WIP: Serial driver

ekf2: increase optical flow preflight check innovation limit (#20940 )
rename 'gazebo' simulation to 'gazebo-classic' (#20936 )
2026-05-31 13:20:06 +08:00 · 2023-01-16 21:47:12 -05:00 · 2023-01-15 17:52:12 -05:00 · 2023-01-15 11:36:12 -05:00 · 2023-01-14 19:24:47 -05:00 · 2023-01-14 19:23:19 -05:00
334 changed files with 3423 additions and 799 deletions
@@ -755,9 +755,11 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'

+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest

+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
@@ -59,13 +59,13 @@ jobs:
      run: |
          export
          ulimit -a
-    - name: Build PX4 and sitl_gazebo
+    - 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
+        make px4_sitl_default sitl_gazebo-classic
        ccache -s

    - name: Core dump settings
@@ -54,13 +54,13 @@ jobs:
      run: |
          export
          ulimit -a
-    - name: Build PX4 and sitl_gazebo
+    - 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
+        make px4_sitl_default sitl_gazebo-classic
        ccache -s

    - name: Core dump settings
@@ -74,14 +74,14 @@ jobs:
    - name: Build SITL Gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo
-    - name: ccache post-run sitl_gazebo
+      run: make px4_sitl_default sitl_gazebo-classic
+    - name: ccache post-run sitl_gazebo-classic
      run: ccache -s
    - name: Build MAVSDK tests
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
        DONT_RUN: 1
-      run: make px4_sitl_default sitl_gazebo mavsdk_tests
+      run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
    - name: ccache post-run mavsdk_tests
      run: ccache -s

@@ -47,8 +47,6 @@ GTAGS
 *.files
 *.includes

-Tools/jlink-nuttx.so
-
 # CLion ignores
 .idea
 cmake-build-*/
@@ -10,9 +10,9 @@
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
 	branch = main
-[submodule "Tools/simulation/gazebo/sitl_gazebo"]
-	path = Tools/simulation/gazebo/sitl_gazebo
-	url = https://github.com/PX4/PX4-SITL_gazebo.git
+[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
+	path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
+	url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
 	branch = main
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
@@ -4,6 +4,7 @@ compile_commands.json

 # generated by cmake
 launch.json
+c_cpp_properties.json

 # C/C++ extension does some local caching in this folder
 ipch/
@@ -266,6 +266,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: nxp_fmuk66-v3_default
+    nxp_mr-canhubk3_default:
+      short: nxp_mr-canhubk3_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-canhubk3_default
+    nxp_mr-canhubk3_fmu:
+      short: nxp_mr-canhubk3_fmu
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-canhubk3_fmu
    raspberrypi_pico_default:
      short: raspberrypi_pico
      buildType: MinSizeRel
@@ -67,9 +67,9 @@
            "dependsOn":["px4_sitl_cleanup"]
        },
        {
-            "label": "gazebo build",
+            "label": "gazebo-classic build",
            "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo",
+            "command": "make px4_sitl_default sitl_gazebo-classic",
            "options": {
                "cwd": "${workspaceFolder}"
            },
@@ -86,18 +86,18 @@
            "problemMatcher": [],
        },
        {
-            "label": "gazebo start",
+            "label": "gazebo-classic start",
            "type": "shell",
-            "dependsOn": "gazebo build",
+            "dependsOn": "gazebo-classic build",
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -128,18 +128,18 @@
            ]
        },
        {
-            "label": "gazebo",
+            "label": "gazebo-classic",
            "type": "shell",
-            "dependsOn": "gazebo start",
+            "dependsOn": "gazebo-classic start",
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
            "isBackground": false,
            "presentation": {
                "echo": true,
@@ -194,7 +194,7 @@
            "dependsOn":["ign gazebo kill"]
        },
        {
-            "label": "gazebo kill",
+            "label": "gazebo-classic kill",
            "type": "shell",
            "command": "pkill -9 -f gzserver || true",
            "presentation": {
@@ -324,10 +324,6 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-jlink-nuttx:
-	$(CC) -shared -fPIC platforms/nuttx/NuttX/nuttx/tools/jlink-nuttx.c -o Tools/jlink-nuttx.so
-
-
 bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

@@ -392,17 +388,17 @@ tests_coverage:


 rostest: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic

 tests_integration: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json

 tests_integration_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
 	@mkdir -p coverage
@@ -412,13 +408,13 @@ tests_mission: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test

 rostest_run: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)

 tests_mission_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic PX4_CMAKE_BUILD_TYPE=Coverage
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
 	@$(MAKE) --no-print-directory px4_sitl_default generate_coverage

