cmake: move FindPythonInterp->FindPython

- cmake CMP0148 FindPythonInterp deprecated

.github/workflows/checks.yml

@@ -25,27 +25,28 @@ jobs:
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
           "NO_NINJA_BUILD=1 px4_sitl_default",
           "px4_sitl_allyes",
+          "airframe_metadata",
           "module_documentation",
+          "parameters_metadata",
         ]
+    container:
+      image: px4io/px4-dev-nuttx-focal:2022-08-12
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
 
-      - name: Building [${{ matrix.check }}]
-        uses: addnab/docker-run-action@v3
-        with:
-          image: px4io/px4-dev-nuttx-focal:2022-08-12
-          options: -v ${{ github.workspace }}:/workspace
-          run: |
-            cd /workspace
-            git config --global --add safe.directory /workspace
-            make ${{ matrix.check }}
-
-      - name: Uploading Coverage to Codecov.io
-        if: contains(matrix.check, 'coverage')
-        uses: codecov/codecov-action@v1
-        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          flags: unittests
-          file: coverage/lcov.info
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: ${{matrix.check}}
+      run: make ${{matrix.check}}
+    - name: upload coverage
+      if: contains(matrix.check, 'coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: unittests
+        file: coverage/lcov.info

.github/workflows/clang-tidy.yml

@@ -11,17 +11,13 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    container: px4io/px4-dev-clang:2021-09-08
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v1
       with:
-        fetch-depth: 0
+        token: ${{secrets.ACCESS_TOKEN}}
 
-    - name: Testing (clang-tidy-quiet)
-      uses: addnab/docker-run-action@v3
+    - uses: corrupt952/actions-retry-command@v1.0.7
       with:
-        image: px4io/px4-dev-clang:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make clang-tidy-quiet
+        command: make clang-tidy-quiet
+        max_attempts: 3

.github/workflows/compile_macos.yml

@@ -19,11 +19,13 @@ jobs:
           ]
     steps:
     - name: install Python 3.10
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v4
       with:
         python-version: "3.10"
 
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
 
     - name: setup
       run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
@@ -35,7 +37,7 @@ jobs:
         string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
         message("::set-output name=timestamp::${current_date}")
     - name: ccache cache files
-      uses: actions/cache@v4
+      uses: actions/cache@v2
       with:
         path: ~/.ccache
         key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/dev_container.yml

@@ -25,14 +25,8 @@ jobs:
           submodules: false
           fetch-depth: 0
 
-      - name: Set PX4 Tag
-        id: px4-tag
-        run: |
-          echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
-
       - name: Login to Docker Hub
         uses: docker/login-action@v3
-        if: github.event_name != 'pull_request'
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
@@ -50,15 +44,16 @@ jobs:
         with:
           images: |
             ghcr.io/PX4/px4-dev
-            ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
+            px4io/px4-dev
           tags: |
+            type=schedule
             type=semver,pattern={{version}}
             type=semver,pattern={{major}}.{{minor}}
             type=semver,pattern={{major}}
-            type=ref,event=branch,value=${{ steps.px4-tag.outputs.tag }},priority=700
-            type=ref,event=branch,suffix=-{{date 'YYYY-MM-DD'}},priority=600
+            type=ref,event=branch,suffix=-{{date 'YYYYMMDD'}},priority=600
             type=ref,event=branch,suffix=,priority=500
             type=ref,event=pr
+            type=sha
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3

.github/workflows/ekf_functional_change_indicator.yml

@@ -1,28 +1,21 @@
 name: EKF Change Indicator
 
-on:
-  pull_request:
-    branches:
-    - '*'
+on: pull_request
 
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v2.3.1
       with:
         fetch-depth: 0
-
+    - name: checkout newest version of branch
+      run: |
+        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
+        git checkout ${GITHUB_HEAD_REF}
     - name: main test
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-base-focal:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make tests TESTFILTER=EKF
-
+      run: make tests TESTFILTER=EKF
     - name: Check if there is a functional change
       run: git diff --exit-code
       working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -5,40 +5,25 @@ on: push
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
     env:
       GIT_COMMITTER_EMAIL: bot@px4.io
       GIT_COMMITTER_NAME: PX4BuildBot
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v2.3.1
       with:
         fetch-depth: 0
-
-    - name: main test
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-base-focal:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make tests TESTFILTER=EKF
-
+    - name: main test updates change indication files
+      run: make tests TESTFILTER=EKF
     - name: Check if there exists diff and save result in variable
-      id: diff-check
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
+      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
       working-directory: src/modules/ekf2/test/change_indication
-
     - name: auto-commit any changes to change indication
       uses: stefanzweifel/git-auto-commit-action@v4
       with:
-        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
+        commit_message: '[AUTO COMMIT] update change indication'
         commit_user_name: ${GIT_COMMITTER_NAME}
         commit_user_email: ${GIT_COMMITTER_EMAIL}
-        commit_message: |
-          '[AUTO COMMIT] update change indication'
-
-          See .github/workflopws/ekf_update_change_indicator.yml for more details
-
-    - name: if there is a functional change, fail check
-      if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
+    - if: ${{env.CHANGE_INDICATED}}
+      name: if there is a functional change, fail check
       run: exit 1

.github/workflows/failsafe_sim.yml

@@ -24,23 +24,21 @@ jobs:
       image: px4io/px4-dev-nuttx-focal:2022-08-12
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-      - name: Install Node v20.18.0
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20.18.0
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
 
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Install empscripten
-        run: |
-          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
-          cd _emscripten_sdk
-          ./emsdk install latest
-          ./emsdk activate latest
-
-      - name: Testing [${{ matrix.check }}]
-        run: |
-          . ./_emscripten_sdk/emsdk_env.sh
-          make ${{ matrix.check }}
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: install emscripten
+      run: |
+        git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
+        cd _emscripten_sdk
+        ./emsdk install latest
+        ./emsdk activate latest
+    - name: ${{matrix.check}}
+      run: |
+        . ./_emscripten_sdk/emsdk_env.sh
+        make ${{matrix.check}}

.github/workflows/flash_analysis.yml

@@ -8,10 +8,6 @@ on:
     branches:
       - '*'
 
-env:
-  MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
-  MIN_FLASH_NEG_DIFF_FOR_COMMENT: -50
-
 jobs:
   analyze_flash:
     name: Analyzing ${{ matrix.target }}
@@ -22,10 +18,8 @@ jobs:
       matrix:
         target: [px4_fmu-v5x, px4_fmu-v6x]
     outputs:
-      px4_fmu-v5x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-output }}
-      px4_fmu-v5x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-summary-map }}
-      px4_fmu-v6x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-output }}
-      px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }}
+      px4_fmu-v5x: ${{ steps.gen-output.outputs.output_px4_fmu-v5x }}
+      px4_fmu-v6x: ${{ steps.gen-output.outputs.output_px4_fmu-v6x }}
     steps:
       - uses: actions/checkout@v4
         with:
@@ -36,20 +30,19 @@ jobs:
         run: git config --system --add safe.directory '*'
 
       - name: Build Target
-        run: make ${{ matrix.target }}_flash-analysis
+        run: make ${{ matrix.target }}
 
       - name: Store the ELF with the change
-        run: cp ./build/**/*.elf ./with-change.elf
+        run: cp ./build/${{ matrix.target }}_default/${{ matrix.target }}_default.elf ./with-change.elf
 
       - name: Clean previous build
         run: |
           make clean
           make distclean
 
-      - name: If it's a PR checkout the base branch
+      - name: If it's a PR checkout the base commit
         if: ${{ github.event.pull_request }}
-        # As checkout creates a merge commit (merging the base branch into the PR branch), the base branch is the base for a diff of the PR changes.
-        run: git checkout ${{ github.event.pull_request.base.ref }}
+        run: git checkout ${{ github.event.pull_request.base.sha }}
 
       - name: If it's a push checkout the previous commit
         if: github.event_name == 'push'
@@ -59,39 +52,30 @@ jobs:
         run: make submodulesupdate
 
       - name: Build
-        run: make ${{ matrix.target }}_flash-analysis
+        run: make ${{ matrix.target }}
 
       - name: Store the ELF before the change
-        run: cp ./build/**/*.elf ./before-change.elf
+        run: cp ./build/${{ matrix.target }}_default/${{ matrix.target }}_default.elf ./before-change.elf
 
       - name: bloaty-action
-        uses: PX4/bloaty-action@v1.0.0
+        uses: carlosperate/bloaty-action@v1.1.0
         id: bloaty-step
         with:
-          bloaty-file-args: ./with-change.elf -- ./before-change.elf
-          bloaty-additional-args: -d sections,compileunits -s vm -n 20
+          bloaty-args: -d sections,compileunits -n 0 ./with-change.elf -- ./before-change.elf
           output-to-summary: true
 
       - name: Generate output
         id: gen-output
         run: |
           EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
-          echo "${{ matrix.target }}-bloaty-output<<$EOF" >> $GITHUB_OUTPUT
+          echo "output_${{ matrix.target }}<<$EOF" >> $GITHUB_OUTPUT
           echo "${{ steps.bloaty-step.outputs.bloaty-output-encoded }}" >> $GITHUB_OUTPUT
           echo "$EOF" >> $GITHUB_OUTPUT
-          echo "${{ matrix.target }}-bloaty-summary-map<<$EOF" >> $GITHUB_OUTPUT
-          echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
-          echo "$EOF" >> $GITHUB_OUTPUT
 
   post_pr_comment:
     name: Publish Results
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [analyze_flash]
-    env:
-      V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
-      V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
-      V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
-      V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
     if: ${{ github.event.pull_request }}
     steps:
       - name: Find Comment
@@ -108,32 +92,25 @@ jobs:
           echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
 
       - name: Create or update comment
-        # This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
-        if: |
-          steps.fc.outputs.comment-id != '' ||
-          env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
-          env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
-          env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
         uses: peter-evans/create-or-update-comment@v4
         with:
           comment-id: ${{ steps.fc.outputs.comment-id }}
           issue-number: ${{ github.event.pull_request.number }}
           body: |
-            ## 🔎 FLASH Analysis
+            ## FLASH Analysis
             <details>
-              <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
+              <summary>px4_fmu-v5x</summary>
 
               ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
+              ${{ needs.analyze_flash.outputs.px4_fmu-v5x }}
               ```
             </details>
 
             <details>
-              <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
+              <summary>px4_fmu-v6x</summary>
 
               ```
-              ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
+              ${{ needs.analyze_flash.outputs.px4_fmu-v6x }}
               ```
             </details>
 

.github/workflows/mavros_mission_tests.yml

@@ -11,26 +11,131 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
       matrix:
         config:
-          - {vehicle: "iris",          mission: "MC_mission_box"}
-          - {vehicle: "rover",         mission: "rover_mission_1"}
+          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
+          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
+          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
+          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
+          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
+          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
+          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
 
+    container:
+      image: px4io/px4-dev-ros-melodic:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v1
       with:
-        fetch-depth: 0
+        token: ${{ secrets.ACCESS_TOKEN }}
 
-    - name: Build SITL and Run Tests
-      uses: addnab/docker-run-action@v3
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
       with:
-        image: px4io/px4-dev-ros-melodic:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make px4_sitl_default
-          make px4_sitl_default sitl_gazebo-classic
-          ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4 and sitl_gazebo-classic
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo-classic
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
+      timeout-minutes: 45
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v3
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: ecl EKF analysis
+      if: always()
+      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v3
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v3
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v3
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_mission
+        file: coverage/lcov.info

.github/workflows/mavros_offboard_tests.yml

@@ -17,21 +17,120 @@ jobs:
       fail-fast: false
       matrix:
         config:
-          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris"}
+          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
+          #- {test_file: "mavros_posix_tests_offboard_attctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
+          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
 
+    container:
+      image: px4io/px4-dev-ros-melodic:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v1
       with:
-        fetch-depth: 0
+        token: ${{ secrets.ACCESS_TOKEN }}
 
-    - name: Build PX4 and Run Tests
-      uses: addnab/docker-run-action@v3
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
       with:
-        image: px4io/px4-dev-ros-melodic:2021-09-08
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          make px4_sitl_default
-          make px4_sitl_default sitl_gazebo-classic
-          ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: check environment
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4 and sitl_gazebo-classic
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        ccache -z
+        make px4_sitl_default
+        make px4_sitl_default sitl_gazebo-classic
+        ccache -s
+
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+    - name: Run SITL tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+        export
+        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
+      timeout-minutes: 45
+
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v3
+      with:
+        name: coredump
+        path: px4.core
+
+    - name: ecl EKF analysis
+      if: always()
+      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
+
+    - name: Upload logs to flight review
+      if: always()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
+
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v3
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4
+
+    - name: Store PX4 log
+      if: failure()
+      uses: actions/upload-artifact@v3
+      with:
+        name: px4_log
+        path: ~/.ros/log/*/*.ulg
+
+    - name: Store ROS log
+      if: failure()
+      uses: actions/upload-artifact@v3
+      with:
+        name: ros_log
+        path: ~/.ros/**/rostest-*.log
+
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavros_offboard
+        file: coverage/lcov.info

.github/workflows/nuttx_env_config.yml

@@ -11,27 +11,22 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2022-08-12
     strategy:
       matrix:
         config: [
-          px4_fmu-v5_default,
+          px4_fmu-v5,
           ]
-
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v1
       with:
-        fetch-depth: 0
+        token: ${{secrets.ACCESS_TOKEN}}
 
