feat(boards/agam-robotics): add Agam Robotics FMU-v6XRT board support by abhijithcv · Pull Request #28285 · PX4/PX4-Autopilot

abhijithcv · 2026-08-19T08:23:44Z

Adds boards/agam-robotics/fmu-v6xrt, Agam Robotics' own build target for the Agam Autopilot v6X-RT — electrically and mechanically identical to the NXP v6X-RT reference design (same as boards/px4/fmu-v6xrt), differing only in enclosure. Per the Manufacturer's PX4 Board Support Guide, manufacturers of the v6X-RT reference design should maintain their own target even when starting electrically identical to it, since it keeps board identity (board ID, USB VID/PID) under manufacturer control and gives a stable place to diverge the sensor set later (which we plan to do soon for sensor availability reasons; so our own target will be useful).

Only identity fields changed from the stock target (USB strings, HW_INFO_INIT_PREFIX/ver hwtypecmp from V6XRT to AGAMV6XRT, firmware.prototype board_id/magic/summary, path comments/include guards) — no pin/GPIO/sensor changes.

Board documentation: https://github.com/agam-robotics/PX4-Autopilot/blob/pr-agam-v6xrt-target/docs/en/flight_controller/agam_v6xrt.md

Board ID / USB identity — complete:

board_id: 1949, matching AP_HW_AGAM_v6XRT in ArduPilot/ardupilot#34114 (merged) and PX4/PX4-Bootloader#280 (merged)
USB PID 0x0002 under the Dronecode VID 0x3643: Dronecode/usb-ids#2 (merged)

Flight log: https://review.px4.io/plot_app?log=2aacada6-4c48-4942-820d-44dcf369b8af

Flown on the stock px4_fmu-v6xrt build rather than this target's own build — the hardware is electrically identical (this target is a byte-for-byte fork of boards/px4/fmu-v6xrt with only identity strings changed), so the flight validates the physical board.

github-actions · 2026-08-19T08:27:10Z

+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV


[error] bugprone-macro-parentheses [error]
macro replacement list should be enclosed in parentheses

Suggested change

# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV

# define BOOT_DEVICES_SELECTION (USB0_DEV|SERIAL0_DEV|SERIAL1_DEV)

github-actions · 2026-08-19T08:31:15Z

+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV


[error] bugprone-macro-parentheses [error]
macro replacement list should be enclosed in parentheses

Suggested change

# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV

# define BOOT_DEVICES_SELECTION (USB0_DEV|SERIAL0_DEV|SERIAL1_DEV)

github-actions · 2026-08-19T08:31:20Z

+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV


[error] bugprone-macro-parentheses [error]
macro replacement list should be enclosed in parentheses

Suggested change

# define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV

# define BOOT_DEVICES_SELECTION (USB0_DEV|SERIAL0_DEV|SERIAL1_DEV)

github-actions · 2026-08-19T08:31:21Z

+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV


[error] bugprone-macro-parentheses [error]
macro replacement list should be enclosed in parentheses

Suggested change

# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV

# define BOOT_DEVICES_FILTER_ONUSB (USB0_DEV|SERIAL0_DEV|SERIAL1_DEV)

github-actions · 2026-08-19T08:41:05Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 0 byte (0 %)]

    FILE SIZE        VM SIZE    
 --------------  -------------- 
  +0.0%     +55  [ = ]       0    .debug_abbrev
  -0.0%      -2  [ = ]       0    .debug_info
  -0.0%      -5  [ = ]       0    .debug_line
     +40%      +2  [ = ]       0    [Unmapped]
    -0.0%      -7  [ = ]       0    [section .debug_line]
  +0.0%     +48  [ = ]       0    TOTAL

px4_fmu-v6x [Total VM Diff: 0 byte (0 %)]

    FILE SIZE        VM SIZE    
 --------------  -------------- 
  +0.0%     +55  [ = ]       0    .debug_abbrev
  -0.0%      -2  [ = ]       0    .debug_info
  -0.0%      -5  [ = ]       0    .debug_line
    [NEW]      +2  [ = ]       0    [Unmapped]
    -0.0%      -7  [ = ]       0    [section .debug_line]
  +0.0%     +48  [ = ]       0    TOTAL

Updated: 2026-08-22T16:39:21

farhangnaderi · 2026-08-19T16:40:58Z

I should be able to review this some time next couple days. Ping me if it doesnt happen.

hamishwillee · 2026-08-19T23:52:04Z

This should have docs. IF it is a pixhawk standard board they could be modeled on https://docs.px4.io/main/en/flight_controller/pixhawk6x-rt. If it is manufacturer supported (i..e not perfectly compatible) then see that section of the docs.

