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dagarjulianoes
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julianoes
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boards: Advanced Technology Labs (ATL) Mantis EDU support and airfarme (SYS_AUTOSTART 4061)
Co-authored-by: Julian Oes <[email protected]> Co-authored-by: Daniel Agar <[email protected]>
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‎.ci/Jenkinsfile-compile‎

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@@ -38,6 +38,7 @@ pipeline {
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"airmind_mindpx-v2_default",
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"ark_can-flow_canbootloader",
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"ark_can-flow_default",
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"atl_mantis-edu_default",
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"av_x-v1_default",
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"bitcraze_crazyflie_default",
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"bitcraze_crazyflie21_default",
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"nxp_fmuk66-v3_rtps",
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"nxp_fmuk66-v3_socketcan",
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"nxp_fmurt1062-v1_default",
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"nxp_ucans32k146_default",
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"nxp_ucans32k146_canbootloader",
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"nxp_ucans32k146_default",
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"omnibus_f4sd_default",
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"px4_fmu-v2_default",
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"px4_fmu-v2_fixedwing",

‎.github/workflows/compile_nuttx.yml‎

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airmind_mindpx-v2,
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ark_can-flow,
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ark_can-gps,
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atl_mantis-edu,
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av_x-v1,
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bitcraze_crazyflie,
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bitcraze_crazyflie21,

‎.vscode/cmake-variants.yaml‎

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buildType: MinSizeRel
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settings:
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CONFIG: ark_can-gps_canbootloader
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atl_mantis-edu_default:
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short: atl_mantis-edu
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buildType: MinSizeRel
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settings:
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CONFIG: atl_mantis-edu_default
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av_x-v1_default:
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short: av_x-v1
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buildType: MinSizeRel

