Airframe config for Kopis 2

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -0,0 +1,62 @@
+#!/bin/sh
+#
+# @name Holybro Kopis 2
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Beat Kueng <beat@px4.io>
+#
+# @board px4_fmu-v2 exclude
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+if [ $AUTOCNF = yes ]
+then
+	param set BAT_N_CELLS 4
+
+	param set GPS_1_CONFIG 0
+	param set RC_PORT_CONFIG 201
+
+	param set IMU_GYRO_CUTOFF 120
+	param set MC_DTERM_CUTOFF 0
+
+	param set MC_ROLLRATE_P 0.036
+	param set MC_ROLLRATE_I 0.25
+	param set MC_ROLLRATE_D 0.0006
+	param set MC_ROLLRATE_MAX 1600
+	param set MC_ROLL_P 10
+
+	param set MC_PITCHRATE_P 0.036
+	param set MC_PITCHRATE_I 0.32
+	param set MC_PITCHRATE_D 0.0004
+	param set MC_PITCHRATE_MAX 1600
+	param set MC_PITCH_P 10
+
+	param set MC_YAWRATE_MAX 1000
+	param set MC_YAWRATE_P 0.04
+	param set MC_YAW_P 4
+
+	param set MOT_ORDERING 1
+	param set MPC_MANTHR_MIN 0
+	param set MPC_MAN_TILT_MAX 60
+	param set PWM_MAX 1950
+	param set PWM_MIN 1075
+	param set PWM_RATE 400
+
+	param set OSD_ATXXXX_CFG 1
+
+	param set THR_MDL_FAC 0.7
+
+	param set MPC_THR_CURVE 1
+	param set MPC_THR_HOVER 0.12
+
+	param set MC_AIRMODE 1
+
+	param set EV_TSK_RC_LOSS 1
+fi
+

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

@@ -78,6 +78,7 @@ px4_add_romfs_files(
 	4050_generic_250
 	4051_s250aq
 	4052_holybro_qav250
+	4053_holybro_kopis2
 	4060_dji_matrice_100
 	4070_aerofc
 	4080_zmr250

Tools/validate_yaml.py

@@ -54,7 +54,7 @@ def load_yaml_file(file_name):
     if verbose: print("Validating {:}".format(yaml_file))
     document = load_yaml_file(yaml_file)
     # ignore top-level entries prefixed with __
-    for key in document.keys():
+    for key in list(document.keys()):
         if key.startswith('__'): del document[key]
 
     if not validator.validate(document):

boards/holybro/kakutef7/src/board_config.h

@@ -189,21 +189,6 @@
 
 #define GPIO_RSSI_IN                       /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
 
-/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
- * this board support the ADC system_power interface, and therefore
- * provides the true logic GPIO BOARD_ADC_xxxx macros.
- */
-#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-
-#if BOARD_HAS_USB_VALID == 1
-#  define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
-#else
-#  define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
-#endif
-
-#define BOARD_ADC_SERVO_VALID     (1)
-#define BOARD_ADC_BRICK1_VALID  (1)
-
 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
 
 /* This board provides a DMA pool and APIs */

msg/tune_control.msg

@@ -13,3 +13,5 @@ uint8 volume         # value between 0-100 if supported by backend
 uint8 VOLUME_LEVEL_MIN = 0
 uint8 VOLUME_LEVEL_DEFAULT = 40
 uint8 VOLUME_LEVEL_MAX = 100
+
+uint8 ORB_QUEUE_LENGTH = 3

src/drivers/mkblctrl/mkblctrl.cpp

@@ -495,7 +495,7 @@ MK::task_main()
 	 * advertise the tune_control.
 	 */
 	tune_control_s tune = {};
-	_tune_control_sub = orb_advertise(ORB_ID(tune_control), &tune);
+	_tune_control_sub = orb_advertise_queue(ORB_ID(tune_control), &tune, tune_control_s::ORB_QUEUE_LENGTH);
 
 	pollfd fds[2];
 	fds[0].fd = _t_actuators;

src/modules/commander/commander_helper.cpp

@@ -145,7 +145,7 @@ int buzzer_init()
 	tune_durations[TONE_BATTERY_WARNING_FAST_TUNE] = 800000;
 	tune_durations[TONE_BATTERY_WARNING_SLOW_TUNE] = 800000;
 	tune_durations[TONE_SINGLE_BEEP_TUNE] = 300000;
-	tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
+	tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH);
 	return PX4_OK;
 }
 

src/modules/events/rc_loss_alarm.cpp

@@ -104,7 +104,7 @@ void RC_Loss_Alarm::play_tune()
 	tune_control.volume        = tune_control_s::VOLUME_LEVEL_MAX;
 
 	if (_tune_control_pub == nullptr) {
-		_tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
+		_tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH);
 
 	} else	{
 		orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control);
@@ -118,7 +118,7 @@ void RC_Loss_Alarm::stop_tune()
 	tune_control.timestamp = hrt_absolute_time();
 
 	if (_tune_control_pub == nullptr) {
-		_tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
+		_tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH);
 
 	} else	{
 		orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control);

src/systemcmds/tests/test_tone.cpp

@@ -52,7 +52,8 @@ int test_tone(int argc, char *argv[])
 	tune_control_s tune_control = {};
 	tune_control.tune_id = static_cast<int>(TuneID::NOTIFY_NEGATIVE);
 
-	orb_advert_t tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
+	orb_advert_t tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control,
+					tune_control_s::ORB_QUEUE_LENGTH);
 
 	if (argc == 1) {
 		PX4_INFO("Volume silenced for testing predefined tunes 0-20.");

src/systemcmds/tune_control/tune_control.cpp

@@ -69,7 +69,7 @@ static void publish_tune_control(tune_control_s &tune_control)
 
 	if (tune_control_pub == nullptr) {
 		// We have a minimum of 3 so that tune, stop, tune will fit
-		tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, 3);
+		tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH);
 
 	} else {
 		orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);