create example vehicle type build configs for fmu-v2 and fmu-v5 (#10963)

 - update navigator precision landing to build without multicopter

.ci/Jenkinsfile-compile

@@ -30,7 +30,12 @@ pipeline {
           ]
 
           def nuttx_builds_archive = [
-            target: ["px4_fmu-v2_default", "px4_fmu-v3_default", "px4_fmu-v4_default", "px4_fmu-v4pro_default", "px4_fmu-v5_default", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
+            target: [
+                     "px4_fmu-v2_default", "px4_fmu-v2_fixedwing", "px4_fmu-v2_lpe", "px4_fmu-v2_multicopter", "px4_fmu-v2_rover", "px4_fmu-v2_test",
+                     "px4_fmu-v3_default",
+                     "px4_fmu-v4_default",
+                     "px4_fmu-v4pro_default",
+                     "px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
                      "intel_aerofc-v1_default", "gumstix_aerocore2_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default",
                      "nxp_fmuk66-v3_default", "omnibus_f4sd_default"],
             image: docker_images.nuttx,

boards/px4/fmu-v2/fixedwing.cmake

+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR px4
+	MODEL fmu-v2
+	LABEL fixedwing
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	ROMFSROOT px4fmu_common
+	IO px4_io-v2_default
+	#TESTING
+	#UAVCAN_INTERFACES 2
+
+	SERIAL_PORTS
+		GPS1:/dev/ttyS3
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+		TEL4:/dev/ttyS6
+
+	DRIVERS
+		#barometer # all available barometer drivers
+		barometer/ms5611
+		batt_smbus
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		imu/l3gd20
+		imu/lsm303d
+		imu/mpu6000
+		imu/mpu9250
+		lights/rgbled
+		#magnetometer # all available magnetometer drivers
+		magnetometer/hmc5883
+		px4fmu
+		px4io
+		stm32
+		stm32/adc
+		stm32/tone_alarm
+		#telemetry # all available telemetry drivers
+		telemetry/iridiumsbd
+		#uavcan
+
+	MODULES
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		load_mon
+		logger
+		mavlink
+		navigator
+		sensors
+		vmount
+		wind_estimator
+
+	SYSTEMCMDS
+		bl_update
+		#config
+		#dumpfile
+		#esc_calib
+		hardfault_log
+		#led_control
+		mixer
+		#motor_ramp
+		#motor_test
+		mtd
+		#nshterm
+		param
+		perf
+		pwm
+		reboot
+		#sd_bench
+		top
+		#topic_listener
+		tune_control
+		usb_connected
+		ver
+	)

boards/px4/fmu-v2/multicopter.cmake

+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR px4
+	MODEL fmu-v2
+	LABEL multicopter
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	ROMFSROOT px4fmu_common
+	IO px4_io-v2_default
+	#UAVCAN_INTERFACES 2
+
+	SERIAL_PORTS
+		GPS1:/dev/ttyS3
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+		TEL4:/dev/ttyS6
+
+	DRIVERS
+		barometer/ms5611
+		batt_smbus
+		camera_trigger
+		distance_sensor # all available distance sensor drivers
+		gps
+		imu/l3gd20
+		imu/lsm303d
+		imu/mpu6000
+		imu/mpu9250
+		irlock
+		lights/rgbled
+		magnetometer/hmc5883
+		px4flow
+		px4fmu
+		px4io
+		stm32
+		stm32/adc
+		stm32/tone_alarm
+
+	MODULES
+		#attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		land_detector
+		landing_target_estimator
+		load_mon
+		#local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_pos_control
+		navigator
+		sensors
+		vmount
+
+	SYSTEMCMDS
+		bl_update
+		#config
+		#dumpfile
+		#esc_calib
+		hardfault_log
+		#led_control
+		mixer
+		#motor_ramp
+		#motor_test
+		mtd
+		#nshterm
+		param
+		perf
+		pwm
+		reboot
+		#sd_bench
+		top
+		#topic_listener
+		tune_control
+		usb_connected
+		ver
+	)

