lib/drivers/{accelerometer,gyroscope}: ensure sane monotonically increasing timestamp_sample

- this is only done to silence timeouts during small benchmarks

.ci/Jenkinsfile-hardware

@@ -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"'
 

.clang-tidy

@@ -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,

.github/workflows/compile_nuttx.yml

@@ -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 = 75M" >> ~/.ccache/ccache.conf
           echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z

.github/workflows/compile_nuttx_cannode.yml

@@ -46,7 +46,7 @@ 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 = 20M" >> ~/.ccache/ccache.conf
+          echo "max_size = 40M" >> ~/.ccache/ccache.conf
           echo "hash_dir = false" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z

ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider

@@ -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
+

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc

@@ -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
 

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

@@ -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
 )

ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil

@@ -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

ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery

@@ -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

ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris

@@ -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

ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d

@@ -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

ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance

@@ -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

ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil

@@ -12,7 +12,6 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_x
-set PWM_OUT 1234
 
 param set SYS_HITL 1
 

ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13010_claire

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13012_convergence

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor

@@ -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

ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo

@@ -25,7 +25,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-
 param set-default PWM_AUX_DIS5 950
 
 param set-default VT_TYPE 2

ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter

@@ -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

ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+

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

ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-

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

ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli

@@ -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

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

@@ -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
 

ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1

@@ -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

ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox

@@ -28,7 +28,6 @@
 
 set VEHICLE_TYPE mc
 
-
 param set-default NAV_ACC_RAD 2
 
 param set-default PWM_AUX_RATE 400

ROMFS/px4fmu_common/init.d/airframes/2507_cloudship

@@ -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

ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5

@@ -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

ROMFS/px4fmu_common/init.d/airframes/3033_wingwing

@@ -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
 

ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4001_quad_x

@@ -21,7 +21,3 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4003_qavr5

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4009_qav250

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4014_s500

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4040_reaper

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -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
-

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4051_s250aq

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -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
 

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4072_draco

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4090_nanomind

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor

@@ -31,5 +31,3 @@
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/4250_teal

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4500_clover4

@@ -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

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie

@@ -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
-

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -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

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -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

ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx

@@ -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

ROMFS/px4fmu_common/init.d/airframes/5001_quad_+

@@ -26,5 +26,3 @@
 . ${R}etc/init.d/rc.mc_defaults
 
 set MIXER quad_+
-
-set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy

@@ -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
-

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -26,6 +26,7 @@
 #
 
 . ${R}etc/init.d/rc.mc_defaults
+
 set MIXER hexa_x
 set PWM_OUT 12345678
 

ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc

@@ -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

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

@@ -88,7 +88,6 @@ px4_add_romfs_files(
 	4080_zmr250
 	4090_nanomind
 	4100_tiltquadrotor
-	4250_teal
 	4500_clover4
 	4900_crazyflie
 	4901_crazyflie21

ROMFS/px4fmu_common/init.d/rc.ctrlalloc

@@ -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

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -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

Tools/setup/ubuntu.sh

@@ -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

boards/ark/can-gps/src/board_config.h

@@ -78,6 +78,12 @@
 #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 */

boards/ark/can-gps/src/init.c

@@ -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));
+		}
+	}
 }
 
 /****************************************************************************

boards/ark/can-rtk-gps/src/board_config.h

@@ -78,6 +78,15 @@
 #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 */

boards/ark/can-rtk-gps/src/init.c

@@ -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));
+		}
+	}
 }
 
 /****************************************************************************

boards/nxp/fmuk66-e/src/init.c

@@ -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();

boards/nxp/fmuk66-v3/socketcan.px4board

@@ -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

boards/nxp/fmuk66-v3/src/init.c

@@ -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();

boards/px4/fmu-v5x/init/rc.board_mavlink

@@ -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

boards/px4/fmu-v5x/rtps.px4board

@@ -0,0 +1 @@
+CONFIG_MODULES_MICRORTPS_BRIDGE=y

boards/scumaker/pilotpi/cmake/upload.cmake

@@ -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

cmake/px4_add_common_flags.cmake

@@ -85,8 +85,6 @@ function(px4_add_common_flags)
 		-Wunknown-pragmas
 		-Wunused-variable
 
-		-Wfloat-conversion
-
 		# disabled warnings
 		-Wno-missing-field-initializers
 		-Wno-missing-include-dirs # TODO: fix and enable

platforms/common/uORB/uORBDeviceMaster.cpp

@@ -378,7 +378,7 @@ void uORB::DeviceMaster::showTop(char **topic_filter, int num_filters)
 
 			while (cur_node) {
 				unsigned int num_msgs = cur_node->node->updates_available(cur_node->last_pub_msg_count);
-				cur_node->pub_msg_delta = (int)roundf(num_msgs / dt);
+				cur_node->pub_msg_delta = roundf(num_msgs / dt);
 				cur_node->last_pub_msg_count += num_msgs;
 
 				total_size += cur_node->pub_msg_delta * cur_node->node->get_meta()->o_size;

platforms/nuttx/src/px4/common/px4_init.cpp

@@ -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)

platforms/posix/cmake/sitl_target.cmake

@@ -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
 )

src/drivers/camera_trigger/camera_trigger.cpp

@@ -342,11 +342,10 @@ CameraTrigger::update_intervalometer()
 		PX4_DEBUG("update intervalometer, trigger enabled: %d, trigger paused: %d", _trigger_enabled, _trigger_paused);
 
