boards: add auterion v6x target #25715

alexcekay · 2025-10-08T14:03:42Z

Solved Problem

We are running out of FLASH, one of the reasons is that the generic v6x target contains Auterion specific features that are not needed by other users.

Solution

Move Auterion specific features to an own Auterion target

Changelog Entry

For release notes:

Feature Add Auterion v6x board

github-actions · 2025-10-08T14:10:00Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 200 byte (0.01 %)]

    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.0%    +184  +0.0%    +184    .text
  +0.0%     +56  +0.0%     +56    g_cromfs_image
  +4.7%     +20  +4.7%     +20    param_reset_specific
  +0.1%     +16  +0.1%     +16    px4::parameters
   +12%     +16   +12%     +16    px4::wq_configurations::lp_default
 -99.7%     +12 -99.7%     +12    [5 Others]
  +5.9%      +4  +5.9%      +4    ConstLayer::containedAsBitset()
   +33%      +4   +33%      +4    ConstLayer::contains()
   +17%      +4   +17%      +4    ConstLayer::get()
  +2.6%      +4  +2.6%      +4    param_find_internal()
   +25%      +4   +25%      +4    param_for_index
  +4.8%      +4  +4.8%      +4    param_for_used_index
  +1.8%      +4  +1.8%      +4    param_foreach
  +3.7%      +4  +3.7%      +4    param_get_used_index
  +1.3%      +4  +1.3%      +4    param_hash_check
  +2.1%      +4  +2.1%      +4    param_import_callback()
  +1.3%      +4  +1.3%      +4    param_load
  +0.9%      +4  +0.9%      +4    param_reset_excludes
  +1.2%      +4  +1.2%      +4    param_reset_internal()
  +7.7%      +4  +7.7%      +4    param_set_used
   +20%      +4   +20%      +4    param_type
  +8.3%      +4  +8.3%      +4    param_used
+0.1%     +16  +0.1%     +16    .ramfunc
  +1.7%      +4  +1.7%      +4    param_get
  +1.4%      +4  +1.4%      +4    param_get_default_value
   +33%      +4   +33%      +4    param_get_index
  +9.1%      +4  +9.1%      +4    param_get_system_default_value
+0.0%     +55  [ = ]       0    .debug_abbrev
+0.0%     +20  [ = ]       0    .debug_frame
+0.0% +3.10Ki  [ = ]       0    .debug_info
+0.0%     +93  [ = ]       0    .debug_line
   +17%      +1  [ = ]       0    [Unmapped]
  +0.0%     +92  [ = ]       0    [section .debug_line]
+0.0%     +90  [ = ]       0    .debug_loclists
+0.0%     +13  [ = ]       0    .debug_rnglists
+0.0%     +49  [ = ]       0    .debug_str
-2.2%    -200  [ = ]       0    [Unmapped]
+0.0% +3.41Ki  +0.0%    +200    TOTAL

px4_fmu-v6x [Total VM Diff: -8096 byte (-0.39 %)]

