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Author SHA1 Message Date
Julian Oes 027d7e632e sitl_multiple_run.sh: fix port description 
This has changed as we changed to TCP with the lockstep implementation.
 2019-01-30 09:51:30 +01:00
Julian Oes e1472818dc mavlink_mission: round lat/lon 
This avoids casting errors. An alternative to `std::round` would be to
add 0.5 before casting for positive values and subtract 0.5 before
casting for negative values.
 2019-01-22 09:49:24 -05:00
Julian Oes 2e3fa30c83 sitl_gazebo: update to revision that doesn't abort on timeout (#11196) 
* this should fix the CI failures where we intermittently saw SIGABRT. (fixes #11144)
 2019-01-11 10:23:16 -05:00
Julian Oes b0dd55e80b jMAVSim: update submodule 
This should fix:
- HITL regression (Init MAVLink forever).
- Starting using default arguments.
 2019-01-08 09:49:47 -05:00
Julian Oes 032e64aaf2 px4_sem: set errno, return -1 on any error 
- Don't duplicate the ret variable to err.
- Return -1 on any error, 0 otherwise.
- Set errno to return value of pthread_cond_timedwait.
 2019-01-01 20:35:42 +01:00
Julian Oes 23653f9f39 lockstep_scheduler: fix return value, remove errno 
The API of cond_timedwait was wrong. It used return -1 and set errno
instead of returning the error as specified for pthread_cond_timedwait
which it tries to mock.
 2019-01-01 20:35:42 +01:00
Julian Oes 29bfdb0c88 platforms: fix linking for qurt (#11115) 2018-12-29 16:21:52 -05:00
Julian 3e87013936 simulator: fix TCP on Cygwin-Windows 
It turns out that `sendto` does not work for TCP on Cygwin-Windows,
instead we need to use `send`. This required some refactoring since we
need to have the internet protocol and the port stored as a member
variable.

This should fix that lockstep SITL simulation was not working on
Windows.
 2018-12-27 07:49:12 +01:00
Julian Oes 73ed9deac5 mixer: add missing include 2018-12-22 10:32:18 +01:00
Julian Oes ea87bcb5a2 DriverFramework: update submodule 
Now that the lockstep changes are merged to master.
 2018-12-22 10:32:18 +01:00
Julian Oes dd54b3a511 jMAVSim: update submodule 
Now that this is merged to master in jMAVSim.
 2018-12-22 10:32:18 +01:00
Julian Oes 8486b2b917 tests: properly disable shutdown test for Cygwin 2018-12-22 10:32:18 +01:00
Julian Oes 736599f362 sitl_gazebo: updated submodule 
This is just because the branch got merged.
 2018-12-22 10:32:18 +01:00
Julian 0601214806 tests: disable shutdown and hysteresis for Cygwin 
It seems that the hysteresis test fails every now and then, presumably
due to timing issues. The tests needs some improvements, e.g. isolating
it from the system time.
 2018-12-22 10:32:18 +01:00
Julian Oes a1fc44d1f0 simulator: fix noise in airspeed 
It turns out the noise of the airspeed depends on the least significant
bit of time which is now always 0 because time is quite regular with
lockstep. Therefore, we need a better source for the randomness. I chose
to use the sign of the y-gyro and it seems to work.
 2018-12-22 10:32:18 +01:00
Julian Oes 2d7299043d sitl_gazebo: update submodule 
This should fix a race because the use of future/promise wasn't done in
a thread-safe way.
 2018-12-22 10:32:18 +01:00
Julian Oes 6435db37c6 sitl_gazebo: update submodule 
An include was missing.
 2018-12-22 10:32:18 +01:00
Julian Oes 9916fb9b07 Jenkins: fix path to test results 2018-12-22 10:32:18 +01:00
Julian Oes 73c22bd60e sitl_gazebo: updated submodule 
This fixes a HITL bug and uses promise/future instead of sleeping.
 2018-12-22 10:32:18 +01:00
Julian Oes 2e78b6f2d4 Jenkins: use test board for unit test only 2018-12-22 10:32:18 +01:00
Julian Oes 3e452e2e72 boards: tone_alarm_sim was missing for test board 2018-12-22 10:32:18 +01:00
Julian Oes 6b37102b8e Jenkins: use test board for unit and coverage test 2018-12-22 10:32:18 +01:00
Julian Oes 8faf28918c sitl_gazebo: update submodule 
This brings build fixes for Gazebo 7.
 2018-12-22 10:32:18 +01:00
Julian Oes ffb73f6496 platforms: fix redefinition for QURT 2018-12-22 10:32:18 +01:00
Julian Oes aac7b8d7eb platforms: fix NuttX build 2018-12-22 10:32:18 +01:00
Julian Oes 14e5ebbbbc platforms: fix clock build for macOS (yet again) 2018-12-22 10:32:18 +01:00
Julian Oes 06c5037025 platforms: use CLOCK_MONOTONIC 
For the non-lockstep case we want to use CLOCK_MONOTONIC if possible.
 2018-12-22 10:32:18 +01:00
Julian Oes d94748c831 Makefile: use px4_sitl_test board for make tests 
This means that we can use the normal host scheduling (not lockstep) for
the unit tests.

