Commander: gate manual control setpoint processing on new data

ManualControl: start to distinguish rc arming methods
Commander: Replace manual_control_setpoint use
2026-06-20 14:00:34 +08:00 · 2021-02-22 11:34:44 +01:00 · 2021-02-17 23:38:23 +01:00 · 2021-02-17 23:38:23 +01:00 · 2021-02-17 23:38:23 +01:00 · 2021-02-17 23:38:22 +01:00
224 changed files with 2855 additions and 892 deletions
@@ -94,7 +94,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json

    - name: Look at core files
      if: failure()
@@ -106,10 +106,6 @@ jobs:
        name: coredump
        path: px4.core

-    - name: Upload logs to flight review
-      if: failure()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
-
    - name: Upload px4 binary
      if: failure()
      uses: actions/upload-artifact@v2-preview
@@ -131,6 +131,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: mro_ctrl-zero-f7_default
+    mro_pixracerpro_bootloader:
+      short: mro_pixracerpro_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_pixracerpro_bootloader
+    mro_pixracerpro_default:
+      short: mro_pixracerpro_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: mro_pixracerpro_default
    mro_x21-777_default:
      short: mro_x2.1-777
      buildType: MinSizeRel
@@ -406,7 +406,6 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)

 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)
-add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer

 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
@@ -67,11 +67,9 @@ pipeline {
              unset ROS_DISTRO;
              mkdir -p colcon_ws/src;
              cd colcon_ws;
-              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
-              git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
+              git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
              git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
-              source /opt/ros/bouncy/setup.sh;
-              source /opt/ros/melodic/setup.sh;
+              source /opt/ros/foxy/setup.sh;
              colcon build --event-handlers console_direct+ --symlink-install;
            '''
          }
@@ -30,13 +30,6 @@ sercon
 #
 ver all

-#
-# Start the ORB (first app to start)
-# tone_alarm and tune_control
-# is dependent.
-#
-uorb start
-
 #
 # Set the parameter file if mtd starts successfully.
 #
@@ -12,6 +12,11 @@ if [ $AUTOCNF = yes ]
 then
 	# EKF2: Multi GPS blending (as the model has 2 GPS's)
 	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
+	param set MNT_DO_STAB 2
 fi

 set MIXER quad_x
@@ -26,7 +26,6 @@ then
 	param set TRIG_MODE 4
 	param set MNT_MODE_IN 4
 	param set MNT_DO_STAB 2
-	param set MAV_PROTO_VER 2
 fi

 set MAV_TYPE 13
@@ -24,7 +24,8 @@ then

 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4
-	param set MNT_MODE_IN 0
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
 	param set MAV_PROTO_VER 2
 fi

@@ -20,7 +20,6 @@ module: replay
 ignore_others: false
 EOF

-uorb start
 param set SDLOG_DIRS_MAX 7

 # apply all params before ekf starts, as some params cannot be changed after startup
@@ -53,8 +53,6 @@ else
 	fi
 fi

-uorb start
-
 # Load parameters
 set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
 param select $PARAM_FILE
@@ -111,6 +109,8 @@ udp_offboard_port_remote=$((14540+px4_instance))
 [ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
 udp_onboard_payload_port_local=$((14280+px4_instance))
 udp_onboard_payload_port_remote=$((14030+px4_instance))
+udp_onboard_gimbal_port_local=$((13030+px4_instance))
+udp_onboard_gimbal_port_remote=$((13280+px4_instance))
 udp_gcs_port_local=$((18570+px4_instance))

 if [ $AUTOCNF = yes ]
@@ -244,7 +244,7 @@ then
 	sh etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000
+	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
 	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@@ -256,12 +256,15 @@ else
 	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local

 	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote

 	# Onboard link to camera
 	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

+	# Onboard link to gimbal
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
 fi
+
 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post

@@ -73,13 +73,6 @@ sercon
 #
 ver all

-#
-# Start the ORB (first app to start)
-# tone_alarm and tune_control
-# is dependent.
-#
-uorb start
-
 #
 # Try to mount the microSD card.
 #
@@ -5,9 +5,4 @@

 echo "[i] doing standalone PX4FMU startup..."

