WIP: px4log

ARK CANnode fix params
FWPositionControl: HOTFIX: zero airspeed rate estimation input to TECS
2026-08-20 15:50:35 +08:00 · 2023-03-16 21:20:58 -04:00 · 2023-03-16 14:32:36 -04:00 · 2023-03-16 16:58:08 +01:00 · 2023-03-16 16:58:08 +01:00 · 2023-03-16 16:58:08 +01:00
475 changed files with 8256 additions and 5255 deletions
@@ -170,7 +170,7 @@
            ]
        },
        {
-            "label": "ign gazebo",
+            "label": "gazebo",
            "type": "shell",
            "options": {
                "cwd": "${workspaceFolder}",
@@ -178,7 +178,7 @@
                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
                }
            },
-            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
+            "command": "gz sim -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -191,7 +191,7 @@
                "close": false
            },
            "problemMatcher": [],
-            "dependsOn":["ign gazebo kill"]
+            "dependsOn":["gazebo kill"]
        },
        {
            "label": "gazebo-classic kill",
@@ -211,9 +211,9 @@
            "dependsOn":["px4_sitl_cleanup"]
        },
        {
-            "label": "ign gazebo kill",
+            "label": "gazebo kill",
            "type": "shell",
-            "command": "pkill -9 -f 'ign gazebo' || true",
+            "command": "pkill -9 -f 'gz sim' || true",
            "presentation": {
                "echo": true,
                "reveal": "never",
@@ -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)
@@ -137,11 +137,6 @@ add_custom_command(
 	COMMENT "ROMFS: copying, generating airframes"
 	)

-if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
-	set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-	configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
-endif()
-
 # copy extras into ROMFS
 set(extras_dependencies)

@@ -208,6 +203,24 @@ endforeach()
 set(OPTIONAL_BOARD_EXTRAS)
 file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)

+# bootloader (optional)
+#  - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
+#  - otherwise remove bootloader binary from extras in final ROMFS
+foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
+	file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
+	if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
+		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
+			# generate rc.board_bootloader_upgrade
+			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
+			configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
+		else()
+			# remove bootloader from extras
+			list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
+		endif()
+
+	endif()
+endforeach()
+
 foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})

 	if(EXISTS "${board_extra_file}")
@@ -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
-	echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
+	px4log "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
-	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
+	px4log "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
-	echo "Board sensors: ${BOARD_RC_SENSORS}"
+	px4log "Board sensors: ${BOARD_RC_SENSORS}"
 	. $BOARD_RC_SENSORS
 fi
 unset BOARD_RC_SENSORS
@@ -0,0 +1,8 @@
+#!/bin/sh
+
+px4log_tail &
+
+#
+# Print full system version.
+#
+ver all
@@ -31,6 +31,8 @@
 #
 ############################################################################

+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")
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Gazebo x500 vision
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}
@@ -1,8 +1,6 @@

 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p

-# shellcheck disable=SC2154
-mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
 # shellcheck disable=SC2154
 mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -74,6 +74,7 @@ px4_add_romfs_files(
 	4002_gz_x500_depth
 	4003_gz_rc_cessna
 	4004_gz_standard_vtol
+	4005_gz_x500_vision

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -6,7 +6,15 @@ param set-default IMU_INTEG_RATE 250

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

-	echo "INFO  [init] SIH simulator"
+	px4log "INFO  [init] SIH simulator"
+
+	if [ -n "${PX4_HOME_LAT}" ]; then
+		param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
+	fi
+
+	if [ -n "${PX4_HOME_LON}" ]; then
+		param set SIH_LOC_LON0 ${PX4_HOME_LON}
+	fi

 	if simulator_sih start; then

@@ -24,7 +32,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		fi

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

@@ -46,7 +54,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		gz_command="gz"
 		gz_sub_command="sim"
 	else
-		echo "ERROR [init] Gazebo gz please install gz-garden"
+		px4log "ERROR [init] Gazebo gz please install gz-garden"
 		exit 1
 	fi

@@ -56,7 +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

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

@@ -66,7 +74,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 		fi

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

@@ -77,10 +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' )"
-			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+			px4log "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"

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

@@ -104,7 +112,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			fi

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

@@ -130,13 +138,13 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			fi

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

-		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
+		px4log "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 "${px4_instance}"; then
 			if param compare -s SENS_EN_BAROSIM 1
@@ -157,18 +165,18 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			fi

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

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

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

 	if jps | grep -i jmavsim; then
 		kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
@@ -190,15 +198,15 @@ else
 	if [ -z "${PX4_SIM_HOSTNAME}" ]; then

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

 	else
-		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
+		px4log "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
-	echo "Invalid replay log file ${replay}"
+	px4log "Invalid replay log file ${replay}"
 	exit 1
 fi

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

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

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

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

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

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

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

 		bsondump $PARAM_FILE

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

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

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

@@ -191,19 +193,19 @@ 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)
-	echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
+	px4log "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)
-	echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
+	px4log "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)
-	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
+	px4log "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)
-	echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
+	px4log "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
 	param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
 fi

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

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

@@ -46,6 +46,7 @@ px4_add_romfs_files(
 	rc.logging
 	rc.mc_apps
 	rc.mc_defaults
+	rc.sysinit
 	rcS
 	rc.sensors
 	rc.thermal_cal
@@ -122,16 +122,12 @@ param set-default VT_TRANS_MIN_TM 15
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_SC 4
 param set-default VT_F_TRANS_DUR 1
-param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
 param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0

