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23861 Commits

Author SHA1 Message Date
Julian Oes 7ddf43b443 mavlink_ftp: fix tests on Nuttx 
On Nuttx we have an additional check whether the directory is accessible
to check if we are trying to write to storage that is not on the SD
card. This returns the FileProtected error whereas on Linux this just
ends up being a FileNotFound.

The ifdefs around this issue are not pretty but the alternatives of
either removing the tests for /bogus folders, or removing the additional
check on the NuttX side don't seem better either.
 2021-11-26 15:50:28 -05:00
Julian Oes 7c90b06628 mavlink_ftp: fix tests after implementation fix 
In commit 462b572172 the reading operation
on the PX4 side was changed to only read as many bytes as requested
rather than however many fit in the payload data.

This caused the unit tests to fail which this commit here aims to fix.

What is confusing about MAVLink FTP is that there is a size field which
generally signals how many bytes of the payload data are used/set.

However, in the case of a read requst, the size field is used to
indicate how many bytes should be read. The payload data is empty in
that case though.

This case was, from how I understand it, not implemented/tested in the
unit tests and now failed. In order to implement it I had to change a
few things:
- Change _setup_ftp_msg and _send_receive_msg so that the params contain
  a data length rather than the size field. The size field itself needs
  to be set outside of these methods using payload->size.
- Since we test files smaller, equal, and bigger than one payload data
  length, I implemented that we send multiple read requests until we
  have the whole file and not just the first part.
- Additionally, I saw a lot of uninitialized warnings in valgrind, and
  got rid of them by adding a few zero initializations.
 2021-11-26 15:50:28 -05:00
Silvan Fuhrer 3a9eef658c Commander: remove preflight check for transition switch 
This check enforced setting a VTOL transition switch if an RC as used on a VTOL.
It comes from a time when the only way to transtion was through the RC switch,
whereas now we have also a mavlink message in place for it, so enforcing it is
no longer needed.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-26 11:37:40 +01:00
Daniel Agar fc1aaa58b2 sensors/vehicle_angular_velocity: fallback sensor selection improvements 
- avoid unnecessary filter reset on parameter update
 - additional minor optimizations (precomputing dt inverse, etc)
 - moving filter reset check and dynamic notch filter update checks out of the update loops
     - this were necessary previously when the scale factor wasn't applied prior to filtering the otherwise raw data
 2021-11-25 22:44:05 -05:00
PX4 BuildBot 2dffb04d61 Update submodule libevents to latest Fri Nov 26 00:39:17 UTC 2021 
- libevents in PX4/Firmware (239f1c4eadc57f12b43b57d704bb80bc07a07841): https://github.com/mavlink/libevents/commit/5fd19be22dcbeaccb8afeba146f3a7c931a9b5fb
    - libevents current upstream: https://github.com/mavlink/libevents/commit/6329c909a7b16bb6f97c94cbb598815635b94982
    - Changes: https://github.com/mavlink/libevents/compare/5fd19be22dcbeaccb8afeba146f3a7c931a9b5fb...6329c909a7b16bb6f97c94cbb598815635b94982

    6329c90 2021-11-16 Beat Küng - python: pylint fixes
6251f65 2021-11-16 Beat Küng - events_generated.h.jinja: add '_max' field to generated enums
 2021-11-25 21:37:59 -05:00
PX4 BuildBot ffc52cc2fc Update submodule mavlink to latest Fri Nov 26 00:39:19 UTC 2021 
- mavlink in PX4/Firmware (2328402f99b8f8931e4148d033e0b9361407d485): https://github.com/mavlink/mavlink/commit/5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/28163a3b39ae6787e7f1fae9e23feef32506a1c4
    - Changes: https://github.com/mavlink/mavlink/compare/5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04...28163a3b39ae6787e7f1fae9e23feef32506a1c4

