ModuleBase add common base type and cleanup

systemcmds/topic_listener: remove excludes
- this is a bit wasteful, but we can afford it for now everywhere listener is enabled
2026-05-27 08:20:04 +08:00 · 2020-11-10 14:03:58 -05:00 · 2020-11-10 13:46:48 -05:00 · 2020-11-10 13:11:51 -05:00 · 2020-11-10 11:04:47 -05:00 · 2020-11-10 10:38:46 -05:00
283 changed files with 3032 additions and 1148 deletions
@@ -10,17 +10,24 @@ pipeline {
          def build_nodes = [:]
          def docker_images = [
            armhf: "px4io/px4-dev-armhf:2020-04-01",
+            arm64: "px4io/px4-dev-aarch64:latest",
            base: "px4io/px4-dev-base-bionic:2020-04-01",
            nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

          def armhf_builds = [
-            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_airpi2_default"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
            image: docker_images.armhf,
            archive: false
          ]

+          def arm64_builds = [
+            target: ["scumaker_pilotpi_arm64"],
+            image: docker_images.arm64,
+            archive: false
+          ]
+
          def base_builds = [
            target: ["px4_sitl_rtps"],
            image: docker_images.base,
@@ -41,7 +48,6 @@ pipeline {
                     "cubepilot_cubeyellow_console",
                     "cubepilot_cubeyellow_default",
                     "holybro_durandal-v1_default",
-                     "holybro_durandal-v1_stackcheck",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "intel_aerofc-v1_default",
@@ -53,7 +59,7 @@ pipeline {
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmurt1062-v1_default",
-                     "nxp_rddrone-uavcan146_default",
+                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
@@ -887,6 +887,7 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -965,6 +966,7 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status streams"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mount"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param show"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
@@ -989,7 +991,7 @@ void statusSEGGER() {
 }

 void cleanupFTDI() {
-  // wipe sdcard
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
@@ -1019,7 +1021,7 @@ void cleanupFTDI() {
 }

 void cleanupSEGGER() {
-  // wipe sdcard
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "navigator stop"'
@@ -19,6 +19,7 @@ jobs:
          beaglebone_blue_default,
          emlid_navio2_default,
          px4_raspberrypi_default,
+          scumaker_pilotpi_default,
          ]
    steps:
    - uses: actions/checkout@v1
@@ -0,0 +1,50 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:latest
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    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 = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -27,7 +27,6 @@ jobs:
          cubepilot_cubeyellow_console,
          cubepilot_cubeyellow_default,
          holybro_durandal-v1_default,
-          holybro_durandal-v1_stackcheck,
          holybro_kakutef7_default,
          holybro_pix32v5_default,
          intel_aerofc-v1_default,
@@ -40,7 +39,7 @@ jobs:
          nxp_fmuk66-v3_socketcan,
          nxp_fmuk66-v3_rtps,
          nxp_fmurt1062-v1_default,
-          nxp_rddrone-uavcan146_default,
+          nxp_ucans32k146_default,
          omnibus_f4sd_default,
          px4_fmu-v2_default,
          px4_fmu-v2_fixedwing,
@@ -15,10 +15,10 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo"} # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo"} # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo"} # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage"} # Zurich
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
    container:
      image: px4io/px4-dev-simulation-focal:2020-08-14
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -28,9 +28,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.30.1/mavsdk_0.30.1_ubuntu18.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.30.1_ubuntu18.04_amd64.deb
+      run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -92,7 +92,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json

    - name: Look at core files
      if: failure()
@@ -12,15 +12,15 @@
 	branch = master
 [submodule "Tools/sitl_gazebo"]
 	path = Tools/sitl_gazebo
-	url = https://github.com/PX4/sitl_gazebo.git
+	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
-	url = https://github.com/PX4/Matrix.git
+	url = https://github.com/PX4/PX4-Matrix
 	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
-	url = https://github.com/PX4/ecl.git
+	url = https://github.com/PX4/PX4-ECL
 	branch = master
 [submodule "boards/atlflight/cmake_hexagon"]
 	path = boards/atlflight/cmake_hexagon
@@ -28,7 +28,7 @@
 	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/GpsDrivers.git
+	url = https://github.com/PX4/PX4-GPSDrivers
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
@@ -37,11 +37,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-9.1.0+
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-9.1.0+
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/qurt/dspal"]
 	path = platforms/qurt/dspal
 	url = https://github.com/ATLFlight/dspal.git
@@ -86,6 +86,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cubepilot_cubeyellow_default
+    emlid_navio2_default:
+      short: emlid_navio2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: emlid_navio2_default
    holybro_durandal-v1_default:
      short: holybro_durandal-v1
      buildType: MinSizeRel
@@ -210,10 +210,12 @@ pipeline {
            sh('export')
            unstash 'metadata_airframes'
            unstash 'metadata_parameters'
+            unstash 'metadata_module_documentation'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
+              sh('cp -R modules/*.md px4_user_guide/en/modules/')
              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd px4_user_guide; git push origin master || true')
              sh('rm -rf px4_user_guide')
@@ -40,8 +40,12 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co

