UVify Core board support and airframes (Draco, Draco-R, IFO) (#12337)

 * also includes minor changes to make it easy to keep in sync with px4_fmu-v4

.ci/Jenkinsfile-compile

@@ -37,7 +37,7 @@ pipeline {
                      "px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5x_default", "px4_fmu-v5x_fixedwing", "px4_fmu-v5x_multicopter", "px4_fmu-v5x_rover", "px4_fmu-v5x_rtps", "px4_fmu-v5x_stackcheck",
                      "intel_aerofc-v1_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default",
-                     "holybro_kakutef7", "mro_ctrl-zero-f7_default", "nxp_fmuk66-v3_default", "omnibus_f4sd_default"],
+                     "holybro_kakutef7", "mro_ctrl-zero-f7_default", "nxp_fmuk66-v3_default", "omnibus_f4sd_default", "uvify_core_default"],
             image: docker_images.nuttx,
             archive: true
           ]

ROMFS/px4fmu_common/init.d/airframes/4013_bebop

@@ -10,7 +10,8 @@
 # @board px4_fmu-v4 exclude
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
-# @board aerofc-v1 exclude
+# @board px4_fmu-v5x exclude
+# @board intel_aerofc-v1 exclude
 #
 # @maintainer Michael Schaeuble
 #

ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb

@@ -10,7 +10,8 @@
 # @board px4_fmu-v4 exclude
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
-# @board aerofc-v1 exclude
+# @board px4_fmu-v5x exclude
+# @board intel_aerofc-v1 exclude
 #
 # @maintainer Thomas Gubler <[email protected]>
 #

ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo

@@ -6,10 +6,12 @@
 # @class Copter
 #
 # @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
 # @board px4_fmu-v4 exclude
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
-# @board aerofc-v1 exclude
+# @board px4_fmu-v5x exclude
+# @board intel_aerofc-v1 exclude
 #
 # @maintainer Andreas Antener <[email protected]>
 #

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -10,6 +10,8 @@
 # @board px4_fmu-v4 exclude
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board intel_aerofc-v1 exclude
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2

ROMFS/px4fmu_common/init.d/airframes/4070_aerofc

@@ -7,6 +7,7 @@
 # @board px4_fmu-v4 exclude
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
 #
 # @type Quadrotor x
 # @class Copter

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -0,0 +1,123 @@
+#!/bin/sh
+#
+# @name UVify IFO
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board intel_aerofc-v1 exclude
+#
+# @maintainer Hyon Lim <[email protected]>
+#
+
+set VEHICLE_TYPE mc
+set MIXER quad_x
+set PWM_OUT 1234
+
+if [ $AUTOCNF = yes ]
+then
+	# Attitude & rate gains
+	#param set MC_ROLL_P 7.00000
+	param set MC_ROLLRATE_P 0.15000
+	#param set MC_ROLLRATE_I 0.90000
+	param set MC_ROLLRATE_D 0.00130
+
+	#param set MC_PITCH_P 7.00000
+	param set MC_PITCHRATE_P 0.15000
+	#param set MC_PITCHRATE_I 1.10000
+	param set MC_PITCHRATE_D 0.00160
+
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	#param set MC_YAWRATE_I 0.15
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+
+	#param set MC_ROLL_TC 0.19
+	#param set MC_PITCH_TC 0.16
+
+	# Manual mode settings: Unleash Draco R's power :)
+	#param set MPC_MAN_TILT_MAX 70.00000
+	#param set MC_PITCHRATE_MAX 1600.00000
+	#param set MC_ROLLRATE_MAX 1600.00000
+	#param set MC_YAWRATE_MAX 700.00000
+	param set MPC_MANTHR_MAX 0.90000
+	param set MPC_MANTHR_MIN 0.08000
+	#param set MPC_MAN_TILT_MAX 35.0000
+	#param set MPC_TILTMAX_AIR 20.0000
+
+	# Disable RC filtering
+	param set RC_FLT_CUTOFF 0.00000
+
+	# Filter settings
+	param set MC_DTERM_CUTOFF 90.00000
+	param set IMU_GYRO_CUTOFF 100.00000
+
+	# Thrust curve (avoids the need for TPA)
+	#param set THR_MDL_FAC 0.25
+
+	# System
+	param set PWM_MAX 1950
+	param set PWM_MIN 1100
+	param set PWM_RATE 0
+
+	#param set SYS_FMU_TASK 1
+	param set SENS_BOARD_ROT 10
+
+	# Position control
+	param set MPC_Z_P 1.00000
+	param set MPC_Z_VEL_P 0.20000
+	param set MPC_Z_VEL_I 0.02000
+	param set MPC_Z_VEL_D 0.00000
+
+	param set MPC_THR_MIN 0.06000
+	param set MPC_THR_MAX 0.40000
+	param set MPC_THR_HOVER 0.3000
+
+	param set MIS_TAKEOFF_ALT 1.1000
+	param set MPC_XY_P 1.7000
+	param set MPC_XY_VEL_P 0.1300
+	param set MPC_XY_VEL_I 0.0600
+	param set MPC_XY_VEL_D 0.0100
+	param set MPC_TKO_RAMP_T 1.0000
+	param set MPC_TKO_SPEED 1.1000
+	param set MPC_VEL_MANUAL 3.0000
+
+	param set BAT_SOURCE 0
+	param set BAT_N_CELLS 4
+	param set BAT_V_DIV 10.14
+	param set BAT_A_PER_V 18.18
+	#param set CBRK_IO_SAFETY 22027
+	param set COM_ARM_EKF_AB 0.00500
+	param set COM_DISARM_LAND 2
+
+	# Filter settings
+	param set IMU_GYRO_CUTOFF 90.00000
+	param set MC_DTERM_CUTOFF 70.00000
+
+	# Don't try to be intelligent on RC loss: just cut the motors
+	param set NAV_RCL_ACT 6
+
+	# enable to use high-rate logging for better rate tracking analysis
+	# param set SDLOG_PROFILE 19
+
+	# TELEM1 ttyS1 - Wifi module
+	param set MAV_0_CONFIG 101
+	param set MAV_0_MODE 2	# onboard
+	param set SER_TEL1_BAUD 921600
+
+	# TELEM2 ttyS2 - Sub 1-Ghz
+	param set MAV_1_CONFIG 102
+	param set MAV_1_MODE 0	# normal
+	param set SER_TEL2_BAUD 57600
+fi

