airspeed_selector: new ASPD_SEL_EN to control enabling/disabling module

EKF2 cleanup. Use MAX_NUM_x constants instead of hard-coded numbers
Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com>
2026-08-06 09:40:35 +08:00 · 2023-07-06 11:46:44 -04:00 · 2023-07-06 09:36:27 +02:00 · 2023-07-06 08:24:33 +02:00 · 2023-07-06 08:24:33 +02:00 · 2023-07-05 20:49:39 +12:00
290 changed files with 4739 additions and 2859 deletions
@@ -1,34 +0,0 @@
---
-name: 🐛 Bug report
-about: Create a report to help us improve
-labels: bug-report
-
---
-
-## Describe the bug
-A clear and concise description of the bug.
-
-## To Reproduce
-Steps to reproduce the behavior:
-1. Drone switched on '...'
-2. Uploaded mission '....' (attach QGC mission file)
-3. Took off '....'
-4. See error
-
-## Expected behavior
-A clear and concise description of what you expected to happen.
-
-## Log Files and Screenshots
-*Always* provide a link to the flight log file:
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
- Share the link to the log (Copy and paste the URL of the log)
-
-Add screenshots to help explain your problem.
-
-## Drone (please complete the following information):
- Describe the type of drone.
- Photo of the IMU / autopilot setup if possible.
-
-## Additional context
-Add any other context about the problem here.
@@ -1,20 +0,0 @@
---
-name: 🚀 Feature Request
-about: Suggest an idea for this project
-labels: feature-request
-
---
-
-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).
-
-## Describe problem solved by the proposed feature
-A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
-
-## Describe your preferred solution
-A clear and concise description of what you want to happen.
-
-## Describe possible alternatives
-A clear and concise description of alternative solutions or features you've considered.
-
-## Additional context
-Add any other context or screenshots for the feature request here.
@@ -1,13 +0,0 @@
---
-name: ⛔ Support Question
-about: See http://discuss.px4.io/ for questions about using PX4.
-
---
-
-## Attention! Please read the note below
-
-We use GitHub issues only to discuss PX4 bugs and new features.
-
-**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
-
-Thanks!
@@ -1,11 +0,0 @@
---
-name: ⛔ Documentation Issue
-about: See https://github.com/PX4/px4_user_guide for documentation issues
-
---
-
-## Attention! Please read the note below
-
-**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
-
-Thanks!
@@ -0,0 +1,94 @@
+name: 🐛 Bug report
+description: Create a report to help us improve
+title: "[Bug] "
+labels: ["bug-report"]
+body:
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: A clear and concise description of the bug.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: To Reproduce
+      description: |
+          Steps to reproduce the behavior.
+          1. Drone switched on '...'
+          2. Uploaded mission '....' (attach QGC mission file)
+          3. Took off '....'
+          4. See error
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Expected behavior
+      description: A clear and concise description of what you expected to happen.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Screenshot / Media
+      description: Add screenshot / media if you have them
+
+  - type: textarea
+    attributes:
+      label: Flight Log
+      description: |
+          *Always* provide a link to the flight log file:
+          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+          - Share the link to the log (Copy and paste the URL of the log)
+      placeholder: |
+          # PASTE HERE THE LINK TO THE LOG
+    validations:
+      required: true
+
+  - type: markdown
+    attributes:
+      value: |
+        ## Setup
+
+  - type: textarea
+    attributes:
+      label: Software Version
+      description: |
+          Which version of PX4 are you using?
+      placeholder: |
+          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
+    validations:
+      required: true
+
+  - type: input
+    attributes:
+      label: Flight controller
+      description: Specify your flight controller model (what type is it, where was it bought from, ...).
+    validations:
+      required: true
+
+  - type: dropdown
+    attributes:
+      label: Vehicle type
+      options:
+        - Multicopter
+        - Helicopter
+        - Fixed Wing
+        - Hybrid VTOL
+        - Airship/Balloon
+        - Rover
+        - Boat
+        - Submarine
+        - Other
+
+  - type: textarea
+    attributes:
+      label: How are the different components wired up (including port information)
+      description: Details about how all is wired.
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      description: Add any other context about the problem here.
@@ -0,0 +1,8 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Support Question
+    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
+    about: For questions about using PX4 or related components, please use the discuss forum and discord server
+  - name: Documentation Issue
+    url: https://github.com/PX4/PX4-user_guide/issues
+    about: If you found an issue in documentation, please submit it directly to the docs repository issues
@@ -0,0 +1,35 @@
+name: 🚀 Feature Request
+description: Suggest an idea for this project
+labels: ["feature-request"]
+body:
+  - type: markdown
+    attributes:
+      value: |
+        ## Please note that feature requests are not 'fire and forget'
+        It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
+
+  - type: textarea
+    attributes:
+      label: Describe problem solved by the proposed feature
+      description: A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Describe your preferred solution
+      description: A clear and concise description of what you want to happen.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Describe possible alternatives
+      description: A clear and concise description of any alternative solutions or features you've considered.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      description: Add any other context or screenshots for the feature request here.
@@ -1,24 +0,0 @@
-<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
-  <linearGradient id="smooth" x2="0" y2="100%">
-    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
-    <stop offset="1" stop-opacity=".1"/>
-  </linearGradient>
-
-  <mask id="round">
-    <rect width="90" height="20" rx="3" fill="#fff"/>
-  </mask>
-
-  <g mask="url(#round)">
-    <rect width="42" height="20" fill="#555"/>
-    <rect x="42" width="48" height="20" fill="#E01563"/>
-    <rect width="90" height="20" fill="url(#smooth)"/>
-  </g>
-
-  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
-    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
-    <text x="22" y="14">slack</text>
-    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
-    <text x="65" y="14">Join us!</text>
-  </g>
-</svg>
-
@@ -1,15 +0,0 @@
-# Number of days of inactivity before an issue becomes stale
-daysUntilStale: 90
-# Number of days of inactivity before a stale issue is closed, or `false` to disable
-daysUntilClose: false
-# Issues with these labels will never be considered stale
-exemptLabels:
-  - pinned
-# Label to use when marking an issue as stale
-staleLabel: stale
-# Comment to post when marking an issue as stale. Set to `false` to disable
-markComment: >
-  This issue has been automatically marked as stale because it has not had
-  recent activity. Thank you for your contributions.
-# Comment to post when closing a stale issue. Set to `false` to disable
-closeComment: false
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-09-08
+    container: px4io/px4-dev-armhf:2023-06-26
    strategy:
      matrix:
        config: [
@@ -24,7 +24,8 @@ jobs:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}
-
+    - name: ownership workaround
+      run: git config --system --add safe.directory '*'
    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
      shell: cmake -P {0}
@@ -1,4 +1,4 @@
-name: 'Close stale issues and PRs'
+name: 'Handle stale issues and PRs'
 on:
  schedule:
    - cron: '30 1 * * *'
@@ -7,14 +7,10 @@ jobs:
  stale:
    runs-on: ubuntu-latest
    steps:
-      - uses: actions/stale@v4.1.1
+      - uses: actions/stale@v8
        with:
-          stale-issue-message: 'This issue is stale because it has been open 30 days with no activity. Remove stale label or comment or this will be closed in 5 days.'
-          stale-pr-message: 'This PR is stale because it has been open 45 days with no activity. Remove stale label or comment or this will be closed in 10 days.'
-          close-issue-message: 'This issue was closed because it has been stalled for 5 days with no activity.'
-          close-pr-message: 'This PR was closed because it has been stalled for 10 days with no activity.'
-          days-before-issue-stale: 30
-          days-before-pr-stale: 45
-          days-before-issue-close: 5
-          days-before-pr-close: 10
-          debug-only: true
+          days-before-stale: 30
+          days-before-close: -1
+          stale-issue-label: 'stale'
+          stale-pr-label: 'stale'
+          remove-stale-when-updated: true
@@ -94,4 +94,6 @@ px4_add_romfs_files(

