uORB: Add subscription with single field selection

Fix SITL Test failure: Place PX4 instance runner after Gazebo server runner (#21230 )
* MAVSDK_Test_Runner: Place PX4 instance runner after Gazebo server runner - This was a nasty bug where starting PX4 instance first, then starting Gazebo server was causing PX4 instance' EKF to freak out, probably because it doesn't like getting data a while after it is started - Detailed breakdown is given here: https://github.com/PX4/PX4-Autopilot/issues/21229#issuecomment-1450761542 - This now guarantees that such edge case won't occur and MAVSDK test will run as it should * MAVSDK Test Runner: Retain comment within 79 character limit - To pass flake8 python style check * Update test/mavsdk_tests/mavsdk_test_runner.py Co-authored-by: Julian Oes <julian@oes.ch> --------- Co-authored-by: Julian Oes <julian@oes.ch>
2026-06-10 07:40:05 +08:00 · 2023-03-27 09:44:20 +02:00 · 2023-03-26 11:27:01 +09:00 · 2023-03-24 21:43:59 -04:00 · 2023-03-24 10:03:14 -04:00 · 2023-03-24 10:01:58 -04:00
382 changed files with 8736 additions and 6728 deletions
@@ -105,3 +105,6 @@ src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp

 !src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
+
+# colcon
+log/
@@ -256,7 +256,7 @@ endif()

 set(package-contact "px4users@googlegroups.com")

-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
@@ -104,8 +104,9 @@ These boards fully comply with Pixhawk Standard, and are maintained by the PX4-A
 These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.

 * [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
-* [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
-* [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
+* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
+* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
+* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
 * [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
 * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
 * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
@@ -79,7 +79,7 @@ get_property(romfs_cmake_files GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
 get_property(romfs_copy_files GLOBAL PROPERTY PX4_ROMFS_FILES)
 get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
 file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
-if(px4_constrained_flash_build)
+if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
 if(PX4_ETHERNET)
@@ -51,7 +51,7 @@ fi
 set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
 if [ -f $BOARD_ARCH_RC_DEFAULTS ]
 then
-	px4log "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
+	echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
 	. $BOARD_ARCH_RC_DEFAULTS
 fi
 unset BOARD_ARCH_RC_DEFAULTS
@@ -62,7 +62,7 @@ unset BOARD_ARCH_RC_DEFAULTS
 set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
 if [ -f $BOARD_RC_DEFAULTS ]
 then
-	px4log "Board defaults: ${BOARD_RC_DEFAULTS}"
+	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
 	. $BOARD_RC_DEFAULTS
 fi
 unset BOARD_RC_DEFAULTS
@@ -79,7 +79,7 @@ rgbled_ncp5623c start -X -q
 set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 if [ -f $BOARD_RC_SENSORS ]
 then
-	px4log "Board sensors: ${BOARD_RC_SENSORS}"
+	echo "Board sensors: ${BOARD_RC_SENSORS}"
 	. $BOARD_RC_SENSORS
 fi
 unset BOARD_RC_SENSORS
@@ -1,8 +0,0 @@
-#!/bin/sh
-
-px4log_tail &
-
-#
-# Print full system version.
-#
-ver all
@@ -31,8 +31,6 @@
 #
 ############################################################################

-px4_add_romfs_files(.nshrc)
-
 add_subdirectory(init.d)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")
@@ -11,6 +11,8 @@
 PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}

+param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
+
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
@@ -9,6 +9,8 @@

 param set-default MAV_TYPE 20

+param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
+
 param set-default CA_AIRFRAME 4

 param set-default CA_ROTOR_COUNT 4
@@ -6,7 +6,7 @@ param set-default IMU_INTEG_RATE 250

 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then

-	px4log "INFO  [init] SIH simulator"
+	echo "INFO  [init] SIH simulator"

 	if [ -n "${PX4_HOME_LAT}" ]; then
 		param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
@@ -32,7 +32,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		fi

 	else
-		px4log "ERROR [init] simulator_sih failed to start"
+		echo "ERROR [init] simulator_sih failed to start"
 		exit 1
 	fi

@@ -54,7 +54,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		gz_command="gz"
 		gz_sub_command="sim"
 	else
-		px4log "ERROR [init] Gazebo gz please install gz-garden"
+		echo "ERROR [init] Gazebo gz please install gz-garden"
 		exit 1
 	fi

@@ -64,7 +64,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 	# shellcheck disable=SC2153
 	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then

-		px4log "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
+		echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"

 		${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &

@@ -74,7 +74,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		fi

 	else
-		px4log "INFO  [init] gazebo already running world: ${gz_world}"
+		echo "INFO  [init] gazebo already running world: ${gz_world}"
 		PX4_GZ_WORLD=${gz_world}
 	fi

