make demo work with pca.

ucan pwm enablement.
S32K1 fixes.
2026-05-30 09:30:05 +08:00 · 2022-06-01 18:22:23 -04:00 · 2022-06-01 13:36:40 -04:00 · 2022-05-31 16:56:49 -04:00 · 2022-05-26 10:52:08 -04:00 · 2022-05-25 17:44:54 -04:00
475 changed files with 17251 additions and 9774 deletions
@@ -44,7 +44,7 @@ pipeline {
                     "ark_can-rtk-gps_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
-                     "bitcraze_crazyflie2_default",
+                     "bitcraze_crazyflie_default",
                     "bitcraze_crazyflie21_default",
                     "cuav_can-gps-v1_canbootloader",
                     "cuav_can-gps-v1_default",
@@ -105,6 +105,7 @@ pipeline {
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5x_default",
+                     "px4_fmu-v6c_default",
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
@@ -794,7 +794,7 @@ void resetParameters() {
 void runTests() {

  // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'

  resetParameters()

@@ -864,12 +864,15 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
@@ -1,32 +1,34 @@
 ---
-name: Bug report
+name: 🐛 Bug report
 about: Create a report to help us improve
+labels: bug-report

 ---

-**Describe the bug**
+## Describe the bug
 A clear and concise description of the bug.

-**To Reproduce**
+## To Reproduce
 Steps to reproduce the behavior:
 1. Drone switched on '...'
 2. Uploaded mission '....' (attach QGC mission file)
 3. Took off '....'
 4. See error

-**Expected behavior**
+## Expected behavior
 A clear and concise description of what you expected to happen.

-**Log Files and Screenshots**
+## Log Files and Screenshots
 *Always* provide a link to the flight log file:
 - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
+- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+- Share the link to the log (Copy and paste the URL of the log)

 Add screenshots to help explain your problem.

-**Drone (please complete the following information):**
+## Drone (please complete the following information):
 - Describe the type of drone.
 - Photo of the IMU / autopilot setup if possible.

-**Additional context**
+## Additional context
 Add any other context about the problem here.
@@ -1,19 +1,20 @@
 ---
 name: 🚀 Feature Request
 about: Suggest an idea for this project
+labels: feature-request

 ---

 For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).

-**Describe problem solved by the proposed feature**
+## Describe problem solved by the proposed feature
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...

-**Describe your preferred solution**
+## Describe your preferred solution
 A clear and concise description of what you want to happen.

-**Describe possible alternatives**
+## Describe possible alternatives
 A clear and concise description of alternative solutions or features you've considered.

-**Additional context**
+## Additional context
 Add any other context or screenshots for the feature request here.
@@ -1,10 +1,13 @@
 ---
 name: ⛔ Support Question
-about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.
+about: See http://discuss.px4.io/ for questions about using PX4.

 ---

-We use GitHub issues only to discuss PX4 bugs and new features. For
-questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).
+## Attention! Please read the note below
+
+We use GitHub issues only to discuss PX4 bugs and new features.
+
+**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**

 Thanks!
@@ -1,9 +1,11 @@
 ---
 name: ⛔ Documentation Issue
-about: See https://github.com/PX4/Devguide for documentation issues
+about: See https://github.com/PX4/px4_user_guide for documentation issues

 ---

-PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).
+## Attention! Please read the note below
+
+**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**

 Thanks!
@@ -1,17 +1,17 @@
 Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.

-**Describe problem solved by this pull request**
-A clear and concise description of the problem this proposed change will solve.
+## Describe problem solved by this pull request
+A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
 E.g. For this use case I ran into...

-**Describe your solution**
+## Describe your solution
 A clear and concise description of what you have implemented.

-**Describe possible alternatives**
+## Describe possible alternatives
 A clear and concise description of alternative solutions or features you've considered.

-**Test data / coverage**
+## Test data / coverage
 How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.

