vehicle_command_ack: rename result_param1 to progress and comment usage

To avoid confusion:
- naming consistent with MAVLink definition
- comments about the few different ways the field is used

Tools/ecl_ekf/plotting/pdf_report.py

@@ -223,7 +223,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
         data_plot.save()
         data_plot.close()
 
-        # plot innovation flags summary
+        # plot innovation_check_flags summary
         data_plot = CheckFlagsPlot(
             status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
                                                                                'reject_hagl'],

boards/cuav/nora/default.px4board

@@ -39,6 +39,7 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -57,6 +58,7 @@ CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -68,6 +70,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -95,3 +98,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y

boards/px4/fmu-v5x/test.px4board

@@ -6,7 +6,6 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_MODULES_DIFFERENTIAL_DRIVE=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_PAYLOAD_DELIVERER=n

boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld

@@ -154,6 +154,7 @@
 *(.text._ZN3Ekf20updateIMUBiasInhibitERKN9estimator9imuSampleE)
 *(.text._ZN9Commander13dataLinkCheckEv)
 *(.text._ZN17FlightModeManager10switchTaskE15FlightTaskIndex)
+*(.text._ZNK3Ekf26get_innovation_test_statusERtRfS1_S1_S1_S1_S1_S1_)
 *(.text._ZN12PX4Gyroscope9set_scaleEf)
 *(.text._ZN12FailsafeBase6updateERKyRKNS_5StateEbbRK16failsafe_flags_s)
 *(.text._ZN18MavlinkStreamDebug4sendEv)

boards/px4/sitl/default.px4board

@@ -40,7 +40,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MODE_REGISTER=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y

msg/EstimatorStatus.msg

@@ -69,14 +69,27 @@ uint32 filter_fault_flags	# Bitmask to indicate EKF internal faults
 
 float32 pos_horiz_accuracy # 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m)
 float32 pos_vert_accuracy # 1-Sigma estimated vertical position accuracy relative to the estimators origin (m)
+uint16 innovation_check_flags # Bitmask to indicate pass/fail status of innovation consistency checks
+# 0 - true if velocity observations have been rejected
+# 1 - true if horizontal position observations have been rejected
+# 2 - true if true if vertical position observations have been rejected
+# 3 - true if the X magnetometer observation has been rejected
+# 4 - true if the Y magnetometer observation has been rejected
+# 5 - true if the Z magnetometer observation has been rejected
+# 6 - true if the yaw observation has been rejected
+# 7 - true if the airspeed observation has been rejected
+# 8 - true if the synthetic sideslip observation has been rejected
+# 9 - true if the height above ground observation has been rejected
+# 10 - true if the X optical flow observation has been rejected
+# 11 - true if the Y optical flow observation has been rejected
 
-float32 mag_test_ratio # low-pass filtered ratio of the largest magnetometer innovation component to the innovation test limit
-float32 vel_test_ratio # low-pass filtered ratio of the largest velocity innovation component to the innovation test limit
-float32 pos_test_ratio # low-pass filtered ratio of the largest horizontal position innovation component to the innovation test limit
-float32 hgt_test_ratio # low-pass filtered ratio of the vertical position innovation to the innovation test limit
-float32 tas_test_ratio # low-pass filtered ratio of the true airspeed innovation to the innovation test limit
-float32 hagl_test_ratio # low-pass filtered ratio of the height above ground innovation to the innovation test limit
-float32 beta_test_ratio # low-pass filtered ratio of the synthetic sideslip innovation to the innovation test limit
+float32 mag_test_ratio # ratio of the largest magnetometer innovation component to the innovation test limit
+float32 vel_test_ratio # ratio of the largest velocity innovation component to the innovation test limit
+float32 pos_test_ratio # ratio of the largest horizontal position innovation component to the innovation test limit
+float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit
+float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit
+float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit
+float32 beta_test_ratio # ratio of the synthetic sideslip innovation to the innovation test limit
 
 uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use.
 # 0 - True if the attitude estimate is good

msg/VehicleCommandAck.msg

@@ -25,7 +25,7 @@ uint8 ORB_QUEUE_LENGTH = 4
 
 uint32 command						# Command that is being acknowledged
 uint8 result						# Command result
-uint8 result_param1					# Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS
+uint8 progress					# Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS
 int32 result_param2					# Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
 uint8 target_system
 uint16 target_component 				# Target component / mode executor

platforms/common/Serial.cpp

@@ -74,9 +74,9 @@ ssize_t Serial::read(uint8_t *buffer, size_t buffer_size)
 	return _impl.read(buffer, buffer_size);
 }
 
-ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms)
+ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
 {
-	return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_ms);
+	return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_us);
 }
 
 ssize_t Serial::write(const void *buffer, size_t buffer_size)

platforms/common/include/px4_platform_common/Serial.hpp

@@ -62,7 +62,7 @@ public:
 	bool close();
 
 	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_ms = 0);
+	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
 
 	ssize_t write(const void *buffer, size_t buffer_size);
 

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

@@ -251,7 +251,7 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
 	return ret;
 }
 
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms)
+ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
 {
 	if (!_open) {
 		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
@@ -264,7 +264,6 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
 	}
 
 	const hrt_abstime start_time_us = hrt_absolute_time();
-	hrt_abstime timeout_us = timeout_ms * 1000;
 	int total_bytes_read = 0;
 
