Advanced Technology Labs (ATL) Mantis EDU support

.ci/Jenkinsfile-compile

@@ -38,6 +38,7 @@ pipeline {
                      "airmind_mindpx-v2_default",
                      "ark_can-flow_canbootloader",
                      "ark_can-flow_default",
+                     "atl_mantis-edu_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie_default",
                      "bitcraze_crazyflie21_default",
@@ -71,8 +72,8 @@ pipeline {
                      "nxp_fmuk66-v3_rtps",
                      "nxp_fmuk66-v3_socketcan",
                      "nxp_fmurt1062-v1_default",
-                     "nxp_ucans32k146_default",
                      "nxp_ucans32k146_canbootloader",
+                     "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",

.github/workflows/compile_nuttx.yml

@@ -18,6 +18,7 @@ jobs:
           airmind_mindpx-v2,
           ark_can-flow,
           ark_can-gps,
+          atl_mantis-edu,
           av_x-v1,
           bitcraze_crazyflie,
           bitcraze_crazyflie21,

.vscode/cmake-variants.yaml

@@ -96,6 +96,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-gps_canbootloader
+    atl_mantis-edu_default:
+      short: atl_mantis-edu
+      buildType: MinSizeRel
+      settings:
+        CONFIG: atl_mantis-edu_default
     av_x-v1_default:
       short: av_x-v1
       buildType: MinSizeRel

