Increase maximum rates

Monocopter flying
Update sitl_gazebo
2026-06-19 05:00:34 +08:00 · 2024-07-31 18:55:11 +02:00 · 2024-07-18 15:35:26 +02:00 · 2024-07-03 13:04:16 +02:00 · 2024-06-23 15:18:09 +02:00 · 2024-06-13 16:18:03 +02:00
189 changed files with 6500 additions and 4346 deletions
@@ -47,7 +47,7 @@ pipeline {
                     "ark_fmu-v6x_bootloader",
                     "ark_fmu-v6x_default",
                     "ark_pi6x_bootloader",
-                     "ark_pi6x_default"
+                     "ark_pi6x_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie21_default",
@@ -151,16 +151,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio_gps_default:
-      short: ark_septentrio_gps_default
+    ark_septentrio-gps_default:
+      short: ark_septentrio-gps_default
      buildType: MinSizeRel
      settings:
-        CONFIG: ark_septentrio_gps_default
-    ark_septentrio_gps_canbootloader:
-      short: ark_septentrio_gps_canbootloader
+        CONFIG: ark_septentrio-gps_default
+    ark_septentrio-gps_canbootloader:
+      short: ark_septentrio-gps_canbootloader
      buildType: MinSizeRel
      settings:
-        CONFIG: ark_septentrio_gps_canbootloader
+        CONFIG: ark_septentrio-gps_canbootloader
    ark_cannode_default:
      short: ark_cannode_default
      buildType: MinSizeRel
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2024 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
@@ -323,7 +323,32 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: \
+	ark_fmu-v6x_bootloader \
+	ark_pi6x_bootloader \
+	cuav_nora_bootloader \
+	cuav_x7pro_bootloader \
+	cubepilot_cubeorange_bootloader \
+	cubepilot_cubeorangeplus_bootloader \
+	hkust_nxt-dual_bootloader \
+	hkust_nxt-v1_bootloader \
+	holybro_durandal-v1_bootloader \
+	holybro_kakuteh7_bootloader \
+	holybro_kakuteh7mini_bootloader \
+	holybro_kakuteh7v2_bootloader \
+	matek_h743_bootloader \
+	matek_h743-mini_bootloader \
+	matek_h743-slim_bootloader \
+	modalai_fc-v2_bootloader \
+	mro_ctrl-zero-classic_bootloader \
+	mro_ctrl-zero-h7_bootloader \
+	mro_ctrl-zero-h7-oem_bootloader \
+	mro_pixracerpro_bootloader \
+	px4_fmu-v6c_bootloader \
+	px4_fmu-v6u_bootloader \
+	px4_fmu-v6x_bootloader \
+	px4_fmu-v6xrt_bootloader \
+	siyi_n7_bootloader
 	git status

 .PHONY: coverity_scan
@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -25,7 +25,6 @@ param set-default FW_W_EN 1

 param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -0,0 +1,70 @@
+#!/bin/sh
+#
+# @name Monocopter SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_LND_ANG 8
+
+param set-default NPFG_PERIOD 12
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
@@ -52,3 +52,4 @@ param set-default SIM_GZ_EC_MAX3 1000
 param set-default SIM_GZ_EC_MAX4 1000

 param set-default MPC_THR_HOVER 0.60
+param set-default NAV_DLL_ACT 2
@@ -101,8 +101,9 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default NAV_ACC_RAD 5
+param set-default NAV_DLL_ACT 2

 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
+param set-default VT_F_TRANS_THR 0.3
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0
@@ -132,3 +132,5 @@ param set-default SIM_GZ_EC_MAX1 1100
 param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100
+
+param set-default NAV_DLL_ACT 2
@@ -67,6 +67,7 @@ px4_add_romfs_files(
 	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1
 	1070_gazebo-classic_boat
+	1090_gazebo-classic_monocopter

 	2507_gazebo-classic_cloudship

@@ -84,6 +84,13 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()

+if(CONFIG_MODULES_ROVER_ACKERMANN)
+	px4_add_romfs_files(
+		rc.rover_ackermann_apps
+		rc.rover_ackermann_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps
@@ -66,7 +66,6 @@ param set-default MC_PITCHRATE_I 0.05
 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1

-param set-default MIS_DIST_1WP 100
 param set-default MIS_TAKEOFF_ALT 15

 param set-default MPC_XY_P 0.8
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Generic ackermann rover
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
@@ -149,6 +149,12 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()

+if(CONFIG_MODULES_ROVER_ACKERMANN)
+	px4_add_romfs_files(
+		50010_ackermann_rover_generic
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		# [60000, 61000] (Unmanned) Underwater Robots
@@ -0,0 +1,11 @@
+#!/bin/sh
+# Standard apps for a ackermann drive rover.
+
+# Start the attitude and position estimator.
+ekf2 start &
+
+# Start rover ackermann drive controller.
+rover_ackermann start
+
+# Start Land Detector.
+land_detector start rover
@@ -0,0 +1,13 @@
+#!/bin/sh
+# Ackermann rover parameters.
+
+set VEHICLE_TYPE rover_ackermann
+param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
+param set-default CA_AIRFRAME 5 # Rover (Ackermann)
+param set-default CA_R_REV 1 # Motor is assumed to be reversible
+param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
+param set-default NAV_RCL_ACT 6 # Disarm on manual control loss
+param set-default COM_FAIL_ACT_T 1 # Delay before failsafe after rc loss
@@ -41,6 +41,15 @@ then
 	. ${R}etc/init.d/rc.rover_differential_apps
 fi

+#
+# Ackermann Rover setup.
+#
+if [ $VEHICLE_TYPE = rover_ackermann ]
+then
+	# Start ackermann drive rover apps.
+	. ${R}etc/init.d/rc.rover_ackermann_apps
+fi
+
 #
 # VTOL setup.
 #
@@ -123,6 +123,13 @@ else
 		set PARAM_FILE /fs/mtd_params
 	fi

+	# Check if /fs/mtd_params is a valid BSON file
+	if ! bsondump docsize /fs/mtd_caldata
+	then
+		echo "New /fs/mtd_caldata size is:"
+		bsondump docsize /fs/mtd_caldata
+	fi
+
 	#
 	# Load parameters.
 	#
@@ -54,12 +54,21 @@ def extract_timer_from_channel(line, timer_names):

    return None

+def imxrt_is_dshot(line):
+
+    # NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
+    search = re.search('(initIOPWMDshot)', line, re.IGNORECASE)
+    if search:
+        return True
+
+    return False
+
 def get_timer_groups(timer_config_file, verbose=False):
    with open(timer_config_file, 'r') as f:
        timer_config = f.read()

    # timers
-    dshot_support = {} # key: timer
+    dshot_support = {str(i): False for i in range(16)}
    timers_start_marker = 'io_timers_t io_timers'
    timers_start = timer_config.find(timers_start_marker)
    if timers_start == -1:
@@ -78,10 +87,9 @@ def get_timer_groups(timer_config_file, verbose=False):
        if timer_type == 'imxrt':
            if verbose: print('imxrt timer found')
            timer_names.append(timer)
+            if imxrt_is_dshot(line):
+                dshot_support[str(len(timers))] = True
            timers.append(str(len(timers)))
-            dshot_support = {str(i): False for i in range(16)}
-            for i in range(8): # First 8 channels support dshot
-                dshot_support[str(i)] = True
        elif timer:
            if verbose: print('found timer def: {:}'.format(timer))
            dshot_support[timer] = 'DMA' in line
@@ -95,7 +95,7 @@ if [[ $INSTALL_SIM == "true" ]]; then

 	# java (jmavsim)
 	sudo pacman -S --noconfirm --needed \
-		ant
+		ant \
 		;

 	# Gazebo setup
@@ -1,5 +1,4 @@
 argcomplete
-argparse>=1.2
 cerberus
 coverage
 empy==3.3.4
@@ -66,6 +66,8 @@ elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
 elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
 	echo "Ubuntu 22.04"
+elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
+	echo "Linux Mint 21.3"
 fi


@@ -146,7 +148,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		util-linux \
 		vim-common \
 		;
-	if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" ]]; then
+	if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" || "${UBUNTU_RELEASE}" == "21.3" ]]; then
 		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		kconfig-frontends \
 		;
@@ -205,6 +207,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		java_version=13
 	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
 		java_version=11
+	elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
+		java_version=11
 	else
 		java_version=14
 	fi
@@ -228,6 +232,17 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
 		sudo apt-get update -y --quiet

+		# Install Gazebo
+		gazebo_packages="gz-garden"
+	elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
+		echo "Gazebo (Garden) will be installed"
+		echo "Earlier versions will be removed"
+		# Add Gazebo binary repository
+		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+
+		sudo apt-get update -y --quiet
+
 		# Install Gazebo
 		gazebo_packages="gz-garden"
 	else
@@ -147,8 +147,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
@@ -32,19 +32,10 @@ then
 	param set-default SENS_TEMP_ID 2490378
 fi

-param set-default EKF2_BARO_DELAY 39
-param set-default EKF2_BARO_NOISE 0.9
-param set-default EKF2_HGT_REF 0
-param set-default EKF2_MAG_DELAY 60
-param set-default EKF2_MAG_NOISE 0.06
 param set-default EKF2_MULTI_IMU 2
 param set-default EKF2_OF_CTRL 1
-param set-default EKF2_OF_DELAY 28
 param set-default EKF2_OF_N_MIN 0.05
 param set-default EKF2_RNG_A_HMAX 25
-param set-default EKF2_RNG_DELAY 105
-param set-default EKF2_RNG_NOISE 0.03
 param set-default EKF2_RNG_QLTY_T 0.1
-param set-default EKF2_RNG_SFE 0.03

 param set-default SENS_FLOW_RATE 150
@@ -47,7 +47,7 @@
 #define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)

