Drops the duplicated ArchPX4IOSerial register-level + custom-DMA
transport in favour of device::Serial over NuttX's lower-half UART
driver (DMA-backed via CONFIG_UART7_RXDMA/TXDMA=y). Removes the
~600-line parallel transport stack that had to be kept in sync with
src/drivers/px4io/.
NuttX file descriptors aren't shared across task contexts, so the
fd opened during the bridge's init() (caller task) cannot be used
from Run() (work queue task). The interface releases the fd at the
end of init() and the work queue lazy-opens its own on first use.
Read requests now transmit PKT_SIZE bytes (header + count reg slots
of padding) so the secondary's CRC accounting matches the response
shape — the previous header-only request was rejected by the secondary's
PKT_SIZE/CRC validation.
Renames the internal class and exposed factory/release symbols and
the board macros to drop the misleading PX4IO prefix; the file header
points to the original source. Protocol-level PX4IO_* constants stay
since this driver speaks the PX4IO register protocol.
Signed-off-by: Julian Oes <julian@oes.ch>
NaN signals "unset" per the MAVLink spec. Without a guard,
math::radians(NaN) propagates through the Eulerf-to-Quatf conversion
and produces q=[nan,nan,nan,nan], freezing the gimbal. Substitute 0
for any non-finite axis with PX4_ISFINITE, matching the manual-control
pattern at input_mavlink.cpp:951.
Closes#26640.
* feat(zenoh): add support for configuring zenoh publisher options
Add zenoh parameters for common default options for all publishers. Options exposed are reliability, priority, congestion control and is_express
Allow override of common publisher options for specific publisher through its config: config fille supports additional row where multiple options can be specified with csv string
Expose config options through zenoh config add publisher.
Allow options per publisher to be specified for default config in zenoh/dds_topics.yaml
* fix(zenoh): Put individual zenoh publisher config override feature under config option ZENOH_PUB_OPTION_OVERRIDE
Enabled ZENOH_PUB_OPTION_OVERRIDE on targets with enough flash memory
* fix(zenoh): added publication options for default publications in dds_topics.yaml
Rare messages that are important to arive: set as reliable, enabled express and with blocking congesiton control
Fast vehcile position messages that can impact control decision making: set as best enabled express and with drop congestion control
* docs(zenoh) : added documentation for zenoh publisher options usage
* docs(docs): Link to params
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Quadratic thrust for SIH hexarotor (#67)
* sih: add thrust model hexacopter model
* fix: add missing line break
* sihsim_hey airframe: add THR_MDL_FAC
to accomodate for simulated quadratic motor thrust.
* fix(sih): fix quadratic model in simulation
The square was done in place and the low pass filter also effected the same variable, the result was that for small numbers the low pass filter gain was not enouhg with respect to the decay caused by squaring numbers close to zero. As a result even if you where trying to send 1 xcommands in simulation it would stoip around 0.008. Now the square is done in a different variable, the problem is not there anymore.
Tested in simulation
---------
Signed-off-by: Gennaro Guidone <gennaroguido2002@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
Co-authored-by: Gennaro Guidone <gennaroguido2002@gmail.com>
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
Julian Oes
PX4BuildBot
Hamish Willee
G. Amponis
msl-dev
Vuk-SFL
Matthias Grob
Balduin
Dorten8
mahima-yoga
Claudio Chies
Ryan Johnston