github: test file changed action

the new docker images are defaulting to a hardcoded tag that can be
traced back to source code which is why we are adding the string to the
build and run scripts

.github/workflows/docker_dev.yml

@@ -0,0 +1,14 @@
+name: docker-dev
+on: [push, pull_request]
+jobs:
+  changes:
+    runs-on: ubuntu-latest
+    steps:
+      - id: file_changes
+        uses: trilom/file-changes-action@v1.2.3
+      - name: test
+        run: |
+          echo '${{ steps.file_changes.outputs.files}}'
+          echo '${{ steps.file_changes.outputs.files_modified}}'
+          echo '${{ steps.file_changes.outputs.files_added}}'
+          echo '${{ steps.file_changes.outputs.files_removed}}'

ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo.main.mix

@@ -5,7 +5,7 @@ Tailsitter duo mixer
 This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
 has two motors in total, one attached to each wing. It also has two elevons which
 are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
+on the main PWM output port, two at 400Hz for the motors, and two at 50Hz for the
 elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
 at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
 

ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo_sat.main.mix

@@ -4,7 +4,7 @@ Tailsitter duo mixer
 This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
 has two motors in total, one attached to each wing. It also has two elevons which
 are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
+on the main PWM output port, two at 400Hz for the motors, and two at 50Hz for the
 elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
 at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
 

Tools/astyle/files_to_check_code_style.sh

@@ -17,6 +17,7 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/events/libevents -prune -o \
     -path src/lib/parameters/uthash -prune -o \
+    -path src/lib/wind_estimator/python/generated -prune -o \
     -path src/modules/ekf2/EKF -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
     -path src/modules/mavlink/mavlink -prune -o \

Tools/docker_build.sh

@@ -0,0 +1,21 @@
+#!/bin/bash
+
+if [[ -z "${DOCKER_TAG}" ]]; then
+  # the default tag for docker images
+  # follows the pattern below, and we recommend
+  # that any images pushed to the registry continue
+  # to use the pattern for consistency
+  TAG_NAME="`date +"%Y-%m-%d"`"
+else
+  TAG_NAME="${DOCKER_TAG}"
+fi
+
+PX4_DOCKER_REPO="ghcr.io/px4/px4-dev:$TAG_NAME"
+PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+SRC_DIR=$PWD/../
+
+echo "[docker_build.sh]: Building [$PX4_DOCKER_REPO]"
+
+docker build \
+  -t ${PX4_DOCKER_REPO} \
+  -f Tools/setup/Dockerfile "${SRC_DIR}"

Tools/docker_run.sh

@@ -1,67 +1,29 @@
-#! /bin/bash
+#!/bin/bash
 
-if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*px4_fmu.* ]]; then
-		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
-		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
-	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
-		# scumaker_pilotpi_arm64
-		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
-		# posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
-	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
-		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
-	elif [[ $@ =~ .*tests* ]]; then
-		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
-	fi
+if [[ -z "${DOCKER_TAG}" ]]; then
+  # The default tag name should be hardcoded
+  # to whatever we are currently using in CI on this branch
+  TAG_NAME="2022-08-16"
 else
-	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
+  TAG_NAME="${DOCKER_TAG}"
 fi
 
-# otherwise default to nuttx
-if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
-fi
+PX4_DOCKER_REPO="ghcr.io/px4/px4-dev:$TAG_NAME"
 
-# docker hygiene
-
-#Delete all stopped containers (including data-only containers)
-#docker rm $(docker ps -a -q)
-
-#Delete all 'untagged/dangling' (<none>) images
-#docker rmi $(docker images -q -f dangling=true)
-
-echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
+echo "[docker_run.sh]: Running '$PX4_DOCKER_REPO'"
 
 PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 SRC_DIR=$PWD/../
 
-CCACHE_DIR=${HOME}/.ccache
-mkdir -p "${CCACHE_DIR}"
-
 docker run -it --rm -w "${SRC_DIR}" \
-	--env=AWS_ACCESS_KEY_ID \
-	--env=AWS_SECRET_ACCESS_KEY \
-	--env=BRANCH_NAME \
-	--env=CCACHE_DIR="${CCACHE_DIR}" \
-	--env=CI \
-	--env=CODECOV_TOKEN \
-	--env=COVERALLS_REPO_TOKEN \
-	--env=LOCAL_USER_ID="$(id -u)" \
-	--env=PX4_ASAN \
-	--env=PX4_MSAN \
-	--env=PX4_TSAN \
-	--env=PX4_UBSAN \
-	--env=TRAVIS_BRANCH \
-	--env=TRAVIS_BUILD_ID \
-	--publish 14556:14556/udp \
-	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
-	--volume=${SRC_DIR}:${SRC_DIR}:rw \
-	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
+  --env=LOCAL_USER_ID="$(id -u)" \
+  --env=AWS_ACCESS_KEY_ID \
+  --env=AWS_SECRET_ACCESS_KEY \
+  --env=BRANCH_NAME \
+  --env=CCACHE_DIR="${CCACHE_DIR}" \
+  --env=CI \
+  --publish 14556:14556/udp \
+  --volume=/tmp/.X11-unix:/tmp/.X11-unix \
+  --volume=/tmp:/tmp:rw \
+  --volume=${SRC_DIR}:${SRC_DIR}:rw \
+  ${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"

Tools/mavlink_px4.py

@@ -3019,7 +3019,7 @@ class MAVLink(object):
                 time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
                 press_abs                 : Absolute pressure (hectopascal) (float)
                 press_diff                : Differential pressure 1 (hectopascal) (float)
-                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
+                temperature               : Temperature measurement (0.01 degrees Celsius) (int16_t)
 
                 '''
                 msg = MAVLink_scaled_pressure_message(time_boot_ms, press_abs, press_diff, temperature)
@@ -3035,7 +3035,7 @@ class MAVLink(object):
                 time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
                 press_abs                 : Absolute pressure (hectopascal) (float)
                 press_diff                : Differential pressure 1 (hectopascal) (float)
-                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
+                temperature               : Temperature measurement (0.01 degrees Celsius) (int16_t)
 
                 '''
                 return self.send(self.scaled_pressure_encode(time_boot_ms, press_abs, press_diff, temperature))
@@ -4879,7 +4879,7 @@ class MAVLink(object):
                 abs_pressure              : Absolute pressure in millibar (float)
                 diff_pressure             : Differential pressure in millibar (float)
                 pressure_alt              : Altitude calculated from pressure (float)
-                temperature               : Temperature in degrees celsius (float)
+                temperature               : Temperature in degrees Celsius (float)
                 fields_updated            : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t)
 
                 '''
@@ -4904,7 +4904,7 @@ class MAVLink(object):
                 abs_pressure              : Absolute pressure in millibar (float)
                 diff_pressure             : Differential pressure in millibar (float)
                 pressure_alt              : Altitude calculated from pressure (float)
-                temperature               : Temperature in degrees celsius (float)
+                temperature               : Temperature in degrees Celsius (float)
                 fields_updated            : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t)
 
                 '''

Tools/px4moduledoc/markdownout.py

@@ -14,12 +14,14 @@ class MarkdownOutput():
 
         result = """
 # Modules & Commands Reference
-The following pages document the PX4 modules, drivers and commands. They
-describe the provided functionality, high-level implementation overview and how
+
+The following pages document the PX4 modules, drivers and commands.
+They describe the provided functionality, high-level implementation overview and how
 to use the command-line interface.
 
-> **Note** **This is auto-generated from the source code** and contains the
-> most recent modules documentation.
+:::note
+**This is auto-generated from the source code** and contains the most recent modules documentation.
+:::
 
 It is not a complete list and NuttX provides some additional commands
 as well (such as `free`). Use `help` on the console to get a list of all
@@ -29,6 +31,7 @@ Since this is generated from source, errors must be reported/fixed
 in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.
 The documentation pages can be generated by running the following command from
 the root of the PX4-Autopilot directory:
+
 ```
 make module_documentation
 ```

Tools/setup/Dockerfile

@@ -0,0 +1,51 @@
+#
+# PX4 base development environment
+#
+
+FROM ubuntu:20.04
+LABEL maintainer="Daniel Agar <daniel@agar.ca>, Ramon Roche <mrpollo@gmail.com>"
+
+ENV DEBIAN_FRONTEND noninteractive
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+
+# Installing required utilities
+RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
+  ca-certificates \
+  gnupg \
+  lsb-core \
+  lsb-release \
+  sudo \
+  software-properties-common \
+  wget \
+  gosu \
+  ;
+
+# Install PX4 Requirements
+COPY Tools/setup/requirements.txt /tmp/requirements.txt
+COPY Tools/setup/ubuntu.sh /tmp/ubuntu.sh
+# The PATH env is set within ubuntu.sh, but given how we
+# are running the image using `gosu` to avoid read-only problems
+# with the filesystem the env variable does not persist
+ENV PATH="/opt/gcc-arm-none-eabi-9-2020-q2-update/bin:$PATH"
+
+RUN bash /tmp/ubuntu.sh --from-docker
+
+ENV DISPLAY :99
+
+ENV FASTRTPSGEN_DIR="/usr/local/bin/"
+ENV TERM=xterm
+ENV TZ=UTC
+
+# SITL UDP PORTS
+EXPOSE 14556/udp
+EXPOSE 14557/udp
+
+# create user with id 1001 (jenkins docker workflow default)
+RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
+
+# create and start as LOCAL_USER_ID
+COPY Tools/setup/docker-entrypoint.sh /usr/local/bin/entrypoint.sh
+ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
+
+CMD ["/bin/bash"]

Tools/setup/docker-entrypoint.sh

@@ -0,0 +1,29 @@
+#!/bin/bash
+
+echo "[docker-entrypoint.sh] Starting entrypoint"
+# Start virtual X server in the background
+# - DISPLAY default is :99, set in dockerfile
+# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
+#   running Xvfb and attach their screen
+if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
+	echo "[docker-entrypoint.sh] Starting Xvfb"
+	Xvfb :99 -screen 0 1600x1200x24+32 &
+fi
+
+# Check if the ROS_DISTRO is passed and use it
+# to source the ROS environment
+if [ -n "${ROS_DISTRO}" ]; then
+	source "/opt/ros/$ROS_DISTRO/setup.bash"
+fi
+
+# Use the LOCAL_USER_ID if passed in at runtime
+if [ -n "${LOCAL_USER_ID}" ]; then
+	echo "[docker-entrypoint.sh] Starting with UID : $LOCAL_USER_ID"
+	# modify existing user's id
+	usermod -u $LOCAL_USER_ID user
+
+	# run as user
+  exec gosu user "$@"
+else
+	exec "$@"
+fi

Tools/setup/requirements.txt

@@ -26,3 +26,5 @@ requests
 setuptools>=39.2.0
 six>=1.12.0
 toml>=0.9
+symforce>=0.5.0
+sympy>=1.10.1

Tools/setup/ubuntu.sh

@@ -2,20 +2,18 @@
 
 set -e
 
-## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
+## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04).
 ## Can also be used in docker.
 ##
 ## Installs:
-## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
+## - Common dependencies and tools for NuttX, and Gazebo
 ## - NuttX toolchain (omit with arg: --no-nuttx)
-## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
-##
-## Not Installs:
-## - FastRTPS and FastCDR
+## - Gazebo simulator (omit with arg: --no-sim-tools)
 
 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
 INSTALL_ARCH=`uname -m`
+INSIDE_DOCKER="false"
 
 # Parse arguments
 for arg in "$@"
@@ -28,19 +26,22 @@ do
 		INSTALL_SIM="false"
 	fi
 
-done
 
-# detect if running in docker
-if [ -f /.dockerenv ]; then
-	echo "Running within docker, installing initial dependencies";
-	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
-		ca-certificates \
-		gnupg \
-		lsb-core \
-		sudo \
-		wget \
-		;
-fi
+	if [[ $arg == "--from-docker" ]]; then
+		INSIDE_DOCKER="true"
+	fi
+
+  if [[ $arg == "--help" ]]; then
+    echo "#⚡️ PX4 Dependency Installer for Ubuntu"
+    echo "# Options:
+#
+#  --no-nuttx       boolean
+#  --no-sim-tools   boolean"
+    echo "#"
+    exit
+  fi
+
+done
 
 # script directory
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
@@ -69,9 +70,22 @@ elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
 fi
 
+VERBOSE_BAR="####################"
+echo
+echo $VERBOSE_BAR
+echo "#⚡️ Starting PX4 Dependency Installer for Ubuntu ${UBUNTU_RELEASE} (${INSTALL_ARCH})"
+echo "# Options:
+#
+#  - Install NuttX = ${INSTALL_NUTTX}
+#  - Install Simulation = ${INSTALL_SIM}"
+echo $VERBOSE_BAR
+echo
 
 echo
-echo "Installing PX4 general dependencies"
+echo $VERBOSE_BAR
+echo "🍻 Installing System Dependencies"
+echo $VERBOSE_BAR
+echo
 
