Merge branch 'PX4:main' into px4xplane-sitl

.editorconfig

@@ -0,0 +1,14 @@
+root = true
+
+[*]
+insert_final_newline = false
+
+[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
+indent_style = tab
+tab_width = 8
+# Not in the official standard, but supported by many editors
+max_line_length = 120
+
+[*.yaml]
+indent_style = space
+indent_size = 2

.gitmodules

@@ -81,5 +81,5 @@
 	url = https://github.com/PX4/PX4-gazebo-models.git
 	branch = main
 [submodule "boards/modalai/voxl2/libfc-sensor-api"]
-	path = src/modules/muorb/apps/libfc-sensor-api
+	path = boards/modalai/voxl2/libfc-sensor-api
 	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git

Jenkinsfile

@@ -171,9 +171,11 @@ pipeline {
               sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
               sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
               sh('cp -R modules/*.md PX4-user_guide/en/modules/')
-              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
+              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/') // vuepress
+              sh('cp -R graph_*.json PX4-user_guide/public/middleware/')  // vitepress
               sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
-              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
+              sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe') // vuepress
+              sh('cp -R failsafe_sim/* PX4-user_guide/public/config/failsafe')  // vitepress
               sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
               sh('cd PX4-user_guide; git push origin main || true')
               sh('rm -rf PX4-user_guide')

Tools/astyle/files_to_check_code_style.sh

@@ -30,5 +30,5 @@ exec find boards msg src platforms test \
     -path src/lib/cdrstream/cyclonedds -prune -o \
     -path src/lib/cdrstream/rosidl -prune -o \
     -path src/modules/zenoh/zenoh-pico -prune -o \
-    -path src/modules/muorb/apps/libfc-sensor-api -prune -o \
+    -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/kconfig/allyesconfig.py

