The per-channel send mutex is genuinely recursive: callers hold lock_send()
while the MAVLink C library re-enters send_start()/send_finish() on the same
mutex via MAVLINK_START_UART_SEND. On NuttX a recursive mutex only works with
CONFIG_PTHREAD_MUTEX_TYPES; without it pthread_mutexattr_settype() is a no-op
and the nested lock deadlocks. Only a handful of boards happened to enable the
option (for Zenoh), so mavlink could deadlock at startup on most boards, e.g.
when bringing up a USB link.
Enable CONFIG_PTHREAD_MUTEX_TYPES on the NuttX boards that build mavlink, add
a compile-time guard so a board missing the option fails the build loudly
instead of deadlocking silently, and check the settype() return. Enabling the
option is free in flash and RAM on these boards since they already enable
CONFIG_PRIORITY_INHERITANCE / CONFIG_PTHREAD_MUTEX_ROBUST.
Signed-off-by: Julian Oes <julian@oes.ch>
* fix(boards): update STM32H7 bootloaders with ECC scrub and enable bl_update
The committed extras/*_bootloader.bin for every STM32H7 flash-parameter
target predate #27642, so none carry the uncorrectable-flash-ECC scrub
that keeps a torn parameter-flash write from bricking the board on every
boot. Rebuild each bootloader from current main with the release
toolchain (GCC 13.2.1) and enable CONFIG_SYSTEMCMDS_BL_UPDATE so the fix
can be applied in the field via SYS_BL_UPDATE without a debugger; the
~40-45 KB image is embedded in ROMFS only when the option is on.
ark/fpv drops LANDING_TARGET_ESTIMATOR to fit the embedded image,
x-mav/ap-h743v2 gets its first committed bin, and a stray duplicate
bootloader bin is removed from kakuteh7dualimu/extras.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* fix(boards): remove SCH16T from ARK FPV mavlink-dev.px4board
---------
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
The bootloader boot-delay feature has been mechanically broken on
every modern FMU board since the STM32F7/H7 transition. It has three
independent bugs that prevent it from ever working:
1. Offset mismatch: BOOT_DELAY_ADDRESS is hardcoded to 0x1a0, but the
NuttX vector table is 504 B (F76x) to 664 B (H743) long. The
linker places _bootdelay_signature at ALIGN(32) past end of
vectors (e.g. 0x2a0 on CubeOrange), never at 0x1a0. The bootloader
reads random exception_common pointers in place of the magic and
never matches BOOT_DELAY_SIGNATURE1/2. Verified on CubeOrange with
objdump of cubepilot_cubeorange_default.elf.
2. Flash cache never flushes: fc_write() stores arbitrary writes in
cache line 1 and only flushes on a very specific condition tied
to the sequential firmware upload flow. A standalone write during
PROTO_SET_DELAY is cached forever. fc_read() then returns the
cached value, so the post-write verify lies and the bootloader
reports success. Nothing ever reaches flash.
3. H7 write granularity: the STM32H7 flash controller requires a
full 32-byte program cycle per write. Single 32-bit writes from
flash_func_write_word() would not be accepted by the controller
even if they reached it.
The feature has been silently dead on every H7/F7 FMU board for
years and no one noticed, which is strong evidence nothing actually
depends on it. Rather than fix it (which would mean rewriting
PROTO_SET_DELAY, the flash cache path, and the H7 flash programming
path), remove it.
Changes:
- bl.c: PROTO_SET_DELAY case now immediately NACKs (goto cmd_bad)
so clients that still send the command get a clear rejection
instead of the previous silent fake-success. The opcode stays in
the protocol enum for backwards compatibility.
- bl.h: drop BOOT_DELAY_SIGNATURE1/2 and BOOT_DELAY_MAX.
- stm/stm32_common/main.c, nxp/imxrt_common/main.c: drop the
startup boot-delay sig check block.
- image_toc.c: decouple find_toc() from BOOT_DELAY_ADDRESS.
BOARD_IMAGE_TOC_OFFSET is now the required define when
BOOTLOADER_USE_TOC is enabled. The body is wrapped in #ifdef
BOOTLOADER_USE_TOC and falls back to a stub returning false when
the TOC is not in use (no upstream board currently enables it).
- Linker scripts: strip EXTERN(_bootdelay_signature) and the
FILL/. += 8 block from all 142 affected .ld files across boards/.
- hw_config.h: strip the #define BOOT_DELAY_ADDRESS and its comment
block entry from all 48 affected boards.
- Tools/px4_uploader.py, Tools/teensy_uploader.py: remove --boot-delay,
set_boot_delay(), and SET_BOOT_DELAY client-side counterpart.
Smoke-built on cubepilot_cubeorange_default and
cubepilot_cubeorange_bootloader; no link errors, no unresolved
symbols, flash usage unchanged.
Tested:
- New BL, new FW
- Old BL, old FW
- Old BL, new FW
- New BL, old FW
MODULES_TEMPERATURE_COMPENSATION defaults to n in Kconfig, so explicit
=n and "is not set" entries are unnecessary.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
These are generic flight controller boards (not drone-specific
products), so they should not come with a pre-selected airframe like
every other PX4 board. Drop the SYS_AUTOSTART default, matching the
convention used across the rest of the tree.
Drone-specific products (bitcraze/crazyflie, atl/mantis-edu) retain
their default airframe.
