sensors/vehicle_angular_velocity: use 3 coefficient backward finite difference for angular acceleration (on FIFO data)

.ci/Jenkinsfile-compile

@@ -130,7 +130,7 @@ pipeline {
     // TODO: actually upload artifacts to S3
     // stage('S3 Upload') {
     //   agent {
-    //     docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+    //     docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
     //   }
     //   options {
     //         skipDefaultCheckout()

.github/workflows/checks.yml

@@ -28,7 +28,7 @@ jobs:
           "parameters_metadata",
         ]
     container:
-      image: ghcr.io/px4/px4-dev:2021-05-06
+      image: px4io/px4-dev-nuttx-focal:2021-04-29
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/compile_nuttx.yml

@@ -4,7 +4,6 @@ on:
   push:
     branches:
     - 'master'
-    - 'github-actions'
   pull_request:
     branches:
     - '*'
@@ -12,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
     strategy:
       matrix:
         config: [

.github/workflows/compile_nuttx_cannode.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
     strategy:
       matrix:
         config: [

.github/workflows/container.yml

@@ -1,31 +0,0 @@
-name: Build and publish Docker image
-
-on:
-  push:
-    branches:
-    - 'master'
-    - 'github-actions'
-
-jobs:
-  docker:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v1
-        with:
-          registry: ghcr.io
-          username: ${{ github.repository_owner }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Build and push
-        uses: docker/build-push-action@v2
-        with:
-          context: .
-          platforms: linux/amd64
-          push: true
-          tags: |
-            px4/px4-dev:latest
-            ghcr.io/px4/px4-dev:latest
-
-      - name: Image digest
-        run: echo ${{ steps.docker_build.outputs.digest }}

.github/workflows/metadata.yml

@@ -11,7 +11,7 @@ jobs:
 
   airframe:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -26,7 +26,7 @@ jobs:
 
   module:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -41,7 +41,7 @@ jobs:
 
   parameter:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -65,7 +65,7 @@ jobs:
 
   uorb_graph:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-nuttx-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -80,7 +80,7 @@ jobs:
 
   micrortps_agent:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -94,7 +94,7 @@ jobs:
 
   ROS_msgs:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:
@@ -107,7 +107,7 @@ jobs:
 
   ROS2_bridge:
     runs-on: ubuntu-latest
-    container: ghcr.io/px4/px4-dev:2021-05-06
+    container: px4io/px4-dev-base-focal:2021-04-29
     steps:
     - uses: actions/checkout@v1
       with:

Dockerfile

@@ -1,29 +0,0 @@
-#
-# PX4 development environment
-#
-
-FROM ubuntu:20.04
-LABEL maintainer="Daniel Agar <daniel@agar.ca>"
-
-COPY Tools/setup/ubuntu.sh /tmp/ubuntu.sh
-COPY Tools/setup/requirements.txt /tmp/requirements.txt
-RUN DEBIAN_FRONTEND=noninteractive /tmp/ubuntu.sh --no-sim-tools \
-	&& apt-get -y autoremove \
-	&& apt-get clean autoclean \
-	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
-
-# create user with id 1001 (jenkins docker workflow default)
-RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
-
-ENV CCACHE_UMASK=000
-ENV PATH="/usr/lib/ccache:$PATH"
-
-# SITL UDP PORTS
-EXPOSE 14556/udp
-EXPOSE 14557/udp
-
-# create and start as LOCAL_USER_ID
-COPY Tools/setup/entrypoint.sh /usr/local/bin/entrypoint.sh
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-
-CMD ["/bin/bash"]

Jenkinsfile

@@ -85,7 +85,7 @@ pipeline {
 
         stage('Airframe') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh 'make distclean'
@@ -105,7 +105,7 @@ pipeline {
 
         stage('Parameter') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {
 
         stage('Module') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh 'make distclean'
@@ -176,7 +176,7 @@ pipeline {
 
         stage('Userguide') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -206,7 +206,7 @@ pipeline {
 
         stage('QGroundControl') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -234,7 +234,7 @@ pipeline {
 
         stage('microRTPS agent') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -264,7 +264,7 @@ pipeline {
 
         stage('PX4 ROS msgs') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -293,7 +293,7 @@ pipeline {
 
         stage('PX4 ROS2 bridge') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')
@@ -336,7 +336,7 @@ pipeline {
 
         stage('S3') {
           agent {
-            docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
+            docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
           }
           steps {
             sh('export')

Tools/docker_run.sh

@@ -2,7 +2,10 @@
 
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+	if [[ $@ =~ .*px4_fmu.* ]]; then
+		# nuttx-px4fmu-v{1,2,3,4,5}
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
+	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:2021-02-04"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
@@ -27,7 +30,7 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="ghcr.io/px4/px4-dev:2021-05-06"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
 fi
 
 # docker hygiene
@@ -64,5 +67,4 @@ docker run -it --rm -w "${SRC_DIR}" \
 	--publish 14556:14556/udp \
 	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
 	--volume=${SRC_DIR}:${SRC_DIR}:rw \
-	-v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY -h $HOSTNAME
 	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"

Tools/setup/Makefile

@@ -1,11 +0,0 @@
-.PHONY: docker_build docker_push all
-
-DATE := $(shell date +%Y-%m-%d)
-
-docker_build:
-	docker build -f Dockerfile -t px4-dev:${DATE} .
-
-docker_push: build
-        docker push px4io/px4-dev:${DATE}
-
-all: docker_build

Tools/setup/entrypoint.sh

@@ -1,27 +0,0 @@
-#!/bin/bash
-
-# 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 "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 "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

@@ -1,26 +1,24 @@
 argcomplete
-argparse
+argparse>=1.2
 cerberus
 coverage
 empy>=3.3
 jinja2>=2.8
-jsonschema
-kconfiglib
 matplotlib>=3.0.*
 numpy>=1.13
 nunavut>=1.1.0
 packaging
+pandas>=0.21
 pkgconfig
 psutil
 pygments
+wheel>=0.31.1
 pymavlink
 pyros-genmsg
 pyserial>=3.0
 pyulog>=0.5.0
 pyyaml
 requests
-serial
 setuptools>=39.2.0
 six>=1.12.0
 toml>=0.9
-wheel>=0.31.1

Tools/setup/ubuntu.sh

@@ -31,9 +31,10 @@ done
 # detect if running in docker
 if [ -f /.dockerenv ]; then
 	echo "Running within docker, installing initial dependencies";
-	apt-get -qq update && DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
+	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
 		ca-certificates \
-		gosu \
+		gnupg \
+		lsb-core \
 		sudo \
 		wget \
 		;
@@ -52,7 +53,7 @@ fi
 