 ## Maintenance Team

-  * Project: Founder - [Lorenz Meier](https://github.com/LorenzMeier), Architecture: [Daniel Agar](https://github.com/dagar)
-    * [Dev Call](https://github.com/PX4/Firmware/labels/devcall) - [Ramon Roche](https://github.com/mrpollo)
+  * Project: Founder
+    * [Lorenz Meier](https://github.com/LorenzMeier)
+  * Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * [Dev Call](https://github.com/PX4/Firmware/labels/devcall)
+    * [Ramon Roche](https://github.com/mrpollo)
  * Communication Architecture
    * [Beat Kueng](https://github.com/bkueng)
    * [Julian Oes](https://github.com/JulianOes)
@@ -55,15 +59,22 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
    * [Roman Bapst](https://github.com/RomanBapst)
  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
    * [Roman Bapst](https://github.com/RomanBapst)
-  * OS / NuttX [David Sidrane](https://github.com/davids5)
-  * Driver Architecture [Daniel Agar](https://github.com/dagar)
-  * Commander Architecture [Julian Oes](https://github.com/julianoes)
-  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan) [Daniel Agar](https://github.com/dagar)
-  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) - [Paul Riseborough](https://github.com/priseborough)
+  * OS / NuttX
+    * [David Sidrane](https://github.com/davids5)
+  * Driver Architecture
+    * [Daniel Agar](https://github.com/dagar)
+  * Commander Architecture
+    * [Julian Oes](https://github.com/julianoes)
+  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan)
+    * [Daniel Agar](https://github.com/dagar)
+  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
+    * [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation
    * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance - [Martina Rivizzigno](https://github.com/mrivi)
-  * RTPS/ROS2 Interface - [Nuno Marques](https://github.com/TSC21)
+  * Obstacle Avoidance
+    * [Martina Rivizzigno](https://github.com/mrivi)
+  * RTPS/ROS2 Interface
+    * [Nuno Marques](https://github.com/TSC21)

 See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).

@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# @name BlueROV2 Heavy Configuration
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+fi
+
+set PWM_OUT 12345678
+set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
+set MIXER custom
@@ -16,17 +16,13 @@ then

 	param set MC_ROLLRATE_P 0.3

-	param set MIS_LTRMIN_ALT 10
-	param set MIS_TAKEOFF_ALT 10
 	param set MIS_YAW_TMT 10

 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1
+	param set MPC_THR_MIN 0.3
 	param set MPC_XY_P 0.15
 	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_P_ACC 1
 	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_Z_VEL_P_ACC 16
@@ -38,6 +34,8 @@ then
 	param set VT_F_TRANS_THR 0.7
 	param set VT_TYPE 0

+	param set WV_EN 0
+
 fi

 set MAV_TYPE 20
@@ -51,6 +51,7 @@ px4_add_romfs_files(
 	1019_iris_dual_gps
 	1020_uuv_generic
 	1021_uuv_hippocampus
+	1022_uuv_bluerov2_heavy
 	1030_plane
 	1031_plane_cam
 	1032_plane_catapult
@@ -2,6 +2,17 @@

 # EKF2 replay script

+# shellcheck disable=SC2154
+if [ ! -f ${replay} ]; then
+	echo "Invalid replay log file ${replay}"
+	exit 1
+fi
+
+if [ ! -f replay_params.txt ]; then
+	echo "Creating $(pwd)/replay_params.txt"
+	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
+fi
+
 publisher_rules_file="orb_publisher.rules"
 cat <<EOF > "$publisher_rules_file"
 restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
@@ -142,10 +142,10 @@ then
 	param set EKF2_REQ_GPS_H 0.5

 	# Multi-EKF
-	#param set EKF2_MULTI_IMU 3
-	#param set SENS_IMU_MODE 0
-	#param set EKF2_MULTI_MAG 2
-	#param set SENS_MAG_MODE 0
+	param set EKF2_MULTI_IMU 3
+	param set SENS_IMU_MODE 0
+	param set EKF2_MULTI_MAG 2
+	param set SENS_MAG_MODE 0

 	# By default log from boot until first disarm.
 	param set SDLOG_MODE 1
@@ -216,6 +216,7 @@ if ! replay tryapplyparams
 then
 	simulator start -c $simulator_tcp_port
 fi
+load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
@@ -0,0 +1,39 @@
+#!/bin/sh
+#
+# @name NXP HoverGames
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+# @maintainer Iain Galloway <iain.galloway@nxp.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+if [ $AUTOCNF = yes ]
+then
+
+	param set IMU_GYRO_CUTOFF 40
+	param set IMU_DGYRO_CUTOFF 20
+	param set IMU_GYRO_RATEMAX 400
+
+	param set MC_ROLLRATE_P 0.18
+	param set MC_ROLLRATE_I 0.15
+	param set MC_ROLLRATE_D 0.003
+
+	param set MC_PITCHRATE_P 0.18
+	param set MC_PITCHRATE_I 0.15
+	param set MC_PITCHRATE_D 0.003
+
+fi
@@ -0,0 +1,51 @@
+#!/bin/sh
+#
+# @name BlueROV2 (Heavy Configuration)
+#
+# @type Vectored 6 DOF UUV
+# @class Underwater Robot
+#
+# @output MAIN1 motor 1 CCW, bow starboard horizontal, , propeller CCW
+# @output MAIN2 motor 2 CCW, bow port horizontal, propeller CCW
+# @output MAIN3 motor 3 CCW, stern starboard horizontal, propeller CW
+# @output MAIN4 motor 4 CCW, stern port horizontal, propeller CW
+# @output MAIN5 motor 5 CCW, bow starboard vertical, propeller CCW
+# @output MAIN6 motor 6 CCW, bow port vertical, propeller CW
+# @output MAIN7 motor 7 CCW, stern starboard vertical, propeller CW
+# @output MAIN8 motor 8 CCW, stern port vertical, propeller CCW
+#
+# @maintainer Thies Lennart Alff <thies.lennart.alff@tuhh.de>
+#
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.uuv_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0
+
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+	# companion computer is connected via USB permanently
+	param set CBRK_USB_CHK 197848
+	param set CBRK_IO_SAFETY 22027
+
+	param set COM_PREARM_MODE 0
+
+	param set MAV_1_CONFIG 102
+
+	param set BAT1_A_PER_V 37.8798
+	param set BAT1_CAPACITY 18000
+	param set BAT1_V_DIV 11.0
+	param set BAT1_N_CELLS 4
+	param set BAT_V_OFFS_CURR 0.33
+fi
+
+set PWM_OUT 12345678
+# set MIXER IO_pass
+set MIXER vectored6dof
+
@@ -69,6 +69,7 @@ px4_add_romfs_files(
 	4014_s500
 	4015_holybro_s500
 	4016_holybro_px4vision
+	4017_nxp_hovergames
 	4020_hk_micro_pcb
 	4030_3dr_solo
 	4031_3dr_quad
@@ -158,4 +159,5 @@ px4_add_romfs_files(
 	# [60000, 61000] (Unmanned) Underwater Robots
 	60000_uuv_generic
 	60001_uuv_hippocampus
+	60002_uuv_bluerov2_heavy
 )
@@ -71,6 +71,13 @@ then
 	lightware_laser_i2c start -X
 fi

+# Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
+if param compare -s SENS_EN_SR05 1
+then
+	srf05 start
+fi
+
+
 # Heater driver for temperature regulated IMUs.
 if param compare -s SENS_EN_THERMAL 1
 then
@@ -183,6 +183,13 @@ then
 		echo "UUV mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set default MAV_TYPE to submarine if not defined
+		set MAV_TYPE 12
+	fi
+
+	param set MAV_TYPE ${MAV_TYPE}
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -42,4 +42,5 @@ px4_add_romfs_files(
 	standard_vtol_sitl.main.mix
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
+	vectored6dof_sitl.main.mix
 )
@@ -0,0 +1,32 @@
+# Motor 1
+M: 2
+S: 0 2  -4000  -4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 2
+M: 2
+S: 0 2  +4000  +4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 3
+M: 2
+S: 0 2  -4000  -4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 4
+M: 2
+S: 0 2  +4000  +4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 5
+M: 2
+S: 0 0  -4000  -4000  0   -4000  +4000
+S: 0 1  +4000  +4000  0   -4000  +4000
+# Motor 6
+M: 2
+S: 0 0  -4000  -4000  0   -4000  +4000
+S: 0 1  -4000  -4000  0   -4000  +4000
+# Motor 7
+M: 2
+S: 0 0  +4000  +4000  0   -4000  +4000
+S: 0 1  +4000  +4000  0   -4000  +4000
+# Motor 8
+M: 2
+S: 0 0  +4000  +4000  0   -4000  +4000
+S: 0 1  -4000  -4000  0   -4000  +4000
@@ -85,6 +85,7 @@ px4_add_romfs_files(
 	tri_y_yaw+.main.mix
 	tri_y_yaw-.main.mix
 	uuv_x.main.mix
+	vectored6dof.main.mix
 	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix
@@ -0,0 +1,32 @@
+# Motor 1
+M: 2
+S: 0 2  -4000  -4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 2
+M: 2
+S: 0 2  +4000  +4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 3
+M: 2
+S: 0 2  -4000  -4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 4
+M: 2
+S: 0 2  +4000  +4000  0   -4000  +4000
+S: 0 3  +4000  +4000  0   -4000  +4000
+# Motor 5
+M: 2
+S: 0 0  -4000  -4000  0   -4000  +4000
+S: 0 1  +4000  +4000  0   -4000  +4000
+# Motor 6
+M: 2
+S: 0 0  -4000  -4000  0   -4000  +4000
+S: 0 1  -4000  -4000  0   -4000  +4000
+# Motor 7
+M: 2
+S: 0 0  +4000  +4000  0   -4000  +4000
+S: 0 1  +4000  +4000  0   -4000  +4000
+# Motor 8
+M: 2
+S: 0 0  +4000  +4000  0   -4000  +4000
+S: 0 1  -4000  -4000  0   -4000  +4000
@@ -5,8 +5,8 @@ function check_git_submodule {
 # The .git exists in a submodule if init and update have been done.
 if [[ -f $1"/.git" || -d $1"/.git" ]]; then

-	# CI environment always update
-	if [ "$CI" == "true" ]; then
+	# always update within CI environment or configuring withing VSCode CMake where you can't interact
+	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
 		git submodule --quiet sync --recursive -- $1
 		git submodule --quiet update --init --recursive --jobs=8 -- $1  || true
 		git submodule --quiet update --init --recursive --jobs=8 -- $1
@@ -5,9 +5,12 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
 		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
-	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*airpi2.* ]]; then
-		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_airpi2_default
+	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-04-01"
+	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
+		# scumaker_pilotpi_arm64
+		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
 	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
 		# eagle, excelsior
 		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
@@ -16,7 +16,7 @@ function spawn_model() {
 	MODEL=$1
 	N=$2 #Instance Number

-	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol")
+	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover")
 	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL "* ]];
 	then
 		echo "ERROR: Currently only vehicle model $MODEL is not supported!"
@@ -26,7 +26,7 @@ as well (such as `free`). Use `help` on the console to get a list of all
 available commands, and in most cases `command help` will print the usage.