-#
-# Start the ORB
-#
-uorb start
-
 echo "[i] startup done"
@@ -8,8 +8,6 @@ set unit_test_failure 0

 set BOARD_RC ${R}etc/init.d/rc.board

-uorb start
-
 if rgbled start -X
 then
 	led_control on -c blue
@@ -41,11 +39,6 @@ fi
 # Start a minimal system
 #

-#
-# Start the ORB (first app to start)
-#
-uorb start
-
 #
 # Load parameters
 #
@@ -83,6 +83,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -105,6 +105,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -110,6 +110,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -108,6 +108,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -102,6 +102,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -79,6 +79,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -64,6 +64,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -61,6 +61,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -49,6 +49,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 )
@@ -109,6 +109,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -112,6 +112,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -113,6 +113,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -113,6 +113,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -112,6 +112,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -112,6 +112,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -79,6 +79,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -110,6 +110,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -72,6 +72,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -117,6 +117,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -88,6 +88,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -87,6 +87,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -104,6 +104,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -109,6 +109,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -109,6 +109,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -110,6 +110,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -237,8 +237,8 @@
 #define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
 #define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */

-#define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
-#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
+//#define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
+//#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */

 #define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
 #define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */
@@ -262,7 +262,7 @@
 #define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
 #define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1               /* PA7  */

-#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_2) /* PB10 */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_3) /* PB10 */
 #define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1               /* PB14 */
 #define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1               /* PB15 */

@@ -198,7 +198,6 @@ CONFIG_STM32H7_UART8=y
 CONFIG_STM32H7_USART1=y
 CONFIG_STM32H7_USART2=y
 CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART6=y
 CONFIG_STM32H7_USART_BREAKS=y
 CONFIG_STM32H7_USART_INVERT=y
 CONFIG_STM32H7_USART_SINGLEWIRE=y
@@ -228,9 +227,6 @@ CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
 CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -111,6 +111,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -107,6 +107,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -106,6 +106,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -105,6 +105,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -106,6 +106,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -106,6 +106,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -105,6 +105,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -73,7 +73,7 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		vmount
+		#vmount
 	SYSTEMCMDS
 #		bl_update
 		dmesg
@@ -98,6 +98,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -93,6 +93,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -96,7 +96,7 @@ px4_add_board(
 		sensors
 		#sih
 		#temperature_compensation
-		vmount
+		#vmount
 		#vtol_att_control
 	SYSTEMCMDS
 		bl_update
@@ -123,6 +123,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		#uorb
 		#usb_connected
 		#ver
 		#work_queue
@@ -82,6 +82,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		#uorb
 		#usb_connected
 		ver
 		#work_queue
@@ -82,7 +82,7 @@ px4_add_board(
 		rc_update
 		sensors
 		temperature_compensation
-		vmount
+		#vmount
 		#vtol_att_control
 		#airspeed_selector

@@ -108,6 +108,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue

@@ -59,7 +59,7 @@ px4_add_board(
 		sensors
 		#sih
 		#temperature_compensation
-		vmount
+		#vmount
 	SYSTEMCMDS
 		#bl_update
 		#dumpfile
@@ -81,6 +81,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		#uorb
 		#usb_connected
 		ver
 		#work_queue
@@ -52,7 +52,7 @@ px4_add_board(
 		rc_update
 		sensors
 		temperature_compensation
-		vmount
+		#vmount

 	SYSTEMCMDS
 		bl_update
@@ -75,6 +75,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -116,6 +116,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		#uorb
 		#usb_connected
 		ver
 		#work_queue
@@ -122,6 +122,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -120,6 +120,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -116,6 +116,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -111,6 +111,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -119,6 +119,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -118,6 +118,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -112,6 +112,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -112,6 +112,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -111,6 +111,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -117,6 +117,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -114,6 +114,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -111,6 +111,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -113,6 +113,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -122,6 +122,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -118,6 +118,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -120,6 +120,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -87,6 +87,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -114,6 +114,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -99,6 +99,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -111,6 +111,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -86,6 +86,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -114,6 +114,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -118,6 +118,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -120,6 +120,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -113,6 +113,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -117,6 +117,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -116,6 +116,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -116,6 +116,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -114,6 +114,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -114,6 +114,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -79,6 +79,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -82,6 +82,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -80,6 +80,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -80,6 +80,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -79,6 +79,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -78,6 +78,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -79,6 +79,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -79,6 +79,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
@@ -107,6 +107,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -88,6 +88,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
@@ -92,7 +92,7 @@ function(px4_add_functional_gtest)
 		target_link_libraries(${TESTNAME} ${LINKLIBS} gtest_functional_main
 		                                              px4_layer
 		                                              px4_platform
-		                                              modules__uORB
+		                                              uORB
 		                                              systemlib
 		                                              cdev
 		                                              px4_work_queue
@@ -180,7 +180,9 @@ function(px4_add_common_flags)

