fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 12:48:53 +08:00
Code Issues Packages Projects Releases Wiki Activity
46,741 Commits 852 Branches 161 Tags
7e4760587153535f21a403de855d9e158c0764d3
Commit Graph
100 Commits
This Branch
This Branch
All Branches
Author SHA1 Message Date
Beat Küng 491ee01ac4 rpm_capture: add rpm capture driver, publising pwm_input (for now) 2024-12-19 07:30:25 +01:00
Beat Küng 9e9d352eb2 mavlink: update submodule 
MAV_STANDARD_MODE_SAFE_RECOVERY and MAV_STANDARD_MODE_RETURN_HOME got
merged.
 2024-12-18 07:12:36 +01:00
Beat Küng aca5a70964 standard_modes: add vehicle-type specific standard modes 
See https://mavlink.io/en/messages/development.html#MAV_STANDARD_MODE.
The only standard mode that is not set is MAV_STANDARD_MODE_SAFE_RECOVERY,
as PX4 uses RTL for that (with configuration parameters).
 2024-12-18 07:12:36 +01:00
Beat Küng 8ccd43dc1b refactor commander: remove unused argument is_armed in Report class 2024-11-21 14:16:22 +01:00
Beat Küng be300b767d commander: ensure health report is always sent out before failsafe notificaation 
As the failsafe message can reference the health report, the health report
needs to be sent out first. This is generally the case, except there is a
rate limiter set to 2 seconds. So if the report changes quickly, it is
sent out delayed (potentially after the failsafe report).
 2024-11-21 14:16:22 +01:00
Beat Küng bfcd4564a6 fix metadata.cmake: add missing paths to json & xml parameter outputs (#23464) 2024-08-07 16:17:03 +10:00
Beat Küng 4883f2128a commander: allow external modes more time for initial response 
We've come accross a case where a ROS node would consistently take something
over 800 ms until the first arming check request subscription callback was
triggered.
After the first sample, the callback always triggered within the expected
timeframe.
Therefore this patch allows for more time right after registration until
timing out.
 2024-08-05 08:43:56 +02:00
Beat Küng 52ac9336c4 boards: change default IP from 192.168.0.3 to 10.41.10.2 
192.168.0.x is often used by routers for WIFI/ethernet networks, and thus
can create conflicts.
This can happen for example if a companion is connected to the FMU via
ethernet and at the same time connects to a WIFI network as DHCP client.
 2024-06-10 11:05:50 +02:00
Beat Küng a90cdcfe80 boards/px4/fmu-v{5,6}x: enable uxrce_dds_client on ethernet by default 2024-06-10 11:05:50 +02:00
Beat Küng 2524ac8c2b boards/px4/fmu-v{5,6}x: do not enable mavlink on ethernet for skynode 2024-06-10 11:05:50 +02:00
Beat Küng ca112fea8a fix commander: make sure to count all valid mags in preflight check 
Previously, if a mag was not required (not index 0 and not used by ekf),
it was not counted in num_enabled_and_valid_calibration.
If a user set SYS_HAS_MAG to e.g. 3, it would then trigger a preflight
failure, even if there were 3 calibrated and enabled mags.
 2024-05-31 12:30:34 -04:00
Beat Küng e1ffc2cdaa commander: add check for 5V overcurrent 2024-05-22 09:34:04 +02:00
Beat Küng e17faece3d mavlink_ftp: do not store reply on kErrNoSessionsAvailable 
This would interfere with an existing ongoing session
 2024-05-07 07:26:12 +02:00
Beat Küng f002b08e6a mavlink_ftp: ensure there's enough space for the 2. path in _workRename 
Prevents accessing invalid memory when reading ptr + oldpath_sz + 1 and
oldpath_sz fills out the whole or N-1 bytes of the payload.
 2024-05-07 07:26:12 +02:00
Beat Küng f16115d8be mavlink_ftp: handle relative paths correctly 
by ensuring there's a '/' in between when concatenating the path with
_root_dir.
 2024-05-07 07:26:12 +02:00
Beat Küng 9e6dcb1f60 fix mavlink: cmd_logging_{start,stop}_acknowledgement flags were not reset 
Regression from https://github.com/PX4/PX4-Autopilot/pull/23043

Also avoids a race condition by making sure the command ack is handled
before sending out the mavlink message (in case an external component
reacts immediately to the mavlink message).
