[WIP] logger priority boost command line

EKF2_MAG_TYPE - fix typos (#20808 )
parameter_translation: Add parameter translation for renamed L1 parameters
2026-06-12 07:50:04 +08:00 · 2023-02-10 19:26:14 -05:00 · 2023-02-10 14:39:57 +01:00 · 2023-02-09 17:51:55 +01:00 · 2023-02-09 17:51:55 +01:00 · 2023-02-09 17:51:55 +01:00
239 changed files with 9742 additions and 7756 deletions
@@ -62,6 +62,8 @@ pipeline {
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_kakuteh7_default",
+                     "holybro_kakuteh7v2_default",
+                     "holybro_kakuteh7mini_default",
                     "holybro_pix32v5_default",
                     "matek_gnss-m9n-f4_canbootloader",
                     "matek_gnss-m9n-f4_default",
@@ -180,7 +180,7 @@ CONFIG:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
      settings:
-        CONFIG: cubepilot_orange_test
+        CONFIG: cubepilot_cubeorange_test
    emlid_navio2_default:
      short: emlid_navio2
      buildType: MinSizeRel
@@ -2,7 +2,6 @@
        "astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
        "astyle.c.enable": true,
        "astyle.cpp.enable": true,
-        "breadcrumbs.enabled": true,
        "C_Cpp.autoAddFileAssociations": false,
        "C_Cpp.clang_format_fallbackStyle": "none",
        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
@@ -20,7 +19,6 @@
        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
        "cmakeExplorer.parallelJobs": 1,
        "cmakeExplorer.suiteDelimiter": "-",
-        "cortex-debug.enableTelemetry": false,
        "cSpell.allowCompoundWords": true,
        "cSpell.diagnosticLevel": "Hint",
        "cSpell.showStatus": false,
@@ -31,7 +29,6 @@
        ],
        "debug.toolBarLocation": "docked",
        "editor.defaultFormatter": "chiehyu.vscode-astyle",
-        "editor.dragAndDrop": false,
        "editor.insertSpaces": false,
        "editor.minimap.maxColumn": 120,
        "editor.minimap.renderCharacters": false,
@@ -127,12 +124,7 @@
                "${workspaceFolder}/build": true
        },
        "search.showLineNumbers": true,
-        "telemetry.enableTelemetry": false,
-        "terminal.integrated.scrollback": 5000,
-        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
-        "workbench.editor.highlightModifiedTabs": true,
-        "workbench.enableExperiments": false,
-        "workbench.settings.enableNaturalLanguageSearch": false,
+        "terminal.integrated.scrollback": 15000,
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
        }
@@ -73,6 +73,13 @@ menu "Toolchain"
        help
            relative path to the ROMFS root directory

+    config BOARD_ROOTFSDIR
+        string "Root directory"
+        depends on PLATFORM_POSIX
+        default "."
+        help
+            Configure the root directory in the file system for PX4 files
+
    config BOARD_IO
        string "IO board name"
        default "px4_io-v2_default"
@@ -49,7 +49,7 @@ param set-default CA_AIRFRAME 4

 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_PX 0
-param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM 0.05
 param set-default CA_ROTOR1_PX 0
 param set-default CA_ROTOR1_PY -1
@@ -10,7 +10,7 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default FW_L1_PERIOD 25
+param set-default NPFG_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default FW_L1_PERIOD 25
+param set-default NPFG_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -10,8 +10,6 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

-param set-default FW_L1_PERIOD 15
-
 param set-default FW_P_TC 0.5
 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -22,7 +20,7 @@ param set-default FW_RR_FF 0.20
 param set-default FW_RR_I 0.02
 param set-default FW_RR_P 0.22

-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12

 param set-default FW_W_EN 1

@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default FW_L1_PERIOD 25
+param set-default NPFG_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -10,7 +10,7 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -11,7 +11,7 @@ param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
 param set-default FW_LND_FLALT 5

-param set-default FW_L1_PERIOD 25
+param set-default NPFG_PERIOD 25

 param set-default FW_PR_FF 0.40
 param set-default FW_PR_I 0.05
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_ANG 8
 param set-default FW_THR_LND_MAX 0

-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12

 param set-default FW_MAN_P_MAX 30

@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -13,7 +13,7 @@ param set-default CA_AIRFRAME 4

 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1
-param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR0_PY 1
 param set-default CA_ROTOR0_KM 0.05
 param set-default CA_ROTOR1_PX -1
 param set-default CA_ROTOR1_PY -1
@@ -42,7 +42,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons

-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 param set-default FW_PR_I 0.2
 param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
@@ -46,7 +46,7 @@ param set-default PWM_MAIN_FUNC7 201
 param set-default PWM_MAIN_FUNC8 202
 param set-default PWM_MAIN_FUNC9 203

-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
 param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
 param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -15,7 +15,7 @@ param set-default EKF2_MAG_YAWLIM 0

 param set-default FW_LND_ANG 8

-param set-default FW_L1_PERIOD 12
+param set-default NPFG_PERIOD 12

 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
@@ -54,6 +54,9 @@ param set-default RWTO_TKOFF 1

 param set-default CA_AIRFRAME 1

+param set-default COM_PREARM_MODE 2
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

@@ -184,6 +184,9 @@ param set-default SDLOG_DIRS_MAX 7
 param set-default TRIG_INTERFACE 3

 param set-default SYS_FAILURE_EN 1
+# Enable low-battery actions by default for (automated) testing. Battery sim
+# does not go below 50% by default, but failure injection can trigger failsafes.
+param set-default COM_LOW_BAT_ACT 2

 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -38,7 +38,7 @@ param set-default EKF2_GPS_P_GATE 10
 param set-default EKF2_GPS_V_GATE 10

 param set-default FW_ARSP_MODE 1
-param set-default FW_L1_PERIOD 25
+param set-default NPFG_PERIOD 25
 param set-default FW_PR_FF 0.7
 param set-default FW_PR_I 0.18
 param set-default FW_PR_P 0.15
@@ -30,7 +30,7 @@ param set-default BAT1_N_CELLS 6
 param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
 param set-default FW_AIRSPD_TRIM 23
-param set-default FW_L1_R_SLEW_MAX 40
+param set-default FW_PN_R_SLEW_MAX 40
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
@@ -20,7 +20,7 @@ control_allocator start
 #
 fw_rate_control start
 fw_att_control start
-fw_pos_control_l1 start
+fw_path_navigation start
 airspeed_selector start

 #
@@ -14,9 +14,14 @@ param set-default MAV_TYPE 1
 # Default parameters for fixed wing UAVs.
 #
 param set-default COM_POS_FS_DELAY 5
-param set-default COM_POS_FS_EPH 15
+
+# 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_POS_FS_EPV 30
 param set-default COM_VEL_FS_EVH 5
+
+param set-default COM_POS_LOW_EPH 50
+
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1

@@ -37,7 +37,7 @@ fi

 fw_rate_control start vtol
 fw_att_control start vtol
-fw_pos_control_l1 start vtol
+fw_path_navigation start vtol
 fw_autotune_attitude_control start vtol

 # Start Land Detector
@@ -10,6 +10,11 @@ set VEHICLE_TYPE vtol
 # MAV_TYPE_VTOL_FIXEDROTOR 22
 param set-default MAV_TYPE 22

+# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
+param set-default COM_POS_FS_EPH 50
+
+param set-default COM_POS_LOW_EPH 50
+
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10

@@ -217,6 +217,17 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	# Set Java 11 as default
 	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")

+	# Install Gazebo
+	if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+		# Update list, since new gazebo-stable.list has been added
+		sudo apt-get update -y --quiet
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+			ignition-fortress \
+			;
+	fi
+
 	# Install Gazebo classic
 	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 		gazebo_version=9
@@ -255,16 +266,6 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		echo "export SVGA_VGPU10=0" >> ~/.profile
 	fi

-	# Install Gazebo
-	if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-		# Update list, since new gazebo-stable.list has been added
-		sudo apt-get update -y --quiet
-		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-			ignition-fortress \
-			;
-	fi
 fi

 if [[ $INSTALL_NUTTX == "true" ]]; then
@@ -685,6 +685,7 @@
      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
      <joint_name>servo_0</joint_name>
      <sub_topic>servo_0</sub_topic>
+      <p_gain>10.0</p_gain>
    </plugin>
    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
      <a0>0.05984281113</a0>
@@ -708,6 +709,7 @@
      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
      <joint_name>servo_1</joint_name>
      <sub_topic>servo_1</sub_topic>
+      <p_gain>10.0</p_gain>
    </plugin>
    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
      <a0>0.05984281113</a0>
@@ -767,6 +769,7 @@
      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
      <joint_name>servo_2</joint_name>
      <sub_topic>servo_2</sub_topic>
+      <p_gain>10.0</p_gain>
    </plugin>
    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
      <a0>0.0</a0>
@@ -789,6 +792,8 @@
    <plugin
      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
      <joint_name>rudder_joint</joint_name>
+      <sub_topic>servo_3</sub_topic>
+      <p_gain>10.0</p_gain>
    </plugin>
    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_puller_joint</jointName>
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -31,7 +31,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -51,7 +51,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -33,7 +33,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -39,7 +39,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -38,7 +38,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -39,7 +39,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -29,7 +29,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -30,7 +30,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -31,7 +31,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -48,7 +48,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -1,9 +1,9 @@
 CONFIG_PLATFORM_QURT=y
 CONFIG_BOARD_TOOLCHAIN="qurt"
 CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
+CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
-CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
@@ -414,7 +414,7 @@ bool ICM42688P::Configure()
 	return success;
 }