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

@@ -0,0 +1,200 @@
+#!/bin/sh
+#
+# @name Advanced Technology Labs (ATL) Mantis EDU
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @maintainer
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER none
+set MIXER_AUX none
+
+
+# Battery settings
+param set-default BAT_CRIT_THR 0.20
+param set-default BAT_EMERGEN_THR 0.05
+param set-default BAT_LOW_THR 0.25
+
+param set-default BAT1_CAPACITY 2800.0
+param set-default BAT1_N_CELLS 3
+param set-default BAT1_R_INTERNAL 0.02
+param set-default BAT1_V_CHARGED 4.26
+param set-default BAT1_V_EMPTY 3.45
+
+param set-default CBRK_SUPPLY_CHK 894281
+
+param set-default COM_DISARM_LAND 0.1
+param set-default COM_DISARM_PRFLT 3
+param set-default COM_DL_LOSS_T 10
+param set-default COM_FLTMODE1 -1
+param set-default COM_FLTMODE2 -1
+param set-default COM_FLTMODE3 -1
+param set-default COM_FLTMODE4  2
+param set-default COM_FLTMODE5 -1
+param set-default COM_FLTMODE6  6
+param set-default COM_RC_LOSS_T 3
+param set-default COM_RC_OVERRIDE 1
+
+
+# ekf2
+param set-default EKF2_AID_MASK 35
+param set-default EKF2_BARO_DELAY 0
+param set-default EKF2_BARO_NOISE 2.0
+
+param set-default EKF2_BCOEF_X 31.5
+param set-default EKF2_BCOEF_Y 25.5
+
+param set-default EKF2_GPS_DELAY 100
+param set-default EKF2_GPS_POS_X 0.06
+param set-default EKF2_GPS_POS_Y 0.0
+param set-default EKF2_GPS_POS_Z 0.0
+param set-default EKF2_GPS_V_NOISE 0.5
+
+param set-default EKF2_IMU_POS_X 0.06
+param set-default EKF2_IMU_POS_Y 0.0
+param set-default EKF2_IMU_POS_Z 0.0
+
+param set-default EKF2_MAG_DELAY 0
+param set-default EKF2_MAG_NOISE 0.1
+
+param set-default EKF2_MIN_RNG 0.15
+
+param set-default EKF2_OF_DELAY 38
+param set-default EKF2_OF_GATE 2.0
+param set-default EKF2_OF_POS_X -0.035
+param set-default EKF2_OF_POS_Y 0.0
+param set-default EKF2_OF_POS_Z 0.033
+
+param set-default EKF2_PCOEF_XN -0.3
+param set-default EKF2_PCOEF_XP -0.4
+param set-default EKF2_PCOEF_YN -0.4
+param set-default EKF2_PCOEF_YP -0.4
+param set-default EKF2_PCOEF_Z 0.0
+
+param set-default EKF2_RNG_A_VMAX 1.0
+param set-default EKF2_RNG_AID 0
+param set-default EKF2_RNG_DELAY 55
+param set-default EKF2_RNG_POS_X -0.035
+param set-default EKF2_RNG_POS_Y 0.0
+param set-default EKF2_RNG_POS_Z 0.033
+
+param set-default EKF2_TERR_NOISE 1.0
+
+
+# Maximum allowed angle velocity in the landed state
+param set-default LNDMC_ROT_MAX 40.0
+
+# Maximum vertical velocity allowed in the landed state
+param set-default LNDMC_Z_VEL_MAX 0.7
+
+
+# filtering
+param set-default IMU_DGYRO_CUTOFF 50
+param set-default IMU_GYRO_CUTOFF 65
+
+
+# Pitch angle & rate setting
+param set-default MC_PITCHRATE_P 0.075
+param set-default MC_PITCHRATE_I 0.1
+param set-default MC_PITCHRATE_D 0.0005
+param set-default MC_PITCHRATE_MAX 360.0
+param set-default MC_PITCH_P 8.0
+
+# Roll angle & rate setting
+param set-default MC_ROLLRATE_P 0.055
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLLRATE_D 0.0005
+param set-default MC_ROLLRATE_MAX 360.0
+param set-default MC_ROLL_P 8.0
+
+# Yaw angle & rate setting
+param set-default MC_YAWRATE_P 0.1
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_MAX 120.0
+param set-default MC_YAW_P 2.5
+
+param set-default MPC_ACC_DOWN_MAX 2.0
+param set-default MPC_ACC_HOR 3.0
+param set-default MPC_ACC_HOR_MAX 10.0
+param set-default MPC_ACC_UP_MAX 3.0
+param set-default MPC_ALT_MODE 0
+param set-default MPC_LAND_SPEED 0.5
+param set-default MPC_LAND_VEL_XY 10
+param set-default MPC_MAN_TILT_MAX 20
+param set-default MPC_YAWRAUTO_MAX 80.0
+param set-default MPC_POS_MODE 4
+param set-default MPC_THR_HOVER 0.54
+param set-default MPC_THR_MAX 0.9
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_TILTMAX_AIR 30
+param set-default MPC_XY_P 1.0
+param set-default MPC_XY_VEL_D 0.005
+param set-default MPC_XY_VEL_I 0.02
+param set-default MPC_XY_VEL_P 0.15
+param set-default MPC_Z_P 2.0
+param set-default MPC_Z_VEL_D 0.0
+param set-default MPC_Z_VEL_I 0.02
+param set-default MPC_Z_VEL_MAX_DN 2.0
+param set-default MPC_Z_VEL_MAX_UP 3.0
+param set-default MPC_Z_VEL_P 0.27
+
+
+# gimbal configuration
+param set-default MNT_MODE_IN 1
+param set-default MNT_MODE_OUT 2
+param set-default MNT_MAN_PITCH 1
+
+
+# RC
+param set-default RC_CHAN_CNT       12
+
+param set-default RC_MAP_THROTTLE   1
+param set-default RC_MAP_ROLL       2
+param set-default RC_MAP_PITCH      3
+param set-default RC_MAP_YAW        4
+param set-default RC_MAP_FLTMODE    5
+param set-default RC_MAP_AUX1       7
+
+param set-default RC1_DZ            10
+param set-default RC1_MAX           3413
+param set-default RC1_MIN           683
+param set-default RC1_REV           1
+param set-default RC1_TRIM          683
+param set-default RC2_DZ            10
+param set-default RC2_MAX           3413
+param set-default RC2_MIN           683
+param set-default RC2_REV           -1
+param set-default RC2_TRIM          2048
+param set-default RC3_DZ            10
+param set-default RC3_MAX           3413
+param set-default RC3_MIN           683
+param set-default RC3_REV           1
+param set-default RC3_TRIM          2048
+param set-default RC4_DZ            10
+param set-default RC4_MAX           3413
+param set-default RC4_MIN           683
+param set-default RC4_REV           -1
+param set-default RC4_TRIM          2048
+param set-default RC5_DZ            10
+param set-default RC5_MAX           3414
+param set-default RC5_MIN           2048
+param set-default RC5_REV           1
+param set-default RC5_TRIM          2048
+param set-default RC7_DZ            10
+param set-default RC7_MAX           3413
+param set-default RC7_MIN           683
+param set-default RC7_REV           1
+param set-default RC7_TRIM          2048
+
+
+mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix

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

@@ -80,6 +80,7 @@ px4_add_romfs_files(
 	4052_holybro_qav250
 	4053_holybro_kopis2
 	4060_dji_matrice_100
+	4061_atl_mantis_edu
 	4071_ifo
 	4072_draco
 	4073_ifo-s

boards/atl/mantis-edu/default.cmake

@@ -0,0 +1,60 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	DRIVERS
+		adc/board_adc
+		barometer/maiertek/mpc2520
+		camera_capture
+		gps
+		#heater
+		imu/invensense/icm20602
+		magnetometer/isentek/ist8310
+		tap_esc
+	MODULES
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		flight_mode_manager
+		gyro_calibration
+		gyro_fft
+		land_detector
+		load_mon
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		sensors
+		sih
+		vmount
+	SYSTEMCMDS
+		bl_update
+		dmesg
+		dumpfile
+		hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		param
+		perf
+		reboot
+		shutdown
+		system_time
+		top
+		topic_listener
+		tune_control
+		uorb
+		ver
+		work_queue
+	)

boards/atl/mantis-edu/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 97,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the Advanced Technology Labs (ATL) Mantis EDU (V18S) board",
+    "image": "",
+    "build_time": 0,
+    "summary": "atl_mantis-edu",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2064384,
+    "git_identity": "",
+    "board_revision": 0
+}

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

@@ -0,0 +1,22 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default SYS_AUTOSTART 4061
+
+param set-default COM_ARM_SDCARD 0
+
+param set-default SENS_EXT_I2C_PRB 0
+
+param set-default EKF2_MULTI_IMU 1
+param set-default EKF2_MULTI_MAG 1
+param set-default SENS_IMU_MODE 0
+param set-default SENS_MAG_MODE 0
+
+param set-default EV_TSK_STAT_DIS 1
+
+set LOGGER_ARGS "-m mavlink"
+
+# Start esc
+tap_esc start -d /dev/ttyS4 -n 4

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

@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# board specific MAVLink startup script.
+#------------------------------------------------------------------------------
+
+set GIMBAL_TTY /dev/ttyS3
+set MAV_RATE 40000
+set BAUDRATE 500000
+
+mavlink start -r ${MAV_RATE} -d ${GIMBAL_TTY} -b ${BAUDRATE}
+mavlink stream -d ${GIMBAL_TTY} -s SYSTEM_TIME -r 0.5
+mavlink stream -d ${GIMBAL_TTY} -s AUTOPILOT_STATE_FOR_GIMBAL_DEVICE -r 20
+mavlink stream -d ${GIMBAL_TTY} -s GIMBAL_DEVICE_SET_ATTITUDE -r 20
+
+# optical flow
+mavlink start -d /dev/ttyS2 -m custom -b 500000
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0

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

@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# board specific sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# SPI1 icm20602 IMU
+icm20602 start -s -b 1 -R 8
+
+# I2C2 ist8310 magnetometer
+ist8310 start -I -b 2 -R 14
+
+# I2C4 mpc2520 barometer
+mpc2520 start -I -b 4
+
+gps start -d /dev/ttyS0 -p ubx