boards/px4/fmu-v4pro/default.cmake


px4_add_board(
	PLATFORM nuttx
	VENDOR px4
	MODEL fmu-v4pro
	LABEL default
	TOOLCHAIN arm-none-eabi
	ARCHITECTURE cortex-m4
	CONSTRAINED_MEMORY
	ROMFSROOT px4fmu_common
	IO px4_io-v2_default
	UAVCAN_INTERFACES 2
	SERIAL_PORTS
		GPS1:/dev/ttyS3
		TEL1:/dev/ttyS1
		TEL2:/dev/ttyS2
		TEL3:/dev/ttyS0
		TEL4:/dev/ttyS6
	DRIVERS
		adc/ads1115
		adc/board_adc
		barometer # all available barometer drivers
		batt_smbus
		camera_capture
		camera_trigger
		differential_pressure # all available differential pressure drivers
		distance_sensor # all available distance sensor drivers
		dshot
		gps
		#heater
		#imu # all available imu drivers
		imu/analog_devices/adis16448
		imu/invensense/icm20602
		imu/invensense/icm20608g
		imu/invensense/icm20948 # required for ak09916 mag
		imu/invensense/mpu9250
		irlock
		lights # all available light drivers
		magnetometer # all available magnetometer drivers
		optical_flow # all available optical flow drivers
		osd
		pca9685
		pca9685_pwm_out
		#power_monitor/ina226
		#protocol_splitter
		pwm_input
		pwm_out_sim
		pwm_out
		px4io
		roboclaw
		rpm
		telemetry # all available telemetry drivers
		tone_alarm
		uavcan
	MODULES
		airspeed_selector
		attitude_estimator_q
		battery_status
		camera_feedback
		commander
		dataman
		ekf2
		esc_battery
		events
		flight_mode_manager
		fw_att_control
		fw_pos_control_l1
		gyro_calibration
		gyro_fft
		land_detector
		landing_target_estimator
		load_mon
		local_position_estimator
		logger
		mavlink
		mc_att_control
		mc_hover_thrust_estimator
		mc_pos_control
		mc_rate_control
		#micrortps_bridge
		navigator
		rc_update
		rover_pos_control
		sensors
		sih
		temperature_compensation
		uuv_att_control
		uuv_pos_control
		vmount
		vtol_att_control
	SYSTEMCMDS
		bl_update
		#dmesg
		dumpfile
		esc_calib
		gpio
		hardfault_log
		i2cdetect
		led_control
		mft
		mixer
		motor_ramp
		motor_test
		mtd
		nshterm
		param
		perf
		pwm
		reboot
		reflect
		sd_bench
		system_time
		top
		topic_listener
		tune_control
		uorb
		usb_connected
		ver
		work_queue
	EXAMPLES
		fake_gps
		#fake_imu
		#fake_magnetometer
		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
		#hello
		#hwtest # Hardware test
		#matlab_csv_serial
		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
		#rover_steering_control # Rover example app
		#uuv_example_app
		#work_item
	)
boards organization 2018-11-16 12:52:37 -05:00
			`px4_add_board(`
			`PLATFORM nuttx`
			`VENDOR px4`
			`MODEL fmu-v4pro`
			`LABEL default`
cmake remove need for platform px4_add_board_os - explicitly set TOOLCHAIN on all NuttX targets 2018-11-23 10:01:03 -05:00			`TOOLCHAIN arm-none-eabi`
cmake use standard mechanisms for settings flags 2018-11-23 12:39:44 -05:00			`ARCHITECTURE cortex-m4`
boards: add CONSTRAINED_MEMORY build option - currently the main change is that it reduces the max number of ORB multi instances to 4, but usage will be expanded as needed - limits number of EKF2 multi instances to 2. - enabled on all cortex m4 boards 2021-01-30 21:56:36 -05:00			`CONSTRAINED_MEMORY`
boards organization 2018-11-16 12:52:37 -05:00			`ROMFSROOT px4fmu_common`
boards new split VENDOR_MODEL naming convention 2018-11-21 23:27:21 -05:00			`IO px4_io-v2_default`
boards organization 2018-11-16 12:52:37 -05:00			`UAVCAN_INTERFACES 2`
			`SERIAL_PORTS`
			`GPS1:/dev/ttyS3`
			`TEL1:/dev/ttyS1`
			`TEL2:/dev/ttyS2`
			`TEL3:/dev/ttyS0`
			`TEL4:/dev/ttyS6`
			`DRIVERS`
Introduce new generic ADC driver for ADS1115 chip (#14437) 2020-09-14 23:03:40 +08:00			`adc/ads1115`
