1a3d232e7b
fix(bootloader): remove broken PROTO_SET_DELAY boot-delay feature ( #27081 )
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The bootloader boot-delay feature has been mechanically broken on
every modern FMU board since the STM32F7/H7 transition. It has three
independent bugs that prevent it from ever working:
1. Offset mismatch: BOOT_DELAY_ADDRESS is hardcoded to 0x1a0, but the
NuttX vector table is 504 B (F76x) to 664 B (H743) long. The
linker places _bootdelay_signature at ALIGN(32) past end of
vectors (e.g. 0x2a0 on CubeOrange), never at 0x1a0. The bootloader
reads random exception_common pointers in place of the magic and
never matches BOOT_DELAY_SIGNATURE1/2. Verified on CubeOrange with
objdump of cubepilot_cubeorange_default.elf.
2. Flash cache never flushes: fc_write() stores arbitrary writes in
cache line 1 and only flushes on a very specific condition tied
to the sequential firmware upload flow. A standalone write during
PROTO_SET_DELAY is cached forever. fc_read() then returns the
cached value, so the post-write verify lies and the bootloader
reports success. Nothing ever reaches flash.
3. H7 write granularity: the STM32H7 flash controller requires a
full 32-byte program cycle per write. Single 32-bit writes from
flash_func_write_word() would not be accepted by the controller
even if they reached it.
The feature has been silently dead on every H7/F7 FMU board for
years and no one noticed, which is strong evidence nothing actually
depends on it. Rather than fix it (which would mean rewriting
PROTO_SET_DELAY, the flash cache path, and the H7 flash programming
path), remove it.
Changes:
- bl.c: PROTO_SET_DELAY case now immediately NACKs (goto cmd_bad)
so clients that still send the command get a clear rejection
instead of the previous silent fake-success. The opcode stays in
the protocol enum for backwards compatibility.
- bl.h: drop BOOT_DELAY_SIGNATURE1/2 and BOOT_DELAY_MAX.
- stm/stm32_common/main.c, nxp/imxrt_common/main.c: drop the
startup boot-delay sig check block.
- image_toc.c: decouple find_toc() from BOOT_DELAY_ADDRESS.
BOARD_IMAGE_TOC_OFFSET is now the required define when
BOOTLOADER_USE_TOC is enabled. The body is wrapped in #ifdef
BOOTLOADER_USE_TOC and falls back to a stub returning false when
the TOC is not in use (no upstream board currently enables it).
- Linker scripts: strip EXTERN(_bootdelay_signature) and the
FILL/. += 8 block from all 142 affected .ld files across boards/.
- hw_config.h: strip the #define BOOT_DELAY_ADDRESS and its comment
block entry from all 48 affected boards.
- Tools/px4_uploader.py, Tools/teensy_uploader.py: remove --boot-delay,
set_boot_delay(), and SET_BOOT_DELAY client-side counterpart.
Smoke-built on cubepilot_cubeorange_default and
cubepilot_cubeorange_bootloader; no link errors, no unresolved
symbols, flash usage unchanged.
Tested:
- New BL, new FW
- Old BL, old FW
- Old BL, new FW
- New BL, old FW
2026-04-29 13:04:03 +12:00
cc19b1f52c
fix(boards): remove default SYS_AUTOSTART from generic autopilot boards ( #27052 )
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These are generic flight controller boards (not drone-specific
products), so they should not come with a pre-selected airframe like
every other PX4 board. Drop the SYS_AUTOSTART default, matching the
convention used across the rest of the tree.
Drone-specific products (bitcraze/crazyflie, atl/mantis-edu) retain
their default airframe.
2026-04-13 09:25:24 -08:00
f0453f5694
fix(temperature_compensation): remove temp compensation from enclosed autopilots ( #27015 )
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* fix(temperature_compensation): remove temp compensation from enclosed autopilots
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
* fix(temperature_compensation): remove from 3dr/mro
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
* fix(temperature_compensation): remove manually from 6x default kconfig
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
* fix(temperature_compensation): remove from modalai fc-vx boards
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
* fix(temperature_compensation): remove from all other boards
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
* Update boards/px4/sitl/default.px4board
---------
Signed-off-by: dirksavage88 <dirksavage88@gmail.com >
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
2026-04-13 12:46:00 -04:00
4ac7853479
auterion autostarter: Added autostart for PWM_EXPANDER, generalized c… ( #25925 )
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* auterion autostarter: Added autostart for PWM_EXPANDER, generalized code, renamed module
* auterion autostarter: Enable on v6s, robustify error handling
* review comments
2026-01-21 19:05:09 +01:00
06db25c078
boards: remove CONFIG_COMMON_OPTICAL_FLOW from all non-CANnode hardware ( #26315 )
2026-01-21 10:51:09 -05:00
3d9905251d
boards: update all NuttX defconfigs
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2025-11-10 01:06:31 -05:00
5f0d222e1b
update micoair boards config files: remove CONFIG_DRIVERS_RC_INPUT
2025-11-05 11:25:47 -05:00
8cb1c31f46
boards: add new board micoair743-lite ( #25777 )
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Authored-by: Minderring <1701213518@sz.edu.pku.cn >
Manufacturer supported board.
2025-11-04 11:16:38 -05:00
f9b9ef5b59
boards: disable INS for micoair boards
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Signed-off-by: Ramon Roche <mrpollo@gmail.com >
2025-08-07 19:06:54 -04:00
f8bfe01eca
Add MSP_OSD and other drivers for micoair boards
2025-08-05 16:58:31 -07:00
8c1f7ec7c0
rename FWPositionController to FWModeManager
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Signed-off-by: Silvan <silvan@auterion.com >
2025-05-26 14:47:38 +02:00
779a55c6dc
FW Position Controller rework
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- split up old module into two, one handling setpoint generation, one control
- add lateral and longitudinal control setpoints topics that can also be
injected from companion computer
- add configuration topics that (optionally) configure the controller
with limits and momentary settings
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2025-05-26 14:47:38 +02:00
f4cfee6f72
Fix typos in comments ( #24681 )
2025-04-08 16:47:58 -08:00
047578a844
Disarm PWM ESCs before reboot
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2025-02-10 18:16:48 +01:00
752b25235c
boards: update all NuttX defconfigs
2025-01-22 14:46:36 -05:00
1aa83d954b
update all px4board kconfig
2025-01-22 14:46:24 -05:00
3064a4ad4c
boards configs: add airspeed driver for micoair743 aio and v2
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2025-01-14 21:45:49 -05:00
8d4663ed5a
boards: add micoair743-v2 config files to PX4-Autopilot
2024-12-23 21:56:54 -05:00
0b27200629
boards: fix some configs for micoair743 and aio
2024-12-23 21:55:52 -05:00
a49f034757
update all px4board kconfig
2024-11-20 22:33:59 -05:00
2ce390a780
boards: new micoair h743-aio board
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Co-authored-by: Minderring <1701213518@sz.edu.pku.cn >
2024-11-15 15:30:09 -05:00
29085b18ad
boards/micoair/h743: remove osd in micoair743 config file
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Co-authored-by: Minderring <1701213518@sz.edu.pku.cn >
2024-11-15 15:28:42 -05:00
ac13fb77a9
boards: update all NuttX defconfigs
2024-06-18 09:37:58 -04:00
f8a42bcd58
boards: add new board micoair h743
2024-06-13 14:27:33 -04:00
Julian Oes
Andrew Brahim
Alexander Lerach
Jacob Dahl
PX4 BuildBot
Minderring
Hubert
Ramon Roche
Silvan
RomanBapst
co63oc