boards: CUAV-x7pro: reoder brick to fixed cuav hvpm cannot detect voltage

boards: cubepilot_cubeorange only start ADSB mavlink if console not present
- cubepilot_cubeorange_test has the console enabled (used for test rack and bench debugging)
2026-05-23 17:37:34 +08:00 · 2021-10-19 12:36:47 -04:00 · 2021-09-06 11:57:42 -04:00 · 2021-09-06 10:28:52 -04:00 · 2021-09-06 10:28:17 -04:00 · 2021-09-06 10:26:49 -04:00
44 changed files with 390 additions and 305 deletions
@@ -673,153 +673,6 @@ pipeline {
          }
        }

-        stage("modalai_fc-v1_test") {
-          stages {
-            stage("build modalai_fc-v1_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
-                sh 'make modalai_fc-v1_test'
-                sh 'make sizes'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
-              }
-              post {
-                always {
-                    sh 'make distclean'
-                }
-              }
-            } // stage build
-            stage("test") {
-              agent {
-                label 'modalai_fc-v1'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'modalai_fc-v1_test'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                  }
-                }
-                stage("configure") {
-                  steps {
-                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
-                    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 "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
-                  }
-                }
-                stage("status") {
-                  steps {
-                    statusFTDI()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
-                  }
-                }
-                stage("reset") {
-                  steps {
-                    cleanupFTDI()
-                  }
-                }
-              }
-            } // stage test
-          }
-        }
-
-        stage("holybro_durandal-v1_test") {
-          stages {
-            stage("build holybro_durandal-v1_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-04-29'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
-                sh 'make holybro_durandal-v1_test'
-                sh 'make sizes'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_test'
-              }
-              post {
-                always {
-                    sh 'make distclean'
-                }
-              }
-            } // stage build
-            stage("test") {
-              agent {
-                label 'holybro_durandal-v1'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'holybro_durandal-v1_test'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_test/holybro_durandal-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                  }
-                }
-                stage("configure") {
-                  steps {
-                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
-                    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 "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
-                  }
-                }
-                stage("status") {
-                  steps {
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dshot status"'
-                    statusFTDI()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
-                  }
-                }
-                stage("reset") {
-                  steps {
-                    cleanupFTDI()
-                  }
-                }
-              }
-            } // stage test
-          }
-        }
-
        stage("nxp_fmuk66-v3_test") {
          stages {
            stage("build nxp_fmuk66-v3_test") {
@@ -128,7 +128,7 @@ else
 	then
 		param reset_all
 	fi
-	if ver hwtypecmp V5X00 V5X90 V5Xa0
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
 	then
 		netman update -i eth0
 	fi
@@ -60,6 +60,8 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

+#include <mpu.h>
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -127,6 +129,16 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -117,8 +117,8 @@
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)

-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_CAN /* Brick 1 is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen  */
+#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_ADC /* Brick 1 is Chosen */
+#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_CAN /* Brick 2 is Chosen  */
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C   /* USB     is Chosen */

 #define GPIO_VDD_5V_HIPOWER_EN          /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
@@ -60,6 +60,8 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

+#include <mpu.h>
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -127,6 +129,16 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -15,7 +15,7 @@ px4_add_board(
 		TEL2:/dev/ttyS1
 		GPS1:/dev/ttyS2
 		# PX4IO:/dev/ttyS3
-		TEL3:/dev/ttyS4
+		# TEL3:/dev/ttyS4  # connected to ADS-B receiver
 		GPS2:/dev/ttyS5
 	DRIVERS
 		adc/ads1115
@@ -5,3 +5,9 @@

 # Start MAVLink on the USB port
 mavlink start -d /dev/ttyACM0
+
+# Start ADS-B receiver mavlink connection if console not present
+if [ ! -e /dev/console ]
+then
+	mavlink start -d /dev/ttyS4 -b 57600 -m minimal
+fi
@@ -62,7 +62,7 @@
 #define GPIO_nLED_AMBER        /* PE12 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

 #define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#define BOARD_ARMED_STATE_LED  LED_AMBER
+#define BOARD_ARMED_LED  LED_AMBER

 /* ADC channels */
 #define PX4_ADC_GPIO  \
@@ -60,6 +60,8 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

+#include <mpu.h>
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -118,6 +120,16 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -62,7 +62,7 @@
 #define GPIO_nLED_AMBER        /* PE12 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

 #define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#define BOARD_ARMED_STATE_LED  LED_AMBER
+#define BOARD_ARMED_LED  LED_AMBER

 /* ADC channels */
 #define PX4_ADC_GPIO  \
@@ -27,7 +27,7 @@ CONFIG_FDCLONE_DISABLE=y
 CONFIG_FDCLONE_STDIO=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=280
+CONFIG_IDLETHREAD_STACKSIZE=316
 CONFIG_MAX_TASKS=2
 CONFIG_MM_FILL_ALLOCATIONS=y
 CONFIG_MM_SMALL=y
@@ -75,6 +75,8 @@
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>

+#include <mpu.h>
+
 /****************************************************************************
 * Pre-Processor Definitions
 ****************************************************************************/
@@ -160,6 +162,16 @@ __EXPORT void board_on_reset(int status)
 __EXPORT void
 stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	board_on_reset(-1); /* Reset PWM first thing */

 	/* configure LEDs */
@@ -60,6 +60,8 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

+#include <mpu.h>
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -121,6 +123,16 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -60,6 +60,8 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

+#include <mpu.h>
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -121,6 +123,16 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -60,6 +60,8 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>

+#include <mpu.h>
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -121,6 +123,16 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -235,6 +235,25 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

+	/* set up the serial DMA polling */
+#ifdef SERIAL_HAVE_DMA
+	static struct hrt_call serial_dma_call;
+	struct timespec ts;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)kinetis_serial_dma_poll,
+		       NULL);
+#endif
+
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -235,6 +235,25 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

