split sensor calibration and configuration

- introduce SENS_GNSS instance configuration and GPS blending updates - SENS_GNSSx_ID - SENS_GNSSx_{X,Y,Z}POS
2026-06-13 12:00:04 +08:00 · 2023-11-30 21:23:05 -05:00
297 changed files with 4148 additions and 2241 deletions
@@ -52,8 +52,12 @@ param set-default MAV_1_MODE 9
 # param set-default SER_TEL1_BAUD 921600	Not found

 # Vehicle attitude PID tuning
+param set-default MC_ACRO_EXPO 0
+param set-default MC_ACRO_EXPO_Y 0
 param set-default MC_ACRO_P_MAX 200
 param set-default MC_ACRO_R_MAX 200
+param set-default MC_ACRO_SUPEXPO 0
+param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
 param set-default MC_PITCHRATE_D 0.0015
 param set-default MC_ROLLRATE_D 0.0015
@@ -143,9 +143,12 @@ then
 	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION

 	param set CAL_MAG0_ID 197388
-	param set CAL_MAG0_PRIO 50
+	param set SENS_MAG0_ID 197388
+	param set SENS_MAG0_PRIO 50
+
 	param set CAL_MAG1_ID 197644
-	param set CAL_MAG1_PRIO 50
+	param set SENS_MAG1_ID 197644
+	param set SENS_MAG1_PRIO 50

 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
@@ -31,7 +31,7 @@ param set-default BAT1_R_INTERNAL 0.0025
 param set-default CBRK_AIRSPD_CHK 162128
 param set-default CBRK_IO_SAFETY 22027

-param set-default EKF2_GPS_POS_X -0.12
+param set-default SENS_GNSS0_XPOS -0.12
 param set-default EKF2_IMU_POS_X -0.12

 param set-default FW_ARSP_MODE 1
@@ -18,8 +18,8 @@ param set-default COM_DISARM_LAND 0.5
 # EKF2 parameters
 param set-default EKF2_DRAG_CTRL 1
 param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
+param set-default SENS_GNSS0_XPOS 0.055
+param set-default SENS_GNSS0_ZPOS -0.15
 param set-default EKF2_MIN_RNG 0.03
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_POS_X 0.055
@@ -45,8 +45,12 @@ param set-default MAV_1_MODE 9
 param set-default SER_TEL1_BAUD 921600

 # Vehicle attitude PID tuning
+param set-default MC_ACRO_EXPO 0
+param set-default MC_ACRO_EXPO_Y 0
 param set-default MC_ACRO_P_MAX 200
 param set-default MC_ACRO_R_MAX 200
+param set-default MC_ACRO_SUPEXPO 0
+param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
 param set-default MC_PITCHRATE_D 0.0015
 param set-default MC_ROLLRATE_D 0.0015
@@ -45,8 +45,12 @@ param set-default MAV_1_MODE 9
 param set-default SER_TEL1_BAUD 921600

 # Vehicle attitude PID tuning
+param set-default MC_ACRO_EXPO 0
+param set-default MC_ACRO_EXPO_Y 0
 param set-default MC_ACRO_P_MAX 200
 param set-default MC_ACRO_R_MAX 200
+param set-default MC_ACRO_SUPEXPO 0
+param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
 param set-default MC_PITCHRATE_D 0.0015
 param set-default MC_ROLLRATE_D 0.0015
@@ -0,0 +1,65 @@
+#!/bin/sh
+#
+# @name Reaper 500 Quad
+#
+# @type Quadrotor H
+# @class Copter
+#
+# @maintainer Blankered
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_ROLLRATE_P 0.14
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCH_P 6
+param set-default MC_PITCHRATE_P 0.14
+param set-default MC_PITCHRATE_I 0.09
+param set-default MC_PITCHRATE_D 0.004
+param set-default MC_YAW_P 4
+
+param set-default NAV_ACC_RAD 2
+
+param set-default RTL_RETURN_ALT 30
+param set-default RTL_DESCEND_ALT 10
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.15
+param set-default CA_ROTOR0_PY 0.15
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR1_PX -0.15
+param set-default CA_ROTOR1_PY -0.15
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR2_PX 0.15
+param set-default CA_ROTOR2_PY -0.15
+param set-default CA_ROTOR2_KM 0.05
+param set-default CA_ROTOR3_PX -0.15
+param set-default CA_ROTOR3_PY 0.15
+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 PWM_MAIN_MIN1 1100
+param set-default PWM_MAIN_MIN2 1100
+param set-default PWM_MAIN_MIN3 1100
+param set-default PWM_MAIN_MIN4 1100
+param set-default PWM_MAIN_MAX1 1900
+param set-default PWM_MAIN_MAX2 1900
+param set-default PWM_MAIN_MAX3 1900
+param set-default PWM_MAIN_MAX4 1900
+
+param set-default PWM_MAIN_TIM0 50
+param set-default PWM_MAIN_TIM1 50
+param set-default PWM_MAIN_TIM2 50
+
+param set-default PWM_AUX_TIM0 50
+param set-default PWM_AUX_TIM1 50
+param set-default PWM_AUX_TIM2 50
+
+
@@ -46,7 +46,9 @@ param set-default EKF2_BCOEF_Y 25.5
 param set-default EKF2_DRAG_CTRL 1