boards: minimize unnecessary differences in default variants 2021-03-14 14:24:41 -04:00			`adc/board_adc`
boards organization 2018-11-16 12:52:37 -05:00			`barometer # all available barometer drivers`
			`batt_smbus`
camera_capture add to all boards 2019-02-11 14:15:28 -05:00			`camera_capture`
boards organization 2018-11-16 12:52:37 -05:00			`camera_trigger`
			`differential_pressure # all available differential pressure drivers`
			`distance_sensor # all available distance sensor drivers`
Enable dshot driver for fmu-v4pro 2020-12-09 12:04:34 +01:00			`dshot`
boards organization 2018-11-16 12:52:37 -05:00			`gps`
			`#heater`
			`#imu # all available imu drivers`
boards: minimize unnecessary differences in default variants 2021-03-14 14:24:41 -04:00			`imu/analog_devices/adis16448`
invensense icm20608g improvements - checked register mechanism and simple watchdog - driver checks for errors gradually and can reconfigure itself - respect IMU_GYRO_RATEMAX at the driver level - fixed sensor INT16_MIN and INT16_MAX handling (y & z axis are flipped before publishing) 2020-02-18 21:29:38 -05:00			`imu/invensense/icm20602`
			`imu/invensense/icm20608g`
icm20948 i2c passthrough driver for ak09916 magnetometer (Here+ GPS/compass) - include icm20948 on most boards by default - create more test variants for default boards near flash limit (cuav_nora_test, cuav_x7pro_test, holybro_durandal-v1_test) 2021-04-04 21:18:16 -04:00			`imu/invensense/icm20948 # required for ak09916 mag`
switch remaining boards to new InvenSense IMU drivers 2020-03-25 01:07:33 -04:00			`imu/invensense/mpu9250`
boards organization 2018-11-16 12:52:37 -05:00			`irlock`
boards: minimize unnecessary differences in default variants 2021-03-14 14:24:41 -04:00			`lights # all available light drivers`
boards organization 2018-11-16 12:52:37 -05:00			`magnetometer # all available magnetometer drivers`
boards: minimize unnecessary differences in default variants 2021-03-14 14:24:41 -04:00			`optical_flow # all available optical flow drivers`
			`osd`
boards organization 2018-11-16 12:52:37 -05:00			`pca9685`
New board Scumaker AirPi HAT for Raspberry Pi B series 2020-10-01 23:22:47 +08:00			`pca9685_pwm_out`
boards: minimize unnecessary differences in default variants 2021-03-14 14:24:41 -04:00			`#power_monitor/ina226`
boards organization 2018-11-16 12:52:37 -05:00			`#protocol_splitter`
			`pwm_input`
			`pwm_out_sim`
rename drivers/px4fmu -> drivers/pwm_out - split out header 2020-03-27 15:31:04 -04:00			`pwm_out`
boards organization 2018-11-16 12:52:37 -05:00			`px4io`
			`roboclaw`
boards: minimize unnecessary differences in default variants 2021-03-14 14:24:41 -04:00			`rpm`
boards organization 2018-11-16 12:52:37 -05:00			`telemetry # all available telemetry drivers`
ToneAlarm class refactoring to implement an interface for hardware specific methods and a single ToneAlarm class. 2019-01-10 14:39:27 -07:00			`tone_alarm`
move uavcan from modules to drivers 2018-12-01 14:00:46 -05:00			`uavcan`
boards organization 2018-11-16 12:52:37 -05:00			`MODULES`
boards: alphabetize and sync common drivers and modules 2019-11-19 19:59:09 -05:00			`airspeed_selector`
boards organization 2018-11-16 12:52:37 -05:00			`attitude_estimator_q`
boards: alphabetize and sync common drivers and modules 2019-11-19 19:59:09 -05:00			`battery_status`
boards organization 2018-11-16 12:52:37 -05:00			`camera_feedback`
			`commander`
			`dataman`
			`ekf2`
boards: add esc_battery to build 2020-03-25 11:31:22 +01:00			`esc_battery`
boards organization 2018-11-16 12:52:37 -05:00			`events`
