Merge branch 'PX4:main' into px4xplane-sitl

.ci/Jenkinsfile-compile

@@ -46,6 +46,8 @@ pipeline {
                      "ark_cannode_default",
                      "ark_fmu-v6x_bootloader",
                      "ark_fmu-v6x_default",
+                     "ark_pi6x_bootloader",
+                     "ark_pi6x_default"
                      "atl_mantis-edu_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie21_default",

.github/workflows/compile_nuttx.yml

@@ -25,6 +25,7 @@ jobs:
           ark_can-rtk-gps,
           ark_cannode,
           ark_fmu-v6x,
+          ark_pi6x,
           ark_septentrio-gps,
           atl_mantis-edu,
           av_x-v1,

.vscode/cmake-variants.yaml

@@ -181,6 +181,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_fmu-v6x_default
+    ark_pi6x_bootloader:
+      short: ark_pi6x_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_pi6x_bootloader
+    ark_pi6x_default:
+      short: ark_pi6x_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_pi6x_default
     atl_mantis-edu_default:
       short: atl_mantis-edu
       buildType: MinSizeRel

Jenkinsfile

@@ -171,10 +171,8 @@ 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/') // 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') // 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')

ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5

@@ -0,0 +1,78 @@
+#!/bin/sh
+#
+# @name Droneblocks DEXI 5
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Dennis Baldwin <[email protected]>
+# @maintainer Alex klimaj <[email protected]>
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
+# @board bitcraze_crazyflie exclude
+# @board diatone_mamba-f405-mk2 exclude
+# @board ark_fmu-v6x exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default BAT1_CAPACITY 4000
+param set-default BAT1_N_CELLS 6
+param set-default BAT1_V_EMPTY 3.3
+param set-default BAT1_V_LOAD_DROP 0.5
+param set-default BAT_AVRG_CURRENT 13
+
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.0762
+param set-default CA_ROTOR0_PY 0.09525
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.0762
+param set-default CA_ROTOR1_PY -0.09525
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.0762
+param set-default CA_ROTOR2_PY -0.09525
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.0762
+param set-default CA_ROTOR3_PY 0.09525
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default EKF2_MIN_RNG 0.01
+param set-default EKF2_OF_POS_X 0.043
+param set-default EKF2_OF_POS_Y 0.011
+param set-default EKF2_OF_QMIN_GND 1
+param set-default EKF2_RNG_POS_X 0.043
+param set-default EKF2_RNG_POS_Y 0.0
+
+param set-default IMU_GYRO_DNF_EN 2
+
+param set-default MC_PITCHRATE_D 0.0013
+param set-default MC_PITCHRATE_I 0.185
+param set-default MC_PITCHRATE_P 0.105
+param set-default MC_PITCH_P 7.5
+param set-default MC_ROLLRATE_D 0.0010
+param set-default MC_ROLLRATE_I 0.165
+param set-default MC_ROLLRATE_P 0.095
+param set-default MC_ROLL_P 7.5
+param set-default MC_YAWRATE_I 0.35
+param set-default MC_YAWRATE_P 0.13
+
+param set-default MPC_THR_HOVER 0.22
+param set-default MPC_THR_MAX 0.5
+param set-default MPC_THR_MIN 0.025
+param set-default MPC_VEL_MANUAL 5.0
+param set-default MPC_XY_VEL_MAX 8.0
+
+param set-default RTL_RETURN_ALT 15
+
+param set-default SENS_FLOW_MINHGT 0.0
+
+param set-default SER_TEL2_BAUD 3000000
+
+param set-default UXRCE_DDS_CFG 102

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

@@ -69,6 +69,7 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
 		4071_ifo
 		4073_ifo-s
 		4500_clover4
+		4601_droneblocks_dexi_5
 		4901_crazyflie21
 
 		# [5000, 5999] Quadrotor +

Tools/msg/generate_msg_docs.py

@@ -81,13 +81,13 @@ def get_msgs_list(msgdir):
         with open(output_file, 'w') as content_file:
             content_file.write(markdown_output)
 