 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
+
+	# [22000, 22999] Reserve for custom models
 )
@@ -21,7 +21,11 @@ control_allocator start
 fw_rate_control start
 fw_att_control start
 fw_pos_control start
-airspeed_selector start
+
+if param greater -s ASPD_SEL_EN 0
+then
+	airspeed_selector start
+fi

 #
 # Start attitude control auto-tuner
@@ -20,7 +20,10 @@ ekf2 start &
 #
 control_allocator start

-airspeed_selector start
+if param greater -s ASPD_SEL_EN 0
+then
+	airspeed_selector start
+fi

 vtol_att_control start

@@ -255,6 +255,7 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q
 	rgbled_lp5562 start -X -q
+	rgbled_is31fl3195 start -X -q

 	#
 	# Override parameters from user configuration file.
@@ -56,11 +56,14 @@ def perform_imu_checks(
    # perform the vibration check
    imu_status['imu_vibration_check'] = 'Pass'
    for imu_vibr_metric in ['imu_coning', 'imu_hfgyro', 'imu_hfaccel']:
-        mean_metric = '{:s}_mean'.format(imu_vibr_metric)
-        peak_metric = '{:s}_peak'.format(imu_vibr_metric)
-        if imu_metrics[mean_metric] > check_levels['{:s}_warn'.format(mean_metric)] \
-                or imu_metrics[peak_metric] > check_levels['{:s}_warn'.format(peak_metric)]:
-            imu_status['imu_vibration_check'] = 'Warning'
+        mean_metric = '{:s}_mean_warn'.format(imu_vibr_metric)
+        peak_metric = '{:s}_peak_warn'.format(imu_vibr_metric)
+        mean_key = '{:s}_mean'.format(imu_vibr_metric)
+        peak_key = '{:s}_peak'.format(imu_vibr_metric)
+        if mean_key in imu_metrics and peak_key in imu_metrics:
+            if imu_metrics[mean_key] > check_levels[mean_metric] \
+                   or imu_metrics[peak_key] > check_levels[peak_metric]:
+                imu_status['imu_vibration_check'] = 'Warning'

    if imu_status['imu_vibration_check'] == 'Warning':
        print('IMU vibration check warning.')
@@ -104,9 +104,9 @@ def calculate_innov_fail_metrics(

    # calculate innovation check fail metrics
    for signal_id, signal, result in [('posv', 'reject_ver_pos', 'hgt_fail_percentage'),
-                                      ('magx', 'reject_mag_x', 'magx_fail_percentage'),
-                                      ('magy', 'reject_mag_y', 'magy_fail_percentage'),
-                                      ('magz', 'reject_mag_z', 'magz_fail_percentage'),
+                                      ('magx', 'fs_bad_mag_x', 'magx_fail_percentage'),
+                                      ('magy', 'fs_bad_mag_y', 'magy_fail_percentage'),
+                                      ('magz', 'fs_bad_mag_z', 'magz_fail_percentage'),
                                      ('yaw', 'reject_yaw', 'yaw_fail_percentage'),
                                      ('velh', 'reject_hor_vel', 'vel_fail_percentage'),
                                      ('velv', 'reject_ver_vel', 'vel_fail_percentage'),
@@ -222,7 +222,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        data_plot = CheckFlagsPlot(
            status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
                                                                               'reject_hagl'],
-                                       ['reject_mag_x', 'reject_mag_y', 'reject_mag_z',
+                                       ['fs_bad_mag_x', 'fs_bad_mag_y', 'fs_bad_mag_z',
                                        'reject_yaw'], ['reject_airspeed'], ['reject_sideslip'],
                                       ['reject_optflow_x',
                                        'reject_optflow_y']], x_label='time (sec)',
@@ -1 +1 @@
-symforce>=0.5.0
+symforce>=0.9.0
@@ -106,7 +106,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -7,6 +7,7 @@
 #
 # CONFIG_DEV_CONSOLE is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_SPI_EXCHANGE is not set
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
@@ -48,13 +49,14 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -387,7 +387,7 @@