 Since this is generated from source, errors must be reported/fixed
-in the [Firmware](https://github.com/PX4/Firmware) repository.
+in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.
 The documentation pages can be generated by running the following command from
 the root of the Firmware directory:
 ```
@@ -72,7 +72,7 @@ The generated files will be written to the `modules` directory.
                result += "%s\n" % doc
            usage_string = module.usage_string()
            if len(usage_string) > 0:
-                result += "### Usage {#%s_usage}\n```\n%s\n```\n" % (module.name(), usage_string)
+                result += '<a id="%s_usage"></a>\n### Usage\n```\n%s\n```\n' % (module.name(), usage_string)
        return result

    def Save(self, dirname):
@@ -0,0 +1,64 @@
+let
+	pkgs = import (builtins.fetchTarball {
+		name = "nixos-20.09-2020-10-29";
+		url = "https://github.com/nixos/nixpkgs/archive/edb26126d98bc696f4f3e206583faa65d3d6e818.tar.gz";
+		sha256 = "1cl4ka4kk7kh3bl78g06dhiidazf65q8miyzaxi9930d6gwyzkci";
+	}) {};
+	empy = with pkgs.python3Packages; buildPythonPackage rec {
+		pname = "empy";
+		version = "3.3.4";
+		src = fetchPypi {
+			inherit pname version;
+			sha256 = "1cq1izl6l87i5i3vj0jcqfksh10kpiwpr2m19vgpj530bdw4kb3k";
+		};
+		doCheck = false;
+	};
+	pyros-genmsg = with pkgs.python3Packages; buildPythonPackage rec {
+		pname = "pyros-genmsg";
+		version = "0.5.8";
+		src = fetchPypi {
+			inherit version;
+			pname = "pyros_genmsg";
+			sha256 = "0y7l131lc77v0c1rhxza41cxnnxc7acfqzlqf84fdya0kiyv071w";
+		};
+		doCheck = false;
+	};
+	pyulog = with pkgs.python3Packages; buildPythonPackage rec {
+		pname = "pyulog";
+		version = "0.8.0";
+		src = fetchPypi {
+			inherit pname version;
+			sha256 = "1ivvhfi9rsrqdk9f06rj0q1d367ngyy0xyc2x9mdwjx3dazwgn45";
+		};
+		propagatedBuildInputs = [ numpy ];
+		doCheck = false;
+	};
+in pkgs.mkShell {
+	nativeBuildInputs = [ pkgs.cmake ];
+	buildInputs = [
+		pkgs.gcc-arm-embedded
+		pkgs.python3
+	] ++ (with pkgs.python3Packages; [
+		argcomplete
+		cerberus
+		coverage
+		empy
+		jinja2
+		matplotlib
+		numpy
+		packaging
+		pandas
+		pkgconfig
+		psutil
+		pygments
+		pyros-genmsg
+		pyserial
+		pyulog
+		pyyaml
+		requests
+		setuptools
+		six
+		toml
+		wheel
+	]);
+}
@@ -71,6 +71,7 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
+		modules
 		motor_ramp
 		param
 		perf
@@ -88,6 +88,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -89,8 +89,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -95,6 +95,7 @@ px4_add_board(
 		#hardfault_log
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		#mtd
@@ -93,6 +93,7 @@ px4_add_board(
 		#hardfault_log
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		#mtd
@@ -88,6 +88,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		nshterm
@@ -122,7 +122,6 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -67,6 +67,7 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
+		modules
 		motor_ramp
 		param
 		perf
@@ -44,6 +44,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -85,7 +85,6 @@ CONFIG_MTD_AT24XX=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -39,7 +39,6 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
-CONFIG_NFILE_STREAMS=0
 CONFIG_NUNGET_CHARS=0
 CONFIG_NXFONTS_DISABLE_16BPP=y
 CONFIG_NXFONTS_DISABLE_1BPP=y
@@ -69,8 +69,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -56,7 +56,6 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
-CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -94,8 +94,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -46,6 +46,8 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform_common/init.h>
+

 extern int sercon_main(int c, char **argv);

@@ -64,6 +66,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 void board_late_initialize(void)
 {
+	px4_platform_console_init();
 	sercon_main(0, NULL);
 }

@@ -56,7 +56,6 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
-CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -94,8 +94,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -156,7 +156,6 @@ CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BDMA=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
@@ -46,6 +46,7 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform_common/init.h>

 extern int sercon_main(int c, char **argv);

@@ -64,6 +65,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 void board_late_initialize(void)
 {
+	px4_platform_console_init();
 	sercon_main(0, NULL);
 }

@@ -56,7 +56,6 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
-CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -95,8 +95,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -96,8 +96,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -46,6 +46,7 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform_common/init.h>

 extern int sercon_main(int c, char **argv);

@@ -64,6 +65,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 void board_late_initialize(void)
 {
+	px4_platform_console_init();
 	sercon_main(0, NULL);
 }

@@ -94,8 +94,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -95,8 +95,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -33,7 +33,6 @@ CONFIG_MM_FILL_ALLOCATIONS=y
 CONFIG_MM_SMALL=y
 CONFIG_NAME_MAX=12
 CONFIG_NFILE_DESCRIPTORS=3
-CONFIG_NFILE_STREAMS=1
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_RAM_SIZE=8192
 CONFIG_RAM_START=0x20000000
@@ -67,6 +67,7 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
+		modules
 		motor_ramp
 		param
 		perf
@@ -130,8 +130,7 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	NavioRGBLed *instance = new NavioRGBLed();

 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		instance->set_task_id(task_id_is_work_queue);

 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -142,8 +141,6 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	}

