Merge branch 'main' into patch-14

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -7,6 +7,7 @@
 #
 # @maintainer
 # @board px4_fmu-v2 exclude
+# @board px4_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -13,6 +13,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/rcS

@@ -217,25 +217,31 @@ else
 	fi
 	unset BOARD_RC_DEFAULTS
 
-	#
-	# Set parameters and env variables for selected SYS_AUTOSTART.
-	#
-	set AUTOSTART_PATH etc/init.d/rc.autostart
+	# Load airframe configuration based on SYS_AUTOSTART parameter
 	if ! param compare SYS_AUTOSTART 0
 	then
-		if param greater SYS_AUTOSTART 1000000
+		# rc.autostart directly run the right airframe script which sets the VEHICLE_TYPE
+		# Look for airframe in ROMFS
+		. ${R}etc/init.d/rc.autostart
+
+		if [ ${VEHICLE_TYPE} == none ]
 		then
-			# Use external startup file
+			# Look for airframe on SD card
 			if [ $SDCARD_AVAILABLE = yes ]
 			then
-				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
+				. ${R}etc/init.d/rc.autostart_ext
 			else
-				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
+				echo "ERROR [init] SD card not mounted - can't load external airframe"
 			fi
 		fi
-		. ${R}$AUTOSTART_PATH
+
+		if [ ${VEHICLE_TYPE} == none ]
+		then
+			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
+			param set SYS_AUTOSTART 0
+			tune_control play error
+		fi
 	fi
-	unset AUTOSTART_PATH
 
 	# Check parameter version and reset upon airframe configuration version mismatch.
 	# Reboot required because "param reset_all" would reset all "param set" lines from airframe.

Tools/px4airframes/rcout.py

@@ -79,12 +79,6 @@ def __init__(self, groups, board, post_start=False):
         result += "then\n"
         result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
         result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
-        if not post_start:
-            result += "else\n"
-            result += "\techo \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
-            # Reset the configuration
-            result += "\tparam set SYS_AUTOSTART 0\n"
-            result += "\ttone_alarm ${TUNE_ERR}\n"
         result += "fi\n"
         result += "unset AIRFRAME"
         self.output = result

boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp

@@ -1148,7 +1148,6 @@ handle_message_hil_sensor_dsp(mavlink_message_t *msg)
 
 		hil_battery_status.timestamp = gyro_accel_time;
 		hil_battery_status.voltage_v = 16.0f;
-		hil_battery_status.voltage_filtered_v = 16.0f;
 		hil_battery_status.current_a = 10.0f;
 		hil_battery_status.discharged_mah = -1.0f;
 		hil_battery_status.connected = true;

msg/BatteryStatus.msg

@@ -1,9 +1,7 @@
 uint64 timestamp			# time since system start (microseconds)
 bool connected				# Whether or not a battery is connected, based on a voltage threshold
 float32 voltage_v			# Battery voltage in volts, 0 if unknown
-float32 voltage_filtered_v	# Battery voltage in volts, filtered, 0 if unknown
 float32 current_a			# Battery current in amperes, -1 if unknown
-float32 current_filtered_a	# Battery current in amperes, filtered, 0 if unknown
 float32 current_average_a	# Battery current average in amperes (for FW average in level flight), -1 if unknown
 float32 discharged_mah		# Discharged amount in mAh, -1 if unknown
 float32 remaining			# From 1 to 0, -1 if unknown
@@ -68,12 +66,8 @@ uint8 BATTERY_MODE_COUNT = 3 # Counter - keep it as last element (once we're ful
 
 uint8 MAX_INSTANCES = 4
 
-float32 average_power               # The average power of the current discharge
-float32 available_energy            # The predicted charge or energy remaining in the battery
 float32 full_charge_capacity_wh     # The compensated battery capacity
 float32 remaining_capacity_wh       # The compensated battery capacity remaining
-float32 design_capacity             # The design capacity of the battery
-uint16 average_time_to_full         # The predicted remaining time until the battery reaches full charge, in minutes
 uint16 over_discharge_count         # Number of battery overdischarge
 float32 nominal_voltage             # Nominal voltage of the battery pack
 

src/drivers/batt_smbus/batt_smbus.cpp

@@ -116,13 +116,11 @@ void BATT_SMBUS::RunImpl()
 
 	// Convert millivolts to volts.
 	new_report.voltage_v = ((float)result) / 1000.0f;
-	new_report.voltage_filtered_v = new_report.voltage_v;
 
 	// Read current.
 	ret |= _interface->read_word(BATT_SMBUS_CURRENT, result);
 
 	new_report.current_a = (-1.0f * ((float)(*(int16_t *)&result)) / 1000.0f) * _c_mult;
-	new_report.current_filtered_a = new_report.current_a;
 
 	// Read average current.
 	ret |= _interface->read_word(BATT_SMBUS_AVERAGE_CURRENT, result);