    FILE SIZE        VM SIZE    
--------------  -------------- 
-0.6% -11.6Ki  [ = ]       0    .debug_abbrev
-0.6% -1.06Ki  [ = ]       0    .debug_aranges
-0.6% -2.96Ki  [ = ]       0    .debug_frame
-0.4%  -108Ki  [ = ]       0    .debug_info
-0.4% -21.8Ki  [ = ]       0    .debug_line
   +20%      +1  [ = ]       0    [Unmapped]
  -0.4% -21.8Ki  [ = ]       0    [section .debug_line]
-0.3% -11.2Ki  [ = ]       0    .debug_loclists
-0.4% -2.10Ki  [ = ]       0    .debug_rnglists
  +100%      +1  [ = ]       0    [Unmapped]
  -0.4% -2.10Ki  [ = ]       0    [section .debug_rnglists]
-0.3% -9.52Ki  [ = ]       0    .debug_str
-1.3%      -3  [ = ]       0    .shstrtab
-0.6% -4.13Ki  [ = ]       0    .strtab
   +62%     +15  [ = ]       0    (anonymous namespace)::gLED
  [DEL]     -30  [ = ]       0    ADC::close_gpio_devices()
  [DEL]     -29  [ = ]       0    ADC::open_gpio_devices()
  [DEL]     -27  [ = ]       0    ADC::read_gpio_value()
  [DEL]     -10  [ = ]       0    CSWTCH.64
  [DEL]     -10  [ = ]       0    CSWTCH.68
  [DEL]     -10  [ = ]       0    DEVID
  -2.1%     -35  [ = ]       0    I2CSPIDriver<>::Run()
  -2.3%    -177  [ = ]       0    I2CSPIDriver<>::~I2CSPIDriver()
  [DEL]     -14  [ = ]       0    MCP23009
  [DEL]     -76  [ = ]       0    MCP23009::MCP23009()
  [DEL]     -23  [ = ]       0    MCP23009::RunImpl()
  [DEL]     -37  [ = ]       0    MCP23009::configure()
  [DEL]     -72  [ = ]       0    MCP23009::exit_and_cleanup()
  [DEL]     -22  [ = ]       0    MCP23009::init()
  [DEL]     -25  [ = ]       0    MCP23009::init_uorb()
  [DEL]     -50  [ = ]       0    MCP23009::instantiate()
  [DEL]     -64  [ = ]       0    MCP23009::print_status()
  [DEL]     -28  [ = ]       0    MCP23009::print_usage()
  [DEL]     -21  [ = ]       0    MCP23009::probe()
 -106.1% -3.41Ki  [ = ]       0    [65 Others]
-0.7% -4.27Ki  [ = ]       0    .symtab
  [DEL]     -32  [ = ]       0    ADC::close_gpio_devices()
   +33%     +16  [ = ]       0    ADC::init()
  [DEL]     -48  [ = ]       0    ADC::open_gpio_devices()
  [DEL]     -16  [ = ]       0    ADC::read_gpio_value()
 -66.7%     -32  [ = ]       0    ADC::update_adc_report()
  [DEL]     -32  [ = ]       0    CSWTCH.64
  [DEL]     -32  [ = ]       0    CSWTCH.68
  [DEL]     -48  [ = ]       0    DEVID
  -3.2%     -32  [ = ]       0    I2CSPIDriver<>::Run()
  -2.3%    -144  [ = ]       0    I2CSPIDriver<>::~I2CSPIDriver()
  [DEL]     -48  [ = ]       0    MCP23009
  [DEL]     -64  [ = ]       0    MCP23009::MCP23009()
  [DEL]     -32  [ = ]       0    MCP23009::RunImpl()
  [DEL]     -16  [ = ]       0    MCP23009::configure()
  [DEL]     -64  [ = ]       0    MCP23009::exit_and_cleanup()
  [DEL]     -64  [ = ]       0    MCP23009::init()
  [DEL]     -48  [ = ]       0    MCP23009::init_uorb()
  [DEL]     -48  [ = ]       0    MCP23009::instantiate()
  [DEL]     -64  [ = ]       0    MCP23009::print_status()
  [DEL]     -48  [ = ]       0    MCP23009::print_usage()
 -108.2% -3.39Ki  [ = ]       0    [73 Others]
-12.3%    -640  [ = ]       0    [Unmapped]
-2.1%      -8  -2.1%      -8    .init_section
[ = ]       0  -0.1%     -96    .bss
  [ = ]       0  +5.0%      +4    g_bbsram
  [ = ]       0  [DEL]      -4    DEVID
  [ = ]       0  -4.8%      -5    [section .bss]
  [ = ]       0  -2.0%      -8    ModuleBase<>::_object
  [ = ]       0  [DEL]      -8    toGpioConfig
  [ = ]       0  [DEL]      -8    toGpioOut
  [ = ]       0  [DEL]      -8    toGpioRequest
  [ = ]       0 -91.7%     -11    _bidirectional
  [ = ]       0  [DEL]     -48    fromGpioIn
-8.5%    -448  -8.5%    -448    .data
  +133%      +4  +133%      +4    MavlinkMissionManager::_mission_dataman_id
  -2.0%      -4  -2.0%      -4    ModuleBase<>::_task_id
  [DEL]    -448  [DEL]    -448    _gpio
-0.4% -7.37Ki  -0.4% -7.37Ki    .text
  [DEL]    -152  [DEL]    -152    PowerMonitorSelectorAuterion::eeprom_read_block()
  [DEL]    -152  [DEL]    -152    PowerMonitorSelectorAuterion::try_eeprom_start()
  [DEL]    -152  [DEL]    -152    mcp23009_register_gpios()
  [DEL]    -164  [DEL]    -164    PowerMonitorSelectorAuterion::PowerMonitorSelectorAuterion()
  -2.0%    -168  -2.0%    -168    ModuleBase<>::stop_command()
  [DEL]    -168  [DEL]    -168    PowerMonitorSelectorAuterion::ina226_probe()
  [DEL]    -168  [DEL]    -168    PowerMonitorSelectorAuterion::start_pm()
  [DEL]    -172  [DEL]    -172    MCP23009::print_usage()
  [DEL]    -172  [DEL]    -172    _GLOBAL__sub_I__Z23mcp23009_register_gpioshhi
  [DEL]    -176  [DEL]    -176    MCP23009
  [DEL]    -180  [DEL]    -180    MCP23009::~MCP23009()
  [DEL]    -194  [DEL]    -194    MCP23009::RunImpl()
  [DEL]    -220  [DEL]    -220    PowerMonitorSelectorAuterion::eeprom_read()
 -36.0%    -268 -36.0%    -268    gpio_main
  -2.1%    -288  -2.1%    -288    ModuleBase<>::main()
  [DEL]    -312  [DEL]    -312    gpio_ioctl
  [DEL]    -332  [DEL]    -332    MCP23009::MCP23009()
  [DEL]    -336  [DEL]    -336    mcp23009_main
  -0.3%    -408  -0.3%    -408    [section .text]
  -0.4%    -572  -0.4%    -572    g_cromfs_image
 -108.4% -2.72Ki -108.4% -2.72Ki    [76 Others]
-0.4%  -185Ki  -0.4% -7.91Ki    TOTAL

