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PX4 ROS2 msg conformity and explicit topics

Browse Source 
- .msg files are PascalCase
 - topics are still either per msg or explicitly listed in TOPICS
 - compatible structs are still generated (eg struct msg_s), but ROS2 style px4::msg::Msg is also available
This commit is contained in:
Daniel Agar
2022-01-21 09:32:30 -05:00
parent 7cb8ed3a1f
commit 56de0e27d8
395 changed files with 5601 additions and 1517 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/adc/ads1115/CMakeLists.txt
+5 -1
View File
@@ -37,5 +37,9 @@ px4_add_module(
SRCS
ads1115_main.cpp
ADS1115.cpp
ADS1115.h
DEPENDS
)
px4_work_queue
PUBLICATIONS
"px4::msg::AdcReport /adc_report"
)
src/drivers/adc/board_adc/CMakeLists.txt
+3
View File
@@ -40,4 +40,7 @@ px4_add_module(
DEPENDS
arch_adc
px4_work_queue
PUBLICATIONS
"px4::msg::AdcReport /adc_report"
"px4::msg::SystemPower /system_power"
)
src/drivers/barometer/bmp388/CMakeLists.txt
+2
View File
@@ -42,4 +42,6 @@ px4_add_module(
DEPENDS
drivers_barometer
px4_work_queue
PUBLICATIONS
"px4::msg::SensorBaro /sensor_baro"
)
src/drivers/barometer/ms5611/CMakeLists.txt
+2
View File
@@ -46,4 +46,6 @@ px4_add_module(
drivers__device
drivers_barometer
px4_work_queue
PUBLICATIONS
"px4::msg::SensorBaro /sensor_baro"
)
src/drivers/bootloaders/CMakeLists.txt
+2 -2
View File
@@ -39,10 +39,10 @@ add_dependencies(drivers_bootloaders prebuild_targets)
include_directories(include)
target_include_directories(drivers_bootloaders INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
target_link_libraries(drivers_bootloaders PRIVATE systemlib)
target_link_libraries(drivers_bootloaders PRIVATE crc)
# generate bootloader_app_shared_t
if(NOT "${PX4_BOARD_LABEL}" MATCHES "canbootloader")
if(NOT "${PX4_BOARD_LABEL}" MATCHES "canbootloader")
set(HW_MAJOR ${uavcanblid_hw_version_major})
set(HW_MINOR ${uavcanblid_hw_version_minor})
set(SW_MAJOR ${uavcanblid_sw_version_major})
src/drivers/bootloaders/boot_alt_app_shared.c
+1 -1
View File
@@ -45,7 +45,7 @@
#include "boot_alt_app_shared.h"
#include <lib/systemlib/crc.h>
#include <lib/crc/crc.h>
/****************************************************************************
* Name: bootloader_alt_app_shared_read
src/drivers/bootloaders/boot_app_shared.c
+1 -1
View File
@@ -46,7 +46,7 @@
#include "arm_arch.h"
#include "boot_app_shared.h"
#include <lib/systemlib/crc.h>
#include <lib/crc/crc.h>
#define BOOTLOADER_COMMON_APP_SIGNATURE 0xB0A04150u
#define BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE 0xB0A0424Cu
src/drivers/camera_capture/CMakeLists.txt
+4 -1
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
# Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -46,4 +46,7 @@ px4_add_module(
camera_capture.cpp
DEPENDS
arch_io_pins
PUBLICATIONS
"px4::msg::CameraTrigger /camera_trigger"
"px4::msg::PpsCapture /pps_capture" # TODO
)
src/drivers/camera_trigger/CMakeLists.txt
+3
View File
@@ -50,4 +50,7 @@ px4_add_module(
interfaces/src/gpio.cpp
DEPENDS
px4_work_queue
PUBLICATIONS
"px4::msg::CameraTrigger /camera_trigger"
"px4::msg::PpsCapture /pps_capture" # TODO
)
src/drivers/differential_pressure/ets/CMakeLists.txt
+2
View File
@@ -38,4 +38,6 @@ px4_add_module(
ets_airspeed.cpp
DEPENDS
drivers__airspeed
PUBLICATIONS
"px4::msg::DifferentialPressure /differential_pressure"
)
src/drivers/differential_pressure/ms4525/CMakeLists.txt
+2
View File
@@ -39,4 +39,6 @@ px4_add_module(
DEPENDS
drivers__airspeed
mathlib
PUBLICATIONS
"px4::msg::DifferentialPressure /differential_pressure"
)
src/drivers/differential_pressure/ms5525/CMakeLists.txt
+2
View File
@@ -40,4 +40,6 @@ px4_add_module(
DEPENDS
drivers__airspeed
mathlib
PUBLICATIONS
"px4::msg::DifferentialPressure /differential_pressure"
)
src/drivers/differential_pressure/sdp3x/CMakeLists.txt
+2
View File
@@ -40,4 +40,6 @@ px4_add_module(
DEPENDS
drivers__airspeed
mathlib
PUBLICATIONS
"px4::msg::DifferentialPressure /differential_pressure"
)
src/drivers/distance_sensor/broadcom/afbrs50/CMakeLists.txt
+2
View File
@@ -54,6 +54,8 @@ px4_add_module(
px4_work_queue
drivers_rangefinder
afbrs50_m4_fpu
PUBLICATIONS
"px4::msg::DistanceSensor /distance_sensor"
)
target_link_libraries(afbrs50_m4_fpu INTERFACE drivers__distance_sensor__afbrs50)
src/drivers/distance_sensor/cm8jl65/CMakeLists.txt
+2
View File
@@ -41,4 +41,6 @@ px4_add_module(
module.yaml
DEPENDS
drivers_rangefinder
PUBLICATIONS
"px4::msg::DistanceSensor /distance_sensor"
)
src/drivers/distance_sensor/gy_us42/CMakeLists.txt
+2
View File
@@ -40,4 +40,6 @@ px4_add_module(
DEPENDS
drivers_rangefinder
px4_work_queue
PUBLICATIONS
"px4::msg::DistanceSensor /distance_sensor"
)
src/drivers/distance_sensor/leddar_one/CMakeLists.txt
+2
View File
@@ -43,4 +43,6 @@ px4_add_module(
module.yaml
DEPENDS
drivers_rangefinder
PUBLICATIONS
"px4::msg::DistanceSensor /distance_sensor"
)
src/drivers/distance_sensor/mappydot/CMakeLists.txt
+2
View File
@@ -33,6 +33,8 @@
px4_add_module(
MODULE drivers__mappydot
