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Author SHA1 Message Date
Alex Klimaj
0a662ef22c
Add uavcannode RTCM subscriber 2021-10-01 20:43:49 -04:00
alexklimaj
05ee31072a Add ARK RTK GPS 2021-10-01 20:34:32 -04:00
Daniel Agar
c1c86bc349 Jenkins: hardware clear ccache stats before compiling 2021-10-01 20:31:29 -04:00
Daniel Agar
a53946649a sensors/vehicle_magnetometer: only check if sensor enabled after parameters loaded 2021-10-01 20:30:46 -04:00
Daniel Agar
3c8f1f2a50 Jenkins: reduce build agent cpu share 2021-10-01 18:18:51 -04:00
SungTae Moon
2adf3f959b Update Tools/gazebo_sitl_multiple_run.sh 
Co-authored-by: JaeyoungLim <jalim@ethz.ch>
 2021-10-01 16:09:32 +02:00
stmoon
bc5d55c4a4 fix the problem related to sitl multiple vehicle environment 2021-10-01 16:09:32 +02:00
marcojob
68a13326f0
mavlink: remove unused strncpy (#18300) 2021-10-01 10:58:25 +02:00
David Sidrane
7c9903f610 stm32h7:px4io_serial use TRBUFF 
- includes NuttX with TRBUFF backports
 2021-09-29 23:55:00 -04:00
David Sidrane
25a27d26e0 logger:log_writer_file Do not try to store ulog name on systems without hardfault logging 2021-09-29 23:51:25 -04:00
David Sidrane
f56701e72f micro_hal:Remove px4_savepanic on arch without hardfault logging 2021-09-29 23:51:25 -04:00
David Sidrane
cb47203a9e NuttX with deglitched GPIO backports 2021-09-29 23:50:11 -04:00
Daniel Agar
f3a904c109
Jenkins: HIL increase timeout 
- occasionally we have a considerable backlog
 2021-09-29 20:37:07 -04:00
David Sidrane
63e29b821c holybro_can-gps-v1:Ensure sensors are powered 2021-09-29 14:37:17 -04:00
David Sidrane
2abbf791b3 NuttX with deglitched GPIO backports 2021-09-29 14:37:17 -04:00
David Sidrane
70eca23468 ark_can-gps_debug:Fit in Flash w/o loosing tools 2021-09-29 14:37:17 -04:00
David Sidrane
20c1f763d2 px4_fmu-v4:CAN build needs .app_descriptor 2021-09-29 14:34:42 -04:00
David Sidrane
797bd9592b mxp_ucans32k146:using padding of 8 2021-09-29 14:34:42 -04:00
David Sidrane
f4e9672fde make_can_boot_descriptor:Add padding argument 2021-09-29 14:34:42 -04:00
Peter van der Perk
360c3781f3 UCANS32K146-01 Add CAN tranceiver self test 2021-09-29 09:36:14 -07:00
Daniel Agar
c39a21aa54 ekf2: selector remove special timeout condition 
- this mainly produces false positives when disarmed and bench testing
 2021-09-29 09:59:08 -04:00
Paul Riseborough
ed7c5991eb ekf2: Fix dimensional error in gyro and accel bias variance conversions 2021-09-29 09:58:41 -04:00
Hyungsub
5677ab042b
tap_esc: fix resource leak (#18296) 2021-09-29 14:51:31 +02:00
Daniel Agar
03bd5e0f48 lib/led: move drivers/lights/rgbled LED_RGB_MAXBRT -> SYS_RGB_MAXBRT 2021-09-28 10:09:55 -04:00
Nicolas Martin
b24e5fc0af clean remaining offboard_control_signal_found_once 
offboard_control_signal_found_once is not used any more
 2021-09-28 09:25:04 -04:00
Nicolas Martin
417a50b2cc fix typo in comment 2021-09-28 09:24:47 -04:00
Jukka Laitinen
6cae4c92e7 Add a header to logfile encryption key exchange file 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen
9a4ef709ca Add parameters for configuring the logfile encryption 
SDLOG_ALGORITHM for selecting the crypto algorithm
SDLOG_KEY for selecting the key in keystore to use with the algorithm.
  for symmetric algorithms which are currently supported, this is just a free
  slot to be used, the key is generated at logging start
SDLOG_EXCH_KEY for selecting an RSA2048 key for encrypting the SDLOG_KEY