 #define GPIO_UART7_RX    GPIO_UART7_RX_4    /* PF6  */
 #define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
-#define GPIO_UART7_RTS   (GPIO_UART7_RTS_2 | GPIO_PULLDOWN)   /* PF8  */
+#define GPIO_UART7_RTS   GPIO_UART7_RTS_2   /* PF8  */
 #define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */

 #define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
@@ -118,7 +118,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_IPCFG_BINARY=y
@@ -291,8 +291,9 @@ CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART5_IFLOWCONTROL=y
 CONFIG_UART5_OFLOWCONTROL=y
+CONFIG_UART7_RXBUFSIZE=1500
 CONFIG_UART5_RXDMA=y
-CONFIG_UART5_TXBUFSIZE=3000
+CONFIG_UART5_TXBUFSIZE=10000
 CONFIG_UART5_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_IFLOWCONTROL=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -120,7 +120,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_LIBC_LONG_LONG=y
@@ -105,7 +105,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -106,7 +106,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -49,7 +49,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -62,7 +62,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
@@ -109,7 +109,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -10,8 +10,10 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
@@ -31,5 +33,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_DMESG=y
@@ -115,7 +115,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -113,6 +113,7 @@
 /* RC Serial port */

 #define RC_SERIAL_PORT                     "/dev/ttyS4"
+#define RC_SERIAL_SINGLEWIRE

 #define GPIO_RSSI_IN                       /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)

@@ -129,6 +130,8 @@
 		GPIO_RSSI_IN,                \
 	}

+#define BOARD_ENABLE_CONSOLE_BUFFER
+
 #define BOARD_NUM_IO_TIMERS 4

 __BEGIN_DECLS
@@ -252,9 +252,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif

-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
 	return OK;
 }
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -30,7 +30,7 @@ CONFIG_FDCLONE_STDIO=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=4096
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -104,7 +104,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_NCHAINS=24
 CONFIG_LIBC_FLOATINGPOINT=y
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -107,7 +107,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -61,7 +61,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_KINETIS_ADC0=y
@@ -62,7 +62,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_IOB_NBUFFERS=48
 CONFIG_IOB_NCHAINS=18
 CONFIG_KINETIS_ADC0=y
@@ -65,7 +65,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_IOB_NBUFFERS=24
 CONFIG_KINETIS_ADC0=y
 CONFIG_KINETIS_ADC1=y
@@ -63,7 +63,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_IOB_NBUFFERS=48
 CONFIG_IOB_NCHAINS=18
 CONFIG_KINETIS_ADC0=y
@@ -63,7 +63,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_KINETIS_ADC0=y
@@ -115,7 +115,7 @@ CONFIG_IMXRT_USDHC1=y
 CONFIG_IMXRT_USDHC1_INVERT_CD=y
 CONFIG_IMXRT_USDHC1_WIDTH_D1_D4=y
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_LPUART2_BAUD=57600
@@ -1,20 +1,25 @@
 # CONFIG_BOARD_ROMFSROOT is not set
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_COMMON_LIGHT=y
 CONFIG_CYPHAL_BMS_SUBSCRIBER=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_CYPHAL=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_EXAMPLES_FAKE_GPS=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -17,6 +17,17 @@ param set-default MAV_1_UDP_PRT 14550
 param set-default SENS_EXT_I2C_PRB 0
 param set-default CYPHAL_ENABLE 0

+if ver hwtypecmp MR-CANHUBK3-ADAP
+then
+	param set-default GPS_1_CONFIG 202
+	param set-default RC_PORT_CONFIG 104
+	param set-default SENS_INT_BARO_EN 0
+	param set-default SYS_HAS_BARO 0
+	# MR-CANHUBK3-ADAP voltage divider
+	param set-default BAT1_V_DIV 13.158
+	safety_button start
+fi
+
 if param greater -s UAVCAN_ENABLE 0
 then
 	ifup can0
@@ -2,22 +2,31 @@
 #
 # NXP MR-CANHUBK3 specific board sensors init
 #------------------------------------------------------------------------------
+if ver hwtypecmp MR-CANHUBK3-ADAP
+then
+	icm42688p -c 2 -b 3 -R 0 -S -f 15000 start
+	# Internal magnetometer on I2c on ADAP
+	bmm150 -X -a 18 start
+	ist8310 -X -b 1 -R 10 start
+	# ADC for voltage input sensing
+	board_adc start

-#board_adc start FIXME no ADC drivers
+	# External SPI bus ICM20649
+	icm20649 -b 4 -S -R 10 start

-#FMUv5Xbase board orientation
+	# External SPI bus ICM42688p
+	icm42688p -c 1 -b 3 -R 10 -S -f 15000 start
+else
+	bmm150 -X start
+	# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+	ist8310 -X -b 2 -R 10 start

-# Internal SPI bus ICM20649
-icm20649 -s -R 6 start
+	# External SPI bus ICM20649
+	icm20649 -b 4 -S -R 6 start

-# Internal SPI bus ICM42688p
-icm42688p -R 6 -s start
-
-# Internal magnetometer on I2c
-bmm150 -I start
-
-# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
-ist8310 -X -b 2 -R 10 start
+	# External SPI bus ICM42688p
+	icm42688p -c 1 -b 3 -R 6 -S -f 15000 start
+fi

