remove unused debug.h

Co-authored-by: Josh Henderson <hendjoshsr71@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>

Kconfig

@@ -37,8 +37,8 @@ menu "Toolchain"
         help
             forces nolockstep behaviour, despite REPLAY env variable
 
-    config BOARD_LINUX
-        bool "Linux OS"
+    config BOARD_LINUX_TARGET
+        bool "Linux OS Target"
         depends on PLATFORM_POSIX
         help
             Board Platform is running the Linux operating system

ROMFS/px4fmu_common/init.d/rc.interface

@@ -17,17 +17,21 @@ set OUTPUT_DEV none
 set OUTPUT_AUX_DEV /dev/pwm_output1
 set OUTPUT_EXTRA_DEV /dev/pwm_output0
 
-# set these before starting the modules
+# set ESC mask before starting the modules
+# setting the numeric parameter to "none" would make the startup script fail
 if [ $PWM_AUX_OUT != none ]
 then
-
 	param set PWM_AUX_OUT ${PWM_AUX_OUT}
+else
+	param set PWM_AUX_OUT 0
 fi
 
 
 if [ $PWM_OUT != none ]
 then
 	param set PWM_MAIN_OUT ${PWM_OUT}
+else
+	param set PWM_AUX_OUT 0
 fi
 
 #

boards/beaglebone/blue/default.px4board

@@ -1,5 +1,5 @@
 CONFIG_PLATFORM_POSIX=y
-CONFIG_BOARD_LINUX=y
+CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a8"
 CONFIG_BOARD_TESTING=y

boards/emlid/navio2/default.px4board

@@ -1,5 +1,5 @@
 CONFIG_PLATFORM_POSIX=y
-CONFIG_BOARD_LINUX=y
+CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a53"
 CONFIG_BOARD_TESTING=y

boards/px4/raspberrypi/cmake/upload.cmake

@@ -38,7 +38,7 @@ else()
 endif()
 
 add_custom_target(upload
-	COMMAND rsync -arh --progress
+	COMMAND rsync -arh --progress -e "ssh -o StrictHostKeyChecking=no"
 			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_BINARY_DIR}/etc # source
 			pi@${AUTOPILOT_HOST}:/home/pi/px4 # destination
 	DEPENDS px4

boards/px4/raspberrypi/default.px4board

@@ -1,18 +1,18 @@
 CONFIG_PLATFORM_POSIX=y
-CONFIG_BOARD_LINUX=y
+CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a53"
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_ADC_ADS1115=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_COMMON_IMU=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y

boards/scumaker/pilotpi/default.px4board

@@ -1,5 +1,5 @@
 CONFIG_PLATFORM_POSIX=y
-CONFIG_BOARD_LINUX=y
+CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a53"
 CONFIG_BOARD_TESTING=y

cmake/kconfig.cmake

@@ -341,7 +341,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
         add_definitions( ${COMPILE_DEFINITIONS})
 	endif()
 
-	if(LINUX)
+	if(LINUX_TARGET)
         add_definitions( "-D__PX4_LINUX" )
 	endif()
 

src/drivers/imu/adis16497/ADIS16497.cpp

@@ -342,9 +342,9 @@ ADIS16497::read_reg16(uint8_t reg)
 
 	cmd[0] = ((reg | DIR_READ) << 8) & 0xff00;
 	transferhword(cmd, nullptr, 1);
-	up_udelay(T_STALL);
+	px4_udelay(T_STALL);
 	transferhword(nullptr, cmd, 1);
-	up_udelay(T_STALL);
+	px4_udelay(T_STALL);
 
 	return cmd[0];
 }
@@ -367,9 +367,9 @@ ADIS16497::write_reg16(uint8_t reg, uint16_t value)
 	cmd[1] = (((reg + 0x1) | DIR_WRITE) << 8) | ((0xff00 & value) >> 8);
 
 	transferhword(cmd, nullptr, 1);
-	up_udelay(T_STALL);
+	px4_udelay(T_STALL);
 	transferhword(cmd + 1, nullptr, 1);
-	up_udelay(T_STALL);
+	px4_udelay(T_STALL);
 }
 
 void

src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp

@@ -33,8 +33,6 @@
 
 #include "BMI055_Gyroscope.hpp"
 
