.md

@@ -36,7 +36,7 @@ Remove propellers before changing ESC configuration parameters!
 
 Enable DShot for your required outputs in the [Actuator Configuration](../config/actuators.md).
 
-DShot comes with different speed options: _DShot150_, _DShot300_, _DShot600_ and _DShot1200_, where the number indicates the speed in kilo-bits/second.
+DShot comes with different speed options: _DShot150_, _DShot300_, and _DShot600_ where the number indicates the speed in kilo-bits/second.
 You should set the parameter to the highest speed supported by your ESC (according to its datasheet).
 
 Then connect the battery and arm the vehicle.
@@ -110,18 +110,19 @@ The most important ones are:
 
   :::
 
-## Telemetry
-
-Some ESCs are capable of sending telemetry back to the flight controller, including:
-
-- temperature
-- voltage
-- current
-- accumulated current consumption
-- RPM values
+## ESC Telemetry
 
+Some ESCs are capable of sending telemetry back to the flight controller through a UART RX port.
 These DShot ESCs will have an additional telemetry wire.
 
+The provided telemetry includes:
+
+- Temperature
+- Voltage
+- Current
+- Accumulated current consumption
+- RPM values
+
 To enable this feature (on ESCs that support it):
 
 1. Join all the telemetry wires from all the ESCs together, and then connect them to one of the RX pins on an unused flight controller serial port.
@@ -147,3 +148,40 @@ ERROR [dshot] No data received. If telemetry is setup correctly, try again.
 
 Check manufacturer documentation for confirmation/details.
 :::
+
+## Bidirectional DShot (Telemetry)
+
+<Badge type="tip" text="PX4 v1.16" />
+
+Bidirectional DShot is a protocol that can provide telemetry including: high rate ESC RPM data, voltage, current, and temperature with a single wire.
+
+The PX4 implementation currently enables only ESC RPM (eRPM) data collection from each ESC at high frequencies.
+This telemetry significantly improves the performance of [Dynamic Notch Filters](../config_mc/filter_tuning.md#dynamic-notch-filters) and enables more precise vehicle tuning.
+
+::: info
+The [ESC Telemetry](#esc-telemetry) described above is currently still necessary if you want voltage, current, or temperature information.
+It's setup and use is independent of bidirectional DShot.
+:::
+
+### Hardware Setup
+
+The ESC must be connected to FMU outputs only.
+These will be labeled `MAIN` on flight controllers that only have one PWM bus, and `AUX` on controllers that have both `MAIN` and `AUX` ports (i.e. FCs that have an IO board).
+
+:::warning **Limited hardware support**
+This feature is only supported on flight controllers with the following processors:
+
+- STM32H7: First four FMU outputs
+  - Must be connected to the first 4 FMU outputs, and these outputs must also be mapped to the same timer.
+  - [KakuteH7](../flight_controller/kakuteh7v2.md) is not supported because the outputs are not mapped to the same timer.
+- [i.MXRT](../flight_controller/nxp_mr_vmu_rt1176.md) (V6X-RT & Tropic): 8 FMU outputs.
+
+No other boards are supported.
+:::
+
+### Configuration {#bidirectional-dshot-configuration}
+
+To enable bidirectional DShot, set the [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) parameter.
+
+The system calculates actual motor RPM from the received eRPM data using the [MOT_POLE_COUNT](../advanced_config/parameter_reference.md#MOT_POLE_COUNT) parameter.
+This parameter must be set correctly for accurate RPM reporting.

docs/en/releases/main.md

@@ -40,7 +40,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### Common
 
-- TBD
+- [QGroundControl Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter has been re-enabled after being broken for a number of releases. ([PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade](https://github.com/PX4/PX4-Autopilot/pull/25032)).
 
 ### Control
 

docs/en/sensor_bus/i2c_general.md

@@ -4,15 +4,15 @@
 
 It is recommended for:
 
-* Connecting offboard components that require low bandwidth and low latency communication, e.g. [rangefinders](../sensor/rangefinders.md), [magnetometers](../gps_compass/magnetometer.md), [airspeed sensors](../sensor/airspeed.md) and [tachometers](../sensor/tachometers.md) .
+* Connecting offboard components that require low bandwidth and low latency communication, e.g. [rangefinders](../sensor/rangefinders.md), [magnetometers](../gps_compass/magnetometer.md), [airspeed sensors](../sensor/airspeed.md) and [tachometers](../sensor/tachometers.md).
 * Compatibility with peripheral devices that only support I2C.
 * Allowing multiple devices to attach to a single bus, which is useful for conserving ports.
 
 I2C allows multiple master devices to connect to multiple slave devices using only 2 wires per connection (SDA, SCL).
-in theory a bus can support 128 devices, each accessed via its unique address.
+in theory, a bus can support 128 devices, each accessed via its unique address.
 
 ::: info
-UAVCAN would normally be preferred where higher data rates are required, and on larger vehicles where sensors are be mounted further from the flight controller.
+UAVCAN would normally be preferred where higher data rates are required, and on larger vehicles where sensors are mounted further from the flight controller.
 :::
 
 
@@ -20,7 +20,7 @@ UAVCAN would normally be preferred where higher data rates are required, and on
 
 I2C uses a pair of wires: SDA (serial data) and SCL (serial clock).
 The bus is of open-drain type, meaning that devices ground the data line.
-It uses a pullup resistor to push it to `log.1` (idle state) - every wire has it usually located on the bus terminating devices.
+It uses a pull-up resistor to push it to `log.1` (idle state) - every wire has it usually located on the bus terminating devices.
 One bus can connect to multiple I2C devices.
 The individual devices are connected without any crossing.
 
@@ -52,41 +52,44 @@ If two I2C devices on a bus have the same ID there will be a clash, and neither
 This usually occurs because a user needs to attach two sensors of the same type to the bus, but may also happen if devices use duplicate addresses by default.
 
 Particular I2C devices may allow you to select a new address for one of the devices to avoid the clash.
-Some devices do not support this option, or do not have broad options for the addresses that can be used (i.e. cannot be used to avoid a clash).
+Some devices do not support this option or do not have broad options for the addresses that can be used (i.e. cannot be used to avoid a clash).
 
 If you can't change the addresses, one option is to use an [I2C Address Translator](#i2c-address-translators).
 
 ### Insufficient Transfer Capacity
 
-The bandwidth available for each individual device generally decreases as more devices are added. The exact decrease depends on the bandwidth used by each individual device. Therefore it is possible to connect many low bandwidth devices, like [tachometers](../sensor/tachometers.md).
+The bandwidth available for each device generally decreases as more devices are added. The exact decrease depends on the bandwidth used by each individual device. Therefore it is possible to connect many low-bandwidth devices, like [tachometers](../sensor/tachometers.md).
 If too many devices are added, it can cause transmission errors and network unreliability.
 
 There are several ways to reduce the problem:
-* Dividing the devices into groups, each with approximately the same number of devices and connecting each group to one autopilot port
+* Dividing the devices into groups, each with approximately the same number of devices, and connecting each group to one autopilot port
 * Increase bus speed limit (usually set to 100kHz for external I2C bus)
 
 ### Excessive Wiring Capacitance
 
-The electrical capacity of bus wiring increases as more devices/wires are added. The exact decrease depends on total length of bus wiring and wiring specific capacitance.
+The electrical capacity of bus wiring increases as more devices/wires are added. The exact decrease depends on the total length of bus wiring and wiring-specific capacitance.
 The problem can be analyzed using an oscilloscope, where we see that the edges of SDA/SCL signals are no longer sharp.
 
 There are several ways to reduce the problem:
-* Dividing the devices into groups, each with approximately the same number of devices and connecting each group to one autopilot port
-* Using the shortest and the highest quality I2C cables possible
-* Separating the devices with a weak open-drain driver to smaller bus with lower capacitance
-* [I2C Bus Accelerators](#i2c-bus-accelerators)
+* Dividing the devices into groups, each with approximately the same number of devices, and connecting each group to one autopilot port
+* Using the shorter and higher quality I2C cables, see the [cable wiring page](../assembly/cable_wiring.md#i2c-cables) for details
+* Separating the devices with a weak open-drain driver to smaller buses with lower capacitance by using [I2C Bus Accelerators](#i2c-bus-accelerators)
 
 ## I2C Bus Accelerators
 
-I2C bus accelerators are separate circuits that can be used to support longer wiring length on an I2C bus.
+I2C bus accelerators are separate circuits that can be used to support longer wiring lengths on an I2C bus.
 They work by physically dividing an I2C network into 2 parts and using their own transistors to amplify I2C signals.
 
 Available accelerators include:
-- [Thunderfly TFI2CEXT01](https://github.com/ThunderFly-aerospace/TFI2CEXT01):
+- [Thunderfly TFI2CEXT01](https://docs.thunderfly.cz/avionics/TFI2CEXT01/):
   ![I2C bus extender](../../assets/peripherals/i2c_tfi2cext/tfi2cext01a_bottom.jpg)
   - This has Dronecode connectors and is hence very easy to add to a Pixhawk I2C setup.
   - The module has no settings (it works out of the box).
 
+### I2C Level Converter function
+
+Some I2C devices have 5V on the data lines, while the Pixhawk connector standard port expects these lines to be 3.3 V.
+You can use the TFI2CEXT01 as a level converter to connect 5V devices to a Pixhawk I2C port. This feature is possible because the SCL and SDA lines of TFI2CEXT01 are 5V tolerant. 
 
 ## I2C Address Translators
 
@@ -96,21 +99,12 @@ The work by listening for I2C communication and transforming the address when a
 Supported I2C Address Translators include:
 
 - [Thunderfly TFI2CADT01](../sensor_bus/translator_tfi2cadt.md)
-
+  - This has Dronecode connectors and is very easy to add to a Pixhawk I2C setup.
 
 ## I2C Bus Splitters
 
-I2C Bus Splitters are circuit boards that split the I2C port on your flight controller into multiple ports.
-They are useful if you want to use multiple I2C peripherals on a flight controller that has only one I2C port (or too few), such as an airspeed sensor and a distance sensor.
-
-You can find an appropriate board using an internet search.
-
-## I2C Level Converter
-
-Some I2C devices have 5V on the data lines, while the Pixhawk connector standard port expects these lines to be 3.3 V.
-You can use an I2C level converter to connect 5V devices to a Pixhawk I2C port.
-
-You can find an appropriate covnerter using an internet search.
+I2C Bus Splitters are devices that split the I2C port on your flight controller into multiple connectors.
+They are useful if you want to use multiple I2C peripherals on a flight controller that has only one I2C port (or too few), such as an airspeed sensor and a distance sensor. Both devices [I2C Address Translator](../sensor_bus/translator_tfi2cadt.md) and [I2C Bus Accelerators](#i2c-bus-accelerators) could also be used as I2C splitters because they have multiple I2C connectors for connecting additional I2C devices.
 
 ## I2C Development
 

docs/en/sensor_bus/translator_tfi2cadt.md

@@ -1,12 +1,11 @@
 # TFI2CADT01 - I²C Address Translator
 
-[TFI2CADT01](https://github.com/ThunderFly-aerospace/TFI2CADT01) is an address translator module that is compatible with Pixhawk and PX4.
+[TFI2CADT01](https://docs.thunderfly.cz/avionics/TFI2CADT01/) is an address translator module that is compatible with Pixhawk and PX4.
 
 Address translation allows multiple I2C devices with the same address to coexist on an I2C network.
 The module may be needed if using several devices that have the same hard-coded address.
 
-The module has an input and an output side.
-A sensor is connected to the master device on one side.
+The module has an input and an output side and a sensor is connected to the master device on one side.
 On the output side sensors, whose addresses are to be translated, can be connected.
 The module contains two pairs of connectors, each pair responsible for different translations.
 
