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Update modalai fcv2 board support for 1.14 #21653
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,131 @@ | ||
| #include <px4_platform_common/module.h> | ||
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| #include "chip.h" | ||
| #include "stm32_gpio.h" | ||
| #include "board_config.h" | ||
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| #include <nuttx/board.h> | ||
| #include <arch/board/board.h> | ||
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| // v2 | ||
| #ifdef CONFIG_ARCH_CHIP_STM32H753II // chip on M0087 | ||
| #include "modalai_fc-v2.h" | ||
| #define MODALAI_FC_V2 1 | ||
| #else | ||
| #include "modalai_fc-v1.h" | ||
| #endif | ||
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| __EXPORT int modalai_main(int argc, char *argv[]); | ||
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| int modalai_main(int argc, char *argv[]) | ||
| { | ||
| int hw_rev = board_get_hw_revision(); | ||
| int hw_ver = board_get_hw_version(); | ||
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| eHW_TYPE hw_type = eHwNone; | ||
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| #ifdef MODALAI_FC_V2 | ||
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| if (hw_rev == 0 && hw_ver == 3) { // (should be hw_rev == 1 && hw_ver == 3) eventually... | ||
| hw_type = eM0087; | ||
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| } else if (hw_rev == 0 && hw_ver == 3) { | ||
| hw_type = eM0079; | ||
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| } else { | ||
| return -1; | ||
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| } | ||
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| #else | ||
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| if (hw_rev == 6 && hw_ver == 0) { | ||
| hw_type = eM0018; | ||
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| } else if (hw_rev == 0 && hw_ver == 1) { | ||
| hw_type = eM0019; | ||
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| } else if (hw_rev == 0 && hw_ver == 2) { | ||
| hw_type = eM0051; | ||
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| } else { | ||
| return -1; | ||
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| } | ||
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| #endif | ||
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| if (argc <= 1) { | ||
| #ifdef MODALAI_FC_V2 | ||
| modalai_print_usage_v2(); | ||
| #else | ||
| modalai_print_usage_v1(); | ||
| #endif | ||
| return 1; | ||
| } | ||
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| if (!strcmp(argv[1], "led")) { | ||
| #ifdef MODALAI_FC_V2 | ||
| return modalai_led_test_v2(); | ||
| #else | ||
| return modalai_led_test_v1(); | ||
| #endif | ||
|
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| } else if (!strcmp(argv[1], "con")) { | ||
| if (argc <= 2) { | ||
| PRINT_MODULE_USAGE_COMMAND("con"); | ||
| PRINT_MODULE_USAGE_ARG("<1,4,5,6,7,9,10,12,13>", "Connector ID", false); | ||
| PRINT_MODULE_USAGE_ARG("<uint>", "Pin Number", false); | ||
| PRINT_MODULE_USAGE_ARG("0 | 1", "<output state> (defaults to 0)", false); | ||
| return 1; | ||
| } | ||
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| uint8_t con = 0; | ||
| uint8_t pin = 0; | ||
| bool state = false; | ||
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| if (argc > 2) { | ||
| con = atoi(argv[2]); | ||
| } | ||
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| if (argc > 3) { | ||
| pin = atoi(argv[3]); | ||
| } | ||
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| if (argc > 4) { | ||
| state = atoi(argv[4]); | ||
| } | ||
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| #ifdef MODALAI_FC_V2 | ||
| return modalai_con_gpio_test_v2(con, pin, state); | ||
| #else | ||
| return modalai_con_gpio_test_v1(con, pin, state); | ||
| #endif | ||
|
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| } else if (!strcmp(argv[1], "buzz")) { | ||
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| #ifdef MODALAI_FC_V2 | ||
| return modalai_buzz_test_v2(hw_type); | ||
| #else | ||
| return modalai_buzz_test_v1(hw_type); | ||
| #endif | ||
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| } else if (!strcmp(argv[1], "detect")) { | ||
| #ifdef MODALAI_FC_V2 | ||
| modalai_hw_detect_v2(hw_type); | ||
| #else | ||
| modalai_hw_detect_v1(hw_type); | ||
| #endif | ||
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| return 0; | ||
| } | ||
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| #ifdef MODALAI_FC_V2 | ||
| modalai_print_usage_v2(); | ||
| #else | ||
| modalai_print_usage_v1(); | ||
| #endif | ||
| return -EINVAL; | ||
| } |
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Was the internal mag dropped?
If nothing else it's useful having it to properly orient the external mag. The common modules from holybro and mro both use an ist8310, but it's mounted differently and we have no way to detect, so doing it at calibration time (relative to an internal) was the least bad option.
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I seem to remember that it was giving us some grief but I don't remember exactly what that was so I'll ask around and see what the specific issue was.
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I think the flight test team just said that it was super noisy? Perhaps the idea is that you enable it but set SYS_HAS_MAG and MAG_TYPE parameters to not use it unless you have a secondary unit and then you just use the internal one for reference?
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How is internal mag used on Pixhawks in general? Just as a reference or as the actual primary source?
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Not sure how having the internal one enabled helps the calibration figure out the orientation. I just tried calibrating the external compass with and without the internal one enabled and in neither case did it determine the proper rotation of the external compass.
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Per our discussion I will leave this disabled for now