[RFC] NuttX use littlefs for F-RAM parameter storage

.ci/Jenkinsfile-compile

@@ -60,8 +60,6 @@ pipeline {
                      "holybro_kakutef7_default",
                      "holybro_pix32v5_default",
                      "matek_h743-slim",
-                     "matek_gnss-m9n-f4_canbootloader",
-                     "matek_gnss-m9n-f4_default",
                      "modalai_fc-v1_default",
                      "modalai_fc-v1_rtps",
                      "modalai_fc-v2_default",

.ci/Jenkinsfile-hardware

@@ -743,10 +743,8 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
   sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
 
   // run logger
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
@@ -780,7 +778,6 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -792,7 +789,7 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
@@ -815,8 +812,6 @@ void runTests() {
 
   sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
   sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
   sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
@@ -833,13 +828,10 @@ void runTests() {
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params/parameters.bson"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params/parameters.bson"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params/parameters.bson"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params/parameters.bson"'
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'

.github/workflows/compile_nuttx.yml

@@ -33,10 +33,8 @@ jobs:
           holybro_can-gps-v1,
           holybro_durandal-v1,
           holybro_kakutef7,
-          holybro_kakuteh7,
           holybro_pix32v5,
           matek_h743-slim,
-          matek_gnss-m9n-f4,
           modalai_fc-v1,
           modalai_fc-v2,
           mro_ctrl-zero-f7,

.vscode/cmake-variants.yaml

@@ -196,16 +196,6 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: matek_h743-slim_default
-    matek_gnss-m9n-f4_canbootloader:
-      short: matek_gnss-m9n-f4_canbootloader
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_m9nf4can_canbootloader
-    matek_gnss-m9n-f4_default:
-      short: matek_gnss-m9n-f4_default
-      buildType: MiniSizeRel
-      settings:
-        CONFIG: matek_gnss-m9n-f4_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel

CMakeLists.txt

@@ -125,11 +125,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  FULL_DOCS "List of all PX4 module libraries"
                  )
 
-define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
-                 BRIEF_DOCS "PX4 kernel side module libs"
-                 FULL_DOCS "List of all PX4 kernel module libraries"
-                 )
-
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
@@ -147,7 +142,6 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
 
 include(px4_add_module)
 set(config_module_list)
-set(config_kernel_list)
 
 # Find Python
 # If using catkin, Python 2 is found since it points

Kconfig

@@ -118,11 +118,6 @@ config BOARD_CRYPTO
     help
         Enable PX4 Crypto Support. Select the implementation under drivers
 
-config BOARD_PROTECTED
-    bool "Memory protection"
-    help
-        Enable memory protection via MPU/MMU
-
 menu "Serial ports"
 
     config BOARD_SERIAL_URT6

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2022, PX4 Development Team
+Copyright (c) 2012 - 2021, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

ROMFS/px4fmu_common/init.d-posix/rc.replay

@@ -10,7 +10,7 @@ fi
 
 if [ ! -f replay_params.txt ]; then
 	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
+	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
 fi
 
 publisher_rules_file="orb_publisher.rules"
@@ -21,7 +21,6 @@ ignore_others: false
 EOF
 
 param set SDLOG_DIRS_MAX 7
-param set SDLOG_PROFILE 3
 
 # apply all params before ekf starts, as some params cannot be changed after startup
 replay tryapplyparams

ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris

@@ -35,6 +35,6 @@ param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25
 
 param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.391030303103
+param set-default BAT1_A_PER_V 15.39103
 
 set MIXER quad_w

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -15,8 +15,6 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-param set UAVCAN_ENABLE 0
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
 

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -15,8 +15,6 @@
 set MIXER AERT
 set PWM_OUT 1234
 
-param set UAVCAN_ENABLE 0
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2
 

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -1,61 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Tailsitter Duo
-#
-# @type Simulation
-# @class VTOL
-#
-# @output MAIN1 motor right
-# @output MAIN2 motor left
-# @output MAIN5 elevon right
-# @output MAIN6 elevon left
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set UAVCAN_ENABLE 0
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_COUNT 2
-param set-default VT_TYPE 0
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
-param set-default MPC_MAN_Y_MAX 60
-param set-default MC_PITCH_P 5
-
-param set-default MAV_TYPE 19
-set MAV_TYPE 19
-set MIXER vtol_tailsitter_duo_sat
-
-set PWM_OUT 1234
-
-# set SYS_HITL to 2 to start the SIH and avoid sensors startup
-param set-default SYS_HITL 2
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
-param set SIH_MASS 0.2
-# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set SIH_IXX 0.00354
-param set SIH_IYY 0.000625
-param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
-param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
-
-# sih as tailsitter
-param set SIH_VEHICLE_TYPE 2