@@ -493,7 +489,7 @@ validate_module_configs:

 # Cleanup
 # --------------------------------------------------------------------
-.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
+.PHONY: clean submodulesclean submodulesupdate distclean

 clean:
 	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
@@ -511,10 +507,7 @@ submodulesupdate:
 	@git submodule update --init --recursive --jobs 4
 	@git fetch --all --tags --recurse-submodules=yes --jobs=4

-gazeboclean:
-	@rm -rf ~/.gazebo/*
-
-distclean: gazeboclean
+distclean:
 	@git submodule deinit --force $(SRC_DIR)
 	@rm -rf "$(SRC_DIR)/build"
 	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
@@ -33,39 +33,39 @@

 px4_add_romfs_files(

-	1010_gazebo_iris_opt_flow
-	1010_gazebo_iris_opt_flow.post
-	1011_gazebo_iris_irlock
-	1012_gazebo_iris_rplidar
-	1013_gazebo_iris_vision
-	1013_gazebo_iris_vision.post
-	1015_gazebo_iris_obs_avoid
-	1015_gazebo_iris_obs_avoid.post
-	1017_gazebo_iris_opt_flow_mockup
-	1019_gazebo_iris_dual_gps
-	1021_gazebo_uuv_hippocampus
-	1022_gazebo_uuv_bluerov2_heavy
-	1030_gazebo_plane
-	1031_gazebo_plane_cam
-	1032_gazebo_plane_catapult
+	1010_gazebo-classic_iris_opt_flow
+	1010_gazebo-classic_iris_opt_flow.post
+	1011_gazebo-classic_iris_irlock
+	1012_gazebo-classic_iris_rplidar
+	1013_gazebo-classic_iris_vision
+	1013_gazebo-classic_iris_vision.post
+	1015_gazebo-classic_iris_obs_avoid
+	1015_gazebo-classic_iris_obs_avoid.post
+	1017_gazebo-classic_iris_opt_flow_mockup
+	1019_gazebo-classic_iris_dual_gps
+	1021_gazebo-classic_uuv_hippocampus
+	1022_gazebo-classic_uuv_bluerov2_heavy
+	1030_gazebo-classic_plane
+	1031_gazebo-classic_plane_cam
+	1032_gazebo-classic_plane_catapult
 	1033_jsbsim_rascal
 	1034_flightgear_rascal-electric
-	1035_gazebo_techpod
+	1035_gazebo-classic_techpod
 	1036_jsbsim_malolo
-	1037_gazebo_believer
-	1038_gazebo_glider
-	1039_gazebo_advanced_plane
-	1040_gazebo_standard_vtol
-	1041_gazebo_tailsitter
-	1042_gazebo_tiltrotor
-	1043_gazebo_standard_vtol_drop
-	1044_gazebo_plane_lidar
-	1060_gazebo_rover
-	1061_gazebo_r1_rover
+	1037_gazebo-classic_believer
+	1038_gazebo-classic_glider
+	1039_gazebo-classic_advanced_plane
+	1040_gazebo-classic_standard_vtol
+	1041_gazebo-classic_tailsitter
+	1042_gazebo-classic_tiltrotor
+	1043_gazebo-classic_standard_vtol_drop
+	1044_gazebo-classic_plane_lidar
+	1060_gazebo-classic_rover
+	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1
-	1070_gazebo_boat
+	1070_gazebo-classic_boat

-	2507_gazebo_cloudship
+	2507_gazebo-classic_cloudship

 	3010_jsbsim_quadrotor_x
 	3011_jsbsim_hexarotor_x
@@ -73,14 +73,14 @@ px4_add_romfs_files(
 	4001_gz_x500
 	4002_gz_x500_depth

-	6011_gazebo_typhoon_h480
-	6011_gazebo_typhoon_h480.post
+	6011_gazebo-classic_typhoon_h480
+	6011_gazebo-classic_typhoon_h480.post

-	10016_gazebo_iris
+	10016_gazebo-classic_iris
 	10017_jmavsim_iris
-	10018_gazebo_iris_foggy_lidar
-	10019_gazebo_omnicopter
-	10030_gazebo_px4vision
+	10018_gazebo-classic_iris_foggy_lidar
+	10019_gazebo-classic_omnicopter
+	10030_gazebo-classic_px4vision