-
-
-
 param set-default CA_AIRFRAME 2

 param set-default CA_ROTOR_COUNT 5
@@ -54,14 +54,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 # Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
 param set-default GND_MAX_ANG 3.1415

-param set-default RBCLW_BAUD 8
-param set-default RBCLW_COUNTS_REV 1200
-param set-default RBCLW_ADDRESS 128
-# 104 corresponds to Telem 4
-param set-default RBCLW_SER_CFG 104
-# Start this driver after setting parameters, because the driver uses some of those parameters.
-# roboclaw start /dev/ttyS3
-
 # Set geometry & output configration
 param set-default CA_AIRFRAME 6
 param set-default CA_R_REV 3
@@ -20,10 +20,10 @@ then
 	#
 	if attitude_estimator_q start
 	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		px4log "WARN [init] Estimator LPE unsupported, EKF2 recommended."
 		local_position_estimator start
 	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		px4log "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
-	echo "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
+	px4log "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
 fi
@@ -17,10 +17,10 @@ then
 	#
 	if attitude_estimator_q start
 	then
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		px4log "WARN [init] Estimator LPE unsupported, EKF2 recommended."
 		local_position_estimator start
 	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		px4log "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
-		echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
+		px4log "WARN [init] Estimator LPE unsupported, EKF2 recommended."
 		local_position_estimator start
 	else
-		echo "ERROR [init] Estimator LPE not available. Using EKF2"
+		px4log "ERROR [init] Estimator LPE not available. Using EKF2"
 		param set SYS_MC_EST_GROUP 2
 		param save
 		reboot
@@ -0,0 +1,3 @@
+#!/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
-	echo "No autostart ID found"
+	px4log "No autostart ID found"
 	ekf2 start &
 fi
@@ -36,11 +36,6 @@ set SDCARD_FORMAT no
 set STARTUP_TUNE 1
 set VEHICLE_TYPE none

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

 	if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
 	then
-		echo "INFO [init] formatting /dev/mmcsd0"
+		px4log "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
-			echo "INFO [init] card formatted"
+			px4log "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
-				echo "ERROR [init] card mount failed"
+				px4log "ERROR [init] card mount failed"
 			fi
 		else
-			echo "ERROR [init] format failed"
+			px4log "ERROR [init] format failed"
 		fi
 	fi

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

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

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

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

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

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

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

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

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

 if px4io checkcrc $io_file
 then
-	echo "PX4IO CRC OK"
+	px4log "PX4IO CRC OK"
 else
-	echo "PX4IO CRC failure"
+	px4log "PX4IO CRC failure"
 	tune_control play -t 16 # tune 16 = PROG_PX4IO
 	if px4io update $io_file
 	then
 		if px4io start
 		then
-			echo "PX4IO restart OK"
+			px4log "PX4IO restart OK"
 			tune_control play-t 17 # tune 17 = PROG_PX4IO_OK
 		else
-			echo "PX4IO restart failed"
+			px4log "PX4IO restart failed"
 			tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 			set unit_test_failure 1
 			set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
 		fi
 	else
-		echo "PX4IO update failed"
+		px4log "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
-	echo "PX4IO OK"
+	px4log "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
-	echo "All Unit Tests PASSED"
+	px4log "All Unit Tests PASSED"
 	led_control on -c green
 else
 	echo
-	echo "Some Unit Tests FAILED"
+	px4log "Some Unit Tests FAILED"
 	led_control on -c red
 fi

@@ -77,11 +77,11 @@ class RCOutput():
        result += "\n"
        result += "if [ ${AIRFRAME} != none ]\n"
        result += "then\n"
-        result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
+        result += "\tpx4log \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
        result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
        if not post_start:
            result += "else\n"
-            result += "\techo \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
+            result += "\tpx4log \"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"
@@ -102,7 +102,7 @@ class ModuleDocumentation(object):
    def _handle_usage_param_int(self, args):
        assert(len(args) == 6) # option_char, default_val, min_val, max_val, description, is_optional
        option_char = self._get_option_char(args[0])
-        default_val = int(args[1], 0)
+        default_val = self._get_int(args[1])
        description = self._get_string(args[4])
        if self._is_bool_true(args[5]):
            self._usage_string += "     [-%s <val>]  %s\n" % (option_char, description)
@@ -214,6 +214,9 @@ class ModuleDocumentation(object):
            f = f[:-1]
        return float(f)

+    def _get_int(self, argument):
+        return int(eval(argument))
+
    def _is_string(self, argument):
        return len(argument) > 0 and argument[0] == '"'

@@ -307,6 +310,8 @@ class SourceParser(object):
            r'//.*?$|/\*.*?\*/|\'(?:\\.|[^\\\'])*\'|"(?:\\.|[^\\"])*"',
            re.DOTALL | re.MULTILINE)

+        self._define_pattern = re.compile(r'#define\s+(\w+?)[^\S\r\n]+(.+?)\s*?\n')
+
    def Parse(self, scope, contents):
        """
        Incrementally parse program contents and append all found documentations
@@ -316,6 +321,9 @@ class SourceParser(object):
        # remove comments from source
        contents = self._comment_remover(contents)