 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -85,6 +99,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	gdb \
 	git \
 	lcov \
+	libssl-dev \
 	libxml2-dev \
 	libxml2-utils \
 	make \
@@ -100,32 +115,42 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	zip \
 	;
 
-# Python3 dependencies
+# Python 3 dependencies
 echo
-echo "Installing PX4 Python3 dependencies"
+echo $VERBOSE_BAR
+echo "🍻 Installing Python dependencies"
+echo $VERBOSE_BAR
+echo
+
 if [ -n "$VIRTUAL_ENV" ]; then
-	# virtual envrionments don't allow --user option
+	# virtual environments don't allow --user option
 	python -m pip install -r ${DIR}/requirements.txt
 else
 	# older versions of Ubuntu require --user option
-	python3 -m pip install --user -r ${DIR}/requirements.txt
+	if [[ $INSIDE_DOCKER == "true" ]]; then
+		# when running inside a docker container we don't need to install
+		# under --user since the installer user is root
+		# its best to install packages globaly for any user to find
+		python3 -m pip install -r /tmp/requirements.txt
+	else
+		python3 -m pip install --user -r ${DIR}/requirements.txt
+	fi
 fi
 
 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then
 
 	echo
-	echo "Installing NuttX dependencies"
+	echo $VERBOSE_BAR
+	echo "🍻 Installing NuttX dependencies"
+	echo $VERBOSE_BAR
+	echo
 
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		automake \
 		binutils-dev \
 		bison \
-		build-essential \
 		flex \
-		g++-multilib \
-		gcc-multilib \
-		gdb-multiarch \
 		genromfs \
 		gettext \
 		gperf \
@@ -145,7 +170,12 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		u-boot-tools \
 		util-linux \
 		vim-common \
+		g++-arm-linux-gnueabihf \
+		gcc-arm-linux-gnueabihf \
+		g++-aarch64-linux-gnu \
+		gcc-aarch64-linux-gnu \
 		;
+
 	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		kconfig-frontends \
@@ -158,32 +188,47 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		sudo usermod -a -G dialout $USER
 	fi
 
-	# arm-none-eabi-gcc
 	NUTTX_GCC_VERSION="9-2020-q2-update"
 	NUTTX_GCC_VERSION_SHORT="9-2020q2"
+	echo
+	echo $VERBOSE_BAR
+	echo "🍻 Verifying proper gcc version (${NUTTX_GCC_VERSION}), and installing if not found"
+	echo
 
 	source $HOME/.profile # load changed path for the case the script is reran before relogin
 	if [ $(which arm-none-eabi-gcc) ]; then
 		GCC_VER_STR=$(arm-none-eabi-gcc --version)
-		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
+		GCC_VER_FOUND=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
 	fi
 
-	if [[ "$GCC_FOUND_VER" == "1" ]]; then
-		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
+	if [[ $(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}") == "1" ]]; then
+		echo "📌 Skipping installation, the arm cross compiler was found"
+		echo $VERBOSE_BAR
+		echo
 
 	else
-		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
-			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
+		echo "📌 The arm cross compiler was not found";
+		echo " * Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
+		COMPILER_NAME="gcc-arm-none-eabi-${NUTTX_GCC_VERSION}"
+		COMPILER_PATH="/tmp/$COMPILER_NAME-linux.tar.bz2"
+    wget -O $COMPILER_PATH https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/${COMPILER_NAME}-${INSTALL_ARCH}-linux.tar.bz2
+		sudo tar -jxf $COMPILER_PATH -C /opt/;
 
 		# add arm-none-eabi-gcc to user's PATH
-		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
-
-		if grep -Fxq "$exportline" $HOME/.profile; then
+		exportline="export PATH=\"/opt/${COMPILER_NAME}/bin:\$PATH\""
+		if [[ $INSIDE_DOCKER == "true" ]]; then
+			# when running on a docker container its best to set the environment globally
+			# since we don't know which user is going to be running commands on the container
+			touch /etc/profile.d/px4env.sh
+			echo $exportline >> /etc/profile.d/px4env.sh
+		elif grep -Fxq "$exportline" $HOME/.profile; then
 			echo "${NUTTX_GCC_VERSION} path already set.";
 		else
 			echo $exportline >> $HOME/.profile;
 		fi
+		echo " * arm-none-eabi-gcc (${NUTTX_GCC_VERSION}) Installed Succesful to /opt/${COMPILER_NAME}/bin"
+		echo $VERBOSE_BAR
+		echo
 	fi
 fi
 
@@ -191,45 +236,32 @@ fi
 if [[ $INSTALL_SIM == "true" ]]; then
 
 	echo
-	echo "Installing PX4 simulation dependencies"
+	echo $VERBOSE_BAR
+	echo "🍻 Installing PX4 Simulation Tools"
+	echo
+
+	# default and Ubuntu 20.04
+	gazebo_version=11
+	gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		gazebo_version=9
+	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		gazebo_version=11
+		gazebo_packages="gazebo libgazebo-dev"
+	fi
+
+	echo "  * Gazebo Version $gazebo_version"
+	echo $VERBOSE_BAR
 
 	# General simulation dependencies
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		bc \
-		;
-
-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		java_version=11
-	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		java_version=13
-	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		java_version=11
-	else
-		java_version=14
-	fi
-	# Java (jmavsim or fastrtps)
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		ant \
-		openjdk-$java_version-jre \
-		openjdk-$java_version-jdk \
 		libvecmath-java \
 		;
 
-	# Set Java 11 as default
-	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
-
-	# Gazebo
-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		gazebo_version=9
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
-	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		gazebo_packages="gazebo libgazebo-dev"
-	else
-		# default and Ubuntu 20.04
-		gazebo_version=11
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
-	fi
-
+	# Installing Gazebo and dependencies
+	# Setup OSRF Gazebo repository
 	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 	# Update list, since new gazebo-stable.list has been added
@@ -257,7 +289,26 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	fi
 fi
 
-if [[ $INSTALL_NUTTX == "true" ]]; then
-	echo
-	echo "Relogin or reboot computer before attempting to build NuttX targets"
+if [[ $INSIDE_DOCKER == "true" ]]; then
+	# cleanup installation
+	rm -rf /tmp/
 fi
+
+if [[ $INSIDE_DOCKER == "false" ]] && [[ $INSTALL_NUTTX == "true" ]]; then
+	echo
+	echo $VERBOSE_BAR
+	echo "💡 We recommend you relogin/reboot before attempting to build NuttX targets"
+	echo $VERBOSE_BAR
+	echo
+fi
+
+echo
+echo
+echo $VERBOSE_BAR
+echo "#⚡️ PX4 Dependency Installer Ended Succesfully
+#
+#  For more information on PX4 Autopilot check out our docs
+#  at docs.px4.io, if you find a bug please file an issue
+#  on GitHub https://github.com/px4/px4-autopilot"
+echo $VERBOSE_BAR
+echo

boards/nxp/fmuk66-e/src/spi.cpp

@@ -110,7 +110,7 @@ __EXPORT void board_spi_reset(int ms, int bus_mask)
 	VDD_3V3_SENSORS_EN(true);
 	up_mdelay(2);
 
-	/* Restore all the CS to ouputs inactive */
+	/* Restore all the CS to outputs inactive */
 
 	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
 		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {

boards/nxp/fmuk66-v3/src/spi.cpp

@@ -124,7 +124,7 @@ __EXPORT void board_spi_reset(int ms, int bus_mask)
 	VDD_3V3_SENSORS_EN(true);
 	up_mdelay(2);
 
-	/* Restore all the CS to ouputs inactive */
+	/* Restore all the CS to outputs inactive */
 
 	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
 		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {

boards/nxp/fmurt1062-v1/nuttx-config/scripts/ocram-script.ld

@@ -35,7 +35,7 @@
  ****************************************************************************/
 
 /* The FMURT1062 has 8MiB of QSPI FLASH beginning at address,
- * 0x0060:0000, Upto 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
+ * 0x0060:0000, Up to 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
  * beginning at 0x2020:0000.  Neither DTCM or SDRAM are used in this
  * configuration.
  *
@@ -43,7 +43,7 @@
  * 256Kib to OCRRAM, 128Kib ITCM and 128Kib DTCM.
  * This can be changed by using a dcd by minipulating
  * IOMUX GPR16 and GPR17.
- * The configuartion we will use is 384Kib to OCRRAM, 0Kib ITCM and
+ * The configuration we will use is 384Kib to OCRRAM, 0Kib ITCM and
  * 128Kib DTCM.
  *
  * This is the OCRAM inker script.

boards/nxp/fmurt1062-v1/nuttx-config/scripts/script.ld

@@ -35,7 +35,7 @@
  ****************************************************************************/
 
 /* The FMURT1062 has 8MiB of QSPI FLASH beginning at address,
- * 0x0060:0000, Upto 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
+ * 0x0060:0000, Up to 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
  * beginning at 0x2020:0000.  Neither DTCM or SDRAM are used in this
  * configuratin.
  */

boards/nxp/ucans32k146/src/spi.cpp

@@ -93,7 +93,7 @@ __EXPORT void board_spi_reset(int ms, int bus_mask)
 		}
 	}
 
-	/* Restore all the CS to ouputs inactive */
+	/* Restore all the CS to outputs inactive */
 	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
 		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
 			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {

integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py

@@ -68,7 +68,7 @@ class MavrosOffboardAttctlTest(MavrosTestCommon):
         self.att_setpoint_pub = rospy.Publisher(
             'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1)
 
-        # send setpoints in seperate thread to better prevent failsafe
+        # send setpoints in separate thread to better prevent failsafe
         self.att_thread = Thread(target=self.send_att, args=())
         self.att_thread.daemon = True
         self.att_thread.start()

integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py

@@ -73,7 +73,7 @@ class MavrosOffboardPosctlTest(MavrosTestCommon):
         self.pos_setpoint_pub = rospy.Publisher(
             'mavros/setpoint_position/local', PoseStamped, queue_size=1)
 
-        # send setpoints in seperate thread to better prevent failsafe
+        # send setpoints in separate thread to better prevent failsafe
         self.pos_thread = Thread(target=self.send_pos, args=())
         self.pos_thread.daemon = True
         self.pos_thread.start()

integrationtests/python_src/px4_it/mavros/mavros_offboard_yawrate_test.py

@@ -66,7 +66,7 @@ class MavrosOffboardYawrateTest(MavrosTestCommon):
         self.att_setpoint_pub = rospy.Publisher(
             'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1)
 
-        # send setpoints in seperate thread to better prevent failsafe
+        # send setpoints in separate thread to better prevent failsafe
         self.att_thread = Thread(target=self.send_att, args=())
         self.att_thread.daemon = True
         self.att_thread.start()

msg/airspeed.msg

@@ -5,6 +5,6 @@ float32 indicated_airspeed_m_s   # indicated airspeed in m/s
 
 float32 true_airspeed_m_s        # true filtered airspeed in m/s
 
-float32 air_temperature_celsius  # air temperature in degrees celsius, -1000 if unknown
+float32 air_temperature_celsius  # air temperature in degrees Celsius, -1000 if unknown
 
 float32 confidence               # confidence value from 0 to 1 for this sensor

msg/battery_status.msg

@@ -21,7 +21,7 @@ uint16 capacity				# actual capacity of the battery
 uint16 cycle_count			# number of discharge cycles the battery has experienced
 uint16 average_time_to_empty	# predicted remaining battery capacity based on the average rate of discharge in min
 uint16 serial_number		# serial number of the battery pack
-uint16 manufacture_date		# manufacture date, part of serial number of the battery pack. formated as: Day + Month×32 + (Year–1980)×512
+uint16 manufacture_date		# manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
 uint16 state_of_health		# state of health. FullChargeCapacity/DesignCapacity, 0-100%.
 uint16 max_error			# max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
 uint8 id					# ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.

msg/cellular_status.msg

@@ -17,7 +17,7 @@ uint8 CELLULAR_STATUS_FLAG_CONNECTED=12  # One or more packet data bearers is ac
 uint8 CELLULAR_NETWORK_FAILED_REASON_NONE=0 # No error
 uint8 CELLULAR_NETWORK_FAILED_REASON_UNKNOWN=1 # Error state is unknown
 uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_MISSING=2 # SIM is required for the modem but missing
-uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_ERROR=3 # SIM is available, but not usuable for connection
+uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_ERROR=3 # SIM is available, but not usable for connection
 
 uint16 status 	# Status bitmap 1: Roaming is active
 uint8 failure_reason #Failure reason when status in in CELLUAR_STATUS_FAILED

msg/differential_pressure.msg

@@ -5,6 +5,6 @@ uint32 device_id                     # unique device ID for the sensor that does
 
 float32 differential_pressure_pa     # differential pressure reading in Pascals (may be negative)
 