-static bool interrupt_debug = true;
+static bool interrupt_debug = false;
 static uint32_t interrupt_debug_count = 0;
 static const uint32_t interrupt_debug_trigger = 800;
 static hrt_abstime last_interrupt_time = 0;
@@ -17,3 +17,4 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_ORB_COMMUNICATOR=y
+CONFIG_BOARD_ROOTFSDIR="/data/px4"
@@ -19,5 +19,3 @@ fi
 muorb start

 qshell icm42688p start -s
-
-qshell modal_io start
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -48,7 +48,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -20,7 +20,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -20,7 +20,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -9,5 +9,5 @@ CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
@@ -49,7 +49,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -55,7 +55,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -18,7 +18,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL_L1=n
+CONFIG_MODULES_FW_PATH_NAVIGATION=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
@@ -58,7 +58,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -42,7 +42,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -30,7 +30,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -17,7 +17,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -30,7 +30,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -126,6 +126,7 @@ set(msg_files
 	Mission.msg
 	MissionResult.msg
 	MountOrientation.msg
+	ModeCompleted.msg
 	NavigatorMissionItem.msg
 	NpfgStatus.msg
 	ObstacleDistance.msg
@@ -18,6 +18,4 @@ bool fusion_enabled          # true when measurements are being fused
 bool innovation_rejected     # true if the observation has been rejected
 bool fused                   # true if the sample was successfully fused

-# TOPICS estimator_aid_src_ev_vel
-# TOPICS estimator_aid_src_gnss_vel
-# TOPICS estimator_aid_src_mag
+# TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
@@ -31,7 +31,7 @@ bool height_sensor_timeout              #  4 - true when the height sensor has n
 bool stopping_navigation                #  5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
 bool invalid_accel_bias_cov_reset       #  6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
 bool bad_yaw_using_gps_course           #  7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
-bool stopping_mag_use                   #  8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data
+bool stopping_mag_use                   #  8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data
 bool vision_data_stopped                #  9 - true when the vision system data has stopped for a significant time period
-bool emergency_yaw_reset_mag_stopped    # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data
+bool emergency_yaw_reset_mag_stopped    # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data
 bool emergency_yaw_reset_gps_yaw_stopped # 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data
@@ -28,6 +28,7 @@ float32[2] terr_flow	# flow innvoation (rad/sec) and innovation variance compute
 # Various
 float32 heading		# heading innovation (rad) and innovation variance (rad**2)
 float32[3] mag_field	# earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)
+float32[3] gravity	# gravity innovation from accelerometerr vector (m/s**2)
 float32[2] drag		# drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)
 float32 airspeed	# airspeed innovation (m/sec) and innovation variance ((m/sec)**2)
 float32 beta		# synthetic sideslip innovation (rad) and innovation variance (rad**2)
@@ -35,7 +35,7 @@ uint8 CS_EV_HGT = 14		# 14 - true when height data from external vision measurem
 uint8 CS_BETA = 15		# 15 - true when synthetic sideslip measurements are being fused
 uint8 CS_MAG_FIELD = 16		# 16 - true when only the magnetic field states are updated by the magnetometer
 uint8 CS_FIXED_WING = 17	# 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip
-uint8 CS_MAG_FAULT = 18		# 18 - true when the magnetomer has been declared faulty and is no longer being used
+uint8 CS_MAG_FAULT = 18		# 18 - true when the magnetometer has been declared faulty and is no longer being used
 uint8 CS_ASPD = 19		# 19 - true when airspeed measurements are being fused
 uint8 CS_GND_EFFECT = 20	# 20 - true when when protection from ground effect induced static pressure rise is active
 uint8 CS_RNG_STUCK = 21		# 21 - true when a stuck range finder sensor has been detected
@@ -38,6 +38,7 @@ bool cs_wind_dead_reckoning     # 30 - true if we are navigationg reliant on win
 bool cs_rng_kin_consistent      # 31 - true when the range finder kinematic consistency check is passing
 bool cs_fake_pos                # 32 - true when fake position measurements are being fused
 bool cs_fake_hgt                # 33 - true when fake height measurements are being fused
+bool cs_gravity_vector          # 34 - true when gravity vector measurements are being fused