 # check ubuntu version
 # otherwise warn and point to docker?
-UBUNTU_RELEASE=$(cat /etc/os-release | grep VERSION_ID | cut -d "\"" -f 2)
+UBUNTU_RELEASE="`lsb_release -rs`"
 
 if [[ "${UBUNTU_RELEASE}" == "14.04" ]]; then
 	echo "Ubuntu 14.04 is no longer supported"
@@ -62,18 +63,16 @@ elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
 	exit 1
 elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 	echo "Ubuntu 18.04"
-
 elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
-
 fi
 
 
 echo
 echo "Installing PX4 general dependencies"
 
-sudo apt-get -qq update
+sudo apt-get update -y --quiet
-sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
+sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 	astyle \
 	build-essential \
 	ccache \
@@ -94,23 +93,20 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends instal
 	python3-wheel \
 	rsync \
 	shellcheck \
+	unzip \
+	zip \
 	;
 
 if [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
 	echo "Installing Ubuntu 16.04 PX4-compatible ccache version"
-	wget -q -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
+	wget -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
 	sudo dpkg -i /tmp/ccache_3.4.1-1_amd64.deb
 fi
 
 # Python3 dependencies
 echo
 echo "Installing PX4 Python3 dependencies"
-if [ -f /.dockerenv ]; then
+python3 -m pip install --user -r ${DIR}/requirements.txt
-	# system wide for docker
-	python3 -m pip install -r ${DIR}/requirements.txt
-else
-	python3 -m pip install --user --quiet -r ${DIR}/requirements.txt
-fi
 
 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then
@@ -118,13 +114,33 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo
 	echo "Installing NuttX dependencies"
 
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
+	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 \
+		kconfig-frontends \
+		libelf-dev \
+		libexpat-dev \
+		libgmp-dev \
+		libisl-dev \
+		libmpc-dev \
+		libmpfr-dev \
+		libncurses5-dev \
+		libncursesw5-dev \
+		libtool \
 		pkg-config \
 		screen \
+		texinfo \
+		u-boot-tools \
+		util-linux \
 		vim-common \
 		;
 
@@ -148,7 +164,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 
 	else
 		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -q -O /tmp/gcc-arm-none-eabi-${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}-${INSTALL_ARCH}-linux.tar.bz2 && \
+		wget -O /tmp/gcc-arm-none-eabi-${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/;
 
 		# add arm-none-eabi-gcc to user's PATH
@@ -169,36 +185,37 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	echo "Installing PX4 simulation dependencies"
 
 	# General simulation dependencies
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		bc \
 		;
 
 	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		java_version=11
 		gazebo_version=9
-		MAVSDK_VERSION=0.39.0
-		wget -q "https://github.com/mavlink/MAVSDK/releases/download/v${MAVSDK_VERSION}/mavsdk_{MAVSDK_VERSION})_ubuntu18.04_amd64.deb" -O /tmp/mavsdk.deb && sudo dpkg -i /tmp/mavsdk.deb
 	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+		java_version=14
 		gazebo_version=11
-		MAVSDK_VERSION=0.39.0
-		wget -q "https://github.com/mavlink/MAVSDK/releases/download/v{MAVSDK_VERSION}/mavsdk_{MAVSDK_VERSION}_ubuntu20.04_amd64.deb" -O /tmp/mavsdk.deb && sudo dpkg -i /tmp/mavsdk.deb
 	else
+		java_version=14
 		gazebo_version=11
 	fi
-
 	# Java (jmavsim or fastrtps)
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		ant \
-		default-jre-headless \
+		openjdk-$java_version-jre \
-		default-jdk-headless \
+		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
 	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 -q http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 	# Update list, since new gazebo-stable.list has been added
-	sudo apt-get update -qq
+	sudo apt-get update -y --quiet
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		dmidecode \
 		gazebo$gazebo_version \
 		gstreamer1.0-plugins-bad \

mavlink/include/mavlink/v2.0

@@ -1 +1 @@
-Subproject commit 3a3aea8fe57c9f14d215b8769f9b77bca8b7c750
+Subproject commit 826b4ba68b83fa4e7a30636d2d97a9d6f1105122

src/drivers/dshot/DShot.cpp

@@ -530,27 +530,11 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 
 	} else {
 		for (int i = 0; i < (int)num_outputs; i++) {
-
+			if (outputs[i] == DSHOT_DISARM_VALUE) {
-			uint16_t output = outputs[i];
-
-			// DShot 3D splits the throttle ranges in two.
-			// This is in terms of DShot values, code below is in terms of actuator_output
-			// Direction 1) 48 is the slowest, 1047 is the fastest.
-			// Direction 2) 1049 is the slowest, 2047 is the fastest.
-			if (_param_dshot_3d_enable.get()) {
-				if (output >= _param_dshot_3d_dead_l.get() && output <= _param_dshot_3d_dead_h.get()) {
-					output = DSHOT_DISARM_VALUE;
-
-				} else if (output < 1000 && output > 0) { //Todo: allow actuator 0 or dshot 48 to be used
-					output = 999 - output;
-				}
-			}
-
-			if (output == DSHOT_DISARM_VALUE) {
 				up_dshot_motor_command(i, DShot_cmd_motor_stop, i == requested_telemetry_index);
 
 			} else {
-				up_dshot_motor_data_set(i, math::min(output, static_cast<uint16_t>(DSHOT_MAX_THROTTLE)),
+				up_dshot_motor_data_set(i, math::min(outputs[i], static_cast<uint16_t>(DSHOT_MAX_THROTTLE)),
 							i == requested_telemetry_index);
 			}
 		}

src/drivers/dshot/DShot.h

@@ -231,9 +231,6 @@ private:
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::DSHOT_CONFIG>)   _param_dshot_config,
 		(ParamFloat<px4::params::DSHOT_MIN>)    _param_dshot_min,
-		(ParamBool<px4::params::DSHOT_3D_ENABLE>) _param_dshot_3d_enable,
-		(ParamInt<px4::params::DSHOT_3D_DEAD_H>) _param_dshot_3d_dead_h,
-		(ParamInt<px4::params::DSHOT_3D_DEAD_L>) _param_dshot_3d_dead_l,
 		(ParamInt<px4::params::MOT_POLE_COUNT>) _param_mot_pole_count
 	)
 };