 /* Safety LED */
-#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)

 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */
@@ -139,8 +139,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y
@@ -97,9 +97,9 @@
 #define INTERFACE_USART_CONFIG         "/dev/ttyS5,57600"
 #define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1013
-#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
-#define BOARD_FLASH_SECTORS            (15)
-#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
+#define BOARD_FLASH_SECTORS            (14)
+#define BOARD_FLASH_SIZE               (16 * 128 * 1024)
+#define APP_RESERVATION_SIZE 	       (1 * 128 * 1024)

 #define OSC_FREQ                       16

@@ -15,7 +15,7 @@ param set-default SYS_AUTOSTART 4050
 param set-default SYS_HAS_MAG 0

 # enable gravity fusion
-param set-default EKF2_IMU_CONTROL 7
+param set-default EKF2_IMU_CTRL 7

 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090
@@ -25,7 +25,7 @@ param set-default SYS_AUTOSTART 4050
 # use EKF2 without mag
 param set-default SYS_HAS_MAG 0
 # and enable gravity fusion
-param set-default EKF2_IMU_CONTROL 7
+param set-default EKF2_IMU_CTRL 7

 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090
@@ -25,7 +25,7 @@ param set-default SYS_AUTOSTART 4050
 # use EKF2 without mag
 param set-default SYS_HAS_MAG 0
 # and enable gravity fusion
-param set-default EKF2_IMU_CONTROL 7
+param set-default EKF2_IMU_CTRL 7

 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090
@@ -25,7 +25,7 @@ param set-default SYS_AUTOSTART 4050
 # use EKF2 without mag
 param set-default SYS_HAS_MAG 0
 # and enable gravity fusion
-param set-default EKF2_IMU_CONTROL 7
+param set-default EKF2_IMU_CTRL 7

 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090
@@ -158,8 +158,8 @@ CONFIG_NETDEV_LATEINIT=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
@@ -158,8 +158,8 @@ CONFIG_NETDEV_LATEINIT=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
@@ -19,3 +19,4 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
@@ -3,23 +3,25 @@
 # board specific defaults
 #------------------------------------------------------------------------------

-# Mavlink ethernet (CFG 1000)
-param set-default MAV_2_CONFIG 1000
-param set-default MAV_2_BROADCAST 1
-param set-default MAV_2_MODE 0
-param set-default MAV_2_RADIO_CTL 0
-param set-default MAV_2_RATE 100000
-param set-default MAV_2_REMOTE_PRT 14550
-param set-default MAV_2_UDP_PRT 14550
-
 param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1

 if ver hwbasecmp 008 009 00a 010 011
 then
-	# Skynode: use the "custom participant" config for uxrce_dds_client
+	# Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client
 	param set-default UXRCE_DDS_PTCFG 2
+	param set-default UXRCE_DDS_AG_IP 170461697
+	param set-default UXRCE_DDS_CFG 1000
+else
+	# Mavlink ethernet (CFG 1000)
+	param set-default MAV_2_CONFIG 1000
+	param set-default MAV_2_BROADCAST 1
+	param set-default MAV_2_MODE 0
+	param set-default MAV_2_RADIO_CTL 0
+	param set-default MAV_2_RATE 100000
+	param set-default MAV_2_REMOTE_PRT 14550
+	param set-default MAV_2_UDP_PRT 14550
 fi

 safety_button start
@@ -143,8 +143,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
@@ -143,8 +143,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y
@@ -14,3 +14,5 @@ CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
+CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
@@ -8,7 +8,7 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_ROVER_POS_CONTROL=n
+CONFIG_MODULES_PAYLOAD_DELIVERER=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
@@ -48,7 +48,6 @@ CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=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
@@ -14,3 +14,4 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
@@ -14,3 +14,4 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
@@ -3,15 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------

-# Mavlink ethernet (CFG 1000)
-param set-default MAV_2_CONFIG 1000
-param set-default MAV_2_BROADCAST 1
-param set-default MAV_2_MODE 0
-param set-default MAV_2_RADIO_CTL 0
-param set-default MAV_2_RATE 100000
-param set-default MAV_2_REMOTE_PRT 14550
-param set-default MAV_2_UDP_PRT 14550
-
 # By disabling all 3 INA modules, we use the
 # i2c_launcher instead.
 param set-default SENS_EN_INA238 0
@@ -20,8 +11,19 @@ param set-default SENS_EN_INA226 0

 if ver hwbasecmp 009 010 011
 then
-	# Skynode: use the "custom participant" config for uxrce_dds_client
+	# Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client
 	param set-default UXRCE_DDS_PTCFG 2
+	param set-default UXRCE_DDS_AG_IP 170461697
+	param set-default UXRCE_DDS_CFG 1000
+else
+	# Mavlink ethernet (CFG 1000)
+	param set-default MAV_2_CONFIG 1000
+	param set-default MAV_2_BROADCAST 1
+	param set-default MAV_2_MODE 0
+	param set-default MAV_2_RADIO_CTL 0
+	param set-default MAV_2_RATE 100000
+	param set-default MAV_2_REMOTE_PRT 14550
+	param set-default MAV_2_UDP_PRT 14550
 fi

 safety_button start
@@ -147,8 +147,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
@@ -14,3 +14,4 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
@@ -28,6 +28,7 @@ CONFIG_ARMV7M_ITCM=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU=y
+CONFIG_ARM_MPU_RESET=y
 CONFIG_BOARDCTL=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
@@ -267,6 +267,10 @@

 // This is the ENET_1G interface.

+/* Dshot Disambiguation *******************************************************/
+
+#define IOMUX_DSHOT_DEFAULT             (IOMUX_DRIVE_HIGHSTRENGTH | IOMUX_SLEW_FAST)
+
 // Compile time selection
 #if defined(CONFIG_ETH0_PHY_TJA1103)
 #  define BOARD_PHY_ADDR (18)
@@ -29,6 +29,7 @@ CONFIG_ARMV7M_ITCM=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU=y
+CONFIG_ARM_MPU_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_BOOTLOADER_FIXUP=y
@@ -86,7 +87,6 @@ CONFIG_IMXRT_ENET=y
 CONFIG_IMXRT_FLEXCAN1=y
 CONFIG_IMXRT_FLEXCAN2=y
 CONFIG_IMXRT_FLEXCAN3=y
-CONFIG_IMXRT_FLEXIO1=y
 CONFIG_IMXRT_FLEXSPI2=y
 CONFIG_IMXRT_GPIO13_IRQ=y
 CONFIG_IMXRT_GPIO1_0_15_IRQ=y
@@ -202,8 +202,8 @@ CONFIG_NETDEV_LATEINIT=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
@@ -683,7 +683,6 @@
 *(.text._ZN18MavlinkStreamDebug8get_sizeEv)
 *(.text._ZN12GPSDriverUBX7receiveEj)
 *(.text._ZN13BatteryStatus21parameter_update_pollEb)
-*(.text._ZN3Ekf26checkYawAngleObservabilityEv)
 *(.text._ZN3RTL18updateDatamanCacheEv)
 *(.text.__ieee754_sqrtf)
 *(.text._ZThn24_N18mag_bias_estimator16MagBiasEstimator3RunEv)
@@ -6,6 +6,7 @@
 *(.text.board_autoled_on)
 *(.text.clock_timer)
 *(.text.exception_common)
+*(.text.flexio_irq_handler)
 *(.text.hrt_absolute_time)
 *(.text.hrt_call_enter)
 *(.text.hrt_tim_isr)
@@ -15,3 +15,4 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
@@ -455,6 +455,7 @@
 #define RC_SERIAL_SINGLEWIRE            1 // Suport Single wire wiring
 #define RC_SERIAL_SWAP_RXTX             1 // Set Swap (but not supported in HW) to use Single wire
 #define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* FLEXSPI4 */

@@ -114,7 +114,7 @@ const struct clock_configuration_s g_initial_clkconfig = {
 			.div           = 1,
 			.mux           = ACMP_CLK_ROOT_OSC_RC_48M_DIV2,
 		},
-		.flexio1_clk_root =
+		.flexio1_clk_root = /* 240 / 2 = 120Mhz */
 		{
 			.enable        = 1,
 			.div           = 2,
@@ -104,9 +104,10 @@ const struct flexspi_nor_config_s g_flash_fast_config = {
 		.busyBitPolarity = 0u,
 		.lookupTable =
 		{
-			/* Read */// EEH+11H+32bit addr+20dummy cycles+ 4Bytes read data    //200Mhz 18 dummy=10+8
+			/* Read */// EEH+11H+32bit addr+20dummy cycles+ 4Bytes read data
+			/* Macronix manual says 20 dummy cycles @ 200Mhz, FlexSPI peripheral Operand value needs to be 2N in DDR mode hence 0x28 */
 			[0 + 0] = FLEXSPI_LUT_SEQ(CMD_DDR, FLEXSPI_8PAD, 0xEE, CMD_DDR, FLEXSPI_8PAD, 0x11),    //0x871187ee,
-			[0 + 1] = FLEXSPI_LUT_SEQ(RADDR_DDR, FLEXSPI_8PAD, 0x20, DUMMY_DDR, FLEXSPI_8PAD, 0x04),//0xb3048b20,
+			[0 + 1] = FLEXSPI_LUT_SEQ(RADDR_DDR, FLEXSPI_8PAD, 0x20, DUMMY_DDR, FLEXSPI_8PAD, 0x28),//0xb3288b20,
 			[0 + 2] = FLEXSPI_LUT_SEQ(READ_DDR, FLEXSPI_8PAD, 0x04, STOP_EXE, FLEXSPI_1PAD, 0x00), //0xa704,

