Switch simulated solo to control allocation

* fix icp so it compiles
* add icp10111 and icp10100 DEVTPYE

ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris

@@ -9,4 +9,28 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-set MIXER quad_w
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+set MIXER skip
+set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc

@@ -1,37 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default SYS_CTRL_ALLOC 1
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-set MIXER skip
-set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/1014_solo

@@ -7,7 +7,31 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
+param set-default SYS_CTRL_ALLOC 1
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.145
+param set-default CA_ROTOR0_PY 0.145
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.145
+param set-default CA_ROTOR1_PY -0.145
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.145
+param set-default CA_ROTOR2_PY -0.145
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.145
+param set-default CA_ROTOR3_PY 0.145
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_ROLLRATE_P 0.05
 
-set MIXER quad_x
+set MIXER skip
+set MIXER_AUX none

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

@@ -33,7 +33,6 @@
 
 px4_add_romfs_files(
 	10016_iris
-	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
 	10019_omnicopter
 	10020_if750a

msg/vehicle_odometry.msg

@@ -64,7 +64,5 @@ float32[21] velocity_covariance
 
 uint8 reset_counter
 
-uint8 quality
-
 # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
 # TOPICS estimator_odometry estimator_visual_odometry_aligned

src/drivers/barometer/invensense/Kconfig

@@ -0,0 +1,3 @@
+menu "Invensense"
+rsource "*/Kconfig"
+endmenu #Invensense

src/drivers/barometer/invensense/icp10100/CMakeLists.txt

@@ -32,7 +32,7 @@
 ############################################################################
 
 px4_add_module(
-	MODULE drivers__invensense__icp10100
+	MODULE drivers__barometer__invensense__icp10100
 	MAIN icp10100
 	COMPILE_FLAGS
 	SRCS

src/drivers/barometer/invensense/icp10100/ICP10100.cpp

@@ -233,7 +233,6 @@ ICP10100::RunImpl()
 				float b = (_pcal[0] - a) * (s1 + c);
 				float _pressure_Pa = a + b / (c + _raw_p);
 
-				const hrt_abstime nowx = hrt_absolute_time();
 				float temperature = _temperature_C;
 				float pressure = _pressure_Pa;
 

src/drivers/barometer/invensense/icp10100/Kconfig

@@ -0,0 +1,7 @@
+menuconfig DRIVERS_BAROMETER_INVENSENSE_ICP10100
+	bool "icp10100"
+	default n
+	---help---
+		Enable support for icp10100
+
+

src/drivers/barometer/invensense/icp10111/CMakeLists.txt

@@ -32,7 +32,7 @@
 ############################################################################
 
 px4_add_module(
-	MODULE drivers__invensense__icp10111
+	MODULE drivers__barometer__invensense__icp10111
 	MAIN icp10111
 	COMPILE_FLAGS
 	SRCS

src/drivers/barometer/invensense/icp10111/Kconfig

@@ -0,0 +1,6 @@
+menuconfig DRIVERS_BAROMETER_INVENSENSE_ICP10111
+	bool "icp10100"
+	default n
+	---help---
+		Enable support for icp10111
+

src/drivers/drv_sensor.h

@@ -213,6 +213,9 @@
 #define DRV_FLOW_DEVTYPE_PX4FLOW 0xB5
 #define DRV_FLOW_DEVTYPE_PAA3905 0xB6
 
+#define DRV_BARO_DEVTYPE_ICP10100 0xC0
+#define DRV_BARO_DEVTYPE_ICP10111 0xC1
+
 #define DRV_DEVTYPE_UNUSED		0xff
 
 #endif /* _DRV_SENSOR_H */

src/modules/ekf2/EKF/common.h

@@ -208,7 +208,6 @@ struct extVisionSample {
 	float       angVar{};      ///< angular heading variance (rad**2)
 	VelocityFrame vel_frame = VelocityFrame::BODY_FRAME_FRD;
 	uint8_t     reset_counter{};
-	uint8_t     quality{};     ///< quality indicator between 0 and 100
 };
 
 struct dragSample {
@@ -330,14 +329,13 @@ struct parameters {
 	float range_kin_consistency_gate{1.0f}; ///< gate size used by the range finder kinematic consistency check
 
 	// vision position fusion
-	int32_t ev_quality_minimum{0};          ///< vision minimum acceptable quality integer
 	float ev_vel_innov_gate{3.0f};          ///< vision velocity fusion innovation consistency gate size (STD)
 	float ev_pos_innov_gate{5.0f};          ///< vision position fusion innovation consistency gate size (STD)
 
