diff --git a/boards/hkust/nxt-dual/default.px4board b/boards/hkust/nxt-dual/default.px4board index efe792f04716..884487955590 100644 --- a/boards/hkust/nxt-dual/default.px4board +++ b/boards/hkust/nxt-dual/default.px4board @@ -4,9 +4,9 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0" CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2" CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3" -CONFIG_BOARD_SERIAL_RC="/dev/ttyS4" CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6" CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS7" +CONFIG_BOARD_SERIAL_RC="/dev/ttyS4" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_COMMON_BAROMETERS=y CONFIG_DRIVERS_BATT_SMBUS=y @@ -17,31 +17,21 @@ CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_BOSCH_BMI088=y -#CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y -#CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y -#CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y -CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y -CONFIG_DRIVERS_BAROMETER_BMP388=y CONFIG_DRIVERS_IRLOCK=y CONFIG_COMMON_LIGHT=y CONFIG_COMMON_MAGNETOMETER=y CONFIG_COMMON_OPTICAL_FLOW=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_DRIVERS_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y -CONFIG_DRIVERS_ROBOCLAW=y -CONFIG_DRIVERS_RPM=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y -#CONFIG_DRIVERS_UAVCAN=y -#CONFIG_BOARD_UAVCAN_INTERFACES=1 -#CONFIG_MODULES_AIRSPEED_SELECTOR=y +CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y CONFIG_MODULES_BATTERY_STATUS=y CONFIG_MODULES_CAMERA_FEEDBACK=y CONFIG_MODULES_COMMANDER=y +CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y -CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y CONFIG_MODULES_ESC_BATTERY=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y @@ -49,13 +39,13 @@ CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y -# CONFIG_MODULES_FW_POS_CONTROL_L1=y -CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y CONFIG_MODULES_LOAD_MON=y +CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y CONFIG_MODULES_LOGGER=y CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y CONFIG_MODULES_MANUAL_CONTROL=y @@ -65,18 +55,15 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y -CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_SENSORS=y -CONFIG_MODULES_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y -CONFIG_MODULES_GIMBAL=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y -CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_GPIO=y @@ -85,12 +72,9 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_MFT=y CONFIG_SYSTEMCMDS_MTD=y -CONFIG_SYSTEMCMDS_MIXER=y -CONFIG_SYSTEMCMDS_MOTOR_TEST=y CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y -CONFIG_SYSTEMCMDS_PWM=y CONFIG_SYSTEMCMDS_REBOOT=y CONFIG_SYSTEMCMDS_SD_BENCH=y CONFIG_SYSTEMCMDS_SD_STRESS=y diff --git a/boards/hkust/nxt-dual/firmware.prototype b/boards/hkust/nxt-dual/firmware.prototype index d715678889a3..e236ff1bcf5b 100644 --- a/boards/hkust/nxt-dual/firmware.prototype +++ b/boards/hkust/nxt-dual/firmware.prototype @@ -7,7 +7,7 @@ "summary": "MatekH743-mini", "version": "0.1", "image_size": 0, - "image_maxsize": 1966080, + "image_maxsize": 1835008, "git_identity": "", "board_revision": 0 } diff --git a/boards/hkust/nxt-dual/init/rc.board_defaults b/boards/hkust/nxt-dual/init/rc.board_defaults index d3504a657e8f..a4afdd873eeb 100644 --- a/boards/hkust/nxt-dual/init/rc.board_defaults +++ b/boards/hkust/nxt-dual/init/rc.board_defaults @@ -2,5 +2,23 @@ # # board specific defaults #------------------------------------------------------------------------------ +param set-default BAT1_A_PER_V 17 +param set-default BAT1_N_CELLS 4 +param set-default BAT1_V_CHARGED 4.2 +param set-default BAT1_V_DIV 10.1 +param set-default BAT1_V_EMPTY 3.2 + param set-default SYS_HAS_MAG 0 +param set-default PWM_MAIN_TIM0 -4 +param set-default RC_INPUT_PROTO -1 + param set-default IMU_GYRO_RATEMAX 2000 +param set-default SYS_AUTOSTART 4001 +param set-default MC_PITCHRATE_K 0.4 +param set-default MC_ROLLRATE_K 0.35 +param set-default MC_YAWRATE_K 1.2 +param set-default MC_YAWRATE_MAX 360 +param set-default MAV_TYPE 2 +param set-default CA_AIRFRAME 0 +param set-default CA_ROTOR_COUNT 4 +param set-default CBRK_SUPPLY_CHK 894281 diff --git a/boards/hkust/nxt-dual/nuttx-config/scripts/script.ld b/boards/hkust/nxt-dual/nuttx-config/scripts/script.ld index 85f4990724d5..1dc1a0ef97eb 100644 --- a/boards/hkust/nxt-dual/nuttx-config/scripts/script.ld +++ b/boards/hkust/nxt-dual/nuttx-config/scripts/script.ld @@ -110,7 +110,7 @@ MEMORY { ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K - FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K + FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1792K DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K diff --git a/boards/hkust/nxt-dual/src/board_config.h b/boards/hkust/nxt-dual/src/board_config.h index c63a1d7e3086..2b8aba1296db 100644 --- a/boards/hkust/nxt-dual/src/board_config.h +++ b/boards/hkust/nxt-dual/src/board_config.h @@ -53,7 +53,7 @@ * Definitions ****************************************************************************************************/ -// #define FLASH_BASED_PARAMS +#define FLASH_BASED_PARAMS /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ diff --git a/boards/hkust/nxt-dual/src/mtd.cpp b/boards/hkust/nxt-dual/src/mtd.cpp index b8de3b524b14..e374a9be7e68 100644 --- a/boards/hkust/nxt-dual/src/mtd.cpp +++ b/boards/hkust/nxt-dual/src/mtd.cpp @@ -47,7 +47,7 @@ static const px4_mtd_entry_t fmum_fram = { { .type = MTD_PARAMETERS, .path = "/fs/mtd_params", - .nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT)) + .nblocks = 32 } }, };