 		${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/${PX4_CHIP_MANUFACTURER}/${PX4_CHIP}/include
 		${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include
+		${PX4_SOURCE_DIR}/platforms/common
 		${PX4_SOURCE_DIR}/platforms/common/include
+
 		${PX4_SOURCE_DIR}/src
 		${PX4_SOURCE_DIR}/src/include
 		${PX4_SOURCE_DIR}/src/lib
@@ -66,8 +66,16 @@ set(msg_files
 	follow_target.msg
 	generator_status.msg
 	geofence_result.msg
+	gimbal_device_set_attitude.msg
+	gimbal_manager_set_attitude.msg
+	gimbal_manager_set_manual_control.msg
+	gimbal_device_attitude_status.msg
+	gimbal_device_information.msg
+	gimbal_manager_information.msg
+	gimbal_manager_status.msg
 	gps_dump.msg
 	gps_inject_data.msg
+	heater_status.msg
 	home_position.msg
 	hover_thrust_estimate.msg
 	input_rc.msg
@@ -127,11 +135,11 @@ set(msg_files
 	sensor_selection.msg
 	sensors_status_imu.msg
 	system_power.msg
+	takeoff_status.msg
 	task_stack_info.msg
 	tecs_status.msg
 	telemetry_status.msg
 	test_motor.msg
-	takeoff_status.msg
 	timesync.msg
 	timesync_status.msg
 	trajectory_bezier.msg
@@ -0,0 +1,18 @@
+uint64 timestamp						# time since system start (microseconds)
+
+uint8 target_system
+uint8 target_component
+uint16 device_flags
+
+uint16 DEVICE_FLAGS_RETRACT = 1
+uint16 DEVICE_FLAGS_NEUTRAL = 2
+uint16 DEVICE_FLAGS_ROLL_LOCK = 4
+uint16 DEVICE_FLAGS_PITCH_LOCK = 8
+uint16 DEVICE_FLAGS_YAW_LOCK = 16
+
+float32[4] q
+float32 angular_velocity_x
+float32 angular_velocity_y
+float32 angular_velocity_z
+
+uint32 failure_flags
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Matthias Grob	c600315c76	Commander: gate manual control setpoint processing on new data	2021-02-22 11:34:44 +01:00
Matthias Grob	98c7c61253	ManualControl: start to distinguish rc arming methods	2021-02-17 23:38:23 +01:00
Matthias Grob	8ce7d5b83b	Commander: Replace manual_control_setpoint use	2021-02-17 23:38:23 +01:00
Matthias Grob	8e4f20815e	Commander: simplify rc arming disabling logic	2021-02-17 23:38:23 +01:00
Matthias Grob	745cd71f55	ManualControl: simplify multicopter manual thrust logic	2021-02-17 23:38:22 +01:00
Matthias Grob	9aeeb88ead	ManualControl: fix arm button use case	2021-02-17 23:38:22 +01:00
Matthias Grob	1938d366d9	Commander: move rc arming to ManualControl class Separating the different arming methods is the next step.	2021-02-17 23:38:22 +01:00
Matthias Grob	ce2d4c5336	ManualControl: make members private again	2021-02-17 23:38:22 +01:00
Matthias Grob	1439792cf5	Commander: move rc availability to ManualControl	2021-02-17 23:38:22 +01:00
Matthias Grob	9ae1aee7ff	Commander: use parameters directly in ManualControl	2021-02-17 23:38:22 +01:00
Matthias Grob	bfd830e580	Commander: split out rc override logic into ManualControl	2021-02-17 23:38:22 +01:00
Matthias Grob	a457710d4c	Commander: RC override back to stick change Instead of deflection mainly because: - Spring loaded throttle -> bad user experience - Stale RC data -> Vehicle not savable	2021-02-17 23:38:22 +01:00
Matthias Grob	0204fe8663	Commander: reintroduce last stick position	2021-02-17 23:38:22 +01:00
Julian Kent	aef448b267	Bring back RC throttle override with a parameter to disable it	2021-02-17 23:38:22 +01:00
Daniel Agar	2a47583be5	boards: nxp/fmurt1062-v1 disable vmount	2021-02-17 13:54:34 -05:00
Julian Oes	1493ebf350	mavlink: reset MAVLink version to auto-detect	2021-02-17 13:54:34 -05:00
Julian Oes	b812763a5a	mavlink: no gimbal messages on constrained flash	2021-02-17 13:54:34 -05:00