-float32 temperature                  # Temperature provided by sensor in celcius, NAN if unknown
+float32 temperature                  # Temperature provided by sensor in degrees Celsius, NAN if unknown
 
 uint32 error_count                   # Number of errors detected by driver

msg/estimator_event_flags.msg

@@ -30,7 +30,7 @@ bool gps_data_stopped_using_alternate   #  3 - true when the gps data has stoppe
 bool height_sensor_timeout              #  4 - true when the height sensor has not been used to correct the state estimates for a significant time period
 bool stopping_navigation                #  5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
 bool invalid_accel_bias_cov_reset       #  6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
-bool bad_yaw_using_gps_course           #  7 - true when the fiter has detected an invalid yaw esitmate and has reset the yaw angle to the GPS ground course
+bool bad_yaw_using_gps_course           #  7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
 bool stopping_mag_use                   #  8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data
 bool vision_data_stopped                #  9 - true when the vision system data has stopped for a significant time period
 bool emergency_yaw_reset_mag_stopped    # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data

msg/estimator_innovations.msg

@@ -18,8 +18,8 @@ float32 rng_vpos	# range sensor height innovation (m) and innovation variance (m
 float32 baro_vpos	# barometer height innovation (m) and innovation variance (m**2)
 
 # Auxiliary velocity
-float32[2] aux_hvel	# horizontal auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
-float32    aux_vvel	# vertical auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
+float32[2] aux_hvel	# horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
+float32    aux_vvel	# vertical auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
 
 # Optical flow
 float32[2] flow		# flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)

msg/estimator_status_flags.msg

@@ -9,7 +9,7 @@ bool cs_yaw_align             #  1 - true if the filter yaw alignment is complet
 bool cs_gps                   #  2 - true if GPS measurement fusion is intended
 bool cs_opt_flow              #  3 - true if optical flow measurements fusion is intended
 bool cs_mag_hdg               #  4 - true if a simple magnetic yaw heading fusion is intended
-bool cs_mag_3d                #  5 - true if 3-axis magnetometer measurement fusion is inteded
+bool cs_mag_3d                #  5 - true if 3-axis magnetometer measurement fusion is intended
 bool cs_mag_dec               #  6 - true if synthetic magnetic declination measurements fusion is intended
 bool cs_in_air                #  7 - true when the vehicle is airborne
 bool cs_wind                  #  8 - true when wind velocity is being estimated

msg/gps_dump.msg

@@ -3,7 +3,7 @@
 
 uint64 timestamp		# time since system start (microseconds)
 
-uint8 instance 		# Instance of GNSS reciever
+uint8 instance 		# Instance of GNSS receiver
 
 uint8 len			# length of data, MSB bit set = message to the gps device,
 				# clear = message from the device

msg/input_rc.msg

@@ -29,8 +29,8 @@ int32 rssi				# receive signal strength indicator (RSSI): < 0: Undefined, 0: no
 bool rc_failsafe			# explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly.
 bool rc_lost				# RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usually means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
 
-uint16 rc_lost_frame_count		# Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
-uint16 rc_total_frame_count		# Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
+uint16 rc_lost_frame_count		# Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
+uint16 rc_total_frame_count		# Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
 uint16 rc_ppm_frame_length		# Length of a single PPM frame. Zero for non-PPM systems
 
 uint8 input_source			# Input source

msg/iridiumsbd_status.msg

@@ -4,7 +4,7 @@ uint16 tx_buf_write_index			# current size of the tx buffer
 uint16 rx_buf_read_index			# the rx buffer is parsed up to that index
 uint16 rx_buf_end_index				# current size of the rx buffer
 uint16 failed_sbd_sessions			# number of failed sbd sessions
-uint16 successful_sbd_sessions      # number of successfull sbd sessions
+uint16 successful_sbd_sessions      # number of successful sbd sessions
 uint16 num_tx_buf_reset             # number of times the tx buffer was reset
 uint8 signal_quality                # current signal quality, 0 is no signal, 5 the best
 uint8 state                         # current state of the driver, see the satcom_state of IridiumSBD.h for the definition

msg/led_control.msg

@@ -24,7 +24,7 @@ uint8 MODE_BLINK_FAST = 5
 uint8 MODE_BREATHE = 6 # continuously increase & decrease brightness (solid color if driver does not support it)
 uint8 MODE_FLASH = 7 # two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while
 
-uint8 MAX_PRIORITY = 2 # maxium priority (minimum is 0)
+uint8 MAX_PRIORITY = 2 # maximum priority (minimum is 0)
 
 
 uint8 led_mask # bitmask which LED(s) to control, set to 0xff for all

msg/position_controller_landing_status.msg

@@ -9,8 +9,8 @@ uint8 abort_status
 
 # abort reasons
 # after the manual operator abort, corresponds to individual bits of param FW_LND_ABORT
-uint8 kNotAborted = 0
-uint8 kAbortedByOperator = 1
-uint8 kTerrainNotFound = 2 # FW_LND_ABORT (1 << 0)
-uint8 kTerrainTimeout = 3 # FW_LND_ABORT (1 << 1)
-uint8 kUnknownAbortCriterion = 4
+uint8 NOT_ABORTED = 0
+uint8 ABORTED_BY_OPERATOR = 1
+uint8 TERRAIN_NOT_FOUND = 2 # FW_LND_ABORT (1 << 0)
+uint8 TERRAIN_TIMEOUT = 3 # FW_LND_ABORT (1 << 1)
+uint8 UNKNOWN_ABORT_CRITERION = 4

msg/rpm.msg

@@ -1,4 +1,4 @@
 uint64 timestamp                      # time since system start (microseconds)
 
 float32 indicated_frequency_rpm       # indicated rotor Frequency in Revolution per minute
-float32 estimated_accurancy_rpm       # estimated accurancy in Revolution per minute
+float32 estimated_accurancy_rpm       # estimated accuracy in Revolution per minute

msg/sensor_hygrometer.msg

@@ -3,6 +3,6 @@ uint64 timestamp_sample
 
 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
 
-float32  temperature      # Temperature provided by sensor (Celcius)
+float32  temperature      # Temperature provided by sensor (Celsius)
 
 float32 humidity          # Humidity provided by sensor

msg/takeoff_status.msg

@@ -1,4 +1,4 @@
-# Status of the takeoff state machine currently just availble for multicopters
+# Status of the takeoff state machine currently just available for multicopters
 
 uint64 timestamp # time since system start (microseconds)
 
@@ -11,4 +11,4 @@ uint8 TAKEOFF_STATE_FLIGHT            = 5
 
 uint8 takeoff_state
 
-float32 tilt_limit # limited tilt feasability during takeoff, contains maximum tilt otherwise
+float32 tilt_limit # limited tilt feasibility during takeoff, contains maximum tilt otherwise

msg/tools/px_generate_uorb_topic_files.py

@@ -413,7 +413,7 @@ def convert_dir(format_idx, inputdir, outputdir, package, templatedir):
 def copy_changed(inputdir, outputdir, prefix='', quiet=False):
     """
     Copies files from inputdir to outputdir if they don't exist in
-    ouputdir or if their content changed
+    outputdir or if their content changed
     """
 
     # Make sure output directory exists:

msg/uwb_distance.msg

@@ -8,8 +8,8 @@ uint32 	sessionid		# UWB SessionID
 uint32 	time_offset		# Time between Ranging Rounds in ms
 uint16 	status			# status feedback #
 
-uint16[12] anchor_distance	# distance in cm to each UWB Anchor (UWB Device wich takes part in Ranging)
+uint16[12] anchor_distance	# distance in cm to each UWB Anchor (UWB Device which takes part in Ranging)
 bool[12] nlos			# Visual line of sight yes/no
-float32[12] aoafirst		# Angle of arrival of first incomming RX msg
+float32[12] aoafirst		# Angle of arrival of first incoming RX msg
 
 float32[3] position		# Position of the Landing point in relation to the Drone (x,y,z in Meters NED)

msg/vehicle_command.msg

@@ -99,7 +99,7 @@ uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006            # Magnetometer calibrati
 
 # PX4 vehicle commands (beyond 16 bit mavlink commands)
 uint32 VEHICLE_CMD_PX4_INTERNAL_START    = 65537        # start of PX4 internal only vehicle commands (> UINT16_MAX)
-uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000       # Sets the GPS co-ordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|
+uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000       # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|
 
 uint8 VEHICLE_MOUNT_MODE_RETRACT = 0			# Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization |
 uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1			# Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |

msg/vehicle_odometry.msg

@@ -32,7 +32,7 @@ float32 y			# East position
 float32 z			# Down position
 
 # Orientation quaternion. First value NaN if invalid/unknown
-float32[4] q			# Quaternion rotation from FRD body frame to refernce frame
+float32[4] q			# Quaternion rotation from FRD body frame to reference frame
 float32[4] q_offset		# Quaternion rotation from odometry reference frame to navigation frame
 
 # Row-major representation of 6x6 pose cross-covariance matrix URT.

platforms/common/include/px4_platform_common/board_common.h

@@ -854,7 +854,7 @@ __EXPORT void board_get_uuid32(uuid_uint32_t uuid_words); // DEPRICATED use boar
  *
  * Input Parameters:
  *   format_buffer - A pointer to a bufferer of at least PX4_CPU_UUID_WORD32_FORMAT_SIZE
- *                   that will contain a 0 terminated string formated as described
+ *                   that will contain a 0 terminated string formatted as described
  *                   the format string and optional separator.
  *   size          - The size of the buffer (should be atleaset PX4_CPU_UUID_WORD32_FORMAT_SIZE)
  *   format        - The fort mat specifier for the hex digit see CPU_UUID_FORMAT
@@ -870,7 +870,7 @@ __EXPORT void board_get_uuid32(uuid_uint32_t uuid_words); // DEPRICATED use boar
  *                               3238333641203833355110
  *
  * Returned Value:
- *   The format buffer is populated with a 0 terminated string formated as described.
+ *   The format buffer is populated with a 0 terminated string formatted as described.
  *   Zero (OK) is returned on success;
  *
  ************************************************************************************/
@@ -907,7 +907,7 @@ int board_get_mfguid(mfguid_t mfgid);
  *
  * Input Parameters:
  *   format_buffer - A pointer to a bufferer of at least PX4_CPU_MFGUID_FORMAT_SIZE
- *                   that will contain a 0 terminated string formated as 0 prefixed
+ *                   that will contain a 0 terminated string formatted as 0 prefixed
  *                   lowercase hex. 2 charaters per digit of the mfguid_t.
  *
  * Returned Value:
@@ -964,7 +964,7 @@ int board_get_px4_guid(px4_guid_t guid);
  *   manufactures Unique ID or define BOARD_OVERRIDE_PX4_GUID
  *
  * Input Parameters:
- * format_buffer - A buffer to receive the 0 terminated formated px4
+ * format_buffer - A buffer to receive the 0 terminated formatted px4
  *                 guid string.
  * size          - Size of the buffer provided. Normally this would
  *                 be PX4_GUID_FORMAT_SIZE.

platforms/common/include/px4_platform_common/log.h

@@ -33,7 +33,7 @@
 
 /**
  * @file log.h
- * Platform dependant logging/debug implementation
+ * Platform dependent logging/debug implementation
  */
 
 #pragma once

platforms/posix/src/px4/common/main.cpp

@@ -541,7 +541,7 @@ int run_startup_script(const std::string &commands_file, const std::string &abso
 void wait_to_exit()
 {
 	while (!_exit_requested) {
-		// needs to be a regular sleep not dependant on lockstep (not px4_usleep)
+		// needs to be a regular sleep not dependent on lockstep (not px4_usleep)
 		usleep(100000);
 	}
 }

src/drivers/batt_smbus/batt_smbus.cpp

@@ -523,7 +523,7 @@ $ batt_smbus -X write_flash 19069 2 27 0
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("man_info", "Prints manufacturer info.");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("unseal", "Unseals the devices flash memory to enable write_flash commands.");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("seal", "Seals the devices flash memory to disbale write_flash commands.");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("seal", "Seals the devices flash memory to disable write_flash commands.");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("suspend", "Suspends the driver from rescheduling the cycle.");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("resume", "Resumes the driver from suspension.");
 

src/drivers/camera_trigger/camera_trigger.cpp

@@ -35,7 +35,7 @@
  * @file camera_trigger.cpp
  *
  * External camera-IMU synchronisation and triggering, and support for
- * camera manipulation using PWM signals over FMU auxillary pins.
+ * camera manipulation using PWM signals over FMU auxiliary pins.
  *
  * @author Mohammed Kabir <kabir@uasys.io>
  * @author Kelly Steich <kelly.steich@wingtra.com>

src/drivers/cyphal/parameters.c

@@ -123,7 +123,7 @@ PARAM_DEFINE_INT32(UCAN1_BMS_BS_SUB, -1);
 PARAM_DEFINE_INT32(UCAN1_BMS_BP_SUB, -1);
 
 /**
- * Cyphal leagcy battery port ID.
+ * Cyphal legacy battery port ID.
  *
  * @min -1
  * @max 6143

src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_print.h

@@ -54,7 +54,7 @@
 #include "api/argus_def.h"
 
 /*!***************************************************************************
- * @brief	A printf-like function to print formated data to an debugging interface.
+ * @brief	A printf-like function to print formatted data to an debugging interface.
  *
  * @details Writes the C string pointed by fmt_t to an output. If format
  * 			includes format specifiers (subsequences beginning with %), the

src/drivers/distance_sensor/pga460/pga460.cpp

@@ -482,10 +482,12 @@ int PGA460::print_usage(const char *reason)
 	PRINT_MODULE_DESCRIPTION(
 		R"DESCR_STR(
 ### Description
+
 Ultrasonic range finder driver that handles the communication with the device and publishes the distance via uORB.
 