-    - name: Build PX4 and Run Test [${{ matrix.config }}]
-      uses: addnab/docker-run-action@v3
-      with:
-        image: px4io/px4-dev-nuttx-focal:2022-08-12
-        options: -v ${{ github.workspace }}:/workspace
-        run: |
-          cd /workspace
-          git config --global --add safe.directory /workspace
-          export PX4_EXTRA_NUTTX_CONFIG="CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
-          echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
-          make ${{ matrix.config }} nuttx_context
-          echo "Check that the config option is set"
-          grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config
+    - name: make ${{matrix.config}}
+      env:
+        PX4_EXTRA_NUTTX_CONFIG: "CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
+      run: |
+        echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
+        make ${{matrix.config}} nuttx_context
+        # Check that the config option is set
+        grep CONFIG_NSH_LOGIN_PASSWORD build/${{matrix.config}}_default/NuttX/nuttx/.config

.github/workflows/python_checks.yml

@@ -12,18 +12,14 @@ jobs:
   build:
     runs-on: ubuntu-24.04
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v1
       with:
-        fetch-depth: 0
-
+        token: ${{ secrets.ACCESS_TOKEN }}
     - name: Install Python3
       run: sudo apt-get install python3 python3-setuptools python3-pip -y
-
     - name: Install tools
       run: python3 -m pip install mypy types-requests flake8 --break-system-packages
-
     - name: Check MAVSDK test scripts with mypy
       run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
-
     - name: Check MAVSDK test scripts with flake8
       run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py

CMakeLists.txt

@@ -173,9 +173,10 @@ set(config_module_list)
 set(config_kernel_list)
 
 # Find Python
-find_package(PythonInterp 3)
+find_package(Python COMPONENTS Interpreter)
+
 # We have a custom error message to tell users how to install python3.
-if(NOT PYTHONINTERP_FOUND)
+if(NOT Python_FOUND)
 	message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
 		"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
 		"    macOS: brew install python")
@@ -184,7 +185,7 @@ endif()
 option(PYTHON_COVERAGE "Python code coverage" OFF)
 if(PYTHON_COVERAGE)
 	message(STATUS "python coverage enabled")
-	set(PYTHON_EXECUTABLE coverage run -p)
+	set(Python_EXECUTABLE coverage run -p)
 endif()
 
 include(px4_config)
@@ -481,7 +482,7 @@ foreach(module ${config_module_list})
 endforeach()
 
 add_custom_command(OUTPUT ${uorb_graph_config}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
 		${graph_module_list} --src-path src/lib
 		--merge-depends
 		--exclude-path src/examples
@@ -502,7 +503,7 @@ include(package)
 
 # install python requirements using configured python
 add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	COMMAND ${Python_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )

Makefile

@@ -169,7 +169,7 @@ endif
 
 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
-	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	override CMAKE_ARGS += -DPython_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif
 
 # Functions

README.md

@@ -2,7 +2,7 @@
 
 [![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
 
-[![Build Targets](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main)](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
+[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
 
 [![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
 

ROMFS/CMakeLists.txt

@@ -124,15 +124,15 @@ add_custom_command(
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
 		--board ${PX4_BOARD}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
@@ -330,7 +330,7 @@ add_custom_target(romfs_gen_files_target
 
 add_custom_command(
 	OUTPUT romfs_pruned.stamp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp
 	DEPENDS
 		romfs_copy.stamp

ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx

@@ -38,6 +38,4 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
-param set-default EKF2_GPS_DELAY 0
-
 param set SIH_VEHICLE_TYPE 0

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -45,9 +45,7 @@ param set-default CA_SV_CS1_TRQ_P 1
 param set-default CA_SV_CS1_TYPE 3
 param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4
-param set-default PWM_MAIN_FUNC1 201
-param set-default PWM_MAIN_FUNC2 202
-param set-default PWM_MAIN_FUNC3 203
-param set-default PWM_MAIN_FUNC4 101
-
-param set-default EKF2_GPS_DELAY 0
+param set-default PWM_MAIN_FUNC3 201
+param set-default PWM_MAIN_FUNC4 202
+param set-default PWM_MAIN_FUNC5 203
+param set-default PWM_MAIN_FUNC6 101

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -11,7 +11,6 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
 
-param set-default EKF2_GPS_DELAY 0
 param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
 
 param set-default SENS_EN_GPSSIM 1

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam.post

@@ -1 +0,0 @@
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -26,6 +26,7 @@ param set-default RD_MAX_THR_SPD 2.15
 param set-default RD_SPEED_P 0.1
 param set-default RD_SPEED_I 0.01
 param set-default RD_MAX_YAW_RATE 180
+param set-default RD_MISS_SPD_DEF 2
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 param set-default RD_MAX_YAW_ACCEL 1000

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -29,6 +29,7 @@ param set-default RD_MAX_SPEED 8
 param set-default RD_YAW_P 5
 param set-default RD_YAW_I 0.1
 param set-default RD_MAX_YAW_RATE 30
+param set-default RD_MISS_SPD_DEF 8
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 

ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum

@@ -13,18 +13,18 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 
 # Rover parameters
 param set-default RM_WHEEL_TRACK 0.3
-param set-default RM_YAW_RATE_I 0.1
-param set-default RM_YAW_RATE_P 0.1
+param set-default RM_MAN_YAW_SCALE 0.1
+param set-default RM_YAW_RATE_I 0
+param set-default RM_YAW_RATE_P 0.01
 param set-default RM_MAX_ACCEL 3
-param set-default RM_MAX_DECEL 5
 param set-default RM_MAX_JERK 5
-param set-default RM_MAX_SPEED 2
-param set-default RM_MAX_THR_SPD 2.2
-param set-default RM_MAX_THR_YAW_R 1.2
+param set-default RM_MAX_SPEED 4
+param set-default RM_MAX_THR_SPD 7
+param set-default RM_MAX_THR_YAW_R 7.5
 param set-default RM_YAW_P 5
 param set-default RM_YAW_I 0.1
-param set-default RM_MAX_YAW_RATE 120
-param set-default RM_MAX_YAW_ACCEL 240
+param set-default RM_MAX_YAW_RATE 180
+param set-default RM_MISS_SPD_DEF 3
 param set-default RM_MISS_VEL_GAIN 1
 param set-default RM_SPEED_I 0.01
 param set-default RM_SPEED_P 0.1
@@ -42,23 +42,23 @@ param set-default SENS_EN_ARSPDSIM 0
 
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
-param set-default SIM_GZ_WH_MIN1 70
-param set-default SIM_GZ_WH_MAX1 130
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
 param set-default SIM_GZ_WH_DIS1 100
 
 param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
-param set-default SIM_GZ_WH_MIN2 70
-param set-default SIM_GZ_WH_MAX2 130
+param set-default SIM_GZ_WH_MIN2 0
+param set-default SIM_GZ_WH_MAX2 200
 param set-default SIM_GZ_WH_DIS2 100
 
 param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
-param set-default SIM_GZ_WH_MIN3 70
-param set-default SIM_GZ_WH_MAX3 130
+param set-default SIM_GZ_WH_MIN3 0
+param set-default SIM_GZ_WH_MAX3 200
 param set-default SIM_GZ_WH_DIS3 100
 
 param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
-param set-default SIM_GZ_WH_MIN4 70
-param set-default SIM_GZ_WH_MAX4 130
+param set-default SIM_GZ_WH_MIN4 0
+param set-default SIM_GZ_WH_MAX4 200
 param set-default SIM_GZ_WH_DIS4 100
 
 param set-default SIM_GZ_WH_REV 10

ROMFS/px4fmu_common/init.d-posix/airframes/4018_gz_quadtailsitter

@@ -1,97 +0,0 @@
-#!/bin/sh
-#
-# @name Quadrotor + Tailsitter
-#
-# @type VTOL Quad Tailsitter
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
-
-param set-default MAV_TYPE 20
-
-param set-default CA_AIRFRAME 4
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.23
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.23
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.23
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.23
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default CA_SV_CS_COUNT 0
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-
-param set-default SIM_GZ_EC_MIN1 10
-param set-default SIM_GZ_EC_MIN2 10
-param set-default SIM_GZ_EC_MIN3 10
-param set-default SIM_GZ_EC_MIN4 10
-
-param set-default SIM_GZ_EC_MAX1 1500
-param set-default SIM_GZ_EC_MAX2 1500
-param set-default SIM_GZ_EC_MAX3 1500
-param set-default SIM_GZ_EC_MAX4 1500
-
-param set-default FD_FAIL_R 70
-
-param set-default FW_P_TC 0.6
-
-param set-default FW_PR_I 0.3
-param set-default FW_PR_P 0.5
-param set-default FW_PSP_OFF 2
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_I 0.1
-param set-default FW_RR_P 0.2
-param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
-param set-default FW_YR_I 0
-param set-default FW_THR_TRIM 0.35
-param set-default FW_THR_MAX 0.8
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 6
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1.6
-param set-default FW_AIRSPD_STALL 10
-param set-default FW_AIRSPD_MIN 14
-param set-default FW_AIRSPD_TRIM 18
-param set-default FW_AIRSPD_MAX 22
-
-param set-default MC_AIRMODE 2
-param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
-param set-default MC_ROLL_P 3
-param set-default MC_PITCH_P 3
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_PITCHRATE_P 0.3
-
-param set-default VT_ARSP_TRANS 15
-param set-default VT_B_TRANS_DUR 5
-param set-default VT_FW_DIFTHR_EN 7
-param set-default VT_FW_DIFTHR_S_Y 1
-param set-default VT_F_TRANS_DUR 1.5
-param set-default VT_TYPE 0
-
-param set-default WV_EN 0
-
-param set-default EKF2_FUSE_BETA 0

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -49,7 +49,6 @@ px4_add_romfs_files(
 	1022_gazebo-classic_uuv_bluerov2_heavy
 	1030_gazebo-classic_plane
 	1031_gazebo-classic_plane_cam
-	1031_gazebo-classic_plane_cam.post
 	1032_gazebo-classic_plane_catapult
 	1033_jsbsim_rascal
 	1034_flightgear_rascal-electric
@@ -90,7 +89,6 @@ px4_add_romfs_files(
 	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
-	4018_gz_quadtailsitter
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -18,19 +18,22 @@ param set UAVCAN_ENABLE 0
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
-param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TRQ_R -0.5
-param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TRQ_R 0.5
+param set-default CA_SV_CS0_TYPE 2
 param set-default CA_SV_CS1_TRQ_P 1
 param set-default CA_SV_CS1_TYPE 3
 param set-default CA_SV_CS2_TRQ_Y 1
 param set-default CA_SV_CS2_TYPE 4
+param set-default CA_SV_CS3_TYPE 10
 
-param set HIL_ACT_REV 1
-param set HIL_ACT_FUNC1 201
-param set HIL_ACT_FUNC2 202
-param set HIL_ACT_FUNC3 203
-param set HIL_ACT_FUNC4 101
+param set-default HIL_ACT_REV 2
+param set-default HIL_ACT_FUNC1 201
+param set-default HIL_ACT_FUNC2 202
+param set-default HIL_ACT_FUNC3 203
+param set-default HIL_ACT_FUNC4 101
+param set-default HIL_ACT_FUNC5 204
+param set-default HIL_ACT_FUNC6 400
 
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

ROMFS/px4fmu_common/init.d/airframes/16001_helicopter

@@ -11,6 +11,7 @@
 
 . ${R}etc/init.d/rc.heli_defaults
 
+
 # Disable PID gains for initial setup. These should be enabled after setting the FF gain.
 # P is expected to be lower than FF.
 param set-default MC_ROLLRATE_P 0

ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover

@@ -31,6 +31,7 @@ param set-default RD_MAX_THR_SPD 1.9
 param set-default RD_MAX_THR_YAW_R 0.7
 param set-default RD_MAX_YAW_ACCEL 600
 param set-default RD_MAX_YAW_RATE 250
+param set-default RD_MISS_SPD_DEF 1.5
 param set-default RD_SPEED_P 0.1
 param set-default RD_SPEED_I 0.01
 param set-default RD_TRANS_DRV_TRN 0.785398

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -13,6 +13,8 @@ param set-default MAV_TYPE 1
 #
 # Default parameters for fixed wing UAVs.
 #
+param set-default COM_POS_FS_DELAY 5
+
 # there is a 2.5 factor applied on the _FS thresholds if for invalidation
 param set-default COM_POS_FS_EPH 50
 param set-default COM_VEL_FS_EVH 3

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -211,13 +211,6 @@ then
 	spl06 -X -a 0x77 start
 fi
 
-# SPA06 sensor external I2C
-if param compare -s SENS_EN_SPA06 1
-then
-	spa06 -X start
-	spa06 -X -a 0x77 start
-fi
-
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then

ROMFS/px4fmu_common/init.d/rcS

@@ -354,11 +354,6 @@ else
 	then
 		pps_capture start
 	fi
-	# RPM capture driver
-	if param greater -s RPM_CAP_ENABLE 0
-	then
-		rpm_capture start
-	fi
 	# Camera capture driver
 	if param greater -s CAM_CAP_FBACK 0
 	then

Tools/astyle/check_code_style_all.sh

@@ -43,7 +43,7 @@ fi
 
 # install git pre-commit hook
 HOOK_FILE="$DIR/../../.git/hooks/pre-commit"
-if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ] && [ $- == *i* ]; then
+if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; then
 	echo ""
 	echo -e "\033[31mNinja tip: add a git pre-commit hook to automatically check code style\033[0m"
 	echo -e "Would you like to install one now? (\033[94mcp ./Tools/astyle/pre-commit .git/hooks/pre-commit\033[0m): [y/\033[1mN\033[0m]"