 			/* Read status */
@@ -91,14 +91,14 @@


 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO23_1, 23),
-	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule1, GPIO_FLEXIO1_FLEXIO25_1, 25),
-	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule2, GPIO_FLEXIO1_FLEXIO27_1, 27),
-	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO06_1, 6),
-	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1, GPIO_FLEXIO1_FLEXIO08_1, 8),
-	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule2, GPIO_FLEXIO1_FLEXIO10_1, 10),
-	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule3, GPIO_FLEXIO1_FLEXIO19_1, 19),
-	initIOPWMDshot(PWM::FlexPWM3, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO29_1, 29),
+	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule0),
+	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule1),
+	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule2),
+	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0),
+	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1),
+	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule2),
+	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule3),
+	initIOPWMDshot(PWM::FlexPWM3, PWM::Submodule0),
 	initIOPWM(PWM::FlexPWM3, PWM::Submodule1),
 	initIOPWM(PWM::FlexPWM3, PWM::Submodule3),
 	initIOPWM(PWM::FlexPWM4, PWM::Submodule0),
@@ -106,14 +106,14 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	/* FMU_CH1  */  initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_23),
-	/* FMU_CH2  */  initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_25),
-	/* FMU_CH3  */  initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_27),
-	/* FMU_CH4  */  initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_06),
-	/* FMU_CH5  */  initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_08),
-	/* FMU_CH6  */  initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_10),
-	/* FMU_CH7  */  initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_19),
-	/* FMU_CH8  */  initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_29),
+	/* FMU_CH1  */  initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_23, GPIO_FLEXIO1_FLEXIO23_1 | IOMUX_DSHOT_DEFAULT, 23),
+	/* FMU_CH2  */  initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_25, GPIO_FLEXIO1_FLEXIO25_1 | IOMUX_DSHOT_DEFAULT, 25),
+	/* FMU_CH3  */  initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_27, GPIO_FLEXIO1_FLEXIO27_1 | IOMUX_DSHOT_DEFAULT, 27),
+	/* FMU_CH4  */  initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_06, GPIO_FLEXIO1_FLEXIO06_1 | IOMUX_DSHOT_DEFAULT, 6),
+	/* FMU_CH5  */  initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_08, GPIO_FLEXIO1_FLEXIO08_1 | IOMUX_DSHOT_DEFAULT, 8),
+	/* FMU_CH6  */  initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_10, GPIO_FLEXIO1_FLEXIO10_1 | IOMUX_DSHOT_DEFAULT, 10),
+	/* FMU_CH7  */  initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_19, GPIO_FLEXIO1_FLEXIO19_1 | IOMUX_DSHOT_DEFAULT, 19),
+	/* FMU_CH8  */  initIOTimerChannelDshot(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_29, GPIO_FLEXIO1_FLEXIO29_1 | IOMUX_DSHOT_DEFAULT, 29),
 	/* FMU_CH9  */  initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_31),
 	/* FMU_CH10 */  initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_21),
 	/* FMU_CH11 */  initIOTimerChannel(io_timers, {PWM::PWM4_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_00),
@@ -45,6 +45,7 @@ CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_REPLAY=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_COMMON_SIMULATION=y
@@ -50,7 +50,6 @@ CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=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
@@ -141,8 +141,8 @@ CONFIG_NETDB_DNSCLIENT_ENTRIES=8
 CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y
@@ -308,7 +308,7 @@ class MavrosMissionTest(MavrosTestCommon):
        self.assertTrue(res['pitch_error_std'] < 5.0, str(res))

        # TODO: fix by excluding initial heading init and reset preflight
-        self.assertTrue(res['yaw_error_std'] < 13.0, str(res))
+        self.assertTrue(res['yaw_error_std'] < 15.0, str(res))


 if __name__ == '__main__':
@@ -178,6 +178,7 @@ set(msg_files
 	RcParameterMap.msg
 	RegisterExtComponentReply.msg
 	RegisterExtComponentRequest.msg
+	RoverAckermannGuidanceStatus.msg
 	Rpm.msg
 	RtlStatus.msg
 	RtlTimeEstimate.msg
@@ -0,0 +1,10 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 actual_speed # [m/s] Rover ground speed
+float32 desired_speed # [m/s] Rover desired ground speed
+float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
+float32 heading_error # [deg] Heading error of the pure pursuit controller
+float32 pid_throttle_integral # [-1, 1] Integral of the PID for the normalized throttle to control the rover speed during missions
+float32 crosstrack_error # [m] Shortest distance from the vehicle to the path
+
+# TOPICS rover_ackermann_guidance_status
@@ -11,7 +11,7 @@ float32[4] q_d			# Desired quaternion for quaternion control

 # For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
 # For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
-float32[3] thrust_body		# Normalized thrust command in body NED frame [-1,1]
+float32[3] thrust_body		# Normalized thrust command in body FRD frame [-1,1]

 bool reset_integral	# Reset roll/pitch/yaw integrals (navigation logic change)

@@ -62,6 +62,11 @@ public:
 	{
 		Node **p;

+		// Don't allow duplicates to be inserted
+		if (find(node_name)) {
+			return;
+		}
+
 		if (_top == nullptr) {
 			p = &_top;

@@ -306,7 +306,7 @@ void
 jump_to_app()
 {
 	const uint32_t *app_base = (const uint32_t *)APP_LOAD_ADDRESS;
-	const uint32_t *vec_base = (const uint32_t *)app_base + APP_VECTOR_OFFSET;
+	const uint32_t *vec_base = (const uint32_t *)((const uint32_t)app_base + APP_VECTOR_OFFSET);

 	/*
 	 * We refuse to program the first word of the app until the upload is marked
@@ -16,6 +16,7 @@
 #include "imxrt_clockconfig.h"

 #include <nvic.h>
+#include <mpu.h>
 #include <lib/systick.h>
 #include <lib/flash_cache.h>

@@ -396,7 +397,7 @@ flash_func_sector_size(unsigned sector)
 }

 /* imxRT uses Flash lib, not up_progmem so let's stub it here */
-up_progmem_ispageerased(unsigned sector)
+ssize_t up_progmem_ispageerased(unsigned sector)
 {
 	const uint32_t bytes_per_sector =  flash_func_sector_size(sector);
 	uint32_t *address = (uint32_t *)(IMXRT_FLEXSPI1_CIPHER_BASE + (sector * bytes_per_sector));
@@ -431,9 +432,13 @@ flash_func_erase_sector(unsigned sector, bool force)
 		return;
 	}

-	if (force || flash_func_is_sector_blank(sector) != 0) {
+	if (force || up_progmem_ispageerased(sector) != 0) {
+
 		struct flexspi_nor_config_s *pConfig = &g_bootConfig;

+		const uint32_t bytes_per_sector =  flash_func_sector_size(sector);
+		uint32_t *address = (uint32_t *)(IMXRT_FLEXSPI1_CIPHER_BASE + (sector * bytes_per_sector));
+
 		uintptr_t offset = ((uintptr_t) address) - IMXRT_FLEXSPI1_CIPHER_BASE;
 		irqstate_t flags;
 		flags = enter_critical_section();
@@ -577,6 +582,21 @@ led_toggle(unsigned led)
 void
 arch_do_jump(const uint32_t *app_base)
 {
+	/* The MPU configuration after booting has ITCM set to MPU_RASR_AP_RORO
+	 * We add this overlaping region to allow the Application to copy code into
+	 * the ITCM when it is booted. With CONFIG_ARM_MPU_RESET defined. The mpu
+	 * init will clear any added regions (after the copy)
+	 */
+
+	mpu_configure_region(IMXRT_ITCM_BASE, 256 * 1024,
+			     /* Instruction access Enabled */
+			     MPU_RASR_AP_RWRW  | /* P:RW   U:RW                */
+			     MPU_RASR_TEX_NOR    /* Normal                     */
+			     /* Not Cacheable              */
+			     /* Not Bufferable             */
+			     /* Not Shareable              */
+			     /* No Subregion disable       */
+			    );

 	/* extract the stack and entrypoint from the app vector table and go */
 	uint32_t stacktop = app_base[APP_VECTOR_OFFSET_WORDS];
@@ -74,6 +74,11 @@ bool SerialImpl::configure()
 	int speed;

 	switch (_baudrate) {
+	case 0:
+		// special case, if baudrate is 0 it hangs entire system
+		PX4_ERR("baudrate not specified");
+		return false;
+
 	case 9600:   speed = B9600;   break;

 	case 19200:  speed = B19200;  break;
@@ -33,145 +33,454 @@
 ****************************************************************************/
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/micro_hal.h>
+#include <px4_platform_common/log.h>
 #include <imxrt_flexio.h>
+#include <hardware/imxrt_flexio.h>
+#include <imxrt_periphclks.h>
 #include <px4_arch/dshot.h>
 #include <px4_arch/io_timer.h>
 #include <drivers/drv_dshot.h>
 #include <stdio.h>
+#include "barriers.h"

 #include "arm_internal.h"

+#define FLEXIO_BASE			IMXRT_FLEXIO1_BASE
+#define FLEXIO_PREQ			120000000
 #define DSHOT_TIMERS			FLEXIO_SHIFTBUFNIS_COUNT
 #define DSHOT_THROTTLE_POSITION		5u
 #define DSHOT_TELEMETRY_POSITION	4u
 #define NIBBLES_SIZE 			4u
 #define DSHOT_NUMBER_OF_NIBBLES		3u