+        # replace preprocessor defines defined in file directly
+        contents = self._define_replacer(contents)
+
        extracted_function_calls = [] # list of tuples: (FUNC_NAME, list(ARGS))

        start_index = 0
@@ -379,6 +387,15 @@ class SourceParser(object):
                return s
        return re.sub(self._comment_remove_pattern, replacer, text)

+    def _define_replacer(self, text):
+        """ check for C preprocesor #define in text and replace with argument"""
+        text = re.sub(r"\\\s*?\n"," ",text)
+        define_iter = self._define_pattern.finditer(text)
+        for define_pattern in define_iter:
+            text = re.sub(r"\b" +re.escape(str(define_pattern.groups()[0])) + r"\b", re.escape(str(define_pattern.groups()[1])), text)
+        return text
+
+
    def _do_consistency_check(self, contents, scope, module_doc):
        """
        check the documentation for consistency with the code (arguments to
@@ -69,7 +69,7 @@ def main():
            file_path = os.path.join(root, file)

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

@@ -14,7 +14,7 @@ set i {{ command.instance }}
 . $PRT_F
 if [ $SERIAL_DEV != none ]; then
 {% if not constrained_flash -%}
-	echo "Starting {{ command.label }} on $SERIAL_DEV"
+	px4log "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
-		echo "Conflicting config for {{ serial_device.device }}"
+		px4log "Conflicting config for {{ serial_device.device }}"
 {% endif -%}
 	fi
 fi
@@ -209,7 +209,6 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name="left_elevon">
@@ -638,7 +637,6 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="RightWheelJoint" type="revolute">
@@ -655,7 +653,6 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <joint name="CenterWheelJoint" type="revolute">
@@ -672,7 +669,6 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
@@ -807,7 +803,7 @@
      <sub_topic>servo_3</sub_topic>
      <p_gain>10.0</p_gain>
    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
+    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_puller_joint</jointName>
      <linkName>rotor_puller</linkName>
      <turningDirection>cw</turningDirection>
@@ -208,7 +208,6 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='rotor_1'>
@@ -272,7 +271,6 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='rotor_2'>
@@ -336,7 +334,6 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='rotor_3'>
@@ -400,7 +397,6 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

@@ -466,7 +462,6 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

@@ -302,7 +302,6 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name="rotor_1">
@@ -375,7 +374,6 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name="rotor_2">
@@ -448,7 +446,6 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name="rotor_3">
@@ -521,10 +518,9 @@
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
-   <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+   <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_0_joint</jointName>
      <linkName>rotor_0</linkName>
      <turningDirection>ccw</turningDirection>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>x500-vision</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+  <author>
+    <name>Jaeyoung Lim</name>
+    <email>jalim@ethz.ch</email>
+  </author>
+  <description>Model of the X500 with a odometry/external vision input.</description>
+</model>
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-vision'>
+    <include merge='true'>
+      <uri>x500</uri>
+    </include>
+      <plugin
+        filename="gz-sim-odometry-publisher-system"
+        name="gz::sim::systems::OdometryPublisher">
+        <dimensions>3</dimensions>
+      </plugin>
+  </model>
+</sdf>
@@ -5,22 +5,22 @@
      <real_time_factor>1.0</real_time_factor>
      <real_time_update_rate>250</real_time_update_rate>
    </physics>
-    <plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
-    <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
-    <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
-    <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
-    <plugin name='ignition::gazebo::systems::Imu' filename='ignition-gazebo-imu-system'/>
-    <plugin name='ignition::gazebo::systems::AirPressure' filename='ignition-gazebo-air-pressure-system'/>
-    <plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
+    <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
+    <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
+    <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
+    <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
+    <plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
+    <plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
+    <plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
      <render_engine>ogre2</render_engine>
    </plugin>
    <gui fullscreen='false'>
      <plugin name='3D View' filename='GzScene3D'>
-        <ignition-gui>
+        <gz-gui>
          <title>3D View</title>
          <property type='bool' key='showTitleBar'>0</property>
          <property type='string' key='state'>docked</property>
-        </ignition-gui>
+        </gz-gui>
        <engine>ogre2</engine>
        <scene>scene</scene>
        <ambient_light>0.5984631152222222 0.5984631152222222 0.5984631152222222</ambient_light>
@@ -28,7 +28,7 @@
        <camera_pose>-6 0 6 0 0.5 0</camera_pose>
      </plugin>
      <plugin name='World control' filename='WorldControl'>
-        <ignition-gui>
+        <gz-gui>
          <title>World control</title>
          <property type='bool' key='showTitleBar'>0</property>
          <property type='bool' key='resizable'>0</property>
@@ -40,13 +40,13 @@
            <line own='left' target='left'/>
            <line own='bottom' target='bottom'/>
          </anchors>
-        </ignition-gui>
+        </gz-gui>
        <play_pause>1</play_pause>
        <step>1</step>
        <start_paused>1</start_paused>
      </plugin>
      <plugin name='World stats' filename='WorldStats'>
-        <ignition-gui>
+        <gz-gui>
          <title>World stats</title>
          <property type='bool' key='showTitleBar'>0</property>
          <property type='bool' key='resizable'>0</property>
@@ -58,7 +58,7 @@
            <line own='right' target='right'/>
            <line own='bottom' target='bottom'/>
          </anchors>
-        </ignition-gui>
+        </gz-gui>
        <sim_time>1</sim_time>
        <real_time>1</real_time>
        <real_time_factor>1</real_time_factor>
@@ -110,10 +110,6 @@ class PubSub(object):

            log.debug("          ####:{}:  {}, {}".format( self._name, route_group, topic_group))