 2024-05-03 06:59:55 +02:00
Beat Küng 547209e1dc libevents: update submodule 
And remove obsolete libevents_definitions.h
 2024-04-29 07:22:40 -07:00
Beat Küng f543951e10 commander: set correct health component when reporting errors 2024-04-24 16:06:32 -04:00
Beat Küng 2e12e14a23 boards/px4/fmu-v5x: remove sd_stress & reflect to reduce flash usage 2024-03-21 20:58:21 -04:00
Beat Küng 70346a5b2f failsafe: set cause to generic when fallback mode is activated 
Previously when triggering low battery RTL and then losing GPS, the fallback
to Descend would still have low battery as cause.
 2024-03-15 14:06:58 +01:00
Beat Küng c78389a855 commander: send ack for VEHICLE_CMD_DO_SET_ACTUATOR 2024-02-02 09:38:28 -05:00
Beat Küng 8b422c5ed6 fix FunctionActuatorSet: if a param is set to NaN, it should be ignored 
MAVLink spec: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR
Previously, a command was overwriting all other indexes.
 2024-02-02 09:38:28 -05:00
Beat Küng 8be64278be fix navigator: prevent race condition when receiving multiple commands at once 
When handling multiple commands, it could happen that the first command
updates _reposition_triplet. Normally this would then get handled after
getting the mode change from commander through vehicle_status.
But if the next command is handled before an update from commander, it
could overwrite the triplet.
This patch ensures that navigator waits for an update from commander (and
therefore process the _reposition_triplet) before handling the next
command.

This happened specifically when pressing 'Pause' from QGC during a mission.
QGC sends VEHICLE_CMD_DO_REPOSITION twice, first for pausing, then changing
the altitude.
The result was that the vehicle would not stop at the current location but
continue to the next mission waypoint and stop there.
 2024-01-22 12:45:54 -05:00
Beat Küng c5101c70b3 uorb: enure message definitions don't exceed buffer lengths & increase test buffer 
There were already checks at runtime, but this ensures the format is not
too long at built-time.
 2023-12-05 10:42:23 +01:00
Beat Küng f69636feef fix msg: add_custom_command needs to depend on files instead of custom_command target name 
This fixes incremental builds when msg files change.

Introduced with https://github.com/PX4/PX4-Autopilot/pull/21995.
 2023-11-30 10:36:39 -05:00
Beat Küng 7afa011741 mavlink_mission: publish mission after updating dataman 
This avoids a potential race condition when dataman also updates dataman
as a result of the publication.
 2023-11-24 08:10:07 +01:00
Beat Küng 93cae5f9d7 mission: fix comparison logic for saving mission state 2023-11-24 08:10:07 +01:00
Beat Küng 19f08b46b0 ci: add test for PX4_EXTRA_NUTTX_CONFIG 2023-11-22 21:41:53 -05:00
Beat Küng a9c4e5a33f cmake: allow extra nuttx config options via PX4_EXTRA_NUTTX_CONFIG env var 2023-11-22 21:41:53 -05:00
Beat Küng 0d53bd945e Jenkinsfile: add 'git fetch' to failsafe target 
It was failing occationally with:
14:12:43  CMake Error at CMakeLists.txt:129 (list):
14:12:43    list index: 1 out of range (-1, 0)
14:12:43
14:12:43
14:12:43  CMake Error at CMakeLists.txt:131 (list):
14:12:43    list index: 2 out of range (-1, 0)
14:12:43
14:12:43
14:12:43  CMake Error at CMakeLists.txt:132 (string):
14:12:43    string sub-command REPLACE requires at least four arguments.
14:12:43
14:12:43
14:12:43  -- PX4 version: f513c40d62 (f513c40d62..NOTFOUND)
 2023-11-15 14:23:06 +01:00
Beat Küng f513c40d62 ucdr/msg.h.em: static inline the (de-)serialization methods 
to avoid multiple definitions when using them from different places.
 2023-11-15 13:18:58 +01:00
Beat Küng 2f91102808 mixer_module: rename Offboard_Actuator_Set to Peripheral_via_Actuator_Set 
Offboard is a bit too specifically tied to Offboard mode.