 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes
@@ -15,6 +15,7 @@ uint32 mode_req_global_position
 uint32 mode_req_mission
 uint32 mode_req_offboard_signal
 uint32 mode_req_home_position
+uint32 mode_req_wind_and_flight_time_compliance # if set, mode cannot be entered if wind or flight time limit exceeded
 uint32 mode_req_prevent_arming    # if set, cannot arm while in this mode
 uint32 mode_req_other             # other requirements, not covered above (for external modes)

@@ -47,6 +48,7 @@ bool mission_failure                  # Mission failure
 bool vtol_fixed_wing_system_failure   # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
 bool wind_limit_exceeded              # Wind limit exceeded
 bool flight_time_limit_exceeded       # Maximum flight time exceeded
+bool local_position_accuracy_low      # Local position estimate has dropped below threshold, but is currently still declared valid

 # Failure detector
 bool fd_critical_failure              # Critical failure (attitude/altitude limit exceeded, or external ATS)
@@ -0,0 +1,14 @@
+# Mode completion result, published by an active mode.
+# Note that this is not always published (e.g. when a user switches modes or on
+# failsafe activation)
+uint64 timestamp				 # time since system start (microseconds)
+
+
+uint8 RESULT_SUCCESS = 0
+# [1-99]: reserved
+uint8 RESULT_FAILURE_OTHER = 100 # Mode failed (generic error)
+
+uint8 result                     # One of RESULT_*
+
+uint8 nav_state                  # Source mode
+
@@ -40,6 +40,8 @@
 #pragma once

 #include <sys/ioctl.h>
+#include <px4_boardconfig.h>
+

 /****************************************************************************
 * Defines for all platforms.
@@ -95,7 +97,7 @@ __BEGIN_DECLS
 extern long PX4_TICKS_PER_SEC;
 __END_DECLS

-#define PX4_ROOTFSDIR "."
+#define PX4_ROOTFSDIR CONFIG_BOARD_ROOTFSDIR

 #define PX4_STORAGEDIR PX4_ROOTFSDIR

@@ -71,7 +71,7 @@ __END_DECLS
 * Messages that should never be filtered or compiled out
 ****************************************************************************/
 #define PX4_INFO(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_INFO_RAW(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
+#define PX4_INFO_RAW(FMT, ...) 	qurt_log_raw(FMT, ##__VA_ARGS__)

 #if defined(TRACE_BUILD)
 /****************************************************************************
@@ -141,8 +141,12 @@ typedef struct {
 // The navigation system needs to execute regularly but has no realtime needs
 #define SCHED_PRIORITY_NAVIGATION		(SCHED_PRIORITY_DEFAULT + 5)
 //      SCHED_PRIORITY_DEFAULT
-#define SCHED_PRIORITY_LOG_WRITER		(SCHED_PRIORITY_DEFAULT - 10)
+
 #define SCHED_PRIORITY_PARAMS			(SCHED_PRIORITY_DEFAULT - 15)
+
+#define SCHED_PRIORITY_LOG_WRITER		(SCHED_PRIORITY_DEFAULT - 40)
+
+
 //      SCHED_PRIORITY_IDLE

 typedef int (*px4_main_t)(int argc, char *argv[]);
@@ -470,7 +470,7 @@ if(NOT NUTTX_DIR MATCHES "external")
 		)

 		# JLINK_RTOS_PATH used by launch.json.in
-		set(JLINK_RTOS_PATH ${NUTTX_DIR}/tools/jlink-nuttx)
+		set(JLINK_RTOS_PATH ${NUTTX_DIR}/tools/jlink-nuttx.so)
 	else()
 		set(JLINK_RTOS_PATH "")
 	endif()
@@ -3,6 +3,7 @@
    "configurations": [
        {
            "name": "jlink (@PX4_BOARD@)",
+            "gdbPath": "@CMAKE_GDB@",
            "device": "@DEBUG_DEVICE@",
            "svdFile": "@DEBUG_SVD_FILE_PATH@",
            "rtos": "@JLINK_RTOS_PATH@",
@@ -24,6 +25,7 @@
        },
        {
            "name": "stlink (@PX4_BOARD@)",
+            "gdbPath": "@CMAKE_GDB@",
            "device": "@DEBUG_DEVICE@",
            "svdFile": "@DEBUG_SVD_FILE_PATH@",
            "executable": "${command:cmake.launchTargetPath}",
@@ -42,6 +44,7 @@
        },
        {
            "name": "blackmagic (@PX4_BOARD@)",
+            "gdbPath": "@CMAKE_GDB@",
            "device": "@DEBUG_DEVICE@",
            "svdFile": "@DEBUG_SVD_FILE_PATH@",
            "executable": "${command:cmake.launchTargetPath}",
@@ -308,7 +308,7 @@ int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd)

 		instances[i] = new mtd_instance_s;