boards/px4/fmu-v2/rover.cmake

+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR px4
+	MODEL fmu-v2
+	LABEL rover
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	ROMFSROOT px4fmu_common
+	IO px4_io-v2_default
+
+	SERIAL_PORTS
+		GPS1:/dev/ttyS3
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+		TEL4:/dev/ttyS6
+
+	DRIVERS
+		barometer/ms5611
+		batt_smbus
+		camera_trigger
+		distance_sensor # all available distance sensor drivers
+		gps
+		imu/l3gd20
+		imu/lsm303d
+		imu/mpu6000
+		imu/mpu9250
+		lights/rgbled
+		magnetometer/hmc5883
+		px4flow
+		px4fmu
+		px4io
+		stm32
+		stm32/adc
+		stm32/tone_alarm
+
+	MODULES
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		gnd_att_control
+		gnd_pos_control
+		land_detector
+		load_mon
+		logger
+		mavlink
+		navigator
+		sensors
+		vmount
+
+	SYSTEMCMDS
+		bl_update
+		#config
+		#dumpfile
+		#esc_calib
+		hardfault_log
+		#led_control
+		mixer
+		#motor_ramp
+		#motor_test
+		mtd
+		#nshterm
+		param
+		perf
+		pwm
+		reboot
+		#sd_bench
+		top
+		#topic_listener
+		tune_control
+		usb_connected
+		ver
+	)

boards/px4/fmu-v5/default.cmake

@@ -27,22 +27,20 @@ px4_add_board(
 		#heater
 		imu/adis16448
 		#imu # all available imu drivers
-		imu/bma180
 		imu/bmi055
-		imu/bmi160
 		imu/mpu6000
 		imu/mpu9250
 		imu/icm20948
 		irlock
 		lights/blinkm
 		lights/oreoled
+		lights/pca8574
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		#md25
 		mkblctrl
-		lights/pca8574
 		pca9685
 		pmw3901
 		#protocol_splitter

boards/px4/fmu-v5/fixedwing.cmake

+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR px4
+	MODEL fmu-v5
+	LABEL fixedwing
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	IO px4_io-v2_default
+	UAVCAN_INTERFACES 2
+
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+		TEL4:/dev/ttyS3
+
+	DRIVERS
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		imu/adis16448
+		imu/bmi055
+		imu/mpu6000
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		lights/rgbled_pwm
+		magnetometer # all available magnetometer drivers
+		pwm_input
+		pwm_out_sim
+		px4fmu
+		px4io
+		rc_input
+		stm32
+		stm32/adc
+		stm32/tone_alarm
+		telemetry # all available telemetry drivers
+		uavcan
+
+	MODULES
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		load_mon
+		logger
+		mavlink
+		navigator
+		sensors
+		vmount
+		wind_estimator
+
+	SYSTEMCMDS
+		bl_update
+		config
+		dumpfile
+		esc_calib
+		hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		shutdown
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+	)

boards/px4/fmu-v5/multicopter.cmake

+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR px4
+	MODEL fmu-v5
+	LABEL multicopter
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	IO px4_io-v2_default
+	TESTING
+	UAVCAN_INTERFACES 2
+
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+		TEL4:/dev/ttyS3
+
+	DRIVERS
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_trigger
+		distance_sensor # all available distance sensor drivers
+		gps
+		imu/bmi055
+		imu/mpu6000
+		irlock
+		lights/blinkm
+		lights/oreoled
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		lights/rgbled_pwm
+		magnetometer # all available magnetometer drivers
+		pmw3901
+		pwm_input
+		pwm_out_sim
+		px4flow
+		px4fmu
+		px4io
+		rc_input
+		roboclaw
+		stm32
+		stm32/adc
+		stm32/tone_alarm
+		tap_esc
+		telemetry # all available telemetry drivers
+		uavcan
+
+	MODULES
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_pos_control
+		navigator
+		sensors
+		vmount
+		wind_estimator
+
+	SYSTEMCMDS
+		bl_update
+		config
+		dumpfile
+		esc_calib
+		hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		shutdown
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+	)

boards/px4/fmu-v5/rover.cmake

+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR px4
+	MODEL fmu-v5
+	LABEL rover
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	IO px4_io-v2_default
+	UAVCAN_INTERFACES 2
+
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+		TEL4:/dev/ttyS3
+
+	DRIVERS
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_trigger
+		distance_sensor # all available distance sensor drivers
+		gps
+		imu/bmi055
+		imu/mpu6000
+		lights/pca8574
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		lights/rgbled_pwm
+		magnetometer # all available magnetometer drivers
+		#md25
+		mkblctrl
+		pca9685
+		pmw3901
+		pwm_input
+		pwm_out_sim
+		px4flow
+		px4fmu
+		px4io
+		rc_input
+		roboclaw
+		stm32
+		stm32/adc
+		stm32/tone_alarm
+		telemetry # all available telemetry drivers
+		uavcan
+
+	MODULES
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		gnd_att_control
+		gnd_pos_control
+		land_detector
+		load_mon
+		logger
+		mavlink
+		navigator
+		sensors
+		vmount
+
+	SYSTEMCMDS
+		bl_update
+		config
+		dumpfile
+		esc_calib
+		hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		shutdown
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+	)