+#if defined(IOMUX_PULL_UP_47K)
+#define IOMUX_PULL_UP IOMUX_PULL_UP_47K
+#endif
+
+static const uint32_t gcr_decode[32] = {
+	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
+	0x0, 0x9, 0xA, 0xB, 0x0, 0xD, 0xE, 0xF,
+	0x0, 0x0, 0x2, 0x3, 0x0, 0x5, 0x6, 0x7,
+	0x0, 0x0, 0x8, 0x1, 0x0, 0x4, 0xC, 0x0
+};
+
+uint32_t erpms[DSHOT_TIMERS];
+
+typedef enum {
+	DSHOT_START = 0,
+	DSHOT_12BIT_FIFO,
+	DSHOT_12BIT_TRANSFERRED,
+	DSHOT_TRANSMIT_COMPLETE,
+	BDSHOT_RECEIVE,
+	BDSHOT_RECEIVE_COMPLETE,
+} dshot_state;
+
 typedef struct dshot_handler_t {
 	bool			init;
 	uint32_t 		data_seg1;
 	uint32_t 		irq_data;
+	dshot_state             state;
+	bool			bdshot;
+	uint32_t                raw_response;
+	uint16_t                erpm;
+	uint32_t		crc_error_cnt;
+	uint32_t		frame_error_cnt;
+	uint32_t		no_response_cnt;
+	uint32_t		last_no_response_cnt;
 } dshot_handler_t;

+#define BDSHOT_OFFLINE_COUNT 400 // If there are no responses for 400 setpoints ESC is offline
+
 static dshot_handler_t dshot_inst[DSHOT_TIMERS] = {};

-struct flexio_dev_s *flexio_s;
+static uint32_t dshot_tcmp;
+static uint32_t bdshot_tcmp;
+static uint32_t dshot_mask;
+static uint32_t bdshot_recv_mask;
+static uint32_t bdshot_parsed_recv_mask;
+
+static inline uint32_t flexio_getreg32(uint32_t offset)
+{
+	return getreg32(FLEXIO_BASE + offset);
+}
+
+static inline void flexio_modifyreg32(unsigned int offset,
+				      uint32_t clearbits,
+				      uint32_t setbits)
+{
+	modifyreg32(FLEXIO_BASE + offset, clearbits, setbits);
+}
+
+static inline void flexio_putreg32(uint32_t value, uint32_t offset)
+{
+	putreg32(value, FLEXIO_BASE + offset);
+}
+
+static inline void enable_shifter_status_interrupts(uint32_t mask)
+{
+	flexio_modifyreg32(IMXRT_FLEXIO_SHIFTSIEN_OFFSET, 0, mask);
+}
+
+static inline void disable_shifter_status_interrupts(uint32_t mask)
+{
+	flexio_modifyreg32(IMXRT_FLEXIO_SHIFTSIEN_OFFSET, mask, 0);
+}
+
+static inline uint32_t get_shifter_status_flags(void)
+{
+	return flexio_getreg32(IMXRT_FLEXIO_SHIFTSTAT_OFFSET);
+}
+
+static inline void clear_shifter_status_flags(uint32_t mask)
+{
+	flexio_putreg32(mask, IMXRT_FLEXIO_SHIFTSTAT_OFFSET);
+}
+
+static inline void enable_timer_status_interrupts(uint32_t mask)
+{
+	flexio_modifyreg32(IMXRT_FLEXIO_TIMIEN_OFFSET, 0, mask);
+}
+
+static inline void disable_timer_status_interrupts(uint32_t mask)
+{
+	flexio_modifyreg32(IMXRT_FLEXIO_TIMIEN_OFFSET, mask, 0);
+}
+
+static inline uint32_t get_timer_status_flags(void)
+{
+	return flexio_getreg32(IMXRT_FLEXIO_TIMSTAT_OFFSET);
+}
+
+static inline void clear_timer_status_flags(uint32_t mask)
+{
+	flexio_putreg32(mask, IMXRT_FLEXIO_TIMSTAT_OFFSET);
+}
+
+static void flexio_dshot_output(uint32_t channel, uint32_t pin, uint32_t timcmp, bool inverted)
+{
+	/* Disable Shifter */
+	flexio_putreg32(0, IMXRT_FLEXIO_SHIFTCTL0_OFFSET + channel * 0x4);
+
+	/* No start bit, stop bit low */
+	flexio_putreg32(FLEXIO_SHIFTCFG_INSRC(FLEXIO_SHIFTER_INPUT_FROM_PIN) |
+			FLEXIO_SHIFTCFG_PWIDTH(0) |
+			FLEXIO_SHIFTCFG_SSTOP(FLEXIO_SHIFTER_STOP_BIT_LOW) |
+			FLEXIO_SHIFTCFG_SSTART(FLEXIO_SHIFTER_START_BIT_DISABLED_LOAD_DATA_ON_ENABLE),
+			IMXRT_FLEXIO_SHIFTCFG0_OFFSET + channel * 0x4);
+
+	/* Transmit mode, output to FXIO pin, inverted output for bdshot */
+	flexio_putreg32(FLEXIO_SHIFTCTL_TIMSEL(channel) |
+			FLEXIO_SHIFTCTL_TIMPOL(FLEXIO_SHIFTER_TIMER_POLARITY_ON_POSITIVE) |
+			FLEXIO_SHIFTCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT) |
+			FLEXIO_SHIFTCTL_PINSEL(pin) |
+			FLEXIO_SHIFTCTL_PINPOL(inverted) |
+			FLEXIO_SHIFTCTL_SMOD(FLEXIO_SHIFTER_MODE_TRANSMIT),
+			IMXRT_FLEXIO_SHIFTCTL0_OFFSET + channel * 0x4);
+
+	/* Start transmitting on trigger, disable on compare */
+	flexio_putreg32(FLEXIO_TIMCFG_TIMOUT(FLEXIO_TIMER_OUTPUT_ONE_NOT_AFFECTED_BY_RESET) |
+			FLEXIO_TIMCFG_TIMDEC(FLEXIO_TIMER_DEC_SRC_ON_FLEX_IO_CLOCK_SHIFT_TIMER_OUTPUT) |
+			FLEXIO_TIMCFG_TIMRST(FLEXIO_TIMER_RESET_NEVER) |
+			FLEXIO_TIMCFG_TIMDIS(FLEXIO_TIMER_DISABLE_ON_TIMER_COMPARE) |
+			FLEXIO_TIMCFG_TIMENA(FLEXIO_TIMER_ENABLE_ON_TRIGGER_HIGH) |
+			FLEXIO_TIMCFG_TSTOP(FLEXIO_TIMER_STOP_BIT_DISABLED) |
+			FLEXIO_TIMCFG_TSTART(FLEXIO_TIMER_START_BIT_DISABLED),
+			IMXRT_FLEXIO_TIMCFG0_OFFSET + channel * 0x4);
+
+	flexio_putreg32(timcmp, IMXRT_FLEXIO_TIMCMP0_OFFSET + channel * 0x4);
+
+	/* Baud mode, Trigger on shifter write */
+	flexio_putreg32(FLEXIO_TIMCTL_TRGSEL((4 * channel) + 1) |
+			FLEXIO_TIMCTL_TRGPOL(FLEXIO_TIMER_TRIGGER_POLARITY_ACTIVE_LOW) |
+			FLEXIO_TIMCTL_TRGSRC(FLEXIO_TIMER_TRIGGER_SOURCE_INTERNAL) |
+			FLEXIO_TIMCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT_DISABLED) |
+			FLEXIO_TIMCTL_PINSEL(0) |
+			FLEXIO_TIMCTL_PINPOL(FLEXIO_PIN_ACTIVE_LOW) |
+			FLEXIO_TIMCTL_TIMOD(FLEXIO_TIMER_MODE_DUAL8_BIT_BAUD_BIT),
+			IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4);
+
+}

 static int flexio_irq_handler(int irq, void *context, void *arg)
 {
+	uint32_t flags = get_shifter_status_flags();
+	uint32_t channel;

-	uint32_t flags = flexio_s->ops->get_shifter_status_flags(flexio_s);
-	uint32_t instance;
+	for (channel = 0; flags && channel < DSHOT_TIMERS; channel++) {
+		if (flags & (1 << channel)) {
+			disable_shifter_status_interrupts(1 << channel);

-	for (instance = 0; flags && instance < DSHOT_TIMERS; instance++) {
-		if (flags & (1 << instance)) {
-			flexio_s->ops->disable_shifter_status_interrupts(flexio_s, (1 << instance));
-			flexio_s->ops->disable_timer_status_interrupts(flexio_s, (1 << instance));
+			if (dshot_inst[channel].state == DSHOT_START) {
+				dshot_inst[channel].state = DSHOT_12BIT_FIFO;
+				flexio_putreg32(dshot_inst[channel].irq_data, IMXRT_FLEXIO_SHIFTBUF0_OFFSET + channel * 0x4);

-			if (dshot_inst[instance].irq_data != 0) {
-				uint32_t buf_adr = flexio_s->ops->get_shifter_buffer_address(flexio_s, FLEXIO_SHIFTER_BUFFER, instance);
-				putreg32(dshot_inst[instance].irq_data, IMXRT_FLEXIO1_BASE + buf_adr);
-				dshot_inst[instance].irq_data = 0;
+			} else if (dshot_inst[channel].state == BDSHOT_RECEIVE) {
+				dshot_inst[channel].state = BDSHOT_RECEIVE_COMPLETE;
+				dshot_inst[channel].raw_response = flexio_getreg32(IMXRT_FLEXIO_SHIFTBUFBIS0_OFFSET + channel * 0x4);
+
+				bdshot_recv_mask |= (1 << channel);
+
+				if (bdshot_recv_mask == dshot_mask) {
+					// Received telemetry on all channels
+					// Schedule workqueue?
+				}
 			}
 		}
 	}