-		if (instances == nullptr) {
+		if (instances[i] == nullptr) {
 memoryout:
 			PX4_ERR("failed to allocate memory!");
 			return rv;
@@ -444,41 +444,39 @@ __EXPORT int px4_mtd_query(const char *sub, const char *val, const char **get)
 {
 	int rv = -ENODEV;

-	if (instances != nullptr) {
+	static const char *keys[] = PX4_MFT_MTD_STR_TYPES;
+	static const px4_mtd_types_t types[] = PX4_MFT_MTD_TYPES;
+	int key = 0;

-		static const char *keys[] = PX4_MFT_MTD_STR_TYPES;
-		static const px4_mtd_types_t types[] = PX4_MFT_MTD_TYPES;
-		int key = 0;
-
-		for (unsigned int k = 0; k < arraySize(keys); k++) {
-			if (!strcmp(keys[k], sub)) {
-				key = types[k];
-				break;
-			}
+	for (unsigned int k = 0; k < arraySize(keys); k++) {
+		if (!strcmp(keys[k], sub)) {
+			key = types[k];
+			break;
 		}
+	}


-		rv = -EINVAL;
+	rv = -EINVAL;

-		if (key != 0) {
-			rv = -ENOENT;
+	if (key != 0) {
+		rv = -ENOENT;

-			for (int i = 0; i < num_instances; i++) {
-				for (unsigned n = 0; n < instances[i]->n_partitions_current; n++) {
-					if (instances[i]->partition_types[n] == key) {
-						if (get != nullptr && val == nullptr) {
-							*get =  instances[i]->partition_names[n];
-							return 0;
-						}
+		for (int i = 0; i < num_instances; i++) {
+			for (unsigned n = 0; n < instances[i]->n_partitions_current; n++) {
+				if (instances[i]->partition_types[n] == key) {
+					if (get != nullptr && val == nullptr) {
+						*get =  instances[i]->partition_names[n];
+						return 0;
+					}

-						if (val != nullptr && strcmp(instances[i]->partition_names[n], val) == 0) {
-							return 0;
-						}
+					if (val != nullptr && strcmp(instances[i]->partition_names[n], val) == 0) {
+						return 0;
 					}
 				}
 			}
 		}
 	}

+
 	return rv;
 }
@@ -32,6 +32,7 @@
 ############################################################################

 add_subdirectory(../stm32_common/io_pins io_pins)
+add_subdirectory(../stm32_common/spi spi)
 add_subdirectory(../stm32_common/hrt hrt)
 add_subdirectory(../stm32_common/board_critmon board_critmon)
 add_subdirectory(../stm32_common/board_reset board_reset)
@@ -53,7 +53,7 @@

 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 #include <lockstep_scheduler/lockstep_scheduler.h>
-static LockstepScheduler lockstep_scheduler {};
+static LockstepScheduler lockstep_scheduler {true};
 #endif

 // Intervals in usec
@@ -46,7 +46,7 @@
 class LockstepComponents
 {
 public:
-	LockstepComponents();
+	LockstepComponents(bool no_cleanup_on_destroy = false);
 	~LockstepComponents();

 	/**
@@ -69,6 +69,7 @@ public:
 	void wait_for_components();

 private:
+	const bool _no_cleanup_on_destroy;

 	px4_sem_t _components_sem;

