diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware index 190a53c3f4..a48ff4c4c0 100644 --- a/.ci/Jenkinsfile-hardware +++ b/.ci/Jenkinsfile-hardware @@ -116,6 +116,7 @@ pipeline { // configure sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply } } @@ -188,6 +189,7 @@ pipeline { // configure sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply } } @@ -260,6 +262,7 @@ pipeline { // configure sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply } } @@ -332,6 +335,7 @@ pipeline { // configure sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply } } @@ -404,6 +408,7 @@ pipeline { // configure sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot"' // reboot to apply } } @@ -477,6 +482,7 @@ pipeline { sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply } } @@ -548,7 +554,10 @@ pipeline { steps { // configure sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer - sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standard + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"' + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply } } stage("status") { @@ -582,7 +591,7 @@ pipeline { } } options { - timeout(time: 40, unit: 'MINUTES') + timeout(time: 60, unit: 'MINUTES') } } // stage test } @@ -633,6 +642,7 @@ pipeline { // configure sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply } } diff --git a/boards/holybro/durandal-v1/stackcheck.cmake b/boards/holybro/durandal-v1/stackcheck.cmake index c626beff99..39ee8f48ed 100644 --- a/boards/holybro/durandal-v1/stackcheck.cmake +++ b/boards/holybro/durandal-v1/stackcheck.cmake @@ -7,7 +7,7 @@ px4_add_board( TOOLCHAIN arm-none-eabi ARCHITECTURE cortex-m7 ROMFSROOT px4fmu_common - #BUILD_BOOTLOADER + BUILD_BOOTLOADER IO px4_io-v2_default TESTING # UAVCAN_INTERFACES 2 - No H7 or FD can support in UAVCAN @@ -25,14 +25,14 @@ px4_add_board( #camera_trigger differential_pressure # all available differential pressure drivers distance_sensor # all available distance sensor drivers - # dshot -- todo needslooking at + #dshot gps heater #imu # all available imu drivers #imu/adis16448 #imu/adis16477 #imu/adis16497 - #imu/bmi088 + imu/bmi088 imu/mpu6000 #imu/mpu9250 #irlock @@ -78,14 +78,15 @@ px4_add_board( mc_pos_control mc_rate_control navigator + rc_update #rover_pos_control sensors #sih vmount vtol_att_control SYSTEMCMDS - #bl_update - #config + bl_update + config dmesg dumpfile esc_calib diff --git a/boards/px4/fmu-v5/stackcheck.cmake b/boards/px4/fmu-v5/stackcheck.cmake index 1cbbec4581..c0533f67f2 100644 --- a/boards/px4/fmu-v5/stackcheck.cmake +++ b/boards/px4/fmu-v5/stackcheck.cmake @@ -41,6 +41,7 @@ px4_add_board( magnetometer # all available magnetometer drivers #mkblctrl optical_flow # all available optical flow drivers + #osd #pca9685 #power_monitor/ina226 #protocol_splitter @@ -68,14 +69,15 @@ px4_add_board( fw_att_control fw_pos_control_l1 land_detector - landing_target_estimator + #landing_target_estimator load_mon - local_position_estimator + #local_position_estimator logger mavlink mc_att_control mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control @@ -104,7 +106,7 @@ px4_add_board( reflect sd_bench shutdown - #tests # tests and test runner + tests # tests and test runner top topic_listener tune_control diff --git a/platforms/nuttx/cmake/px4_impl_os.cmake b/platforms/nuttx/cmake/px4_impl_os.cmake index 5cf1079720..0e4a9441b3 100644 --- a/platforms/nuttx/cmake/px4_impl_os.cmake +++ b/platforms/nuttx/cmake/px4_impl_os.cmake @@ -78,9 +78,11 @@ function(px4_os_add_flags) if("${CONFIG_ARMV7M_STACKCHECK}" STREQUAL "y") message(STATUS "NuttX Stack Checking (CONFIG_ARMV7M_STACKCHECK) enabled") add_compile_options( - -finstrument-functions -ffixed-r10 - ) + -finstrument-functions + # instrumenting PX4 Matrix and Param methods is too burdensome + -finstrument-functions-exclude-file-list=matrix/Matrix.hpp,px4_platform_common/param.h + ) endif() endfunction() diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index c4647756c4..22e495adb5 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -84,7 +84,7 @@ struct GPS_Sat_Info { struct satellite_info_s _data; }; -static constexpr int TASK_STACK_SIZE = 1620; +static constexpr int TASK_STACK_SIZE = 1760; class GPS : public ModuleBase