0932ad144b
feat(drivers): add support for hiwonder 4 channel encoder motor module ( #27229 )
...
* driver: hiwonder encoder motor module
* fix(drivers): Change HiwonderEMM from CRTP API to non-template ModuleBase
* fix(drivers): exclude hiwonder_emm driver from sitl build, as it fails i2c dependencies
* feat(drivers, hiwonder4channel): add parameter update subsciption
* feat(drivers, hiwonder4channel): add requested changes of original PR
* fix(drivers, hiwonder4channel): add default in hiwonder_emm module.yaml
* fix(drivers, hiwonder4channel): formatting
* fix(drivers, hiwonder4channel): add the hiwonder driver to all px4board s that include the roboclaw driver
* cleanup(drivers, hiwonder4channel): update copyright year
* chore(drivers): move hiwonder driver startup call from rc.board_sensors to rc.rover
* chore(drivers): hiwonder 4 channel - improve HIWONDER_EMM_EN description
* chore(drivers): hiwonder4channel - move to int8 for internal speed values
* chore(drivers): hiwonder4channel - move unconfigurable value to initialization.
* chore(drivers): hiwonder4channel - add reboot_required to enable parameter
* chore(drivers): hiwonder4channel - add docs
---------
Co-authored-by: chfriedrich98 <chfriedrich@student.ethz.ch >
2026-05-13 15:09:39 +02:00
0ffc7f0f8a
feat(zenoh): add support for configuring zenoh publisher options ( #27157 )
...
* 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 >
2026-05-01 09:29:17 +02:00
ffef31fb06
fix(commander): Remove COM_IMB_PROP_ACT ( #27260 )
...
and hardcode the default warning. The feature can still be disabled by setting FD_IMB_PROP_THR to zero.
2026-04-30 23:40:55 +02:00
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
d149f003d2
fix(boards/nxp/tropic-community): correct BUZZER pin configuration
2026-04-13 22:18:21 +02:00
07d0ba8a31
docs(boards/nxp/tropic-community): correct serial port mapping comments
2026-04-13 22:16:55 +02:00
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
02d9884979
refactor(io_timer): make timer_io_channels[].timer_channel 0-indexed ( #26845 )
...
* refactor: make timer_io_channels[].timer_channel 0-indexed
timer_channel was 1-indexed (1-4) to mirror STM32 hardware naming
(TIM_CH1-CH4), but this was purely cosmetic — the ccr_offset field
already handles register mapping. Every consumer did timer_channel - 1
to get a 0-based index, creating underflow bugs when the guard was
missing (e.g. dshot.c capture_complete_callback,
output_channel_from_timer_channel, up_bdshot_get_erpm).
Changes:
- STM32: Timer::Channel enum starts at 0, initIOTimerChannel assigns
directly, removed all timer_channel - 1 in dshot.c and io_timer.c
- NXP (kinetis, s32k1xx, s32k3xx): removed the + 1 in
initIOTimerChannel, removed timer_channel - 1 in io_timer.c,
led_pwm.cpp, and input_capture.c
- RPI: Channel enum starts at 0, removed timer_channel - 1 in
io_timer.c
- Validity checks updated from timer_channel <= 0 || >= 5 to
timer_channel >= 4
Closes #26747
Signed-off-by: Pavel Guzenfeld <pavelgu@gmail.com >
* fix: complete 0-indexed timer_channel migration across all platforms
Address review feedback for incomplete migration:
1. STM32H7 io_timer_hw_description.h: update standalone
initIOTimerChannel() to assign timer_channel from enum
(0-based) instead of hardcoded 1/2/3/4
2. Switch case labels: update all switch(timer_channel) blocks
from 1/2/3/4 to 0/1/2/3 in:
- stm32_common: input_capture.c (4 blocks), led_pwm.cpp (3),
io_timer.c DMA base register switch
- kinetis: input_capture.c (2 filter blocks)
- s32k1xx: input_capture.c (2 filter blocks)
- spix_sync.c (ark/fpv + ark/pi6x, 3 blocks each)
3. Sentinel checks: replace timer_channel != 0 / == 0 (which
now conflicts with valid channel 0) with gpio_out-based
checks in:
- io_timer_validate_channel_index() across all 5 platforms
- led_pwm_channel_init() and led_pwm_servo_get() in all
led_pwm.cpp variants (STM32 + 4 NXP)
- spix_sync_channel_init() and spix_sync_servo_get()
Tested: px4_fmu-v6x_default (H7) build OK, px4_sitl_default
build OK, 154/154 unit tests pass, ASan build clean.
