ekf2: fix symforce cmake code generation targets

- if symforce available always regenerate in build and use output in
   build directory
 - add new helper target (ekf2_generate_symforce_default) to regenerate
   default in tree symforce output

boards/px4/fmu-v6xrt/src/board_config.h

@@ -455,6 +455,7 @@
 #define RC_SERIAL_SINGLEWIRE            1 // Suport Single wire wiring
 #define RC_SERIAL_SWAP_RXTX             1 // Set Swap (but not supported in HW) to use Single wire
 #define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
 
 /* FLEXSPI4 */
 

boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_flash.c

@@ -104,9 +104,10 @@ const struct flexspi_nor_config_s g_flash_fast_config = {
 		.busyBitPolarity = 0u,
 		.lookupTable =
 		{
-			/* Read */// EEH+11H+32bit addr+20dummy cycles+ 4Bytes read data    //200Mhz 18 dummy=10+8
+			/* Read */// EEH+11H+32bit addr+20dummy cycles+ 4Bytes read data
+			/* Macronix manual says 20 dummy cycles @ 200Mhz, FlexSPI peripheral Operand value needs to be 2N in DDR mode hence 0x28 */
 			[0 + 0] = FLEXSPI_LUT_SEQ(CMD_DDR, FLEXSPI_8PAD, 0xEE, CMD_DDR, FLEXSPI_8PAD, 0x11),    //0x871187ee,
-			[0 + 1] = FLEXSPI_LUT_SEQ(RADDR_DDR, FLEXSPI_8PAD, 0x20, DUMMY_DDR, FLEXSPI_8PAD, 0x04),//0xb3048b20,
+			[0 + 1] = FLEXSPI_LUT_SEQ(RADDR_DDR, FLEXSPI_8PAD, 0x20, DUMMY_DDR, FLEXSPI_8PAD, 0x28),//0xb3288b20,
 			[0 + 2] = FLEXSPI_LUT_SEQ(READ_DDR, FLEXSPI_8PAD, 0x04, STOP_EXE, FLEXSPI_1PAD, 0x00), //0xa704,
 
 			/* Read status */

src/drivers/rc_input/RCInput.cpp

@@ -314,7 +314,7 @@ void  RCInput::swap_rx_tx()
 #  ifdef TIOCSSINGLEWIRE
 
 	if (rv != OK) {
-		ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_PUSHPULL);
+		ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
 	}
 
 #  else

src/modules/ekf2/CMakeLists.txt

@@ -33,43 +33,19 @@
 
 add_subdirectory(Utility)
 
-option(EKF2_SYMFORCE_GEN "ekf2 generate symforce output" OFF)
+option(EKF2_SYMFORCE_GEN "ekf2 generate symforce output" ON)
 
-# Symforce code generation TODO:fixme
+# Symforce code generation
 execute_process(
     COMMAND ${PYTHON_EXECUTABLE} -m symforce.symbolic
     RESULT_VARIABLE PYTHON_SYMFORCE_EXIT_CODE
     OUTPUT_QUIET
 )
 
-# for now only provide symforce target helper if derivation.py generation isn't default
-if((NOT CONFIG_EKF2_MAGNETOMETER) OR (NOT CONFIG_EKF2_WIND))
-	set(EKF2_SYMFORCE_GEN ON)
-endif()
-
 set(EKF_DERIVATION_SRC_DIR ${CMAKE_CURRENT_SOURCE_DIR}/EKF/python/ekf_derivation)
 
-set(EKF_GENERATED_FILES ${EKF_DERIVATION_SRC_DIR}/generated/state.h)
-set(EKF_GENERATED_DERIVATION_INCLUDE_PATH "${EKF_DERIVATION_SRC_DIR}/..")
-
 if(EKF2_SYMFORCE_GEN AND (${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0))
 
-	# regenerate default in tree
-	add_custom_command(
-		OUTPUT
-			${EKF_DERIVATION_SRC_DIR}/generated/predict_covariance.h
-			${EKF_DERIVATION_SRC_DIR}/generated/state.h
-		COMMAND
-			${PYTHON_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py
-		DEPENDS
-			${EKF_DERIVATION_SRC_DIR}/derivation.py
-			${EKF_DERIVATION_SRC_DIR}/utils/derivation_utils.py
-
-		WORKING_DIRECTORY ${EKF_DERIVATION_SRC_DIR}
-		COMMENT "Symforce code generation (default)"
-		USES_TERMINAL
-	)
-
 	# generate to build directory
 	set(EKF_DERIVATION_DST_DIR ${CMAKE_CURRENT_BINARY_DIR}/ekf_derivation)
 	file(MAKE_DIRECTORY ${EKF_DERIVATION_DST_DIR})
@@ -91,8 +67,7 @@ if(EKF2_SYMFORCE_GEN AND (${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0))
 
 	add_custom_command(
 		OUTPUT
-			${EKF_DERIVATION_DST_DIR}/generated/predict_covariance.h
-			${EKF_DERIVATION_DST_DIR}/generated/state.h
+			${EKF_GENERATED_FILES}
 		COMMAND
 			${PYTHON_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py ${SYMFORCE_ARGS}
 		DEPENDS
@@ -100,19 +75,29 @@ if(EKF2_SYMFORCE_GEN AND (${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0))
 			${EKF_DERIVATION_SRC_DIR}/utils/derivation_utils.py
 
