Makefile: target to test clang-format on the entire codebase

.clang-format

@@ -0,0 +1,13 @@
+# Google C++ style as base
+Language: Cpp
+BasedOnStyle: Google
+
+# Indentation using tabs
+UseTab: ForContinuationAndIndentation
+TabWidth: 8
+IndentWidth: 8
+ContinuationIndentWidth: 8
+ConstructorInitializerIndentWidth: 8
+AccessModifierOffset: -8
+
+ColumnLimit: 120 # Allow more collumns

Makefile

@@ -375,6 +375,10 @@ format:
 	$(call colorecho,'Formatting with astyle')
 	@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
 
+format_clang:
+	$(call colorecho,'Formatting with clang-format')
+	@"$(SRC_DIR)"/Tools/astyle/files_to_check_code_style.sh | xargs clang-format -i -style=file
+
 # Testing
 # --------------------------------------------------------------------
 .PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance

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

Tools/astyle/files_to_check_code_style.sh

@@ -8,23 +8,24 @@ if [ $# -gt 0 ]; then
 fi
 
 exec find boards msg src platforms test \
-    -path msg/templates/urtps -prune -o \
-    -path platforms/nuttx/NuttX -prune -o \
-    -path platforms/qurt/dspal -prune -o \
-    -path src/drivers/uavcan/libuavcan -prune -o \
-    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-    -path src/drivers/cyphal/libcanard -prune -o \
-    -path src/lib/crypto/monocypher -prune -o \
-    -path src/lib/events/libevents -prune -o \
-    -path src/lib/parameters/uthash -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 \
-    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
-    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
-    -path test/mavsdk_tests/catch2 -prune -o \
-    -path src/lib/crypto/monocypher -prune -o \
-    -path src/lib/crypto/libtomcrypt -prune -o \
-    -path src/lib/crypto/libtommath -prune -o \
-    -path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \
+    -not -path "msg/templates/urtps/*" \
+    -not -path "platforms/nuttx/NuttX/*" \
+    -not -path "platforms/qurt/dspal/*" \
+    -not -path "src/drivers/gps/devices/*" \
+    -not -path "src/drivers/uavcan/libuavcan/*" \
+    -not -path "src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis/*" \
+    -not -path "src/drivers/cyphal/libcanard/*" \
+    -not -path "src/lib/crypto/monocypher/*" \
+    -not -path "src/lib/events/libevents/*" \
+    -not -path "src/lib/parameters/uthash/*" \
+    -not -path "src/modules/ekf2/EKF/*" \
+    -not -path "src/modules/gyro_fft/CMSIS_5/*" \
+    -not -path "src/modules/mavlink/mavlink/*" \
+    -not -path "src/modules/micrortps_bridge/micro-CDR/*" \
+    -not -path "src/modules/micrortps_bridge/microRTPS_client/*" \
+    -not -path "test/mavsdk_tests/catch2/*" \
+    -not -path "src/lib/crypto/monocypher/*" \
+    -not -path "src/lib/crypto/libtomcrypt/*" \
+    -not -path "src/lib/crypto/libtommath/*" \
+    -not -path "src/modules/microdds_client/Micro-XRCE-DDS-Client/*" \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

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)

boards/px4/fmu-v5/default.px4board

@@ -43,7 +43,6 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
-CONFIG_DRIVERS_LIGHTS_RGBLED_LP55231=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y

boards/px4/fmu-v5/init/rc.board_defaults

@@ -24,5 +24,4 @@ else
 fi
 
 rgbled_pwm start
-rgbled_lp55231 -X start
 safety_button start

src/drivers/drv_sensor.h

@@ -206,7 +206,6 @@
 #define DRV_TRNS_DEVTYPE_MXS 0xB0
 
 #define DRV_HYGRO_DEVTYPE_SHT3X 0xB1
-#define DRV_LED_DEVTYPE_RGBLED_LP55231 0xB2
 
 #define DRV_FLOW_DEVTYPE_MAVLINK 0xB2
 #define DRV_FLOW_DEVTYPE_PMW3901 0xB3

src/drivers/lights/CMakeLists.txt

@@ -34,6 +34,4 @@
 #add_subdirectory(neopixel) # requires board support (BOARD_HAS_N_S_RGB_LED)
 add_subdirectory(rgbled)
 add_subdirectory(rgbled_ncp5623c)
-add_subdirectory(rgbled_lp55231)
-
 #add_subdirectory(rgbled_pwm) # requires board support (BOARD_HAS_LED_PWM/BOARD_HAS_UI_LED_PWM)