src/drivers/dshot/module.yaml

@@ -14,7 +14,7 @@ parameters:
                 long: |
                     This enables/disables DShot. The different modes define different
                     speeds, for example DShot150 = 150kb/s. Not all ESCs support all modes.
-
+                    
                     Note: this enables DShot on the FMU outputs. For boards with an IO it is the
                     AUX outputs.
             type: enum
@@ -40,37 +40,6 @@ parameters:
             decimal: 2
             increment: 0.01
             default: 0.055
-        DSHOT_3D_ENABLE:
-            description:
-                short: Allows for 3d mode when using DShot and suitable mixer
-                long: |
-                    WARNING: ESC must be configured for 3D mode, and DSHOT_MIN set to 0.
-                    This splits the throttle ranges in two.
-                    Direction 1) 48 is the slowest, 1047 is the fastest.
-                    Direction 2) 1049 is the slowest, 2047 is the fastest.
-                    When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.
-            type: boolean
-            default: 0
-        DSHOT_3D_DEAD_H:
-            description:
-                short: DSHOT 3D deadband high
-                long: |
-                    When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin.
-                    This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
-            type: int32
-            min: 1000
-            max: 1999
-            default: 1000
-        DSHOT_3D_DEAD_L:
-            description:
-                short: DSHOT 3D deadband low
-                long: |
-                    When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin.
-                    This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
-            type: int32
-            min: 0
-            max: 1000
-            default: 1000
         MOT_POLE_COUNT: # only used by dshot so far, so keep it under the dshot group
             description:
                 short: Number of magnetic poles of the motors
@@ -82,3 +51,4 @@ parameters:
                     Typical motors for 5 inch props have 14 poles.
             type: int32
             default: 14
+

src/drivers/optical_flow/paw3902/PAW3902.cpp

@@ -84,6 +84,8 @@ int PAW3902::init()
 		return PX4_ERROR;
 	}
 
+	Reset();
+
 	// force to low light mode (1) initially
 	ChangeMode(Mode::LowLight, true);
 
@@ -148,6 +150,24 @@ bool PAW3902::DataReadyInterruptDisable()
 	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
 }
 
+bool PAW3902::Reset()
+{
+	DataReadyInterruptDisable();
+
+	// Power on reset
+	RegisterWrite(Register::Power_Up_Reset, 0x5A);
+	usleep(1000);
+
+	// Read from registers 0x02, 0x03, 0x04, 0x05 and 0x06 one time regardless of the motion state
+	RegisterRead(Register::Motion);
+	RegisterRead(Register::Delta_X_L);
+	RegisterRead(Register::Delta_X_H);
+	RegisterRead(Register::Delta_Y_L);
+	RegisterRead(Register::Delta_Y_H);
+
+	return true;
+}
+
 void PAW3902::exit_and_cleanup()
 {
 	DataReadyInterruptDisable();
@@ -163,7 +183,6 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)
 
 		// Issue a soft reset
 		RegisterWrite(Register::Power_Up_Reset, 0x5A);
-		px4_usleep(1000);
 
 		uint32_t interval_us = 0;
 
@@ -187,10 +206,6 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)
 			break;
 		}
 
-		EnableLed();
-
-		_discard_reading = 3;
-
 		if (DataReadyInterruptConfigure()) {
 			// backup schedule as a watchdog timeout
 			ScheduleDelayed(500_ms);
@@ -199,6 +214,17 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)
 			ScheduleOnInterval(interval_us);
 		}
 
+		// Discard the first three motion data.
+		for (int i = 0; i < 3; i++) {
+			RegisterRead(Register::Motion);
+			RegisterRead(Register::Delta_X_L);
+			RegisterRead(Register::Delta_X_H);
+			RegisterRead(Register::Delta_Y_L);
+			RegisterRead(Register::Delta_Y_H);
+		}
+
+		EnableLed();
+
 		_mode = newMode;
 	}
 
@@ -206,6 +232,11 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)
 	_low_to_superlow_counter = 0;
 	_low_to_bright_counter = 0;
 	_superlow_to_low_counter = 0;
+	// Approximate Resolution = (Register Value + 1) * (50 / 8450) ≈ 0.6% of data point in Figure 19
+	// The maximum register value is 0xA8. The minimum register value is 0.
+	uint8_t resolution = RegisterRead(Register::Resolution);
+	PX4_DEBUG("Resolution: %X", resolution);
+	PX4_DEBUG("Resolution is approx: %.3f", (double)((resolution + 1.0f) * (50.0f / 8450.0f)));
 
 	return true;
 }
@@ -551,9 +582,9 @@ void PAW3902::ModeSuperLowLight()
 void PAW3902::EnableLed()
 {
 	// Enable LED_N controls
-	RegisterWrite(0x7F, 0x14);
+	RegisterWriteVerified(0x7F, 0x14);
-	RegisterWrite(0x6F, 0x1c);
+	RegisterWriteVerified(0x6F, 0x1c);
-	RegisterWrite(0x7F, 0x00);
+	RegisterWriteVerified(0x7F, 0x00);
 }
 
 uint8_t PAW3902::RegisterRead(uint8_t reg, int retries)
@@ -632,17 +663,11 @@ void PAW3902::RunImpl()
 	// update for next iteration
 	_previous_collect_timestamp = timestamp_sample;
 
-	if (_discard_reading > 0) {
-		_discard_reading--;
-		ResetAccumulatedData();
-		return;
-	}
-
 	// check SQUAL & Shutter values
 	// To suppress false motion reports, discard Delta X and Delta Y values if the SQUAL and Shutter values meet the condition
-	// Bright Mode,          SQUAL < 0x19, Shutter ≥ 0x1FF0
+	// Bright Mode,			SQUAL < 0x19, Shutter ≥ 0x1FF0
-	// Low Light Mode,       SQUAL < 0x46, Shutter ≥ 0x1FF0
+	// Low Light Mode,		SQUAL < 0x46, Shutter ≥ 0x1FF0
-	// Super Low Light Mode, SQUAL < 0x55, Shutter ≥ 0x0BC0
+	// Super Low Light Mode,	SQUAL < 0x55, Shutter ≥ 0x0BC0
 	const uint16_t shutter = (buf.data.Shutter_Upper << 8) | buf.data.Shutter_Lower;
 
 	bool data_valid = true;
@@ -652,6 +677,7 @@ void PAW3902::RunImpl()
 		if ((buf.data.SQUAL < 0x19) && (shutter >= 0x1FF0)) {
 			// false motion report, discarding
 			perf_count(_false_motion_perf);
+			ResetAccumulatedData();
 			data_valid = false;
 		}
 
@@ -673,6 +699,7 @@ void PAW3902::RunImpl()
 		if ((buf.data.SQUAL < 0x46) && (shutter >= 0x1FF0)) {
 			// false motion report, discarding
 			perf_count(_false_motion_perf);
+			ResetAccumulatedData();
 			data_valid = false;
 		}
 