 	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {

platforms/posix/src/px4/common/SerialImpl.cpp

@@ -244,7 +244,7 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
 	return ret;
 }
 
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms)
+ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
 {
 	if (!_open) {
 		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
@@ -257,7 +257,6 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
 	}
 
 	const hrt_abstime start_time_us = hrt_absolute_time();
-	hrt_abstime timeout_us = timeout_ms * 1000;
 	int total_bytes_read = 0;
 
 	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {

platforms/qurt/src/px4/SerialImpl.cpp

@@ -173,7 +173,7 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
 	return ret_read;
 }
 
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_ms)
+ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
 {
 	if (!_open) {
 		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
@@ -186,7 +186,6 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
 	}
 
 	const hrt_abstime start_time_us = hrt_absolute_time();
-	hrt_abstime timeout_us = timeout_ms * 1000;
 	int total_bytes_read = 0;
 
 	while (total_bytes_read < (int) character_count) {

src/lib/mathlib/math/Functions.hpp

@@ -290,11 +290,6 @@ inline bool isFinite(const float &value)
 	return PX4_ISFINITE(value);
 }
 
-inline bool isFinite(const matrix::Vector2f &value)
-{
-	return value.isAllFinite();
-}
-
 inline bool isFinite(const matrix::Vector3f &value)
 {
 	return value.isAllFinite();

src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp

@@ -251,7 +251,7 @@ void arm_auth_update(hrt_abstime now, bool param_update)
 
 		case vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED:
 		default:
-			switch (command_ack.result_param1) {
+			switch (command_ack.progress) { // It's not used as progress but as protocol parameter for arm authorization
 			case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_NONE:
 				/* Authorizer will send reason to ground station */
 				break;

src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp

@@ -151,8 +151,6 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
 #if defined(MODULE_NAME)
 		aid_src.timestamp = hrt_absolute_time();
 		_estimator_aid_src_aux_global_position_pub.publish(aid_src);
-
-		_test_ratio_filtered = math::max(fabsf(aid_src.test_ratio_filtered[0]), fabsf(aid_src.test_ratio_filtered[1]));
 #endif // MODULE_NAME
 
 	} else if ((_state != State::stopped) && isTimedOut(_time_last_buffer_push, imu_delayed.time_us, (uint64_t)5e6)) {

src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp

@@ -74,8 +74,6 @@ public:
 		updateParams();
 	}
 
-	float test_ratio_filtered() const { return _test_ratio_filtered; }
-
 private:
 	bool isTimedOut(uint64_t last_sensor_timestamp, uint64_t time_delayed_us, uint64_t timeout_period) const
 	{
@@ -108,8 +106,6 @@ private:
 
 	State _state{State::stopped};
 
-	float _test_ratio_filtered{INFINITY};
-
 #if defined(MODULE_NAME)
 	struct reset_counters_s {
 		uint8_t lat_lon{};

src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp

@@ -245,7 +245,6 @@ void Ekf::controlMagFusion()
 
 					if (reset_heading) {
 						_control_status.flags.yaw_align = true;
-						resetAidSourceStatusZeroInnovation(aid_src);
 					}
 
 					_control_status.flags.mag = true;

src/modules/ekf2/EKF/ekf.h

@@ -383,17 +383,13 @@ public:
 		*counter = _state_reset_status.reset_count.quat;
 	}
 
-	float getHeadingInnovationTestRatio() const;
-
-	float getVelocityInnovationTestRatio() const;
-
-	float getHorizontalPositionInnovationTestRatio() const;
-	float getVerticalPositionInnovationTestRatio() const;
-
-	float getAirspeedInnovationTestRatio() const;
-	float getSyntheticSideslipInnovationTestRatio() const;
-
-	float getHeightAboveGroundInnovationTestRatio() const;
+	// get EKF innovation consistency check status information comprising of:
+	// status - a bitmask integer containing the pass/fail status for each EKF measurement innovation consistency check
+	// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
+	// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
+	// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
+	void get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas,
+					float &hagl, float &beta) const;
 
 	// return a bitmask integer that describes which state estimates are valid
 	void get_ekf_soln_status(uint16_t *status) const;

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -301,196 +301,131 @@ void Ekf::resetAccelBias()
 	resetAccelBiasCov();
 }
 
-float Ekf::getHeadingInnovationTestRatio() const
+void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas,
+				     float &hagl, float &beta) const
 {
-	// return the largest heading innovation test ratio
-	float test_ratio = 0.f;
+	// return the integer bitmask containing the consistency check pass/fail status
+	status = _innov_check_fail_status.value;
+
+	// return the largest magnetometer innovation test ratio
+	mag = 0.f;
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 	if (_control_status.flags.mag_hdg ||_control_status.flags.mag_3D) {
-		for (auto &test_ratio_filtered : _aid_src_mag.test_ratio_filtered) {
-			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
-		}
+		mag = math::max(mag, sqrtf(Vector3f(_aid_src_mag.test_ratio).max()));
 	}
 #endif // CONFIG_EKF2_MAGNETOMETER
 
 #if defined(CONFIG_EKF2_GNSS_YAW)
 	if (_control_status.flags.gps_yaw) {
-		test_ratio = math::max(test_ratio, fabsf(_aid_src_gnss_yaw.test_ratio_filtered));
+		mag = math::max(mag, sqrtf(_aid_src_gnss_yaw.test_ratio));
 	}
 #endif // CONFIG_EKF2_GNSS_YAW
 