-            # # TODO: handle this case... but not sure where, yet
-            # if match == 'ORB_ID_VEHICLE_ATTITUDE_CONTROLS': # special case
-            #     match = orb_id+orb_id_vehicle_attitude_controls_topic
-
            # match has the form: '[ORB_ID(]<topic_name>'
            if route_group:
                if route_group == 'ORB_ID':
@@ -232,9 +228,6 @@ class Graph(object):

        self._topic_blacklist = set(kwargs.get('topic_blacklist',set()))

-        self._orb_id_vehicle_attitude_controls_topic = 'actuator_controls_0'
-        self._orb_id_vehicle_attitude_controls_re = re.compile(r'\#define\s+ORB_ID_VEHICLE_ATTITUDE_CONTROLS\s+([^,)]+)')
-
        self._warnings = [] # list of all ambiguous scan sites

        self._current_scope = [] # stack with current module (they can be nested)
@@ -510,18 +503,7 @@ class Graph(object):
                elif current_scope.name == 'uorb_tests': # skip this
                    return
                elif current_scope.name == 'uorb':
-
-                    # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
-                    matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
-                    for match in matches:
-                        if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
-                            # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
-                            raise Exception(
-                                'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
-                                'is '+match+' but expected ORB_ID('+
-                                self._orb_id_vehicle_attitude_controls_topic)
-
-                    return # skip uorb module for the rest
+                    return # skip this

            line_number = 0
            for full_line in content.splitlines():
@@ -86,6 +86,8 @@ 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
@@ -132,6 +132,7 @@ 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
@@ -13,6 +13,8 @@ CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
+CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
@@ -22,6 +24,8 @@ 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
@@ -107,6 +107,7 @@ 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
@@ -13,6 +13,13 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -21,6 +28,8 @@ 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
@@ -109,6 +109,7 @@ 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
@@ -13,6 +13,14 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -21,6 +29,8 @@ 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
@@ -109,6 +109,7 @@ 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
@@ -9,6 +9,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
@@ -17,14 +18,34 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_ARMING_STATUS=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
+CONFIG_UAVCANNODE_ESC_STATUS=y
+CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
+CONFIG_UAVCANNODE_RAW_AIR_DATA=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
+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
@@ -2,6 +2,7 @@
 #
 # board specific defaults
 #------------------------------------------------------------------------------
+
 pwm_out start

-control_allocator start
+dshot start
@@ -109,6 +109,7 @@ 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
@@ -67,7 +67,6 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -79,6 +78,8 @@ 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
@@ -178,6 +178,7 @@ 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
@@ -489,7 +489,6 @@
 		GPIO_SPIX_SYNC                    \
 	}

-#define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_I2C_BUS_MTD      4,5

@@ -40,6 +40,8 @@ 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
@@ -138,6 +138,7 @@ 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
@@ -191,7 +191,6 @@
 		GPIO_OTGFS_VBUS                   \
 	}

-#define BOARD_ENABLE_CONSOLE_BUFFER

 #define BOARD_NUM_IO_TIMERS 1

@@ -83,6 +83,8 @@ 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
@@ -167,6 +167,7 @@ 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
@@ -146,7 +146,6 @@
 		GPIO_CAN1_TX,                     \
 	}

-#define BOARD_ENABLE_CONSOLE_BUFFER

 #define BOARD_NUM_IO_TIMERS 6

@@ -66,6 +66,8 @@ 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
@@ -38,6 +38,8 @@ 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
@@ -130,6 +130,7 @@ 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
@@ -155,8 +155,7 @@
 #define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */


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

 __BEGIN_DECLS

@@ -37,6 +37,8 @@ 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
@@ -131,6 +131,7 @@ 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
@@ -156,8 +156,7 @@
 #define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */


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

 __BEGIN_DECLS

@@ -14,12 +14,21 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 # CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
 # 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
@@ -111,6 +111,7 @@ 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
@@ -30,7 +30,6 @@ 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_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -76,7 +75,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -89,6 +87,8 @@ 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
@@ -138,6 +138,7 @@ 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
@@ -200,7 +200,6 @@
 #define BOARD_HAS_ON_RESET 1


-#define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
 		PX4_ADC_GPIO,                     \
@@ -31,7 +31,6 @@ 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_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -77,7 +76,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -90,6 +88,8 @@ 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
@@ -138,6 +138,7 @@ 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
@@ -138,6 +138,7 @@ 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
@@ -200,7 +200,6 @@
 #define BOARD_HAS_ON_RESET 1


-#define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
 		PX4_ADC_GPIO,                     \
@@ -9,4 +9,5 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
@@ -69,7 +69,6 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -81,6 +80,8 @@ 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
@@ -139,6 +139,7 @@ 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
@@ -139,6 +139,7 @@ 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
@@ -150,7 +150,6 @@



-#define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
 		PX4_ADC_GPIO,                     \
@@ -6,6 +6,7 @@ CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -49,7 +50,6 @@ CONFIG_MODULES_FW_PATH_NAVIGATION=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -66,11 +66,9 @@ CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -82,6 +80,8 @@ 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
@@ -4,12 +4,31 @@
 #------------------------------------------------------------------------------
 board_adc start

