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[Doc][readme]:update version nxt-dual
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@Peize-Liu
Peize-Liu committed Apr 16, 2024
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# NxtPX4
# Nxt-FC DUAL

## We are now supporting PX4 1.14.x firmware！ Check compile section for more information

<img src="https://raw.githubusercontent.com/Peize-Liu/my-images/master/202309060125077.png" alt="1683206596601" />

> All GPIO & function small size PX4 for UAV research for HKUST UAV-Group
Dimension of NxtPX4: 27mmx32mmx8mm

Hardware quick review

| UART | TTY | SerialName | Suggest Funcion |
| ------ | --------------- | ---------------- | ------------------------------------------------------------------------------------ |
| USART1 | /dev/ttyS0 | SERIAL_GPS1 | AUX |
| USART2 | /dev/ttyS1 | SERIAL_GPS2 | AUX |
| USART3 | ~~/dev/ttyS2~~ | ~~SERIAL_TEL1~~ | ~~ESC report~~ (**not recommend to use because it serves as debug console**) |
| UART4 | /dev/ttyS3 | SERIAL_TEL2 | Connect with offboard computer |
| UART5 | /dev/ttyS4 | SERIAL_RC | Receiver |
| UART7 | /dev/ttyS5 | SERIAL_TEL3 | AUX |

# Getting start

## Use precompiled bootloader and firmware

please check firmware dir

## Compile locally

1. clone repo.
2. run init repo script: `./init_all_repo.sh`
it will take some time to clone all submodules into loccal
3. Enter directory **NxtPX4-Hardware**: `cd ./NxtPX4-Hardware`
you should notice that you are not on main branch, So Checkout to main branch using: `git checkout -b main`
4. cd back to NXTPX4 dir
5. Enter directory **PX4-Autopilot**: `cd ./PX4-Autopilot`
you should notice that you are not on main branch or develop branch. So checkout main branch to local and then checkout to develop branch to compile frameware for NxtPX4.
`git checkout -b main` and then `git checkout -b develop origin/develop`
6. configure done !
![Nxt-FC](https://khalil-picgo-1321910894.cos.ap-hongkong.myqcloud.com/images/202404161605587.png)

## Setting up NxtPX4

#### Notice!
> All GPIO & function small size PX4 for UAV research for HKUST UAV-Group
We found a silkscreen printing error on the **USART 1 and 2** of the V1.2.3 PCB. The labels for Tx and Rx are incorrect. Please follow the silk screen in the modified version V1.2.3.1(picture below)
ArduPilot and PX4 firmware are supported !

![NxtPX4_back](https://raw.githubusercontent.com/Peize-Liu/my-images/master/202309060125055.png)
Dimension of Nxt-FC: 27mmx32mmx8mm

The only difference between v1.2.3 and v.1.2.3.1 is the silkscreen of USART1 and USART2
Micoair is now producing Nxt-FC: [Micoair official website](https://micoair.com/index.php/flightcontroller_nxtpx4v2/) [Taobao](https://item.taobao.com/item.htm?id=720171355815&spm=a1z10.1-c-s.w4004-25090944919.4.188ad2c4TMdjoU) [Ali-Express](https://www.aliexpress.com/item/1005006044318535.html?gps-id=pcStoreJustForYou&scm=1007.23125.137358.0&scm_id=1007.23125.137358.0&scm-url=1007.23125.137358.0&pvid=d0d3d352-9d44-4efb-a90d-83d814b7750d&_t=gps-id:pcStoreJustForYou,scm-url:1007.23125.137358.0,pvid:d0d3d352-9d44-4efb-a90d-83d814b7750d,tpp_buckets:668%232846%238108%231977&pdp_npi=4%40dis%21USD%2168.82%2168.82%21%21%21498.00%21498.00%21%402103094c17132550041616003e82e6%2112000035464129852%21rec%21HK%21%21AB&spm=a2g0o.store_pc_home.smartJustForYou_2005294076979.1005006044318535)

![1684855176787](https://raw.githubusercontent.com/Peize-Liu/my-images/master/202309060125183.png)
![image-20240417000420113](https://khalil-picgo-1321910894.cos.ap-hongkong.myqcloud.com/images/202404170004223.png)

(connection for v1.2.3)
![image-20240417000600083](https://khalil-picgo-1321910894.cos.ap-hongkong.myqcloud.com/images/202404170006223.png)