MAIN mappydot
PUBLICATIONS
"px4::msg::DistanceSensor /distance_sensor"
SRCS
MappyDot.cpp
DEPENDS
src/drivers/dshot/CMakeLists.txt
+7
View File
@@ -52,4 +52,11 @@ px4_add_module(
mixer_module
MODULE_CONFIG
module.yaml
PUBLICATIONS
"px4::msg::ActuatorOutputs /actuator_outputs"
"px4::msg::EscStatus /esc_status"
SUBSCRIPTIONS
"px4::msg::ActuatorControls /actuator_controls_0"
"px4::msg::ActuatorControls /actuator_controls_1"
"px4::msg::ActuatorControls /actuator_controls_2"
)
src/drivers/gps/CMakeLists.txt
+4
View File
@@ -52,4 +52,8 @@ px4_add_module(
module.yaml
DEPENDS
git_gps_devices
PUBLICATIONS
"px4::msg::SensorGps /sensor_gps"
"px4::msg::SatelliteInfo /satellite_info"
"px4::msg::GpsDump /gps_dump"
)
src/drivers/heater/CMakeLists.txt
+2
View File
@@ -36,4 +36,6 @@ px4_add_module(
COMPILE_FLAGS
SRCS
heater.cpp
PUBLICATIONS
"px4::msg::HeaterStatus /heater_status"
)
src/drivers/imu/bosch/bmi088/CMakeLists.txt
+5
View File
@@ -51,4 +51,9 @@ px4_add_module(
drivers_accelerometer
drivers_gyroscope
px4_work_queue
PUBLICATIONS
"px4::msg::SensorAccel /sensor_accel"
"px4::msg::SensorGyro /sensor_gyro"
"px4::msg::SensorAccelFifo /sensor_accel_fifo"
"px4::msg::SensorGyroFifo /sensor_gyro_fifo"
)
src/drivers/imu/invensense/icm20602/CMakeLists.txt
+5
View File
@@ -44,4 +44,9 @@ px4_add_module(
drivers_accelerometer
drivers_gyroscope
px4_work_queue
PUBLICATIONS
"px4::msg::SensorAccel /sensor_accel"
"px4::msg::SensorGyro /sensor_gyro"
"px4::msg::SensorAccelFifo /sensor_accel_fifo"
"px4::msg::SensorGyroFifo /sensor_gyro_fifo"
)
src/drivers/imu/invensense/icm42688p/CMakeLists.txt
+5
View File
@@ -44,4 +44,9 @@ px4_add_module(
px4_work_queue
drivers_accelerometer
drivers_gyroscope
PUBLICATIONS
"px4::msg::SensorAccel /sensor_accel"
"px4::msg::SensorGyro /sensor_gyro"
"px4::msg::SensorAccelFifo /sensor_accel_fifo"
"px4::msg::SensorGyroFifo /sensor_gyro_fifo"
)
src/drivers/imu/invensense/mpu6000/CMakeLists.txt
+5
View File
@@ -44,4 +44,9 @@ px4_add_module(
drivers_accelerometer
drivers_gyroscope
px4_work_queue
PUBLICATIONS
"px4::msg::SensorAccel /sensor_accel"
"px4::msg::SensorGyro /sensor_gyro"
"px4::msg::SensorAccelFifo /sensor_accel_fifo"
"px4::msg::SensorGyroFifo /sensor_gyro_fifo"
)
src/drivers/irlock/CMakeLists.txt
+2
View File
@@ -37,4 +37,6 @@ px4_add_module(
-Wno-cast-align # TODO: fix and enable
SRCS
irlock.cpp
PUBLICATIONS
"px4::msg::IrlockReport /irlock_report"
)
src/drivers/magnetometer/akm/ak09916/CMakeLists.txt
+2
View File
@@ -43,4 +43,6 @@ px4_add_module(
DEPENDS
drivers_magnetometer
px4_work_queue
PUBLICATIONS
"px4::msg::SensorMag /sensor_mag"
)
src/drivers/magnetometer/akm/ak8963/CMakeLists.txt
+2
View File
@@ -43,4 +43,6 @@ px4_add_module(
DEPENDS
drivers_magnetometer
px4_work_queue
PUBLICATIONS
"px4::msg::SensorMag /sensor_mag"
)
src/drivers/magnetometer/bosch/bmm150/CMakeLists.txt
+2
View File
@@ -43,4 +43,6 @@ px4_add_module(
DEPENDS
drivers_magnetometer
px4_work_queue
PUBLICATIONS
"px4::msg::SensorMag /sensor_mag"
)
src/drivers/magnetometer/hmc5883/CMakeLists.txt
+2
View File
@@ -43,5 +43,7 @@ px4_add_module(
DEPENDS
drivers_magnetometer
px4_work_queue
PUBLICATIONS
"px4::msg::SensorMag /sensor_mag"
)
src/drivers/magnetometer/isentek/ist8308/CMakeLists.txt
+2
View File
@@ -43,4 +43,6 @@ px4_add_module(
DEPENDS
drivers_magnetometer
px4_work_queue
PUBLICATIONS
"px4::msg::SensorMag /sensor_mag"
)
src/drivers/magnetometer/isentek/ist8310/CMakeLists.txt
+2
View File
@@ -43,4 +43,6 @@ px4_add_module(
DEPENDS
drivers_magnetometer
px4_work_queue
PUBLICATIONS
"px4::msg::SensorMag /sensor_mag"
)
src/drivers/magnetometer/lis3mdl/CMakeLists.txt
+2
View File
@@ -42,4 +42,6 @@ px4_add_module(
DEPENDS
drivers_magnetometer
px4_work_queue
PUBLICATIONS
"px4::msg::SensorMag /sensor_mag"
)
src/drivers/magnetometer/lsm303agr/CMakeLists.txt
+2
View File
@@ -39,4 +39,6 @@ px4_add_module(
DEPENDS
drivers_magnetometer
px4_work_queue
PUBLICATIONS
"px4::msg::SensorMag /sensor_mag"
)
src/drivers/magnetometer/lsm9ds1_mag/CMakeLists.txt
+2
View File
@@ -42,4 +42,6 @@ px4_add_module(
DEPENDS
drivers_magnetometer
px4_work_queue
PUBLICATIONS
"px4::msg::SensorMag /sensor_mag"
)
src/drivers/magnetometer/qmc5883l/CMakeLists.txt
+2
View File
@@ -43,4 +43,6 @@ px4_add_module(
DEPENDS
drivers_magnetometer
px4_work_queue
PUBLICATIONS
"px4::msg::SensorMag /sensor_mag"
)
src/drivers/magnetometer/rm3100/CMakeLists.txt
+2
View File
@@ -42,4 +42,6 @@ px4_add_module(
DEPENDS
drivers_magnetometer
px4_work_queue
PUBLICATIONS
"px4::msg::SensorMag /sensor_mag"
)
src/drivers/magnetometer/vtrantech/vcm1193l/CMakeLists.txt
+2
View File
@@ -43,4 +43,6 @@ px4_add_module(
DEPENDS
drivers_magnetometer
px4_work_queue
PUBLICATIONS
"px4::msg::SensorMag /sensor_mag"
)
src/drivers/optical_flow/paw3902/CMakeLists.txt
+2
View File
@@ -43,4 +43,6 @@ px4_add_module(
conversion
drivers__device
px4_work_queue
PUBLICATIONS
"px4::msg::OpticalFlow /optical_flow"
)
src/drivers/optical_flow/pmw3901/CMakeLists.txt
+2
View File