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	if (_control_status.flags.ev_yaw) {
-		test_ratio = math::max(test_ratio, fabsf(_aid_src_ev_yaw.test_ratio_filtered));
+		mag = math::max(mag, sqrtf(_aid_src_ev_yaw.test_ratio));
 	}
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
-	return sqrtf(test_ratio);
-}
-
-float Ekf::getVelocityInnovationTestRatio() const
-{
-	// return the largest velocity innovation test ratio
-	float test_ratio = -1.f;
+	// return the largest velocity and position innovation test ratio
+	vel = NAN;
+	pos = NAN;
 
 #if defined(CONFIG_EKF2_GNSS)
 	if (_control_status.flags.gps) {
-		for (int i = 0; i < 3; i++) {
-			test_ratio = math::max(test_ratio, fabsf(_aid_src_gnss_vel.test_ratio_filtered[i]));
-		}
+		float gps_vel = sqrtf(Vector3f(_aid_src_gnss_vel.test_ratio).max());
+		vel = math::max(gps_vel, FLT_MIN);
+
+		float gps_pos = sqrtf(Vector2f(_aid_src_gnss_pos.test_ratio).max());
+		pos = math::max(gps_pos, FLT_MIN);
 	}
 #endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	if (_control_status.flags.ev_vel) {
-		for (int i = 0; i < 3; i++) {
-			test_ratio = math::max(test_ratio, fabsf(_aid_src_ev_vel.test_ratio_filtered[i]));
-		}
+		float ev_vel = sqrtf(Vector3f(_aid_src_ev_vel.test_ratio).max());
+		vel = math::max(vel, ev_vel, FLT_MIN);
+	}
+
+	if (_control_status.flags.ev_pos) {
+		float ev_pos = sqrtf(Vector2f(_aid_src_ev_pos.test_ratio).max());
+		pos = math::max(pos, ev_pos, FLT_MIN);
 	}
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
 	if (isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.opt_flow)) {
-		for (auto &test_ratio_filtered : _aid_src_optical_flow.test_ratio_filtered) {
-			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
-		}
+		float of_vel = sqrtf(Vector2f(_aid_src_optical_flow.test_ratio).max());
+		vel = math::max(of_vel, FLT_MIN);
 	}
 #endif // CONFIG_EKF2_OPTICAL_FLOW
 
-	if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) {
-		return sqrtf(test_ratio);
-	}
-
-	return NAN;
-}
-
-float Ekf::getHorizontalPositionInnovationTestRatio() const
-{
-	// return the largest position innovation test ratio
-	float test_ratio = -1.f;
-
-#if defined(CONFIG_EKF2_GNSS)
-	if (_control_status.flags.gps) {
-		for (auto &test_ratio_filtered : _aid_src_gnss_pos.test_ratio_filtered) {
-			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
-		}
-	}
-#endif // CONFIG_EKF2_GNSS
-
-#if defined(CONFIG_EKF2_EXTERNAL_VISION)
-	if (_control_status.flags.ev_pos) {
-		for (auto &test_ratio_filtered : _aid_src_ev_pos.test_ratio_filtered) {
-			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
-		}
-	}
-#endif // CONFIG_EKF2_EXTERNAL_VISION
-
-#if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)
-	if (_control_status.flags.aux_gpos) {
-		test_ratio = math::max(test_ratio, fabsf(_aux_global_position.test_ratio_filtered()));
-	}
-#endif // CONFIG_EKF2_AUX_GLOBAL_POSITION
-
-	if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) {
-		return sqrtf(test_ratio);
-	}
-
-	return NAN;
-}
-
-float Ekf::getVerticalPositionInnovationTestRatio() const
-{
 	// return the combined vertical position innovation test ratio
 	float hgt_sum = 0.f;
 	int n_hgt_sources = 0;
 
 #if defined(CONFIG_EKF2_BAROMETER)
 	if (_control_status.flags.baro_hgt) {
-		hgt_sum += sqrtf(fabsf(_aid_src_baro_hgt.test_ratio_filtered));
+		hgt_sum += sqrtf(_aid_src_baro_hgt.test_ratio);
 		n_hgt_sources++;
 	}
 #endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_GNSS)
 	if (_control_status.flags.gps_hgt) {
-		hgt_sum += sqrtf(fabsf(_aid_src_gnss_hgt.test_ratio_filtered));
+		hgt_sum += sqrtf(_aid_src_gnss_hgt.test_ratio);
 		n_hgt_sources++;
 	}
 #endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	if (_control_status.flags.rng_hgt) {
-		hgt_sum += sqrtf(fabsf(_aid_src_rng_hgt.test_ratio_filtered));
+		hgt_sum += sqrtf(_aid_src_rng_hgt.test_ratio);
 		n_hgt_sources++;
 	}
 #endif // CONFIG_EKF2_RANGE_FINDER
 
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	if (_control_status.flags.ev_hgt) {
-		hgt_sum += sqrtf(fabsf(_aid_src_ev_hgt.test_ratio_filtered));
+		hgt_sum += sqrtf(_aid_src_ev_hgt.test_ratio);
 		n_hgt_sources++;
 	}
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
 	if (n_hgt_sources > 0) {
-		return math::max(hgt_sum / static_cast<float>(n_hgt_sources), FLT_MIN);
+		hgt = math::max(hgt_sum / static_cast<float>(n_hgt_sources), FLT_MIN);
+
+	} else {
+		hgt = NAN;
 	}
 