Tools/ci/generate_board_targets_json.py

@@ -73,7 +73,7 @@ def process_target(px4board_file, target_name):
         px4board_file.endswith("bootloader.px4board"):
         kconf.load_config(px4board_file, replace=True)
     else: # Merge config with default.px4board
-        default_kconfig = re.sub(r'[a-zA-Z\d_-]+\.px4board', 'default.px4board', px4board_file)
+        default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
         kconf.load_config(default_kconfig, replace=True)
         kconf.load_config(px4board_file, replace=False)
 

Tools/decrypt_ulog.py

@@ -1,91 +1,62 @@
 #!/usr/bin/env python3
 
-import sys
-
-try:
-    from Crypto.Cipher import ChaCha20
-except ImportError as e:
-    print("Failed to import crypto: " + str(e))
-    print("")
-    print("You may need to install it using:")
-    print("    pip3 install --user pycryptodome")
-    print("")
-    sys.exit(1)
-
 from Crypto.PublicKey import RSA
 from Crypto.Cipher import PKCS1_OAEP
+from Crypto.Cipher import ChaCha20
 from Crypto.Hash import SHA256
-from pathlib import Path
+import binascii
 import argparse
-
+#from pathlib import Path
+import sys
 
 if __name__ == "__main__":
 
     parser = argparse.ArgumentParser(description="""CLI tool to decrypt an ulog file\n""")
-    parser.add_argument("ulog_file", help=".ulge/.ulgc, encrypted log file", nargs='?', default=None)
-    parser.add_argument("ulog_key", help=".ulgk, legacy encrypted key (give empty string '' to ignore for .ulge)", nargs='?', default=None)
+    parser.add_argument("ulog_file", help=".ulog file", nargs='?', default=None)
+    parser.add_argument("ulog_key", help=".ulogk, encrypted key", nargs='?', default=None)
     parser.add_argument("rsa_key", help=".pem format key for decrypting the ulog key", nargs='?', default=None)
 
     args = parser.parse_args()
 
-    # Check all arguments are given
-    if not args.rsa_key:
-        print('Need all arguments, the encrypted ulog file, key file (or empty string if not needed) and the key decryption key (.pem)')
-        sys.exit(1)
+    # Only generate a key pair, don't sign
+    if not args.ulog_file or not args.ulog_key or not args.rsa_key:
+        print('Need all arguments, the encrypted ulog file, the key and the key decryption key')
+        sys.exit(1);
 
     # Read the private RSA key to decrypt the cahcha key
     with open(args.rsa_key, 'rb') as f:
         r = RSA.importKey(f.read(), passphrase='')
 
-    if args.ulog_key == "":
-        key_data_filename = args.ulog_file
-        magic = "ULogEnc"
-    else:
-        key_data_filename = args.ulog_key
-        magic = "ULogKey"
-
-    with open(key_data_filename, 'rb') as f:
-        # Read the encrypted xchacha key and the nonce
+    # Read the encrypted xchacha key and the nonce
+    with open(args.ulog_key, 'rb') as f:
         ulog_key_header = f.read(22)
 
         # Parse the header
         try:
             # magic
-            if not ulog_key_header.startswith(bytearray(magic.encode())):
-                print("Incorrect header magic")
+            if not ulog_key_header.startswith(bytearray("ULogKey".encode())):
                 raise Exception()
             # version
             if ulog_key_header[7] != 1:
-                print("Unsupported header version")
                 raise Exception()
             # expected key exchange algorithm (RSA_OAEP)
             if ulog_key_header[16] != 4:
-                print("Unsupported key algorithm")
                 raise Exception()
-            key_size = ulog_key_header[19] << 8 | ulog_key_header[18]
-            nonce_size = ulog_key_header[21] << 8 | ulog_key_header[20]
+            key_size = ulog_key_header[19] << 8 | ulog_key_header[18];
+            nonce_size = ulog_key_header[21] << 8 | ulog_key_header[20];
             ulog_key_cipher = f.read(key_size)
             nonce = f.read(nonce_size)
         except:
-            print("Keydata format error")
-            sys.exit(1)
-
-    if magic == "ULogEnc":
-        data_offset = 22 + key_size + nonce_size
-    else:
-        data_offset = 0
+            print("Keyfile format error")
+            sys.exit(1);
 
     # Decrypt the xchacha key
     cipher_rsa = PKCS1_OAEP.new(r,SHA256)
     ulog_key = cipher_rsa.decrypt(ulog_key_cipher)
     #print(binascii.hexlify(ulog_key))
 
-    # Read and decrypt the ulog data
+    # Read and decrypt the .ulgc
     cipher = ChaCha20.new(key=ulog_key, nonce=nonce)
-
-    outfilename = Path(args.ulog_file).stem + ".ulog"
     with open(args.ulog_file, 'rb') as f:
-        if data_offset > 0:
-            f.seek(data_offset)
-        with open(outfilename, 'wb') as out:
+        with open(args.ulog_file.rstrip(args.ulog_file[-1]), 'wb') as out:
             out.write(cipher.decrypt(f.read()))

Tools/px4airframes/markdownout.py

@@ -137,7 +137,7 @@ div.frame_variant td, div.frame_variant th {
                             #print(output_name,value, attribstrs[0].strip(),attribstrs[1].strip())
                     outputs += '</ul>'
                     if has_outputs:
-                        outputs_entry = '<br><b>Specific Outputs:</b>' + outputs
+                        outputs_entry = '<p><b>Specific Outputs:</b>' + outputs + '</p>'
                     else:
                         outputs_entry = ''
 

boards/emlid/navio2/arm64.px4board

@@ -1 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"

boards/holybro/kakuteh7/init/rc.board_sensors

@@ -11,7 +11,4 @@ then
 	icm42688p -R 6 -s start
 fi
 
-if ! bmp280 -X start
-then
-	spa06 -X start
-fi
+bmp280 -X start

boards/holybro/kakuteh7mini/init/rc.board_sensors

@@ -12,7 +12,4 @@ then
   fi
 fi
 
-if ! bmp280 -X start
-then
-	spa06 -X start
-fi
+bmp280 -X start

boards/holybro/kakuteh7v2/init/rc.board_sensors

@@ -9,7 +9,4 @@ then
 	icm42688p -R 0 -s start
 fi
 
-if ! bmp280 -X start
-then
-	spa06 -X start
-fi
+bmp280 -X start

boards/mro/x21-777/default.px4board

@@ -67,6 +67,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y

boards/nxp/tropic-community/cmake/upload.cmake

@@ -35,7 +35,7 @@
 set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.hex)
 
 add_custom_target(upload_teensy
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/teensy_uploader.py --port ${serial_ports} ${PX4_FW_NAME} --vendor-id 0x1FC9 --product-id 0x0024
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/teensy_uploader.py --port ${serial_ports} ${PX4_FW_NAME} --vendor-id 0x1FC9 --product-id 0x0024
 	DEPENDS ${PX4_FW_NAME}
 	COMMENT "uploading px4"
 	VERBATIM

boards/px4/fmu-v5x/flash-analysis.px4board

@@ -1 +0,0 @@
-CONFIG_BOARD_LINKER_PREFIX="flash-analysis"

boards/px4/fmu-v5x/nuttx-config/scripts/flash-analysis-script.ld

@@ -1,6 +0,0 @@
-INCLUDE "script.ld"
-
-MEMORY
-{
-    FLASH_AXIM (rx) : ORIGIN = 0x08008000, LENGTH = 10080K
-}

boards/px4/fmu-v6u/default.px4board

@@ -68,6 +68,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y

boards/px4/fmu-v6x/flash-analysis.px4board

@@ -1 +0,0 @@
-CONFIG_BOARD_LINKER_PREFIX="flash-analysis"

boards/px4/fmu-v6x/nuttx-config/scripts/flash-analysis-script.ld

@@ -1,6 +0,0 @@
-INCLUDE "script.ld"
-
-MEMORY
-{
-    FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 10080K
-}

cmake/kconfig.cmake

@@ -1,20 +1,20 @@
 set(BOARD_DEFCONFIG ${PX4_CONFIG_FILE} CACHE FILEPATH "path to defconfig" FORCE)
 set(BOARD_CONFIG ${PX4_BINARY_DIR}/boardconfig CACHE FILEPATH "path to config" FORCE)
 
-execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import menuconfig" RESULT_VARIABLE ret)
+execute_process(COMMAND ${Python_EXECUTABLE} -c "import menuconfig" RESULT_VARIABLE ret)
 if(ret EQUAL "1")
 	message(FATAL_ERROR "kconfiglib is not installed or not in PATH\n"
 				"please install using \"pip3 install kconfiglib\"\n")
 endif()
 
-set(MENUCONFIG_PATH ${PYTHON_EXECUTABLE} -m menuconfig CACHE INTERNAL "menuconfig program" FORCE)
-set(GUICONFIG_PATH ${PYTHON_EXECUTABLE} -m guiconfig CACHE INTERNAL "guiconfig program" FORCE)
-set(DEFCONFIG_PATH ${PYTHON_EXECUTABLE} -m defconfig CACHE INTERNAL "defconfig program" FORCE)
-set(SAVEDEFCONFIG_PATH ${PYTHON_EXECUTABLE} -m savedefconfig CACHE INTERNAL "savedefconfig program" FORCE)
-set(GENCONFIG_PATH ${PYTHON_EXECUTABLE} -m genconfig CACHE INTERNAL "genconfig program" FORCE)
+set(MENUCONFIG_PATH ${Python_EXECUTABLE} -m menuconfig CACHE INTERNAL "menuconfig program" FORCE)
+set(GUICONFIG_PATH ${Python_EXECUTABLE} -m guiconfig CACHE INTERNAL "guiconfig program" FORCE)
+set(DEFCONFIG_PATH ${Python_EXECUTABLE} -m defconfig CACHE INTERNAL "defconfig program" FORCE)
+set(SAVEDEFCONFIG_PATH ${Python_EXECUTABLE} -m savedefconfig CACHE INTERNAL "savedefconfig program" FORCE)
+set(GENCONFIG_PATH ${Python_EXECUTABLE} -m genconfig CACHE INTERNAL "genconfig program" FORCE)
 
 set(COMMON_KCONFIG_ENV_SETTINGS
-	PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	Python_EXECUTABLE=${Python_EXECUTABLE}
 	KCONFIG_CONFIG=${BOARD_CONFIG}
 	# Set environment variables so that Kconfig can prune Kconfig source
 	# files for other architectures
@@ -47,7 +47,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		# Generate boardconfig from default.px4board and {label}.px4board
 		execute_process(
 			COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/merge_config.py Kconfig ${BOARD_CONFIG} ${PX4_BOARD_DIR}/default.px4board ${BOARD_DEFCONFIG}
+			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/merge_config.py Kconfig ${BOARD_CONFIG} ${PX4_BOARD_DIR}/default.px4board ${BOARD_DEFCONFIG}
 			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 			OUTPUT_VARIABLE DUMMY_RESULTS
 		)
@@ -57,7 +57,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		message(AUTHOR_WARNING "allyes build: allyes is for CI coverage and not for use in production")
 		execute_process(
 			COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/allyesconfig.py
+			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/allyesconfig.py
 			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		)
 	endif()
@@ -452,7 +452,7 @@ elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which is
 	add_custom_target(boardconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${MENUCONFIG_PATH} Kconfig
 		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
 		COMMAND ${CMAKE_COMMAND} -E remove defconfig
 		COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -463,7 +463,7 @@ elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which is
 	add_custom_target(boardguiconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${GUICONFIG_PATH} Kconfig
 		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
 		COMMAND ${CMAKE_COMMAND} -E remove defconfig
 		COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -473,7 +473,7 @@ elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which is
 
 	add_custom_target(px4_savedefconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
 		COMMAND ${CMAKE_COMMAND} -E remove defconfig
 		COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}

cmake/metadata.cmake

@@ -35,10 +35,10 @@
 
 add_custom_target(metadata_airframes
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 		--markdown ${PX4_BINARY_DIR}/docs/airframes.md
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 		--xml ${PX4_BINARY_DIR}/docs/airframes.xml
 	COMMENT "Generating full airframe metadata (markdown and xml)"
@@ -58,28 +58,28 @@ add_custom_target(metadata_parameters
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
 
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--all-ports --ethernet --params-file ${generated_params_dir}/serial_params.c --config-files ${yaml_config_files}
 
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
 		--params-file ${generated_params_dir}/module_params.c
 		--timer-config ${PX4_SOURCE_DIR}/boards/px4/fmu-v5/src/timer_config.cpp # select a typical board
 		--board-with-io
 		--ethernet
 		--config-files ${yaml_config_files} #--verbose
 
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
 		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--markdown ${PX4_BINARY_DIR}/docs/parameters.md
 
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
 		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--json ${PX4_BINARY_DIR}/docs/parameters.json
 		--compress
 
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
 		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--xml ${PX4_BINARY_DIR}/docs/parameters.xml
@@ -90,7 +90,7 @@ add_custom_target(metadata_parameters
 
 add_custom_target(metadata_module_documentation
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
 		--markdown ${PX4_BINARY_DIR}/docs/modules
 	COMMENT "Generating module documentation"
 	USES_TERMINAL
@@ -99,17 +99,17 @@ add_custom_target(metadata_module_documentation
 set(events_src_path "${PX4_SOURCE_DIR}/src/lib/events")
 add_custom_target(metadata_extract_events
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/events
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
 		--src-path ${PX4_SOURCE_DIR}/src
 		--json ${PX4_BINARY_DIR}/events/px4_full.json #--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${events_src_path}/libevents/scripts/combine.py
+	COMMAND ${Python_EXECUTABLE} ${events_src_path}/libevents/scripts/combine.py
 		${PX4_BINARY_DIR}/events/px4_full.json
 		${events_src_path}/libevents/events/common.json
 		${events_src_path}/enums.json
 		--output ${PX4_BINARY_DIR}/events/all_events_full.json
-	COMMAND ${PYTHON_EXECUTABLE} ${events_src_path}/libevents/scripts/validate.py
+	COMMAND ${Python_EXECUTABLE} ${events_src_path}/libevents/scripts/validate.py
 		${PX4_BINARY_DIR}/events/all_events_full.json
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
 		${PX4_BINARY_DIR}/events/all_events_full.json
 	COMMENT "Extracting events from full source"
 	USES_TERMINAL

cmake/px4_metadata.cmake

@@ -67,7 +67,7 @@ function(px4_generate_airframes_xml)
 		ARGN ${ARGN})
 