In the future we might add unit tests using lockstep as well.
 2018-12-22 10:32:18 +01:00
Julian Oes 547dd8511b platforms: use define for lockstep scheduler 
Instead of using the define __PX4_POSIX_SITL it makes more sense to have
a define just to determine if the lockstep scheduler should be used.
 2018-12-22 10:32:18 +01:00
Julian Oes 73578a593f simulator: bring -t argument back 
The -t argument had been deleted because I didn't realize that it was
actually being used. Therefore, this brings it back and we now use -c
for TCP.
 2018-12-22 10:32:18 +01:00
Julian Oes f03e938953 sitl_gazebo: updated submodule 
This fixes all world files at 250 Hz simulation rate.
 2018-12-22 10:32:18 +01:00
Julian Oes d0251581d3 samv7: fix include 2018-12-22 10:32:18 +01:00
Julian Oes a7c2adc877 sitl_gazebo: update submodule 
This brings support for TCP and lockstep.
 2018-12-22 10:32:18 +01:00
Julian Oes 1b685de70d simulator: raise timeout 
This is not suposed to ever trigger anyway.
 2018-12-22 10:32:18 +01:00
Julian Oes 8b2c47523f simulator: set socket options after opening socket 2018-12-22 10:32:18 +01:00
Julian Oes e4af97b11b simulator: fix printf format 2018-12-22 10:32:18 +01:00
Julian Oes 564cae86b5 simulator: remove doubled tcgetattr call 2018-12-22 10:32:18 +01:00
Julian Oes 8a5e0558e4 simulator: improve a couple of error messages 2018-12-22 10:32:18 +01:00
Julian Oes 1165739a56 sensors: check other gyros on timeout 
@bkueng reviewed this and found that it is dangerous to continue on
timeout because we don't update other gyro sensors in the timeout case.
 2018-12-22 10:32:18 +01:00
Julian Oes 8e4296d000 parameters: remove unneeded usleep 
According to @bkueng this was to schedule other processes but can now be
removed.
 2018-12-22 10:32:18 +01:00
Julian Oes 5280a4aba1 platforms: prevent wrap-arounds in px4_sleep 
@bkueng found that the old implementation was likely to wrap-around
given seconds is only a uint32_t. We now cast it directly to uint64_t
and therefore should fix this problem.
 2018-12-22 10:32:18 +01:00
Julian Oes 4efe4b0d15 platforms: reorg after rebase on new board config 
The new board config changed everything, so I needed to move the
lockstep_scheduler repo.
 2018-12-22 10:32:18 +01:00
Julian Oes b4382d4a71 DriverFramework: updated submodule 2018-12-22 10:32:18 +01:00
Julian Oes 185ddb2ab6 lockstep_scheduler: format to PX4 style 
Consistency over taste :(.
 2018-12-22 10:32:18 +01:00
Julian Oes fb9f72d029 lockstep_scheduler: modernize warnings 2018-12-22 10:32:18 +01:00
Julian Oes 6d273f3bd8 px4_layer: modernize warnings 2018-12-22 10:32:18 +01:00
Julian Oes 85486e0469 platforms: let's try clockid_t as int 
Who knows what this really is.
 2018-12-22 10:32:18 +01:00
Julian Oes f3aad419ac DriverFramework: update submodule 
Hopefully, we can fix the defines for macOS.
 2018-12-22 10:32:18 +01:00
Julian Oes c24f6ef943 platforms: lockstep_scheduler ain't no submodule 2018-12-22 10:32:18 +01:00
Julian Oes 7b43e96896 platforms: copied files from lockstep-scheduler 
The files are copied from:
https://github.com/julianoes/lockstep-scheduler/
 2018-12-22 10:32:18 +01:00
Julian Oes 3cbb2d8661 platforms: removed lockstep_scheduler submodule 2018-12-22 10:32:18 +01:00
Julian Oes 357870377a platforms: try to get submodule checked out 2018-12-22 10:32:18 +01:00
Julian Oes f36f85010c simulator: fix casting warning on Windows 2018-12-22 10:32:18 +01:00
Julian Oes 393a665424 DriverFramework: update submodule 
Fixes the unit test on macOS.
 2018-12-22 10:32:18 +01:00
Julian Oes e046a6255f DriverFramework: update submodule 
This brings a couple more build fixes.
 2018-12-22 10:32:18 +01:00
Julian Oes e41518a08b platforms: clean up various build/linking issues 
This makes sure lockstep is only built for SITL builds and fixes the
existing builds.
 2018-12-22 10:32:18 +01:00
Julian Oes 23264fe579 kinetis: add missing include 2018-12-22 10:32:18 +01:00
Julian Oes 9724a84801 gitmodules: use https link for lockstep-scheduler 2018-12-22 10:32:18 +01:00
Julian Oes 8cbe26c6f6 platforms: fix linking issues for NuttX build 2018-12-22 10:32:18 +01:00
Julian Oes a193e4117c drv_hrt: update signature of ts_to_abstime 2018-12-22 10:32:18 +01:00
Julian Oes d75389b2e4 platforms: consolidate latency_buckets 
These symbols were duplicated all over the place.
 2018-12-22 10:32:18 +01:00
Julian Oes b13600ed1a platforms: remove TODO 
It turns out Mac OS X v10.11.6 (El Capitan) is still covered by security
updates at this time, so not end-of-lifed, so we might as well keep
these legacy things.
 2018-12-22 10:32:18 +01:00
Julian Oes 22b584b3b4 simulator: fix TCP connection init on macOS 
When `connect()` fails, the state of the socket is unspecified and we
need to close the it and create it again.