 	// optical flow fusion
 	float flow_noise{0.15f};                ///< observation noise for optical flow LOS rate measurements (rad/sec)
 	float flow_noise_qual_min{0.5f};        ///< observation noise for optical flow LOS rate measurements when flow sensor quality is at the minimum useable (rad/sec)
-	int32_t flow_qual_min{1};               ///< minimum acceptable quality integer from the flow sensor
+	int32_t flow_qual_min{1};               ///< minimum acceptable quality integer from  the flow sensor
 	float flow_innov_gate{3.0f};            ///< optical flow fusion innovation consistency gate size (STD)
 
 	// these parameters control the strictness of GPS quality checks used to determine if the GPS is

src/modules/ekf2/EKF/control.cpp

@@ -201,7 +201,7 @@ void Ekf::controlFusionModes()
 void Ekf::controlExternalVisionFusion()
 {
 	// Check for new external vision data
-	if (_ev_data_ready && _ev_sample_delayed.quality >= _params.ev_quality_minimum) {
+	if (_ev_data_ready) {
 
 		bool reset = false;
 

src/modules/ekf2/EKF2.cpp

@@ -120,7 +120,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_rng_a_igate(_params->range_aid_innov_gate),
 	_param_ekf2_rng_qlty_t(_params->range_valid_quality_s),
 	_param_ekf2_rng_k_gate(_params->range_kin_consistency_gate),
-	_param_ekf2_ev_qmin(_params->ev_quality_minimum),
 	_param_ekf2_evv_gate(_params->ev_vel_innov_gate),
 	_param_ekf2_evp_gate(_params->ev_pos_innov_gate),
 	_param_ekf2_of_n_min(_params->flow_noise),
@@ -1701,9 +1700,6 @@ bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odo
 		// use timestamp from external computer, clocks are synchronized when using MAVROS
 		ev_data.time_us = ev_odom.timestamp_sample;
 
-		ev_data.reset_counter = ev_odom.reset_counter;
-		ev_data.quality = ev_odom.quality;
-
 		if (new_ev_odom)  {
 			_ekf.setExtVisionData(ev_data);
 		}

src/modules/ekf2/EKF2.hpp

@@ -469,8 +469,8 @@ private:
 		_param_ekf2_rng_k_gate, ///< range finder kinematic consistency gate size (STD)
 
 		// vision estimate fusion
-		(ParamInt<px4::params::EKF2_EV_NOISE_MD>) _param_ekf2_ev_noise_md, ///< determine source of vision observation noise
-		(ParamExtInt<px4::params::EKF2_EV_QMIN>) _param_ekf2_ev_qmin,
+		(ParamInt<px4::params::EKF2_EV_NOISE_MD>)
+		_param_ekf2_ev_noise_md,	///< determine source of vision observation noise
 		(ParamFloat<px4::params::EKF2_EVP_NOISE>)
 		_param_ekf2_evp_noise,	///< default position observation noise for exernal vision measurements (m)
 		(ParamFloat<px4::params::EKF2_EVV_NOISE>)

src/modules/ekf2/ekf2_params.c

@@ -721,16 +721,6 @@ PARAM_DEFINE_FLOAT(EKF2_MIN_RNG, 0.1f);
  */
 PARAM_DEFINE_INT32(EKF2_EV_NOISE_MD, 0);
 
-/**
- * Vision minimum quality
- *
- * @group EKF2
- * @min 0
- * @max 100
- * @decimal 1
- */
-PARAM_DEFINE_INT32(EKF2_EV_QMIN, 0);
-
 /**
  * Measurement noise for vision position observations used to lower bound or replace the uncertainty included in the message
  *

src/modules/mavlink/mavlink_receiver.cpp

@@ -1415,7 +1415,6 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
 	}
 
 	odometry.reset_counter = odom.reset_counter;
-	odometry.quality = odom.quality;
 
 	/**
 	 * Supported local frame of reference is MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_FRD

src/modules/mavlink/streams/ODOMETRY.hpp

@@ -160,7 +160,6 @@ private:
 			}
 
 			msg.reset_counter = odom.reset_counter;
-			msg.quality = odom.quality;
 
 			mavlink_msg_odometry_send_struct(_mavlink->get_channel(), &msg);