+	flags = get_timer_status_flags();
+
+	for (channel = 0; flags; (channel = (channel + 1) % DSHOT_TIMERS)) {
+		flags = get_timer_status_flags();
+
+		if (flags & (1 << channel)) {
+			clear_timer_status_flags(1 << channel);
+
+			if (dshot_inst[channel].state == DSHOT_12BIT_FIFO) {
+				dshot_inst[channel].state = DSHOT_12BIT_TRANSFERRED;
+
+			} else if (!dshot_inst[channel].bdshot && dshot_inst[channel].state == DSHOT_12BIT_TRANSFERRED) {
+				dshot_inst[channel].state = DSHOT_TRANSMIT_COMPLETE;
+
+			} else if (dshot_inst[channel].bdshot && dshot_inst[channel].state == DSHOT_12BIT_TRANSFERRED) {
+				disable_shifter_status_interrupts(1 << channel);
+				dshot_inst[channel].state = BDSHOT_RECEIVE;
+
+				/* Transmit done, disable timer and reconfigure to receive*/
+				flexio_putreg32(0x0, IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4);
+
+				/* Input data from pin, no start/stop bit*/
+				flexio_putreg32(FLEXIO_SHIFTCFG_INSRC(FLEXIO_SHIFTER_INPUT_FROM_PIN) |
+						FLEXIO_SHIFTCFG_PWIDTH(0) |
+						FLEXIO_SHIFTCFG_SSTOP(FLEXIO_SHIFTER_STOP_BIT_DISABLE) |
+						FLEXIO_SHIFTCFG_SSTART(FLEXIO_SHIFTER_START_BIT_DISABLED_LOAD_DATA_ON_SHIFT),
+						IMXRT_FLEXIO_SHIFTCFG0_OFFSET + channel * 0x4);
+
+				/* Shifter receive mdoe, on FXIO pin input */
+				flexio_putreg32(FLEXIO_SHIFTCTL_TIMSEL(channel) |
+						FLEXIO_SHIFTCTL_TIMPOL(FLEXIO_SHIFTER_TIMER_POLARITY_ON_POSITIVE) |
+						FLEXIO_SHIFTCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT_DISABLED) |
+						FLEXIO_SHIFTCTL_PINSEL(timer_io_channels[channel].dshot.flexio_pin) |
+						FLEXIO_SHIFTCTL_PINPOL(FLEXIO_PIN_ACTIVE_LOW) |
+						FLEXIO_SHIFTCTL_SMOD(FLEXIO_SHIFTER_MODE_RECEIVE),
+						IMXRT_FLEXIO_SHIFTCTL0_OFFSET + channel * 0x4);
+
+				/* Make sure there no shifter flags high from transmission */
+				clear_shifter_status_flags(1 << channel);
+
+				/* Enable on pin transition, resychronize through reset on rising edge */
+				flexio_putreg32(FLEXIO_TIMCFG_TIMOUT(FLEXIO_TIMER_OUTPUT_ONE_AFFECTED_BY_RESET) |
+						FLEXIO_TIMCFG_TIMDEC(FLEXIO_TIMER_DEC_SRC_ON_FLEX_IO_CLOCK_SHIFT_TIMER_OUTPUT) |
+						FLEXIO_TIMCFG_TIMRST(FLEXIO_TIMER_RESET_ON_TIMER_PIN_RISING_EDGE) |
+						FLEXIO_TIMCFG_TIMDIS(FLEXIO_TIMER_DISABLE_ON_TIMER_COMPARE) |
+						FLEXIO_TIMCFG_TIMENA(FLEXIO_TIMER_ENABLE_ON_TRIGGER_BOTH_EDGE) |
+						FLEXIO_TIMCFG_TSTOP(FLEXIO_TIMER_STOP_BIT_ENABLE_ON_TIMER_DISABLE) |
+						FLEXIO_TIMCFG_TSTART(FLEXIO_TIMER_START_BIT_ENABLED),
+						IMXRT_FLEXIO_TIMCFG0_OFFSET + channel * 0x4);
+
+				/* Enable on pin transition, resychronize through reset on rising edge */
+				flexio_putreg32(bdshot_tcmp, IMXRT_FLEXIO_TIMCMP0_OFFSET + channel * 0x4);
+
+				/* Trigger on FXIO pin transition, Baud mode */
+				flexio_putreg32(FLEXIO_TIMCTL_TRGSEL(2 * timer_io_channels[channel].dshot.flexio_pin) |
+						FLEXIO_TIMCTL_TRGPOL(FLEXIO_TIMER_TRIGGER_POLARITY_ACTIVE_HIGH) |
+						FLEXIO_TIMCTL_TRGSRC(FLEXIO_TIMER_TRIGGER_SOURCE_INTERNAL) |
+						FLEXIO_TIMCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT_DISABLED) |
+						FLEXIO_TIMCTL_PINSEL(0) |
+						FLEXIO_TIMCTL_PINPOL(FLEXIO_PIN_ACTIVE_LOW) |
+						FLEXIO_TIMCTL_TIMOD(FLEXIO_TIMER_MODE_DUAL8_BIT_BAUD_BIT),
+						IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4);
+
+				/* Enable shifter interrupt for receiving data */
+				enable_shifter_status_interrupts(1 << channel);
+			}
+		}
+
+	}
+
 	return OK;
 }

-int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq)
+
+int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot)
 {
-	uint32_t timer_compare;
+	/* Calculate dshot timings based on dshot_pwm_freq */
+	dshot_tcmp = 0x2F00 | (((FLEXIO_PREQ / (dshot_pwm_freq * 3) / 2)) & 0xFF);
+	bdshot_tcmp = 0x2900 | (((FLEXIO_PREQ / (dshot_pwm_freq * 5 / 4) / 2) - 1) & 0xFF);

-	if (dshot_pwm_freq == 150000) {
-		timer_compare = 0x2F8A;
+	/* Clock FlexIO peripheral */
+	imxrt_clockall_flexio1();

-	} else if (dshot_pwm_freq == 300000) {
-		timer_compare = 0x2F45;
+	/* Reset FlexIO peripheral */
+	flexio_modifyreg32(IMXRT_FLEXIO_CTRL_OFFSET, 0,
+			   FLEXIO_CTRL_SWRST_MASK);
+	flexio_putreg32(0, IMXRT_FLEXIO_CTRL_OFFSET);

-	} else if (dshot_pwm_freq == 600000) {
-		timer_compare = 0x2F22;
+	/* Initialize FlexIO peripheral */
+	flexio_modifyreg32(IMXRT_FLEXIO_CTRL_OFFSET,
+			   (FLEXIO_CTRL_DOZEN_MASK |
+			    FLEXIO_CTRL_DBGE_MASK |
+			    FLEXIO_CTRL_FASTACC_MASK |
+			    FLEXIO_CTRL_FLEXEN_MASK),
+			   (FLEXIO_CTRL_DBGE(1) |
+			    FLEXIO_CTRL_FASTACC(1) |
+			    FLEXIO_CTRL_FLEXEN(0)));

-	} else if (dshot_pwm_freq == 1200000) {
-		timer_compare = 0x2F11;
-
-	} else {
-		// Not supported Dshot frequency
-		return 0;
-	}
-
-	/* Init FlexIO peripheral */
-
-	flexio_s = imxrt_flexio_initialize(1);
+	/* FlexIO IRQ handling */
 	up_enable_irq(IMXRT_IRQ_FLEXIO1);
-	irq_attach(IMXRT_IRQ_FLEXIO1, flexio_irq_handler, flexio_s);
+	irq_attach(IMXRT_IRQ_FLEXIO1, flexio_irq_handler, 0);
+
+	dshot_mask = 0x0;

 	for (unsigned channel = 0; (channel_mask != 0) && (channel < DSHOT_TIMERS); channel++) {
 		if (channel_mask & (1 << channel)) {
-			uint8_t timer = timer_io_channels[channel].timer_index;

-			if (io_timers[timer].dshot.pinmux == 0) { // board does not configure dshot on this pin
+			if (timer_io_channels[channel].dshot.pinmux == 0) { // board does not configure dshot on this pin
 				continue;
 			}

-			imxrt_config_gpio(io_timers[timer].dshot.pinmux);
+			imxrt_config_gpio(timer_io_channels[channel].dshot.pinmux | IOMUX_PULL_UP);

-			struct flexio_shifter_config_s shft_cfg;
-			shft_cfg.timer_select = channel;
-			shft_cfg.timer_polarity = FLEXIO_SHIFTER_TIMER_POLARITY_ON_POSITIVE;
-			shft_cfg.pin_config = FLEXIO_PIN_CONFIG_OUTPUT;
-			shft_cfg.pin_select = io_timers[timer].dshot.flexio_pin;
-			shft_cfg.pin_polarity = FLEXIO_PIN_ACTIVE_HIGH;
-			shft_cfg.shifter_mode = FLEXIO_SHIFTER_MODE_TRANSMIT;
-			shft_cfg.parallel_width = 0;
-			shft_cfg.input_source = FLEXIO_SHIFTER_INPUT_FROM_PIN;
-			shft_cfg.shifter_stop = FLEXIO_SHIFTER_STOP_BIT_LOW;
-			shft_cfg.shifter_start = FLEXIO_SHIFTER_START_BIT_DISABLED_LOAD_DATA_ON_ENABLE;
+			dshot_inst[channel].bdshot = enable_bidirectional_dshot;