src/modules/navigator/precland.cpp

@@ -63,6 +63,10 @@ PrecLand::PrecLand(Navigator *navigator) :
 	MissionBlock(navigator),
 	ModuleParams(navigator)
 {
+	_handle_param_acceleration_hor = param_find("MPC_ACC_HOR");
+	_handle_param_xy_vel_cruise = param_find("MPC_XY_CRUISE");
+
+	updateParams();
 }
 
 void
@@ -101,7 +105,6 @@ PrecLand::on_activation()
 	_last_slewrate_time = 0;
 
 	switch_to_state_start();
-
 }
 
 void
@@ -160,6 +163,20 @@ PrecLand::on_active()
 
 }
 
+void
+PrecLand::updateParams()
+{
+	ModuleParams::updateParams();
+
+	if (_handle_param_acceleration_hor != PARAM_INVALID) {
+		param_get(_handle_param_acceleration_hor, &_param_acceleration_hor);
+	}
+
+	if (_handle_param_xy_vel_cruise != PARAM_INVALID) {
+		param_get(_handle_param_xy_vel_cruise, &_param_xy_vel_cruise);
+	}
+}
+
 void
 PrecLand::run_state_start()
 {
@@ -545,21 +562,21 @@ void PrecLand::slewrate(float &sp_x, float &sp_y)
 	// limit the setpoint speed to the maximum cruise speed
 	matrix::Vector2f sp_vel = (sp_curr - _sp_pev) / dt; // velocity of the setpoints
 
-	if (sp_vel.length() > _param_xy_vel_cruise.get()) {
-		sp_vel = sp_vel.normalized() * _param_xy_vel_cruise.get();
+	if (sp_vel.length() > _param_xy_vel_cruise) {
+		sp_vel = sp_vel.normalized() * _param_xy_vel_cruise;
 		sp_curr = _sp_pev + sp_vel * dt;
 	}
 
 	// limit the setpoint acceleration to the maximum acceleration
 	matrix::Vector2f sp_acc = (sp_curr - _sp_pev * 2 + _sp_pev_prev) / (dt * dt); // acceleration of the setpoints
 
-	if (sp_acc.length() > _param_acceleration_hor.get()) {
-		sp_acc = sp_acc.normalized() * _param_acceleration_hor.get();
+	if (sp_acc.length() > _param_acceleration_hor) {
+		sp_acc = sp_acc.normalized() * _param_acceleration_hor;
 		sp_curr = _sp_pev * 2 - _sp_pev_prev + sp_acc * (dt * dt);
 	}
 
 	// limit the setpoint speed such that we can stop at the setpoint given the maximum acceleration/deceleration
-	float max_spd = sqrtf(_param_acceleration_hor.get() * ((matrix::Vector2f)(_sp_pev - matrix::Vector2f(sp_x,
+	float max_spd = sqrtf(_param_acceleration_hor * ((matrix::Vector2f)(_sp_pev - matrix::Vector2f(sp_x,
 			      sp_y))).length());
 	sp_vel = (sp_curr - _sp_pev) / dt; // velocity of the setpoints
 

src/modules/navigator/precland.h

@@ -77,6 +77,9 @@ public:
 	PrecLandMode get_mode() { return _mode; };
 
 private:
+
+	void updateParams() override;
+
 	// run the control loop for each state
 	void run_state_start();
 	void run_state_horizontal_approach();
@@ -127,9 +130,13 @@ private:
 		(ParamFloat<px4::params::PLD_FAPPR_ALT>) _param_final_approach_alt,
 		(ParamFloat<px4::params::PLD_SRCH_ALT>) _param_search_alt,
 		(ParamFloat<px4::params::PLD_SRCH_TOUT>) _param_search_timeout,
-		(ParamInt<px4::params::PLD_MAX_SRCH>) _param_max_searches,
-		(ParamFloat<px4::params::MPC_ACC_HOR>) _param_acceleration_hor,
-		(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_xy_vel_cruise
+		(ParamInt<px4::params::PLD_MAX_SRCH>) _param_max_searches
 	)
 
+	// non-navigator parameters
+	param_t	_handle_param_acceleration_hor{PARAM_INVALID};
+	param_t	_handle_param_xy_vel_cruise{PARAM_INVALID};
+	float	_param_acceleration_hor{0.0f};
+	float	_param_xy_vel_cruise{0.0f};
+
 };