1573 Commits

Include renames

Author	SHA1	Message	Date
Ramon Roche	1fd3a84780	fix(lockstep_scheduler): stop swallowing wakeups in cond_timedwait ... cond_timedwait() re-waited on a 10 ms wall-clock timeout until either a signal or its virtual timeout arrived. A signal from the caller's own signaler (px4_sem_post, or the unit test's broadcast) that lands while the waiter is between that wall-clock timeout and re-acquiring the mutex finds no waiter and is lost, so the waiter sleeps until its virtual timeout. In lockstep_scheduler_test nothing else advances time and the test hangs; in SITL a posted semaphore can report ETIMEDOUT late. The loop is not needed: the caller holds the mutex until pthread_cond_wait() releases it and set_absolute_time() takes that mutex before broadcasting, so a timeout broadcast cannot be missed. The original signal loss came from the MAX_WAKEUPS cap that the signal_next list already removed. Go back to a single wait and keep the three-phase signaling. Refs #28862 Assisted-by: Claude:claude-opus-5-5 Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-09-28 12:25:27 -07:00
Ramon Roche	a23449cbe5	feat(simulation)!: remove jMAVSim ... PX4 SIH with the Hawkeye visualizer replaces jMAVSim, in SITL and as the display-only viewer for SIH running on hardware. Drop the jMAVSim submodule, its make targets, px4-rc.jmavsim, the 10017_jmavsim_iris airframe and the VS Code debug helpers, stop installing Java and ant in the macOS and Arch setup scripts, and point the remaining mentions at SIH and Hawkeye. BREAKING CHANGE: make px4_sitl jmavsim and SYS_AUTOSTART 10017 no longer exist. Use make px4_sitl_sih sihsim_quadx with Hawkeye instead. Assisted-by: Claude:claude-opus-5-5 Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-09-26 14:28:26 -07:00
Jacob Dahl	85459fae96	fix(lockstep): stop SIH from passing the barrier on banked releases (#28802)	2026-09-23 09:35:18 +12:00
Jacob DahlandBalduin	0e9d8f6bea	refactor(platform): share I2C/SPI driver startup failure handling (#28786) ... Each default driver instantiation emits the same allocation and initialization failure handling. Share that code outside the template while keeping init() resolved on the concrete driver. Allocation failures are now logged under SPI_I2C. Extracted from Balduin (mbjd) in PX4/PX4-Autopilot#27816, commit 8a2391730f. Assisted-by: Codex Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> Co-authored-by: Balduin <balduin@auterion.com>	2026-09-21 22:50:23 -06:00
YG_Kim	afef6a450f	build(nuttx): update Ethernet carrier status reporting ... Include PX4/NuttX#418 so the IMXRT and STM32 Ethernet drivers report IFF_RUNNING through netdev_carrier_on/off(). The Zenoh startup check relies on these interface flags. Assisted-by: Codex:gpt-6-astra Signed-off-by: YG_Kim <yeogyeom1@naver.com>	2026-09-20 11:34:58 -04:00
Ramon Roche	f7052b281c	feat(ros2): add PX4 ROS development containers ... Provide a supported Jazzy environment for SIH/Gazebo development and source builds, with pinned tooling and reproducible multi-architecture image publishing. Separate package and container assets from ROS source preparation, and keep checkout workspaces fresh through a Python CLI. Assisted-by: Copilot:gpt-6-astra	2026-09-10 16:07:58 -07:00
Julian Oes	cc976e150a	feat(posix): separate the filesystem root from the storage directory (#28582) ... On NuttX these are two things: / is the filesystem root, and /fs/microsd is the SD card mounted under it. MAVLink FTP serves the root and confines writes to the SD card, so the read-only ROMFS at /etc is visible but cannot be written. On POSIX they were the same directory. PX4_ROOTFSDIR and PX4_STORAGEDIR both resolved to CONFIG_BOARD_ROOT_PATH, which on SITL is ".", so the working directory was simultaneously the FTP root and the only writable area. The consequences were that the ROMFS symlink sat inside the FTP root, and that _validatePathIsWritable() had nothing meaningful to check against and so was compiled out on POSIX entirely, leaving no write restriction at all. Give POSIX the same split. CONFIG_BOARD_ROOT_PATH keeps its meaning as the storage directory, and a new CONFIG_BOARD_FS_ROOT_PATH names the root FTP serves, defaulting to the storage path so every existing board is unchanged. SITL sets the root to "." and storage to "./fs", which mirrors NuttX: logs, parameters, dataman and eeprom move under ./fs, and etc/ stays in the root as read-only data. With storage distinct from the root, the write restriction now applies on every platform rather than NuttX only, and no longer compares against a hardcoded prefix length that was wrong for any board not using /fs/microsd. Assisted-by: Claude:claude-opus-5[1m] Signed-off-by: Julian Oes <julian@oes.ch>	2026-09-08 17:01:55 -06:00
Jacob Dahl	91bb35c8b3	fix(nuttx): bump to the stm32h7 MDIO poll fix (#28591) ... Every PHY register access on STM32H7 spent 5 ms in up_mdelay(), so the boot-time autonegotiation link wait ran netinit at 44% CPU for 65 s with the net lock held whenever no ethernet cable was attached (PX4/NuttX#414, apache/nuttx#20067). Also picks up the two upstream stm32_mdio fixes for the lower-half cast and the Clause 22 write register field.	2026-09-07 09:44:09 -06:00
Jacob Dahl	8f9b91b2bd	fix(boards): correct the F412 chip selection and app flash size on ARK cannodes (#28456) ... * fix(can-flow-mr): use STM32F412VG and 960K of app flash The part is STM32F412VGH6 (100-pin, 1MB), not the 48-pin 512KB CE. App flash starts at 0x08010000 after the 64K bootloader+params window, so the region is 960K, not 928K. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(boards): select STM32F412VG on the 100-pin 1MB ARK cannodes Teseo, X20, F9P, and Septentrio/MOSAIC/G5 GPS modules use STM32F412VGH6, same as Flow MR. They were still selecting the 48-pin 512KB CE and a 928K app region that double-counted params. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/cannode): use STM32F412CG and 960K of app flash The part is STM32F412CGU6, not the 512KB CE. App flash starts at 0x08010000 after the 64K bootloader+params window, so the region is 960K, not 928K. * fix(ark/mag): use STM32F412VG and 960K of app flash The part is STM32F412VGH6, not the 48-pin 512KB CE, and the app region after the 64K bootloader+params reservation is 960K, not 928K. * docs(boards): fix the F412 SRAM description in the cannode linker scripts The F412 has one contiguous 256KB SRAM at 0x20000000. The block list these scripts carried is F42x boilerplate and describes memory the part does not have. * fix(ark/dist): use STM32F412VG and 960K of app flash The part is STM32F412VGH6, not the 48-pin 512KB CE. App flash starts at 0x08010000 after the 64K bootloader+params window, so the region is 960K, not 928K. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(boards): give F412 cannodes a 256K SRAM region (#28498) NuttX now ends the F412 heap at 0x20040000. The linker scripts still capped .data/.bss at 192K, leftover from the F42x split. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * docs(boards): fix the F412 SRAM description on the 512K ARK cannodes The F412 has one contiguous 256KB SRAM at 0x20000000. The block list these scripts carried is F42x boilerplate and describes memory the part does not have. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/cannode): drop the PH1 boot jumper defines PH1 is OSC_OUT for the HSE crystal. The jumper option was already undefined, so these defines could not be enabled without stopping the clock. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(boards): correct ARK cannode I2C bitbang pins The bitbang GPIO defines did not match the schematic nets, so a bus reset would drive the wrong pins. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> --------- Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-09-03 19:29:57 -06:00