 	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/airframes.xml
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 			--airframes-path ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d
 			--board CONFIG_ARCH_BOARD_${PX4_BOARD}
 			--xml ${PX4_BINARY_DIR}/airframes.xml

msg/CMakeLists.txt

@@ -193,7 +193,6 @@ set(msg_files
 	RoverMecanumSetpoint.msg
 	RoverMecanumStatus.msg
 	Rpm.msg
-	RpmControlStatus.msg
 	RtlStatus.msg
 	RtlTimeEstimate.msg
 	SatelliteInfo.msg
@@ -313,7 +312,7 @@ add_custom_command(
 	OUTPUT
 		${uorb_headers}
 		${msg_out_path}/uORBTopics.hpp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -334,7 +333,7 @@ add_custom_target(uorb_headers DEPENDS ${uorb_headers})
 add_custom_command(
 	OUTPUT
 		${uorb_json_files}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--json
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -357,7 +356,7 @@ add_custom_command(
 	OUTPUT
 		${uorb_message_fields_cpp_file}
 		${uorb_message_fields_header_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
 		-f ${uorb_json_files}
 		--source-output-file ${uorb_message_fields_cpp_file}
 		--header-output-file ${uorb_message_fields_header_file}
@@ -372,7 +371,7 @@ add_custom_command(
 # Generate microcdr headers
 add_custom_command(
 	OUTPUT ${uorb_ucdr_headers}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -394,7 +393,7 @@ add_custom_command(
 	OUTPUT
 		${uorb_sources}
 		${msg_source_out_path}/uORBTopics.cpp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--sources
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -460,7 +459,7 @@ if(CONFIG_LIB_CDRSTREAM)
 		OUTPUT ${uorb_cdr_idl}
 		COMMAND ${CMAKE_COMMAND}
 		        -E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli"
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py
+			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py
 			${uorb_cdr_msg}
 		DEPENDS
 			${uorb_cdr_msg}
@@ -490,7 +489,7 @@ if(CONFIG_LIB_CDRSTREAM)
 
 	add_custom_target(
 		uorb_idl_header
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 			--uorb-idl-header
 			-f ${msg_files}
 			-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -514,7 +513,7 @@ endif()
 
 if(CONFIG_MODULES_ZENOH)
 	# Update kconfig file for topics
-	execute_process(COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
+	execute_process(COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
 			--zenoh-config
 			-f ${msg_files}
 			-o ${PX4_SOURCE_DIR}/src/modules/zenoh/
@@ -523,7 +522,7 @@ if(CONFIG_MODULES_ZENOH)
 	add_custom_command(
 		OUTPUT
 			${PX4_BINARY_DIR}/src/modules/zenoh/uorb_pubsub_factory.hpp
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
+		COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
 			--zenoh-pub-sub
 			-f ${msg_files}
 			-o ${PX4_BINARY_DIR}/src/modules/zenoh/

msg/PwmInput.msg

@@ -1,4 +1,4 @@
-uint64 timestamp   # Time since system start (microseconds)
-uint64 error_count # Timer overcapture error flag (AUX5 or MAIN5)
-uint32 pulse_width # Pulse width, timer counts (microseconds)
-uint32 period      # Period, timer counts (microseconds)
+uint64 timestamp	# Time since system start (microseconds)
+uint64 error_count	# Timer overcapture error flag (AUX5 or MAIN5)
+uint32 pulse_width	# Pulse width, timer counts
+uint32 period		# Period, timer counts

msg/RoverMecanumSetpoint.msg

@@ -5,7 +5,7 @@ float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized forward s
 float32 lateral_speed_setpoint            # [m/s] Desired lateral speed
 float32 lateral_speed_setpoint_normalized # [-1, 1] Desired normalized lateral speed
 float32 yaw_rate_setpoint                 # [rad/s] Desired yaw rate
-float32 speed_diff_setpoint_normalized    # [-1, 1] Normalized speed difference between the left and right wheels
+float32 yaw_rate_setpoint_normalized      # [-1, 1] Desired normalized yaw rate
 float32 yaw_setpoint 	                  # [rad] Desired yaw (heading)
 
 # TOPICS rover_mecanum_setpoint

msg/RoverMecanumStatus.msg

@@ -1,17 +1,13 @@
 uint64 timestamp # time since system start (microseconds)
 
-float32 measured_forward_speed          # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
-float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
-float32 measured_lateral_speed          # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
-float32 adjusted_lateral_speed_setpoint # [m/s] Speed setpoint after applying slew rate
-float32 measured_yaw_rate  	        # [rad/s] Measured yaw rate
-float32 clyaw_yaw_rate_setpoint         # [rad/s] Yaw rate setpoint output by the closed loop yaw controller
-float32 adjusted_yaw_rate_setpoint      # [rad/s] Yaw rate setpoint from the closed loop yaw controller
-float32 measured_yaw        	        # [rad] Measured yaw
-float32 adjusted_yaw_setpoint           # [rad] Yaw setpoint after applying slew rate
-float32 pid_yaw_rate_integral  	        # Integral of the PID for the closed loop yaw rate controller
-float32 pid_yaw_integral       	        # Integral of the PID for the closed loop yaw controller
-float32 pid_forward_throttle_integral   # Integral of the PID for the closed loop forward speed controller
-float32 pid_lateral_throttle_integral   # Integral of the PID for the closed loop lateral speed controller
+float32 measured_forward_speed        # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
+float32 measured_lateral_speed        # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
+float32 adjusted_yaw_rate_setpoint    # [rad/s] Yaw rate setpoint output of the closed loop yaw controller
+float32 measured_yaw_rate  	      # [rad/s] Measured yaw rate
+float32 measured_yaw        	      # [rad] Measured yaw
+float32 pid_yaw_rate_integral  	      # Integral of the PID for the closed loop yaw rate controller
+float32 pid_yaw_integral       	      # Integral of the PID for the closed loop yaw controller
+float32 pid_forward_throttle_integral # Integral of the PID for the closed loop forward speed controller
+float32 pid_lateral_throttle_integral # Integral of the PID for the closed loop lateral speed controller
 
 # TOPICS rover_mecanum_status

msg/Rpm.msg

@@ -1,5 +1,4 @@
 uint64 timestamp                      # time since system start (microseconds)
 
-float32 rpm_estimate # filtered revolutions per minute
-float32 rpm_raw # measured rpm
-float32 estimated_accurancy_rpm # estimated accuracy
+float32 indicated_frequency_rpm       # indicated rotor Frequency in Revolution per minute
+float32 estimated_accurancy_rpm       # estimated accuracy in Revolution per minute

msg/RpmControlStatus.msg

@@ -1,7 +0,0 @@
-uint64 timestamp # time since system start (microseconds)
-
-float32 rpm_raw # measured rpm
-float32 rpm_estimate # filtered rpm
-float32 rpm_setpoint # desired rpm
-
-float32 output

platforms/nuttx/CMakeLists.txt

@@ -328,7 +328,7 @@ if (TARGET parameters_xml AND TARGET airframes_xml)
 	add_custom_command(
 		OUTPUT ${fw_package}
 		COMMAND
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
+			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
 				--prototype ${PX4_SOURCE_DIR}/boards/${PX4_BOARD_VENDOR}/${PX4_BOARD_MODEL}/firmware.prototype
 				--git_identity ${PX4_SOURCE_DIR}
 				--parameter_xml ${PX4_BINARY_DIR}/parameters.xml

platforms/nuttx/NuttX/tools/kconfig-conf

@@ -6,13 +6,13 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 export APPSDIR="`pwd`/../apps"
 
 if [ "command -v python3" ]; then
-	PYTHON_EXECUTABLE=python3
+	Python_EXECUTABLE=python3
 else
-	PYTHON_EXECUTABLE=python
+	Python_EXECUTABLE=python
 fi
 
 if [ "${1}" = "--olddefconfig" ]; then
-	PYTHONPATH=${DIR} ${PYTHON_EXECUTABLE} ${DIR}/olddefconfig.py > /dev/null
+	PYTHONPATH=${DIR} ${Python_EXECUTABLE} ${DIR}/olddefconfig.py > /dev/null
 else
 	echo "ERROR: ${@} unsupported"
 	exit 1

platforms/nuttx/cmake/upload.cmake

@@ -81,7 +81,7 @@ endif()
 string(REPLACE ";" "," serial_ports "${serial_ports}")
 
 add_custom_target(upload
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_package}
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_package}
 	DEPENDS ${fw_package}
 	COMMENT "uploading px4"
 	VERBATIM
@@ -90,7 +90,7 @@ add_custom_target(upload
 	)
 
 add_custom_target(force-upload
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --force --port ${serial_ports} ${fw_package}
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --force --port ${serial_ports} ${fw_package}
 	DEPENDS ${fw_package}
 	COMMENT "uploading px4 with --force"
 	VERBATIM

src/drivers/barometer/Kconfig

@@ -11,7 +11,6 @@ menu "barometer"
         select DRIVERS_BAROMETER_MS5611
         select DRIVERS_BAROMETER_MAIERTEK_MPC2520
         select DRIVERS_BAROMETER_GOERTEK_SPL06
-        select DRIVERS_BAROMETER_GOERTEK_SPA06
         select DRIVERS_BAROMETER_INVENSENSE_ICP101XX
         select DRIVERS_BAROMETER_INVENSENSE_ICP201XX
         ---help---

src/drivers/barometer/goertek/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2022-2024 PX4 Development Team. All rights reserved.
+#   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
@@ -32,4 +32,3 @@
 ############################################################################
 
 add_subdirectory(spl06)
-add_subdirectory(spa06)

src/drivers/barometer/goertek/spa06/CMakeLists.txt

@@ -1,45 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2024 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__barometer__spa06
-	MAIN spa06
-	SRCS
-		SPA06.cpp
-		SPA06.hpp
-		SPA06_I2C.cpp
-		SPA06_SPI.cpp
-		spa06_main.cpp
-	DEPENDS
-		px4_work_queue
-	)

src/drivers/barometer/goertek/spa06/Kconfig

@@ -1,5 +0,0 @@
-menuconfig DRIVERS_BAROMETER_GOERTEK_SPA06
-	bool "spa06"
-	default n
-	---help---
-		Enable support for spa06