@@ -38,4 +38,6 @@ px4_add_module(
pmw3901_main.cpp
PMW3901.cpp
PMW3901.hpp
PUBLICATIONS
"px4::msg::OpticalFlow /optical_flow"
)
src/drivers/optical_flow/px4flow/CMakeLists.txt
+2
View File
@@ -37,4 +37,6 @@ px4_add_module(
-Wno-cast-align # TODO: fix and enable
SRCS
px4flow.cpp
PUBLICATIONS
"px4::msg::OpticalFlow /optical_flow"
)
src/drivers/optical_flow/thoneflow/CMakeLists.txt
+2
View File
@@ -38,4 +38,6 @@ px4_add_module(
thoneflow_parser.cpp
MODULE_CONFIG
module.yaml
PUBLICATIONS
"px4::msg::OpticalFlow /optical_flow"
)
src/drivers/power_monitor/ina228/CMakeLists.txt
+2
View File
@@ -41,4 +41,6 @@ px4_add_module(
DEPENDS
battery
px4_work_queue
PUBLICATIONS
"px4::msg::BatteryStatus /battery_status"
)
src/drivers/power_monitor/voxlpm/CMakeLists.txt
+3
View File
@@ -39,4 +39,7 @@ px4_add_module(
DEPENDS
battery
px4_work_queue
PUBLICATIONS
"px4::msg::BatteryStatus /battery_status"
"px4::msg::PowerMonitor /power_monitor"
)
src/drivers/pps_capture/CMakeLists.txt
+2
View File
@@ -44,4 +44,6 @@ px4_add_module(
-DPARAM_PREFIX="${PARAM_PREFIX}"
SRCS
PPSCapture.cpp
PUBLICATIONS
"px4::msg::PpsCapture /pps_capture"
)
src/drivers/pwm_input/CMakeLists.txt
+2
View File
@@ -38,4 +38,6 @@ px4_add_module(
-Wno-cast-align # TODO: fix and enable
SRCS
pwm_input.cpp
PUBLICATIONS
"px4::msg::PwmInput /pwm_input"
)
src/drivers/pwm_out/CMakeLists.txt
+7 -1
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2015-2020 PX4 Development Team. All rights reserved.
# Copyright (c) 2015-2022 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -51,4 +51,10 @@ px4_add_module(
arch_io_pins
mixer
mixer_module
PUBLICATIONS
"px4::msg::ActuatorOutputs /actuator_outputs"
SUBSCRIPTIONS
"px4::msg::ActuatorControls /actuator_controls_0"
"px4::msg::ActuatorControls /actuator_controls_1"
"px4::msg::ActuatorControls /actuator_controls_2"
)
src/drivers/pwm_out_sim/CMakeLists.txt
+7 -1
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
# Copyright (c) 2015-2022 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -47,4 +47,10 @@ px4_add_module(
DEPENDS
mixer
mixer_module
PUBLICATIONS
"px4::msg::ActuatorOutputs /actuator_outputs"
SUBSCRIPTIONS
"px4::msg::ActuatorControls /actuator_controls_0"
"px4::msg::ActuatorControls /actuator_controls_1"
"px4::msg::ActuatorControls /actuator_controls_2"
)
src/drivers/px4io/CMakeLists.txt
+8
View File
@@ -45,6 +45,14 @@ px4_add_module(
arch_px4io_serial
circuit_breaker
mixer_module
PUBLICATIONS
"px4::msg::InputRc /input_rc"
"px4::msg::Px4ioStatus /px4io_status"
"px4::msg::Safety /safety"
SUBSCRIPTIONS
"px4::msg::ActuatorControls /actuator_controls_0"
"px4::msg::ActuatorControls /actuator_controls_1"
"px4::msg::ActuatorControls /actuator_controls_2"
)
# include the px4io binary in ROMFS
src/drivers/rc_input/CMakeLists.txt
+2
View File
@@ -42,4 +42,6 @@ px4_add_module(
module.yaml
DEPENDS
rc
PUBLICATIONS
"px4::msg::InputRc /input_rc"
)
src/drivers/roboclaw/CMakeLists.txt
+2
View File
@@ -39,5 +39,7 @@ px4_add_module(
RoboClaw.cpp
MODULE_CONFIG
module.yaml
PUBLICATIONS
"px4::msg::WheelEncoders /wheel_encoders"
)
src/drivers/rpm/pcf8583/CMakeLists.txt
+2
View File
@@ -41,4 +41,6 @@ px4_add_module(
DEPENDS
drivers__device
px4_work_queue
PUBLICATIONS
"px4::msg::Rpm /rpm"
)
src/drivers/rpm/rpm_simulator/CMakeLists.txt
+2
View File
@@ -36,4 +36,6 @@ px4_add_module(
SRCS
rpm_simulator.cpp
DEPENDS
PUBLICATIONS
"px4::msg::Rpm /rpm"
)
src/drivers/safety_button/CMakeLists.txt
+5
View File
@@ -39,4 +39,9 @@ px4_add_module(
DEPENDS
circuit_breaker
px4_work_queue
PUBLICATIONS
"px4::msg::LedControl /led_control"
"px4::msg::Safety /safety"
"px4::msg::TuneControl /tune_control"
"px4::msg::VehicleCommand /vehicle_command" # TODO srv
)
src/drivers/tap_esc/CMakeLists.txt
+7
View File
@@ -48,4 +48,11 @@ px4_add_module(
mixer
mixer_module
tunes
PUBLICATIONS
"px4::msg::ActuatorOutputs /actuator_outputs"
"px4::msg::EscStatus /esc_status"
SUBSCRIPTIONS
"px4::msg::ActuatorControls /actuator_controls_0"
"px4::msg::ActuatorControls /actuator_controls_1"
"px4::msg::ActuatorControls /actuator_controls_2"
)
src/drivers/telemetry/frsky_telemetry/CMakeLists.txt
+2
View File
@@ -40,5 +40,7 @@ px4_add_module(
frsky_telemetry.cpp
MODULE_CONFIG
module.yaml
SUBSCRIPTIONS
"px4::msg::VehicleGlobalPosition /vehicle_global_position"
)
src/drivers/telemetry/iridiumsbd/CMakeLists.txt
+2
View File
@@ -40,4 +40,6 @@ px4_add_module(
MODULE_CONFIG
module.yaml
DEPENDS
PUBLICATIONS
"px4::msg::IridiumsbdStatus /iridiumsbd_status"
)
src/drivers/test_ppm/test_ppm.cpp
-1
View File
@@ -55,7 +55,6 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/conversions.h>
#include <nuttx/arch.h>
#include <nuttx/clock.h>
src/drivers/tone_alarm/CMakeLists.txt
+2
View File
@@ -43,4 +43,6 @@ px4_add_module(
circuit_breaker
arch_tone_alarm
tunes
PUBLICATIONS
"px4::msg::TuneControl /tune_control"
)
src/drivers/uavcan/CMakeLists.txt
+6
View File
@@ -185,4 +185,10 @@ px4_add_module(
# within libuavcan
uavcan
PUBLICATIONS
"px4::msg::EscStatus /esc_status"