Ramon Roche	0161358033	chore(nuttx): bump NuttX to px4_firmware_nuttx-12.12.0+ tip ... Advance the NuttX submodule from 1db7c59 to the fork branch tip f07832f0 (px4_firmware_nuttx-12.12.0+), pulling in three backports: - FlexCAN: store the TX deadline only once the frame is sent - FlexCAN: assign MAXMB rather than OR-ing it in - STM32F412: set SRAM1_END to 256KiB (#407) The two FlexCAN backports are the apache/nuttx#19970 follow-ups the branch was missing; they land the corrected i.MX RT TX-abort behavior. Signed-off-by: Ramon Roche <mrpollo@gmail.com> Assisted-by: Claude:claude-fable-5-1	2026-09-03 12:31:07 -07:00
Jacob Dahl	39eae27610	fix(uavcan): apply UAVCAN_BITRATE on FlexCAN again, size uavcan/TTY work queues for NuttX 12 (#28509) ... * fix(uavcan): apply UAVCAN_BITRATE on FlexCAN again 58dfff0de7 turned the SIOCSCANBITRATE path off for i.MX RT, S32K and Kinetis, which is every board in the tree that builds SocketCAN, so UAVCAN_BITRATE stopped doing anything at all. It was written before db6f7ec304, and the crash it works around is that commit's bug: the driver reports bit/s on NuttX 12 and the caller still divided by 1000, so a 1 Mbit/s board asked its controller for 1000 bit/s on every boot. Benched on an ARK FMU-v6XRT with the gate removed: 1 Mbit/s -> 500 kbit/s -> 1 Mbit/s round-trips with both DroneCAN nodes coming back OPERAT, buses error-active, no fault. Requesting a rate the controller cannot reach is also survivable now -- it is reported and the configured rate is kept, where before a negative return from here made CanDriver::init() give up and DroneCAN never started. The %u for a uint32_t is fixed as well; nothing compiled this branch while the gate was in place. * fix(work_queue): size the uavcan and TTY work queues for NuttX 12 NuttX 12.12 costs a few hundred bytes of stack on the paths that go through the file layer, and that is more than these two defaults left spare. Measured against the same PX4 tree on 10.3.0: wq:uavcan 2860/3728 -> 3184/3736 (ARK FMU-v6X, two DroneCAN GNSS nodes) wq:ttyS4 1088/1704 -> 1432/1712 (ARK FMU-v6XRT, crsf_rc) load_mon reports wq:ttyS4 low on stack with 280 bytes left, and wq:uavcan sits at 85 % of its own. 4096 and 2048 restore the margin the 10.3.0 figures had.	2026-09-03 12:31:07 -07:00
Peter van der Perk	cff2ed8528	fix(nuttx): propagate ARCHDEFINES to CFLAGS for __NuttX__ flag ... Fixes the redefinition warnings in apps/system/dd/dd_main.c.	2026-09-03 12:31:07 -07:00
Julian Oes	b7dcb64f67	fix(nuttx): bump submodule for IGMP General Query fix ... The fix is upstream as f20cf4aac3 but landed after the 12.12.0 tag, so moving the submodule onto 12.12.0 dropped a fix the previous branch already carried. Backport it. Without it the group address in the IGMP header, a uint16_t[2] that decays to a pointer, is compared against INADDR_ANY, which is always false. A General Query then falls through to the group-specific branch, a group is allocated for 0.0.0.0, and joined groups never have their report timers restarted, so the querier ages out the membership and multicast delivery to the device stops. CONFIG_NET_IGMP is enabled on ark/fmu-v6xrt, px4/fmu-v6xrt, nxp/mr-canhubk3, nxp/mr-tropic and nxp/tropic-community. Assisted-by: Claude:claude-opus-5 Signed-off-by: Julian Oes <julian@oes.ch>	2026-09-03 12:31:07 -07:00
Julian Oes	b4c9d109af	fix(bootloader): select the MSP before jumping to the application ... NuttX 12.12.0 added arm_initialize_stack(), which moves thread mode onto the process stack pointer whenever CONFIG_ARCH_INTERRUPTSTACK > 7. Every bootloader config qualifies, so the bootloader now reaches arch_do_jump() with CONTROL.SPSEL set, where previously it ran on the main stack. arch_do_jump() writes the MSP and branches, but never selects it. The application therefore starts on the bootloader's PSP while its own startup code initialises a stack pointer the CPU is not using. Boards booted far enough to reach NSH and start MAVLink, then hard faulted once the stale bootloader stack was overwritten, surfacing as an assertion in Idle_Task with no useful backtrace. Clear CONTROL.SPSEL so control passes on the stack the application expects. The i.MX RT bootloader performs the same jump and its configs also exceed the interrupt stack threshold, so fix both. Verified on CubePilot CubeOrange and Pixhawk 6C; the prebuilt bootloaders for both are regenerated, as the shipped binaries have the defect. Assisted-by: Claude:claude-opus-5 Signed-off-by: Julian Oes <julian@oes.ch>	2026-09-03 12:31:07 -07:00
Julian Oes	b407bbd015	fix(nuttx): bump submodule for kthread group crash and CAN ioctl symbol ... NuttX 12.12.0 shares one statically allocated g_kthread_group between all kernel threads, but group_leave() guards the group_release() call behind HAVE_GROUP_MEMBERS, which is only defined when pthreads are enabled. Every bootloader config sets CONFIG_DEFAULT_SMALL=y, so DISABLE_PTHREAD defaults to y, and the first kernel thread to exit tears down the shared group and calls kmm_free() on a .bss static. The bootloader died before USB enumeration. Around 64 configs in the tree share that combination. The submodule now carries the upstream fix, apache/nuttx f20f9ff19e. The bump also picks up the backport that recombines the per-command CAN ioctl Kconfig options back into NETDEV_CAN_IOCTL. Defconfigs on this branch already reference CONFIG_NETDEV_CAN_IOCTL, which does not exist at the previously pinned commit, so SocketCAN bitrate, filter and state ioctls were silently disabled on ark/fmu-v6xrt, px4/fmu-v6xrt, nxp/mr-canhubk3, nxp/tropic-community and nxp/mr-tropic. Assisted-by: Claude:claude-opus-5 Signed-off-by: Julian Oes <julian@oes.ch>	2026-09-03 12:31:07 -07:00
Ramon Roche	296c1e4297	chore(platforms): drop dead cdc_acm_check.cpp resurrected by rebase ... Main removed this file in f05739035e (#28185) when USB autostart moved into the cdcacm_autostart driver. The NuttX upgrade rebase brought back a NuttX 12 adaptation of it, but nothing references it in any build file, so it is 370 lines of dead code. Assisted-by: Claude:claude-fable-5 Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-09-03 12:31:07 -07:00
Peter van der Perkandmarinauterion	ece43d3c0c	fix(nuttx): update mcp_gpio_dev_s initialization for NuttX 12.12 ... The mcp_gpio_dev_s / gpio_pin_dev_s struct layout changed in NuttX 12.12, so use designated initializers (.gp_pintype/.gp_ops) instead of positional initialization. Co-authored-by: marinauterion <224611774+marinauterion@users.noreply.github.com> Signed-off-by: Peter van der Perk <peter.vanderperk@nxp.com>	2026-09-03 12:31:07 -07:00
Peter van der Perk	103a1501a4	fix(nuttx): prune stale apps Kconfig on clean ... Upgrading the NuttX apps submodule (kernel bump or switching branches then `git submodule update`) updates tracked files only. When the new revision removes an application directory, the autogenerated Kconfig a previous build left inside it is untracked, so it survives `git clean -dX`. mkkconfig.sh keeps globbing that orphaned `*/Kconfig`, whose stale `source` points at a file that no longer exists, breaking `make olddefconfig`: olddefconfig: apps/gpsutils/Kconfig:9: 'apps/gpsutils/minmea/Kconfig' not found Add a `cmake -P` helper, invoked at the end of the `clean` target, that walks the apps Kconfig graph and removes only untracked Kconfig files that source a missing path. Tracked files and the nuttx tree (whose stale artifacts are all gitignored and already dropped by `git clean -dX`) are never touched, so a `make clean` before rebuilding now migrates cleanly across the upgrade. Assisted-by: Claude:claude-opus-4.8 Signed-off-by: Peter van der Perk <peter.vanderperk@nxp.com>	2026-09-03 12:31:07 -07:00
Peter van der Perk	b12ec6b50c	fix(bootloader): Use PANIC() instead of up_assert() for NuttX 12.12.0 ... NuttX 12.12.0 changed up_assert ABI	2026-09-03 12:31:07 -07:00
Peter van der PerkandVille Juven	2ad35a4e73	feat(platforms): upgrade NuttX to 12.12.0 ... bootloader: update main prototype for NuttX 12.12.0 platforms/nuttx: Add wrapper for queue.h For some reason the queue.h header was moved, add this wrapper so posix and nuttx builds can both still use #include <queue.h> Fix print_load to be compatible with upstream NuttX Also Change tg_filelist -> tg_fdlist as per new NuttX Co-authored-by: Ville Juven <ville.juven@unikie.com> Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2026-09-03 12:31:07 -07:00
