21953daa3b
microRTPS: transport: fix UART configuration
2021-08-12 08:44:53 +02:00
4b6646c5f3
microRTPS: transport: normalize configs with mavlink/mavlink-router
2021-08-12 08:44:53 +02:00
af8a6117fa
microRTPS: agent: add missing 'g' option
2021-08-12 08:44:53 +02:00
2a368b4db1
uorb_to_ros_urtps_topics: minor cleanup
2021-08-12 08:44:53 +02:00
74557c9071
uorb_to_ros_msgs: minor cleanup
2021-08-12 08:44:53 +02:00
8762dce762
microRTPS: transport: small format fix
2021-08-12 08:44:53 +02:00
fae1627d92
microRTPS: client: cleanup and make arguments consistent
2021-08-12 08:44:53 +02:00
109b031156
microRTPS: agent: cleanup and make arguments consistent
2021-08-12 08:44:53 +02:00
e83a3a6cf7
microRTPS: update RTPS message list naming from 'ids' to 'msgs'
2021-08-12 08:44:53 +02:00
0b23679f98
msg: templates: update empy contexts, required fields and license header years
2021-08-12 08:44:53 +02:00
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
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
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
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
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
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
a10dab516c
timesync: remove system ID field from the timesync message
2021-08-12 08:44:53 +02:00
25dbffe1aa
microRTPS: agent: split FMU input from output topics in Pubs/Subs
2021-08-12 08:44:53 +02:00
d31b7feb31
microRTPS: agent: publish timesync status
2021-08-12 08:44:53 +02:00
a324e5465a
timesync: extend timesync_status message with protocol source field and enum
2021-08-12 08:44:53 +02:00
6d4f65a47a
microRTPS: allow timesync using ROS time
2021-08-12 08:44:53 +02:00
0c9fefce32
urtps: rectify comment
2021-08-12 08:44:53 +02:00
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
01d0b8800e
commander: report GNSS yaw fault to user
2021-08-05 11:10:02 +02:00
86dc35022a
generate_msg_docs.py: simplify logic a bit
2021-08-03 07:54:41 +02:00
bf59fd84ba
Add simple comment parser
2021-08-03 07:54:41 +02:00
da6275e43a
msg: add script structure to generate docs from .msg files
2021-08-03 07:54:41 +02:00
93aa6e3f78
ekf2: baro bias publish minor cleanup
...
- naming consistency (estimator prefix as "namespace")
- only publish if baro is available and bias is changing as a small logging optimization
- avoid unnecessary copying (get const reference to status directly)
- trivial code style fixes
2021-08-02 13:59:38 -04:00
af2247bd94
mavlink: use dynamic camera comp id instead of hardcoded value
2021-07-31 12:41:49 -04:00
d08d0443bc
Add internal combustion engine status uavcan bridge and mavlink EFI_STATUS stream
2021-07-30 22:31:43 -04:00
713a1d08a3
sensors: add accel/gyro current priority to sensors_status_imu
...
- later the sensor priorities (user configurable) can be factored into the estimator selection criteria
2021-07-30 21:20:01 -04:00
205d4400eb
add baro_bias_estimate to RTPS list
2021-07-20 04:56:33 -07:00
8fbbf56c4d
microRTPS: fix setting UART communication flags
...
bitwise not should be used instead of logical not
2021-07-20 12:34:58 +02:00
54c7e74de3
EKF: add baro bias estimator using GNSS altitude
2021-07-19 16:53:45 -04:00
e39e3b3418
events interface: chance uORB 'sequence' to 'event_sequence'
...
The reason is that sequence is an IDL reserved keyword, which results on failure when parsing with FastRTPSGen.
2021-07-09 13:24:13 +02:00
e3972d563a
cmake: ensure generated source files exist before extracting events
...
Only needed for Makefile-based builds:
gmake[3]: *** No rule to make target 'src/modules/flight_mode_manager/FlightTasks_generated.hpp', needed by 'events/px4.json'. Stop.
2021-07-07 21:38:09 -04:00
38f3b8d356
mavlink & system: add events interface
...
- sending protocol
- uorb event message & template methods for argument packing
- libevents submodule to send common events and handle json files
- cmake maintains a list of all (PX4) source files for the current build
(PX4 modules + libs), which is used to extract event metadata and
generate a json file
2021-07-07 21:38:09 -04:00
1b5e65df04
gyro_fft: change default length 1024 -> 512 to decrease latency
...
- change default FFT length (1024 -> 512)
- this doubles the update rate because half the number of samples are required for each
- decrease number of peaks (4 -> 3)
- so far 3 seems to be sufficient on most vehicles
- increase median filter window (3 -> 5)
- decrease SNR requirement (likely needs to be configurable)
2021-07-06 21:54:18 -04:00
a5ee28883a
gyro_fft: track FFT peaks and median filter frequency
2021-07-06 12:32:25 -04:00
b824f33ae9
battery: publish measured values also when battery not connected
2021-07-01 14:24:38 +02:00
9c0c85c9e2
battery_status: naming consistency current_filtered_a -> current_average_a
2021-07-01 14:24:38 +02:00
4741ec25ce
microRTPS: increase base message ID space to 179
2021-06-25 13:05:24 +02:00
0c5f2d3b8c
microRTPS: add missing header for PRIu32 and PRIu16 macros
...
Co-authored-by: squizz617 <seulbae@gatech.edu >
2021-06-21 16:36:44 +02:00
084a992572
microRTPS: agent: only allow to whitelist the localhost when using FastDDS as the rmw
2021-06-21 16:36:44 +02:00
79f7986715
apply ROS2 default memory management and publish mode QoS policies; make sure that SharedMemory is only used with FastDDS as the rmw
2021-06-21 16:36:44 +02:00
d3a23cee40
microRTPS: agent: fix double free memory problem on SIGINT
...
It fixes also some minor issues when exiting the agent, including the printed stats
2021-06-21 16:36:44 +02:00
6d5f12d2a2
microRTPS: client: add TX rate limiter
2021-06-21 16:36:44 +02:00
ac2b38603c
microRTPS: client: add missing "-p" option for the UART poll timeout and use microsecs for the send/rcv thread sleeps
2021-06-21 16:36:44 +02:00
0cc79f3e48
microRTPS: client: show diagnostic of current bandwidth usage on the 'status' option
2021-06-21 16:36:44 +02:00
d6ee15596d
microRTPS: client: show diagnostic of average bandwidth usage on the 'status' option
2021-06-21 16:36:44 +02:00
TSC21