"px4::msg::GpsInjectData /gps_inject_data"
"px4::msg::UavcanParameterValue /uavcan_parameter_value" # TODO: srv
"px4::msg::InternalCombustionEngineStatus /internal_combustion_engine_status"
)
src/drivers/uavcannode/CMakeLists.txt
+19
View File
@@ -153,4 +153,23 @@ px4_add_module(
# within libuavcan
uavcan
PUBLICATIONS
"px4::msg::GpsInjectData /gps_inject_data"
"px4::msg::LedControl /led_control"
"px4::msg::TuneControl /tune_control"
SUBSCRIPTIONS
"px4::msg::ActuatorArmed /actuator_armed"
"px4::msg::BatteryStatus /battery_status"
"px4::msg::DifferentialPressure /differential_pressure"
"px4::msg::DistanceSensor /distance_sensor"
"px4::msg::Event /event"
"px4::msg::LedControl /led_control"
"px4::msg::LogMessage /log_message"
"px4::msg::MavlinkLog /mavlink_log"
"px4::msg::OpticalFlow /optical_flow"
"px4::msg::ParameterUpdate /parameter_update"
"px4::msg::Safety /safety"
"px4::msg::SensorBaro /sensor_baro"
"px4::msg::SensorGps /sensor_gps"
"px4::msg::SensorMag /sensor_mag"
)
src/examples/fake_imu/CMakeLists.txt
+6
View File
@@ -43,4 +43,10 @@ px4_add_module(
drivers_accelerometer
drivers_gyroscope
px4_work_queue
PUBLICATIONS
"px4::msg::EscStatus /esc_status"
"px4::msg::SensorGyro /sensor_gyro"
"px4::msg::SensorGyroFifo /sensor_gyro_fifo"
"px4::msg::SensorAccel /sensor_accel"
"px4::msg::SensorAccelFifo /sensor_accel_fifo"
)
src/examples/fixedwing_control/main.cpp
+3 -3
View File
@@ -307,7 +307,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
* Advertise that this controller will publish actuator
* control values and the rate setpoint
*/
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
orb_advert_t actuator_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuators);
orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
/* subscribe to topics. */
@@ -404,7 +404,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
PX4_ISFINITE(actuators.control[1]) &&
PX4_ISFINITE(actuators.control[2]) &&
PX4_ISFINITE(actuators.control[3])) {
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
orb_publish(ORB_ID(actuator_controls_0), actuator_pub, &actuators);
if (verbose) {
warnx("published");
@@ -422,7 +422,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
actuators.control[i] = 0.0f;
}
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
orb_publish(ORB_ID(actuator_controls_0), actuator_pub, &actuators);
fflush(stdout);
src/examples/px4_simple_app/CMakeLists.txt
+1 -1
View File
@@ -34,6 +34,6 @@ px4_add_module(
MODULE examples__px4_simple_app
MAIN px4_simple_app
SRCS
px4_simple_app.c
px4_simple_app.cpp
DEPENDS
)
src/examples/px4_simple_app/px4_simple_app.c → src/examples/px4_simple_app/px4_simple_app.cpp
+1 -3
View File
@@ -51,9 +51,7 @@
#include <uORB/topics/vehicle_acceleration.h>
#include <uORB/topics/vehicle_attitude.h>
__EXPORT int px4_simple_app_main(int argc, char *argv[]);
int px4_simple_app_main(int argc, char *argv[])
extern "C" __EXPORT int px4_simple_app_main(int argc, char *argv[])
{
PX4_INFO("Hello Sky!");
src/examples/rover_steering_control/main.cpp
+3 -3
View File
@@ -261,7 +261,7 @@ int rover_steering_control_thread_main(int argc, char *argv[])
* Advertise that this controller will publish actuator
* control values and the rate setpoint
*/
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
orb_advert_t actuator_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuators);
/* subscribe to topics. */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
@@ -357,7 +357,7 @@ int rover_steering_control_thread_main(int argc, char *argv[])
PX4_ISFINITE(actuators.control[1]) &&
PX4_ISFINITE(actuators.control[2]) &&
PX4_ISFINITE(actuators.control[3])) {
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
orb_publish(ORB_ID(actuator_controls_0), actuator_pub, &actuators);
if (verbose) {
warnx("published");
@@ -377,7 +377,7 @@ int rover_steering_control_thread_main(int argc, char *argv[])
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
orb_publish(ORB_ID(actuator_controls_0), actuator_pub, &actuators);
fflush(stdout);
src/lib/CMakeLists.txt
+41 -40
View File
@@ -31,43 +31,44 @@
#
############################################################################
add_subdirectory(airspeed)
add_subdirectory(avoidance)
add_subdirectory(battery)
add_subdirectory(bezier)
add_subdirectory(cdev)
add_subdirectory(circuit_breaker)
add_subdirectory(collision_prevention)
add_subdirectory(component_information)
add_subdirectory(controllib)
add_subdirectory(conversion)
add_subdirectory(crypto)
add_subdirectory(drivers)
add_subdirectory(field_sensor_bias_estimator)
add_subdirectory(geo)
add_subdirectory(hysteresis)
add_subdirectory(l1)
add_subdirectory(landing_slope)
add_subdirectory(led)
add_subdirectory(matrix)
add_subdirectory(mathlib)
add_subdirectory(mixer)
add_subdirectory(mixer_module)
add_subdirectory(motion_planning)
add_subdirectory(npfg)
add_subdirectory(perf)
add_subdirectory(pid)
add_subdirectory(pid_design)
add_subdirectory(pwm)
add_subdirectory(rc)
