WIP: output modules native units

arch: python requirements fix, jdk comes with ant
ActuatorEffectivenessRotors: Use modern parameter interface for rotor count
2026-06-11 14:40:06 +08:00 · 2023-12-05 15:30:06 -05:00 · 2023-12-05 12:06:56 -05:00 · 2023-12-05 12:06:56 -05:00 · 2023-12-05 12:06:56 -05:00 · 2023-12-05 12:06:56 -05:00
297 changed files with 2240 additions and 4147 deletions
@@ -52,12 +52,8 @@ 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
@@ -143,12 +143,9 @@ 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 SENS_MAG0_ID 197388
-	param set SENS_MAG0_PRIO 50
-
+	param set CAL_MAG0_PRIO 50
 	param set CAL_MAG1_ID 197644
-	param set SENS_MAG1_ID 197644
-	param set SENS_MAG1_PRIO 50
+	param set CAL_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 SENS_GNSS0_XPOS -0.12
+param set-default EKF2_GPS_POS_X -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 SENS_GNSS0_XPOS 0.055
-param set-default SENS_GNSS0_ZPOS -0.15
+param set-default EKF2_GPS_POS_X 0.055
+param set-default EKF2_GPS_POS_Z -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
@@ -45,12 +45,8 @@ 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
@@ -45,12 +45,8 @@ 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
@@ -1,65 +0,0 @@
-#!/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
-
-
@@ -46,9 +46,7 @@ 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 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_POS_X 0.06
 param set-default EKF2_GPS_V_NOISE 0.5

 param set-default EKF2_IMU_POS_X 0.06
@@ -1,91 +0,0 @@
-#!/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
@@ -58,7 +58,6 @@ 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
@@ -67,7 +66,6 @@ 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 5
+param set-default COM_VEL_FS_EVH 3

 param set-default COM_POS_LOW_EPH 50

@@ -302,12 +302,6 @@ 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
@@ -317,7 +311,7 @@ When set to -1 (default), the value depends on the function (see {:}).
                        'short': channel_label+' ${i} '+label+' Value',
                        'long': description
                        },
-                    'type': 'int32',
+                    'type': 'float',
                    'instance_start': instance_start,
                    'instance_start_label': instance_start_label,
                    'num_instances': num_channels,
@@ -146,6 +146,7 @@ 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)

@@ -167,6 +168,7 @@ 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};

@@ -179,6 +181,7 @@ 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))
@@ -42,6 +42,7 @@ 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 Manjaro 20.2.1.
+## Tested on Arch 2023-03-01
 ##
 ## Installs:
 ## - Common dependencies and tools for nuttx, jMAVSim
@@ -50,6 +50,7 @@ sudo pacman -Sy --noconfirm --needed \
 	cmake \
 	cppcheck \
 	doxygen \
+	fuse2 \
 	gdb \
 	git \
 	gnutls \
@@ -66,7 +67,7 @@ sudo pacman -Sy --noconfirm --needed \

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

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

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

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

-	# 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
+	# don't run modem manager (interferes with PX4 serial port usage)
+	sudo systemctl disable --now ModemManager
 fi

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

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

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

 if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo
-	echo "Reboot or logout, login computer before attempting to build NuttX targets"
+	echo "Reboot or logout, login computer before attempting to flash 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 -a -G dialout $USER
+		sudo usermod -aG dialout $USER
 	fi

 	# arm-none-eabi-gcc
@@ -13,6 +13,7 @@ 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 NUM_ACTUATOR_OUTPUT_GROUPS	= 4	# for sanity checking
-uint32 noutputs				# valid outputs
+
+uint8 NUM_ACTUATOR_OUTPUTS = 16
+uint8 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])
@@ -31,4 +31,3 @@ bool mode_req_manual_control


