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Author SHA1 Message Date
Jaeyoung-Lim
d30760a2ea Remove flap scaling to prevent flaps being deployed in manual mode 
This commit restores the flap scaling since it was always getting deployed in manual flight modes
 2021-08-13 15:46:23 +02:00
Beat Küng
72bc8647a9 commander: add sensors reset to factory calibration 2021-08-12 10:20:33 -04:00
Daniel Agar
3f172dbfa7 ROMFS: new parameters for starting differential pressure sensors 2021-08-12 10:11:13 -04:00
romain-chiap
c8346534f1
sih: using Quatf::expq(), fuselage added 2021-08-12 10:10:03 -04:00
Beat Küng
265c77b02a logger: remove unused topics, move some to debug profile 2021-08-12 10:09:11 -04:00
Beat Küng
c0285611ec fix logger: turn off lockstep when starting log streaming 
Lockstep created deadlocks between logger and mavlink, due to logger
waiting for mavlink and mavlink waiting for lockstep.
 2021-08-12 10:09:11 -04:00
Beat Küng
f88f224fe6 logger: avoid data bursts by distributing slow subscription updates over time 
There's an increasing amount of slow logged topics at 1-2Hz, which were all
updated in the same logger iteration, leading to data bursts. For log
streaming this started to exceed uart buffer sizes. By distributing updates
more equal over time those bursts are removed, reducing buffer size
requirements.

Tests showed during steady state a reduction of maximum topic updates per
iteration from 40 down to 17.
Also the SD log buffer fill level is more constant.
 2021-08-12 10:09:11 -04:00
Beat Küng
d3c45c00c7 mavlink_ulog_streaming: when stopping, wait after receiving the ack 
So we log additional data send afterwards
 2021-08-12 10:09:11 -04:00
Beat Küng
e1ac6fe297 logger: send post-flight perf data when stopping mavlink log streaming 
- send out VEHICLE_CMD_RESULT_IN_PROGRESS
- delete the ulog object when receiving the ACK from logger, instead of
  the stop command
 2021-08-12 10:09:11 -04:00
Beat Küng
0f6bf6bc0e refactor gps: use enum class for gps_driver_mode_t 2021-08-12 10:06:39 -04:00
Beat Küng
09a42e7af2 gps: extend GPS_DUMP_COMM param to enable RTCM output + logging 2021-08-12 10:06:39 -04:00
Martina Rivizzigno
159c87a6fb ll40ls: add support for LidarLite V4 
Co-authored-by: Claudio Micheli <claudio@auterion.com>
 2021-08-12 10:05:19 -04:00
Daniel Agar
68dcc25709 flight_mode_manager: ManualAcceleration support weathervane yaw handler 
- fixes https://github.com/PX4/PX4-Autopilot/issues/17911
 2021-08-12 09:58:29 -04:00
TSC21
21953daa3b microRTPS: transport: fix UART configuration 2021-08-12 08:44:53 +02:00
TSC21
4b6646c5f3 microRTPS: transport: normalize configs with mavlink/mavlink-router 2021-08-12 08:44:53 +02:00
TSC21
af8a6117fa microRTPS: agent: add missing 'g' option 2021-08-12 08:44:53 +02:00
TSC21
2a368b4db1 uorb_to_ros_urtps_topics: minor cleanup 2021-08-12 08:44:53 +02:00
TSC21
74557c9071 uorb_to_ros_msgs: minor cleanup 2021-08-12 08:44:53 +02:00
TSC21
00ad0d3b82 microRTPS: add make targets to update the PX4-ROS2/microRTPS bridge 
This allows to easily update the px4_ros_com and/or px4_msgs through a make target and by passing the location of their directories
 2021-08-12 08:44:53 +02:00
TSC21
8762dce762 microRTPS: transport: small format fix 2021-08-12 08:44:53 +02:00
TSC21
fae1627d92 microRTPS: client: cleanup and make arguments consistent 2021-08-12 08:44:53 +02:00
TSC21
109b031156 microRTPS: agent: cleanup and make arguments consistent 2021-08-12 08:44:53 +02:00
TSC21
e83a3a6cf7 microRTPS: update RTPS message list naming from 'ids' to 'msgs' 2021-08-12 08:44:53 +02:00
TSC21
0b23679f98 msg: templates: update empy contexts, required fields and license header years 2021-08-12 08:44:53 +02:00
TSC21
ffa70ac0fd microRTPS: generate_microRTPS_bridge: run fastrtsgen only once for all files 
Reducing the generation time to a 4th of the time (!!)
 2021-08-12 08:44:53 +02:00
TSC21
a8a56a03a4 microRTPS: rename uorb_to_ros_rtps_ids to uorb_to_ros_urtps_topics and remove the 'id' references on it 2021-08-12 08:44:53 +02:00
TSC21
4609949bbb microRTPS: generate_microRTPS_bridge: only run the generator for the topics that are actually marked to be used 2021-08-12 08:44:53 +02:00
TSC21
695e1fa574 uorb_to_ros_rtps_ids: add an header with a notice regarding the autogneration of the 'px4_ros_com' urtps_bridge_topics.yaml file 
Although it can be modified manually, we are going to recommend the developer to generate it from the PX4-Autopilot side instead
 2021-08-12 08:44:53 +02:00
TSC21
c478e2985a microRTPS: simplify the attribution of the RTPS IDs by makiing it automatic 
1. The RTPS IDs are now automatically assigned to the topics
2. Only the topics that get defined to be sent or received in the urtps_bridge_topics.yaml (renamed, since now it doesn't contain IDs) receive the IDs
3. Any addition or removal on the urtps_bridge_topics.yaml file might update the topic IDs - this will require that the agent and the client ID list has to be in sync. This will further require a robustification of the way we check the IDs and the message definitions when starting the bridge.
 2021-08-12 08:44:53 +02:00
TSC21
f557fbc99f protocol_splitter: add perf counters for the stats so they can be logged 2021-08-12 08:44:53 +02:00
TSC21
5a75277ff1 protocol_splitter: update header length and payload length position 
To match the change on the microRTPS message header, which adds the sys ID as the 5th byte of the header
 2021-08-12 08:44:53 +02:00
TSC21
ba3dbbd38d microRTPS: send the system ID with the RTPS packet header and remove the need for extra id fields in uORB 
This allows that all messages (not only timesync messages) that get received on the same system that sent them do not get parsed. As the microRTPS agent is built currently, this will only happen right now if someone sets the same UDP port to send and receive data, or by manually changing the agent topics (which were always autogenerated).
 2021-08-12 08:44:53 +02:00
TSC21
a10dab516c timesync: remove system ID field from the timesync message 2021-08-12 08:44:53 +02:00
TSC21
25dbffe1aa microRTPS: agent: split FMU input from output topics in Pubs/Subs 2021-08-12 08:44:53 +02:00
TSC21
d31b7feb31 microRTPS: agent: publish timesync status 2021-08-12 08:44:53 +02:00
TSC21
a324e5465a timesync: extend timesync_status message with protocol source field and enum 2021-08-12 08:44:53 +02:00
TSC21
a930edf34b init.d-posix: rcS: allow to use a different startup config to the micrortps_client in UDP 2021-08-12 08:44:53 +02:00
TSC21
6d4f65a47a microRTPS: allow timesync using ROS time 2021-08-12 08:44:53 +02:00
TSC21
e762d57222 sitl_run: allow to start required ROS2 plugins with Gazebo when ROS_VERSION is set to 2 2021-08-12 08:44:53 +02:00
Julian Oes
cb2b09b80f protocol_splitter: implement with one read buffer 
This is an attempt to implement the protocol_splitter with one
read buffer only. The idea is to prevent additional copy
operations from an incoming buffer to the respective protocol buffer.