src/drivers/barometer/goertek/spa06/SPA06.cpp

@@ -1,259 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include "SPA06.hpp"
-
-SPA06::SPA06(const I2CSPIDriverConfig &config, spa06::ISPA06 *interface) :
-	I2CSPIDriver(config),
-	_interface(interface),
-	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
-	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
-	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
-{
-}
-
-SPA06::~SPA06()
-{
-	// free perf counters
-	perf_free(_sample_perf);
-	perf_free(_measure_perf);
-	perf_free(_comms_errors);
-
-	delete _interface;
-}
-
-/*
-float
-SPA06::scale_factor(int oversampling_rate)
-{
-	float k;
-
-	switch (oversampling_rate) {
-	case 1:
-		k = 524288.0f;
-		break;
-
-	case 2:
-		k = 1572864.0f;
-		break;
-
-	case 4:
-		k = 3670016.0f;
-		break;
-
-	case 8:
-		k = 7864320.0f;
-		break;
-
-	case 16:
-		k = 253952.0f;
-		break;
-
-	case 32:
-		k = 516096.0f;
-		break;
-
-	case 64:
-		k = 1040384.0f;
-		break;
-
-	case 128:
-		k = 2088960.0f;
-		break;
-
-	default:
-		k = 0;
-		break;
-	}
-
-	return k;
-}
-*/
-
-int
-SPA06::calibrate()
-{
-	uint8_t buf[21];
-
-	_interface->read(SPA06_ADDR_CAL, buf, sizeof(buf));
-
-	_cal.c0 = (uint16_t)(buf[0]) << 4 | (uint16_t)(buf[1]) >> 4;
-	// If value is negative, we need to fill the missing bits.
-	_cal.c0 = (_cal.c0 & 1 << 11) ? (0xf000 | _cal.c0) : _cal.c0;
-
-	_cal.c1 = (uint16_t)(buf[1] & 0x0F) << 8 | buf[2];
-	_cal.c1 = (_cal.c1 & 1 << 11) ? (0xf000 | _cal.c1) : _cal.c1;
-
-	_cal.c00 = (uint32_t)(buf[3]) << 12 | (uint32_t)(buf[4]) << 4 | (buf[5]) >> 4;
-	_cal.c00 = (_cal.c00 & 1 << 19) ? (0xfff00000 | _cal.c00) : _cal.c00;
-
-	_cal.c10 = (uint32_t)(buf[5] & 0x0F) << 16 | (uint32_t)(buf[6]) << 8 | buf[7];
-	_cal.c10 = (_cal.c10 & 1 << 19) ? (0xfff00000 | _cal.c10) : _cal.c10;
-
-	_cal.c01 = (uint16_t)(buf[8]) << 8 | buf[9];
-
-	_cal.c11 = (uint16_t)(buf[10]) << 8 | buf[11];
-
-	_cal.c20 = (uint16_t)(buf[12]) << 8 | buf[13];
-
-	_cal.c21 = (uint16_t)(buf[14]) << 8 | buf[15];
-
-	_cal.c30 = (uint16_t)(buf[16]) << 8 | buf[17];
-
-	_cal.c31 = (uint16_t)(buf[18]) << 4 | (uint16_t)(buf[19] & 0xF0) >> 4;
-	_cal.c31 = (_cal.c31 & 1 << 11) ? (0xf000 | _cal.c31) : _cal.c31;
-
-	_cal.c40 = (uint16_t)(buf[19] & 0x0F) << 8 | buf[20];
-	_cal.c40 = (_cal.c40 & 1 << 11) ? (0xf000 | _cal.c40) : _cal.c40;
-
-	PX4_DEBUG("c0:%d\nc1:%d\nc00:%ld\nc10:%ld\nc01:%d\nc11:%d\nc20:%d\nc21:%d\nc30:%d\nc31:%d\nc40:%d\n",
-		  _cal.c0, _cal.c1,
-		  _cal.c00, _cal.c10,
-		  _cal.c01, _cal.c11, _cal.c20, _cal.c21, _cal.c30, _cal.c31, _cal.c40);
-
-	return OK;
-}
-int
-SPA06::init()
-{
-	int8_t tries = 5;
-	// reset sensor
-	_interface->set_reg(SPA06_VALUE_RESET, SPA06_ADDR_RESET);
-	usleep(10000);
-
-	// check id
-	if (_interface->get_reg(SPA06_ADDR_ID) != SPA06_VALUE_ID) {
-		PX4_DEBUG("id of your baro is not: 0x%02x", SPA06_VALUE_ID);
-		return -EIO;
-	}
-
-	while (tries--) {
-		uint8_t meas_cfg = _interface->get_reg(SPA06_ADDR_MEAS_CFG);
-
-		if (meas_cfg & (1 << 7) && meas_cfg & (1 << 6)) {
-			break;
-		}
-
-		usleep(10000);
-	}
-
-	if (tries < 0) {
-		PX4_DEBUG("spa06 sensor or coef not ready");
-		return -EIO;
-	}
-
-	// get calibration and pre process them
-	calibrate();
-
-	// set config, recommended settings
-	_interface->set_reg(_curr_prs_cfg, SPA06_ADDR_PRS_CFG);
-	kp = 253952.0f; // refer to scale_factor()
-	_interface->set_reg(_curr_tmp_cfg, SPA06_ADDR_TMP_CFG);
-	kt = 524288.0f;
-
-	// Enable FIFO
-	_interface->set_reg(1 << 2, SPA06_ADDR_CFG_REG);
-	// Continuous pressure and temperature mesasurement.
-	_interface->set_reg(7, SPA06_ADDR_MEAS_CFG);
-
-	Start();
-
-	return OK;
-}
-
-void
-SPA06::Start()
-{
-	// schedule a cycle to start things
-	ScheduleNow();
-}
-
-void
-SPA06::RunImpl()
-{
-	collect();
-
-	ScheduleDelayed(_measure_interval);
-}
-int
-SPA06::collect()
-{
-	perf_begin(_sample_perf);
-
-	// this should be fairly close to the end of the conversion, so the best approximation of the time
-	const hrt_abstime timestamp_sample = hrt_absolute_time();
-
-	if (_interface->read(SPA06_ADDR_DATA, (uint8_t *)&_data, sizeof(_data)) != OK) {
-		perf_count(_comms_errors);
-		perf_cancel(_sample_perf);
-		return -EIO;
-	}
-
-	int32_t temp_raw = (uint32_t)_data.t_msb << 16 | (uint32_t)_data.t_lsb << 8 | (uint32_t)_data.t_xlsb;
-	temp_raw = (temp_raw & 1 << 23) ? (0xff000000 | temp_raw) : temp_raw;
-
-	int32_t press_raw = (uint32_t)_data.p_msb << 16 | (uint32_t) _data.p_lsb << 8 | (uint32_t) _data.p_xlsb;
-	press_raw = (press_raw & 1 << 23) ? (0xff000000 | press_raw) : press_raw;
-
-	// calculate
-	float ftsc = (float)temp_raw / kt;
-	float fpsc = (float)press_raw / kp;
-	float qua2 = (float)_cal.c10 + fpsc * ((float)_cal.c20 + fpsc * ((float)_cal.c30) + fpsc * (float)_cal.c40);
-	float qua3 = ftsc * fpsc * ((float)_cal.c11 + fpsc * ((float)_cal.c21) + fpsc * (float)_cal.c31);
-
-	float fp = (float)_cal.c00 + fpsc * qua2 + ftsc * (float)_cal.c01 + qua3;
-	float temperature = (float)_cal.c0 * 0.5f + (float)_cal.c1 * ftsc;
-
-
-	sensor_baro_s sensor_baro{};
-	sensor_baro.timestamp_sample = timestamp_sample;
-	sensor_baro.device_id = _interface->get_device_id();
-	sensor_baro.pressure = fp;
-	sensor_baro.temperature = temperature;
-	sensor_baro.error_count = perf_event_count(_comms_errors);
-	sensor_baro.timestamp = hrt_absolute_time();
-	_sensor_baro_pub.publish(sensor_baro);
-
-	perf_end(_sample_perf);
-
-	return OK;
-}
-
-void
-SPA06::print_status()
-{
-	I2CSPIDriverBase::print_status();
-	perf_print_counter(_sample_perf);
-	perf_print_counter(_measure_perf);
-	perf_print_counter(_comms_errors);
-}

src/drivers/barometer/goertek/spa06/SPA06.hpp

@@ -1,117 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include "spa06.h"
-
-#include <drivers/drv_hrt.h>
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/i2c_spi_buses.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <lib/perf/perf_counter.h>
-#include <uORB/PublicationMulti.hpp>
-#include <uORB/topics/sensor_baro.h>
-
-class SPA06 : public I2CSPIDriver<SPA06>
-{
-public:
-	SPA06(const I2CSPIDriverConfig &config, spa06::ISPA06 *interface);
-	virtual ~SPA06();
-
-	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
-	static void print_usage();
-
-	int			init();
-	void			print_status();
-
-	void			RunImpl();
-private:
-	void			Start();
-	// float scale_factor(int oversampling_rate);
-
-	int			collect(); //get results and publish
-	int			calibrate();
-
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
-
-	spa06::ISPA06		*_interface;
-	spa06::data_s		_data;
-	spa06::calibration_s	_cal{};
-
-	// set config, recommended settings
-	//
-	// oversampling rate  : single | 2       | 4       | 8       | 16     | 32     | 64      | 128
-	// scale factor(KP/KT): 524288 | 1572864 | 3670016 | 7864320 | 253952 | 516096 | 1040384 | 2088960
-
-	// configuration of pressure measurement rate (PM_RATE) and resolution (PM_PRC)
-	//
-	// PM_RATE[7:4]    : 0 | 1 | 2 | 3 | 4  | 5  | 6  | 7   | 8     | 9    | 10   | 11   | 12 | 13 | 14  | 15
-	// measurement rate: 1 | 2 | 4 | 8 | 16 | 32 | 64 | 128 | 25/16 | 25/8 | 25/4 | 25/2 | 25 | 50 | 100 | 200
-	// note: applicable for measurements in background mode only
-	//
-	// PM_PRC[3:0]         : 0      | 1   | 2   | 3    | 4    | 5    | 6     | 7
-	// oversampling (times): single | 2   | 4   | 8    | 16   | 32   | 64    | 128
-	// measurement time(ms): 3.6    | 5.2 | 8.4 | 14.8 | 27.6 | 53.2 | 104.4 | 206.8
-	// precision(PaRMS)    : 5.0    |     | 2.5 |      | 1.2  | 0.9  | 0.5   |
-	// note: use in combination with a bit shift when the oversampling rate is > 8 times. see CFG_REG(0x19) register
-	//
-	// -> 32 measurements per second, 16 oversampling
-	static constexpr uint8_t	_curr_prs_cfg{5 << 4 | 4};
-
-	// configuration of temperature measurment rate (TMP_RATE) and resolution (TMP_PRC)
-	//
-	// temperature measurement: internal sensor (in ASIC) | external sensor (in pressure sensor MEMS element)
-	// PM_RATE[7:4]    : 0 | 1 | 2 | 3 | 4  | 5  | 6  | 7   | 8     | 9    | 10   | 11   | 12 | 13 | 14  | 15
-	// measurement rate: 1 | 2 | 4 | 8 | 16 | 32 | 64 | 128 | 25/16 | 25/8 | 25/4 | 25/2 | 25 | 50 | 100 | 200
-	// note: applicable for measurements in background mode only
-	//
-	// TMP_PRC[2:0]        : 0      | 1 | 2 | 3 | 4  | 5  | 6  | 7
-	// oversampling (times): single | 2 | 4 | 8 | 16 | 32 | 64 | 128
-	// note: single(default) measurement time 3.6ms, other settings are optional, and may not be relevant
-	// note: use in combination with a bit shift when the oversampling rate is > 8 times. see CFG_REG(0x19) register
-
-	// -> 32 measurements per second, single oversampling
-	static constexpr uint8_t	_curr_tmp_cfg{5 << 4 | 0};
-
-	bool			_collect_phase{false};
-	float kp;
-	float kt;
-
-	perf_counter_t		_sample_perf;
-	perf_counter_t		_measure_perf;
-	perf_counter_t		_comms_errors;
-
-	static constexpr uint32_t _sample_rate{32};
-	static constexpr uint32_t _measure_interval{1000000 / _sample_rate};
-};

src/drivers/barometer/goertek/spa06/SPA06_I2C.cpp

@@ -1,102 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2024 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.
- *
- ****************************************************************************/
-
-/**
- * @file SPA06_I2C.cpp
- *
- * SPI interface for Goertek SPA06
- */
-
-#include "spa06.h"
-
-#include <px4_platform_common/px4_config.h>
-#include <drivers/device/i2c.h>
-
-#if defined(CONFIG_I2C)
-
-class SPA06_I2C: public device::I2C, public spa06::ISPA06
-{
-public:
-	SPA06_I2C(uint8_t bus, uint32_t device, int bus_frequency);
-	virtual ~SPA06_I2C() override = default;
-
-	int init() override { return I2C::init(); }
-
-	uint8_t	get_reg(uint8_t addr) override;
-	int	set_reg(uint8_t value, uint8_t addr) override;
-
-	int read(uint8_t addr, uint8_t *buf, uint8_t len) override;
-	//spa06::data_s		*get_data(uint8_t addr) override;
-	//spa06::calibration_s	*get_calibration(uint8_t addr) override;
-
-	uint32_t get_device_id() const override { return device::I2C::get_device_id(); }
-
-	uint8_t get_device_address() const override { return device::I2C::get_device_address(); }
-private:
-	spa06::calibration_s	_cal{};
-	spa06::data_s		_data{};
-};
-
-spa06::ISPA06 *spa06_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency)
-{
-	return new SPA06_I2C(busnum, device, bus_frequency);
-}
-
-SPA06_I2C::SPA06_I2C(uint8_t bus, uint32_t device, int bus_frequency) :
-	I2C(DRV_BARO_DEVTYPE_SPA06, MODULE_NAME, bus, device, bus_frequency)
-{
-}
-
-uint8_t
-SPA06_I2C::get_reg(uint8_t addr)
-{
-	uint8_t cmd[2] = { (uint8_t)(addr), 0};
-	transfer(&cmd[0], 1, &cmd[1], 1);
-
-	return cmd[1];
-}
-
-int
-SPA06_I2C::set_reg(uint8_t value, uint8_t addr)
-{
-	uint8_t cmd[2] = { (uint8_t)(addr), value};
-	return transfer(cmd, sizeof(cmd), nullptr, 0);
-}
-
-int
-SPA06_I2C::read(uint8_t addr, uint8_t *buf, uint8_t len)
-{
-	return transfer(&addr, 1, buf, len);
-}
-
-#endif // CONFIG_I2C

src/drivers/barometer/goertek/spa06/SPA06_SPI.cpp

@@ -1,104 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2024 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.
- *
- ****************************************************************************/
-
-/**
- * @file SPA06_SPI.cpp
- *
- * SPI interface for Goertek SPA06
- */
-
-#include "spa06.h"
-
-#include <px4_platform_common/px4_config.h>
-#include <drivers/device/spi.h>
-
-#if defined(CONFIG_SPI)
-
-/* SPI protocol address bits */
-#define DIR_READ			(1<<7)  //for set
-#define DIR_WRITE			~(1<<7) //for clear
-
-class SPA06_SPI: public device::SPI, public spa06::ISPA06
-{
-public:
-	SPA06_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
-	virtual ~SPA06_SPI() override = default;
-
-	int init() override { return SPI::init(); }
-
-	uint8_t	get_reg(uint8_t addr) override;
-	int	set_reg(uint8_t value, uint8_t addr) override;
-
-	int read(uint8_t addr, uint8_t *buf, uint8_t len) override;
-
-	uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
-
-	uint8_t get_device_address() const override { return device::SPI::get_device_address(); }
-};
-
-spa06::ISPA06 *
-spa06_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode)
-{
-	return new SPA06_SPI(busnum, device, bus_frequency, spi_mode);
-}
-
-SPA06_SPI::SPA06_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
-	SPI(DRV_BARO_DEVTYPE_SPA06, MODULE_NAME, bus, device, spi_mode, bus_frequency)
-{
-}
-
-uint8_t
-SPA06_SPI::get_reg(uint8_t addr)
-{
-	uint8_t cmd[2] = { (uint8_t)(addr | DIR_READ), 0}; // set MSB bit
-	transfer(&cmd[0], &cmd[0], 2);
-
-	return cmd[1];
-}
-
-int
-SPA06_SPI::set_reg(uint8_t value, uint8_t addr)
-{
-	uint8_t cmd[2] = { (uint8_t)(addr & DIR_WRITE), value}; // clear MSB bit
-	return transfer(&cmd[0], nullptr, 2);
-}
-
-int
-SPA06_SPI::read(uint8_t addr, uint8_t *buf, uint8_t len)
-{
-	uint8_t tx_buf[len + 1] = {(uint8_t)(addr | DIR_READ)}; // GCC support VLA, let's use it
-
-	return transfer(tx_buf, buf, len);
-}
-
-#endif // CONFIG_SPI

