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Author SHA1 Message Date
TSC21 8762dce762 microRTPS: transport: small format fix 2021-08-12 08:44:53 +02:00
TSC21 fae1627d92 microRTPS: client: cleanup and make arguments consistent 2021-08-12 08:44:53 +02:00
TSC21 109b031156 microRTPS: agent: cleanup and make arguments consistent 2021-08-12 08:44:53 +02:00
TSC21 e83a3a6cf7 microRTPS: update RTPS message list naming from 'ids' to 'msgs' 2021-08-12 08:44:53 +02:00
TSC21 0b23679f98 msg: templates: update empy contexts, required fields and license header years 2021-08-12 08:44:53 +02:00
TSC21 ffa70ac0fd microRTPS: generate_microRTPS_bridge: run fastrtsgen only once for all files 
Reducing the generation time to a 4th of the time (!!)
 2021-08-12 08:44:53 +02:00
TSC21 a8a56a03a4 microRTPS: rename uorb_to_ros_rtps_ids to uorb_to_ros_urtps_topics and remove the 'id' references on it 2021-08-12 08:44:53 +02:00
TSC21 4609949bbb microRTPS: generate_microRTPS_bridge: only run the generator for the topics that are actually marked to be used 2021-08-12 08:44:53 +02:00
TSC21 695e1fa574 uorb_to_ros_rtps_ids: add an header with a notice regarding the autogneration of the 'px4_ros_com' urtps_bridge_topics.yaml file 
Although it can be modified manually, we are going to recommend the developer to generate it from the PX4-Autopilot side instead
 2021-08-12 08:44:53 +02:00
TSC21 c478e2985a microRTPS: simplify the attribution of the RTPS IDs by makiing it automatic 
1. The RTPS IDs are now automatically assigned to the topics
2. Only the topics that get defined to be sent or received in the urtps_bridge_topics.yaml (renamed, since now it doesn't contain IDs) receive the IDs
3. Any addition or removal on the urtps_bridge_topics.yaml file might update the topic IDs - this will require that the agent and the client ID list has to be in sync. This will further require a robustification of the way we check the IDs and the message definitions when starting the bridge.
 2021-08-12 08:44:53 +02:00
TSC21 f557fbc99f protocol_splitter: add perf counters for the stats so they can be logged 2021-08-12 08:44:53 +02:00
TSC21 5a75277ff1 protocol_splitter: update header length and payload length position 
To match the change on the microRTPS message header, which adds the sys ID as the 5th byte of the header
 2021-08-12 08:44:53 +02:00
TSC21 ba3dbbd38d microRTPS: send the system ID with the RTPS packet header and remove the need for extra id fields in uORB 
This allows that all messages (not only timesync messages) that get received on the same system that sent them do not get parsed. As the microRTPS agent is built currently, this will only happen right now if someone sets the same UDP port to send and receive data, or by manually changing the agent topics (which were always autogenerated).
 2021-08-12 08:44:53 +02:00
TSC21 a10dab516c timesync: remove system ID field from the timesync message 2021-08-12 08:44:53 +02:00
TSC21 25dbffe1aa microRTPS: agent: split FMU input from output topics in Pubs/Subs 2021-08-12 08:44:53 +02:00
TSC21 d31b7feb31 microRTPS: agent: publish timesync status 2021-08-12 08:44:53 +02:00
TSC21 a324e5465a timesync: extend timesync_status message with protocol source field and enum 2021-08-12 08:44:53 +02:00
TSC21 a930edf34b init.d-posix: rcS: allow to use a different startup config to the micrortps_client in UDP 2021-08-12 08:44:53 +02:00
TSC21 6d4f65a47a microRTPS: allow timesync using ROS time 2021-08-12 08:44:53 +02:00
TSC21 e762d57222 sitl_run: allow to start required ROS2 plugins with Gazebo when ROS_VERSION is set to 2 2021-08-12 08:44:53 +02:00
Julian Oes cb2b09b80f protocol_splitter: implement with one read buffer 
This is an attempt to implement the protocol_splitter with one
read buffer only. The idea is to prevent additional copy
operations from an incoming buffer to the respective protocol buffer.

Right now the benefit is not really there because we are not using a
ringbuffer and have to shift data around quite a bit.

We also try to parse and copy data to the reader immediately without
doing a read from the device which potentially takes 100ms.

