VOXL2 board support updates (PX4#21426)

boards/modalai/voxl2-slpi/default.px4board

@@ -1,18 +1,28 @@
 CONFIG_PLATFORM_QURT=y
 CONFIG_BOARD_TOOLCHAIN="qurt"
-CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
-CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
+CONFIG_BOARD_ROOTFSDIR="/"
+CONFIG_MODULES_MUORB_SLPI=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_ORB_COMMUNICATOR=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
-CONFIG_MODULES_COMMANDER=y
+CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
+CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
+CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_RC_CRSF_RC=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MUORB_SLPI=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_ORB_COMMUNICATOR=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_PARAM_CLIENT=y

boards/modalai/voxl2-slpi/src/board_config.h

@@ -45,7 +45,7 @@
  * I2C buses
  */
 #define CONFIG_I2C 1
-#define PX4_NUMBER_I2C_BUSES    3
+#define PX4_NUMBER_I2C_BUSES    4
 
 /*
  * SPI buses

boards/modalai/voxl2-slpi/src/drivers/mavlink_rc_in/mavlink_rc_in.cpp

@@ -40,6 +40,7 @@
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/input_rc.h>
+#include <uORB/topics/radio_status.h>
 #include "uORB/uORBManager.hpp"
 #include <mavlink.h>
 #include <px4_log.h>
@@ -77,6 +78,7 @@ std::string port = "7";
 uint32_t baudrate = 115200;
 
 uORB::PublicationMulti<input_rc_s> _rc_pub{ORB_ID(input_rc)};
+uORB::PublicationMulti<radio_status_s> _radio_status_pub{ORB_ID(radio_status)};
 
 perf_counter_t	_perf_rx_rate = nullptr;
 
@@ -97,6 +99,7 @@ void task_main(int argc, char *argv[]);
 
 void handle_message_dsp(mavlink_message_t *msg);
 void handle_message_rc_channels_override_dsp(mavlink_message_t *msg);
+void handle_message_radio_status_dsp(mavlink_message_t *msg);
 
 void handle_message_dsp(mavlink_message_t *msg)
 {
@@ -117,6 +120,10 @@ void handle_message_dsp(mavlink_message_t *msg)
 		handle_message_rc_channels_override_dsp(msg);
 		break;
 
+	case MAVLINK_MSG_ID_RADIO_STATUS:
+		handle_message_radio_status_dsp(msg);
+		break;
+
 	default:
 		break;
 	}
@@ -300,12 +307,33 @@ void task_main(int argc, char *argv[])
 	}
 }
 
+void handle_message_radio_status_dsp(mavlink_message_t *msg)
+{
+	if (debug) { PX4_INFO("Radio status msg received"); }
+
+	mavlink_radio_status_t rstatus;
+	mavlink_msg_radio_status_decode(msg, &rstatus);
+
+	radio_status_s status{};
+
+	status.timestamp = hrt_absolute_time();
+	status.rssi = rstatus.rssi;
+	status.remote_rssi = rstatus.remrssi;
+	status.txbuf = rstatus.txbuf;
+	status.noise = rstatus.noise;
+	status.remote_noise = rstatus.remnoise;
+	status.rxerrors = rstatus.rxerrors;
+	status.fix = rstatus.fixed;
+
+	_radio_status_pub.publish(status);
+}
+
 void handle_message_rc_channels_override_dsp(mavlink_message_t *msg)
 {
 	mavlink_rc_channels_override_t man;
 	mavlink_msg_rc_channels_override_decode(msg, &man);
 
-	// if (debug) PX4_INFO("RC channels override msg received");
+	if (debug) { PX4_INFO("RC channels override msg received"); }
 