-**Additional context**
+## Additional context
 Add any other related context or media.
@@ -23,7 +23,7 @@ jobs:
          ark_cannode,
          atl_mantis-edu,
          av_x-v1,
-          bitcraze_crazyflie2,
+          bitcraze_crazyflie,
          bitcraze_crazyflie21,
          cuav_can-gps-v1,
          cuav_nora,
@@ -61,6 +61,7 @@ jobs:
          px4_fmu-v4pro,
          px4_fmu-v5,
          px4_fmu-v5x,
+          px4_fmu-v6c,
          px4_fmu-v6u,
          px4_fmu-v6x,
          raspberrypi_pico,
@@ -141,16 +141,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: av_x-v1_default
-    bitcraze_crazyflie2_default:
-      short: bitcraze_crazyflie2
+    bitcraze_crazyflie_default:
+      short: bitcraze_crazyflie
      buildType: MinSizeRel
      settings:
-        CONFIG: bitcraze_crazyflie2_default
-    bitcraze_crazyflie21_default:
-      short: bitcraze_crazyflie21
-      buildType: MinSizeRel
-      settings:
-        CONFIG: bitcraze_crazyflie21_default
+        CONFIG: bitcraze_crazyflie_default
    cuav_can-gps-v1_default:
      short: cuav_can-gps-v1_default
      buildType: MinSizeRel
@@ -271,7 +271,7 @@ misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
 	check_nxp_fmurt1062-v1_default \
 	check_mro_x21_default \
-	check_bitcraze_crazyflie2_default \
+	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
 	sizes
@@ -325,6 +325,7 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
 	# cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
@@ -32,3 +32,4 @@
 ############################################################################

 add_subdirectory(init.d)
+add_subdirectory(mixers)
@@ -33,4 +33,5 @@

 px4_add_romfs_files(
 	rcS
+	rc.output_defaults
 )
@@ -0,0 +1,32 @@
+#!/bin/sh
+#
+# UGV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Enable servo output on pins 3 and 4 (steering and thrust)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+#
+set PWM_OUT 12
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+#
+set PWM_MAIN_RATE 50
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 12
+
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_MIN 1000
+
+# Set mixer
+set MIXER IO_pass_ucan
@@ -65,8 +65,8 @@ unset BOARD_RC_DEFAULTS
 #
 # Start system state indicator.
 #
-rgbled start -X -q
-rgbled_ncp5623c start -X -q
+#rgbled start -X -q
+#rgbled_ncp5623c start -X -q

 #
 # board sensors: rc.sensors
@@ -86,10 +86,10 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial

 # Check for flow sensor
-if param compare SENS_EN_PX4FLOW 1
-then
-	px4flow start -X &
-fi
+#if param compare SENS_EN_PX4FLOW 1
+#then
+#	px4flow start -X &
+#fi

-uavcannode start
+#uavcannode start
 unset R
@@ -0,0 +1,36 @@
+############################################################################
+#
+#   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
+# 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_romfs_files(
+	IO_pass_ucan.main.mix
+)
@@ -0,0 +1,12 @@
+Passthrough mixer for PX4IO
+============================
+
+This file defines passthrough mixers suitable for testing.
+
+Channel group 0, channels 0-7 are passed directly through to the outputs.
+
+M: 1
+S: 0 0  10000  10000      0 -10000  10000
+
+M: 1
+S: 0 1  10000  10000      0 -10000  10000
@@ -7,6 +7,11 @@

 . ${R}etc/init.d/rc.vtol_defaults

+# TODO: Enable motor failure detection when the
+# VTOL no longer reports 0A for all ESCs in SITL
+param set-default FD_ACT_EN 0
+param set-default FD_ACT_MOT_TOUT 500
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2

@@ -9,7 +9,7 @@

 param set-default MAV_TYPE 21

-# param set-default SYS_CTRL_ALLOC 1
+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

 param set-default CA_ROTOR_COUNT 4
@@ -27,9 +27,7 @@ param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05

 param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_TILT 2
 param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_TILT 4
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
@@ -1,6 +1,4 @@

-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-
 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p

 # shellcheck disable=SC2154
@@ -95,10 +95,9 @@ fi

 if param compare SYS_AUTOCONFIG 1
 then
+	# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
+	param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
-
-	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 fi

 # multi-instance setup
@@ -196,14 +195,6 @@ fi

 . "$autostart_file"

-#
-# If autoconfig parameter was set, reset it and save parameters.
-#
-if [ $AUTOCNF = yes ]
-then
-	param set SYS_AUTOCONFIG 0
-fi
-
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250