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name Holybro X500 V2
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Farhang Naderi <farhang.nba@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default IMU_GYRO_CUTOFF 30
-
-param set-default MC_ROLLRATE_P 0.14
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_ROLLRATE_I 0.3
-param set-default MC_PITCHRATE_I 0.3
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCHRATE_D 0.004

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -16,10 +16,8 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-# We set the mixer and ESC manually.
-set MIXER skip
-set MIXER_AUX skip
-set MIXER_FILE ""
+set MIXER none
+set MIXER_AUX none
 
 # Battery settings
 param set-default BAT_CRIT_THR 0.20
@@ -35,13 +33,12 @@ param set-default CBRK_SUPPLY_CHK 894281
 
 param set-default COM_DISARM_LAND 0.1
 param set-default COM_DISARM_PRFLT 3
-param set-default COM_DL_LOSS_T 10
-param set-default COM_FLTMODE1  2
+param set-default COM_FLTMODE1 -1
 param set-default COM_FLTMODE2 -1
 param set-default COM_FLTMODE3 -1
-param set-default COM_FLTMODE4 -1
+param set-default COM_FLTMODE4  2
 param set-default COM_FLTMODE5 -1
-param set-default COM_FLTMODE6  1
+param set-default COM_FLTMODE6  6
 param set-default COM_RC_LOSS_T 3
 
 
@@ -71,9 +68,6 @@ param set-default EKF2_OF_GATE 2.0
 param set-default EKF2_OF_POS_X -0.035
 param set-default EKF2_OF_POS_Y 0.0
 param set-default EKF2_OF_POS_Z 0.033
-param set-default EKF2_OF_MIN_RNG 0.01
-param set-default EKF2_OF_A_HMAX 7.0
-param set-default EKF2_OF_QMIN 30
 
 param set-default EKF2_PCOEF_XN -0.3
 param set-default EKF2_PCOEF_XP -0.4
@@ -148,30 +142,57 @@ param set-default MPC_Z_VEL_P 0.27
 
 # gimbal configuration
 param set-default MNT_MODE_IN 1
-param set-default MNT_MODE_OUT 1
-param set-default MNT_MAN_PITCH 2
-param set-default MNT_RC_IN_MODE 1
-param set-default MNT_RATE_PITCH 30
+param set-default MNT_MODE_OUT 2
+param set-default MNT_MAN_PITCH 1
+
 
 # RC
 param set-default RC_CHAN_CNT       12
 
 param set-default RC_MAP_THROTTLE   1
-param set-default RC_MAP_YAW        2
+param set-default RC_MAP_ROLL       2
 param set-default RC_MAP_PITCH      3
-param set-default RC_MAP_ROLL       4
-param set-default RC_MAP_AUX2       5
-param set-default RC_MAP_AUX3       10
-param set-default RC_MAP_AUX4       8
-param set-default RC_MAP_FLTMODE    6
-param set-default RC1_TRIM          1000
+param set-default RC_MAP_YAW        4
+param set-default RC_MAP_FLTMODE    5
+param set-default RC_MAP_AUX1       7
+
+param set-default RC1_DZ            10
+param set-default RC1_MAX           3413
+param set-default RC1_MIN           683
+param set-default RC1_REV           1
+param set-default RC1_TRIM          683
+param set-default RC2_DZ            10
+param set-default RC2_MAX           3413
+param set-default RC2_MIN           683
+param set-default RC2_REV           -1
+param set-default RC2_TRIM          2048
+param set-default RC3_DZ            10
+param set-default RC3_MAX           3413
+param set-default RC3_MIN           683
+param set-default RC3_REV           1
+param set-default RC3_TRIM          2048
+param set-default RC4_DZ            10
+param set-default RC4_MAX           3413
+param set-default RC4_MIN           683
+param set-default RC4_REV           -1
+param set-default RC4_TRIM          2048
+param set-default RC5_DZ            10
+param set-default RC5_MAX           3414
+param set-default RC5_MIN           2048
+param set-default RC5_REV           1
+param set-default RC5_TRIM          2048
+param set-default RC7_DZ            10
+param set-default RC7_MAX           3413
+param set-default RC7_MIN           683
+param set-default RC7_REV           1
+param set-default RC7_TRIM          2048
 