We further use a timeout mechanism to prevent starvation if one reader
disconnects and the buffer would fill up from unread data.
 2021-08-12 08:44:53 +02:00
Julian Oes 0c9fefce32 urtps: rectify comment 2021-08-12 08:44:53 +02:00
Julian Oes 31b1241de8 uorb_microcdr: collect all messages 
Without this we are potentially too slow to collect them all which can
lead to the buffer in protocol_splitter to overflow and be reset.
 2021-08-12 08:44:53 +02:00
Daniel Agar 326c4f95ce ROMFS cmake remove directory VERBATIM 2021-08-11 13:29:14 -04:00
Beat Küng 61e3ec53b0 mixer_module: check for motor test after topic update 
Otherwise if a module restricts the update rate via setMaxTopicUpdateRate()
and then motor_test is used, the module might run faster than expected.
 2021-08-11 12:06:32 -04:00
Claudio Micheli a6d88cad18 mavlink_main: add ESC_INFO & ESC_STATUS to onboard_lowbandwith configuration 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-08-11 17:20:08 +02:00
Oleg Evseev a93f8dade4 mavlink: receiver fix geo include 2021-08-10 08:18:28 -04:00
PX4 BuildBot e9a21ee911 Update submodule devices to latest Mon Aug 9 00:39:11 UTC 2021 
- devices in PX4/Firmware (48b31124a4cdab9f7f91dba14649206f41c30c97): https://github.com/PX4/PX4-GPSDrivers/commit/f51267815db3331723b880ab20afc5a67a87c22b
    - devices current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/6815e1d3b294cd6ea583294ebadf191321e4beba
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/f51267815db3331723b880ab20afc5a67a87c22b...6815e1d3b294cd6ea583294ebadf191321e4beba

    6815e1d 2021-08-04 zhangft - femtomes: add UAVSTATUS and fall back to 10Hz rate if 20Hz not supported
 2021-08-08 22:31:14 -04:00
Daniel Agar c8366e736e ROMFS: update ATL Mantis EDU optical flow defaults 2021-08-08 14:21:28 -04:00
Daniel Agar 66cfacaec2 boards: px4_fmu-v6x_test disable attitude_estimator_q to save flash 2021-08-08 14:20:58 -04:00
Daniel Agar 2ad448a4e8 boards: holybro_pix32v5 remove unused test build 2021-08-08 14:20:58 -04:00
alexklimaj a904bb506f Fix afbrs50 high cpu load from switching 2021-08-08 11:42:30 -04:00
bresch 741f9c6d1a Commander: change attitude quaternion check to avoid numerical issues 2021-08-08 11:41:23 -04:00
Daniel Agar fb4ac0f08c ekf2: remove redundant IMU vibration metrics 
- consume IMU vibration metrics from vehicle_imu_status
 2021-08-08 06:26:03 -07:00
Daniel Agar a397004bf8 adis16448: add additional delay after transfer in case of back to back transcations 
- add verified register read method
 2021-08-08 06:25:16 -07:00
Julian Oes 0033c0fc51 navigator: fix param description 2021-08-05 15:18:55 +02:00
bresch 01d0b8800e commander: report GNSS yaw fault to user 2021-08-05 11:10:02 +02:00
bresch 44219e9f45 EKF: add GNSS yaw to emergency yaw fallback test 2021-08-05 11:10:02 +02:00
bresch 11cd51c132 EKF: allow emergency reset in GNSS yaw and EV yaw aiding modes 2021-08-05 11:10:02 +02:00
bresch 4ebfbc6eab GNSS yaw: use NIS sequence to detect bias in state 
A constant large value in the (signed) normalized innovation test ratio is a sign
of bias in the state estimate. This metric can be used to trigger a
covariance boost or reset
 2021-08-05 11:10:02 +02:00
bresch 3fe04a91f6 GNSS yaw: add observation jump on ground 
Some receivers are initializing to some heading and then resetting to
the correct one after a couple of seconds. EKF2 should detect that and
reset to the new value
 2021-08-05 11:10:02 +02:00
bresch 30c7a596af GNSS yaw: allow unlimited resets on ground 2021-08-05 11:10:02 +02:00
bresch e90e1c7e2a GNSS yaw: use dedicated observation noise 2021-08-05 11:10:02 +02:00
romain-chiap 718e5b5b5d sih: add fixed-wing support 2021-08-05 09:16:14 +02:00
PX4 BuildBot 6060ec8c9a Update submodule matrix to latest Thu Aug 5 00:39:10 UTC 2021 
- matrix in PX4/Firmware (6be58a88905d2ef63bc3aaa1a01c82346c181742): https://github.com/PX4/PX4-Matrix/commit/b8568a89db8455d0ab2e2e391e2149ba2e5e10dd
    - matrix current upstream: https://github.com/PX4/PX4-Matrix/commit/3d1c9b988dff1d95f36cdd1df3e84d7a2365501c
    - Changes: https://github.com/PX4/PX4-Matrix/compare/b8568a89db8455d0ab2e2e391e2149ba2e5e10dd...3d1c9b988dff1d95f36cdd1df3e84d7a2365501c

    3d1c9b9 2021-08-05 romain-chiap - quaternion exponential (#164)
 2021-08-04 21:59:01 -04:00
Daniel Agar be2f65be35 drives/tap_esc: refactor to use OutputModuleInterface 2021-08-04 17:15:24 -04:00
Daniel Agar 2e02ad7c4e atl_mantis-edu front and rear status LEDS 2021-08-04 17:15:24 -04:00
Daniel Agar 89b920333b boards: px4_fmu-v2_multicopter disable gyro_calibration module to save flash 2021-08-04 17:15:24 -04:00
Daniel Agar fb3b7a4649 mavlink: receiver handle RC_CHANNELS if from MAV_COMP_ID_SYSTEM_CONTROL 2021-08-04 17:15:24 -04:00
Daniel Agar 2b96e330a5 boards: atl_mantis-edu add bootloader 2021-08-04 17:15:24 -04:00