@@ -55,4 +55,5 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
+	rc.output_defaults
 )
@@ -61,6 +61,8 @@ param set-default HIL_ACT_FUNC6 400

 param set SYS_HITL 1

+param set UAVCAN_ENABLE 0
+
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -20,6 +20,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -18,6 +18,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -20,6 +20,7 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -15,6 +15,8 @@ set MIXER quad_x

 param set SYS_HITL 1

+param set UAVCAN_ENABLE 0
+
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
 param set-default CA_ROTOR0_PY 0.15
@@ -8,6 +8,7 @@
 # @maintainer Roman Bapst <roman@auterion.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -93,6 +94,8 @@ param set-default HIL_ACT_FUNC8 203

 param set SYS_HITL 1

+param set UAVCAN_ENABLE 0
+
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -18,6 +18,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 # @board px4_fmu-v2 exclude
 #

@@ -16,6 +16,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -18,6 +18,7 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -13,6 +13,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -18,6 +18,7 @@
 # @output AUX4 Gear
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -8,6 +8,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -17,6 +17,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -18,6 +18,7 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -16,6 +16,7 @@
 # @output AUX3 Motor
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -8,6 +8,7 @@
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -8,6 +8,7 @@
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -8,6 +8,7 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -17,6 +17,7 @@
 # @output MAIN8 Elevon left
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -73,4 +74,4 @@ then
 	set PWM_OUT 1234
 else
 	set PWM_OUT 3456
-fi
+fi	
@@ -17,6 +17,7 @@
 # @output MAIN8 Pusher reverse channel
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -130,7 +131,6 @@ param set-default VT_F_TRANS_DUR 1
 param set-default VT_IDLE_PWM_MC 1025
 param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
-param set-default VT_FW_PERM_STAB 1
 param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

@@ -17,6 +17,7 @@
 # @output MAIN8 motor 4
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -21,6 +21,7 @@
 # @output AUX8 Rudder
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -20,6 +20,7 @@
 # @output AUX5 Throttle
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -13,6 +13,7 @@
 # @maintainer Roman Bapst <roman@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 # @board holybro_kakutef7 exclude
 #

@@ -12,6 +12,7 @@
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
+# @board bitcraze_crazyflie exclude
 # @board px4_fmu-v2 exclude
 #

@@ -12,6 +12,7 @@
 #
 # @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
 #
+# @board bitcraze_crazyflie exclude
 # @board px4_fmu-v2 exclude
 #

@@ -13,6 +13,7 @@
 # @maintainer Emmanuel Roussel
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -14,6 +14,7 @@
 # @output MAIN5 tail-rotor servo
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -20,6 +20,7 @@
 # @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -15,6 +15,7 @@
 # @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -10,6 +10,7 @@
 # @maintainer ThunderFly s.r.o.
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.balloon_defaults
@@ -18,6 +18,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -20,6 +20,7 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -20,6 +20,7 @@
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -21,6 +21,7 @@
 # @maintainer Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name Generic Output
+#
+# @maintainer
+#
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.output_defaults
+
+
+# Provide ESC a constant 1500 us pulse
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_MIN 1000
+
+# Set mixer
+set MIXER IO_pass
+
+set PWM_OUT 12
@@ -22,6 +22,7 @@
 # @maintainer Ian McNanie <ianmcnanie@gmail.com>
 # @maintainer William Peale <develop707@gmail.com>
 #
+# @board bitcraze_crazyflie exclude
 # @board px4_fmu-v2 exclude
 #

@@ -10,6 +10,7 @@
 # @output MAIN4 tail thruster
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.airship_defaults
@@ -15,6 +15,7 @@
 #
 # @maintainer
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -18,6 +18,7 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -16,6 +16,7 @@
 # @maintainer Julian Oes <julian@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -18,6 +18,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -18,6 +18,7 @@
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -16,6 +16,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -8,6 +8,7 @@
 # @maintainer James Goppert <james.goppert@gmail.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -8,6 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -8,6 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -8,6 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -11,6 +11,7 @@
 # @output MAIN4 motor 4
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -11,6 +11,7 @@
 # @output MAIN4 motor 4
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>
 #
@@ -8,6 +8,7 @@
 # @maintainer Farhang Naderi <farhang.nba@gmail.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -13,6 +13,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -8,6 +8,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -15,6 +15,7 @@
 # @maintainer Blankered
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -18,6 +18,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -7,6 +7,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -17,6 +17,7 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -10,6 +10,7 @@
 # @maintainer Beat Kueng <beat-kueng@gmx.net>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -8,6 +8,7 @@
 # @maintainer Beat Kueng <beat@px4.io>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -17,6 +17,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #

@@ -17,6 +17,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -15,6 +15,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #
 # @maintainer Hyon Lim <lim@uvify.com>
@@ -8,6 +8,7 @@
 # @maintainer Anton Matosov <anton.matosov@gmail.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -12,6 +12,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -19,6 +19,7 @@
 # @maintainer Ricardo Marques <marques.ricardo17@gmail.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -8,6 +8,7 @@
 # @maintainer Oleg Kalachev <okalachev@gmail.com>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -10,6 +10,7 @@
 #
 # @maintainer
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.rover_defaults
@@ -13,6 +13,7 @@
 # @maintainer Timothy Scott
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.rover_defaults
@@ -15,6 +15,7 @@
 # @maintainer Katrin Moritz
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.rover_defaults
@@ -19,6 +19,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 # @board px4_fmu-v2 exclude
 #

@@ -8,6 +8,7 @@
 # @maintainer
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.uuv_defaults
@@ -8,6 +8,7 @@
 # @maintainer Daniel Duecker <daniel.duecker@tuhh.de>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.uuv_defaults
@@ -17,6 +17,7 @@
 # @maintainer Thies Lennart Alff <thies.lennart.alff@tuhh.de>
 #
 # @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.uuv_defaults
@@ -18,6 +18,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -22,6 +22,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -18,6 +18,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -20,6 +20,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -20,6 +20,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board bitcraze_crazyflie exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -147,7 +147,7 @@ px4_add_romfs_files(
 	18001_TF-B1

