Merge branch 'main' into vehicle_local_acceleration

.github/workflows/dev_container.yml

@@ -58,7 +58,6 @@ jobs:
             type=ref,event=branch,value=${{ steps.px4-tag.outputs.tag }},priority=700
             type=ref,event=branch,suffix=-{{date 'YYYY-MM-DD'}},priority=600
             type=ref,event=branch,suffix=,priority=500
-            type=ref,event=pr
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3

.vscode/cmake-variants.yaml

@@ -166,6 +166,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_septentrio-gps_canbootloader
+    ark_teseo-gps_canbootloader:
+      short: ark_teseo-gps_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_teseo-gps_canbootloader
     ark_cannode_default:
       short: ark_cannode_default
       buildType: MinSizeRel
@@ -301,6 +306,11 @@ CONFIG:
       buildType: MiniSizeRel
       settings:
         CONFIG: matek_gnss-m9n-f4_default
+    micoair_h743_bootloader:
+      short: micoair_h743_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743_bootloader
     micoair_h743_default:
       short: micoair_h743
       buildType: MinSizeRel
@@ -316,6 +326,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: micoair_h743-aio_default
+    micoair_h743-v2_bootloader:
+      short: micoair_h743-v2_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-v2_bootloader
+    micoair_h743-v2_default:
+      short: micoair_h743-v2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-v2_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel

Makefile

@@ -344,6 +344,7 @@ bootloaders_update: \
 	matek_h743-slim_bootloader \
         micoair_h743_bootloader \
         micoair_h743-aio_bootloader \
+	micoair_h743-v2_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -60,19 +60,25 @@ param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
 # controls in practical scenarios.
 
 # Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
-param set-default SIM_GZ_SV_FUNC3 203
-param set-default SIM_GZ_SV_MIN3 0
-param set-default SIM_GZ_SV_MAX3 1000
-param set-default SIM_GZ_SV_DIS3 500
-param set-default SIM_GZ_SV_FAIL3 500
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_MIN1 0
+param set-default SIM_GZ_SV_MAX1 1000
+param set-default SIM_GZ_SV_DIS1 500
+param set-default SIM_GZ_SV_FAIL1 500
+param set-default SIM_GZ_SV_MAXA1 90
+param set-default SIM_GZ_SV_MINA1 -90
 
 # Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
 #    - on minimum when disarmed or failed:
-param set-default SIM_GZ_SV_FUNC4 204
-param set-default SIM_GZ_SV_MIN4 0
-param set-default SIM_GZ_SV_MAX4 1000
-param set-default SIM_GZ_SV_DIS4 500
-param set-default SIM_GZ_SV_FAIL4 500
+param set-default SIM_GZ_SV_FUNC2 202
+param set-default SIM_GZ_SV_MIN2 0
+param set-default SIM_GZ_SV_MAX2 1000
+param set-default SIM_GZ_SV_DIS2 500
+param set-default SIM_GZ_SV_FAIL2 500
+param set-default SIM_GZ_SV_MAXA2 90
+param set-default SIM_GZ_SV_MINA2 -90
+
+param set-default CA_SV_CS_COUNT 2
 
 # Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
 

ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann

@@ -47,5 +47,8 @@ param set-default SIM_GZ_WH_MAX1 200
 param set-default SIM_GZ_WH_DIS1 100
 
 # Steering
+param set-default SIM_GZ_SV_MAXA1 30
+param set-default SIM_GZ_SV_MINA1 -30
+param set-default CA_SV_CS_COUNT 1
 param set-default SIM_GZ_SV_FUNC1 201
 param set-default SIM_GZ_SV_REV 1

ROMFS/px4fmu_common/init.d-posix/airframes/4019_gz_x500_gimbal

@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Gazebo x500 gimbal
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_gimbal}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+# Gimbal settings
+param set-default MNT_MODE_IN 4
+param set-default MNT_MODE_OUT 2
+param set-default MNT_RC_IN_MODE 1
+
+param set-default MNT_MAN_ROLL 1
+param set-default MNT_MAN_PITCH 2
+param set-default MNT_MAN_YAW 3
+
+param set-default MNT_RANGE_ROLL 180
+param set-default MNT_RANGE_PITCH 180
+param set-default MNT_RANGE_YAW 720