add_subdirectory(sensor_calibration)
add_subdirectory(slew_rate)
add_subdirectory(systemlib)
add_subdirectory(system_identification)
add_subdirectory(tecs)
add_subdirectory(terrain_estimation)
add_subdirectory(tunes)
add_subdirectory(version)
add_subdirectory(weather_vane)
add_subdirectory(wind_estimator)
add_subdirectory(world_magnetic_model)
add_subdirectory(airspeed EXCLUDE_FROM_ALL)
add_subdirectory(avoidance EXCLUDE_FROM_ALL)
add_subdirectory(battery EXCLUDE_FROM_ALL)
add_subdirectory(bezier EXCLUDE_FROM_ALL)
add_subdirectory(cdev EXCLUDE_FROM_ALL)
add_subdirectory(circuit_breaker EXCLUDE_FROM_ALL)
add_subdirectory(collision_prevention EXCLUDE_FROM_ALL)
add_subdirectory(component_information EXCLUDE_FROM_ALL)
add_subdirectory(controllib EXCLUDE_FROM_ALL)
add_subdirectory(conversion EXCLUDE_FROM_ALL)
add_subdirectory(crc EXCLUDE_FROM_ALL)
add_subdirectory(crypto EXCLUDE_FROM_ALL)
add_subdirectory(drivers EXCLUDE_FROM_ALL)
add_subdirectory(field_sensor_bias_estimator EXCLUDE_FROM_ALL)
add_subdirectory(geo EXCLUDE_FROM_ALL)
add_subdirectory(hysteresis EXCLUDE_FROM_ALL)
add_subdirectory(l1 EXCLUDE_FROM_ALL)
add_subdirectory(landing_slope EXCLUDE_FROM_ALL)
add_subdirectory(led EXCLUDE_FROM_ALL)
add_subdirectory(matrix EXCLUDE_FROM_ALL)
add_subdirectory(mathlib EXCLUDE_FROM_ALL)
add_subdirectory(mixer EXCLUDE_FROM_ALL)
add_subdirectory(mixer_module EXCLUDE_FROM_ALL)
add_subdirectory(motion_planning EXCLUDE_FROM_ALL)
add_subdirectory(npfg EXCLUDE_FROM_ALL)
add_subdirectory(perf EXCLUDE_FROM_ALL)
add_subdirectory(pid EXCLUDE_FROM_ALL)
add_subdirectory(pid_design EXCLUDE_FROM_ALL)
add_subdirectory(pwm EXCLUDE_FROM_ALL)
add_subdirectory(rc EXCLUDE_FROM_ALL)
add_subdirectory(sensor_calibration EXCLUDE_FROM_ALL)
add_subdirectory(slew_rate EXCLUDE_FROM_ALL)
add_subdirectory(systemlib EXCLUDE_FROM_ALL)
add_subdirectory(system_identification EXCLUDE_FROM_ALL)
add_subdirectory(tecs EXCLUDE_FROM_ALL)
add_subdirectory(terrain_estimation EXCLUDE_FROM_ALL)
add_subdirectory(tunes EXCLUDE_FROM_ALL)
add_subdirectory(version EXCLUDE_FROM_ALL)
add_subdirectory(weather_vane EXCLUDE_FROM_ALL)
add_subdirectory(wind_estimator EXCLUDE_FROM_ALL)
add_subdirectory(world_magnetic_model EXCLUDE_FROM_ALL)
src/lib/crc/CMakeLists.txt
+39
View File
@@ -0,0 +1,39 @@
############################################################################
#
# Copyright (c) 2015-2021 PX4 Development Team. 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.
#
############################################################################
add_library(crc STATIC
EXCLUDE_FROM_ALL
crc.c crc.h
)
add_dependencies(crc prebuild_targets)
target_compile_options(crc PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
src/lib/systemlib/crc.c → src/lib/crc/crc.c
View File
src/lib/systemlib/crc.h → src/lib/crc/crc.h
View File
src/lib/parameters/CMakeLists.txt
+5 -7
View File
@@ -146,9 +146,9 @@ add_custom_command(OUTPUT px4_parameters.hpp
px_generate_params.py
templates/px4_parameters.hpp.jinja
)
add_custom_target(generate_parameters DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.hpp)
set(SRCS)
list(APPEND SRCS parameters.cpp)
if(BUILD_TESTING)
list(APPEND SRCS param_translation_unit_tests.cpp)
@@ -161,11 +161,9 @@ if(${PX4_PLATFORM} STREQUAL "nuttx")
endif()
# TODO: find a better way to do this
if (NOT "${PX4_BOARD}" MATCHES "px4_io")
add_library(parameters
${SRCS}
px4_parameters.hpp
)
if((NOT "${PX4_BOARD}" MATCHES "px4_io") AND (NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader"))
add_library(parameters STATIC EXCLUDE_FROM_ALL ${SRCS} px4_parameters.hpp)
target_link_libraries(parameters PRIVATE perf tinybson px4_layer)
target_compile_definitions(parameters PRIVATE -DMODULE_NAME="parameters")
@@ -176,7 +174,7 @@ if (NOT "${PX4_BOARD}" MATCHES "px4_io")
-Wno-sign-compare # TODO: fix and enable
)
else()
add_library(parameters ${PX4_SOURCE_DIR}/platforms/common/empty.c)
add_library(parameters STATIC EXCLUDE_FROM_ALL ${PX4_SOURCE_DIR}/platforms/common/empty.c)
endif()
add_dependencies(parameters prebuild_targets)
src/lib/parameters/tinybson/CMakeLists.txt
+1 -1
View File
@@ -31,7 +31,7 @@
#
############################################################################
add_library(tinybson tinybson.cpp)
add_library(tinybson tinybson.cpp tinybson.h)
target_compile_definitions(tinybson PRIVATE -DMODULE_NAME="tinybson")
target_compile_options(tinybson PRIVATE -Wno-sign-compare) # TODO: fix this
add_dependencies(tinybson prebuild_targets)
src/lib/systemlib/CMakeLists.txt
+4 -4
View File
@@ -32,17 +32,17 @@
############################################################################
set(SRCS
conversions.c
conversions.h
crc.c
crc.h
err.h
mavlink_log.cpp
mavlink_log.h
px4_macros.h
)
if(${PX4_PLATFORM} STREQUAL "nuttx")
list(APPEND SRCS
otp.c
otp.h
ppm_decode.h
)
endif()
src/lib/systemlib/conversions.c
-57
View File
@@ -1,57 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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.