-#include <px4_platform/board_dma_alloc.h>
-
 using namespace time_literals;
 
 namespace Bosch::BMI055::Gyroscope

src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp

@@ -33,8 +33,6 @@
 
 #include "BMI088_Gyroscope.hpp"
 
-#include <px4_platform/board_dma_alloc.h>
-
 using namespace time_literals;
 
 namespace Bosch::BMI088::Gyroscope

src/drivers/linux_pwm_out/CMakeLists.txt

@@ -40,5 +40,5 @@ px4_add_module(
 	MODULE_CONFIG
 		module.yaml
 	DEPENDS
+		mixer_module
 	)
-

src/drivers/magnetometer/lis2mdl/lis2mdl_i2c.cpp

@@ -40,7 +40,6 @@
 #include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
-#include <debug.h>
 #include <errno.h>
 #include <stdint.h>
 #include <stdbool.h>

src/drivers/magnetometer/lis2mdl/lis2mdl_spi.cpp

@@ -40,7 +40,6 @@
 #include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
-#include <debug.h>
 #include <errno.h>
 #include <stdint.h>
 #include <stdbool.h>

src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp

@@ -40,7 +40,6 @@
 #include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
-#include <debug.h>
 #include <errno.h>
 #include <stdint.h>
 #include <stdbool.h>

src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp

@@ -40,7 +40,6 @@
 #include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
-#include <debug.h>
 #include <errno.h>
 #include <stdint.h>
 #include <stdbool.h>

src/drivers/magnetometer/rm3100/rm3100_i2c.cpp

@@ -40,7 +40,6 @@
 #include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
-#include <debug.h>
 #include <errno.h>
 #include <stdint.h>
 #include <stdbool.h>

src/drivers/magnetometer/rm3100/rm3100_spi.cpp

@@ -40,7 +40,6 @@
 #include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
-#include <debug.h>
 #include <errno.h>
 #include <stdint.h>
 #include <stdbool.h>

src/modules/ekf2/EKF/estimator_interface.cpp

@@ -148,6 +148,11 @@ void EstimatorInterface::setGpsData(const gps_message &gps)
 	}
 
 	if ((gps.time_usec - _time_last_gps) > _min_obs_interval_us) {
+
+		if (!gps.vel_ned_valid || (gps.fix_type == 0)) {
+			return;
+		}
+
 		_time_last_gps = gps.time_usec;
 
 		gpsSample gps_sample_new;

src/modules/ekf2/test/test_EKF_gps.cpp

@@ -79,6 +79,7 @@ public:
 TEST_F(EkfGpsTest, gpsTimeout)
 {
 	// GIVEN:EKF that fuses GPS
+	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
 
 	// WHEN: setting the PDOP to high
 	_sensor_simulator._gps.setNumberOfSatellites(3);
@@ -90,6 +91,24 @@ TEST_F(EkfGpsTest, gpsTimeout)
 	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
 }
 
+TEST_F(EkfGpsTest, gpsFixLoss)
+{
+	// GIVEN:EKF that fuses GPS
+	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
+
+	// WHEN: the fix is loss
+	_sensor_simulator._gps.setFixType(0);
+
+	// THEN: after dead-reconing for a couple of seconds, the local position gets invalidated
+	_sensor_simulator.runSeconds(5);
+	EXPECT_TRUE(_ekf->control_status_flags().inertial_dead_reckoning);
+	EXPECT_FALSE(_ekf->local_position_is_valid());
+
+	// The control logic takes a bit more time to deactivate the GNSS fusion completely
+	_sensor_simulator.runSeconds(5);
+	EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion());
+}
+
 TEST_F(EkfGpsTest, resetToGpsVelocity)
 {
 	ResetLoggingChecker reset_logging_checker(_ekf);

src/modules/mc_pos_control/MulticopterPositionControl.cpp

@@ -443,7 +443,6 @@ void MulticopterPositionControl::Run()
 
 			// Allow ramping from zero thrust on takeoff
 			const float minimum_thrust = flying ? _param_mpc_thr_min.get() : 0.f;
-
 			_control.setThrustLimits(minimum_thrust, _param_mpc_thr_max.get());
 
