Delete simpleapp CMakeLists

uavcannode: Add CANNODE_TERM parameter (configure CAN termination on ARK cannodes)
- adds functionality to enable the built in can termination on the ARK cannodes
2026-05-24 20:47:35 +08:00 · 2021-10-18 08:33:52 +11:00 · 2021-10-15 09:29:56 -04:00 · 2021-10-15 05:54:27 -07:00 · 2021-10-15 09:58:48 +02:00 · 2021-10-15 09:58:48 +02:00
163 changed files with 2936 additions and 1558 deletions
@@ -734,12 +734,26 @@ void checkoutSCM() {
 }

 void quickCalibrate() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1; param show CAL_ACC*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 1; param show CAL_GYRO*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 1; param show SENS_BOARD*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1; param show CAL_MAG*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
 }

 void checkStatus() {
@@ -831,6 +845,7 @@ void runTests() {

  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'

+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'

@@ -82,6 +82,7 @@ Checks:          '*,
                  -modernize-use-equals-delete,
                  -modernize-use-override,
                  -modernize-use-using,
+                  -modernize-use-trailing-return-type,
                  -performance-inefficient-string-concatenation,
                  -readability-avoid-const-params-in-decls,
                  -readability-container-size-empty,
@@ -43,7 +43,7 @@ jobs:
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z
@@ -40,7 +40,7 @@ jobs:
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z
@@ -81,7 +81,7 @@ jobs:
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 50M" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z
@@ -110,4 +110,6 @@ jobs:
      uses: actions/upload-artifact@v2
      with:
        name: px4_package_${{matrix.config}}
-        path: build/**/*.px4
+        path: |
+          build/**/*.px4
+          build/**/*.bin
@@ -1,64 +0,0 @@
-name: NuttX UAVCAN firmware
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          ark_can-flow_default,
-          ark_can-gps_default,
-          ark_can-rtk-gps_default,
-          cuav_can-gps-v1_default,
-          freefly_can-rtk-gps_default,
-          holybro_can-gps-v1_default,
-          nxp_ucans32k146_default
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 20M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_cannode_${{matrix.config}}
-        path: build/${{matrix.config}}/*.uavcan.bin
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d-posix/airframes/1030_plane
+
+param set-default FW_THR_CRUISE 0.0
+param set-default RWTO_TKOFF 0
+
@@ -8,6 +8,15 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc

+param set-default MC_PITCHRATE_P 0.0800
+param set-default MC_PITCHRATE_I 0.0400
+param set-default MC_PITCHRATE_D 0.0010
+param set-default MC_PITCH_P 9.0
+param set-default MC_ROLLRATE_P 0.0800
+param set-default MC_ROLLRATE_I 0.0400
+param set-default MC_ROLLRATE_D 0.0010
+param set-default MC_ROLL_P 9.0
+
 param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3

@@ -61,6 +61,7 @@ px4_add_romfs_files(
 	1035_techpod
 	1036_malolo
 	1037_believer
+	1038_glider
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -76,6 +77,6 @@ px4_add_romfs_files(
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post
-	6012_typhoon_ctrlalloc
-	6012_typhoon_ctrlalloc.post
+	6012_typhoon_h480_ctrlalloc
+	6012_typhoon_h480_ctrlalloc.post
 )
@@ -18,7 +18,6 @@

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

-
 param set-default BAT1_N_CELLS 3

 param set-default FW_AIRSPD_MAX 20
@@ -40,7 +39,6 @@ param set-default FW_RR_P 0.3

 param set-default RWTO_TKOFF 1

-
 param set SYS_HITL 1

 # disable some checks to allow to fly
@@ -34,5 +34,3 @@ param set-default MC_PITCHRATE_D 0.0025
 param set-default MC_YAWRATE_P 0.28

 set MIXER quad_w
-
-set PWM_OUT 1234
@@ -23,7 +23,6 @@

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

-
 # TODO tune roll/pitch separately
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_I 0.05
@@ -39,5 +38,3 @@ param set-default BAT1_V_DIV 12.27559
 param set-default BAT1_A_PER_V 15.39103

 set MIXER quad_w
-
-set PWM_OUT 1234
@@ -25,7 +25,6 @@

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

-
 param set-default BAT1_N_CELLS 4

 param set-default MC_ROLL_P 7
@@ -38,5 +37,3 @@ param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCHRATE_D 0.004
 param set-default MC_YAW_P 4
 set MIXER quad_w
-
-set PWM_OUT 1234
@@ -25,7 +25,6 @@

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

-
 param set-default BAT1_N_CELLS 6
 param set-default BAT1_V_EMPTY 3.5

@@ -42,5 +41,3 @@ param set-default MPC_XY_VEL_MAX 2
 param set-default PWM_MAIN_MIN 1080

 set MIXER quad_w
-
-set PWM_OUT 1234
@@ -12,7 +12,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_x
-set PWM_OUT 1234

 param set SYS_HITL 1

@@ -22,11 +22,11 @@

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

-
 param set-default PWM_MAIN_MAX 2000

 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
+
 set MAV_TYPE 20

 set MIXER quad_+_vtol
@@ -23,10 +23,8 @@

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

-
 param set-default PWM_AUX_DIS5 950

-
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.002
@@ -26,7 +26,6 @@ param set-default MC_ROLLRATE_I 0.01
 param set-default MC_PITCHRATE_I 0.01
 param set-default MC_YAW_P 3.5

-
 param set-default MC_YAWRATE_MAX 50

 param set-default MPC_XY_P 0.8
@@ -13,7 +13,6 @@

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

-
 param set-default FW_AIRSPD_MAX   22
 param set-default FW_AIRSPD_MIN   14
 param set-default FW_AIRSPD_TRIM  16
@@ -68,7 +67,6 @@ param set-default PWM_AUX_REV4    1

 param set-default PWM_AUX_DIS5 950

-
 param set-default VT_ARSP_TRANS   15
 param set-default VT_F_TRANS_THR    0.6
 param set-default VT_IDLE_PWM_MC 1180
@@ -13,7 +13,6 @@

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

-
 param set-default PWM_AUX_DISARM 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
@@ -22,7 +22,6 @@

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

-
 param set-default CBRK_AIRSPD_CHK 162128

 param set-default FW_ARSP_MODE 1
@@ -22,7 +22,6 @@

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

-
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@@ -22,7 +22,6 @@

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

-
 param set-default BAT1_N_CELLS 6

 param set-default FW_AIRSPD_MAX 30
@@ -26,8 +26,6 @@

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

-
-
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
@@ -25,7 +25,6 @@

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

-
 param set-default PWM_AUX_DIS5 950

 param set-default VT_TYPE 2
@@ -18,7 +18,6 @@

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

-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
@@ -19,5 +19,3 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER tri_y_yaw+
-
-set PWM_OUT 1234
@@ -19,5 +19,3 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER tri_y_yaw-
-
-set PWM_OUT 1234
@@ -19,7 +19,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 set MIXER coax

-
 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_ROLLRATE_D 0.005
@@ -41,5 +40,4 @@ param set-default RTL_DESCEND_ALT 10
 set MIXER_AUX pass

 # use PWM parameters for throttle channel
-set PWM_AUX_OUT 1234
 set PWM_OUT 34
@@ -24,8 +24,7 @@ set MAV_TYPE 4

 set MIXER blade130

-#set PWM_OUT 1234
-
+set PWM_OUT none

 param set-default ATT_BIAS_MAX 0

@@ -15,7 +15,6 @@

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

-
 param set-default COM_PREARM_MODE 2  # always in prearm state
 param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
@@ -28,6 +27,5 @@ param set-default SER_TEL2_BAUD 9600
 set MAV_TYPE 8
 param set MAV_TYPE ${MAV_TYPE}

-
 set MIXER IO_pass
 set MIXER_AUX pass
@@ -28,7 +28,6 @@

 set VEHICLE_TYPE mc

-
 param set-default NAV_ACC_RAD 2

 param set-default PWM_AUX_RATE 400
@@ -18,6 +18,5 @@
 param set-default COM_PREARM_MODE 2
 param set-default CBRK_IO_SAFETY 22027