@@ -705,14 +732,11 @@ void PAW3902::RunImpl()
 		if ((buf.data.SQUAL < 0x55) && (shutter >= 0x0BC0)) {
 			// false motion report, discarding
 			perf_count(_false_motion_perf);
+			ResetAccumulatedData();
 			data_valid = false;
 		}
 
-		if (shutter < 0x01F4) {
+		if (shutter < 0x03E8) {
-			// should not operate with Shutter < 0x01F4 in Mode 2
-			ChangeMode(Mode::LowLight);
-
-		} else if (shutter < 0x03E8) {
 			// SuperLowLight -> LowLight
 			_superlow_to_low_counter++;
 

src/drivers/optical_flow/paw3902/PAW3902.hpp

@@ -90,6 +90,8 @@ private:
 	void RegisterWrite(uint8_t reg, uint8_t data);
 	bool RegisterWriteVerified(uint8_t reg, uint8_t data, int retries = 5);
 
+	bool Reset();
+
 	void EnableLed();
 
 	void ModeBright();
@@ -122,8 +124,6 @@ private:
 
 	matrix::Dcmf	_rotation;
 
-	int             _discard_reading{3};
-
 	int		_flow_sum_x{0};
 	int		_flow_sum_y{0};
 

src/lib/ecl

@@ -1 +1 @@
-Subproject commit 29243ac5cbb5d27ac71744e88afcd786df6f748d
+Subproject commit a7b8afe420f438554ad90bcba0f1f4872325e75b

src/modules/ekf2/EKF2Selector.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020 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
@@ -37,6 +37,7 @@ using namespace time_literals;
 using matrix::Quatf;
 using matrix::Vector2f;
 using math::constrain;
+using math::max;
 using math::radians;
 
 EKF2Selector::EKF2Selector() :
@@ -117,6 +118,12 @@ bool EKF2Selector::SelectInstance(uint8_t ekf_instance)
 			_instance[i].relative_test_ratio = 0;
 		}
 
+		// publish new data immediately with resets
+		PublishVehicleAttitude(true);
+		PublishVehicleLocalPosition(true);
+		PublishVehicleGlobalPosition(true);
+		PublishWindEstimate(true);
+
 		return true;
 	}
 
@@ -323,152 +330,104 @@ bool EKF2Selector::UpdateErrorScores()
 	return (primary_updated || updated);
 }
 
-void EKF2Selector::PublishVehicleAttitude()
+void EKF2Selector::PublishVehicleAttitude(bool reset)
 {
-	// selected estimator_attitude -> vehicle_attitude
 	vehicle_attitude_s attitude;
 
-	if (_instance[_selected_instance].estimator_attitude_sub.update(&attitude)) {
+	if (_instance[_selected_instance].estimator_attitude_sub.copy(&attitude)) {
-		bool instance_change = false;
+		if (reset) {
+			// on reset compute deltas from last published data
+			++_quat_reset_counter;
 
-		if (_instance[_selected_instance].estimator_attitude_sub.get_instance() != _attitude_instance_prev) {
+			_delta_q_reset = (Quatf(attitude.q) * Quatf(_attitude_last.q).inversed()).normalized();
-			_attitude_instance_prev = _instance[_selected_instance].estimator_attitude_sub.get_instance();
-			instance_change = true;
-		}
 
-		if (_attitude_last.timestamp != 0) {
+			// ensure monotonically increasing timestamp_sample through reset
-			if (!instance_change && (attitude.quat_reset_counter == _attitude_last.quat_reset_counter + 1)) {
+			attitude.timestamp_sample = max(attitude.timestamp_sample, _attitude_last.timestamp_sample);
-				// propogate deltas from estimator data while maintaining the overall reset counts
-				++_quat_reset_counter;
-				_delta_q_reset = Quatf{attitude.delta_q_reset};
-
-			} else if (instance_change || (attitude.quat_reset_counter != _attitude_last.quat_reset_counter)) {
-				// on reset compute deltas from last published data
-				++_quat_reset_counter;
-				_delta_q_reset = (Quatf(attitude.q) * Quatf(_attitude_last.q).inversed()).normalized();
-			}
 
 		} else {
-			_quat_reset_counter = attitude.quat_reset_counter;
+			// otherwise propogate deltas from estimator data while maintaining the overall reset counts
-			_delta_q_reset = Quatf{attitude.delta_q_reset};
+			if (attitude.quat_reset_counter > _attitude_last.quat_reset_counter) {
+				++_quat_reset_counter;
+				_delta_q_reset = Quatf{attitude.delta_q_reset};
+			}
 		}
 
-		bool publish = true;
+		// save last primary estimator_attitude
-
-		// ensure monotonically increasing timestamp_sample through reset, don't publish
-		//  estimator's attitude for system (vehicle_attitude) if it's stale
-		if ((attitude.timestamp_sample <= _attitude_last.timestamp_sample)
-		    || (attitude.timestamp_sample < _instance[_selected_instance].timestamp_sample_last)) {
-
-			publish = false;
-		}
-
-		// save last primary estimator_attitude as published with original resets
 		_attitude_last = attitude;
 
-		if (publish) {
+		// republish with total reset count and current timestamp
-			// republish with total reset count and current timestamp
+		attitude.quat_reset_counter = _quat_reset_counter;
-			attitude.quat_reset_counter = _quat_reset_counter;
+		_delta_q_reset.copyTo(attitude.delta_q_reset);
-			_delta_q_reset.copyTo(attitude.delta_q_reset);
 
-			attitude.timestamp = hrt_absolute_time();
+		attitude.timestamp = hrt_absolute_time();
-			_vehicle_attitude_pub.publish(attitude);
+		_vehicle_attitude_pub.publish(attitude);
-		}
+
+		_instance[_selected_instance].timestamp_sample_last = attitude.timestamp_sample;
 	}
 }
 
-void EKF2Selector::PublishVehicleLocalPosition()
+void EKF2Selector::PublishVehicleLocalPosition(bool reset)
 {
-	// selected estimator_local_position -> vehicle_local_position
+	// vehicle_local_position
 	vehicle_local_position_s local_position;
 
-	if (_instance[_selected_instance].estimator_local_position_sub.update(&local_position)) {
+	if (_instance[_selected_instance].estimator_local_position_sub.copy(&local_position)) {
-		bool instance_change = false;
+		if (reset) {
+			// on reset compute deltas from last published data
+			++_xy_reset_counter;
+			++_z_reset_counter;
+			++_vxy_reset_counter;
+			++_vz_reset_counter;
+			++_heading_reset_counter;
 