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	9766fcfb6f	[WIP] logger priority boost command line	2023-02-10 19:26:14 -05:00
Hamish Willee	edb6c635d5	EKF2_MAG_TYPE - fix typos (#20808 )	2023-02-10 14:39:57 +01:00
Konrad	b9f9f25b48	parameter_translation: Add parameter translation for renamed L1 parameters	2023-02-09 17:51:55 +01:00
Konrad	92277ebb96	FixedwingPositionControl: Explicitly set wind to zero when it is not valid.	2023-02-09 17:51:55 +01:00
Konrad	de4b139540	FwPosControl: Update behavior of navigating to a waypoint when the previous waypoint is not valid. Go along the line of the current aircraft position to the desired waypoint.	2023-02-09 17:51:55 +01:00
Konrad	d5025810b4	FixedWingPositionControl: remove get_nav_speed_2d function as npfg can handle this internally.	2023-02-09 17:51:55 +01:00
Konrad	6bdeb43e0d	fw_path_navigation: Remove explicit L1 mentioning.	2023-02-09 17:51:55 +01:00
Konrad	3e200bca0d	fw_pos_control_l1: renaming to fw_path_navigation, l1 control is not used anymore, use a more generic naming.	2023-02-09 17:51:55 +01:00
Konrad	aa3af7f707	fw_pos_control: purge L1 controller	2023-02-09 17:51:55 +01:00
Knut Hjorth	fbc80c9bf5	RTL fixes and improvements for VTOL vehicles (#21011 ) * rtl: remove unconditional transition to land after descent This was a bug, as it renders the above code lines useless. This would cause a undesired FW landing for VTOL vehicles if RTL_LAND_DELAY is above 0. * rtl: head to center after loiter in VTOL FW To get the same behavior for RTL with and without loiter before land for VTOL drones. * rtl: always go to descend state after return Previously, the state would change directly to land if in MR and RTL_LAND_DELAY was 0.0, but we will still wish to descent to RTL_DESCEND_ALT at descent speed, instead of using landing speeds. * rtl: mark head to center state as part of vtol transition The next step in the sequence is transition to MC. By setting vtol_back_transition we ensure that the acceptance radius is adapted to the expected transition distance.	2023-02-08 11:07:39 +01:00
Knut Hjorth	99cf1cfdfe	mavlink: use /dev/null as default stdin, stdout and stderr If 0, 1 and/or 2 file descriptors are not open when mavlink module starts (as might be the case for USB auto-start), use default /dev/null so that these numbers are not used by other other files.	2023-02-08 10:38:20 +01:00
Knut Hjorth	6c7ae3d845	mavlink: generate new log list for request start index 0 Instead of interpret a request for "more logs than currently exists" as a new request, use a request for index 0, which is more likely to be the first request.	2023-02-08 10:38:20 +01:00
KonradRudin	c5d041a2f7	Rearrange npfg use path input (#21071 ) * [npfg]: Remove the guideToPoint function and replace with guideToPath * [npfg]: remove unused navigateXXX functions * [npfg]: Move navigateXXX Function into FWPoscontrol * [FixedwingPositionControl]: Set default flaps and spoilers in attitude setpoint topic, and only change if necessary.	2023-02-08 08:54:00 +01:00
jonasbouchraiet	9ac27c9413	Update rtl_params.c	2023-02-07 22:37:19 -05:00
Beat Küng	83c8c79af5	commander failsafe: add API to defer failsafes	2023-02-07 19:27:51 -05:00
Beat Küng	a727bddc19	microdds_client: set queue depth for incoming topics according to msg definition Otherwise the FMU might miss publications from 2 different publishers at the same time.	2023-02-07 19:12:10 -05:00
Beat Küng	3f2336af32	navigator: add ModeCompleted signalling topic	2023-02-07 19:11:52 -05:00
Beat Küng	f05e8a699e	ROMFS: enable COM_LOW_BAT_ACT by default for SITL	2023-02-07 19:11:29 -05:00
Beat Küng	ebc1d7544e	battery_simulator: add support for failure injection For failsafe triggering in automated tests	2023-02-07 19:11:08 -05:00
Eric Katzfey	ddd1527305	Qurt PX4_INFO_RAW send to apps for display (#21080 )	2023-02-07 17:22:09 -05:00
Eric Katzfey	db24c2b233	Qshell static subscription (#21081 ) * Changed QShell uorb subscription to be static to avoid the duplicate sequence number error	2023-02-07 17:18:01 -05:00
Daniel Agar	7b3befded5	ekf2: disable new gravity fusion by default	2023-02-07 13:57:10 -05:00
Daniel Sahu	fa6fda6cce	ekf2: new gravity observation (#21038 ) Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com>	2023-02-07 13:28:58 -05:00
alessandro	3e149ee6c5	FlightTaskAuto: landing position updates for precision landing (#20951 ) - precision landing works incorrectly, target position is not updated during the descent above target - _prepareLandSetpoints needs to update _land_position continuously Co-authored-by: kapacheuski <kapacheuski@gmail.com>	2023-02-07 12:07:26 -05:00