Add flight_mode_manager to all targets with mc_pos_control 2020-10-24 17:09:25 +02:00			`flight_mode_manager`
boards organization 2018-11-16 12:52:37 -05:00			`fw_att_control`
			`fw_pos_control_l1`
simple gyro auto calibration module 2021-03-06 13:14:57 -05:00			`gyro_calibration`
gyro_fft promote to modules and include on all boards 2021-02-26 17:30:12 -05:00			`gyro_fft`
boards organization 2018-11-16 12:52:37 -05:00			`land_detector`
			`landing_target_estimator`
			`load_mon`
			`local_position_estimator`
			`logger`
			`mavlink`
			`mc_att_control`
move hover_thrust_estimator to new module (mc_hover_thrust_estimator) * MC_HTE: unitialize with hover_thrust parameter * MC_HTE: constrain hover thrust setter between 0.1 and 0.9 * MC_HTE: integrate with land detector and velocity controller * MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value. * MC_HTE: use altitude agl threshold to start the estimator local_position.z is relative to the origin of the EKF while dist_bottom is above ground Co-authored-by: bresch <brescianimathieu@gmail.com> 2020-03-11 21:20:54 -04:00			`mc_hover_thrust_estimator`
boards organization 2018-11-16 12:52:37 -05:00			`mc_pos_control`
boards: alphabetize and sync common drivers and modules 2019-11-19 19:59:09 -05:00			`mc_rate_control`
			`#micrortps_bridge`
boards organization 2018-11-16 12:52:37 -05:00			`navigator`
sensors split rc_update into new standalone module 2019-11-24 13:25:11 -05:00			`rc_update`
boards: alphabetize and sync common drivers and modules 2019-11-19 19:59:09 -05:00			`rover_pos_control`
boards organization 2018-11-16 12:52:37 -05:00			`sensors`
new airframe for sih, HIL_STATE_QUATERION sent through MAVLink 2019-04-11 10:38:49 +02:00			`sih`
create temperature_compensation module - this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration) - by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time) 2020-01-20 21:42:42 -05:00			`temperature_compensation`
invensense icm20608g improvements - checked register mechanism and simple watchdog - driver checks for errors gradually and can reconfigure itself - respect IMU_GYRO_RATEMAX at the driver level - fixed sensor INT16_MIN and INT16_MAX handling (y & z axis are flipped before publishing) 2020-02-18 21:29:38 -05:00			`uuv_att_control`
Uuv position control extension (#16688) * Commit for the Integration of a position controller for the a Underwater vehicle. This module is an extension of the uuv_att_control to control an Underwater vehicle to any position, given by the SET_POSITION_TARGET_LOCAL_NED which includes x y z yaw. Since the position control is designed for a 6DOF Robot, the roll and pitch angle are controlled to be 0. Additionally there is a stabilization control, which holds the robot at a defined depth, and not move in any direction. In general the idea is to have this position module to control the position of the uuv. The position module reseives the desired position of the uuv and sends appropriate attitude setpoints to the uuv_attitude_control module. Additionally the mixer file is adapted, to include the 6 different inputs(x y z roll pitch yaw). * Commit for the Integration of a position controller for the a Underwater vehicle. This module is an extension of the uuv_att_control to control an Underwater vehicle to any position, given by the SET_POSITION_TARGET_LOCAL_NED which includes x y z yaw. Since the position control is designed for a 6DOF Robot, the roll and pitch angle are controlled to be 0. Additionally there is a stabilization control, which holds the robot at a defined depth, and not