ArdupilotManager: add navigator64 support

bluerobotics · Sep 30, 2024 · 1e5062d · 1e5062d
1 parent 08f7e38
commit 1e5062d
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Showing 4 changed files with 22 additions and 2 deletions.
diff --git a/core/services/ardupilot_manager/ArduPilotManager.py b/core/services/ardupilot_manager/ArduPilotManager.py
@@ -187,6 +187,12 @@ async def start_linux_board(self, board: LinuxFlightController) -> None:
                     pathlib.Path("/root/blueos-files/ardupilot-manager/default/ardupilot_navigator"),
                     board,
                 )
+            # TODO: enable once available at ardupilot manifest
+            # elif board.platform == Platform.Navigator64:
+            #     self.firmware_manager.install_firmware_from_file(
+            #         pathlib.Path("/root/blueos-files/ardupilot-manager/default/ardupilot_navigator64"),
+            #         board,
+            #     )
             else:
                 raise NoDefaultFirmwareAvailable(
                     f"No firmware installed for '{board.platform}' and no default firmware available. Please install the firmware manually."

diff --git a/core/services/ardupilot_manager/flight_controller_detector/linux/navigator.py b/core/services/ardupilot_manager/flight_controller_detector/linux/navigator.py
@@ -1,3 +1,4 @@
+import platform
 from typing import List
 
 from commonwealth.utils.commands import load_file
@@ -7,9 +8,15 @@
 
 
 class Navigator(LinuxFlightController):
-    name = "Navigator"
     manufacturer = "Blue Robotics"
-    platform = Platform.Navigator
+
+    def __init__(self) -> None:
+        super().__init__()
+        if platform.machine() == "aarch64":
+            self.name = "Navigator64"
+            self.platform = Platform.Navigator64
+        self.name = "Navigator"
+        self.platform = Platform.Navigator
 
     def is_pi5(self) -> bool:
         with open("/proc/cpuinfo", "r", encoding="utf-8") as f:

diff --git a/core/services/ardupilot_manager/setup.py b/core/services/ardupilot_manager/setup.py
@@ -26,6 +26,11 @@
         "ardupilot_navigator",
         "https://firmware.ardupilot.org/Sub/stable-4.1.2/navigator/ardusub",
     ),
+    #     StaticFile(
+    #     defaults_folder,
+    #     "ardupilot_navigator",
+    #     "https://firmware.ardupilot.org/Sub/stable-4.1.2/navigator64/ardusub",
+    # ),
     StaticFile(defaults_folder, "ardupilot_pixhawk1", "https://firmware.ardupilot.org/Sub/latest/Pixhawk1/ardusub.apj"),
     StaticFile(defaults_folder, "ardupilot_pixhawk4", "https://firmware.ardupilot.org/Sub/latest/Pixhawk4/ardusub.apj"),
 ]

diff --git a/core/services/ardupilot_manager/typedefs.py b/core/services/ardupilot_manager/typedefs.py
@@ -110,6 +110,7 @@ class Platform(str, Enum):
     CubeOrange = "CubeOrange"
     GenericSerial = "GenericSerial"
     Navigator = "navigator"
+    Navigator64 = "navigator64"
     Argonot = "argonot"
     SITL = get_sitl_platform_name(machine())
 
@@ -123,6 +124,7 @@ def type(self) -> PlatformType:
             Platform.CubeOrange: PlatformType.Serial,
             Platform.GenericSerial: PlatformType.Serial,
             Platform.Navigator: PlatformType.Linux,
+            Platform.Navigator64: PlatformType.Linux,
             Platform.Argonot: PlatformType.Linux,
             Platform.SITL: PlatformType.SITL,
         }