It turns out retrying connect worked on Linux but it didn't on macOS.
 2018-12-22 10:32:18 +01:00
Julian Oes b2f1a59164 DriverFramework: update submodule 
This fixes the build on macOS.
 2018-12-22 10:32:18 +01:00
Julian Oes 6ed6941aba DriverFramework: update submodule 
This fixes the SITL speedup for macOS.
 2018-12-22 10:32:18 +01:00
Julian Oes 546f89aee7 lockstep_scheduler: update submodule 2018-12-22 10:32:18 +01:00
Julian Oes 876d4ebd76 posix: remove appalling errno hack 2018-12-22 10:32:18 +01:00
Julian Oes 66e7b4d578 posix: remove random lies 2018-12-22 10:32:18 +01:00
Julian Oes 11b7411bf8 platforms: cleaned up defines 2018-12-22 10:32:18 +01:00
Julian Oes 23acb77e2d Tools: add PX4_SIM_SPEED_FACTOR as env variable 
This adds the env variable PX4_SIM_SPEED_FACTOR to set the speed factor
to run SITL at.
 2018-12-22 10:32:18 +01:00
Julian Oes 107606e757 simulator: set device_ids when publishing directly 
Without setting the device_id, the preflight checks fail because the
calibration is not found.
 2018-12-22 10:32:18 +01:00
Julian Oes 843033d530 platforms: remove unused function 2018-12-22 10:32:18 +01:00
Julian Oes b436f3dd56 ROMFS/Tools: switch to TCP connection for SITL 
This switches from UDP to TCP to connect to jMAVSim.
 2018-12-22 10:32:18 +01:00
Julian Oes 6d7fb232dd simulator: added TCP, general cleanup, lockstep 
This adds the option to connect over UDP or TCP for mavlink to the
SITL simulator.

Also, this includes a bunch of general cleanup and refactoring of the
simulator interface code. For instance sending of mavlink messages was
put into separate functions and unneccessary comments were removed.

