boards rename auav_x21 -> mro_x21

.ci/Jenkinsfile-compile

@@ -29,19 +29,22 @@ pipeline {
 
           def nuttx_builds_archive = [
             target: [
-                     "px4_io-v2_default",
+                     "airmind_mindpx-v2_default",
+                     "av_x-v1_default",
+                     "bitcraze_crazyflie_default",
+                     "holybro_kakutef7", "holybro_durandal-v1_default", "holybro_durandal-v1_stackcheck",
+                     "intel_aerofc-v1_default",
+                     "modalai_fc-v1_default",
+                     "mro_x21_default", "mro_ctrl-zero-f7_default", "mro_x21-777_default",
+                     "nxp_fmuk66-v3_default",
+                     "omnibus_f4sd_default",
                      "px4_fmu-v2_default", "px4_fmu-v2_fixedwing", "px4_fmu-v2_lpe", "px4_fmu-v2_multicopter", "px4_fmu-v2_rover", "px4_fmu-v2_test",
                      "px4_fmu-v3_default",
                      "px4_fmu-v4_default",
                      "px4_fmu-v4pro_default",
                      "px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5x_default",
-                     "intel_aerofc-v1_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default",
+                     "px4_io-v2_default",
-                     "holybro_kakutef7", "holybro_durandal-v1_default", "holybro_durandal-v1_stackcheck",
-                     "modalai_fc-v1_default",
-                     "mro_ctrl-zero-f7_default", "mro_x21-777_default",
-                     "nxp_fmuk66-v3_default",
-                     "omnibus_f4sd_default",
                      "uvify_core_default"
             ],
             image: docker_images.nuttx,

.github/workflows/compile_nuttx.yml

@@ -9,16 +9,23 @@ jobs:
     strategy:
       matrix:
         config: [
-          px4_io-v2_default,
+          airmind_mindpx-v2_default,
+          av_x-v1_default,
+          bitcraze_crazyflie_default,
+          holybro_kakutef7, holybro_durandal-v1_default, holybro_durandal-v1_stackcheck,
+          intel_aerofc-v1_default,
+          modalai_fc-v1_default,
+          mro_x21_default, mro_ctrl-zero-f7_default, mro_x21-777_default,
+          nxp_fmuk66-v3_default,
+          omnibus_f4sd_default,
           px4_fmu-v2_default, px4_fmu-v2_fixedwing, px4_fmu-v2_lpe, px4_fmu-v2_multicopter, px4_fmu-v2_rover, px4_fmu-v2_test,
           px4_fmu-v3_default,
           px4_fmu-v4_default,
           px4_fmu-v4pro_default,
           px4_fmu-v5_default, px4_fmu-v5_fixedwing, px4_fmu-v5_multicopter, px4_fmu-v5_rover, px4_fmu-v5_rtps, px4_fmu-v5_stackcheck,
           px4_fmu-v5x_default,
-          airmind_mindpx-v2_default, auav_x21_default, av_x-v1_default, bitcraze_crazyflie_default,
+          px4_io-v2_default,
-          holybro_kakutef7, holybro_durandal-v1_default, holybro_durandal-v1_stackcheck,
+          uvify_core_default
-          intel_aerofc-v1_default, modalai_fc-v1_default, mro_ctrl-zero-f7_default, nxp_fmuk66-v3_default, omnibus_f4sd_default, uvify_core_default
           ]
     steps:
     - uses: actions/checkout@v1

Makefile

@@ -254,7 +254,7 @@ px4fmu_firmware: \
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_intel_aerofc-v1_default \
-	check_auav_x21_default \
+	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
 	check_airmind_mindpx-v2_default \
 	check_px4_fmu-v2_lpe \

boards/auav/x21/init/rc.board_defaults

@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# AUAV/mRO x21 specific board defaults
-#------------------------------------------------------------------------------
-
-
-if [ $AUTOCNF = yes ]
-then
-
-fi

boards/mro/x21/default.cmake

@@ -1,7 +1,7 @@
 
 px4_add_board(
 	PLATFORM nuttx
-	VENDOR auav
+	VENDOR mro
 	MODEL x21
 	LABEL default
 	TOOLCHAIN arm-none-eabi
@@ -71,6 +71,7 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control

boards/mro/x21/firmware.prototype

@@ -1,10 +1,10 @@
 {
     "board_id": 33,
     "magic": "PX4FWv1",
-    "description": "Firmware for the AUAV X2.1 board",
+    "description": "Firmware for the mRo X2.1 board",
     "image": "",
     "build_time": 0,
-    "summary": "AUAV X2.1",
+    "summary": "mRo X2.1",
     "version": "0.1",
     "image_size": 0,
     "image_maxsize": 2080768,