 
 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT    0
+param set-default SENS_FLOW_ROT    4
 
-# ignore the SD card errors and use normal startup sound
-set STARTUP_TUNE "1"
+
+mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix

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

@@ -40,7 +40,6 @@ px4_add_romfs_files(
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
 	1101_rc_plane_sih.hil
-	1102_tailsitter_duo_sih.hil
 
 	# [2000, 2999] Standard planes"
 	2100_standard_plane
@@ -73,7 +72,6 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4018_s500_ctrlalloc
-	4019_x500_v2
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper

ROMFS/px4fmu_common/init.d/rc.interface

@@ -45,7 +45,7 @@ fi
 #
 # Set the default output mode if none was set.
 #
-if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
+if [ $OUTPUT_MODE = none ]
 then
 	if [ $USE_IO = yes ]
 	then
@@ -72,7 +72,7 @@ fi
 #
 # If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
 #
-if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
+if [ $OUTPUT_MODE != none ]
 then
 
 	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -7,10 +7,7 @@
 
 set VEHICLE_TYPE mc
 
-if param compare IMU_GYRO_RATEMAX 400
-then
-	param set-default IMU_GYRO_RATEMAX 800
-fi
+param set-default IMU_GYRO_RATEMAX 800
 
 param set-default NAV_ACC_RAD 2
 

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -130,13 +130,6 @@ then
 	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 MS4525 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525 1
 then

ROMFS/px4fmu_common/init.d/rcS

@@ -127,7 +127,7 @@ else
 	#
 	if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
 	then
-		set PARAM_FILE /fs/mtd_params
+		set PARAM_FILE /fs/mtd_params/parameters.bson
 	fi
 
 	#
@@ -291,9 +291,15 @@ else
 		# Start core UAVCAN module.
 		if uavcan start
 		then
-			if param greater UAVCAN_ENABLE 2
+			if param greater UAVCAN_ENABLE 1
 			then
-				set OUTPUT_MODE uavcan_esc
+				# Start UAVCAN firmware update server and dynamic node ID allocation server.
+				uavcan start fw
+
+				if param greater UAVCAN_ENABLE 2
+				then
+					set OUTPUT_MODE uavcan_esc
+				fi
 			fi
 		else
 			tune_control play error
@@ -409,6 +415,17 @@ else
 		commander start
 	fi
 
+
+	#
+	# Play the startup tune (if not disabled or there is an error)
+	#
+	param compare CBRK_BUZZER 782090
+	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
+	then
+		tune_control play -t $STARTUP_TUNE
+	fi
+
+
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -427,7 +444,7 @@ else
 	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
 	if [ -f $BOARD_RC_MAVLINK ]
 	then
-		echo "Board mavlink: ${BOARD_RC_MAVLINK}"
+		echo "Board extras: ${BOARD_RC_MAVLINK}"
 		. $BOARD_RC_MAVLINK
 	fi
 	unset BOARD_RC_MAVLINK
@@ -466,15 +483,6 @@ else
 	#
 	. ${R}etc/init.d/rc.vehicle_setup
 
-	#
-	# Play the startup tune (if not disabled or there is an error)
-	#
-	param compare CBRK_BUZZER 782090
-	if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]
-	then
-		tune_control play -t $STARTUP_TUNE
-	fi
-
 	#
 	# Start the navigator.
 	#

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -90,5 +90,4 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
-	vtol_tailsitter_duo_sat.main.mix
 )

ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo_sat.main.mix

@@ -1,39 +0,0 @@
-Tailsitter duo mixer
-============================
-
-This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
-has two motors in total, one attached to each wing. It also has two elevons which
-are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
-elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
-at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
-
-Motor mixer
-------------
-Channel 1 connects to the right (starboard) motor.
-Channel 2 connects to the left (port) motor.
-
-R: 2-
-
-Zero mixer (2x)
----------------
-Channels 3,4 are unused.
-
-Z:
-
-Z:
-
-Elevons mixer
---------------
-Channel 5 connects to the right (starboard) elevon.
-Channel 6 connects to the left (port) elevon.
-Here we saturate the elevons before their full range
-to avoid roll-pitch-yaw coupling during faster maneuvers
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1   10000   10000    0 -6000  6000
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1  -10000  -10000    0 -6000  6000