-		if (_instance[_selected_instance].estimator_local_position_sub.get_instance() != _local_position_instance_prev) {
+			_delta_xy_reset = Vector2f{local_position.x, local_position.y} - Vector2f{_local_position_last.x, _local_position_last.y};
-			_local_position_instance_prev = _instance[_selected_instance].estimator_local_position_sub.get_instance();
+			_delta_z_reset = local_position.z - _local_position_last.z;
-			instance_change = true;
+			_delta_vxy_reset = Vector2f{local_position.vx, local_position.vy} - Vector2f{_local_position_last.vx, _local_position_last.vy};
-		}
+			_delta_vz_reset = local_position.vz - _local_position_last.vz;
+			_delta_heading_reset = matrix::wrap_2pi(local_position.heading - _local_position_last.heading);
+
+			// ensure monotonically increasing timestamp_sample through reset
+			local_position.timestamp_sample = max(local_position.timestamp_sample, _local_position_last.timestamp_sample);
+
+		} else {
+			// otherwise propogate deltas from estimator data while maintaining the overall reset counts
 
-		if (_local_position_last.timestamp != 0) {
 			// XY reset
-			if (!instance_change && (local_position.xy_reset_counter == _local_position_last.xy_reset_counter + 1)) {
+			if (local_position.xy_reset_counter > _local_position_last.xy_reset_counter) {
 				++_xy_reset_counter;
 				_delta_xy_reset = Vector2f{local_position.delta_xy};
-
-			} else if (instance_change || (local_position.xy_reset_counter != _local_position_last.xy_reset_counter)) {
-				++_xy_reset_counter;
-				_delta_xy_reset = Vector2f{local_position.x, local_position.y} - Vector2f{_local_position_last.x, _local_position_last.y};
 			}
 
 			// Z reset
-			if (!instance_change && (local_position.z_reset_counter == _local_position_last.z_reset_counter + 1)) {
+			if (local_position.z_reset_counter > _local_position_last.z_reset_counter) {
 				++_z_reset_counter;
 				_delta_z_reset = local_position.delta_z;
-
-			} else if (instance_change || (local_position.z_reset_counter != _local_position_last.z_reset_counter)) {
-				++_z_reset_counter;
-				_delta_z_reset = local_position.z - _local_position_last.z;
 			}
 
 			// VXY reset
-			if (!instance_change && (local_position.vxy_reset_counter == _local_position_last.vxy_reset_counter + 1)) {
+			if (local_position.vxy_reset_counter > _local_position_last.vxy_reset_counter) {
 				++_vxy_reset_counter;
 				_delta_vxy_reset = Vector2f{local_position.delta_vxy};
-
-			} else if (instance_change || (local_position.vxy_reset_counter != _local_position_last.vxy_reset_counter)) {
-				++_vxy_reset_counter;
-				_delta_vxy_reset = Vector2f{local_position.vx, local_position.vy} - Vector2f{_local_position_last.vx, _local_position_last.vy};
 			}
 
 			// VZ reset
-			if (!instance_change && (local_position.vz_reset_counter == _local_position_last.vz_reset_counter + 1)) {
+			if (local_position.vz_reset_counter > _local_position_last.vz_reset_counter) {
 				++_vz_reset_counter;
 				_delta_vz_reset = local_position.delta_vz;
-
-			} else if (instance_change || (local_position.vz_reset_counter != _local_position_last.vz_reset_counter)) {
-				++_vz_reset_counter;
-				_delta_vz_reset = local_position.vz - _local_position_last.vz;
 			}
 
 			// heading reset
-			if (!instance_change && (local_position.heading_reset_counter == _local_position_last.heading_reset_counter + 1)) {
+			if (local_position.heading_reset_counter > _local_position_last.heading_reset_counter) {
 				++_heading_reset_counter;
 				_delta_heading_reset = local_position.delta_heading;
-
-			} else if (instance_change || (local_position.heading_reset_counter != _local_position_last.heading_reset_counter)) {
-				++_heading_reset_counter;
-				_delta_heading_reset = matrix::wrap_pi(local_position.heading - _local_position_last.heading);
 			}
-
-		} else {
-			_xy_reset_counter = local_position.xy_reset_counter;
-			_z_reset_counter = local_position.z_reset_counter;
-			_vxy_reset_counter = local_position.vxy_reset_counter;
-			_vz_reset_counter = local_position.vz_reset_counter;
-			_heading_reset_counter = local_position.heading_reset_counter;
-
-			_delta_xy_reset = Vector2f{local_position.delta_xy};
-			_delta_z_reset = local_position.delta_z;
-			_delta_vxy_reset = Vector2f{local_position.delta_vxy};
-			_delta_vz_reset = local_position.delta_vz;
-			_delta_heading_reset = local_position.delta_heading;
 		}
 
-		bool publish = true;
+		// save last primary estimator_local_position
-
-		// ensure monotonically increasing timestamp_sample through reset, don't publish
-		//  estimator's local position for system (vehicle_local_position) if it's stale
-		if ((local_position.timestamp_sample <= _local_position_last.timestamp_sample)
-		    || (local_position.timestamp_sample < _instance[_selected_instance].timestamp_sample_last)) {
-
-			publish = false;
-		}
-
-		// save last primary estimator_local_position as published with original resets
 		_local_position_last = local_position;
 
-		if (publish) {
+		// publish estimator's local position for system (vehicle_local_position) unless it's stale
+		if (local_position.timestamp_sample >= _instance[_selected_instance].timestamp_sample_last) {
 			// republish with total reset count and current timestamp
 			local_position.xy_reset_counter = _xy_reset_counter;
 			local_position.z_reset_counter = _z_reset_counter;
@@ -488,92 +447,47 @@ void EKF2Selector::PublishVehicleLocalPosition()
 	}
 }
 
-void EKF2Selector::PublishVehicleOdometry()
+void EKF2Selector::PublishVehicleGlobalPosition(bool reset)
 {
-	// selected estimator_odometry -> vehicle_odometry
-	vehicle_odometry_s odometry;
-
-	if (_instance[_selected_instance].estimator_odometry_sub.update(&odometry)) {
-		bool publish = true;
-
-		// ensure monotonically increasing timestamp_sample through reset, don't publish
-		//  estimator's odometry for system (vehicle_odometry) if it's stale
-		if ((odometry.timestamp_sample <= _odometry_last.timestamp_sample)
-		    || (odometry.timestamp_sample < _instance[_selected_instance].timestamp_sample_last)) {
-
-			publish = false;
-		}
-
-		// save last primary estimator_odometry
-		_odometry_last = odometry;
-
-		if (publish) {
-			odometry.timestamp = hrt_absolute_time();
-			_vehicle_odometry_pub.publish(odometry);
-		}
-	}
-}
-
-void EKF2Selector::PublishVehicleGlobalPosition()
-{
-	// selected estimator_global_position -> vehicle_global_position
 	vehicle_global_position_s global_position;
 