@@ -14,7 +13,7 @@ The module contains two pairs of connectors, each pair responsible for different
 
 ::: info
 [TFI2CADT01](https://github.com/ThunderFly-aerospace/TFI2CADT01) is designed as open-source hardware with GPLv3 license.
-It is commercially available from [ThunderFly](https://www.thunderfly.cz/) company or from [Tindie eshop](https://www.tindie.com/products/thunderfly/tfi2cadt01-i2c-address-translator/).
+It is commercially available from [ThunderFly](https://www.thunderfly.cz/) company or from [Tindie eshop](https://www.tindie.com/products/26353/).
 :::
 
 ## Address Translation Method
@@ -31,7 +30,7 @@ If you need your own value for address translation, changing the configuration r
 The tachometer sensor [TFRPM01](../sensor/thunderfly_tachometer.md) can be set to two different addresses using a solder jumper.
 If the autopilot has three buses, only 6 sensors can be connected and no bus remains free (2 available addresses * 3 I2C ports).
 In some multicopters or VTOL solutions, there is a need to measure the RPM of 8 or more elements.
-The [TFI2CADT01](https://www.tindie.com/products/thunderfly/tfi2cadt01-i2c-address-translator/) is highly recommended in this case.
+The [TFI2CADT01](https://www.tindie.com/products/26353/) is highly recommended in this case.
 
 ![Multiple sensors](../../assets/peripherals/i2c_tfi2cadt/tfi2cadt01_multi_tfrpm01.jpg)
 
@@ -58,7 +57,7 @@ graph TD
 
 ::: info
 TFI2CADT01 does not contain any I2C buffer or accelerator.
-As it adds additional capacitance on the bus, we advise combining it with some bus booster, e.g. [TFI2CEXT01](https://github.com/ThunderFly-aerospace/TFI2CEXT01).
+As it adds additional capacitance on the bus, we advise combining it with some bus booster, e.g. [TFI2CEXT01](https://docs.thunderfly.cz/avionics/TFI2CEXT01/).
 :::
 
 ### Other Resources

msg/BatteryInfo.msg

@@ -0,0 +1,9 @@
+# Battery information
+#
+# Static or near-invariant battery information.
+# Should be streamed at low rate.
+
+uint64 timestamp # [us] Time since system start
+
+uint8 id # Must match the id in the battery_status message for the same battery
+char[32] serial_number # [@invalid 0 All bytes] Serial number of the battery pack in ASCII characters, 0 terminated

msg/CMakeLists.txt

@@ -47,6 +47,7 @@ set(msg_files
 	Airspeed.msg
 	AirspeedWind.msg
 	AutotuneAttitudeControlStatus.msg
+	BatteryInfo.msg
 	ButtonEvent.msg
 	CameraCapture.msg
 	CameraStatus.msg
@@ -226,6 +227,7 @@ set(msg_files
 	VehicleImu.msg
 	VehicleImuStatus.msg
 	VehicleLocalPositionSetpoint.msg
+	TaskLocalPositionSetpoint.msg
 	VehicleMagnetometer.msg
 	VehicleOpticalFlow.msg
 	VehicleOpticalFlowVel.msg

msg/CellularStatus.msg

@@ -2,37 +2,37 @@
 #
 # This is currently used only for logging cell status from MAVLink.
 
-uint64 timestamp # [us] Time since system start.
+uint64 timestamp # [us] Time since system start
 
-uint16 status # [@enum STATUS_FLAG] Status bitmap.
-uint16 STATUS_FLAG_UNKNOWN = 1 # State unknown or not reportable.
-uint16 STATUS_FLAG_FAILED = 2 # Modem is unusable.
-uint16 STATUS_FLAG_INITIALIZING = 4 # Modem is being initialized.
-uint16 STATUS_FLAG_LOCKED = 8 # Modem is locked.
-uint16 STATUS_FLAG_DISABLED = 16 # Modem is not enabled and is powered down.
-uint16 STATUS_FLAG_DISABLING = 32 # Modem is currently transitioning to the STATUS_FLAG_DISABLED state.
-uint16 STATUS_FLAG_ENABLING = 64 # Modem is currently transitioning to the STATUS_FLAG_ENABLED state.
-uint16 STATUS_FLAG_ENABLED = 128 # Modem is enabled and powered on but not registered with a network provider and not available for data connections.
-uint16 STATUS_FLAG_SEARCHING = 256 # Modem is searching for a network provider to register.
-uint16 STATUS_FLAG_REGISTERED = 512 # Modem is registered with a network provider, and data connections and messaging may be available for use.
-uint16 STATUS_FLAG_DISCONNECTING = 1024 # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated.
-uint16 STATUS_FLAG_CONNECTING = 2048 # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered.
-uint16 STATUS_FLAG_CONNECTED = 4096 # One or more packet data bearers is active and connected.
+uint16 status # [@enum STATUS_FLAG] Status bitmap
+uint16 STATUS_FLAG_UNKNOWN = 1 # State unknown or not reportable
+uint16 STATUS_FLAG_FAILED = 2 # Modem is unusable
+uint16 STATUS_FLAG_INITIALIZING = 4 # Modem is being initialized
+uint16 STATUS_FLAG_LOCKED = 8 # Modem is locked
+uint16 STATUS_FLAG_DISABLED = 16 # Modem is not enabled and is powered down
+uint16 STATUS_FLAG_DISABLING = 32 # Modem is currently transitioning to the STATUS_FLAG_DISABLED state
+uint16 STATUS_FLAG_ENABLING = 64 # Modem is currently transitioning to the STATUS_FLAG_ENABLED state
+uint16 STATUS_FLAG_ENABLED = 128 # Modem is enabled and powered on but not registered with a network provider and not available for data connections
+uint16 STATUS_FLAG_SEARCHING = 256 # Modem is searching for a network provider to register
+uint16 STATUS_FLAG_REGISTERED = 512 # Modem is registered with a network provider, and data connections and messaging may be available for use
+uint16 STATUS_FLAG_DISCONNECTING = 1024 # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
+uint16 STATUS_FLAG_CONNECTING = 2048 # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
+uint16 STATUS_FLAG_CONNECTED = 4096 # One or more packet data bearers is active and connected
 
-uint8 failure_reason # [@enum FAILURE_REASON] Failure reason.
-uint8 FAILURE_REASON_NONE = 0 # No error.
-uint8 FAILURE_REASON_UNKNOWN = 1 # Error state is unknown.
-uint8 FAILURE_REASON_SIM_MISSING = 2 # SIM is required for the modem but missing.
-uint8 FAILURE_REASON_SIM_ERROR = 3 # SIM is available, but not usable for connection.
+uint8 failure_reason # [@enum FAILURE_REASON] Failure reason
+uint8 FAILURE_REASON_NONE = 0 # No error
+uint8 FAILURE_REASON_UNKNOWN = 1 # Error state is unknown
+uint8 FAILURE_REASON_SIM_MISSING = 2 # SIM is required for the modem but missing
+uint8 FAILURE_REASON_SIM_ERROR = 3 # SIM is available, but not usable for connection
 
-uint8 type # [@enum CELLULAR_NETWORK_RADIO_TYPE] Cellular network radio type.
+uint8 type # [@enum CELLULAR_NETWORK_RADIO_TYPE] Cellular network radio type
 uint8 CELLULAR_NETWORK_RADIO_TYPE_NONE = 0 # None
 uint8 CELLULAR_NETWORK_RADIO_TYPE_GSM = 1 # GSM
 uint8 CELLULAR_NETWORK_RADIO_TYPE_CDMA = 2 # CDMA
 uint8 CELLULAR_NETWORK_RADIO_TYPE_WCDMA = 3 # WCDMA
 uint8 CELLULAR_NETWORK_RADIO_TYPE_LTE = 4 # LTE
 
-uint8 quality # [dBm] Cellular network RSSI/RSRP, absolute value.
-uint16 mcc # [@invalid UINT16_MAX] Mobile country code.
-uint16 mnc # [@invalid UINT16_MAX] Mobile network code.
-uint16 lac # [@invalid 0] Location area code.
+uint8 quality # [dBm] Cellular network RSSI/RSRP, absolute value
+uint16 mcc # [@invalid UINT16_MAX] Mobile country code
+uint16 mnc # [@invalid UINT16_MAX] Mobile network code
+uint16 lac # [@invalid 0] Location area code

msg/EstimatorStatus.msg

@@ -39,14 +39,12 @@ uint8 CS_FIXED_WING = 17	# 17 - true when thought to be operating as a fixed win
 uint8 CS_MAG_FAULT = 18		# 18 - true when the magnetometer has been declared faulty and is no longer being used
 uint8 CS_ASPD = 19		# 19 - true when airspeed measurements are being fused
 uint8 CS_GND_EFFECT = 20	# 20 - true when when protection from ground effect induced static pressure rise is active
-uint8 CS_RNG_STUCK = 21		# 21 - true when a stuck range finder sensor has been detected
 uint8 CS_GPS_YAW = 22		# 22 - true when yaw (not ground course) data from a GPS receiver is being fused
 uint8 CS_MAG_ALIGNED = 23	# 23 - true when the in-flight mag field alignment has been completed
 uint8 CS_EV_VEL = 24		# 24 - true when local frame velocity data fusion from external vision measurements is intended
 uint8 CS_SYNTHETIC_MAG_Z = 25	# 25 - true when we are using a synthesized measurement for the magnetometer Z component
 uint8 CS_VEHICLE_AT_REST = 26	# 26 - true when the vehicle is at rest
 uint8 CS_GPS_YAW_FAULT = 27	# 27 - true when the GNSS heading has been declared faulty and is no longer being used
-uint8 CS_RNG_FAULT = 28		# 28 - true when the range finder has been declared faulty and is no longer being used
 uint8 CS_GNSS_VEL = 44		# 44 - true if GNSS velocity measurements are being fused
 
 uint32 filter_fault_flags	# Bitmask to indicate EKF internal faults

msg/EstimatorStatusFlags.msg

@@ -25,14 +25,12 @@ bool cs_fixed_wing            # 17 - true when the vehicle is operating as a fix
 bool cs_mag_fault             # 18 - true when the magnetometer has been declared faulty and is no longer being used
 bool cs_fuse_aspd             # 19 - true when airspeed measurements are being fused
 bool cs_gnd_effect            # 20 - true when protection from ground effect induced static pressure rise is active
-bool cs_rng_stuck             # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
 bool cs_gnss_yaw              # 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
 bool cs_mag_aligned_in_flight # 23 - true when the in-flight mag field alignment has been completed
 bool cs_ev_vel                # 24 - true when local frame velocity data fusion from external vision measurements is intended
 bool cs_synthetic_mag_z       # 25 - true when we are using a synthesized measurement for the magnetometer Z component
 bool cs_vehicle_at_rest       # 26 - true when the vehicle is at rest
 bool cs_gnss_yaw_fault        # 27 - true when the GNSS heading has been declared faulty and is no longer being used
-bool cs_rng_fault             # 28 - true when the range finder has been declared faulty and is no longer being used
 bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
 bool cs_wind_dead_reckoning     # 30 - true if we are navigationg reliant on wind relative measurements
 bool cs_rng_kin_consistent      # 31 - true when the range finder kinematic consistency check is passing

msg/PositionSetpoint.msg

@@ -36,3 +36,5 @@ float32 alt_acceptance_radius # vertical acceptance radius, only used for fixed
 float32 cruising_speed		# the generally desired cruising speed (not a hard constraint)
 bool gliding_enabled		# commands the vehicle to glide if the capability is available (fixed wing only)
 float32 cruising_throttle	# the generally desired cruising throttle (not a hard constraint), only has an effect for rover
+
+# TOPICS position_setpoint task_position_setpoint

msg/RoverSteeringSetpoint.msg

@@ -1,5 +1,3 @@
 uint64 timestamp # time since system start (microseconds)
 
-float32 normalized_steering_angle # [-1, 1] Normalized steering angle (Ackermann only, Positiv: Steer right, Negativ: Steer left)
-
-float32 normalized_speed_diff     # [-1, 1] Normalized speed difference between the left and right wheels of the rover (Differential/Mecanum only, Positiv = Turn right, Negativ: Turn left)
+float32 normalized_steering_setpoint # [-1, 1] Positiv = Turn right, Negativ: Turn left (Ackermann: Steering angle, Differential/Mecanum: Speed difference between the left and right wheels)

msg/TaskLocalPositionSetpoint.msg

@@ -0,0 +1,19 @@
+# Local position setpoint in NED frame
+# Telemetry of PID position controller to monitor tracking.
+# NaN means the state was not controlled
+
+uint64 timestamp	# time since system start (microseconds)
+
+float32 x		# in meters NED
+float32 y		# in meters NED
+float32 z		# in meters NED
+
+float32 vx		# in meters/sec
+float32 vy		# in meters/sec
+float32 vz		# in meters/sec
+
+float32[3] acceleration # in meters/sec^2
+float32[3] thrust	# normalized thrust vector in NED
+
+float32 yaw		# in radians NED -PI..+PI
+float32 yawspeed	# in radians/sec

msg/VehicleConstraints.msg

@@ -7,3 +7,5 @@ float32 speed_up # in meters/sec
 float32 speed_down # in meters/sec
 
 bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight)
+
+bool lock_dist_bottom # altitude is locked to the current distance to ground

msg/px4_msgs_old/msg/BatteryStatusV0.msg

@@ -0,0 +1,79 @@
+# Battery status
+#
+# Battery status information for up to 4 battery instances.
+# These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
+# Battery instance information is also logged and streamed in MAVLink telemetry.
+
+uint32 MESSAGE_VERSION = 0
+uint8 MAX_INSTANCES = 4
+
+uint64 timestamp # [us] Time since system start
+bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
+float32 voltage_v # [V] [@invalid 0] Battery voltage
+float32 current_a # [A] [@invalid -1] Battery current
+float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
+float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
+float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
+float32 scale # [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
+float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
+float32 temperature # [°C] [@invalid NaN] Temperature of the battery
+uint8 cell_count # [@invalid 0] Number of cells
+
+
+uint8 source # [@enum SOURCE] Battery source
+uint8 SOURCE_POWER_MODULE = 0 # Power module
+uint8 SOURCE_EXTERNAL = 1 # External
+uint8 SOURCE_ESCS = 2 # ESCs
+
+uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
+uint16 capacity # [mAh] Capacity of the battery when fully charged
+uint16 cycle_count # Number of discharge cycles the battery has experienced
+uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
+uint16 serial_number # Serial number of the battery pack
+uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
+uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
+uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
+uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
+uint16 interface_error # Interface error counter
+
+float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
+float32 max_cell_voltage_delta # Max difference between individual cell voltages
+
+bool is_powering_off # Power off event imminent indication, false if unknown
+bool is_required # Set if the battery is explicitly required before arming
+
+uint8 warning # [@enum WARNING STATE] Current battery warning
+uint8 WARNING_NONE = 0 # No battery low voltage warning active
+uint8 WARNING_LOW = 1 # Low voltage warning
+uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
+uint8 WARNING_EMERGENCY = 3 # Immediate landing required
+uint8 WARNING_FAILED = 4 # Battery has failed completely
+uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
+uint8 STATE_CHARGING = 7 # Battery is charging
+
+uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
+uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
+uint8 FAULT_SPIKES = 1 # Voltage spikes
+uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
+uint8 FAULT_OVER_CURRENT = 3 # Over-current
+uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
+uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
+uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
+uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
+uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
+uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
+uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
+uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
+
+float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
+float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
+uint16 over_discharge_count # Number of battery overdischarge
+float32 nominal_voltage # [V] Nominal voltage of the battery pack
+
+float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
+float32 ocv_estimate # [V] Open circuit voltage estimate
+float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
+float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of charge estimate
+float32 voltage_prediction # [V] Predicted voltage
+float32 prediction_error # [V] Prediction error
+float32 estimation_covariance_norm # Norm of the covariance matrix

msg/translation_node/translations/all_translations.h

@@ -6,12 +6,9 @@
 
 #include <translation_util.h>
 
-//#include "example_translation_direct_v1.h"
-//#include "example_translation_multi_v2.h"
-//#include "example_translation_service_v1.h"
-
-#include "translation_vehicle_status_v1.h"
 #include "translation_airspeed_validated_v1.h"
-#include "translation_vehicle_attitude_setpoint_v1.h"
 #include "translation_arming_check_reply_v1.h"
+#include "translation_battery_status_v1.h"
 #include "translation_event_v1.h"
+#include "translation_vehicle_attitude_setpoint_v1.h"
+#include "translation_vehicle_status_v1.h"

msg/translation_node/translations/translation_battery_status_v1.h

@@ -0,0 +1,114 @@
+/****************************************************************************
+ * Copyright (c) 2025 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate BatteryStatus v0 <--> v1
+#include <px4_msgs_old/msg/battery_status_v0.hpp>
+#include <px4_msgs/msg/battery_status.hpp>
+
+class BatteryStatusV1Translation {
+public:
+	using MessageOlder = px4_msgs_old::msg::BatteryStatusV0;
+	static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+	using MessageNewer = px4_msgs::msg::BatteryStatus;
+	static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+	static constexpr const char* kTopic = "fmu/out/battery_status";
+
+	static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+		msg_newer.timestamp = msg_older.timestamp;
+		msg_newer.connected = msg_older.connected;
+		msg_newer.voltage_v = msg_older.voltage_v;
+		msg_newer.current_a = msg_older.current_a;
+		msg_newer.current_average_a = msg_older.current_average_a;
+		msg_newer.discharged_mah = msg_older.discharged_mah;
+		msg_newer.remaining = msg_older.remaining;
+		msg_newer.scale = msg_older.scale;
+		msg_newer.time_remaining_s = msg_older.time_remaining_s;
+		msg_newer.temperature = msg_older.temperature;
+		msg_newer.cell_count = msg_older.cell_count;
+		msg_newer.source = msg_older.source;
+		msg_newer.priority = msg_older.priority;
+		msg_newer.capacity = msg_older.capacity;
+		msg_newer.cycle_count = msg_older.cycle_count;
+		msg_newer.average_time_to_empty = msg_older.average_time_to_empty;
+		// The serial number moved to the battery_info message and is char[32] instead of uint16
+		msg_newer.manufacture_date = msg_older.manufacture_date;
+		msg_newer.state_of_health = msg_older.state_of_health;
+		msg_newer.max_error = msg_older.max_error;
+		msg_newer.id = msg_older.id;
+		msg_newer.interface_error = msg_older.interface_error;
+
+		for (int i = 0; i < 14; ++i) {
+			msg_newer.voltage_cell_v[i] = msg_older.voltage_cell_v[i];
+		}
+
+		msg_newer.max_cell_voltage_delta = msg_older.max_cell_voltage_delta;
+		msg_newer.is_powering_off = msg_older.is_powering_off;
+		msg_newer.is_required = msg_older.is_required;
+		msg_newer.warning = msg_older.warning;
+		msg_newer.faults = msg_older.faults;
+		msg_newer.full_charge_capacity_wh = msg_older.full_charge_capacity_wh;
+		msg_newer.remaining_capacity_wh = msg_older.remaining_capacity_wh;
+		msg_newer.over_discharge_count = msg_older.over_discharge_count;
+		msg_newer.nominal_voltage = msg_older.nominal_voltage;
+		msg_newer.internal_resistance_estimate = msg_older.internal_resistance_estimate;
+		msg_newer.ocv_estimate = msg_older.ocv_estimate;
+		msg_newer.ocv_estimate_filtered = msg_older.ocv_estimate_filtered;
+		msg_newer.volt_based_soc_estimate = msg_older.volt_based_soc_estimate;
+		msg_newer.voltage_prediction = msg_older.voltage_prediction;
+		msg_newer.prediction_error = msg_older.prediction_error;
+		msg_newer.estimation_covariance_norm = msg_older.estimation_covariance_norm;
+	}
+
+	static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+		msg_older.timestamp = msg_newer.timestamp;
+		msg_older.connected = msg_newer.connected;
+		msg_older.voltage_v = msg_newer.voltage_v;
+		msg_older.current_a = msg_newer.current_a;
+		msg_older.current_average_a = msg_newer.current_average_a;
+		msg_older.discharged_mah = msg_newer.discharged_mah;
+		msg_older.remaining = msg_newer.remaining;
+		msg_older.scale = msg_newer.scale;
+		msg_older.time_remaining_s = msg_newer.time_remaining_s;
+		msg_older.temperature = msg_newer.temperature;
+		msg_older.cell_count = msg_newer.cell_count;
+		msg_older.source = msg_newer.source;
+		msg_older.priority = msg_newer.priority;
+		msg_older.capacity = msg_newer.capacity;
+		msg_older.cycle_count = msg_newer.cycle_count;
+		msg_older.average_time_to_empty = msg_newer.average_time_to_empty;
+		msg_older.serial_number = 0; // The serial number moved to the battery_info message and is char[32] instead of uint16
+		msg_older.manufacture_date = msg_newer.manufacture_date;
+		msg_older.state_of_health = msg_newer.state_of_health;
+		msg_older.max_error = msg_newer.max_error;
+		msg_older.id = msg_newer.id;
+		msg_older.interface_error = msg_newer.interface_error;
+
+		for (int i = 0; i < 14; ++i) {
+			msg_older.voltage_cell_v[i] = msg_newer.voltage_cell_v[i];
+		}
+
+		msg_older.max_cell_voltage_delta = msg_newer.max_cell_voltage_delta;
+		msg_older.is_powering_off = msg_newer.is_powering_off;
+		msg_older.is_required = msg_newer.is_required;
+		msg_older.warning = msg_newer.warning;
+		msg_older.faults = msg_newer.faults;
+		msg_older.full_charge_capacity_wh = msg_newer.full_charge_capacity_wh;
+		msg_older.remaining_capacity_wh = msg_newer.remaining_capacity_wh;
+		msg_older.over_discharge_count = msg_newer.over_discharge_count;
+		msg_older.nominal_voltage = msg_newer.nominal_voltage;
+		msg_older.internal_resistance_estimate = msg_newer.internal_resistance_estimate;
+		msg_older.ocv_estimate = msg_newer.ocv_estimate;
+		msg_older.ocv_estimate_filtered = msg_newer.ocv_estimate_filtered;
+		msg_older.volt_based_soc_estimate = msg_newer.volt_based_soc_estimate;
+		msg_older.voltage_prediction = msg_newer.voltage_prediction;
+		msg_older.prediction_error = msg_newer.prediction_error;
+		msg_older.estimation_covariance_norm = msg_newer.estimation_covariance_norm;
+	}
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(BatteryStatusV1Translation);

msg/versioned/BatteryStatus.msg

@@ -4,7 +4,7 @@
 # These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
 # Battery instance information is also logged and streamed in MAVLink telemetry.
 
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
 uint8 MAX_INSTANCES = 4
 
 uint64 timestamp # [us] Time since system start
@@ -29,7 +29,6 @@ uint8 priority # Zero based priority is the connection on the Power Controller V
 uint16 capacity # [mAh] Capacity of the battery when fully charged
 uint16 cycle_count # Number of discharge cycles the battery has experienced
 uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
-uint16 serial_number # Serial number of the battery pack
 uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
 uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
 uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation

msg/versioned/VehicleStatus.msg

@@ -89,6 +89,7 @@ uint8 HIL_STATE_ON = 1
 
 # Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
 uint8 vehicle_type
+uint8 VEHICLE_TYPE_UNSPECIFIED = 0
 uint8 VEHICLE_TYPE_ROTARY_WING = 1
 uint8 VEHICLE_TYPE_FIXED_WING = 2
 uint8 VEHICLE_TYPE_ROVER = 3

range_alt_notes.txt

@@ -0,0 +1,20 @@
+## FlightTaskManualAltitude
+- dist_bottom_var -- currently terrain variance, I see occasionally dist_bottom diverge and then clamp back to expected
+- ground slowdown (_respectGroundSlowdown) uses mpc_land_alt ... weird, remove?
+- _respectMaxAltitude ... weird, remove? We can instead use dist_bottom validity
+- _respectMinAltitude ... weird, remove? No need for a function
+
+
+## FlightTask
+- _dist_to_bottom and _dist_to_ground ... confusing, unify
+-
+
+## FlightTaskAuto
+- reuse logic for range alt lock
+- _prepareLandSetpoints -- Slow down automatic descend close to ground ... use only with terrain estimate available? (baro estimate unreliable)
+
+## EKF
+- Vz does not reflect true Vz due to noisy baro
+- Vz errors cause rangefinder kinematic consistency check to fail
+- Position setpoint error remains over long periods (might be related to Vz issues above)
+

src/drivers/batt_smbus/batt_smbus.cpp

@@ -77,6 +77,7 @@ BATT_SMBUS::BATT_SMBUS(const I2CSPIDriverConfig &config, SMBus *interface) :
 