-	return NAN;
-}
-
-float Ekf::getAirspeedInnovationTestRatio() const
-{
 #if defined(CONFIG_EKF2_AIRSPEED)
-	if (_control_status.flags.fuse_aspd) {
-		// return the airspeed fusion innovation test ratio
-		return sqrtf(fabsf(_aid_src_airspeed.test_ratio_filtered));
-	}
+	// return the airspeed fusion innovation test ratio
+	tas = sqrtf(_aid_src_airspeed.test_ratio);
 #endif // CONFIG_EKF2_AIRSPEED
 
-	return NAN;
-}
-
-float Ekf::getSyntheticSideslipInnovationTestRatio() const
-{
-#if defined(CONFIG_EKF2_SIDESLIP)
-	if (_control_status.flags.fuse_beta) {
-		// return the synthetic sideslip innovation test ratio
-		return sqrtf(fabsf(_aid_src_sideslip.test_ratio_filtered));
-	}
-#endif // CONFIG_EKF2_SIDESLIP
-
-	return NAN;
-}
-
-float Ekf::getHeightAboveGroundInnovationTestRatio() const
-{
-	float test_ratio = -1.f;
-
+	hagl = NAN;
 #if defined(CONFIG_EKF2_TERRAIN)
 # if defined(CONFIG_EKF2_RANGE_FINDER)
 	if (_hagl_sensor_status.flags.range_finder) {
 		// return the terrain height innovation test ratio
-		test_ratio = math::max(test_ratio, fabsf(_aid_src_terrain_range_finder.test_ratio_filtered));
+		hagl = sqrtf(_aid_src_terrain_range_finder.test_ratio);
 	}
 #endif // CONFIG_EKF2_RANGE_FINDER
 
 # if defined(CONFIG_EKF2_OPTICAL_FLOW)
 	if (_hagl_sensor_status.flags.flow) {
 		// return the terrain height innovation test ratio
-		for (auto &test_ratio_filtered : _aid_src_terrain_optical_flow.test_ratio_filtered) {
-			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
-		}
+		hagl = sqrtf(math::max(_aid_src_terrain_optical_flow.test_ratio[0], _aid_src_terrain_optical_flow.test_ratio[1]));
 	}
 # endif // CONFIG_EKF2_OPTICAL_FLOW
 #endif // CONFIG_EKF2_TERRAIN
 
-	if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) {
-		return sqrtf(test_ratio);
-	}
-
-	return NAN;
+#if defined(CONFIG_EKF2_SIDESLIP)
+	// return the synthetic sideslip innovation test ratio
+	beta = sqrtf(_aid_src_sideslip.test_ratio);
+#endif // CONFIG_EKF2_SIDESLIP
 }
 
 void Ekf::get_ekf_soln_status(uint16_t *status) const

src/modules/ekf2/EKF2.cpp

@@ -1802,13 +1802,15 @@ void EKF2::PublishStatus(const hrt_abstime &timestamp)
 	status.control_mode_flags = _ekf.control_status().value;
 	status.filter_fault_flags = _ekf.fault_status().value;
 
-	status.mag_test_ratio = _ekf.getHeadingInnovationTestRatio();
-	status.vel_test_ratio = _ekf.getVelocityInnovationTestRatio();
-	status.pos_test_ratio = _ekf.getHorizontalPositionInnovationTestRatio();
-	status.hgt_test_ratio = _ekf.getVerticalPositionInnovationTestRatio();
-	status.tas_test_ratio = _ekf.getAirspeedInnovationTestRatio();
-	status.hagl_test_ratio = _ekf.getHeightAboveGroundInnovationTestRatio();
-	status.beta_test_ratio = _ekf.getSyntheticSideslipInnovationTestRatio();
+	uint16_t innov_check_flags_temp = 0;
+	_ekf.get_innovation_test_status(innov_check_flags_temp, status.mag_test_ratio,
+					status.vel_test_ratio, status.pos_test_ratio,
+					status.hgt_test_ratio, status.tas_test_ratio,
+					status.hagl_test_ratio, status.beta_test_ratio);
+
+	// Bit mismatch between ecl and Firmware, combine the 2 first bits to preserve msg definition
+	// TODO: legacy use only, those flags are also in estimator_status_flags
+	status.innovation_check_flags = (innov_check_flags_temp >> 1) | (innov_check_flags_temp & 0x1);
 
 	_ekf.get_ekf_lpos_accuracy(&status.pos_horiz_accuracy, &status.pos_vert_accuracy);
 	_ekf.get_ekf_soln_status(&status.solution_status_flags);

src/modules/gimbal/input_mavlink.cpp

@@ -518,7 +518,7 @@ InputMavlinkGimbalV2::update(unsigned int timeout_ms, ControlData &control_data,
 	// We can't return early instead because we need to copy all topics that triggered poll.
 