 	10040_sihsim_quadx
 	10041_sihsim_airplane
@@ -101,12 +101,24 @@ then
 	pmw3901 -S start
 fi

+# vl53l0x i2c distance sensor
+if param compare -s SENS_EN_VL53L0X 1
+then
+	vl53l0x start -X
+fi
+
 # vl53l1x i2c distance sensor
 if param compare -s SENS_EN_VL53L1X 1
 then
 	vl53l1x start -X
 fi

+# tf02 pro i2c distance sensor
+if param compare -s SENS_EN_TF02PRO 1
+then
+	tf02pro start -X
+fi
+
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
@@ -16,9 +16,9 @@ SRC_DIR=$1
 BUILD_DIR=$2

 # setup Gazebo env and update package path
-export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo
-export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo/sitl_gazebo/models
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo
+export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo-classic
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo-classic

 echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
 echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"
@@ -1,10 +1,10 @@
 #!/bin/bash
 # run multiple instances of the 'px4' binary, with the gazebo SITL simulation
-# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo'
+# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo-classic'

 # The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
 # For example gazebo can be run like this:
-#./Tools/simulation/gazebo/sitl_multiple_run.sh -n 10 -m iris
+#./Tools/simulation/gazebo-classic/sitl_multiple_run.sh -n 10 -m iris

 function cleanup() {
 	pkill -x px4
@@ -35,7 +35,7 @@ function spawn_model() {
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $N in $(pwd)"
 	$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &
-	python3 ${src_path}/Tools/simulation/gazebo/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
+	python3 ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf

 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"

@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
 world=${WORLD:=empty}
 target=${TARGET:=px4_sitl_default}
 vehicle_model=${VEHICLE_MODEL:="iris"}
-export PX4_SIM_MODEL=gazebo_${vehicle_model}
+export PX4_SIM_MODEL=gazebo-classic_${vehicle_model}

 echo ${SCRIPT}
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
@@ -84,7 +84,7 @@ pkill -x px4 || true

 sleep 1

-source ${src_path}/Tools/simulation/gazebo/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
+source ${src_path}/Tools/simulation/gazebo-classic/setup_gazebo.bash ${src_path} ${src_path}/build/${target}

 # To use gazebo_ros ROS2 plugins
 if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
@@ -94,7 +94,7 @@ else
 fi

 echo "Starting gazebo"
-gzserver ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
+gzserver ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world --verbose $ros_args &
 sleep 5

 n=0
@@ -126,7 +126,7 @@ else

 		m=0
 		while [ $m -lt ${target_number} ]; do
-			export PX4_SIM_MODEL=gazebo_${target_vehicle}
+			export PX4_SIM_MODEL=gazebo-classic_${target_vehicle}
 			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))
@@ -67,7 +67,7 @@ fi
 # be running from last time
 pkill -x gazebo || true

-export PX4_SIM_MODEL=gazebo_${model}
+export PX4_SIM_MODEL=gazebo-classic_${model}
 export PX4_SIM_WORLD=${world}

 SIM_PID=0
@@ -77,25 +77,25 @@ if [ -x "$(command -v gazebo)" ]; then
 	model_name="${model}"

 	# Set the plugin path so Gazebo finds our model and sim
-	source "$src_path/Tools/simulation/gazebo/setup_gazebo.bash" "${src_path}" "${build_path}"
+	source "$src_path/Tools/simulation/gazebo-classic/setup_gazebo.bash" "${src_path}" "${build_path}"
 	if [ -z $PX4_SITL_WORLD ]; then
 		#Spawn predefined world
 		if [ "$world" == "none" ]; then
-			if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world ]; then
+			if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world ]; then
 				echo "empty world, default world ${model}.world for model found"
-				world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world"
+				world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world"
 			else
 				echo "empty world, setting empty.world as default"
-				world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world"
+				world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world"
 			fi
 		else
 			#Spawn empty world if world with model name doesn't exist
-			world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world"
+			world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world"
 		fi
 	else
-		if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
+		if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world ]; then
 			# Spawn world by name if exists in the worlds directory from environment variable
-			world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
+			world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world"
 		else
 			# Spawn world from environment variable with absolute path
 			world_path="$PX4_SITL_WORLD"
@@ -37,6 +37,10 @@ else
 	no_pxh=""
 fi

+if [ -n $FG_BINARY ]; then
+    FG_BINARY=fgfs
+fi
+
 export PX4_SIM_MODEL=jsbsim_${model}
 export PX4_SIM_WORLD=${world}