Peter van der Perk	bbcd20abe3	feat(git): upgrade NuttX to 12.12.0 ... Update git sha's for NuttX	2026-09-03 12:31:07 -07:00
Jacob Dahl	d89835fb25	fix(dshot): emit the DShot rate that was asked for on STM32 (#28511) ... * fix(dshot): emit the DShot rate that was asked for on STM32 io_timer_set_dshot_burst_mode() wrote the tick count into ARR, but an STM32 timer period is ARR + 1 ticks, and the prescaler divided by that same tick count. Every bit came out one tick long, so the output ran at 21/20 of the requested rate and the 7/14 compare counts -- betaflight's, where the period really is 20 ticks -- landed on 21 and gave 33.3 %/66.7 % instead of the protocol's 37.5 %/75 %. Measured on an ARK FMU-v6X (240 MHz timer, BDShot300) with a logic analyser: bit period 3.500 us (+5.00 %) -> 3.333 us (-0.01 %) bit 0 high 33.2 % -> 37.3 % bit 1 high 66.5 % -> 74.9 % Subtracting one from ARR alone is not enough. A tick count fixed at 20 (19, 18) cannot divide every timer clock by every rate: 200 MHz at DShot600 would go from +0.80 % to -4.00 % and 90 MHz from -2.00 % to -6.67 %. Choose the tick count and the prescaler together instead, scoring the emitted rate first and the two high times second, and derive the compare counts from the tick count that wins. That is exact on 84, 90, 96, 108, 168, 180, 216 and 240 MHz at all three rates, and within 0.25 % on 160 MHz and 0.80 % on 200 MHz, where no integer pair is exact. The search only depends on the timer clock and the rate, so io_timer.c caches its answer per timer and recomputes only if the rate changes, which is once. That leaves the transmit path with no arithmetic at all where it previously ran a modulo loop and two divisions on every burst and every capture. The capture prescaler comes out of the same struct and no longer follows the transmit tick count. It only sets the resolution of a free-running counter, so it aims for a fixed 20 ticks per response bit, which is what keeps a one-to-three bit run inside the interval window convert_edge_intervals_to_bitstream() accepts. * fix(dshot): search up to 40 ticks per bit and keep the search in 32 bits 333 cycles per bit (200 MHz at DShot600, 100 MHz at DShot300) is 9 x 37, so a ceiling of 32 ticks left those clocks at 0.79 % when 37 x 9 lands within 0.10 %. The wider range also moves the clocks that were settling on a 39-40 % bit-0 duty onto 37.5 %. The rounded prescaler keeps ticks * prescaler * rate within half a bit of the timer clock, so the 64-bit compare bought nothing. The timing cache now starts on a rate nobody asks for, so its zero-rate guard is reachable instead of returning a zeroed struct. Assisted-by: Claude:claude-fable-5-1 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> --------- Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-09-02 16:53:36 -06:00
Jacob Dahl	0bc69038da	fix(uavcan): report FlexCAN bus state and apply UAVCAN_BITRATE on SocketCAN (#28457) ... * fix(uavcan): report FlexCAN bus state and error counters on SocketCAN The SocketCAN platform driver returned 0 from getErrorCount(), getRxQueueOverflowCount() and isInBusOffState(), so a controller sitting error-passive or bus-off was invisible from `uavcan status` and the can_interface_status topic on every i.MX RT board. Read them through NuttX's SIOCGCANERRORS instead, and print fault confinement, TEC/REC and RX overruns per interface. Builds without the ioctl keep the old zeros. * fix(uavcan): apply UAVCAN_BITRATE on SocketCAN CanDriver::init() ignored its bitrate argument, so the controller stayed at the Kconfig rate and a bus configured for anything but 1 Mbit/s never came up. Program the nominal rate through SIOCSCANBITRATE when it differs from what the driver reports, keeping the data-phase settings untouched. The driver applies the timing at the next ifup, so the interface is taken down around the request. Older PX4/NuttX restarted a running controller from inside the ioctl instead, which on FlexCAN with ECC RAM initialisation is a bus fault; against that NuttX the rate is left as configured with a warning. * fix(boards): switch SocketCAN defconfigs to NETDEV_CAN_IOCTL PX4/NuttX#401 merges the per-command CAN ioctl options into a single NETDEV_CAN_IOCTL, so the old BITRATE/FILTER/ERROR names no longer exist there and would be silently dropped, disabling the whole CAN ioctl block. Requires the NuttX gitlink to include PX4/NuttX#401; until that bump the option is dropped against the old tree and the bitrate/error ioctls are inert at runtime (the code builds either way). mr-canhubk3 is included so its bitrate ioctl survives the bump. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * chore(nuttx): bump NuttX to the px4_firmware_nuttx-10.3.0+ tip Picks up PX4/NuttX#401 so SIOCGCANERRORS, SIOCSCANBITRATE-requires-ifdown and NETDEV_CAN_IOCTL are in the tree the SocketCAN changes need. Also includes PX4/NuttX#399 (STM32F412VG/CG chip selections), which landed between main's gitlink and #401. Assisted-by: Grok:grok-4.6 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> --------- Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-09-01 15:25:46 -06:00
Jacob Dahl	df05384209	chore(nuttx): bump NuttX to the px4_firmware_nuttx-10.3.0+ tip (#28497) ... Picks up PX4/NuttX#402, where memmem() missed a needle that ends the haystack, and a configurable STM32 Ethernet TX watchdog timeout whose default is the 60 s the drivers hard-coded before.	2026-09-01 14:00:46 -06:00
Alex KlimajandJacob Dahl	ed93e5c87c	feat(boards): add the ARK FMU-v6XRT (#27161) ... * ARKV6X-RT Initial Commit * icm45686 yaw 270 * iis2mdc yaw 180 * fix(ark/v6x-rt): wrap FLASH_END macro body in parentheses Fixes clang-tidy bugprone-macro-parentheses. Signed-off-by: alexklimaj <alex@arkelectron.com> * update(ark/v6x-rt): modify bootloader binary for enhancements * feat(ark/v6x-rt): enable LSM6DSV80X IMU on SPI3 Enable the lsm6dsv driver, register the SPI3 chip select with the LSM6DSV devtype, and start the driver with -T 80 to select the LSM6DSV80X high-g variant (shared WHO_AM_I 0x73). Signed-off-by: alexklimaj <alex@arkelectron.com> * feat(ark/v6x-rt): start IIM-20670 IMU on SPI2 Rotation verified on bench (yaw 90). The driver comes with PX4 PR Signed-off-by: alexklimaj <alex@arkelectron.com> #27624; until it merges the start call fails harmlessly at boot. * fix(ark/v6x-rt): correct SPI3 DRDY2 pin, clang-tidy parens, cleanup - GPIO_SPI3_DRDY2_SENSOR3 pointed at GPIO_EMC_B2_09 (the buzzer pin); corrected to GPIO_EMC_B2_18 / GPIO2_IO28 per schematic - parenthesize BOOT_DEVICES_SELECTION / BOOT_DEVICES_FILTER_ONUSB macro bodies (clang-tidy bugprone-macro-parentheses) - set board_id / BOARD_TYPE to 62 - remove unused ENET INT/RST GPIO macros copied from fmu-v6xrt - remove duplicate GPIO_VDD_3V3_SENSORS4_EN init-list entry and Configuration banner - rename fmuv6xrt_* board functions, file headers, include guards, and Kconfig symbols to ark/v6x-rt Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * rename v6x-rt to fmu-v6xrt * feat(ark/fmu-v6xrt): build the IIM-20670 driver for the SPI2 IMU rc.board_sensors already starts iim20670, but the Kconfig symbol was left as a TODO placeholder because the driver was not in tree yet, so the SPI2 IMU never came up. The driver exists now. Depends on #27624 - the symbol is unknown to Kconfig until that merges. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): declare the IMXRT chip in the board config Without it Kconfig falls back to ARCH_CHIP_UNSET and every configure warns "ARCH_CHIP_UNSET was assigned the value 'y' but got the value 'n'". Cosmetic only - the real chip selection comes from the NuttX defconfig via CONFIG_ARCH_CHIP_MIMXRT1176DVMAA, and the image is byte-identical either way. px4/fmu-v6xrt and nxp/tropic-community already declare it. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * feat(ark/fmu-v6xrt): calibrate FlexSPI DLL read strobe at boot Port of PX4/PX4-Autopilot#28141 (9f4bc80006), which landed on px4/fmu-v6xrt. The two init.c files were otherwise identical apart from board-specific names, so this takes the change unmodified. Corrects the ROM-provided DLL delay by finding the valid DQS sampling range and selecting its midpoint, for reliable octal-DDR flash reads. * fix(ark/fmu-v6xrt): declare the SPI2 IMU as an IIM-20670 The LPSPI2 entry still carried the ICM45686 devtype placeholder from before the driver existed. SPIBusIterator matches a driver to a bus device on devtype_driver, so iim20670 found no instance and the SPI2 IMU never came up even with the driver built in. Depends on #27624 for DRV_IMU_DEVTYPE_IIM20670, same as the Kconfig symbol already enabled here. Assisted-by: Claude:claude-opus-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): enable the INA226 by default rc.board_sensors only starts a power monitor explicitly when one of the SENS_EN_INA* params is set, and otherwise falls back to i2c_launcher autostart. With SENS_EN_INA226 left at its 0 default the board always took the fallback, which never produced a working instance, so the board had no battery monitor at all. ark/fmu-v6x already sets this. Verified on hardware: started this way the INA226 on I2C1 0x41 reads 15.998 V against a 16.007 V bench supply. Assisted-by: Claude:claude-opus-5[1m] Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): correct the zero-padded DRDY pin macros GPIO_PIN05 and GPIO_PIN07 do not exist - the NuttX imxrt pin macros are not zero padded (GPIO_PIN5, GPIO_PIN7). Three DRDY definitions named them, so any translation unit that expanded GPIO_SPI2_DRDY1_SENSOR2, GPIO_SPI6_DRDY1_EXTERNAL1 or GPIO_SPI6_DRDY2_EXTERNAL1 would fail to compile. Nothing expands them today: the SPI bus description in spi.cpp carries its own port/pin pairs, and the only other reference is GPIO_DRDY_OFF_SPI6_DRDY2_EXTERNAL1, which is itself unused. That is why this has gone unnoticed. Found by writing a bench command that did use them. boards/px4/fmu-v6xrt/src/board_config.h has the same three typos and needs the same fix separately. Assisted-by: Claude:claude-opus-5[1m] Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * docs(ark/fmu-v6xrt): document the board's architecture and SWD flashing The RT1176 has no internal flash and boots XIP from an external octal NOR via a boot ROM that reads an FCB and IVT out of the image, which is enough unlike an STM32 that the flashing procedure looks arbitrary without it. Covers the differences, the dependencies, and the verified pyocd sequence for the bootloader and the application. * feat(ark/fmu-v6xrt): build the heater driver and regulate on the LSM6DSV80X The heater (R34/Q1 on GPIO2_IO27) is populated and plumbed in board_config.h but the driver was never built, so the IMUs ran at ambient. The LSM6DSV80X publishes its high-g channel, whose zero-g level moves 2 mg/degC (DS14764 Table 3) - an 0.8 m/s^2 walk over a 40 degC swing, enough to trip the accel consistency check - so bind the heater to that sensor. HEATER1_TEMP stays at the driver default. * fix(ark/fmu-v6xrt): place SubscriptionIntervalBase in ITCM The ITCM include list still named uORB::SubscriptionInterval::{updated,copy}, which stopped existing when those methods moved onto SubscriptionIntervalBase<Lb0/Lb1>. The wildcards fail open, so the two hottest uORB copies ran XIP instead of ITCM. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): float SPIX_SYNC so it cannot fight LSM6DSV INT2 The MCU pin was driven push-pull high into LSM6DSV80X INT2, which idles low and is active-high. Same net as ark/fmu-v6x, which leaves the pad as an input with pulldown. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): complain when the IMU hwtype is unknown The three internal IMUs only start on ARKV6XRT000. A future FMUM id would previously boot with mag and baro only and no indication why. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): default RC to CRSF on the RC port COMMON_RC already builds the per-protocol UART drivers, but none of them were bound to a port, so there was no RC until a user set RC_*_PRT_CFG. Bind CRSF to the RC serial (300) and leave the auto-detect rc_input driver out — PPM/DSM-bind is not wanted here. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * feat(ark/fmu-v6xrt): enable SPARTN framing and PPS capture Parity with ark/fmu-v6x: build the GPS SPARTN framer so PointPerfect corrections can be injected, and include pps_capture so a mixer PPS_Input pin can timestamp GNSS TIMEPULSE. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): drive panic LEDs from the real phy_set_led autoleds.c defined board_autoled_on/off against a local empty phy_set_led stub because the real one in led.c was static, so NuttX PANIC/ASSERT never lit an LED. Fold the autoled hooks into led.c, matching ark/fmu-v6x. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * chore(ark/fmu-v6xrt): drop leftover Kinetis and unused board symbols automount.c is still the FMUK66 SD automounter and is compiled out. GPIO_PWM_IN names a pinmux that does not exist, PX4_I2C_BUS_MTD contradicts mtd.cpp, the Boot Flash Kconfig choice is unread, and the RUNFROMISRAM copy in imxrt_ocram_initialize.c does not compile on this XIP board. Also point HW_REV/VER_SENSE at the ADC channels they actually sample and fix the USDHC pin table. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * perf(ark/fmu-v6xrt): grow the logger RAM buffer to 128 KiB The imxrt arch default is 64 KiB and the logger already sat at 96 % of that at rest. The RT1176 has megabytes of OCRAM; another 64 KiB of ring buffer is cheap insurance against SD write dropouts in flight. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * feat(ark/fmu-v6xrt): publish LPUART11 as the EXT2 serial port LPUART11 is built as /dev/ttyS7 and brought out on the PAB UART4 pins. Without CONFIG_BOARD_SERIAL_EXT2 the device node exists but nothing can bind a protocol to it from the serial-port params. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): enable 64-bit off_t so SD files can exceed 2 GiB Without CONFIG_FS_LARGEFILE, off_t is 32-bit: a single ULog cannot cross 2 GiB and df/ls wrap on cards larger than 4 GiB. px4/fmu-v6xrt gained this in 05be273a35; the ARK defconfig was forked before that. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): sync the FRAM MTD driver and actually erase it The local copy never advanced the bwrite source, so a multi-page param save repeated the first 128 bytes, and lacked the word-aligned bounce buffer from e8a4304e1c. Pull those in from px4/fmu-v6xrt. Erase was still wrong in both trees: `uint8_t buf[128] = {0xff}` only sets byte 0, and BULKERASE issued one WREN for 256 page programs. WEL clears after each write, so only page 0 was programmed. memset 0xff and WREN per page so `mtd erase` blanks the store. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): match ark/fmu-v6x UART buffer sizes TELEM2 (LPUART8) and EXT2 (LPUART11) were on the NuttX 256 B default. Copy the v6x sizes by port: console 180/1500, GPS1 TX 1500, TELEM2 RX 800, EXT2 600/1500. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): keep UAVCAN off CAN3, ESC on CAN2 only PAB pinouts CAN3 but no ARK carrier breaks it out. FlexCAN3 stays built so a different carrier can bring can2 up. Assisted-by: Grok:grok-4.6 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): drop i2c_launcher SENS_EN_INA226 is defaulted on, so the auto-detect fallback is unused. Start INA from the param only, like ark/fmu-v6x. Assisted-by: Grok:grok-4.6 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): keep SENSORS4 up and float BMP INT SENSORS4 is the BMP390 analog rail, not the SE051. Cycling it off while VDDIO (FMU_3V3) stays up skips POR. Leave it on after the first enable. Configure I2C2_DRDY1 as a floating input; INT idles push-pull low and is unused by the driver. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): start the IIM-20670 last Sensor instances follow start order, and at equal priority the voter keeps the lowest instance, so whichever IMU starts first is the primary by default. The IIM-20670's gyro filter cannot be opened past 60 Hz, which is several milliseconds of delay ahead of the rate loop; it is a fallback, not a primary. Start the ICM-45686 first and the LSM6DSV80X ahead of it. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(rt117x): define PX4_MAKE_GPIO_EXTI pps_capture builds its GPIO with PX4_MAKE_GPIO_EXTI, which only the STM32 micro_hal defines. On i.MX RT an EXTI pin is just an input that imxrt_gpiosetevent() attaches to, so it is the plain input pinset. Needed for CONFIG_DRIVERS_PPS_CAPTURE on ark/fmu-v6xrt. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * build(ark/fmu-v6xrt): state CONFIG_IMXRT_USDHC_DMA in the defconfig It is the Kconfig default, so it was already on, but nothing in the board tree said so and the question of whether SD ran PIO came up twice. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * build(ark/fmu-v6xrt): give the logger a 5000-byte stack High-water 3092 of 3608 with the logger at 368 KiB/s, the tightest task on the board. The RT1176 has 1.7 MB of SRAM to spend. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * docs(ark/fmu-v6xrt): add an IMU section to the README Bus, start line, ODR, publish rate and full-scale per IMU, why the publish rates differ, why the instances are ordered as they are, and the two caveats that lived only in driver comments and PR text: the LSM6DSV80X publishing its high-g channel, and the IIM-20670's 60 Hz gyro filter. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * docs(ark/fmu-v6xrt): call out the LSM6DSV80X offset temperature coefficient The heater exists for this die: its high-g zero-g offset moves ~2 mg/degC, so an accel calibration only holds at the temperature it was done at. Say so, and that calibration and flight both happen with the heater at its setpoint. * docs(ark/fmu-v6xrt): add the ARKV6X-RT flight controller page The target shipped with no user-facing page, so it was also absent from the supported-hardware, PAB-compatible and Ethernet board lists. Photo, store URL and the mechanical/electrical specs still need to come from ARK. Assisted-by: Claude:claude-opus-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * docs(ark/fmu-v6xrt): restructure the page to the current board-doc shape The docs maintainer has been asking every recent board PR for the same things: a Specifications block, a flow-control column on the serial table, and Power, PWM Outputs, Radio Control, GPS & Compass and Debug Port sections with anchors. Match that rather than the older ARKV6X page, which predates it. Assisted-by: Claude:claude-opus-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * docs(ark/fmu-v6xrt): mark the unpublished specs with TODO Photo, product page, input voltage, current draw, dimensions and weight are not public yet. Leave a marker where each belongs rather than a silent gap, so a reviewer can see what is outstanding and the PR checklist has something to point at. Assisted-by: Claude:claude-opus-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * docs(ark/fmu-v6xrt): the heater is not specific to the LSM6DSV80X Every IMU on every ARK board gets a heater; this die is only the most temperature-sensitive one, which is why the heater targets it. * fix(ark/fmu-v6xrt): regulate the heater on the ICM-45686 HEATER1_SENS_ID pointed at the LSM6DSV80X because its high-g channel drifted 2 mg/°C. The driver now publishes that part's low-g channel (0.07 mg/°C), so the die that flies is the one to hold at temperature. The pad warms the whole board either way; this only picks the feedback sensor. * fix(ark/fmu-v6xrt): single-IMU selection like ark/fmu-v6x The imxrt arch defaults turn on multi-EKF (EKF2_MULTI_IMU 3, SENS_IMU_MODE 0), so the EKF2 selector picked the primary by test ratio and at rest it could land on any of the three IMUs. Override to the voter with one primary, as ark/fmu-v6x does. * fix(ark/fmu-v6xrt): drop the Skynode TELEM2 mavlink autostart rc.board_mavlink came along with the px4/fmu-v6xrt copy: on base ids 009-011 it starts mavlink at 3 Mbaud on TELEM2 and locks the port. Those ids are Skynode carriers; on an ARK carrier that ever reports one, TELEM2 would be silently taken. ark/fmu-v6x has no such file. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * feat(ark/fmu-v6xrt): whitelist the generic airframes like ark/fmu-v6x Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * chore(ark/fmu-v6xrt): align the driver and module set with ark/fmu-v6x Add what v6x carriers can use: batt_smbus, payload_deliverer, pca9685_pwm_out (started on PCA9685_EN_BUS like v6x), and the ADIS16507 and SCH16T external IMUs; add the mavlink-dev variant and the rover HIWONDER_EMM. Drop what this board cannot use or does not want: battery_status (no analog battery channels, BOARD_BATT_V_LIST is {-1,-1}), local_position_estimator, septentrio. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * refactor(ark/fmu-v6xrt): name the eighth UART TEL4 like ark/fmu-v6x The port was EXT2 after the px4/fmu-v6xrt copy, so the same carrier connector is SER_TEL4_* on ark/fmu-v6x and SER_EXT2_* here. One name across the product line. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * docs(ark/fmu-v6xrt): correct the PFD frequency comments SYS_PLL2 PFD3 is 432 MHz, not 216 — the value FlexIO1 divides by 4 to reach the 108 MHz that BOARD_FLEXIO_PREQ assumes for DShot timing. Assisted-by: Claude:claude-opus-5[1m] Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * build(ark/fmu-v6xrt): default eth0 to static 192.168.0.4 like ark/fmu-v6x The two ARK products should present the same ethernet identity. netman writes the compiled-in default into the carrier EEPROM on first boot, so the v6XRT left a fresh carrier on DHCP with a ~70 s fallback to 10.41.10.2, an address nothing at ARK uses, while the v6X has been 192.168.0.4 since #24281. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * perf(ark/fmu-v6xrt): run the DShot cycle from ITCM Same list as px4/fmu-v6xrt: up_dshot_trigger ran over XIP and its critical section measured 5.6 µs worst case on cache misses at 800 Hz. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): start the onboard baro unconditionally SENS_INT_BARO_EN gated the BMP390 even though it is started as an external sensor, so the parameter never meant what it says here, and it is being replaced by CAL_BAROn_PRIO. * fix(ark/fmu-v6xrt): receive RC on LPUART6 RX The NXP v6XRT template single-wires on TX because its RC net is the TX pad. This board wires PAB X1-70 (carrier SBUS/RC pin 2) to LPUART6 RX. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ark/fmu-v6xrt): pin ICM-45686 as the primary IMU The three IMUs run at equal voter priority, so the sensor voter selects the primary by whichever validates first at boot and keeps it — a non-deterministic race that on a test flight landed the primary on the LSM6DSV80X instead of the ICM-45686. Seed the ICM's calibration slot with a higher priority so selection is deterministic; the voter still fails over to the other IMUs if it degrades. Assisted-by: Claude:claude-opus-4-8 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * docs(ark/fmu-v6xrt): add board photos and correct the user page The remaining TODOs were the photos, store URL, and the v6x electrical/mechanical numbers. The IMU section and serial table still described the LSM6DSV80X high-g channel, a heater on that die, and EXT2. Assisted-by: Grok:grok-4.6 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> --------- Signed-off-by: alexklimaj <alex@arkelectron.com> Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-08-28 22:54:00 -06:00