 ### Implementation
-This driver is implented as a NuttX task. This Implementation was chosen due to the need for polling on a message
+
+This driver is implemented as a NuttX task. This Implementation was chosen due to the need for polling on a message
 via UART, which is not supported in the work_queue. This driver continuously takes range measurements while it is
 running. A simple algorithm to detect false readings is implemented at the driver levelin an attemptto improve
 the quality of data that is being published. The driver will not publish data at all if it deems the sensor data

src/drivers/distance_sensor/pga460/pga460.h

@@ -286,7 +286,7 @@ public:
 	int read_eeprom();
 
 	/**
-	 * @brief Writes the user defined paramaters to device EEPROM.
+	 * @brief Writes the user defined parameters to device EEPROM.
 	 * @return Returns true if the EEPROM was successfully written to.
 	 */
 	int write_eeprom();
@@ -341,7 +341,7 @@ private:
 	int initialize_device_settings();
 
 	/**
-	 * @brief Writes the user defined paramaters to device register map.
+	 * @brief Writes the user defined parameters to device register map.
 	 * @return Returns true if the thresholds were successfully written.
 	 */
 	int initialize_thresholds();

src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.hpp

@@ -71,7 +71,7 @@ using namespace time_literals;
 
 /**
  * Assume standard deviation to be equal to sensor resolution.
- * Static bench tests have shown that the sensor ouput does
+ * Static bench tests have shown that the sensor output does
  * not vary if the unit is not moved.
  */
 #define SENS_VARIANCE           0.045f * 0.045f

src/drivers/drv_led.h

@@ -44,7 +44,7 @@
 
 #include <board_config.h>
 
-// allow the board to override the number (or maxiumum number) of LED's it has
+// allow the board to override the number (or maximum number) of LED's it has
 #ifndef BOARD_MAX_LEDS
 #define BOARD_MAX_LEDS 4
 #endif

src/drivers/imu/fxas21002c/FXAS21002C.cpp

@@ -39,7 +39,7 @@
 #define FXAS21002C_MAX_RATE              800
 #define FXAS21002C_DEFAULT_RATE          FXAS21002C_MAX_RATE
 #define FXAS21002C_DEFAULT_RANGE_DPS     2000
-#define FXAS21002C_DEFAULT_ONCHIP_FILTER_FREQ 	64 // ODR dependant
+#define FXAS21002C_DEFAULT_ONCHIP_FILTER_FREQ 	64 // ODR dependent
 
 /*
   we set the timer interrupt to run a bit faster than the desired

src/drivers/power_monitor/voxlpm/voxlpm.cpp

@@ -96,7 +96,7 @@ VOXLPM::init()
 		ret = init_ina231();
 
 	} else {
-		PX4_ERR("Unkown device address");
+		PX4_ERR("Unknown device address");
 		ret = PX4_ERROR;
 	}
 

src/drivers/roboclaw/roboclaw_main.cpp

@@ -85,8 +85,8 @@ static void usage()
 This driver communicates over UART with the [Roboclaw motor driver](http://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf).
 It performs two tasks:
 
- - Control the motors based on the `actuator_controls_0` UOrb topic.
- - Read the wheel encoders and publish the raw data in the `wheel_encoders` UOrb topic
+- Control the motors based on the `actuator_controls_0` UOrb topic.
+- Read the wheel encoders and publish the raw data in the `wheel_encoders` UOrb topic
 
 In order to use this driver, the Roboclaw should be put into Packet Serial mode (see the linked documentation), and
 your flight controller's UART port should be connected to the Roboclaw as shown in the documentation. For Pixhawk 4,
@@ -109,16 +109,18 @@ the driver terminates immediately.
 
 The command to start this driver is:
 
- $ roboclaw start <device> <baud>
+```
+$ roboclaw start <device> <baud>
+```
 
-`<device>` is the name of the UART port. On the Pixhawk 4, this is `/dev/ttyS3`.
-`<baud>` is te baud rate.
+- `<device>` is the name of the UART port. On the Pixhawk 4, this is `/dev/ttyS3`.
+- `<baud>` is the baud rate.
 
 All available commands are:
 
- - `$ roboclaw start <device> <baud>`
- - `$ roboclaw status`
- - `$ roboclaw stop`
+- `$ roboclaw start <device> <baud>`
+- `$ roboclaw status`
+- `$ roboclaw stop`
 	)DESCR_STR");
 }
 

src/drivers/rpm/pcf8583/parameters.c

@@ -60,9 +60,9 @@ PARAM_DEFINE_INT32(PCF8583_POOL, 1000000);
 /**
  * PCF8583 rotorfreq (i2c) pulse reset value
  *
- * Internal device counter is reset to 0 when overun this value,
- * counter is able to store upto 6 digits
- * reset of counter takes some time - measurement with reset has worse accurancy.
+ * Internal device counter is reset to 0 when overrun this value,
+ * counter is able to store up to 6 digits
+ * reset of counter takes some time - measurement with reset has worse accuracy.
  * 0 means reset counter after every measurement.
  *
  * @reboot_required true

src/drivers/tap_esc/TAP_ESC.cpp

@@ -511,17 +511,22 @@ int TAP_ESC::print_usage(const char *reason)
 	PRINT_MODULE_DESCRIPTION(
 		R"DESCR_STR(
 ### Description
+
 This module controls the TAP_ESC hardware via UART. It listens on the
 actuator_controls topics, does the mixing and writes the PWM outputs.
 
 ### Implementation
-Currently the module is implementd as a threaded version only, meaning that it
+
+Currently the module is implemented as a threaded version only, meaning that it
 runs in its own thread instead of on the work queue.
 
 ### Example
-The module is typically started with:
-tap_esc start -d /dev/ttyS2 -n <1-8>
 
+The module is typically started with:
+
+```
+tap_esc start -d /dev/ttyS2 -n <1-8>
+```
 )DESCR_STR");
 
 	PRINT_MODULE_USAGE_NAME("tap_esc", "driver");

src/drivers/tap_esc/drv_tap_esc.h

@@ -107,7 +107,7 @@ typedef struct {
 	uint16_t current; // 0.0 - 200.0 A
 #endif
 #if defined(ESC_HAVE_TEMPERATURE_SENSOR)
-	uint8_t temperature; // 0 - 256 degree celsius
+	uint8_t temperature; // 0 - 256 degrees Celsius
 #endif
 } RunInfoRepsonse;
 /****** Run ***********/
@@ -232,7 +232,7 @@ typedef  struct {
  *
  * speed: -32767 - 32767 rpm
  *
- * temperature: 0 - 256 celsius degree (if available)
+ * temperature: 0 - 256 degrees Celsius (if available)
  * voltage: 0.00 - 100.00 V (if available)
  * current: 0.0 - 200.0 A (if available)
  */

src/drivers/uavcan/sensors/battery.cpp

@@ -115,7 +115,7 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
 
 	_battery_status[instance].remaining = msg.state_of_charge_pct / 100.0f; // between 0 and 1
 	// _battery_status[instance].scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
-	_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celcius
+	_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celsius
 	// _battery_status[instance].cell_count = msg.;
 	_battery_status[instance].connected = true;
 	_battery_status[instance].source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE;
@@ -238,7 +238,7 @@ UavcanBatteryBridge::filterData(const uavcan::ReceivedDataStructure<uavcan::equi
 
 	/* Override data that is expected to arrive from UAVCAN msg*/
 	_battery_status[instance] = _battery[instance]->getBatteryStatus();
-	_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celcius
+	_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celsius
 	_battery_status[instance].serial_number = msg.model_instance_id;
 	_battery_status[instance].id = msg.getSrcNodeID().get(); // overwrite zeroed index from _battery
 

src/drivers/uavcan/uavcan_drivers/kinetis/README.md

@@ -18,9 +18,9 @@ and the following commandline defines:
 |UAVCAN_KINETIS_TIMER_NUMBER | - {0..3}  Sets the Periodic Interrupt Timer (PITn) channel |
 
 Things that could be improved:
-1. Build time command line configuartion of Mailbox/FIFO and filters
-2. Build time command line configuartion clock source
-    - Curently the driver use `const uavcan::uint8_t CLOCKSEL  = 0;` To Select OSCERCLK
+1. Build time command line configuration of Mailbox/FIFO and filters
+2. Build time command line configuration clock source
+    - Currently the driver use `const uavcan::uint8_t CLOCKSEL  = 0;` To Select OSCERCLK
 3. Dynamic filter disable. There are no filter enable bits on the FlexCAN, just the number of Filters
    can be set. But this changes the memory map. So the configuration show below has been chosen.
 

src/drivers/uavcan/uavcan_params.c

@@ -318,7 +318,7 @@ PARAM_DEFINE_INT32(UAVCAN_SUB_HYGRO, 0);
 /**
  * subscription ICE
  *
- * Enable UAVCAN internal combusion engine (ICE) subscription.
+ * Enable UAVCAN internal combustion engine (ICE) subscription.
  *  uavcan::equipment::ice::reciprocating::Status
  *
  * @boolean

src/drivers/uwb/uwb_sr150/module.yaml

@@ -13,7 +13,7 @@ parameters:
         UWB_INIT_OFF_X:
           description:
             short: UWB sensor X offset in body frame
-            long: UWB sensor positioning in relation to Drone in NED. X offset. A Positiv offset results in a Position o
+            long: UWB sensor positioning in relation to Drone in NED. X offset. A Positive offset results in a Position o
           type: float
           unit: m
           decimal: 2

src/drivers/uwb/uwb_sr150/uwb_sr150.cpp

@@ -394,7 +394,7 @@ int UWB_SR150::distance()
 					break;
 
 				case UWB_LIN_DEP_FOR_THREE:
-					PX4_INFO("UWB localization: linear dependant with 3 Anchors");
+					PX4_INFO("UWB localization: linear dependent with 3 Anchors");
 					break;
 
 				case UWB_ANC_ON_ONE_LEVEL:
@@ -402,7 +402,7 @@ int UWB_SR150::distance()
 					break;
 
 				case UWB_LIN_DEP_FOR_FOUR:
-					PX4_INFO("UWB localization: linear dependant with four or more Anchors");
+					PX4_INFO("UWB localization: linear dependent with four or more Anchors");
 					break;
 
 				case UWB_RANK_ZERO:

src/lib/airspeed/airspeed.cpp

@@ -49,7 +49,7 @@ float calc_IAS_corrected(enum AIRSPEED_COMPENSATION_MODEL pmodel, enum AIRSPEED_
 			 float tube_len, float tube_dia_mm, float differential_pressure, float pressure_ambient, float temperature_celsius)
 {
 	if (!PX4_ISFINITE(temperature_celsius)) {
-		temperature_celsius = 15.f; // ICAO Standard Atmosphere 15 degrees celcius
+		temperature_celsius = 15.f; // ICAO Standard Atmosphere 15 degrees Celsius
 	}
 