Jukka Laitinen	deb6053d56	Update status leds every time when prearm check status changes Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2023-02-07 08:02:32 +01:00
Christian Rauch	ef5761c223	add SPI to stm32f1	2023-02-07 07:54:38 +01:00
Christian Rauch	2f21c590b0	remove some vscode settings	2023-02-06 17:25:36 -05:00
JaeyoungLim	01c5b3934e	Tune GZ plane (rc_cessna) to fly nicely (#21077 ) * Increase control surface joint controller gains * Enable prearm mode and disable airpspeed checks for gz plane	2023-02-06 16:24:01 -05:00
Daniel Agar	661eb2adb4	lib/sensor_calibration: BiasCorrectedSensorOffset() don't incorporate thermal offsets - the thermal offsets are an optional correction applied to the raw data, so when updating an existing calibration offset with new learned bias we don't want this incorporated	2023-02-06 15:09:07 -05:00
Silvan Fuhrer	e153d1defc	ROMFS: fix PY asymmetry (motor 1 was wrongly placed twice as far from the CG as 0) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-02-04 16:08:40 +01:00
Daniel Agar	04d3e549f5	ekf2: resetQuatStateYaw() set _time_last_heading_fuse	2023-02-03 10:03:09 -05:00
Daniel Agar	66ad7fd06c	ekf2: include 0 timestamp checks in helpers (isTimedOut(), isRecent(), etc) - EKF isTimedOut(), isRecent(), and isNewestSampleRecent() need to handle the case where the timestamp has never been set - reset() more thoroughly reset fields (mainly impacts unit tests)	2023-02-03 10:00:51 -05:00
Daniel Agar	264a99fb77	ekf2: new EKF2_IMU_CTRL parameter and gyro bias inhibit mechanism - EKF2_AID_MASK accel bias inhibit moves to EKF2_IMU_CTRL	2023-02-03 09:52:24 -05:00
Daniel Agar	f668ea5aa6	ekf2: RingBuffer add reset method	2023-02-03 08:49:44 -05:00
Daniel Agar	e3d73cd837	ekf2: mag control reset mag_lpf on first sample	2023-02-02 16:12:09 -05:00
Michał Barciś	c2f13dbccf	setup/ubuntu.sh modified to correctly install all required dependencies for gazebo Signed-off-by: Michał Barciś <michal.barcis@tii.ae>	2023-02-02 10:02:47 -05:00
ShiauweiZhao	35080504f7	drivers/drv_sensor.h fix device type duplicate definition	2023-02-02 09:54:47 -05:00
Vincent Poon	a90bae9e50	ci: build and deploy kakuteh7v2 & Kakuteh7mini Adds Holybro kakuteh7v2 & Kakuteh7mini to Travis CI for building and deployment to S3 for QGC	2023-02-02 09:51:53 -05:00
Hamish Willee	2938db1c60	Apply suggestions from code review	2023-02-02 15:20:34 +01:00
Hamish Willee	7cea384404	Update src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c	2023-02-02 15:20:34 +01:00
Hamish Willee	d65e5969e1	FW_AT_MAN_AUX - define what an Aux input is	2023-02-02 15:20:34 +01:00
Silvan Fuhrer	ba1d02ee75	MPC: improve description of MPC_LAND_RC_HELP Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-02-02 14:31:22 +01:00
小光	849fbabc47	px4_mtd: the address of 'instances' will never be NULL (#21039 ) Signed-off-by: AuroraRAS <chplee@gmail.com>	2023-02-02 08:06:00 +01:00
Silvan Fuhrer	d9a4d1d5c4	Commander: use FW_AIRSPD_MAX as threshold for airspeed preflight checks Check fails if airspeed reading is above FW_AIRSPD_MAX. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-02-01 20:43:38 -05:00
Robbie Drage	cb4235887f	vscode: change cubeorange build target - Fixes typo in Cube Orange build target config Fixes issue #17745	2023-02-01 18:17:45 -05:00
Silvan Fuhrer	32cab66c44	Commander: hide hint to param in low position accuracy event for end users Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-02-01 16:47:11 +01:00
Silvan Fuhrer	9b3a28dff5	Commander: add local_position_accuracy_low flag, incl. warning and RTL Set this flag to true if local position is valid but accuracy low, such that the operator can be warned before system switches to position-failure failsafe. Additionally, switch to RTL if currently in Mission or Loiter to try to reach home or fly out of GNSS-denied area. Set low accuracy threshold to 50m by default for FW and VTOL. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-02-01 16:47:11 +01:00
Silvan Fuhrer	3ca126cc46	Commander: improve description of COM_FS EPH, EPV, VEL_EVH params and increase FW and VTOL defaults Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-02-01 16:47:11 +01:00
Silvan Fuhrer	cbc4c35bcf	Commander params: improve meta data for max flight time and wind Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-02-01 08:48:09 +01:00
Silvan Fuhrer	6d84da5cf1	Commander: add max flight time warning (starting at 90%) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-02-01 08:48:09 +01:00
