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feat(drivers): add support for hiwonder 4 channel encoder motor module (#27229)

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* driver: hiwonder encoder motor module

* fix(drivers): Change HiwonderEMM from CRTP API to non-template ModuleBase

* fix(drivers): exclude hiwonder_emm driver from sitl build, as it fails i2c dependencies

* feat(drivers, hiwonder4channel): add parameter update subsciption

* feat(drivers, hiwonder4channel): add requested changes of original PR

* fix(drivers, hiwonder4channel): add default in hiwonder_emm module.yaml

* fix(drivers, hiwonder4channel): formatting

* fix(drivers, hiwonder4channel): add the hiwonder driver to all px4board s that include the roboclaw driver

* cleanup(drivers, hiwonder4channel): update copyright year

* chore(drivers): move hiwonder driver startup call from rc.board_sensors to rc.rover

* chore(drivers): hiwonder 4 channel - improve HIWONDER_EMM_EN description

* chore(drivers): hiwonder4channel - move to int8 for internal speed values

* chore(drivers): hiwonder4channel - move unconfigurable value to initialization.

* chore(drivers): hiwonder4channel - add reboot_required to enable parameter

* chore(drivers): hiwonder4channel - add docs

---------

Co-authored-by: chfriedrich98 <chfriedrich@student.ethz.ch>
This commit is contained in:
Michael Fritsche
2026-05-13 15:09:39 +02:00
committed by GitHub
parent 16091492b6
commit 0932ad144b
34 changed files with 561 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/auterion/fmu-v6s/init/rc.board_sensors
-1
View File
@@ -37,7 +37,6 @@ then
set INA_CONFIGURED yes
fi
if param compare SENS_EN_INA228 1
then
# Start Digital power monitors
boards/auterion/fmu-v6s/rover.px4board
+5 -3
View File
@@ -5,12 +5,14 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_FW_MODE_MANAGER=n
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
CONFIG_MODULES_FW_RATE_CONTROL=n
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
CONFIG_MODULES_MC_ATT_CONTROL=n
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
CONFIG_MODULES_MC_POS_CONTROL=n
CONFIG_MODULES_MC_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
# CONFIG_EKF2_WIND is not set
CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_DRIVERS_HIWONDER_EMM=y
CONFIG_MODULES_ROVER_ACKERMANN=y
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
CONFIG_MODULES_ROVER_MECANUM=y
boards/auterion/fmu-v6x/rover.px4board
+1
View File
@@ -12,6 +12,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
CONFIG_MODULES_MC_RATE_CONTROL=n
CONFIG_MODULES_VTOL_ATT_CONTROL=n
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_DRIVERS_HIWONDER_EMM=y
CONFIG_MODULES_ROVER_ACKERMANN=y
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
CONFIG_MODULES_ROVER_MECANUM=y