Updated: 2025-10-14T16:49:05

dagar

I strongly agree with this change, we should make it easier to maintain all these very similar boards rather than runtime detection.

AlexKlimaj · 2025-10-08T16:14:50Z

This was part of the reason I made my own ARK target in the past. So much easier to maintain than one binary.

mrpollo

What's missing here?

boards/auterion/fmu-v6x/nuttx-config/nsh/defconfig

niklaut · 2025-10-10T16:05:46Z

Note to self: The bootloader pin is USB VBUS, I need to check why the bootloader actually still works now that I disabled USBDEV.

niklaut

Tested the bootloader changes without USB and using only the BOARD_FORCE_BL_PIN like on FMUv6s.

dakejahl · 2025-10-14T05:25:16Z

Let's get this merged so we can free up some flash and fix our CI

dagar previously approved these changes Oct 8, 2025

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alexcekay dismissed dagar’s stale review via 8b01e12 October 8, 2025 16:44

alexcekay requested a review from niklaut October 8, 2025 16:44

dakejahl previously approved these changes Oct 8, 2025

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mrpollo previously approved these changes Oct 8, 2025

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alexcekay dismissed stale reviews from mrpollo and dakejahl via 26eb690 October 9, 2025 16:20

niklaut reviewed Oct 9, 2025

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boards/auterion/fmu-v6x/nuttx-config/nsh/defconfig Outdated Show resolved Hide resolved

niklaut force-pushed the pr-auterion-v6x branch from 4095d35 to ed3afb2 Compare October 10, 2025 15:21

niklaut force-pushed the pr-auterion-v6x branch from ed3afb2 to 3215386 Compare October 13, 2025 09:31

niklaut previously approved these changes Oct 13, 2025

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dakejahl previously approved these changes Oct 13, 2025

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dakejahl mentioned this pull request Oct 14, 2025

increased number of external mode to 16 #25358

Open

niklaut force-pushed the pr-auterion-v6x branch from 3215386 to e17074c Compare October 14, 2025 08:43

alexcekay dismissed stale reviews from dakejahl and niklaut via ba154de October 14, 2025 13:36

niklaut previously approved these changes Oct 14, 2025

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alexcekay dismissed niklaut’s stale review via fdacebc October 14, 2025 15:53

alexcekay force-pushed the pr-auterion-v6x branch from ba154de to fdacebc Compare October 14, 2025 15:53

alexcekay and others added 5 commits October 14, 2025 18:39

boards: add auterion v6x target

cac0c2f

boards: remove USB device from Auterion FMUv6x

7f5b503

tools: Ignore known_hosts file for uploading via SSH

692748a

boards: align auterion v6x with APX4

88377ad

mavlink: add som/fmu config params

8a38997

alexcekay force-pushed the pr-auterion-v6x branch from 78e034b to 8a38997 Compare October 14, 2025 16:39

alexcekay marked this pull request as ready for review October 14, 2025 16:42

alexcekay requested a review from niklaut October 14, 2025 16:42

niklaut approved these changes Oct 14, 2025

View reviewed changes

alexcekay merged commit 376f52f into main Oct 14, 2025
69 of 71 checks passed

alexcekay deleted the pr-auterion-v6x branch October 14, 2025 17:14

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alexcekay commented Oct 8, 2025

Solved Problem

Solution

Changelog Entry

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