@@ -68,7 +72,7 @@ if [[ -n "$HEADLESS" ]]; then
 else
 	export FG_AIRCRAFT="${SRC_DIR}/Tools/simulation/jsbsim/jsbsim_bridge/models"

-	fgfs --fdm=null \
+	$FG_BINARY --fdm=null \
 		--native-fdm=socket,in,60,,5550,udp \
 		--aircraft=$JSBSIM_AIRCRAFT_MODEL \
 		--airport=${world} \
@@ -19,7 +19,7 @@ pkill -x px4 || true

 sleep 1

-export PX4_SIM_MODEL=gazebo_iris
+export PX4_SIM_MODEL=gazebo-classic_iris

 n=0
 while [ $n -lt $sitl_num ]; do
@@ -80,6 +80,7 @@ CONFIG_CDCACM_VENDORSTR="3D Robotics"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -21,6 +21,7 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
@@ -21,6 +21,7 @@ CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_EXPERIMENTAL=y
@@ -64,6 +64,7 @@ CONFIG_BUILTIN=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -21,6 +21,7 @@ CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_EXPERIMENTAL=y
@@ -64,6 +64,7 @@ CONFIG_BUILTIN=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -21,6 +21,7 @@ CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_EXPERIMENTAL=y
@@ -64,6 +64,7 @@ CONFIG_BUILTIN=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -21,6 +21,7 @@ CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_EXPERIMENTAL=y
@@ -64,6 +64,7 @@ CONFIG_BUILTIN=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -39,6 +39,7 @@ CONFIG_CDCACM_VENDORID=0x3185
 CONFIG_CDCACM_VENDORSTR="ARK"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FDCLONE_DISABLE=y
@@ -88,6 +88,7 @@ CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -85,6 +85,7 @@ CONFIG_CDCACM_VENDORSTR="Advanced Technology Labs"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -90,6 +90,7 @@ CONFIG_BUILTIN=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -80,6 +80,7 @@ CONFIG_CDCACM_VENDORSTR="Bitcraze AB"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -80,6 +80,7 @@ CONFIG_CDCACM_VENDORSTR="Bitcraze AB"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -21,6 +21,7 @@ CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_EXPERIMENTAL=y
@@ -66,6 +66,7 @@ CONFIG_BUILTIN=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -39,6 +39,7 @@ CONFIG_CDCACM_VENDORID=0x3163
 CONFIG_CDCACM_VENDORSTR="CUAV"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FDCLONE_DISABLE=y
@@ -83,6 +83,7 @@ CONFIG_CDCACM_VENDORSTR="CUAV"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 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
@@ -39,6 +39,7 @@ CONFIG_CDCACM_VENDORID=0x3163
 CONFIG_CDCACM_VENDORSTR="CUAV"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FDCLONE_DISABLE=y
@@ -83,6 +83,7 @@ CONFIG_CDCACM_VENDORSTR="CUAV"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -83,6 +83,7 @@ CONFIG_CDCACM_VENDORSTR="CUAV"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 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
@@ -39,6 +39,7 @@ CONFIG_CDCACM_VENDORID=0x2DAE
 CONFIG_CDCACM_VENDORSTR="CubePilot"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FDCLONE_DISABLE=y
@@ -84,6 +84,7 @@ CONFIG_CDCACM_VENDORSTR="CubePilot"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -84,6 +84,7 @@ CONFIG_CDCACM_VENDORSTR="CubePilot"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 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
@@ -85,6 +85,7 @@ CONFIG_CDCACM_VENDORSTR="CubePilot"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -82,6 +82,7 @@ CONFIG_CDCACM_VENDORSTR="Flywoo"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -22,6 +22,7 @@ CONFIG_BOARD_CUSTOM_LEDS=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_EXPERIMENTAL=y
@@ -78,6 +78,7 @@ CONFIG_CDCACM_VENDORSTR="Freefly"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -21,6 +21,7 @@ CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_EXPERIMENTAL=y
@@ -67,6 +67,7 @@ CONFIG_BUILTIN=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2015, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
 *       Author: Ben Dyer <ben_dyer@mac.com>
 *               Pavel Kirienko <pavel.kirienko@zubax.com>
 *               David Sidrane <david_s5@nscdg.com>
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2012-2015, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2021 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
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2018, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018-2021 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