 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;

 	return PX4_ERROR;
 }
@@ -93,6 +93,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -56,7 +56,6 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
-CONFIG_NFILE_STREAMS=3
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
@@ -95,8 +95,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -96,8 +96,8 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -46,6 +46,7 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform_common/init.h>

 extern int sercon_main(int c, char **argv);

@@ -64,6 +65,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 void board_late_initialize(void)
 {
+	px4_platform_console_init();
 	sercon_main(0, NULL);
 }

@@ -1,128 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR holybro
-	MODEL durandal-v1
-	LABEL stackcheck
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	#BUILD_BOOTLOADER
-	IO px4_io-v2_default
-	TESTING
-#	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL4:/dev/ttyS3
-	DRIVERS
-		adc/board_adc
-		#barometer # all available barometer drivers
-		barometer/ms5611
-		batt_smbus
-		#camera_capture
-		#camera_trigger
-		#differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		#dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		#imu/adis16448
-		#imu/adis16477
-		#imu/adis16497
-		#imu/bosch/bmi088
-		imu/invensense/icm20689
-		#irlock
-		#lights/blinkm
-		#lights/rgbled
-		lights/rgbled_ncp5623c
-		#magnetometer # all available magnetometer drivers
-		magnetometer/isentek/ist8310
-		#mkblctrl
-		#optical_flow # all available optical flow drivers
-		#osd
-		#pca9685
-		#power_monitor/ina226
-		#protocol_splitter
-#		pwm_input  - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate
-#					   all arch dependant code there
-		pwm_out_sim
-		pwm_out
-		px4io
-		#roboclaw
-		#tap_esc
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-#		uavcan - No H7 or FD can support in UAVCAN yet
-	MODULES
-		airspeed_selector
-		#attitude_estimator_q
-		battery_status
-		#camera_feedback
-		commander
-		dataman
-		ekf2
-		#esc_battery
-		events
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		#landing_target_estimator
-		load_mon
-		#local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		#rover_pos_control
-		sensors
-		#sih
-		#temperature_compensation
-		#vmount
-		vtol_att_control
-	SYSTEMCMDS
-		#bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		hardfault_log
-		i2cdetect
-		led_control
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)
@@ -95,8 +95,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -94,8 +94,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -69,6 +69,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -77,7 +77,6 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -69,6 +69,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -87,6 +87,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -93,8 +93,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -93,6 +93,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -93,8 +93,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -93,8 +93,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -90,6 +90,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -89,8 +89,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -22,6 +22,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		distance_sensor/srf05 # Specific driver
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -133,7 +133,6 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y
@@ -129,7 +129,6 @@ CONFIG_NET_TCP=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y
@@ -269,8 +269,11 @@ __END_DECLS
 */
 // todo:Design this!

-#define DIRECT_PWM_OUTPUT_CHANNELS  10
-#define DIRECT_INPUT_TIMER_CHANNELS 10
+#define DIRECT_PWM_OUTPUT_CHANNELS  8
+#define DIRECT_INPUT_TIMER_CHANNELS 8
+
+#define GPIO_ULTRASOUND_TRIGGER  /* PTD0 */  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
+#define GPIO_ULTRASOUND_ECHO     /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)

 /* Power supply control and monitoring GPIOs */
 // None
@@ -120,9 +120,6 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	px4_arch_configgpio(io_timer_channel_get_gpio_output(6)); // Echo trigger pin
-	px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(7)));
-
 	if (status >= 0) {
 		up_mdelay(6);
 	}
@@ -66,8 +66,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel7}, {GPIO::PortD, GPIO::Pin7}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel6}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel7}, {GPIO::PortE, GPIO::Pin12}),
-	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
+//	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
+//	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -22,6 +22,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		distance_sensor/srf05 # Specific driver
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -88,6 +89,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -135,7 +135,6 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y
@@ -130,7 +130,6 @@ CONFIG_NET_TCP=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y
@@ -273,8 +273,11 @@ __END_DECLS
 */
 // todo:Design this!

-#define DIRECT_PWM_OUTPUT_CHANNELS  8
-#define DIRECT_INPUT_TIMER_CHANNELS 8
+#define DIRECT_PWM_OUTPUT_CHANNELS  6
+#define DIRECT_INPUT_TIMER_CHANNELS 6
+
+#define GPIO_ULTRASOUND_TRIGGER  /* PTD0 */  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
+#define GPIO_ULTRASOUND_ECHO     /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)

 /* Power supply control and monitoring GPIOs */
 // None
@@ -120,9 +120,6 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}

-	px4_arch_configgpio(io_timer_channel_get_gpio_output(6)); // Echo trigger pin