+	/* set up the serial DMA polling */
+#ifdef SERIAL_HAVE_DMA
+	static struct hrt_call serial_dma_call;
+	struct timespec ts;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)kinetis_serial_dma_poll,
+		       NULL);
+#endif
+
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -76,7 +76,7 @@ px4_add_board(
 		#gyro_fft
 		land_detector
 		#landing_target_estimator
-		load_mon
+		#load_mon
 		#local_position_estimator
 		logger
 		mavlink
@@ -118,7 +118,7 @@ px4_add_board(
 		#sd_bench
 		#serial_test
 		#system_time
-		top
+		#top
 		#topic_listener
 		tune_control
 		#uorb
@@ -48,7 +48,7 @@ px4_add_board(
 		#events
 		land_detector
 		landing_target_estimator
-		load_mon
+		#load_mon
 		#local_position_estimator
 		logger
 		mavlink
@@ -23,7 +23,8 @@ px4_add_board(
 	DRIVERS
 		adc/ads1115
 		adc/board_adc
-		barometer # all available barometer drivers
+		#barometer # all available barometer drivers
+		barometer/ms5611
 		batt_smbus
 		camera_capture
 		camera_trigger
@@ -116,7 +117,7 @@ px4_add_board(
 		perf
 		pwm
 		reboot
-		reflect
+		#reflect
 		sd_bench
 		#serial_test
 		system_time
@@ -55,17 +55,20 @@ else

 fi

+# 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 1 -R 10 start
+
 # Possible internal Baro

 # 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
-	if ver hwtypecmp V5X91 V5Xa1
+	if ver hwtypecmp V5X00 V5X90 V5Xa0
 	then
-		bmp388 -X -b 2 start
-	else
 		bmp388 -I start
+	else
+		bmp388 -X -b 2 start
 	fi

 fi
@@ -21,6 +21,9 @@ icm20649 -R 14 -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 1 -R 10 start
+
 # Possible internal Baro
 bmp388 -I -a 0x77 start

@@ -27,7 +27,7 @@ CONFIG_FDCLONE_DISABLE=y
 CONFIG_FDCLONE_STDIO=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=280
+CONFIG_IDLETHREAD_STACKSIZE=316
 CONFIG_MAX_TASKS=2
 CONFIG_MM_FILL_ALLOCATIONS=y
 CONFIG_MM_SMALL=y
@@ -642,7 +642,7 @@ void I2CSPIDriverBase::print_status()
 	bool is_i2c_bus = _bus_option == I2CSPIBusOption::I2CExternal || _bus_option == I2CSPIBusOption::I2CInternal;

 	if (is_i2c_bus) {
-		PX4_INFO("Running on I2C Bus %i, Address 0x%02X", _bus, _i2c_address);
+		PX4_INFO("Running on I2C Bus %i, Address 0x%02X", _bus, get_i2c_address());

 	} else {
 		PX4_INFO("Running on SPI Bus %i", _bus);
@@ -62,11 +62,13 @@ class I2CSPIInstance : public ListNode<I2CSPIInstance *>
 {
 public:
 	virtual ~I2CSPIInstance() = default;
+	virtual int8_t  get_i2c_address() {return _i2c_address;}

 private:
 	I2CSPIInstance(const char *module_name, I2CSPIBusOption bus_option, int bus, uint8_t i2c_address, uint16_t type)
 		: _module_name(module_name), _bus_option(bus_option), _bus(bus), _type(type), _i2c_address(i2c_address) {}

+
 	friend class BusInstanceIterator;
 	friend class I2CSPIDriverBase;

@@ -96,6 +96,7 @@ private:

 	IntrusiveQueue<WorkItem *>	_q;
 	px4_sem_t			_process_lock;
+	px4_sem_t			_exit_lock;
 	const wq_config_t		&_config;
 	BlockingList<WorkItem *>	_work_items;
 	px4::atomic_bool		_should_exit{false};
@@ -59,11 +59,20 @@ WorkQueue::WorkQueue(const wq_config_t &config) :

 	px4_sem_init(&_process_lock, 0, 0);
 	px4_sem_setprotocol(&_process_lock, SEM_PRIO_NONE);
+
+	px4_sem_init(&_exit_lock, 0, 1);
+	px4_sem_setprotocol(&_exit_lock, SEM_PRIO_NONE);
 }

 WorkQueue::~WorkQueue()
 {
+
 	work_lock();
+
+	// Synchronize with ::Detach
+	px4_sem_wait(&_exit_lock);
+	px4_sem_destroy(&_exit_lock);
+
 	px4_sem_destroy(&_process_lock);
 	work_unlock();

@@ -83,11 +92,14 @@ bool WorkQueue::Attach(WorkItem *item)
 	}

 	work_unlock();
+
 	return false;
 }

 void WorkQueue::Detach(WorkItem *item)
 {
+	bool exiting = false;
+
 	work_lock();

 	_work_items.remove(item);
@@ -96,11 +108,21 @@ void WorkQueue::Detach(WorkItem *item)
 		// shutdown, no active WorkItems
 		PX4_DEBUG("stopping: %s, last active WorkItem closing", _config.name);

+		// Deletion of this work queue might happen right after request_stop or
+		// SignalWorkerThread. Use a separate lock to prevent premature deletion
+		px4_sem_wait(&_exit_lock);
+		exiting = true;
 		request_stop();
 		SignalWorkerThread();
 	}

 	work_unlock();
+
+	// In case someone is deleting this wq already, signal
+	// that it is now allowed
+	if (exiting) {
+		px4_sem_post(&_exit_lock);
+	}
 }

 void WorkQueue::Add(WorkItem *item)
@@ -328,6 +328,8 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 		if (ret == OK) {
 			/* check for DMA errors */
 			if (_rx_dma_status & DMA_STATUS_TEIF) {
+				// stream transfer error, ensure TX DMA is also stopped before exiting early
+				stm32_dmastop(_tx_dma);
 				perf_count(_pc_dmaerrs);
 				ret = -EIO;
 				break;
@@ -373,6 +373,8 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 		if (ret == OK) {
 			/* check for DMA errors */
 			if (_rx_dma_status & DMA_STATUS_TEIF) {
+				// stream transfer error, ensure TX DMA is also stopped before exiting early
+				stm32_dmastop(_tx_dma);
 				perf_count(_pc_dmaerrs);
 				ret = -EIO;
 				break;
@@ -34,7 +34,8 @@
 /**
 * @file rgbled_ncp5623c.cpp
 *
- * Driver for the onboard RGB LED controller (NCP5623C) connected via I2C.
+ * Driver for the onboard RGB LED controller (NCP5623B or NCP5623C)
+ * connected via I2C.
 *
 * @author CUAVcaijie <caijie@cuav.net>
 */
@@ -52,21 +53,22 @@

 using namespace time_literals;