 # External compass on GPS1/I2C1 (the 3rd external bus): Drotek RTK GPS with LIS3MDL Compass
 lis3mdl -X -b 2 -R 2 start
@@ -25,5 +34,5 @@ lis3mdl -X -b 2 -R 2 start
 # Disable startup of internal baros if param is set to false
 if param compare SENS_INT_BARO_EN 1
 then
-	bmp388 -I -a 0x77 start
+	bmp388 -X -a 0x77 start
 fi
@@ -152,6 +152,18 @@
 #define PIN_LPUART1_RX    (PIN_LPUART1_RX_3 | PIN_INPUT_PULLUP)   /* PTC6 */
 #define PIN_LPUART1_TX    PIN_LPUART1_TX_3   /* PTC7 */

+
+/* LPUART4 /dev/ttyS3  P8B 3X7 Pin 3 Single wire RC UART */
+
+#define PIN_LPUART4_RX    PIN_LPUART4_TX_3   /* Dummy since it's Single Wire TX-only */
+#define PIN_LPUART4_TX    PIN_LPUART4_TX_3   /* PTE11 */
+
+
+/* LPUART7 /dev/ttyS4  P8B 3X7 Pin 3 and Pin 8 */
+
+#define PIN_LPUART7_RX    (PIN_LPUART7_RX_3 | PIN_INPUT_PULLUP)   /* PTE0 */
+#define PIN_LPUART7_TX    PIN_LPUART7_TX_3   /* PTE1 */
+
 /* LPUART9   P24 UART connector */

 #define PIN_LPUART9_RX    (PIN_LPUART9_RX_1 | PIN_INPUT_PULLUP)   /* PTB2 */
@@ -209,7 +221,8 @@
 #define PIN_LPSPI4_PCS0   PIN_LPSPI4_PCS0_1  /* PTB8  */
 #define PIN_LPSPI4_PCS3   PIN_LPSPI4_PCS3_1  /* PTA16 */

-#define PIN_LPSPI4_PCS    (PIN_PTA16 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTA16 */
+#define PIN_LPSPI4_CS_P26 (PIN_PTA16 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTA16 */
+#define PIN_LPSPI4_CS_P8B (PIN_PTB8 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)   /* PTB8 */

 /* LPSPI5  P26 external IMU connector */

@@ -109,7 +109,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=900
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_IPCFG_BINARY=y
@@ -245,6 +245,8 @@ CONFIG_S32K3XX_LPUART13=y
 CONFIG_S32K3XX_LPUART14=y
 CONFIG_S32K3XX_LPUART1=y
 CONFIG_S32K3XX_LPUART2=y
+CONFIG_S32K3XX_LPUART4=y
+CONFIG_S32K3XX_LPUART7=y
 CONFIG_S32K3XX_LPUART9=y
 CONFIG_S32K3XX_LPUART_INVERT=y
 CONFIG_S32K3XX_LPUART_SINGLEWIRE=y
@@ -110,7 +110,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=900
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_IPCFG_BINARY=y
@@ -38,6 +38,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
 		clockconfig.c
 		periphclocks.c
 		timer_config.cpp
+		hw_rev_ver_canhubk3.c
 	)

 	target_link_libraries(drivers_board
@@ -65,6 +66,8 @@ else()
 		spi.cpp
 		timer_config.cpp
 		s32k3xx_userleds.c
+		hw_rev_ver_canhubk3.c
+		manifest.c
 	)

 	target_link_libraries(drivers_board
@@ -88,7 +88,7 @@ __BEGIN_DECLS
 #define DIRECT_PWM_OUTPUT_CHANNELS  8

 #define RC_SERIAL_PORT          "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
+#define RC_SERIAL_SINGLEWIRE_FORCE
 #define RC_SERIAL_INVERT_RX_ONLY

 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -110,6 +110,40 @@ __BEGIN_DECLS
 /* Reboot and ulog we store on a wear-level filesystem */
 #define HARDFAULT_REBOOT_PATH "/mnt/progmem/reboot"