@@ -39,6 +39,7 @@ CONFIG_CDCACM_VENDORID=0x3162
 CONFIG_CDCACM_VENDORSTR="Holybro"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FDCLONE_DISABLE=y
@@ -85,6 +85,7 @@ CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2019, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2021 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
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2018, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018-2021 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
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2020, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2020-2021 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
@@ -84,6 +84,7 @@ CONFIG_CDCACM_VENDORSTR="Holybro"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -39,6 +39,7 @@ CONFIG_CDCACM_VENDORID=0x3162
 CONFIG_CDCACM_VENDORSTR="Holybro"
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FDCLONE_DISABLE=y
@@ -85,6 +85,7 @@ CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2019, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2021 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
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	68d756d319	WIP: Serial driver	2023-01-16 21:47:12 -05:00
Alex Klimaj	00bfd5436a	ekf2: increase optical flow preflight check innovation limit (#20940 )	2023-01-15 17:52:12 -05:00
Daniel Agar	6991ac014c	rename 'gazebo' simulation to 'gazebo-classic' (#20936 ) - use `gazebo-classic` everywhere consistently referring to the original Gazebo (eg version 9,10,11) - additional `gazebo_*` helper targets added for compatibility, but warn about deprecation and tell you the new target naming - use `gz` everywhere when referring to Gazebo (aka Ignition Gazebo or new Gazebo)	2023-01-15 11:36:12 -05:00
Daniel Agar	6605378d0d	boards: px4_fmu-v6c_default disable systemcmds/serial_test to save flash	2023-01-14 19:24:47 -05:00
Daniel Agar	30a240a7a4	boards: modalai_fc-v2_default disable examples/fake_gps to save flash	2023-01-14 19:23:19 -05:00
Daniel Agar	52b9b9ba2f	simulation: restore 'gazebo' alias for 'gazebo_iris' - only create helper targets if Gazebo 11 found on system	2023-01-14 17:03:18 -05:00
murata	82ecbccd85	distance_sensor: Add TF02 Pro I2C	2023-01-14 09:28:33 -05:00
Jukka Laitinen	2985b5b9c2	msg/ActuatorTest.msg: Use default queue size the same as MAX_NUM_MOTORS For the esc_calibration code, the actuator test is published for each motor in a row. If the orb queue size is too small, messages are lost and not received in mixer_module. Set the default orb queue size of ActuatorTest high enough to keep the commands for all motors in the queue. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2023-01-14 09:19:10 -05:00
Daniel Agar	45912066d2	fix copyright header year range	2023-01-14 09:16:16 -05:00
Daniel Agar	674a59e48f	ekf2: new gyro bias limit parameter EKF2_GYR_B_LIM - default is now a more conservative 0.15 rad/s (~8.6 deg/s) instead of the previous hardcoded 20 deg/s	2023-01-14 09:15:46 -05:00
Andrew Wilkins	22f7d913bd	rover_pos_control: thrust normalization for joystick input (#20885 )	2023-01-13 20:11:39 -05:00
Peter van der Perk	7d92d4893e	VSCode C/C++ include path and config hints	2023-01-13 20:03:53 -05:00
Daniel Agar	c97381c97f	mavlink: streams SCALED_IMU fix gyro dt	2023-01-13 20:01:41 -05:00
Daniel Agar	5942194c66	iridiumsbd: advertise status topic immediately and log by default	2023-01-13 20:01:03 -05:00
Eric Katzfey	ac80dcd7a8	Voxl2: add qurt i2c driver support and first i2c driver voxlpm	2023-01-13 19:59:41 -05:00
Julian Oes	1e93ae3148	jsbsim: take FG_BINARY env var into account This is just to match the docs. Signed-off-by: Julian Oes <julian@oes.ch>	2023-01-13 17:07:20 -05:00
Silvan Fuhrer	7c766692c4	FW Att and Rate Controller, Tailsitter: fix tailsitter frame transformations Strictly follow the following convention for tailsitter: FW Attitude and FW rate controller always operate in the FW frame, meaning that roll is roll in FW, which for tailsitter means around the yaw axis in the body frame. The interfaces between modules is though always in body frame. That enables us to do the axis transformations for tailsitter, that are currently distributed all over the controller (attitude, rate, vtol module), only at the input and output data of modules. Side effect is that the FW rate control tuning gains meanings change: while before the roll gains where meant for the body axis, they are now always applied for the FW roll axis (also in hover). So the naming now is correct for FW, while before it was for Hover. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-13 18:18:11 +01:00