‎ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu‎

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#!/bin/sh
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#
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# @name Advanced Technology Labs (ATL) Mantis EDU
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#
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# @type Quadrotor x
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# @class Copter
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#
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# @output MAIN1 motor 1
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# @output MAIN2 motor 2
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# @output MAIN3 motor 3
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# @output MAIN4 motor 4
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#
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# @maintainer
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# @board px4_fmu-v2 exclude
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#
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. ${R}etc/init.d/rc.mc_defaults
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set MIXER none
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set MIXER_AUX none
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# Battery settings
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param set-default BAT_CRIT_THR 0.20
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param set-default BAT_EMERGEN_THR 0.05
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param set-default BAT_LOW_THR 0.25
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param set-default BAT1_CAPACITY 2800.0
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param set-default BAT1_N_CELLS 3
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param set-default BAT1_R_INTERNAL 0.02
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param set-default BAT1_V_CHARGED 4.26
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param set-default BAT1_V_EMPTY 3.45
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param set-default CBRK_SUPPLY_CHK 894281
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param set-default COM_DISARM_LAND 0.1
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param set-default COM_DISARM_PRFLT 3
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param set-default COM_DL_LOSS_T 10
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param set-default COM_FLTMODE1 -1
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param set-default COM_FLTMODE2 -1
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param set-default COM_FLTMODE3 -1
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param set-default COM_FLTMODE4 2
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param set-default COM_FLTMODE5 -1
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param set-default COM_FLTMODE6 6
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param set-default COM_RC_LOSS_T 3
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param set-default COM_RC_OVERRIDE 1
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# ekf2
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param set-default EKF2_AID_MASK 35
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param set-default EKF2_BARO_DELAY 0
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param set-default EKF2_BARO_NOISE 2.0
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param set-default EKF2_BCOEF_X 31.5
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param set-default EKF2_BCOEF_Y 25.5
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param set-default EKF2_GPS_DELAY 100
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param set-default EKF2_GPS_POS_X 0.06
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param set-default EKF2_GPS_POS_Y 0.0
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param set-default EKF2_GPS_POS_Z 0.0
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param set-default EKF2_GPS_V_NOISE 0.5
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param set-default EKF2_IMU_POS_X 0.06
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param set-default EKF2_IMU_POS_Y 0.0
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param set-default EKF2_IMU_POS_Z 0.0
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param set-default EKF2_MAG_DELAY 0
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param set-default EKF2_MAG_NOISE 0.1
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param set-default EKF2_MIN_RNG 0.15
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param set-default EKF2_OF_DELAY 38
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param set-default EKF2_OF_GATE 2.0
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param set-default EKF2_OF_POS_X -0.035
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param set-default EKF2_OF_POS_Y 0.0
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param set-default EKF2_OF_POS_Z 0.033
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param set-default EKF2_PCOEF_XN -0.3
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param set-default EKF2_PCOEF_XP -0.4
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param set-default EKF2_PCOEF_YN -0.4
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param set-default EKF2_PCOEF_YP -0.4
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param set-default EKF2_PCOEF_Z 0.0
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param set-default EKF2_RNG_A_VMAX 1.0
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param set-default EKF2_RNG_AID 0
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param set-default EKF2_RNG_DELAY 55
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param set-default EKF2_RNG_POS_X -0.035
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param set-default EKF2_RNG_POS_Y 0.0
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param set-default EKF2_RNG_POS_Z 0.033
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param set-default EKF2_TERR_NOISE 1.0
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# Maximum allowed angle velocity in the landed state
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param set-default LNDMC_ROT_MAX 40.0
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# Maximum vertical velocity allowed in the landed state
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param set-default LNDMC_Z_VEL_MAX 0.7
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# filtering
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param set-default IMU_DGYRO_CUTOFF 50
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param set-default IMU_GYRO_CUTOFF 65
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# Pitch angle & rate setting
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param set-default MC_PITCHRATE_P 0.075
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param set-default MC_PITCHRATE_I 0.1
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param set-default MC_PITCHRATE_D 0.0005
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param set-default MC_PITCHRATE_MAX 360.0
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param set-default MC_PITCH_P 8.0
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# Roll angle & rate setting
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param set-default MC_ROLLRATE_P 0.055
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param set-default MC_ROLLRATE_I 0.1
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param set-default MC_ROLLRATE_D 0.0005
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param set-default MC_ROLLRATE_MAX 360.0
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param set-default MC_ROLL_P 8.0
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# Yaw angle & rate setting
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param set-default MC_YAWRATE_P 0.1
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param set-default MC_YAWRATE_I 0.1
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param set-default MC_YAWRATE_MAX 120.0
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param set-default MC_YAW_P 2.5
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param set-default MPC_ACC_DOWN_MAX 2.0
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param set-default MPC_ACC_HOR 3.0
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param set-default MPC_ACC_HOR_MAX 10.0
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param set-default MPC_ACC_UP_MAX 3.0
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param set-default MPC_ALT_MODE 0
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param set-default MPC_LAND_SPEED 0.5
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param set-default MPC_LAND_VEL_XY 10
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param set-default MPC_MAN_TILT_MAX 20
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param set-default MPC_YAWRAUTO_MAX 80.0
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param set-default MPC_POS_MODE 4
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param set-default MPC_THR_HOVER 0.54
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param set-default MPC_THR_MAX 0.9
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param set-default MPC_THR_MIN 0.06
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param set-default MPC_TILTMAX_AIR 30
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param set-default MPC_XY_P 1.0
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param set-default MPC_XY_VEL_D 0.005
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param set-default MPC_XY_VEL_I 0.02
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param set-default MPC_XY_VEL_P 0.15
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param set-default MPC_Z_P 2.0
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param set-default MPC_Z_VEL_D 0.0
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param set-default MPC_Z_VEL_I 0.02
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param set-default MPC_Z_VEL_MAX_DN 2.0
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param set-default MPC_Z_VEL_MAX_UP 3.0
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param set-default MPC_Z_VEL_P 0.27
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# gimbal configuration
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param set-default MNT_MODE_IN 1
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param set-default MNT_MODE_OUT 2
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param set-default MNT_MAN_PITCH 1
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# RC
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param set-default RC_CHAN_CNT 12
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param set-default RC_MAP_THROTTLE 1
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param set-default RC_MAP_ROLL 2
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param set-default RC_MAP_PITCH 3
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param set-default RC_MAP_YAW 4
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param set-default RC_MAP_FLTMODE 5
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param set-default RC_MAP_AUX1 7
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param set-default RC1_DZ 10
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param set-default RC1_MAX 3413
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param set-default RC1_MIN 683
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param set-default RC1_REV 1
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param set-default RC1_TRIM 683
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param set-default RC2_DZ 10
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param set-default RC2_MAX 3413
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param set-default RC2_MIN 683
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param set-default RC2_REV -1
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param set-default RC2_TRIM 2048
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param set-default RC3_DZ 10
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param set-default RC3_MAX 3413
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param set-default RC3_MIN 683
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param set-default RC3_REV 1
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param set-default RC3_TRIM 2048
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param set-default RC4_DZ 10
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param set-default RC4_MAX 3413
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param set-default RC4_MIN 683
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param set-default RC4_REV -1
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param set-default RC4_TRIM 2048
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param set-default RC5_DZ 10
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param set-default RC5_MAX 3414
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param set-default RC5_MIN 2048
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param set-default RC5_REV 1
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param set-default RC5_TRIM 2048
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param set-default RC7_DZ 10
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param set-default RC7_MAX 3413
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param set-default RC7_MIN 683
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param set-default RC7_REV 1
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param set-default RC7_TRIM 2048