src/drivers/barometer/goertek/spa06/parameters.c

@@ -1,41 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2024 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.
- *
- ****************************************************************************/
-
-/**
- * Goertek SPA06 Barometer (external I2C)
- *
- * @reboot_required true
- * @group Sensors
- * @boolean
-  */
-PARAM_DEFINE_INT32(SENS_EN_SPA06, 0);

src/drivers/barometer/goertek/spa06/spa06.h

@@ -1,107 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2024 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.
- *
- ****************************************************************************/
-
-/**
- * @file spa06.h
- *
- * Shared defines for the SPA06 driver.
- */
-#pragma once
-
-#include <px4_platform_common/i2c_spi_buses.h>
-
-#define SPA06_ADDR_ID	0x0d
-#define SPA06_ADDR_RESET 0x0c   // set to reset
-#define SPA06_ADDR_CAL 0x10
-#define SPA06_ADDR_PRS_CFG  0x06
-#define SPA06_ADDR_TMP_CFG  0x07
-#define SPA06_ADDR_MEAS_CFG	0x08
-#define SPA06_ADDR_CFG_REG	0x09
-#define SPA06_ADDR_DATA 0x00
-
-
-#define SPA06_VALUE_RESET 9
-#define SPA06_VALUE_ID    0x11
-
-namespace spa06
-{
-
-#pragma pack(push,1)
-struct calibration_s {
-	int16_t c0, c1;
-	int32_t c00, c10;
-	int16_t c01, c11, c20, c21, c30, c31, c40;
-};
-
-struct data_s {
-	uint8_t p_msb;
-	uint8_t p_lsb;
-	uint8_t p_xlsb;
-
-	uint8_t t_msb;
-	uint8_t t_lsb;
-	uint8_t t_xlsb;
-};
-#pragma pack(pop)
-
-class ISPA06
-{
-public:
-	virtual ~ISPA06() = default;
-
-	virtual int init() = 0;
-
-	// read reg value
-	virtual uint8_t get_reg(uint8_t addr) = 0;
-
-	// write reg value
-	virtual int set_reg(uint8_t value, uint8_t addr) = 0;
-
-	// bulk read of data into buffer, return same pointer
-	virtual int read(uint8_t addr, uint8_t *buf, uint8_t len) = 0;
-	// bulk read of calibration data into buffer, return same pointer
-
-	virtual uint32_t get_device_id() const = 0;
-
-	virtual uint8_t get_device_address() const = 0;
-};
-
-} // namespace spa06
-
-
-#if defined(CONFIG_SPI)
-extern spa06::ISPA06 *spa06_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
-#endif // CONFIG_SPI
-#if defined(CONFIG_I2C)
-extern spa06::ISPA06 *spa06_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency);
-#endif // CONFIG_I2C

src/drivers/barometer/goertek/spa06/spa06_main.cpp

@@ -1,141 +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.
- *
- ****************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/getopt.h>
-#include <px4_platform_common/module.h>
-
-#include "SPA06.hpp"
-
-#include <drivers/drv_sensor.h>
-
-extern "C" { __EXPORT int spa06_main(int argc, char *argv[]); }
-
-void
-SPA06::print_usage()
-{
-	PRINT_MODULE_USAGE_NAME("spa06", "driver");
-	PRINT_MODULE_USAGE_SUBCATEGORY("baro");
-	PRINT_MODULE_USAGE_COMMAND("start");
-#if defined(CONFIG_I2C)
-	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
-	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
-#else
-	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
-#endif
-	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-}
-
-I2CSPIDriverBase *SPA06::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
-{
-	spa06::ISPA06 *interface = nullptr;
-
-#if defined(CONFIG_I2C)
-
-	if (config.bus_type == BOARD_I2C_BUS) {
-		interface = spa06_i2c_interface(config.bus, config.i2c_address, config.bus_frequency);
-
-	}
-
-#endif // CONFIG_I2C
-#if defined(CONFIG_SPI)
-
-	if (config.bus_type == BOARD_SPI_BUS) {
-		interface = spa06_spi_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
-	}
-
-#endif // CONFIG_SPI
-
-	if (interface == nullptr) {
-		PX4_ERR("failed creating interface for bus %i", config.bus);
-		return nullptr;
-	}
-
-	if (interface->init() != OK) {
-		delete interface;
-		PX4_DEBUG("no device on bus %i", config.bus);
-		return nullptr;
-	}
-
-	SPA06 *dev = new SPA06(config, interface);
-
-	if (dev == nullptr) {
-		delete interface;
-		return nullptr;
-	}
-
-	if (OK != dev->init()) {
-		delete dev;
-		return nullptr;
-	}
-
-	return dev;
-}
-
-int
-spa06_main(int argc, char *argv[])
-{
-	using ThisDriver = SPA06;
-	BusCLIArguments cli{true, true};
-#if defined(CONFIG_I2C)
-	cli.i2c_address = 0x76;
-	cli.default_i2c_frequency = 100 * 1000;
-#endif // CONFIG_I2C
-#if defined(CONFIG_SPI)
-	cli.default_spi_frequency = 10 * 1000 * 1000;
-#endif // CONFIG_SPI
-
-	const char *verb = cli.parseDefaultArguments(argc, argv);
-
-	if (!verb) {
-		ThisDriver::print_usage();
-		return -1;
-	}
-
-	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_SPA06);
-
-	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/drivers/bootloaders/CMakeLists.txt

@@ -71,7 +71,7 @@ if(NOT "${PX4_BOARD_LABEL}" MATCHES  "canbootloader")
 			${PX4_BINARY_DIR}/${uavcan_bl_image_name}
 			${PX4_BINARY_DIR}/deploy/${HWBOARD_ID}.bin
 		COMMAND
-			${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --padding ${uavcanbl_padding} --use-git-hash ${PX4_CONFIG}.bin ${uavcan_bl_image_name}
+			${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --padding ${uavcanbl_padding} --use-git-hash ${PX4_CONFIG}.bin ${uavcan_bl_image_name}
 		COMMAND
 			 COMMAND ${CMAKE_COMMAND} -E make_directory deploy
 		COMMAND

src/drivers/distance_sensor/ll40ls_pwm/LidarLitePWM.cpp

@@ -109,7 +109,7 @@ LidarLitePWM::measure()
 		return PX4_ERROR;
 	}
 
-	const float current_distance = float(_pwm.pulse_width) * 1e-3f; // 1us = 1mm distance for LIDAR-Lite
+	const float current_distance = float(_pwm.pulse_width) * 1e-3f;   /* 10 usec = 1 cm distance for LIDAR-Lite */
 
 	/* Due to a bug in older versions of the LidarLite firmware, we have to reset sensor on (distance == 0) */
 	if (current_distance <= 0.0f) {

src/drivers/drv_sensor.h

@@ -247,7 +247,6 @@
 
 #define DRV_DIFF_PRESS_DEVTYPE_AUAV	0xE6
 #define DRV_BARO_DEVTYPE_AUAV		0xE7
-#define DRV_BARO_DEVTYPE_SPA06          0xE8
 
 #define DRV_DEVTYPE_UNUSED		0xff
 

src/drivers/rpm/pcf8583/PCF8583.cpp

@@ -195,12 +195,12 @@ void PCF8583::RunImpl()
 	}
 
 	// Calculate RPM and accuracy estimation
-	float indicated_rpm = (((float)diffCount / _param_pcf8583_magnet.get()) / ((float)diffTime / 1e6f)) * 60.f;
-	float estimated_accurancy = 1 / (float)_param_pcf8583_magnet.get() / ((float)diffTime / 1e6f) * 60.f;
+	float indicated_rpm = (((float)diffCount / _param_pcf8583_magnet.get()) / ((float)diffTime / 1000000.f)) * 60.f;
+	float estimated_accurancy = 1 / (float)_param_pcf8583_magnet.get() / ((float)diffTime / 1000000) * 60.f;
 
 	// publish data to uorb
 	rpm_s msg{};
-	msg.rpm_estimate = indicated_rpm;
+	msg.indicated_frequency_rpm = indicated_rpm;
 	msg.estimated_accurancy_rpm = estimated_accurancy;
 	msg.timestamp = hrt_absolute_time();
 	_rpm_pub.publish(msg);

src/drivers/rpm/rpm_simulator/rpm_simulator.cpp

@@ -66,7 +66,7 @@ int rpm_simulator_main(int argc, char *argv[])
 
 	// prpepare RPM data message
 	rpm.timestamp = timestamp_us;
-	rpm.rpm_estimate = frequency;
+	rpm.indicated_frequency_rpm = frequency;
 	rpm.estimated_accurancy_rpm = frequency / 100.0f;
 
 	// Publish data and let the user know what was published

src/drivers/rpm_capture/CMakeLists.txt

@@ -1,47 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-set(PARAM_PREFIX PWM_MAIN)
-
-if(CONFIG_BOARD_IO)
-	set(PARAM_PREFIX PWM_AUX)
-endif()
-
-px4_add_module(
-	MODULE drivers__rpm_capture
-	MAIN rpm_capture
-	COMPILE_FLAGS
-		-DPARAM_PREFIX="${PARAM_PREFIX}"
-	SRCS
-		RPMCapture.cpp
-	)

src/drivers/rpm_capture/Kconfig

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

src/drivers/rpm_capture/RPMCapture.cpp

@@ -1,220 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-
-#include "RPMCapture.hpp"
-#include <px4_arch/io_timer.h>
-#include <board_config.h>
-#include <parameters/param.h>
-#include <px4_platform_common/events.h>
-#include <systemlib/mavlink_log.h>
-
-RPMCapture::RPMCapture() :
-	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
-	ModuleParams(nullptr)
-{
-	_pwm_input_pub.advertise();
-	ScheduleNow();
-}
-
-RPMCapture::~RPMCapture()
-{
-	if (_channel >= 0) {
-		io_timer_unallocate_channel(_channel);
-		px4_arch_gpiosetevent(_rpm_capture_gpio, false, false, false, nullptr, nullptr);
-	}
-}
-
-bool RPMCapture::init()
-{
-	bool success = false;
-
-	for (unsigned i = 0; i < 16; ++i) {
-		char param_name[17];
-		snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
-		param_t function_handle = param_find(param_name);
-		int32_t function;
-
-		if (function_handle != PARAM_INVALID && param_get(function_handle, &function) == 0) {
-			if (function == 2070) { // RPM_Input
-				_channel = i;
-			}
-		}
-	}
-
-	if (_channel == -1) {
-		PX4_WARN("No RPM channel configured");
-		return false;
-	}
-
-	int ret = io_timer_allocate_channel(_channel, IOTimerChanMode_Other); // TODO: add IOTimerChanMode_RPM
-
-	if (ret != PX4_OK) {
-		PX4_ERR("gpio alloc failed (%i) for RPM at channel (%d)", ret, _channel);
-		return false;
-	}
-
-	_rpm_capture_gpio = PX4_MAKE_GPIO_EXTI(io_timer_channel_get_as_pwm_input(_channel));
-	int ret_val = px4_arch_gpiosetevent(_rpm_capture_gpio, true, false, true, &RPMCapture::gpio_interrupt_callback, this);
-
-	if (ret_val == PX4_OK) {
-		success = true;
-	}
-
-	success = success && _rpm_pub.advertise();
-	return success;
-}
-
-void RPMCapture::Run()
-{
-	if (should_exit()) {
-		exit_and_cleanup();
-		return;
-	}
-
-	hrt_abstime now = hrt_absolute_time();
-
-	if (_interrupt_happened.load()) {
-		// There was an interrupt
-		_period = _hrt_timestamp - _hrt_timestamp_prev;
-		_hrt_timestamp_prev = _hrt_timestamp;
-		_interrupt_happened.store(false);
-
-		pwm_input_s pwm_input{};
-		pwm_input.timestamp = now;
-		pwm_input.period = _period;
-		pwm_input.error_count = _error_count;
-		_pwm_input_pub.publish(pwm_input);
-
-		ScheduleClear(); // Do not run on previously scheduled timeout
-
-	} else {
-		// Timeout for no interrupts
-		_period = UINT32_MAX;
-	}
-
-	ScheduleDelayed(RPM_PULSE_TIMEOUT); // Schule a new timeout
-	float rpm_raw{0.f};
-
-	if (_period < RPM_PULSE_TIMEOUT) {
-		// 1'000'000 / [us] -> pulses per second * 60 -> pulses per minute
-		rpm_raw = 60.f * 1e6f / static_cast<float>(_param_rpm_puls_per_rev.get() * _period);
-
-	} else {
-		_rpm_filter.reset(rpm_raw);
-	}
-
-	if (rpm_raw < RPM_MAX_VALUE) {
-		// Don't update RPM filter with outliers
-		const float dt = math::min((now - _timestamp_last_update) * 1e-6f, 1.f);
-		_timestamp_last_update = now;
-		_rpm_filter.setParameters(dt, 0.5f);
-		_rpm_filter.update(_rpm_median_filter.apply(rpm_raw));
-	}
-
-	rpm_s rpm{};
-	rpm.timestamp = now;
-	rpm.rpm_raw = rpm_raw;
-	rpm.rpm_estimate = _rpm_filter.getState();
-	_rpm_pub.publish(rpm);
-}
-
-int RPMCapture::gpio_interrupt_callback(int irq, void *context, void *arg)
-{
-	RPMCapture *instance = static_cast<RPMCapture *>(arg);
-
-	if (instance->_interrupt_happened.load()) {
-		++instance->_error_count;
-	}
-
-	instance->_hrt_timestamp = hrt_absolute_time();
-	instance->_interrupt_happened.store(true);
-	instance->ScheduleNow();
-
-	return PX4_OK;
-}
-
-int RPMCapture::task_spawn(int argc, char *argv[])
-{
-	RPMCapture *instance = new RPMCapture();
-
-	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
-
-		if (instance->init()) {
-			return PX4_OK;
-		}
-
-	} else {
-		PX4_ERR("alloc failed");
-	}
-
-	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
-
-	return PX4_ERROR;
-}
-
-int RPMCapture::custom_command(int argc, char *argv[])
-{
-	return print_usage("unknown command");
-}
-
-int RPMCapture::print_usage(const char *reason)
-{
-	if (reason) {
-		PX4_WARN("%s\n", reason);
-	}
-
-	PRINT_MODULE_USAGE_NAME("rpm_capture", "driver");
-	PRINT_MODULE_USAGE_COMMAND("start");
-	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-
-	return 0;
-}
-
-void RPMCapture::stop()
-{
-	exit_and_cleanup();
-}
-
-extern "C" __EXPORT int rpm_capture_main(int argc, char *argv[])
-{
-	if (argc >= 2 && !strcmp(argv[1], "stop") && RPMCapture::is_running()) {
-		RPMCapture::stop();
-	}
-
-	return RPMCapture::main(argc, argv);
-}