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

 uint8 request_id
-
-
@@ -16,4 +16,3 @@ 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
+# 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_aux_vel estimator_aid_src_optical_flow estimator_aid_src_terrain_optical_flow
 # TOPICS estimator_aid_src_drag
@@ -42,6 +42,7 @@ 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
@@ -22,4 +22,3 @@ 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)
-
@@ -7,4 +7,3 @@ 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
-
@@ -14,3 +14,4 @@ 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]
@@ -11,4 +11,3 @@ 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
-
@@ -62,6 +62,4 @@ 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
@@ -5,6 +5,3 @@ 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)
-
-
-
@@ -27,3 +27,4 @@ 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) {
@@ -53,7 +53,10 @@ public:

 TEST_F(uORBMessageFieldsTest, decompressed_formats_match)
 {
-	char buffer[1500];
+	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");
+
 	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(uint16_t outputs[MAX_ACTUATORS])
+void ModalIo::mix_turtle_mode(float outputs[MAX_ACTUATORS])
 {
 	bool use_pitch = true;
 	bool use_roll  = true;
@@ -1052,8 +1052,7 @@ void ModalIo::mix_turtle_mode(uint16_t outputs[MAX_ACTUATORS])
 }

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

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

 	virtual int	init();

@@ -225,6 +224,6 @@ 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(uint16_t outputs[]);
+	void			mix_turtle_mode(float 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
@@ -3,5 +3,3 @@ 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, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs)
+	void update_outputs(bool stop_motors, float 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] = static_cast<float>(outputs[i]);
+					msg_sp.value[i] = outputs[i];

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

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

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

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

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

-
-
 #include "ASP5033.hpp"

 ASP5033::ASP5033(const I2CSPIDriverConfig &config) :
@@ -80,9 +78,6 @@ 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()
@@ -123,13 +118,11 @@ 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);
@@ -209,7 +202,6 @@ 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;
@@ -251,8 +243,3 @@ int ASP5033::collect()

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

-
 /**
 * ASP5033 differential pressure sensor (external I2C)
 *
@@ -40,7 +39,3 @@
 * @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
@@ -336,8 +336,7 @@ void DShot::mixerChanged()
 	update_telemetry_num_motors();
 }

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

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

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

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

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

-	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
-			   unsigned num_outputs, unsigned num_control_groups_updated) override;
+	bool updateOutputs(bool stop_motors, float outputs[MAX_ACTUATORS], unsigned num_outputs) 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
@@ -95,10 +95,16 @@ int LinuxPWMOut::task_spawn(int argc, char *argv[])
 	return PX4_ERROR;
 }

-bool LinuxPWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
-				unsigned num_outputs, unsigned num_control_groups_updated)
+bool LinuxPWMOut::updateOutputs(bool stop_motors, float outputs[MAX_ACTUATORS], unsigned num_outputs)
 {
-	_pwm_out->send_output_pwm(outputs, num_outputs);
+	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);
+
 	return true;
 }

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

 	int init();

