feat(boards/modalai/voxl2): Add a ModalAI MPA bridge for the raw IMU samples for use by external applications

boards/modalai/voxl2/scripts/install-voxl.sh

@@ -132,6 +132,7 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-apps_sbus"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-voxl_save_cal_params"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vehicle_air_data_bridge"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sensor_baro_bridge"
+adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-sensor_imu_raw_bridge"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-dps310"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-icp101xx"
 adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-vehicle_local_position_bridge"

boards/modalai/voxl2/src/CMakeLists.txt

@@ -109,4 +109,5 @@ elseif("${PX4_PLATFORM}" STREQUAL "posix")
 	add_subdirectory(${PX4_BOARD_DIR}/src/modules/sensor_baro_bridge sensor_baro_bridge)
 	add_subdirectory(${PX4_BOARD_DIR}/src/modules/vehicle_local_position_bridge vehicle_local_position_bridge)
 	add_subdirectory(${PX4_BOARD_DIR}/src/modules/sih_vio_bridge sih_vio_bridge)
+	add_subdirectory(${PX4_BOARD_DIR}/src/modules/sensor_imu_raw_bridge sensor_imu_raw_bridge)
 endif()

boards/modalai/voxl2/src/modules/sensor_imu_raw_bridge/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2025 ModalAI, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__sensor_imu_raw_bridge
+	MAIN sensor_imu_raw_bridge
+	INCLUDES
+		${CMAKE_CURRENT_SOURCE_DIR}/../../lib/mpa
+	SRCS
+		sensor_imu_raw_bridge.cpp
+	DEPENDS
+		mpa
+	)

boards/modalai/voxl2/src/modules/sensor_imu_raw_bridge/sensor_imu_raw_bridge.cpp

@@ -0,0 +1,201 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 ModalAI, inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include "mpa.hpp"
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <time.h>
+#include <px4_log.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <uORB/uORB.h>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/sensor_accel.h>
+#include <uORB/topics/sensor_gyro.h>
+
+class SensorImuRawBridge : public ModuleBase, public px4::WorkItem
+{
+public:
+	static Descriptor desc;
+
+	SensorImuRawBridge();
+	~SensorImuRawBridge() override = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	// Subscribe to raw accel topic (triggers the work item)
+	uORB::SubscriptionCallbackWorkItem _sensor_accel_sub{this, ORB_ID(sensor_accel)};
+
+	// Poll the raw gyro topic on each accel callback
+	uORB::Subscription _sensor_gyro_sub{ORB_ID(sensor_gyro)};
+
+	int imu_raw_pipe_ch{0};
+
+};
+
+ModuleBase::Descriptor SensorImuRawBridge::desc{task_spawn, custom_command, print_usage};
+
+SensorImuRawBridge::SensorImuRawBridge() :
+	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
+{
+}
+
+bool SensorImuRawBridge::init()
+{
+	if (MPA::Initialize() == -1) {
+		PX4_ERR("MPA init failed");
+		return false;
+	}
+
+	char imu_raw_pipe_name[] = "px4_sensor_imu_raw";
+	imu_raw_pipe_ch = MPA::PipeCreate(imu_raw_pipe_name);
+
+	if (imu_raw_pipe_ch == -1) {
+		PX4_ERR("Pipe create failed for %s", imu_raw_pipe_name);
+		return false;
+	}
+
+	if (!_sensor_accel_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+void SensorImuRawBridge::Run()
+{
+	if (should_exit()) {
+		_sensor_accel_sub.unregisterCallback();
+		exit_and_cleanup(desc);
+		return;
+	}
+
+	sensor_accel_s accel_data;
+
+	if (_sensor_accel_sub.update(&accel_data)) {
+
+		imu_data_t imu;
+		memset(&imu, 0, sizeof(imu));
+		imu.magic_number = IMU_MAGIC_NUMBER;
+
+		// Raw acceleration (m/s^2) - straight from the driver, no TC applied
+		imu.accl_ms2[0] = accel_data.x;
+		imu.accl_ms2[1] = accel_data.y;
+		imu.accl_ms2[2] = accel_data.z;
+
+		// Temperature from accel sensor
+		imu.temp_c = accel_data.temperature;
+
+		// Raw angular velocity (rad/s)
+		sensor_gyro_s gyro_data;
+
+		if (_sensor_gyro_sub.update(&gyro_data)) {
+			imu.gyro_rad[0] = gyro_data.x;
+			imu.gyro_rad[1] = gyro_data.y;
+			imu.gyro_rad[2] = gyro_data.z;
+		}
+
+		imu.timestamp_ns = accel_data.timestamp * 1000; // Convert µs to ns
+
+		if (MPA::PipeWrite(imu_raw_pipe_ch, (void *)&imu, sizeof(imu_data_t)) == -1) {
+			PX4_ERR("Pipe %d write failed!", imu_raw_pipe_ch);
+		}
+	}
+}
+
+int SensorImuRawBridge::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int SensorImuRawBridge::task_spawn(int argc, char *argv[])
+{
+	SensorImuRawBridge *instance = new SensorImuRawBridge();
+
+	if (instance) {
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int SensorImuRawBridge::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Raw sensor IMU bridge. Publishes raw accel and gyro data from PX4
+to the apps processor via MPA pipe. No temperature compensation
+or calibration offsets are applied.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("sensor_imu_raw_bridge", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int sensor_imu_raw_bridge_main(int argc, char *argv[])
+{
+	return ModuleBase::main(SensorImuRawBridge::desc, argc, argv);
+}

boards/modalai/voxl2/target/voxl-px4-hitl-start

@@ -102,3 +102,5 @@ logger start -t -b 256
 /bin/sleep 1
 
 mavlink boot_complete
+
+sensor_imu_raw_bridge start

boards/modalai/voxl2/target/voxl-px4-start

@@ -266,6 +266,7 @@ dataman start
 navigator start
 vehicle_air_data_bridge start
 sensor_baro_bridge start
+sensor_imu_raw_bridge start
 vehicle_local_position_bridge start
 
 # Start uxrce_dds_client for ros2 offboard messages from agent over localhost