 BATT_SMBUS::~BATT_SMBUS()
 {
+	orb_unadvertise(_battery_info_topic);
 	orb_unadvertise(_batt_topic);
 	perf_free(_cycle);
 
@@ -165,7 +166,6 @@ void BATT_SMBUS::RunImpl()
 	if (ret == PX4_OK) {
 		new_report.capacity = _batt_capacity;
 		new_report.cycle_count = _cycle_count;
-		new_report.serial_number = _serial_number;
 		new_report.max_cell_voltage_delta = _max_cell_voltage_delta;
 		new_report.cell_count = _cell_count;
 		new_report.state_of_health = _state_of_health;
@@ -192,6 +192,13 @@ void BATT_SMBUS::RunImpl()
 		int instance = 0;
 		orb_publish_auto(ORB_ID(battery_status), &_batt_topic, &new_report, &instance);
 
+		battery_info_s battery_info{};
+		battery_info.timestamp = new_report.timestamp;
+		battery_info.id = new_report.id;
+		snprintf(battery_info.serial_number, sizeof(battery_info.serial_number), "%" PRIu16, _serial_number);
+		orb_publish_auto(ORB_ID(battery_info), &_battery_info_topic, &battery_info, &instance);
+
+
 		_last_report = new_report;
 	}
 }

src/drivers/batt_smbus/batt_smbus.h

@@ -52,6 +52,7 @@
 #include <px4_platform_common/param.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/i2c_spi_buses.h>
+#include <uORB/topics/battery_info.h>
 #include <uORB/topics/battery_status.h>
 
 #include <board_config.h>
@@ -242,7 +243,7 @@ private:
 	/** @param _last_report Last published report, used for test(). */
 	battery_status_s _last_report{};
 
-	/** @param _batt_topic uORB battery topic. */
+	orb_advert_t _battery_info_topic{nullptr};
 	orb_advert_t _batt_topic{nullptr};
 
 	/** @param _cell_count Number of series cell. */

src/drivers/cyphal/Subscribers/legacy/LegacyBatteryInfo.hpp

@@ -94,7 +94,6 @@ public:
 		bat_status.connected = bat_info.status_flags & legacy_equipment_power_BatteryInfo_1_0_STATUS_FLAG_IN_USE;
 		bat_status.source = 1; // External
 		bat_status.capacity = bat_info.full_charge_capacity_wh;
-		bat_status.serial_number = bat_info.model_instance_id & 0xFFFF; // Take first 16 bits
 		bat_status.state_of_health = bat_info.state_of_health_pct; // External
 		bat_status.id = bat_info.battery_id;
 
@@ -118,9 +117,17 @@ public:
 
 		_battery_status_pub.publish(bat_status);
 		print_message(ORB_ID(battery_status), bat_status);
+
+		battery_info_s battery_info{};
+		battery_info.timestamp = bat_status.timestamp;
+		battery_info.id = bat_status.id;
+		snprintf(battery_info.serial_number, sizeof(battery_info.serial_number), "%" PRIu32,
+			 bat_info.model_instance_id);
+		_battery_info_pub.publish(battery_info);
 	};
 
 private:
+	uORB::PublicationMulti<battery_info_s> _battery_info_pub{ORB_ID(battery_info)};
 	uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
 
 };

src/drivers/cyphal/Subscribers/udral/Battery.hpp

@@ -41,6 +41,7 @@
 
 #pragma once
 
+#include <uORB/topics/battery_info.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/PublicationMulti.hpp>
 
@@ -120,6 +121,10 @@ public:
 			// TODO uORB publication rate limiting
 			_battery_status_pub.publish(bat_status);
 
+			_battery_info.timestamp = bat_status.timestamp;
+			_battery_info.id = bat_status.id;
+			_battery_info_pub.publish(_battery_info);
+
 		} else if (receive.metadata.port_id == _status_sub._canard_sub.port_id) {
 			reg_udral_service_battery_Status_0_2 bat {};
 			size_t bat_size_in_bytes = receive.payload_size;
@@ -163,7 +168,7 @@ public:
 
 			bat_status.capacity = parameters.design_capacity.coulomb / 3.6f; // Coulomb -> mAh
 			bat_status.cycle_count = parameters.cycle_count;
-			bat_status.serial_number = parameters.unique_id & 0xFFFF;
+			snprintf(_battery_info.serial_number, sizeof(_battery_info.serial_number), "%" PRIu64, parameters.unique_id);
 			bat_status.state_of_health = parameters.state_of_health_pct;
 			bat_status.max_error = 1; // UAVCAN didn't spec'ed this, but we're optimistic
 			bat_status.id = 0; //TODO instancing
@@ -174,6 +179,7 @@ public:
 private:
 	float _nominal_voltage = NAN;
 
+	uORB::PublicationMulti<battery_info_s> _battery_info_pub{ORB_ID(battery_info)};
 	uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
 
 	SubjectSubscription _status_sub;
@@ -182,5 +188,6 @@ private:
 	const char *_status_name = "battery_status";
 	const char *_parameters_name = "battery_parameters";
 
+	battery_info_s _battery_info{};
 	battery_status_s bat_status {0};
 };

src/drivers/differential_pressure/auav/AUAV.cpp

@@ -240,14 +240,14 @@ int AUAV::read_calibration_eeprom(const uint8_t eeprom_address, uint16_t &data)
 void AUAV::process_calib_data_raw(const calib_data_raw_t calib_data_raw)
 {
 	/* Conversion of calib data as described in the datasheet */
-	_calib_data.a = (float)((calib_data_raw.a_hw << 16) | calib_data_raw.a_lw) / 0x7FFFFFFF;
-	_calib_data.b = (float)((calib_data_raw.b_hw << 16) | calib_data_raw.b_lw) / 0x7FFFFFFF;
-	_calib_data.c = (float)((calib_data_raw.c_hw << 16) | calib_data_raw.c_lw) / 0x7FFFFFFF;
-	_calib_data.d = (float)((calib_data_raw.d_hw << 16) | calib_data_raw.d_lw) / 0x7FFFFFFF;
+	_calib_data.a = (float)((int32_t)((calib_data_raw.a_hw << 16) | calib_data_raw.a_lw)) / 0x7FFFFFFF;
+	_calib_data.b = (float)((int32_t)((calib_data_raw.b_hw << 16) | calib_data_raw.b_lw)) / 0x7FFFFFFF;
+	_calib_data.c = (float)((int32_t)((calib_data_raw.c_hw << 16) | calib_data_raw.c_lw)) / 0x7FFFFFFF;
+	_calib_data.d = (float)((int32_t)((calib_data_raw.d_hw << 16) | calib_data_raw.d_lw)) / 0x7FFFFFFF;
 
-	_calib_data.tc50h = (float)(calib_data_raw.tc50 >> 8) / 0x7F;
-	_calib_data.tc50l = (float)(calib_data_raw.tc50 & 0xFF) / 0x7F;
-	_calib_data.es = (float)(calib_data_raw.es & 0xFF) / 0x7F;
+	_calib_data.tc50h = (float)((int8_t)(calib_data_raw.tc50 >> 8)) / 0x7F;
+	_calib_data.tc50l = (float)((int8_t)(calib_data_raw.tc50 & 0xFF)) / 0x7F;
+	_calib_data.es = (float)((int8_t)(calib_data_raw.es & 0xFF)) / 0x7F;
 }
 
 float AUAV::correct_pressure(const uint32_t pressure_raw, const uint32_t temperature_raw) const

src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,27 +31,21 @@
  *
  ****************************************************************************/
 
-/* Include Files */
 #include "AFBRS50.hpp"
-#include "argus_hal_test.h"
+#include "s2pi.h"
 
 #include <lib/drivers/device/Device.hpp>
-
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
 
-/*! Define the SPI baud rate (to be used in the SPI module). */
-#define SPI_BAUD_RATE 5000000
-
-#include "s2pi.h"
-#include "timer.h"
-#include "argus_hal_test.h"
+using namespace time_literals;
 
 AFBRS50 *g_dev{nullptr};
 
 AFBRS50::AFBRS50(uint8_t device_orientation):
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
+	// ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::SPI6),
 	_px4_rangefinder(0, device_orientation)
 {
 	device::Device::DeviceId device_id{};
@@ -65,278 +59,263 @@ AFBRS50::AFBRS50(uint8_t device_orientation):
 
 AFBRS50::~AFBRS50()
 {
-	stop();
+	ScheduleClear();
+
+	Argus_StopMeasurementTimer(_hnd);
+	Argus_Deinit(_hnd);
+	Argus_DestroyHandle(_hnd);
 
 	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+	perf_free(_not_ready_perf);
 }
 
-status_t AFBRS50::measurement_ready_callback(status_t status, argus_hnd_t *hnd)
+status_t AFBRS50::measurementReadyCallback(status_t status, argus_hnd_t *hnd)
 {
-	if (!up_interrupt_context()) {
-		if (status == STATUS_OK) {
-			if (g_dev) {
-				g_dev->ProcessMeasurement(hnd);
-			}
+	// Called from the SPI comms thread context
 
-		} else {
-			PX4_ERR("Measurement Ready Callback received error!: %i", (int)status);
-		}
+	if (up_interrupt_context()) {
+		// We cannot be in interrupt context
+		g_dev->recordCommsError();
+		return ERROR_FAIL;
 	}
 
+	if ((g_dev == nullptr) || (status != STATUS_OK)) {
+		g_dev->recordCommsError();
+		return ERROR_FAIL;
+	}
+
+	g_dev->scheduleCollect();
+
 	return status;
 }
 
-void AFBRS50::ProcessMeasurement(argus_hnd_t *hnd)
+void AFBRS50::scheduleCollect()
+{
+	_state = STATE::COLLECT;
+	ScheduleNow();
+}
+
+void AFBRS50::recordCommsError()
+{
+	perf_count(_comms_errors);
+}
+
+void AFBRS50::processMeasurement()
 {
 	perf_count(_sample_perf);
 
 	argus_results_t res{};
-	status_t evaluate_status = Argus_EvaluateData(hnd, &res);
+	status_t evaluate_status = Argus_EvaluateData(_hnd, &res);
 
-	if ((evaluate_status == STATUS_OK) && (res.Status == STATUS_OK)) {
-		uint32_t result_mm = res.Bin.Range / (Q9_22_ONE / 1000);
-		float result_m = static_cast<float>(result_mm) / 1000.f;
-		int8_t quality = res.Bin.SignalQuality;
-
-		// Signal quality indicates 100% for good signals, 50% and lower for weak signals.
-		// 1% is an errored signal (not reliable). Signal Quality of 0% is unknown.
-		if (quality == 1) {
-			quality = 0;
-		}
-
-		// distance quality check
-		if (result_m > _max_distance) {
-			result_m = 0.0;
-			quality = 0;
-		}
-
-		_current_distance = result_m;
-		_current_quality = quality;
-		_px4_rangefinder.update(((res.TimeStamp.sec * 1000000ULL) + res.TimeStamp.usec), result_m, quality);
+	if ((evaluate_status != STATUS_OK) || (res.Status != STATUS_OK)) {
+		perf_count(_comms_errors);
+		return;
 	}
+
+	uint32_t result_mm = res.Bin.Range / (Q9_22_ONE / 1000);
+	float distance = static_cast<float>(result_mm) / 1000.f;
+	int8_t quality = res.Bin.SignalQuality;
+
+	// Signal quality indicates 100% for good signals, 50% and lower for weak signals.
+	// 1% is an errored signal (not reliable). Signal Quality of 0% is unknown.
+	if (quality == 1) {
+		quality = 0;
+	}
+
+	// TODO: I don't think we need this..
+	if (distance > _max_distance) {
+		distance = 0.0;
+		quality = 0;
+	}
+
+	_current_distance = distance;
+	_current_quality = quality;
+	_px4_rangefinder.update(((res.TimeStamp.sec * 1000000ULL) + res.TimeStamp.usec), distance, quality);
 }
 