*
****************************************************************************/
/**
* @file conversions.c
* Implementation of commonly used conversions.
*/
#include <px4_platform_common/px4_config.h>
#include <float.h>
#include "conversions.h"
int16_t
int16_t_from_bytes(uint8_t bytes[])
{
union {
uint8_t b[2];
int16_t w;
} u;
u.b[1] = bytes[0];
u.b[0] = bytes[1];
return u.w;
}
src/lib/systemlib/conversions.h
-61
View File
@@ -1,61 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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.
*
****************************************************************************/
/**
* @file conversions.h
* Definition of commonly used conversions.
*
* Includes bit / byte / geo representation and unit conversions.
*/
#ifndef CONVERSIONS_H_
#define CONVERSIONS_H_
#include <float.h>
#include <stdint.h>
__BEGIN_DECLS
/**
* Converts a signed 16 bit integer from big endian to little endian.
*
* This function is for commonly used 16 bit big endian sensor data,
* delivered by driver routines as two 8 bit numbers in big endian order.
* Common vendors with big endian representation are Invense, Bosch and
* Honeywell. ST micro devices tend to use a little endian representation.
*/
__EXPORT int16_t int16_t_from_bytes(uint8_t bytes[]);
__END_DECLS
#endif /* CONVERSIONS_H_ */
src/lib/systemlib/otp.c
+1 -2
View File
@@ -49,9 +49,8 @@
#include <math.h>
#include <unistd.h>
#include <string.h> // memset
#include "conversions.h"
#include "otp.h"
#include "err.h" // warnx
#include "err.h" // warnx
#include <assert.h>
src/modules/airship_att_control/CMakeLists.txt
+3
View File
@@ -40,4 +40,7 @@ px4_add_module(
airship_att_control_main.cpp
DEPENDS
px4_work_queue
PUBLICATIONS
"px4::msg::ActuatorControls /actuator_controls_0"
"px4::msg::VehicleTorqueSetpoint /vehicle_torque_setpoint"
)
src/modules/airship_att_control/airship_att_control_main.cpp
+1 -1
View File
@@ -190,7 +190,7 @@ int AirshipAttitudeControl::print_status()
perf_print_counter(_loop_perf);
print_message(ORB_ID(actuator_controls), _actuators);
print_message(ORB_ID(actuator_controls_0), _actuators);
return 0;
}
src/modules/airspeed_selector/CMakeLists.txt
+3
View File
@@ -39,4 +39,7 @@ px4_add_module(
AirspeedValidator.hpp
DEPENDS
wind_estimator
PUBLICATIONS
"px4::msg::AirspeedValidated /airspeed_validated"
"px4::msg::AirspeedWind /airspeed_wind"
)
src/modules/airspeed_selector/airspeed_selector_main.cpp
+11 -4
View File
@@ -53,7 +53,7 @@
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/mavlink_log.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_setpoint.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/vehicle_acceleration.h>
@@ -120,7 +120,7 @@ private:
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};
uORB::Subscription _position_setpoint_sub{ORB_ID(position_setpoint)};
uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)};
uORB::SubscriptionMultiArray<airspeed_s, MAX_NUM_AIRSPEED_SENSORS> _airspeed_subs{ORB_ID::airspeed};
@@ -132,7 +132,7 @@ private:
vehicle_local_position_s _vehicle_local_position {};
vehicle_status_s _vehicle_status {};
vtol_vehicle_status_s _vtol_vehicle_status {};
position_setpoint_s _position_setpoint {};
position_setpoint_s _position_setpoint{};
WindEstimator _wind_estimator_sideslip; /**< wind estimator instance only fusing sideslip */
airspeed_wind_s _wind_estimate_sideslip {}; /**< wind estimate message for wind estimator instance only fusing sideslip */
@@ -499,7 +499,14 @@ void AirspeedModule::poll_topics()
_vehicle_status_sub.update(&_vehicle_status);
_vtol_vehicle_status_sub.update(&_vtol_vehicle_status);
_vehicle_local_position_sub.update(&_vehicle_local_position);
_position_setpoint_sub.update(&_position_setpoint);
if (_position_setpoint_triplet_sub.updated()) {
position_setpoint_triplet_s position_setpoint_triplet;
if (_position_setpoint_triplet_sub.update(&position_setpoint_triplet)) {
_position_setpoint = position_setpoint_triplet.current;
}
}
_vehicle_local_position_valid = (_time_now_usec - _vehicle_local_position.timestamp < 1_s)
src/modules/angular_velocity_controller/CMakeLists.txt
+5
View File
@@ -46,4 +46,9 @@ px4_add_module(
mathlib
AngularVelocityControl
px4_work_queue
PUBLICATIONS
"px4::msg::RateCtrlStatus /rate_ctrl_status"
"px4::msg::VehicleAngularAccelerationSetpoint /vehicle_angular_acceleration_setpoint"
"px4::msg::VehicleThrustSetpoint /vehicle_thrust_setpoint"
"px4::msg::VehicleTorqueSetpoint /vehicle_torque_setpoint"
)
src/modules/attitude_estimator_q/CMakeLists.txt
+2
View File
@@ -40,5 +40,7 @@ px4_add_module(
attitude_estimator_q_main.cpp
DEPENDS
world_magnetic_model
PUBLICATIONS
"px4::msg::VehicleAttitude /vehicle_attitude"
)
src/modules/battery_status/CMakeLists.txt
+2
View File