 param set-default EKF2_GPS_DELAY 100
-param set-default EKF2_GPS_POS_X 0.06
+param set-default SENS_GNSS0_XPOS 0.06
+param set-default SENS_GNSS0_YPOS 0.0
+param set-default SENS_GNSS0_ZPOS 0.0
 param set-default EKF2_GPS_V_NOISE 0.5

 param set-default EKF2_IMU_POS_X 0.06
@@ -0,0 +1,91 @@
+#!/bin/sh
+#
+# @name Crazyflie 2
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Dennis Shtatov <densht@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board diatone_mamba-f405-mk2 exclude
+#
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default BAT1_N_CELLS 1
+param set-default BAT1_CAPACITY 240
+param set-default BAT1_SOURCE 1
+
+param set-default CBRK_SUPPLY_CHK 894281
+param set-default COM_RC_IN_MODE 1
+
+param set-default EKF2_ABL_LIM 2
+param set-default EKF2_HGT_REF 2
+param set-default EKF2_RNG_CTRL 2
+param set-default EKF2_MAG_TYPE 1
+param set-default EKF2_OF_CTRL 1
+param set-default EKF2_OF_DELAY 10
+
+param set-default IMU_GYRO_CUTOFF 100
+param set-default IMU_ACCEL_CUTOFF 30
+
+param set-default MC_AIRMODE 1
+param set-default IMU_DGYRO_CUTOFF 70
+param set-default MC_PITCHRATE_D 0.002
+param set-default MC_PITCHRATE_P 0.07
+param set-default MC_ROLLRATE_D 0.002
+param set-default MC_ROLLRATE_P 0.07
+param set-default MC_YAW_P 3
+
+param set-default MPC_THR_HOVER 0.7
+param set-default MPC_Z_P 1.5
+param set-default MPC_Z_VEL_P_ACC 8
+param set-default MPC_Z_VEL_I_ACC 6
+param set-default MPC_HOLD_MAX_XY 0.1
+param set-default MPC_MAX_FLOW_HGT 3
+
+param set-default NAV_RCL_ACT 3
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.03
+param set-default CA_ROTOR0_PY 0.03
+param set-default CA_ROTOR1_PX -0.03
+param set-default CA_ROTOR1_PY 0.03
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR2_PX -0.03
+param set-default CA_ROTOR2_PY -0.03
+param set-default CA_ROTOR3_PX 0.03
+param set-default CA_ROTOR3_PY -0.03
+param set-default CA_ROTOR3_KM -0.05
+
+# Run the motors at 328.125 kHz (recommended)
+param set-default PWM_MAIN_TIM0 3921
+param set-default PWM_MAIN_TIM1 3921
+
+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 PWM_MAIN_DIS0 0
+param set-default PWM_MAIN_DIS1 0
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 0
+param set-default PWM_MAIN_MIN0 0
+param set-default PWM_MAIN_MIN1 0
+param set-default PWM_MAIN_MIN2 0
+param set-default PWM_MAIN_MIN3 0
+param set-default PWM_MAIN_MAX0 255
+param set-default PWM_MAIN_MAX1 255
+param set-default PWM_MAIN_MAX2 255
+param set-default PWM_MAIN_MAX3 255
+
+
+param set-default SENS_FLOW_MINRNG 0.05
+
+syslink start
+mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
@@ -58,6 +58,7 @@ px4_add_romfs_files(
 	4017_nxp_hovergames
 	4019_x500_v2
 	4020_holybro_px4vision_v1_5
+	4040_reaper
 	4041_beta75x
 	4050_generic_250
 	4052_holybro_qav250
@@ -66,6 +67,7 @@ px4_add_romfs_files(
 	4071_ifo
 	4073_ifo-s
 	4500_clover4
+	4900_crazyflie
 	4901_crazyflie21

 	# [5000, 5999] Quadrotor +"
@@ -17,7 +17,7 @@ param set-default COM_POS_FS_DELAY 5

 # there is a 2.5 factor applied on the _FS thresholds if for invalidation
 param set-default COM_POS_FS_EPH 50
-param set-default COM_VEL_FS_EVH 3
+param set-default COM_VEL_FS_EVH 5

 param set-default COM_POS_LOW_EPH 50

@@ -302,6 +302,12 @@ When set to -1 (default), the value depends on the function (see {:}).
        for key, label, param_suffix, description in standard_params_array:
            if key in standard_params:

+                # values must be in range of an uint16_t
+                if standard_params[key]['min'] < 0:
+                    raise Exception('minimum value for {:} expected >= 0 (got {:})'.format(key, standard_params[key]['min']))
+                if standard_params[key]['max'] >= 1<<16:
+                    raise Exception('maximum value for {:} expected <= {:} (got {:})'.format(key, 1<<16, standard_params[key]['max']))
+
                if key == 'failsafe':
                    standard_params[key]['default'] = -1
                    standard_params[key]['min'] = -1
@@ -311,7 +317,7 @@ When set to -1 (default), the value depends on the function (see {:}).
                        'short': channel_label+' ${i} '+label+' Value',
                        'long': description
                        },
-                    'type': 'float',
+                    'type': 'int32',
                    'instance_start': instance_start,
                    'instance_start_label': instance_start_label,
                    'num_instances': num_channels,
@@ -146,7 +146,6 @@ def write_fields_to_hpp_file(file_name: str, definitions: dict, window_length: i
                             format_list: [str]):
    max_tokenized_field_length, max_tokenized_field_length_msg = max(
        ((len(definitions[k]['fields']), k) for k in definitions), key=itemgetter(0))
-    max_untokenized_field_length = max(definitions[k]['fields_total_length'] for k in definitions)
    max_num_orb_ids = max(len(definitions[k]['orb_ids']) for k in definitions)
    max_num_orb_id_dependencies = max(len(definitions[k]['dependencies']) for k in definitions)

@@ -168,7 +167,6 @@ const uint8_t* orb_compressed_message_formats();
 unsigned orb_compressed_message_formats_size();

 static constexpr unsigned orb_tokenized_fields_max_length = {MAX_TOKENIZED_FIELD_LENGTH}; // {MAX_TOKENIZED_FIELD_LENGTH_MSG}
-static constexpr unsigned orb_untokenized_fields_max_length = {MAX_UNTOKENIZED_FIELD_LENGTH};
 static constexpr unsigned orb_compressed_max_num_orb_ids = {MAX_NUM_ORB_IDS};
 static constexpr unsigned orb_compressed_max_num_orb_id_dependencies = {MAX_NUM_ORB_ID_DEPENDENCIES};

@@ -181,7 +179,6 @@ static constexpr unsigned orb_compressed_heatshrink_lookahead_length = {LOOKAHEA
 '''
                          .replace('{MAX_TOKENIZED_FIELD_LENGTH}', str(max_tokenized_field_length))
                          .replace('{MAX_TOKENIZED_FIELD_LENGTH_MSG}', max_tokenized_field_length_msg)
-                          .replace('{MAX_UNTOKENIZED_FIELD_LENGTH}', str(max_untokenized_field_length))
                          .replace('{MAX_NUM_ORB_IDS}', str(max_num_orb_ids))
                          .replace('{MAX_NUM_ORB_ID_DEPENDENCIES}', str(max_num_orb_id_dependencies))
                          .replace('{WINDOW_LENGTH}', str(window_length))
@@ -42,7 +42,6 @@ for field in spec.parsed_fields():
 {
@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed;"
 		"fields": @( json.dumps(bytearray(";".join(topic_fields)+";", 'utf-8').decode('unicode_escape')) ),
-		"fields_total_length": @(sum([len(convert_type(field.type))+1+len(field.name)+1 for field in sorted_fields])),
 		"orb_ids": @( json.dumps([ all_topics.index(topic) for topic in topics]) ),
 		"main_orb_id": @( all_topics.index(name_snake_case) if name_snake_case in all_topics else -1 ),
 		"dependencies": @( json.dumps(list(set(dependencies))) ),
@@ -1,7 +1,7 @@
 #! /usr/bin/env bash

 ## Bash script to setup PX4 development environment on Arch Linux.
-## Tested on Arch 2023-03-01
+## Tested on Manjaro 20.2.1.
 ##
 ## Installs:
 ## - Common dependencies and tools for nuttx, jMAVSim
@@ -50,7 +50,6 @@ sudo pacman -Sy --noconfirm --needed \
 	cmake \
 	cppcheck \
 	doxygen \
-	fuse2 \
 	gdb \
 	git \
 	gnutls \
@@ -67,7 +66,7 @@ sudo pacman -Sy --noconfirm --needed \

 # Python dependencies
 echo "Installing PX4 Python3 dependencies"
-pip install --break-system-packages -r ${DIR}/${REQUIREMENTS_FILE}
+pip install --user -r ${DIR}/requirements.txt

 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then
@@ -75,17 +74,45 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo "Installing NuttX dependencies"

 	sudo pacman -S --noconfirm --needed \
-		arm-none-eabi-gcc \
-		arm-none-eabi-newlib \
+		gperf \
+		vim \
 		;

 	if [ ! -z "$USER" ]; then
 		# add user to dialout group (serial port access)
-		sudo echo usermod -aG uucp $USER
+		sudo usermod -aG uucp $USER
 	fi

