* refactor(mixer_module): change MixingOutput to use float outputs
MixingOutput now passes float values to output drivers instead of
uint16_t. This removes the need for the 8192 offset encoding and
allows reversible motors to receive negative values directly.
* fix(mixer_module): fix float safety issues
-EscClient and voxl2_io: replace outputs[i] with fabs(outputs[i]) > 0.fto fix compilation issues
-GZMixingInterface: add explicit double cast to prevent compilation error
-PWMSim: replaced unit16 cast with lroundf given that now motors outputs can be negative and casting a negative float to unit16 is undefinder behaviour
-mixer_module: same fix of PWM (unit126 cast on negative float is undefined behaviour)
* refactor(mixer_module): float rounding suggestions
* fix(pwm_sim): fix inverted disarmed condition
* fix(mixer_module): more float rounding improvements
* fix(mixer_module_tests): use casting method which are now in drivers for rounding tests
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
long is a 32-bit signed integer, which means the maximum it will hold is 0x7FFFFFFF.
strtol is overflowing, resulting in clamping the value to LONG_MAX (or 0x7FFFFFFF) and returns that instead.
Fixes by using strtoul, which corrects the returned value.
Can be tested by building a UAVCAN Node on the tag v1.16.1, flashing and checking the value displayed in dronecan_gui_tool. Screenshot added for convenience.
Add warning message in print_info() to alert users that CAN error counter
values may increase during the function call due to internal counter reading
implementation. Users should not fully trust these counters until the
underlying issue is fixed.
Co-authored-by: ljarvela <lasse.jarvela@iceye.com>
* uavcan esc: remove unused includes
* uavcan arming_status: disarm when terminated
To stay consistent with kill.
* uavcan: publish armed during actuator tests to make it possible spinning motors
* uavcan: collect node info and publish every second
* UORB: Add DeviceInformation Message
Format DeviceInformation.msg with standard comment spaces
* SENS: add getter for device_id
* UAVCAN: add publishing of DeviceInformation based on publised message type, and Node Information
* LOG: add deviceInformation
* MSG:BAT: fix comment to be inline with the max_instaces
* UAVCAN: DeviceInformation, incorporated feedback
* UAVCAN: DeviceInformation, incorporated feedback
* UAVCAN: DeviceInformation, Fixed bug with Powermonitor
---------
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
dshot: fix motor test on CANnode
Also includes fixes for the DShot driver since stop_outputs is removed. The esc info command has been removed because it doesn't work with AM32, can only be used via command line, and complicates the driver
This fixes a number of issues with uavcan ESC control.
- Motor Testing when using a CANnode as a PWM expander now works by allowing the FunctionMotors class to perform prearm control
- The esc.RawCommand message is now always published for configured uavcan ESC outputs. Previously prior to arming the message would be published empty, which causes certain ESCs to enter an error state.
- Useless and redundant code has been removed and small name changes have been applied.
- As it is always only used for the vehicle command ack message
- It was a duplicate, hence making it error prone for maintainment
- The uORB message comments were updated to make the relationship with
the MAVLink message / enum definitions clear
internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
- fixes the deadlock in px4io ioctl mixer reset
- px4io Run() locks (CDev semaphore)
- mixer load goes through px4io ioctl MIXERIOCRESET which calls MixingOutput::resetMixerThreadSafe()
- MixingOutput::resetMixerThreadSafe() stores a Command::Type::resetMixer command in an atomic variable, schedules a work queue cycle, then sleep spins until the command is cleared
- the execution of the cycle eventually calls back into PX4IO::updateOutputs(), which tries to lock (and waits forever)
- uavcan firmware server no longer shuts down when arming (nodes might restart in flight)
- always handle UAVCAN parameters with or without the FW server active
- remove legacy ESC enumeration in FW server
Forwards messages on the gps_inject_data uORB topic as
uavcan::equipment::gnss::RTCMStream messages on the UAVCAN bus. This
enables differential/RTK GPS over UAVCAN to work.
Tested with CubePilot Cube Orange, Here+ base and Here3 rover.
Signed-off-by: Alex Mikhalev <alexmikhalevalex@gmail.com>
The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.
- DriverFramework (src/lib/DriverFramework submodule) completely removed
- added dspal submodule in qurt platform (was brought in via DriverFramework)
- all df wrapper drivers removed
- all boards using df wrapper drivers updated to use in tree equivalents
- unused empty arch/board.h on posix and qurt removed
- unused IOCTLs removed (pub block, priv, etc)
- Integrator delete methods only used from df wrapper drivers
- commander: sensor calibration use "NuttX version" everywhere for now
- sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
- load_mon and top remove from linux boards (unused)
- delete unused PX4_MAIN_FUNCTION
- delete unused getreg32 macro
- delete unused SIOCDEVPRIVATE define
- named each platform tasks consistently
- posix list_devices and list_topics removed (list_files now shows all virtual files)
Main UAVCAN protocol handling and ESC updates run on the same thread/wq as
before. There are 2 WorkItems for separate scheduling of the 2, so that
ESC updates run in sync with actuator_control updates. UAVCAN is scheduled
at a fixed rate of 3ms (previously the poll timeout) and on each UAVCAN
bus event.
This leads to roughly the same behavior as before. CPU & RAM usage are
pretty much the same (tested on Pixhawk 4).
Testing done: Motors still work (with feedback), param changes and a
UAVCAN optical flow sensor.