    28163a3b 2021-11-25 Julian Oes - dev: add new message for component capability (#1724)
5534f76b 2021-11-24 olliw42 - adding some missing MAV_TYPEs (#1679)
 2021-11-25 21:37:14 -05:00
David Sidrane 58a9bf0b2e sd_bench:Add verify and keep options 2021-11-25 13:11:45 -05:00
Thomas Stastny 8defbc8829 update correct airsp scale param string in ekf2 2021-11-25 11:01:04 -05:00
Matthias Grob c5fb68b7a1 Commander: force disabling the arm stick gesture when arm switch is in use 2021-11-25 07:56:35 +01:00
David Sidrane e76dda545c hardfault_log:Fix formatting 2021-11-24 15:00:38 -05:00
Sander Swart 462b572172 Fixed mavlink_ftp read 
Instead of always reading the max data length, it now properly respects the requested amount of bytes (as per documentation)
 2021-11-24 17:51:29 +01:00
Matthias Grob ea3b99e964 navigator: Remove deprecated RangeRTL unit tests 2021-11-24 14:10:24 +01:00
Matthias Grob c522a8b15a Compute RTL time and react if lower than flight time 
- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
 2021-11-24 14:10:24 +01:00
Matthias Grob 5489005e0b Commander: call battery_status_check on update instead of early return 2021-11-24 14:10:24 +01:00
Jukka Laitinen 5dbbddb13f EKF2: Use _distance_sensor_subs vector directly 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Jukka Laitinen d9498ade32 EKF2: Allocate distance sensor subscriptions as member variables 
Just create the subscriptions and keep them, instead of
re-creating them continuously

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-11-24 09:11:45 +01:00
Beat Küng 312d84ca23 metadata: run json schema validation for actuators + parameter metadata 2021-11-23 12:40:22 -05:00
Beat Küng 2809dd8944 control_allocator: remove min/max/scale params 2021-11-23 12:40:22 -05:00
Beat Küng b29d9db7f1 control_allocator: limit status publication rate to 200Hz 
Reduces CPU load by ~3.5% on F4 @2khz.
And compute getAllocatedControl as needed (~1.5% CPU reduction)
 2021-11-23 12:40:22 -05:00
Beat Küng 93a54ee63d metadata: fix generic param metadata generation 
Adds the module.yaml params that was previously split into a separate file.
 2021-11-23 12:40:22 -05:00
Beat Küng bcba3dfe52 control_allocator,angular_velocity_controller: run on rate_ctrl wq 2021-11-23 12:40:22 -05:00
Beat Küng a0e43bca96 msg: remove unused vehicle_actuator_setpoint topic 2021-11-23 12:40:22 -05:00
Beat Küng 52a2ef34fd mixer_module: add THR_MDL_FAC for SYS_CTRL_ALLOC=1 2021-11-23 12:40:22 -05:00
Beat Küng 357a16aca6 pwm_out_sim: split module.yaml into HIL+SIM files 2021-11-23 12:40:22 -05:00
Beat Küng b94c5db55d component_information: add actuators json generation & CI deployment 2021-11-23 12:40:22 -05:00
Beat Küng 70b1b19902 uavcan: add configuration parameter to actuator metadata 2021-11-23 12:40:22 -05:00
Beat Küng 19b89e1d35 output_functions: add notes to camera trigger + capture & exclude from testing 2021-11-23 12:40:22 -05:00
Beat Küng 4346ac4a37 control_allocator: add mixer metadata 2021-11-23 12:40:22 -05:00
Beat Küng 282d35bbf0 esc_calibration: handle SYS_CTRL_ALLOC==1 2021-11-23 12:40:22 -05:00
Beat Küng 490a2cd7ae dshot: handle VEHICLE_CMD_CONFIGURE_ACTUATOR 2021-11-23 12:40:22 -05:00
Beat Küng 21699935e8 vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR 2021-11-23 12:40:22 -05:00
Beat Küng 6fdcc43ea8 mixer_module: add testing for SYS_CTRL_ALLOC=1 with actuator_test cmd+uorb msg 2021-11-23 12:40:22 -05:00
Beat Küng 36d9635518 output_functions.yaml: allow single-instance entry with 'start' but no 'count' 
for other additional data
 2021-11-23 12:40:22 -05:00
Beat Küng 5d6e785a4b mixer_module: remove unneeded test_motor_s force init 2021-11-23 12:40:22 -05:00
Beat Küng f99c2617ad control_allocator: add module.yaml, add CA_MC_R_COUNT param & update defaults 2021-11-23 12:40:22 -05:00
Beat Küng 2ff6baa250 actuator params: use module_name as prefix to channel label 2021-11-23 12:40:22 -05:00
Matthias Grob 0153c870d2 Commander: make sure yaw airmode is not possible while arm gesture is enabled 
It's unsafe to arm with the gesture when yaw airmode is enabled
because e.g. in Stabilized mode that results in a high yawrate setpoint
that the drone tries to follow even with zero thrust
because of the airmode.