-	# don't run modem manager (interferes with PX4 serial port usage)
-	sudo systemctl disable --now ModemManager
+	# remove modem manager (interferes with PX4 serial port usage)
+	sudo pacman -R modemmanager --noconfirm
+
+	# arm-none-eabi-gcc
+	NUTTX_GCC_VERSION="10-2020-q4-major"
+	NUTTX_GCC_VERSION_SHORT="10-2020q4"
+
+	source $HOME/.profile # load changed path for the case the script is reran before relogin
+	if [ $(which arm-none-eabi-gcc) ]; then
+		GCC_VER_STR=$(arm-none-eabi-gcc --version)
+		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
+	fi
+
+	if [[ "$GCC_FOUND_VER" == "1" ]]; then
+		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
+
+	else
+		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
+		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-x86_64-linux.tar.bz2 && \
+			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
+
+		# add arm-none-eabi-gcc to user's PATH
+		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
+
+		if grep -Fxq "$exportline" $HOME/.profile; then
+			echo "${NUTTX_GCC_VERSION} path already set.";
+		else
+			echo $exportline >> $HOME/.profile;
+		fi
+	fi
 fi

 # Simulation tools
@@ -95,7 +122,8 @@ if [[ $INSTALL_SIM == "true" ]]; then

 	# java (jmavsim)
 	sudo pacman -S --noconfirm --needed \
-		ant
+		ant \
+		jdk-openjdk \
 		;

 	# Gazebo setup
@@ -133,5 +161,5 @@ fi

 if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo
-	echo "Reboot or logout, login computer before attempting to flash NuttX targets"
+	echo "Reboot or logout, login computer before attempting to build NuttX targets"
 fi
@@ -155,7 +155,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then

 	if [ -n "$USER" ]; then
 		# add user to dialout group (serial port access)
-		sudo usermod -aG dialout $USER
+		sudo usermod -a -G dialout $USER
 	fi

 	# arm-none-eabi-gcc
@@ -13,7 +13,6 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
@@ -1,7 +1,7 @@
 uint64 timestamp				# time since system start (microseconds)
-
-uint8 NUM_ACTUATOR_OUTPUTS = 16
-uint8 noutputs				# valid outputs
+uint8 NUM_ACTUATOR_OUTPUTS		= 16
+uint8 NUM_ACTUATOR_OUTPUT_GROUPS	= 4	# for sanity checking
+uint32 noutputs				# valid outputs
 float32[16] output				# output data, in natural output units

 # actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
@@ -31,3 +31,4 @@ bool mode_req_manual_control


 uint8 ORB_QUEUE_LENGTH = 4
+
@@ -3,3 +3,5 @@ uint64 timestamp # time since system start (microseconds)
 # broadcast message to request all registered arming checks to be reported

 uint8 request_id
+
+
@@ -16,3 +16,4 @@ uint8 source_id                  # ID depending on source_type
 uint8 ORB_QUEUE_LENGTH = 4

 # TOPICS config_overrides config_overrides_request
+
@@ -17,6 +17,6 @@ float32[2] test_ratio
 bool innovation_rejected     # true if the observation has been rejected
 bool fused                   # true if the sample was successfully fused

-# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position
+# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos
 # TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_terrain_optical_flow
 # TOPICS estimator_aid_src_drag
@@ -42,7 +42,6 @@ bool cs_gravity_vector          # 34 - true when gravity vector measurements are
 bool cs_mag                     # 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended
 bool cs_ev_yaw_fault            # 36 - true when the EV heading has been declared faulty and is no longer being used
 bool cs_mag_heading_consistent  # 37 - true when the heading obtained from mag data is declared consistent with the filter
-bool cs_aux_gpos                # 38 - true if auxiliary global position measurement fusion is intended

 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes
@@ -22,3 +22,4 @@ float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-

 bool flag_set_max_heading_rate # true if setting a non-default heading rate limit
 float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)
+
@@ -7,3 +7,4 @@ uint16 LATEST_PROTOCOL_VERSION = 1 # Current version of this protocol. Increase
 uint16 protocol_version           # Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp

 char[50] topic_name  # E.g. /fmu/in/vehicle_command
+
@@ -14,4 +14,3 @@ float32 min_ground_speed_ref    # minimum forward ground speed reference [m/s]
 float32 adapted_period          # adapted period (if auto-tuning enabled) [s]
 float32 p_gain                  # controller proportional gain [rad/s]
 float32 time_const              # controller time constant [s]
-float32 can_run_factor 	 	# estimate of certainty of the correct functionality of the npfg roll setpoint in [0, 1]
@@ -11,3 +11,4 @@ int8 mode_id              # assigned mode ID (-1 if invalid)
 int8 mode_executor_id     # assigned mode executor ID (-1 if invalid)

 uint8 ORB_QUEUE_LENGTH = 2
+
@@ -62,4 +62,6 @@ uint8 RTCM_MSG_USED_NOT_USED = 1
 uint8 RTCM_MSG_USED_USED = 2
 uint8 rtcm_msg_used		# Indicates if the RTCM message was used successfully by the receiver