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

 private:
 	static constexpr int MAX_ACTUATORS = 8;
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	3d7f6ea09c	WIP: output modules native units	2023-12-05 15:30:06 -05:00
Matthias Grob	d259386987	arch: python requirements fix, jdk comes with ant	2023-12-05 12:06:56 -05:00
Matthias Grob	14c4257a59	ActuatorEffectivenessRotors: Use modern parameter interface for rotor count This lead to a compiler warning with arm-none-eabi-gcc 12+ about the variable count potentially being a dangling pointer.	2023-12-05 12:06:56 -05:00
Matthias Grob	b71c6fb6ea	arch: update to use pacman's arm-none-eabi which is currently GCC 12.2	2023-12-05 12:06:56 -05:00
Matthias Grob	adb22f1407	spi: put brackets such that GCC12 considers it a pointer for sure otherwise you get the warning/error px4_spi_buses can never be NULL	2023-12-05 12:06:56 -05:00
Matthias Grob	0c97b0f4b0	ubuntu: usermod -aG instead of -a -G It's well documented everywhere that this command does and it's commonly used with exactly these two parameters together and in that order.	2023-12-05 12:06:56 -05:00
bresch	5ca22df55c	ekf2-pos bias estimator: use enum	2023-12-05 11:22:59 -05:00
bresch	a3515a2474	ekf2: scope HeightSensor enum	2023-12-05 11:22:59 -05:00
bresch	6bd1145006	ekf2: scope RngCtrl enum	2023-12-05 11:22:59 -05:00
bresch	1df52df27d	ekf2: scope GnssCtrl enum	2023-12-05 11:22:59 -05:00
bresch	97423136d1	ekf2-AGP: scope control enum	2023-12-05 11:22:59 -05:00
Beat Küng	c5101c70b3	uorb: enure message definitions don't exceed buffer lengths & increase test buffer There were already checks at runtime, but this ensures the format is not too long at built-time.	2023-12-05 10:42:23 +01:00
Konrad	df46ad7774	Dcm2: Use std::sin with overloaded types	2023-12-05 10:42:23 +01:00
Konrad	d1b8a2e8d5	fxedwingPositionControl: Add slew rate at the end for all mode instead inside each	2023-12-05 10:42:23 +01:00
Konrad	ae3aee3402	fw param: reduce default COM_VEL_FS_EVH to warn earlier when velocity uncertainty increases	2023-12-05 10:42:23 +01:00
Konrad	1d07697a9e	NPFG: Add fallback for corner cases	2023-12-05 10:42:23 +01:00
Matthias Grob	1c25d65a1e	Add missing newline at the end of files	2023-12-01 13:11:00 -05:00
Matthias Grob	4c0b6dbe86	Remove trailing whitespaces and trailing duplicate newlines	2023-12-01 13:11:00 -05:00
Matthias Grob	d8d2213cab	mavlink streams: add SYSTEM_TIME to onboard low bandwidth It's required with 2Hz by some MAVLink enabled payloads.	2023-12-01 11:02:37 -05:00
Matthias Grob	9184a8f4ef	mavlink streams: add CAMERA_IMAGE_CAPTURED to onboard low bandwidth	2023-12-01 11:02:37 -05:00
Matthias Grob	3ceb932b7c	mavlink streams: increase RC_CHANNELS rate for onboard low bandwidth There are MAVLink enabled gimbals that directly consume RC channel data. The gimbal controls stutter with this profile when the rate is too low.	2023-12-01 11:02:37 -05:00
Matthias Grob	938be68c69	mavlink streams: add gimbal orientation feedback to normal stream It only publishes when the information is available on uORB and is useful for the groundstation to show the gimbal's status.	2023-12-01 11:02:37 -05:00
Silvan Fuhrer	b0df7c7ccb	RTL/Land: set gimbal to neutral to reduce change of damage Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-12-01 13:19:09 +01:00
Silvan Fuhrer	789b3880cf	Mission: set gimbal to neutral on inactivation It is generally preferred to have the camera pointing forward on pause, e.g. to use the camera for Navigation. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-12-01 13:19:09 +01:00
Silvan Fuhrer	0d8ba587ca	Mission: set gimbal to neutral before landing item To reduce risk of damage during landing. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-12-01 13:19:09 +01:00
Silvan Fuhrer	178ea132b6	Navigator: add set_gimbal_neutral() functionality To point the gimbal forward eg during landing to reduce chance of damage. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-12-01 13:19:09 +01:00
bresch	fe7988672f	ekf2: auxiliary position fusion Co-authored-by: Daniel Agar <daniel@agar.ca>	2023-12-01 11:50:22 +01:00
Silvan Fuhrer	aaefc36cad	airframes: remove 4900_crazyflie Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-12-01 09:43:41 +01:00
Silvan Fuhrer	6c9af2e0ec	airframes: remove 4040_reaper Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-12-01 09:43:41 +01:00
Silvan Fuhrer	6b4fca1b9d	px4vision configs: remove params that are just set again to default Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-12-01 09:43:41 +01:00
				`@@ -31,4 +31,3 @@ bool mode_req_manual_control`


				`uint8 ORB_QUEUE_LENGTH = 4`