uavcan: add UAVCAN_SUB_LOG param to enable/disable uavcan::protocol::debug::LogMessage subscription handling

* fix icp so it compiles
* add icp10111 and icp10100 DEVTPYE

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -62,7 +62,7 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
-param set-default MPC_SPOOLUP_TIME 1.5
+param set-default COM_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8

boards/cuav/nora/src/board_config.h

@@ -118,8 +118,8 @@
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)
 
-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_CAN /* Brick 1 is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen  */
+#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_ADC /* Brick 1 is Chosen */
+#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_CAN /* Brick 2 is Chosen  */
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C   /* USB     is Chosen */
 
 #define GPIO_VDD_5V_HIPOWER_EN          /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)

src/drivers/barometer/invensense/Kconfig

@@ -0,0 +1,3 @@
+menu "Invensense"
+rsource "*/Kconfig"
+endmenu #Invensense

src/drivers/barometer/invensense/icp10100/CMakeLists.txt

@@ -32,7 +32,7 @@
 ############################################################################
 
 px4_add_module(
-	MODULE drivers__invensense__icp10100
+	MODULE drivers__barometer__invensense__icp10100
 	MAIN icp10100
 	COMPILE_FLAGS
 	SRCS

src/drivers/barometer/invensense/icp10100/ICP10100.cpp

@@ -233,7 +233,6 @@ ICP10100::RunImpl()
 				float b = (_pcal[0] - a) * (s1 + c);
 				float _pressure_Pa = a + b / (c + _raw_p);
 
-				const hrt_abstime nowx = hrt_absolute_time();
 				float temperature = _temperature_C;
 				float pressure = _pressure_Pa;
 

src/drivers/barometer/invensense/icp10100/Kconfig

@@ -0,0 +1,7 @@
+menuconfig DRIVERS_BAROMETER_INVENSENSE_ICP10100
+	bool "icp10100"
+	default n
+	---help---
+		Enable support for icp10100
+
+

src/drivers/barometer/invensense/icp10111/CMakeLists.txt

@@ -32,7 +32,7 @@
 ############################################################################
 
 px4_add_module(
-	MODULE drivers__invensense__icp10111
+	MODULE drivers__barometer__invensense__icp10111
 	MAIN icp10111
 	COMPILE_FLAGS
 	SRCS

src/drivers/barometer/invensense/icp10111/Kconfig

@@ -0,0 +1,6 @@
+menuconfig DRIVERS_BAROMETER_INVENSENSE_ICP10111
+	bool "icp10100"
+	default n
+	---help---
+		Enable support for icp10111
+

src/drivers/drv_sensor.h

@@ -213,6 +213,9 @@
 #define DRV_FLOW_DEVTYPE_PX4FLOW 0xB5
 #define DRV_FLOW_DEVTYPE_PAA3905 0xB6
 
+#define DRV_BARO_DEVTYPE_ICP10100 0xC0
+#define DRV_BARO_DEVTYPE_ICP10111 0xC1
+
 #define DRV_DEVTYPE_UNUSED		0xff
 
 #endif /* _DRV_SENSOR_H */

src/drivers/uavcan/uavcan_main.cpp

@@ -508,6 +508,18 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
 
 	fill_node_info();
 
+	// log message subscription
+	int32_t uavcan_sub_log = 1;
+	param_get(param_find("UAVCAN_SUB_LOG"), &uavcan_sub_log);
+
+	if (uavcan_sub_log != 0) {
+		ret = _log_message_controller.init();
+
+		if (ret < 0) {
+			return ret;
+		}
+	}
+
 	ret = _beep_controller.init();
 
 	if (ret < 0) {
@@ -533,12 +545,6 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
 		return ret;
 	}
 
-	ret = _log_message_controller.init();
-
-	if (ret < 0) {
-		return ret;
-	}
-
 	ret = _rgbled_controller.init();
 
 	if (ret < 0) {

src/drivers/uavcan/uavcan_params.c

@@ -307,6 +307,18 @@ PARAM_DEFINE_INT32(UAVCAN_SUB_ICE, 0);
  */
 PARAM_DEFINE_INT32(UAVCAN_SUB_IMU, 0);
 