 	// air density in kg/m3
@@ -189,7 +189,7 @@ float calc_IAS(float differential_pressure)
 float calc_TAS_from_CAS(float speed_calibrated, float pressure_ambient, float temperature_celsius)
 {
 	if (!PX4_ISFINITE(temperature_celsius)) {
-		temperature_celsius = 15.f; // ICAO Standard Atmosphere 15 degrees celcius
+		temperature_celsius = 15.f; // ICAO Standard Atmosphere 15 degrees Celsius
 	}
 
 	return speed_calibrated * sqrtf(CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C / get_air_density(pressure_ambient,
@@ -222,7 +222,7 @@ float calc_TAS(float total_pressure, float static_pressure, float temperature_ce
 float get_air_density(float static_pressure, float temperature_celsius)
 {
 	if (!PX4_ISFINITE(temperature_celsius)) {
-		temperature_celsius = 15.f; // ICAO Standard Atmosphere 15 degrees celcius
+		temperature_celsius = 15.f; // ICAO Standard Atmosphere 15 degrees Celsius
 	}
 
 	return static_pressure / (CONSTANTS_AIR_GAS_CONST * (temperature_celsius - CONSTANTS_ABSOLUTE_NULL_CELSIUS));

src/lib/airspeed/airspeed.h

@@ -92,7 +92,7 @@ __EXPORT float calc_IAS(float differential_pressure);
  *
  * @param speed_equivalent current calibrated airspeed
  * @param pressure_ambient pressure at the side of the tube/airplane
- * @param temperature_celsius air temperature in degrees celcius
+ * @param temperature_celsius air temperature in degrees Celsius
  * @return TAS in m/s
  */
 __EXPORT float calc_TAS_from_CAS(float speed_indicated, float pressure_ambient,
@@ -116,7 +116,7 @@ __EXPORT float calc_CAS_from_IAS(float speed_indicated, float scale);
  *
  * @param total_pressure pressure inside the pitot/prandtl tube
  * @param static_pressure pressure at the side of the tube/airplane
- * @param temperature_celsius air temperature in degrees celcius
+ * @param temperature_celsius air temperature in degrees Celsius
  * @return true airspeed in m/s
  */
 __EXPORT float calc_TAS(float total_pressure, float static_pressure, float temperature_celsius);
@@ -125,7 +125,7 @@ __EXPORT float calc_TAS(float total_pressure, float static_pressure, float tempe
 * Calculates air density.
 *
 * @param static_pressure ambient pressure in millibar
-* @param temperature_celcius air / ambient temperature in celcius
+* @param temperature_celcius air / ambient temperature in Celsius
 */
 __EXPORT float get_air_density(float static_pressure, float temperature_celsius);
 
@@ -135,7 +135,7 @@ __EXPORT float get_air_density(float static_pressure, float temperature_celsius)
  *
  * @param speed_true current true airspeed
  * @param pressure_ambient pressure at the side of the tube/airplane
- * @param temperature_celsius air temperature in degrees celcius
+ * @param temperature_celsius air temperature in degrees Celsius
  * @return CAS in m/s
  */
 __EXPORT float calc_CAS_from_TAS(float speed_true, float pressure_ambient,

src/lib/battery/module.yaml

@@ -43,7 +43,7 @@ parameters:
             description:
                 short: Voltage drop per cell on full throttle
                 long: |
-                    This implicitely defines the internal resistance
+                    This implicitly defines the internal resistance
                     to maximum current ratio for battery 1 and assumes linearity.
                     A good value to use is the difference between the
                     5C and 20-25C load. Not used if BAT${i}_R_INTERNAL is

src/lib/drivers/smbus_sbs/SBS.hpp

@@ -69,7 +69,7 @@ public:
 
 	int populate_smbus_data(battery_status_s &msg);
 
-	virtual void RunImpl(); // Can be overriden by derived implimentation
+	virtual void RunImpl(); // Can be overridden by derived implimentation
 
 	virtual void custom_method(const BusCLIArguments &cli) = 0; //Has be overriden by derived implimentation
 
@@ -81,7 +81,7 @@ public:
 
 	/**
 	* @brief Read info from battery on startup.
-	* @return Returns PX4_OK on success, PX4_ERROR on failure. Can be overriden by derived implimentation
+	* @return Returns PX4_OK on success, PX4_ERROR on failure. Can be overridden by derived implimentation
 	*/
 	virtual int get_startup_info();
 

src/lib/led/led.h

@@ -76,7 +76,7 @@ public:
 	}
 
 	/**
-	 * get maxium time between two consecutive calls to update() in us.
+	 * get maximum time between two consecutive calls to update() in us.
 	 */
 	int maximum_update_interval() const
 	{

src/lib/mixer_module/CMakeLists.txt

@@ -44,14 +44,25 @@ add_custom_command(OUTPUT ${functions_header}
 add_custom_target(output_functions_header DEPENDS ${functions_header})
 
 px4_add_library(mixer_module
+	functions/FunctionActuatorSet.hpp
+	functions/FunctionConstantMax.hpp
+	functions/FunctionConstantMin.hpp
+	functions/FunctionGimbal.hpp
+	functions/FunctionLandingGear.hpp
+	functions/FunctionManualRC.hpp
+	functions/FunctionMotors.hpp
+	functions/FunctionParachute.hpp
+	functions/FunctionServos.hpp
+
 	actuator_test.cpp
+	actuator_test.hpp
 	mixer_module.cpp
-	functions.cpp
+	mixer_module.hpp
 	)
 
 add_dependencies(mixer_module output_functions_header)
 target_compile_options(mixer_module PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
-
+target_include_directories(mixer_module PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
 
 px4_add_functional_gtest(SRC mixer_module_tests.cpp LINKLIBS mixer_module mixer)
 

src/lib/mixer_module/actuator_test.cpp

@@ -33,6 +33,8 @@
 
 #include "actuator_test.hpp"
 
+#include "functions/FunctionMotors.hpp"
+
 using namespace time_literals;
 
 ActuatorTest::ActuatorTest(const OutputFunction function_assignments[MAX_ACTUATORS])

src/lib/mixer_module/actuator_test.hpp

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "functions.hpp"
+#include <mixer_module/output_functions.hpp>
 
 #include <drivers/drv_pwm_output.h>
 #include <uORB/topics/actuator_test.h>

src/lib/mixer_module/functions.cpp

@@ -1,135 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include "functions.hpp"
-
-FunctionMotors::FunctionMotors(const Context &context)
-	: _topic(&context.work_item, ORB_ID(actuator_motors)),
-	  _thrust_factor(context.thrust_factor)
-{
-	for (int i = 0; i < actuator_motors_s::NUM_CONTROLS; ++i) {
-		_data.control[i] = NAN;
-	}
-}
-void FunctionMotors::update()
-{
-	if (_topic.update(&_data)) {
-		updateValues(_data.reversible_flags, _thrust_factor, _data.control, actuator_motors_s::NUM_CONTROLS);
-	}
-}
-
-FunctionServos::FunctionServos(const Context &context)
-	: _topic(&context.work_item, ORB_ID(actuator_servos))
-{
-	for (int i = 0; i < actuator_servos_s::NUM_CONTROLS; ++i) {
-		_data.control[i] = NAN;
-	}
-}
-
-FunctionActuatorSet::FunctionActuatorSet()
-{
-	for (int i = 0; i < max_num_actuators; ++i) {
-		_data[i] = NAN;
-	}
-}
-
-void FunctionActuatorSet::update()
-{
-	vehicle_command_s vehicle_command;
-
-	while (_topic.update(&vehicle_command)) {
-		if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ACTUATOR) {
-			int index = (int)(vehicle_command.param7 + 0.5f);
-
-			if (index == 0) {
-				_data[0] = vehicle_command.param1;
-				_data[1] = vehicle_command.param2;
-				_data[2] = vehicle_command.param3;
-				_data[3] = vehicle_command.param4;
-				_data[4] = vehicle_command.param5;
-				_data[5] = vehicle_command.param6;
-			}
-		}
-	}
-}
-
-void FunctionLandingGear::update()
-{
-	landing_gear_s landing_gear;
-
-	if (_topic.update(&landing_gear)) {
-		if (landing_gear.landing_gear == landing_gear_s::GEAR_DOWN) {
-			_data = -1.f;
-
-		} else if (landing_gear.landing_gear == landing_gear_s::GEAR_UP) {
-			_data = 1.f;
-		}
-	}
-}
-
-FunctionManualRC::FunctionManualRC()
-{
-	for (int i = 0; i < num_data_points; ++i) {
-		_data[i] = NAN;
-	}
-}
-
-void FunctionManualRC::update()
-{
-	manual_control_setpoint_s manual_control_setpoint;
-
-	if (_topic.update(&manual_control_setpoint)) {
-		_data[0] = manual_control_setpoint.y; // roll
-		_data[1] = manual_control_setpoint.x; // pitch
-		_data[2] = manual_control_setpoint.z * 2.f - 1.f; // throttle
-		_data[3] = manual_control_setpoint.r; // yaw
-		_data[4] = manual_control_setpoint.flaps;
-		_data[5] = manual_control_setpoint.aux1;
-		_data[6] = manual_control_setpoint.aux2;
-		_data[7] = manual_control_setpoint.aux3;
-		_data[8] = manual_control_setpoint.aux4;
-		_data[9] = manual_control_setpoint.aux5;
-		_data[10] = manual_control_setpoint.aux6;
-	}
-}
-
-void FunctionGimbal::update()
-{
-	actuator_controls_s actuator_controls;
-
-	if (_topic.update(&actuator_controls)) {
-		_data[0] = actuator_controls.control[0];
-		_data[1] = actuator_controls.control[1];
-		_data[2] = actuator_controls.control[2];
-	}
-}

src/lib/mixer_module/functions.hpp

@@ -1,295 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <limits.h>
-
-#include <mixer_module/output_functions.hpp>
-
-#include <uORB/Subscription.hpp>
-#include <uORB/SubscriptionCallback.hpp>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_motors.h>
-#include <uORB/topics/actuator_servos.h>
-#include <uORB/topics/vehicle_command.h>
-#include <uORB/topics/landing_gear.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-
-class FunctionProviderBase
-{
-public:
-	struct Context {
-		px4::WorkItem &work_item;
-		const float &thrust_factor;
-	};
-
-	FunctionProviderBase() = default;
-	virtual ~FunctionProviderBase() = default;
-
-	virtual void update() = 0;
-
-	/**
-	 * Get the current output value for a given function
-	 * @return NAN (=disarmed) or value in range [-1, 1]
-	 */
-	virtual float value(OutputFunction func) = 0;
-
-	virtual float defaultFailsafeValue(OutputFunction func) const { return NAN; }
-	virtual bool allowPrearmControl() const { return true; }
-
-	virtual uORB::SubscriptionCallbackWorkItem *subscriptionCallback() { return nullptr; }
-
-	virtual bool getLatestSampleTimestamp(hrt_abstime &t) const { return false; }
-
-	/**
-	 * Check whether the output (motor) is configured to be reversible
-	 */
-	virtual bool reversible(OutputFunction func) const { return false; }
-};
-
-/**
- * Functions: Constant_Min
- */
-class FunctionConstantMin : public FunctionProviderBase
-{
-public:
-	static FunctionProviderBase *allocate(const Context &context) { return new FunctionConstantMin(); }
-
-	float value(OutputFunction func) override { return -1.f; }
-	void update() override { }
-
-	float defaultFailsafeValue(OutputFunction func) const override { return -1.f; }
-};
-
-/**
- * Functions: Constant_Max
- */
-class FunctionConstantMax : public FunctionProviderBase
-{
-public:
-	static FunctionProviderBase *allocate(const Context &context) { return new FunctionConstantMax(); }
-
-	float value(OutputFunction func) override { return 1.f; }
-	void update() override { }
-
-	float defaultFailsafeValue(OutputFunction func) const override { return 1.f; }
-};
-
-/**
- * Functions: Motor1 ... MotorMax
- */
-class FunctionMotors : public FunctionProviderBase
-{
-public:
-	static_assert(actuator_motors_s::NUM_CONTROLS == (int)OutputFunction::MotorMax - (int)OutputFunction::Motor1 + 1,
-		      "Unexpected num motors");
-
-	static_assert(actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1 == (int)OutputFunction::Motor1, "Unexpected motor idx");
-
-	FunctionMotors(const Context &context);
-	static FunctionProviderBase *allocate(const Context &context) { return new FunctionMotors(context); }
-
-	void update() override;
-	float value(OutputFunction func) override { return _data.control[(int)func - (int)OutputFunction::Motor1]; }
-
-	bool allowPrearmControl() const override { return false; }
-
-	uORB::SubscriptionCallbackWorkItem *subscriptionCallback() override { return &_topic; }
-
-	bool getLatestSampleTimestamp(hrt_abstime &t) const override { t = _data.timestamp_sample; return t != 0; }
-
-	static inline void updateValues(uint32_t reversible, float thrust_factor, float *values, int num_values);
-
-	bool reversible(OutputFunction func) const override
-	{ return _data.reversible_flags & (1u << ((int)func - (int)OutputFunction::Motor1)); }
-private:
-	uORB::SubscriptionCallbackWorkItem _topic;
-	actuator_motors_s _data{};
-	const float &_thrust_factor;
-};
-
-void FunctionMotors::updateValues(uint32_t reversible, float thrust_factor, float *values, int num_values)
-{
-	if (thrust_factor > 0.f && thrust_factor <= 1.f) {
-		// thrust factor
-		//  rel_thrust = factor * x^2 + (1-factor) * x,
-		const float a = thrust_factor;
-		const float b = (1.f - thrust_factor);
-
-		// don't recompute for all values (ax^2+bx+c=0)
-		const float tmp1 = b / (2.f * a);
-		const float tmp2 = b * b / (4.f * a * a);
-
-		for (int i = 0; i < num_values; ++i) {
-			float control = values[i];
-
-			if (control > 0.f) {
-				values[i] = -tmp1 + sqrtf(tmp2 + (control / a));
-
-			} else if (control < -0.f) {
-				values[i] =  tmp1 - sqrtf(tmp2 - (control / a));
-
-			} else {
-				values[i] = 0.f;
-			}
-		}
-	}
-
-	for (int i = 0; i < num_values; ++i) {
-		if ((reversible & (1u << i)) == 0) {
-			if (values[i] < -FLT_EPSILON) {
-				values[i] = NAN;
-
-			} else {
-				// remap from [0, 1] to [-1, 1]
-				values[i] = values[i] * 2.f - 1.f;
-			}
-		}
-	}
-}
-
-
-/**
- * Functions: Servo1 ... ServoMax
- */
-class FunctionServos : public FunctionProviderBase
-{
-public:
-	static_assert(actuator_servos_s::NUM_CONTROLS == (int)OutputFunction::ServoMax - (int)OutputFunction::Servo1 + 1,
-		      "Unexpected num servos");
-
-	FunctionServos(const Context &context);
-	static FunctionProviderBase *allocate(const Context &context) { return new FunctionServos(context); }
-
-	void update() override { _topic.update(&_data); }
-	float value(OutputFunction func) override { return _data.control[(int)func - (int)OutputFunction::Servo1]; }
-
-	uORB::SubscriptionCallbackWorkItem *subscriptionCallback() override { return &_topic; }
-
-	float defaultFailsafeValue(OutputFunction func) const override { return 0.f; }
-private:
-	uORB::SubscriptionCallbackWorkItem _topic;
-	actuator_servos_s _data{};
-};
-
-
-/**
- * Functions: Offboard_Actuator_Set1 ... Offboard_Actuator_Set6
- */
-class FunctionActuatorSet : public FunctionProviderBase
-{
-public:
-	FunctionActuatorSet();
-	static FunctionProviderBase *allocate(const Context &context) { return new FunctionActuatorSet(); }
-
-	void update() override;
-	float value(OutputFunction func) override { return _data[(int)func - (int)OutputFunction::Offboard_Actuator_Set1]; }
-
-private:
-	static constexpr int max_num_actuators = 6;
-
-	uORB::Subscription _topic{ORB_ID(vehicle_command)};
-	float _data[max_num_actuators];
-};
-
-/**
- * Functions: Landing_Gear
- */
-class FunctionLandingGear : public FunctionProviderBase
-{
-public:
-	FunctionLandingGear() = default;
-	static FunctionProviderBase *allocate(const Context &context) { return new FunctionLandingGear(); }
-
-	void update() override;
-	float value(OutputFunction func) override { return _data; }
-
-private:
-	uORB::Subscription _topic{ORB_ID(landing_gear)};
-	float _data{-1.f};
-};
-
-/**
- * Functions: Parachute
- */
-class FunctionParachute : public FunctionProviderBase
-{
-public:
-	FunctionParachute() = default;
-	static FunctionProviderBase *allocate(const Context &context) { return new FunctionParachute(); }
-
-	void update() override {}
-	float value(OutputFunction func) override { return -1.f; }
-	float defaultFailsafeValue(OutputFunction func) const override { return 1.f; }
-};
-
-/**
- * Functions: RC_Roll .. RCAUX_Max
- */
-class FunctionManualRC : public FunctionProviderBase
-{
-public:
-	FunctionManualRC();
-	static FunctionProviderBase *allocate(const Context &context) { return new FunctionManualRC(); }
-
-	void update() override;
-	float value(OutputFunction func) override { return _data[(int)func - (int)OutputFunction::RC_Roll]; }
-
-private:
-	static constexpr int num_data_points = 11;
-
-	static_assert(num_data_points == (int)OutputFunction::RC_AUXMax - (int)OutputFunction::RC_Roll + 1,
-		      "number of functions mismatch");
-
-	uORB::Subscription _topic{ORB_ID(manual_control_setpoint)};
-	float _data[num_data_points];
-};
-
-/**
- * Functions: Gimbal_Roll .. Gimbal_Yaw
- */
-class FunctionGimbal : public FunctionProviderBase
-{
-public:
-	FunctionGimbal() = default;
-	static FunctionProviderBase *allocate(const Context &context) { return new FunctionGimbal(); }
-
-	void update() override;
-	float value(OutputFunction func) override { return _data[(int)func - (int)OutputFunction::Gimbal_Roll]; }
-
-private:
-	uORB::Subscription _topic{ORB_ID(actuator_controls_2)};
-	float _data[3] { NAN, NAN, NAN };
-};