-# SPI4
+# Variants
+# 1. Isolated {ICM42688p, ICM20948(with mag)}, body-fixed {ICM20649}
+# 2. Isolated {ICM42688p, ICM42688p}, body-fixed  {ICM20649, ICM45686, AK09918}
+# 3. Isolated {ICM42688p, ICM42688p}, body-fixed  {ICM45686, AK09918}
+
+# SPI4 is isolated, SPI1 is body-fixed
+
+# SPI4, isolated
 ms5611 -s -b 4 start
-icm42688p -s -b 4 -R 10 start
-icm20948 -s -b 4 -R 10 -M start

-# SPI1
+icm42688p -s -b 4 -R 10 start -c 15
+if ! icm20948 -s -b 4 -R 10 -M -q start
+then
+	icm42688p -s -b 4 -R 6 start -c 13
+fi
+
+# SPI1, body-fixed
+if icm45686 -s -b 1 -R 3 -q start
+then
+	# if we detected the ICM45686 we also ought to have an AK09918
+	ak09916 start -I -R 13
+else
+	icm20649 -s -b 1 start
+
+fi
+
 ms5611 -s -b 1 start
-icm20649 -s -b 1 start

@@ -187,6 +187,7 @@
 #define STM32_RCC_D1CCIPR_SDMMCSEL   RCC_D1CCIPR_SDMMC_PLL1

 #define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
 #define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
 #define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
 #define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
@@ -264,3 +265,6 @@

 #define GPIO_I2C2_SCL GPIO_I2C2_SCL_1       /* PB10 */
 #define GPIO_I2C2_SDA GPIO_I2C2_SDA_1       /* PB11 */
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2        /* PF14 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2        /* PF15 */
@@ -139,6 +139,7 @@ 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
@@ -189,6 +190,7 @@ CONFIG_STM32H7_DMACAPABLE=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
+CONFIG_STM32H7_I2C4=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
 CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
@@ -139,6 +139,7 @@ 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
@@ -189,6 +190,7 @@ CONFIG_STM32H7_DMACAPABLE=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
+CONFIG_STM32H7_I2C4=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
 CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
@@ -44,6 +44,16 @@
 #include <stdint.h>
 #include <stm32_gpio.h>

+/**
+ * If NuttX is built without support for SMPS it can brick the hardware.
+ * Therefore, we make sure the NuttX headers are correct.
+ */
+#include "hardware/stm32h7x3xx_pwr.h"
+#if STM32_PWR_CR3_SMPSEXTHP != (1 << 3)
+#  error "No SMPS support in NuttX submodule");
+#endif
+
+
 /* PX4IO connection configuration */
 #define BOARD_USES_PX4IO_VERSION       2
 #define PX4IO_SERIAL_DEVICE            "/dev/ttyS3"
@@ -150,7 +160,6 @@



-#define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
 		PX4_ADC_GPIO,                     \
@@ -170,6 +179,8 @@
 		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA), \
 		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL), \
 		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SCL), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SDA), \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
@@ -36,4 +36,5 @@
 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
 	initI2CBusExternal(2),
 	initI2CBusExternal(1),
+	initI2CBusInternal(4),
 };
@@ -38,6 +38,7 @@
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}), // MPU_CS, MPU_DRDY
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortG, GPIO::Pin1}), // ICM45686_CS
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611,  SPI::CS{GPIO::PortD, GPIO::Pin7}), // BARO_CS
 	}),

@@ -48,6 +49,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI4, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin4}),  // MPU_EXT_CS
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, 	SPI::CS{GPIO::PortC, GPIO::Pin14}), // BARO_EXT_CS
 	}),
 };
@@ -3,9 +3,9 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -87,6 +87,8 @@ 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
@@ -138,6 +138,7 @@ 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
@@ -145,7 +145,6 @@



-#define BOARD_ENABLE_CONSOLE_BUFFER

 #define PX4_GPIO_INIT_LIST { \
 		PX4_ADC_GPIO,                     \
@@ -40,5 +40,7 @@ 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
@@ -97,6 +97,7 @@ 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
@@ -154,9 +154,6 @@

 #define BOARD_HAS_ON_RESET 1

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

 __BEGIN_DECLS

@@ -68,6 +68,8 @@ 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
@@ -32,6 +32,8 @@ 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
@@ -130,6 +130,7 @@ 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
@@ -156,8 +156,7 @@

 #define BOARD_HAS_ON_RESET 1

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


 __BEGIN_DECLS
@@ -11,6 +11,14 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -22,6 +30,8 @@ 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
@@ -123,6 +123,7 @@ 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
@@ -57,7 +57,6 @@
 #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