Adds boards/agam-robotics/fmu-v6xrt, Agam Robotics' own build target for the Agam Autopilot v6X-RT — electrically and mechanically identical to the NXP v6X-RT reference design (same as boards/px4/fmu-v6xrt), differing only in enclosure. Per the Manufacturer's PX4 Board Support Guide, manufacturers of the v6X-RT reference design should maintain their own target even when starting electrically identical to it, since it keeps board identity (board ID, USB VID/PID) under manufacturer control and gives a stable place to diverge the sensor set later (which we plan to do soon for sensor availability reasons; so our own target will be useful). Only identity fields changed from the stock target (USB strings, HW_INFO_INIT_PREFIX/ver hwtypecmp from V6XRT to AGAMV6XRT, firmware.prototype board_id/magic/summary, path comments/include guards) — no pin/GPIO/sensor changes. Board ID / USB identity — in progress, coordinating with maintainers: - board_id: 1949, matching AP_HW_AGAM_v6XRT in ArduPilot/ardupilot#34114 (approved) and PX4/PX4-Bootloader#280 (open) - USB PID 0x0002 under the Dronecode VID 0x3643: Dronecode/usb-ids#2 (open) Flight log: https://review.px4.io/plot_app?log=2aacada6-4c48-4942-820d-44dcf369b8af Flown on the stock px4_fmu-v6xrt build rather than this target's own build — the hardware is electrically identical (this target is a byte-for-byte fork of boards/px4/fmu-v6xrt with only identity strings changed), so the flight validates the physical board. Signed-off-by: abhijithcv <abhijithcv1212@gmail.com>

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>

…arens (bugprone-macro-parentheses) Signed-off-by: abhijithcv <abhijithcv1212@gmail.com>

…efault Signed-off-by: abhijithcv <abhijithcv1212@gmail.com>

…entation Flight controller product page, manufacturer-supported tier. Magnetometer listed as BMM150/BMM350 per rc.board_sensors (source material had a nonexistent part number). Signed-off-by: abhijithcv <abhijithcv1212@gmail.com>

github-actions · 2026-08-20T06:56:03Z

No broken links found in changed files.

abhijithcv · 2026-08-20T07:09:02Z

This should have docs. IF it is a pixhawk standard board they could be modeled on https://docs.px4.io/main/en/flight_controller/pixhawk6x-rt. If it is manufacturer supported (i..e not perfectly compatible) then see that section of the docs.

Docs have been added @hamishwillee

abhijithcv · 2026-08-22T13:05:44Z

Hi @farhangnaderi, sorry to bother but did you get time to review this?

farhangnaderi · 2026-08-22T16:52:13Z

+if ver hwtypecmp AGAMV6XRT000 AGAMV6XRT001
+then
+	# Internal SPI bus ICM42686p (hard-mounted)
+	icm42688p -6 -R 12 -b 1 -s start
+
+	# Internal on IMU SPI BMI088
+	bmi088 -A -R 4 -s start
+	bmi088 -G -R 4 -s start
+
+	# Internal on IMU SPI bus ICM42688p
+	icm42688p -R 6 -b 2 -s start
+fi
+
+if ver hwtypecmp AGAMV6XRT002
+then
+	# Internal SPI bus icm45686 (hard-mounted)
+	icm45686 -R 12 -b 1 -s start
+
+	# Internal on IMU SPI BMI088
+	bmi088 -A -R 4 -s start
+	bmi088 -G -R 4 -s start
+
+	# Internal on IMU SPI bus icm45686
+	icm45686 -R 6 -b 2 -s start
+fi


are all these sensor types mentioned in the docs?

github-actions Bot added kind:feature Request or change that adds new functionality. scope:build-system CMake, Kconfig, board config, or build tooling. scope:boards Board-specific changes or hardware definitions. labels Aug 19, 2026

github-actions Bot reviewed Aug 19, 2026

View reviewed changes

farhangnaderi self-requested a review August 19, 2026 16:41

abhijithcv force-pushed the pr-agam-v6xrt-target branch from 9dc4030 to 3027280 Compare August 20, 2026 06:29

github-actions Bot added the scope:docs label Aug 20, 2026

abhijithcv force-pushed the pr-agam-v6xrt-target branch from 3027280 to b8a65ca Compare August 20, 2026 06:37

abhijithcv and others added 6 commits August 20, 2026 12:11

Update boards/agam-robotics/fmu-v6xrt/src/imxrt_flexspi_nor_boot.h

00922f4

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>

Update boards/agam-robotics/fmu-v6xrt/src/hw_config.h

c098b1e

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>

fix(boards/agam-robotics/fmu-v6xrt): wrap BOOT_DEVICES_SELECTION in p…

777e445

…arens (bugprone-macro-parentheses) Signed-off-by: abhijithcv <abhijithcv1212@gmail.com>

build: add agam_fmu-v6xrt_default alias for agam-robotics_fmu-v6xrt_d…

cf5d6e9

…efault Signed-off-by: abhijithcv <abhijithcv1212@gmail.com>

abhijithcv force-pushed the pr-agam-v6xrt-target branch from b8a65ca to 49d332f Compare August 20, 2026 06:42

Merge branch 'main' into pr-agam-v6xrt-target

cec5bce

farhangnaderi requested a review from hamishwillee August 22, 2026 16:47

farhangnaderi reviewed Aug 22, 2026

View reviewed changes

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feat(boards/agam-robotics): add Agam Robotics FMU-v6XRT board support - #28285

feat(boards/agam-robotics): add Agam Robotics FMU-v6XRT board support#28285
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	# define BOOT_DEVICES_SELECTION USB0_DEV\|SERIAL0_DEV\|SERIAL1_DEV
	# define BOOT_DEVICES_SELECTION (USB0_DEV\|SERIAL0_DEV\|SERIAL1_DEV)

	# define BOOT_DEVICES_FILTER_ONUSB USB0_DEV\|SERIAL0_DEV\|SERIAL1_DEV
	# define BOOT_DEVICES_FILTER_ONUSB (USB0_DEV\|SERIAL0_DEV\|SERIAL1_DEV)

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🔎 FLASH Analysis

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