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copilot/fix-stack-buffer-overflow
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28679 Commits

Author SHA1 Message Date
Julian Oes 2445fa8b4c commander: prevent uninitialized warning 
This prevents a memory sanitizer/valgrind warning:

Conditional jump or move depends on uninitialised value(s)
   at 0x2DA536: __sanitizer_cov_trace_cmp4 (in build/px4_sitl_default-clang/bin/px4)
   by 0x6590D8: FailureDetector::update(vehicle_status_s const&, vehicle_control_mode_s const&) (src/modules/commander/failure_detector/FailureDetector.cpp:76) by 0x3817DF: Commander::run() (src/modules/commander/Commander.cpp:2605)
   by 0x38B10B: ModuleBase<Commander>::run_trampoline(int, char**) (platforms/common/include/px4_platform_common/module.h:180)
 2022-01-05 10:53:51 +01:00
Daniel Agar 170849c8f8 ekf2: expand accel bias stability criteria 2022-01-04 13:57:49 -05:00
PX4 BuildBot 846f807eff Update submodule mavlink to latest Tue Jan 4 12:39:05 UTC 2022 
- mavlink in PX4/Firmware (a8c88f1c98212e72a266fec8a9e7c0da2a14f3af): https://github.com/mavlink/mavlink/commit/4bc0de9c38626fe3640de266118af5fd64fe6a18
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/75204adad281e017e58e0a68fdb0a478c2b74d6f
    - Changes: https://github.com/mavlink/mavlink/compare/4bc0de9c38626fe3640de266118af5fd64fe6a18...75204adad281e017e58e0a68fdb0a478c2b74d6f

    75204ada 2022-01-04 Hamish Willee - Add ability to specify axis to autotune (#1759)
 2022-01-04 09:32:43 -05:00
bresch d094fbbd70 ekf2: fix delta angle coning metric 2022-01-04 09:28:48 -05:00
PX4BuildBot 6fbc0e95d0 [AUTO COMMIT] update change indication 2022-01-04 09:12:45 -05:00
PX4 BuildBot a89f21d566 Update world_magnetic_model to latest Tue Jan 4 11:14:11 UTC 2022 2022-01-04 09:12:45 -05:00
Daniel Agar 9d1558af25 ekf2: selector use status timestamp for timeout rather than timestamp_sample (delayed time horizon) 
- update stale checks for publication to use hrt elapsed time from
timestamp sample
 2022-01-03 09:20:44 -05:00
Daniel Agar 333edfe12f ekf2: use delayed IMU timestamp for publication's timestamp_sample 2022-01-03 09:20:44 -05:00
Daniel Agar 35502c249d ekf2: don't use Vectors for height innovations (baro, rng, etc) 2022-01-03 09:20:20 -05:00
Jaeyoung-Lim bdec85fdd0 Disable local vehicle setpoints while in transition 
This commit adds disabling vehicle setpoints while in transition
 2022-01-03 11:09:06 +01:00
Jaeyoung-Lim 4127dfa791 Log vehicle local position setpoints 
This commit enables the local position setpoints to be logged by publishing vehicle_local_position_setpoint
 2022-01-03 11:09:06 +01:00
Jaeyoung Lim 52418f13b0 Use groundspeed for navigate heading 2022-01-03 10:52:34 +01:00
Jaeyoung-Lim e66e82228f Add support for offboard velocity setpoints for fixedwing vehicles 
This commit adds a velocity controller which the setpoint can be passed using offboard setpoints
 2022-01-03 10:52:34 +01:00
Daniel Agar 673d4544d1 parameters: verify param backup after export 2022-01-02 10:46:34 -05:00
Daniel Agar 8e26b33009 tinybson: file write error add more detail 2022-01-02 10:46:34 -05:00
Daniel Agar 80ef6e19df tinybson: explicitly append int32 or int64 2022-01-02 10:46:34 -05:00
Daniel Agar 9cbb5c9920 parameters: fix export shutdown locking 
- in NuttX bchlib keeps a sector sized buffer that might not be written
out to RAMTRON until the file is closed
 2022-01-02 10:46:34 -05:00
Daniel Agar e9283d90cc systemcmds/netman: fix code style 2022-01-01 18:40:47 -05:00
David Sidrane db159a43cc test_dataman:Set SEM_PRIO_NONE on all semaphores 2021-12-31 10:27:24 -05:00
Daniel Agar 1b6700592b parameters: require valid BSON document size 2021-12-30 16:36:23 -05:00
PX4 BuildBot 5fc7e551ab Update submodule mavlink to latest Wed Dec 29 12:38:13 UTC 2021 
- mavlink in PX4/Firmware (395eeb440a2ca7503591f872d4f733fcd9867218): https://github.com/mavlink/mavlink/commit/bfaf605bd6f25c8c4843d67e455fe02acb5a9452
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/4bc0de9c38626fe3640de266118af5fd64fe6a18
    - Changes: https://github.com/mavlink/mavlink/compare/bfaf605bd6f25c8c4843d67e455fe02acb5a9452...4bc0de9c38626fe3640de266118af5fd64fe6a18