-
 set MIXER cloudship
 set PWM_OUT 1234
@@ -37,5 +37,4 @@ param set-default FW_PR_FF 0.35
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_P 0.04

-
 set MIXER fw_generic_wing
@@ -41,7 +41,6 @@ param set-default FW_RR_P 0.04

 param set-default PWM_MAIN_DISARM 1000

-
 # Configure this as plane.
 set MAV_TYPE 1

@@ -21,7 +21,6 @@

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

-
 param set-default FW_AIRSPD_MAX 25
 param set-default FW_AIRSPD_MIN 12.5
 param set-default FW_AIRSPD_TRIM 16.5
@@ -21,7 +21,3 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
-set PWM_OUT 1234
@@ -13,10 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
 param set-default MC_ROLLRATE_I 0.16
@@ -13,10 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@@ -11,9 +11,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_PITCH_P 7
@@ -10,9 +10,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_I 0.05
 param set-default MC_PITCH_P 7
@@ -13,10 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default MC_ROLLRATE_P 0.18
 param set-default MC_PITCHRATE_P 0.18
 param set-default MC_ROLLRATE_I 0.15
@@ -13,10 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default IMU_GYRO_CUTOFF 30

 param set-default MC_ROLLRATE_P 0.14
@@ -16,10 +16,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 # System parameters
 # use FMU motor outputs for less delay in the rate control loop
 param set-default SYS_USE_IO 0
@@ -18,9 +18,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
 param set-default IMU_DGYRO_CUTOFF 20

 param set-default MC_ROLLRATE_P 0.18
@@ -13,6 +13,7 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc

+set MIXER none

 param set-default MPC_USE_HTE 0

@@ -50,7 +51,5 @@ param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05

 set MIXER direct
-set PWM_OUT 1234

 set MIXER_AUX direct_aux
-set PWM_AUX_OUT 1234
@@ -18,7 +18,6 @@

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

-
 # tuning
 param set-default MC_PITCHRATE_P    0.11
 param set-default MC_ROLLRATE_P     0.11
@@ -83,7 +82,5 @@ param set-default RC5_TRIM          1500
 param set-default MAV_0_RATE 80000
 param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600
-set MIXER quad_x

-set PWM_OUT 1234
 set MIXER_AUX none
@@ -13,9 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
 param set-default MC_ROLLRATE_P 0.14
 param set-default MC_ROLLRATE_I 0.1
 param set-default MC_ROLLRATE_D 0.004
@@ -42,8 +42,4 @@ param set-default RTL_DESCEND_ALT 10

 set MIXER quad_h

-set PWM_OUT 1234
-
 set MIXER_AUX pass
-
-set PWM_AUX_OUT 1234
@@ -23,7 +23,6 @@

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

-
 param set-default CBRK_SUPPLY_CHK 894281
 param set-default CBRK_USB_CHK 197848

@@ -57,5 +56,3 @@ param set-default SYS_HAS_MAG 0
 param set-default BAT1_N_CELLS 2
 # The Whoop uses reversed props
 set MIXER quad_h
-set PWM_OUT 1234
-
@@ -12,10 +12,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default MC_ROLL_P 8
 param set-default MC_ROLLRATE_P 0.08
 param set-default MC_ROLLRATE_I 0.25
@@ -23,11 +23,9 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_s250aq
+
 set MAV_TYPE 2

-set PWM_OUT 1234
-
-
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@@ -15,10 +15,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 # The set does not include a battery, but most people will probably use 4S
 param set-default BAT1_N_CELLS 4

@@ -13,10 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default BAT1_N_CELLS 4

 param set-default GPS_1_CONFIG 0
@@ -13,10 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default BAT1_N_CELLS 6

 param set-default MC_ROLLRATE_P 0.05
@@ -19,7 +19,6 @@
 set MIXER none
 set MIXER_AUX none

-
 # Battery settings
 param set-default BAT_CRIT_THR 0.20
 param set-default BAT_LOW_THR 0.25
@@ -28,10 +28,8 @@ set PWM_OUT 1234

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
-
 param set-default MC_PITCHRATE_D 0.0016

-
 param set-default MC_YAW_FF 0.5

 param set-default MPC_MANTHR_MAX 0.9
@@ -22,10 +22,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
 param set-default ATT_ACC_COMP 0
@@ -17,10 +17,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default BAT1_N_CELLS 1

 param set-default MC_ROLL_P 8
@@ -31,5 +31,3 @@
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
-
-set PWM_OUT 1234
@@ -1,190 +0,0 @@
-#!/bin/sh
-#
-# @name Teal One
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-#
-# @maintainer Matt McFadden <matt.mcfadden@tealdrones.com>
-#
-# @board px4_fmu-v2 exclude
-# @board px4_fmu-v3 exclude
-# @board px4_fmu-v4pro exclude
-# @board px4_fmu-v5 exclude
-# @board px4_fmu-v5x exclude
-# @board bitcraze_crazyflie exclude
-#
-
-echo "Executing 4250_teal script."
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-set PWM_OUT 1234
-
-
-# First thing, reset all params to default... EXCEPT THIS LIST
-param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
-
-# battery
-param set-default BAT_CRIT_THR 0.15
-param set-default BAT_EMERGEN_THR 0.075
-param set-default BAT_LOW_THR 0.20
-
-param set-default BAT1_CAPACITY 2750
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_R_INTERNAL 0.06
-param set-default BAT1_SOURCE 1
-param set-default BAT1_V_CHARGED 4.15
-param set-default BAT1_V_DIV 11.1625
-param set-default BAT1_V_EMPTY 3.65
-param set-default BAT1_V_OFFS_CURR -0.0045
-
-# sensor calibration
-param set-default CAL_MAG_SIDES 63
-
-# circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-param set-default CBRK_USB_CHK 197848
-
-# commander
-param set-default COM_DISARM_LAND 0.1
-# Return mode at critically low level, Land mode at current position if reaching dangerously low levels.
-param set-default COM_LOW_BAT_ACT 3
-
-# ekf2
-param set-default EKF2_MAG_TYPE 1
-param set-default EKF2_GPS_CHECK 511
-param set-default EKF2_GPS_POS_X -0.04
-param set-default EKF2_IMU_POS_X -0.06
-param set-default EKF2_PCOEF_XN 0.1
-param set-default EKF2_PCOEF_XP -0.5
-param set-default EKF2_RNG_A_VMAX 20
-param set-default EKF2_RNG_NOISE 0.2
-param set-default EKF2_MIN_RNG 0.07
-
-# geofence
-# Geofence violation action -- Warning.
-param set-default GF_ACTION 1
-
-# land detector
-param set-default LNDMC_XY_VEL_MAX 1
-# This is set high because we have lots of vibrations while in contact with ground.
-param set-default LNDMC_ROT_MAX 50
-
-# serial comms
-param set-default SER_TEL1_BAUD 921600
-param set-default SER_TEL2_BAUD 921600
-
-# mavlink stream configuration
-# TEL1 ttyS1 -- disabled. TX1 FTDI UART has issues.
-param set-default MAV_0_CONFIG 0
-param set-default MAV_0_RATE 800000
-
-# TEL2 ttyS2 -- Primary MAVLINK stream to companion computer.
-param set-default MAV_1_CONFIG 102
-param set-default MAV_1_RATE 800000
-
-# mc_att_control
-param set-default MC_ACRO_P_MAX 360
-param set-default MC_ACRO_R_MAX 360
-param set-default MC_ACRO_Y_MAX 360
-
-param set-default MC_ROLL_P 6
-param set-default MC_ROLLRATE_P 0.055
-param set-default MC_ROLLRATE_D 0.0012
-param set-default MC_ROLLRATE_MAX 180
-
-param set-default MC_PITCHRATE_P 0.06
-param set-default MC_PITCHRATE_D 0.0012
-param set-default MC_PITCHRATE_MAX 180
-
-param set-default MC_YAW_P 1
-param set-default MC_YAWRATE_P 0.08
-param set-default MC_YAWRATE_I 0.08
-
-param set-default MC_YAWRATE_MAX 180
-
-# Set to reduce voltage transients as seen by battery management system.
-param set-default MOT_SLEW_MAX 0.15
-
-#### CONTROLLER ###
-param set-default MPC_LAND_ALT1 8
-param set-default MPC_LAND_ALT2 5
-param set-default MPC_TKO_RAMP_T 0.75
-param set-default MPC_TKO_SPEED 0.75
-param set-default MPC_TILTMAX_LND 18
-param set-default MPC_TILTMAX_AIR 45
-param set-default MPC_MAN_TILT_MAX 45
-
-param set-default MPC_MANTHR_MAX 0.85
-param set-default MPC_MANTHR_MIN 0.15
-# Full throttle can trip over current protection on BMS.
-param set-default MPC_THR_MAX 0.85
-param set-default MPC_THR_MIN 0.15
-
-param set-default MPC_VEL_MANUAL 26.5
-# RTL speed, it was too fast and scaring people.
-param set-default MPC_XY_CRUISE 15
-
-param set-default MPC_MAN_Y_MAX 200
-
-param set-default MPC_JERK_MAX 5
-param set-default MPC_ACC_UP_MAX 10
-param set-default MPC_ACC_DOWN_MAX 10
-param set-default MPC_ACC_HOR 10
-param set-default MPC_ACC_HOR_MAX 15
-
-param set-default MPC_XY_P 1.15
-param set-default MPC_XY_VEL_P_ACC 2.8
-param set-default MPC_XY_VEL_I_ACC 0.28
-param set-default MPC_XY_VEL_D_ACC 0.28
-param set-default MPC_XY_VEL_MAX 26.5
-
-param set-default MPC_Z_P 0.85
-param set-default MPC_Z_VEL_P_ACC 5
-param set-default MPC_Z_VEL_I_ACC 1.7
-param set-default MPC_Z_VEL_D_ACC 0.4
-# Documentation says limit is 8.0, but does not seem to be enforced in code.
-param set-default MPC_Z_VEL_MAX_UP 20
-param set-default MPC_Z_VEL_MAX_DN 2.5
-#### CONTROLLER ###
-
-# navigator
-param set-default NAV_ACC_RAD 2.5
-# RC loss failsafe behavior -- hold mode.
-param set-default NAV_RCL_ACT 1
-
-# pwm control
-param set-default PWM_MAIN_DISARM 900
-param set-default PWM_MAIN_MAX 1850
-param set-default PWM_MAIN_MIN 1075
-# Oneshot125
-param set-default PWM_MAIN_RATE 0
-
-# rtl
-param set-default RTL_DESCEND_ALT 5
-param set-default RTL_LAND_DELAY 5
-param set-default RTL_MIN_DIST 7.5
-param set-default RTL_RETURN_ALT 25
-
-# calibration
-param set-default CAL_ACC0_PRIO 255
-param set-default CAL_ACC1_PRIO 0
-
-param set-default CAL_GYRO0_PRIO 255
-param set-default CAL_GYRO1_PRIO 0
-# Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)
-param set-default SDLOG_PROFILE 6
-
-# Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number.
-param set TEL_FRSKY_CONFIG 500
-# We want to make sure these always start
-param set SENS_EN_PGA460 1
-param set SENS_EN_THERMAL 1
-param set SENS_EN_BATT 1
@@ -13,10 +13,6 @@