 int AFBRS50::init()
 {
-	// Retry initialization 3 times
-	for (int32_t i = 0; i < 3; i++) {
-		if (_hnd != nullptr) {
-			// retry
-			Argus_Deinit(_hnd);
-			Argus_DestroyHandle(_hnd);
-			_hnd = nullptr;
-		}
-
-		_hnd = Argus_CreateHandle();
-
-		if (_hnd == nullptr) {
-			PX4_ERR("Handle not initialized");
-			return PX4_ERROR;
-		}
-
-		// Initialize the S2PI hardware required by the API.
-		S2PI_Init(BROADCOM_AFBR_S50_S2PI_SPI_BUS, SPI_BAUD_RATE);
-
-		int32_t mode_param = _p_sens_afbr_mode.get();
-
-		if (mode_param < 0 || mode_param > 3) {
-			PX4_ERR("Invalid mode parameter: %li", mode_param);
-			return PX4_ERROR;
-		}
-
-		argus_mode_t mode = ARGUS_MODE_SHORT_RANGE;
-
-		switch (mode_param) {
-		case 0:
-			mode = ARGUS_MODE_SHORT_RANGE;
-			break;
-
-		case 1:
-			mode = ARGUS_MODE_LONG_RANGE;
-			break;
-
-		case 2:
-			mode = ARGUS_MODE_HIGH_SPEED_SHORT_RANGE;
-			break;
-
-		case 3:
-			mode = ARGUS_MODE_HIGH_SPEED_LONG_RANGE;
-			break;
-
-		default:
-			break;
-		}
-
-		status_t status = Argus_InitMode(_hnd, BROADCOM_AFBR_S50_S2PI_SPI_BUS, mode);
-
-		if (status == STATUS_OK) {
-			uint32_t id = Argus_GetChipID(_hnd);
-			uint32_t value = Argus_GetAPIVersion();
-			uint8_t a = (value >> 24) & 0xFFU;
-			uint8_t b = (value >> 16) & 0xFFU;
-			uint8_t c = value & 0xFFFFU;
-			PX4_INFO_RAW("AFBR-S50 Chip ID: %u, API Version: %u v%d.%d.%d\n", (uint)id, (uint)value, a, b, c);
-
-			argus_module_version_t mv = Argus_GetModuleVersion(_hnd);
-
-			switch (mv) {
-			case AFBR_S50MV85G_V1:
-
-			// FALLTHROUGH
-			case AFBR_S50MV85G_V2:
-
-			// FALLTHROUGH
-			case AFBR_S50MV85G_V3:
-				_min_distance = 0.0f;
-				_max_distance = 10.f;
-				_px4_rangefinder.set_min_distance(_min_distance);
-				_px4_rangefinder.set_max_distance(_max_distance);
-				_px4_rangefinder.set_fov(math::radians(6.f));
-				PX4_INFO_RAW("AFBR-S50MV85G\n");
-				break;
-
-			case AFBR_S50LV85D_V1:
-				_min_distance = 0.0f;
-				_max_distance = 30.f;
-				_px4_rangefinder.set_min_distance(_min_distance);
-				_px4_rangefinder.set_max_distance(_max_distance);
-				_px4_rangefinder.set_fov(math::radians(6.f));
-				PX4_INFO_RAW("AFBR-S50LV85D\n");
-				break;
-
-			case AFBR_S50LX85D_V1:
-				_min_distance = 0.0f;
-				_max_distance = 50.f;
-				_px4_rangefinder.set_min_distance(_min_distance);
-				_px4_rangefinder.set_max_distance(_max_distance);
-				_px4_rangefinder.set_fov(math::radians(6.f));
-				PX4_INFO_RAW("AFBR-S50LX85D\n");
-				break;
-
-			case AFBR_S50MV68B_V1:
-				_min_distance = 0.0f;
-				_max_distance = 10.f;
-				_px4_rangefinder.set_min_distance(_min_distance);
-				_px4_rangefinder.set_max_distance(_max_distance);
-				_px4_rangefinder.set_fov(math::radians(1.f));
-				PX4_INFO_RAW("AFBR-S50MV68B (v1)\n");
-				break;
-
-			case AFBR_S50MV85I_V1:
-				_min_distance = 0.0f;
-				_max_distance = 5.f;
-				_px4_rangefinder.set_min_distance(_min_distance);
-				_px4_rangefinder.set_max_distance(_max_distance);
-				_px4_rangefinder.set_fov(math::radians(6.f));
-				PX4_INFO_RAW("AFBR-S50MV85I (v1)\n");
-				break;
-
-			case AFBR_S50SV85K_V1:
-				_min_distance = 0.0f;
-				_max_distance = 10.f;
-				_px4_rangefinder.set_min_distance(_min_distance);
-				_px4_rangefinder.set_max_distance(_max_distance);
-				_px4_rangefinder.set_fov(math::radians(4.f));
-				PX4_INFO_RAW("AFBR-S50SV85K (v1)\n");
-				break;
-
-			default:
-				break;
-			}
-
-			if (_testing) {
-				_state = STATE::TEST;
-
-			} else {
-				_state = STATE::CONFIGURE;
-			}
-
-			ScheduleDelayed(_measure_interval);
-			return PX4_OK;
-
-		} else {
-			PX4_ERR("Argus_InitMode failed: %ld", status);
-		}
+	if (hrt_absolute_time() < 1_ms) {
+		PX4_WARN("Power-up time requires at least 1ms!");
 	}
 
-	return PX4_ERROR;
-}
-
-void AFBRS50::Run()
-{
-	if (_parameter_update_sub.updated()) {
-		// clear update
-		parameter_update_s param_update;
-		_parameter_update_sub.copy(&param_update);
-
-		// update parameters from storage
-		ModuleParams::updateParams();
+	if (_hnd != nullptr) {
+		Argus_Deinit(_hnd);
+		Argus_DestroyHandle(_hnd);
+		_hnd = nullptr;
 	}
 
-	switch (_state) {
-	case STATE::TEST: {
-			if (_testing) {
-				Argus_VerifyHALImplementation(Argus_GetSPISlave(_hnd));
-				_testing = false;
+	_hnd = Argus_CreateHandle();
 
-			} else {
-				_state = STATE::CONFIGURE;
-			}
-		}
+	if (_hnd == nullptr) {
+		PX4_ERR("Handle not initialized");
+		return PX4_ERROR;
+	}
+
+	// Initialize the S2PI hardware required by the API.
+	static constexpr uint32_t SPI_BAUD_RATE = 5000000;
+	S2PI_Init(BROADCOM_AFBR_S50_S2PI_SPI_BUS, SPI_BAUD_RATE);
+
+	// Initialize device with initial mode
+	status_t status = Argus_InitMode(_hnd, BROADCOM_AFBR_S50_S2PI_SPI_BUS, argusModeFromParameter());
+
+	if (status != STATUS_OK) {
+		PX4_ERR("Argus_InitMode failed: %ld", status);
+		return PX4_ERROR;
+	}
+
+	uint32_t id = Argus_GetChipID(_hnd);
+	uint32_t value = Argus_GetAPIVersion();
+	uint8_t a = (value >> 24) & 0xFFU;
+	uint8_t b = (value >> 16) & 0xFFU;
+	uint8_t c = value & 0xFFFFU;
+	PX4_INFO("AFBR-S50 Chip ID: %u, API Version: %u v%d.%d.%d", (uint)id, (uint)value, a, b, c);
+
+	char module_string[20] = {};
+	argus_module_version_t mv = Argus_GetModuleVersion(_hnd);
+
+	float min_distance = 0.f;
+	float max_distance = 30.f;
+	float fov_degrees = 6.f;
+
+	switch (mv) {
+	case AFBR_S50MV85G_V1:
+	case AFBR_S50MV85G_V2:
+	case AFBR_S50MV85G_V3:
+		max_distance = 10.f;
+		fov_degrees = 6.f;
+		snprintf(module_string, sizeof(module_string), "AFBR-S50MV85G");
 		break;
 
-	case STATE::CONFIGURE: {
-			_current_rate = (uint32_t)_p_sens_afbr_s_rate.get();
-			status_t status = set_rate_and_dfm(_current_rate, DFM_MODE_OFF);
-
-			if (status != STATUS_OK) {
-				PX4_ERR("CONFIGURE status not okay: %i", (int)status);
-				_state = STATE::STOP;
-				ScheduleNow();
-			}
-
-			status = Argus_SetConfigurationSmartPowerSaveEnabled(_hnd, false);
-
-			if (status != STATUS_OK) {
-				PX4_ERR("Argus_SetConfigurationSmartPowerSaveEnabled status not okay: %i", (int)status);
-				ScheduleNow();
-
-			} else {
-				_state = STATE::COLLECT;
-				ScheduleDelayed(_measure_interval);
-			}
-		}
+	case AFBR_S50LV85D_V1:
+		max_distance = 30.f;
+		fov_degrees = 6.f;
+		snprintf(module_string, sizeof(module_string), "AFBR-S50LV85D");
 		break;
 
-	case STATE::COLLECT: {
-			// Only start a new measurement if one is not ongoing
-			if (Argus_GetStatus(_hnd) == STATUS_IDLE) {
-				status_t status = Argus_TriggerMeasurement(_hnd, measurement_ready_callback);
-
-				if (status != STATUS_OK) {
-					PX4_ERR("Argus_TriggerMeasurement status not okay: %i", (int)status);
-				}
-			}
-
-			Evaluate_rate();
-		}
+	case AFBR_S50LX85D_V1:
+		max_distance = 50.f;
+		fov_degrees = 6.f;
+		snprintf(module_string, sizeof(module_string), "AFBR-S50LX85D");
 		break;
 
-	case STATE::STOP: {
-			Argus_StopMeasurementTimer(_hnd);
-			Argus_Deinit(_hnd);
-			Argus_DestroyHandle(_hnd);
-		}
+	case AFBR_S50MV68B_V1:
+		max_distance = 10.f;
+		fov_degrees = 1.f;
+		snprintf(module_string, sizeof(module_string), "AFBR-S50MV68B");
+		break;
+
+	case AFBR_S50MV85I_V1:
+		max_distance = 5.f;
+		fov_degrees = 6.f;
+		snprintf(module_string, sizeof(module_string), "AFBR-S50MV85I");
+		break;
+
+	case AFBR_S50SV85K_V1:
+		max_distance = 10.f;
+		fov_degrees = 4.f;
+		snprintf(module_string, sizeof(module_string), "AFBR-S50SV85K");
 		break;
 
 	default:
 		break;
 	}
 
-	ScheduleDelayed(_measure_interval);
+	PX4_INFO("Module: %s", module_string);
+	_max_distance = max_distance;
+	_px4_rangefinder.set_min_distance(min_distance);
+	_px4_rangefinder.set_max_distance(max_distance);
+	_px4_rangefinder.set_fov(math::radians(fov_degrees));
+
+	_state = STATE::CONFIGURE;
+	// Initialization Time is 300ms
+	ScheduleDelayed(350_ms);
+	return PX4_OK;
 }
 