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen
1687cab56c FMUv5: Add a build target for crypto interface testing, px4_fmu-v5_cryptotest 
To avoid messing with existing targets, and to automatically set the test keys
for the keystore.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen
ce76380051 Add a simple script to decrypt ulog files 
This now only decrypts xchacha20 encrypted logs, where keys are
exchanged with rsa_oaep_sha256 and nonce appended to the end of the
key

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen
9472f79307 Take crypto interfaces into use in logger, to encrypt ulog data 
- Generate a symmetric encryption key and a nonce value
- Use a public key in keystore to encrypt the symmteric key
- Write the encrypted key and the nonce value to disk into .ulgk, name matching with the encrypted log file
- use quick stream encryption to crypt the .ulg file contents

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen
6b22fe99b7 Globally define -DPX4_CRYPTO when the board defines some crypto backend 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen
3db76d88fe Add crypto key generation functions 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen
4c6779812d Add keystore_put_key interface function for storing keys permanently 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen
fc2668cba1 Add encryption function for the crypto_backend and px4_crypto 
Take into use libtomcrypt library to add RSA and some other algorithms
for SW ecnryption use case

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen
634d911b74 Add a test key for RSA2048 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen
40063bd54b Add libtomcrypt and libtommath submodules 
These provide e.g. rsa_oaep, which can be used for sw crypto

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen
be4f7cabf9 Add compilation of nuttx_crypto 
NuttX has lots of usable functionality for crypto, such as rng with entropy pool

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen
d36a91ceaf Add generic px4 interface for crypto features 
Add common functions, implemented for nuttx, and link to architecture specific libraries

Make a separate library to wrap nuttx random number generator as "os_random".

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Jukka Laitinen
aa61bc4942 Add functions for initializing empty crypto backend handles 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-09-27 17:45:07 +02:00
Julian Oes
9290ea974e commander: allow force disarming 
Allows to do commander disarm -f to disarm no matter what.
 2021-09-27 09:58:03 -04:00
Daniel Agar
333f539900 mavlink: add simple incoming message stats to status 2021-09-27 09:48:00 -04:00
PX4 BuildBot
feff564882 Update submodule jMAVSim to latest Mon Sep 27 00:38:51 UTC 2021 
- jMAVSim in PX4/Firmware (592885480eaa1ff95bfee33c23dd455f462a3e06): 0a5375a706
    - jMAVSim current upstream: 0a5a8c6d9d
    - Changes: 0a5375a706...0a5a8c6d9d

    0a5a8c6 2021-09-02 Julian Oes - Merge pull request #130 from PX4/pr-udp-connection
2590b24 2021-09-01 Julian Oes - UDPMavLinkPort: add debug output around wait
7255b28 2021-08-31 Julian Oes - src: enable UDP connection in client and host mode
 2021-09-27 08:05:48 +02:00
Daniel Agar
592885480e boards: ark_can-gps_debug disable perf to save flash 2021-09-26 12:29:11 -04:00
Daniel Agar
9a3fa6199b uorb top report total publication rate 2021-09-26 12:29:11 -04:00
Julian Oes
e81214a22f mavlink: avoid double trigger using sequence 
By adding the sequence number we can avoid double triggering due to
command retransmissions. This is according to the mavlink spec for
MAV_CMD_IMAGE_START_CAPTURE.
 2021-09-25 20:18:07 -04:00
bresch
76615f8df3 VTOL: set HTE horizontal speed sensitivity threshold low 2021-09-25 20:07:28 -04:00
bresch
904ed57aba HTE: decrease sensitivity with speed 
VTOL planes are getting lift from the wing when flying in MC mode at
high speed. They (and some other drones) also get extra drag when
climbing and descending at high speed, corrupting the hover thrust
estimate.

To avoid this, two speed thresholds (vertical and horizontal) are defined
above which the sensitivity of the estimator is decreased by linearly
increasing the observation noise.
 2021-09-25 20:07:28 -04:00
achim
c67d943158
boards: mro_ctrl-zero-h7-oem board.h fix SPI5 (#18294) 
- fix spi pin missmatch PF9=GPIO_SPI5_MOSI_2
 2021-09-25 20:05:18 -04:00
Daniel Agar
e4b0fa25a2 systemcmds/tests: remove px4io conv test 2021-09-25 19:15:05 -04:00