src/drivers/lights/rgbled_lp55231/CMakeLists.txt

@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 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.
-#
-############################################################################
-
-px4_add_module(
-	MODULE drivers__rgbled_lp55231
-	MAIN rgbled_lp55231
-	SRCS
-		rgbled_lp55231.cpp
-	DEPENDS
-		drivers__device
-		led
-	)

src/drivers/lights/rgbled_lp55231/Kconfig

@@ -1,5 +0,0 @@
-menuconfig DRIVERS_LIGHTS_RGBLED_LP55231
-	bool "rgbled_lp55231"
-	default n
-	---help---
-		Enable support for rgbled_lp55231

src/drivers/lights/rgbled_lp55231/rgbled_lp55231.cpp

@@ -1,385 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- *
- * Driver for RGB LP55231 LED controller connected via I2C.
- */
-
-#include <drivers/device/i2c.h>
-#include <lib/led/led.h>
-#include <lib/parameters/param.h>
-#include <px4_platform_common/getopt.h>
-#include <px4_platform_common/i2c_spi_buses.h>
-#include <px4_platform_common/module.h>
-
-using namespace time_literals;
-
-static constexpr uint8_t ADDRESS = 0x32;
-
-// register stuff
-static constexpr uint8_t REG_CNTRL1 = 0x00;
-static constexpr uint8_t REG_CNTRL2 = 0x01;
-static constexpr uint8_t REG_RATIO_MSB = 0x02;
-static constexpr uint8_t REG_RATIO_LSB = 0x03;
-static constexpr uint8_t REG_OUTPUT_ONOFF_MSB = 0x04;
-static constexpr uint8_t REG_OUTPUT_ONOFF_LSB = 0x05;
-
-// Per LED control channels - fader channel assig, log dimming enable, temperature compensation
-static constexpr uint8_t REG_D1_CTRL = 0x06;
-static constexpr uint8_t REG_D2_CTRL = 0x07;
-static constexpr uint8_t REG_D3_CTRL = 0x08;
-static constexpr uint8_t REG_D4_CTRL = 0x09;
-static constexpr uint8_t REG_D5_CTRL = 0x0a;
-static constexpr uint8_t REG_D6_CTRL = 0x0b;
-static constexpr uint8_t REG_D7_CTRL = 0x0c;
-static constexpr uint8_t REG_D8_CTRL = 0x0d;
-static constexpr uint8_t REG_D9_CTRL = 0x0e;
-
-// 0x0f to 0x15 reserved
-
-// Direct PWM control registers
-static constexpr uint8_t REG_D1_PWM  = 0x16;
-static constexpr uint8_t REG_D2_PWM  = 0x17;
-static constexpr uint8_t REG_D3_PWM  = 0x18;
-static constexpr uint8_t REG_D4_PWM  = 0x19;
-static constexpr uint8_t REG_D5_PWM  = 0x1a;
-static constexpr uint8_t REG_D6_PWM  = 0x1b;
-static constexpr uint8_t REG_D7_PWM  = 0x1c;
-static constexpr uint8_t REG_D8_PWM  = 0x1d;
-static constexpr uint8_t REG_D9_PWM  = 0x1e;
-
-// 0x1f to 0x25 reserved
-
-// Drive current registers
-static constexpr uint8_t REG_D1_I_CTL = 0x26;
-static constexpr uint8_t REG_D2_I_CTL  = 0x27;
-static constexpr uint8_t REG_D3_I_CTL  = 0x28;
-static constexpr uint8_t REG_D4_I_CTL  = 0x29;
-static constexpr uint8_t REG_D5_I_CTL  = 0x2a;
-static constexpr uint8_t REG_D6_I_CTL  = 0x2b;
-static constexpr uint8_t REG_D7_I_CTL  = 0x2c;
-static constexpr uint8_t REG_D8_I_CTL  = 0x2d;
-static constexpr uint8_t REG_D9_I_CTL  = 0x2e;
-
-// 0x2f to 0x35 reserved
-
-static constexpr uint8_t REG_MISC     = 0x36;
-static constexpr uint8_t REG_PC1      = 0x37;
-static constexpr uint8_t REG_PC2      = 0x38;
-static constexpr uint8_t REG_PC3      = 0x39;
-static constexpr uint8_t REG_STATUS_IRQ = 0x3A;
-static constexpr uint8_t REG_INT_GPIO   = 0x3B;
-static constexpr uint8_t REG_GLOBAL_VAR = 0x3C;
-static constexpr uint8_t REG_RESET      = 0x3D;
-static constexpr uint8_t REG_TEMP_CTL   = 0x3E;
-static constexpr uint8_t REG_TEMP_READ  = 0x3F;