Tools/HIL/test_airframes.sh

@@ -48,8 +48,7 @@ do
 
 	${DIR}/reboot.py --device ${SERIAL_DEVICE}
 
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params/parameters.bson' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
 
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'

Tools/gazebo_sitl_multiple_run.sh

@@ -39,7 +39,7 @@ function spawn_model() {
 
 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
 
-	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.83
+	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.0
 
 	popd &>/dev/null
 

Tools/jmavsim_run.sh

@@ -10,7 +10,7 @@ extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-while getopts ":b:d:p:qsr:f:i:loat" opt; do
+while getopts ":b:d:p:qsr:f:i:loa" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -40,10 +40,7 @@ while getopts ":b:d:p:qsr:f:i:loat" opt; do
 			extra_args="$extra_args -disponly"
 			;;
 		a)
-			extra_args="$extra_args -fw" # aircraft model
-			;;
-		t)
-			extra_args="$extra_args -ts" # tailsitter model
+			extra_args="$extra_args -fw" # aircraft
 			;;
 		\?)
 			echo "Invalid option: -$OPTARG" >&2

Tools/kconfig/cmake_kconfig_lut.txt

@@ -156,6 +156,7 @@ bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
 dmesg,CONFIG_SYSTEMCMDS_DMESG=y
 dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
 dyn,CONFIG_SYSTEMCMDS_DYN=y
+esc_calib,CONFIG_SYSTEMCMDS_ESC_CALIB=y
 failure,CONFIG_SYSTEMCMDS_FAILURE=y
 gpio,CONFIG_SYSTEMCMDS_GPIO=y
 hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -164,6 +165,7 @@ led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
 mft,CONFIG_SYSTEMCMDS_MFT=y
 microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
 mixer,CONFIG_SYSTEMCMDS_MIXER=y
+motor_ramp,CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 mtd,CONFIG_SYSTEMCMDS_MTD=y
 netman,CONFIG_SYSTEMCMDS_NETMAN=y

Tools/module_config/generate_actuators_metadata.py

@@ -142,6 +142,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
         }
     if 'show_subgroups_if' in actuator_output_yaml:
         actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
+    add_reverse_range_param = actuator_output_yaml.get('add_reverse_range_param', False)
 
     # config parameters
     def get_config_params(param_list):
@@ -256,13 +257,14 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                 per_channel_params.append(param)
 
 
-        param = {
-                'label': 'Rev Range\n(for Servos)',
-                'name': param_prefix+'_REV',
-                'index-offset': -1,
-                'show-as': 'bitset',
-            }
-        per_channel_params.append(param)
+        if add_reverse_range_param:
+            param = {
+                    'label': 'Rev Range\n(for Servos)',
+                    'name': param_prefix+'_REV',
+                    'index-offset': -1,
+                    'show-as': 'bitset',
+                }
+            per_channel_params.append(param)
 
         # TODO: support non-standard per-channel parameters
 

Tools/module_config/generate_params.py

@@ -178,6 +178,7 @@ def get_actuator_output_params(yaml_config, output_functions,
     all_params = {}
     group_idx = 0
 
+    add_reverse_range_param = yaml_config['actuator_output'].get('add_reverse_range_param', False)
     all_param_prefixes = {}
 
     def add_local_param(param_name, param_def):
@@ -298,9 +299,13 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
         minimum_description = \
 '''Minimum output value (when not disarmed).
+
+The output range can be reversed by setting Min > Max.
 '''
         maximum_description = \
 '''Maxmimum output value (when not disarmed).
+
+The output range can be reversed by setting Min > Max.
 '''
         failsafe_description = \
 '''This is the output value that is set when in failsafe mode.
@@ -341,29 +346,29 @@ When set to -1 (default), the value depends on the function (see {:}).
                     }
                 add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
 
-    # add reverse range param
-    for param_prefix in all_param_prefixes:
-        groups = all_param_prefixes[param_prefix]
-        # collect the bits
-        channel_bits = {}
-        for instance_start, instance_start_label, num_instances, label in groups:
-            for instance in range(instance_start, instance_start+num_instances):
-                instance_label = instance - instance_start + instance_start_label
-                channel_bits[instance-1] = label + ' ' + str(instance_label)
+    if add_reverse_range_param:
+        for param_prefix in all_param_prefixes:
+            groups = all_param_prefixes[param_prefix]
+            # collect the bits
+            channel_bits = {}
+            for instance_start, instance_start_label, num_instances, label in groups:
+                for instance in range(instance_start, instance_start+num_instances):
+                    instance_label = instance - instance_start + instance_start_label
+                    channel_bits[instance-1] = label + ' ' + str(instance_label)
 
