px4_platform_common: I2CBusIterator/SPIBusIterator return bus integer directly

- don't expose full px4_i2c_bus_t/px4_spi_bus_t

platforms/common/i2c.cpp

@@ -41,7 +41,7 @@
 bool px4_i2c_bus_external(int bus)
 {
 	for (int i = 0; i < I2C_BUS_MAX_BUS_ITEMS; ++i) {
-		if (px4_i2c_buses[i].bus == bus) {
+		if ((px4_i2c_buses[i].bus != -1) && (px4_i2c_buses[i].bus == bus)) {
 			return px4_i2c_buses[i].is_external;
 		}
 	}

platforms/common/i2c_spi_buses.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- * Copyright (C) 2020, 2021 PX4 Development Team. All rights reserved.
+ * Copyright (C) 2020-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -332,7 +332,7 @@ bool BusInstanceIterator::next()
 
 	} else if (busType() == BOARD_SPI_BUS) {
 		if (_spi_bus_iterator.next()) {
-			bus = _spi_bus_iterator.bus().bus;
+			bus = _spi_bus_iterator.bus();
 		}
 
 #endif // CONFIG_SPI
@@ -340,7 +340,7 @@ bool BusInstanceIterator::next()
 
 	} else if (busType() == BOARD_I2C_BUS) {
 		if (_i2c_bus_iterator.next()) {
-			bus = _i2c_bus_iterator.bus().bus;
+			bus = _i2c_bus_iterator.bus();
 		}
 
 #endif // CONFIG_I2C
@@ -448,14 +448,14 @@ int BusInstanceIterator::bus() const
 #if defined(CONFIG_SPI)
 
 	if (busType() == BOARD_SPI_BUS) {
-		return _spi_bus_iterator.bus().bus;
+		return _spi_bus_iterator.bus();
 	}
 
 #endif // CONFIG_SPI
 #if defined(CONFIG_I2C)
 
 	if (busType() == BOARD_I2C_BUS) {
-		return _i2c_bus_iterator.bus().bus;
+		return _i2c_bus_iterator.bus();
 	}
 
 #endif // CONFIG_I2C

platforms/common/include/px4_platform_common/i2c.h

@@ -80,7 +80,7 @@ public:
 
 	bool next();
 
-	const px4_i2c_bus_t &bus() const { return px4_i2c_buses[_index]; }
+	int bus() const { return px4_i2c_buses[_index].bus; }
 
 	int externalBusIndex() const { return _external_bus_counter; }
 

platforms/common/include/px4_platform_common/spi.h

@@ -153,14 +153,14 @@ public:
 
 	bool next();
 
-	const px4_spi_bus_t &bus() const { return px4_spi_buses[_index]; }
+	int bus() const { return px4_spi_buses[_index].bus; }
 	spi_drdy_gpio_t DRDYGPIO() const { return px4_spi_buses[_index].devices[_bus_device_index].drdy_gpio; }
 
 	uint32_t devid() const { return px4_spi_buses[_index].devices[_bus_device_index].devid; }
 
 	int externalBusIndex() const { return _external_bus_counter; }
 
-	bool external() const { return px4_spi_bus_external(bus()); }
+	bool external() const { return px4_spi_bus_external(px4_spi_buses[_index]); }
 
 	int busDeviceIndex() const { return _bus_device_index; }
 

platforms/nuttx/src/px4/common/px4_init.cpp

@@ -139,7 +139,7 @@ int px4_platform_init()
 	I2CBusIterator i2c_bus_iterator {I2CBusIterator::FilterType::All};
 
 	while (i2c_bus_iterator.next()) {
-		i2c_master_s *i2c_dev = px4_i2cbus_initialize(i2c_bus_iterator.bus().bus);
+		i2c_master_s *i2c_dev = px4_i2cbus_initialize(i2c_bus_iterator.bus());
 