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

-set MIXER quad_x
-set PWM_OUT 1234
-
-
 param set-default MC_PITCHRATE_P 0.087
 param set-default MC_PITCHRATE_I 0.037
 param set-default MC_PITCHRATE_D 0.0044
@@ -17,7 +17,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_x_cw
-set PWM_OUT 1234

 param set-default BAT1_N_CELLS 1
 param set-default BAT1_CAPACITY 240
@@ -69,4 +68,3 @@ set PWM_MAIN_MIN none

 syslink start
 mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
-
@@ -17,7 +17,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_x_cw
-set PWM_OUT 1234

 param set-default SYS_MC_EST_GROUP 2
 param set-default SYS_HAS_MAG 0
@@ -61,7 +60,6 @@ param set-default PWM_MAIN_RATE 3921

 param set-default SENS_FLOW_MINRNG 0.05

-
 set PWM_MAIN_DISARM none
 set PWM_MAIN_MAX none
 set PWM_MAIN_MIN none
@@ -18,7 +18,6 @@

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

-
 param set-default BAT1_N_CELLS 4

 param set-default EKF2_GBIAS_INIT 0.01
@@ -20,7 +20,6 @@

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

-
 param set-default BAT1_N_CELLS 2

 param set-default EKF2_GBIAS_INIT 0.01
@@ -26,5 +26,3 @@
 . ${R}etc/init.d/rc.mc_defaults

 set MIXER quad_+
-
-set PWM_OUT 1234
@@ -22,7 +22,6 @@

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

-
 #Set data link loss failsafe mode (0: disabled)

 # disable circuit breaker for airspeed sensor
@@ -43,4 +42,3 @@ param set-default BAT_V_OFFS_CURR 0.33
 set PWM_OUT 12345678
 # set MIXER IO_pass
 set MIXER vectored6dof
-
@@ -26,6 +26,7 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
+
 set MIXER hexa_x
 set PWM_OUT 12345678

@@ -13,7 +13,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc

-
 param set-default MPC_USE_HTE 0

 param set-default VM_MASS 1.5
@@ -88,7 +88,6 @@ px4_add_romfs_files(
 	4080_zmr250
 	4090_nanomind
 	4100_tiltquadrotor
-	4250_teal
 	4500_clover4
 	4900_crazyflie
 	4901_crazyflie21
@@ -8,8 +8,8 @@
 #
 # Start angular velocity controller
 #
-angular_velocity_controller start
-mc_rate_control stop
+# angular_velocity_controller start
+# mc_rate_control stop

 #
 # Start Control Allocator
@@ -25,4 +25,8 @@ param set-default GPS_UBX_DYNMODEL 6
 #
 set MIXER_AUX pass

+set MIXER quad_x
+
+set PWM_OUT 1234
+
 set PWM_AUX_OUT 1234
@@ -108,7 +108,13 @@ fi
 # Python3 dependencies
 echo
 echo "Installing PX4 Python3 dependencies"
-python3 -m pip install --user -r ${DIR}/requirements.txt
+if [ -n "$VIRTUAL_ENV" ]; then
+	# virtual envrionments don't allow --user option
+	python -m pip install -r ${DIR}/requirements.txt
+else
+	# older versions of Ubuntu require --user option
+	python3 -m pip install --user -r ${DIR}/requirements.txt
+fi

 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then
@@ -48,6 +48,7 @@

 /* CAN termination software control */
 #define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION

 /* Boot config */
 #define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
@@ -60,6 +60,7 @@

 /* CAN termination software control */
 #define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION

 /* ICM42688p FSYNC */
 #define GPIO_42688P_FSYNC     /* PB8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
@@ -78,6 +79,12 @@
 #define GPIO_I2C2_SCL_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
 #define GPIO_I2C2_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)

+#define GPIO_USART1_RX_GPIO	(GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_USART1_TX_GPIO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN15)
+
+#define GPIO_USART2_RX_GPIO	(GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_USART2_TX_GPIO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN2)
+
 #define FLASH_BASED_PARAMS

 /* High-resolution timer */
@@ -55,6 +55,7 @@

 #include <stm32.h>
 #include "board_config.h"
+#include "led.h"
 #include <stm32_uart.h>

 #include <arch/board/board.h>
@@ -92,6 +93,21 @@ __EXPORT void stm32_boardinitialize(void)