+/* To detect MR-CANHUBK3-ADAP board */
+#define BOARD_HAS_HW_VERSIONING  1
+#define CANHUBK3_ADAP_DETECT     (PIN_PTA12 | GPIO_INPUT | GPIO_PULLUP)
+
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4
+ * Firmware in the adc driver. ADC1 has 32 channels, with some a/b selection overlap
+ * in the AD4-AD7 range on the same ADC.
+ *
+ * Only ADC1 is used
+ *         Bits 31:0 are ADC1 channels 31:0
+ */
+
+#define ADC1_CH(c)    (((c) & 0x1f))	/* Define ADC number Channel number */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+
+#define ADC_BATTERY_VOLTAGE_CHANNEL ADC1_CH(0)     /* BAT_VSENS        85   PTB4  ADC1_SE10 */
+#define ADC_BATTERY_CURRENT_CHANNEL ADC1_CH(1)     /* Non-existant but needed for compilation */
+
+
+/* Mask use to initialize the ADC driver */
+
+#define ADC_CHANNELS ((1 << ADC_BATTERY_VOLTAGE_CHANNEL))
+
+/* Safety Switch
+ * TBD
+ */
+#define GPIO_LED_SAFETY         (PIN_PTE26 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO)
+#define GPIO_BTN_SAFETY         (PIN_PTA11 | GPIO_INPUT | GPIO_PULLDOWN)
+
 /****************************************************************************
 * Public Data
 ****************************************************************************/
@@ -0,0 +1,142 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2023 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 hw_rev_ver_canhubk3.c
+ * CANHUBK3 Hardware Revision and Version ID API
+ */
+#include <drivers/drv_adc.h>
+#include <px4_arch/adc.h>
+#include <px4_platform_common/micro_hal.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <stdio.h>
+#include <board_config.h>
+
+#include <systemlib/px4_macros.h>
+
+#if defined(BOARD_HAS_HW_VERSIONING)
+
+
+#define HW_INFO_SIZE HW_INFO_VER_DIGITS + HW_INFO_REV_DIGITS
+
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+static int is_adap_connected = 0;
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: board_get_hw_type
+ *
+ * Description:
+ *   Optional returns a 0 terminated string defining the HW type.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   a 0 terminated string defining the HW type. This my be a 0 length string ""
+ *
+ ************************************************************************************/
+
+__EXPORT const char *board_get_hw_type_name()
+{
+	if (is_adap_connected) {
+		return (const char *)"MR-CANHUBK3-ADAP";
+
+	} else {
+		return (const char *)"MR-CANHUBK344";
+	}
+}
+
+/************************************************************************************
+ * Name: board_get_hw_version
+ *
+ * Description:
+ *   Optional returns a integer HW version
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   An integer value of this boards hardware version.
+ *   A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
+ *   A value of 0 is the default for boards supporting the API but not having version.
+ *
+ ************************************************************************************/
+
+__EXPORT int board_get_hw_version()
+{
+	return  0;
+}
+
+/************************************************************************************
+ * Name: board_get_hw_revision
+ *
+ * Description:
+ *   Optional returns a integer HW revision
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   An integer value of this boards hardware revision.
+ *   A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
+ *   A value of 0 is the default for boards supporting the API but not having revision.
+ *
+ ************************************************************************************/
+
+__EXPORT int board_get_hw_revision()
+{
+	return  0;
+}
+
+/************************************************************************************
+  * Name: board_determine_hw_info
+ *
+ * Description:
+ *	Uses GPIO to detect MR-CANHUBK3-ADAP
+ *
+ ************************************************************************************/
+
+int board_determine_hw_info()
+{
+	s32k3xx_pinconfig(CANHUBK3_ADAP_DETECT);
+	is_adap_connected = !s32k3xx_gpioread(CANHUBK3_ADAP_DETECT);
+	return 0;
+}
+#endif
@@ -34,6 +34,6 @@
 #include <px4_arch/i2c_hw_description.h>

 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(0)),
-	initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(1)),
+	initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(0)),
+	initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(1)),
 };
@@ -44,6 +44,7 @@
 #include "board_config.h"

 #include <px4_platform_common/init.h>
+#include <px4_platform/board_determine_hw_info.h>

 #if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD)
 #include <nuttx/mmcsd.h>
@@ -96,6 +97,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	int rv;

+	board_determine_hw_info();
+

 #if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD)
 	/* LPSPI1 *****************************************************************/
@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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 manifest.c
+ *
+ * This module supplies the interface to the manifest of hardware that is
+ * optional and dependent on the HW REV and HW VER IDs
+ *
+ * The manifest allows the system to know whether a hardware option
+ * say for example the PX4IO is an no-pop option vs it is broken.
+ *
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <stdbool.h>
+#include <syslog.h>
+
+#include "systemlib/px4_macros.h"
+#include "px4_log.h"
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+
+/************************************************************************************
+ * Name: board_query_manifest
+ *
+ * Description:
+ *   Optional returns manifest item.
+ *
+ * Input Parameters:
+ *   manifest_id - the ID for the manifest item to retrieve
+ *
+ * Returned Value:
+ *   0 - item is not in manifest => assume legacy operations
+ *   pointer to a manifest item
+ *
+ ************************************************************************************/
+
+__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
+{
+	return px4_hw_mft_unsupported;
+}
@@ -107,6 +107,9 @@ int s32k3xx_bringup(void)
 	s32k3xx_spidev_initialize();
 #endif

+	s32k3xx_pinconfig(GPIO_LED_SAFETY);
+	s32k3xx_pinconfig(GPIO_BTN_SAFETY);
+
 #ifdef CONFIG_INPUT_BUTTONS
 	/* Register the BUTTON driver */

@@ -168,6 +168,22 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
 		.clkgate = true,
 #else
 		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART4_CLK,
+#ifdef CONFIG_S32K3XX_LPUART4
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART7_CLK,
+#ifdef CONFIG_S32K3XX_LPUART7
+		.clkgate = true,
+#else
+		.clkgate = false,
 #endif
 	},
 	{
@@ -258,6 +274,10 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
 		.clkname = EMIOS0_CLK,
 		.clkgate = true,
 	},
+	{
+		.clkname = ADC2_CLK,
+		.clkgate = true,
+	}
 };