boards/mro/x21/init/rc.board_defaults

@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# mRo x21 specific board defaults
+#------------------------------------------------------------------------------
+
+
+if [ $AUTOCNF = yes ]
+then
+
+	# to minimize cpu usage on older boards limit inner loop to 400 Hz
+	param set IMU_GYRO_RATEMAX 400
+
+fi

boards/mro/x21/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# AUAV/mRO x21 specific board MAVLink startup script.
+# mRo x21 specific board MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

boards/mro/x21/init/rc.board_sensors

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# AUAV/mRO x21 specific board sensors init
+# mRo x21 specific board sensors init
 #------------------------------------------------------------------------------
 
 adc start

boards/mro/x21/nuttx-config/include/board.h

@@ -1,5 +1,5 @@
 /************************************************************************************
- * configs/auav-x21/include/board.h
+ * board.h
  * include/arch/board/board.h
  *
  *   Copyright (C) 2009, 2016 Gregory Nutt. All rights reserved.
@@ -209,9 +209,8 @@
 
 /* Alternate function pin selections ************************************************/
 
-/*
+/* UARTs */
- * UARTs.
+
- */
 #define GPIO_USART1_RX   GPIO_USART1_RX_1    /* Console in from IO */
 #define GPIO_USART1_TX   0                   /* USART1 is RX-only */
 
@@ -234,39 +233,37 @@
 #define GPIO_UART7_RX    GPIO_UART7_RX_1
 #define GPIO_UART7_TX    GPIO_UART7_TX_1
 
-
 /* UART8 has no alternate pin config */
 
 /* UART RX DMA configurations */
 
-#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
 #define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
 
-/*
+/* CAN
- * CAN
  *
  * CAN1 is routed to the onboard transceiver.
  */
-#define GPIO_CAN1_RX	GPIO_CAN1_RX_3
-#define GPIO_CAN1_TX	GPIO_CAN1_TX_3
 
-/*
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3
- * I2C
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3
+
+/* I2C
  *
  * The optional _GPIO configurations allow the I2C driver to manually
  * reset the bus to clear stuck slaves.  They match the pin configuration,
  * but are normally-high GPIOs.
  */
-#define GPIO_I2C1_SCL		GPIO_I2C1_SCL_2
-#define GPIO_I2C1_SDA		GPIO_I2C1_SDA_2
-#define GPIO_I2C1_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
-#define GPIO_I2C1_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
 
-/*
+#define GPIO_I2C1_SCL    GPIO_I2C1_SCL_2
- * SPI
+#define GPIO_I2C1_SDA    GPIO_I2C1_SDA_2
+#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
+
+/* SPI
  *
  * There are sensors on SPI1, and SPI2 is connected to the FRAM.
  */
+
 #define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1
 #define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1
 #define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1

boards/mro/x21/nuttx-config/nsh/defconfig

@@ -218,10 +218,8 @@ CONFIG_UART7_SERIAL_CONSOLE=y
 CONFIG_UART7_TXBUFSIZE=300
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=300
-CONFIG_UART8_RXDMA=y
 CONFIG_UART8_TXBUFSIZE=300
 CONFIG_USART1_RXBUFSIZE=128
-CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=32
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
@@ -234,7 +232,7 @@ CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=300
 CONFIG_USART3_RXDMA=y
-CONFIG_USART3_TXBUFSIZE=300
+CONFIG_USART3_TXBUFSIZE=600
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=300
 CONFIG_USART6_RXDMA=y

boards/mro/x21/src/board_config.h

@@ -34,7 +34,7 @@
 /**
  * @file board_config.h
  *
- * AUAVX2.1 internal definitions
+ * mRo X2.1 internal definitions
  */
 
 #pragma once

boards/mro/x21/src/can.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file auav__can.c
+ * @file can.c
  *
  * Board-specific CAN functions.
  */

boards/mro/x21/src/init.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file auav_init.c
+ * @file init.c
  *
  * PX4FMU-specific early startup code.  This file implements the
  * board_app_initialize() function that is called early by nsh during startup.

boards/mro/x21/src/led.c

@@ -32,9 +32,9 @@
  ****************************************************************************/
 
 /**
- * @file auav_led.c
+ * @file led.c
  *
- * PX4FMU LED backend.
+ * LED backend.
  */
 
 #include <px4_platform_common/px4_config.h>

boards/mro/x21/src/spi.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file auav_spi.c
+ * @file spi.c
  *
  * Board-specific SPI functions.
  */

boards/mro/x21/src/timer_config.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /*
- * @file auav_timer_config.c
+ * @file timer_config.c
  *
  * Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
  *

boards/mro/x21/src/usb.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file auav_usb.c
+ * @file usb.c
  *
  * Board-specific USB functions.
  */