New board: AIRLink board configuration added #19529

aviaks · 2022-04-23T16:40:16Z

Added AIRLink board configuration.

boards/sky-drones/smartap-airlink/init/rc.board_sensors

dagar · 2022-04-23T17:01:45Z

At the moment we have some CI duplication between Jenkins and Github actions, can you also add the board here?

PX4-Autopilot/.github/workflows/compile_nuttx.yml

Lines 63 to 65 in 680fe86

    
           px4_fmu-v6x, 
        
           spracing_h7extreme, 
        
           uvify_core

dagar · 2022-04-23T17:04:26Z

Overall the change looks good. Do you have any schematic or basic pin out that's available?

If you have any flight log (even from bench testing) please share and I'll verify that everything is running as expected with no errors.

dagar · 2022-04-23T17:06:07Z

Minor whitespace error failure in CI. https://github.com/PX4/PX4-Autopilot/runs/6141267293?check_suite_focus=true

aviaks · 2022-04-23T17:27:55Z

At the moment we have some CI duplication between Jenkins and Github actions, can you also add the board here?

Sorry for forgetting to add this, now added.

Minor whitespace error failure in CI. https://github.com/PX4/PX4-Autopilot/runs/6141267293?check_suite_focus=true !

Thanks! Fixed now.

Overall the change looks good. Do you have any schematic or basic pin out that's available?

If you have any flight log (even from bench testing) please share and I'll verify that everything is running as expected with no errors.

Yes, I'll send the pinout on your email shortly. Please see the bench testing flight log attached - log_3_2022-4-23-18-24-20.ulg.zip

boards/sky-drones/smartap-airlink/init/rc.board_mavlink

boards/sky-drones/smartap-airlink/nuttx-config/nsh/defconfig

dagar · 2022-04-23T17:56:10Z

Log looks ok, but you apparently have very little free memory and I'm not yet sure why.

https://logs.px4.io/plot_app?log=b65ec398-780d-4b7e-89f9-9fb7c99d149f

Until we figure it out you could lower the logger buffer a bit, maybe add set LOGGER_BUF 32 in rc.board_defaults?

PX4-Autopilot/platforms/nuttx/init/stm32f7/rc.board_arch_defaults

Line 18 in 680fe86

set LOGGER_BUF 64

Your log has 4 mavlink instances running, what do you actually need/want by default? Run mavlink status to see.

dagar · 2022-04-23T17:59:28Z

For reference on a Holybro v5x configured with the same airframe (4015) I'm seeing 110-120 kB of free RAM (~25%)

dagar · 2022-04-23T18:09:09Z

I just noticed the eeprom driver failed to start.

Is this part physically present?

PX4-Autopilot/boards/sky-drones/smartap-airlink/src/mtd.cpp

Lines 45 to 48 in b5386ca

    
           static const px4_mft_device_t i2c4 = {             // 24LC64T on IMU   8K 32 X 256 
        
           	.bus_type =  px4_mft_device_t::I2C, 
        
           	.devid    =  PX4_MK_I2C_DEVID(4, 0x50) 
        
           };

dagar · 2022-04-23T18:12:27Z

boards/sky-drones/smartap-airlink/init/rc.board_sensors

+board_adc start
+
+# Internal SPI bus MPU-9250 / SPI 2 [FPC]
+mpu9250 -s -b 2 -M -R 6 start


Suggested change

mpu9250 -s -b 2 -M -R 6 start

mpu9250 -s -b 2 -R 6 start

I would skip the mpu9250 mag if you have another internal magnetometer working. Long story, but when the mpu9250 ak8963 is enabled it disrupts the FIFO output and you don't get clean 8 kHz raw data.

If you plot vehicle_imu_status.gyro_raw_rate_hz or look at sensors status you'll be able to see the difference.

Thanks! Then it makes sense indeed. I would still prefer to have magnetometer enabled on one mpu9250 but not on both for redundancy in addition to onboard bmm150.

aviaks · 2022-04-23T18:14:37Z

Log looks ok, but you apparently have very little free memory and I'm not yet sure why.

https://logs.px4.io/plot_app?log=b65ec398-780d-4b7e-89f9-9fb7c99d149f

Yes, this is strange, trying to figure out why..

Until we figure it out you could lower the logger buffer a bit, maybe add set LOGGER_BUF 32 in rc.board_defaults?

PX4-Autopilot/platforms/nuttx/init/stm32f7/rc.board_arch_defaults

Line 18 in 680fe86

set LOGGER_BUF 64

Yes, done.

Your log has 4 mavlink instances running, what do you actually need/want by default? Run mavlink status to see.

Three if them are - USB, Telemetry 1 external UART port and UART to mission computer. The fourth looks like duplicated USB probably due to explicitly started in rc.board_mavlink..

dagar · 2022-04-23T18:17:11Z

How does it look now? Holybro px4_fmu-v5x for comparison.

nsh> free
                   total       used       free    largest  nused  nfree
        Umem:     431488     320272     111216     110144   1387     68
        Prog:    2097152    2097152          0          0     13      0

nsh> listener cpuload

TOPIC: cpuload
 cpuload
    timestamp: 1075749214 (0.470215 seconds ago)
    load: 0.6990
    ram_usage: 0.7408

aviaks · 2022-04-23T18:21:01Z

How does it look now? Holybro px4_fmu-v5x for comparison.

nsh> free
                   total       used       free    largest  nused  nfree
        Umem:     431488     320272     111216     110144   1387     68
        Prog:    2097152    2097152          0          0     13      0

nsh> listener cpuload

TOPIC: cpuload
 cpuload
    timestamp: 1075749214 (0.470215 seconds ago)
    load: 0.6990
    ram_usage: 0.7408

This is with logger buffer set to 32:

aviaks · 2022-04-23T18:23:03Z

Three if them are - USB, Telemetry 1 external UART port and UART to mission computer. The fourth looks like duplicated USB probably due to explicitly started in rc.board_mavlink..