 2023-11-15 13:18:58 +01:00
Beat Küng d12a7dd11d uxrce_dds_client: run session until we do not get data anymore 
Otherwise there can be significant delay for received data
 2023-11-15 13:18:58 +01:00
Beat Küng 36fbd18bdc px4/fmu-v5x: set mavlink dialect to development for now 
So dynamic modes are available
 2023-11-15 13:18:58 +01:00
Beat Küng fb7e973dfd commander: allow external modes to be assigned to RC 
Stores a hash of the mode name so that the same mode is always assigned
to the same index independent from registration order.
 2023-11-15 13:18:58 +01:00
Beat Küng 22acb08406 uorb: add message format compatibility check 
This can be used by DDS/ROS 2 to check for matching message definitions.
 2023-11-15 13:18:58 +01:00
Beat Küng a72f2517ea px4events: handle events parsing from ROS2 code 2023-11-15 13:18:58 +01:00
Beat Küng bb900264e0 commander+mavlink: implement MAVLink standard modes 2023-11-15 13:18:58 +01:00
Beat Küng b46e1d744b commander: add config overrides 2023-11-15 13:18:58 +01:00
Beat Küng 889b6a1a78 commander: add VEHICLE_CMD_SET_NAV_STATE internal command 2023-11-15 13:18:58 +01:00
Beat Küng fbbccf6997 commander: implement external modes and mode executors 2023-11-15 13:18:58 +01:00
Beat Küng 1ad5a9de08 uorb: compress format definitions 
Reduces flash usage by ~16KB.

- compress formats at build-time into a single string with all formats
- then at runtime iteratively decompress using
  https://github.com/atomicobject/heatshrink
 2023-11-08 00:31:26 -05:00
Beat Küng fd0a311f3c Makefile: exclude submodules for 'make validate_module_configs' 2023-11-03 11:09:57 -04:00
Beat Küng 2e1d5687f9 fix events: use px4_add_library instead of add_library 
Fixes `make uorb_graphs`
 2023-10-06 10:24:23 -04:00
Beat Küng d1fcd39a44 fix crsf_rc: prevent potential buffer overflow for unknown packets 
The length check for unknown packets did not include PACKET_SIZE_TYPE_SIZE
and CRC_SIZE, and hence working_index could overflow CRSF_MAX_PACKET_LEN,
triggering invalid memory access further down in QueueBuffer_PeekBuffer.

Also the working_segment_size was wrong for unknown packets.

Credits for finding this go to @Pwn9uin.
 2023-10-05 08:00:22 +02:00
Beat Küng d1266c856f rc_input: prevent error output during boot on boards with px4io 
output:
INFO  [rc_input] valid device required
ERROR [rc_input] Task start failed (-1)
 2023-09-14 10:40:54 -04:00
Beat Küng b485b1a12a drv_hrt: remove whitespace for operator "" 
Fixes the clang error:
/__w/PX4-Autopilot/PX4-Autopilot/src/drivers/drv_hrt.h:297:35: fatal error: identifier '_s' preceded by whitespace in a literal operator declaration is deprecated [-Wdeprecated-literal-operator]
  297 | constexpr hrt_abstime operator "" _s(unsigned long long seconds)
 2023-08-28 17:48:20 +02:00
Beat Küng d4c7ea74ef refactor uxrce_dds_client: reduce amount of generated code for SendTopicsSubs 
Reduces flash usage by ~4KB for current set of topics.
 2023-08-21 20:56:08 -04:00
Beat Küng 8e1dd710a6 parameters: remove indentation from json output 
Reduces parameters.json.xz by ~3KB on v5x.
 2023-08-21 20:55:09 -04:00
Beat Küng 03365658d5 VehicleControlMode: add flag_control_allocation_enabled 
Allows (external) modes to directly publish actuator_{motors,servos}.
 2023-08-21 20:53:51 -04:00
Beat Küng ae70f9c640 attitude_estimator_q: disable ATT_ACC_COMP by default 
Improves tracking in the CI test, and I always disabled it on my vehicles
as well.
