Commit 5fe82aa added mutex protection in ~Mavlink() to fix a race
condition when start_helper() deleted an instance without holding the
mutex. However, this caused a deadlock because stop_command() and
destroy_all_instances() already hold mavlink_module_mutex when calling
delete, and the mutex is non-recursive.
Fix by moving instance cleanup to the callers:
- All callers now hold the mutex and remove the instance from
mavlink_module_instances BEFORE calling delete
- The destructor no longer touches mavlink_module_instances
- Event handoff remains in destructor (works because `this` is already
removed from the list when destructor runs)
This hopefully fixes the original race condition while avoiding the
deadlock that caused USB mavlink to hang on reconnect.
* rover_mecanum: enable yaw control via MAVLink SET_POSITION_TARGET commands
* Maintain the original judgment conditions
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Co-authored-by: V <null>
This prevents PX4 from sending out the GPS_GLOBAL_ORIGIN message
immediately when a SET_GPS_GLOBAL_ORIGIN message arrives.
Instead, we apply the new origin in the EKF, and only then send out
the new origin, which is much more intuitive and doesn't confuse a user
of the API.
* mavlink: fix potential use-after-free
If a mavlink instance is force stopped, the main thread might be out of
scope and the receiver thread would be doing a use-after-free.
Instead the receiver thread needs to check its own _should_exit flag.
* mavlink: protect shared data by mutex in dtor
I'm not sure if this potentially fixes any of the segfaults we have seen
on stopping mavlink instances but it potentially could matter if the
mavlink_receiver thread is killed after a timeout and tries to send any
messages as a zombie.
When operating fully autonomously (i.e., without manual control or a guaranteed link to the ground station), tuning a vehicle can be difficult since the current autotune process requires either RC input or a GCS command. For these scenarios, it it useful to be able to start autotune inside a mission.
Counts active mavlink instances atomically when instances
are claimed or released and uses that value to early-exit
the forwarding logic.
It means on single-instance scenarios this will skip taking
the mavlink_module_mutex lock and will not iterate over
mavlink_module_instances on every received message.
Signed-off-by: Onur Özkan <work@onurozkan.dev>
Some modes should only be run within the context of a mode executor and the user should not be able
to select them in the GCS. With this change, the external component registration request can be
used to set if a mode is selectable or not.
I don't think it makes sense to ignore required streams that easily.
If we do use some streams that are only in the MAVLink development.xml
dialect, then we will have to properly and explicitly ifdef them
everywhere that we use them. Otherwise, this basically means that we
will just swallow this warning on most (non mavlink-dev) platforms which
can mask issues.
* mavlink: esc: fix ESC_STATUS and ESC_INFO message emission.
Fixes mavlink messages emission for ESC messages. Actuator --> MotorNumber mapping was not respected, the mavlink messages should be reporting the ESC status in motor number order not actuator order.
* Update src/modules/mavlink/streams/ESC_STATUS.hpp
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* Update src/modules/mavlink/streams/ESC_INFO.hpp
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* remove dependency on mixer_module/output_functions.hpp
* add actuator function definitions to EscReport.msg
* clean up
* add missing header
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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* Update to latest mavlink that includes support for WIP warnings
* mavsdk_tests: pass build for now
We need this until the figure eight stuff has moved to common.
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Co-authored-by: Julian Oes <julian@oes.ch>
- enable building in a cmake subdirectory:
- use consistent path to "etc" in build directory
- add a quick fix for mavlink inclusion with
`mavlink/<version>/mavlink.h`, presumably the problem does not
appear normally since somewhere the build root directory is added
to include paths.
- install gazebo config and plugins, the goal is to enable packaging of
PX4 sitl binaries.
- fix dependency on dds_topics.h generation in uxrce_dds_client:
*** No rule to make target 'PX4-Autopilot/src/modules/uxrce_dds_client/dds_topics.h', needed by 'PX4-Autopilot/events/px4.json'. Stop.
https://github.com/PX4/PX4-Autopilot/issues/21788
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Add new INS driver sbgECom
Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot
Be able to parametrize the serial port, baudrate and the communicating mode
Clone sbgECom library only if sbgecom support is enabled and apply a patch
Be able to send SBG Systems INS settings in several ways when starting sbgecom driver
* Fix sensor airspeed simulator units
* Fix HIGHRES_IMU pressure unit
* Allow HIGHRES_IMU to support 4 IMUs
* sbgECom: Add documentation
* Use submodule instead of fetching sbgECom using CMake
* Remove patch strategy
* Fix dates
* Remove patch file
* Update SBG dev type ID
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
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Co-authored-by: Samuel Toledano <samuel.toledano@sbg-systems.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* MAV_CMD_REQUEST_MESSAGE support for MESSAGE_INTERVAL
* Default should be -1 for stream
* Format
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Co-authored-by: PX4BuildBot <bot@pixhawk.org>
* mavlink: add message spacing for AVAILABLE_MODES, for low bandwidth links
* calculate delay based on rate
* fixed transmit time calc & not delay single mode send
Co-authored-by: bkueng <beat-kueng@gmx.net>
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Co-authored-by: bkueng <beat-kueng@gmx.net>
According to the mavlink spec we should be publishing the home attitude
as a quaternion rather than just the yaw/heading.
Additionally, this allows setting the landing roll and pitch angle using
DO_SET_HOME (this yet needs to go into the MAVLink spec though).
This time including the message versioning and translation.
David Meng