 			_control.setVelocityLimits(

src/modules/mc_pos_control/PositionControl/PositionControl.cpp

@@ -79,10 +79,11 @@ void PositionControl::updateHoverThrust(const float hover_thrust_new)
 	// T' = T => a_sp' * Th' / g - Th' = a_sp * Th / g - Th
 	// so a_sp' = (a_sp - g) * Th / Th' + g
 	// we can then add a_sp' - a_sp to the current integrator to absorb the effect of changing Th by Th'
-	if (hover_thrust_new > FLT_EPSILON) {
-		_vel_int(2) += (_acc_sp(2) - CONSTANTS_ONE_G) * _hover_thrust / hover_thrust_new + CONSTANTS_ONE_G - _acc_sp(2);
-		setHoverThrust(hover_thrust_new);
-	}
+	const float previous_hover_thrust = _hover_thrust;
+	setHoverThrust(hover_thrust_new);
+
+	_vel_int(2) += (_acc_sp(2) - CONSTANTS_ONE_G) * previous_hover_thrust / _hover_thrust
+		       + CONSTANTS_ONE_G - _acc_sp(2);
 }
 
 void PositionControl::setState(const PositionControlStates &states)
@@ -139,6 +140,9 @@ void PositionControl::_positionControl()
 
 void PositionControl::_velocityControl(const float dt)
 {
+	// Constrain vertical velocity integral
+	_vel_int(2) = math::constrain(_vel_int(2), -CONSTANTS_ONE_G, CONSTANTS_ONE_G);
+
 	// PID velocity control
 	Vector3f vel_error = _vel_sp - _vel;
 	Vector3f acc_sp_velocity = vel_error.emult(_gain_vel_p) + _vel_int - _vel_dot.emult(_gain_vel_d);
@@ -189,9 +193,6 @@ void PositionControl::_velocityControl(const float dt)
 	ControlMath::setZeroIfNanVector3f(vel_error);
 	// Update integral part of velocity control
 	_vel_int += vel_error.emult(_gain_vel_i) * dt;
-
-	// limit thrust integral
-	_vel_int(2) = math::min(fabsf(_vel_int(2)), CONSTANTS_ONE_G) * sign(_vel_int(2));
 }
 
 void PositionControl::_accelerationControl()

src/modules/mc_pos_control/PositionControl/PositionControl.hpp

@@ -121,9 +121,9 @@ public:
 
 	/**
 	 * Set the normalized hover thrust
-	 * @param thrust [0.1, 0.9] with which the vehicle hovers not acelerating down or up with level orientation
+	 * @param hover_thrust [HOVER_THRUST_MIN, HOVER_THRUST_MAX] with which the vehicle hovers not accelerating down or up with level orientation
 	 */
-	void setHoverThrust(const float hover_thrust) { _hover_thrust = math::constrain(hover_thrust, 0.1f, 0.9f); }
+	void setHoverThrust(const float hover_thrust) { _hover_thrust = math::constrain(hover_thrust, HOVER_THRUST_MIN, HOVER_THRUST_MAX); }
 
 	/**
 	 * Update the hover thrust without immediately affecting the output
@@ -179,6 +179,10 @@ public:
 	void getAttitudeSetpoint(vehicle_attitude_setpoint_s &attitude_setpoint) const;
 
 private:
+	// The range limits of the hover thrust configuration/estimate
+	static constexpr float HOVER_THRUST_MIN = 0.05f;
+	static constexpr float HOVER_THRUST_MAX = 0.9f;
+
 	bool _inputValid();
 
 	void _positionControl(); ///< Position proportional control
@@ -200,7 +204,7 @@ private:
 	float _lim_thr_xy_margin{}; ///< Margin to keep for horizontal control when saturating prioritized vertical thrust
 	float _lim_tilt{}; ///< Maximum tilt from level the output attitude is allowed to have
 
-	float _hover_thrust{}; ///< Thrust [0.1, 0.9] with which the vehicle hovers not accelerating down or up with level orientation
+	float _hover_thrust{}; ///< Thrust [HOVER_THRUST_MIN, HOVER_THRUST_MAX] with which the vehicle hovers not accelerating down or up with level orientation
 
 	// States
 	matrix::Vector3f _pos; /**< current position */