@@ -85,10 +85,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
 			# Clean potential input line formatting.
 			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
-			px4log "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"

 		else
-			px4log "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
+			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
 			model_pose="0,0,0,0,0,0"
 		fi

@@ -112,7 +112,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			fi

 		else
-			px4log "ERROR [init] gz_bridge failed to start"
+			echo "ERROR [init] gz_bridge failed to start"
 			exit 1
 		fi

@@ -138,13 +138,13 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			fi

 		else
-			px4log "ERROR [init] gz_bridge failed to start"
+			echo "ERROR [init] gz_bridge failed to start"
 			exit 1
 		fi

 	elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then

-		px4log "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
+		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."

 		if gz_bridge start -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			if param compare -s SENS_EN_BAROSIM 1
@@ -165,18 +165,18 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			fi

 		else
-			px4log "ERROR [init] gz_bridge failed to start"
+			echo "ERROR [init] gz_bridge failed to start"
 			exit 1
 		fi

 	else
-		px4log "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
+		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
 		exit 1
 	fi

 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then

-	px4log "INFO  [init] jMAVSim simulator"
+	echo "INFO  [init] jMAVSim simulator"

 	if jps | grep -i jmavsim; then
 		kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
@@ -198,15 +198,15 @@ else
 	if [ -z "${PX4_SIM_HOSTNAME}" ]; then

 		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-			px4log "INFO  [init] PX4_SIM_HOSTNAME: localhost"
+			echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
 			simulator_mavlink start -c $simulator_tcp_port
 		else
-			px4log "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
+			echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
 			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
 		fi

 	else
-		px4log "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
+		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
 		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
 	fi

@@ -4,12 +4,12 @@

 # shellcheck disable=SC2154
 if [ ! -f ${replay} ]; then
-	px4log "Invalid replay log file ${replay}"
+	echo "Invalid replay log file ${replay}"
 	exit 1
 fi

 if [ ! -f replay_params.txt ]; then
-	px4log "Creating $(pwd)/replay_params.txt"
+	echo "Creating $(pwd)/replay_params.txt"
 	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
 fi

@@ -13,8 +13,6 @@ set +e
 #search path for sourcing px4-rc.*
 PATH="$PATH:${R}etc/init.d-posix"

-px4log_tail &
-
 #
 # Main SITL startup script
 #
@@ -42,7 +40,7 @@ then

 elif [ -n "$PX4_SYS_AUTOSTART" ]
 then
-	px4log "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
+	echo "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
 	SYS_AUTOSTART=${PX4_SYS_AUTOSTART}

 elif [ "$PX4_SIM_MODEL" = "none" ] || [ -z $PX4_SIM_MODEL ]
@@ -57,11 +55,11 @@ then
 	# shellcheck disable=SC2012
 	REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
 	if [ -z "$REQUESTED_AUTOSTART" ]; then
-		px4log "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
+		echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
 		exit 1
 	else
 		SYS_AUTOSTART=$REQUESTED_AUTOSTART
-		px4log "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
+		echo "INFO  [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
 	fi
 fi

@@ -74,7 +72,7 @@ if [ -f $PARAM_FILE ]; then

 	if ! param import
 	then
-		px4log "ERROR [init] param import failed"
+		echo "ERROR [init] param import failed"

 		bsondump $PARAM_FILE

@@ -84,7 +82,7 @@ if [ -f $PARAM_FILE ]; then
 		# try importing from backup file
 		if [ -f $PARAM_BACKUP_FILE ]
 		then
-			px4log "[init] importing from parameter backup"
+			echo "[init] importing from parameter backup"

 			# dump current backup file contents for comparison
 			bsondump $PARAM_BACKUP_FILE
@@ -99,7 +97,7 @@ if [ -f $PARAM_FILE ]; then
 	fi

 elif [ -f $PARAM_BACKUP_FILE ]; then
-	px4log "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
+	echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
 	param import $PARAM_BACKUP_FILE
 fi

@@ -193,19 +191,19 @@ param set-default COM_LOW_BAT_ACT 2
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
-	px4log "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
+	echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
 	param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER

 	COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
-	px4log "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
+	echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
 	param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER

 	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
-	px4log "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
+	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER

 	COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
-	px4log "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
+	echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
 	param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
 fi

@@ -231,7 +229,7 @@ then

 elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
 then
-	px4log "Error: no autostart file found ($autostart_file)"
+	echo "Error: no autostart file found ($autostart_file)"
 	exit 1
 fi

@@ -46,7 +46,6 @@ px4_add_romfs_files(
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
-	rc.sysinit
 	rcS
 	rc.sensors
 	rc.thermal_cal
@@ -17,6 +17,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
+
 param set UAVCAN_ENABLE 0
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
@@ -12,6 +12,8 @@

