sync ctrlalloc boards and add to CI

PX4 · Jan 18, 2021 · b18c6ab · b18c6ab
1 parent e87f3d5
commit b18c6ab
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Showing 6 changed files with 54 additions and 16 deletions.
diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile
@@ -57,8 +57,8 @@ pipeline {
                      "mro_x21-777_default",
                      "mro_x21_default",
                      "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_socketcan",
                      "nxp_fmuk66-v3_rtps",
+                     "nxp_fmuk66-v3_socketcan",
                      "nxp_fmurt1062-v1_default",
                      "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
@@ -68,13 +68,16 @@ pipeline {
                      "px4_fmu-v2_multicopter",
                      "px4_fmu-v2_rover",
                      "px4_fmu-v2_test",
+                     "px4_fmu-v3_ctrlalloc",
                      "px4_fmu-v3_default",
                      "px4_fmu-v4_cannode",
+                     "px4_fmu-v4_ctrlalloc",
                      "px4_fmu-v4_default",
                      "px4_fmu-v4_optimized",
                      "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_ctrlalloc",
                      "px4_fmu-v5_debug",
+                     "px4_fmu-v5_default",
                      "px4_fmu-v5_fixedwing",
                      "px4_fmu-v5_multicopter",
                      "px4_fmu-v5_optimized",

diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml
@@ -35,10 +35,10 @@ jobs:
           mro_pixracerpro_default,
           mro_x21-777_default,
           mro_x21_default,
-          nxp_fmuk66-v3_default,
           nxp_fmuk66-e_default,
-          nxp_fmuk66-v3_socketcan,
+          nxp_fmuk66-v3_default,
           nxp_fmuk66-v3_rtps,
+          nxp_fmuk66-v3_socketcan,
           nxp_fmurt1062-v1_default,
           nxp_ucans32k146_default,
           omnibus_f4sd_default,
@@ -48,11 +48,14 @@ jobs:
           px4_fmu-v2_multicopter,
           px4_fmu-v2_rover,
           px4_fmu-v2_test,
+          px4_fmu-v3_ctrlalloc,
           px4_fmu-v3_default,
           px4_fmu-v4_cannode,
+          px4_fmu-v4_ctrlalloc,
           px4_fmu-v4_default,
           px4_fmu-v4_optimized,
           px4_fmu-v4pro_default,
+          px4_fmu-v5_ctrlalloc,
           px4_fmu-v5_default,
           px4_fmu-v5_fixedwing,
           px4_fmu-v5_multicopter,

diff --git a/boards/px4/fmu-v3/ctrlalloc.cmake b/boards/px4/fmu-v3/ctrlalloc.cmake
@@ -18,7 +18,8 @@ px4_add_board(
 		TEL2:/dev/ttyS2
 		TEL4:/dev/ttyS6
 	DRIVERS
-		adc
+		adc/board_adc
+		adc/ads1115
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -35,20 +36,20 @@ px4_add_board(
 		imu/l3gd20
 		imu/lsm303d
 		imu/invensense/icm20608g
+		imu/invensense/icm20948
 		imu/invensense/mpu6000
 		imu/invensense/mpu9250
-		imu/icm20948
 		irlock
 		lights/blinkm
 		lights/rgbled
 		lights/rgbled_ncp5623c
-		#lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		mkblctrl
 		#optical_flow # all available optical flow drivers
 		optical_flow/px4flow
 		#osd
 		pca9685
+		pca9685_pwm_out
 		#power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -73,6 +74,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -103,6 +105,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -114,6 +117,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener

diff --git a/boards/px4/fmu-v4/ctrlalloc.cmake b/boards/px4/fmu-v4/ctrlalloc.cmake
@@ -3,7 +3,7 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR px4
 	MODEL fmu-v4
-	LABEL default
+	LABEL ctrlalloc
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	ROMFSROOT px4fmu_common
@@ -13,8 +13,11 @@ px4_add_board(
 		GPS1:/dev/ttyS3
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
+		WIFI:/dev/ttyS0
+
 	DRIVERS
-		adc
+		adc/board_adc
+		adc/ads1115
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -42,6 +45,7 @@ px4_add_board(
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
+		pca9685_pwm_out
 		#protocol_splitter
 		pwm_input
 		pwm_out_sim
@@ -66,6 +70,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -97,6 +102,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -108,6 +114,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener
@@ -116,7 +123,10 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		gyro_fft
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial

diff --git a/boards/px4/fmu-v5/ctrlalloc.cmake b/boards/px4/fmu-v5/ctrlalloc.cmake
@@ -3,7 +3,7 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR px4
 	MODEL fmu-v5
-	LABEL default
+	LABEL ctrlalloc
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
@@ -16,7 +16,8 @@ px4_add_board(
 		TEL2:/dev/ttyS2
 		TEL4:/dev/ttyS3
 	DRIVERS
-		adc
+		adc/board_adc
+		adc/ads1115
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -30,7 +31,7 @@ px4_add_board(
 		imu/adis16448
 		imu/adis16477
 		imu/adis16497
-		imu/bmi055
+		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		#imu/mpu6000 # legacy icm20602/icm20689 driver
@@ -44,6 +45,7 @@ px4_add_board(
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -71,6 +73,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -90,6 +93,7 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -101,6 +105,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -112,6 +117,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener
@@ -120,7 +126,10 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		gyro_fft
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial

diff --git a/boards/px4/sitl/ctrlalloc.cmake b/boards/px4/sitl/ctrlalloc.cmake
@@ -3,7 +3,9 @@ px4_add_board(
 	PLATFORM posix
 	VENDOR px4
 	MODEL sitl
-	LABEL default
+	ROMFSROOT px4fmu_common
+	LABEL ctrlalloc
+	EMBEDDED_METADATA parameters
 	TESTING
 	DRIVERS
 		#barometer # all available barometer drivers
@@ -15,12 +17,14 @@ px4_add_board(
 		gps
 		#imu # all available imu drivers
 		#magnetometer # all available magnetometer drivers
+		#protocol_splitter
 		pwm_out_sim
 		rpm/rpm_simulator
 		#telemetry # all available telemetry drivers
 		tone_alarm
 		#uavcan
 	MODULES
+		airship_att_control
 		airspeed_selector
 		angular_velocity_controller
 		attitude_estimator_q
@@ -30,18 +34,20 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
 		landing_target_estimator
-		#load_mon
+		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
 		replay
@@ -50,15 +56,16 @@ px4_add_board(
 		#sih
 		simulator
 		temperature_compensation
+		uuv_att_control
 		vmount
 		vtol_att_control
-		uuv_att_control
-
 	SYSTEMCMDS
 		#dumpfile
 		dyn
 		esc_calib
+		failure
 		led_control
+		#mft
 		mixer
 		motor_ramp
 		motor_test
@@ -69,6 +76,7 @@ px4_add_board(
 		pwm
 		sd_bench
 		shutdown
+		system_time
 		tests # tests and test runner
 		#top
 		topic_listener
@@ -77,6 +85,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test