-			flexio_s->ops->set_shifter_config(flexio_s, channel, &shft_cfg);
-
-			struct flexio_timer_config_s tmr_cfg;
-			tmr_cfg.trigger_select = (4 * channel) + 1;
-			tmr_cfg.trigger_polarity = FLEXIO_TIMER_TRIGGER_POLARITY_ACTIVE_LOW;
-			tmr_cfg.trigger_source = FLEXIO_TIMER_TRIGGER_SOURCE_INTERNAL;
-			tmr_cfg.pin_config = FLEXIO_PIN_CONFIG_OUTPUT_DISABLED;
-			tmr_cfg.pin_select = 0;
-			tmr_cfg.pin_polarity = FLEXIO_PIN_ACTIVE_LOW;
-			tmr_cfg.timer_mode = FLEXIO_TIMER_MODE_DUAL8_BIT_BAUD_BIT;
-			tmr_cfg.timer_output = FLEXIO_TIMER_OUTPUT_ONE_NOT_AFFECTED_BY_RESET;
-			tmr_cfg.timer_decrement = FLEXIO_TIMER_DEC_SRC_ON_FLEX_IO_CLOCK_SHIFT_TIMER_OUTPUT;
-			tmr_cfg.timer_reset = FLEXIO_TIMER_RESET_NEVER;
-			tmr_cfg.timer_disable = FLEXIO_TIMER_DISABLE_ON_TIMER_COMPARE;
-			tmr_cfg.timer_enable = FLEXIO_TIMER_ENABLE_ON_TRIGGER_HIGH;
-			tmr_cfg.timer_stop = FLEXIO_TIMER_STOP_BIT_DISABLED;
-			tmr_cfg.timer_start = FLEXIO_TIMER_START_BIT_DISABLED;
-			tmr_cfg.timer_compare = timer_compare;
-			flexio_s->ops->set_timer_config(flexio_s, channel, &tmr_cfg);
+			flexio_dshot_output(channel, timer_io_channels[channel].dshot.flexio_pin, dshot_tcmp, dshot_inst[channel].bdshot);

 			dshot_inst[channel].init = true;
+
+			// Mask channel to be active on dshot
+			dshot_mask |= (1 << channel);
 		}
 	}

-	flexio_s->ops->enable(flexio_s, true);
+	flexio_modifyreg32(IMXRT_FLEXIO_CTRL_OFFSET, 0,
+			   FLEXIO_CTRL_FLEXEN_MASK);

 	return channel_mask;
 }

+void up_bdshot_erpm(void)
+{
+	uint32_t value;
+	uint32_t data;
+	uint32_t csum_data;
+	uint8_t exponent;
+	uint16_t period;
+	uint16_t erpm;
+
+	bdshot_parsed_recv_mask = 0;
+
+	// Decode each individual channel
+	for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) {
+		if (bdshot_recv_mask & (1 << channel)) {
+			value = ~dshot_inst[channel].raw_response & 0xFFFFF;
+
+			/* if lowest significant isn't 1 we've got a framing error */
+			if (value & 0x1) {
+				/* Decode RLL */
+				value = (value ^ (value >> 1));
+
+				/* Decode GCR */
+				data = gcr_decode[value & 0x1fU];
+				data |= gcr_decode[(value >> 5U) & 0x1fU] << 4U;
+				data |= gcr_decode[(value >> 10U) & 0x1fU] << 8U;
+				data |= gcr_decode[(value >> 15U) & 0x1fU] << 12U;
+
+				/* Calculate checksum */
+				csum_data = data;
+				csum_data = csum_data ^ (csum_data >> 8U);
+				csum_data = csum_data ^ (csum_data >> NIBBLES_SIZE);
+
+				if ((csum_data & 0xFU) != 0xFU) {
+					dshot_inst[channel].crc_error_cnt++;
+
+				} else {
+					data = (data >> 4) & 0xFFF;
+
+					if (data == 0xFFF) {
+						erpm = 0;
+
+					} else {
+						exponent = ((data >> 9U) & 0x7U); /* 3 bit: exponent */
+						period = (data & 0x1ffU); /* 9 bit: period base */
+						period = period << exponent; /* Period in usec */
+						erpm = ((1000000U * 60U / 100U + period / 2U) / period);
+					}
+
+					dshot_inst[channel].erpm = erpm;
+					bdshot_parsed_recv_mask |= (1 << channel);
+					dshot_inst[channel].last_no_response_cnt = dshot_inst[channel].no_response_cnt;
+				}
+
+			} else {
+				dshot_inst[channel].frame_error_cnt++;
+			}
+		}
+	}
+}
+
+
+
+int up_bdshot_get_erpm(uint8_t channel, int *erpm)
+{
+	if (bdshot_parsed_recv_mask & (1 << channel)) {
+		*erpm = (int)dshot_inst[channel].erpm;
+		return 0;
+	}
+
+	return -1;
+}
+
+int up_bdshot_channel_status(uint8_t channel)
+{
+	if (channel < DSHOT_TIMERS) {
+		return ((dshot_inst[channel].no_response_cnt - dshot_inst[channel].last_no_response_cnt) < BDSHOT_OFFLINE_COUNT);
+	}
+
+	return -1;
+}
+
+void up_bdshot_status(void)
+{
+
+	for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) {
+
+		if (dshot_inst[channel].init) {
+			PX4_INFO("Channel %i %s Last erpm %i value", channel, up_bdshot_channel_status(channel) ? "online" : "offline",
+				 dshot_inst[channel].erpm);
+			PX4_INFO("CRC errors Frame error No response");
+			PX4_INFO("%10lu %11lu %11lu", dshot_inst[channel].crc_error_cnt, dshot_inst[channel].frame_error_cnt,
+				 dshot_inst[channel].no_response_cnt);
+		}
+	}
+}
+
 void up_dshot_trigger(void)
 {
-	uint32_t buf_adr;
+	// Calc data now since we're not event driven
+	if (bdshot_recv_mask != 0x0) {
+		up_bdshot_erpm();
+	}

-	for (uint8_t motor_number = 0; (motor_number < DSHOT_TIMERS); motor_number++) {
-		if (dshot_inst[motor_number].init && dshot_inst[motor_number].data_seg1 != 0) {
-			buf_adr = flexio_s->ops->get_shifter_buffer_address(flexio_s, FLEXIO_SHIFTER_BUFFER, motor_number);
-			putreg32(dshot_inst[motor_number].data_seg1, IMXRT_FLEXIO1_BASE + buf_adr);
+	clear_timer_status_flags(0xFF);
+
+	for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) {
+		if (dshot_inst[channel].bdshot && (bdshot_recv_mask & (1 << channel)) == 0) {
+			dshot_inst[channel].no_response_cnt++;
+		}
+
+		if (dshot_inst[channel].init && dshot_inst[channel].data_seg1 != 0) {
+			flexio_putreg32(dshot_inst[channel].data_seg1, IMXRT_FLEXIO_SHIFTBUF0_OFFSET + channel * 0x4);
 		}
 	}

-	flexio_s->ops->clear_timer_status_flags(flexio_s, 0xFF);
-	flexio_s->ops->enable_shifter_status_interrupts(flexio_s, 0xFF);
+	bdshot_recv_mask = 0x0;
+
+	clear_timer_status_flags(0xFF);
+	enable_shifter_status_interrupts(0xFF);
+	enable_timer_status_interrupts(0xFF);
 }

+/* Expand packet from 16 bits 48 to get T0H and T1H timing */
 uint64_t dshot_expand_data(uint16_t packet)
 {
 	unsigned int mask;
@@ -197,16 +506,22 @@ uint64_t dshot_expand_data(uint16_t packet)
 * bit 	12		- dshot telemetry enable/disable
 * bits 	13-16	- XOR checksum
 **/
-void dshot_motor_data_set(unsigned motor_number, uint16_t throttle, bool telemetry)
+void dshot_motor_data_set(unsigned channel, uint16_t throttle, bool telemetry)
 {
-	if (motor_number < DSHOT_TIMERS && dshot_inst[motor_number].init) {
+	if (channel < DSHOT_TIMERS && dshot_inst[channel].init) {
+		uint16_t csum_data;
 		uint16_t packet = 0;
 		uint16_t checksum = 0;

 		packet |= throttle << DSHOT_THROTTLE_POSITION;
 		packet |= ((uint16_t)telemetry & 0x01) << DSHOT_TELEMETRY_POSITION;

-		uint16_t csum_data = packet;
+		if (dshot_inst[channel].bdshot) {
+			csum_data = ~packet;
+
+		} else {
+			csum_data = packet;
+		}

 		/* XOR checksum calculation */
 		csum_data >>= NIBBLES_SIZE;
@@ -219,8 +534,20 @@ void dshot_motor_data_set(unsigned motor_number, uint16_t throttle, bool telemet
 		packet |= (checksum & 0x0F);

 		uint64_t dshot_expanded = dshot_expand_data(packet);
-		dshot_inst[motor_number].data_seg1 = (uint32_t)(dshot_expanded & 0xFFFFFF);
-		dshot_inst[motor_number].irq_data = (uint32_t)(dshot_expanded >> 24);
+
+		dshot_inst[channel].data_seg1 = (uint32_t)(dshot_expanded & 0xFFFFFF);
+		dshot_inst[channel].irq_data = (uint32_t)(dshot_expanded >> 24);
+		dshot_inst[channel].state = DSHOT_START;
+
+		if (dshot_inst[channel].bdshot) {
+
+			flexio_putreg32(0x0, IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4);
+			disable_shifter_status_interrupts(1 << channel);
+
+			flexio_dshot_output(channel, timer_io_channels[channel].dshot.flexio_pin, dshot_tcmp, dshot_inst[channel].bdshot);
+
+			clear_timer_status_flags(0xFF);
+		}
 	}
 }