Julian Oes	20bc924668	boards: disable vmount for fmu-v2	2021-02-17 13:54:34 -05:00
Julian Oes	a2d419c91a	vmount: use copyTo to copy quaternions	2021-02-17 13:54:34 -05:00
Julian Oes	f39216b9c3	vmount: use math functions instead of macros	2021-02-17 13:54:34 -05:00
Julian Oes	6672be040a	mavlink: limit mavlink channels based on memory	2021-02-17 13:54:34 -05:00
Julian Oes	10add72b00	sitl_gazebo: update submodule This includes the new gimbal controller which implements the MAVLink gimbal v2 device protocol.	2021-02-17 13:54:34 -05:00
Julian Oes	7633b119f7	gimbal: merge fixes	2021-02-17 13:54:34 -05:00
Julian Oes	fecd96dc28	ROMFS: add remote port for gimbal mavlink instance Previously, we did not set a remote port which meant that the default remote port 14550 was used. This meant that the mavlink instance talking to the gimbal was interfering with the connection to the ground station (on 14550).	2021-02-17 13:54:34 -05:00
Julian Oes	3a2e4db309	vmount: mute gimbal manager ignoring messages	2021-02-17 13:54:34 -05:00
Julian Oes	db09a1386f	vmount: fix regression around stabilize flags We use the stabilize param to set the input. Like this the input flags can be changed using the configure message later, and then eventually used in the output.	2021-02-17 13:54:34 -05:00
Julian Oes	086c45d406	vmount: fix POI for gimbal v2 This includes several changes to fix POI when used with MAVLink gimbal v2 input: - Correctly set capability flag that POI is supported. - Keep lat/lon and calculate attitude on each cycle, instead of only once on init. - Always publish gimbal manager information, with or withoug gimbal v2 device.	2021-02-17 13:54:34 -05:00
Julian Oes	b0d7d19bab	vmount/mavlink: update gimbal information message We should be using gimbal_manager_information and not gimbal_device_information. Plus, this updates the fields and flags according to the MAVLink changes.	2021-02-17 13:54:34 -05:00
Julian Oes	cb3ad39406	vmount: add comment about possible NAN values	2021-02-17 13:54:34 -05:00
Julian Oes	cd0509d2ef	vmount: fix AUX gimbal output for v2 mavlink input This should fix the case where AUX gimbals don't work anymore when gimbal input is mavlink gimbal v2. The fix is mostly to take care against NAN inputs.	2021-02-17 13:54:34 -05:00
Julian Oes	17dce18b32	mavlink: reduce GIMBAL_MANAGER_STATUS message rate This was way too fast.	2021-02-17 13:54:34 -05:00
Julian Oes	6561b07caf	vmount: support legacy gimbal v1 mission commands This is a hotfix to restore gimbal functionality for SITL set-ups that are set to MNT_MODE_IN 4 (gimbal protocol v2) but still need to accept gimbal v1 commands that might be part of a mission, e.g. uploaded by MAVSDK.	2021-02-17 13:54:34 -05:00
Julian Kent	a3e0e2e84f	Fix RTPS builds	2021-02-17 13:54:34 -05:00
Julian Oes	6f56797f3d	mavlink: hack to forward messages from gimbal This is a hack to make sure the messages from the gimbal arrive at other links (e.g. the ground station). It means that the gimbal does not get flooded with all other messages that would get forwarded but messages from the gimbal will still make it through.	2021-02-17 13:54:34 -05:00
Julian Oes	b8ad7092dc	mavlink: use Mavlink 2 by default	2021-02-17 13:54:34 -05:00
Julian Oes	8da3a490af	ROMFS: use gimbal v2 protocol with typhoon_h480	2021-02-17 13:54:34 -05:00
Julian Oes	642adbead8	if750a: use MAVLink gimbal v2 device	2021-02-17 13:54:34 -05:00
Julian Oes	e6b1775bb6	vmount/navigator/mavlink: gimbal v2 changes This is a collection of commits all having to do with changes in the Mavlink gimbal v2 protocol as described in: https://mavlink.io/en/services/gimbal_v2.html	2021-02-17 13:54:34 -05:00