+/**
+ * subscription log message
+ *
+ * Enable UAVCAN log message subscription.
+ *  uavcan::protocol::debug::LogMessage
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_LOG, 1);
+
 /**
  * subscription magnetometer
  *

src/examples/fake_gyro/Kconfig

@@ -1,5 +0,0 @@
-menuconfig EXAMPLES_FAKE_GYRO
-	bool "fake_gyro"
-	default n
-	---help---
-		Enable support for fake_gyro

src/examples/fixedwing_control/main.cpp

@@ -278,25 +278,14 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 	 * These structs contain the system state and things
 	 * like attitude, position, the current waypoint, etc.
 	 */
-	struct vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	struct vehicle_attitude_setpoint_s att_sp;
-	memset(&att_sp, 0, sizeof(att_sp));
-	struct vehicle_rates_setpoint_s rates_sp;
-	memset(&rates_sp, 0, sizeof(rates_sp));
-	struct vehicle_global_position_s global_pos;
-	memset(&global_pos, 0, sizeof(global_pos));
-	struct manual_control_setpoint_s manual_control_setpoint;
-	memset(&manual_control_setpoint, 0, sizeof(manual_control_setpoint));
-	struct vehicle_status_s vstatus;
-	memset(&vstatus, 0, sizeof(vstatus));
-	struct position_setpoint_s global_sp;
-	memset(&global_sp, 0, sizeof(global_sp));
+	vehicle_attitude_s att{};
+	vehicle_rates_setpoint_s rates_sp{};
+	manual_control_setpoint_s manual_control_setpoint{};
+	vehicle_status_s vstatus{};
+	position_setpoint_s global_sp{};
 
 	/* output structs - this is what is sent to the mixer */
-	struct actuator_controls_s actuators;
-	memset(&actuators, 0, sizeof(actuators));
-
+	actuator_controls_s actuators{};
 
 	/* publish actuator controls with zero values */
 	for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROLS; i++) {

src/lib/parameters/param_translation.cpp

@@ -42,6 +42,15 @@
 
 bool param_modify_on_import(bson_node_t node)
 {
+	// migrate MPC_SPOOLUP_TIME -> COM_SPOOLUP_TIME (2020-12-03). This can be removed after the next release (current release=1.11)
+	if (node->type == BSON_DOUBLE) {
+		if (strcmp("MPC_SPOOLUP_TIME", node->name) == 0) {
+			strcpy(node->name, "COM_SPOOLUP_TIME");
+			PX4_INFO("param migrating MPC_SPOOLUP_TIME (removed) -> COM_SPOOLUP_TIME: value=%.3f", node->d);
+			return true;
+		}
+	}
+
 	// migrate COM_ARM_AUTH -> COM_ARM_AUTH_ID, COM_ARM_AUTH_MET and COM_ARM_AUTH_TO (2020-11-06). This can be removed after the next release (current release=1.11)
 	if (node->type == BSON_INT32) {
 		if (strcmp("COM_ARM_AUTH", node->name) == 0) {

src/modules/commander/Commander.cpp

@@ -2721,8 +2721,8 @@ Commander::run()
 
 			if (_arm_state_machine.isArmed()) {
 				if (fd_status_flags.arm_escs) {
-					// 500ms is the PWM spoolup time. Within this timeframe controllers are not affecting actuator_outputs
-					if (hrt_elapsed_time(&_vehicle_status.armed_time) < 500_ms) {
+					// Checks have to pass within the spool up time
+					if (hrt_elapsed_time(&_vehicle_status.armed_time) < _param_com_spoolup_time.get() * 1_s) {
 						disarm(arm_disarm_reason_t::failure_detector);
 						mavlink_log_critical(&_mavlink_log_pub, "ESCs did not respond to arm request\t");
 						events::send(events::ID("commander_fd_escs_not_arming"), events::Log::Critical, "ESCs did not respond to arm request");

src/modules/commander/Commander.hpp

@@ -258,7 +258,9 @@ private:
 		(ParamInt<px4::params::CBRK_VTOLARMING>) _param_cbrk_vtolarming,
 
