17 Commits

Author	SHA1	Message	Date
Julian Oes	1a3d232e7b	fix(bootloader): remove broken PROTO_SET_DELAY boot-delay feature (#27081) ... 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
ZeroOne-Aero	35a94343d6	feat(boards/zeroone-x6): Add BMM350 compass compatibility	2026-04-18 13:21:19 -07:00
Andrew Brahim	f0453f5694	fix(temperature_compensation): remove temp compensation from enclosed autopilots (#27015) ... * 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
Jacob Dahl	e0b663f32b	refactor(zeroone/x6/pwm_voltage): convert params.c to module.yaml ... Convert 1 parameter file(s) from legacy C format to YAML module configuration.	2026-03-19 23:21:23 -08:00
Jacob Dahl	ba5b96edbe	fix(boards): correct GPIO_VDD_3V3_SENSORS_EN macro name (#26751) ... * fix(fmu-v6c): correct GPIO_VDD_3V3_SENSORS_EN macro name VDD_3V3_SENSORS_EN() referenced GPIO_VDD_3V3_SENSORS4_EN which does not exist. The correct macro is GPIO_VDD_3V3_SENSORS_EN. Fixes #26454 * fix(boards): rename VDD_3V3_SENSORS4_EN to VDD_3V3_SENSORS_EN These boards have a single sensor power rail that was incorrectly named SENSORS4_EN (copy-paste from boards with 4 rails). Rename to SENSORS_EN to match the actual hardware. Boards with legitimately numbered rails (fmu-v6xrt, x25-evo, x25-super) are not changed.	2026-03-16 14:51:47 -08:00
CaFeZn	963a776fa6	feat(heater): Add multi-instance support for heaters (#26325) ... * 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>	2026-03-02 12:13:08 -09:00
Alexander Lerach	4ac7853479	auterion autostarter: Added autostart for PWM_EXPANDER, generalized c… (#25925) ... * 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
Matthias Grob	f6de211a27	boards: skip resetting INA parameters to the same default value	2025-11-27 15:16:50 +01:00
Julian Oes	fa7ffa423c	boards: remove MAVLink development dialect ... We should not build and release with the MAVLink development dialect because messages in development.xml can change at any time and break things. Instead we should prototype and test things using specific mavlink-dev targets.	2025-11-20 23:23:40 -09:00
Ramon Roche	0cddd3dfb0	drivers: disable INS by default (#25303) ... * drivers: disable INS by default With the growing number of INS drivers some targets are running out of flash and its becoming challenge to keep them under the limit. Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Update boards/nxp/tropic-community/default.px4board Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Update boards/px4/fmu-v6xrt/default.px4board Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>	2025-07-31 11:42:21 -08:00
xue	cb71aea7fa	boards: Updated ZeroOne X6 ... * Starts pwm_voltage_apply * Enable Septentrio modules * Enable IIM42653 IMU * Enable SCH16T IMU Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-02 09:13:01 -07:00
Silvan	8c1f7ec7c0	rename FWPositionController to FWModeManager ... Signed-off-by: Silvan <silvan@auterion.com>	2025-05-26 14:47:38 +02:00
RomanBapst	779a55c6dc	FW Position Controller rework ... - 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
Alexander Lerach	047578a844	Disarm PWM ESCs before reboot	2025-02-10 18:16:48 +01:00
ZeroOne-Aero	374e70c48f	ZeroOne X6: add IST8310 support	2025-01-07 09:14:31 +01:00
PX4 BuildBot	01445feacc	update all px4board kconfig	2024-10-02 15:09:29 -04:00
ZeroOne-Aero	1850cf5715	boards: new board support ZeroOne x6	2024-09-25 10:55:39 -04:00