 		WORKING_DIRECTORY ${EKF_DERIVATION_DST_DIR}
-		COMMENT "Symforce code generation"
+		COMMENT "ekf2 symforce code generation"
+		#USES_TERMINAL
+	)
+else()
+	# generation disabled or symforce not available, use pre-generated default files in tree (src/modules/ekf2/EKF/python/ekf_derivation/generated)
+	set(EKF_GENERATED_FILES ${EKF_DERIVATION_SRC_DIR}/generated/state.h)
+	set(EKF_GENERATED_DERIVATION_INCLUDE_PATH "${EKF_DERIVATION_SRC_DIR}/..")
+endif()
+
+# symforce in tree code generation helper
+if(${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0)
+	# regenerate default symforce output in tree (src/modules/ekf2/EKF/python/ekf_derivation/generated)
+	add_custom_target(ekf2_generate_symforce_default
+		COMMAND ${PYTHON_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py
+		DEPENDS ${EKF_DERIVATION_SRC_DIR}/derivation.py
+		WORKING_DIRECTORY ${EKF_DERIVATION_SRC_DIR}
+		COMMENT "Symforce code generation (default)"
 		USES_TERMINAL
 	)
-
-
-
-	add_custom_target(ekf2_symforce_generate
-		DEPENDS
-			${EKF_DERIVATION_SRC_DIR}/generated/predict_covariance.h
-			${EKF_DERIVATION_DST_DIR}/generated/predict_covariance.h
-	)
 endif()
 
+add_custom_target(ekf_symforce_generated DEPENDS ${EKF_GENERATED_FILES})
+
 set(EKF_LIBS)
 set(EKF_SRCS)
 list(APPEND EKF_SRCS
@@ -257,9 +242,11 @@ px4_add_module(
 		px4_work_queue
 		world_magnetic_model
 
+		ekf_symforce_generated
 		${EKF_LIBS}
 		bias_estimator
 		output_predictor
+
 	UNITY_BUILD
 	)
 

src/modules/ekf2/EKF/CMakeLists.txt

@@ -142,7 +142,7 @@ add_library(ecl_EKF
 	${EKF_SRCS}
 )
 
-add_dependencies(ecl_EKF prebuild_targets)
+add_dependencies(ecl_EKF prebuild_targets ekf_symforce_generated)
 target_include_directories(ecl_EKF PUBLIC ${EKF_GENERATED_DERIVATION_INCLUDE_PATH})
 
 target_link_libraries(ecl_EKF

src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp

@@ -130,7 +130,9 @@ void Ekf::controlMagFusion()
 		_innov_check_fail_status.flags.reject_mag_z = (aid_src.test_ratio[2] > 1.f);
 
 		// determine if we should use mag fusion
-		bool continuing_conditions_passing = (_params.mag_fusion_type != MagFuseType::NONE)
+		bool continuing_conditions_passing = ((_params.mag_fusion_type == MagFuseType::INIT)
+						      || (_params.mag_fusion_type == MagFuseType::AUTO)
+						      || (_params.mag_fusion_type == MagFuseType::HEADING))
 						     && _control_status.flags.tilt_align
 						     && (_control_status.flags.yaw_align || (!_control_status.flags.ev_yaw && !_control_status.flags.yaw_align))
 						     && mag_sample.mag.longerThan(0.f)

src/modules/ekf2/EKF/common.h

@@ -101,7 +101,8 @@ enum MagFuseType : uint8_t {
 	// Integer definitions for mag_fusion_type
 	AUTO    = 0,   	///< The selection of either heading or 3D magnetometer fusion will be automatic
 	HEADING = 1,   	///< Simple yaw angle fusion will always be used. This is less accurate, but less affected by earth field distortions. It should not be used for pitch angles outside the range from -60 to +60 deg
-	NONE    = 5    	///< Do not use magnetometer under any circumstance..
+	NONE    = 5,   	///< Do not use magnetometer under any circumstance.
+	INIT    = 6     ///< Use the mag for heading initialization only.
 };
 #endif // CONFIG_EKF2_MAGNETOMETER
 

src/modules/ekf2/EKF2.cpp

@@ -769,6 +769,7 @@ void EKF2::VerifyParams()
 	if ((_param_ekf2_mag_type.get() != MagFuseType::AUTO)
 	    && (_param_ekf2_mag_type.get() != MagFuseType::HEADING)
 	    && (_param_ekf2_mag_type.get() != MagFuseType::NONE)
+	    && (_param_ekf2_mag_type.get() != MagFuseType::INIT)
 	   ) {
 
 		mavlink_log_critical(&_mavlink_log_pub, "EKF2_MAG_TYPE invalid, resetting to default");

src/modules/ekf2/module.yaml

@@ -401,19 +401,18 @@ parameters:
           heading or 3-component vector. The fusion of magnetometer data as a three
           component vector enables vehicle body fixed hard iron errors to be learned,
           but requires a stable earth field. If set to 'Automatic' magnetic heading
-          fusion is used when on-ground and 3-axis magnetic field fusion in-flight
-          with fallback to magnetic heading fusion if there is insufficient motion
-          to make yaw or magnetic field states observable. If set to 'Magnetic heading'
-          magnetic heading fusion is used at all times. If set to 'None' the magnetometer
-          will not be used under any circumstance. If no external source of yaw is
-          available, it is possible to use post-takeoff horizontal movement combined
-          with GPS velocity measurements to align the yaw angle with the timer required
-          (depending on the amount of movement and GPS data quality).
+          fusion is used when on-ground and 3-axis magnetic field fusion in-flight.
+          If set to 'Magnetic heading' magnetic heading fusion is used at all times.
+          If set to 'None' the magnetometer will not be used under any circumstance.
+          If no external source of yaw is available, it is possible to use post-takeoff
+          horizontal movement combined with GNSS velocity measurements to align the yaw angle.
+          If set to 'Init' the magnetometer is only used to initalize the heading.
       type: enum
       values:
         0: Automatic
         1: Magnetic heading
         5: None
+        6: Init
       default: 0
       reboot_required: true
     EKF2_MAG_ACCLIM: