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Merge branch 'main' into yaw-acceleration-limit
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‎boards/auterion/fmu-v6s/bootloader.px4board

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CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
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CONFIG_BOARD_ARCHITECTURE="cortex-m7"
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CONFIG_BOARD_ROMFSROOT=""

‎boards/auterion/fmu-v6s/cmake/upload.cmake

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############################################################################
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#
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# Copyright (c) 2023 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
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add_custom_target(upload_skynode_usb
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COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
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DEPENDS ${PX4_FW_NAME}
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COMMENT "Uploading PX4"
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USES_TERMINAL
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)
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add_custom_target(upload_skynode_wifi
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COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
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DEPENDS ${PX4_FW_NAME}
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COMMENT "Uploading PX4"
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USES_TERMINAL
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)

‎boards/auterion/fmu-v6s/default.px4board

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CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
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CONFIG_BOARD_ARCHITECTURE="cortex-m7"
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CONFIG_BOARD_ETHERNET=y
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CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS6"
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CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
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CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
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CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
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CONFIG_DRIVERS_ADC_BOARD_ADC=y
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CONFIG_DRIVERS_BAROMETER_BMP388=y
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CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
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CONFIG_COMMON_DISTANCE_SENSOR=y
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CONFIG_DRIVERS_DSHOT=y
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CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
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CONFIG_DRIVERS_GPS=y
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CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
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CONFIG_BMI088_ACCELEROMETER_INT2=y
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CONFIG_COMMON_INS=y
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CONFIG_COMMON_LIGHT=y
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CONFIG_COMMON_MAGNETOMETER=y
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CONFIG_DATAMAN_PERSISTENT_STORAGE=n
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CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
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CONFIG_DRIVERS_PWM_OUT=y
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CONFIG_DRIVERS_RC_INPUT=y
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CONFIG_DRIVERS_ROBOCLAW=y
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CONFIG_DRIVERS_UAVCAN=y
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CONFIG_BOARD_UAVCAN_INTERFACES=1
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CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
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CONFIG_MODULES_AIRSPEED_SELECTOR=y
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CONFIG_MODULES_BATTERY_STATUS=y
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CONFIG_MODULES_CAMERA_FEEDBACK=y
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CONFIG_MODULES_COMMANDER=y
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CONFIG_MODULES_CONTROL_ALLOCATOR=y
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CONFIG_MODULES_DATAMAN=y
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CONFIG_MODULES_EKF2=y
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CONFIG_MODULES_ESC_BATTERY=y
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CONFIG_MODULES_EVENTS=y
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CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
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CONFIG_MODULES_FW_ATT_CONTROL=y
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CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_FW_POS_CONTROL=y
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CONFIG_FIGURE_OF_EIGHT=y
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CONFIG_MODULES_FW_RATE_CONTROL=y
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CONFIG_MODULES_GIMBAL=y
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CONFIG_MODULES_GYRO_CALIBRATION=y
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CONFIG_MODULES_LAND_DETECTOR=y
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CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
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CONFIG_MODULES_LOAD_MON=y
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CONFIG_MODULES_LOGGER=y
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CONFIG_LOGGER_STACK_SIZE=4100
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CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
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CONFIG_MODULES_MANUAL_CONTROL=y
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CONFIG_MODULES_MAVLINK=y
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CONFIG_MAVLINK_DIALECT="development"
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CONFIG_MODULES_MC_ATT_CONTROL=y
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CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
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CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
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CONFIG_MODULES_MC_POS_CONTROL=y
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CONFIG_MODULES_MC_RATE_CONTROL=y
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CONFIG_MODULES_NAVIGATOR=y
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CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
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CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_ROVER_ACKERMANN=y
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CONFIG_MODULES_ROVER_DIFFERENTIAL=y
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CONFIG_MODULES_ROVER_MECANUM=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
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CONFIG_MODULES_TIME_PERSISTOR=y
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CONFIG_MODULES_UXRCE_DDS_CLIENT=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_BSONDUMP=y
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CONFIG_SYSTEMCMDS_DMESG=y
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CONFIG_SYSTEMCMDS_GPIO=y
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CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
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CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
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CONFIG_SYSTEMCMDS_I2CDETECT=y
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CONFIG_SYSTEMCMDS_LED_CONTROL=y
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CONFIG_SYSTEMCMDS_MFT=y
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CONFIG_SYSTEMCMDS_MFT_CFG=y
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CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NETMAN=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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CONFIG_SYSTEMCMDS_SD_STRESS=y
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CONFIG_SYSTEMCMDS_SERIAL_TEST=y
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CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
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CONFIG_SYSTEMCMDS_TOP=y
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CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
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CONFIG_SYSTEMCMDS_UORB=y
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CONFIG_SYSTEMCMDS_VER=y
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CONFIG_SYSTEMCMDS_WORK_QUEUE=y

‎boards/auterion/fmu-v6s/extras/auterion_fmu-v6s_bootloader.bin

32.2 KB
Binary file not shown.

‎boards/auterion/fmu-v6s/firmware.prototype

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{
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"board_id": 60,
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"magic": "AutFWv1",
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"description": "Firmware for the AutFMUv6S board",
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"image": "",
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"build_time": 0,
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"summary": "AutFMUv6S",
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"version": "0.1",
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"image_size": 0,
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"image_maxsize": 1966080,
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"git_identity": "",
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"board_revision": 0
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}

‎boards/auterion/fmu-v6s/init/rc.board_defaults

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#!/bin/sh
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#
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# board specific defaults
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#------------------------------------------------------------------------------
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# Set the backend of the dataman to SRAM
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param set-default SYS_DM_BACKEND 1
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# Set TELEM1 as default mavlink connection
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param set-default MAV_0_CONFIG 0
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# Disable logger writing to FRAM, only stream over MAVLINK
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set LOGGER_ARGS "-m mavlink"
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# 200kOhm/10kOhm voltage divider on V_BAT
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param set-default BAT1_V_DIV 21
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# Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client
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param set-default UXRCE_DDS_PTCFG 2
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param set-default UXRCE_DDS_AG_IP 170461697
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param set-default UXRCE_DDS_CFG 1000
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# Update default IP config if needed
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netman update_default -i eth0
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# Start a second NSH connected to the debug port
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nshterm /dev/ttyS3 &
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# Start the time_persistor to cyclically store the RTC in FRAM
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time_persistor start

‎boards/auterion/fmu-v6s/init/rc.board_mavlink

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#!/bin/sh
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#
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# Auterion FMUv6s specific board MAVLink startup script.
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#------------------------------------------------------------------------------
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if param compare MAV_S_FORWARD 1
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then
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set S_FORWARD "-f"
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else
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set S_FORWARD ""
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fi
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# TELEM1 is mapped to USART1 with flow control
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mavlink start -d /dev/ttyS0 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z $S_FORWARD
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# Ensure nothing else starts on TEL1
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set PRT_TEL1_ 1
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unset S_FORWARD

‎boards/auterion/fmu-v6s/init/rc.board_sensors

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#!/bin/sh
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#
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# Forward is where the MIPI and ESC connectors are
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#
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# Auterion FMUv6S specific board sensors init
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#------------------------------------------------------------------------------
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# For system_power and battery_status
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board_adc start
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# IMU3 on SPI3, ROTATION_NONE=0
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bmi088 -A -R 0 -s start
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bmi088 -G -R 0 -s start
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if ver hwtypecmp V6S013 V6S015
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then
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# Revision(s) with BMM150
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# MAG on I2C4, ROTATION_ROLL_180=8
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bmm150 -I -R 8 start
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else
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# Revision(s) with BMM350
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# MAG on I2C4, ROTATION_ROLL_180=8
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bmm350 -I -R 8 start
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fi
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# 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)
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ist8310 -X -b 1 -R 10 start
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# BARO on I2C4
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bmp388 -I -b 4 -a 0x77 start

‎boards/auterion/fmu-v6s/multicopter.px4board

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CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
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CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
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CONFIG_MODULES_AIRSPEED_SELECTOR=n
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CONFIG_MODULES_FW_ATT_CONTROL=n
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CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
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CONFIG_MODULES_FW_POS_CONTROL=n
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CONFIG_MODULES_FW_RATE_CONTROL=n
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CONFIG_MODULES_VTOL_ATT_CONTROL=n
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CONFIG_COMMON_RC=y
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CONFIG_EKF2_AUX_GLOBAL_POSITION=y
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# CONFIG_EKF2_SIDESLIP is not set
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# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set

‎boards/auterion/fmu-v6s/nuttx-config/Kconfig

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#
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# For a description of the syntax of this configuration file,
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# see misc/tools/kconfig-language.txt.
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#
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config BOARD_HAS_PROBES
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bool "Board provides GPIO or other Hardware for signaling to timing analyze."
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default y
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---help---
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This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
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config BOARD_USE_PROBES
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bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
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default n
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depends on BOARD_HAS_PROBES
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---help---
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Select to use GPIO FMU-CH1-5, CAP1-6 to provide timing signals from selected drivers.