Right now the benefit is not really there because we are not using a
ringbuffer and have to shift data around quite a bit.

We also try to parse and copy data to the reader immediately without
doing a read from the device which potentially takes 100ms.

We further use a timeout mechanism to prevent starvation if one reader
disconnects and the buffer would fill up from unread data.
 2021-08-12 08:44:53 +02:00
Julian Oes
0c9fefce32 urtps: rectify comment 2021-08-12 08:44:53 +02:00
Julian Oes
31b1241de8 uorb_microcdr: collect all messages 
Without this we are potentially too slow to collect them all which can
lead to the buffer in protocol_splitter to overflow and be reset.
 2021-08-12 08:44:53 +02:00
Daniel Agar
326c4f95ce ROMFS cmake remove directory VERBATIM 2021-08-11 13:29:14 -04:00
Beat Küng
61e3ec53b0 mixer_module: check for motor test after topic update 
Otherwise if a module restricts the update rate via setMaxTopicUpdateRate()
and then motor_test is used, the module might run faster than expected.
 2021-08-11 12:06:32 -04:00
Claudio Micheli
a6d88cad18 mavlink_main: add ESC_INFO & ESC_STATUS to onboard_lowbandwith configuration 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-08-11 17:20:08 +02:00
Oleg Evseev
a93f8dade4 mavlink: receiver fix geo include 2021-08-10 08:18:28 -04:00
PX4 BuildBot
e9a21ee911 Update submodule devices to latest Mon Aug 9 00:39:11 UTC 2021 
- devices in PX4/Firmware (48b31124a4cdab9f7f91dba14649206f41c30c97): f51267815d
    - devices current upstream: 6815e1d3b2
    - Changes: f51267815d...6815e1d3b2

    6815e1d 2021-08-04 zhangft - femtomes: add UAVSTATUS and fall back to 10Hz rate if 20Hz not supported
 2021-08-08 22:31:14 -04:00
Daniel Agar
c8366e736e ROMFS: update ATL Mantis EDU optical flow defaults 2021-08-08 14:21:28 -04:00
Daniel Agar
66cfacaec2 boards: px4_fmu-v6x_test disable attitude_estimator_q to save flash 2021-08-08 14:20:58 -04:00
Daniel Agar
2ad448a4e8 boards: holybro_pix32v5 remove unused test build 2021-08-08 14:20:58 -04:00