 	// Configure SPI all interfaces GPIO & enable power.
 	stm32_spiinitialize();
+
+	// Check if button is held. If so go into gps passthrough mode
+	if (stm32_gpioread(GPIO_BTN_SAFETY)) {
+		rgb_led(128, 128, 128, 10);
+		stm32_configgpio(GPIO_USART1_TX_GPIO);
+		stm32_configgpio(GPIO_USART1_RX_GPIO);
+		stm32_configgpio(GPIO_USART2_TX_GPIO);
+		stm32_configgpio(GPIO_USART2_RX_GPIO);
+
+		while (1) {
+			watchdog_pet();
+			stm32_gpiowrite(GPIO_USART2_TX_GPIO, stm32_gpioread(GPIO_USART1_RX_GPIO));
+			stm32_gpiowrite(GPIO_USART1_TX_GPIO, stm32_gpioread(GPIO_USART2_RX_GPIO));
+		}
+	}
 }

 /****************************************************************************
@@ -60,6 +60,7 @@

 /* CAN termination software control */
 #define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION

 /* ICM42688p FSYNC */
 #define GPIO_42688P_FSYNC     /* PB8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
@@ -78,6 +79,15 @@
 #define GPIO_I2C2_SCL_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
 #define GPIO_I2C2_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)

+#define GPIO_I2C2_SCL_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+
+#define GPIO_USART1_RX_GPIO	(GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_USART1_TX_GPIO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN15)
+
+#define GPIO_USART2_RX_GPIO	(GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_USART2_TX_GPIO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN2)
+
 #define FLASH_BASED_PARAMS

 /* High-resolution timer */
@@ -55,6 +55,7 @@

 #include <stm32.h>
 #include "board_config.h"
+#include "led.h"
 #include <stm32_uart.h>

 #include <arch/board/board.h>
@@ -92,6 +93,21 @@ __EXPORT void stm32_boardinitialize(void)

 	// Configure SPI all interfaces GPIO & enable power.
 	stm32_spiinitialize();
+
+	// Check if button is held. If so go into gps passthrough mode
+	if (stm32_gpioread(GPIO_BTN_SAFETY)) {
+		rgb_led(128, 128, 128, 10);
+		stm32_configgpio(GPIO_USART1_TX_GPIO);
+		stm32_configgpio(GPIO_USART1_RX_GPIO);
+		stm32_configgpio(GPIO_USART2_TX_GPIO);
+		stm32_configgpio(GPIO_USART2_RX_GPIO);
+
+		while (1) {
+			watchdog_pet();
+			stm32_gpiowrite(GPIO_USART2_TX_GPIO, stm32_gpioread(GPIO_USART1_RX_GPIO));
+			stm32_gpiowrite(GPIO_USART1_TX_GPIO, stm32_gpioread(GPIO_USART2_RX_GPIO));
+		}
+	}
 }

 /****************************************************************************
@@ -254,11 +254,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
+#if defined(SERIAL_HAVE_DMA) || defined(LPSERIAL_HAVE_DMA)
 	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
 	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)kinetis_lpserial_dma_poll_all, NULL);
-#endif
+#endif /* SERIAL_HAVE_DMA || LPSERIAL_HAVE_DMA */

 	/* initial LED state */
 	drv_led_start();
@@ -1,2 +1,9 @@
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_DRIVERS_UAVCAN_V1=y
+CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
+CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
+CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y
+CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y
+CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
@@ -254,11 +254,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}

-#if defined(SERIAL_HAVE_RXDMA)
+#if defined(SERIAL_HAVE_DMA) || defined(LPSERIAL_HAVE_DMA)
 	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
 	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)kinetis_lpserial_dma_poll_all, NULL);
-#endif
+#endif /* SERIAL_HAVE_DMA || LPSERIAL_HAVE_DMA */

 	/* initial LED state */
 	drv_led_start();
@@ -21,6 +21,7 @@ CONFIG_ARCH_CHIP_S32K1XX=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BCH=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_LOOPSPERMSEC=3997
 CONFIG_BUILTIN=y
@@ -33,6 +34,7 @@ CONFIG_DISABLE_POSIX_TIMERS=y
 CONFIG_EXAMPLES_HELLO=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_MAX_TASKS=16
 CONFIG_FS_ROMFS=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
@@ -52,7 +54,6 @@ CONFIG_LPUART0_TXDMA=y
 CONFIG_LPUART1_RXBUFSIZE=128
 CONFIG_LPUART1_SERIAL_CONSOLE=y
 CONFIG_LPUART1_TXBUFSIZE=128
-CONFIG_FS_PROCFS_MAX_TASKS=16
 CONFIG_MOTOROLA_SREC=y
 CONFIG_MTD=y
 CONFIG_MTD_PARTITION=y
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# board specific MAVLink startup script.
+#------------------------------------------------------------------------------
+
+if ver hwtypecmp V5Xa0 V5X91 V5Xa1
+then
+	# Start MAVLink on the UART connected to the mission computer
+	mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
+fi
@@ -0,0 +1 @@
+CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -46,7 +46,7 @@ endif()
 add_custom_target(upload
 	COMMAND rsync -arh --progress
 			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/pilotpi*.config ${PX4_BINARY_DIR}/etc # source
-			\$\{AUTOPILOT_USER\}@\$\{AUTOPILOT_HOST\}:/home/\$\{AUTOPILOT_USER\}/px4 # destination
+			"${AUTOPILOT_USER}@${AUTOPILOT_HOST}:/home/${AUTOPILOT_USER}/px4" # destination
 	DEPENDS px4
 	COMMENT "uploading px4"
 	USES_TERMINAL
@@ -150,7 +150,7 @@ static void mavlink_usb_check(void *arg)
 							if (nread >= MAVLINK_HEARTBEAT_MIN_LENGTH) {
 								// scan buffer for mavlink HEARTBEAT (v1 & v2)
 								for (int i = 0; i < nread - MAVLINK_HEARTBEAT_MIN_LENGTH; i++) {
-									if ((buffer[i] = 0xFE) && (buffer[i + 1] = 9) && (buffer[i + 5] == 0)) {
+									if ((buffer[i] == 0xFE) && (buffer[i + 1] == 9) && (buffer[i + 5] == 0)) {
 										// mavlink v1 HEARTBEAT
 										//  buffer[0]: start byte (0xFE for mavlink v1)
 										//  buffer[1]: length (9 for HEARTBEAT)
@@ -162,7 +162,7 @@ static void mavlink_usb_check(void *arg)
 										launch_mavlink = true;
 										break;

-									} else if ((buffer[i] = 0xFD) && (buffer[i + 1] = 9)
+									} else if ((buffer[i] == 0xFD) && (buffer[i + 1] == 9)
 										   && (buffer[i + 7] == 0) && (buffer[i + 8] == 0) && (buffer[i + 9] == 0)) {
 										// mavlink v2 HEARTBEAT
 										//  buffer[0]: start byte (0xFD for mavlink v2)
@@ -120,6 +120,7 @@ set(models
 	believer
 	boat
 	cloudship
+	glider
 	if750a
 	iris
 	iris_ctrlalloc
@@ -147,6 +148,7 @@ set(models
 	techpod
 	tiltrotor
 	typhoon_h480
+	typhoon_h480_ctrlalloc
 	uuv_bluerov2_heavy
 	uuv_hippocampus
 )
@@ -31,4 +31,4 @@
 #
 ############################################################################

-#add_subdirectory(afbrs50) # not suitable for general inclusion
+add_subdirectory(afbrs50)
@@ -127,6 +127,13 @@ LightwareLaserSerial::init()
 		_simple_serial = true;
 		break;

+	case 8:
+		/* LW20/c (100M 20Hz) */
+		_px4_rangefinder.set_min_distance(0.2f);
+		_px4_rangefinder.set_max_distance(100.0f);
+		_interval = 50000;
+		break;
+
 	default:
 		PX4_ERR("invalid HW model %" PRIi32 ".", hw_model);
 		return -1;
@@ -297,6 +304,12 @@ void LightwareLaserSerial::Run()
 		if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) {
 			PX4_ERR("baud %d ATTR", termios_state);
 		}
+
+		// LW20: Enable serial mode by sending some characters
+		if (hw_model == 8) {
+			const char *data = "www\r\n";
+			(void)!::write(_fd, &data, strlen(data));
+		}
 	}