@@ -13,6 +13,13 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_SAFETY_BUTTON=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -21,6 +28,8 @@ 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
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	b4555db0e7	WIP: px4log	2023-03-16 21:20:58 -04:00
alexklimaj	0ae296bfe2	ARK CANnode fix params	2023-03-16 14:32:36 -04:00
Silvan Fuhrer	c7d4d1f45c	FWPositionControl: HOTFIX: zero airspeed rate estimation input to TECS Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 16:58:08 +01:00
Silvan Fuhrer	b33a8686f7	FWPositionController: only store acceleration and velocity in x Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 16:58:08 +01:00
Silvan Fuhrer	28db47480d	TECS: remove ununsed getSteRate() Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 16:58:08 +01:00
Daniel Agar	6ec2b902cc	ROMFS: only copy bootloader binary if systemcmds/bl_update included	2023-03-16 09:43:56 -04:00
Silvan Fuhrer	d5e1f0fdaa	uorb_graph: remove handling for actuator_controls topic Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 11:55:45 +01:00
Silvan Fuhrer	17cd65a239	Navigator: remove support for DO_SET_SERVO Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 11:55:45 +01:00
Silvan Fuhrer	a1812dbde0	gimbal: move gimbal controls to new dedicated topic Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 11:55:45 +01:00
Silvan Fuhrer	1218d9b2fc	mavlink_mission: remove support for DO_SET_CAMERA_ZOOM Camera controls should not happen through the flight controller, and the control allocation has no means of controlling the camera zoom. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 11:55:45 +01:00
Silvan Fuhrer	27658354da	MavlinkReceiver: remove support for SET_ACTUATOR_CONTROL_TARGET Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-16 11:55:45 +01:00
Silvan Fuhrer	b16f16598b	VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics MC/FW rate controller and auto tuner: remove actuator_controls AirshipAttControl: remove actuator_controls MulticopterLandDetector: remove actuator_controls mavlink streams vfr_hud and high_latency2: remove actuator_controls RoverPositionController: remove actuator_controls UUVAttitudeController: remove actuator_controls battery: use length of thrust_setpoint for throttle compensation VehicleMagnetometer: use length of thrust_setpoint for throttle compensation Signed-off-by: Silvan Fuhrer	2023-03-16 11:55:45 +01:00
akkawimo	bcd6e7adee	comment out fake_traffic to prevent flash overflow	2023-03-16 07:32:43 +01:00
Mohamad Akkawi	9de52bb5ec	[navigator] Tone Down traffic warnings - add unit tests for adsb conflict detection - move adsb conflict detection to lib/adsb and adsb conflict class - use containers/Array.hpp for buffer array - expand fake_traffic	2023-03-16 07:32:43 +01:00
Julian Oes	89548e4f9e	gps: Support for Unicore HEADINGA sentence in NMEA This adds a parser for Unicore sentences sent in-between NMEA sentences. This brings support for the Unicore UM982 module which publishes heading information based on the two antennas. Signed-off-by: Julian Oes <julian@oes.ch>	2023-03-15 21:55:15 -04:00
Alex Klimaj	ea97a38b2b	Initial Cannode PWM Support (#19748 ) * Add uavcannode esc/servo pwm control pipeline * Remove cannode rc.interface with mixer purge * Cannode add Kconfig options to reduce flash usage	2023-03-15 11:20:07 -04:00
Daniel Agar	f0a95f9572	ekf2: add new kconfig option for multi-EKF - disabled if flash constrained or memory constrained	2023-03-15 09:32:47 -04:00
Daniel Agar	19a2b4ec31	ekf2: GNSS yaw only reset test ratio for new samples - otherwise external test ratio monitoring could trigger a false positive	2023-03-14 21:49:24 -04:00
AlexKlimaj	e375e02974	Add GPS spoofing state	2023-03-14 20:28:32 -04:00
Julian Oes	2605562a69	cubeorangeplus: add I2C4, start AK09918 CubeOrange+ which have the ICM45686, also have the AK09918 connected on the internal I2C4. Signed-off-by: Julian Oes <julian@oes.ch>	2023-03-14 08:34:28 -04:00
Julian Oes	695d48d6c9	AK09916: add support for AK09918 The AK09918 seems to only differ in the WHO_AM_I ID. Signed-off-by: Julian Oes <julian@oes.ch>	2023-03-14 08:34:28 -04:00
Julian Oes	7be3279675	cubeorangeplus: add check for SMPS support If NuttX is built without support for SMPS it can brick the hardware. Therefore, I suggest that we add this additional compile-time check. Signed-off-by: Julian Oes <julian@oes.ch>	2023-03-13 22:54:41 -04:00
Julian Oes	36f430e385	cubeorangeplus: save some flash space We need to make space for drivers. Signed-off-by: Julian Oes <julian@oes.ch>	2023-03-13 22:53:56 -04:00
Julian Oes	bee4fe9470	boards: sensor config for CubeOrange+ Signed-off-by: Julian Oes <julian@oes.ch>	2023-03-13 22:53:56 -04:00
Julian Oes	63dc6b5bc9	ICM45686: fix clipping due to rotation It turns out that when you rotate by 45 degrees, as required on the CubeOrange+, then you can easily get into clipping because the vector components are constrained after the rotation. In order to avoid that, we have to avoid getting close to the int16 range and switch from 20 bit resolution to 16bit resolution earlier. Signed-off-by: Julian Oes <julian@oes.ch>	2023-03-13 22:53:56 -04:00