 . ${R}etc/init.d/rc.vtol_defaults

+param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
+
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_KM -0.05
@@ -20,10 +20,10 @@ then
 	#
 	if attitude_estimator_q start
 	then
-		px4log "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
 		local_position_estimator start
 	else
-		px4log "ERROR [init] Estimator LPE not available. Using EKF2"
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
 		param set SYS_MC_EST_GROUP 2
 		param save
 		reboot
@@ -7,5 +7,5 @@ if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
 then
 	. ${SDCARD_EXT_PATH}/rc.autostart
 else
-	px4log "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
+	echo "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
 fi
@@ -17,10 +17,10 @@ then
 	#
 	if attitude_estimator_q start
 	then
-		px4log "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
 		local_position_estimator start
 	else
-		px4log "ERROR [init] Estimator LPE not available. Using EKF2"
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
 		param set SYS_MC_EST_GROUP 2
 		param save
 		reboot
@@ -20,10 +20,10 @@ then
 	#
 	if attitude_estimator_q start
 	then
-		px4log "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
 		local_position_estimator start
 	else
-		px4log "ERROR [init] Estimator LPE not available. Using EKF2"
+		echo "ERROR [init] Estimator LPE not available. Using EKF2"
 		param set SYS_MC_EST_GROUP 2
 		param save
 		reboot
@@ -1,3 +0,0 @@
-#!/bin/sh
-# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
-set +e
@@ -66,6 +66,6 @@ fi
 #
 if [ $VEHICLE_TYPE = none ]
 then
-	px4log "No autostart ID found"
+	echo "No autostart ID found"
 	ekf2 start &
 fi
@@ -36,6 +36,11 @@ set SDCARD_FORMAT no
 set STARTUP_TUNE 1
 set VEHICLE_TYPE none

+#
+# Print full system version.
+#
+ver all
+
 #
 # Try to mount the microSD card.
 #
@@ -45,7 +50,7 @@ then
 	then
 		if [ -f "/fs/microsd/.format" ]
 		then
-			px4log "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
+			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
 			set SDCARD_FORMAT yes
 			rm /fs/microsd/.format
 			umount /fs/microsd
@@ -57,22 +62,22 @@ then

 	if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
 	then
-		px4log "INFO [init] formatting /dev/mmcsd0"
+		echo "INFO [init] formatting /dev/mmcsd0"
 		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)

 		if mkfatfs -F 32 /dev/mmcsd0
 		then
-			px4log "INFO [init] card formatted"
+			echo "INFO [init] card formatted"

 			if mount -t vfat /dev/mmcsd0 /fs/microsd
 			then
 				set SDCARD_AVAILABLE yes
 				set STARTUP_TUNE 14 # tune 14 = SD_INIT
 			else
-				px4log "ERROR [init] card mount failed"
+				echo "ERROR [init] card mount failed"
 			fi
 		else
-			px4log "ERROR [init] format failed"
+			echo "ERROR [init] format failed"
 		fi
 	fi

@@ -122,7 +127,7 @@ else
 	param select $PARAM_FILE
 	if ! param import
 	then
-		px4log "ERROR [init] param import failed"
+		echo "ERROR [init] param import failed"
 		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE

 		bsondump $PARAM_FILE
@@ -135,7 +140,7 @@ else
 			# try importing from backup file
 			if [ -f $PARAM_BACKUP_FILE ]
 			then
-				px4log "[init] importing from parameter backup"
+				echo "[init] importing from parameter backup"

 				# dump current backup file contents for comparison
 				bsondump $PARAM_BACKUP_FILE
@@ -177,7 +182,7 @@ else
 	set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
 	if [ -f $BOARD_ARCH_RC_DEFAULTS ]
 	then
-		px4log "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
+		echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
 		. $BOARD_ARCH_RC_DEFAULTS
 	fi
 	unset BOARD_ARCH_RC_DEFAULTS
@@ -188,7 +193,7 @@ else
 	set BOARD_RC_DEFAULTS ${R}etc/init.d/rc.board_defaults
 	if [ -f $BOARD_RC_DEFAULTS ]
 	then
-		px4log "Board defaults: ${BOARD_RC_DEFAULTS}"
+		echo "Board defaults: ${BOARD_RC_DEFAULTS}"
 		. $BOARD_RC_DEFAULTS
 	fi
 	unset BOARD_RC_DEFAULTS
@@ -206,7 +211,7 @@ else
 			then
 				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
 			else
-				px4log "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
+				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
 			fi
 		fi
 		. ${R}$AUTOSTART_PATH
@@ -255,7 +260,7 @@ else
 	#
 	if [ -f $FCONFIG ]
 	then
-		px4log "Custom: ${FCONFIG}"
+		echo "Custom: ${FCONFIG}"
 		. $FCONFIG
 	fi