 	// Check target
 	if (man.target_system != 0) {

boards/modalai/voxl2-slpi/src/i2c.cpp

@@ -38,5 +38,6 @@
 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
 	initI2CBusExternal(1),
 	initI2CBusExternal(2),
+	initI2CBusExternal(4),
 	initI2CBusInternal(5)
 };

boards/modalai/voxl2/default.px4board

@@ -2,19 +2,25 @@ CONFIG_PLATFORM_POSIX=y
 CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
 CONFIG_BOARD_ROOTFSDIR="/data/px4"
+CONFIG_ORB_COMMUNICATOR=y
+CONFIG_PARAM_SERVER=y
 CONFIG_DRIVERS_QSHELL_POSIX=y
-CONFIG_MODULES_COMMANDER=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_MUORB_APPS=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_ORB_COMMUNICATOR=y
+

boards/modalai/voxl2/scripts/install-voxl.sh

@@ -9,11 +9,125 @@ adb push build/modalai_voxl2_default/bin/px4 /usr/bin
 # Push scripts to voxl2
 adb push build/modalai_voxl2_default/bin/px4-alias.sh /usr/bin
 adb push boards/modalai/voxl2/target/voxl-px4 /usr/bin
+adb push boards/modalai/voxl2/target/voxl-px4-start /usr/bin
 adb shell chmod a+x /usr/bin/px4-alias.sh
 adb shell chmod a+x /usr/bin/voxl-px4
+adb shell chmod a+x /usr/bin/voxl-px4-start
 
 # Push configuration file
 adb shell mkdir -p /etc/modalai
-adb push boards/modalai/voxl2/target/voxl-px4.config /etc/modalai
+adb push boards/modalai/voxl2/target/voxl-px4-set-default-parameters.config /etc/modalai
+adb push boards/modalai/voxl2/target/voxl-px4-fake-imu-calibration.config /etc/modalai
+
+# Make sure to setup all of the needed px4 aliases.
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-accelsim"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-attitude_estimator_q"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-barosim"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-batt_smbus"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-bottle_drop"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-camera_feedback"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-camera_trigger"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-cdev_test"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-cm8jl65"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-commander"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-commander_tests"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-control_allocator"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-controllib_test"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-dataman"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ekf2"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-esc_calib"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ets_airspeed"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ex_fixedwing_control"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-fw_att_control"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-fw_pos_control_l1"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-gnd_att_control"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-gnd_pos_control"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-gps"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-gpssim"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-gyrosim"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-hello"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-hrt_test"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-land_detector"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-landing_target_estimator"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-led_control"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-leddar_one"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-linux_sbus"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-listener"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ll40ls"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-load_mon"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-local_position_estimator"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-logger"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-manual_control"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_bridge"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mavlink_tests"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mb12xx"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_att_control"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_pos_control"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-measairspeedsim"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mixer"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-motor_ramp"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-modalai_gps_timer"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ms4525_airspeed"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ms5525_airspeed"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-msp_osd"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-muorb"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-muorb_test"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-navigator"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-param"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-perf"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-pga460"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-position_estimator_inav"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-pwm"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-pwm_out_sim"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-px4io"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-px4_mavlink_debug"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-px4_simple_app"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-qshell"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-rc_tests"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-rc_update"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-reboot"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-rgbled"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-rover_steering_control"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sd_bench"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sdp3x_airspeed"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-segway"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-send_event"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sensors"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sf0x"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sf0x_tests"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sf1xx"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-shutdown"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sih"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-simulator"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-spektrum_rc"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-srf02"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-teraranger"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-tests"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-tfmini"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-top"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-tune_control"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ulanding_radar"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-uorb"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-uorb_tests"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ver"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vl53lxx"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vmount"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vtol_att_control"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-wind_estimator"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-rc_controller"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-uart_esc_driver"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-flight_mode_manager"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-imu_server"
+
+# Make sure any required directories exist
+adb shell "/bin/mkdir -p /data/px4/param"
+adb shell "/bin/mkdir -p /data/px4/etc/extras"
+
+# Push the json files for the component metadata
+adb push build/modalai_voxl2_default/actuators.json.xz /data/px4/etc/extras
+adb push build/modalai_voxl2_default/component_general.json.xz /data/px4/etc/extras
+adb push build/modalai_voxl2_default/parameters.json.xz /data/px4/etc/extras
+adb push build/modalai_voxl2_default/events/all_events.json.xz /data/px4/etc/extras
 
 adb shell sync

boards/modalai/voxl2/src/board_config.h

@@ -50,3 +50,5 @@
 
 #define BOARD_OVERRIDE_UUID "MODALAIVOXL20000" // must be of length 16
 #define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_VOXL2
+
+#define MODAL_IO_DEFAULT_PORT 	"2"