 unsigned int const num_of_peripheral_clocks_0 =
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	890ae36e78	airspeed_selector: new ASPD_SEL_EN to control enabling/disabling module	2023-07-06 11:46:44 -04:00
Antonio Sanjurjo C	c1cb48c2ea	EKF2 cleanup. Use MAX_NUM_x constants instead of hard-coded numbers Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com>	2023-07-06 09:36:27 +02:00
Patrick José Pereira	39e04d9712	lib: matrix: SquareMatrix: Deal with the special case of M=1 Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>	2023-07-06 08:24:33 +02:00
Patrick José Pereira	724f5a97a9	platform: posix: px4: Add missing `ctsdint` include for `uint8_t` Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>	2023-07-06 08:24:33 +02:00
Julian Oes	a6502c9f2b	ROMFS: auto try RGBLED is31fl3195 This is required to auto-start the is31fl3195 driver if connected. Signed-off-by: Julian Oes <julian@oes.ch>	2023-07-05 20:49:39 +12:00
Thomas Stastny	dccfcb85c1	(Mission) FeasibilityChecker: remove duplicate line	2023-07-04 11:17:23 +02:00
Silvan Fuhrer	a617e9c54b	Navigator RTL: run find_RTL_destination() only on_inactive Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-07-04 09:36:22 +02:00
Silvan Fuhrer	f275085e84	Navigator: Loiter: always establish new Loiter with center at current pos When switching into Hold mode establish a Loiter around current position, even if we were before already loitering (eg in Mission mode). Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-07-04 09:35:40 +02:00
Mathieu Bresciani	288e3ae74a	EKF2: vision attitude error filter (#21791 ) * ekf2-ev: filter q_error for frame correction * ekf2: filter EV attitude error centrally	2023-07-03 11:13:59 -04:00
Andrew Brahim	24665f10f2	VL53L1X: fix scheduling (#21787 ) * should be 50 Hz instead of 50,000 Hz Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2023-07-03 10:49:53 -04:00
Matthias Grob	a36c922fc0	ActuatorEffectivenessHelicopterTest: adapt to new constructor	2023-07-03 16:21:27 +02:00
Beat Küng	77d6c722a7	helicopter: add tail servo support as a separate CA_AIRFRAME, as the UI cannot switch between servo/motor.	2023-07-03 16:21:27 +02:00
Beat Küng	bae413a332	v6x: start mavlink on TELEM2 for skynode Equivalent to v5x	2023-07-03 16:20:41 +02:00
Igor Mišić	abe0ca1307	boards/holybro/kakutef7: enable gps, osd, top, dmesg. Disable uxrce_dds	2023-07-03 11:22:33 +02:00
Igor Mišić	f5193bb155	boards/holybro/kakutef7: enable rc serial singlewire	2023-07-03 11:22:33 +02:00
Igor Mišić	2307d4aa22	boards/holybro/kakutef7: remove px4_platform_config kakutef7 doesn't use manifest	2023-07-03 11:22:33 +02:00
Harrison Gieraltowski	018ec97c41	mavlink_log_handler: handle _next_entry (#21784 )	2023-07-03 10:30:07 +02:00
Igor Mišić	bfa72a1bee	rc.board_arch_defaults: add the silent flag for EKF2_MULTI_IMU	2023-07-03 10:08:26 +02:00
Matthias Grob	b7e2a9c320	FlightTaskAltitude: remove duplicate, deprecated yaw stick handling	2023-07-03 09:52:47 +02:00
Matthias Grob	4d465533b5	FlightTaskManualAcceleration: remove duplicate yaw stick handling It's already instanciated and ran by FlightTaskManualAltitude which FlightTaskManualAcceleration inherits from.	2023-07-03 09:52:47 +02:00
Matthias Grob	03183ccacf	mc_pos_control_params: remove forgotten trailing zeroes	2023-07-03 09:52:47 +02:00
Junwoo Hwang	0196241c10	stale action: Configure again (#21785 ) Having newline between I think didn't apply the PR stale days setting of 30 properly (it was using 45) And it seemd that unless I set the days-before-close to -1 intentionally, it would still close the Issue/PRs, as the default value is 7 already. Also updated version of the stale action to v8	2023-06-30 19:12:16 +02:00
Junwoo Hwang	3557644010	Stale action re-configure (still just debug mode) (#21783 ) * Remove old stale bot yaml file * Remove slack svg file (unused) * Stale action: Only apply stale label, and no other actions Respecting the opinion on https://github.com/PX4/PX4-Autopilot/commit/fa9ac6ecf651232f3105ca124a2d2c54ab8620d0, it seems reasonable to disable commenting feature, and just keep the action only applying the `stale` label. This will reduce the noise / email spams / ping pong fight with the stale bot (Action)	2023-06-30 17:18:43 +02:00
Junwoo Hwang	46b09acf0b	Update Issue templates (#21779 ) - Remove unnecessary text rendering, which made clicking log links harder - Re adjust markdown elements to make it easier to read / intuitive when creating an issue	2023-06-30 16:45:05 +02:00
Silvan Fuhrer	4348dcce2a	Navigator: loiter: remove unnecessary _loiter_pos_set (#21776 ) * Navigator: loiter: remove unnecessary _loiter_pos_set Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Navigator: loiter: remove commented line --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Matthias Grob <maetugr@gmail.com>	2023-06-30 15:40:20 +02:00
Matthias Grob	a6d2c2cf5e	Github Actions: add workaround for dubious ownership errors until I figure out what a better solution would look like. See https://github.com/actions/runner/issues/2033	2023-06-27 17:17:31 +02:00
Matthias Grob	e5503480e3	GitHub Actions: use Debian 11 to build linux targets This solves the CI problem related to the required cmake version described here: https://github.com/PX4/PX4-Autopilot/pull/21737#pullrequestreview-1489844308 See https://github.com/PX4/PX4-containers/pull/332 for the container changes.	2023-06-27 17:17:31 +02:00
Peter van der Perk	e739afe362	MR-CANHUBK3 ADAP board support, add ADC support	2023-06-27 07:24:07 -04:00