-void AFBRS50::Evaluate_rate()
+void AFBRS50::Run()
+{
+	if (_parameter_update_sub.updated()) {
+		parameter_update_s param_update;
+		_parameter_update_sub.copy(&param_update);
+		ModuleParams::updateParams();
+	}
+
+	switch (_state) {
+	case STATE::CONFIGURE: {
+			_current_rate = (uint32_t)_p_sens_afbr_s_rate.get();
+			status_t status = setRateAndDfm(_current_rate, DFM_MODE_OFF);
+
+			if (status != STATUS_OK) {
+				PX4_ERR("CONFIGURE status not okay: %i", (int)status);
+				ScheduleDelayed(350_ms);
+				return;
+			}
+
+			status = Argus_SetConfigurationSmartPowerSaveEnabled(_hnd, false);
+
+			if (status != STATUS_OK) {
+				PX4_ERR("Argus_SetConfigurationSmartPowerSaveEnabled status not okay: %i", (int)status);
+				// TODO: delay?
+				ScheduleNow();
+				return;
+			}
+
+			// Enable interrupt on falling edge
+			px4_arch_configgpio(BROADCOM_AFBR_S50_S2PI_IRQ);
+			_state = STATE::TRIGGER;
+			// TODO: delay after configure?
+			ScheduleNow();
+			// ScheduleDelayed(50_ms);
+		}
+		break;
+
+	case STATE::TRIGGER: {
+			if (Argus_GetStatus(_hnd) != STATUS_IDLE) {
+				perf_count(_not_ready_perf);
+				ScheduleDelayed(10_ms);
+				return;
+			}
+
+			// Trigger continuous measurement mode. An hrt_call_after will trigger
+			// measurements periodically -- see API/Src/timer.c
+			status_t status = Argus_StartMeasurementTimer(_hnd, measurementReadyCallback);
+
+			if (status != STATUS_OK) {
+				PX4_ERR("Argus_TriggerMeasurement status not okay: %i", (int)status);
+				perf_count(_not_ready_perf);
+				ScheduleDelayed(50_ms);
+			}
+		}
+		break;
+
+	case STATE::COLLECT: {
+			processMeasurement();
+
+			// Change measurement rate and mode based on range
+			updateMeasurementRateFromRange();
+
+			// Rechedule watchdog, push back by 2x measurement rate
+			_state = STATE::WATCHDOG;
+			ScheduleDelayed(_measurement_inverval * 2);
+		}
+		break;
+
+	case STATE::WATCHDOG: {
+			PX4_WARN("watchdog triggered, rescheduling");
+			_state = STATE::TRIGGER;
+			// When this occurs the device locks up for ~160ms
+			ScheduleDelayed(160_ms);
+		}
+		break;
+
+	default:
+		break;
+	}
+}
+
+void AFBRS50::updateMeasurementRateFromRange()
 {
 	// only update mode if _current_distance is a valid measurement and if the last rate switch was more than 1 second ago
 	if ((_current_distance > 0) && (_current_quality > 0) && ((hrt_absolute_time() - _last_rate_switch) > 1_s)) {
@@ -347,7 +326,7 @@ void AFBRS50::Evaluate_rate()
 		    && (_current_rate != (uint32_t)_p_sens_afbr_l_rate.get())) {
 
 			_current_rate = (uint32_t)_p_sens_afbr_l_rate.get();
-			status = set_rate_and_dfm(_current_rate, DFM_MODE_8X);
+			status = setRateAndDfm(_current_rate, DFM_MODE_8X);
 
 			if (status != STATUS_OK) {
 				PX4_ERR("set_rate status not okay: %i", (int)status);
@@ -361,7 +340,7 @@ void AFBRS50::Evaluate_rate()
 			   && (_current_rate != (uint32_t)_p_sens_afbr_s_rate.get())) {
 
 			_current_rate = (uint32_t)_p_sens_afbr_s_rate.get();
-			status = set_rate_and_dfm(_current_rate, DFM_MODE_OFF);
+			status = setRateAndDfm(_current_rate, DFM_MODE_OFF);
 
 			if (status != STATUS_OK) {
 				PX4_ERR("set_rate status not okay: %i", (int)status);
@@ -374,28 +353,7 @@ void AFBRS50::Evaluate_rate()
 	}
 }
 
-void AFBRS50::stop()
-{
-	_state = STATE::STOP;
-	ScheduleNow();
-}
-
-int AFBRS50::test()
-{
-	_testing = true;
-
-	init();
-
-	return PX4_OK;
-}
-
-void AFBRS50::print_info()
-{
-	perf_print_counter(_sample_perf);
-	get_info();
-}
-
-status_t AFBRS50::set_rate_and_dfm(uint32_t rate_hz, argus_dfm_mode_t dfm_mode)
+status_t AFBRS50::setRateAndDfm(uint32_t rate_hz, argus_dfm_mode_t dfm_mode)
 {
 	while (Argus_GetStatus(_hnd) != STATUS_IDLE) {
 		px4_usleep(1_ms);
@@ -423,20 +381,53 @@ status_t AFBRS50::set_rate_and_dfm(uint32_t rate_hz, argus_dfm_mode_t dfm_mode)
 		return status;
 
 	} else {
-		_measure_interval = current_rate;
+		_measurement_inverval = current_rate;
 	}
 
 	return status;
 }
 
-void AFBRS50::get_info()
+argus_mode_t AFBRS50::argusModeFromParameter()
 {
-	argus_dfm_mode_t dfm_mode;
-	Argus_GetConfigurationDFMMode(_hnd, &dfm_mode);
+	int32_t mode_param = _p_sens_afbr_mode.get();
+	argus_mode_t mode = ARGUS_MODE_SHORT_RANGE;
 
+	if (mode_param < 0 || mode_param > 3) {
+		PX4_ERR("Invalid mode parameter: %li", mode_param);
+		return mode;
+	}
+
+	switch (mode_param) {
+	case 0:
+		mode = ARGUS_MODE_SHORT_RANGE;
+		break;
+
+	case 1:
+		mode = ARGUS_MODE_LONG_RANGE;
+		break;
+
+	case 2:
+		mode = ARGUS_MODE_HIGH_SPEED_SHORT_RANGE;
+		break;
+
+	case 3:
+		mode = ARGUS_MODE_HIGH_SPEED_LONG_RANGE;
+		break;
+
+	default:
+		break;
+	}
+
+	return mode;
+}
+
+void AFBRS50::printInfo()
+{
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+	perf_print_counter(_not_ready_perf);
 	PX4_INFO_RAW("distance: %.3fm\n", (double)_current_distance);
-	PX4_INFO_RAW("dfm mode: %d\n", dfm_mode);
-	PX4_INFO_RAW("rate: %u Hz\n", (uint)(1000000 / _measure_interval));
+	PX4_INFO_RAW("rate: %u Hz\n", (uint)(1000000 / _measurement_inverval));
 }
 
 namespace afbrs50
@@ -456,7 +447,6 @@ static int start(const uint8_t rotation)
 		return PX4_ERROR;
 	}
 
-	// Initialize the sensor.
 	if (g_dev->init() != PX4_OK) {
 		PX4_ERR("driver start failed");
 		delete g_dev;
@@ -474,7 +464,7 @@ static int status()
 		return PX4_ERROR;
 	}
 
-	g_dev->print_info();
+	g_dev->printInfo();
 
 	return PX4_OK;
 }
@@ -495,30 +485,6 @@ static int stop()
 	return PX4_OK;
 }
 
-static int test(const uint8_t rotation)
-{
-	if (g_dev != nullptr) {
-		PX4_ERR("already started");
-		return PX4_ERROR;
-	}
-
-	g_dev = new AFBRS50(rotation);
-
-	if (g_dev == nullptr) {
-		PX4_ERR("object instantiate failed");
-		return PX4_ERROR;
-	}
-
-	if (g_dev->test() != PX4_OK) {
-		PX4_ERR("driver test failed");
-		delete g_dev;
-		g_dev = nullptr;
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
 static int usage()
 {
 	PRINT_MODULE_DESCRIPTION(
@@ -540,7 +506,6 @@ $ afbrs50 stop
 	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver");
 	PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false);
 	PRINT_MODULE_USAGE_PARAM_INT('r', 25, 0, 25, "Sensor rotation - downward facing by default", true);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test driver");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop driver");
 	return PX4_OK;
 }
@@ -581,9 +546,6 @@ extern "C" __EXPORT int afbrs50_main(int argc, char *argv[])
 	} else if (!strcmp(argv[myoptind], "stop")) {
 		return afbrs50::stop();
 
-	} else if (!strcmp(argv[myoptind], "test")) {
-		return afbrs50::test(rotation);
-
 	}
 
 	return afbrs50::usage();

src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,12 +31,6 @@
  *
  ****************************************************************************/
 
-/**
- * @file AFBRS50.hpp
- *
- * Driver for the Broadcom AFBR-S50 connected via SPI.
- *
- */
 #pragma once
 
 #include "argus.h"
@@ -51,8 +45,6 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>
 
-using namespace time_literals;
-
 class AFBRS50 : public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
@@ -60,63 +52,53 @@ public:
 	~AFBRS50() override;
 
 	int init();
-
-	/**
-	 * Diagnostics - print some basic information about the driver.
-	 */
-	void print_info();
-
-	/**50
-	 * Stop the automatic measurement state machine.
-	 */
-	void stop();
-
-	int test();
-
-	bool _testing = false;
+	void printInfo();
 
 private:
 	void Run() override;
 
-	void Evaluate_rate();
+	void recordCommsError();
+	void scheduleCollect();
+	void processMeasurement();
+	void updateMeasurementRateFromRange();
 
-	void ProcessMeasurement(argus_hnd_t *hnd);
+	static status_t measurementReadyCallback(status_t status, argus_hnd_t *hnd);
 
-	static status_t measurement_ready_callback(status_t status, argus_hnd_t *hnd);
+	status_t setRateAndDfm(uint32_t rate_hz, argus_dfm_mode_t dfm_mode);
+	argus_mode_t argusModeFromParameter();
 
-	void get_info();
-	status_t set_rate_and_dfm(uint32_t rate_hz, argus_dfm_mode_t dfm_mode);
-
-	argus_hnd_t *_hnd{nullptr};
+private:
+	argus_hnd_t *_hnd {nullptr};
 
 	enum class STATE : uint8_t {
-		TEST,
 		CONFIGURE,
+		TRIGGER,
 		COLLECT,
-		STOP
+		WATCHDOG
 	} _state{STATE::CONFIGURE};
 
 	PX4Rangefinder _px4_rangefinder;
 
-	hrt_abstime _measurement_time{0};
 	hrt_abstime _last_rate_switch{0};
 
-	perf_counter_t _sample_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": sample interval")};
+	perf_counter_t _sample_perf{perf_alloc(PC_COUNT, MODULE_NAME": sample count")};
+	perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": comms error")};
+	perf_counter_t _not_ready_perf{perf_alloc(PC_COUNT, MODULE_NAME": not ready")};
 
-	uint32_t _measure_interval{1000000 / 50}; // 50Hz
 	float _current_distance{0};
 	int8_t _current_quality{0};
-	float _max_distance;
-	float _min_distance;
+	float _max_distance{30.f};
 	uint32_t _current_rate{0};
 
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 
+	uint32_t _measurement_inverval {1000000 / 50}; // 50Hz
+
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::SENS_AFBR_MODE>)   _p_sens_afbr_mode,
-		(ParamInt<px4::params::SENS_AFBR_S_RATE>)  _p_sens_afbr_s_rate,
-		(ParamInt<px4::params::SENS_AFBR_L_RATE>)  _p_sens_afbr_l_rate,
+		(ParamInt<px4::params::SENS_AFBR_S_RATE>) _p_sens_afbr_s_rate,
+		(ParamInt<px4::params::SENS_AFBR_L_RATE>) _p_sens_afbr_l_rate,
 		(ParamInt<px4::params::SENS_AFBR_THRESH>) _p_sens_afbr_thresh,
-		(ParamInt<px4::params::SENS_AFBR_HYSTER>)    _p_sens_afbr_hyster
+		(ParamInt<px4::params::SENS_AFBR_HYSTER>) _p_sens_afbr_hyster
 	);
 };

src/drivers/distance_sensor/broadcom/afbrs50/API/Src/s2pi.cpp

@@ -14,6 +14,8 @@
 
 #include <lib/perf/perf_counter.h>
 
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+
 /*! A structure to hold all internal data required by the S2PI module. */
 typedef struct {
 	/*! Determines the current driver status. */
@@ -52,11 +54,71 @@ s2pi_handle_t s2pi_ = { .GPIOs = { [ S2PI_CLK ]  = BROADCOM_AFBR_S50_S2PI_CLK,
 				 }
 		      };
 
-static struct work_s broadcom_s2pi_transfer_work = {};
+static perf_counter_t irq_perf = NULL;
 