Beat Küng	b1709743f7	commander: add wind or flight time limit exceeded mode requirement This prevents switching into any of these modes once the condition is set.	2023-02-01 08:48:09 +01:00
Beat Küng	a8628c9d9c	fix commander: clear takeoff_time only on disarm Otherwise the flight time restriction flag gets cleared too early, before disarming (which puts the vehicle into the previous mode and it might take off again).	2023-02-01 08:48:09 +01:00
Beat Küng	8e4c5884ec	fix commander: need to check for valid mode change even if already the same Fixes the following case: - user intention set to X - failsafe triggers, mode = Y - can_run for X becomes false - user tries to switch to X -> need to re-evaluate can_run	2023-02-01 08:48:09 +01:00
Beat Küng	7988491e37	failsafe simulator: improve spacing for multi-line checkboxes Reduces line-height to 100% in that case.	2023-02-01 08:48:09 +01:00
ShiauweiZhao	931f602995	drivers/imu/invensense: new IAM-20680HP IMU driver (#21025 )	2023-01-31 09:33:26 -05:00
Daniel Agar	2be701f902	platforms/nuttx: cmake debug pass GDB path and set RTOS plugin file extension	2023-01-30 20:19:38 -05:00
Eric Katzfey	a4aa76f0ac	VOXL2 board updates and new Kconfig option for ROOTFSDIR - also includes a couple of miscellaneous changes to VOXL2 support to show Qurt messages on px4 console and put logs in the proper spot	2023-01-30 12:03:40 -05:00
Julian Oes	b1fc0ca0d0	mavlink: always forward messages to/from USB Previously, it was not possible to enable forwarding of messages to/from teh USB instance because it does not have a param for it, like the serial instances have. With this commit, we change the default to always set forwarding on for the USB instance as that is likely desired. Signed-off-by: Julian Oes <julian@oes.ch>	2023-01-30 10:46:14 -05:00
Julian Oes	0446292c75	mavlink: always use public method Signed-off-by: Julian Oes <julian@oes.ch>	2023-01-30 10:46:14 -05:00
Julian Oes	7b8cf4913e	mavlink: show forwarding status Signed-off-by: Julian Oes <julian@oes.ch>	2023-01-30 10:46:14 -05:00
Daniel Agar	47215bb625	lib/wind_estimator: symforce codegen remove reserved identifier naming - from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"	2023-01-30 09:24:32 -05:00
Daniel Agar	efe1d43550	ekf2: symforce codegen remove reserved identifier naming - from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"	2023-01-30 09:24:32 -05:00
Beat Küng	0687fd2689	lockstep_scheduler: avoid pthread_cond_destroy on at_exit The static object is destroyed on at_exit while threads might still be inside a CS. This can lead to a hanging process. Cleaner would be to gracefully stop the threads. According to https://linux.die.net/man/3/pthread_cond_destroy: Attempting to destroy a condition variable upon which other threads are currently blocked results in undefined behavior.	2023-01-30 11:45:02 +01:00
Hamish Willee	f25abbc80a	Fix magnetometer typo	2023-01-30 10:24:16 +01:00
Daniel Agar	8da993c30e	Update world_magnetic_model to latest Sat Jan 28 11:14:05 UTC 2023 Co-authored-by: PX4 BuildBot <bot@px4.io>	2023-01-28 11:41:03 -05:00
PX4 BuildBot	88038717dc	update all px4board kconfig	2023-01-28 11:39:51 -05:00
Roman Bapst	4646762f9d	Use multiplication instead of division	2023-01-28 10:31:17 -05:00
Silvan Fuhrer	0c735dea2e	AirspeedSelector: use scientific notation for small param Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-28 10:31:17 -05:00
Silvan Fuhrer	d32f400851	WindEstimator: use isAllFinite() Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-28 10:31:17 -05:00
Silvan Fuhrer	a6d14796e4	WindEstimator: add consts, fix float comparison to 0 and use consistently floats in division Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-28 10:31:17 -05:00
Silvan Fuhrer	15335b194a	WindEstimator: use state indexing enum consistently Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-01-28 10:31:17 -05:00
PX4 BuildBot	21ddb04856	Update submodule mavlink to latest Sat Jan 28 00:39:00 UTC 2023 - mavlink in PX4/Firmware (fa65292bb7542cb1f2a4cdaac10738fa17777a6d): https://github.com/mavlink/mavlink/commit/74dee05f0cd121ae27e021d011a04b161c9d0440 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/e3b8756e37cd2cd01ba658461bb4dbffb2fdf914 - Changes: https://github.com/mavlink/mavlink/compare/74dee05f0cd121ae27e021d011a04b161c9d0440...e3b8756e37cd2cd01ba658461bb4dbffb2fdf914 e3b8756e 2023-01-25 olliw42 - update storm32.xml (#1941)	2023-01-27 21:14:07 -05:00