-#define ADDR			0x39	/**< I2C adress of NCP5623C */
+#define NCP5623B_ADDR       0x38  /**< I2C address of NCP5623B */
+#define NCP5623C_ADDR       0x39  /**< I2C address of NCP5623C */

-#define NCP5623_LED_CURRENT	0x20	/**< Current register */
-#define NCP5623_LED_PWM0	0x40	/**< pwm0 register */
-#define NCP5623_LED_PWM1	0x60	/**< pwm1 register */
-#define NCP5623_LED_PWM2	0x80	/**< pwm2 register */
+#define NCP5623_LED_CURRENT 0x20  /**< Current register */
+#define NCP5623_LED_PWM0    0x40  /**< pwm0 register */
+#define NCP5623_LED_PWM1    0x60  /**< pwm1 register */
+#define NCP5623_LED_PWM2    0x80  /**< pwm2 register */

-#define NCP5623_LED_BRIGHT	0x1f	/**< full brightness */
-#define NCP5623_LED_OFF		0x00	/**< off */
+#define NCP5623_LED_BRIGHT  0x1f  /**< full brightness */
+#define NCP5623_LED_OFF     0x00  /**< off */


 class RGBLED_NCP5623C : public device::I2C, public I2CSPIDriver<RGBLED_NCP5623C>
 {
 public:
-	RGBLED_NCP5623C(I2CSPIBusOption bus_option, const int bus, int bus_frequency, const int address);
+	RGBLED_NCP5623C(I2CSPIBusOption bus_option, const int bus, int bus_frequency, const int address, const int order);
 	virtual ~RGBLED_NCP5623C() = default;

 	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
@@ -77,15 +79,20 @@ public:
 	int		probe() override;

 	void			RunImpl();
+	virtual int8_t  get_i2c_address() {return get_device_address();}

 private:
+	int			send_led_rgb();
+	void			update_params();
+
+	int			write(uint8_t reg, uint8_t data);

 	float			_brightness{1.0f};
 	float			_max_brightness{1.0f};

-	uint8_t			_r{0};
-	uint8_t			_g{0};
-	uint8_t			_b{0};
+	uint8_t		_r{0};
+	uint8_t		_g{0};
+	uint8_t		_b{0};
 	volatile bool		_running{false};
 	volatile bool		_should_run{true};
 	bool			_leds_enabled{true};
@@ -94,16 +101,40 @@ private:

 	LedController		_led_controller;

-	int			send_led_rgb();
-	void			update_params();
-
-	int			write(uint8_t reg, uint8_t data);
+	uint8_t		_red{NCP5623_LED_PWM0};
+	uint8_t		_green{NCP5623_LED_PWM1};
+	uint8_t		_blue{NCP5623_LED_PWM2};
 };

-RGBLED_NCP5623C::RGBLED_NCP5623C(I2CSPIBusOption bus_option, const int bus, int bus_frequency, const int address) :
+RGBLED_NCP5623C::RGBLED_NCP5623C(I2CSPIBusOption bus_option, const int bus, int bus_frequency, const int address,
+				 const int order) :
 	I2C(DRV_LED_DEVTYPE_RGBLED_NCP5623C, MODULE_NAME, bus, address, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address)
 {
+	int ordering = order;
+	// ordering is RGB: Hundreds is Red, Tens is green and ones is Blue
+	// 123 would drive the
+	//      R LED from = NCP5623_LED_PWM0
+	//      G LED from = NCP5623_LED_PWM1
+	//      B LED from = NCP5623_LED_PWM2
+	// 321 would drive the
+	//      R LED from = NCP5623_LED_PWM2
+	//      G LED from = NCP5623_LED_PWM1
+	//      B LED from = NCP5623_LED_PWM0
+	const uint8_t sig[] = {NCP5623_LED_PWM0, NCP5623_LED_PWM1, NCP5623_LED_PWM2};
+	// Process ordering in lsd to msd order.(BGR)
+	uint8_t *color[] = {&_blue, &_green, &_red };
+	unsigned int s = 0;
+
+	for (unsigned int i = 0; i < arraySize(color); i++) {
+		s = (ordering % 10) - 1;
+
+		if (s < arraySize(sig)) {
+			*color[i] = sig[s];
+		}
+
+		ordering /= 10;
+	}
 }

 int
@@ -138,9 +169,15 @@ RGBLED_NCP5623C::init()
 int
 RGBLED_NCP5623C::probe()
 {
-	_retries = 4;
+	_retries = 2;
+	int status = write(NCP5623_LED_CURRENT, NCP5623_LED_OFF);

-	return write(NCP5623_LED_CURRENT, 0x00);
+	if (status == PX4_ERROR) {
+		set_device_address(NCP5623B_ADDR);
+		status = write(NCP5623_LED_CURRENT, NCP5623_LED_OFF);
+	}
+
+	return status;
 }

 void
@@ -212,14 +249,13 @@ RGBLED_NCP5623C::RunImpl()
 int
 RGBLED_NCP5623C::send_led_rgb()
 {
-
 	uint8_t msg[7] = {0x20, 0x70, 0x40, 0x70, 0x60, 0x70, 0x80};
 	uint8_t brightness = 0x1f * _max_brightness;

 	msg[0] = NCP5623_LED_CURRENT | (brightness & 0x1f);
-	msg[2] = NCP5623_LED_PWM0 | (uint8_t(_r * _brightness) & 0x1f);
-	msg[4] = NCP5623_LED_PWM1 | (uint8_t(_g * _brightness) & 0x1f);
-	msg[6] = NCP5623_LED_PWM2 | (uint8_t(_b * _brightness) & 0x1f);
+	msg[2] = _red | (uint8_t(_r * _brightness) & 0x1f);
+	msg[4] = _green | (uint8_t(_g * _brightness) & 0x1f);
+	msg[6] = _blue | (uint8_t(_b * _brightness) & 0x1f);

 	return transfer(&msg[0], 7, nullptr, 0);
 }
@@ -246,6 +282,7 @@ RGBLED_NCP5623C::print_usage()
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
 	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x39);
+	PRINT_MODULE_USAGE_PARAM_INT('o', 123, 123, 321, "RGB PWM Assignment", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 }

