Enabling Cyphal for cubeorangeplus target

PX4 Autopilot
1

Hello,

I am trying to add Cyphal support to the cubeorangeplus. I have added the cyphal.px4board file from fmu-v5, but am still trying to figure out how to properly configure the build as mentioned by @PonomarevDA here. After reading the documentation on NuttX Board Porting Guide and PX4 Board Configuration, I am unsure how to properly generate the nuttx config similar to fmu-v5/nuttx-config/cyphal/defconfig.

Stumbling through menuconfig (i.e., make cubepilot_cubeorangeplus_cyphal menuconfig), I noticed Application Configuration > CAN Utilities is empty, whereas for fmu-v5, I see CAN utility library, libcanard UAVCAN v0 Library, and OBD-II Library as options able to be selected. I am unsure if I am even on the right track here.

Any help would be extremely appreciated!

1 Like
2

Hi @jwhgit01, I currently have the same problem that I want to integrate Cyphal for the CubeOrange. Have you solved the problem in the meantime and can you help me?

3

I have not. It might be a good idea to open a feature request on GitHub to make selecting between Cyphal and DroneCAN either a parameter or a build option for all boards. Of course, this is probably a big undertaking… It is probably best to first bring this up at the Weekly Community Q&A on Discord or on the PX4 Discord.