 	/* collection phase? */
@@ -41,5 +41,8 @@
 * @value 3 SF10/b
 * @value 4 SF10/c
 * @value 5 SF11/c
+ * @value 6 SF30/b
+ * @value 7 SF30/c
+ * @value 8 LW20/c
 */
 PARAM_DEFINE_INT32(SENS_EN_SF0X, 1);
@@ -274,15 +274,21 @@ void ICM20602::RunImpl()
 					if (samples > _fifo_gyro_samples) {
 						// grab desired number of samples, but reschedule next cycle sooner
 						int extra_samples = samples - _fifo_gyro_samples;
-						timestamp_sample -= extra_samples * static_cast<int>(FIFO_SAMPLE_DT);
 						samples = _fifo_gyro_samples;

-						ScheduleOnInterval(_fifo_empty_interval_us,
-								   _fifo_empty_interval_us - (extra_samples * FIFO_SAMPLE_DT));
+						if (_fifo_gyro_samples > extra_samples) {
+							// reschedule to run when a total of _fifo_gyro_samples should be available in the FIFO
+							const uint32_t reschedule_delay_us = (_fifo_gyro_samples - extra_samples) * static_cast<int>(FIFO_SAMPLE_DT);
+							ScheduleOnInterval(_fifo_empty_interval_us, reschedule_delay_us);
+
+						} else {
+							// otherwise reschedule to run immediately
+							ScheduleOnInterval(_fifo_empty_interval_us);
+						}

 					} else if (samples < _fifo_gyro_samples) {
 						// reschedule next cycle to catch the desired number of samples
-						ScheduleOnInterval(_fifo_empty_interval_us, (_fifo_gyro_samples - samples) * FIFO_SAMPLE_DT);
+						ScheduleOnInterval(_fifo_empty_interval_us, (_fifo_gyro_samples - samples) * static_cast<int>(FIFO_SAMPLE_DT));
 					}
 				}
 			}
@@ -229,15 +229,21 @@ void ICM20649::RunImpl()
 				if (samples > _fifo_gyro_samples) {
 					// grab desired number of samples, but reschedule next cycle sooner
 					int extra_samples = samples - _fifo_gyro_samples;
-					timestamp_sample -= extra_samples * static_cast<int>(FIFO_SAMPLE_DT);
 					samples = _fifo_gyro_samples;

-					ScheduleOnInterval(_fifo_empty_interval_us,
-							   _fifo_empty_interval_us - (extra_samples * FIFO_SAMPLE_DT));
+					if (_fifo_gyro_samples > extra_samples) {
+						// reschedule to run when a total of _fifo_gyro_samples should be available in the FIFO
+						const uint32_t reschedule_delay_us = (_fifo_gyro_samples - extra_samples) * static_cast<int>(FIFO_SAMPLE_DT);
+						ScheduleOnInterval(_fifo_empty_interval_us, reschedule_delay_us);
+
+					} else {
+						// otherwise reschedule to run immediately
+						ScheduleOnInterval(_fifo_empty_interval_us);
+					}

 				} else if (samples < _fifo_gyro_samples) {
 					// reschedule next cycle to catch the desired number of samples
-					ScheduleOnInterval(_fifo_empty_interval_us, (_fifo_gyro_samples - samples) * FIFO_SAMPLE_DT);
+					ScheduleOnInterval(_fifo_empty_interval_us, (_fifo_gyro_samples - samples) * static_cast<int>(FIFO_SAMPLE_DT));
 				}

 				if (samples == _fifo_gyro_samples) {
@@ -265,15 +265,21 @@ void ICM20948::RunImpl()
 				if (samples > _fifo_gyro_samples) {
 					// grab desired number of samples, but reschedule next cycle sooner
 					int extra_samples = samples - _fifo_gyro_samples;
-					timestamp_sample -= extra_samples * static_cast<int>(FIFO_SAMPLE_DT);
 					samples = _fifo_gyro_samples;

-					ScheduleOnInterval(_fifo_empty_interval_us,
-							   _fifo_empty_interval_us - (extra_samples * FIFO_SAMPLE_DT));
+					if (_fifo_gyro_samples > extra_samples) {
+						// reschedule to run when a total of _fifo_gyro_samples should be available in the FIFO
+						const uint32_t reschedule_delay_us = (_fifo_gyro_samples - extra_samples) * static_cast<int>(FIFO_SAMPLE_DT);
+						ScheduleOnInterval(_fifo_empty_interval_us, reschedule_delay_us);
+
+					} else {
+						// otherwise reschedule to run immediately
+						ScheduleOnInterval(_fifo_empty_interval_us);
+					}

 				} else if (samples < _fifo_gyro_samples) {
 					// reschedule next cycle to catch the desired number of samples
-					ScheduleOnInterval(_fifo_empty_interval_us, (_fifo_gyro_samples - samples) * FIFO_SAMPLE_DT);
+					ScheduleOnInterval(_fifo_empty_interval_us, (_fifo_gyro_samples - samples) * static_cast<int>(FIFO_SAMPLE_DT));
 				}

 				if (samples == _fifo_gyro_samples) {
@@ -568,8 +568,8 @@ void DevCommon::cleanup()

 	size_t garbage_end = 0;

-	if (!mavlink_available && !rtps_available && (_read_buffer->buf_size > 0)) {
-		garbage_end = _read_buffer->buf_size - 1;
+	if (!mavlink_available && !rtps_available) {
+		garbage_end = math::max(_read_buffer->start_mavlink, _read_buffer->start_rtps);

 	} else {
 		garbage_end = math::min(_read_buffer->start_mavlink, _read_buffer->start_rtps);
@@ -50,6 +50,8 @@ else()
 endif()

 set(SRCS)
+set(DPNDS)
+
 if(${PX4_PLATFORM} MATCHES "nuttx")
 	if(CONFIG_NET_CAN)
 		list(APPEND SRCS
@@ -64,6 +66,40 @@ if(${PX4_PLATFORM} MATCHES "nuttx")
 	endif()
 endif()

+if(CONFIG_UAVCAN_V1_NODE_MANAGER)
+    list(APPEND SRCS
+		NodeManager.hpp
+		NodeManager.cpp
+    )
+endif()
+
+if(CONFIG_UAVCAN_V1_NODE_CLIENT)
+    list(APPEND SRCS
+		NodeClient.hpp
+		NodeClient.cpp
+    )
+    list(APPEND DPNDS
+        drivers_bootloaders
+    )
+endif()
+
+# Temporary measure to get Kconfig option as defines into this application
+# Ideally we want nicely decouple and define this in kconfig.cmake
+# But then we need to overhaul the src modules naming convention
+set(DRIVERS_UAVCAN_V1_OPTIONS)
+get_cmake_property(_variableNames VARIABLES)
+foreach (_variableName ${_variableNames})
+    string(REGEX MATCH "^CONFIG_UAVCAN_V1_" UAVCAN_V1_OPTION ${_variableName})
+
+    if(UAVCAN_V1_OPTION)
+        if(${${_variableName}} STREQUAL "y")
+            list(APPEND DRIVERS_UAVCAN_V1_OPTIONS "-D${_variableName}=1")
+        else()
+            list(APPEND DRIVERS_UAVCAN_V1_OPTIONS "-D${_variableName}=${${_variableName}}")
+        endif()
+    endif()
+endforeach()
+
 px4_add_module(
 	MODULE drivers__uavcan_v1
 	MAIN uavcan_v1
@@ -72,6 +108,7 @@ px4_add_module(
 		#-DCANARD_ASSERT
 		-DUINT32_C\(x\)=__UINT32_C\(x\)
 		-O0
+		${DRIVERS_UAVCAN_V1_OPTIONS}
 	INCLUDES
 		${LIBCANARD_DIR}/libcanard/
 		${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated
@@ -82,8 +119,6 @@ px4_add_module(
 		SubscriptionManager.hpp
 		ParamManager.hpp
 		ParamManager.cpp
-		NodeManager.hpp
-		NodeManager.cpp
 		Uavcan.cpp
 		Uavcan.hpp
 		Publishers/uORB/uorb_publisher.cpp
@@ -97,4 +132,5 @@ px4_add_module(
 		git_public_regulated_data_types
 		git_legacy_data_types
 		version
+		${DPNDS}
 	)
@@ -20,15 +20,91 @@ if DRIVERS_UAVCAN_V1

    endchoice

-    config UAVCAN_V1_GETINFO_RESPONDER
-        bool "GetInfo1.0 responder"
-        default n
+    config UAVCAN_V1_NODE_MANAGER
+        bool "Node manager"
+        default y
+        depends on UAVCAN_V1_FMU
+        help
+            Implement UAVCAN v1 PNP server functionality and manages discovered nodes