Also, this now sets the timestamp sent by the SITL simulator in the
HIL_SENSOR message in order to enable lockstep.
 2018-12-22 10:32:18 +01:00
Julian Oes cf39fdd37b simulator: use usual type of timestamp 2018-12-22 10:32:18 +01:00
Julian Oes 9b7857315c sensors: handle timeout 2018-12-22 10:32:18 +01:00
Julian Oes 22bd06e5d5 mc_pos_control: don't do orb_check on polled topic 
When we poll on vehicle_local_position we shouldn't do yet another
orb_check but copy it first up.
 2018-12-22 10:32:18 +01:00
Julian Oes 0e04d3e9a9 commander: remove lying comment 2018-12-22 10:32:18 +01:00
Julian Oes e36e0b6ad0 posix: print warning before backtrace 2018-12-22 10:32:18 +01:00
Julian Oes 4ef0d74ea3 platforms: remove old lockstep functionality 
These functions won't be used any longer with the new implementation.
 2018-12-22 10:32:18 +01:00
Julian Oes 14642edfda gps/devices: updated submodule 2018-12-22 10:32:18 +01:00
Julian Oes cc7cae4e7f DriverFramework: updated submodule 
This fixes a race/lockup happening in the DriverFramework scheduler.
 2018-12-22 10:32:18 +01:00
Julian Oes 7c93578b8b jMAVSim: updated submodule 2018-12-22 10:32:18 +01:00
Julian Oes a7e93bc2da simulator: removed leftover (wrong) comment 2018-12-22 10:32:18 +01:00
Julian Oes 09595a1de9 dataman: left FIXME comment 
We shouldn't be using module here.
 2018-12-22 10:32:18 +01:00
Julian Oes 3f508c99fd parameters: commented out strange usleep 2018-12-22 10:32:18 +01:00
Julian Oes da9029274c pwm_out_sim: always publish actuators 
This is required so that the SITL simulator receives a feedback from
PX4.
 2018-12-22 10:32:18 +01:00
Julian Oes d1514cd667 POSIX: add defines system clock calls 2018-12-22 10:32:18 +01:00
Julian Oes 98ae0186e9 px4_sem: use px4_sem on all POSIX system 
This uses the "fake" px4_sem based on mutex and condition_variable on
all POSIX system, not just macOS and Cygwin. This means that we can
change px4_sem_timedwait under the hood and inject the simulated time.
 2018-12-22 10:32:18 +01:00
Julian Oes 3e6e1f5c2b POSIX: use lockstep_scheduler to fake time 
This integrates the lockstep_scheduler, so that the system time is set
by the mavlink HIL_SENSOR message.

This means that the speed factor is removed and the speed is entirely
given by the simulator.
 2018-12-22 10:32:18 +01:00
Julian Oes f0ce300744 platforms: move latency_buckets to perf.c 2018-12-22 10:32:18 +01:00
Julian Oes 6466e690fe DriverFramework: update submodule 2018-12-22 10:32:18 +01:00
Julian Oes 4af0c939ec lockstep_scheduler: update submodule 2018-12-22 10:32:18 +01:00
Julian Oes fa8ac612ab POSIX: use C++ for drv_hrt (file was renamed) 2018-12-22 10:32:18 +01:00
Julian Oes 5df333fa96 POSIX: include lockstep_scheduler in build 2018-12-22 10:32:18 +01:00
Julian Oes 6a78212a6b jMAVSim: update submodule 2018-12-22 10:32:18 +01:00
Julian Oes d295320e82 sitl_run.sh: lower rate for jMAVSim to 250 Hz 
This should be enough for now, especially when we want to raise the
speed of the simulation.
 2018-12-22 10:32:18 +01:00
Julian Oes 5ff3c40179 Added lockstep_scheduler as submodule 
This is just an intermediate step until we can copy the sources over.
 2018-12-22 10:32:18 +01:00
Julian Oes fa31d95fd8 Renamed drv_hrt.c to drv_hrt.cpp 2018-12-22 10:32:18 +01:00
Julian Oes db6de38b19 Work in progress to support a speed factor in SITL 
These contains some rough changes trying to get SITL to speed up by a
SPEED_FACTOR.

This platform time code probably requires some more thought and refactor
but this gets a demo at 4x working.
 2018-12-22 10:32:18 +01:00