Silvan Fuhrer	e34993969b	tiltrotor: expose tilting duration of backtransition in param Instead of hard-coding the tilting duration (from FW to MC tilt), expose it as a parameter (VT_BT_TILT_DUR). The default is the same as the hard-coded value previously (1s). Slower tilting mechanisms need a higher value here, while for smaller ones a too high value results in unnecessary delays till the motors are in hover configuration. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-06-27 10:11:41 +02:00
Silvan Fuhrer	05489f9ecf	tiltrotor: reduce BACKTRANS_THROTTLE_UPRAMP_DUR_S to 0.5s This reduces the motor ramp up time after a transitions is declared over. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-06-27 10:11:41 +02:00
Silvan Fuhrer	c26b699f8a	tiltrotor: reduce BACKTRANS_THROTTLE_DOWNRAMP_DUR_S from 1 to 0.5s This affects how soon after a backtransition the vehicle has the full hover controller running again. Specifically it reduces the duration of the ramp down of the motors prior to tilting them. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-06-27 10:11:41 +02:00
Ramon Roche	98d8935034	drivers/barometer/invensense/icp201xx: increase delay after configuration (#21765 ) - fixes wrong altitude reporting	2023-06-26 14:16:06 -04:00
bresch	8d1b0e45fa	opt-requirements: bump SymForce version	2023-06-26 14:10:54 -04:00
bresch	eb70c9f6f3	ekf2: update auto-generated code to SymForce 0.9.0	2023-06-26 14:10:54 -04:00
bresch	fdf7867a3e	ekf2: update derivation to SymForce 0.9.0	2023-06-26 14:10:54 -04:00
bresch	c99f56f010	wind_estimator: update generated code to Symforce 0.9.0	2023-06-26 14:10:54 -04:00
bresch	73e5ff109c	wind_estimator: update derivation to use SymForce 0.9.0	2023-06-26 14:10:54 -04:00
Matthias Grob	7e79d65aa4	mc_pos_control_params: clarify maximum vertical velocity parameters	2023-06-26 17:01:20 +02:00
Matthias Grob	439670444f	mc_pos_control_params: more gain & velocity decimals, more clear wording	2023-06-26 17:01:20 +02:00
Matthias Grob	a6a913bf25	mc_pos_control: remove trailing zeroes	2023-06-26 17:01:20 +02:00
Matthias Grob	54a351639c	mc_pos_control: improve parameter metadata - Adapted descriptions to be more clear - Adjusted some limits and decimals	2023-06-26 17:01:20 +02:00
Matthias Grob	d00ad1b815	mc_pos_control: separate parameter metadata into multiple files because the original file was almost 1k lines and the order of parameters more historical than after topic.	2023-06-26 17:01:20 +02:00
Matthias Grob	20d0661e87	HealthAndArmingChecks: disallow arming via parameter COM_ARMABLE is set to "Disabled" will prevent arming. This allows to set the parameter when ground demoing a drone or if it's in maintenance for safety reasons.	2023-06-22 13:17:47 +02:00
Matthias Grob	173407581b	HealthAndArmingChecks: reorder CMakeLists alphabetically	2023-06-22 13:17:47 +02:00
Sean Murphy	7ed90c6d0c	ekf2: process_logdata_ekf.py fix reject_mag* and imu_coning* key errors	2023-06-21 21:08:43 -04:00
Josh Henderson	a07d10704b	ROMFS : POSIX Airframes reserve space for custom models	2023-06-21 21:06:07 -04:00
Matthias Grob	18d89e4bc1	lightware_lase_serial: fix pointer for enabling serial mode const char data = "www\r\n"; Defines a cstring of 6 bytes: 'w', 'w', 'w', '\r', '\n', '\0' type of data: char const type of &data: char const** So when we call write(_fd, &data, strlen(data)); then strlen(data) == 5 and we send the 4 byte memory address of data + some additional random byte. Correct is write(_fd, data, strlen(data)); where char const* gets casted to const void * and we pass the pointer to the content of data. The fundamental problem here is write() not being typesafe.	2023-06-21 15:59:12 +02:00
Thomas Debrunner	fd267fb9a5	param save: Add a blocking API for param saves to be used from shell.	2023-06-21 08:19:52 +02:00
Silvan Fuhrer	18f0311161	Navigator: Mission: improve survey mission resume Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-06-20 14:38:03 +02:00
Silvan Fuhrer	24b1ef93b2	Mission: reset mission on landing only if last item was reached Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-06-20 14:38:03 +02:00
Silvan Fuhrer	c6870006c7	Navigator: move disable camera trigger on mission inactivation to seperate function Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-06-20 14:38:03 +02:00
Daniel Agar	d9ae2ed7ac	ekf2: regenerate yaw estimator symforce - remove underscore uppercase variable naming that can be problematic	2023-06-19 21:00:25 -04:00
Silvan Fuhrer	2a48c1cb18	boards: disable gyro fft module for v4 to safe flash Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-06-19 16:22:42 -04:00
Beat Küng	65ad6afb08	Micro-XRCE-DDS-Client: update submodule Go get https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/359.	2023-06-19 16:05:36 -04:00
Silvan Fuhrer	4632fbd600	FWRateController: use param find for VT_DIFTHR_EN as pure FW build doesn't have VTOL module built Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-06-19 10:59:20 +02:00
Matthias Grob	69aebe650b	FixedwingRateControl: rework VTOL differential thrust saturation Co-authored-by: Silvan Fuhrer <silvan@auterion.com>	2023-06-19 10:59:20 +02:00
Matthias Grob	53b9e66c66	RateControl: allow setting individual saturation flags This helps for more complicated cases where certain axes are controlled through and get feedback from a different allocator.	2023-06-19 10:59:20 +02:00
Beniamino Pozzan	957a06a780	Fix enum for COM_RC_IN_MODE in failsafe add enum RcInMode Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>	2023-06-19 08:04:43 +02:00
Niklas Hauser	8fe65c6722	Driver: Refactor MCP23009 GPIO expander into uORB driver	2023-06-19 07:58:21 +02:00
Konrad	3303323971	mavlink stream: Heartbeat system status should neglect the actuator_armed.lockdown flag in HIL, since this is always enabled for HIL.	2023-06-16 14:21:32 +02:00