-    config UAVCAN_V1_EXECUTECOMMAND_RESPONDER
-        bool "ExecuteCommand1.0 responder"
-        default n
+    config UAVCAN_V1_NODE_CLIENT
+        bool "Node client"
+        default y
+        depends on UAVCAN_V1_CLIENT
+        help
+            Implement UAVCAN v1 PNP client functionality

-    config UAVCAN_V1_GNSS_PUBLISHER
-        bool "GNSS Publisher"
+    config UAVCAN_V1_APP_DESCRIPTOR
+        bool "UAVCAN v0 bootloader app descriptor"
        default n
+        depends on UAVCAN_V1_CLIENT && DRIVERS_BOOTLOADERS
+        help
+            When the board uses the UAVCANv0 bootloader functionality you need a AppImageDescriptor defined
+
+
+    menu "Publisher support"
+
+        config UAVCAN_V1_GNSS_PUBLISHER
+            bool "GNSS Publisher"
+            default n
+
+        config UAVCAN_V1_ESC_CONTROLLER
+            bool "ESC Controller"
+            default n
+
+        config UAVCAN_V1_READINESS_PUBLISHER
+            bool "Readiness Publisher"
+            default n
+
+        config UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER
+            bool "uORB actuator_outputs publisher"
+            default n
+
+        config UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER
+            bool "uORB sensor_gps publisher"
+            default n
+
+    endmenu
+
+    menu "Subscriber support"
+
+        config UAVCAN_V1_ESC_SUBSCRIBER
+            bool "ESC Subscriber"
+            default n
+
+        config UAVCAN_V1_GNSS_SUBSCRIBER_0
+            bool "GNSS Subscriber 0 "
+            default n
+
+        config UAVCAN_V1_GNSS_SUBSCRIBER_1
+            bool "GNSS Subscriber 1"
+            default n
+
+        config UAVCAN_V1_BMS_SUBSCRIBER
+            bool "BMS Subscriber"
+            default n
+
+        config UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER
+            bool "uORB sensor_gps Subscriber"
+            default n
+    endmenu
+
+    menu "Advertised Services"
+        config UAVCAN_V1_GETINFO_RESPONDER
+            bool "GetInfo1.0 responder"
+            default y
+            help
+                Responds to uavcan.node.GetInfo.1.0 request sending over node information
+                See https://github.com/UAVCAN/public_regulated_data_types/blob/master/uavcan/node/430.GetInfo.1.0.uavcan for full response
+
+        config UAVCAN_V1_EXECUTECOMMAND_RESPONDER
+            bool "ExecuteCommand1.0 responder"
+            default n
+            help
+                To be implemented
+    endmenu
+
+    menu "Service invokers"
+    endmenu
+
 endif #DRIVERS_UAVCAN_V1
@@ -0,0 +1,170 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file NodeClient.cpp
+ *
+ * Defines basic implementation of client UAVCAN PNP for requesting a Node ID
+ *
+ * @author Peter van der Perk <peter.vanderperk@nxp.com>
+ */
+
+#define PNP_UNIQUE_ID_SIZE 16 // 128 bit unique id
+
+#include <crc64.h>
+#include "NodeClient.hpp"
+
+void NodeClient::callback(const CanardTransfer &receive)
+{
+	if (receive.remote_node_id != CANARD_NODE_ID_UNSET && _canard_instance.node_id != CANARD_NODE_ID_UNSET) {
+
+		int32_t allocated = CANARD_NODE_ID_UNSET;
+		px4_guid_t px4_guid;
+		board_get_px4_guid(px4_guid);
+
+		if (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD) {
+			uavcan_pnp_NodeIDAllocationData_2_0 msg;
+
+			size_t msg_size_in_bytes = receive.payload_size;
+			uavcan_pnp_NodeIDAllocationData_2_0_deserialize_(&msg, (const uint8_t *)receive.payload,
+					&msg_size_in_bytes);
+
+			if (memcmp(msg.unique_id, px4_guid, sizeof(msg.unique_id)) == 0) {
+				allocated = msg.node_id.value;
+			}
+
+		} else {
+			uavcan_pnp_NodeIDAllocationData_1_0 msg;
+
+			size_t msg_size_in_bytes = receive.payload_size;
+			uavcan_pnp_NodeIDAllocationData_1_0_deserialize_(&msg, (const uint8_t *)receive.payload,
+					&msg_size_in_bytes);
+
+			if (msg.allocated_node_id.count > 0) {
+				if (msg.unique_id_hash == (crc64(px4_guid, PNP_UNIQUE_ID_SIZE) & 0xFFFFFFFFFFFF)) {
+					allocated = msg.allocated_node_id.elements[0].value;
+				}
+			}
+		}
+
+		if (allocated == CANARD_NODE_ID_UNSET) {
+			return;        // UID mismatch.
+		}
+
+		if (allocated <= 0 || allocated >= (int32_t)CANARD_NODE_ID_MAX)
+			// Allocated node-ID ignored because it exceeds max_node_id
+		{
+			return;
+		}
+
+		_canard_instance.node_id = allocated;
+	}
+}
+
+
+void NodeClient::update()
+{
+	if (hrt_elapsed_time(&_nodealloc_request_last) >= hrt_abstime(2 *
+			1000000ULL)) { // Compiler hates me here, some 1_s doesn't work
+
+		int32_t result;
+
+		// Allocation already done, nothing to do
+		if (_canard_instance.node_id != CANARD_NODE_ID_UNSET) {
+			return;
+		}
+
+		if (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD) {
+			// NodeIDAllocationData message
+			uavcan_pnp_NodeIDAllocationData_2_0 node_id_alloc_msg;
+			uint8_t node_id_alloc_payload_buffer[PNP2_PAYLOAD_SIZE];
+
+			px4_guid_t px4_guid;
+			board_get_px4_guid(px4_guid);
+			memcpy(node_id_alloc_msg.unique_id, px4_guid, sizeof(node_id_alloc_msg.unique_id));
+			//node_id_alloc_msg.node_id.value = preffered_node_id; //FIXME preffered ID PX4 Param
+
+			CanardTransfer transfer = {
+				.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,      // Zero if transmission deadline is not limited.
+				.priority       = CanardPriorityNominal,
+				.transfer_kind  = CanardTransferKindMessage,
+				.port_id        = PNP2_PORT_ID,                // This is the subject-ID.
+				.remote_node_id = CANARD_NODE_ID_UNSET,       // Messages cannot be unicast, so use UNSET.
+				.transfer_id    = _node_id_alloc_transfer_id,
+				.payload_size   = PNP2_PAYLOAD_SIZE,
+				.payload        = &node_id_alloc_payload_buffer,
+			};
+
+			result = uavcan_pnp_NodeIDAllocationData_2_0_serialize_(&node_id_alloc_msg, (uint8_t *)&node_id_alloc_payload_buffer,
+					&transfer.payload_size);
+
+			if (result == 0) {
+				// set the data ready in the buffer and chop if needed
+				++_node_id_alloc_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
+				canardTxPush(&_canard_instance, &transfer);
+			}
+
+		} else {
+			// NodeIDAllocationData message
+			uavcan_pnp_NodeIDAllocationData_1_0 node_id_alloc_msg;
+			uavcan_pnp_NodeIDAllocationData_1_0_initialize_(&node_id_alloc_msg);
+			uint8_t node_id_alloc_payload_buffer[PNP1_PAYLOAD_SIZE];
+
+			px4_guid_t px4_guid;
+			board_get_px4_guid(px4_guid);
+			node_id_alloc_msg.unique_id_hash = (crc64(px4_guid, PNP_UNIQUE_ID_SIZE) & 0xFFFFFFFFFFFF);
+
+			CanardTransfer transfer = {
+				.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,      // Zero if transmission deadline is not limited.
+				.priority       = CanardPriorityNominal,
+				.transfer_kind  = CanardTransferKindMessage,
+				.port_id        = PNP1_PORT_ID,                // This is the subject-ID.
+				.remote_node_id = CANARD_NODE_ID_UNSET,       // Messages cannot be unicast, so use UNSET.
+				.transfer_id    = _node_id_alloc_transfer_id,
+				.payload_size   = PNP1_PAYLOAD_SIZE,
+				.payload        = &node_id_alloc_payload_buffer,
+			};
+
+			result = uavcan_pnp_NodeIDAllocationData_1_0_serialize_(&node_id_alloc_msg, (uint8_t *)&node_id_alloc_payload_buffer,
+					&transfer.payload_size);
+
+			if (result == 0) {
+				// set the data ready in the buffer and chop if needed
+				++_node_id_alloc_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
+				canardTxPush(&_canard_instance, &transfer);
+			}
+		}
+
+		_nodealloc_request_last = hrt_absolute_time();
+	}
+}
@@ -42,6 +42,35 @@