@@ -253,7 +290,7 @@ I2CSPIDriverBase *RGBLED_NCP5623C::instantiate(const BusCLIArguments &cli, const
 		int runtime_instance)
 {
 	RGBLED_NCP5623C *instance = new RGBLED_NCP5623C(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency,
-			cli.i2c_address);
+			cli.i2c_address, cli.custom1);

 	if (instance == nullptr) {
 		PX4_ERR("alloc failed");
@@ -273,9 +310,19 @@ extern "C" __EXPORT int rgbled_ncp5623c_main(int argc, char *argv[])
 	using ThisDriver = RGBLED_NCP5623C;
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = 100000;
-	cli.i2c_address = ADDR;
+	cli.i2c_address = NCP5623C_ADDR;
+	cli.custom1 = 123;
+	int ch;

-	const char *verb = cli.parseDefaultArguments(argc, argv);
+	while ((ch = cli.getOpt(argc, argv, "o:")) != EOF) {
+		switch (ch) {
+		case 'o':
+			cli.custom1 = atoi(cli.optArg());
+			break;
+		}
+	}
+
+	const char *verb = cli.optArg();

 	if (!verb) {
 		ThisDriver::print_usage();
@@ -70,6 +70,8 @@ extern "C" int vcm1193l_main(int argc, char *argv[])
 	using ThisDriver = VCM1193L;
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = I2C_SPEED;
+	cli.i2c_address = I2C_ADDRESS_DEFAULT;
+

 	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
 		switch (ch) {
@@ -191,6 +191,20 @@ PARAM_DEFINE_INT32(SYS_CAL_TMIN, 5);
 */
 PARAM_DEFINE_INT32(SYS_CAL_TMAX, 10);

+/**
+ * Control if the vehicle has a GPS
+ *
+ * Disable this if the system has no GPS.
+ * If disabled, the sensors hub will not process sensor_gps,
+ * and GPS will not be available for the rest of the system.
+ *
+ * @boolean
+ * @reboot_required true
+ *
+ * @group System
+ */
+PARAM_DEFINE_INT32(SYS_HAS_GPS, 1);
+
 /**
 * Control if the vehicle has a magnetometer
 *
@@ -353,7 +353,7 @@ void EKF2::Run()
 		}

 	} else {
-		const unsigned last_generation = _vehicle_imu_sub.get_last_generation();
+		const unsigned last_generation = _sensor_combined_sub.get_last_generation();
 		sensor_combined_s sensor_combined;
 		imu_updated = _sensor_combined_sub.update(&sensor_combined);

@@ -74,6 +74,18 @@ bool FlightTaskManualAcceleration::update()
 	_stick_acceleration_xy.getSetpoints(_position_setpoint, _velocity_setpoint, _acceleration_setpoint);

 	_constraints.want_takeoff = _checkTakeoff();
+
+	// check if an external yaw handler is active and if yes, let it update the yaw setpoints
+	if (_weathervane_yaw_handler && _weathervane_yaw_handler->is_active()) {
+		_yaw_setpoint = NAN;
+
+		// only enable the weathervane to change the yawrate when position lock is active (and thus the pos. sp. are NAN)
+		if (PX4_ISFINITE(_position_setpoint(0)) && PX4_ISFINITE(_position_setpoint(1))) {
+			// vehicle is steady
+			_yawspeed_setpoint += _weathervane_yaw_handler->get_weathervane_yawrate();
+		}
+	}
+
 	return ret;
 }

@@ -52,10 +52,17 @@ public:
 	bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
 	bool update() override;

+	/**
+	 * Sets an external yaw handler which can be used to implement a different yaw control strategy.
+	 */
+	void setYawHandler(WeatherVane *yaw_handler) override { _weathervane_yaw_handler = yaw_handler; }
+
 private:
 	StickAccelerationXY _stick_acceleration_xy;
 	StickYaw _stick_yaw;

 	void _ekfResetHandlerPositionXY() override;
 	void _ekfResetHandlerVelocityXY() override;
+
+	WeatherVane *_weathervane_yaw_handler{nullptr}; /**< external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
 };
@@ -911,10 +911,12 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 					(type_mask & POSITION_TARGET_TYPEMASK_VZ_IGNORE) ? 0.f : target_local_ned.vz
 				};

-				const matrix::Vector3f velocity_setpoint{R * velocity_body_sp};
-				setpoint.vx = velocity_setpoint(0);
-				setpoint.vy = velocity_setpoint(1);
-				setpoint.vz = velocity_setpoint(2);
+
+				const float yaw = matrix::Eulerf{R}(2);
+
+				setpoint.vx = cosf(yaw) * velocity_body_sp(0) - sinf(yaw) * velocity_body_sp(1);
+				setpoint.vy = sinf(yaw) * velocity_body_sp(0) + cosf(yaw) * velocity_body_sp(1);
+				setpoint.vz = velocity_body_sp(2);

 			} else {
 				setpoint.vx = NAN;
@@ -2521,28 +2523,25 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 	mavlink_hil_state_quaternion_t hil_state;
 	mavlink_msg_hil_state_quaternion_decode(msg, &hil_state);

-	const uint64_t timestamp = hrt_absolute_time();
+	const uint64_t timestamp_sample = hrt_absolute_time();

 	/* airspeed */
 	{
 		airspeed_s airspeed{};
-
-		airspeed.timestamp = timestamp;
 		airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f;
 		airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f;
-
+		airspeed.air_temperature_celsius = 15.f;
+		airspeed.timestamp = hrt_absolute_time();
 		_airspeed_pub.publish(airspeed);
 	}