+float32[3] position_offset      # position of GNSS antenna in body frame (forward axis with origin relative to vehicle centre of gravity)
+
 # TOPICS sensor_gps vehicle_gps_position
@@ -5,3 +5,6 @@ char[25] name                      # either the mode name, or component name
 int8 arming_check_id      # arming check registration ID (-1 if not registered)
 int8 mode_id              # assigned mode ID (-1 if not registered)
 int8 mode_executor_id     # assigned mode executor ID (-1 if not registered)
+
+
+
@@ -27,4 +27,3 @@ bool dead_reckoning		# True if this position is estimated through dead-reckoning

 # TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
 # TOPICS estimator_global_position
-# TOPICS aux_global_position
@@ -71,7 +71,7 @@ const px4_spi_bus_t *px4_spi_buses{nullptr};

 int px4_find_spi_bus(uint32_t devid)
 {
-	for (int i = 0; ((px4_spi_bus_t *) px4_spi_buses) != nullptr && i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
+	for (int i = 0; (px4_spi_bus_t *) px4_spi_buses != nullptr && i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
 		const px4_spi_bus_t &bus_data = px4_spi_buses[i];

 		if (bus_data.bus == -1) {
@@ -53,10 +53,7 @@ public:

 TEST_F(uORBMessageFieldsTest, decompressed_formats_match)
 {
-	char buffer[1600];
-	static_assert(uORB::orb_untokenized_fields_max_length < sizeof(buffer) - HEATSHRINK_DECODER_INPUT_BUFFER_SIZE(_),
-		      "msg definition too long / buffer too short");
-
+	char buffer[1500];
 	uORB::MessageFormatReader format_reader(buffer, sizeof(buffer));

 	px4::Bitset<ORB_TOPICS_COUNT> formats_found;
@@ -877,7 +877,7 @@ void ModalIo::update_leds(vehicle_control_mode_s mode, led_control_s control)
 	}
 }

-void ModalIo::mix_turtle_mode(float outputs[MAX_ACTUATORS])
+void ModalIo::mix_turtle_mode(uint16_t outputs[MAX_ACTUATORS])
 {
 	bool use_pitch = true;
 	bool use_roll  = true;
@@ -1052,7 +1052,8 @@ void ModalIo::mix_turtle_mode(float outputs[MAX_ACTUATORS])
 }

 /* OutputModuleInterface */
-bool ModalIo::updateOutputs(bool stop_motors, float outputs[MAX_ACTUATORS], unsigned num_outputs)
+bool ModalIo::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+			    unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	if (num_outputs != MODAL_IO_OUTPUT_CHANNELS) {
 		return false;
@@ -75,7 +75,8 @@ public:
 	int print_status() override;

 	/** @see OutputModuleInterface */
-	bool updateOutputs(bool stop_motors, float outputs[MAX_ACTUATORS], unsigned num_outputs) override;
+	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+			   unsigned num_outputs, unsigned num_control_groups_updated) override;

 	virtual int	init();

@@ -224,6 +225,6 @@ private:
 	int 			parse_response(uint8_t *buf, uint8_t len, bool print_feedback);
 	int			flush_uart_rx();
 	int			check_for_esc_timeout();
-	void			mix_turtle_mode(float outputs[]);
+	void			mix_turtle_mode(uint16_t outputs[]);
 	void			handle_actuator_test();
 };
@@ -38,4 +38,4 @@ px4_add_module(
 		ads1115_main.cpp
 		ADS1115.cpp
 	DEPENDS
-	)
+	)
@@ -2,4 +2,4 @@ menuconfig DRIVERS_ADC_BOARD_ADC
 	bool "board_adc"
 	default n
 	---help---
-		Enable support for board_adc
+		Enable support for board_adc
@@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_BMP280
 	bool "bmp280"
 	default n
 	---help---
-		Enable support for bmp280
+		Enable support for bmp280
@@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_BMP388
 	bool "bmp388"
 	default n
 	---help---
-		Enable support for bmp388
+		Enable support for bmp388
@@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_DPS310
 	bool "dps310"
 	default n
 	---help---
-		Enable support for dps310
+		Enable support for dps310
@@ -3,3 +3,5 @@ menuconfig DRIVERS_BAROMETER_INVENSENSE_ICP10100
 	default n
 	---help---
 		Enable support for icp10100
+
+
@@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_LPS22HB
 	bool "lps22hb"
 	default n
 	---help---
-		Enable support for lps22hb
+		Enable support for lps22hb
@@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_LPS25H
 	bool "lps25h"
 	default n
 	---help---
-		Enable support for lps25h
+		Enable support for lps25h
@@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_LPS33HW
 	bool "lps33hw"
 	default n
 	---help---
-		Enable support for lps33hw
+		Enable support for lps33hw
@@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_MPL3115A2
 	bool "mpl3115a2"
 	default n
 	---help---
-		Enable support for mpl3115a2
+		Enable support for mpl3115a2
@@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_MS5611
 	bool "ms5611"
 	default n
 	---help---
-		Enable support for ms5611
+		Enable support for ms5611
@@ -2,4 +2,4 @@ menuconfig DRIVERS_BAROMETER_TCBP001TA
 	bool "tcbp001ta"
 	default n
 	---help---
-		Enable support for tcbp001ta
+		Enable support for tcbp001ta
@@ -2,4 +2,4 @@ menuconfig DRIVERS_BATT_SMBUS
 	bool "batt_smbus"
 	default n
 	---help---
-		Enable support for batt_smbus
+		Enable support for batt_smbus
@@ -2,4 +2,4 @@ menuconfig DRIVERS_BOOTLOADERS
 	bool "bootloaders"
 	default n
 	---help---
-		Enable support for bootloaders
+		Enable support for bootloaders
@@ -2,4 +2,4 @@ menuconfig DRIVERS_CAMERA_CAPTURE
 	bool "camera_capture"
 	default n
 	---help---
-		Enable support for camera_capture
+		Enable support for camera_capture
@@ -84,4 +84,4 @@ PARAM_DEFINE_INT32(CAM_CAP_MODE, 0);
 * @group Camera Control
 * @reboot_required true
 */
-PARAM_DEFINE_INT32(CAM_CAP_EDGE, 0);
+PARAM_DEFINE_INT32(CAM_CAP_EDGE, 0);
@@ -2,4 +2,4 @@ menuconfig DRIVERS_CAMERA_TRIGGER
 	bool "camera_trigger"
 	default n
 	---help---
-		Enable support for camera_trigger
+		Enable support for camera_trigger
@@ -97,7 +97,7 @@ public:
 		}
 	};