 #if defined(CONFIG_I2C_RESET)
 		I2C_RESET(i2c_dev);

src/lib/drivers/device/Device.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -169,7 +169,7 @@ public:
 
 	union DeviceId {
 		struct DeviceStructure devid_s;
-		uint32_t devid;
+		uint32_t devid{0};
 	};
 
 	uint32_t get_device_id() const { return _device_id.devid; }
@@ -268,8 +268,8 @@ protected:
 	Device(uint8_t devtype, const char *name, DeviceBusType bus_type, uint8_t bus, uint8_t address) : _name(name)
 	{
 		set_device_type(devtype);
-		_device_id.devid_s.bus_type = bus_type;
-		_device_id.devid_s.bus = bus;
+		set_device_bus_type(bus_type);
+		set_device_bus(bus);
 		set_device_address(address);
 	}
 

src/modules/commander/commander_params.c

@@ -609,7 +609,7 @@ PARAM_DEFINE_FLOAT(COM_ARM_IMU_GYR, 0.25f);
  * @min 3
  * @max 180
  */
-PARAM_DEFINE_INT32(COM_ARM_MAG_ANG, 45);
+PARAM_DEFINE_INT32(COM_ARM_MAG_ANG, 60);
 
 /**
  * Enable mag strength preflight check

src/modules/sensors/module.yaml

@@ -96,7 +96,7 @@ parameters:
             category: System
             type: float
             default: 0.0
-            unit: m
+            unit: m/s^2
             volatile: true
             num_instances: *max_num_sensor_instances
             instance_start: 0
@@ -107,7 +107,7 @@ parameters:
             category: System
             type: float
             default: 0.0
-            unit: m
+            unit: m/s^2
             volatile: true
             num_instances: *max_num_sensor_instances
             instance_start: 0
@@ -118,7 +118,7 @@ parameters:
             category: System
             type: float
             default: 0.0
-            unit: m
+            unit: m/s^2
             volatile: true
             num_instances: *max_num_sensor_instances
             instance_start: 0
@@ -288,7 +288,7 @@ parameters:
             category: System
             type: float
             default: 0.0
-            unit: m
+            unit: rad/s
             volatile: true
             num_instances: *max_num_sensor_instances
             instance_start: 0
@@ -299,7 +299,7 @@ parameters:
             category: System
             type: float
             default: 0.0
-            unit: m
+            unit: rad/s
             volatile: true
             num_instances: *max_num_sensor_instances
             instance_start: 0
@@ -310,7 +310,7 @@ parameters:
             category: System
             type: float
             default: 0.0
-            unit: m
+            unit: rad/s
             volatile: true
             num_instances: *max_num_sensor_instances
             instance_start: 0
@@ -405,7 +405,7 @@ parameters:
             category: System
             type: float
             default: 0.0
-            unit: m
+            unit: gauss
             volatile: true
             num_instances: *max_num_sensor_instances
             instance_start: 0
@@ -416,7 +416,7 @@ parameters:
             category: System
             type: float
             default: 0.0
-            unit: m
+            unit: gauss
             volatile: true
             num_instances: *max_num_sensor_instances
             instance_start: 0
@@ -427,7 +427,7 @@ parameters:
             category: System
             type: float
             default: 0.0
-            unit: m
+            unit: gauss
             volatile: true
             num_instances: *max_num_sensor_instances
             instance_start: 0

src/modules/simulation/gz_bridge/GZBridge.cpp

@@ -80,14 +80,14 @@ int GZBridge::init()
 		if (!_model_pose.empty()) {
 			PX4_INFO("Requested Model Position: %s", _model_pose.c_str());
 
-			std::vector<float> model_pose_v;
+			std::vector<double> model_pose_v;
 
 			std::stringstream ss(_model_pose);
 
 			while (ss.good()) {
 				std::string substr;
 				std::getline(ss, substr, ',');
-				model_pose_v.push_back(std::stof(substr));
+				model_pose_v.push_back(std::stod(substr));
 			}
 
 			while (model_pose_v.size() < 6) {