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
MODULES_TEMPERATURE_COMPENSATION defaults to n in Kconfig, so explicit
=n and "is not set" entries are unnecessary.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* heater: add multi-instance support, refactor parameter handling, remove legacy params file
This change introduces multi-instance heater support to allow independent temperature control for multiple IMUs.
Main changes:
- Add support for multiple heater instances
- Refactor parameter handling to use per-instance parameters
- Remove the legacy parameter file and migrate to the updated parameter structure
This improves scalability and makes heater configuration consistent across setups with multiple sensors.
* Refactor heater configuration across multiple boards
- Updated heater GPIO definitions to introduce a new naming convention for better clarity and consistency.
- Replaced `GPIO_HEATER_OUTPUT` with `GPIO_HEATER1_OUTPUT` and adjusted the corresponding output enable macros.
- Changed parameter names from `SENS_TEMP_ID` to `HEATER1_IMU_ID` in various board default configurations to reflect the new heater setup.
- Ensured all affected board configurations are updated to maintain functionality with the new heater definitions.
* heater: fix missing HEATER1_OUTPUT_EN control
* heater: fix more missing HEATER1_OUTPUT_EN control
* heater: tidy config, docs, and instance handling
- Remove unused controller period member and use CONTROLLER_PERIOD_DEFAULT
- Improve HEATER${i}_IMU_ID description and instance-related logging/behavior
- Add a guard when HEATER_NUM exceeds HEATER_MAX_INSTANCES
Note: drop intermediate/reverted change around the 'celsius' spelling.
* heater: refactor constructor to remove unused parameter and add instance name function
- Remove unused ModuleParams argument from Heater constructor
- Add heater_instance_name() helper to provide per-instance work queue task names
- Use instance-specific parameter lookup (HEATER{n}_*) during initialization
Use heater_instance_name() to label each instance (heater_1/2/3) in work queue.
Also drop unused ModuleParams argument from constructor and keep per-instance
parameter handle lookup in initialization.
* format
* board: update GPIO configuration for multiple heater instances, add HEATER_NUM for boards using PX4IO
* heater: update heater control to use HEATER1_OUTPUT_EN when using PX4IO for consistency
* heater: add a TODO for px4io multi-instance
* heater: update missing GPIO_HEATER1_OUTPUT in sky-drones
* heater: fix multiple newlines at EOF (resolve CI check failure)
* heater: switch to PublicationMulti for heater_status and log multi-instance
- Changed _heater_status_pub from Publication to PublicationMulti to support independent per-instance publications without overwriting.
- Updated logged_topics.cpp to use add_optional_topic_multi("heater_status")
This fixes the issue where multiple heater instances were writing to the same heater_status topic, causing data overwriting and incorrect update rates in logs.
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
- 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>
Signed-off-by: Silvan <silvan@auterion.com>
boards: increase max mission items for boards with >=1kb RAM to 1000
Signed-off-by: Silvan <silvan@auterion.com>
boards: increase NUM_MISSION_ITMES_SUPPORTED for SITL to 10000
Signed-off-by: Silvan <silvan@auterion.com>
This resets the USARTs' clock source selection to the default, in case
it has been changed by the bootloader.
This is required if booting from the ArduPilot bootloader which happens
to reset the clock selection to PLL.
Without this fix, UARTs (including the console) is garbled, so
presumably at an invalid baudrate.
Having a generic interface over the GPS drivers makes dedicated
functionality for each driver harder. Move the Septentrio driver into
its own module under the `gnss` driver directory, and let it have its
own parameters for only the functionality it requires. This also helps
with adding new features because they only need to be implemented for
the driver that wants it, simplifying testing.
* usb: Added parameter to enable always starting mavlink on USB.
Refactored cdcacm_init into a module and added a paramter to allow always starting mavlink on
USB, also added a paramter to choose the mode. The current default behavior is to wait and listen
for data on USB and auto-detect the protocol (mavlink, nsh, ublox). This results in the mavlink
stream not starting until something else on the mavlink network sends a packet first. The new
default behavior is to always start mavlink.
Added parameters
MAV_USB_ENABLE -- default 1 (always start mavlink on USB)
MAV_USE_MODE -- default 3 (onboard)
* added 3 retries for opening serial port in mavlink, removed sleep before sercon
* added DRIVERS_CDCACM_AUTOSTART to ark-v6x default.px4board
* added CONFIG_DRIVERS_CDCACM_AUTOSTART=y to default.px4board for boards with CONFIG_CDCACM in their nsh/defconfig
* format
* remove PGA460 from COMMON_DISTANCE_SENSOR to save flash
* remove LIS2MDL from COMMON_MAGNETOMETER to save flash
* disable CONFIG_DRIVERS_CDCACM_AUTOSTART for fmu-v5 protected.px4board
* moved and renamed parameters, removed mode logic in mavlink
* changed parameter names, added mode none
* remove parameters from mavlink
If the output is set to 0 then the FMU had this channel disabled/no function mapped
to it. In that case we do not want to suddenly start outputing failsafe or disarmed
signals.
The param is not really required anymore with the actuator
configuration. Also, when it is set to 0, RC doesn't work for some
boards which would be nice to avoid.
Signed-off-by: Julian Oes <julian@oes.ch>
If NuttX is built without support for SMPS it can brick the hardware.
Therefore, I suggest that we add this additional compile-time check.
Signed-off-by: Julian Oes <julian@oes.ch>
Julian Oes
Jacob Dahl
Andrew Brahim
CaFeZn
Ramon Roche
chfriedrich98
Silvan
RomanBapst
co63oc
Alexander Lerach
PX4 BuildBot
Matthias Grob
Thomas Frans
David Sidrane
Igor Mišić
Daniel Agar
Beat Küng
Beniamino Pozzan
Thomas Stastny