 	bool exit_loop = false;
-	UpdateResult update_result = UpdateResult::NoUpdate;
+	UpdateResult update_result = already_active ? UpdateResult::UpdatedActive : UpdateResult::NoUpdate;
 
 	while (!exit_loop && poll_timeout >= 0) {
 

src/modules/mavlink/mavlink_main.cpp

@@ -2604,7 +2604,7 @@ void Mavlink::handleAndGetCurrentCommandAck()
 					mavlink_command_ack_t msg{};
 					msg.result = command_ack.result;
 					msg.command = command_ack.command;
-					msg.progress = command_ack.result_param1;
+					msg.progress = command_ack.progress;
 					msg.result_param2 = command_ack.result_param2;
 					msg.target_system = command_ack.target_system;
 					msg.target_component = command_ack.target_component;

src/modules/mavlink/mavlink_receiver.cpp

@@ -127,7 +127,7 @@ MavlinkReceiver::acknowledge(uint8_t sysid, uint8_t compid, uint16_t command, ui
 	command_ack.result = result;
 	command_ack.target_system = sysid;
 	command_ack.target_component = compid;
-	command_ack.result_param1 = progress;
+	command_ack.progress = progress;
 
 	_cmd_ack_pub.publish(command_ack);
 }
@@ -771,7 +771,7 @@ MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
 	command_ack.command = ack.command;
 	command_ack.result = ack.result;
 	command_ack.from_external = true;
-	command_ack.result_param1 = ack.progress;
+	command_ack.progress = ack.progress;
 	command_ack.target_system = ack.target_system;
 	command_ack.target_component = ack.target_component;
 

src/modules/mavlink/streams/HIGH_LATENCY2.hpp

@@ -309,7 +309,8 @@ private:
 
 		if (_estimator_status_sub.update(&estimator_status)) {
 			if (estimator_status.gps_check_fail_flags > 0 ||
-			    estimator_status.filter_fault_flags > 0) {
+			    estimator_status.filter_fault_flags > 0 ||
+			    estimator_status.innovation_check_flags > 0) {
 
 				msg->failure_flags |= HL_FAILURE_FLAG_ESTIMATOR;
 			}

src/modules/mc_pos_control/MulticopterPositionControl.cpp

@@ -42,11 +42,14 @@
 using namespace matrix;
 
 MulticopterPositionControl::MulticopterPositionControl(bool vtol) :
+	SuperBlock(nullptr, "MPC"),
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
-	_vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint))
+	_vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
+	_vel_x_deriv(this, "VELD"),
+	_vel_y_deriv(this, "VELD"),
+	_vel_z_deriv(this, "VELD")
 {
-	_sample_interval_s.update(0.01f); // 100 Hz default
 	parameters_update(true);
 	_tilt_limit_slew_rate.setSlewRate(.2f);
 	_takeoff_status_pub.advertise();
@@ -80,42 +83,7 @@ void MulticopterPositionControl::parameters_update(bool force)
 
 		// update parameters from storage
 		ModuleParams::updateParams();
-
-		float sample_freq_hz = 1.f / _sample_interval_s.mean();
-
-		// velocity notch filter
-		if ((_param_mpc_vel_nf_frq.get() > 0.f) && (_param_mpc_vel_nf_bw.get() > 0.f)) {
-			_vel_xy_notch_filter.setParameters(sample_freq_hz, _param_mpc_vel_nf_frq.get(), _param_mpc_vel_nf_bw.get());
-			_vel_z_notch_filter.setParameters(sample_freq_hz, _param_mpc_vel_nf_frq.get(), _param_mpc_vel_nf_bw.get());
-
-		} else {
-			_vel_xy_notch_filter.disable();
-			_vel_z_notch_filter.disable();
-		}
-
-		// velocity xy/z low pass filter
-		if (_param_mpc_vel_lp.get() > 0.f) {
-			_vel_xy_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_vel_lp.get());
-			_vel_z_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_vel_lp.get());
-
-		} else {
-			// disable filtering
-			_vel_xy_lp_filter.setAlpha(1.f);
-			_vel_z_lp_filter.setAlpha(1.f);
-		}
-
-		// velocity derivative xy/z low pass filter
-		if (_param_mpc_veld_lp.get() > 0.f) {
-			_vel_deriv_xy_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_veld_lp.get());
-			_vel_deriv_z_lp_filter.setCutoffFreq(sample_freq_hz, _param_mpc_veld_lp.get());
-
-		} else {
-			// disable filtering
-			_vel_deriv_xy_lp_filter.setAlpha(1.f);
-			_vel_deriv_z_lp_filter.setAlpha(1.f);
-		}
-
-
+		SuperBlock::updateParams();
 
 		int num_changed = 0;
 
@@ -308,7 +276,7 @@ void MulticopterPositionControl::parameters_update(bool force)
 }
 
 PositionControlStates MulticopterPositionControl::set_vehicle_states(const vehicle_local_position_s
-		&vehicle_local_position, const float dt_s)
+		&vehicle_local_position)
 {
 	PositionControlStates states;
 