@@ -290,7 +295,7 @@ else

 		if ! px4io start
 		then
-			px4log "PX4IO start failed"
+			echo "PX4IO start failed"
 			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
 		fi
 	fi
@@ -355,7 +360,7 @@ else
 		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 		if [ -f $BOARD_RC_SENSORS ]
 		then
-			px4log "Board sensors: ${BOARD_RC_SENSORS}"
+			echo "Board sensors: ${BOARD_RC_SENSORS}"
 			. $BOARD_RC_SENSORS
 		fi
 		unset BOARD_RC_SENSORS
@@ -396,7 +401,7 @@ else
 	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
 	if [ -f $BOARD_RC_MAVLINK ]
 	then
-		px4log "Board mavlink: ${BOARD_RC_MAVLINK}"
+		echo "Board mavlink: ${BOARD_RC_MAVLINK}"
 		. $BOARD_RC_MAVLINK
 	fi
 	unset BOARD_RC_MAVLINK
@@ -471,7 +476,7 @@ else
 	set BOARD_RC_EXTRAS ${R}etc/init.d/rc.board_extras
 	if [ -f $BOARD_RC_EXTRAS ]
 	then
-		px4log "Board extras: ${BOARD_RC_EXTRAS}"
+		echo "Board extras: ${BOARD_RC_EXTRAS}"
 		. $BOARD_RC_EXTRAS
 	fi
 	unset BOARD_RC_EXTRAS
@@ -481,7 +486,7 @@ else
 	#
 	if [ -f $FEXTRAS ]
 	then
-		px4log "Addons script: ${FEXTRAS}"
+		echo "Addons script: ${FEXTRAS}"
 		. $FEXTRAS
 	fi

@@ -19,11 +19,11 @@ fi
 mount -t vfat /dev/mmcsd0 /fs/microsd
 if [ $? = 0 ]
 then
-	px4log "[i] card mounted at /fs/microsd"
+	echo "[i] card mounted at /fs/microsd"
 	# Start playing the startup tune
 	tune_control play -t 1 # tune 1 = STARTUP
 else
-	px4log "[i] no microSD card found"
+	echo "[i] no microSD card found"
 	tune_control play error
 fi

@@ -43,9 +43,9 @@ fi
 param select $PARAM_FILE
 if param load
 then
-	px4log "[param] Loaded: $PARAM_FILE"
+	echo "[param] Loaded: $PARAM_FILE"
 else
-	px4log "[param] FAILED loading $PARAM_FILE"
+	echo "[param] FAILED loading $PARAM_FILE"
 fi

 #
@@ -53,7 +53,7 @@ fi
 #
 if [ -f $BOARD_RC ]
 then
-	px4log "Board init: ${BOARD_RC}"
+	echo "Board init: ${BOARD_RC}"
 	. $BOARD_RC
 fi

@@ -64,24 +64,24 @@ fi

 if px4io checkcrc $io_file
 then
-	px4log "PX4IO CRC OK"
+	echo "PX4IO CRC OK"
 else
-	px4log "PX4IO CRC failure"
+	echo "PX4IO CRC failure"
 	tune_control play -t 16 # tune 16 = PROG_PX4IO
 	if px4io update $io_file
 	then
 		if px4io start
 		then
-			px4log "PX4IO restart OK"
+			echo "PX4IO restart OK"
 			tune_control play-t 17 # tune 17 = PROG_PX4IO_OK
 		else
-			px4log "PX4IO restart failed"
+			echo "PX4IO restart failed"
 			tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 			set unit_test_failure 1
 			set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
 		fi
 	else
-		px4log "PX4IO update failed"
+		echo "PX4IO update failed"
 		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 		set unit_test_failure 1
 		set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
@@ -90,7 +90,7 @@ fi

 if px4io start
 then
-	px4log "PX4IO OK"
+	echo "PX4IO OK"
 else
 	set unit_test_failure 1
 	set unit_test_failure_list "${unit_test_failure_list} px4io_start"
@@ -117,11 +117,11 @@ ver all
 if tests all
 then
 	echo
-	px4log "All Unit Tests PASSED"
+	echo "All Unit Tests PASSED"
 	led_control on -c green
 else
 	echo
-	px4log "Some Unit Tests FAILED"
+	echo "Some Unit Tests FAILED"
 	led_control on -c red
 fi