-	px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(7)));
-
 	if (status >= 0) {
 		up_mdelay(6);
 	}
@@ -64,8 +64,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel5}, {GPIO::PortD, GPIO::Pin5}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel6}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel7}, {GPIO::PortE, GPIO::Pin12}),
-	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
+//	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
+//	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -163,8 +163,8 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -10,7 +10,7 @@ add_definitions(

 set(uavcanblid_hw_version_major 1)
 set(uavcanblid_hw_version_minor 0)
-set(uavcanblid_name "\"org.nxp.rddrone-uavcan146\"")
+set(uavcanblid_name "\"org.nxp.ucans32k146\"")

 add_definitions(
 	-DHW_UAVCAN_NAME=${uavcanblid_name}
@@ -21,7 +21,7 @@ add_definitions(
 px4_add_board(
 	PLATFORM nuttx
 	VENDOR nxp
-	MODEL rddrone-uavcan146
+	MODEL ucans32k146
 	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
@@ -1,10 +1,10 @@
 {
    "board_id": 10000,
    "magic": "PX4FWv1",
-    "description": "Firmware for the rddrone-uavcan146 board",
+    "description": "Firmware for the ucans32k146 board",
    "image": "",
    "build_time": 0,
-    "summary": "RDDRONE-UAVCAN146",
+    "summary": "UCANS32K146",
    "version": "0.1",
    "image_size": 0,
    "image_maxsize": 0,
@@ -1,5 +1,5 @@
 /****************************************************************************
- * boards/arm/s32k1xx/rddrone-uavcan146/include/board.h
+ * boards/arm/s32k1xx/ucans32k146/include/board.h
 *
 *   Copyright (C) 2019 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -53,7 +53,7 @@

 /* Clocking *****************************************************************/

-/* The RDDRONE-UAVCAN146 is fitted with a 8MHz Crystal */
+/* The UCANS32K146 is fitted with a 8MHz Crystal */

 #define BOARD_XTAL_FREQUENCY 8000000

@@ -63,7 +63,7 @@

 /* LED definitions **********************************************************/

-/* The RDDRONE-UAVCAN146 has one RGB LED:
+/* The UCANS32K146 has one RGB LED:
 *
 *   RedLED   PTD15 (FTM0 CH0)
 *   GreenLED PTD16 (FTM0 CH1)
@@ -91,7 +91,7 @@
 #define BOARD_LED_B_BIT   (1 << BOARD_LED_B)

 /* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LEDs on board
- * the RDDRONE-UAVCAN146.  The following definitions describe how NuttX
+ * the UCANS32K146.  The following definitions describe how NuttX
 * controls the LEDs:
 *
 *   SYMBOL                Meaning                      LED state
@@ -107,11 +107,11 @@
 #define LED_SIGNAL        0 /* In a signal handler      (no change)       */
 #define LED_ASSERTION     0 /* An assertion failed      (no change)       */
 #define LED_PANIC         4 /* The system has crashed    FLASH OFF    OFF */
-#undef  LED_IDLE            /* RDDRONE-UAVCAN146 in sleep mode (Not used) */
+#undef  LED_IDLE            /* UCANS32K146 in sleep mode (Not used) */

 /* Button definitions *******************************************************/

-/* The RDDRONE-UAVCAN146 supports two buttons:
+/* The UCANS32K146 supports two buttons:
 *
 *   SW3  PTC14
 */
@@ -59,7 +59,6 @@ CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y
@@ -1,5 +1,5 @@
 /****************************************************************************
- * boards/arm/s32k1xx/rddrone-uavcan146/scripts/flash.ld
+ * boards/arm/s32k1xx/ucans32k146/scripts/flash.ld
 *
 *   Copyright (C) 2019 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -1,5 +1,5 @@
 /****************************************************************************
- * boards/arm/s32k1xx/rddrone-uavcan146/scripts/sram.ld
+ * boards/arm/s32k1xx/ucans32k146/scripts/sram.ld
 *
 *   Copyright (C) 2019 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -1,5 +1,5 @@
 /****************************************************************************
- * boards/arm/s32k1xx/rddrone-uavcan146/src/s32k1xx_autoleds.c
+ * boards/arm/s32k1xx/ucans32k146/src/s32k1xx_autoleds.c
 *
 *   Copyright (C) 2019 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
@@ -33,7 +33,7 @@
 *
 ****************************************************************************/

-/* The RDDRONE-UAVCAN146 has one RGB LED:
+/* The UCANS32K146 has one RGB LED:
 *
 *   RedLED   PTD15 (FTM0 CH0)
 *   GreenLED PTD16 (FTM0 CH1)
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	700961daf2	ModuleBase add common base type and cleanup	2020-11-10 14:03:58 -05:00
Daniel Agar	d33a48eb24	systemcmds/topic_listener: remove excludes - this is a bit wasteful, but we can afford it for now everywhere listener is enabled	2020-11-10 13:46:48 -05:00
Daniel Agar	c8dfcf7f0d	Github Actions: break up MAVSDK SITL tests - run only 1 vehicle type per location	2020-11-10 13:11:51 -05:00
SalimTerryLi	6728a3a05a	boards: rename AirPi2 to PilotPi, add arm64 support, add to CI * rename all * add arm64 support * change internal ist8310 onto I2C-1	2020-11-10 11:04:47 -05:00
Daniel Agar	38fbb452da	vscode add navio2 variant and native debug launch	2020-11-10 10:38:46 -05:00
Nicolas Martin	1965cd38ba	arm auth: add parameters migration should be reverted in v1.13	2020-11-10 09:03:59 +01:00
Nicolas MARTIN	8b96ff57d7	arm auth: split COM_ARM_AUTH in 3 parameters new params are: - COM_ARM_AUTH_ID - COM_ARM_AUTH_MET - COM_ARM_AUTH_TO	2020-11-10 09:03:59 +01:00
Nicolas MARTIN	6579544fca	arm_auth: use ack reception timestamp to compute authorization timeout	2020-11-10 09:03:59 +01:00
Nicolas MARTIN	e89c21155a	arm_auth: check authorization timestamp to skip old commands	2020-11-10 09:03:59 +01:00
David Sidrane	defa437b88	Add HY-SRF05 ultrasonic sensor driver * nxp_fmuk66-e: Use srf05 distance sensor * nxp_fmuk66-v3: Use srf05 distance sensor	2020-11-08 13:25:58 -05:00