-        param = {
-            'description': {
-                'short': 'Reverse Output Range for '+module_name,
-                'long':
+            param = {
+                'description': {
+                    'short': 'Reverse Output Range for '+module_name,
+                    'long':
 '''Allows to reverse the output range for each channel.
 Note: this is only useful for servos.
 '''.format(channel_label),
-                },
-            'type': 'bitmask',
-            'default': 0,
-            'bit': channel_bits
-            }
-        add_local_param(param_prefix+'_REV', param)
+                    },
+                'type': 'bitmask',
+                'default': 0,
+                'bit': channel_bits
+                }
+            add_local_param(param_prefix+'_REV', param)
 
     if verbose: print('adding actuator params: {:}'.format(all_params))
     return all_params

Tools/setup/arch.sh

@@ -48,6 +48,7 @@ echo "Installing PX4 general dependencies"
 sudo pacman -Sy --noconfirm --needed \
 	astyle \
 	base-devel \
+	ccache \
 	clang \
 	cmake \
 	cppcheck \

Tools/setup/ubuntu.sh

@@ -77,6 +77,7 @@ sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 	astyle \
 	build-essential \
+	ccache \
 	cmake \
 	cppcheck \
 	file \
@@ -100,6 +101,12 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	zip \
 	;
 
+if [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
+	echo "Installing Ubuntu 16.04 PX4-compatible ccache version"
+	wget -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
+	sudo dpkg -i /tmp/ccache_3.4.1-1_amd64.deb
+fi
+
 # Python3 dependencies
 echo
 echo "Installing PX4 Python3 dependencies"

Tools/uorb_graph/create.py

@@ -56,21 +56,6 @@ def get_N_colors(N, s=0.8, v=0.9):
         hex_out.append("#"+"".join(map(lambda x: format(x, '02x'), rgb)))
     return hex_out
 
-def topic_filename(topic):
-    MSG_PATH = 'msg/'
-
-    file_list = os.listdir(MSG_PATH)
-    msg_files = [file.replace('.msg', '') for file in file_list if file.endswith(".msg")]
-
-    if topic in msg_files:
-        return topic
-    else:
-        for msg_file in msg_files:
-            with open(f'{MSG_PATH}/{msg_file}.msg') as f:
-                ret = re.findall(f'^# TOPICS.*{topic}.*',f.read(),re.MULTILINE)
-                if len(ret) > 0:
-                    return msg_file
-    return "no_file"
 
 class PubSub(object):
     """ Collects either publication or subscription information for nodes
@@ -694,7 +679,8 @@ class OutputJSON(object):
             node['type'] = 'topic'
             node['color'] = topic_colors[topic]
             # url is opened when double-clicking on the node
-            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic_filename(topic)+'.msg'
+            # TODO: does not work for multi-topics
+            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic+'.msg'
             nodes.append(node)
 
         data['nodes'] = nodes

boards/airmind/mindpx-v2/default.px4board

@@ -79,12 +79,14 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/airmind/mindpx-v2/init/rc.board_defaults

@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 10.177939394
-param set-default BAT1_A_PER_V 15.391030303

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -67,6 +67,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -126,7 +127,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y

boards/airmind/mindpx-v2/src/board_config.h

@@ -72,6 +72,12 @@
 #define ADC_RC_RSSI_CHANNEL		11
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15
 
+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV   (10.177939394f)
+#define BOARD_BATTERY1_A_PER_V (15.391030303f)
+
 /* Power supply control and monitoring GPIOs */
 // #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
 // #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)

boards/ark/can-flow/nuttx-config/nsh/defconfig

@@ -49,6 +49,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -103,7 +104,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0

boards/ark/can-flow/src/CMakeLists.txt

@@ -61,5 +61,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()

boards/ark/can-gps/nuttx-config/nsh/defconfig

@@ -49,6 +49,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -105,7 +106,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0

boards/ark/can-gps/src/CMakeLists.txt

@@ -63,5 +63,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()

boards/ark/can-rtk-gps/init/rc.board_defaults

@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------
 
 param set-default CBRK_IO_SAFETY 0
-param set-default CANNODE_GPS_RTCM 1
 
 safety_button start
 tone_alarm start

boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig

@@ -49,6 +49,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -105,7 +106,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0