 	/* attitude */
 	{
 		vehicle_attitude_s hil_attitude{};
-
-		hil_attitude.timestamp = timestamp;
-
+		hil_attitude.timestamp_sample = timestamp_sample;
 		matrix::Quatf q(hil_state.attitude_quaternion);
 		q.copyTo(hil_attitude.q);
-
+		hil_attitude.timestamp = hrt_absolute_time();
 		_attitude_pub.publish(hil_attitude);
 	}

@@ -2550,13 +2549,13 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 	{
 		vehicle_global_position_s hil_global_pos{};

-		hil_global_pos.timestamp = timestamp;
+		hil_global_pos.timestamp_sample = timestamp_sample;
 		hil_global_pos.lat = hil_state.lat / ((double)1e7);
 		hil_global_pos.lon = hil_state.lon / ((double)1e7);
 		hil_global_pos.alt = hil_state.alt / 1000.0f;
-		hil_global_pos.eph = 2.0f;
-		hil_global_pos.epv = 4.0f;
-
+		hil_global_pos.eph = 2.f;
+		hil_global_pos.epv = 4.f;
+		hil_global_pos.timestamp = hrt_absolute_time();
 		_global_pos_pub.publish(hil_global_pos);
 	}

@@ -2565,32 +2564,31 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		const double lat = hil_state.lat * 1e-7;
 		const double lon = hil_state.lon * 1e-7;

-		map_projection_reference_s global_local_proj_ref;
-		map_projection_init(&global_local_proj_ref, lat, lon);
+		if (!map_projection_initialized(&_global_local_proj_ref) || !PX4_ISFINITE(_global_local_alt0)) {
+			map_projection_init(&_global_local_proj_ref, lat, lon);
+			_global_local_alt0 = hil_state.alt / 1000.f;
+		}

-		float global_local_alt0 = hil_state.alt / 1000.f;
-
-		float x = 0.0f;
-		float y = 0.0f;
-		map_projection_project(&global_local_proj_ref, lat, lon, &x, &y);
+		float x = 0.f;
+		float y = 0.f;
+		map_projection_project(&_global_local_proj_ref, lat, lon, &x, &y);

 		vehicle_local_position_s hil_local_pos{};
-		hil_local_pos.timestamp = timestamp;
-
-		hil_local_pos.ref_timestamp = global_local_proj_ref.timestamp;
-		hil_local_pos.ref_lat = math::degrees(global_local_proj_ref.lat_rad);
-		hil_local_pos.ref_lon = math::degrees(global_local_proj_ref.lon_rad);
-		hil_local_pos.ref_alt = global_local_alt0;
+		hil_local_pos.timestamp_sample = timestamp_sample;
+		hil_local_pos.ref_timestamp = _global_local_proj_ref.timestamp;
+		hil_local_pos.ref_lat = math::degrees(_global_local_proj_ref.lat_rad);
+		hil_local_pos.ref_lon = math::degrees(_global_local_proj_ref.lon_rad);
+		hil_local_pos.ref_alt = _global_local_alt0;
 		hil_local_pos.xy_valid = true;
 		hil_local_pos.z_valid = true;
 		hil_local_pos.v_xy_valid = true;
 		hil_local_pos.v_z_valid = true;
 		hil_local_pos.x = x;
 		hil_local_pos.y = y;
-		hil_local_pos.z = global_local_alt0 - hil_state.alt / 1000.0f;
-		hil_local_pos.vx = hil_state.vx / 100.0f;
-		hil_local_pos.vy = hil_state.vy / 100.0f;
-		hil_local_pos.vz = hil_state.vz / 100.0f;
+		hil_local_pos.z = _global_local_alt0 - hil_state.alt / 1000.f;
+		hil_local_pos.vx = hil_state.vx / 100.f;
+		hil_local_pos.vy = hil_state.vy / 100.f;
+		hil_local_pos.vz = hil_state.vz / 100.f;

 		matrix::Eulerf euler{matrix::Quatf(hil_state.attitude_quaternion)};
 		hil_local_pos.heading = euler.psi();
@@ -2600,7 +2598,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		hil_local_pos.vz_max = INFINITY;
 		hil_local_pos.hagl_min = INFINITY;
 		hil_local_pos.hagl_max = INFINITY;
-
+		hil_local_pos.timestamp = hrt_absolute_time();
 		_local_pos_pub.publish(hil_local_pos);
 	}

@@ -2618,7 +2616,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		if (_px4_accel != nullptr) {
 			// accel in mG
 			_px4_accel->set_scale(CONSTANTS_ONE_G / 1000.0f);
-			_px4_accel->update(timestamp, hil_state.xacc, hil_state.yacc, hil_state.zacc);
+			_px4_accel->update(timestamp_sample, hil_state.xacc, hil_state.yacc, hil_state.zacc);
 		}
 	}

@@ -2634,20 +2632,18 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		}

 		if (_px4_gyro != nullptr) {
-			_px4_gyro->update(timestamp, hil_state.rollspeed, hil_state.pitchspeed, hil_state.yawspeed);
+			_px4_gyro->update(timestamp_sample, hil_state.rollspeed, hil_state.pitchspeed, hil_state.yawspeed);
 		}
 	}

 	/* battery status */
 	{
 		battery_status_s hil_battery_status{};
-
-		hil_battery_status.timestamp = timestamp;
 		hil_battery_status.voltage_v = 11.1f;
 		hil_battery_status.voltage_filtered_v = 11.1f;
 		hil_battery_status.current_a = 10.0f;
 		hil_battery_status.discharged_mah = -1.0f;
-
+		hil_battery_status.timestamp = hrt_absolute_time();
 		_battery_pub.publish(hil_battery_status);
 	}
 }
@@ -342,6 +342,9 @@ private:
 	uint8_t				_mom_switch_pos[MOM_SWITCH_COUNT] {};
 	uint16_t			_mom_switch_state{0};

+	map_projection_reference_s _global_local_proj_ref{};
+	float _global_local_alt0{NAN};
+
 	hrt_abstime			_last_utm_global_pos_com{0};