 #pragma once

+#include <px4_platform_common/px4_config.h>
+
+#ifndef CONFIG_UAVCAN_V1_GNSS_PUBLISHER
+#define CONFIG_UAVCAN_V1_GNSS_PUBLISHER 0
+#endif
+
+#ifndef CONFIG_UAVCAN_V1_ESC_CONTROLLER
+#define CONFIG_UAVCAN_V1_ESC_CONTROLLER 0
+#endif
+
+#ifndef CONFIG_UAVCAN_V1_READINESS_PUBLISHER
+#define CONFIG_UAVCAN_V1_READINESS_PUBLISHER 0
+#endif
+
+#ifndef CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER
+#define CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER 0
+#endif
+
+#ifndef CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER
+#define CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER 0
+#endif
+
+/* Preprocessor calculation of publisher count */
+
+#define UAVCAN_PUB_COUNT CONFIG_UAVCAN_V1_GNSS_PUBLISHER + \
+	CONFIG_UAVCAN_V1_ESC_CONTROLLER + \
+	CONFIG_UAVCAN_V1_READINESS_PUBLISHER + \
+	CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER + \
+	CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER

 #include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
@@ -79,7 +108,9 @@ private:
 	UavcanParamManager &_param_manager;
 	List<UavcanPublisher *> _dynpublishers;