boards/ark/can-rtk-gps/src/CMakeLists.txt

@@ -63,5 +63,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()

boards/atl/mantis-edu/cmake/upload.cmake

@@ -1,46 +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.
-#
-############################################################################
-
-
-set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
-
-# The file needs to have that name in order to be updated automatically.
-set(UPLOAD_NAME autopilot.px4)
-
-add_custom_target(upload_wifi
-	COMMAND ${CMAKE_COMMAND} -E copy ${PX4_FW_NAME} ${UPLOAD_NAME}
-	COMMAND ${PX4_SOURCE_DIR}/boards/atl/mantis-edu/upload.sh ${UPLOAD_NAME}
-	DEPENDS ${PX4_FW_NAME}
-	COMMENT "uploading autopilot.px4 file"
-	USES_TERMINAL
-)

boards/atl/mantis-edu/default.px4board

@@ -4,8 +4,6 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_BAROMETER_MAIERTEK_MPC2520=y
-CONFIG_DRIVERS_TAP_ESC=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -39,6 +37,7 @@ CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y

boards/atl/mantis-edu/init/rc.board_defaults

@@ -5,8 +5,6 @@
 
 param set-default SYS_AUTOSTART 4061
 
-param set-default BAT1_V_DIV 9.0
-
 param set-default COM_ARM_SDCARD 0
 
 param set-default SENS_EXT_I2C_PRB 0
@@ -18,7 +16,7 @@ param set-default SENS_MAG_MODE 0
 
 param set-default EV_TSK_STAT_DIS 1
 
-param set-default SYS_DM_BACKEND 1
+set LOGGER_ARGS "-m mavlink"
 
-# Use MAVLink log streaming
-set LOGGER_ARGS "-m mavlink -c 0.5"
+# Start esc
+tap_esc start -d /dev/ttyS4 -n 4

boards/atl/mantis-edu/init/rc.board_extras

@@ -1,5 +0,0 @@
-#!/bin/sh
-
-tap_esc start -d /dev/ttyS4 -n 4
-sleep 1
-mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix

boards/atl/mantis-edu/nuttx-config/nsh/defconfig

@@ -72,6 +72,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -135,7 +136,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
@@ -204,7 +205,7 @@ CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=3000
+CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=1500

boards/atl/mantis-edu/nuttx-config/scripts/script.ld

@@ -103,7 +103,7 @@ SECTIONS
 		This signature provides the bootloader with a way to delay booting
 		*/
 		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xb4ecc2925d7d05c5)
+		FILL(0xffecc2925d7d05c5)
 		. += 8;
 		*(.main_toc)
 		*(.text .text.*)

boards/atl/mantis-edu/src/CMakeLists.txt

@@ -39,7 +39,7 @@ add_library(drivers_board
 	spi.cpp
 	timer_config.cpp
 	usb.c
-	pwr.cpp
+	pwr.c
 )
 add_dependencies(drivers_board arch_board_hw_info)
 

boards/atl/mantis-edu/src/board_config.h

@@ -59,13 +59,6 @@
 #define BOARD_ARMED_STATE_LED  LED_BLUE
 
 #define FLASH_BASED_PARAMS
-#define RAM_BASED_MISSIONS
-
-// Hacks for MAVLink RC button input
-#define ATL_MANTIS_RC_INPUT_HACKS
-
-// Hacks for MAVLink RC button input
-#define ATL_MANTIS_RC_INPUT_HACKS
 
 /*
  * ADC channels
@@ -105,6 +98,9 @@
 	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
 	 (1 << ADC1_SPARE_1_CHANNEL))
 
+/* Define Battery 1 Voltage Divider and A per V */
+#define BOARD_BATTERY1_V_DIV         (9.0f)     /* measured with the provided PM board */
+
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
 