It was handled before by checking the arm switch parameter because that
used to disable the stick arm gesture.
See 24dc316973
 2021-11-23 16:03:46 +01:00
Matthias Grob 572890f8c0 ManualControl: add parameter to disable arm/disarm stick gesture 2021-11-23 16:03:46 +01:00
Matthias Grob 468022abba ManualControl: correct arm hysteresis parameter name 2021-11-23 16:03:46 +01:00
Matthias Grob c84b1c6566 ManualControl: ignore unassigned mode slots 
They were resulting in a message
"Switching to Unkown is currently not available".
 2021-11-23 16:03:46 +01:00
Silvan Fuhrer e596607e2e minor comments update 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-23 14:48:51 +01:00
Daniel Agar 7ff72304b4 sensors/vehicle_imu: improve disabled sensor handling 
- remove regular callback scheduling when sensor is disabled, register if re-enabled
 2021-11-22 21:10:35 -05:00
Daniel Agar 1c6b1f7554 pwm_out: parameter failure error messages 2021-11-22 11:27:45 -05:00
Daniel Agar 577d926639 commander: improve angular velocity validity and message 2021-11-22 11:27:45 -05:00
PX4 BuildBot 88d9ade4d7 Update submodule mavlink to latest Mon Nov 22 12:39:21 UTC 2021 
- mavlink in PX4/Firmware (0e4e8162407a12dc09c8d17635c60d4036b81bc7): https://github.com/mavlink/mavlink/commit/c3a4b52eb1ac6e8053d64a6a8b6ade887d4fa2d2
    - mavlink current upstream: https://github.com/mavlink/mavlink/commit/5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04
    - Changes: https://github.com/mavlink/mavlink/compare/c3a4b52eb1ac6e8053d64a6a8b6ade887d4fa2d2...5309ba449a3dc6d7ad84fa7ebeb6deee040e4a04

    5309ba44 2021-11-18 Hamish Willee - Remove backticks - these do not render as a style so not helpful (#1745)
9cac0e5a 2021-11-17 David Jablonski - docs: catch more hyperlinks (#1744)
ea9349b5 2021-11-16 David Jablonski - common: add SET_FOCUS_TYPE_AUTO (#1741)
 2021-11-22 09:08:50 -05:00
Daniel Agar 8fc3b05491 mavlink: param_get proper type to silence errors 2021-11-22 09:08:38 -05:00
Daniel Agar cbb743c64d parameters: param type checking use PX4_ERR and enable in PX4_SITL 2021-11-22 09:08:25 -05:00
Igor Mišić c73028bb1b iridiumsbd: discard all pending data for flow control enabled 2021-11-22 11:46:15 +01:00
wangwwno1 7a1a4ea7a6 Format fix & Remove redundant lines 2021-11-20 16:13:46 +01:00
wangwwno1 51ce8306ee Remove redundant code out of hil_lpos 2021-11-20 16:13:46 +01:00