 		(ParamInt<px4::params::COM_FLT_TIME_MAX>) _param_com_flt_time_max,
-		(ParamFloat<px4::params::COM_WIND_MAX>) _param_com_wind_max
+		(ParamFloat<px4::params::COM_WIND_MAX>) _param_com_wind_max,
+
+		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time
 	)
 
 	// optional parameters

src/modules/commander/commander_params.c

@@ -1023,6 +1023,22 @@ PARAM_DEFINE_INT32(COM_ARM_ARSP_EN, 1);
  */
 PARAM_DEFINE_INT32(COM_ARM_SDCARD, 1);
 
+/**
+ * Enforced delay between arming and further navigation
+ *
+ * The minimal time from arming the motors until moving the vehicle is possible is COM_SPOOLUP_TIME seconds.
+ * Goal:
+ * - Motors and propellers spool up to idle speed before getting commanded to spin faster
+ * - Timeout for ESCs and smart batteries to successfulyy do failure checks
+ *   e.g. for stuck rotors before the vehicle is off the ground
+ *
+ * @group Commander
+ * @min 0
+ * @max 5
+ * @unit s
+ */
+PARAM_DEFINE_FLOAT(COM_SPOOLUP_TIME, 1.0f);
+
 /**
  * Wind speed warning threshold
  *

src/modules/commander/failure_detector/FailureDetector.cpp

@@ -269,7 +269,7 @@ void FailureDetector::updateEscsStatus(const vehicle_status_s &vehicle_status, c
 		bool is_esc_failure = !is_all_escs_armed;
 
 		for (int i = 0; i < limited_esc_count; i++) {
-			is_esc_failure = is_esc_failure | (esc_status.esc[i].failures > 0);
+			is_esc_failure = is_esc_failure || (esc_status.esc[i].failures > 0);
 		}
 
 		_esc_failure_hysteresis.set_hysteresis_time_from(false, 300_ms);

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -131,15 +131,15 @@ private:
 	uORB::Publication<vehicle_thrust_setpoint_s>	_vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
 	uORB::Publication<vehicle_torque_setpoint_s>	_vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
 
-	actuator_controls_s			_actuator_controls {};		/**< actuator control inputs */
-	manual_control_setpoint_s		_manual_control_setpoint {};	/**< r/c channel data */
-	vehicle_attitude_setpoint_s		_att_sp {};			/**< vehicle attitude setpoint */
-	vehicle_control_mode_s			_vcontrol_mode {};		/**< vehicle control mode */
-	vehicle_local_position_s		_local_pos {};			/**< local position */
-	vehicle_rates_setpoint_s		_rates_sp {};			/* attitude rates setpoint */
-	vehicle_status_s			_vehicle_status {};		/**< vehicle status */
+	actuator_controls_s			_actuator_controls{};
+	manual_control_setpoint_s		_manual_control_setpoint{};
+	vehicle_attitude_setpoint_s		_att_sp{};
+	vehicle_control_mode_s			_vcontrol_mode{};
+	vehicle_local_position_s		_local_pos{};
+	vehicle_rates_setpoint_s		_rates_sp{};
+	vehicle_status_s			_vehicle_status{};
 
-	perf_counter_t	_loop_perf;						/**< loop performance counter */
+	perf_counter_t _loop_perf;
 
 	hrt_abstime _last_run{0};
 

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -185,12 +185,12 @@ private:
 	uORB::Publication<tecs_status_s> _tecs_status_pub{ORB_ID(tecs_status)};
 	uORB::PublicationMulti<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};
 