Matthias Grob	053d3020b0	esc_calibration: handle timeout wraps better Co-authored-by: Beat Küng <beat-kueng@gmx.net>	2023-06-16 12:05:47 +02:00
Matthias Grob	cfb24869e9	esc_calibration: allow to calibrate ESCs without battery detection Before this the ESC calibration aborts if battery detection doesn't work. The problem is if the user still connects the battery as he gets instructed and the calibration aborts then the ESCs are in calibration mode and after abortion calibrate to the wrong value. Also I realized there's no additional safety by aborting the calibration if the battery cannot be detected during the timeout because a pixhawk board without power module will report a battery status from the ADC driverand in it that no battery is connected which is the best it can do. In this situation the motors will still spin if the ESCs are powered.	2023-06-16 12:05:47 +02:00
Matthias Grob	4396b6e9f6	esc_calibration: adjust timing to work with all tested ESCs Some ESCs e.g. Gaui enter the menu relatively quickly if the signal is high for too long. To solve that it's kept high shorter. Also all tested ESCs detect the low signal within a shorter time so no need to wait longer.	2023-06-16 12:05:47 +02:00
Matthias Grob	6929493134	esc_calibration: Improve readability and robustness - Change timings for a more reliable calibration. - Make sure there's an error message when battery measurement is not available also when it gets disabled after system boot in the power just above the calibration button. - Safety check if measured electrical current goes up after issuing the high calibration value for the case the user did not unplug power and the detection either fails or is not enforced.	2023-06-16 12:05:47 +02:00
Matthias Grob	a28ad8e845	mixer_module: consistent PWM/oneshot calibration range	2023-06-16 12:05:47 +02:00
Matthias Grob	1ceca8f2cf	actuator_test: condition order refactoring	2023-06-16 12:05:47 +02:00
Matthias Grob	ffe0ec27e6	Unify MixingOutput constructor calls to make them easy to search for and check the arguments.	2023-06-16 12:05:47 +02:00
Silvan Fuhrer	fc357921fd	navigator: send commands to anyone listening Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-06-12 09:41:28 +02:00
Junwoo Hwang	9b95330efc	Github Issue: Replace Bug report to YAML	2023-06-09 21:18:28 -04:00
Junwoo Hwang	6b1f805b15	Issue Template: Move Feature request to YAML	2023-06-09 21:18:28 -04:00
Junwoo Hwang	89e8ba0b53	Issue Template: Switch to YAML for direct links	2023-06-09 21:18:28 -04:00
PX4 BuildBot	bbc6ed43bd	Update submodule sitl_gazebo-classic to latest Sat Jun 10 00:39:02 UTC 2023 - sitl_gazebo-classic in PX4/Firmware (`f9510557a6`): https://github.com/PX4/PX4-SITL_gazebo-classic/commit/2e3ed9bfb04d8865e59380afa575dd37b0d6c8e0 - sitl_gazebo-classic current upstream: https://github.com/PX4/PX4-SITL_gazebo-classic/commit/0d53638452e6da4371c12599e1a649608361811e - Changes: https://github.com/PX4/PX4-SITL_gazebo-classic/compare/2e3ed9bfb04d8865e59380afa575dd37b0d6c8e0...0d53638452e6da4371c12599e1a649608361811e 0d53638 2023-05-23 JaeyoungLim - Fix force visualization feature (#985) 9bfecb6 2023-05-22 JaeyoungLim - Fix readme displayed in github (#984)	2023-06-09 21:17:46 -04:00
alexklimaj	51a4eafe0c	ARKV6X sync with FMUV6X	2023-06-09 21:17:12 -04:00
Matthias Grob	94d2140a4f	mixer_module: remove unnecessary init state That state only delayed the first arming by 50 miliseconds. Was presumably a workaround for some issue very very early on. See `cc452834c0`	2023-06-09 21:15:08 -04:00
Matthias Grob	0f256718d3	mixer_module: correct pwm ramp Before: When the mixed throttle for the motor was exactly zero the ramp went from the disarmed PWM value to the minimum PWM value. When the throttle was even just slightly different from zero the ramp made a jump up to the commanded throttle scaled between disarmed PWM and maximum PWM, then ramped between disarmed PWM and minimum PWM and at the end jumped up again to the commanded throttle scaled between minimum PWM and maximum PWM. After: The ramp goes from disarmed PWM value to the the commanded throttle scaled between minimum PWM and maximum PWM. If the commanded throttle changes during the ramp then the scale and hence also end value of the ramp changes.	2023-06-09 21:15:08 -04:00
Mathieu Bresciani	24de623989	EKF2: Zero gyro update (#21691 ) When at rest, directly fuse the gyro data as an observation of its bias. This allows to strongly observe the gyro biases without having to fuse a constant heading that makes the ekf too confident about its heading.	2023-06-09 21:13:18 -04:00
Beat Küng	c95539e8ce	boards: increase init stack size by 150B External airframes need a bit more stack due to nested configs.	2023-06-09 21:11:11 -04:00
Beat Küng	7230a6dd8e	commander: add option to exclude mag to param SYS_FAC_CAL_MODE	2023-06-09 21:05:40 -04:00
bresch	8b67fa91a1	factory cal: exclude _PRIO params	2023-06-09 21:05:40 -04:00
alessandro	f9510557a6	always trigger all cameras	2023-06-09 13:17:45 +02:00
Morten Fyhn Amundsen	135f02679a	ekf2: Fix description of EKF2_HDG_GATE	2023-06-09 11:52:55 +02:00
alexklimaj	c3db4f57df	Subscribe to all intances of gps_inject_data and mirror uavcan rtcm pub mirror gps driver	2023-06-09 14:51:28 +12:00
alexklimaj	5b8ae69f47	uavcan rtcm set max num injections	2023-06-09 14:51:28 +12:00
alexklimaj	acd19a0520	Ublox add UBX-RXM-RTCM for RTCM input status	2023-06-09 14:51:28 +12:00
Beat Küng	f119cca3b3	logger: restart on file write error This can also happen if the maximum file size is reached.	2023-06-08 09:52:49 +02:00
Hamish Willee	ea61d74c17	ADS1115: update docs (#21638 )	2023-06-08 08:55:31 +02:00