@@ -87,7 +87,6 @@ typedef struct io_timers_t {
 	uint32_t  clock_register;      /* SIM_SCGCn */
 	uint32_t  clock_bit;           /* SIM_SCGCn bit pos */
 	uint32_t  vectorno;            /* IRQ number */
-	dshot_conf_t	dshot;
 } io_timers_t;

 typedef struct io_timers_channel_mapping_element_t {
@@ -112,6 +111,7 @@ typedef struct timer_io_channels_t {
 	uint8_t   sub_module;          /* 0 based sub module offset */
 	uint8_t   sub_module_bits;     /* LDOK and CLDOK bits */
 	uint8_t   timer_channel;       /* Unused */
+	dshot_conf_t	dshot;
 } timer_io_channels_t;

 #define SM0           0
@@ -36,7 +36,7 @@ add_subdirectory(../imxrt/adc adc)
 add_subdirectory(../imxrt/board_critmon board_critmon)
 add_subdirectory(../imxrt/board_hw_info board_hw_info)
 add_subdirectory(../imxrt/board_reset board_reset)
-#add_subdirectory(../imxrt/dshot dshot)
+add_subdirectory(../imxrt/dshot dshot)
 add_subdirectory(../imxrt/hrt hrt)
 add_subdirectory(../imxrt/led_pwm led_pwm)
 add_subdirectory(../imxrt/io_pins io_pins)
@@ -0,0 +1,36 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+
+#include "../../../imxrt/include/px4_arch/dshot.h"
@@ -41,6 +41,7 @@
 #include <nuttx/irq.h>

 #include <drivers/drv_hrt.h>
+#include "dshot.h"

 #pragma once
 __BEGIN_DECLS
@@ -110,6 +111,7 @@ typedef struct timer_io_channels_t {
 	uint8_t   sub_module;          /* 0 based sub module offset */
 	uint8_t   sub_module_bits;     /* LDOK and CLDOK bits */
 	uint8_t   timer_channel;       /* Unused */
+	dshot_conf_t dshot;
 } timer_io_channels_t;