 	// Allocated if needed.
@@ -74,7 +74,7 @@ static volatile bool mixer_servos_armed = false;
 static volatile bool should_arm = false;
 static volatile bool should_arm_nothrottle = false;
 static volatile bool should_always_enable_pwm = false;
-static volatile bool in_mixer = false;
+static volatile bool mix_failsafe = false;

 static bool new_fmu_data = false;
 static uint64_t last_fmu_update = 0;
@@ -94,31 +94,22 @@ enum mixer_source {
 static volatile mixer_source source;

 static int mixer_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &control);
-static int mixer_mix_threadsafe(float *outputs, volatile uint16_t *limits);
+static int mixer_handle_text_create_mixer();
+static void mixer_mix_failsafe();

 static MixerGroup mixer_group;

-int mixer_mix_threadsafe(float *outputs, volatile uint16_t *limits)
-{
-	/* poor mans mutex */
-	if ((r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) == 0) {
-		return 0;
-	}
-
-	in_mixer = true;
-	int mixcount = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT);
-	*limits = mixer_group.get_saturation_status();
-	in_mixer = false;
-
-	return mixcount;
-}
-
 void
 mixer_tick()
 {
 	/* check if the mixer got modified */
 	mixer_handle_text_create_mixer();

+	if (mix_failsafe) {
+		mixer_mix_failsafe();
+		mix_failsafe = false;
+	}
+
 	/* check that we are receiving fresh data from the FMU */
 	irqstate_t irq_flags = enter_critical_section();
 	const hrt_abstime fmu_data_received_time = system_state.fmu_data_received_time;
@@ -314,7 +305,13 @@ mixer_tick()
 		}

 		/* mix */
-		mixed = mixer_mix_threadsafe(&outputs[0], &r_mixer_limits);
+		if ((r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) != 0) {
+			mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT);
+			r_mixer_limits = mixer_group.get_saturation_status();
+
+		} else {
+			mixed = 0;
+		}

 		/* the pwm limit call takes care of out of band errors */
 		output_limit_calc(should_arm, should_arm_nothrottle, mixed, r_setup_pwm_reverse, r_page_servo_disarmed,
@@ -480,12 +477,7 @@ mixer_callback(uintptr_t handle,
 	}

 	/* limit output */
-	if (control > 1.0f) {
-		control = 1.0f;
-
-	} else if (control < -1.0f) {
-		control = -1.0f;
-	}
+	control = math::constrain(control, -1.f, 1.f);

 	/* motor spinup phase - lock throttle to zero */
 	if ((pwm_limit.state == OUTPUT_LIMIT_STATE_RAMP) || (should_arm_nothrottle && !should_arm)) {
@@ -520,25 +512,26 @@ mixer_callback(uintptr_t handle,

 static char mixer_text[PX4IO_MAX_MIXER_LENGTH];		/* large enough for one mixer */
 static unsigned mixer_text_length = 0;
-static bool mixer_update_pending = false;
+static volatile bool mixer_update_pending = false;
+static volatile bool mixer_reset_pending = false;

 int
 mixer_handle_text_create_mixer()
 {
-	/* only run on update */
-	if (!mixer_update_pending) {
-		return 0;
-	}
-
 	/* do not allow a mixer change while safety off and FMU armed */
 	if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
 	    (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
 		return 1;
 	}

-	/* abort if we're in the mixer - it will be tried again in the next iteration */
-	if (in_mixer) {
-		return 1;
+	if (mixer_reset_pending) {
+		mixer_group.reset();
+		mixer_reset_pending = false;
+	}
+
+	/* only run on update */
+	if (!mixer_update_pending || (mixer_text_length == 0)) {
+		return 0;
 	}

 	/* process the text buffer, adding new mixers as their descriptions can be parsed */
@@ -562,11 +555,13 @@ mixer_handle_text_create_mixer()

 	mixer_update_pending = false;

+	update_trims = true;
+	update_mc_thrust_param = true;
+
 	return 0;
 }

-int
-mixer_handle_text(const void *buffer, size_t length)
+int interrupt_mixer_handle_text(const void *buffer, size_t length)
 {
 	/* do not allow a mixer change while safety off and FMU armed */
 	if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
@@ -577,16 +572,7 @@ mixer_handle_text(const void *buffer, size_t length)
 	/* disable mixing, will be enabled once load is complete */
 	atomic_modify_clear(&r_status_flags, PX4IO_P_STATUS_FLAGS_MIXER_OK);

-	/* set the update flags to dirty so we reload those values after a mixer change */
-	update_trims = true;
-	update_mc_thrust_param = true;
-
-	/* abort if we're in the mixer - the caller is expected to retry */
-	if (in_mixer) {
-		return 1;
-	}
-
-	px4io_mixdata	*msg = (px4io_mixdata *)buffer;
+	px4io_mixdata *msg = (px4io_mixdata *)buffer;

 	isr_debug(2, "mix txt %u", length);

@@ -601,7 +587,7 @@ mixer_handle_text(const void *buffer, size_t length)
 		isr_debug(2, "reset");

 		/* THEN actually delete it */
-		mixer_group.reset();
+		mixer_reset_pending = true;
 		mixer_text_length = 0;

 	/* FALLTHROUGH */
@@ -634,14 +620,18 @@ mixer_handle_text(const void *buffer, size_t length)
 	return 0;
 }

+void interrupt_mixer_set_failsafe()
+{
+	mix_failsafe = true;
+}
+
 void
-mixer_set_failsafe()
+mixer_mix_failsafe()
 {
 	/*
 	 * Check if a custom failsafe value has been written,
 	 * or if the mixer is not ok and bail out.
 	 */
-
 	if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ||
 	    !(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
 		return;
@@ -670,19 +660,22 @@ mixer_set_failsafe()
 	}

 	/* mix */
-	mixed = mixer_mix_threadsafe(&outputs[0], &r_mixer_limits);
+	if ((r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) != 0) {
+		mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT);
+		r_mixer_limits = mixer_group.get_saturation_status();
+
+	} else {
+		mixed = 0;
+	}