-static constexpr uint8_t REG_TEMP_WRITE = 0x40;
-static constexpr uint8_t REG_TEST_CTL   = 0x41;
-static constexpr uint8_t REG_TEST_ADC   = 0x42;
-
-// 0x43 to 0x44 reserved
-
-static constexpr uint8_t REG_ENGINE_A_VAR = 0x45;
-static constexpr uint8_t REG_ENGINE_B_VAR = 0x46;
-static constexpr uint8_t REG_ENGINE_C_VAR = 0x47;
-
-static constexpr uint8_t REG_MASTER_FADE_1 = 0x48;
-static constexpr uint8_t REG_MASTER_FADE_2 = 0x49;
-static constexpr uint8_t REG_MASTER_FADE_3 = 0x4A;
-
-// 0x4b Reserved
-
-static constexpr uint8_t REG_PROG1_START = 0x4C;
-static constexpr uint8_t REG_PROG2_START = 0x4D;
-static constexpr uint8_t REG_PROG3_START = 0x4E;
-static constexpr uint8_t REG_PROG_PAGE_SEL = 0x4f;
-
-// Memory is more confusing - there are 6 pages, sel by addr 4f
-static constexpr uint8_t REG_PROG_MEM_BASE = 0x50;
-static constexpr uint8_t REG_PROG_MEM_END  = 0x6f;
-
-static constexpr uint8_t REG_ENG1_MAP_MSB = 0x70;
-static constexpr uint8_t REG_ENG1_MAP_LSB = 0x71;
-static constexpr uint8_t REG_ENG2_MAP_MSB = 0x72;
-static constexpr uint8_t REG_ENG2_MAP_LSB = 0x73;
-static constexpr uint8_t REG_ENG3_MAP_MSB = 0x74;
-static constexpr uint8_t REG_ENG3_MAP_LSB = 0x75;
-
-static constexpr uint8_t REG_GAIN_CHANGE = 0x76;
-
-// Colors on eval board
-static constexpr uint8_t CHANNEL_L0_RED = 0;
-static constexpr uint8_t CHANNEL_L0_GREEN = 3;
-static constexpr uint8_t CHANNEL_L0_BLUE = 4;
-static constexpr uint8_t CHANNEL_L1_RED = 1;
-static constexpr uint8_t CHANNEL_L1_GREEN = 5;
-static constexpr uint8_t CHANNEL_L1_BLUE = 6;
-static constexpr uint8_t CHANNEL_L2_RED = 2;
-static constexpr uint8_t CHANNEL_L2_GREEN = 7;
-static constexpr uint8_t CHANNEL_L2_BLUE = 8;
-
-class RGBLED_LP55231 : public device::I2C, public I2CSPIDriver<RGBLED_LP55231>
-{
-public:
-	RGBLED_LP55231(const I2CSPIDriverConfig &config);
-	virtual ~RGBLED_LP55231() override;
-
-	static void print_usage();
-
-	int init() override;
-	int probe() override;
-
-	void RunImpl();
-
-private:
-	void print_status() override;
-
-	int write(uint8_t address, uint8_t value);
-	int read(uint8_t address, uint8_t &value);
-
-	int setChannelPWM(uint8_t channel, uint8_t value);
-
-	int setLed(uint8_t channel_red, uint8_t channel_green, uint8_t channel_blue,
-		   const LedControlDataSingle &led);
-
-	int reset();
-	int enable();
-
-	LedController		_led_controller;
-
-	// uint8_t _channel = 0;
-};
-
-RGBLED_LP55231::RGBLED_LP55231(const I2CSPIDriverConfig &config) :
-	I2C(config),
-	I2CSPIDriver(config)
-{
-}
-
-RGBLED_LP55231::~RGBLED_LP55231()
-{
-	reset();
-}
-
-
-int RGBLED_LP55231::write(uint8_t address, uint8_t value)
-{
-	uint8_t data[2] = {address, value};
-	return transfer(data, sizeof(data), nullptr, 0);
-}
-
-int RGBLED_LP55231::read(uint8_t address, uint8_t &value)
-{
-	return transfer(&address, 1, (uint8_t *)&value, 1);
-}
-
-
-int RGBLED_LP55231::enable()
-{
-	int ret = write(REG_CNTRL1, 0x40);
-	// enable charge pump, internal oscillator, auto increment
-	ret = write(REG_MISC, 0x53);
-	return ret;
-}
-
-int RGBLED_LP55231::reset()
-{
-	return write(REG_RESET, 0xFF);
-}
-
-
-int RGBLED_LP55231::init()
-{
-	int ret = I2C::init();
-
-	if (ret != OK) {
-		return ret;
-	}
-
-	ret = reset();
-	ret = enable();
-
-	// kick off work queue
-	ScheduleNow();
-
-	return OK;
-}
-
-int RGBLED_LP55231::setChannelPWM(uint8_t channel, uint8_t value)
-{
-	assert(channel < 9);