-        readme_markdown_file_link='- [%s](%s.md)' % (msg_name,msg_name)
+        index_markdown_file_link='- [%s](%s.md)' % (msg_name,msg_name)
         if summary_description:
-            readme_markdown_file_link+=" — %s" % summary_description
-        filelist_in_markdown+=readme_markdown_file_link+"\n"
+            index_markdown_file_link+=" — %s" % summary_description
+        filelist_in_markdown+=index_markdown_file_link+"\n"
 
-    # Write out the README.md file
-    readme_text="""# uORB Message Reference
+    # Write out the index.md file
+    index_text="""# uORB Message Reference
 
 :::note
 This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
@@ -98,6 +98,6 @@ def get_msgs_list(msgdir):
 
 %s
     """ % (filelist_in_markdown)
-    readme_file = os.path.join(output_dir, 'README.md')
-    with open(readme_file, 'w') as content_file:
-            content_file.write(readme_text)
+    index_file = os.path.join(output_dir, 'index.md')
+    with open(index_file, 'w') as content_file:
+            content_file.write(index_text)

boards/ark/pi6x/bootloader.px4board

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

boards/ark/pi6x/default.px4board

@@ -0,0 +1,70 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_HEATER=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=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_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_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=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_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/ark/pi6x/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 58,
+    "magic": "ARKPi6XFWv1",
+    "description": "Firmware for the ARKPi6X board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKPi6X",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1835008,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/ark/pi6x/init/rc.board_defaults

@@ -0,0 +1,50 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# transision from params file to flash-based params (2022-08)
+if [ -f $PARAM_FILE ]
+then
+	param load $PARAM_FILE
+	param save
+	# create a backup
+	mv $PARAM_FILE ${PARAM_FILE}.bak
+	reboot
+fi
+
+param set-default SENS_EN_INA226 1
+
+# TODO: Set params to start UXRCE DDS on Telem2
+
+# TODO: Start Mavlink on USB by default
+
+# TODO: Tune the following parameters
+param set-default SENS_EN_THERMAL 1
+param set-default SENS_IMU_TEMP 10.0
+#param set-default SENS_IMU_TEMP_FF 0.0
+#param set-default SENS_IMU_TEMP_I 0.025
+#param set-default SENS_IMU_TEMP_P 1.0
+
+if ver hwtypecmp ARKPI6X000
+then
+	# TODO: Add the correct sensor ID
+	param set-default SENS_TEMP_ID 2490378
+fi
+
+param set-default EKF2_BARO_DELAY 13
+param set-default EKF2_BARO_NOISE 0.9
+param set-default EKF2_HGT_REF 2
+param set-default EKF2_MAG_DELAY 100
+param set-default EKF2_MAG_NOISE 0.06
+param set-default EKF2_MULTI_IMU 2
+param set-default EKF2_OF_CTRL 1
+param set-default EKF2_OF_DELAY 48
+param set-default EKF2_OF_N_MIN 0.05
+param set-default EKF2_RNG_A_HMAX 25
+param set-default EKF2_RNG_DELAY 48
+param set-default EKF2_RNG_NOISE 0.03
+param set-default EKF2_RNG_QLTY_T 0.1
+param set-default EKF2_RNG_SFE 0.03
+
+param set-default SENS_FLOW_RATE 150

boards/ark/pi6x/init/rc.board_sensors

@@ -0,0 +1,34 @@
+#!/bin/sh
+#
+# ARKPI6X specific board sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+if param compare SENS_EN_INA226 1
+then
+	# Start Digital power monitors
+	ina226 -I -b 3 -t 1 -k start
+fi
+
+if ver hwtypecmp ARKPI6X000
+then
+	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+	icm42688p -R 3 -s -b 1 -C 32051 start
+
+	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+	icm42688p -R 1 -s -b 2 -C 32051 start
+fi
+
+# Internal magnetometer on I2C
+# TODO: Write a driver for the MMC5983MA
+mmc5983ma -I -b 4 start
+
+# Internal Baro on I2C
+bmp388 -I -b 4 start
+
+# Internal optical flow
+paw3902 -s -b 3 start -Y 90
+
+# Internal distance sensor
+afbrs50 start

boards/ark/pi6x/nuttx-config/Kconfig

@@ -0,0 +1,17 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.