- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration)
- by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
- split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated)
- publish sensor_gyro at full rate and remove sensor_gyro_control
- limit sensor status publications to 10 Hz
- remove unused accel/gyro raw ADC fields
- add device IDs to sensor_bias and sensor_correction
- vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
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)
* NotchFilter: add NotchFilter template and test for float type
* NotchFilterTest: add test for Vector3f notch filter
* PX4Gyroscope: add notch filter with IMU_GYRO_NF_(FREQ|BW) parameters to
set the notch center frequency and bandwidth
- if less than 6 sides are calibrated, keep the existing calibration and
update the offsets and scales
- if 2 sides are calibrated, estimate the offsets only (as this is enough
if a full calibration was done already, and the problem is not
constrained enough to estimate scales and offsets)
- Startup was broken due to unnecessary cyclic check probably introduced during transition to work_queues
- Module never used other than on Teal One which had a hacky heater input GPIO, this enables usage on general boards
drivers: heater: reduce verbosity and simplify commandline options
- We prefer the linux way of only reporting errors and staying quiet when everything is functioning as designed
- Most of the commandline options just read out the values of the system parameters, and one can just check the parameter values directly.
sensor_params: make thermal control parameters system parameters
heater_params: make thermal control parameters system parameters
drivers: heater: remove pin control hacks
- px4_arch_configgpio(GPIO_HEATER_OUTPUT) directly inits the heater pin to OFF, and as a PUSHPULL (TTL totem pole) OUTPUT
drivers: heater: set default device ID to 0
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
Some of these perf counters were useful during initial development, but realistically aren't needed anymore, some are redundant when we can now see the average interval from `work_queue status` and some of them simply aren't worth the cost at higher rates.
The documentation of the thrust model parameter `THR_MDL_FAC` did not
mention both thrust and "PWM" being relative values. Also the use of the
term PWM could be misleading, since the model is applicable to CAN ESCs
as well.
This commit rephrases the user documentation string and a few source
code comments, but no logic changes are made.
ClosesPX4/Firmware#13105
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
* WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
This new airspeed module does:
-runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale
-selects another airspeed sensor if for the current one a failure is detected
-estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present
-outputs airspeed_validated topic
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* This fix is necessary because usually uORB structs get initialized with
all zeros and then get filled with the fields that are actually in use.
* The number 0 for the mode slot was already commanding to switch to the
mode in slot one even though for example the joystick input via mavlink
does not use this mechanism at all.
Daniel Agar