 	# [22000, 22999] Reserve for custom models
-
+	22222_generic_output
 	24001_dodeca_cox

 	50000_generic_ground_vehicle
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Benjamin Perseghetti	5e5a1e1b1f	make demo work with pca.	2022-06-01 18:22:23 -04:00
Benjamin Perseghetti	b965b38730	ucan pwm enablement.	2022-06-01 13:36:40 -04:00
Benjamin Perseghetti	d688400dfa	S32K1 fixes.	2022-05-31 16:56:49 -04:00
Benjamin	f3839cb90c	Cyphal param updates.	2022-05-26 10:52:08 -04:00
Benjamin Perseghetti	925a6808e0	NXP demo board config. -LH	2022-05-25 17:44:54 -04:00
Matthias Grob	c03f5b9481	Commander: fix overlooked rebase naming error	2022-05-25 21:10:19 +02:00
alessandro	29c4119e24	Match commander uORB var names to message names (#19707 ) * match vehicle_status * match home_position * match vehicle_command_ack * match actuator_armed * match vehicle_control_mode * match commander_state	2022-05-25 17:08:48 +02:00
Daniel Agar	98354ba10a	Update submodule GPSDrivers to latest Wed May 25 12:38:58 UTC 2022 - devices in PX4/Firmware (7cc84e0f9e44697475b0f355df9a29de6ea6b9ff): https://github.com/PX4/PX4-GPSDrivers/commit/58968922b718176be8756f11113d16b2cfbc4022 - devices current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/181fae1a4b5e33576d786755782adb2f195ecc48 - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/58968922b718176be8756f11113d16b2cfbc4022...181fae1a4b5e33576d786755782adb2f195ecc48 181fae1 2022-05-23 numan - README: add information for definition.h	2022-05-25 09:56:40 -04:00
Daniel Agar	58ea6235fe	ekf2: estimator aid source status (range height)	2022-05-25 09:25:12 -04:00
Daniel Agar	1e25aee6fa	ekf2: estimator aid source status (baro height)	2022-05-25 09:25:12 -04:00
Silvan Fuhrer	4dbe6f0a1c	simulator_mavlink: fix MAV_TYPE_VTOL_TAILSITTER case This type (23) doesn't specify a motor number, so it can't be properly handled. There are duo (19) and quad (20) tailsitter types that still work in simulation. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-24 17:58:44 -04:00
Daniel Agar	376201e64d	boards: px4_fmu-v5/v5x init all I2C pins	2022-05-24 11:02:03 -04:00
bresch	d04a91a3ae	ekf2_post-processing: use estimator_status_flags instead of bitmasks	2022-05-24 16:15:42 +02:00
Beat Küng	016b8aeb35	MulticopterRateControl: fix thrust sign for acro Regression from `fbc109436f`	2022-05-24 15:03:17 +02:00
Matthias Grob	44be415e0e	mission_block: make "Delay until" item work while landed To enable landing, waiting and taking off again e.g. for delivery.	2022-05-24 13:42:03 +02:00
Matthias Grob	0be474430c	Commander: don't disarm on landing amid a mission	2022-05-24 13:42:03 +02:00
Matthias Grob	4f34207c4e	battery_params: increase default empty cellvoltage to 3.6v Based on feedback that very often the battery is used down too low. I observed this happens consistently when the cell voltage is properly load compensated. The default load compensation before #19429 was very inaccurate and resulted in unpredictable estimate. After that if there is a usable current measurement and the battery is within expected tolerances of the default internal resistance the compensation is pretty good and 3.5V is too low for an empty compensated cell voltage. That was seen in various logs where the compensated cell voltage was already dropping fast after 3.6V. In case the voltage is not load compensated the vehicle estimates the state of charge a bit too low which is safer than to high especially for a default configuration.	2022-05-24 11:26:58 +02:00
Mark Sauder	a1fb9fb7c6	rcS: Keep Mag Cal with AUTOCONFIG param reset in rcS, deprecate rcS AUTOCNF param (#19693 ) * Deprecate the rcS AUTOCNF script param and associated logic. * Update posix rcS to match previous commit.	2022-05-23 20:35:22 -04:00
Daniel Agar	639222dd65	ekf2: estimator aid source status (GPS pos, GPS vel)	2022-05-23 16:21:49 -04:00
Daniel Agar	1ae467e9cd	ekf2: estimator aid source status (starting with fake position)	2022-05-23 16:21:49 -04:00
Igor Misic	79a34b5aed	px4iofirmware: fix for bug introduced with #19558	2022-05-23 14:59:11 -04:00
Daniel Agar	d25a784a3a	icm42688p: only check configured registers periodically (as intended)	2022-05-23 14:58:23 -04:00
bresch	c57c575cfe	ekf2: use explicit flags instead of bitmask position This prevents bitmask mismatch when a new flag is inserted	2022-05-23 14:43:02 -04:00
Matthias Grob	62edcc7a57	battery: only compensate using sane current	2022-05-23 16:40:32 +02:00
Matthias Grob	2cbdcc9671	battery: default to reasonable internal resistance instead of disabling the load compensation using current.	2022-05-23 16:40:32 +02:00
