Week 9 March 2- March 6

Tony3dr · March 9, 2020, 8:08pm

Dronecode Test Team, Week 9 Report

PX4 Autopilot Flight Testing, by the Dronecode Test Team. Sponsored by Dronecode.

Summary

52 flights ([[Link to log archive ]
3 PR’s assigned
0 issue reported this week.

Vehicle Status

GitHub Pull Requests (Assigned / Tested)

ADC: replace ioctl with uorb message #14087
ecl: Fix CPU load increase #14294
Board config: SPI & I2C config simplifications (1) #14221

github.com/PX4/PX4-Autopilot

Board config: SPI & I2C config simplifications (1)

PX4:master ← PX4:spi_i2c_config_refactoring_boards

opened 04:16PM - 24 Feb 20 UTC

bkueng

+6203 -5709

This brings the 1. iteration from https://github.com/PX4/Firmware/pull/14156: ex…tending board configs with the new SPI+I2C config. With this PR the SPI reset and chip-select code uses the new configuration whereas the drivers still use the existing board config. The SPI address used to be some (arbitrary) board-specific number, which is now set to zero (and allows for extension to multiple instances of the same sensor type on one bus). To avoid having to recalibrate, code was added to do the transition on param import (https://github.com/PX4/Firmware/commit/7e03d4aa6aa80fd958dde8b04e2a64078bf5fd1d). Consolidation of separate Accel vs Gyro ID's was done as well. There's some tricky dependencies during bootup: the board hw detection requires ADC on some boards (v5), and the SPI init requires to know the board version. This leads to some changes in bootup on some of the boards. @davids5 let me know if you see a problem with that (board changes are in https://github.com/PX4/Firmware/commit/5a986aed4869c3c1ecef02390255ef1395e8b6b2). Other: - CPU load increases by ~1% on a pixhawk 2 cube due to the more generic SPI chip-select - FLASH usage: ~+800 bytes on v2 (the SPI config for all hw versions) - there's a fix for missing IO on pixhawk 2 mini Tested on these boards (comparing the boot output): - pixhawk 4 - pixhawk 2 mini (V2M) - cube 2.0 (V30) - mro pixhawk 2 (V2) - mro pixracer (+external SPI) - nxp/fmuk66-v3 - durandal - kakutef7 - omnibusf4sd - pixhawk 3 pro - v5x Next steps (the PR does not depend on those and can be merged independently): - update all drivers - remove the old board I2C+SPI configs

Week 9 March 2- March 6

Dronecode Test Team, Week 9 Report

Summary

Vehicle Status

GitHub Pull Requests (Assigned / Tested)

Issues reported:0