@@ -332,42 +300,29 @@ PositionControlStates MulticopterPositionControl::set_vehicle_states(const vehic
 	const Vector2f velocity_xy(vehicle_local_position.vx, vehicle_local_position.vy);
 
 	if (vehicle_local_position.v_xy_valid && velocity_xy.isAllFinite()) {
-		const Vector2f vel_xy_prev = _vel_xy_lp_filter.getState();
-
-		// vel xy notch filter, then low pass filter
-		states.velocity.xy() = _vel_xy_lp_filter.update(_vel_xy_notch_filter.apply(velocity_xy));
-
-		// vel xy derivative low pass filter
-		states.acceleration.xy() = _vel_deriv_xy_lp_filter.update((_vel_xy_lp_filter.getState() - vel_xy_prev) / dt_s);
+		states.velocity.xy() = velocity_xy;
+		states.acceleration(0) = _vel_x_deriv.update(velocity_xy(0));
+		states.acceleration(1) = _vel_y_deriv.update(velocity_xy(1));
 
 	} else {
 		states.velocity(0) = states.velocity(1) = NAN;
 		states.acceleration(0) = states.acceleration(1) = NAN;
 
-		// reset filters to prevent acceleration spikes when regaining velocity
-		_vel_xy_lp_filter.reset({});
-		_vel_xy_notch_filter.reset();
-		_vel_deriv_xy_lp_filter.reset({});
+		// reset derivatives to prevent acceleration spikes when regaining velocity
+		_vel_x_deriv.reset();
+		_vel_y_deriv.reset();
 	}
 
 	if (PX4_ISFINITE(vehicle_local_position.vz) && vehicle_local_position.v_z_valid) {
-
-		const float vel_z_prev = _vel_z_lp_filter.getState();
-
-		// vel z notch filter, then low pass filter
-		states.velocity(2) = _vel_z_lp_filter.update(_vel_z_notch_filter.apply(vehicle_local_position.vz));
-
-		// vel z derivative low pass filter
-		states.acceleration(2) = _vel_deriv_z_lp_filter.update((_vel_z_lp_filter.getState() - vel_z_prev) / dt_s);
+		states.velocity(2) = vehicle_local_position.vz;
+		states.acceleration(2) = _vel_z_deriv.update(states.velocity(2));
 
 	} else {
 		states.velocity(2) = NAN;
 		states.acceleration(2) = NAN;
 
-		// reset filters to prevent acceleration spikes when regaining velocity
-		_vel_z_lp_filter.reset({});
-		_vel_z_notch_filter.reset();
-		_vel_deriv_z_lp_filter.reset({});
+		// reset derivative to prevent acceleration spikes when regaining velocity
+		_vel_z_deriv.reset();
 	}
 
 	states.yaw = vehicle_local_position.heading;
@@ -396,7 +351,8 @@ void MulticopterPositionControl::Run()
 			math::constrain(((vehicle_local_position.timestamp_sample - _time_stamp_last_loop) * 1e-6f), 0.002f, 0.04f);
 		_time_stamp_last_loop = vehicle_local_position.timestamp_sample;
 
-		_sample_interval_s.update(dt);
+		// set _dt in controllib Block for BlockDerivative
+		setDt(dt);
 
 		if (_vehicle_control_mode_sub.updated()) {
 			const bool previous_position_control_enabled = _vehicle_control_mode.flag_multicopter_position_control_enabled;
@@ -424,7 +380,7 @@ void MulticopterPositionControl::Run()
 			}
 		}
 
-		PositionControlStates states{set_vehicle_states(vehicle_local_position, dt)};
+		PositionControlStates states{set_vehicle_states(vehicle_local_position)};
 
 		// if a goto setpoint available this publishes a trajectory setpoint to go there
 		if (_goto_control.checkForSetpoint(vehicle_local_position.timestamp_sample,
@@ -682,13 +638,12 @@ void MulticopterPositionControl::adjustSetpointForEKFResets(const vehicle_local_
 	}
 
 	if (vehicle_local_position.vxy_reset_counter != _vxy_reset_counter) {
-		_vel_xy_lp_filter.reset(_vel_xy_lp_filter.getState() + Vector2f(vehicle_local_position.delta_vxy));
-		_vel_xy_notch_filter.reset();
+		_vel_x_deriv.reset();
+		_vel_y_deriv.reset();
 	}
 
 	if (vehicle_local_position.vz_reset_counter != _vz_reset_counter) {
-		_vel_z_lp_filter.reset(_vel_z_lp_filter.getState() + vehicle_local_position.delta_vz);
-		_vel_z_notch_filter.reset();
+		_vel_z_deriv.reset();
 	}
 
 	// save latest reset counters

src/modules/mc_pos_control/MulticopterPositionControl.hpp

@@ -42,9 +42,7 @@
 #include "GotoControl/GotoControl.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/mathlib/math/filter/AlphaFilter.hpp>
-#include <lib/mathlib/math/filter/NotchFilter.hpp>
-#include <lib/mathlib/math/WelfordMean.hpp>
+#include <lib/controllib/blocks.hpp>
 #include <lib/perf/perf_counter.h>
 #include <lib/slew_rate/SlewRateYaw.hpp>
 #include <lib/systemlib/mavlink_log.h>
@@ -70,8 +68,8 @@
 
 using namespace time_literals;
 
-class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>, public ModuleParams,
-	public px4::ScheduledWorkItem
+class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>, public control::SuperBlock,
+	public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
 	MulticopterPositionControl(bool vtol = false);
@@ -150,11 +148,6 @@ private:
 		(ParamBool<px4::params::MPC_USE_HTE>)       _param_mpc_use_hte,
 		(ParamBool<px4::params::MPC_ACC_DECOUPLE>)  _param_mpc_acc_decouple,
 
