This will ensure that the CRCs will match with deployed units to avoid unnecessary incompatibilities while we are figuring out how to best standardize these between stakeholders.
Add new DeviceBusType_SERIAL to Device::DeviceId union
Add DRV_DIST_DEVTYPE's for all distance sensors
Change distance_sensor_s.id to distance_sensor_s.device_id
Modify all distance_sensor drivers to apply 'proper' device_id
Forwards messages on the gps_inject_data uORB topic as
uavcan::equipment::gnss::RTCMStream messages on the UAVCAN bus. This
enables differential/RTK GPS over UAVCAN to work.
Tested with CubePilot Cube Orange, Here+ base and Here3 rover.
Signed-off-by: Alex Mikhalev <alexmikhalevalex@gmail.com>
- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
- blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU
Co-authored-by: Jacob Crabill <jacob@volans-i.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
This moves the handling of the BAT%d_SOURCE param inside of the battery
library. Users of the library now pass the source instead of the flag
whether to publish. The battery library then checks if the source is
selected using the param and publishes accordingly.
Since we removed the strange system_source flag, we now need to look at
all batteries in commander.
For current estimation - I think - it makes sense to sum them up.
Fixes case where a UAVCAN SensorBridge has callback channels available,
but NuttX / uORB does not have an additional driver / topic instance
available.
Supposedly multiple sensor callbacks were supported; in reality, this
was not the case, as the mag SensorBridge in particular can only
calibrate one compass, leading to a race condition on which compass
appears first on the bus to get published and calibrated (with no
warning to the user that the 'wrong' compass is being used).
For sensors with existing generic driver classes (baro and mag) the
sensor bridges use these classes for the driver registration, and uORB
publication, and calibration interface (ioctl) handling.
UavcanGnssBridge did not support more than 1 GNSS callback/publisher.
This has now been fixed; it works the same as the baro, mag, and flow
sensor bridges. The EKF2 still doesn't support more than 2 GPS
publishers, however.
- move most orb to uORB::Publication and uORB::Subscription
- update legacy message handling (warn to PX4_INFO, PX4_WARN, PX4_ERR)
- add perf counters
- sensors/mag support newer `uavcan::equipment::ahrs::MagneticFieldStrength2` message
- sensors/gps support `uavcan::equipment::gnss::Auxiliary` for hdop and vdop
- sensors delete obsolete ioctl and read methods
- use PublicationMulti for actuator_outputs and esc_reports (to coexist with other output modules)
- add GNSS parameter metadata (parameters_injected.xml)
Dima Ponomarev