-	manual_control_setpoint_s _manual_control_setpoint {}; // r/c channel data
-	position_setpoint_triplet_s _pos_sp_triplet {}; // triplet of mission items
-	vehicle_attitude_setpoint_s _att_sp {}; // vehicle attitude setpoint
-	vehicle_control_mode_s _control_mode {};
-	vehicle_local_position_s _local_pos {};	// vehicle local position
-	vehicle_status_s _vehicle_status {}; // vehicle status
+	manual_control_setpoint_s _manual_control_setpoint{};
+	position_setpoint_triplet_s _pos_sp_triplet{};
+	vehicle_attitude_setpoint_s _att_sp{};
+	vehicle_control_mode_s _control_mode{};
+	vehicle_local_position_s _local_pos{};
+	vehicle_status_s _vehicle_status{};
 
 	double _current_latitude{0};
 	double _current_longitude{0};
@@ -212,8 +212,8 @@ private:
 
 	float _min_current_sp_distance_xy{FLT_MAX};
 
-	position_setpoint_s _hdg_hold_prev_wp {}; // position where heading hold started
-	position_setpoint_s _hdg_hold_curr_wp {}; // position to which heading hold flies
+	position_setpoint_s _hdg_hold_prev_wp{}; // position where heading hold started
+	position_setpoint_s _hdg_hold_curr_wp{}; // position to which heading hold flies
 
 	// [us] Last absolute time position control has been called
 	hrt_abstime _last_time_position_control_called{0};

src/modules/mc_pos_control/MulticopterPositionControl.cpp

@@ -234,7 +234,7 @@ void MulticopterPositionControl::parameters_update(bool force)
 		_param_mpc_tko_speed.set(math::min(_param_mpc_tko_speed.get(), _param_mpc_z_vel_max_up.get()));
 		_param_mpc_land_speed.set(math::min(_param_mpc_land_speed.get(), _param_mpc_z_vel_max_dn.get()));
 
-		_takeoff.setSpoolupTime(_param_mpc_spoolup_time.get());
+		_takeoff.setSpoolupTime(_param_com_spoolup_time.get());
 		_takeoff.setTakeoffRampTime(_param_mpc_tko_ramp_t.get());
 		_takeoff.generateInitialRampValue(_param_mpc_z_vel_p_acc.get());
 	}

src/modules/mc_pos_control/MulticopterPositionControl.hpp

@@ -147,7 +147,7 @@ private:
 		(ParamBool<px4::params::MPC_USE_HTE>)       _param_mpc_use_hte,
 
 		// Takeoff / Land
-		(ParamFloat<px4::params::MPC_SPOOLUP_TIME>) _param_mpc_spoolup_time, /**< time to let motors spool up after arming */
+		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time, /**< time to let motors spool up after arming */
 		(ParamFloat<px4::params::MPC_TKO_RAMP_T>)   _param_mpc_tko_ramp_t,   /**< time constant for smooth takeoff ramp */
 		(ParamFloat<px4::params::MPC_TKO_SPEED>)    _param_mpc_tko_speed,
 		(ParamFloat<px4::params::MPC_LAND_SPEED>)   _param_mpc_land_speed,

src/modules/mc_pos_control/Takeoff/Takeoff.hpp

@@ -94,7 +94,7 @@ public:
 private:
 	TakeoffState _takeoff_state = TakeoffState::disarmed;
 
-	systemlib::Hysteresis _spoolup_time_hysteresis{false}; ///< becomes true MPC_SPOOLUP_TIME seconds after the vehicle was armed
+	systemlib::Hysteresis _spoolup_time_hysteresis{false}; ///< becomes true COM_SPOOLUP_TIME seconds after the vehicle was armed
 
 	float _takeoff_ramp_time{0.f};
 	float _takeoff_ramp_vz_init{0.f}; ///< verticval velocity resulting in zero thrust

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -780,22 +780,6 @@ PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f);
  */
 PARAM_DEFINE_INT32(MPC_POS_MODE, 4);
 