Jacob Dahl	c9f5442402	feat(sensors): classify sensors independently of bus topology (#28352) ... * feat(sensors): decouple sensor internal/external classification from the bus A sensor's internal/external classification was derived from its bus (px4_i2c_bus_external / px4_spi_bus_external), but a bus is a wire: one bus routinely serves both chips soldered on the FC and a pinned-out connector, and any onboard sensor on such a shared bus was classified external. That hands an onboard mag an operator-settable rotation instead of the board rotation, feeds an onboard baro's self-heated die temperature into air density as if it were ambient, and inverts the 75/50 default priority. FMU-v6C and AirBrainH743 worked around it with hand-rolled device_id whitelists behind BOARD_OVERRIDE_I2C_DEVICE_EXTERNAL; FMU-v6XRT's second onboard baro was simply misclassified. Classify the device instead of the bus: drivers publish is_external in sensor_accel/gyro/mag/baro, derived from the device id by default and overridden by the new -O start flag ("onboard") for onboard sensors that share a bus with an external connector. -I/-X stay pure bus probe filters. The question "is this sensor external" had four answers. It now has one, with a single override point: -O -> I2CSPIDriverConfig::external -> Device::set_external() and the PX4* wrappers -> is_external in the sensor topic px4_i2c_device_external() was px4_i2c_bus_external() with a device id decode in front, and calibration::DeviceExternal() forwarded to device_is_external(); both are gone. Device::external() stops being a bus query: it is non-virtual, defaults to device_is_external(), and takes the declared value through set_external(), so the five I2C/SPI overrides that used to answer it from the bus are deleted and cannot diverge again. device::I2C and device::SPI set it from the config, so every driver built on the bus framework follows -O without doing anything. px4_i2c_bus_external() and px4_spi_bus_external() survive as what they honestly are - bus predicates - reachable only through the fallback. -O is opt-in per driver (BusCLIArguments::support_onboard), the same way -k is: a flag that every driver advertised but only a handful honoured would be a silent no-op on the rest. This also drops the special case for the mcp23009 and mcp23017 GPIO expanders, which use -O for their output state and simply do not opt in. sensor_gyro_fifo carries is_external too. VehicleAngularVelocity prefers the FIFO topic for any IMU that publishes one, so without it the rate controller would take its rotation from the bus while VehicleIMU took it from the topic - the same chip, two classifications. The BOARD_OVERRIDE_I2C_DEVICE_EXTERNAL hook is removed along with both board implementations, replaced by -O on the affected rc.board_sensors lines. FMU-v5x, MR-CANHUBK3, KakuteF7, NXT-Dual and MicoAir H743-Lite each start an onboard barometer on an external bus and get the flag as well. Assisted-by: Claude:claude-fable-5, Claude:claude-opus-5[1m] Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * feat(sensors): treat shared buses as first-class topology A boolean internal/external flag cannot describe a bus that carries both hard-mounted chips and a connector. -O was an opt-in override for that case, so most drivers silently ignored it and classification still followed the bus. Declare Internal / External / Shared on the bus, probe External and Shared, and classify each sensor from -I/-s vs -X/-S. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(ci): drop stale ITCM symbols and clang-tidy errors ITCM lists still named calibration::DeviceExternal and px4_spi_bus_external after both were removed. The host test stubs forwarded varargs in a way the analyzer rejected, and stripped I2C headers kept extra trailing newlines. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(sensors): inline device_is_external into the header Reaching it through drivers__device pulled the kernel-only library into the userspace image of a protected build; giving it a library of its own put an archive referencing px4_i2c_buses/px4_spi_buses after the board library that defines them. Inlining sidesteps both. * fix(sensors): compile tcbp001ta and probe canhubk3 GPS mag tcbp001ta is not an I2CSPIDriver, so config.external does not exist; it only ever starts on internal SPI. -X on canhubk3 I2C2 never ran because that bus is Internal. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> --------- Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-08-28 21:14:13 -06:00
Jacob DahlandBalduin	c092f80f38	refactor(drv_hrt): out-line hrt_elapsed_time to save flash (#28443) ... hrt_elapsed_time() was a static inline expanding to ~15 bytes at each of its ~450 call sites (call to hrt_absolute_time plus 64-bit compare and subtract). Move the definition into px4_platform so each call site is a single branch. px4iofirmware does not link px4_platform, so it compiles the new source directly. Saves 3592 bytes of flash on px4_fmu-v6x_default. Co-authored-by: Balduin <balduin@auterion.com>	2026-08-28 18:40:25 -06:00
Jacob DahlandBalduin	26c5ef2076	refactor(px4_work_queue): out-line ScheduledWorkItem ctor and ScheduleNow (#28440) ... * refactor(px4_work_queue): out-line ScheduledWorkItem constructor to save flash The header-inline constructor zero-initialises the hrt_call member at every derived work-item constructor across ~150 classes. Move the definition (verbatim) into ScheduledWorkItem.cpp next to the destructor; the derived constructors already pay a call into the base constructor chain, so this only removes the duplicated inline stores. Saves 1376 B of .text on px4_fmu-v6x_default. Signed-off-by: Balduin <balduin@auterion.com> * refactor(px4_work_queue): out-line WorkItem::ScheduleNow to save flash The body was inlined at ~240 call sites; a plain call is smaller at every one of them. Saves 672 B FLASH on px4_fmu-v6x_default. Signed-off-by: Balduin <balduin@auterion.com> --------- Signed-off-by: Balduin <balduin@auterion.com> Co-authored-by: Balduin <balduin@auterion.com>	2026-08-28 18:31:57 -06:00
Jacob DahlandBalduin	255d9c602b	refactor(platform): out-line BusCLIArguments constructor to save flash (#28441) ... The constructor is inlined into every I2C/SPI driver's command-line entry point, and with it the ~15 default member initializers and the 32-byte _options zero-fill, costing ~50-70 B per driver. Move the definition (verbatim) into i2c_spi_buses.cpp, which already holds the rest of the CLI parsing code. Purely cold-path (driver start/CLI). Saves 2456 B of .text on px4_fmu-v6x_default. Signed-off-by: Balduin <balduin@auterion.com> Co-authored-by: Balduin <balduin@auterion.com>	2026-08-28 18:26:09 -06:00
Jacob Dahl	55aa0ea75e	feat(dshot): EDT and BDShot HAL contract on i.MX RT (#28412) ... * feat(dshot): EDT and BDShot HAL contract on i.MX RT The FlexIO driver ignored edt_enable and only marked a channel ready after a CRC-good post-training frame, so one missing ESC blocked telemetry for every motor. Match the STM32 consumer contract: ready every cycle, consecutive CRC hysteresis, train on any valid GCR, and gate FlexIO output from up_dshot_arm. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(dshot): keep the trained BDShot offset across an i.MX RT dropout Going offline restarted baud training from BDSHOT_TCMP_MIN_OFFSET. The offset tracks the ESC oscillator, not the link, so a transient dropout threw away a still-valid result and pinned the channel offline for the whole re-sweep, starving the ESC RPM notch. Train once on first connect and let the success hysteresis handle recovery. Also close three smaller gaps: the sweep stopped one round early and never evaluated BDSHOT_TCMP_MAX_OFFSET, up_bdshot_get_erpm carried a bound check the next line subsumes, and re-arming left a stale channel state that latched a garbage SHIFTBUFBIS read as a response. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(dshot): harvest i.MX RT BDShot RX before the next TX dshot_motor_data_set flipped state to DSHOT_START and cleared SHIFTSTAT before the frame was consumed, so a delayed FlexIO IRQ transmitted irq_data instead of latching telemetry. Harvest under a critical section and skip the burst while the receive window is still open. Zero driver state in up_dshot_init so a module restart cannot keep a stale online bit through retraining. After a second offline period, restart the TCMP sweep so a wrong baud can recover. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(dshot): guard the whole i.MX RT DShot cycle, not just the receive The busy window started at the IRQ's receive timestamp, so a trigger landing during the frame itself reconfigured the shifter mid-transmit, and up_dshot_arm enabled the shifter interrupt with nothing queued. The first trigger after arming also counted a missing response, and the trained TCMP was updated outside the critical section the IRQ reads it in. Stamp the cycle at transmit and size the window for frame, ESC turnaround and response. Latch, decode and reconfigure in one critical section, mask the IRQ by the enable registers instead of a channel mask, and leave the timer interrupt off while receiving. Warn for outputs the FlexIO cannot serve instead of dropping them silently. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(dshot): keep the i.MX RT DShot trigger out of a critical section up_dshot_trigger runs at the output rate, so masking every interrupt on the MCU for the whole latch, decode and reconfigure pass was far too long. The IRQ only acts on a channel whose interrupt is enabled and the trigger only touches a channel whose cycle is over, so the two contexts never own the same channel at once and none of that needed a lock. What does: the SHIFTBUF write and the interrupt enable must not be separated by preemption, since the IRQ has to queue the second word within 20 us at DShot1200, and SHIFTSIEN/TIMIEN have no set/clear aliases, so the thread's read-modify-write must be atomic against the IRQ's. That is a dozen register accesses. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(dshot): do not clear SSF after re-enabling the i.MX RT transmit shifter In transmit mode SSF sets on enable and is the timer's active-low trigger. Clearing it before SHIFTBUF is written asserts the trigger, so the timer shifts an empty shifter for one compare and the real word lands late: 14 garbage sub-bits, a truncated frame, no ESC response. Only the SHIFTBUF write may clear it. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(dshot): resynchronise the i.MX RT BDShot receive timer on the channel pin The receive timer was set to reset on its timer pin's rising edge, but the timer pin was left at FXIO_D0, so the baud counter never resynchronised; and with the timer output starting high the first shift came a full period after the start edge, so every sample sat on a bit boundary. Only a baud 2-3 % faster than the ESC's pulled the samples inside the bits, which is why training found a three-count window and why channels fell off it per run. Point the timer pin at the channel pin so a baud-mode reset reloads the divider on every falling edge of the response, and start the output low so the shift lands mid-bit. On an ARK 4in1 at DShot300 every offset from -10 to +15 now decodes 198/200, all four channels train on the first sweep, and the CRC error rate matches the previous driver. The status output shows the training mask. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * perf(dshot): run the i.MX RT DShot cycle from ITCM up_dshot_trigger executed from the NOR over XIP, so its ~1 µs critical section measured 5.6 µs worst case on instruction cache misses at 800 Hz. Map the per-cycle path — the trigger, its FlexIO callees, the HAL getters and the DShot module's Run/updateOutputs/telemetry — into ITCM on fmu-v6xrt, about 3 KB. decode_gcr_payload is inlined so the list needs no compiler-named partial section. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(dshot): keep the i.MX RT BDShot offset across a dropout A missing response counted toward the re-sweep, so any dropout over 0.5 s — a wire, an ESC power cycle — cost a full seven-second sweep after the ESC came back although its oscillator had not changed. Only frames that arrive and fail to decode restart training now; a dropout just takes the channel offline and it is back 200 good frames after the ESC returns. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * perf(dshot): sweep the i.MX RT BDShot baud in 25-frame rounds With the receive timer resynchronising, every offset is either clean or fails outright, so 200 frames per offset only stretched the sweep to eight seconds at 800 Hz once the whole window started passing. 25 frames with one allowed miss give the same mask in a second, well inside the five seconds DShot.cpp ignores telemetry after boot. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * docs(dshot): restore the i.MX RT FlexIO register comments The rewrite dropped the comments naming what each shifter and timer register write configures. They are the only prose map of the FlexIO setup, so keep them wherever the code they describe survives. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> --------- Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-08-28 17:27:27 -06:00
Jacob Dahl	595395e1e4	fix(dshot): retry EDT enable until the ESC confirms it (#28438) ... EDT enable was sent once, a second after bidirectional telemetry came online, and never checked. AM32 only executes commands once armed, which takes a second of zero throttle plus its arming tune, so that single request can be dropped. Bluejay clears EDT whenever the motor stops, so it was off after the first flight. Treat any EDT frame after a request as confirmation, retry once a second up to five times, and start over on reconnect and on disarm. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-08-28 17:26:16 -06:00
Jacob Dahl	cd512ae9d7	chore(nuttx): bump NuttX for the FlexCAN TX fixes (#28393) ... The imxrt FlexCAN driver left the TX mailbox CS word uninitialised, so classic frames went out with EDL set and appeared on the wire as CAN FD, and its TX timeout handler aborted mailboxes that were still transmitting. Either one takes the interface error passive and it never recovers. Picks up PX4/NuttX #395 and #396.	2026-08-26 12:29:00 -06:00
Jacob Dahl	3540e00466	chore(nuttx): bump NuttX for the USB resume interrupt fix (#28383) ... Brings in PX4/NuttX#393 (backport of apache/nuttx#19936). The DWC2-derived USB device drivers masked off the WKUP interrupt, so CLASS_RESUME was never delivered. cdcacm_suspend() marks the serial device disconnected and the matching resume never runs, leaving the CDC/ACM port returning -ENOTCONN for the rest of the boot after the first host autosuspend. Assisted-by: Claude:claude-opus-5[1m] Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-08-25 10:24:40 -06:00
Jacob Dahl	677d1fa500	chore(nuttx): bump NuttX for the imxrt FlexCAN TX ordering fix (#28381) ... Brings in PX4/NuttX#394 (backport of apache/nuttx#19957). imxrt FlexCAN handed out the lowest free TX mailbox, so a refilled low mailbox could win arbitration over an older frame of the same CAN ID still queued in a higher one. Multi-frame DroneCAN transfers arrived out of order and were dropped by the receiver. Assisted-by: Claude:claude-opus-5[1m] Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-08-25 10:21:36 -06:00
Jacob Dahl	1427414a44	fix(nuttx): pin the submodule back to the px4_firmware_nuttx-10.3.0+ tip (#28367) ... #28366 unintentionally carried a submodule bump to 39508f26a2, which exists on PX4/NuttX only as refs/pull/394/head. main therefore depends on an open pull request's head commit instead of a branch commit: it resolves today only because GitHub serves PR refs, and breaks if #394 is closed or its branch is force-pushed. The two imxrt FlexCAN commits it pulled in are unreferenced by anything on main and land properly when PX4/NuttX#394 merges.	2026-08-24 16:32:05 -06:00
Jacob Dahl	757cf137b1	fix(uavcan): name the DroneCAN node after the board (#28366) ... Every FMU has advertised NodeInfo.name "org.pixhawk.pixhawk" since 2014, so an ARK FMU-v6XRT, an ARK FMU-v6X and a Pixhawk 6X are indistinguishable on the bus by anything except their unique id. The cannode side already derives its name per board through board_get_uavcan_hw_name(); do the same on the FMU side from px4_board_name(), which is the only board identity the module already has.	2026-08-24 16:08:17 -06:00