-	if (_instance[_selected_instance].estimator_global_position_sub.update(&global_position)) {
+	if (_instance[_selected_instance].estimator_global_position_sub.copy(&global_position)) {
-		bool instance_change = false;
+		if (reset) {
+			// on reset compute deltas from last published data
+			++_lat_lon_reset_counter;
+			++_alt_reset_counter;
 
-		if (_instance[_selected_instance].estimator_global_position_sub.get_instance() != _global_position_instance_prev) {
+			_delta_lat_reset = global_position.lat - _global_position_last.lat;
-			_global_position_instance_prev = _instance[_selected_instance].estimator_global_position_sub.get_instance();
+			_delta_lon_reset = global_position.lon - _global_position_last.lon;
-			instance_change = true;
+			_delta_alt_reset = global_position.delta_alt - _global_position_last.delta_alt;
-		}
+
+			// ensure monotonically increasing timestamp_sample through reset
+			global_position.timestamp_sample = max(global_position.timestamp_sample, _global_position_last.timestamp_sample);
+
+		} else {
+			// otherwise propogate deltas from estimator data while maintaining the overall reset counts
 
-		if (_global_position_last.timestamp != 0) {
 			// lat/lon reset
-			if (!instance_change && (global_position.lat_lon_reset_counter == _global_position_last.lat_lon_reset_counter + 1)) {
+			if (global_position.lat_lon_reset_counter > _global_position_last.lat_lon_reset_counter) {
 				++_lat_lon_reset_counter;
 
 				// TODO: delta latitude/longitude
-				_delta_lat_reset = global_position.lat - _global_position_last.lat;
+				//_delta_lat_reset = global_position.delta_lat;
-				_delta_lon_reset = global_position.lon - _global_position_last.lon;
+				//_delta_lon_reset = global_position.delta_lon;
-
-			} else if (instance_change || (global_position.lat_lon_reset_counter != _global_position_last.lat_lon_reset_counter)) {
-				++_lat_lon_reset_counter;
-
-				_delta_lat_reset = global_position.lat - _global_position_last.lat;
-				_delta_lon_reset = global_position.lon - _global_position_last.lon;
 			}
 
 			// alt reset
-			if (!instance_change && (global_position.alt_reset_counter == _global_position_last.alt_reset_counter + 1)) {
+			if (global_position.alt_reset_counter > _global_position_last.alt_reset_counter) {
 				++_alt_reset_counter;
 				_delta_alt_reset = global_position.delta_alt;
-
-			} else if (instance_change || (global_position.alt_reset_counter != _global_position_last.alt_reset_counter)) {
-				++_alt_reset_counter;
-				_delta_alt_reset = global_position.delta_alt - _global_position_last.delta_alt;
 			}
-
-		} else {
-			_lat_lon_reset_counter = global_position.lat_lon_reset_counter;
-			_alt_reset_counter = global_position.alt_reset_counter;
-
-			_delta_alt_reset = global_position.delta_alt;
 		}
 
-		bool publish = true;
+		// save last primary estimator_global_position
-
-		// ensure monotonically increasing timestamp_sample through reset, don't publish
-		//  estimator's global position for system (vehicle_global_position) if it's stale
-		if ((global_position.timestamp_sample <= _global_position_last.timestamp_sample)
-		    || (global_position.timestamp_sample < _instance[_selected_instance].timestamp_sample_last)) {
-
-			publish = false;
-		}
-
-		// save last primary estimator_global_position as published with original resets
 		_global_position_last = global_position;
 
-		if (publish) {
+		// publish estimator's global position for system (vehicle_global_position) unless it's stale
+		if (global_position.timestamp_sample >= _instance[_selected_instance].timestamp_sample_last) {
 			// republish with total reset count and current timestamp
 			global_position.lat_lon_reset_counter = _lat_lon_reset_counter;
 			global_position.alt_reset_counter = _alt_reset_counter;
@@ -585,31 +499,22 @@ void EKF2Selector::PublishVehicleGlobalPosition()
 	}
 }
 
-void EKF2Selector::PublishWindEstimate()
+void EKF2Selector::PublishWindEstimate(bool reset)
 {
-	// selected estimator_wind -> wind
 	wind_s wind;
 
-	if (_instance[_selected_instance].estimator_wind_sub.update(&wind)) {
+	if (_instance[_selected_instance].estimator_wind_sub.copy(&wind)) {
-		bool publish = true;
+		if (reset) {
-
+			// ensure monotonically increasing timestamp_sample through reset
-		// ensure monotonically increasing timestamp_sample through reset, don't publish
+			wind.timestamp_sample = max(wind.timestamp_sample, _wind_last.timestamp_sample);
-		//  estimator's wind for system (wind) if it's stale
-		if ((wind.timestamp_sample <= _wind_last.timestamp_sample)
-		    || (wind.timestamp_sample < _instance[_selected_instance].timestamp_sample_last)) {
-
-			publish = false;
 		}
 
 		// save last primary wind
 		_wind_last = wind;
 
-		// publish estimator's wind for system unless it's stale
+		// republish with current timestamp
-		if (publish) {
+		wind.timestamp = hrt_absolute_time();
-			// republish with current timestamp
+		_wind_pub.publish(wind);
-			wind.timestamp = hrt_absolute_time();
-			_wind_pub.publish(wind);
-		}
 	}
 }
 
@@ -750,11 +655,38 @@ void EKF2Selector::Run()
 	}
 
 	// republish selected estimator data for system
-	PublishVehicleAttitude();
+
-	PublishVehicleLocalPosition();
+	// selected estimator_attitude -> vehicle_attitude
-	PublishVehicleGlobalPosition();
+	if (_instance[_selected_instance].estimator_attitude_sub.updated()) {
-	PublishVehicleOdometry();
+		PublishVehicleAttitude();
-	PublishWindEstimate();
+	}
+
+	// selected estimator_local_position -> vehicle_local_position
+	if (_instance[_selected_instance].estimator_local_position_sub.updated()) {
+		PublishVehicleLocalPosition();
+	}
+
+	// selected estimator_global_position -> vehicle_global_position
+	if (_instance[_selected_instance].estimator_global_position_sub.updated()) {
+		PublishVehicleGlobalPosition();
+	}
+
+	// selected estimator_wind -> wind
+	if (_instance[_selected_instance].estimator_wind_sub.updated()) {
+		PublishWindEstimate();
+	}
+
+	// selected estimator_odometry -> vehicle_odometry
+	if (_instance[_selected_instance].estimator_odometry_sub.updated()) {
+		vehicle_odometry_s vehicle_odometry;
+
+		if (_instance[_selected_instance].estimator_odometry_sub.update(&vehicle_odometry)) {
+			if (vehicle_odometry.timestamp_sample >= _instance[_selected_instance].timestamp_sample_last) {
+				vehicle_odometry.timestamp = hrt_absolute_time();
+				_vehicle_odometry_pub.publish(vehicle_odometry);
+			}
+		}
+	}
 }
 