@@ -77,11 +77,11 @@ class RCOutput():
        result += "\n"
        result += "if [ ${AIRFRAME} != none ]\n"
        result += "then\n"
-        result += "\tpx4log \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
+        result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
        result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
        if not post_start:
            result += "else\n"
-            result += "\tpx4log \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
+            result += "\techo \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
            # Reset the configuration
            result += "\tparam set SYS_AUTOSTART 0\n"
            result += "\ttone_alarm ${TUNE_ERR}\n"
@@ -7,7 +7,7 @@ import os
 class JsonOutput():
    def __init__(self, groups):
        all_json = {}
-        all_json['version'] = 1
+        all_json['version'] = 2
        component = {}
        all_json['components'] = {1: component} #1: autopilot component

@@ -69,7 +69,7 @@ def main():
            file_path = os.path.join(root, file)

            # delete hidden files
-            if file.startswith(".") and not ".nshrc" in file:
+            if file.startswith("."):
                os.remove(file_path)
                continue

@@ -14,7 +14,7 @@ set i {{ command.instance }}
 . $PRT_F
 if [ $SERIAL_DEV != none ]; then
 {% if not constrained_flash -%}
-	px4log "Starting {{ command.label }} on $SERIAL_DEV"
+	echo "Starting {{ command.label }} on $SERIAL_DEV"
 {% endif -%}
 	{{ command.command }}
 fi
@@ -11,7 +11,7 @@ if param compare "$PRT" {{ serial_device.index }}; then
 		set PRT_{{ serial_device.tag }}_ 1
 {% if not constrained_flash -%}
 	else
-		px4log "Conflicting config for {{ serial_device.device }}"
+		echo "Conflicting config for {{ serial_device.device }}"
 {% endif -%}
 	fi
 fi
@@ -35,7 +35,20 @@ function spawn_model() {
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $N in $(pwd)"
 	$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &
-	python3 ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
+
+	set --
+	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py
+	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja
+	set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
+	set -- ${@} --mavlink_tcp_port $((4560+${N}))
+	set -- ${@} --mavlink_udp_port $((14560+${N}))
+	set -- ${@} --mavlink_id $((1+${N}))
+	set -- ${@} --gst_udp_port $((5600+${N}))
+	set -- ${@} --video_uri $((5600+${N}))
+	set -- ${@} --mavlink_cam_udp_port $((14530+${N}))
+	set -- ${@} --output-file /tmp/${MODEL}_${N}.sdf
+
+	python3 ${@}

 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"

@@ -106,7 +119,7 @@ if [ -z ${SCRIPT} ]; then
 	fi

 	while [ $n -lt $num_vehicles ]; do
-		spawn_model ${vehicle_model} $n
+		spawn_model ${vehicle_model} $(($n + 1))
 		n=$(($n + 1))
 	done
 else
@@ -127,7 +140,7 @@ else
 		m=0
 		while [ $m -lt ${target_number} ]; do
 			export PX4_SIM_MODEL=gazebo-classic_${target_vehicle}
-			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
+			spawn_model ${target_vehicle}${LABEL} $(($n + 1)) $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))
 		done
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -86,8 +85,6 @@ CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
@@ -132,7 +132,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -24,8 +24,6 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -107,7 +107,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -28,8 +28,6 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
@@ -109,7 +109,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -29,8 +29,6 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
@@ -109,7 +109,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -39,13 +39,10 @@ CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -109,7 +109,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -78,8 +78,6 @@ CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -178,7 +178,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_TELNET=y
@@ -489,6 +489,7 @@
 		GPIO_SPIX_SYNC                    \
 	}

+#define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_I2C_BUS_MTD      4,5

@@ -40,8 +40,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SHUTDOWN=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
@@ -138,7 +138,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -191,6 +191,7 @@
 		GPIO_OTGFS_VBUS                   \
 	}

+#define BOARD_ENABLE_CONSOLE_BUFFER

 #define BOARD_NUM_IO_TIMERS 1

@@ -26,7 +26,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -83,8 +82,6 @@ CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
@@ -167,7 +167,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_TELNET=y
@@ -146,6 +146,7 @@
 		GPIO_CAN1_TX,                     \
 	}

+#define BOARD_ENABLE_CONSOLE_BUFFER

 #define BOARD_NUM_IO_TIMERS 6

@@ -66,8 +66,6 @@ CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SHUTDOWN=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
@@ -15,6 +15,8 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -38,8 +40,6 @@ CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_TOP=y
@@ -130,7 +130,6 @@ CONFIG_NSH_MMCSDSPIPORTNO=1
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -155,7 +155,8 @@
 #define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */


-
+#define BOARD_ENABLE_CONSOLE_BUFFER
+#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)

 __BEGIN_DECLS

@@ -14,6 +14,8 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -37,8 +39,6 @@ CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
@@ -131,7 +131,6 @@ CONFIG_NSH_MMCSDSPIPORTNO=1
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -156,7 +156,8 @@
 #define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */


-
+#define BOARD_ENABLE_CONSOLE_BUFFER
+#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)