src/lib/mixer_module/functions/FunctionActuatorSet.hpp

@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FunctionProviderBase.hpp"
+
+#include <uORB/topics/vehicle_command.h>
+
+/**
+ * Functions: Offboard_Actuator_Set1 ... Offboard_Actuator_Set6
+ */
+class FunctionActuatorSet : public FunctionProviderBase
+{
+public:
+	FunctionActuatorSet()
+	{
+		for (int i = 0; i < max_num_actuators; ++i) {
+			_data[i] = NAN;
+		}
+	}
+
+	static FunctionProviderBase *allocate(const Context &context) { return new FunctionActuatorSet(); }
+
+	void update() override
+	{
+		vehicle_command_s vehicle_command;
+
+		while (_topic.update(&vehicle_command)) {
+			if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ACTUATOR) {
+				int index = (int)(vehicle_command.param7 + 0.5f);
+
+				if (index == 0) {
+					_data[0] = vehicle_command.param1;
+					_data[1] = vehicle_command.param2;
+					_data[2] = vehicle_command.param3;
+					_data[3] = vehicle_command.param4;
+					_data[4] = vehicle_command.param5;
+					_data[5] = vehicle_command.param6;
+				}
+			}
+		}
+	}
+
+	float value(OutputFunction func) override { return _data[(int)func - (int)OutputFunction::Offboard_Actuator_Set1]; }
+
+private:
+	static constexpr int max_num_actuators = 6;
+
+	uORB::Subscription _topic{ORB_ID(vehicle_command)};
+	float _data[max_num_actuators] {};
+};

src/lib/mixer_module/functions/FunctionConstantMax.hpp

@@ -0,0 +1,50 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FunctionProviderBase.hpp"
+
+/**
+ * Functions: Constant_Max
+ */
+class FunctionConstantMax : public FunctionProviderBase
+{
+public:
+	static FunctionProviderBase *allocate(const Context &context) { return new FunctionConstantMax(); }
+
+	float value(OutputFunction func) override { return 1.f; }
+	void update() override { }
+
+	float defaultFailsafeValue(OutputFunction func) const override { return 1.f; }
+};

src/lib/mixer_module/functions/FunctionConstantMin.hpp

@@ -0,0 +1,50 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FunctionProviderBase.hpp"
+
+/**
+ * Functions: Constant_Min
+ */
+class FunctionConstantMin : public FunctionProviderBase
+{
+public:
+	static FunctionProviderBase *allocate(const Context &context) { return new FunctionConstantMin(); }
+
+	float value(OutputFunction func) override { return -1.f; }
+	void update() override { }
+
+	float defaultFailsafeValue(OutputFunction func) const override { return -1.f; }
+};

src/lib/mixer_module/functions/FunctionGimbal.hpp

@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FunctionProviderBase.hpp"
+
+#include <uORB/topics/actuator_controls.h>
+
+/**
+ * Functions: Gimbal_Roll .. Gimbal_Yaw
+ */
+class FunctionGimbal : public FunctionProviderBase
+{
+public:
+	FunctionGimbal() = default;
+	static FunctionProviderBase *allocate(const Context &context) { return new FunctionGimbal(); }
+
+	void update() override
+	{
+		actuator_controls_s actuator_controls;
+
+		if (_topic.update(&actuator_controls)) {
+			_data[0] = actuator_controls.control[0];
+			_data[1] = actuator_controls.control[1];
+			_data[2] = actuator_controls.control[2];
+		}
+	}
+
+	float value(OutputFunction func) override { return _data[(int)func - (int)OutputFunction::Gimbal_Roll]; }
+
+private:
+	uORB::Subscription _topic{ORB_ID(actuator_controls_2)};
+	float _data[3] { NAN, NAN, NAN };
+};

src/lib/mixer_module/functions/FunctionLandingGear.hpp

@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FunctionProviderBase.hpp"
+
+#include <uORB/topics/landing_gear.h>
+
+/**
+ * Functions: Landing_Gear
+ */
+class FunctionLandingGear : public FunctionProviderBase
+{
+public:
+	FunctionLandingGear() = default;
+	static FunctionProviderBase *allocate(const Context &context) { return new FunctionLandingGear(); }
+
+	void update() override
+	{
+		landing_gear_s landing_gear;
+
+		if (_topic.update(&landing_gear)) {
+			if (landing_gear.landing_gear == landing_gear_s::GEAR_DOWN) {
+				_data = -1.f;
+
+			} else if (landing_gear.landing_gear == landing_gear_s::GEAR_UP) {
+				_data = 1.f;
+			}
+		}
+	}
+
+	float value(OutputFunction func) override { return _data; }
+
+private:
+	uORB::Subscription _topic{ORB_ID(landing_gear)};
+	float _data{-1.f};
+};

src/lib/mixer_module/functions/FunctionManualRC.hpp

@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FunctionProviderBase.hpp"
+
+#include <uORB/topics/manual_control_setpoint.h>
+
+/**
+ * Functions: RC_Roll .. RCAUX_Max
+ */
+class FunctionManualRC : public FunctionProviderBase
+{
+public:
+	FunctionManualRC()
+	{
+		for (int i = 0; i < num_data_points; ++i) {
+			_data[i] = NAN;
+		}
+	}
+
+	static FunctionProviderBase *allocate(const Context &context) { return new FunctionManualRC(); }
+
+	void update() override
+	{
+		manual_control_setpoint_s manual_control_setpoint;
+
+		if (_topic.update(&manual_control_setpoint)) {
+			_data[0] = manual_control_setpoint.y; // roll
+			_data[1] = manual_control_setpoint.x; // pitch
+			_data[2] = manual_control_setpoint.z * 2.f - 1.f; // throttle
+			_data[3] = manual_control_setpoint.r; // yaw
+			_data[4] = manual_control_setpoint.flaps;
+			_data[5] = manual_control_setpoint.aux1;
+			_data[6] = manual_control_setpoint.aux2;
+			_data[7] = manual_control_setpoint.aux3;
+			_data[8] = manual_control_setpoint.aux4;
+			_data[9] = manual_control_setpoint.aux5;
+			_data[10] = manual_control_setpoint.aux6;
+		}
+	}
+
+	float value(OutputFunction func) override { return _data[(int)func - (int)OutputFunction::RC_Roll]; }
+
+private:
+	static constexpr int num_data_points = 11;
+
+	static_assert(num_data_points == (int)OutputFunction::RC_AUXMax - (int)OutputFunction::RC_Roll + 1,
+		      "number of functions mismatch");
+
+	uORB::Subscription _topic{ORB_ID(manual_control_setpoint)};
+	float _data[num_data_points] {};
+};

src/lib/mixer_module/functions/FunctionMotors.hpp

@@ -0,0 +1,123 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FunctionProviderBase.hpp"
+
+#include <uORB/topics/actuator_servos.h>
+
+/**
+ * Functions: Motor1 ... MotorMax
+ */
+class FunctionMotors : public FunctionProviderBase
+{
+public:
+	static_assert(actuator_motors_s::NUM_CONTROLS == (int)OutputFunction::MotorMax - (int)OutputFunction::Motor1 + 1,
+		      "Unexpected num motors");
+
+	static_assert(actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1 == (int)OutputFunction::Motor1, "Unexpected motor idx");
+
+	FunctionMotors(const Context &context) :
+		_topic(&context.work_item, ORB_ID(actuator_motors)),
+		_thrust_factor(context.thrust_factor)
+	{
+		for (int i = 0; i < actuator_motors_s::NUM_CONTROLS; ++i) {
+			_data.control[i] = NAN;
+		}
+	}
+
+	static FunctionProviderBase *allocate(const Context &context) { return new FunctionMotors(context); }
+
+	void update() override
+	{
+		if (_topic.update(&_data)) {
+			updateValues(_data.reversible_flags, _thrust_factor, _data.control, actuator_motors_s::NUM_CONTROLS);
+		}
+	}
+
+	float value(OutputFunction func) override { return _data.control[(int)func - (int)OutputFunction::Motor1]; }
+
+	bool allowPrearmControl() const override { return false; }
+
+	uORB::SubscriptionCallbackWorkItem *subscriptionCallback() override { return &_topic; }
+
+	bool getLatestSampleTimestamp(hrt_abstime &t) const override { t = _data.timestamp_sample; return t != 0; }
+
+	static inline void updateValues(uint32_t reversible, float thrust_factor, float *values, int num_values)
+	{
+		if (thrust_factor > 0.f && thrust_factor <= 1.f) {
+			// thrust factor
+			//  rel_thrust = factor * x^2 + (1-factor) * x,
+			const float a = thrust_factor;
+			const float b = (1.f - thrust_factor);
+
+			// don't recompute for all values (ax^2+bx+c=0)
+			const float tmp1 = b / (2.f * a);
+			const float tmp2 = b * b / (4.f * a * a);
+
+			for (int i = 0; i < num_values; ++i) {
+				float control = values[i];
+
+				if (control > 0.f) {
+					values[i] = -tmp1 + sqrtf(tmp2 + (control / a));
+
+				} else if (control < -0.f) {
+					values[i] =  tmp1 - sqrtf(tmp2 - (control / a));
+
+				} else {
+					values[i] = 0.f;
+				}
+			}
+		}
+
+		for (int i = 0; i < num_values; ++i) {
+			if ((reversible & (1u << i)) == 0) {
+				if (values[i] < -FLT_EPSILON) {
+					values[i] = NAN;
+
+				} else {
+					// remap from [0, 1] to [-1, 1]
+					values[i] = values[i] * 2.f - 1.f;
+				}
+			}
+		}
+	}
+
+	bool reversible(OutputFunction func) const override { return _data.reversible_flags & (1u << ((int)func - (int)OutputFunction::Motor1)); }
+
+private:
+	uORB::SubscriptionCallbackWorkItem _topic;
+	actuator_motors_s _data{};
+	const float &_thrust_factor;
+};

src/lib/mixer_module/functions/FunctionParachute.hpp

@@ -0,0 +1,50 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FunctionProviderBase.hpp"
+
+/**
+ * Functions: Parachute
+ */
+class FunctionParachute : public FunctionProviderBase
+{
+public:
+	FunctionParachute() = default;
+	static FunctionProviderBase *allocate(const Context &context) { return new FunctionParachute(); }
+
+	void update() override {}
+	float value(OutputFunction func) override { return -1.f; }
+	float defaultFailsafeValue(OutputFunction func) const override { return 1.f; }
+};

src/lib/mixer_module/functions/FunctionProviderBase.hpp

@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <limits.h>
+
+#include <mixer_module/output_functions.hpp>
+
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+
+class FunctionProviderBase
+{
+public:
+	struct Context {
+		px4::WorkItem &work_item;
+		const float &thrust_factor;
+	};
+
+	FunctionProviderBase() = default;
+	virtual ~FunctionProviderBase() = default;
+
+	virtual void update() = 0;
+
+	/**
+	 * Get the current output value for a given function
+	 * @return NAN (=disarmed) or value in range [-1, 1]
+	 */
+	virtual float value(OutputFunction func) = 0;
+
+	virtual float defaultFailsafeValue(OutputFunction func) const { return NAN; }
+	virtual bool allowPrearmControl() const { return true; }
+
+	virtual uORB::SubscriptionCallbackWorkItem *subscriptionCallback() { return nullptr; }
+
+	virtual bool getLatestSampleTimestamp(hrt_abstime &t) const { return false; }
+
+	/**
+	 * Check whether the output (motor) is configured to be reversible
+	 */
+	virtual bool reversible(OutputFunction func) const { return false; }
+};

src/lib/mixer_module/functions/FunctionServos.hpp

@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FunctionProviderBase.hpp"
+
+#include <uORB/topics/actuator_servos.h>
+
+/**
+ * Functions: Servo1 ... ServoMax
+ */
+class FunctionServos : public FunctionProviderBase
+{
+public:
+	static_assert(actuator_servos_s::NUM_CONTROLS == (int)OutputFunction::ServoMax - (int)OutputFunction::Servo1 + 1,
+		      "Unexpected num servos");
+
+	FunctionServos(const Context &context) :
+		_topic(&context.work_item, ORB_ID(actuator_servos))
+	{
+		for (int i = 0; i < actuator_servos_s::NUM_CONTROLS; ++i) {
+			_data.control[i] = NAN;
+		}
+	}
+
+	static FunctionProviderBase *allocate(const Context &context) { return new FunctionServos(context); }
+
+	void update() override { _topic.update(&_data); }
+	float value(OutputFunction func) override { return _data.control[(int)func - (int)OutputFunction::Servo1]; }
+
+	uORB::SubscriptionCallbackWorkItem *subscriptionCallback() override { return &_topic; }
+
+	float defaultFailsafeValue(OutputFunction func) const override { return 0.f; }
+
+private:
+	uORB::SubscriptionCallbackWorkItem _topic;
+	actuator_servos_s _data{};
+};

src/lib/mixer_module/mixer_module.hpp

@@ -34,7 +34,16 @@
 #pragma once
 
 #include "actuator_test.hpp"
-#include "functions.hpp"
+
+#include "functions/FunctionActuatorSet.hpp"
+#include "functions/FunctionConstantMax.hpp"
+#include "functions/FunctionConstantMin.hpp"
+#include "functions/FunctionGimbal.hpp"
+#include "functions/FunctionLandingGear.hpp"
+#include "functions/FunctionManualRC.hpp"
+#include "functions/FunctionMotors.hpp"
+#include "functions/FunctionParachute.hpp"
+#include "functions/FunctionServos.hpp"
 
 #include <board_config.h>
 #include <drivers/drv_pwm_output.h>

src/lib/parameters/flashparams/flashfs.c

@@ -1048,7 +1048,7 @@ int parameter_flashfs_init(sector_descriptor_t *fconfig, uint8_t *buffer, uint16
 
 	flash_entry_header_t *pf = find_entry(parameters_token);
 
-	/*  No paramaters */
+	/*  No parameters */
 
 	if (pf == NULL) {
 		size_t total_size = size + sizeof(flash_entry_header_t);

src/lib/parameters/px_process_params.py

@@ -33,7 +33,7 @@
 ############################################################################
 
 #
-# PX4 paramaters processor (main executable file)
+# PX4 parameters processor (main executable file)
 #
 # This tool scans the PX4 source code for declarations of tunable parameters
 # and outputs the list in various formats.

src/lib/systemlib/system_params.c

@@ -146,7 +146,7 @@ PARAM_DEFINE_INT32(SYS_CAL_BARO, 0);
  * Required temperature rise during thermal calibration
  *
  * A temperature increase greater than this value is required during calibration.
- * Calibration will complete for each sensor when the temperature increase above the starting temeprature exceeds the value set by SYS_CAL_TDEL.
+ * Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL.
  * If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.
  *
  * @unit celcius
@@ -223,7 +223,7 @@ PARAM_DEFINE_INT32(SYS_HAS_BARO, 1);
  *
  * If set to the number of distance sensors, the preflight check will check
  * for their presence and valid data publication. Disable with 0 if no distance
- * sensor present or to disbale the preflight check.
+ * sensor present or to disable the preflight check.
  *
  * @reboot_required true
  *

src/lib/tunes/tune_definition.desc

@@ -83,8 +83,8 @@
  */
 
 
-//           ordinal name                  tune                                        interruptable*     hint
-//  * Repeated tunes should always be defined as interruptable, if not an explict 'tone_control stop' is needed
+//           ordinal name                  tune                                        interruptible*     hint
+//  * Repeated tunes should always be defined as interruptible, if not an explicit 'tone_control stop' is needed
 PX4_DEFINE_TUNE(0,  CUSTOM,                "",                                              true  /*  empty to align with the index */)
 PX4_DEFINE_TUNE(1,  STARTUP,               "MFT240L8 O4aO5dc O4aO5dc O4aO5dc L16dcdcdcdc",  true  /*  startup tune */)
 PX4_DEFINE_TUNE(2,  ERROR_TUNE,            "MBT200a8a8a8PaaaP",                             true  /*  ERROR tone */)

src/lib/tunes/tunes.h

@@ -92,7 +92,7 @@ public:
 	 * or the tune being already played is a repeated tune.
 	 * @param  tune_control struct containig the uORB message
 	 * @return              return ControlResult::InvalidTune if the default tune does not exist,
-	 * 			ControlResult::WouldInterrupt if tune was already playing and not interruptable,
+	 * 			ControlResult::WouldInterrupt if tune was already playing and not interruptible,
 	 * 			ControlResult::AlreadyPlaying if same tune was already playing,
 	 * 			ControlResult::Success if new tune was set.
 	 */

src/lib/wind_estimator/CMakeLists.txt

@@ -36,3 +36,14 @@ add_library(wind_estimator
 	WindEstimator.hpp
 )
 add_dependencies(wind_estimator prebuild_targets)
+
+add_subdirectory(test)
+
+add_custom_target(wind_estimator_generate_airspeed_fusion
+	COMMAND ${PYTHON_EXECUTABLE} derivation.py
+	#DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/python/derivation.py
+	#BYPRODUCTS ${CMAKE_CURRENT_SOURCE_DIR}/python/generated/fuse_airspeed.h
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/python
+	COMMENT "Generating fuse_airspeed"
+	USES_TERMINAL
+)

src/lib/wind_estimator/WindEstimator.cpp

@@ -141,37 +141,11 @@ WindEstimator::fuse_airspeed(uint64_t time_now, const float true_airspeed, const
 
 	_time_last_airspeed_fuse = time_now;
 
-	// assign helper variables
-	const float v_n = velI(0);
-	const float v_e = velI(1);
-	const float v_d = velI(2);
-
-	// calculate airspeed from ground speed and wind states (without scale)
-	const float airspeed_predicted_raw = sqrtf((v_n - _state(INDEX_W_N)) * (v_n - _state(INDEX_W_N)) +
-					     (v_e - _state(INDEX_W_E)) * (v_e - _state(INDEX_W_E)) + v_d * v_d);
-
-	// compute state observation matrix H
-	const float HH0 = airspeed_predicted_raw;
-	const float HH1 = _state(INDEX_TAS_SCALE) / math::max(HH0, 0.1f);
-
 	matrix::Matrix<float, 1, 3> H_tas;
-	H_tas(0, 0) = HH1 * (-v_n + _state(INDEX_W_N));
-	H_tas(0, 1) = HH1 * (-v_e + _state(INDEX_W_E));
-	H_tas(0, 2) = HH0;
+	matrix::Matrix<float, 3, 1> K;
 
-	// compute innovation covariance S
-	const matrix::Matrix<float, 1, 1> S = H_tas * _P * H_tas.transpose() + _tas_var;
-
-	// compute Kalman gain
-	matrix::Matrix<float, 3, 1> K = _P * H_tas.transpose();
-	K /= S(0, 0);
-
-	// compute innovation
-	const float airspeed_pred = _state(INDEX_TAS_SCALE) * airspeed_predicted_raw;
-	_tas_innov = true_airspeed - airspeed_pred;
-
-	// innovation variance
-	_tas_innov_var = S(0, 0);
+	sym::FuseAirspeed(velI, _state, _P, true_airspeed, _tas_var, FLT_EPSILON,
+			  &H_tas, &K, &_tas_innov_var, &_tas_innov);
 
 	bool reinit_filter = false;
 	bool meas_is_rejected = false;

src/lib/wind_estimator/WindEstimator.hpp

@@ -41,6 +41,8 @@
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>
 
+#include "python/generated/fuse_airspeed.h"
+
 using namespace time_literals;
 
 class WindEstimator

src/lib/wind_estimator/python/derivation.py

@@ -0,0 +1,49 @@
+import os
+from symforce import symbolic as sm
+from symforce import geo
+from symforce import typing as T
+
+def fuse_airspeed(
+        v_local: geo.V3,
+        state: geo.V3,
+        P: geo.M33,
+        airspeed: T.Scalar,
+        R: T.Scalar,
+        epsilon: T.Scalar
+) -> geo.V3:
+
+    vel_rel = geo.V3(v_local[0] - state[0], v_local[1] - state[1], v_local[2])
+    airspeed_pred = vel_rel.norm(epsilon=epsilon) * state[2]
+
+    innov = airspeed - airspeed_pred
+
+    H = geo.V1(airspeed_pred).jacobian(state)
+    innov_var = (H * P * H.transpose() + R)[0,0]
+
+    K = P * H.transpose() / sm.Max(innov_var, epsilon)
+
+    return (geo.V3(H), K, innov_var, innov)
+
+from symforce.codegen import Codegen, CppConfig
+
+codegen = Codegen.function(
+        fuse_airspeed,
+        output_names=["H", "K", "innov_var", "innov"],
+        config=CppConfig())
+metadata = codegen.generate_function(
+        output_dir="generated",
+        skip_directory_nesting=True)
+
+print("Files generated in {}:\n".format(metadata.output_dir))
+for f in metadata.generated_files:
+    print("  |- {}".format(os.path.relpath(f, metadata.output_dir)))
+
+# Replace cstdlib and Eigen functions by PX4 equivalents
+import fileinput
+
+with fileinput.FileInput(os.path.abspath(metadata.generated_files[0]), inplace=True, backup='.bak') as file:
+    for line in file:
+        line = line.replace("std::max", "math::max")
+        line = line.replace("Eigen", "matrix")
+        line = line.replace("matrix/Dense", "matrix/math.hpp")
+        print(line, end='')