Julian Oes	422bac4bfd	mavlink: add gimbal mode to talk to gimbal device	2021-02-17 13:54:34 -05:00
Julian Oes	2a0ddf9f44	mavlink: enable 6 instead of 4 instance	2021-02-17 13:54:34 -05:00
Julian Oes	a16939f47e	ROMFS: start mavlink instance for gimbal	2021-02-17 13:54:34 -05:00
Martina Rivizzigno	48b00ff678	Support for gimbal v2 protocol - add command to request a message - add gimbal attitude message mavlink_receiver handle GIMBAL_MANAGER_SET_ATTITUDE first implementation of new vmount input MavlinkGimbalV2 - setup class - decode gimbal_manager_set_attitude in ControlData add gimbal information message add gimbal manager information and vehicle command ack mavlink messages: add stream for GIMBAL_MANAGER_INFORMATION mavlink_receiver: handle GIMBAL_DEVICE_INFORMATION remove mavlink cmd handling from vmount input MavlinkGimbalV2 complete gimbal manager: - send out fake gimbal_device_information for dummy gimbals - complete ROI handling with nudging small fixes fix typos cleanup - gimbal device information - flags lock - check sanity of string add support for CMD_DO_GIMBAL_MANAGER_ATTITUDE stream GimbalDeviceAttitudeStatus for dummy gimbals - add uROB gimbal_attitude_status - fill status in vmount output_rc for dummy gimbals not able to send the status themselves - stream mavlink GimbalDeviceAttitudeStatus better handle the request for gimbal infomation request clean up bring gimbal information back on vmount init add new gimbal message to mavlink normal stream fix publication of gimbal device information rename gimbal_attitude_status to gimbal_device_attitude_status stream gimbal_manager_status at 5Hz mavlink: send information only on request Sending the information message once on request should now work and we don't need to keep publishing it. mavlink: debug output for now make sure to copy over control data mavlink: add missing copyright header, pragma once mavlink: address review comments mavlink: handle stream not updated Our answer does not just depend on whether the stream was found but whether we actually were able to send out an update. mavlink: remove outdated comment vmount: add option for yaw stabilization only The stabilize flag is used for gimbals which do not have an internal IMU and need the autopilot's attitude in order to do stabilization. These gimbals are probably quite rare by now but it makes sense to keep the functionality given it can e.g. be used by simple servo gimbals for sensors other than highres cameras. The stabilize flag can also be re-used for gimbals which are capable of stabilizing pitch and roll but not absolute yaw (e.g. locked to North). For such gimbals we can now set the param MNT_DO_STAB to 2. We still support configuring which axes are stabilized by the MAVLink command DO_MOUNT_CONFIGURE, however, this is generally not recommended anymore. vmount: fix incorrect check for bit flag mavlink_messages: remove debug message Signed-off-by: Claudio Micheli <claudio@auterion.com> use device id remove debug print gimbal attitude fix mistake clang tidy fix split: - gimbal_attitude -> gimbal_device_set_attitude, gimbal_manager_set_attitude - gimbal_information -> gimbal_device_informatio, gimbal_manager_information add gimbal protocol messages to rtps msg ids support set attitude for gimbal directly speaking mavlink clean up gimbal urob messages vmount: address a few small review comments vmount: split output into v1 and v2 protocol This way we can continue to support the MAVLink v1 protocol. Also, we don't send the old vehicle commands when actually using the new v2 protocol. vmount: config via ctor instead of duplicate param vmount: use loop to poll all topics Otherwise we might give up too soon and miss some data, or run too fast based on commands that have nothing to do with the gimbal. typhoon_h480: use gimbal v2 protocol, use yaw stab Let's by default use the v2 protocol with typhoon_h480 and enable yaw lock mode by stabilizing yaw.	2021-02-17 13:54:34 -05:00