Daniel Agar	c60743b306	boards: NuttX increase file name max 32 -> 40	2020-11-08 12:51:59 -05:00
PX4 BuildBot	5ce0b5a32c	Update submodule matrix to latest Sat Nov 7 19:38:27 EST 2020 - matrix in PX4/Firmware (0c3c9bea0f8466d0c14326d134fd0fa06f480cf5): https://github/commit/ce6b10b99af722a4e653387d40019a8428d2a54f - matrix current upstream: https://github/commit/a504b6e88152d88dba936bc74e449f2f281b84e2 - Changes: https://github/compare/ce6b10b99af722a4e653387d40019a8428d2a54f...a504b6e88152d88dba936bc74e449f2f281b84e2 `a504b6e` 2020-11-04 Mitchell-Lee-93 - precision of tol for float has been changed	2020-11-08 12:35:27 +01:00
stou-sandalski	6b23e28971	Fix for missing battery voltage from UAVCAN power modules (#16138 ) It seems that battery.voltage_* is no longer used and QGC is getting voltage data from the cell voltage array instead.	2020-11-08 12:34:41 +01:00
Alex Mikhalev	91d1825fcf	Fix non-determinstic boot hang with crashdumps On boot, if board_hardfault_init finds a hardfault stored in BBSRAM, it checks if there is any data available on stdin to see if there is somebody there to respond to a prompt. But on boards such as cubeorange where there is not a serial console by default, the ioctl fails and bytesWaiting is uninitialized. So it will non-deterministally hang the boot process with no outside feedback if that value is not zero. Signed-off-by: Alex Mikhalev <alexmikhalevalex@gmail.com>	2020-11-05 12:41:01 -08:00
Adam Blazczak	149ac16bb4	add support for secondary GPS interface Useful for navio2 or px4_raspberrypi when attaching a secondary (UART) GPS through one of the USB ports; the default navio2 onboard GPS is running on spi. Example usage: gps start -d /dev/spidev0.0 -i spi -e /dev/ttyACM0 -j uart -p ubx	2020-11-05 08:59:11 +01:00
Hamish Willee	ffa38f1b4f	module markdownout - explicit anchor not heading	2020-11-05 08:56:31 +01:00
Daniel Agar	bde5cadba7	ROMFS: replay automatically create replay_params.txt	2020-11-04 11:47:01 -05:00
Daniel Agar	142452f80c	replay: print parameter changes and error on mismatch	2020-11-04 11:47:01 -05:00
Daniel Agar	03aa2dd46c	ROMFS: create NXP HoverGames airframe (SYS_AUTOSTART 4017) Co-authored-by: igalloway <iaintravelgalloway@gmail.com>	2020-11-04 11:43:20 -05:00
Beat Küng	e6ad321ab2	gps: add GPS_{1,2}_PROTOCOL param to select protocol, default to u-blox u-blox is the most widely used GPS, so module detection should be a bit faster in general.	2020-11-04 10:26:49 -05:00
Beat Küng	ab43a94224	gps: keep track of RX data rate	2020-11-04 10:26:49 -05:00
Beat Küng	c5c521f5e0	gps: add support for u-blox heading with 2 F9P devices	2020-11-04 10:26:49 -05:00
Julian Kent	d7fa5c68aa	Add support for alpha/beta/rc on the vendor version (#16112 ) * Add support for versioning the vendor version * Make regex only allow either alpha/beta/rc, or vendor versions	2020-11-04 13:48:19 +01:00
Beat Küng	8f72ea9577	Jenkins: push module documentation to PX4 user guide as well	2020-11-04 13:08:05 +01:00
David Sidrane	f02d490e89	rddrone-uavcan146:Rename to ucans32k146	2020-11-04 03:37:06 -08:00
David Sidrane	e0f6c220b1	hardfault_log:Sanity check stack before dumping it	2020-11-04 08:44:38 +01:00
Hamish Willee	425b8a1733	markdownout - change Firmware to PX4-Autopilot	2020-11-04 08:31:28 +01:00
Daniel Agar	ea2fced6ad	Tools/check_submodules.sh: always update if within vscode cmake configure - the interactive portion of check_git_submodule with hang waiting for user input	2020-11-03 23:40:12 -05:00
Silvan Fuhrer	99833eb001	FW Position Control: remove duplicated position_sp_triplet update Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2020-11-03 15:47:57 +01:00
Daniel Agar	ba5ef28f23	uORB_tests: add uORB::SubscriptionMultiArray tests	2020-11-03 09:10:54 -05:00
JaeyoungLim	9e5cf3a598	Enable multiple rover simulations (#15904 ) This commit allows running multiple simulations with rovers	2020-11-03 14:55:32 +01:00
Lorenz Meier	a39bead740	Update SITL (compile fix) This fixes the linker command for protobuf libraries for plugins. ;	2020-11-02 18:39:31 -05:00
Silvan Fuhrer	d4d02f449f	Improve tailsitter tuning master (#16078 ) * tailsitter SITL: improve hover tuning Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Add SITL testing for tailsitter VTOLs This enables SITL testing for Tailsitter vehicles Co-authored-by: Jaeyoung-Lim <jaeyoung@auterion.com>	2020-11-02 23:41:12 +01:00
Ricardo Marques	fd90387270	README: Cleanup Maintenance Team structure Changes current Maintenance Team structure in README.md in order to be more organized and with a standard. Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com>	2020-11-02 23:31:29 +01:00
Avionics Anonymous	437a1c6db1	Use ModuleParams instead of old param funcs	2020-11-02 23:29:50 +01:00
Avionics Anonymous	cc96468fad	Extend UAVCAN light control Adds automatic control of more light types via UAVCAN. Publishes commands for beacon, strobe, nav, and landings lights. Each is automatically controlled based on arming state and this behavior is configurable per light type via params. For example, nav lights can be set to be always on while beacons turn on when the system is prearmed and strobes turn on only when armed.	2020-11-02 23:29:50 +01:00
Silvan Fuhrer	67a0e1993a	FW Position controller: add option to swap throttle and pitch stick Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2020-11-02 22:49:05 +01:00
Martin Povišer	ad0de67df7	dshot: fix build error Fixes src/drivers/dshot/dshot.cpp:1408:9: error: declaration of 'struct DShotOutput::custom_command(int, char**)::Command' shadows a previous local [-Werror=shadow]	2020-11-02 13:52:42 -05:00
Martin Povišer	d2145917e7	setup: add Nix derivation with build environment	2020-11-02 13:52:42 -05:00