* fix: update NXP board led_pwm_channels to 0-indexed timer_channel
These 4 board files manually specify led_pwm_channels[] with
1-indexed timer_channel values. Since the platform code no longer
subtracts 1, decrement all values to match the new 0-indexed
convention.
* fix: correct FTM CH3 filter mask in kinetis and s32k1xx input capture
Case 3 in up_input_capture_set_filter() was using CH2FVAL_MASK/SHIFT
instead of CH3FVAL_MASK/SHIFT due to a copy-paste error, causing
channel 3 filter writes to modify channel 2's filter register instead.
---------
Signed-off-by: Pavel Guzenfeld <pavelgu@gmail.com >
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com >
2026-04-12 17:16:47 -08:00
f025bb42eb
fix(boards/nxp/tropic-community): correct LPUART4 mapping ( #27008 )
2026-04-08 11:04:39 -08:00
b8610ca6f4
fix(nxp/linker): remove deprecated function signatures
2026-03-13 17:46:31 +01:00
62f5f5267e
Land detector: Remove LNDMC_TRIG_TIME parameter ( #25251 )
...
* LandDetector: remove unused LNDMC_TRIG_TIME parameter
* LandDetector: remove unnecessarily complicated global set_hysteresis_factor() function
* Apply suggestions from code review
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
* Apply suggestions from code review
* remove param
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com >
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com >
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com >
2026-02-19 11:17:03 -09:00
977777f40a
FlightTaskAuto: refactor triplet subscription naming
2026-02-18 17:05:03 +01:00
d0004403a3
FlightTaskAuto: remove offtrack logic
...
It was added at a time where the triplet target was directly fed as position setpoint to the controller.
Since the smoothing improvements to FlightTaskAuto(SmoothVel) and removing the previous "aggressive" FlightTaskAuto variant there should be no need anymore for this logic. It can sometimes lead to unexpected sideffects. E.g. the vehicle would suddenly change direction when exceeding some arbitrary threshold.
2026-02-18 17:05:03 +01:00
06db25c078
boards: remove CONFIG_COMMON_OPTICAL_FLOW from all non-CANnode hardware ( #26315 )
2026-01-21 10:51:09 -05:00
f6de211a27
boards: skip resetting INA parameters to the same default value
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2025-11-27 15:16:50 +01:00
3d9905251d
boards: update all NuttX defconfigs
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2025-11-10 01:06:31 -05:00
24572cf358
tropic-community: Fix RWW race condition and enet stability
2025-11-10 00:52:58 -05:00
1250563ed1
Add support for NXP MR-VMU-Tropic board ( #25845 )
...
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* rt106x: Use platform SPI hal layer
* rt106x: Add romapi support and reboot to isp/bootloader
* bootloader: imxrt_common: Add rt106x support
* NXP MR-Tropic initial commit
* Add missing file for mr-tropic bootloader
* nxp-mr-tropic:Bootloader Alow Assertion debugging & Keep Ram Vectors
* nxp-mr-tropic: Firmware Boot from bootloader
* nxp-mr-tropic:Add Bootloader bin file
* mr-tropic: Update config and linker
Fixes enet issues with write-back and some code cleanup.
Furthermore increase NOR LittleFS to 256kB to reflect on linker
* Update NuttX
* mr-tropic: fix itcm apping and add mr-tropic to itcm check
---------
Co-authored-by: David Sidrane <David.Sidrane@NscDg.com >
2025-11-05 11:48:26 -05:00
2f48cb4ef2
MR-CANHUBK344 NXP B3RB Rover support ( #23897 )
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* s32k3xx: EMIOS allow independent frequencies for each channel
* mr-canhubk3: update config
* mr-canhubk344: Fix adap board detect
* mr-canhubk344: Use LPSPI1 (Port P1A) for SD card
* airframes: Add B3RB Ackermann rover config
See https://nxp.gitbook.io/mr-b3rb for more information about the NXP
B3RB platform. PX4 Support basic control for now
2025-10-09 23:28:43 -08:00
b730acfc76
BOARDS: MISC: remove "auto-generated" for files which are not autogenerated anymore
2025-09-22 15:02:24 +02:00
d3acee315a
BAT: Consolidate the highest feasible number of batteries into just 3
2025-09-22 15:02:24 +02:00
7887f16daa
Update NuttX config for use with Zenoh
2025-08-22 08:22:59 +02:00
bac009c2b8
Enable Zenoh by default on big-flash targets
...