    4bc0de9c 2021-12-27 olliw42 - Component Information Basics: add camera cap flag (#1752)
8035ad4d 2021-12-27 Hamish Willee - GIMBAL_DEVICE_FLAGS_NEUTRAL - note that this can be any angle (#1758)
 2021-12-29 17:16:49 -05:00
Daniel Agar 990d7c159d pwm_out: cleanup and prep for linux compatibility 2021-12-28 11:04:00 -05:00
FengShun 8f8719d33b cmake: use add_definitions instead of add_compile_definitions 
Using make tests in docker will fail, because the current basic image used by px4io/px4-dev-simulation-bionic is ubuntu18.04, the default version of cmake is 3.10, and the add_compile_definitions command is only available in cmake 3.12+(ubuntu 20.04).
 2021-12-27 12:19:31 -05:00
honglang 17a99bc827 mavlink: add HYGROMETER_SENSOR stream 2021-12-27 12:13:09 -05:00
honglang 983867f9af uavcan: support uavcan hygrometer 2021-12-27 12:13:09 -05:00
Daniel Agar 236794235a parameters: export empty BSON document even if there are no parameters to save 
- otherwise a 'param reset_all' won't be saved until a parameter is changed
 2021-12-27 09:17:00 -05:00
Daniel Agar 33d7b42040 parameters: import quietly retry if there's no data (as a precuation) 2021-12-27 09:17:00 -05:00
Daniel Agar 20d3e6f4e1 parameters: add simple BSON verification pass after export 2021-12-27 09:17:00 -05:00
Beat Küng 72065c3d71 fix protocol_splitter: remove timeout, drop buffer if too full instead 
The existing implementation had a flaw: when the buffer was getting full,
mavlink started to busy-loop, as the uart has data (poll returns immediately)
but no new data was read from the uart due to the buffer being full.
As rtps is running at lower prio, it never got the chance to read again,
making the problem even worse.
After 1s the timeout triggered and the buffer was cleared, so it recovered.

Instead of allowing for CPU spikes, we now immediately clear the buffer
(only as much as we have to), ensuring that new data is read from the uart.
 2021-12-24 20:28:43 -05:00
Rui Miguel Carvalho 542ee86bc9 landing_target_estimator: custom irlock frame params (#18884) 
Signed-off-by: ruimscarvalho98 <ruimsc98@gmail.com>
 2021-12-24 20:20:35 -05:00
Silvan Fuhrer 28e01c3510 FW Position controller: make loiter switching logic robust against pos_sp with loiter_rad=0 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:17:15 -05:00
Beat Küng d202bf9631 control_allocator: add scope to reduce stack usage by 256B 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 48be55dec8 Tiltrotor: disable tilt/thrust compensation when dynamic allocation is enabled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 31d7328f4d Tailsitter: invert roll (make it NED-correct) for filling vehicle_torque_setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 1ad66e606b ControlAllocation: introduce convention for control surface deflection sign 
- horizontal control surfaces: up=positive deflection
- vertical control surfaces (rudder): right=positive deflection
- mixed (V-Tail): up=positive deflection

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng 5259877b1b control_allocator: update matrix normalization 
- only normalize rpy for MC matrices
- for thrust use the 3D vector, so it works for FW and tilt rotors as well

This keeps MC unchanged.
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 460a0df850 tiltrotor: fill out thrust_setpoint[0] also in hover, based on tilt and hover thrust 
In the tiltrotor case, beside an F_z thrust setpoint also a F_x setpoint must be passed
to the allocator as the matrix has non-zero thrust-x effectiveness when tilts are applied.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng 09200b994d airship_att_control: publish thrust + torque setpoint 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 478724c9fe EffectivenessTiltrotor: fix logic for matrix update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng 8e04934eab commander: consider COM_MOT_TEST_EN for COMMAND_ACTUATOR_TEST as well 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 39d441317a ActuatorEffectivenssTailsitterVTOL: only enable MC yaw control if more than 3 rotors 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 426aa76a59 CA/VTOL: change description of VT_ELEV_MC_LOCK as it applies to not just elevons 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 18008b2de7 CA module.yaml: add motor direction function also to UI for Tailsitter an Tiltrotor 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng 8c782b7cd9 control_allocator: add Custom + MC with tilts effectiveness 
The param group is changed to Geometry, as this reflects the naming in the
QGC UI.
 2021-12-24 20:06:13 -05:00
Beat Küng 627ec0df5d control_allocator: increase STACK_MAIN to 3000 
It was exceeding 2000
 2021-12-24 20:06:13 -05:00
Beat Küng 4d38742371 control_allocator: show VT_ELEV_MC_LOCK for vtol mixers in config ui 2021-12-24 20:06:13 -05:00
Beat Küng 28c4d0b7df mixer_module: add unit tests 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 07306c4be3 control_allocator: add support for Tailsitter VTOL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 0568cff299 control_allocator: handle thrust allocation for VTOL's properly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 936f2dff52 logger: log both instances of vehicle_thrust/torque_setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00