---
| UART | TTY | SerialName | Suggest Funcion |
| ------ | --------------- | ---------------- | ------------------------------------------------------------------------------------ |
| USART1 | /dev/ttyS0 | SERIAL_GPS1 | |
| USART2 | /dev/ttyS1 | SERIAL_GPS2 | |
| USART3 | /dev/ttyS2 | SERIAL_TEL1 | |
| UART4 | /dev/ttyS3 | SERIAL_TEL2 | |
| UART5 | /dev/ttyS4 | SERIAL_RC | Receiver |
| USART6 | /dev/ttyS5 | Debug | Currently not available, can be enable |
| UART7 | /dev/ttyS6 | SERIAL_TEL3 | AUX |
| UART8 | /dev/ttyS7 | SERIAL_TEL4 | AUX |

Basic connection with receiver & ESC & computer
## Getting start

![1684855211000](https://raw.githubusercontent.com/Peize-Liu/my-images/master/202309060125443.png)
### Use precompiled bootloader and firmware

If your receiver uses Sbus please connect the pads in red circle
1. Use the firmware files from ./firmware.

### Compile PX4Firmware
2. QGC upgrade is also available.

#### Using make
### Compile locally

**Note！！！**
Follow the PX4 standard approach.

For PX4 1.14.x firmware please use branch *develop_v1.14.x*. I am manually merging with the latest main branch from PX4.
Bootloader:

1. go to PX4-Autoplilot directory
2. using ` make hkust_nxt_bootloader` to compile bootloader. For *develop_v1.14.x* use `make hkust_nxt-v1_bootloader`
3. Press boot button on board and then connect it with computer, flash bootloader with Betaflight configurator or STM32programmer
4. using `make hkust_nxt` to compile firmware, and flash `.px4` through QGC. . For *develop_v1.14.x* use `make hkust_nxt-v1`
```shell
make hkust_nxt-dual_bootloader
```

#### Using Docker
Firmware:

```bash
Usage: ./docker_build.sh <branch_name> <frameware_name>
```shell
make hkust_nxt-dual
```

1. compile firmware ` ./docker_build.sh develop_v1.14.x hkust_nxt-v1`
2. compile bootloader ` ./docker_build.sh develop_v1.14.x hkust_nxt-v1_bootloader`
## Setting up Nx-FC

### PX4 Configuration settings

Expand Down Expand Up @@ -124,67 +95,8 @@ Set Uart4 to 921600

MAV_0_RATE 92160B/s

**after these settings you will have approximate 500Hz /imu/data_raw /imu/data**

if you want to have presice 500Hz imu/data_raw and 200Hz imu/data

SYS_MC_EST_GROUP: Q attitude estimator

---

## Hardware development

* Kicad 7.0 required
* Create new branch for your own features
* Only general hardware features can be merged into main branch

### Caution!!!!!!!!

in v1.0.1 design, the original idea is to make ESC connector order weird, to make user notice the PINOUT sequence, however in practice, Rx pin is too close to Vbat pin, which leads to MCU damage at the moment power on or off if the cable is not titely installed. Noticing that, in v1.1.0 design, we change the ESC pinout order.

## Frameware development

### Pre-build firmware and bootloader

The pre-build firware and bootloader are in `./firmware` dir, donwload and flash in corresponding with your hardware version

### Compile

#### Local compilation

* Frameware compile: make hkust_nxt
* bootloader compile: make hkust_nxt_bootloader

#### Containerized compilation (recommended)

Build a specific version of PX4 firmware using docker container.

```bash
Usage: ./docker_build.sh <branch_name> <frameware_name>
Example: ./docker_build.sh develop_v1.14.x hkust_nxt-v1
./docker_build.sh develop_v1.14.x hkust_nxt-v1_bootloader
```

### Develop

* Create new branch named as **feature-xxx(feature info)** from **develop** branch to start your own feature development
* After test your own feature, mereged into develop branch and push a pull request (only general features will be accepted)

update repo using script: `./update_all_repo.sh`

## TODO

- [ ] ~~Develop branch back to normal HIGHRES_IMU~~
- [ ] ~~remove MPU6500 ~~
- [ ] ~~replace 0420 Inductor with 05xx inductor~~
- [ ] refine pinout (v2.0 hardware)

## Troubleshooting


**after these settings you will have 250Hz /imu/data_raw /imu/data**

## TODO
1. ESC RPM report cannot run with MAVRos /mavros/imu/data

### Maybe V2.0-Dual
1. Dual BMI 088
- [ ] 500Hz stable firmware based on PX4 1.14

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