These headers files were missing from the header files that
I added them to; the fact that they were missing didn't
lead to compile errors because by coincidence the missing
headers are included in the source files before including
these headers. But, after the reordering of header inclusions
by Tools/fix_headers.sh, these cases will give rise to compiler
errors.
* Fix jmavsim HITL simulation of MAV_CMD_DO_REPOSITION in the case where you have no radio attached to the PX4 and so you have disabled RC link loss for that reason (set NAV_RCL_ACT = 0) but you still want the jmavsimulation to work. The line of code changed here causes failsafe RTL to kick in without this fix.
* Add altitude hold option using Z position control, while doing velocity control on vx and vy.
* Fix style and rebase issues
'mavlink stop-all' during a log streaming session previously led to a
resource leak, and log streaming could only be re-started by rebooting the
system.
Instead of sending actuator controls from -1..1 for SITL, we should send
0..1 like we already do for HIL. This will enable negative thrust in the
future, e.g. for pusher props that spin backwards, or for vehicles with
variable pitch propellers.
We don't have C++ unsafe headers (anymore).
I added a test to fix_headers.sh that checks if certain "unsafe"
headers are ONLY included inside a __BEGIN_DECLS ... __END_DECLS
(because after all, they are unsafe), as well as checking that
no other header files are included inside such a block. The rationale
of the latter is that if a file is a C header and it declares
function prototypes (otherwise it doesn't matter) and is sometimes
included outside a __BEGIN_DECLS ... __END_DECLS block (from a C++
source file) then it has to be C++ safe and doesn't ever to be
included from inside such a block; while if a file is a C++ header
then obviously it should never be included from such a block.
fix_headers.sh subsequently found several safe headers to be
included from inside such a block, and those that were (apparently
in the past) unsafe were included only sometimes inside such a
block and often outside it. I had a look at those files and saw
that at least an attempt has been made to make them C++ safe,
but especially because they already are included OFTEN outside
a __BEGIN_DECLS ... __END_DECLS (from C++ source files) the
best decision seems to treat them as safe.
This is not risky: .c files that define such functions still
generate C-linkage for their functions. If a C++ unsafe C header
is included outside a __BEGIN_DECLS ... __END_DECLS block then
the only possible result would be an undefined reference to
a function with C++-linkage that will not exist. Aka, when
something links after this commit, then the commit was correct.
I did build all targets and they all linked.
This patch reorders px4_defines.h to make it more readable (I think)
but more importantly, cleans up the #include <math.h>/<cmath>
and [std::]isfinite stuff.
My main goal was to completely get rid of including math.h/cmath,
because that doesn't really belong in a header that is supposed to
define macro's and is included in almost every source file (if not
all).
I'm not sure what it did before ;) (pun intended), but now it does
the following:
PX4_ISFINITE is only used in C++ code (that was already the case,
but hereby is official; for C code just use 'isfinite()') and is
defined to be std::isfinite, except on __PX4_QURT because that uses
the HEXAGON toolset which (erroneously) defines isfinite as macro.
I would have liked to remove PX4_ISFINITE completely from the code
and just use std::isfinite whereever that is needed, but that would
have required changing the libecl submodule, and at the moment I'm
getting tired of changing submodules... so maybe something for the
future.
Also, all includes of <math.h> or <cmath> have been removed except
for __PX4_NUTTX. Like the HEXAGON toolset NuttX currently defines
isfinite as macro for C++. So, we could have solved this in the
same was as __P4_QURT; but since we can fix NuttX ourselves I chose
to add a kludge to px4_defines.h instead that fixes this problem,
until the time that NuttX can be fixed (again postponing changing
a submodule). The kludge still demands including <cmath>, thus.
After removal of the math header file, it needed to be included
in source files that actually need it, of course.
Finally, I had a look at the math macro's (like M_PI, M_PI_F,
M_DEG_TO_RAD etc). These are sometimes (erroneously) defined in
certain math.h header files (like both, hexagon and nuttx).
This is incorrect: neither the C nor the C++ standard defines
math constants (neither as macro nor otherwise). The "problem"
here was that px4_defines.h defined some of the M_*_F float
constants in terms of the M_* double constant, which are
sometimes not defined either thus. So, I cleaned this up by
defining the M_*_F math constants as float literals in px4_defines.h,
except when they are defined in math.h for that platform.
This means that math.h has to be always included when using those
constants, but well; not much difference there as those files
usually also need/use the macro NAN (which *is* a standard macro
defined by math.h).
Finally finally, DEFAULT_PARAM_FILE was removed as it isn't
used anymore.
All in all I think the resulting px4_defines.h is nice, giving me
much less the feeling of a nearly unmaintainable and over time
slowly growing collection of kludges and hacks.
reorder & reduce instance to uint8_t (which is more than enough).
Reduces sizeof(MavlinkOrbSubscription) from 40 to 24.
On Pixracer this frees almost 2KB of RAM
This limits the maximum bandwidth of ulog streaming to 70% of the specified
mavlink datarate. If less is used, the leftover is assigned to the mavlink
streams, if more is used, it starts to drop.
mavlink status outputs the currently used rate, to check if a link is
saturated.
This adds the capability to forward the commands
- MAV_CMD_VIDEO_START_CAPTURE
- MAV_CMD_VIDEO_STOP_CAPTURE
- MAV_CMD_IMAGE_START_CAPTURE
- MAV_CMD_IMAGE_STOP_CAPTURE
at waypoints which will then be sent over mavlink to component id
100 aka MAV_COMP_ID_CAMERA.
It makes more sense to set the optimization flags on a platform basis
instead of individually for each module. This allows for different
optimization options for SITL, NuttX, Snapdragon, etc.
This fixes a corner case where the first advertise/publish of a
vehicle_command_ack was missed. What happened was that the
orb_subscribe_multi was not called until the topic had been published
and therefore orb_exists was happy. This means that by the time
orb_subscribe_multi was finally called, the first vehicle_command_ack
was already history and not detected by orb_check.
This changed adds a flag to the MavlinkOrbSubscription which tells it to
subscribe to a topic from the beginning.
Andreas Antener