 #define SM0           0
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jaeyoung-Lim	b84404207a	Increase maximum rates	2024-07-31 18:55:11 +02:00
Jaeyoung-Lim	b4a03c5774	Monocopter flying	2024-07-18 15:35:26 +02:00
JaeyoungLim	f14e174c23	Update sitl_gazebo	2024-07-03 13:04:16 +02:00
Jaeyoung-Lim	8fd4a59235	Add boiler plate for monocopter model Update F Update submodule Update submodules	2024-06-23 15:18:09 +02:00
Jaeyoung-Lim	bdd27e02fa	Add monocopter build target	2024-06-13 16:18:03 +02:00
Marco Hauswirth	db2f616400	reduce transition pusher throttle (#23262 )	2024-06-12 18:10:50 +02:00
Roman Bapst	0ce64e1b92	ekf2: don't fuse optical flow samples when the current distance to the ground is larger than the reported maximum flow sensor distance Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-06-11 21:20:40 -04:00
Silvan Fuhrer	5dd76332ba	Matrix: print full matrix already if only one element is not symmetric Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-11 21:14:13 -04:00
Roman Bapst	8ad93464c7	AirspeedValidator: Remove extra delay from airspeed innovation check (#23244 ) * AirspeedValidator: remove additional one second of hysteresis for triggering innovation checks - this check already uses an integrator and so adding more delay just makes log analysis more difficult and does not really add any value Signed-off-by: RomanBapst <bapstroman@gmail.com> * removed unnecessary conditions Signed-off-by: RomanBapst <bapstroman@gmail.com> * AirspeedValidator: only disable innov checks if ASPD_FS_INTEG is negative Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * get rid of unnecessary check on innovation threshold parameter Signed-off-by: RomanBapst <bapstroman@gmail.com> --------- Signed-off-by: RomanBapst <bapstroman@gmail.com> Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-11 14:09:36 +02:00
Frederik Markus	9ececfdd65	update GCS connection loss failsafe in all gazebo models (#22299 ) * update GCS connection loss failsafe in all gazebo models Signed-off-by: frederik <frederik@auterion.com> * cleanup and return of old parameter Signed-off-by: frederik <frederik@auterion.com> --------- Signed-off-by: frederik <frederik@auterion.com> Co-authored-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-11 09:50:55 +02:00
Alex Klimaj	1d8e8a1d8b	boards: ark septentrio change safety led to open drain (#23247 )	2024-06-10 11:04:55 -08:00
Silvan Fuhrer	30b63f6a82	AirspeedSelector: set default of ASPD_FS_T_STOP to 1 and clean up meta data Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-10 12:42:54 +02:00
Silvan Fuhrer	5513dfa95d	AirspeedSelector: define start/stop delay params as floats Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-10 12:42:54 +02:00
Julian Oes	0932f50d79	mavlink: enable gimbal controls in QGC over USB	2024-06-10 21:56:37 +12:00
Julian Oes	3710a9ef6e	gimbal: fix auto RC and MAVLink mode This fixes various edge cases when input is set to both: RC and MAVLink gimbal protocol v2. Specifically: - We no longer immediately reset primary control if there is no update, otherwise this will reset immediately after an commands. - Talking of commands: GIMBAL_MANAGER_CONFIGURE no longer switches control to MAVLink but only an actual incoming setpoint command does. - And incoming setpoint command only triggers UpdatedActiveOnce which means we will check RC again afterwards and if there is big movement switch back to RC. That's the intuitive thing to do until we have better reporting about who/what is in control. - Also, with RC we no longer always set us to be in control but only on major movement.	2024-06-10 21:56:37 +12:00
Ruoyu Wang	b9aa8818a4	kakute f7/h7/h7mini/h7v2: fix EKF2_IMU_CTRL typo	2024-06-10 11:08:33 +02:00
Beat Küng	52ac9336c4	boards: change default IP from 192.168.0.3 to 10.41.10.2 192.168.0.x is often used by routers for WIFI/ethernet networks, and thus can create conflicts. This can happen for example if a companion is connected to the FMU via ethernet and at the same time connects to a WIFI network as DHCP client.	2024-06-10 11:05:50 +02:00
Beat Küng	a90cdcfe80	boards/px4/fmu-v{5,6}x: enable uxrce_dds_client on ethernet by default	2024-06-10 11:05:50 +02:00
Beat Küng	2524ac8c2b	boards/px4/fmu-v{5,6}x: do not enable mavlink on ethernet for skynode	2024-06-10 11:05:50 +02:00
asifpatankar	746322d6d2	Update ubuntu.sh with Linux Mint 21.3 version	2024-06-10 16:20:48 +12:00
Jacob Dahl	2882e5c4e1	platforms: nuttx: SerialImpl: fix hang if baudrate is 0 (#23238 )	2024-06-07 22:08:21 -06:00
chfriedrich98	5c64a3ed93	Rover Ackermann module (#23024 ) New module handling Ackermann rover guidance and control. Only enabled in SITL and in the rover builds for now.	2024-06-07 17:15:12 +02:00
Silvan Fuhrer	831160389e	VTOL Tailsitter: remove throttle spike also for quad-chute Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-07 16:11:59 +02:00
Silvan Fuhrer	199a2f43be	VTOL Tailsitter: treat back transition abort like a front transition for throttle blending. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-07 16:11:59 +02:00
Silvan Fuhrer	b5988ed38f	VTOL Tailsitter: add back transition throttle blending Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-07 16:11:59 +02:00
Silvan Fuhrer	f119b15ff1	VTOL Tailsitter: set differential thrust to 0 in first 50ms of front transition Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-07 16:11:59 +02:00
Silvan Fuhrer	77a3099154	VTOL Tailsitter: fix motor spikes to 0 when starting back transition Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-07 16:11:59 +02:00
Silvan Fuhrer	3a2b973aba	VTOL Tailsitter: add front transition throttle blending Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-07 16:11:59 +02:00
Silvan Fuhrer	a081354933	VTOL tailsitter: fix motor spike to 0 when finishing front transition Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-07 16:11:59 +02:00
Silvan Fuhrer	1f7b4843dd	FW position control: specify modes where FW_PN_R_SLEW_MAX applies Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-07 09:32:23 +02:00
Silvan Fuhrer	b8998933c9	AttitudeSetpoint.msg: FRD instead of NED for body frame Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-07 09:32:23 +02:00
Silvan Fuhrer	b53d2cdf39	battery: reset current filter when transitioning to FW (#22256 ) VTOLs consume a lot more power in hover copared to fixed-wing fligt. The remaining flight time thus should reset if one switches from MC to FW, as otherwise it takes several minutes until the estimate goes down.	2024-06-07 09:28:37 +02:00
Joao Mario Lago	2ce92a678d	arch.sh: Fix syntax error Fix error of script failing with following error: PX4-Autopilot/Tools/setup/arch.sh: line 99: syntax error near unexpected token `;'	2024-06-06 21:55:05 -04:00
Julian Oes	f6b65e68cc	boards: update all bootloaders	2024-06-07 13:16:17 +12:00
Julian Oes	7137780654	Makefile: add missing bootloader targets Quite a few were missing, and everything on one line was hard to diff.	2024-06-07 13:16:17 +12:00
Chris Lalancette	b1bf0ff888	Remove argparse from the requirements.txt. The argparse module has been builtin to Python since Python 3.2, released in 2011 (see https://docs.python.org/3/whatsnew/3.2.html). Further, the argparse pip module has not been released or updated since 2015, and lacks some of the features of the modern, built-in argparse. Drop the pip installed version in favor of the built-in version. Signed-off-by: Chris Lalancette <clalancette@gmail.com>	2024-06-06 10:09:11 -04:00
Daniel Agar	fb659ae200	ekf2: stopMagFusion() reset yaw_align if mag heading was active - we also need to clear mag_aligned_in_flight	2024-06-06 10:08:20 -04:00
Daniel Agar	bfe3c86aeb	ekf2: merge mag yaw angle observability into heading consistency - the additional hyteresis logic for "yaw angle observable" was needed when it controlled time dependent mag_3d	2024-06-06 10:07:31 -04:00
Rowan Dempster	bc51eb37eb	Only close server when errno is not EINTR	2024-06-06 07:40:12 +02:00
Matthias Grob	68769ea0ec	mavlink: use reference instead of pointer to access the MAVLink instance from protocol classes	2024-06-05 16:13:52 +02:00
Matthias Grob	9a7a977625	mavlink_receiver: put all message handling in the same function	2024-06-05 16:13:52 +02:00
Daniel Agar	157f7cf40b	simplify world_magnetic_model interface (degrees in, degrees out) - this hopefully helps avoid accidental mis-use - try to clarify units everywhere	2024-06-04 09:14:36 -04:00
Daniel Agar	5fa3b9d86a	lib/world_magnetic_model: fetch_noaa_table.py refactor and scaling improvements - upate to NOAA grid API to build WMM table in one pass - refactor declination/inclination/totalintensity table printing to shared method - compute scaling factor to maximize resolution	2024-06-04 09:14:36 -04:00
Jacob Dahl	22a38c0c6d	drivers/imu: sch16t improvements (#23221 ) * individual perf counters for frame errors * don't treat saturation as an error * added parameters for gyro/accel LPF and decimation ratio	2024-06-03 22:15:00 -04:00
Alex Klimaj	36ec576c0f	boards: ark-pi6x remove ekf delay param defaults (#23177 )	2024-06-03 17:52:17 -08:00
Matteo Del Seppia	a8617cf681	Fix float and uint64_t comparison (#23199 ) fix: ControlAllocator float and int comparison bug There was an incorrect comparison between a float variable `dt` and a `uint64_t` value representing 5 milliseconds (`5_ms`). As a result, `do_update` could never become true even if the last torque setpoint was received more than 5 milliseconds before. To solve this, the `5_ms` value has been converted to seconds (0.005f) for the comparison with `dt`.	2024-06-03 17:48:38 -08:00
Alex Klimaj	de0e73d505	vscode cmake-variants fix ark_septentrio-gps (#23222 )	2024-06-03 19:43:26 -06:00
Matteo Del Seppia	de5087ae3e	Patch for issue #22818 (#23170 ) When calling "differential_drive stop" a missing return statement was causing a segmentation fault due to access to already freed memory.	2024-06-03 21:10:28 +02:00
Peter van der Perk	c22f725d85	fmu-v6xrt: Support RC telemetry	2024-06-03 08:31:18 -04:00
Peter van der Perk	7fab93ede8	fmu-v6xrt: Fix flash configuration Fixes correct dummy cycle count of 20	2024-06-03 08:26:48 -04:00
bresch	0a665a526c	ekf2: add mag type init In this mode, the mag is used to inilialize the heading. During flight, the heading is predicted using gyros and corrected by GNSS measurements if available.	2024-06-03 13:28:12 +02:00
Beat Küng	ca112fea8a	fix commander: make sure to count all valid mags in preflight check Previously, if a mag was not required (not index 0 and not used by ekf), it was not counted in num_enabled_and_valid_calibration. If a user set SYS_HAS_MAG to e.g. 3, it would then trigger a preflight failure, even if there were 3 calibrated and enabled mags.	2024-05-31 12:30:34 -04:00
bresch	53210dd8f3	ekf2-mag: with NE aiding, constrain heading drift only before takeoff After takeoff, the heading is easily observable	2024-05-31 10:38:17 -04:00
bresch	3dac9af09e	ekf2-mag: do not reset on WMM change when NE aiding is active The mag field states are observed. No need to reset them.	2024-05-31 10:38:17 -04:00
bresch	ee765e7859	ekf2-mag: do not reset when NE aiding is active	2024-05-31 10:38:17 -04:00
bresch	6515935b52	ekf2-mag: do not limit the earth mag field estimate The EKF can recover from an initial bad earth mag field estimate. Constraining the field is not necessary and can lead to an unpredicted behavior of the filter. Declination fusion is safe to run even when the horizontal field is 0	2024-05-31 10:38:17 -04:00
bresch	774b6ed3b8	ekf2-mag: do not use yaw emergency estimator to reset mag states On slowly moving vehicles (e.g.: boats, rovers), the yaw estimator has worse convergence than the main EKF. Resetting the mag states using the yaw estimator as reference can lead to poor heading. Also, the EKF can recover really well from initially incorrect mag states.	2024-05-31 10:38:17 -04:00
bresch	c3d984703c	ekf2-mag: remove immediate declination fusion after reset	2024-05-31 10:38:17 -04:00
bresch	a6007e4b93	ekf2-mag: turn around update_all_states condition Non-functional	2024-05-31 10:38:17 -04:00
bresch	c11c75d32e	ekf2-mag: always add process noise until initial value	2024-05-31 10:38:17 -04:00
Eric Katzfey	493c9e49db	uORB: ORBSet don't allow duplicate insertion * fixes a small memory leak in uORBManager.cpp (if using ORB_COMMUNICATOR)	2024-05-30 16:53:48 -04:00
asimopunov	42f4e02d7e	bsondump: add check if bson document size is set to zero and set to decoded size (#23088 )	2024-05-30 14:52:19 +02:00
Peter van der Perk	cd93e2982c	dshot: telemetry esc_status use sequential numbering for each motor channel != telemetry_index, we've to count from 0 and increment for each enabled ESC	2024-05-30 04:56:42 -04:00
Peter van der Perk	7982f54a6a	dshot: refactoring	2024-05-30 04:56:42 -04:00
Peter van der Perk	ff6966da57	imxrt: dshot fix erpm calculation by implementing 3-bit exponent and 9-bit period	2024-05-30 04:56:42 -04:00
Peter van der Perk	3874b4c55d	imxrt: move flexio irq handler to itcm	2024-05-30 04:56:42 -04:00
Peter van der Perk	5d2fda6172	dshot: bdshot fix esc offline/online checks	2024-05-30 04:56:42 -04:00
Peter van der Perk	0e41f9730f	imxrt: dshot improve state machine reduce's no response count	2024-05-30 04:56:42 -04:00
Peter van der Perk	f3ef0d6610	dshot: fix clearing out esc status	2024-05-30 04:56:42 -04:00
Peter van der Perk	b0cb697f71	imxrt: dshot add 1060 support and use channels instead of timers	2024-05-30 04:56:42 -04:00
Peter van der Perk	e2969952d3	drivers: dshot: prepare to extend for bidrectional dshot	2024-05-30 04:56:42 -04:00
Peter van der Perk	2de0af52e8	px4_fmuv6xrt: bidirectional dshot driver	2024-05-30 04:56:42 -04:00
Peize-Liu	2f4d6b6fac	[Fix][hkust_nxt-dual]:board hkust_nxt-dual fix hw_config.h missing APP_RESERVATION_SIZE param (#23204 )	2024-05-30 10:35:04 +02:00
Silvan Fuhrer	efe2a52eb4	ROMFS: remove MIS_DIST_1WP customizations in airframes Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-29 21:00:35 -04:00
Silvan Fuhrer	752051470f	Navigator: increase default of MIS_DIST_1WP to 10km The previous default of 900m leads to many warnings if left unchanged, especially if the vehicle is already in-air when the Mission is started. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-29 21:00:35 -04:00
bresch	993782cffa	ekf2: only trigger position timeout reset when hpos fusion is active	2024-05-29 20:49:14 -04:00
Silvan Fuhrer	0379048ad2	mavsdk_tests: increase acceptance radius for position check on offboard landing Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-29 20:46:26 -04:00
Eric Katzfey	ae34e39b7e	QuRT: Increased the size of the memory heap available to qurt platform (#23194 ) * Increased the size of the memory heap available to qurt platform	2024-05-29 20:44:40 -04:00
Daniel Agar	f3d152741c	boards: sky-drones_smartap-airlink_default disable gyro_fft module to save flash	2024-05-29 20:38:49 -04:00
Daniel Agar	b36f47535e	boards: px4_fmu-v6c_default disable gyro_fft module to save flash	2024-05-29 20:38:49 -04:00
Daniel Agar	a80c96e575	boards: px4_fmu-v5x_test disable payload_deliverer module to save flash	2024-05-29 20:38:49 -04:00
Per Frivik	267cb9906e	integrationtests: mavros increase threshold for yaw_error_std	2024-05-29 11:11:09 -04:00
David Sidrane	f655d1be9b	Update px4_fmu-v6xrt Bootloader	2024-05-29 11:08:49 -04:00
David Sidrane	3beb57aae1	px4_fmu-v6xrt & bootloader:Bootloader enusres that ITCM memory is writable before jump to APP	2024-05-29 11:08:49 -04:00
David Sidrane	d79c5f170b	bootloader/common/bl.c:Fixed Wrong vec_base caculation - only effects imxrt	2024-05-29 11:08:49 -04:00
David Sidrane	04e0d3475f	nxp/imxrt_common/main:Fix Breakage from `a9962dc`	2024-05-29 11:08:49 -04:00
Matthias Grob	daa89ba30a	Jankinsfile-compile: add missing comma after `ark_pi6x_default`	2024-05-29 15:42:41 +02:00