Matthias Grob	58b1139a21	battery: allow setting precise internal resistance with parameter	2022-05-23 16:40:32 +02:00
Matthias Grob	2c5a7ea118	battery: rather undercompensate for load than over compensate which makes the estimate to high and breaks batteries beause they get flown for too long.	2022-05-23 16:40:32 +02:00
Serhat Aksun	bc220ddb82	sensors/vehicle_magnetometer: fix multi_mode check Signed-off-by: Serhat Aksun <serhat.aksun@maxwell-innovations.com>	2022-05-23 10:09:41 -04:00
Igor Misic	12a81979a8	px4io: replace safety_off state with safety button event (#19558 ) internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.	2022-05-23 06:54:37 +02:00
Igor Misic	08dcc72e1f	commander/safety: replace safety.msg with Safety class (#19558 )	2022-05-23 06:54:37 +02:00
Daniel Agar	b800600a6c	boards: px4_fmu-v2_fixeding disable fw_autotune_attitude_control to save flash	2022-05-22 12:32:24 -04:00
Daniel Agar	61d5a23445	Jenkinsfile: hardware test rack skip runing HITL airframes	2022-05-22 12:31:08 -04:00
Julian Oes	47bcee70c4	ROMFS: disable UAVCAN in HITL Without this, uavcan creates MixingOutput classes which then create empty actuator_outputs publications. This then prevents the motor output in HITL to be forwarded to the simulator via mavlink.	2022-05-21 17:53:20 -04:00
bresch	00e88a02c0	baro bias: improve innovation sequence monitoring The baro observation noise parameter is often over-estimated in order as a measure to mitigate temporary offsets in the readings due to wind gusts or poor pressure compensation tuning. The side effect is that the innovation sequence monitoring based on normalized innovation struggles to detect an offset in the state because the innovation isn't statistically significant. To counter this issue, a simpler check is added to trigger the process noise boost when the innovation has the same sign for a long period of time.	2022-05-21 22:37:04 +02:00
PX4 BuildBot	c3f10c2cb1	Update submodule sitl_gazebo to latest Sat May 21 12:38:49 UTC 2022 - sitl_gazebo in PX4/Firmware (`422be90140`): https://github.com/PX4/PX4-SITL_gazebo/commit/48440d7b5c78a21182415266334981f1163f4b2c - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/5eb5df80450a412076bfc24e7dd343839020f056 - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/48440d7b5c78a21182415266334981f1163f4b2c...5eb5df80450a412076bfc24e7dd343839020f056 5eb5df8 2022-04-28 stmoon - ROS2_PLUGIN set OFF by default c8f4d5b 2022-04-28 stmoon - update the motor failure plugin for ros2	2022-05-21 14:58:42 -04:00
Daniel Agar	db4545e442	Update world_magnetic_model to latest Sat May 21 11:14:10 UTC 2022	2022-05-21 14:57:55 -04:00
mcsauder	6b0788ff46	Standardize variable naming and formatting across vehicle attitude controller files.	2022-05-21 12:22:18 -04:00
Junwoo Hwang	422be90140	Update Issue and Pull Request Templates 1. Change the paragraph headings to proper Markdown headings (easier to link / structure the Markdown) 2. Move PULL_REQUEST_TEMPLATE into .github folder 3. Change description in Issue template and remove outdated DevGuide Repository information 4. Add a bug emoji to bug report isue template 5. Support automatically adding labels 'bug-report' and 'feature-request' to easily sort / filter appropriate issues in Github	2022-05-20 21:01:14 -04:00
Julian Oes	d08e5eae2d	sitl_gazebo: update submodule This fixes the issue where HITL doesn't connect over USB.	2022-05-20 21:00:33 -04:00
Daniel Agar	c40631c136	commander: handle RC loss timeout if manual_control_setpoint stops publishing (#19680 ) Co-authored-by: Matthias Grob <maetugr@gmail.com>	2022-05-20 19:37:30 -04:00
David Sidrane	2bdeb36ea3	px4_fmu-v6x:Add Rev 4 Sensors	2022-05-20 15:52:32 -04:00
David Sidrane	9d0e57230a	boards: new px4_fmu-v6c board support (#19544 )	2022-05-20 15:49:06 -04:00
Julian Oes	33a77c225c	commander: lockdown is not termination We use lockdown to prevent outputs like motors and servos from being active in HITL simulation. This means that we can't treat the lockdown flag as a flight_terminated, otherwise we can't arm in HITL at all.	2022-05-20 09:43:32 -04:00
Nicolas MARTIN	a0cb7f6258	HITL: undefined time_remaining_s should be NAN	2022-05-20 09:38:43 -04:00
Nico van Duijn	04071b9456	Commander: ignore MAV_CMD_REQUEST_MSG This commit adds the MAV_CMD_REQUEST_MESSAGE to the list of vehicle commands which are ignored without generating a warning sound.	2022-05-20 15:36:42 +02:00
Matthias Grob	38e027ee45	ArmStateMachine: remove dependency on armed.armed To have the internal state as single source of truth for the arming state within Commander.	2022-05-20 13:51:51 +02:00
Matthias Grob	37c485ce89	ArmStateMachine: move arm state into the class	2022-05-20 13:51:51 +02:00