Removing mavlink start from rc.board_mavlink removed the unused instance, now there are 3 of them in mavlink status (USB, Telemetry 1, telemetry to mission computer). So it looks good now.

dagar · 2022-04-23T18:24:40Z

Ok, that looks tolerable now, that mavlink USB instance is quite heavy. You shouldn't have been able to start duplicate instances on the same device, so I'll see why that was able to slip through.

Multi-EKF is also quite expensive, if you need more resources for whatever reason in the future an easy change will be EKF2_MULTI_IMU 3->2 or disabling it entirely (SENS_IMU_MODE).

aviaks · 2022-04-23T18:41:11Z

I just noticed the eeprom driver failed to start.

Is this part physically present?

PX4-Autopilot/boards/sky-drones/smartap-airlink/src/mtd.cpp

Lines 45 to 48 in b5386ca

static const px4_mft_device_t i2c4 = { // 24LC64T on IMU 8K 32 X 256

.bus_type = px4_mft_device_t::I2C,

.devid = PX4_MK_I2C_DEVID(4, 0x50)

};

Thanks for pointing to this! There is only one EEPROM (base), the second one was initialised in the code, but not present. Now fixed.

aviaks · 2022-04-23T18:47:06Z

Ok, that looks tolerable now, that mavlink USB instance is quite heavy. You shouldn't have been able to start duplicate instances on the same device, so I'll see why that was able to slip through.

Thanks! Yes, that worked out for some reason but it showed zero rate data going through..

Multi-EKF is also quite expensive, if you need more resources for whatever reason in the future an easy change will be EKF2_MULTI_IMU 3->2 or disabling it entirely (SENS_IMU_MODE).

Good, thanks! Will keep this in mind!

aviaks · 2022-04-23T18:50:46Z

Unfortunately, the build is failing here:

However, builds fine on my laptop. @dagar could you suggest what's wrong please?

dagar · 2022-04-23T19:01:59Z

However, builds fine on my laptop. @dagar could you suggest what's wrong please?

The build artifacts are probably caught in some bad intermediate state from previous partial builds. For now I would just clean (make distclean) and try again. If it's repeatable we can dig into it and find the root cause.

EDIT: It's failing on GitHub actions, I'll take a look.

aviaks · 2022-04-24T09:40:29Z

However, builds fine on my laptop. @dagar could you suggest what's wrong please?

The build artifacts are probably caught in some bad intermediate state from previous partial builds. For now I would just clean (make distclean) and try again. If it's repeatable we can dig into it and find the root cause.

EDIT: It's failing on GitHub actions, I'll take a look.

Thanks Daniel!

boards/sky-drones/smartap-airlink/nuttx-config/nsh/defconfig

dagar · 2022-04-24T16:38:51Z

@aviaks this was the problem 5c58e61.

This should be good to go now. I'll squash and merge all commits into master once the build goes through cleanly.

aviaks · 2022-04-24T17:23:35Z

@aviaks this was the problem 5c58e61.

This should be good to go now. I'll squash and merge all commits into master once the build goes through cleanly.

Ah, my fault, this was an easy one.. Many thanks @dagar for resolving this!

AIRLink board configuration added

d23528e

dagar reviewed Apr 23, 2022

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boards/sky-drones/smartap-airlink/init/rc.board_sensors Show resolved Hide resolved

dagar added the Admin: Enhancement (improvement) 💡 label Apr 23, 2022

aviaks added 2 commits April 23, 2022 18:07

github actions: added AIRLink target

dc0bd62

boards: AIRLink board_config.h code style formatted

7b5231b

dagar reviewed Apr 23, 2022

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boards/sky-drones/smartap-airlink/init/rc.board_mavlink Outdated Show resolved Hide resolved

dagar reviewed Apr 23, 2022

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boards/sky-drones/smartap-airlink/nuttx-config/nsh/defconfig Outdated Show resolved Hide resolved

aviaks added 2 commits April 23, 2022 18:53

rc.board_mavlink: removed USB mavlink start

a8c95d3

defconfig: SPI2_DMA_BUFFER reduced

b5386ca

board_defaults: set logger buffer size

4037edf

dagar reviewed Apr 23, 2022

View reviewed changes

mtd: missing IMU EEPROM removed, only base EEPROM left

6e55172

rc.board_sensors: mpu9250 magnetometer usage removed

134e07e

dagar reviewed Apr 24, 2022

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boards/sky-drones/smartap-airlink/nuttx-config/nsh/defconfig Outdated Show resolved Hide resolved

dagar added 5 commits April 24, 2022 12:21

Update boards/sky-drones/smartap-airlink/nuttx-config/nsh/defconfig

5c58e61

run menuconfig to cleanup

09975f2

Merge remote-tracking branch 'px4/master' into pr-airlink-board-support

656e812

delete empty rc.board_mavlink

bef2d8a

fix copyright year and a few comments

b34c475

dagar approved these changes Apr 24, 2022

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dagar merged commit 6981a70 into PX4:master Apr 24, 2022

dagar mentioned this pull request Apr 25, 2022

mavlink: delete Mavlink instance if early startup fails #19534

Merged

aviaks mentioned this pull request Nov 16, 2022

Added AIRLink flight controller page PX4/PX4-user_guide#2140

Merged

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New board: AIRLink board configuration added #19529

New board: AIRLink board configuration added #19529

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New board: AIRLink board configuration added #19529

New board: AIRLink board configuration added #19529

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