@@ -39,6 +39,8 @@ px4_add_module(
analog_battery.cpp
MODULE_CONFIG
module.yaml
PUBLICATIONS
"px4::msg::BatteryStatus /battery_status"
DEPENDS
battery
conversion
src/modules/camera_feedback/CMakeLists.txt
+2
View File
@@ -38,4 +38,6 @@ px4_add_module(
CameraFeedback.hpp
DEPENDS
px4_work_queue
PUBLICATIONS
"px4::msg::CameraCapture /camera_capture"
)
src/modules/commander/CMakeLists.txt
+37 -2
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
# Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -37,7 +37,42 @@ add_subdirectory(Arming)
px4_add_module(
MODULE modules__commander
MAIN commander
COMPILE_FLAGS
PUBLICATIONS
"px4::msg::ActuatorArmed /actuator_armed"
"px4::msg::ActuatorTest /actuator_test"
"px4::msg::CommanderState /commander_state"
"px4::msg::FailureDetectorStatus /failure_detector_status"
"px4::msg::LedControl /led_control"
"px4::msg::HomePosition /home_position"
"px4::msg::MavlinkLog /mavlink_log"
"px4::msg::LogMessage /log_message"
"px4::msg::MagWorkerData /mag_worker_data"
"px4::msg::Event /event"
"px4::msg::Mission /mission"
"px4::msg::TestMotor /test_motor"
"px4::msg::TuneControl /tune_control"
"px4::msg::VehicleCommand /vehicle_command" # TODO: srv
"px4::msg::VehicleCommandAck /vehicle_command_ack" # TODO: srv
"px4::msg::VehicleControlMode /vehicle_control_mode"
"px4::msg::VehicleStatus /vehicle_status"
"px4::msg::VehicleStatusFlags /vehicle_status_flags"
SUBSCRIPTIONS
"px4::msg::ParameterUpdate /parameter_update" # TODO: parameter server
"px4::msg::AirspeedValidated /airspeed_validated"
"px4::msg::Cpuload /cpuload"
"px4::msg::DifferentialPressure /differential_pressure" # airspeed calibration
"px4::msg::EscStatus /esc_status"
"px4::msg::EstimatorSelectorStatus /estimator_selector_status"
"px4::msg::EstimatorStatus /estimator_status"
"px4::msg::EstimatorSensorBias /estimator_sensor_bias"
"px4::msg::PwmInput /pwm_input" # TODO:
"px4::msg::IridiumsbdStatus /iridiumsbd_status" # TODO:
"px4::msg::Safety /safety" # TODO: SITL
"px4::msg::SystemPower /system_power" # TODO: SITL
"px4::msg::PowerButtonState /power_button_state" # TODO: SITL
"px4::msg::VtolVehicleStatus /vtol_vehicle_status"
"px4::msg::Wind /wind"
SRCS
accelerometer_calibration.cpp
airspeed_calibration.cpp
src/modules/commander/Commander.hpp
+3 -1
View File
@@ -45,6 +45,8 @@
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <uORB/uORB.h>
// publications
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_armed.h>
@@ -404,7 +406,7 @@ private:
// Subscriptions
uORB::Subscription _action_request_sub {ORB_ID(action_request)};
uORB::Subscription _actuator_controls_sub{ORB_ID_VEHICLE_ATTITUDE_CONTROLS};
uORB::Subscription _actuator_controls_sub{ORB_ID(actuator_controls_0)};
uORB::Subscription _cmd_sub {ORB_ID(vehicle_command)};
uORB::Subscription _cpuload_sub{ORB_ID(cpuload)};
uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
src/modules/control_allocator/CMakeLists.txt
+12
View File
@@ -53,4 +53,16 @@ px4_add_module(
ControlAllocation
mixer
px4_work_queue
PUBLICATIONS
"px4::msg::ActuatorMotors /actuator_motors"
"px4::msg::ActuatorServos /actuator_servos"
"px4::msg::ActuatorServosTrim /actuator_servos_trim"
"px4::msg::ControlAllocatorStatus /control_allocator_status"
SUBSCRIPTIONS
"px4::msg::ActuatorControls /actuator_controls_0"
"px4::msg::ActuatorControls /actuator_controls_1"
"px4::msg::ActuatorControls /actuator_controls_2"
"px4::msg::VehicleTorqueSetpoint /vehicle_torque_setpoint"
"px4::msg::VehicleThrustSetpoint /vehicle_thrust_setpoint"
)
src/modules/ekf2/CMakeLists.txt
+31
View File
@@ -82,6 +82,37 @@ px4_add_module(
px4_work_queue
world_magnetic_model
UNITY_BUILD
PUBLICATIONS
"px4::msg::Ekf2Timestamps /ekf2_timestamps"
"px4::msg::EkfGpsDrift /ekf_gps_drift"
"px4::msg::EstimatorBaroBias /estimator_baro_bias"
"px4::msg::EstimatorInnovations /estimator_innovations"
"px4::msg::EstimatorInnovations /estimator_innovation_test_ratios"
"px4::msg::EstimatorInnovations /estimator_innovation_variances"
"px4::msg::EstimatorOpticalFlowVel /estimator_optical_flow_vel"
"px4::msg::EstimatorSensorBias /estimator_sensor_bias"
"px4::msg::EstimatorStates /estimator_states"
"px4::msg::EstimatorStatus /estimator_status"
"px4::msg::EstimatorStatusFlags /estimator_status_flags"
"px4::msg::EstimatorEventFlags /estimator_event_flags"
"px4::msg::VehicleOdometry /estimator_visual_odometry_aligned"
"px4::msg::YawEstimatorStatus /yaw_estimator_status"
"px4::msg::VehicleAttitude /vehicle_attitude"
"px4::msg::VehicleLocalPosition /vehicle_local_position"
"px4::msg::VehicleGlobalPosition /vehicle_global_position"
"px4::msg::VehicleOdometry /vehicle_odometry"
"px4::msg::Wind /wind"
# multi-EKF
"px4::msg::EstimatorSelectorStatus /estimator_selector_status"
"px4::msg::VehicleAttitude /estimator_attitude"