 		// schedule trigger on and off calls
-		hrt_call_every(&_engagecall, 0, (int)(_interval * 1000), &CameraTrigger::engage, this);
+		hrt_call_every(&_engagecall, 0, (_interval * 1000), &CameraTrigger::engage, this);
 
 		// schedule trigger on and off calls
-		hrt_call_every(&_disengagecall, (int)(0 + (_activation_time * 1000)), (int)(_interval * 1000),
-			       &CameraTrigger::disengage, this);
+		hrt_call_every(&_disengagecall, 0 + (_activation_time * 1000), (_interval * 1000), &CameraTrigger::disengage, this);
 
 	}
 }
@@ -430,7 +429,7 @@ CameraTrigger::shoot_once()
 	hrt_call_after(&_engagecall, 0,
 		       (hrt_callout)&CameraTrigger::engage, this);
 
-	hrt_call_after(&_disengagecall, (int)(0 + (_activation_time * 1000)), &CameraTrigger::disengage, this);
+	hrt_call_after(&_disengagecall, 0 + (_activation_time * 1000), &CameraTrigger::disengage, this);
 }
 
 bool
@@ -673,8 +672,8 @@ CameraTrigger::Run()
 
 			if (cmd.param4 >= 2.0f) {
 				_CAMPOS_num_poses = commandParamToInt(cmd.param4);
-				_CAMPOS_roll_angle = static_cast<float>(cmd.param5);
-				_CAMPOS_pitch_angle = static_cast<float>(cmd.param6);
+				_CAMPOS_roll_angle = cmd.param5;
+				_CAMPOS_pitch_angle = cmd.param6;
 				_CAMPOS_angle_interval = _CAMPOS_roll_angle * 2 / (_CAMPOS_num_poses - 1);
 				_CAMPOS_pose_counter = 0;
 				_CAMPOS_updated_roll_angle = false;

src/drivers/distance_sensor/broadcom/CMakeLists.txt

@@ -31,4 +31,4 @@
 #
 ############################################################################
 
-#add_subdirectory(afbrs50) # not suitable for general inclusion
+add_subdirectory(afbrs50)

src/drivers/distance_sensor/lightware_laser_serial/lightware_laser_serial.cpp

@@ -115,7 +115,7 @@ LightwareLaserSerial::init()
 		/* SF30/B (50m 39Hz) */
 		_px4_rangefinder.set_min_distance(0.2f);
 		_px4_rangefinder.set_max_distance(50.0f);
-		_interval = (int)round(1e6 / 39);
+		_interval = 1e6 / 39;
 		_simple_serial = true;
 		break;
 
@@ -123,10 +123,17 @@ LightwareLaserSerial::init()
 		/* SF30/C (100m 39Hz) */
 		_px4_rangefinder.set_min_distance(0.2f);
 		_px4_rangefinder.set_max_distance(100.0f);
-		_interval = (int)round(1e6 / 39);
+		_interval = 1e6 / 39;
 		_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? */

src/drivers/distance_sensor/lightware_laser_serial/parameters.c

@@ -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);

src/drivers/gps/CMakeLists.txt

@@ -38,7 +38,6 @@ px4_add_module(
 	MAIN gps
 	COMPILE_FLAGS
 		-Wno-stringop-overflow # due to https://gcc.gnu.org/bugzilla/show_bug.cgi?id=91707
-		-Wno-float-conversion # TODO: fix and enable
 	SRCS
 		gps.cpp
 		devices/src/gps_helper.cpp

src/drivers/gps/gps.cpp

@@ -894,7 +894,7 @@ GPS::run()
 					float dt = (float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f;
 					_rate = last_rate_count / dt;
 					_rate_rtcm_injection = _last_rate_rtcm_injection_count / dt;
-					_rate_reading = (int)roundf((float)_num_bytes_read / dt);
+					_rate_reading = _num_bytes_read / dt;
 					last_rate_measurement = hrt_absolute_time();
 					last_rate_count = 0;
 					_last_rate_rtcm_injection_count = 0;

src/drivers/imu/invensense/icm20602/ICM20602.cpp

@@ -277,12 +277,19 @@ void ICM20602::RunImpl()
 						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));
 					}
 				}
 			}

src/drivers/imu/invensense/icm20649/ICM20649.cpp

@@ -232,12 +232,19 @@ void ICM20649::RunImpl()
 					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) {

src/drivers/imu/invensense/icm20948/ICM20948.cpp

@@ -268,12 +268,19 @@ void ICM20948::RunImpl()
 					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) {

src/drivers/protocol_splitter/protocol_splitter.cpp

@@ -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);

src/drivers/rpm/rpm_simulator/rpm_simulator.cpp

@@ -63,7 +63,7 @@ int rpm_simulator_main(int argc, char *argv[])
 
 	uORB::Publication<rpm_s> rpm_pub{ORB_ID(rpm)};
 	uint64_t timestamp_us = hrt_absolute_time();
-	float frequency = (float)atof(argv[1]);
+	float frequency = atof(argv[1]);
 
 	// prpepare RPM data message
 	rpm.timestamp = timestamp_us;

src/drivers/uavcan_v1/CMakeLists.txt

@@ -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}
 	)

src/drivers/uavcan_v1/Kconfig

@@ -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