ROMFS/px4fmu_common/init.d-posix/airframes/4020_gz_tiltrotor

@@ -0,0 +1,112 @@
+#!/bin/sh
+#
+# @name VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
+param set-default MAV_TYPE 21
+
+param set-default CA_AIRFRAME 3
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR2_TILT 2
+param set-default CA_SV_TL0_MAXA 90
+param set-default CA_SV_TL0_MINA 0
+param set-default CA_SV_TL0_TD 0
+param set-default CA_SV_TL0_CT 1
+param set-default CA_SV_TL1_MAXA 90
+param set-default CA_SV_TL1_MINA 0
+param set-default CA_SV_TL1_TD 0
+param set-default CA_SV_TL1_CT 1
+
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_TL_COUNT 2
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 10
+param set-default SIM_GZ_EC_MIN2 10
+param set-default SIM_GZ_EC_MIN3 10
+param set-default SIM_GZ_EC_MIN4 10
+
+param set-default SIM_GZ_EC_MAX1 1500
+param set-default SIM_GZ_EC_MAX2 1500
+param set-default SIM_GZ_EC_MAX3 1500
+param set-default SIM_GZ_EC_MAX4 1500
+
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_FUNC2 202
+param set-default SIM_GZ_SV_FUNC3 203
+param set-default SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_FUNC5 205
+
+param set-default SIM_GZ_SV_MAXA4 90
+param set-default SIM_GZ_SV_MINA4 0
+param set-default SIM_GZ_SV_MAXA5 90
+param set-default SIM_GZ_SV_MINA5 0
+
+param set-default NPFG_PERIOD 12
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_TRIM 0.38
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default MC_AIRMODE 1
+param set-default MC_YAWRATE_P 0.4
+param set-default MC_YAWRATE_I 0.1
+
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default MIS_TAKEOFF_ALT 10
+
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_FWD_THRUST_SC 0.6
+param set-default VT_TILT_TRANS 0.6
+param set-default VT_TYPE 1

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -91,6 +91,8 @@ px4_add_romfs_files(
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
 	4018_gz_quadtailsitter
+	4019_gz_x500_gimbal
+	4020_gz_tiltrotor
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

ROMFS/px4fmu_common/init.d/rcS

@@ -354,6 +354,11 @@ else
 	then
 		pps_capture start
 	fi
+	# RPM capture driver
+	if param greater -s RPM_CAP_ENABLE 0
+	then
+		rpm_capture start
+	fi
 	# Camera capture driver
 	if param greater -s CAM_CAP_FBACK 0
 	then

Tools/kconfig/allyesconfig.py

@@ -40,6 +40,7 @@
     'DRIVERS_DISTANCE_SENSOR_SRF05', # Requires hardcoded GPIO_ULTRASOUND
     'DRIVERS_PPS_CAPTURE', # Requires PPS GPIO config
     'DRIVERS_PWM_INPUT', # Requires PWM config
+    'DRIVERS_RPM_CAPTURE', # Requires PPS GPIO config
     'DRIVERS_TEST_PPM', # PIN config not portable
     'DRIVERS_TATTU_CAN', # Broken needs fixing
     'MODULES_REPLAY', # Fails on NuttX targets maybe force POSIX dependency?

boards/ark/fpv/default.px4board

@@ -16,6 +16,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/ark/teseo-gps/canbootloader.px4board

@@ -0,0 +1,5 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y

boards/ark/teseo-gps/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 86,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ARK Teseo GPS board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKTESEOGPS",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}

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

@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default CBRK_IO_SAFETY 0
+param set-default CANNODE_SUB_MBD 1
+param set-default CANNODE_SUB_RTCM 1
+param set-default MBE_ENABLE 1
+param set-default SENS_IMU_CLPNOTI 0
+
+tone_alarm start
+
+ekf2 start

boards/ark/teseo-gps/init/rc.board_sensors

@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+echo "Starting Teseo GPS"
+teseo_gps start -d /dev/ttyS0 -b 460800
+
+icm42688p -R 0 -s start
+
+bmp388 -I -b 1 start
+
+if ! iis2mdc -R 2 -I -b 1 start
+then
+	bmm150 -I -b 1 start
+fi

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

@@ -0,0 +1,57 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/teseo-gps/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+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
+CONFIG_USEC_PER_TICK=1000