Jacob Dahl	c9de2151e9	fix(nuttx): provide floating and wide abs() overloads on NuttX targets (#28334) ... NuttX's <cstdlib> only re-exports the C int abs(int) and its <cmath> adds no abs overloads, so under -nostdinc++ every abs(float/double/int64) call binds to int abs(int) and truncates, while the same source is correct under libstdc++ on SITL. -Werror never sees it because the implicit conversion is not warned on. A build-time trap (deleted float/double/long/long long abs declarations) across v5, v6x, v6xrt and v6x_uuv found truncating sites in lat_lon_alt, ekf2 checkLatLonValidity, ilabs INS position validity, local_position_estimator bias saturation, uuv_pos_control height thresholds, hott longitude, the uxrce_dds_client clock-sync delta, and the uavcan stm32/stm32h7/kinetis UTC lock thresholds. Force-include a header declaring the overloads libstdc++ provides so both qualified and unqualified calls resolve correctly everywhere, and nothing can bind to int abs(int) again.	2026-08-21 15:14:43 -06:00
Jacob DahlandBalduin	122b2666ec	refactor(parameters): merge Param<> constructor calls to save flash (#28320) ... Every Param<> constructor inlines param_set_used(handle()) followed by param_get(handle(), &_val), materialising the handle constant twice at each of the ~2000 instantiation sites. Fold both into a single out-of-line param_get_mark_used() so each constructor emits one call. The failsafe_web build stubs the param API itself, so it gets a matching stub. The smaller constructors let the compiler fully inline the defaulted FlightTaskDescend constructor on the ITCM boards, so its entry is dropped from their linker scripts. Saves 7232 B of .text on px4_fmu-v6x_default. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> Co-authored-by: Balduin <balduin@auterion.com>	2026-08-21 10:35:38 -06:00
Jacob DahlandBalduin	6c53460f2e	refactor(platform): out-line ModuleParams setParent and destructor to save flash (#28321) ... Both were defined inline in the header, so the List add/remove bodies were duplicated into the constructor and destructor of every one of the 150+ ModuleParams-derived classes. Construction and destruction are cold paths; a call is smaller at each site. Two consumers reach ModuleParams without px4_platform on the link line and now need the definitions explicitly: health_and_arming_checks (the functional-ModeManagement test only pulls it in transitively through modules__commander, after px4_platform) and the failsafe_web emscripten build, which compiles module_params.cpp directly. The smaller constructors let the compiler fully inline the defaulted FlightTaskDescend constructor on the ITCM boards, so its entry is dropped from their linker scripts. Saves 3968 B of .text on px4_fmu-v6x_default. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> Co-authored-by: Balduin <balduin@auterion.com>	2026-08-21 10:34:09 -06:00
Marin DandHamish Willee	ae663d374e	feat(driver/dlvr): add support for dlvr airspeed-sensors (#26363) ... * add: driver for dlvr - airspeed family (continuous sampling only) * unify: INH_TO_PA --------- Signed-off-by: Marin Doetterer <marin@auterion.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2026-08-21 11:28:04 +02:00
Jacob Dahl	13a0618c0b	fix(nxp/adc): initialise each ADC once, not once globally (#28313) ... board_determine_hw_info() inits LPADC2 and consumes the function-static once flag, so board_adc's later LPADC1 init is a no-op. CFG stays at reset (PWREN=0, no settling). Match the STM32 once-per-base pattern. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-08-20 20:14:18 -06:00
Jacob Dahl	db3b630dde	fix(manifest): return the matching PAB manifest entry (#28315) ... board_query_manifest walked the list for mft[ndx].id == id then returned &mft[id]. On a sparse list that is the wrong row, and for PX4_MFT_T100_ETH (id 7) it is out of bounds. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-08-20 19:48:57 -06:00
alexcekay	f7e7815e63	feat(ver): add command to compare population option	2026-08-20 11:34:01 +02:00
HuangCanming	8ab8decc0d	platforms: posix: fix serial receive configuration (#28233)	2026-08-14 18:41:20 -06:00
alexcekay	bae2a397fa	feat(nuttx): update version	2026-08-13 17:47:47 +02:00
Jukka Laitinen	0c38054510	fix(nuttx/SerialImpl.cpp): Fix printf modifier for 64-bit targets (#28229) ... Use PRIu32 for uint32_t to support compilation for all NuttX targets. Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>	2026-08-12 18:28:40 -06:00
Jackson Korba	f71763989a	fix(macos): install opencv@4 and hint its prefix ... macos.sh --sim-tools installs the unversioned Homebrew opencv formula, which is now 5.0.0, and PX4-OpticalFlow does not build against it: klt_feature_tracker/src/trackFeatures.cpp:43:10: fatal error: 'opencv2/core/types_c.h' file not found PX4-OpticalFlow/src/flow_opencv.cpp:110:7: fatal error: no member named 'undistortPoints' in namespace 'cv' types_c.h was removed in OpenCV 5, and undistortPoints moved when calib3d was split into 3d/calib. The failure lands about a thousand targets into make px4_sitl and points at submodule sources rather than at the dependency. ubuntu.sh takes libopencv-dev from apt, which is still 4.x, so CI never sees this. Install opencv@4 instead. It is keg-only, so find_package still resolves to 5.0.0 without a prefix hint. Add one alongside the qt@5 hint from 9c2e634325, which is keg-only for the same reason. Assisted-by: Claude:claude-opus-5[1m] Signed-off-by: Jackson Korba <jackson.korba@gmail.com>	2026-08-10 18:17:21 -07:00
Eric Katzfey	71d0ea6dea	feat(qurt): add optional dynamic import validation ... Run the ELF import checker after linking the QURT shared object when a board registers provider symbol files or forbidden import prefixes. Include the linked C++ runtime shared objects as providers when validating against a target system image. Assisted-by: OpenAI:Codex	2026-08-08 16:11:33 -07:00
Jacob Dahl	f05739035e	fix(cdcacm_autostart): start MAVLink without holding the USB port (#28185) ... * fix(cdcacm_autostart): start MAVLink without holding the USB port SYS_USB_AUTO=2 opened /dev/ttyACM0 O_RDONLY and kept it for the life of the link, then treated a successful mavlink spawn as permanent success. If mavlink later failed its UART open retries and exited, the driver stayed "connected" and never restarted — listen-first hosts (production USB MAVLink benches) saw no heartbeats until a VBUS cycle. Start mavlink without a probe open, track its PID and restart if it dies while VBUS is present, close the autodetect fd before handing the device to a protocol, and drop the unused legacy cdc_acm_check path. Assisted-by: Grok:grok-4.5 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(cdcacm_autostart): initialise actuator_armed before the armed gate copy() leaves the destination untouched when a topic has never been advertised, so with commander not running `report` is whatever was on the stack. When that garbage has armed set, run_state_machine() takes the "do not reconfigure USB while flying" branch every cycle and never advances the state machine, so MAVLink is never started on the USB CDC — on a vehicle that is definitionally not flying, because commander is not running. Seen on an ARK FMU v6X production test bench: a `commander stop` early in the sequence leaves `listener actuator_armed` reporting "never published", and from then on `mavlink status` shows no ttyACM instance at all while a host that opens the port waits out its timeout against silence. Zero-initialising restores the correct default for that case: not armed, so the state machine runs. * Update src/drivers/cdcacm_autostart/cdcacm_autostart.cpp * Update src/drivers/cdcacm_autostart/cdcacm_autostart.cpp * Update src/drivers/cdcacm_autostart/cdcacm_autostart.cpp * Update src/drivers/cdcacm_autostart/cdcacm_autostart.cpp --------- Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>	2026-08-07 19:34:51 -06:00
Balduin	aba458bee3	refactor(platform): constant-initialise static descriptor tables to save flash ... Make px4::atomic's value constructor and ModuleBase::Descriptor constexpr so the ~40 per-module 'desc' statics are constant-initialised instead of each emitting static-init code, and apply the same to the mixer_module FunctionProvider table. Signed-off-by: Balduin <balduin@auterion.com>	2026-08-06 13:41:07 +02:00