-static perf_counter_t s2pi_transfer_perf = NULL;
-static perf_counter_t s2pi_transfer_callback_perf = NULL;
-static perf_counter_t s2pi_irq_callback_perf = NULL;
+class AFBRS50_SPI :  public px4::ScheduledWorkItem
+{
+public:
+	AFBRS50_SPI();
+	void schedule_now();
+	void schedule_clear();
+
+private:
+
+	void Run() override;
+
+};
+
+AFBRS50_SPI::AFBRS50_SPI():
+	// NOTE: we use SPI0 WQ since it is the 2nd highest priority thread (behind rate_ctrl).
+	// TODO: we should fix how SPI comms work. Async SPI comms is
+	// undesirable. We should use SPI TX DMA complete callback
+	// instead of relying on a high priority thread.
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::SPI0)
+{
+	// Anything to do?
+}
+
+void AFBRS50_SPI::Run()
+{
+	px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 0);
+	SPI_EXCHANGE(s2pi_.spidev, s2pi_.spi_tx_data, s2pi_.spi_rx_data, s2pi_.spi_frame_size);
+	px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 1);
+
+	//// WARNING!
+	// After the last SPI TX we have ~60us to execute the below
+	// callback otherwise the IRQ will fire and we're screwed.
+	// The proper way to solve this problem is to either fix
+	// the API or to configure SPI TX DMA callback complete
+	// to execute the below callback immediately.
+
+
+	// If we are pre-empted here and the IRQ fires before the
+	// callback has been invoked -- we're screwed.
+
+	IRQ_LOCK();
+	s2pi_.Status = STATUS_IDLE;
+
+	if (s2pi_.Callback != 0) {
+		s2pi_callback_t callback = s2pi_.Callback;
+		s2pi_.Callback = 0;
+		callback(STATUS_OK, s2pi_.CallbackData);
+	}
+
+	IRQ_UNLOCK();
+}
+
+void AFBRS50_SPI::schedule_now()
+{
+	ScheduleNow();
+}
+
+void AFBRS50_SPI::schedule_clear()
+{
+	ScheduleClear();
+}
+
+static AFBRS50_SPI *_spi_iface = nullptr;
 
 /*!***************************************************************************
 * @brief Initialize the S2PI module.
@@ -71,18 +133,6 @@ static perf_counter_t s2pi_irq_callback_perf = NULL;
 *
 * @return Returns the \link #status_t status\endlink (#STATUS_OK on success).
 *****************************************************************************/
-
-static int gpio_falling_edge(int irq, void *context, void *arg)
-{
-	if (s2pi_.IrqCallback != 0) {
-		perf_begin(s2pi_irq_callback_perf);
-		s2pi_.IrqCallback(s2pi_.IrqCallbackData);
-		perf_end(s2pi_irq_callback_perf);
-	}
-
-	return 0;
-}
-
 status_t S2PI_Init(s2pi_slave_t defaultSlave, uint32_t baudRate_Bps)
 {
 	(void)defaultSlave;
@@ -91,12 +141,25 @@ status_t S2PI_Init(s2pi_slave_t defaultSlave, uint32_t baudRate_Bps)
 
 	s2pi_.spidev = px4_spibus_initialize(BROADCOM_AFBR_S50_S2PI_SPI_BUS);
 
-	px4_arch_configgpio(BROADCOM_AFBR_S50_S2PI_IRQ);
-	px4_arch_gpiosetevent(BROADCOM_AFBR_S50_S2PI_IRQ, false, true, false, &gpio_falling_edge, NULL);
+	// Falling edge callback
+	auto callback = [](int irq, void *context, void *arg) -> int {
+		if (s2pi_.IrqCallback != 0)
+		{
+			perf_begin(irq_perf);
+			s2pi_.IrqCallback(s2pi_.IrqCallbackData);
+			perf_end(irq_perf);
+		}
 
-	s2pi_transfer_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": transfer");
-	s2pi_transfer_callback_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": transfer callback");
-	s2pi_irq_callback_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": irq callback");
+		return 0;
+	};
+	// NOTE: we enable the interrupt event here but do not configure the GPIO.
+	// We configure the GPIO and enable the interrupt after the device mode
+	// has been configured. This prevents erroneous interrupts from occuring.
+	px4_arch_gpiosetevent(BROADCOM_AFBR_S50_S2PI_IRQ, false, true, false, callback, NULL);
+
+	irq_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": irq callback");
+
+	_spi_iface = new AFBRS50_SPI();
 
 	return S2PI_SetBaudRate(baudRate_Bps);
 }
@@ -334,25 +397,6 @@ status_t S2PI_CycleCsPin(s2pi_slave_t slave)
 * was not started.
 *****************************************************************************/
 
-static void broadcom_s2pi_transfer_callout(void *arg)
-{
-	perf_begin(s2pi_transfer_perf);
-	px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 0);
-	SPI_EXCHANGE(s2pi_.spidev, s2pi_.spi_tx_data, s2pi_.spi_rx_data, s2pi_.spi_frame_size);
-	s2pi_.Status = STATUS_IDLE;
-	px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 1);
-	perf_end(s2pi_transfer_perf);
-
-	/* Invoke callback if there is one */
-	if (s2pi_.Callback != 0) {
-		perf_begin(s2pi_transfer_callback_perf);
-		s2pi_callback_t callback = s2pi_.Callback;
-		s2pi_.Callback = 0;
-		callback(STATUS_OK, s2pi_.CallbackData);
-		perf_end(s2pi_transfer_callback_perf);
-	}
-}
-
 status_t S2PI_TransferFrame(s2pi_slave_t spi_slave, uint8_t const *txData, uint8_t *rxData, size_t frameSize,
 			    s2pi_callback_t callback, void *callbackData)
 {
@@ -384,7 +428,8 @@ status_t S2PI_TransferFrame(s2pi_slave_t spi_slave, uint8_t const *txData, uint8
 	s2pi_.spi_tx_data = (uint8_t *)txData;
 	s2pi_.spi_rx_data = rxData;
 	s2pi_.spi_frame_size = frameSize;
-	work_queue(HPWORK, &broadcom_s2pi_transfer_work, broadcom_s2pi_transfer_callout, NULL, 0);
+
+	_spi_iface->schedule_now();
 
 	IRQ_UNLOCK();
 
@@ -410,7 +455,7 @@ status_t S2PI_Abort(s2pi_slave_t slave)
 
 	/* Abort SPI transfer. */
 	if (status == STATUS_BUSY) {
-		work_cancel(HPWORK, &broadcom_s2pi_transfer_work);
+		_spi_iface->schedule_clear();
 	}
 
 	return STATUS_OK;

src/drivers/distance_sensor/broadcom/afbrs50/CMakeLists.txt

@@ -47,7 +47,7 @@ px4_add_module(
 		AFBRS50.cpp
 		AFBRS50.hpp
 		API/Src/irq.c
-		API/Src/s2pi.c
+		API/Src/s2pi.cpp
 		API/Src/timer.c
 		argus_hal_test.c
 	DEPENDS

src/drivers/distance_sensor/ll40ls_pwm/ll40ls.cpp

@@ -150,7 +150,7 @@ The sensor/driver must be enabled using the parameter SENS_EN_LL40LS.
 Setup/usage information: https://docs.px4.io/main/en/sensor/lidar_lite.html
 )DESCR_STR");
 
-	PRINT_MODULE_USAGE_NAME("ll40ls", "driver");
+	PRINT_MODULE_USAGE_NAME("ll40ls_pwm", "driver");
 	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("start","Start driver");
 	PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);

src/drivers/dshot/DShotTelemetry.cpp

@@ -51,6 +51,7 @@ DShotTelemetry::~DShotTelemetry()
 
 int DShotTelemetry::init(const char *uart_device, bool swap_rxtx)
 {
+	int ret = OK;
 	deinit();
 	_uart_fd = ::open(uart_device, O_RDONLY | O_NOCTTY);
 
@@ -59,23 +60,31 @@ int DShotTelemetry::init(const char *uart_device, bool swap_rxtx)
 		return -errno;
 	}
 
+	ret = setBaudrate(DSHOT_TELEMETRY_UART_BAUDRATE);
+
+	if (ret) {
+		PX4_ERR("failed to set baurate: %s err: %d", uart_device, ret);
+		return ret;
+	}
+
 	if (swap_rxtx) {
 		// Swap RX/TX pins if the device supports it
-		int rv = ioctl(_uart_fd, TIOCSSWAP, SER_SWAP_ENABLED);
+		ret = ioctl(_uart_fd, TIOCSSWAP, SER_SWAP_ENABLED);
 
 		// For other devices we can still place RX on TX pin via half-duplex single-wire mode
-		if (rv) { rv = ioctl(_uart_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); }
+		if (ret) { ret = ioctl(_uart_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); }
 
-		if (rv) {
-			PX4_ERR("failed to swap rx/tx pins: %s err: %d", uart_device, rv);
-			return rv;
+		if (ret) {
+			PX4_ERR("failed to swap rx/tx pins: %s err: %d", uart_device, ret);
+			return ret;
 		}
 	}
 
 	_num_timeouts = 0;
 	_num_successful_responses = 0;
 	_current_motor_index_request = -1;
-	return setBaudrate(DSHOT_TELEMETRY_UART_BAUDRATE);
+
+	return ret;
 }
 
 void DShotTelemetry::deinit()

src/drivers/gnss/septentrio/sbf/decoder.cpp

@@ -118,6 +118,7 @@ int Decoder::parse(Header *header) const
 int Decoder::parse(DOP *message) const
 {
 	if (can_parse() && id() == BlockID::DOP) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(DOP));
 		return PX4_OK;
 	}
@@ -128,6 +129,7 @@ int Decoder::parse(DOP *message) const
 int Decoder::parse(PVTGeodetic *message) const
 {
 	if (can_parse() && id() == BlockID::PVTGeodetic) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(PVTGeodetic));
 		return PX4_OK;
 	}
@@ -138,6 +140,7 @@ int Decoder::parse(PVTGeodetic *message) const
 int Decoder::parse(ReceiverStatus *message) const
 {
 	if (can_parse() && id() == BlockID::ReceiverStatus) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(ReceiverStatus));
 		return PX4_OK;
 	}
@@ -148,6 +151,7 @@ int Decoder::parse(ReceiverStatus *message) const
 int Decoder::parse(QualityInd *message) const
 {
 	if (can_parse() && id() == BlockID::QualityInd) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		// Safe to copy entire size of the message as it is smaller than the maximum expected SBF message size.
 		// It's up to the user of the parsed message to ignore the invalid fields.
 		memcpy(message, _message.payload, sizeof(QualityInd));
@@ -160,11 +164,16 @@ int Decoder::parse(QualityInd *message) const
 int Decoder::parse(RFStatus *message) const
 {
 	if (can_parse() && id() == BlockID::PVTGeodetic) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(RFStatus) - sizeof(RFStatus::rf_band));
 
 		for (uint8_t i = 0; i < math::min(message->n, k_max_rfband_blocks); i++) {
-			memcpy(&message->rf_band[i], &_message.payload[sizeof(RFStatus) - sizeof(RFStatus::rf_band) + i *
-					message->sb_length], sizeof(RFBand));
+			const unsigned offset = sizeof(RFStatus) - sizeof(RFStatus::rf_band) + i *
+						message->sb_length;
+
+			if (offset + sizeof(RFBand) <= sizeof(_message.payload)) {
+				memcpy(&message->rf_band[i], &_message.payload[offset], sizeof(RFBand));
+			}
 		}
 
 		return PX4_OK;
@@ -176,6 +185,7 @@ int Decoder::parse(RFStatus *message) const
 int Decoder::parse(GALAuthStatus *message) const
 {
 	if (can_parse() && id() == BlockID::GALAuthStatus) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(GALAuthStatus));
 		return PX4_OK;
 	}
@@ -186,6 +196,7 @@ int Decoder::parse(GALAuthStatus *message) const
 int Decoder::parse(VelCovGeodetic *message) const
 {
 	if (can_parse() && id() == BlockID::VelCovGeodetic) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(VelCovGeodetic));
 		return PX4_OK;
 	}
@@ -196,11 +207,17 @@ int Decoder::parse(VelCovGeodetic *message) const
 int Decoder::parse(GEOIonoDelay *message) const
 {
 	if (can_parse() && id() == BlockID::GEOIonoDelay) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(GEOIonoDelay) - sizeof(GEOIonoDelay::idc));
 