move in any direction. In general the idea is to have this position module to control the position of the uuv. The position module receives the desired position of the uuv and sends appropriate attitude setpoints to the uuv_attitude_control module. Additionally the mixer file is adapted, to include the 6 different inputs(x y z roll pitch yaw). Currently not solved/missing: - Problem with gazebo model(propeller moving chaotically). - Mixer correct gazebo vs real life (has to be tested in the future) - correct integration in uuv.apps (when choose which module) - very basic controller chosen (could be improved a lot in the future) * Remove error caused by unused variables and a different build error * added better description of the parameter. Additionally the group is changed. * added better description of the parameter. Additionally the group is changed. Fixed bug about parameter * Added EOF to the files. * Removed parameter for direct position control for safety reasons. * small bugfix 2021-02-15 18:40:28 +01:00			`uuv_pos_control`
move vmount to modules (it's not a driver) 2018-12-01 13:58:15 -05:00			`vmount`
boards organization 2018-11-16 12:52:37 -05:00			`vtol_att_control`
			`SYSTEMCMDS`
			`bl_update`
boards: alphabetize and sync common drivers and modules 2019-11-19 19:59:09 -05:00			`#dmesg`
boards organization 2018-11-16 12:52:37 -05:00			`dumpfile`
			`esc_calib`
boards: minimize unnecessary differences in default variants 2021-03-14 14:24:41 -04:00			`gpio`
boards organization 2018-11-16 12:52:37 -05:00			`hardfault_log`
create systemcmds/i2cdetect tool to scan i2c bus 2019-07-05 14:21:42 -04:00			`i2cdetect`
boards organization 2018-11-16 12:52:37 -05:00			`led_control`
Added mft for queries 2020-11-20 11:41:51 -08:00			`mft`
boards organization 2018-11-16 12:52:37 -05:00			`mixer`
			`motor_ramp`
			`motor_test`
			`mtd`
			`nshterm`
			`param`
			`perf`
			`pwm`
			`reboot`
			`reflect`
			`sd_bench`
add system command to get and set system time * add system_time command for all boards 2020-09-26 19:09:01 +02:00			`system_time`
boards organization 2018-11-16 12:52:37 -05:00			`top`
			`topic_listener`
			`tune_control`
uORB move to PX4 platform layer 2021-02-17 11:25:56 -05:00			`uorb`
boards organization 2018-11-16 12:52:37 -05:00			`usb_connected`
			`ver`
px4_work_queue: command line status output and shutdown empty queues * adds a work_queue systemcmd that will bring a tree view of all active work queues and work items * WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached 2019-10-02 12:23:17 -04:00			`work_queue`
boards organization 2018-11-16 12:52:37 -05:00			`EXAMPLES`
move fake GPS to standalone module 2021-02-20 14:13:36 -05:00			`fake_gps`
fake_imu (formally fake_gyro) updates for testing gyro filtering - fake_imu now publishes sine sweeps over 10 seconds - accel is also published so that fake IMU can be selected when the only option 2021-05-17 20:26:25 -04:00			`#fake_imu`
boards: move testing to dedicated test variants 2021-04-13 10:28:39 -04:00			`#fake_magnetometer`
			`#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control`
			`#hello`
			`#hwtest # Hardware test`
boards organization 2018-11-16 12:52:37 -05:00			`#matlab_csv_serial`
boards: move testing to dedicated test variants 2021-04-13 10:28:39 -04:00			`#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html`
			`#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html`
			`#rover_steering_control # Rover example app`
			`#uuv_example_app`
			`#work_item`
boards organization 2018-11-16 12:52:37 -05:00			`)`