Matthias Grob	47532ca07b	ArmStateMachine: replace state name array with method	2022-05-20 13:51:51 +02:00
alessandro	c5bbf4553b	ubuntu.sh: fix gazebo and openjdk for 22.04	2022-05-20 06:38:09 +02:00
Matthias Grob	887fe7dba2	commander_params: shorten low battery action delay I got multiple times the feedback now that a consistent delay is helpful and makes sense but the default delay is too long for low battery action where you're trying to come back in time and possibly the emergency reaction kicks in while the critical action is executing which leads to a longer accumulated delay.	2022-05-19 21:54:09 +02:00
Daniel Agar	fd4b62032e	commander: publish actuator_armed first on any change	2022-05-19 12:47:50 -04:00
PX4 BuildBot	9518b65f93	Update submodule mavlink to latest Thu May 19 00:38:59 UTC 2022 - mavlink in PX4/Firmware (87c73145b36a835b1635de0498a5613a7af5cafc): https://github.com/mavlink/mavlink/commit/a1cb2c0e71f191f04da3d92d92db8702a7e91ff6 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/99e82cad70494903a23a67de08ff9cbb5918d8f3 - Changes: https://github.com/mavlink/mavlink/compare/a1cb2c0e71f191f04da3d92d92db8702a7e91ff6...99e82cad70494903a23a67de08ff9cbb5918d8f3 99e82cad 2022-05-19 Hamish Willee - Deprecated GPS_INJECT_DATA (#1842) bf3df03d 2022-05-16 Hamish Willee - WIND_COV - accuracy units are m/s (#1844) a73d4864 2022-05-11 Hamish Willee - development.xml FIGURE_EIGHT_EXECUTION_STATUS - add a note about it being set at lower rate (#1841)	2022-05-18 21:41:08 -04:00
mcsauder	e8da98fd14	Add gyro clipping to mirror accel clipping monitoring instances.	2022-05-18 21:16:05 -04:00
mcsauder	ea10eacb99	Replace EKF/common.h #defines with enums.	2022-05-18 09:25:19 -04:00
Silvan Fuhrer	8f2c84d36f	VTOL paras: add min of 0.1 to transition times Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	c29ca6c959	tailsitter: guard against division by 0 Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	3cf07e1be5	VTOL: rename params _PTCH to _PITCH Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	7c5f0121a5	VTOL: remove some unsued variables Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	2b7efeacca	vtol_vehicle_status: replace several status bools by single vehicle_vtol_state Replace vtol_in_rw_mode, vtol_in_trans_mode, in_transition_to_fw by vehicle_vtol_state. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	635f64a2e5	Commander: remove permanent stabilization option for fixed-wing flight Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	d8444df11c	Set tailsitter flag via vehicle status Removes the necessity of including vtol_type.h in other modules. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	7292ce483c	VTOL: move to cpp params API Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Daniel Agar	ff16131874	icm42670p run at full speed	2022-05-17 08:14:22 -07:00
Daniel Agar	83daf648ef	drivers/imu/invensense/icm42670p: cleanup and small fixes	2022-05-17 08:14:22 -07:00
Peter van der Perk	3ea492b7a2	UCANS32K146 Fix CAN1 STB pin	2022-05-17 03:13:05 -07:00
Matthias Grob	02e11eddce	mavlink_mission: add more specific information to the error message	2022-05-17 07:49:00 +02:00
Junwoo Hwang	146f0cafe0	Add get*Expo() functions to the Sticks library To return Exponential Values, which is helpful for reducing the sensitivity of the stick around the centered value (0), since it's exponential curve. Useful for user adjustment implementations, where accidentally touching the stick wouldn't have so much effect when using the Exponential value, compared to using the raw position value.	2022-05-16 23:55:05 +02:00
Matthias Grob	4bd2d4cf35	rc_update: add unit tests for mode slot To verify RC mode switch and mode button functionality works as expected.	2022-05-16 14:37:29 +02:00
achim	3fe4c6e3f5	boards: matek h743-mini specify drivers to still fit to flash - the code has become a bit bigger again that now the drivers have to be specified a bit more precisely to still fit into the flash.	2022-05-13 14:05:04 -04:00
Beat Küng	32df76ca8a	dshot: handle DSHOT_MIN for reversible outputs Also ensures there's no deadband if dead_l == dead_h (the default).	2022-05-13 14:04:01 -04:00
Matthias Grob	57a0289627	trajectory_setpoint: correct comment typo "kinematically" Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>	2022-05-12 17:19:48 +02:00
Matthias Grob	4017f4bb0b	vehicle_local_position_setpoint: reorder fields for clarity	2022-05-12 17:19:48 +02:00
Matthias Grob	b67fbac296	uuv_pos_control: siplify passing on trajectory position setpoint	2022-05-12 17:19:48 +02:00