 void EKF2Selector::PrintStatus()

src/modules/ekf2/EKF2Selector.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020 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
@@ -78,11 +78,10 @@ private:
 	static constexpr uint64_t FILTER_UPDATE_PERIOD{10_ms};
 
 	void Run() override;
-	void PublishVehicleAttitude();
+	void PublishVehicleAttitude(bool reset = false);
-	void PublishVehicleLocalPosition();
+	void PublishVehicleLocalPosition(bool reset = false);
-	void PublishVehicleGlobalPosition();
+	void PublishVehicleGlobalPosition(bool reset = false);
-	void PublishVehicleOdometry();
+	void PublishWindEstimate(bool reset = false);
-	void PublishWindEstimate();
 	bool SelectInstance(uint8_t instance);
 
 	// Update the error scores for all available instances
@@ -192,9 +191,6 @@ private:
 	uint8_t _vz_reset_counter{0};
 	uint8_t _heading_reset_counter{0};
 
-	// vehicle_odometry
-	vehicle_odometry_s _odometry_last{};
-
 	// vehicle_global_position: reset counters
 	vehicle_global_position_s _global_position_last{};
 	double _delta_lat_reset{0};
@@ -206,10 +202,6 @@ private:
 	// wind estimate
 	wind_s _wind_last{};
 
-	uint8_t _attitude_instance_prev{INVALID_INSTANCE};
-	uint8_t _local_position_instance_prev{INVALID_INSTANCE};
-	uint8_t _global_position_instance_prev{INVALID_INSTANCE};
-
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	uORB::Subscription _sensors_status_imu{ORB_ID(sensors_status_imu)};
 

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp

@@ -148,22 +148,23 @@ void VehicleAngularVelocity::ResetFilters(float new_scale)
 {
 	if ((_filter_sample_rate_hz > 0) && PX4_ISFINITE(_filter_sample_rate_hz)) {
 
-		const Vector3f angular_velocity{GetResetAngularVelocity(new_scale)};
+		const Vector3f angular_velocity_raw{GetResetAngularVelocity(_angular_velocity, new_scale)};
-		const Vector3f angular_acceleration{GetResetAngularAcceleration(new_scale)};
+		const Vector3f angular_velocity_raw_prev{GetResetAngularVelocity(_angular_velocity_prev, new_scale)};
+		const Vector3f angular_acceleration_raw{GetResetAngularAcceleration(new_scale)};
 
 		for (int axis = 0; axis < 3; axis++) {
 			// angular velocity low pass
 			_lp_filter_velocity[axis].set_cutoff_frequency(_filter_sample_rate_hz, _param_imu_gyro_cutoff.get());
-			_lp_filter_velocity[axis].reset(angular_velocity(axis));
+			_lp_filter_velocity[axis].reset(angular_velocity_raw(axis));
 
 			// angular velocity notch
 			_notch_filter_velocity[axis].setParameters(_filter_sample_rate_hz, _param_imu_gyro_nf_freq.get(),
 					_param_imu_gyro_nf_bw.get());
-			_notch_filter_velocity[axis].reset(angular_velocity(axis));
+			_notch_filter_velocity[axis].reset(angular_velocity_raw(axis));
 
 			// angular acceleration low pass
 			_lp_filter_acceleration[axis].set_cutoff_frequency(_filter_sample_rate_hz, _param_imu_dgyro_cutoff.get());
-			_lp_filter_acceleration[axis].reset(angular_acceleration(axis));
+			_lp_filter_acceleration[axis].reset(angular_acceleration_raw(axis));
 		}
 
 		// dynamic notch filters, first disable, then force update (if available)
@@ -173,7 +174,8 @@ void VehicleAngularVelocity::ResetFilters(float new_scale)
 		UpdateDynamicNotchEscRpm(new_scale, true);
 		UpdateDynamicNotchFFT(new_scale, true);
 
-		_angular_velocity_prev = angular_velocity;
+		_angular_velocity_raw_prev = angular_velocity_raw;
+		_angular_velocity_raw_prev_prev = angular_velocity_raw_prev;
 		_last_scale = new_scale;
 
 		_reset_filters = false;
@@ -350,18 +352,18 @@ void VehicleAngularVelocity::ParametersUpdate(bool force)
 	}
 }
 
-Vector3f VehicleAngularVelocity::GetResetAngularVelocity(float new_scale) const
+Vector3f VehicleAngularVelocity::GetResetAngularVelocity(const Vector3f &angular_velocity, float new_scale) const
 {
 	if ((_last_publish != 0) && (new_scale > 0.f)) {
 		// angular velocity filtering is performed on raw unscaled data
 		//  start with last valid vehicle body frame angular velocity and compute equivalent raw data (for current sensor selection)
-		Vector3f angular_velocity{_calibration.Uncorrect(_angular_velocity + _bias) / new_scale};
+		Vector3f angular_velocity_raw{_calibration.Uncorrect(angular_velocity + _bias) / new_scale};
 
-		if (PX4_ISFINITE(angular_velocity(0))
+		if (PX4_ISFINITE(angular_velocity_raw(0))
-		    && PX4_ISFINITE(angular_velocity(1))
+		    && PX4_ISFINITE(angular_velocity_raw(1))
-		    && PX4_ISFINITE(angular_velocity(2))) {
+		    && PX4_ISFINITE(angular_velocity_raw(2))) {
 
-			return angular_velocity;
+			return angular_velocity_raw;
 		}
 	}
 
@@ -373,13 +375,13 @@ Vector3f VehicleAngularVelocity::GetResetAngularAcceleration(float new_scale) co
 	if ((_last_publish != 0) && (new_scale > 0.f)) {
 		// angular acceleration filtering is performed on unscaled angular velocity data
 		//  start with last valid vehicle body frame angular acceleration and compute equivalent raw data (for current sensor selection)
-		Vector3f angular_acceleration{_calibration.rotation().I() *_angular_acceleration / new_scale};
+		Vector3f angular_acceleration_raw{_calibration.rotation().I() *_angular_acceleration / new_scale};
 
-		if (PX4_ISFINITE(angular_acceleration(0))
+		if (PX4_ISFINITE(angular_acceleration_raw(0))
-		    && PX4_ISFINITE(angular_acceleration(1))
+		    && PX4_ISFINITE(angular_acceleration_raw(1))
-		    && PX4_ISFINITE(angular_acceleration(2))) {
+		    && PX4_ISFINITE(angular_acceleration_raw(2))) {
 