 __BEGIN_DECLS

@@ -27,8 +27,6 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
@@ -111,7 +111,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -87,8 +87,6 @@ CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
@@ -138,7 +138,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -200,6 +200,7 @@
 #define BOARD_HAS_ON_RESET 1


+#define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
 		PX4_ADC_GPIO,                     \
@@ -88,8 +88,6 @@ CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -138,7 +138,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -138,7 +138,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -200,6 +200,7 @@
 #define BOARD_HAS_ON_RESET 1


+#define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
 		PX4_ADC_GPIO,                     \
@@ -80,8 +80,6 @@ CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
@@ -139,7 +139,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -139,7 +139,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -150,6 +150,7 @@



+#define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
 		PX4_ADC_GPIO,                     \
@@ -80,8 +80,6 @@ CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
@@ -139,7 +139,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -139,7 +139,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -210,7 +209,6 @@ CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
@@ -160,6 +160,7 @@



+#define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
 		PX4_ADC_GPIO,                     \
@@ -28,7 +28,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -87,8 +86,6 @@ CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
@@ -138,7 +138,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -145,6 +145,7 @@



+#define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
 		PX4_ADC_GPIO,                     \
@@ -40,7 +40,5 @@ CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_VER=y
@@ -97,7 +97,6 @@ CONFIG_NSH_MMCSDSPIPORTNO=2
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_READLINE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -154,6 +154,9 @@

 #define BOARD_HAS_ON_RESET 1

+#define BOARD_ENABLE_CONSOLE_BUFFER
+#define BOARD_CONSOLE_BUFFER_SIZE (1024*2)
+

 __BEGIN_DECLS

@@ -68,8 +68,6 @@ CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SHUTDOWN=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
@@ -32,8 +32,6 @@ CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -130,7 +130,6 @@ CONFIG_NSH_MMCSDSPIPORTNO=2
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -156,7 +156,8 @@

 #define BOARD_HAS_ON_RESET 1

-
+#define BOARD_ENABLE_CONSOLE_BUFFER
+#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)


 __BEGIN_DECLS
@@ -30,8 +30,6 @@ CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
@@ -123,7 +123,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -57,6 +57,7 @@
 #define HRT_TIMER               2  /* use timer 2 for the HRT */
 #define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */

+#define BOARD_ENABLE_CONSOLE_BUFFER

 __BEGIN_DECLS

@@ -28,8 +28,6 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
@@ -112,7 +112,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -79,8 +79,6 @@ CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -140,7 +140,6 @@ CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -320,6 +320,7 @@
 		GPIO_SAFETY_SWITCH_IN,            \
 	}

+#define BOARD_ENABLE_CONSOLE_BUFFER

 __BEGIN_DECLS

@@ -34,5 +34,3 @@ CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
@@ -141,7 +141,6 @@ CONFIG_NSH_MMCSDSPIPORTNO=1
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -76,8 +76,6 @@ CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -140,7 +140,6 @@ CONFIG_NSH_MMCSDSPIPORTNO=1
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -180,6 +180,7 @@
 		GPIO_RF_SWITCH,                   \
 	}

+#define BOARD_ENABLE_CONSOLE_BUFFER

 #define FLASH_BASED_PARAMS

@@ -73,8 +73,6 @@ CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -139,7 +139,6 @@ CONFIG_NSH_MMCSDSPIPORTNO=1
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSRC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
@@ -184,6 +184,7 @@
 		GPIO_VTX_ON,                      \
 	}