Silvan Fuhrer	edb59a9000	VTOL: improve QC parameter meta data Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-13 19:02:21 +03:00
Silvan Fuhrer	544be72503	VTOL: improve messaging for quad-chute triggered error messages Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-13 19:02:21 +03:00
Silvan Fuhrer	623c1418bb	Commander: improve messaging for vtol fixed-wing system failure arming check Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-13 19:02:21 +03:00
Silvan Fuhrer	303b879748	VTOL/Commander: rename transition_failsafe to vtol_fixed_wing_system_failure Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-13 19:02:21 +03:00
Silvan Fuhrer	2d4be68e00	VTOL: reset quad-chute failsafe flag when user triggeres a new transition to FW This failsafe flag is currently used for not allowing to re-transition to FW, as well as disabling pusher assist in hover. Till now it was only possible to reset it with a commanded transition to MC, which many ground station interfaces didn't allow as the system, after a quad-chute, already was in MC mode. Hereby it is changed to reset when a new transition to FW is triggered (either via RC switch or MAVLink command). It is the users responsibility to assess the situation after a quad-chute happened to try to transition to FW again, manually proceed/land the vehicle in MC, or let it finish the defined behavior after a quad-chute. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-13 19:02:21 +03:00
Silvan Fuhrer	8a680a3153	VTOL: fix quad-chute max altitude limit Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-13 19:02:21 +03:00
bresch	3d50a7ce44	CAL_MAG_SIDES: do not save with factory cal	2023-01-13 10:48:01 -05:00
bresch	3d73e273e6	MAG_SIDES: don't spam user to not change parameter otherwise this will always show up on every boot if factory calibration was done in an earlier release	2023-01-13 10:48:01 -05:00
Tanja Baumann	0099523710	v6x: fix IMU rotations for V6X009010 and V6X010010 (#20901 ) And add V6X000010 (pixhawk base board)	2023-01-13 14:09:35 +01:00
bresch	ced41febb7	hide legacy read-only parameter under Developer category	2023-01-13 11:40:56 +01:00
Matthias Grob	a7c03de434	StickAccelerationXY: apply jerk limit after drag	2023-01-13 10:19:43 +01:00
Eric Katzfey	2a315f86ca	Qurt specific drivers for testing and some updates to the startup process (#20917 ) * Added a couple of Qurt specific drivers for testing and some updates to Qurt startup code	2023-01-12 20:17:30 -05:00
Mathieu Bresciani	767fcb2774	sensors: prefix mag config param SENS instead of CAL (#20723 ) * sensors: prefix mag config param SENS instead of CAL * mag sides: keep CAL_MAG_SIDES required by QGC	2023-01-12 09:42:36 -05:00
Daniel Agar	635daeed8a	NuttX push jlink-nuttx into cmake and enable CONFIG_DEBUG_TCBINFO by default	2023-01-12 09:05:26 -05:00
Daniel Agar	5453630a6d	Jenkins: hardware test rack ignore irrelevant sensor timeouts	2023-01-11 16:56:19 -05:00
Peter van der Perk	8b5f35b3fe	Add S32K3 vscode support add Jlink rtos vscode support	2023-01-11 16:15:13 -05:00
Jaeyoung Lim	16d6e699bb	Update sitl_gazebo submodule	2023-01-11 14:39:05 -05:00
Daniel Agar	0f9bc351f1	ekf2: fix global_pos alt_reset_counter publish (#20906 ) - fixes #20900	2023-01-11 14:15:07 -05:00
SiHyun Noh	714b3d82fb	thepeach: update px4board kconfig to fix missing fw_rate_control module (#20898 )	2023-01-11 10:02:46 -05:00
Eric Katzfey	89180ac0f9	Fixed Kconfig and px4board files for voxl2	2023-01-11 09:53:18 -05:00
Julian Oes	72d36fc874	sensors: Add param for VL53L0X to startup It turns out there was no param to enable starting the VL53L0X at startup. Signed-off-by: Julian Oes <julian@oes.ch>	2023-01-11 09:52:27 -05:00
David Jablonski	c6239ce8c2	replay: fix replay msg ids larger than 128 (#20865 )	2023-01-11 09:13:53 -05:00
Silvan Fuhrer	bc9abf8c36	Commander: always update parameters, not just if disarmed Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-11 10:01:08 +01:00
alexklimaj	e19c7ca18b	Add reboot command to ark flow	2023-01-11 08:11:18 +01:00