Matthias Grob	200124f094	mavlink_receiver: check entire Vectors for NAN Note: Behavioral change Inf also results in the flag being true.	2022-05-12 17:19:48 +02:00
Matthias Grob	8ca28f3796	Separate message for trajectory setpoint	2022-05-12 17:19:48 +02:00
Beat Küng	9166b6953d	output drivers: init SmartLock after exit_and_cleanup This fixes an invalid memory access when exiting the module: exit_and_cleanup destroys the object, but lock_guard is destructed after and accesses the lock.	2022-05-12 08:16:35 -04:00
Beat Küng	0a9378e0f6	mavsdk_tests: ensure motor is stopped for motor failure test	2022-05-12 07:58:56 +02:00
Alessandro Simovic	b5a3c58a95	sitl: loosen some timeouts The typhoon_h480 model would not always complete takeoff in 30 seconds or finish the mission within 60 seconds.	2022-05-12 07:58:56 +02:00
Alessandro Simovic	5c1932dcca	disable engine failure detector for SITL VTOL Tried increasing ESC timeout for VTOL first VTOL sitl tests are failing because the ESC telemetry seems to be coming in at 0.3 Hz	2022-05-12 07:58:56 +02:00
Alessandro Simovic	06f69cd469	Add SITL tests for control allocation	2022-05-12 07:58:56 +02:00
Beat Küng	0f860045f7	failure_detector: add failure injector class for motor telemetry This allows to test motor failures via 'failure motor off -i 1' on a real system.	2022-05-12 07:58:56 +02:00
Alessandro Simovic	4640f395d7	simulator_mavlink: Add ESC telemetry	2022-05-12 07:58:56 +02:00
Alessandro Simovic	20ccfbb719	control_allocator: remove failed motor from effectiveness - limit to handling only 1 motor failure - Log which motor failures are handled - Remove motor from effectiveness matrix without recomputing the scale / normalization	2022-05-12 07:58:56 +02:00
Alessandro Simovic	fb71e7587c	failure_detector: add motor/ESC failure detection	2022-05-12 07:58:56 +02:00
Beat Küng	dfd934fbdb	esc_report: add actuator_function	2022-05-12 07:58:56 +02:00
Hamish Willee	aab2feb8f5	pwm.cpp: remove the test example (#19587 )	2022-05-12 07:56:13 +02:00
alexklimaj	0f69f8ced8	Fix uavcan battery causing immediate RTL time remaining low	2022-05-11 21:48:12 -04:00
Daniel Agar	fba7c972d1	drivers/rc_input: ensure RC inversion is disabled initially and latch RC_INPUT_PROTO conservatively - this allows jumping straight to a non-SBUS RC protocol - increased the scan time per protocol 300->500 ms, which the newer DSM parser seems to need in some cases. - only set RC_INPUT_PROTO if we've had a successful RC lock for > 3 seconds	2022-05-11 14:30:41 -04:00
Daniel Agar	c772e5230f	commander: remove compile time dependencies on non-commander parameters - this allows builds with mavlink fully disabled - move commander MAN_ARM_GESTURE, RC_MAP_ARM_SW, MC_AIRMODE checks to manual_control	2022-05-11 10:14:23 -04:00
Beat Küng	8d36ba6727	log_writer_file: fix corner case when mission log is enabled Normally _should_run for mission is only ever true if _should_run for the normal log is. There are exceptions though: - the log buffer fails to allocate - there was a write failure (e.g. due to SD card removal) In that situation, the writer would not wait anymore but busy-loop.	2022-05-11 10:06:35 -04:00
Beat Küng	ebbe08bc86	log_writer_file: protect access to _should_run, use px4::atomicbool for _exit_thread	2022-05-11 10:06:35 -04:00
Peter van der Perk	0053aeec97	Cyphal restore O1Heap statistics	2022-05-11 09:49:18 -04:00
Peter van der Perk	e62e8b58d1	Update UCANS32K146 clocking to use XTAL and support higher pheriphal freq	2022-05-11 06:02:39 -07:00
Silvan Fuhrer	ea2c1095c2	ROMFS: SITL tiltrotor: enable control allocaton and only tilt front motors Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-11 10:19:37 +02:00
Silvan Fuhrer	866f9fa95b	Control Allocation: add option to disable yaw by differential thrust This replaces the propeller_torque_disabled flag to disable yaw by differential thrust for tiltrotor and tailsitter VTOLs, as propeller_torque_disabled is not enough to set effectiveness of an acutator in the yaw axis to 0 in case it's tilted. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-11 10:19:37 +02:00
Silvan Fuhrer	46179586fb	Control Allocation: Tiltrotor: pass only thrust magnitude instead of 3D thrust to allocator Special case tiltrotor: instead of passing a 3D thrust vector (that would mostly have a x-component in FW, and z in MC), pass the vector magnitude as z-component, plus the collective tilt. Passing 3D thrust plus tilt is not feasible as they can't be allocated independently, and with the current controller it's not possible to have collective tilt calculated by the allocator directly. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-11 10:19:37 +02:00