Julian Oes	f4b48e685f	drivers: add ICM45686 Signed-off-by: Julian Oes <julian@oes.ch>	2023-03-13 22:53:56 -04:00
Beniamino Pozzan	82dce9353c	gz models: fix deprecated warnings (#21285 ) Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>	2023-03-13 12:28:20 -07:00
bresch	fd33e60f78	ekf: fix GNSS yaw fusion wrapping	2023-03-13 10:46:34 +01:00
akkawimo	3bae99267b	fix(precland): Improved log messages (#21289 )	2023-03-13 08:39:31 +01:00
Daniel Agar	9be8f81d75	flight_mode_manager: StickAccelerationXY protect from NAN velocity reset Co-authored-by: Matthias Grob <maetugr@gmail.com>	2023-03-10 08:17:20 -05:00
Daniel Agar	435c799f57	uORB: print more decimal places for float32 and float64	2023-03-10 07:39:34 +01:00
Frederic Taillandier	91f6ab865c	ROMFS: fix shellcheck error in px4-rc.simulator (#21282 )	2023-03-10 07:37:45 +01:00
Matthias Grob	bd5838faf0	FlightTask: don't instaniate unused parameters	2023-03-09 17:40:55 +01:00
Tony Samaritano	eb4da990c3	init.d-posix/px4-rc.simulator: adds non-default LAT and LON as optional environment variables	2023-03-09 09:40:35 -05:00
Daniel Agar	b3cc945a5a	ekf2: merge runOnGroundYawReset() + runInAirYawReset() into unified magReset()	2023-03-09 09:08:27 -05:00
Daniel Agar	c1f244a6fd	ekf2: decrease EKF2_MAG_YAWLIM default 0.25 -> 0.2 rad/s (#21264 )	2023-03-09 09:07:54 -05:00
Daniel Agar	60b85c2e1a	mavlink: add kconfig option to disable UAVCAN parameter bridge - depends on DRIVERS_UAVCAN	2023-03-08 19:30:06 -05:00
frederictaillandier	eb86cb85b7	removing MOUNT_ORIENTATION on udp_gcs_port_local from typhoon	2023-03-09 12:43:47 +13:00
Daniel Agar	4dda5a97d8	ekf2: mag_3d check mag bias variance before allowed to update all states (orientation)	2023-03-08 15:12:48 -05:00
Julian Oes	ea20217c1b	kakuteh7v2/mini: EKF2 is already the default	2023-03-08 10:48:31 -05:00
Julian Oes	593b3d250d	kakuteh7mini: remove duplicate param defaults Signed-off-by: Julian Oes <julian@oes.ch>	2023-03-08 10:48:31 -05:00
Julian Oes	ed49ed3903	kakuteh7v2/mini: use EKF2 without mag by default This switches from attitude_estimator_q to EKF2 which should now work without mag when the params are set to SYS_HAS_MAG = 0 and EKF2_IMU_CTRL = 7 to enable gravity fusion. Signed-off-by: Julian Oes <julian@oes.ch>	2023-03-08 10:48:31 -05:00
Matthias Grob	132e9d2439	modeCheck: add warning when RC enabled but not present	2023-03-08 09:32:56 +01:00
Matthias Grob	898c0ae5a8	mode_requirements: refactor order of setting flags	2023-03-08 09:32:56 +01:00
Matthias Grob	7fa8dfe2d2	rcAndDataLinkCheck: always update manual control availability and remove duplicate manual control check possibly it needs to be readded to give warning about RC enabled but not present.	2023-03-08 09:32:56 +01:00
Matthias Grob	f498b90c41	mode_requirements: add manual control for manual modes	2023-03-08 09:32:56 +01:00
Beniamino Pozzan	636dfdec6a	VScode: fix tasks.json and launch_sitl.json after ign -> gazebo renaming PX4_SIM model need the simulator (gz_) prefix Fix post debug task Add x500_depth, rc_cessna, standard_vtol Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>	2023-03-07 21:28:39 -05:00
Daniel Agar	d45aeae1de	ekf2: add and share centralized method to clear inhibited state Kalman gains	2023-03-07 13:27:57 -05:00
Konrad	7098970a38	Tools: extend documentation parser: - Add the possibility in the parser to replace the defines made in the current file with their argument (includes are not supported) - Add the possibility for the parser to parse int argument with bitwise shift operators	2023-03-06 18:34:01 -05:00
PX4 BuildBot	603d4b999b	Update submodule sitl_gazebo-classic to latest Mon Mar 6 12:38:18 UTC 2023 - sitl_gazebo-classic in PX4/Firmware (`7edce94b93`): https://github.com/PX4/PX4-SITL_gazebo-classic/commit/9343aaf4e275db48fce02dd25c5bd8273c2d583a - sitl_gazebo-classic current upstream: https://github.com/PX4/PX4-SITL_gazebo-classic/commit/e3722bf9132567e8dd08b7ed6df2986e21a6ec18 - Changes: https://github.com/PX4/PX4-SITL_gazebo-classic/compare/9343aaf4e275db48fce02dd25c5bd8273c2d583a...e3722bf9132567e8dd08b7ed6df2986e21a6ec18 e3722bf 2023-02-24 Frederic Taillandier - Allowing to override sniffer's modules ip (#963) 2221c95 2023-02-24 Frederic Taillandier - removing macos 1015 github actions (#962) 48e9b17 2023-02-24 frederic@auterion.com - removing debug 265198d 2023-02-24 frederic@auterion.com - fixing indentation de9bf14 2023-02-24 frederic@auterion.com - try fix build by updating the path to the right gazebo ec8641d 2022-08-24 Konrad - Revert "Enable multi IMU capability in gazebo mavlink interface" 487a789 2023-02-21 Jaeyoung Lim - Revert "Add multi magnetometer capability. Magnetometer plugin now derived from sensorplugin. Magnetometer topic dervied from naming. Updated all models with magnetometer submodel"	2023-03-06 18:33:00 -05:00
Silvan Fuhrer	2d92bd627a	FWRateController: always update manual_control_setpoint if in manual and FW Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-06 22:43:41 +01:00
Silvan Fuhrer	caee131e6a	FW Position Controller: mini fw_control_yaw_wheel refactoring Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-06 22:43:41 +01:00