src/drivers/rpm_capture/RPMCapture.hpp

@@ -1,96 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <drivers/drv_hrt.h>
-#include <lib/mathlib/math/filter/AlphaFilter.hpp>
-#include <lib/mathlib/math/filter/MedianFilter.hpp>
-#include <px4_arch/micro_hal.h>
-#include <px4_platform_common/module.h>
-#include <px4_platform_common/module_params.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <uORB/Publication.hpp>
-#include <uORB/PublicationMulti.hpp>
-#include <uORB/topics/pwm_input.h>
-#include <uORB/topics/rpm.h>
-
-using namespace time_literals;
-
-class RPMCapture : public ModuleBase<RPMCapture>, public px4::ScheduledWorkItem, public ModuleParams
-{
-public:
-	RPMCapture();
-	virtual ~RPMCapture();
-
-	/** @see ModuleBase */
-	static int task_spawn(int argc, char *argv[]);
-
-	/** @see ModuleBase */
-	static int custom_command(int argc, char *argv[]);
-
-	/** @see ModuleBase */
-	static int print_usage(const char *reason = nullptr);
-
-	bool init();
-
-	static int gpio_interrupt_callback(int irq, void *context, void *arg);
-
-	/** RPMCapture is an interrupt-driven task and needs to be manually stopped */
-	static void stop();
-
-private:
-	static constexpr hrt_abstime RPM_PULSE_TIMEOUT = 1_s;
-	static constexpr float RPM_MAX_VALUE = 50e3f;
-
-	void Run() override;
-
-	int _channel{-1};
-	uint32_t _rpm_capture_gpio{0};
-	uORB::Publication<pwm_input_s> _pwm_input_pub{ORB_ID(pwm_input)};
-	uORB::PublicationMulti<rpm_s> _rpm_pub{ORB_ID(rpm)};
-
-	hrt_abstime _hrt_timestamp{0};
-	hrt_abstime _hrt_timestamp_prev{0};
-	uint32_t _period{UINT32_MAX};
-	uint32_t _error_count{0};
-	px4::atomic<bool> _interrupt_happened{false};
-
-	hrt_abstime _timestamp_last_update{0}; ///< to caluclate dt
-	AlphaFilter<float> _rpm_filter;
-	MedianFilter<float, 5> _rpm_median_filter;
-
-	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::RPM_PULS_PER_REV>) _param_rpm_puls_per_rev
-	)
-};

src/drivers/rpm_capture/rpm_capture_params.c

@@ -1,55 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * RPM Capture Enable
- *
- * Enables the RPM capture module on FMU channel 5.
- *
- * @boolean
- * @group System
- * @reboot_required true
- */
-PARAM_DEFINE_INT32(RPM_CAP_ENABLE, 0);
-
-/**
- * Voltage pulses per revolution
- *
- * Number of voltage pulses per one rotor revolution on the capturing pin.
- *
- * @group System
- * @min 1
- * @max 50
- * @reboot_required true
- */
-PARAM_DEFINE_INT32(RPM_PULS_PER_REV, 1);

src/drivers/uavcan/CMakeLists.txt

@@ -120,7 +120,7 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
 endforeach(DSDLC_INPUT)
 add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
 	COMMAND
-		${PYTHON_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
+		${Python_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
 			--outdir ${DSDLC_OUTPUT} ${DSDLC_INPUTS}
 			#--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp

src/drivers/uavcan/libdronecan/libuavcan/CMakeLists.txt

@@ -42,7 +42,7 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
     set(DSDLC_INPUT_FILES ${DSDLC_INPUT_FILES} ${DSDLC_NEW_INPUT_FILES})
 endforeach(DSDLC_INPUT)
 add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libuavcan_dsdlc_run.stamp
-                   COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
+                   COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
                    COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_BINARY_DIR}/libuavcan_dsdlc_run.stamp
                    DEPENDS ${DSDLC_INPUT_FILES}
                    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}

src/drivers/uavcannode/CMakeLists.txt

@@ -120,7 +120,7 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
 endforeach(DSDLC_INPUT)
 add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
 	COMMAND
-		${PYTHON_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
+		${Python_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
 			--outdir ${DSDLC_OUTPUT} ${DSDLC_INPUTS}
 			#--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp

src/lib/CMakeLists.txt

@@ -54,7 +54,6 @@ add_subdirectory(geo EXCLUDE_FROM_ALL)
 add_subdirectory(heatshrink EXCLUDE_FROM_ALL)
 add_subdirectory(hysteresis EXCLUDE_FROM_ALL)
 add_subdirectory(l1 EXCLUDE_FROM_ALL)
-add_subdirectory(lat_lon_alt EXCLUDE_FROM_ALL)
 add_subdirectory(led EXCLUDE_FROM_ALL)
 add_subdirectory(matrix EXCLUDE_FROM_ALL)
 add_subdirectory(mathlib EXCLUDE_FROM_ALL)

src/lib/component_information/CMakeLists.txt

@@ -83,12 +83,12 @@ list(APPEND comp_metadata_types "--type" "5,${PX4_BINARY_DIR}/actuators.json.xz,
 set(component_general_json ${PX4_BINARY_DIR}/component_general.json)
 set(component_information_header ${CMAKE_CURRENT_BINARY_DIR}/checksums.h)
 add_custom_command(OUTPUT ${component_general_json} ${component_general_json}.xz ${component_information_header}
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_component_general.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_component_general.py
 		${component_general_json}
 		--compress
 		${comp_metadata_types}
 		--version-file ${PX4_BINARY_DIR}/src/lib/version/build_git_version.h
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_crc.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_crc.py
 		${component_general_json}
 		${PX4_BINARY_DIR}/events/all_events.json.xz
 		--output ${component_information_header}

src/lib/events/CMakeLists.txt

@@ -47,7 +47,7 @@ set(generated_events_px4_file ${generated_events_dir}/px4.json)
 set(generated_events_common_enums_file ${generated_events_dir}/common_with_enums.json)
 add_custom_command(OUTPUT ${generated_events_px4_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
 		--base-path ${PX4_SOURCE_DIR}/src
 		--src-path ${all_px4_src_files_relative}
 		--json ${generated_events_px4_file} #--verbose
@@ -64,13 +64,13 @@ add_custom_target(events_px4_json DEPENDS ${generated_events_px4_file})
 
 set(generated_events_file ${generated_events_dir}/all_events.json)
 add_custom_command(OUTPUT ${generated_events_file} ${generated_events_file}.xz
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/combine.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/combine.py
 		${generated_events_px4_file}
 		${generated_events_common_enums_file}
 		--output ${generated_events_file}
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/validate.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/validate.py
 		${generated_events_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
 		${generated_events_file}
 	DEPENDS
 		${generated_events_px4_file}
@@ -86,7 +86,7 @@ add_custom_target(events_json DEPENDS ${generated_events_file})
 # combine common.json with our enums for the code generation
 add_custom_command(OUTPUT ${generated_events_common_enums_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir}
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/combine.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/combine.py
 		enums.json
 		libevents/events/common.json
 		--output ${generated_events_common_enums_file}
@@ -105,7 +105,7 @@ add_custom_command(OUTPUT ${generated_events_common_enums_file}
 set(generated_events_header ${generated_events_dir}/events_generated.h)
 add_custom_command(OUTPUT ${generated_events_header}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir}
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/generate.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/generate.py
 		--template libevents/libs/cpp/templates/events_generated.h.jinja
 		--output ${generated_events_dir}
 		${generated_events_common_enums_file}

src/lib/matrix/matrix/Matrix.hpp

@@ -55,16 +55,6 @@ public:
 		}
 	}
 
-	template<typename S>
-	Matrix(const Matrix<S, M, N> &aa)
-	{
-		for (size_t i = 0; i < M; i++) {
-			for (size_t j = 0; j < N; j++) {
-				_data[i][j] = static_cast<Type>(aa(i, j));
-			}
-		}
-	}
-
 	template<size_t P, size_t Q>
 	Matrix(const Slice<Type, M, N, P, Q> &in_slice)
 	{

src/lib/metadata/CMakeLists.txt

@@ -39,14 +39,14 @@ endif()
 set(generated_actuators_metadata_file ${PX4_BINARY_DIR}/actuators.json)
 add_custom_command(OUTPUT ${generated_actuators_metadata_file}
 	${generated_actuators_metadata_file}.xz
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_actuators_metadata.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_actuators_metadata.py
 		${board_with_io_arg}
 		--timer-config ${PX4_BOARD_DIR}/src/timer_config.cpp
 		--config-files ${module_config_files} #--verbose
 		--compress
 		--board ${PX4_BOARD}
 		--output-file ${generated_actuators_metadata_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
 		--schema-file ${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink/component_information/actuators.schema.json
 		${generated_actuators_metadata_file}
 		--skip-if-no-schema # mavlink submodule might not exist for current target if built in CI

src/lib/mixer_module/CMakeLists.txt

@@ -33,7 +33,7 @@
 
 set(functions_header ${CMAKE_CURRENT_BINARY_DIR}/output_functions.hpp)
 add_custom_command(OUTPUT ${functions_header}
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_function_header.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_function_header.py
 		${CMAKE_CURRENT_SOURCE_DIR}/output_functions.yaml
 		${functions_header}
 	DEPENDS

src/lib/mixer_module/output_functions.yaml

@@ -60,9 +60,3 @@ functions:
         condition: "PPS_CAP_ENABLE==0"
         text: "PPS needs to be enabled via PPS_CAP_ENABLE parameter."
       exclude_from_actuator_testing: true
-    RPM_Input:
-      start: 2070
-      note:
-        condition: "RPM_CAP_ENABLE==0"
-        text: "RPM needs to be enabled via RPM_CAP_ENABLE parameter."
-      exclude_from_actuator_testing: true

src/lib/motion_planning/PositionSmoothing.cpp

@@ -106,32 +106,16 @@ float PositionSmoothing::_getMaxXYSpeed(const Vector3f(&waypoints)[3]) const
 
 float PositionSmoothing::_getMaxZSpeed(const Vector3f(&waypoints)[3]) const
 {
-	const Vector3f &start_position = {_trajectory[0].getCurrentPosition(),
-					  _trajectory[1].getCurrentPosition(),
-					  _trajectory[2].getCurrentPosition()
-					 };
-	const Vector3f &target = waypoints[1];
-	const Vector3f &next_target = waypoints[2];
 
-	const Vector2f start_position_xy_z = {start_position.xy().norm(), start_position(2)};
-	const Vector2f target_xy_z = {target.xy().norm(), target(2)};
-	const Vector2f next_target_xy_z = {next_target.xy().norm(), next_target(2)};
+	const auto &target = waypoints[1];
 
-	float arrival_z_speed = 0.0f;
-	const bool target_next_different = fabsf(target(2) - next_target(2)) > 0.001f;
+	Vector3f pos_traj(_trajectory[0].getCurrentPosition(),
+			  _trajectory[1].getCurrentPosition(),
+			  _trajectory[2].getCurrentPosition());
 
-	if (target_next_different) {
-		const float alpha = acosf(Vector2f((target_xy_z - start_position_xy_z)).unit_or_zero().dot(
-						  Vector2f((target_xy_z - next_target_xy_z)).unit_or_zero()));
+	const float distance_start_target = fabs(target(2) - pos_traj(2));
+	const float arrival_z_speed = 0.f;
 