 2023-08-08 12:28:52 -04:00
Beat Küng 57297234e2 autopilot_tester: slower descend for fly_forward_in_offboard_attitude 
As CI was sometimes failing
 2023-08-08 12:28:52 -04:00
Beat Küng 02a6640000 fix uxrce_dds_client: apparently we cannot use the upper 4 bits for ID's 2023-08-08 10:59:34 +02:00
Beat Küng 2d09ad55e3 omnibus/f4sd: disable urxce_dds_client and enable tools & load_mon 2023-08-04 11:27:31 -04:00
Beat Küng 0277a6486f mavsdk_tests: add offboard attitude test & run with Q estimator 2023-08-04 11:27:31 -04:00
Beat Küng 351a9050c3 commander: update param description for COM_MOT_TEST_EN 2023-07-27 09:39:24 -04:00
Beat Küng 8e8b35dadf px4/fmu-v6x: disable batt_smbus for now to reduce flash 2023-07-24 13:10:31 +02:00
Beat Küng 133aeb10a6 mision: only run mission feasibility checks when mission updated 
Instead of also when geofence/safe points updated.
This prevents reporting multiple times.
 2023-07-24 13:10:31 +02:00
Beat Küng 72955221cb fix dataman: treat 0 as valid return for read & ensure to init buffer 
This can happen e.g. when the item is cleared.
 2023-07-24 13:10:31 +02:00
Beat Küng 9aa355a08c HIL: add --ignore-stdout-errors to run_nsh_cmd.py and use for 'tests dataman' 
As this test is expected to contain errors.
 2023-07-24 13:10:31 +02:00
Beat Küng 5c73d24765 boards/px4/fmu-v5/test: disable modules to reduce flash 2023-07-24 13:10:31 +02:00
Beat Küng 05a5bbe120 boards/diatone/mamba-f405-mk2: disable modules to reduce flash 2023-07-24 13:10:31 +02:00
Beat Küng ebd64bfab6 navigator: defer saving mission until disarmed 
Avoids unnecessary dataman accesses
 2023-07-24 13:10:31 +02:00
Beat Küng 16a144c00f navigator: use mission topic to notify about geofence & safe point changes 
This avoids the need to regularly access dataman for checking.
 2023-07-24 13:10:31 +02:00
Beat Küng 8b780f2a96 airframes/x500_v2: move motors from AUX to MAIN 2023-07-18 11:13:16 -04:00
Beat Küng 327b7e611e boards/px4/fmu-v5/test: disable modules to reduce flash 2023-07-14 07:51:01 +02:00
Beat Küng 4a18baa4bd boards/mamba-f405-mk2: disable ekf components to reduce flash 2023-07-14 07:51:01 +02:00
Beat Küng 0d6cb46c83 lightware_laser_i2c: add SF30/D 2023-07-06 22:42:39 -04:00
Beat Küng 77d6c722a7 helicopter: add tail servo support 
as a separate CA_AIRFRAME, as the UI cannot switch between servo/motor.
 2023-07-03 16:21:27 +02:00
Beat Küng bae413a332 v6x: start mavlink on TELEM2 for skynode 
Equivalent to v5x
 2023-07-03 16:20:41 +02:00
Beat Küng 65ad6afb08 Micro-XRCE-DDS-Client: update submodule 
Go get https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/359.
 2023-06-19 16:05:36 -04:00
Beat Küng c95539e8ce boards: increase init stack size by 150B 
External airframes need a bit more stack due to nested configs.
 2023-06-09 21:11:11 -04:00
Beat Küng 7230a6dd8e commander: add option to exclude mag to param SYS_FAC_CAL_MODE 2023-06-09 21:05:40 -04:00
Beat Küng f119cca3b3 logger: restart on file write error 
This can also happen if the maximum file size is reached.
 2023-06-08 09:52:49 +02:00
Beat Küng db18a94382 refactor param: reduce flash usage 
Reduces usage by ~1.5KB
 2023-05-31 07:45:20 +02:00
Beat Küng 1bfca24fa9 refactor param: move autosave to px4::wq_configurations::lp_default work queue 
Changes initialization order as param_init now depends on wq manager
 2023-05-31 07:45:20 +02:00
Beat Küng e65a0a01d6 fix WorkQueueManager: wait until running to prevent race conditions 2023-05-31 07:45:20 +02:00
Beat Küng a2ce73d39d px4/fmu-v6x: increase BL baudrate for flashing via uart to 1500000 2023-04-13 07:46:49 +02:00
Beat Küng 989d9243b7 fix control_allocator: correct PRINT_MODULE_USAGE_NAME 2023-04-13 07:46:09 +02:00
Beat Küng aa5b9ae638 fix failsafe: correctly handle Hold RC loss action 
Otherwise the additional mode check triggers an RTL which takes precedence
over Hold.