These targets can easily support Zenoh by default eases adoption and testing
2025-08-22 08:22:59 +02:00
7f5119f402
sensors: autostart bmm350 and add it to common mags
2025-07-14 17:52:18 +02:00
e266d1f22f
rover: remove deprecated module
2025-07-10 10:11:58 +02:00
64b9b52eb4
tropic-community: Update PX4 config
2025-05-29 05:15:18 -04:00
a89ec34e95
tropic-community: Add DTCM to heap move vectors to ITCM
2025-05-29 05:15:18 -04:00
8c1f7ec7c0
rename FWPositionController to FWModeManager
...
Signed-off-by: Silvan <silvan@auterion.com >
2025-05-26 14:47:38 +02:00
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
77894b7c83
ci/boards: add itcm checker, update ITCM mapping of v6xrt and tropic-community
2025-05-19 07:44:35 -07:00
f0a852918b
lis2mdl: remove driver from source. This part is functionaly equivalent to the iis2mdc
2025-04-09 09:28:38 -06:00
f4cfee6f72
Fix typos in comments ( #24681 )
2025-04-08 16:47:58 -08:00
b35753ded9
mr-canhubk3: Enable navigator in default target
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2025-03-20 11:45:26 +01:00
047578a844
Disarm PWM ESCs before reboot
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2025-02-10 18:16:48 +01:00
92b1f51623
tropic: Fix runtime error on new GCC
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FLASH usage analysis / Analyzing px4_fmu-v6x (push) Waiting to run
FLASH usage analysis / Publish Results (push) Blocked by required conditions
MAVROS Mission Tests / build (map[mission:MC_mission_box vehicle:iris]) (push) Waiting to run
MAVROS Mission Tests / build (map[mission:rover_mission_1 vehicle:rover]) (push) Waiting to run
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Nuttx Target with extra env config / build (px4_fmu-v5_default) (push) Waiting to run
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2025-01-27 14:20:16 -05:00
e9536cb30b
Tropic-community use flash as storage using LittleFS ( #24158 )
...
* Update NuttX
2025-01-08 21:35:08 -05:00
a85a9eccf7
boards: update all NuttX defconfigs
2024-11-15 21:14:12 -05:00
d206de0a58
imxrt_flexspi_nor_boot: add new line at end of file
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2024-11-11 11:33:54 +01:00
b37a31b3a1
Tropic-community: Rename board
2024-11-06 17:28:35 -05:00
80edb91c01
boards: tropic store param on sdcard
...
Tropic doesn't have a mtd, store param on sdcard instead
2024-11-06 17:28:35 -05:00
5d29c7811b
imxrt: tone_alarm: Add FlexPWM based Tone alarm driver
2024-11-06 17:28:35 -05:00
df54caba1e
tropic: enable dshot
2024-11-06 17:28:35 -05:00
8f2ede870e
tropic: fix system power
2024-11-06 17:28:35 -05:00
5bec4d7aae
Initial support for Tropic VMU
2024-11-06 17:28:35 -05:00
4d83badba1
fix files tags on the header comments ( #23564 )
2024-09-19 09:25:18 +03:00
4ca3e1b6e6
mr_canhubk3: add netman in default.px4board
2024-07-24 11:39:44 -04:00
af36c0b6ec
mr_canhubk3: generate mtd_net when file is missing
2024-07-24 11:39:44 -04:00
46e43ec725
Decouple filepaths from rcS/MTD
2024-07-24 11:39:44 -04:00
f2bca92221
Fix duplicate newlines at the end of files
2024-07-19 14:33:36 +02:00
52ac9336c4
boards: change default IP from 192.168.0.3 to 10.41.10.2
...
192.168.0.x is often used by routers for WIFI/ethernet networks, and thus
can create conflicts.
This can happen for example if a companion is connected to the FMU via
ethernet and at the same time connects to a WIFI network as DHCP client.
2024-06-10 11:05:50 +02:00
Michael Fritsche
Vuk-SFL
Matthias Grob
Julian Oes
Pablo
Andrew Brahim
Pavel Guzenfeld
palvarben
Jacob Dahl
Jacob Dahl
PX4 BuildBot
Peter van der Perk
Peter van der Perk
Claudio Chies
Alexander Lerach
chfriedrich98
Silvan
RomanBapst
co63oc
Peter van der Perk
BazookaJoe1900
Beat Küng