src/lib/wind_estimator/python/generated/.gitignore

@@ -0,0 +1 @@
+*.bak

src/lib/wind_estimator/python/generated/fuse_airspeed.h

@@ -0,0 +1,90 @@
+// -----------------------------------------------------------------------------
+// This file was autogenerated by symforce from template:
+//     backends/cpp/templates/function/FUNCTION.h.jinja
+// Do NOT modify by hand.
+// -----------------------------------------------------------------------------
+
+#pragma once
+
+#include <matrix/math.hpp>
+
+namespace sym {
+
+/**
+ * This function was autogenerated from a symbolic function. Do not modify by hand.
+ *
+ * Symbolic function: fuse_airspeed
+ *
+ * Args:
+ *     v_local: Matrix31
+ *     state: Matrix31
+ *     P: Matrix33
+ *     airspeed: Scalar
+ *     R: Scalar
+ *     epsilon: Scalar
+ *
+ * Outputs:
+ *     H: Matrix13
+ *     K: Matrix31
+ *     innov_var: Scalar
+ *     innov: Scalar
+ */
+template <typename Scalar>
+void FuseAirspeed(const matrix::Matrix<Scalar, 3, 1>& v_local,
+                  const matrix::Matrix<Scalar, 3, 1>& state, const matrix::Matrix<Scalar, 3, 3>& P,
+                  const Scalar airspeed, const Scalar R, const Scalar epsilon,
+                  matrix::Matrix<Scalar, 1, 3>* const H = nullptr,
+                  matrix::Matrix<Scalar, 3, 1>* const K = nullptr, Scalar* const innov_var = nullptr,
+                  Scalar* const innov = nullptr) {
+  // Total ops: 56
+
+  // Input arrays
+
+  // Intermediate terms (11)
+  const Scalar _tmp0 = -state(0, 0) + v_local(0, 0);
+  const Scalar _tmp1 = -state(1, 0) + v_local(1, 0);
+  const Scalar _tmp2 = std::sqrt(Scalar(std::pow(_tmp0, Scalar(2)) + std::pow(_tmp1, Scalar(2)) +
+                                        epsilon + std::pow(v_local(2, 0), Scalar(2))));
+  const Scalar _tmp3 = state(2, 0) / _tmp2;
+  const Scalar _tmp4 = _tmp0 * _tmp3;
+  const Scalar _tmp5 = _tmp1 * _tmp3;
+  const Scalar _tmp6 = -P(0, 0) * _tmp4;
+  const Scalar _tmp7 = -P(1, 1) * _tmp5;
+  const Scalar _tmp8 = P(2, 2) * _tmp2;
+  const Scalar _tmp9 = R + _tmp2 * (-P(0, 2) * _tmp4 - P(1, 2) * _tmp5 + _tmp8) -
+                       _tmp4 * (-P(1, 0) * _tmp5 + P(2, 0) * _tmp2 + _tmp6) -
+                       _tmp5 * (-P(0, 1) * _tmp4 + P(2, 1) * _tmp2 + _tmp7);
+  const Scalar _tmp10 = Scalar(1.0) / (math::max<Scalar>(_tmp9, epsilon));
+
+  // Output terms (4)
+  if (H != nullptr) {
+    matrix::Matrix<Scalar, 1, 3>& _H = (*H);
+
+    _H(0, 0) = -_tmp4;
+    _H(0, 1) = -_tmp5;
+    _H(0, 2) = _tmp2;
+  }
+
+  if (K != nullptr) {
+    matrix::Matrix<Scalar, 3, 1>& _K = (*K);
+
+    _K(0, 0) = _tmp10 * (-P(0, 1) * _tmp5 + P(0, 2) * _tmp2 + _tmp6);
+    _K(1, 0) = _tmp10 * (-P(1, 0) * _tmp4 + P(1, 2) * _tmp2 + _tmp7);
+    _K(2, 0) = _tmp10 * (-P(2, 0) * _tmp4 - P(2, 1) * _tmp5 + _tmp8);
+  }
+
+  if (innov_var != nullptr) {
+    Scalar& _innov_var = (*innov_var);
+
+    _innov_var = _tmp9;
+  }
+
+  if (innov != nullptr) {
+    Scalar& _innov = (*innov);
+
+    _innov = -_tmp2 * state(2, 0) + airspeed;
+  }
+}  // NOLINT(readability/fn_size)
+
+// NOLINTNEXTLINE(readability/fn_size)
+}  // namespace sym

src/lib/wind_estimator/test/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/..)
+
+px4_add_unit_gtest(SRC test_airspeed_fusion.cpp)

src/lib/wind_estimator/test/test_airspeed_fusion.cpp

@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Run this test only using make tests TESTFILTER=unit-test_airspeed_fusion
+ */
+
+#include <gtest/gtest.h>
+#include <matrix/math.hpp>
+#include <mathlib/math/Functions.hpp>
+#include "../python/generated/fuse_airspeed.h"
+
+using namespace matrix;
+
+TEST(TestAirspeedFusion, SingularityHandling)
+{
+	// GIVEN: all inputs set to zero (singularity point)
+	const float true_airspeed = 0.f;
+	const Vector3f vel_i{0.f, 0.f, 0.f};
+	const Vector3f state{0.f, 0.f, 0.f};
+	const Matrix<float, 3, 3> P;
+	const float tas_var = 0.f;
+
+	matrix::Matrix<float, 1, 3> H;
+	matrix::Matrix<float, 3, 1> K;
+	float innov_var;
+	float innov;
+
+	// WHEN: no singularity handling is done
+	float epsilon = 0.f;
+	sym::FuseAirspeed(vel_i, state, P, true_airspeed, tas_var, epsilon,
+			  &H, &K, &innov_var, &innov);
+
+	// THEN: some of the returned values are not finite
+	EXPECT_TRUE(std::isnan(H(0, 0))) << H(0, 0);
+	EXPECT_TRUE(std::isnan(H(0, 1))) << H(0, 1);
+	EXPECT_FLOAT_EQ(H(0, 2), 0.f) << H(0, 2);
+	EXPECT_TRUE(std::isnan(K(0, 0))) << K(0, 0);
+	EXPECT_TRUE(std::isnan(K(1, 0))) << K(1, 0);
+	EXPECT_TRUE(std::isnan(K(2, 0))) << K(2, 0);
+	EXPECT_TRUE(std::isnan(innov_var));
+	EXPECT_FLOAT_EQ(innov, 0.f);
+
+	// BUT WHEN: singularity is avoided by addind a small constant
+	epsilon = FLT_EPSILON;
+	sym::FuseAirspeed(vel_i, state, P, true_airspeed, tas_var, epsilon,
+			  &H, &K, &innov_var, &innov);
+
+	// THEN: the returned values are finite and the Kalman gain is null
+	EXPECT_FLOAT_EQ(H(0, 0), 0.f) << H(0, 0);
+	EXPECT_FLOAT_EQ(H(0, 1), 0.f) << H(0, 1);
+	EXPECT_FLOAT_EQ(H(0, 2), std::sqrt(FLT_EPSILON)) << H(0, 2);
+	EXPECT_TRUE(isEqual(K, Vector3f()));
+	EXPECT_FLOAT_EQ(innov_var, tas_var);
+	EXPECT_FLOAT_EQ(innov, 0.f);
+}

src/modules/commander/commander_params.c

@@ -131,10 +131,7 @@ PARAM_DEFINE_INT32(COM_HLDL_REG_T, 0);
 /**
  * RC loss time threshold
  *
- * If the RC signal does not update for this number of seconds the RC connection is considered lost
- * (during this interval data from the last RC update is still used).
- * If the connection is lost, PX4 will enter Hold mode and wait for COM_RCL_ACT_T seconds
- * to recover the connection before triggering the failsafe action (COM_RCL_ACT_T).
+ * After this amount of seconds without RC connection it's considered lost and not used anymore
  *
  * @group Commander
  * @unit s
@@ -146,13 +143,11 @@ PARAM_DEFINE_INT32(COM_HLDL_REG_T, 0);
 PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5f);
 
 /**
- * Delay between RC loss and configured action
+ * Delay between RC loss and configured reaction
  *
- * If the RC signal does not update for COM_RC_LOSS_T seconds the RC connection is considered lost
- * (during this interval data from the last RC update is still used).
- * If the connection is lost, PX4 will enter Hold mode and wait for COM_RCL_ACT_T seconds
- * to recover the connection before triggering the failsafe action (NAV_RCL_ACT).
- * If the signal is regained PX4 will return to the previous mode.
+ * RC signal not updated -> still use data for COM_RC_LOSS_T seconds
+ * Consider RC signal lost -> wait COM_RCL_ACT_T seconds in Hold mode to regain signal
+ * React with failsafe action NAV_RCL_ACT
  *
  * A zero value disables the delay.
  *
@@ -823,12 +818,11 @@ PARAM_DEFINE_INT32(COM_TAKEOFF_ACT, 0);
 PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
 
 /**
- * Set RC loss failsafe action (mode).
+ * Set RC loss failsafe mode
  *
- * The RC loss failsafe will only be entered if the RC connection is not recovered before first the
- * RC signal loss theshold timeout (COM_RC_LOSS_T) and then the RC connection lost timeout (NAV_RCL_ACT) have triggered.
- * The action will not be triggered if RC input checks have been disabled (COM_RC_IN_MODE)
- * or if RC loss exceptions are disabled for the current mode (COM_RCL_EXCEPT).
+ * The RC loss failsafe will only be entered after a timeout,
+ * set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled
+ * by setting the COM_RC_IN_MODE param it will not be triggered.
  *
  * @value 1 Hold mode
  * @value 2 Return mode
@@ -1069,7 +1063,7 @@ PARAM_DEFINE_FLOAT(COM_WIND_WARN, -1.f);
  * the time since takeoff is above this value. It is not possible to resume the
  * mission or switch to any mode other than RTL or Land.
  *
- * Set a nagative value to disable.
+ * Set a negative value to disable.
  *
  *
  * @unit s

src/modules/ekf2/EKF/common.h

@@ -479,7 +479,7 @@ union filter_control_status_u {
 		uint32_t gps                     : 1; ///< 2 - true if GPS measurement fusion is intended
 		uint32_t opt_flow                : 1; ///< 3 - true if optical flow measurements fusion is intended
 		uint32_t mag_hdg                 : 1; ///< 4 - true if a simple magnetic yaw heading fusion is intended
-		uint32_t mag_3D                  : 1; ///< 5 - true if 3-axis magnetometer measurement fusion is inteded
+		uint32_t mag_3D                  : 1; ///< 5 - true if 3-axis magnetometer measurement fusion is intended
 		uint32_t mag_dec                 : 1; ///< 6 - true if synthetic magnetic declination measurements fusion is intended
 		uint32_t in_air                  : 1; ///< 7 - true when the vehicle is airborne
 		uint32_t wind                    : 1; ///< 8 - true when wind velocity is being estimated
@@ -571,7 +571,7 @@ union warning_event_status_u {
 		bool height_sensor_timeout              : 1; ///< 4 - true when the height sensor has not been used to correct the state estimates for a significant time period
 		bool stopping_navigation                : 1; ///< 5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
 		bool invalid_accel_bias_cov_reset       : 1; ///< 6 - true when the filter has detected bad acceerometer bias state estimates and has reset the corresponding covariance matrix elements
-		bool bad_yaw_using_gps_course           : 1; ///< 7 - true when the fiter has detected an invalid yaw esitmate and has reset the yaw angle to the GPS ground course
+		bool bad_yaw_using_gps_course           : 1; ///< 7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
 		bool stopping_mag_use                   : 1; ///< 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data
 		bool vision_data_stopped                : 1; ///< 9 - true when the vision system data has stopped for a significant time period
 		bool emergency_yaw_reset_mag_stopped    : 1; ///< 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data

src/modules/ekf2/EKF2.cpp

@@ -1539,7 +1539,7 @@ void EKF2::UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps)
 
 void EKF2::UpdateAuxVelSample(ekf2_timestamps_s &ekf2_timestamps)
 {
-	// EKF auxillary velocity sample
+	// EKF auxiliary velocity sample
 	//  - use the landing target pose estimate as another source of velocity data
 	const unsigned last_generation = _landing_target_pose_sub.get_last_generation();
 	landing_target_pose_s landing_target_pose;

src/modules/ekf2/EKF2.hpp

@@ -358,7 +358,7 @@ private:
 		(ParamExtFloat<px4::params::EKF2_EV_DELAY>)
 		_param_ekf2_ev_delay,	///< off-board vision measurement delay relative to the IMU (mSec)
 		(ParamExtFloat<px4::params::EKF2_AVEL_DELAY>)
-		_param_ekf2_avel_delay,	///< auxillary velocity measurement delay relative to the IMU (mSec)
+		_param_ekf2_avel_delay,	///< auxiliary velocity measurement delay relative to the IMU (mSec)
 
 		(ParamExtFloat<px4::params::EKF2_GYR_NOISE>)
 		_param_ekf2_gyr_noise,	///< IMU angular rate noise used for covariance prediction (rad/sec)