-	void update_outputs(bool stop_motors, float outputs[MAX_ACTUATORS], unsigned num_outputs)
+	void update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs)
 	{
 		if (_port_id > 0) {
 			reg_udral_service_actuator_common_sp_Vector31_0_1 msg_sp {0};
@@ -105,7 +105,7 @@ public:

 			for (uint8_t i = 0; i < MAX_ACTUATORS; i++) {
 				if (i < num_outputs) {
-					msg_sp.value[i] = outputs[i];
+					msg_sp.value[i] = static_cast<float>(outputs[i]);

 				} else {
 					// "unset" values published as NaN
@@ -392,7 +392,8 @@ void CyphalNode::sendHeartbeat()
 	}
 }

-bool UavcanMixingInterface::updateOutputs(bool stop_motors, float outputs[MAX_ACTUATORS], unsigned num_outputs)
+bool UavcanMixingInterface::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
+		unsigned num_control_groups_updated)
 {
 	// Note: This gets called from MixingOutput from within its update() function
 	// Hence, the mutex lock in UavcanMixingInterface::Run() is in effect
@@ -87,7 +87,8 @@ public:
 		  _node_mutex(node_mutex),
 		  _pub_manager(pub_manager) {}

-	bool updateOutputs(bool stop_motors, float outputs[MAX_ACTUATORS], unsigned num_outputs) override;
+	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+			   unsigned num_outputs, unsigned num_control_groups_updated) override;

 	void printInfo() { _mixing_output.printStatus(); }

@@ -39,6 +39,8 @@
 *@author Denislav Petrov <denislavamitoba@gmail.com>
 */

+
+
 #include "ASP5033.hpp"

 ASP5033::ASP5033(const I2CSPIDriverConfig &config) :
@@ -78,6 +80,9 @@ int ASP5033::sensor_id_check()
 	if ((transfer(&cmd_3, 1, &id[0], sizeof(id)) != PX4_OK) || (*id != REG_WHOAMI_RECHECK_ID_ASP5033)) { return 0; }

 	return 1;
+
+
+
 }

 int ASP5033::init()
@@ -118,11 +123,13 @@ bool ASP5033::get_differential_pressure()
 	press_sum = 0.;
 	press_count = 0;
 	return true;
+
 }


 void ASP5033::print_status()
 {
+
 	I2CSPIDriverBase::print_status();

 	perf_print_counter(_sample_perf);
@@ -202,6 +209,7 @@ int ASP5033::collect()
 	perf_begin(_sample_perf);
 	const hrt_abstime timestamp_sample = hrt_absolute_time();

+
 	// Read pressure and temperature as one block
 	uint8_t val[5] {0, 0, 0, 0, 0};
 	uint8_t cmd = REG_PRESS_DATA_ASP5033;
@@ -243,3 +251,8 @@ int ASP5033::collect()

 	return PX4_OK;
 }
+
+
+
+
+
@@ -31,6 +31,7 @@
 *
 ****************************************************************************/