-		for (size_t i = 0; i < math::min(message->n, (uint8_t)4); i++) {
-			memcpy(&message->idc[i], &_message.payload[sizeof(GEOIonoDelay) - sizeof(GEOIonoDelay::idc) + i *
-					message->sb_length], sizeof(IDC));
+		for (size_t i = 0; i < math::min(message->n, (uint8_t)(sizeof(GEOIonoDelay::idc) / sizeof(GEOIonoDelay::idc[0])));
+		     i++) {
+			const unsigned offset = sizeof(GEOIonoDelay) - sizeof(GEOIonoDelay::idc) + i *
+						message->sb_length;
+
+			if (offset + sizeof(IDC) <= sizeof(_message.payload)) {
+				memcpy(&message->idc[i], &_message.payload[offset], sizeof(IDC));
+			}
 		}
 
 		return PX4_OK;
@@ -212,6 +229,7 @@ int Decoder::parse(GEOIonoDelay *message) const
 int Decoder::parse(AttEuler *message) const
 {
 	if (can_parse() && id() == BlockID::AttEuler) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(AttEuler));
 		return PX4_OK;
 	}
@@ -222,6 +240,7 @@ int Decoder::parse(AttEuler *message) const
 int Decoder::parse(AttCovEuler *message) const
 {
 	if (can_parse() && id() == BlockID::AttCovEuler) {
+		static_assert(sizeof(*message) <= sizeof(_message.payload), "Buffer too small");
 		memcpy(message, _message.payload, sizeof(AttCovEuler));
 		return PX4_OK;
 	}
@@ -243,7 +262,7 @@ bool Decoder::done() const
 
 bool Decoder::can_parse() const
 {
-	return done()
+	return done() && _message.header.length <= sizeof(_message) && _message.header.length > 4
 	       && _message.header.crc == buffer_crc16(reinterpret_cast<const uint8_t *>(&_message) + 4, _message.header.length - 4);
 }
 

src/drivers/gnss/septentrio/sbf/decoder.h

@@ -224,7 +224,7 @@ private:
 	bool can_parse() const;
 
 	State _state{State::SearchingSync1};
-	uint16_t _current_index;
+	uint16_t _current_index{0};
 	message_t _message;
 };
 

src/drivers/magnetometer/Kconfig

@@ -12,7 +12,6 @@ menu "Magnetometer"
         select DRIVERS_MAGNETOMETER_LIS3MDL
         select DRIVERS_MAGNETOMETER_LSM303AGR
         select DRIVERS_MAGNETOMETER_RM3100
-        select DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L
         select DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA
         select DRIVERS_MAGNETOMETER_ST_IIS2MDC
         ---help---

src/drivers/magnetometer/bosch/bmm350/BMM350.cpp

@@ -34,6 +34,8 @@
 #include "BMM350.hpp"
 using namespace time_literals;
 
+#define MAX(a,b)          (a > b ? a : b)
+
 BMM350::BMM350(const I2CSPIDriverConfig &config) :
 	I2C(config),
 	I2CSPIDriver(config),
@@ -318,7 +320,7 @@ void BMM350::RunImpl()
 				_state = STATE::RESET;
 			}
 
-			ScheduleDelayed(OdrToUs(_mag_odr_mode));
+			ScheduleDelayed(MAX(6000_us, OdrToUs(_mag_odr_mode)));
 			break;
 		}
 

src/drivers/magnetometer/vtrantech/CMakeLists.txt

@@ -1,34 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_subdirectory(vcm1193l)

src/drivers/smart_battery/batmon/batmon.cpp

@@ -191,7 +191,6 @@ void Batmon::RunImpl()
 	if (ret == PX4_OK) {
 		new_report.capacity = _batt_capacity;
 		new_report.cycle_count = _cycle_count;
-		new_report.serial_number = _serial_number;
 		new_report.max_cell_voltage_delta = _max_cell_voltage_delta;
 		new_report.cell_count = _cell_count;
 		new_report.state_of_health = _state_of_health;
@@ -220,6 +219,12 @@ void Batmon::RunImpl()
 		orb_publish_auto(ORB_ID(battery_status), &_batt_topic, &new_report, &instance);
 
 		_last_report = new_report;
+
+		battery_info_s battery_info{};
+		battery_info.timestamp = new_report.timestamp;
+		battery_info.id = new_report.id;
+		snprintf(battery_info.serial_number, sizeof(battery_info.serial_number), "%" PRIu16, _serial_number);
+		orb_publish_auto(ORB_ID(battery_info), &_battery_info_topic, &battery_info, &instance);
 	}
 }
 

src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp

@@ -614,7 +614,7 @@ void SagetechMXS::handle_svr(sg_svr_t svr)
 		}
 
 		if (svr.validity.surfHeading) {
-			t.heading = matrix::wrap_pi((float)svr.surface.heading * (M_PI_F / 180.0f) + M_PI_F);
+			t.heading = matrix::wrap_pi((float)svr.surface.heading * (M_PI_F / 180.0f));
 			t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING;
 		}
 	}
@@ -622,7 +622,7 @@ void SagetechMXS::handle_svr(sg_svr_t svr)
 	if (svr.type == svrAirborne) {
 		if (svr.validity.airSpeed) {
 			t.hor_velocity = (svr.airborne.speed * SAGETECH_SCALE_KNOTS_TO_M_PER_SEC);	//Convert from knots to meters/second
-			t.heading = matrix::wrap_pi((float)svr.airborne.heading * (M_PI_F / 180.0f) + M_PI_F);
+			t.heading = matrix::wrap_pi((float)svr.airborne.heading * (M_PI_F / 180.0f));
 			t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING;
 			t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY;
 		}

src/drivers/uavcan/sensors/battery.cpp

@@ -125,7 +125,6 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
 	// _battery_status[instance].cycle_count = msg.;
 	_battery_status[instance].time_remaining_s = NAN;
 	// _battery_status[instance].average_time_to_empty = msg.;
-	_battery_status[instance].serial_number = msg.model_instance_id;
 	_battery_status[instance].id = msg.getSrcNodeID().get();
 
 	if (_batt_update_mod[instance] == BatteryDataType::Raw) {
@@ -143,8 +142,14 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
 	determineWarning(_battery_status[instance].remaining);
 	_battery_status[instance].warning = _warning;
 
+	_battery_info[instance].timestamp = _battery_status[instance].timestamp;
+	_battery_info[instance].id = _battery_status[instance].id;
+	snprintf(_battery_info[instance].serial_number, sizeof(_battery_info[instance].serial_number), "%" PRIu32,
+		 msg.model_instance_id);
+
 	if (_batt_update_mod[instance] == BatteryDataType::Raw) {
 		publish(msg.getSrcNodeID().get(), &_battery_status[instance]);
+		_battery_info_pub[instance].publish(_battery_info[instance]);
 	}
 }
 
@@ -238,8 +243,13 @@ UavcanBatteryBridge::filterData(const uavcan::ReceivedDataStructure<uavcan::equi
 	/* Override data that is expected to arrive from UAVCAN msg*/
 	_battery_status[instance] = _battery[instance]->getBatteryStatus();
 	_battery_status[instance].temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius
-	_battery_status[instance].serial_number = msg.model_instance_id;
 	_battery_status[instance].id = msg.getSrcNodeID().get(); // overwrite zeroed index from _battery
 
 	publish(msg.getSrcNodeID().get(), &_battery_status[instance]);
+
+	_battery_info[instance].timestamp = _battery_status[instance].timestamp;
+	_battery_info[instance].id = _battery_status[instance].id;
+	snprintf(_battery_info[instance].serial_number, sizeof(_battery_info[instance].serial_number), "%" PRIu32,
+		 msg.model_instance_id);
+	_battery_info_pub[instance].publish(_battery_info[instance]);
 }

src/drivers/uavcan/sensors/battery.hpp

@@ -38,6 +38,7 @@
 #pragma once
 
 #include "sensor_bridge.hpp"
+#include <uORB/topics/battery_info.h>
 #include <uORB/topics/battery_status.h>
 #include <uavcan/equipment/power/BatteryInfo.hpp>
 #include <ardupilot/equipment/power/BatteryInfoAux.hpp>
@@ -95,6 +96,11 @@ private:
 	float _discharged_mah_loop = 0.f;
 	uint8_t _warning;
 	hrt_abstime _last_timestamp;
+
+	// Separate battery info publication because UavcanSensorBridgeBase only supports publishing one topic
+	uORB::PublicationMulti<battery_info_s> _battery_info_pub[battery_status_s::MAX_INSTANCES] {ORB_ID(battery_info), ORB_ID(battery_info), ORB_ID(battery_info), ORB_ID(battery_info)};
+
+	battery_info_s _battery_info[battery_status_s::MAX_INSTANCES] {};
 	battery_status_s _battery_status[battery_status_s::MAX_INSTANCES] {};
 	BatteryDataType _batt_update_mod[battery_status_s::MAX_INSTANCES] {};
 

src/lib/adsb/AdsbConflict.cpp

@@ -180,7 +180,7 @@ bool AdsbConflict::handle_traffic_conflict()
 
 	case TRAFFIC_STATE::ADD_CONFLICT:
 	case TRAFFIC_STATE::REMIND_CONFLICT: {
-			take_action = send_traffic_warning((int)(math::degrees(_transponder_report.heading) + 180.f),
+			take_action = send_traffic_warning((int)math::degrees(_transponder_report.heading),
 							   (int)fabsf(_crosstrack_error.distance), _transponder_report.flags,
 							   _transponder_report.callsign,
 							   _transponder_report.icao_address,

src/lib/drivers/smbus_sbs/SBS.hpp

@@ -45,6 +45,7 @@
 
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <lib/drivers/smbus/SMBus.hpp>
+#include <uORB/topics/battery_info.h>
 #include <uORB/topics/battery_status.h>
 #include <px4_platform_common/param.h>
 #include <lib/atmosphere/atmosphere.h>
@@ -66,7 +67,7 @@ public:
 
 	friend SMBus;
 
-	int populate_smbus_data(battery_status_s &msg);
+	int populate_smbus_data(battery_status_s &msg, battery_info_s &battery_info);
 
 	virtual void RunImpl(); // Can be overridden by derived implimentation
 
@@ -136,7 +137,7 @@ protected:
 
 	perf_counter_t _cycle{perf_alloc(PC_ELAPSED, "batmon_cycle")}; // TODO
 
-	/** @param _batt_topic uORB battery topic. */
+	orb_advert_t _battery_info_topic{nullptr};
 	orb_advert_t _batt_topic{nullptr};
 
 	/** @param _cell_count Number of series cell (retrieved from cell_count PX4 params) */
@@ -173,8 +174,10 @@ SMBUS_SBS_BaseClass<T>::SMBUS_SBS_BaseClass(const I2CSPIDriverConfig &config, SM
 	I2CSPIDriver<T>(config),
 	_interface(interface)
 {
+	battery_info_s battery_info{};
 	battery_status_s new_report = {};
 	int SBS_instance_number = 0;
+	_battery_info_topic = orb_advertise_multi(ORB_ID(battery_info), &battery_info, &SBS_instance_number);
 	_batt_topic = orb_advertise_multi(ORB_ID(battery_status), &new_report, &SBS_instance_number);
 	_interface->init();
 }
@@ -251,7 +254,7 @@ int SMBUS_SBS_BaseClass<T>::get_startup_info()
 }
 
 template<class T>
-int SMBUS_SBS_BaseClass<T>::populate_smbus_data(battery_status_s &data)
+int SMBUS_SBS_BaseClass<T>::populate_smbus_data(battery_status_s &data, battery_info_s &battery_info)
 {
 
 	// Temporary variable for storing SMBUS reads.
@@ -285,7 +288,7 @@ int SMBUS_SBS_BaseClass<T>::populate_smbus_data(battery_status_s &data)
 
 	// Read serial number.
 	ret |= _interface->read_word(BATT_SMBUS_SERIAL_NUMBER, result);
-	data.serial_number = result;
+	snprintf(battery_info.serial_number, sizeof(battery_info.serial_number), "%" PRIu16, result);
 
 	// Read battery temperature and covert to Celsius.
 	ret |= _interface->read_word(BATT_SMBUS_TEMP, result);
@@ -312,12 +315,17 @@ void SMBUS_SBS_BaseClass<T>::RunImpl()
 
 	new_report.connected = true;
 
-	int ret = populate_smbus_data(new_report);
+	battery_info_s battery_info{};
+	battery_info.timestamp = now;
+	battery_info.id = new_report.id;
+
+	int ret = populate_smbus_data(new_report, battery_info);
 
 	new_report.cell_count = _cell_count;
 
 	// Only publish if no errors.
 	if (!ret) {
 		orb_publish(ORB_ID(battery_status), _batt_topic, &new_report);
+		orb_publish(ORB_ID(battery_info), _battery_info_topic, &battery_info);
 	}
 }