 	/* scale to PWM and update the servo outputs as required */
 	for (unsigned i = 0; i < mixed; i++) {
-
 		/* scale to servo output */
 		r_page_servo_failsafe[i] = (outputs[i] * 600.0f) + 1500;
-
 	}

 	/* disable the rest of the outputs */
 	for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) {
 		r_page_servo_failsafe[i] = 0;
 	}
-
 }
@@ -193,10 +193,9 @@ void atomic_modify_and(volatile uint16_t *target, uint16_t modification);
 * Mixer
 */
 extern void	mixer_tick(void);
-extern int	mixer_handle_text_create_mixer(void);
-extern int	mixer_handle_text(const void *buffer, size_t length);
+extern int	interrupt_mixer_handle_text(const void *buffer, size_t length);
 /* Set the failsafe values of all mixed channels (based on zero throttle, controls centered) */
-extern void	mixer_set_failsafe(void);
+extern void	interrupt_mixer_set_failsafe(void);

 /**
 * Safety switch/LED.
@@ -461,7 +461,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 		 * this state defines an active system. This check is done in the
 		 * text handling function.
 		 */
-		return mixer_handle_text(values, num_values * sizeof(*values));
+		return interrupt_mixer_handle_text(values, num_values * sizeof(*values));

 	default:

@@ -514,9 +514,8 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			}

 			if (PX4IO_P_STATUS_FLAGS_MIXER_OK & r_status_flags) {
-
 				/* update failsafe values, now that the mixer is set to ok */
-				mixer_set_failsafe();
+				interrupt_mixer_set_failsafe();
 			}

 			break;
@@ -219,6 +219,7 @@ private:

 	DEFINE_PARAMETERS(
 		(ParamBool<px4::params::SYS_HAS_BARO>) _param_sys_has_baro,
+		(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps,
 		(ParamBool<px4::params::SYS_HAS_MAG>) _param_sys_has_mag,
 		(ParamBool<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode
 	)
@@ -534,12 +535,10 @@ void Sensors::InitializeVehicleAirData()
 {
 	if (_param_sys_has_baro.get()) {
 		if (_vehicle_air_data == nullptr) {
-			if (orb_exists(ORB_ID(sensor_baro), 0) == PX4_OK) {
-				_vehicle_air_data = new VehicleAirData();
+			_vehicle_air_data = new VehicleAirData();

-				if (_vehicle_air_data) {
-					_vehicle_air_data->Start();
-				}
+			if (_vehicle_air_data) {
+				_vehicle_air_data->Start();
 			}
 		}
 	}
@@ -547,8 +546,8 @@ void Sensors::InitializeVehicleAirData()

 void Sensors::InitializeVehicleGPSPosition()
 {
-	if (_vehicle_gps_position == nullptr) {
-		if (orb_exists(ORB_ID(sensor_gps), 0) == PX4_OK) {
+	if (_param_sys_has_gps.get()) {
+		if (_vehicle_gps_position == nullptr) {
 			_vehicle_gps_position = new VehicleGPSPosition();

 			if (_vehicle_gps_position) {
@@ -602,12 +601,10 @@ void Sensors::InitializeVehicleMagnetometer()
 {
 	if (_param_sys_has_mag.get()) {
 		if (_vehicle_magnetometer == nullptr) {
-			if (orb_exists(ORB_ID(sensor_mag), 0) == PX4_OK) {
-				_vehicle_magnetometer = new VehicleMagnetometer();
+			_vehicle_magnetometer = new VehicleMagnetometer();

-				if (_vehicle_magnetometer) {
-					_vehicle_magnetometer->Start();
-				}
+			if (_vehicle_magnetometer) {
+				_vehicle_magnetometer->Start();
 			}
 		}
 	}
@@ -187,6 +187,8 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw)
 	// find the best sensor
 	int accel_best_index = -1;
 	int gyro_best_index = -1;
+	_accel.voter.get_best(hrt_absolute_time(), &accel_best_index);
+	_gyro.voter.get_best(hrt_absolute_time(), &gyro_best_index);

 	if (!_param_sens_imu_mode.get() && ((_selection.timestamp != 0) || (_sensor_selection_sub.updated()))) {
 		// use sensor_selection to find best
@@ -213,9 +215,6 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw)