+#define BOARD_ENABLE_CONSOLE_BUFFER

 #define FLASH_BASED_PARAMS

@@ -75,8 +75,6 @@ CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PX4LOG=y
-CONFIG_SYSTEMCMDS_PX4LOG_TAIL=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Thomas Debrunner	6f1fd4b6e6	uORB: Add subscription with single field selection	2023-03-27 09:44:20 +02:00
Junwoo Hwang	9c001f2e40	Fix SITL Test failure: Place PX4 instance runner after Gazebo server runner (#21230 ) * MAVSDK_Test_Runner: Place PX4 instance runner after Gazebo server runner - This was a nasty bug where starting PX4 instance first, then starting Gazebo server was causing PX4 instance' EKF to freak out, probably because it doesn't like getting data a while after it is started - Detailed breakdown is given here: https://github.com/PX4/PX4-Autopilot/issues/21229#issuecomment-1450761542 - This now guarantees that such edge case won't occur and MAVSDK test will run as it should * MAVSDK Test Runner: Retain comment within 79 character limit - To pass flake8 python style check * Update test/mavsdk_tests/mavsdk_test_runner.py Co-authored-by: Julian Oes <julian@oes.ch> --------- Co-authored-by: Julian Oes <julian@oes.ch>	2023-03-26 11:27:01 +09:00
PX4 BuildBot	58a5aa26a0	Update submodule mavlink to latest Sat Mar 25 00:39:09 UTC 2023 - mavlink in PX4/Firmware (73104cab2e49118903cf32bdf11f6ea917fa394e): https://github.com/mavlink/mavlink/commit/2bdcab78b53d1e349079b43c9d726036abe0617c - mavlink current upstream: https://github.com/mavlink/mavlink/commit/e1e68da5e6f2e44c3126cafc0780f6fee2c2b4f2 - Changes: https://github.com/mavlink/mavlink/compare/2bdcab78b53d1e349079b43c9d726036abe0617c...e1e68da5e6f2e44c3126cafc0780f6fee2c2b4f2 e1e68da5 2023-03-08 Hamish Willee - Add quickstart to the README (#1960) 9b92bf2e 2023-03-08 Hamish Willee - Fix enum value for payload battery (#1959) 81e9fcd5 2023-03-08 Hamish Willee - Allocate range for ras-a and indicate next free range (#1957) abbda253 2023-03-02 Hamish Willee - Indicate preference for COMMAND_INT (#1955) d3a8e4b8 2023-02-08 Julian Oes - development: add command to configure SiK radio	2023-03-24 21:43:59 -04:00
PX4 BuildBot	8306fb96ea	boards: update all NuttX defconfigs	2023-03-24 10:03:14 -04:00
PX4 BuildBot	efab9be488	update all px4board kconfig	2023-03-24 10:01:58 -04:00
Daniel Agar	4d9369dc67	Update world_magnetic_model to latest Fri Mar 24 11:14:06 UTC 2023	2023-03-24 09:39:26 -04:00
Silvan Fuhrer	e8a8e7c677	VTOL: increase deafult of VT_QC_T_ALT_LOSS from 10 to 20m Testing has shown that 10m is a bit too tight, most of all as this check is also run in not height-controlled flight modes (eg Stabilized), and there 10m altitude loss during transitions can happen easily. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-24 13:33:52 +01:00
Silvan Fuhrer	e58d33284a	vtol: correct/improve quad-chute param description Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-24 13:33:52 +01:00
Matthias Grob	937d27f8ee	Helicopter: add offset for yaw compensation based on collective pitch	2023-03-24 07:16:36 +01:00
Beniamino Pozzan	eeb90ac70a	gazebo-classic/sitl_mutliple_run.sh: start spawning drones from index 1 (#21183 ) Fix microdds key session collision when drones with index 0 and 1 are used together Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>	2023-03-24 05:58:26 +01:00
Antonio Sanjurjo C	1ea993880c	Fix typo in WORK_ITEM_TYPE (#21311 ) Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com>	2023-03-24 05:49:14 +01:00
Julian Oes	09a0089c80	README: add Cube Orange+ (#21361 ) This adds the Cube Orange+ to the list, and also changes the Hex naming to CubePilot as that is how it is sold/marketed now. Signed-off-by: Julian Oes <julian@oes.ch>	2023-03-24 05:21:43 +01:00
Daniel Agar	cc2b367c0b	drivers/uavcannode: fix typo (hydrometer->hygrometer)	2023-03-23 22:06:55 -04:00
Silvan Fuhrer	5b6d1e9290	TECS: change default for FW_T_I_GAIN_THR from 0.3 to more appropriate 0.1 Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-23 15:00:36 +01:00
Silvan Fuhrer	ac6c9c857a	Gimbal: remove shutter and retraction handling Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-23 06:59:02 +01:00
Frederic Taillandier	18898f1876	updating sitl-gazebo classic (#21352 ) Co-authored-by: root <root@DESKTOP-OINCOKE>	2023-03-22 14:04:02 +01:00
Silvan Fuhrer	d532578ecc	EKF2: only check for EKF2_BETA_FUSION when corresponding kconfig option is set Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-22 10:05:32 +01:00
Silvan Fuhrer	98d07ad1f3	disable side slip fusion for tailsitters The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation. It doesn't take into account that the frames is 90deg tilted in FW flight. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-22 10:05:32 +01:00