Julian Oes	46e75ebddb	mavsdk_tests: remove leftover debug line	2021-02-17 18:13:14 +01:00
Julian Oes	2703a34900	mavsdk_tests: add link back to github action	2021-02-17 18:13:14 +01:00
Daniel Agar	ab0d0fd0be	uORB move to PX4 platform layer	2021-02-17 11:25:56 -05:00
TSC21	6bbb2faf8a	CI: fix colcon build	2021-02-17 15:03:47 +01:00
Ildar Sadykov	51dd141c86	RTPS: adjust timestamp_sample in urtps_agent	2021-02-17 13:19:05 +01:00
Daniel Agar	e48a869160	boards: mRo pixracer pro disable USART6 (conflicts with SPI6)	2021-02-16 22:28:13 -05:00
Daniel Agar	2702306849	boards: mRo pixracer pro fix incorrect SPI2 sck	2021-02-16 22:28:13 -05:00
PX4 BuildBot	0edee1e2e9	Update submodule ecl to latest Wed Feb 17 00:39:16 UTC 2021 - ecl in PX4/Firmware (a5a1d4caa0d04cb79ba29e98ba0af04e20c53de9): https://github.com/PX4/PX4-ECL/commit/d4258cc66d24c6871688ae83f42de3b46c96d033 - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/310f41517590165a82f807562b3cbb9a76e4c7d8 - Changes: https://github.com/PX4/PX4-ECL/compare/d4258cc66d24c6871688ae83f42de3b46c96d033...310f41517590165a82f807562b3cbb9a76e4c7d8 `310f415` 2021-02-16 Daniel Agar - EKF add const state reset status access `0c5291d` 2021-02-16 isidroas - Heading reset to magnetometer from GPS or EV (#969)	2021-02-16 22:00:12 -05:00
Daniel Agar	a416731656	drivers/heater: add logging and minor improvements - new heater_status logging message - run continously at low rate until configured sensor is found - fix px4io fd bugs (fd open/close/ioctl must be same thread)	2021-02-16 15:16:19 -05:00
Daniel Agar	5abf29d93c	commander: auto TAKEOFF to LOITER/MISSION minor fix to avoid failsafe confusion - base on nav_state rather than main_state	2021-02-16 13:02:14 -05:00
Julian Oes	64d0ce43b6	mavsdk_tests: upload to logs.px4.io in test_runner By doing the upload directly inside the mavsdk_test_runner.py we have more context such as the model, case, etc.	2021-02-16 17:07:21 +01:00
Julian Oes	18281eee29	workflows: more meta information to log upload This adds a little bit more information but still lacks the one to one mapping between test and uploaded file.	2021-02-16 17:07:21 +01:00
Julian Oes	2315618b85	mavsdk_tests: use autopilot timestamps to sleep This way we should be able to avoid some of the timeouts happening on the PX4 side if MAVSDK doesn't send setpoints in time.	2021-02-16 17:07:21 +01:00
Julian Oes	6c26387e85	mavsdk_tests: try to prevent auto-disarm We should not spend too much time sending RC init messages because if it takes too long, we might auto-disarm in the meantime.	2021-02-16 17:07:21 +01:00
Julian Oes	c1de27acf7	mavsdk_tests: use more conservative speed_factor	2021-02-16 17:07:21 +01:00
Julian Oes	0ebb8c6981	mavsdk_tests: use microseconds to avoid sleep(0)	2021-02-16 17:07:21 +01:00
Julian Oes	b6b9ce5f11	mavsdk_tests: robustify test by climbing longer	2021-02-16 17:07:21 +01:00
Julian Oes	b79553862e	mavsdk_tests: remove timeout for mission upload Just use what is MAVSDK internal.	2021-02-16 17:07:21 +01:00