-		const float safe_alpha = math::constrain(alpha, 0.f, M_PI_F - FLT_EPSILON);
-		float accel_tmp = _trajectory[2].getMaxAccel();
-		float max_speed_in_turn = math::trajectory::computeMaxSpeedInWaypoint(safe_alpha, accel_tmp,
-					  _vertical_acceptance_radius);
-		arrival_z_speed = math::min(max_speed_in_turn, _trajectory[2].getMaxVel());
-	}
-
-	const float distance_start_target = fabs(target(2) - start_position(2));
 	float max_speed = math::min(_trajectory[2].getMaxVel(), math::trajectory::computeMaxSpeedFromDistance(
 					    _trajectory[2].getMaxJerk(), _trajectory[2].getMaxAccel(),
 					    distance_start_target, arrival_z_speed));

src/lib/motion_planning/PositionSmoothingTest.cpp

@@ -151,17 +151,14 @@ TEST_F(PositionSmoothingTest, reachesTargetVelocityIntegration)
 
 TEST_F(PositionSmoothingTest, reachesTargetInitialVelocity)
 {
-	const int N_ITER = 20000;
+	const int N_ITER = 2000;
 	const float DELTA_T = 0.02f;
 	const Vector3f INITIAL_POSITION{0.f, 0.f, 0.f};
 	const Vector3f TARGET{12.f, 17.f, 8.f};
 	const Vector3f NEXT_TARGET{8.f, 12.f, 80.f};
 
-	const float XY_ACC_RAD = 10.f;
-	const float Z_ACC_RAD = 0.8f;
 
-
-	Vector3f waypoints[3] = {INITIAL_POSITION, TARGET, TARGET};
+	Vector3f waypoints[3] = {INITIAL_POSITION, TARGET, NEXT_TARGET};
 	Vector3f ff_velocity{1.f, 0.1f, 0.3f};
 
 	Vector3f position{0.f, 0.f, 0.f};
@@ -183,13 +180,12 @@ TEST_F(PositionSmoothingTest, reachesTargetInitialVelocity)
 		ff_velocity = {0.f, 0.f, 0.f};
 		expectDynamicsLimitsRespected(out);
 
-		if (Vector2f(position.xy() - TARGET.xy()).norm() < XY_ACC_RAD && fabsf(position(2) - TARGET(2)) < Z_ACC_RAD) {
+		if (position == TARGET) {
 			printf("Converged in %d iterations\n", iteration);
 			break;
 		}
 	}
 
-	EXPECT_LT(Vector2f(position.xy() - TARGET.xy()).norm(), XY_ACC_RAD);
-	EXPECT_LT(fabsf(position(2) - TARGET(2)), Z_ACC_RAD);
+	EXPECT_EQ(TARGET, position);
 	EXPECT_LT(iteration, N_ITER) << "Took too long to converge\n";
 }

src/lib/motion_planning/TrajectoryConstraints.hpp

@@ -74,11 +74,15 @@ inline float computeStartXYSpeedFromWaypoints(const Vector3f &start_position, co
 
 	const bool target_next_different = distance_target_next  > 0.001f;
 	const bool waypoint_overlap = distance_target_next < config.xy_accept_rad;
+	const bool has_reached_altitude = fabsf(target(2) - start_position(2)) < config.z_accept_rad;
+	const bool altitude_stays_same = fabsf(next_target(2) - target(2)) < config.z_accept_rad;
 
 	float speed_at_target = 0.0f;
 
 	if (target_next_different &&
-	    !waypoint_overlap
+	    !waypoint_overlap &&
+	    has_reached_altitude &&
+	    altitude_stays_same
 	   ) {
 		const float alpha = acosf(Vector2f((target - start_position).xy()).unit_or_zero().dot(
 						  Vector2f((target - next_target).xy()).unit_or_zero()));
@@ -104,15 +108,15 @@ inline float computeStartXYSpeedFromWaypoints(const Vector3f &start_position, co
  *
  * @return the maximum speed at waypoint[0] which allows it to follow the trajectory while respecting the dynamic limits
  */
-template <int N>
+template <size_t N>
 float computeXYSpeedFromWaypoints(const Vector3f waypoints[N], const VehicleDynamicLimits &config)
 {
 	static_assert(N >= 2, "Need at least 2 points to compute speed");
 
 	float max_speed = 0.f;
 
-	// go backwards through the waypoints
-	for (int i = (N - 2); i >= 0; i--) {
+	for (size_t j = 0; j < N - 1; j++) {
+		size_t i = N - 2 - j;
 		max_speed = computeStartXYSpeedFromWaypoints(waypoints[i],
 				waypoints[i + 1],
 				waypoints[min(i + 2, N - 1)],

src/lib/parameters/CMakeLists.txt

@@ -90,12 +90,12 @@ endif()
 
 add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_params_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--params-file ${generated_serial_params_file}
 		--serial-ports ${board_serial_ports} ${added_arguments} ${constrained_flash_arg}
 		--config-files ${module_config_files}
 		#--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
 		--params-file ${generated_module_params_file}
 		${added_arguments} ${board_with_io_arg}
 		--timer-config ${PX4_BOARD_DIR}/src/timer_config.cpp
@@ -114,7 +114,7 @@ set(parameters_xml ${PX4_BINARY_DIR}/parameters.xml)
 set(parameters_json ${PX4_BINARY_DIR}/parameters.json)
 file(GLOB_RECURSE param_src_files ${PX4_SOURCE_DIR}/src/*params.c ${PX4_SOURCE_DIR}/src/*parameters.c)
 add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json}.xz
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_process_params.py
 		--src-path ${module_list} ${generated_params_dir}
 		--xml ${parameters_xml}
 		--json ${parameters_json}
@@ -123,7 +123,7 @@ add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json
 		--overrides ${PARAM_DEFAULT_OVERRIDES}
 		--board ${PX4_BOARD}
 		#--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
 		--schema-file ${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink/component_information/parameter.schema.json
 		${parameters_json}
 		--skip-if-no-schema # mavlink submodule might not exist for current target if built in CI
@@ -145,7 +145,7 @@ add_custom_target(parameters_xml DEPENDS ${parameters_xml})
 
 # generate px4_parameters.hpp
 add_custom_command(OUTPUT px4_parameters.hpp
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_generate_params.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_generate_params.py
 		--xml ${parameters_xml} --dest ${CMAKE_CURRENT_BINARY_DIR}
 	DEPENDS
 		${PX4_BINARY_DIR}/parameters.xml
@@ -157,7 +157,7 @@ add_custom_target(parameters_header DEPENDS px4_parameters.hpp)
 set(SRCS)
 
 list(APPEND SRCS
-	parameters.cpp 
+	parameters.cpp
 	atomic_transaction.cpp
 	autosave.cpp
 )

src/lib/parameters/flashparams/flashfs32.c

@@ -1126,8 +1126,19 @@ int parameter_flashfs_init(sector_descriptor_t *fconfig, uint8_t *buffer, uint16
 	/*  No paramaters */
 
 	if (pf == NULL) {
-		// Parameters can't be found, assume sector is corrupt or empty
-		rv = parameter_flashfs_erase();
+		size_t total_size = size + sizeof(flash_entry_header_t);
+		size_t alignment = 31;//32-byte flash line - 1
+		size_t  size_adjust = ((total_size + alignment) & ~alignment) - total_size;
+		total_size += size_adjust;
+
+		/* Do we have free space ?*/
+
+		if (find_free(total_size) == NULL) {
+
+			/* No parameters and no free space => need erase */
+
+			rv  = parameter_flashfs_erase();
+		}
 	}
 
 	return rv;

src/lib/pid/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018-2024 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018 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
@@ -31,10 +31,4 @@
 #
 ############################################################################
 
-px4_add_library(PID
-	PID.cpp
-	PID.hpp
-)
-target_include_directories(PID PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-
-px4_add_unit_gtest(SRC PIDTest.cpp LINKLIBS PID)
+px4_add_library(pid pid.cpp)

src/lib/pid/PID.cpp

@@ -1,75 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022-2024 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include "PID.hpp"
-#include "lib/mathlib/math/Functions.hpp"
-
-void PID::setGains(const float P, const float I, const float D)
-{
-	_gain_proportional = P;
-	_gain_integral = I;
-	_gain_derivative = D;
-}
-
-float PID::update(const float feedback, const float dt, const bool update_integral)
-{
-	const float error = _setpoint - feedback;
-	const float output = (_gain_proportional * error) + _integral + (_gain_derivative * updateDerivative(feedback, dt));
-
-	if (update_integral) {
-		updateIntegral(error, dt);
-	}
-
-	_last_feedback = feedback;
-	return math::constrain(output, -_limit_output, _limit_output);
-}
-
-void PID::updateIntegral(float error, const float dt)
-{
-	const float integral_new = _integral + _gain_integral * error * dt;
-
-	if (std::isfinite(integral_new)) {
-		_integral = math::constrain(integral_new, -_limit_integral, _limit_integral);
-	}
-}
-
-float PID::updateDerivative(float feedback, const float dt)
-{
-	float feedback_change = 0.f;
-
-	if ((dt > FLT_EPSILON) && std::isfinite(_last_feedback)) {
-		feedback_change = (feedback - _last_feedback) / dt;
-	}
-
-	return feedback_change;
-}

src/lib/pid/PID.hpp

@@ -1,65 +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.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <cmath>
-
-class PID
-{
-public:
-	PID() = default;
-	virtual ~PID() = default;
-	void setOutputLimit(const float limit) { _limit_output = limit; }
-	void setIntegralLimit(const float limit) { _limit_integral = limit; }
-	void setGains(const float P, const float I, const float D);
-	void setSetpoint(const float setpoint) { _setpoint = setpoint; }
-	float update(const float feedback, const float dt, const bool update_integral = true);
-	float getIntegral() { return _integral; }
-	void resetIntegral() { _integral = 0.f; };
-	void resetDerivative() { _last_feedback = NAN; };
-private:
-	void updateIntegral(float error, const float dt);
-	float updateDerivative(float feedback, const float dt);
-
-	float _setpoint{0.f}; ///< current setpoint to track
-	float _integral{0.f}; ///< integral state
-	float _last_feedback{NAN};
-
-	// Gains, Limits
-	float _gain_proportional{0.f};
-	float _gain_integral{0.f};
-	float _gain_derivative{0.f};
-	float _limit_integral{0.f};
-	float _limit_output{0.f};
-};

src/lib/pid/PIDTest.cpp

@@ -1,130 +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.
- *
- ****************************************************************************/
-
-#include <gtest/gtest.h>
-#include <PID.hpp>
-
-TEST(PIDTest, AllZeroCase)
-{
-	PID pid;
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.f, false), 0.f);
-}
-
-TEST(PIDTest, OutputLimit)
-{
-	PID pid;
-	pid.setOutputLimit(.01f);
-	pid.setGains(.1f, 0.f, 0.f);
-	pid.setSetpoint(1.f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.f, false), .01f);
-	EXPECT_FLOAT_EQ(pid.update(.9f, 0.f, false), .01f);
-	EXPECT_NEAR(pid.update(.95f, 0.f, false), .005f, 1e-6f);
-	EXPECT_FLOAT_EQ(pid.update(1.f, 0.f, false), 0.f);
-	EXPECT_NEAR(pid.update(1.05f, 0.f, false), -.005f, 1e-6f);
-	EXPECT_FLOAT_EQ(pid.update(1.1f, 0.f, false), -.01f);
-	EXPECT_FLOAT_EQ(pid.update(1.15f, 0.f, false), -.01f);
-	EXPECT_FLOAT_EQ(pid.update(2.f, 0.f, false), -.01f);
-}
-
-TEST(PIDTest, ProportinalOnly)
-{
-	PID pid;
-	pid.setOutputLimit(1.f);
-	pid.setGains(.1f, 0.f, 0.f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.f, false), 0.f);
-	pid.setSetpoint(1.f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.f, false), .1f);
-	EXPECT_FLOAT_EQ(pid.update(1.f, 0.f, false), 0.f);
-
-	float plant = 0.f;
-	float output = 10000.f;
-	int i; // need function scope to check how many steps
-
-	for (i = 1000; i > 0; i--) {
-		const float output_new = pid.update(plant, 0.f, false);
-		plant += output_new;
-
-		// expect the output to get smaller with each iteration
-		if (output_new >= output) {
-			break;
-		}
-
-		output = output_new;
-	}
-
-	EXPECT_FLOAT_EQ(plant, 1.f);
-	EXPECT_GT(i, 0); // it shouldn't have taken longer than an iteration timeout to converge
-}
-
-TEST(PIDTest, InteralOpenLoop)
-{
-	PID pid;
-	pid.setOutputLimit(1.f);
-	pid.setGains(0.f, .1f, 0.f);
-	pid.setIntegralLimit(.05f);
-	pid.setSetpoint(1.f);
-
-	// Zero error
-	EXPECT_FLOAT_EQ(pid.update(1.f, 0.f, true), 0.f);
-	EXPECT_FLOAT_EQ(pid.update(1.f, 0.f, true), 0.f);
-	EXPECT_FLOAT_EQ(pid.update(1.f, 0.f, true), 0.f);
-
-	// Open loop ramp up
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), 0.f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .01f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .02f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .03f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .04f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .05f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .05f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .05f);
-
-	// Open loop ramp down
-	pid.setSetpoint(-1.f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .05f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .04f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .03f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .02f);
-	EXPECT_NEAR(pid.update(0.f, 0.1f, true), .01f, 1e-6f);
-	EXPECT_NEAR(pid.update(0.f, 0.1f, true), 0.f, 1e-6f);
-	EXPECT_NEAR(pid.update(0.f, 0.1f, true), -.01f, 1e-6f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.02f);
-	EXPECT_NEAR(pid.update(0.f, 0.1f, true), -.03f, 1e-6f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.04f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.05f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.05f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.05f);
-	pid.resetIntegral();
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), 0.f);
-	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.01f);
-}