Silvan Fuhrer	07531d29b7	FailureDetector: fix attitude check for tailsitter -set roll/pitch used for failure detection during transition to 0 -rotate estimated attitude 90° in FW flight Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-22 10:05:32 +01:00
Silvan Fuhrer	edc570adff	AirspeedSelector: fix attitude rotation for tailsitter Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-22 10:05:32 +01:00
bresch	6bee0893de	add circle intersection unit tests	2023-03-22 10:03:48 +01:00
bresch	af345c88e9	TrajMath: use fmaxf instead of max	2023-03-22 10:03:48 +01:00
bresch	c7bddda1db	MC auto: add maximum RC assist distance during landing	2023-03-22 10:03:48 +01:00
bresch	d6fa42fefd	mc att: add unit tests for AttitudeControlMath helper	2023-03-22 10:01:27 +01:00
bresch	edaf5bf0cd	mc att: extract tilt yaw error compensation to lib	2023-03-22 10:01:27 +01:00
bresch	f65daf7259	mc att: do not pass by euler angles to generate att sp from sticks	2023-03-22 10:01:27 +01:00
bresch	3e3307c0d0	ekf2: fix mag declination innovation angle wrapping	2023-03-21 21:07:28 -04:00
David Sidrane	64e90b91aa	px4_fmu-v6c:Add Mini & fix Rev 1 (#21226 )	2023-03-21 09:16:35 -07:00
Daniel Agar	32a5bd32ad	ekf2: add kconfig option to enable/disable range finder fusion (and terrain estimator)	2023-03-21 11:25:34 -04:00
Daniel Agar	0784901a66	ekf2: add kconfig option to enable/disable optical flow fusion	2023-03-21 11:25:34 -04:00
Matthias Grob	9f8fa99d70	matrix: use stack allocation for debug output string	2023-03-21 15:01:26 +01:00
Matthias Grob	b1435c6e34	matrix: use output stream function template to enable proper automatic output in gtest unit tests that compare two `Matrix`, `Vector` or two `Dual` objects. Credits to @jwidauer for showing me this trick.	2023-03-21 15:01:26 +01:00
Matthias Grob	b0189d95af	Use new Vector4 class	2023-03-21 15:01:26 +01:00
Matthias Grob	08d6465ce5	matrix: add explicit Vector4 type	2023-03-21 15:01:26 +01:00
Matthias Grob	da0e40c72b	googletest: switch to latest version 1.12.1 -> 1.13	2023-03-21 15:01:26 +01:00
bresch	91364ba901	mc land detect: use z_deriv and vz for vert movement check z_deriv is less prone to bias errors	2023-03-21 09:22:58 -04:00
Beat Küng	22c94f805a	component information: add translation support	2023-03-20 21:57:25 -04:00
Jukka Laitinen	631046b962	src/drivers/sw_crypto: Correct RSA lengths in the example sw crypto backend driver Maximum plaintext length was wrong, it is just k - 2 * hLen -2, where k is RSA key modulus length and hLen is hash length Also minimum block that can be encrypted didn't make sense for RSA-OAEP, it is just 1 byte, the rest will be padded. Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2023-03-20 21:54:40 -04:00
Jukka Laitinen	b26669b085	Add crypto_deinit function for crypto_backend module Bootloader needs to have a mechanism to de-initialize crypto, in case some HW accelerator is being used. This adds the needed function for it Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2023-03-20 21:54:40 -04:00
Beat Küng	8497d3388f	fix mavlink_ulog: use hrt_abstime instead of float The float inaccuracy was leading to problems on SITL with large timestamps.	2023-03-20 21:47:41 -04:00
Daniel Agar	1524bd39b5	.gitignore: ignore generate top level log/ folder (colcon)	2023-03-20 11:06:12 -04:00
Daniel Agar	4363b09421	ekf2: add kconfig option to enable/disable external vision fusion	2023-03-20 10:12:17 -04:00
Daniel Agar	d47f96f1a5	ekf2: add kconfig option to enable/disable AUX velocity fusion	2023-03-20 10:12:17 -04:00
Daniel Agar	4270a303ab	ekf2: add kconfig option to enable/disable airspeed and sideslip fusion	2023-03-20 10:12:17 -04:00
Daniel Agar	98ff1afc19	ekf2: add kconfig option to enable/disable GNSS yaw	2023-03-20 10:12:17 -04:00
Daniel Agar	8b2205810b	ekf2: add kconfig option to enable/disable baro compensation	2023-03-20 10:12:17 -04:00
Daniel Agar	fe0e3acf09	ekf2: add kconfig option to enable/disable drag fusion	2023-03-20 10:12:17 -04:00
frederic@auterion.com	9a56b0a70d	refactoring jinja-gen call in a cleaner way	2023-03-20 14:50:56 +01:00
numan	ed174d54e9	fix typo in LeddarOne.cpp added missing "~"	2023-03-20 07:51:00 +01:00
alexklimaj	e2de62e38b	GPS only warn if jamming state is critical	2023-03-17 21:38:28 -04:00
Silvan Fuhrer	0afda910d1	VTOL: make sure that all virtual topics are updated Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-17 19:43:01 +01:00
Andrew Brahim	71c746b9bf	drivers/distance_sensor/lightware_sf45_serial: fix path to crc lib (no longer in systemlib) Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2023-03-17 09:35:46 -04:00