‎boards/auterion/fmu-v6s/nuttx-config/bootloader/defconfig

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#
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# This file is autogenerated: PLEASE DO NOT EDIT IT.
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#
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# You can use "make menuconfig" to make any modifications to the installed .config file.
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your
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# modifications.
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#
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# CONFIG_DEV_CONSOLE is not set
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# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
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# CONFIG_DISABLE_PTHREAD is not set
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# CONFIG_SPI_EXCHANGE is not set
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# CONFIG_STM32H7_SYSCFG is not set
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# CONFIG_STM32H7_USE_LEGACY_PINMAP is not set
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CONFIG_ARCH="arm"
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CONFIG_ARCH_BOARD_CUSTOM=y
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CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/auterion/fmu-v6s/nuttx-config"
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CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
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CONFIG_ARCH_BOARD_CUSTOM_NAME="auterion"
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CONFIG_ARCH_CHIP="stm32h7"
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CONFIG_ARCH_CHIP_STM32H743VI=y
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CONFIG_ARCH_CHIP_STM32H7=y
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CONFIG_ARCH_INTERRUPTSTACK=768
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CONFIG_ARMV7M_BASEPRI_WAR=y
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CONFIG_ARMV7M_ICACHE=y
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CONFIG_ARMV7M_MEMCPY=y
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CONFIG_ARMV7M_USEBASEPRI=y
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CONFIG_BOARDCTL=y
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CONFIG_BOARDCTL_RESET=y
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CONFIG_BOARD_ASSERT_RESET_VALUE=0
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CONFIG_BOARD_INITTHREAD_PRIORITY=254
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CONFIG_BOARD_LATE_INITIALIZE=y
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CONFIG_BOARD_LOOPSPERMSEC=95150
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CONFIG_BOARD_RESET_ON_ASSERT=2
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CONFIG_DEBUG_FULLOPT=y
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CONFIG_DEBUG_SYMBOLS=y
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CONFIG_DEBUG_TCBINFO=y
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CONFIG_DEFAULT_SMALL=y
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CONFIG_EXPERIMENTAL=y
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CONFIG_FDCLONE_DISABLE=y
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CONFIG_FDCLONE_STDIO=y
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CONFIG_HAVE_CXX=y
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CONFIG_HAVE_CXXINITIALIZE=y
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CONFIG_IDLETHREAD_STACKSIZE=750
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CONFIG_INIT_ENTRYPOINT="bootloader_main"
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CONFIG_INIT_STACKSIZE=3194
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CONFIG_LIBC_FLOATINGPOINT=y
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CONFIG_LIBC_LONG_LONG=y
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CONFIG_LIBC_STRERROR=y
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CONFIG_MEMSET_64BIT=y
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CONFIG_MEMSET_OPTSPEED=y
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CONFIG_PREALLOC_TIMERS=50
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CONFIG_PTHREAD_MUTEX_ROBUST=y
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CONFIG_PTHREAD_STACK_MIN=512
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CONFIG_RAM_SIZE=245760
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CONFIG_RAM_START=0x20010000
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CONFIG_RAW_BINARY=y
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CONFIG_SERIAL_TERMIOS=y
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CONFIG_SIG_DEFAULT=y
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CONFIG_SIG_SIGALRM_ACTION=y
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CONFIG_SIG_SIGUSR1_ACTION=y
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CONFIG_SIG_SIGUSR2_ACTION=y
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CONFIG_SPI=y
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CONFIG_STACK_COLORATION=y
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CONFIG_START_DAY=30
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CONFIG_START_MONTH=11
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CONFIG_STDIO_BUFFER_SIZE=32
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CONFIG_STM32H7_BKPSRAM=y
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CONFIG_STM32H7_DMA1=y
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CONFIG_STM32H7_DMA2=y
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CONFIG_STM32H7_PROGMEM=y
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CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
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CONFIG_STM32H7_TIM1=y
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CONFIG_STM32H7_USART1=y
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CONFIG_SYSTEMTICK_HOOK=y
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CONFIG_TASK_NAME_SIZE=24
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CONFIG_TTY_SIGINT=y
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CONFIG_TTY_SIGINT_CHAR=0x03
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CONFIG_TTY_SIGTSTP=y
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CONFIG_USEC_PER_TICK=1000

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