- new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2
- PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2
- currently doesn't do much other than allow you to build px4 msgs interface package
Implement an interface for protected build to access parameters.
The implementation only does IOCTL calls to the kernel, where the parameters
live.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- Don't link to px4_layer
- Don't link to flashparams; flashparams would work only in kernel side
- Add missing link to px4_platform
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- cmake NuttX build wrapper compile in place instead of copying source tree to build directory
- slightly faster skipping necessary copying (depending on system)
- allows debugging in place
- easier to work directly in NuttX following official documentation
- simplifies overall build which should make it easier to resolve any remaining NuttX dependency issues in the build system
- the downside is switching back and forth between different builds always require rebuilding NuttX, but I think this is worth the improved developer experience
- also no longer builds px4io and bootloader in every single build, for most users these rarely change and we're wasting a lot of build time
- store parameter type and if volatile separately (saves kilobytes of flash)
- use Bitset for tracking active and changed parameters
- use atomic for autosave_enabled flag
- compile at ${MAX_CUSTOM_OPT_LEVEL} (-O2 on non flash constrained boards)
Improves compression, e.g. current params file: 62KB to 51KB
There's also a PRESET_EXTREME option, which reduces by another 2KB.
We can revisit that once needed, as it increases mem usage as well.
- implement COMP_METADATA_TYPE_VERSION & add component_version.json.gz to
ROMFS for all targets.
- implement COMP_METADATA_TYPE_PARAMETER (only enabled for SITL currently)
* fix param import transition for MC_DTERM_CUTOFF
The previous implementation did not work, as there was a check for
param_find_no_notification() returning PARAM_INVALID for IMU_DGYRO_CUTOFF,
and therefore would not call param_modify_on_import().
This moves param_modify_on_import() before the check and makes it modify
the bson node directly.
* parameters: fix param import transition when testing is enabled
BUILD_TESTING is used for unit test builds, PX4_TESTING is used to enable additional test material within PX4
Co-authored-by: Daniel Agar <daniel@agar.ca>
This avoids the need for recalibration, and also cleans up other driver
ID's (merge separate accel/gyro).
The SPI address was previously set to a board-specific (arbitrary) value,
and is now set to 0. This will allow extending for multiple sensors of the
same type on the same bus.
* Add kdevelop to gitignore
* Add test stubs
* Rename px4_add_gtest to px4_add_unit_gtest
* Add infrastructure to run functional tests
* Add example tests with parameters and uorb messages
* Fix memory issues in destructors in uORB manager and CDev
* Add a more real-world test of the collision prevention
Daniel Agar