 	} else {
 		// use sensor voter to find best if SENS_IMU_MODE is enabled or ORB_ID(sensor_selection) has never published
-		_accel.voter.get_best(hrt_absolute_time(), &accel_best_index);
-		_gyro.voter.get_best(hrt_absolute_time(), &gyro_best_index);
-
 		checkFailover(_accel, "Accel");
 		checkFailover(_gyro, "Gyro");
 	}
Author	SHA1	Message	Date
honglang	55374fe589	boards: CUAV-x7pro: reoder brick to fixed cuav hvpm cannot detect voltage	2021-10-19 12:36:47 -04:00
Daniel Agar	2e8918da66	boards: cubepilot_cubeorange only start ADSB mavlink if console not present - cubepilot_cubeorange_test has the console enabled (used for test rack and bench debugging)	2021-09-06 11:57:42 -04:00
Daniel Agar	5def17b1af	Jenkins: hardware remove boards that aren't present	2021-09-06 10:28:52 -04:00
Daniel Agar	1daf0654ff	boards: px4_fmu-v5_opitmized disable unused modules to save flash	2021-09-06 10:28:17 -04:00
Daniel Agar	6e3a2314cb	boards: px4_fmu-v2_default disable systemcmds/top to save flash	2021-09-06 10:26:49 -04:00
Sander Swart	6121b287f1	Removed TEL3 from cube orange default.cmake as it is used for the built in ADS-B receiver	2021-09-06 10:24:43 -04:00
Sander Swart	c0980bd273	Added new line at the end of the file as per code style	2021-09-06 10:24:38 -04:00
Sander Swart	42d14e6072	Enable Cube Orange built in ADS-B receiver by default	2021-09-06 10:24:34 -04:00
Daniel Agar	ba0b512f0d	boards: Holybro H7 boards clear MPU early in board init - needed if the bootloader configures the memory protection unit (MPU)	2021-08-31 18:01:06 -04:00
Daniel Agar	7476a2953e	boards: CUAV H7 boards clear MPU early in board init - needed if the bootloader configures the memory protection unit (MPU)	2021-08-31 17:59:34 -04:00
Lorenz Meier	15e6ca9e1e	MRO: Set up MPU after boot to app This is needed in case the bootloader configured the MPU, which could interfere with the app as the bootloader memory map / configuration is different.	2021-08-31 17:57:23 -04:00
Daniel Agar	b9e7063237	boards: cube orange fully clear any existing MPU configuration as soon as possible	2021-08-31 17:56:23 -04:00
Daniel Agar	0a6045367f	px4io_serial: ensure TX DMA is stopped if exiting early on stream error - otherwise the next retry can happen quickly enough that dma setup hangs waiting for the stream	2021-08-31 17:56:00 -04:00
Daniel Agar	3f88a6d0bf	boards: cubeorange/cubeyellow use amber LED for armed state	2021-08-29 21:31:21 -04:00
Jukka Laitinen	d1c09ec358	Fix memory corruption when work queue is being deleted When the last WorkItem is deleted, it is removed from a work queue and the queue is being stopped. But, the queue itself might get deleted in the middle, in a higher priority thread than where the WorkItem deletion was performed from If the WorkQueue::Detach accesses the member variables after this, there is memory corruption This happens in particular when launching i2c or spi devices in I2CSPIDriverBase::module_start: - The "initializer" is deleted when the instance is not found and the iterator while loop continues. - The workqueue is deleted in the middle of "initializer" deletion when the WorkQueueRunner returns. This prevents deletion of the WorkQueue before the Detach has been finished, in the specific case that the ::Detach triggers the deletion Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-08-29 21:31:12 -04:00
Daniel Agar	ca744626cd	boards: io-v2 increase idle thread stack 280 -> 316 bytes	2021-08-26 23:57:10 -04:00
Daniel Agar	ea577f15b9	px4iofirmware: never directly touch mixer from isr	2021-08-26 23:57:10 -04:00
Daniel Agar	d9f3c820ab	sensors: always start baro/GPS/mag aggregators if SYS_HAS_* set - add new SYS_HAS_GPS parameter	2021-08-23 14:14:27 -04:00
David Sidrane	8e57a62c9d	rgbled_ncp5623c:Add comand line mapping of PWM to color	2021-08-21 11:52:15 -04:00
David Sidrane	b961f6a1e1	rgbled_ncp5623c:Needs 2 retries	2021-08-21 11:52:15 -04:00
David Sidrane	09140c01bf	rgbled_ncp5623c:Can change address, return actual	2021-08-21 11:52:15 -04:00
David Sidrane	822ae46235	rgbled_ncp5623c:Document support for ncp5623[c\|b] parts	2021-08-21 11:52:15 -04:00
David Sidrane	f70381dfdd	i2c_spi_buses:Support devices that may change address	2021-08-21 11:52:15 -04:00
David Sidrane	84066f574d	vcm1193l:Bug Fix set default address	2021-08-21 11:52:15 -04:00
David Sidrane	c8426da50d	px4_fmu-v5x:Newer HW Start BARRO on bus 2	2021-08-21 11:52:15 -04:00
David Sidrane	6bab917a3d	px4_fmu-v6x:Use HB 10pin GPS rotation	2021-08-21 11:52:15 -04:00
David Sidrane	531301e176	px4_fmu-v5x:Use HB 10pin GPS rotation	2021-08-21 11:52:15 -04:00
David Sidrane	04f4157828	rcS:Scope netman to all 5X and 6X	2021-08-21 11:52:15 -04:00
Daniel Agar	c5f82ed838	ekf2: fix sensor_combined last_generation	2021-08-12 10:03:25 -04:00
Daniel Agar	99501b4c38	flight_mode_manager: ManualAcceleration support weathervane yaw handler - fixes https://github.com/PX4/PX4-Autopilot/issues/17911	2021-08-12 10:02:13 -04:00
Daniel Agar	9e4a04f58a	mavlink: receiver fix HIL_STATE_QUATERNION map projection init - fixes https://github.com/PX4/PX4-Autopilot/issues/17977	2021-08-02 09:59:41 -04:00
Daniel Agar	1682fd5671	boards: px4_fmu-v2 disable load_mon module to save flash	2021-08-01 13:51:11 -04:00
bresch	a8572f0fdd	ECL: update to include latest bugfixes - fix yaw spin on ground after large mag field change - change covariance prediction for better stability - fix yaw alignment in air for mag-less mode - improve tilt alignment for non-static applications - add momentum drag model	2021-08-01 12:54:15 -04:00
Daniel Agar	a299a3bbd0	sensors: populate sensors_status_imu healthy flags even in multi-EKF mode	2021-08-01 12:54:08 -04:00
Julian Oes	349dd63072	mavlink: fix offboard velocity input This reverts the behavior for offboard velocity setpoint. Back in v1.11, the velocity input in NED_BODY was assumed to be in the world frame but rotated by yaw to the vehicle frame. With the current state the frame is completely fixed to the body. While this might be technically correct, it doesn't seem much intuitive for multicopters and breaks the MAVSDK offboard velocity API. So as an example, with a velocity setpoint of 5 m/s forward, the drone would in - v1.11: fly forward with 5 m/s - v1.12: start to fly forward by pitching down but then descend rapidly as the forward velocity would translate to a setpoint in Z into the ground as it is pitched down. This commit restores the behavior to what we had previously.	2021-07-22 22:09:56 -04:00
David Sidrane	6b51c6390a	Revert "nxp_fmuk66-v3:DMA Poll not needed" This reverts commit `962f02220a`.	2021-07-22 22:08:18 -04:00
David Sidrane	4f7909ee8e	Revert "nxp_fmuk66-e:DMA Poll not needed" This reverts commit `39d684958d`.	2021-07-22 22:08:11 -04:00
David Sidrane	cbb48f9af3	NuttX with Kinetis SerialPoll back in	2021-07-22 22:08:04 -04:00