-	return write(REG_D1_PWM + channel, value);
-}
-
-int RGBLED_LP55231::setLed(uint8_t channel_red, uint8_t channel_green, uint8_t channel_blue,
-			   const LedControlDataSingle &led)
-{
-	uint8_t r{0}, g{0}, b{0};
-	uint8_t brightness = led.brightness;
-
-	switch (led.color) {
-	case led_control_s::COLOR_RED:
-		r = brightness; g = 0; b = 0;
-		break;
-
-	case led_control_s::COLOR_GREEN:
-		r = 0; g = brightness; b = 0;
-		break;
-
-	case led_control_s::COLOR_BLUE:
-		r = 0; g = 0; b = brightness;
-		break;
-
-	case led_control_s::COLOR_AMBER: //make it the same as yellow
-	case led_control_s::COLOR_YELLOW:
-		r = brightness / 2; g = brightness / 2; b = 0;
-		break;
-
-	case led_control_s::COLOR_PURPLE:
-		r = brightness / 2; g = 0; b = brightness / 2;
-		break;
-
-	case led_control_s::COLOR_CYAN:
-		r = 0; g = brightness / 2; b = brightness / 2;
-		break;
-
-	case led_control_s::COLOR_WHITE:
-		r = brightness / 3; g = brightness / 3; b = brightness / 3;
-		break;
-
-	default: // led_control_s::COLOR_OFF
-		r = 0; g = 0; b = 0;
-		break;
-	}
-
-	int ret = 0;
-	ret = setChannelPWM(channel_red, r);
-	ret = setChannelPWM(channel_green, g);
-	ret = setChannelPWM(channel_blue, b);
-	return ret;
-}
-
-int RGBLED_LP55231::probe()
-{
-	// try read output on / off (should be 0xff)
-	uint8_t on_off;
-	int ret = read(REG_OUTPUT_ONOFF_LSB, on_off);
-
-	if (on_off != 0xFF) {
-		return -1;
-	}
-
-	// try read current control (should be 0xAF)
-	uint8_t current_control;
-	ret = read(REG_D1_I_CTL, current_control);
-
-	if (current_control != 0xAF) {
-		return -1;
-	}
-
-	_retries = 1;
-
-	return ret;
-}
-
-void
-RGBLED_LP55231::print_status()
-{
-	PX4_INFO("No status implemented");
-}
-
-
-
-void RGBLED_LP55231::RunImpl()
-{
-	LedControlData led_control_data;
-
-	if (_led_controller.update(led_control_data) == 1) {
-		setLed(CHANNEL_L0_RED, CHANNEL_L0_GREEN, CHANNEL_L0_BLUE, led_control_data.leds[0]);
-		setLed(CHANNEL_L1_RED, CHANNEL_L1_GREEN, CHANNEL_L1_BLUE, led_control_data.leds[1]);
-		setLed(CHANNEL_L2_RED, CHANNEL_L2_GREEN, CHANNEL_L2_BLUE, led_control_data.leds[2]);
-	}
-
-	/* re-queue ourselves to run again later */
-	ScheduleDelayed(_led_controller.maximum_update_interval());
-
-	// setChannelPWM(_channel, 0);
-	// _channel++;
-	// _channel = _channel % 9;
-	// setChannelPWM(_channel, 255);
-	// ScheduleDelayed(500_ms);
-}
-
-
-void
-RGBLED_LP55231::print_usage()
-{
-	PRINT_MODULE_USAGE_NAME("rgbled_lp55231", "driver");
-	PRINT_MODULE_USAGE_COMMAND("start");
-	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x32);
-	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-}
-
-extern "C" __EXPORT int rgbled_lp55231_main(int argc, char *argv[])
-{
-	using ThisDriver = RGBLED_LP55231;
-	BusCLIArguments cli{true, false};
-	cli.default_i2c_frequency = 100000;
-	cli.i2c_address = ADDRESS;
-
-	const char *verb = cli.parseDefaultArguments(argc, argv);
-
-	if (!verb) {
-		ThisDriver::print_usage();
-		return -1;
-	}
-
-	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_LED_DEVTYPE_RGBLED_LP55231);
-
-	if (!strcmp(verb, "start")) {
-		return ThisDriver::module_start(cli, iterator);
-	}
-
-	if (!strcmp(verb, "stop")) {
-		return ThisDriver::module_stop(iterator);
-	}
-
-	if (!strcmp(verb, "status")) {
-		return ThisDriver::module_status(iterator);
-	}
-
-	ThisDriver::print_usage();
-	return -1;
-}

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,