-		(ParamFloat<px4::params::MPC_VEL_LP>)       _param_mpc_vel_lp,
-		(ParamFloat<px4::params::MPC_VEL_NF_FRQ>)   _param_mpc_vel_nf_frq,
-		(ParamFloat<px4::params::MPC_VEL_NF_BW>)    _param_mpc_vel_nf_bw,
-		(ParamFloat<px4::params::MPC_VELD_LP>)      _param_mpc_veld_lp,
-
 		// Takeoff / Land
 		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time, /**< time to let motors spool up after arming */
 		(ParamBool<px4::params::COM_THROW_EN>)      _param_com_throw_en, /**< throw launch enabled  */
@@ -192,16 +185,9 @@ private:
 		(ParamFloat<px4::params::MPC_YAWRAUTO_ACC>) _param_mpc_yawrauto_acc
 	);
 
-	math::WelfordMean<float> _sample_interval_s{};
-
-	AlphaFilter<matrix::Vector2f> _vel_xy_lp_filter{};
-	AlphaFilter<float> _vel_z_lp_filter{};
-
-	math::NotchFilter<matrix::Vector2f> _vel_xy_notch_filter{};
-	math::NotchFilter<float> _vel_z_notch_filter{};
-
-	AlphaFilter<matrix::Vector2f> _vel_deriv_xy_lp_filter{};
-	AlphaFilter<float> _vel_deriv_z_lp_filter{};
+	control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */
+	control::BlockDerivative _vel_y_deriv; /**< velocity derivative in y */
+	control::BlockDerivative _vel_z_deriv; /**< velocity derivative in z */
 
 	GotoControl _goto_control; ///< class for handling smooth goto position setpoints
 	PositionControl _control; ///< class for core PID position control
@@ -238,7 +224,7 @@ private:
 	/**
 	 * Check for validity of positon/velocity states.
 	 */
-	PositionControlStates set_vehicle_states(const vehicle_local_position_s &local_pos, const float dt_s);
+	PositionControlStates set_vehicle_states(const vehicle_local_position_s &local_pos);
 
 	/**
 	 * Generate setpoint to bridge no executable setpoint being available.

src/modules/mc_pos_control/multicopter_position_control_params.c

@@ -75,56 +75,11 @@ PARAM_DEFINE_INT32(MPC_USE_HTE, 1);
 PARAM_DEFINE_FLOAT(MPC_THR_XY_MARG, 0.3f);
 
 /**
- * Velocity low pass cutoff frequency
- *
- * A value of 0 disables the filter.
+ * Numerical velocity derivative low pass cutoff frequency
  *
  * @unit Hz
  * @min 0
- * @max 50
- * @decimal 1
- * @increment 0.5
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_VEL_LP, 0.0f);
-
-/**
- * Velocity notch filter frequency
- *
- * The center frequency for the 2nd order notch filter on the velocity.
- * A value of 0 disables the filter.
- *
- * @unit Hz
- * @min 0
- * @max 50
- * @decimal 1
- * @increment 0.5
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_VEL_NF_FRQ, 0.0f);
-
-/**
- * Velocity notch filter bandwidth
- *
- * A value of 0 disables the filter.
- *
- * @unit Hz
- * @min 0
- * @max 50
- * @decimal 1
- * @increment 0.5
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_VEL_NF_BW, 5.0f);
-
-/**
- * Velocity derivative low pass cutoff frequency
- *
- * A value of 0 disables the filter.
- *
- * @unit Hz
- * @min 0
- * @max 50
+ * @max 10
  * @decimal 1
  * @increment 0.5
  * @group Multicopter Position Control

src/modules/mode_register/CMakeLists.txt

@@ -1,40 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-px4_add_module(
-	MODULE modules__mode_register
-	MAIN mode_register
-	SRCS
-		ModeRegister.cpp
-		ModeRegister.hpp
-	DEPENDS
-	)

src/modules/mode_register/Kconfig

@@ -1,5 +0,0 @@
-menuconfig MODULES_MODE_REGISTER
-	bool "mode_register"
-	default n
-	---help---
-		Enable support for internal mode reigstration