ROMFS/px4fmu_common/init.d/airframes/4072_draco

@@ -0,0 +1,119 @@
+#!/bin/sh
+#
+# @name UVify Draco
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board intel_aerofc-v1 exclude
+#
+# @maintainer Hyon Lim <[email protected]>
+#
+
+set VEHICLE_TYPE mc
+set MIXER quad_x
+set PWM_OUT 1234
+
+if [ $AUTOCNF = yes ]
+then
+	# Attitude & rate gains
+	param set MC_ROLL_P 7.00000
+	param set MC_ROLLRATE_P 0.15000
+	param set MC_ROLLRATE_I 0.90000
+	param set MC_ROLLRATE_D 0.00130
+
+	param set MC_PITCH_P 7.00000
+	param set MC_PITCHRATE_P 0.15000
+	param set MC_PITCHRATE_I 1.10000
+	param set MC_PITCHRATE_D 0.00160
+
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.15
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+
+	param set MC_ROLL_TC 0.19
+	param set MC_PITCH_TC 0.16
+
+	# Manual mode settings: Unleash Draco R's power :)
+	param set MPC_MAN_TILT_MAX 70.00000
+	param set MC_PITCHRATE_MAX 1600.00000
+	param set MC_ROLLRATE_MAX 1600.00000
+	param set MC_YAWRATE_MAX 700.00000
+	param set MPC_MANTHR_MAX 0.90000
+	param set MPC_MANTHR_MIN 0.08000
+	param set MPC_MAN_TILT_MAX 35.0000
+	param set MPC_TILTMAX_AIR 20.0000
+
+	# Disable RC filtering
+	param set RC_FLT_CUTOFF 0.00000
+
+	# Filter settings
+	param set MC_DTERM_CUTOFF 90.00000
+	param set IMU_GYRO_CUTOFF 100.00000
+
+	# Thrust curve (avoids the need for TPA)
+	param set THR_MDL_FAC 0.25
+
+	# System
+	param set PWM_MAX 1950
+	param set PWM_MIN 1100
+	param set PWM_RATE 0
+
+	param set SYS_FMU_TASK 1
+	param set SENS_BOARD_ROT 2
+
+	# Position control
+	param set MPC_Z_P 1.00000
+	param set MPC_Z_VEL_P 0.20000
+	param set MPC_Z_VEL_I 0.02000
+	param set MPC_Z_VEL_D 0.00000
+
+	param set MPC_THR_MIN 0.06000
+	param set MPC_THR_MAX 0.40000
+	param set MPC_THR_HOVER 0.3000
+
+	param set MIS_TAKEOFF_ALT 1.1000
+	param set MPC_XY_P 1.7000
+	param set MPC_XY_VEL_P 0.1300
+	param set MPC_XY_VEL_I 0.0600
+	param set MPC_XY_VEL_D 0.0100
+	param set MPC_TKO_RAMP_T 1.0000
+	param set MPC_TKO_SPEED 1.1000
+	param set MPC_VEL_MANUAL 3.0000
+
+	param set BAT_SOURCE 0
+	param set CBRK_IO_SAFETY 22027
+	param set COM_ARM_EKF_AB 0.00500
+	param set COM_DISARM_LAND 3
+
+	# Filter settings
+	param set IMU_GYRO_CUTOFF 90.00000
+	param set MC_DTERM_CUTOFF 70.00000
+
+	# Don't try to be intelligent on RC loss: just cut the motors
+	param set NAV_RCL_ACT 6
+
+	# enable to use high-rate logging for better rate tracking analysis
+	# param set SDLOG_PROFILE 19
+
+	# TELEM1 ttyS1
+	param set MAV_0_CONFIG 101
+	param set MAV_0_MODE 2  # onboard
+	param set MAV_0_RATE 20000
+	param set SER_TEL1_BAUD 921600
+
+	# TELEM2 ttyS2
+	param set MAV_1_CONFIG 0
+fi

ROMFS/px4fmu_common/init.d/airframes/4080_zmr250

@@ -6,6 +6,7 @@
 # @class Copter
 #
 # @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
 #
 # @maintainer Anton Matosov <[email protected]>
 #

ROMFS/px4fmu_common/init.d/airframes/4090_nanomind

@@ -7,10 +7,10 @@
 #
 # @board px4_fmu-v2 exclude
 # @board px4_fmu-v3 exclude
-# @board px4_fmu-v4 exclude
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
-# @board aerofc-v1 exclude
+# @board px4_fmu-v5x exclude
+# @board intel_aerofc-v1 exclude
 #
 # @maintainer Henry Zhang <[email protected]>
 #

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie

@@ -7,7 +7,8 @@
 # @board px4_fmu-v4 exclude
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
-# @board aerofc-v1 exclude
+# @board px4_fmu-v5x exclude
+# @board intel_aerofc-v1 exclude
 #
 # @type Quadrotor x
 # @class Copter