@@ -151,8 +147,9 @@
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE
 
+#define BOARD_HAS_POWER_CONTROL	1
 /* power on/off */
-#define MS_PWR_BUTTON_DOWN 750
+#define MS_PWR_BUTTON_DOWN 1500
 #define KEY_AD_GPIO    (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTC|GPIO_PIN4)
 #define POWER_ON_GPIO  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
 #define POWER_OFF_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)

boards/atl/mantis-edu/src/init.c

@@ -114,8 +114,6 @@ static void cam_pwr_on_pulse(void)
 	static bool pwr_on_flag = false;
 
 	if (pwr_on_flag == false) {
-		// This is now done in the bootloader.
-		// However, for transition we can leave it in.
 		up_mdelay(700);
 		stm32_configgpio(GPIO_CAM_PWR_ON_H);
 		up_mdelay(20);

boards/atl/mantis-edu/src/pwr.c

@@ -53,7 +53,8 @@
 #include <nuttx/arch.h>
 
 #include <uORB/uORB.h>
-#include <uORB/Publication.hpp>
+#include <uORB/topics/led_control.h>
+#include <uORB/topics/tune_control.h>
 
 #include <arm_arch.h>
 #include "board_config.h"

boards/atl/mantis-edu/upload.sh

@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-PX4_BINARY_FILE="$1"
-
-echo "uploading: $PX4_BINARY_FILE"
-
-PX4_BINARY_FILE_SIZE=$(stat -c%s "$PX4_BINARY_FILE")
-curl -v -F "image=@$PX4_BINARY_FILE" -H "Expect:" -H "File-Size:$PX4_BINARY_FILE_SIZE" http://192.168.42.1/cgi-bin/upload
-

boards/av/x-v1/default.px4board

@@ -39,6 +39,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -62,7 +63,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -73,15 +73,17 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/av/x-v1/init/rc.board_defaults

@@ -5,5 +5,3 @@
 
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281
-
-param set-default BAT1_V_DIV 10.13

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -77,6 +77,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -157,7 +158,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y

boards/av/x-v1/src/board_config.h

@@ -88,6 +88,12 @@
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL))
 
+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV         (10.133333333f)
+#define BOARD_BATTERY1_A_PER_V       (36.367515152f)
+
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 
 #define BOARD_ADC_OPEN_CIRCUIT_V               (5.6f)

boards/beaglebone/blue/default.px4board

@@ -59,8 +59,10 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y

boards/beaglebone/blue/init/rc.board_defaults

@@ -1,6 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 11.0

boards/beaglebone/blue/src/board_config.h

@@ -42,6 +42,8 @@
 #define BOARD_OVERRIDE_UUID "BBBLUEID00000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_BBBLUE
 
+#define BOARD_BATTERY1_V_DIV   (11.0f)
+
 #define BOARD_MAX_LEDS 4 // Number external of LED's this board has
 
 

boards/bitcraze/crazyflie/default.px4board

@@ -15,9 +15,7 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
@@ -25,6 +23,7 @@ CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y

boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig

@@ -67,6 +67,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -123,7 +124,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_NNESTPRIO=8

boards/bitcraze/crazyflie/src/mtd.cpp

@@ -42,18 +42,12 @@ static const px4_mft_device_t i2c1 = {             // 24AA64FT on Base  8K 32 X
 
 static const px4_mtd_entry_t fmu_eeprom = {
 	.device = &i2c1,
-	.npart = 2,
+	.npart = 1,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = 128
-		},
-		{
-			.type = MTD_WAYPOINTS,
-			.path = "/fs/mtd_waypoints",
-			.nblocks = 128
-
+			.nblocks = 256
 		}
 	},
 };

boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig

@@ -122,7 +122,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_NNESTPRIO=8

boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig

@@ -50,6 +50,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -106,7 +107,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0

boards/cuav/can-gps-v1/src/CMakeLists.txt

@@ -61,5 +61,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()

boards/cuav/nora/default.px4board

@@ -82,6 +82,7 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y

boards/cuav/nora/nuttx-config/nsh/defconfig

@@ -71,6 +71,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -135,7 +136,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y

boards/cuav/x7pro/default.px4board

@@ -83,6 +83,7 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y

boards/cuav/x7pro/nuttx-config/nsh/defconfig

@@ -71,6 +71,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -134,7 +135,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y

boards/cubepilot/cubeorange/default.px4board

@@ -78,12 +78,14 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig

@@ -72,6 +72,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -136,7 +137,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y

boards/cubepilot/cubeorange/nuttx-config/test/defconfig

@@ -71,6 +71,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -134,7 +135,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y

boards/cubepilot/cubeorange/src/board_config.h

@@ -149,6 +149,7 @@
 #define BOARD_HAS_STATIC_MANIFEST 1
 
 
+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
 

boards/cubepilot/cubeorange/test.px4board

@@ -3,6 +3,7 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_ROBOCLAW=n
 CONFIG_DRIVERS_RPM=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n