+
 /**
 * ASP5033 differential pressure sensor (external I2C)
 *
@@ -39,3 +40,7 @@
 * @boolean
 */
 PARAM_DEFINE_INT32(SENS_EN_ASP5033, 0);
+
+
+
+
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DIFFERENTIAL_PRESSURE_ETS
 	bool "ets"
 	default n
 	---help---
-		Enable support for ets
+		Enable support for ets
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X
 	bool "sdp3x"
 	default n
 	---help---
-		Enable support for sdp3x
+		Enable support for sdp3x
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_CM8JL65
 	bool "cm8jl65"
 	default n
 	---help---
-		Enable support for cm8jl65
+		Enable support for cm8jl65
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_LEDDAR_ONE
 	bool "leddar_one"
 	default n
 	---help---
-		Enable support for leddar_one
+		Enable support for leddar_one
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C
 	bool "lightware_laser_i2c"
 	default n
 	---help---
-		Enable support for lightware_laser_i2c
+		Enable support for lightware_laser_i2c
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL
 	bool "lightware_laser_serial"
 	default n
 	---help---
-		Enable support for lightware_laser_serial
+		Enable support for lightware_laser_serial
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_LL40LS
 	bool "ll40ls"
 	default n
 	---help---
-		Enable support for ll40ls
+		Enable support for ll40ls
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_LL40LS_PWM
 	bool "ll40ls_pwm"
 	default n
 	---help---
-		Enable support for ll40ls_pwm
+		Enable support for ll40ls_pwm
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_MAPPYDOT
 	bool "mappydot"
 	default n
 	---help---
-		Enable support for mappydot
+		Enable support for mappydot
@@ -294,4 +294,4 @@ PARAM_DEFINE_INT32(SENS_MPDT10_ROT, 0);
 * @value 6 Yaw 270°
 * @value 7 Yaw 315°
 */
-PARAM_DEFINE_INT32(SENS_MPDT11_ROT, 0);
+PARAM_DEFINE_INT32(SENS_MPDT11_ROT, 0);
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_MB12XX
 	bool "mb12xx"
 	default n
 	---help---
-		Enable support for mb12xx
+		Enable support for mb12xx
@@ -291,4 +291,4 @@ PARAM_DEFINE_INT32(SENS_MB12_10_ROT, 0);
 * @value 6 Yaw 270°
 * @value 7 Yaw 315°
 */
-PARAM_DEFINE_INT32(SENS_MB12_11_ROT, 0);
+PARAM_DEFINE_INT32(SENS_MB12_11_ROT, 0);
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_PGA460
 	bool "pga460"
 	default n
 	---help---
-		Enable support for pga460
+		Enable support for pga460
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_SRF02
 	bool "srf02"
 	default n
 	---help---
-		Enable support for srf02
+		Enable support for srf02
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_SRF05
 	bool "srf05"
 	default n
 	---help---
-		Enable support for srf05
+		Enable support for srf05
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_TERARANGER
 	bool "teraranger"
 	default n
 	---help---
-		Enable support for teraranger
+		Enable support for teraranger
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_TFMINI
 	bool "tfmini"
 	default n
 	---help---
-		Enable support for tfmini
+		Enable support for tfmini
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_ULANDING_RADAR
 	bool "ulanding_radar"
 	default n
 	---help---
-		Enable support for ulanding_radar
+		Enable support for ulanding_radar
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_VL53L0X
 	bool "vl53l0x"
 	default n
 	---help---
-		Enable support for vl53l0x
+		Enable support for vl53l0x
@@ -2,4 +2,4 @@ menuconfig DRIVERS_DISTANCE_SENSOR_VL53L1X
 	bool "vl53l1x"
 	default n
 	---help---
-		Enable support for vl53l1x
+		Enable support for vl53l1x
@@ -336,7 +336,8 @@ void DShot::mixerChanged()
 	update_telemetry_num_motors();
 }

-bool DShot::updateOutputs(bool stop_motors, float outputs[MAX_ACTUATORS], unsigned num_outputs)
+bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+			  unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	if (!_outputs_on) {
 		return false;
@@ -387,7 +388,7 @@ bool DShot::updateOutputs(bool stop_motors, float outputs[MAX_ACTUATORS], unsign

 		for (int i = 0; i < (int)num_outputs; i++) {

-			uint16_t output = math::constrain((int)lroundf(outputs[i]), 0, UINT16_MAX);
+			uint16_t output = outputs[i];

 			if (output == DSHOT_DISARM_VALUE) {
 				up_dshot_motor_command(i, DShot_cmd_motor_stop, telemetry_index == requested_telemetry_index);
@@ -93,7 +93,8 @@ public:

 	bool telemetry_enabled() const { return _telemetry != nullptr; }

-	bool updateOutputs(bool stop_motors, float outputs[MAX_ACTUATORS], unsigned num_outputs) override;
+	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+			   unsigned num_outputs, unsigned num_control_groups_updated) override;

 private:

@@ -2,4 +2,4 @@ menuconfig DRIVERS_DSHOT
 	bool "dshot"
 	default n
 	---help---
-		Enable support for dshot
+		Enable support for dshot
@@ -2,4 +2,4 @@ menuconfig DRIVERS_HEATER
 	bool "heater"
 	default n
 	---help---
-		Enable support for heater
+		Enable support for heater
@@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM20602
 	bool "icm20602"
 	default n
 	---help---
-		Enable support for icm20602
+		Enable support for icm20602
@@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM20649
 	bool "icm20649"
 	default n
 	---help---
-		Enable support for icm20649
+		Enable support for icm20649
@@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM20689
 	bool "icm20689"
 	default n
 	---help---
-		Enable support for icm20689
+		Enable support for icm20689
@@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM20948
 	bool "icm20948"
 	default n
 	---help---
-		Enable support for icm20948
+		Enable support for icm20948
@@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM40609D
 	bool "icm40609d"
 	default n
 	---help---
-		Enable support for icm40609d
+		Enable support for icm40609d
@@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM42605
 	bool "icm42605"
 	default n
 	---help---
-		Enable support for icm42605
+		Enable support for icm42605
@@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM42688P
 	bool "icm42688p"
 	default n
 	---help---
-		Enable support for icm42688p
+		Enable support for icm42688p
@@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_ICM45686
 	bool "icm45686"
 	default n
 	---help---
-		Enable support for icm45686
+		Enable support for icm45686
@@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_MPU6000
 	bool "mpu6000"
 	default n
 	---help---
-		Enable support for mpu6000
+		Enable support for mpu6000
@@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_MPU6500
 	bool "mpu6500"
 	default n
 	---help---
-		Enable support for mpu6500
+		Enable support for mpu6500
@@ -2,4 +2,4 @@ menuconfig DRIVERS_IMU_INVENSENSE_MPU9250
 	bool "mpu9250"
 	default n
 	---help---
-		Enable support for mpu9250
+		Enable support for mpu9250
@@ -667,4 +667,4 @@ typedef enum
 	VNPROCESSOR_IMU   /**< IMU Processor. */
 } VnProcessorType;

-#endif
+#endif
@@ -2,4 +2,4 @@ menuconfig DRIVERS_IRLOCK
 	bool "irlock"
 	default n
 	---help---
-		Enable support for irlock
+		Enable support for irlock
@@ -2,4 +2,4 @@ menuconfig DRIVERS_LIGHTS_NEOPIXEL
 	bool "neopixel"
 	default n
 	---help---
-		Enable support for neopixel
+		Enable support for neopixel
@@ -2,4 +2,4 @@ menuconfig DRIVERS_LIGHTS_RGBLED
 	bool "rgbled"
 	default n
 	---help---
-		Enable support for rgbled
+		Enable support for rgbled
@@ -2,4 +2,4 @@ menuconfig DRIVERS_LIGHTS_RGBLED_IS31FL3195
 	bool "rgbled is31fl3195"
 	default n
 	---help---
-		Enable support for rgbled IS3FL3195 driver
+		Enable support for rgbled IS3FL3195 driver
@@ -2,4 +2,4 @@ menuconfig DRIVERS_LIGHTS_RGBLED_NCP5623C
 	bool "rgbled_ncp5623c"
 	default n
 	---help---
-		Enable support for rgbled_ncp5623c
+		Enable support for rgbled_ncp5623c
@@ -2,4 +2,4 @@ menuconfig DRIVERS_LIGHTS_RGBLED_PWM
 	bool "rgbled_pwm"
 	default n
 	---help---
-		Enable support for rgbled_pwm
+		Enable support for rgbled_pwm
@@ -2,4 +2,4 @@ menuconfig DRIVERS_LINUX_PWM_OUT
 	bool "linux_pwm_out"
 	default n
 	---help---
-		Enable support for linux_pwm_out
+		Enable support for linux_pwm_out
@@ -95,16 +95,10 @@ int LinuxPWMOut::task_spawn(int argc, char *argv[])
 	return PX4_ERROR;
 }

-bool LinuxPWMOut::updateOutputs(bool stop_motors, float outputs[MAX_ACTUATORS], unsigned num_outputs)
+bool LinuxPWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+				unsigned num_outputs, unsigned num_control_groups_updated)
 {
-	uint16_t out[MAX_ACTUATORS] {};
-
-	for (unsigned i = 0; i < num_outputs; ++i) {
-		out[i] = math::constrain((int)lroundf(outputs[i]), 0, UINT16_MAX);
-	}
-
-	_pwm_out->send_output_pwm(out, num_outputs);
-
+	_pwm_out->send_output_pwm(outputs, num_outputs);
 	return true;
 }

@@ -71,7 +71,8 @@ public:

 	int init();

-	bool updateOutputs(bool stop_motors, float outputs[MAX_ACTUATORS], unsigned num_outputs) override;
+	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+			   unsigned num_outputs, unsigned num_control_groups_updated) override;

 private:
 	static constexpr int MAX_ACTUATORS = 8;
--- a/Show More
+++ b/Show More
				`@@ -31,3 +31,4 @@ bool mode_req_manual_control`


				`uint8 ORB_QUEUE_LENGTH = 4`