Martin Povišer	b0a73b5144	platforms/nuttx: change bash references There is a platform, NixOS Linux, on which '/bin/bash' is not available. This commit changes the interpreter to '/usr/bin/env bash' in some scripts essential to firmware building.	2020-11-02 13:52:42 -05:00
CUAVcaijie	77dfd111e2	boards: cuav/x7pro disable BDMA (#16056 ) - currently causing a crash, disable for now	2020-11-02 13:14:44 -05:00
Daniel Agar	817285ec64	commander: gyro calibration use MedianFilter	2020-11-02 12:58:46 -05:00
Daniel Agar	d14deb0e5a	FFT add simple median filter	2020-11-02 12:58:46 -05:00
Daniel Agar	4578b8cdcc	Update submodule ecl to latest Mon Nov 2 09:57:32 EST 2020 - ecl in PX4/Firmware (f87b19f31b9918f73d336d10e68d39c659037582): https://github/commit/48a8992caf7a95e09a5e17235133894c072b96bd - ecl current upstream: https://github/commit/a21092804a784d012939f96cc633e7da5f5e8cde - Changes: https://github/compare/48a8992caf7a95e09a5e17235133894c072b96bd...a21092804a784d012939f96cc633e7da5f5e8cde `a210928` 2020-11-01 Daniel Agar - EKF: remove virtual getters from estimator_interface	2020-11-02 12:44:14 -05:00
Beat Küng	d83da4ded4	fix SubscriptionMultiArray: end() iterator needs to point past the end And ensure not to dereference.	2020-11-02 09:00:04 +01:00
Daniel Agar	a1ef4d1469	ekf2: only advertise immediately in multi-EKF mode	2020-11-01 15:48:35 -05:00
PX4 BuildBot	1dd3283fbb	Update submodule ecl to latest Sat Oct 31 20:37:40 EDT 2020 - ecl in PX4/Firmware (6bb56ae2b3debb76669a04adb7c64bac74bb87f4): https://github/commit/d85e24d3ca767b48bdbb1594b564d30df5777769 - ecl current upstream: https://github/commit/48a8992caf7a95e09a5e17235133894c072b96bd - Changes: https://github/compare/d85e24d3ca767b48bdbb1594b564d30df5777769...48a8992caf7a95e09a5e17235133894c072b96bd `48a8992` 2020-10-30 Daniel Agar - EKF: move small simple getters to header `defb35d` 2020-10-29 Daniel Agar - EKF: pass imuSample by const reference	2020-10-31 21:11:44 -04:00
PX4 BuildBot	4df3931bd1	Update submodule sitl_gazebo to latest Thu Oct 29 20:40:02 EDT 2020 - sitl_gazebo in PX4/Firmware (`6b9dde59d6`): https://github.com/PX4/PX4-SITL_gazebo/commit/2451437c19ed9fcdf8a79990313e768c98aa15b6 - sitl_gazebo current upstream: https://github.com/PX4/PX4-SITL_gazebo/commit/06e801fe8b5267e561f00d8847a6343cb2386ab6 - Changes: https://github.com/PX4/PX4-SITL_gazebo/compare/2451437c19ed9fcdf8a79990313e768c98aa15b6...06e801fe8b5267e561f00d8847a6343cb2386ab6 06e801f 2020-10-29 Nuno Marques - add missing generated models to git ignore (#644) eafc98b 2020-10-28 JaeyoungLim - Move boat model to jinja templates (#641)	2020-10-29 22:00:05 -04:00
Daniel Agar	6b9dde59d6	update ecl to latest - fmu-v5 debug and stackcheck builds now need to be CONSTRAINED_FLASH to fit - delete unused holybro_durandal-v1_stackcheck build (also CONSTRAINED_FLASH)	2020-10-29 18:56:52 -04:00
Daniel Agar	81aa8a914f	boards: px4_fmu-v2 disable ver command line to save flash	2020-10-29 18:56:52 -04:00
Daniel Agar	d5894bea5c	cmake: NuttX debug skip SVD print if not found	2020-10-29 15:07:47 -04:00
Daniel Agar	216a0eb3a0	cmake: NuttX redirect libapps build stdout to log file	2020-10-29 15:07:47 -04:00
Daniel Agar	b13422dd80	gitmodules update URLs to renamed PX4 repositories	2020-10-29 15:06:59 -04:00
Daniel Agar	ecb462f325	ekf2: EKF2.cpp using matrix Eulerf, Quatf, Vector3f	2020-10-29 10:22:57 -04:00
Daniel Agar	d1af095c0b	ekf2: don't store vehicle_status_s	2020-10-29 10:22:57 -04:00
Daniel Agar	d27573b797	ekf2: don't store vehicle_land_detected_s	2020-10-29 10:22:57 -04:00
Daniel Agar	7757aeda94	ekf2: don't store sensor_selection_s copy	2020-10-29 10:22:57 -04:00
Daniel Agar	db5235b074	ekf2: avoid storing message copies	2020-10-29 10:22:57 -04:00
Daniel Agar	3f9f2c6fdf	ekf2: multi ekf supports up to 4 IMUs	2020-10-28 20:50:58 -04:00
Daniel Agar	cf082d7f1c	Github actions: SITL tests upgrade MAVSDK v0.30.1 -> v0.33.1	2020-10-28 20:26:47 -04:00
Daniel Agar	b5e00cd424	NuttX upgrade branches to px4_firmware_nuttx-10.0.0+	2020-10-28 17:25:08 -04:00
David Sidrane	ff87bc0fda	fmu-v6x:Bootloader init NULL console	2020-10-28 14:25:25 -04:00
David Sidrane	39b1d827d2	cubeorange:Bootloader init NULL console	2020-10-28 14:25:25 -04:00
David Sidrane	1fa1f8c2c5	durandal-v1:Bootloader init NULL console	2020-10-28 14:25:25 -04:00
David Sidrane	962b90fd75	cuav:Bootloader init NULL console	2020-10-28 14:25:25 -04:00
David Sidrane	8797823333	px4_init:Split out console init to create null device to be used in non PX4 platform bsp (bootloadres)	2020-10-28 14:25:25 -04:00
David Sidrane	021bc284c1	nxp:imxrt ADC track Rev02 of ref manual change made in upstream	2020-10-28 14:25:25 -04:00
Daniel Agar	233949a377	NuttX upgrade to 10.0.0+ defconfig changes	2020-10-28 14:25:25 -04:00
David Sidrane	850e068aa3	Nuttx 10.0.0+	2020-10-28 14:25:25 -04:00
Daniel Agar	2c874f1cd9	ekf2 selector fix SITL lockstep - ekf2 selector don't register lockstep until first attitude publication - sensors module register lockstep component - enable multi-EKF2 in SITL	2020-10-28 09:42:41 -04:00
TSC21	b1dc1b1ecd	msg: rtps: add IDs for missing estimator_* msgs	2020-10-28 11:58:35 +01:00
Thies Lennart Alff	82988b1912	airframes: added BlueROV2 (heavy configuration) airframe (#16004 )	2020-10-28 11:07:31 +01:00
TSC21	5b7d1a0496	msg: rtps: add missing ID for orb_test_medium_wrap_around	2020-10-28 10:18:22 +01:00
Daniel Agar	69986affbf	commander: calibration restore sleep after CAL_QGC_DONE_MSG/CAL_QGC_FAILED_MSG	2020-10-27 18:54:16 -04:00
Nicolas Martin	171bd6d784	positionControl: add check on sign before sqrtf	2020-10-27 18:52:23 -04:00
SalimTerryLi	05f1efd1a4	load_mon: get mem_usage by reading /proc/meminfo on Linux	2020-10-27 18:49:25 -04:00
Daniel Agar	91da194bd7	sensors/vehicle_gps_position: only register callbacks once topic published - this avoids creating unnecessary uORB device nodes for GPS instances that might never exist	2020-10-27 18:40:57 -04:00