boards/cubepilot/cubeyellow/default.px4board

@@ -80,12 +80,14 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig

@@ -73,6 +73,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -136,7 +137,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y

boards/cubepilot/cubeyellow/src/board_config.h

@@ -144,6 +144,7 @@
 #define BOARD_HAS_STATIC_MANIFEST 1
 
 
+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
 

boards/emlid/navio2/default.px4board

@@ -61,8 +61,10 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y

boards/emlid/navio2/init/rc.board_defaults

@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 10.177939394
-param set-default BAT1_A_PER_V 15.391030303
-

boards/emlid/navio2/src/board_config.h

@@ -42,6 +42,9 @@
 #define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_RPI
 
+#define BOARD_BATTERY1_V_DIV   (10.177939394f)
+#define BOARD_BATTERY1_A_PER_V (15.391030303f)
+
 #define BOARD_MAX_LEDS 1 // Number of external LED's this board has
 
 

boards/freefly/can-rtk-gps/init/rc.board_defaults

@@ -1,6 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default CANNODE_GPS_RTCM 1

boards/freefly/can-rtk-gps/nuttx-config/nsh/defconfig

@@ -61,6 +61,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -120,7 +121,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0

boards/freefly/can-rtk-gps/src/CMakeLists.txt

@@ -62,5 +62,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()

boards/holybro/can-gps-v1/nuttx-config/nsh/defconfig

@@ -50,6 +50,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
@@ -106,7 +107,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0

boards/holybro/can-gps-v1/src/CMakeLists.txt

@@ -68,5 +68,6 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
+			arch_io_pins
 	)
 endif()

boards/holybro/durandal-v1/default.px4board

@@ -75,12 +75,14 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/holybro/durandal-v1/init/rc.board_defaults

@@ -1,13 +1,7 @@
 #!/bin/sh
 #
-# board specific defaults
+# Holybro Durandal V1 specific board defaults
 #------------------------------------------------------------------------------
 
-param set-default BAT1_V_DIV 18.1
-param set-default BAT2_V_DIV 18.1
-
-param set-default BAT1_A_PER_V 36.367515152
-param set-default BAT2_A_PER_V 36.367515152
-
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1

boards/holybro/durandal-v1/nuttx-config/nsh/defconfig

@@ -72,6 +72,7 @@ CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
@@ -136,7 +137,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y

boards/holybro/durandal-v1/src/board_config.h

@@ -140,6 +140,12 @@
 	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
 	 (1 << ADC1_3V3_IN_CHANNEL))
 
+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV         (18.1f)     /* measured with the provided PM board */
+#define BOARD_BATTERY1_A_PER_V       (36.367515152f)
+
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
@@ -181,6 +187,7 @@
 
 #define BOARD_NUM_IO_TIMERS 4
 
+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 9, 8};
 
 /* Power supply control and monitoring GPIOs */
 

boards/holybro/kakutef7/init/rc.board_defaults

@@ -3,9 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
-param set-default BAT1_V_DIV 10.9
-param set-default BAT1_A_PER_V 17
-
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281
 

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -136,7 +136,7 @@ CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_LPWORKSTACKSIZE=1932
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_NNESTPRIO=8

boards/holybro/kakutef7/src/board_config.h

@@ -92,6 +92,11 @@
 	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
 	 (1 << ADC_RSSI_IN_CHANNEL))
 
+/* Define Battery 1 Voltage Divider and A per V
+ */
+#define BOARD_BATTERY1_V_DIV         (10.9f)
+#define BOARD_BATTERY1_A_PER_V       (17.f)
+
 /* PWM
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS  6

boards/holybro/kakuteh7/bootloader.px4board

@@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""

boards/holybro/kakuteh7/default.px4board

@@ -1,92 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_COMMON_BAROMETERS=y
-CONFIG_DRIVERS_BATT_SMBUS=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_OSD=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_PWM_OUT_SIM=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
-CONFIG_COMMON_TELEMETRY=y
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_ESC_BATTERY=y
-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_POS_CONTROL_L1=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIH=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VMOUNT=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PWM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/holybro/kakuteh7/firmware.prototype

@@ -1,13 +0,0 @@
-{
-    "board_id": 1048,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the KakuteH7 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "KAKUTEH7",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1835008,
-    "git_identity": "",
-    "board_revision": 0
-}