Silvan Fuhrer	1e56d9c219	Rework flaps/spoilers logic - remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES] - use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint and spoilers_setpoint) to pass into control allocation - remove flaps/spoiler related fields from attitude_setpoint topic - CA: add possibility to map flaps/spoilers to any control surface - move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER) - move manual flaps/spoiler handling from rate to attitude controller FW Position controller: change how negative switch readings are intepreted for flaps/spoilers (considered negative as 0). VTOL: Rework spoiler publishing in hover - pushlish spoiler_setpoint.msg in the VTOL module if in hover - also set spoilers to land configuration if in Descend mode Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller (which then only is applied in Auto flight), do it consistently over all flight modes, so also for manual modes. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-06 22:43:41 +01:00
Silvan Fuhrer	16594bffa9	Rework landing gear logic - remove deprecated actuator_controls[INDEX_LANDING_GEAR] - remove dead code in mc rate controller that used to prevent it from being retracted on the ground (anyway had no effect as it only affected the actuator_control[LANDING_GEAR] which wasn't sent to the control allocation) - for VTOLs handle deployment/retraction of landing gear in AUTO as a MC (retract if more than 2m above ground, deploy if WP is a landing WP), plus additionally when transition flight task is called (ALTITUDE mode and higher) - for FW in AUTO: add logic in FW Position Controller, depending on waypoint type mainly - manual landing gear settings always come through (a manual command overrides a previous auto command, and vice-versa) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-06 22:43:41 +01:00
Silvan Fuhrer	3e884116c4	logged_topics: make landing_gear_wheel optional and increase interval to 100ms Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-06 22:43:41 +01:00
Silvan Fuhrer	4b54ddfe61	Remove INDEX_COLLECTIVE_TILT from actuator_controls and instead use new topic tiltrotor_extra_controls Tiltrotor_extra_controls also contains collective thrust beside collective tilt, as passing a 3D thrust setpoint vector beside the tilt is not feasible. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-06 22:43:41 +01:00
Eric Katzfey	21c7f8ad74	posix server: changed the method of checking and setting the server file lock (#21243 ) * Changed the method of checking and setting the server file lock on Posix to avoid conditions where the server can indicate that it is running but still hasn't finished it's initialization	2023-03-06 09:55:57 -05:00
Eric Katzfey	5cade89499	Improve logging for Modal IO ESC (#21188 ) - always publish esc_status - when enabled via MODAL_IO_VLOG param, enable actuator debug output - for modal_io commands, use ESC HW ID values instead of motor number for easier use - publish esc_status message for command line commands - Uncommented the code that fills in the cmdcount and power fields in the esc_status topic --------- Co-authored-by: Travis Bottalico <travis@modalai.com>	2023-03-06 09:51:22 -05:00
Eric Katzfey	daa302cdbe	Changes to allow the commander module to be built and run on Qurt (#21186 ) * Changed exclusion to rely on the definition of PX4_STORAGEDIR	2023-03-06 09:49:07 -05:00
Silvan Fuhrer	dc4926dc4d	remove WheelEncoders.msg Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-06 09:43:01 -05:00
Silvan Fuhrer	0633d0d826	drivers: remove RoboClaw Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-06 09:43:01 -05:00
Jaeyoung Lim	e5d5fcd315	Subscribe to vehicle odometry in GZ Bridge This PR subscribes to the vehicle odometry in gz bridge / Add x500_vision model Fix transforms F	2023-03-06 09:27:35 -05:00
Tahsincan Köse	8737099a33	commander: failsafe framework fix missing return in actionStr function (#21245 ) - there needs to be a default statement for the compiler to work when this function is called.	2023-03-06 09:21:20 -05:00
Beniamino Pozzan	b79578fa55	efk2: Force external vision vertical position if EKF2_HGT_REF=VISION Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>	2023-03-06 09:19:49 -05:00
Daniel Agar	3fac85369e	ekf2: gps control use adjusted velocity and position for reset	2023-03-06 09:03:39 -05:00
Silvan Fuhrer	95754876ed	Apply small suggestions from code review Further param description improvements. Co-authored-by: Matthias Grob <maetugr@gmail.com>	2023-03-06 14:00:02 +01:00
Silvan Fuhrer	ec38ec660c	FW controllers: make param description more concise Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-06 14:00:02 +01:00
Silvan Fuhrer	4be74befd2	VTOL: remove pusher reverse feature Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-06 14:00:02 +01:00
Silvan Fuhrer	c09bf66639	VTOL: make param descripion more concise Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-06 14:00:02 +01:00
Silvan Fuhrer	9a038281c5	RoverPositionController: remove some unused stuff Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-06 14:00:02 +01:00
Silvan Fuhrer	feec8b2036	L1: remove some functions that Rover doesn't need Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2023-03-06 14:00:02 +01:00