@@ -0,0 +1,126 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2018-2019, Ulf Magnusson
+# SPDX-License-Identifier: ISC
+
+"""
+Writes a configuration file where as many symbols as possible are set to 'y'.
+
+The default output filename is '.config'. A different filename can be passed
+in the KCONFIG_CONFIG environment variable.
+
+Usage for the Linux kernel:
+
+  $ make [ARCH=<arch>] scriptconfig SCRIPT=Kconfiglib/allyesconfig.py
+"""
+import kconfiglib
+import os
+
+
+exception_list = [
+    'DRIVERS_BOOTLOADERS', # Only used for bootloader target
+    'MODULES_PX4IOFIRMWARE', # Only needed for PX4IO firmware itself, maybe fix through dependencies
+    'BOARD_LTO', # Experimental
+    'BOARD_TESTING', # Don't build test suite
+    'BOARD_CONSTRAINED_FLASH', # only used to reduce flash size
+    'BOARD_NO_HELP', # only used to reduce flash size
+    'BOARD_CONSTRAINED_MEMORY', # only used to reduce flash size
+    'BOARD_EXTERNAL_METADATA', # only used to reduce flash size
+    'BOARD_CRYPTO', # Specialized use
+    'BOARD_PROTECTED', # Experimental for MPU use
+    'DRIVERS_LIGHTS_RGBLED_PWM', # Only on specific boards, needs dependency fixing
+    'DRIVERS_LIGHTS_NEOPIXEL', # Only on specific boards, needs dependency fixing
+    'DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL', # Only on specific boards, needs dependency fixing
+    'PARAM_PRIMARY', # Plainly broken
+    'PARAM_REMOTE', # Plainly broken
+    'DRIVERS_ACTUATORS_VOXL_ESC', # Dependency need fixing, requires VOXL_ESC_DEFAULT_XXX
+    'DRIVERS_VOXL2_IO', # Dependency need fixing, requires VOXL2_IO_DEFAULT_XX
+    'DRIVERS_BAROMETER_TCBP001TA', # Requires hardcoded PX4_SPI_BUS_BARO mapping
+    'DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50', # Requires hardcoded PX4_SPI_BUS_BARO mapping
+    'DRIVERS_DISTANCE_SENSOR_SRF05', # Requires hardcoded GPIO_ULTRASOUND
+    'DRIVERS_PPS_CAPTURE', # Requires PPS GPIO config
+    'DRIVERS_PWM_INPUT', # Requires PWM config
+    'DRIVERS_TEST_PPM', # PIN config not portable
+    'DRIVERS_TATTU_CAN', # Broken needs fixing
+    'MODULES_REPLAY', # Fails on NuttX targets maybe force POSIX dependency?
+    'SYSTEMCMDS_HIST', # This module can only be used on boards that enable BOARD_ENABLE_LOG_HISTORY
+    'SYSTEMCMDS_GPIO', # PIN config not portable
+    'SYSTEMCMDS_SHUTDOWN', # Needs dependency checking
+    'EXAMPLES_DYN_HELLO', # NuttX doesn't support dynamic linking
+    'SYSTEMCMDS_DYN', # NuttX doesn't support dynamic linking
+    'DRIVERS_RPI_RC_IN', # RPI specific driver
+    'SYSTEMCMDS_I2C_LAUNCHER', #  undefined reference to `system',
+    'MODULES_MUORB_APPS', # Weird QURT/Posix package doesn't work on x86 px4 sitl
+    'MODULES_SIMULATION_SIMULATOR_SIH', # Causes compile errors
+]
+
+exception_list_sitl = [
+    'DRIVERS_BAROMETER', # Fails I2C dependencies
+    'COMMON_BAROMETERS', # Fails I2C dependencies
+    'DRIVERS_ADC_BOARD_ADC', # Fails HW dependencies, I think this only works on NuttX
+    'DRIVERS_CAMERA_CAPTURE', # GPIO config failure
+    'DRIVERS_DSHOT', # No Posix driver, I think this only works on NuttX
+    'DRIVERS_PWM_OUT', # No Posix driver, I think this only works on NuttX
+    'COMMON', # Fails I2C dependencies
+    'DRIVERS', # Fails I2C dependencies
+    'SYSTEMCMDS_REBOOT', # Sitl can't reboot
+    'MODULES_BATTERY_STATUS', # Sitl doesn't provide a power brick
+    'SYSTEMCMDS_SERIAL_PASSTHRU', # Not supported in SITL
+    'SYSTEMCMDS_SERIAL_TEST', # Not supported in SITL
+    'SYSTEMCMDS_SD_STRESS', # Not supported in SITL
+    'SYSTEMCMDS_SD_BENCH', # Not supported in SITL
+    'SYSTEMCMDS_I2CDETECT', # Not supported in SITL
+    'SYSTEMCMDS_DMESG', # Not supported in SITL
+    'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL
+]
+
+def main():
+    kconf = kconfiglib.standard_kconfig(__doc__)
+
+
+    if 'BASE_DEFCONFIG' in os.environ:
+        kconf.load_config(os.environ['BASE_DEFCONFIG'])
+
+    if 'MODEL' in os.environ:
+        if os.environ['MODEL'] == 'sitl':
+            for sym in kconf.unique_defined_syms:
+                if sym.name.startswith(tuple(exception_list_sitl)):
+                    exception_list.append(sym.name)
+
+
+    # See allnoconfig.py
+    kconf.warn = False
+
+    # Try to set all symbols to 'y'. Dependencies might truncate the value down
+    # later, but this will at least give the highest possible value.
+    #
+    # Assigning 0/1/2 to non-bool/tristate symbols has no effect (int/hex
+    # symbols still take a string, because they preserve formatting).
+    for sym in kconf.unique_defined_syms:
+        # Set choice symbols to 'm'. This value will be ignored for choices in
+        # 'y' mode (the "normal" mode), which will instead just get their
+        # default selection, but will set all symbols in m-mode choices to 'm',
+        # which is as high as they can go.
+        #
+        # Here's a convoluted example of how you might get an m-mode choice
+        # even during allyesconfig:
+        #
+        #   choice
+        #           tristate "weird choice"
+        #           depends on m
+        if sym.name not in exception_list:
+            sym.set_value(1 if sym.choice else 2)
+
+    # Set all choices to the highest possible mode
+    for choice in kconf.unique_choices:
+        choice.set_value(2)
+
+    kconf.warn = True
+
+    kconf.load_allconfig("allyes.config")
+
+    print(kconf.write_config())
+
+
+if __name__ == "__main__":
+    main()