"px4::msg::VehicleLocalPosition /estimator_local_position"
"px4::msg::VehicleGlobalPosition /estimator_global_position"
"px4::msg::VehicleOdometry /estimator_odometry"
"px4::msg::Wind /estimator_wind"
SUBSCRIPTIONS
"px4::msg::OpticalFlow /optical_flow"
)
if(BUILD_TESTING)
src/modules/flight_mode_manager/CMakeLists.txt
+14
View File
@@ -127,6 +127,20 @@ px4_add_module(
px4_work_queue
WeatherVane
flighttasks_generated
PUBLICATIONS
"px4::msg::LandingGear /landing_gear"
"px4::msg::VehicleLocalPositionSetpoint /trajectory_setpoint"
"px4::msg::VehicleConstraints /vehicle_constraints"
"px4::msg::OrbitStatus /orbit_status"
"px4::msg::CollisionConstraints /collision_constraints"
"px4::msg::ObstacleDistance /obstacle_distance_fused"
"px4::msg::ObstacleDistance /obstacle_distance"
"px4::msg::VehicleTrajectoryBezier /vehicle_trajectory_bezier"
"px4::msg::VehicleTrajectoryWaypoint /vehicle_trajectory_waypoint"
"px4::msg::VehicleTrajectoryWaypoint /vehicle_trajectory_waypoint_desired"
SUBSCRIPTIONS
"px4::msg::VehicleLocalPosition /vehicle_local_position"
"px4::msg::VehicleLocalPositionSetpoint /vehicle_local_position_setpoint"
)
# add all flight task dependencies
src/modules/fw_att_control/CMakeLists.txt
+11
View File
@@ -44,4 +44,15 @@ px4_add_module(
ecl_yaw_controller.cpp
DEPENDS
px4_work_queue
PUBLICATIONS
"px4::msg::ActuatorControls /actuator_controls_0"
"px4::msg::ActuatorControls /actuator_controls_virtual_fw" # VTOL
"px4::msg::ActuatorControlsStatus /actuator_controls_status_0"
"px4::msg::ActuatorControlsStatus /actuator_controls_status_1" # VTOL
"px4::msg::VehicleAttitudeSetpoint /vehicle_attitude_setpoint"
"px4::msg::VehicleAttitudeSetpoint /fw_virtual_attitude_setpoint" # VTOL
"px4::msg::VehicleRatesSetpoint /vehicle_rates_setpoint"
"px4::msg::RateCtrlStatus /rate_ctrl_status"
"px4::msg::VehicleTorqueSetpoint /vehicle_torque_setpoint"
"px4::msg::VehicleThrustSetpoint /vehicle_thrust_setpoint"
)
src/modules/fw_autotune_attitude_control/CMakeLists.txt
+2
View File
@@ -44,4 +44,6 @@ px4_add_module(
mathlib
px4_work_queue
SystemIdentification
PUBLICATIONS
"px4::msg::AutotuneAttitudeControlStatus /autotune_attitude_control_status"
)
src/modules/fw_pos_control_l1/CMakeLists.txt
+8
View File
@@ -48,4 +48,12 @@ px4_add_module(
runway_takeoff
SlewRate
tecs
PUBLICATIONS
"px4::msg::VehicleAttitudeSetpoint /vehicle_attitude_setpoint"
"px4::msg::VehicleAttitudeSetpoint /fw_virtual_attitude_setpoint" # VTOL
"px4::msg::PositionControllerStatus /position_controller_status"
"px4::msg::PositionControllerLandingStatus /position_controller_landing_status"
"px4::msg::NpfgStatus /npfg_status"
"px4::msg::OrbitStatus /orbit_status"
"px4::msg::TecsStatus /tecs_status"
)
src/modules/gyro_fft/CMakeLists.txt
+2
View File
@@ -77,4 +77,6 @@ px4_add_module(
${CMSIS_DSP}/Source/TransformFunctions/arm_rfft_q15.c
DEPENDS
px4_work_queue
PUBLICATIONS
"px4::msg::SensorGyroFft /sensor_gyro_fft"
)
src/modules/land_detector/CMakeLists.txt
+7
View File
@@ -44,5 +44,12 @@ px4_add_module(
AirshipLandDetector.cpp
DEPENDS
hysteresis
px4_work_queue
PUBLICATIONS
"px4::msg::VehicleLandDetected /vehicle_land_detected"
SUBSCRIPTIONS
"px4::msg::HoverThrustEstimate /hover_thrust_estimate"
"px4::msg::TakeoffStatus /takeoff_status"
"px4::msg::VehicleLocalPositionSetpoint /trajectory_setpoint"
)
src/modules/landing_target_estimator/CMakeLists.txt
+3
View File
@@ -40,5 +40,8 @@ px4_add_module(
LandingTargetEstimator.cpp
KalmanFilter.cpp
DEPENDS
PUBLICATIONS
"px4::msg::LandingTargetPose /landing_target_pose"
"px4::msg::LandingTargetInnovations /landing_target_innovations"
)
src/modules/load_mon/CMakeLists.txt
+3
View File
@@ -39,4 +39,7 @@ px4_add_module(
LoadMon.hpp
DEPENDS
px4_work_queue
PUBLICATIONS
"px4::msg::Cpuload /cpuload"
"px4::msg::TaskStackInfo /task_stack_info"
)
src/modules/logger/CMakeLists.txt
+3
View File
@@ -48,4 +48,7 @@ px4_add_module(
watchdog.cpp
DEPENDS
version
PUBLICATIONS
"px4::msg::LoggerStatus /logger_status"
"px4::msg::UlogStream /ulog_stream"
)
src/modules/logger/logged_topics.cpp
+1 -1
View File
@@ -37,7 +37,7 @@
#include <parameters/param.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/px4_config.h>
#include <uORB/topics/uORBTopics.hpp>
#include <uORBTopics.hpp>
#include <string.h>
src/modules/logger/logged_topics.h
+1 -1
View File
@@ -36,7 +36,7 @@
#include <stdint.h>
#include <uORB/uORB.h>
#include <uORB/topics/uORBTopics.hpp>
#include <uORBTopics.hpp>
namespace px4
{
src/modules/logger/logger.cpp
+1 -1
View File
@@ -46,7 +46,7 @@
#include <time.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/uORBTopics.hpp>
#include <uORBTopics.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/battery_status.h>

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