src/modules/mode_register/ModeRegister.cpp

@@ -1,180 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include "ModeRegister.hpp"
-
-#include <px4_platform_common/log.h>
-
-ModeRegister::ModeRegister() :
-	ModuleParams(nullptr),
-	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
-	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
-{
-	// PX4_INFO("Hello Mode Register");
-	doRegister();
-}
-
-ModeRegister::~ModeRegister()
-{
-	perf_free(_loop_perf);
-}
-
-bool
-ModeRegister::init()
-{
-	if (!_register_ext_component_reply_sub.registerCallback()) {
-		PX4_ERR("callback registration failed");
-		return false;
-	}
-
-	return true;
-}
-
-bool ModeRegister::doRegister()
-{
-//   assert(!_registration->registered());
-
-//   if (!_skip_message_compatibility_check &&
-//     !messageCompatibilityCheck(node(), {ALL_PX4_ROS2_MESSAGES}, topicNamespacePrefix()))
-//   {
-//     return false;
-//   }
-
-//   onAboutToRegister();
-	register_ext_component_request_s request;
-	strcpy(request.name, "Internal Mode");
-	request.register_arming_check = true;
-	request.register_mode = true;
-	request.register_mode_executor = true;
-	request.enable_replace_internal_mode = true;
-	request.replace_internal_mode = true;
-	request.activate_mode_immediately = false;
-	request.px4_ros2_api_version = 1;
-	request.request_id = 123;
-	_register_ext_component_request_pub.publish(request);
-
-//   _health_and_arming_checks.overrideRegistration(_registration);
-//   const RegistrationSettings settings = getRegistrationSettings();
-	bool ret = true;
-//    = _registration->doRegister(settings);
-
-//   if (ret) {
-//     if (!onRegistered()) {
-//       ret = false;
-//     }
-//   }
-
-	return ret;
-}
-
-void
-ModeRegister::Run()
-{
-	if (should_exit()) {
-		_register_ext_component_reply_sub.unregisterCallback();
-		exit_and_cleanup();
-		return;
-	}
-
-	perf_begin(_loop_perf);
-	PX4_INFO("Fuuuuuuuuuck");
-
-	if (!_requested) {
-		PX4_INFO("Do Register");
-		doRegister();
-		_requested = true;
-	}
-
-	register_ext_component_reply_s reply;
-
-	if (_register_ext_component_reply_sub.update(&reply)) {
-		PX4_INFO("Replied!");
-		PX4_INFO("  - success: %f", double(reply.success));
-	}
-
-	perf_end(_loop_perf);
-}
-
-int ModeRegister::task_spawn(int argc, char *argv[])
-{
-
-	ModeRegister *instance = new ModeRegister();
-
-	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
-
-		if (instance->init()) {
-			return PX4_OK;
-		}
-
-	} else {
-		PX4_ERR("alloc failed");
-	}
-
-	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
-
-	return PX4_ERROR;
-}
-
-int ModeRegister::custom_command(int argc, char *argv[])
-{
-	return print_usage("unknown command");
-}
-
-int ModeRegister::print_usage(const char *reason)
-{
-	if (reason) {
-		PX4_WARN("%s\n", reason);
-	}
-
-	PRINT_MODULE_DESCRIPTION(
-		R"DESCR_STR(
-### Description
-This implements an internal mode registration.
-
-)DESCR_STR");
-
-	PRINT_MODULE_USAGE_NAME("mode_register", "controller");
-	PRINT_MODULE_USAGE_COMMAND("start");
-	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-
-	return 0;
-}
-
-extern "C" __EXPORT int mode_register_main(int argc, char *argv[])
-{
-	return ModeRegister::main(argc, argv);
-}

src/modules/mode_register/ModeRegister.hpp

@@ -1,47 +0,0 @@
-#pragma once
-
-#include <lib/perf/perf_counter.h>
-#include <px4_platform_common/defines.h>
-#include <px4_platform_common/module.h>
-#include <px4_platform_common/module_params.h>
-#include <px4_platform_common/posix.h>
-#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <uORB/Publication.hpp>
-#include <uORB/PublicationMulti.hpp>
-#include <uORB/Subscription.hpp>
-#include <uORB/SubscriptionCallback.hpp>
-#include <uORB/topics/register_ext_component_reply.h>
-#include <uORB/topics/register_ext_component_request.h>
-#include <uORB/topics/unregister_ext_component.h>
-
-class ModeRegister : public ModuleBase<ModeRegister>, public ModuleParams, public px4::WorkItem
-{
-public:
-	ModeRegister();
-	~ModeRegister() override;
-
-	/** @see ModuleBase */
-	static int task_spawn(int argc, char *argv[]);
-
-	/** @see ModuleBase */
-	static int custom_command(int argc, char *argv[]);
-
-	/** @see ModuleBase */
-	static int print_usage(const char *reason = nullptr);
-
-	bool doRegister();
-
-	bool init();
-
-private:
-	void Run() override;
-
-	uORB::SubscriptionCallbackWorkItem _register_ext_component_reply_sub{this, ORB_ID(register_ext_component_reply)};
-
-	uORB::Publication<register_ext_component_request_s>	_register_ext_component_request_pub{ORB_ID(register_ext_component_request)};
-	uORB::Publication<unregister_ext_component_s>	_unregister_ext_component_pub{ORB_ID(unregister_ext_component)};
-
-	bool _requested{false};
-	perf_counter_t	_loop_perf;			/**< loop duration performance counter */
-
-};

src/modules/navigator/navigator_main.cpp

@@ -1418,7 +1418,7 @@ void Navigator::publish_vehicle_command_ack(const vehicle_command_s &cmd, uint8_
 	command_ack.from_external = false;
 
 	command_ack.result = result;
-	command_ack.result_param1 = 0;
+	command_ack.progress = 0;
 	command_ack.result_param2 = 0;
 
 	_vehicle_cmd_ack_pub.publish(command_ack);

src/modules/payload_deliverer/payload_deliverer.cpp

@@ -255,7 +255,7 @@ bool PayloadDeliverer::send_gripper_vehicle_command_ack(const hrt_abstime now, c
 	switch (command_result) {
 	case vehicle_command_ack_s::VEHICLE_CMD_RESULT_IN_PROGRESS:
 		// Fill in the progress percentage field for IN_PROGRESS ack message
-		vcmd_ack.result_param1 = UINT8_MAX;
+		vcmd_ack.progress = UINT8_MAX; // unkown progress according to MAVLink definition
 		break;
 	}