Cyphal support for px4_fmu-v6c target

PX4 / PX4-Autopilot

PX4 Autopilot Software

https://px4.io

BSD 3-Clause "New" or "Revised" License

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Cyphal support for px4_fmu-v6c target #21424

Open vmsav opened 1 year ago

vmsav commented 1 year ago

It would be great to provide out of box support of Cyphal for px4_fmu-v6c target! At this moment an error occurs in main branch when building firmware with enabled Cyphal driver (CONFIG_DRIVERS_CYPHAL=y, CONFIG_DRIVERS_UAVCAN=n). PX4-Autopilot/src/drivers/cyphal/CanardHandle.cpp:52:4: error: #error "No CAN driver enabled for Cyphal build" @PonomarevDA

ekononykhin commented 1 year ago

It will be great if Cyphal support becomes available for v6c in the near future. I'm currently using Cyphal and PWM at the ESC level and plan to switch fully to Cyphal.

PonomarevDA commented 1 year ago

Besides modifying default.px4board or adding cyphal.px4board, you should also take care about nuttx-config. You can check the fmu-v5/nuttx-config/cyphal example. The user guide (PX4 Board Configuration and NuttX Board Porting Guide) also makes things a bit clearer. fmu-v6c has canfd, so the configuration might be a bit different from to fmu-v5, but I see it was considered on the forum.

I have fmu-v6c, but I will not be able to try it until the end of next week.

DronecodeBot commented 6 months ago

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/enabling-cyphal-for-cubeorangeplus-target/37339/1