boards/ark/septentrio-gps/default.px4board

@@ -20,6 +20,7 @@ CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
+CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y

boards/ark/septentrio-gps/init/rc.board_defaults

@@ -11,3 +11,5 @@ param set-default SENS_IMU_CLPNOTI 0
 
 safety_button start
 tone_alarm start
+
+ekf2 start

boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig

@@ -50,6 +50,7 @@ CONFIG_STACK_COLORATION=y
 CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_FLASH_CONFIG_G=y
 CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0

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

@@ -123,6 +123,7 @@ CONFIG_STM32_ADC1=y
 CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
 CONFIG_STM32_DMA1=y
 CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_CONFIG_G=y
 CONFIG_STM32_FLASH_PREFETCH=y
 CONFIG_STM32_FLOWCONTROL_BROKEN=y
 CONFIG_STM32_I2C1=y

boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld

@@ -33,7 +33,7 @@
  *
  ****************************************************************************/
 
-/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
  * 256Kb of SRAM. SRAM is split up into three blocks:
  *
  * 1) 112Kb of SRAM beginning at address 0x2000:0000

boards/ark/septentrio-gps/nuttx-config/scripts/script.ld

@@ -33,7 +33,7 @@
  *
  ****************************************************************************/
 
-/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
  * 256Kb of SRAM. SRAM is split up into three blocks:
  *
  * 1) 112Kb of SRAM beginning at address 0x2000:0000

boards/diatone/mamba-f405-mk2/src/board_config.h

@@ -74,8 +74,7 @@
 #define ADC_BATTERY_CURRENT_CHANNEL  13
 #define ADC_RC_RSSI_CHANNEL          12
 
-/* Define Battery 1 Voltage Divider and A per V
- */
+/* Define Battery Voltage Divider and A per V */
 #define BOARD_BATTERY1_V_DIV         (11.12f)
 #define BOARD_BATTERY1_A_PER_V       (31.f)
 

boards/hkust/nxt-dual/bootloader.px4board

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

boards/hkust/nxt-dual/default.px4board

@@ -0,0 +1,89 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS7"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=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
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y

boards/hkust/nxt-dual/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 1013,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the MatekH743-slim board",
+    "image": "",
+    "build_time": 0,
+    "summary": "MatekH743-mini",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1835008,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/hkust/nxt-dual/init/rc.board_defaults

@@ -0,0 +1,24 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+param set-default BAT1_A_PER_V 17
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_V_CHARGED 4.2
+param set-default BAT1_V_DIV 10.1
+param set-default BAT1_V_EMPTY 3.2
+
+param set-default SYS_HAS_MAG 0
+param set-default PWM_MAIN_TIM0 -4
+param set-default RC_INPUT_PROTO -1
+
+param set-default IMU_GYRO_RATEMAX 2000
+param set-default SYS_AUTOSTART 4001
+param set-default MC_PITCHRATE_K 0.4
+param set-default MC_ROLLRATE_K 0.35
+param set-default MC_YAWRATE_K 1.2
+param set-default MC_YAWRATE_MAX 360
+param set-default MAV_TYPE 2
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+param set-default CBRK_SUPPLY_CHK 894281

boards/hkust/nxt-dual/init/rc.board_extras

@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# board specific extras init
+#------------------------------------------------------------------------------
+
+# NxtV1 does not have OSD
+# if ! param compare OSD_ATXXXX_CFG 0
+# then
+# 	atxxxx start -s
+# fi
+
+# DShot telemetry is always on UART7
+# dshot telemetry /dev/ttyS5

boards/hkust/nxt-dual/init/rc.board_sensors

@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# board specific sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# # Internal SPI bus BMI088 accel/gyro
+bmi088 -s -b 1 -A -R 2 start
+bmi088 -s -b 1 -G -R 2 start
+
+bmi088 -s -b 4 -A -R 2 start
+bmi088 -s -b 4 -G -R 2 start
+
+# internal baro
+spl06 -X -a 0x77 start