‎ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt‎

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4052_holybro_qav250
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4053_holybro_kopis2
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4060_dji_matrice_100
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4061_atl_mantis_edu
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4071_ifo
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4072_draco
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4073_ifo-s

‎boards/atl/mantis-edu/default.cmake‎

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px4_add_board(
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PLATFORM nuttx
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VENDOR atl
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MODEL mantis-edu
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LABEL default
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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DRIVERS
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adc/board_adc
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barometer/maiertek/mpc2520
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camera_capture
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gps
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#heater
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imu/invensense/icm20602
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#lights/rgbled_pwm
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magnetometer/isentek/ist8310
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tap_esc
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MODULES
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battery_status
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camera_feedback
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commander
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dataman
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ekf2
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events
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flight_mode_manager
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gyro_calibration
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gyro_fft
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land_detector
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load_mon
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logger
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mavlink
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mc_att_control
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mc_hover_thrust_estimator
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mc_pos_control
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mc_rate_control
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#micrortps_bridge
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navigator
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rc_update
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sensors
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sih
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vmount
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SYSTEMCMDS
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bl_update
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dmesg
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dumpfile
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esc_calib
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hardfault_log
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i2cdetect
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led_control
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mixer
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motor_ramp
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motor_test
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nshterm
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param
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perf
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reboot
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reflect
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sd_bench
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serial_test
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shutdown
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system_time
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top
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topic_listener
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tune_control
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uorb
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usb_connected
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ver
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work_queue
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)

‎boards/atl/mantis-edu/firmware.prototype‎

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{
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"board_id": 97,
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"magic": "PX4FWv1",
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"description": "Firmware for the Advanced Technology Labs (ATL) Mantis EDU (V18S) board",
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"image": "",
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"build_time": 0,
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"summary": "atl_mantis-edu",
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"version": "0.1",
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"image_size": 0,
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"image_maxsize": 2064384,
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"git_identity": "",
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"board_revision": 0
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}

‎boards/atl/mantis-edu/init/rc.board_defaults‎

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#!/bin/sh
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#
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# board specific defaults
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#------------------------------------------------------------------------------
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param set-default SYS_AUTOSTART 4061
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param set-default COM_ARM_SDCARD 0
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param set-default SENS_EXT_I2C_PRB 0
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param set-default EKF2_MULTI_IMU 1
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param set-default EKF2_MULTI_MAG 1
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param set-default SENS_IMU_MODE 0
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param set-default SENS_MAG_MODE 0
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set LOGGER_ARGS "-m mavlink"
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# Start esc
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tap_esc start -d /dev/ttyS4 -n 4
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mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix

‎boards/atl/mantis-edu/init/rc.board_mavlink‎

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#!/bin/sh
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#
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# board specific MAVLink startup script.
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#------------------------------------------------------------------------------
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set GIMBAL_TTY /dev/ttyS3
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set MAV_RATE 40000
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set BAUDRATE 500000
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mavlink start -r ${MAV_RATE} -d ${GIMBAL_TTY} -b ${BAUDRATE}
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mavlink stream -d ${GIMBAL_TTY} -s SYSTEM_TIME -r 0.5
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mavlink stream -d ${GIMBAL_TTY} -s AUTOPILOT_STATE_FOR_GIMBAL_DEVICE -r 20
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mavlink stream -d ${GIMBAL_TTY} -s GIMBAL_DEVICE_SET_ATTITUDE -r 20
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# optical flow
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mavlink start -d /dev/ttyS2 -m custom -b 500000
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# Start MAVLink on the USB port
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mavlink start -d /dev/ttyACM0

‎boards/atl/mantis-edu/init/rc.board_sensors‎

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#!/bin/sh
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#
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# board specific sensors init
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#------------------------------------------------------------------------------
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board_adc start
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# SPI1 icm20602 IMU
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icm20602 start -s -b 1 -R 8
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# I2C2 ist8310 magnetometer
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ist8310 start -I -b 2 -R 14
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# I2C4 mpc2520 barometer
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mpc2520 start -I -b 4
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gps start -d /dev/ttyS0 -p ubx

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