-	const UavcanDynPubBinder _uavcan_pubs[5] {
+
+	const UavcanDynPubBinder _uavcan_pubs[UAVCAN_PUB_COUNT] {
+#if CONFIG_UAVCAN_V1_GNSS_PUBLISHER
 		{
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanPublisher *
 			{
@@ -88,6 +119,8 @@ private:
 			"gps",
 			0
 		},
+#endif
+#if CONFIG_UAVCAN_V1_ESC_CONTROLLER
 		{
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanPublisher *
 			{
@@ -96,6 +129,8 @@ private:
 			"esc",
 			0
 		},
+#endif
+#if CONFIG_UAVCAN_V1_READINESS_PUBLISHER
 		{
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanPublisher *
 			{
@@ -104,6 +139,8 @@ private:
 			"readiness",
 			0
 		},
+#endif
+#if CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER
 		{
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanPublisher *
 			{
@@ -112,7 +149,8 @@ private:
 			"uorb.actuator_outputs",
 			0
 		},
-
+#endif
+#if CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER
 		{
 			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanPublisher *
 			{
@@ -121,5 +159,6 @@ private:
 			"uorb.sensor_gps",
 			0
 		},
+#endif
 	};
 };
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Hamish Willee	d74af6d1f8	Delete simpleapp CMakeLists	2021-10-18 08:33:52 +11:00
Alex Klimaj	b482986e8e	uavcannode: Add CANNODE_TERM parameter (configure CAN termination on ARK cannodes) - adds functionality to enable the built in can termination on the ARK cannodes	2021-10-15 09:29:56 -04:00
Jari van Ewijk	55910caec5	UCANS32K146: Enable CONFIG_BCH to use EEEPROM as character driver	2021-10-15 05:54:27 -07:00
Silvan Fuhrer	a66b0829b0	Standard VTOL: add airspeed to back transition logic and refactor it a bit Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-10-15 09:58:48 +02:00
Silvan Fuhrer	358c67226e	Tiltrotor: backtransition logic improvements -use groundspeed in body x for exit condition -use airspeed for speed exit condition if no valid groundspeed Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-10-15 09:58:48 +02:00
Silvan Fuhrer	cba80a6338	Tiltrotor: front transition: fade out yaw equally to roll Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-10-15 09:58:48 +02:00
Silvan Fuhrer	641383cbfb	VTOL backtransition improvements * vtol_type: only allow positive pitch setpoints during backtransition * vtol params: set default of VT_B_DEC_FF to 0, as for most frames a FF is not necessary * Tiltrotor: fix throttle during first part of back transition * Tiltrotor: only enable all motors in second phase of backtransition (tilting phase) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-10-15 09:58:48 +02:00
RomanBapst	af291e2040	FlightTaskTransition: Transition improvements - use fw pitch setpoint offset during transition - take over previous vertical velocity and smooth out over transition Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-10-15 09:58:48 +02:00
Silvan Fuhrer	d39c32619e	Tiltrotor: add minimum throttle of 0.25 during front transition Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-10-15 09:58:48 +02:00
RomanBapst	f61853d428	vtol: implement throttle blending out and into transition - blend into TECS throttle after front transition - blend out of TECS throttle during backtransition Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-10-15 09:58:48 +02:00
RomanBapst	8dd76050e0	vtol: take fixed wing attitude setpoint during transition if altitude is not controlled - required as there is no flightask running if altitude is not controlled Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-10-15 09:58:48 +02:00
Daniel Agar	435e5515df	github actions: increase nuttx and linux ccache max size to 100M	2021-10-14 19:45:29 -04:00
Daniel Agar	7e71b7eafc	github actions: compile nuttx archive bin files and remove duplicate nuttx cannode builds	2021-10-14 19:45:29 -04:00
Daniel Agar	12c7056ae5	drivers/imu: icm20602/icm20649/icm20948 remove timestamp_sample adjustments	2021-10-14 16:37:11 -04:00
Daniel Agar	56823b5ac9	ekf2: EKF control don't allow invalid flow gyro to propagate	2021-10-14 16:31:22 -04:00
Daniel Agar	e8a064af02	github actions: try increasing nuttx ccache limit	2021-10-14 11:54:19 -04:00
Daniel Agar	b88c8eb245	Jenkins: hardware stop commander before sensors module to avoid errors - this is only done to silence timeouts during small benchmarks	2021-10-14 09:17:50 -04:00
Daniel Agar	d35cf78e4a	commander: PX4_ERR if attitude or angular velocity become invalid	2021-10-14 09:17:50 -04:00
Daniel Agar	4559230de6	drivers/imu/invensense: adjust icm20602/icm20649/icm20948 rescheduling logic - this handles the case where the driver might be more than one full transfer cycle behind	2021-10-14 09:17:11 -04:00
Daniel Agar	ef4d4c3093	sensors/vehicle_imu: fix timestamp_sample increasing check	2021-10-14 09:12:45 -04:00
Jaeyoung-Lim	4535b18a80	Set setpoint type as const	2021-10-14 11:18:02 +02:00
Jaeyoung-Lim	07d72f8604	Fix comments	2021-10-14 11:18:02 +02:00
Jaeyoung-Lim	443666199e	Move setmode outside of control_position This commit moves the position controller mode handling outside of the control_position method. The control_method is renamed to control_auto	2021-10-14 11:18:02 +02:00
Jaeyoung-Lim	ae9e91f90c	FW Pos controller: fix format in new switch Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-10-14 11:18:02 +02:00
Silvan Fuhrer	c3e961a1ed	FW Pos C: move setting of control_mode_current to separate function and minor clean ups Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-10-14 11:18:02 +02:00
Silvan Fuhrer	0cf3ef87e3	FW Position Controller: move nav_speed_2d calculation to function Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-10-14 11:18:02 +02:00
Jaeyoung-Lim	581ec224be	Encapsulate loiter and position setpoint handling This commit encapsulates the position setpoint and loiter setpoint handling into a single method, in order to make the code easier to understand 4be452	2021-10-14 11:18:02 +02:00
Thomas Debrunner	f08f2a340d	motion_planning: In VelovitySmoothing, mark const functions const	2021-10-13 21:25:43 -04:00
Thomas Debrunner	fed234de81	flight_mode_manager: Extracted position trajectory motion planning into a library Extract the functionality to plan smooth position motion trajectories into a motion planning library, such that it can be used in other parts of the code as well.	2021-10-13 21:25:43 -04:00
Peter van der Perk	07303af8f8	UAVCANv1 Fix typo in #define	2021-10-13 21:22:15 -04:00
Peter van der Perk	ed394027b1	UAVCANv1 Include Kconfig & Fix #18396	2021-10-13 21:22:15 -04:00
mcsauder	a732ddaefb	Deprecate 4250_teal from CMakeLists.txt.	2021-10-13 17:25:18 -04:00
mcsauder	c1b0d78077	Minimize flash by migrating MIXER quad_x and PWM_OUT 1234 to rc.mc_defaults. Deprecate 4250_teal config file.	2021-10-13 17:25:18 -04:00
Matthias Grob	8b37db7825	Functions: fix corner case x_low == x_high == value resulting in NAN and added unit test to cover it	2021-10-13 17:24:16 -04:00
alexklimaj	f5e1da5b0f	Fix broadcom afbrs50 build	2021-10-13 17:22:26 -04:00
Daniel Agar	7de00469a6	platforms: nuttx px4_init fix USB serial mavlink autodetect	2021-10-13 16:34:45 -04:00
Julian Oes	f91aa76645	boards: add v5x RTPS version again I just copied this from v5 and removed the heater.	2021-10-13 16:20:43 -04:00
David Lechner	426efb515f	setup: fix installing in virtual env on Ubuntu This fixes running the Ubuntu setup script in a Python virtual environment. This was failing because pip doesn't allow the --user option in virtual environments.	2021-10-13 16:19:24 -04:00
Jukka Laitinen	351f679c2f	parameters: Use px4::atomic_bool instead of px4::atomic<bool> This enables us to define the actual atomic bool type in px4_platform Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-10-13 15:01:26 -04:00
Jukka Laitinen	e6658547cf	sensors/vehicle_imu: Fix compiler warning for implicit INFINITY double->float cast This pops up on some newer compilers Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-10-13 15:01:26 -04:00
Jukka Laitinen	5509235517	commander: Fix implicit NaN conversion from double to float compiler warning Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2021-10-13 15:01:26 -04:00
Daniel Agar	41a4045630	boards: nxp_fmuk66 fix serial_dma_poll	2021-10-13 13:45:39 -04:00
Daniel Agar	49a4283d0d	boards: px4_fmu-v5x restore rc.board_mavlink - this was unintentionally removed in https://github.com/PX4/PX4-Autopilot/pull/16180	2021-10-13 17:34:20 +02:00
alexklimaj	ffb47466df	Add ARK GPS passthrough	2021-10-12 22:00:58 -04:00
Mathieu Bresciani	56b0c46444	ekf2: improve optical flow angular rate compensation	2021-10-12 13:17:29 -04:00
Daniel Agar	fab053d33b	mavlink: receiver battery_status prevent out of bounds access - fixes https://github.com/PX4/PX4-Autopilot/issues/18385	2021-10-12 09:20:40 -04:00
Daniel Agar	12670b70f4	Jenkins: hardware quick cal skip sleeps	2021-10-11 15:21:43 -04:00
Silvan Fuhrer	801ef2d520	VTOL main: add local variable for int(vehicle_command.param1 + 0.5) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-10-11 18:15:18 +02:00
Silvan Fuhrer	342e9900f8	vtol main: only guard against transition to FW in certain flight modes, never to MC Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-10-11 18:15:18 +02:00
SalimTerryLi	5ebe41efbf	pilotpi: fix upload cmake	2021-10-11 10:43:59 -04:00
RomanBapst	8f8304f31e	FixedWingPositionController: Set l1 variables to NAN if no l1 guidance took place Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-10-11 16:41:42 +02:00
RomanBapst	ae5d3103f4	fw l1 controller: added a flag to indicate if navigation has updated - can be used to check if l1 controller ran during a cycle Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-10-11 16:41:42 +02:00
Jaeyoung-Lim	e2f048f608	Add sitl glider model Add airframe configs for SITL glider model This commit adds an airframe config for a glider model	2021-10-10 12:33:25 -04:00
Shubham Shah	99b098f608	Update FixedwingAttitudeControl.cpp	2021-10-09 19:39:43 -04:00
Shubham Shah	c92cd65831	Update EKF2.cpp	2021-10-09 19:39:43 -04:00
Shubham Shah	6576e1fda9	Update battery_status.cpp	2021-10-09 19:39:43 -04:00
Shubham Shah	b56bd7cb21	Update AirspeedValidator.cpp	2021-10-09 19:39:43 -04:00
Shubham Shah	47a72a6b7b	Update vtol_att_control_main.cpp	2021-10-09 19:39:43 -04:00
Shubham Shah	9fd19a2c83	Update standard.cpp	2021-10-09 19:39:43 -04:00
Shubham Shah	af34b21ba8	Update tiltrotor.cpp	2021-10-09 19:39:43 -04:00
Jacob Dahl	98f655815a	mavlink: add LAND_TARGET stream	2021-10-09 10:29:02 -04:00
Daniel Agar	4be45229bf	fw_pos_control_l1: fix launch detector dt update - fixes https://github.com/PX4/PX4-Autopilot/issues/18354	2021-10-08 17:34:14 -04:00
Daniel Agar	089f96f800	lib/drivers/{accelerometer,gyroscope} skip obselete Vector3f construction - FIFO clip count only check if value is INT16_MIN/MAX rather than abs() call	2021-10-08 17:33:27 -04:00
Jacob Dahl	fd39d5b9a1	drivers/distance_sensor/lightware_laser_serial: add LW20/C support	2021-10-08 17:30:41 -04:00
Igor Mišić	47dc2ae5a5	Revert "protocol_splitter: delete non rtps or mavlink data from buffer" This reverts commit `0cae3c129d`.	2021-10-08 14:35:12 -04:00
alexklimaj	2ba369dd54	Add uavcannode fix2 mode and submode	2021-10-08 11:00:37 -04:00
Peter van der Perk	d8e88aedc6	motor_ramp ram cleanup	2021-10-08 10:51:06 -04:00
Nicolas Martin	ba66f8a1e2	reset hover thrust value in controllers when disarmed During landing, hover thrust value can be very incorrect so it should be reset before taking off	2021-10-08 10:39:49 +02:00
bresch	ba1b7f3a07	CA pseudo inverse: set all small elements in CA matrix to zero This avoids problems in the sequencial desaturation method where vectors of the CA matrix are used to desaturate the motors.	2021-10-08 09:35:40 +02:00
bresch	d1a2d6e1aa	h480_ctrlalloc: tune rate controller	2021-10-08 09:35:40 +02:00
bresch	984a698760	matrix: update to include min/max of slices	2021-10-08 09:35:40 +02:00
bresch	21b1f090e6	SITL: add typhoon_h480_ctrlalloc target	2021-10-08 09:35:40 +02:00
bresch	b18b7e84d2	CA pseudo-inverse: normalize control allocation matrix	2021-10-08 09:35:40 +02:00
bresch	927c0c4296	McRateControl: publish torque and thrust setpoint for control allocator	2021-10-08 09:35:40 +02:00
bresch	212df95193	ctrlalloc: use normal rate controller	2021-10-08 09:35:40 +02:00