-/**
- * Enforced delay between arming and takeoff
- *
- * For altitude controlled modes the time from arming the motors until
- * a takeoff is possible gets forced to be at least MPC_SPOOLUP_TIME seconds
- * to ensure the motors and propellers can sppol up and reach idle speed before
- * getting commanded to spin faster. This delay is particularly useful for vehicles
- * with slow motor spin-up e.g. because of large propellers.
- *
- * @min 0
- * @max 10
- * @unit s
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_SPOOLUP_TIME, 1.0f);
-
 /**
  * Yaw mode.
  *

src/modules/uuv_att_control/uuv_att_control.hpp

@@ -117,13 +117,13 @@ private:
 
 	uORB::SubscriptionCallbackWorkItem _vehicle_attitude_sub{this, ORB_ID(vehicle_attitude)};
 
-	actuator_controls_s _actuators {}; /**< actuator control inputs */
-	manual_control_setpoint_s _manual_control_setpoint {}; /**< r/c channel data */
-	vehicle_attitude_setpoint_s _attitude_setpoint {}; /**< vehicle attitude setpoint */
-	vehicle_rates_setpoint_s _rates_setpoint {}; /**< vehicle bodyrates setpoint */
-	vehicle_control_mode_s _vcontrol_mode {}; /**< vehicle control mode */
+	actuator_controls_s _actuators{};
+	manual_control_setpoint_s _manual_control_setpoint{};
+	vehicle_attitude_setpoint_s _attitude_setpoint{};
+	vehicle_rates_setpoint_s _rates_setpoint{};
+	vehicle_control_mode_s _vcontrol_mode{};
 
-	perf_counter_t	_loop_perf; /**< loop performance counter */
+	perf_counter_t	_loop_perf;
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::UUV_ROLL_P>) _param_roll_p,

src/modules/uuv_pos_control/uuv_pos_control.cpp

@@ -195,16 +195,6 @@ void UUVPOSControl::Run()
 		}
 	}
 
-	/* Manual Control mode (e.g. gamepad,...) - raw feedthrough no assistance */
-	if (_manual_control_setpoint_sub.update(&_manual_control_setpoint)) {
-		// This should be copied even if not in manual mode. Otherwise, the poll(...) call will keep
-		// returning immediately and this loop will eat up resources.
-		if (_vcontrol_mode.flag_control_manual_enabled && !_vcontrol_mode.flag_control_rates_enabled) {
-			/* manual/direct control */
-		}
-
-	}
-
 	/* Only publish if any of the proper modes are enabled */
 	if (_vcontrol_mode.flag_control_manual_enabled ||
 	    _vcontrol_mode.flag_control_attitude_enabled) {

src/modules/uuv_pos_control/uuv_pos_control.hpp

@@ -60,7 +60,6 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
 #include <uORB/Publication.hpp>
-#include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/trajectory_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
@@ -103,20 +102,17 @@ private:
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
-	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};	/**< current vehicle attitude */
-	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};	/**< notification of manual control updates */
+	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
-	uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};		/**< vehicle status subscription */
+	uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};
 
 	uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
 
-	//actuator_controls_s _actuators {}; /**< actuator control inputs */
-	manual_control_setpoint_s _manual_control_setpoint {}; /**< r/c channel data */
-	vehicle_attitude_s _vehicle_attitude {}; /**< vehicle attitude */
-	trajectory_setpoint_s _trajectory_setpoint{}; /**< vehicle position setpoint */
-	vehicle_control_mode_s _vcontrol_mode {}; /**< vehicle control mode */
+	vehicle_attitude_s _vehicle_attitude{};
+	trajectory_setpoint_s _trajectory_setpoint{};
+	vehicle_control_mode_s _vcontrol_mode{};
 
-	perf_counter_t	_loop_perf; /**< loop performance counter */
+	perf_counter_t	_loop_perf;
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::UUV_GAIN_X_P>) _param_pose_gain_x,