Introduced in 132e9d2439
 2023-04-04 07:03:42 +02:00
Beat Küng 932b743e13 ROMFS: add motor assignment to holybro x500 2023-03-28 08:18:26 -07:00
Beat Küng 22c94f805a component information: add translation support 2023-03-20 21:57:25 -04:00
Beat Küng 8497d3388f fix mavlink_ulog: use hrt_abstime instead of float 
The float inaccuracy was leading to problems on SITL with large timestamps.
 2023-03-20 21:47:41 -04:00
Beat Küng e129534a58 fix ROMFS: add rc.autostart_ext to cmake 2023-03-01 08:53:17 -05:00
Beat Küng 06dfd1726f microdds_client: fix -l flag and add -c for custom participant configuration 
Allows to use a custom FastDDS configuration on the Agent side.
 2023-02-22 11:15:29 -05:00
Beat Küng fe3c1d0a92 logger: do not try to wait for mavlink ack when writing watchdog data 
As it might block for 2.5s (if mavlink is blocked) and therefore would not
write to file before restoring the priorities.
 2023-02-21 11:32:30 -05:00
Beat Küng 66b0f6eb35 log_writer_file: call fsync after reliable transfer 
ensures watchdog data is flushed immediately
 2023-02-21 11:32:30 -05:00
Beat Küng e4cef9f303 logger: update watchdog 
- reduce boost priority to PX4_WQ_HP_BASE - 6
- add cli command 'trigger_watchdog' to manually trigger watchdog
- add perf counters when triggering watchdog
- reduce top measurement to 300ms
- restore priorities after 1.5s

There are precautions in case the SD card code itself has a busy-loop.
 2023-02-21 11:32:30 -05:00
Beat Küng 015ba62727 log_writer_file: do not call close() with mutex held 
Generally not an issue, but if close() takes long, or even busy-loops due
to an underlying bug in the OS, it will block the main thread too.
 2023-02-21 11:32:30 -05:00
Beat Küng 83c8c79af5 commander failsafe: add API to defer failsafes 2023-02-07 19:27:51 -05:00
Beat Küng a727bddc19 microdds_client: set queue depth for incoming topics according to msg definition 
Otherwise the FMU might miss publications from 2 different publishers at
the same time.
 2023-02-07 19:12:10 -05:00
Beat Küng 3f2336af32 navigator: add ModeCompleted signalling topic 2023-02-07 19:11:52 -05:00
Beat Küng f05e8a699e ROMFS: enable COM_LOW_BAT_ACT by default for SITL 2023-02-07 19:11:29 -05:00
Beat Küng ebc1d7544e battery_simulator: add support for failure injection 
For failsafe triggering in automated tests
 2023-02-07 19:11:08 -05:00
Beat Küng b1709743f7 commander: add wind or flight time limit exceeded mode requirement 
This prevents switching into any of these modes once the condition is set.
 2023-02-01 08:48:09 +01:00
Beat Küng a8628c9d9c fix commander: clear takeoff_time only on disarm 
Otherwise the flight time restriction flag gets cleared too early, before
disarming (which puts the vehicle into the previous mode and it might
take off again).
 2023-02-01 08:48:09 +01:00
Beat Küng 8e4c5884ec fix commander: need to check for valid mode change even if already the same 
Fixes the following case:
- user intention set to X
- failsafe triggers, mode = Y
- can_run for X becomes false
- user tries to switch to X
  -> need to re-evaluate can_run
 2023-02-01 08:48:09 +01:00
Beat Küng 7988491e37 failsafe simulator: improve spacing for multi-line checkboxes 
Reduces line-height to 100% in that case.
 2023-02-01 08:48:09 +01:00
Beat Küng 0687fd2689 lockstep_scheduler: avoid pthread_cond_destroy on at_exit 
The static object is destroyed on at_exit while threads might still be
inside a CS. This can lead to a hanging process.
Cleaner would be to gracefully stop the threads.

According to https://linux.die.net/man/3/pthread_cond_destroy:
Attempting to destroy a condition variable upon which other threads are
currently blocked results in undefined behavior.
 2023-01-30 11:45:02 +01:00
Beat Küng 98705ced2f lightware_laser_i2c: fix unreliable startup detection 
In rare occasions asking for the protocol values after setting it returned
[0, 0]. I did not see any documentation for having to wait, but adding a
short wait period fixes it.
 2023-01-18 23:02:56 -05:00