-			return angular_acceleration;
+			return angular_acceleration_raw;
 		}
 	}
 
@@ -452,7 +454,7 @@ void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(float new_scale, bool forc
 
 							// only reset if there's sufficient change (> 1%)
 							if (force || (change_percent > 0.01f)) {
-								const Vector3f reset_angular_velocity{GetResetAngularVelocity(new_scale)};
+								const Vector3f reset_angular_velocity{GetResetAngularVelocity(_angular_velocity, new_scale)};
 
 								for (int axis = 0; axis < 3; axis++) {
 									auto &dnf = _dynamic_notch_filter_esc_rpm[i][harmonic][axis];
@@ -511,7 +513,7 @@ void VehicleAngularVelocity::UpdateDynamicNotchFFT(float new_scale, bool force)
 
 							// only reset if there's sufficient change
 							if (peak_diff_abs > sensor_gyro_fft.resolution_hz) {
-								dnf.reset(GetResetAngularVelocity(new_scale)(axis));
+								dnf.reset(GetResetAngularVelocity(_angular_velocity, new_scale)(axis));
 							}
 
 							perf_count(_dynamic_notch_filter_fft_update_perf);
@@ -583,20 +585,6 @@ float VehicleAngularVelocity::FilterAngularVelocity(int axis, float data[], int
 	return data[N - 1];
 }
 
-float VehicleAngularVelocity::FilterAngularAcceleration(int axis, float dt_s, float data[], int N)
-{
-	// angular acceleration: Differentiate & apply specific angular acceleration (D-term) low-pass (IMU_DGYRO_CUTOFF)
-	float angular_acceleration_filtered = 0.f;
-
-	for (int n = 0; n < N; n++) {
-		const float angular_acceleration = (data[n] - _angular_velocity_prev(axis)) / dt_s;
-		angular_acceleration_filtered = _lp_filter_acceleration[axis].apply(angular_acceleration);
-		_angular_velocity_prev(axis) = data[n];
-	}
-
-	return angular_acceleration_filtered;
-}
-
 void VehicleAngularVelocity::Run()
 {
 	// backup schedule
@@ -656,7 +644,18 @@ void VehicleAngularVelocity::Run()
 
 					// save last filtered sample
 					angular_velocity_unscaled(axis) = FilterAngularVelocity(axis, data, N);
-					angular_acceleration_unscaled(axis) = FilterAngularAcceleration(axis, dt_s, data, N);
+
+					// angular acceleration: Differentiate & apply specific angular acceleration (D-term) low-pass (IMU_DGYRO_CUTOFF)
+					for (int n = 0; n < N; n++) {
+						// Backward finite difference (1st derivative 3 coffecients [1/2, -2, 3/2])
+						const float angular_acceleration = (+ 0.5f * _angular_velocity_raw_prev_prev(axis)
+										    - 2.0f * _angular_velocity_raw_prev(axis)
+										    + 1.5f * data[n]) / dt_s;
+						_angular_velocity_raw_prev_prev(axis) = _angular_velocity_raw_prev(axis);
+						_angular_velocity_raw_prev(axis) = data[n];
+
+						angular_acceleration_unscaled(axis) = _lp_filter_acceleration[axis].apply(angular_acceleration);
+					}
 				}
 
 				// Publish
@@ -699,7 +698,11 @@ void VehicleAngularVelocity::Run()
 
 				// save last filtered sample
 				angular_velocity(axis) = FilterAngularVelocity(axis, data);
-				angular_acceleration(axis) = FilterAngularAcceleration(axis, dt_s, data);
+
+				angular_acceleration(axis) = _lp_filter_acceleration[axis].apply((raw_data_array[axis]
+							     - _angular_velocity_raw_prev(axis)) / dt_s);
+				_angular_velocity_raw_prev_prev(axis) = _angular_velocity_raw_prev(axis);
+				_angular_velocity_raw_prev(axis) = raw_data_array[axis];
 			}
 
 			// Publish
@@ -712,6 +715,7 @@ void VehicleAngularVelocity::CalibrateAndPublish(bool publish, const hrt_abstime
 		const Vector3f &angular_velocity_unscaled,  const Vector3f &angular_acceleration_unscaled, float scale)
 {
 	// Angular velocity: rotate sensor frame to board, scale raw data to SI, apply calibration, and remove in-run estimated bias
+	_angular_velocity_prev = _angular_velocity;
 	_angular_velocity = _calibration.Correct(angular_velocity_unscaled * scale) - _bias;
 
 	// Angular acceleration: rotate sensor frame to board, scale raw data to SI, apply any additional configured rotation

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp

@@ -79,7 +79,6 @@ private:
 				 const matrix::Vector3f &angular_acceleration, float scale = 1.f);
 
 	float FilterAngularVelocity(int axis, float data[], int N = 1);
-	float FilterAngularAcceleration(int axis, float dt_s, float data[], int N = 1);
 
 	void DisableDynamicNotchEscRpm();
 	void DisableDynamicNotchFFT();
@@ -93,7 +92,7 @@ private:
 	bool UpdateSampleRate();
 
 	// scaled appropriately for current FIFO mode
-	matrix::Vector3f GetResetAngularVelocity(float new_scale = 1.f) const;
+	matrix::Vector3f GetResetAngularVelocity(const matrix::Vector3f &angular_velocity, float new_scale = 1.f) const;
 	matrix::Vector3f GetResetAngularAcceleration(float new_scale = 1.f) const;
 
 	static constexpr int MAX_SENSOR_COUNT = 4;
@@ -119,9 +118,11 @@ private:
 	matrix::Vector3f _bias{};
 
 	matrix::Vector3f _angular_velocity{};
+	matrix::Vector3f _angular_velocity_prev{};
 	matrix::Vector3f _angular_acceleration{};
 
-	matrix::Vector3f _angular_velocity_prev{};
+	matrix::Vector3f _angular_velocity_raw_prev{};
+	matrix::Vector3f _angular_velocity_raw_prev_prev{};
 	hrt_abstime _timestamp_sample_last{0};
 
 	hrt_abstime _publish_interval_min_us{0};

src/modules/vtol_att_control/vtol_type.cpp

@@ -332,7 +332,7 @@ bool VtolType::set_idle_fw()
 
 	for (int i = 0; i < num_outputs_max; i++) {
 		if (is_channel_set(i, generate_bitmap_from_channel_numbers(_params->vtol_motor_id))) {
-			pwm_values.values[i] = PWM_DEFAULT_MIN;
+			pwm_values.values[i] = PWM_MOTOR_OFF;
 
 		} else {
 			pwm_values.values[i] = _min_mc_pwm_values.values[i];