Merge remote-tracking branch 'px4/master' into pr-temperature_compens…

…ation_clean_up
PX4 · Dec 23, 2019 · 14958b7 · 14958b7
2 parents 445938d + de95e3d
commit 14958b7
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diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml
@@ -6,6 +6,16 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_replay:
+      short: px4_sitl_replay
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_replay
+    px4_sitl_test:
+      short: px4_sitl_test
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_test
     px4_fmu-v2_default:
       short: px4_fmu-v2_default
       buildType: MinSizeRel
@@ -46,6 +56,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: av_x-v1_default
+    holybro_durandal-v1_default:
+      short: holybro_durandal-v1
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_durandal-v1_default
     intel_aerofc-v1_default:
       short: intel_aerofc-v1_default
       buildType: MinSizeRel
@@ -66,8 +81,3 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_fmuk66-v3_default
-    holybro_durandal-v1_default:
-      short: holybro_durandal-v1
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_durandal-v1_default
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -21,7 +21,7 @@
                         "${workspaceFolder}/test_data"
                 ],
                 "stopAtEntry": false,
-                "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
+                "cwd": "${command:cmake.buildDirectory}/tmp",
                 "environment": [
                         {
                                 "name": "PX4_SIM_MODEL",

diff --git a/Jenkinsfile b/Jenkinsfile
@@ -689,7 +689,7 @@ pipeline {
             withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
               // deploy uORB RTPS ID map
-              sh('python msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
+              sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
               sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
               sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
               // deploy uORB RTPS required tools

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
@@ -0,0 +1,140 @@
+#!/bin/sh
+#
+# @name PX4 Vision DevKit Platform
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @board px4_fmu-v2 exclude
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+if [ $AUTOCNF = yes ]
+then
+	# System parameters
+	# use FMU motor outputs for less delay in the rate control loop
+	param set SYS_USE_IO 0
+
+	# Commander Parameters
+	param set COM_OBS_AVOID 1
+	param set COM_DISARM_LAND 0.5
+
+	# EKF2 parameters
+	param set EKF2_AID_MASK 35
+	param set EKF2_IMU_POS_X 0.02
+	param set EKF2_GPS_POS_X 0.055
+	param set EKF2_GPS_POS_Z -0.15
+	param set EKF2_HGT_MODE 0
+	param set EKF2_MIN_RNG 0.03
+	param set EKF2_OF_POS_X 0.055
+	param set EKF2_OF_POS_Y 0.02
+	param set EKF2_OF_POS_Z 0.065
+	param set EKF2_REQ_HDRIFT 0.3
+	param set EKF2_REQ_SACC 1
+	param set EKF2_REQ_VDRIFT 0.3
+	param set EKF2_RNG_AID 1
+	param set EKF2_RNG_A_HMAX 8
+	param set EKF2_RNG_A_VMAX 2
+	param set EKF2_RNG_POS_X 0.055
+	param set EKF2_RNG_POS_Y -0.01
+	param set EKF2_RNG_POS_Z 0.065
+	param set EKF2_PCOEF_XP -0.25
+	param set EKF2_PCOEF_YN -0.55
+	param set EKF2_PCOEF_YP -0.55
+
+	# MAVLink parameters
+	param set MAV_0_CONFIG 101
+	param set MAV_1_CONFIG 102
+	param set MAV_1_RATE 80000
+	param set MAV_1_MODE 9
+	param set SER_TEL1_BAUD 921600
+
+	# Vehicle attitude PID tuning
+	param set MC_ACRO_EXPO 0
+	param set MC_ACRO_EXPO_Y 0
+	param set MC_ACRO_P_MAX 200
+	param set MC_ACRO_R_MAX 200
+	param set MC_ACRO_SUPEXPO 0
+	param set MC_ACRO_SUPEXPOY 0
+	param set MC_ACRO_Y_MAX 150
+	param set MC_DTERM_CUTOFF 30
+	param set MC_PITCHRATE_D 0.0015
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_K 1
+	param set MC_PITCHRATE_P 0.15
+	param set MC_ROLLRATE_D 0.0015
+	param set MC_ROLLRATE_I 0.2
+	param set MC_ROLLRATE_K 1
+	param set MC_ROLLRATE_P 0.15
+	param set MC_YAWRATE_P 0.3
+
+	# Position Control Tuning
+	param set CP_DIST 6.0
+	param set MPC_ACC_DOWN_MAX 5
+	param set MPC_ACC_HOR_MAX 10
+	param set MPC_ACC_UP_MAX 4
+	param set MPC_MANTHR_MIN 0
+	param set MPC_MAN_Y_MAX 120
+	param set MPC_TILTMAX_AIR 45
+	param set MPC_THR_HOVER 0.3
+	param set MPC_THR_MIN 0.12
+	param set MPC_TKO_SPEED 1
+	param set MPC_VEL_MANUAL 5
+	param set MPC_XY_CRUISE 5
+	param set MPC_XY_VEL_MAX 5
+	param set MPC_XY_VEL_P 0.079
+	param set MPC_XY_TRAJ_P 0.3
+	param set MPC_Z_TRAJ_P 0.3
+	param set MPC_Z_VEL_I 0.15
+	param set MPC_Z_VEL_P 0.25
+
+	# Navigator Parameters
+	param set NAV_ACC_RAD 2
+
+	# PWM and RC Parameters
+	param set PWM_MAX 1950
+	param set PWM_MIN 1075
+
+	# use oneshot motor output protocol
+	param set PWM_RATE 0
+	param set RC_FLT_CUTOFF 0
+
+	# RTL Parameters
+	param set RTL_DESCEND_ALT 5
+	param set RTL_LAND_DELAY 0
+	param set RTL_RETURN_ALT 5
+	param set RTL_CONE_ANG 45
+
+	# Logging Parameters
+	param set SDLOG_PROFILE 131
+
+	# Sensors Parameters
+	param set SENS_BOARD_ROT 0
+	param set SENS_CM8JL65_CFG 104
+	param set SENS_FLOW_MAXHGT 25
+	param set SENS_FLOW_MINHGT 0.5
+	param set SENS_FLOW_ROT 0
+	param set IMU_GYRO_CUTOFF 100
+	param set SENS_EN_PMW3901 1
+
+	# Power Parameters
+	param set BAT_N_CELLS 4
+	param set BAT_A_PER_V 36.3675
+	param set BAT_CNT_V_CURR 0.0008
+	param set BAT_CNT_V_VOLT 0.0008
+	param set BAT_V_DIV 18.40697289
+
+	# Circuit breakers
+	param set CBRK_IO_SAFETY 22027
+
+	param set THR_MDL_FAC 0.3
+fi
diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -39,7 +39,7 @@ px4_add_romfs_files(
 	1001_rc_quad_x.hil
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
-	
+
 	# [2000, 2999] Standard planes"
 	2100_standard_plane
 	2105_maja
@@ -70,6 +70,7 @@ px4_add_romfs_files(
 	4013_bebop
 	4014_s500
 	4015_holybro_s500
+	4016_holybro_px4vision
 	4020_hk_micro_pcb
 	4030_3dr_solo
 	4031_3dr_quad
@@ -142,7 +143,7 @@ px4_add_romfs_files(
 	15001_coax_heli
 
 	16001_helicopter
-	
+
 	24001_dodeca_cox
 
 	50000_generic_ground_vehicle

diff --git a/Tools/px4moduledoc/srcparser.py b/Tools/px4moduledoc/srcparser.py
@@ -2,6 +2,8 @@
 import re
 import math
 import textwrap
+from functools import reduce
+
 
 class ModuleDocumentation(object):
     """

diff --git a/Tools/setup/requirements.txt b/Tools/setup/requirements.txt
@@ -10,6 +10,7 @@ pyserial>=3.0
 pyulog>=0.5.0
 pyyaml
 setuptools>=39.2.0
+six>=1.12.0
 toml>=0.9
 tornado
 wheel>=0.31.1
diff --git a/Tools/uorb_graph/create.py b/Tools/uorb_graph/create.py
@@ -10,7 +10,6 @@
 import json
 
 
-
 parser = argparse.ArgumentParser(
     description='Generate uORB pub/sub dependency graph from source code')
 
@@ -367,7 +366,7 @@ def _process_source_file(self, file_name):
             try:
                 content = f.read()
             except:
-                print('Failed reading file: %s, skipping content.' % path)
+                print('Failed reading file: %s, skipping content.' % file_name)
                 return
 
 

diff --git a/Tools/upload_log.py b/Tools/upload_log.py
@@ -10,10 +10,10 @@
 from __future__ import print_function
 
 from argparse import ArgumentParser
+from six.moves import input
 import subprocess
 import sys
 
-
 try:
     import requests
 except:
@@ -38,12 +38,7 @@ def ask_value(text, default=None):
     if default != None:
         ask_string += ' (Press ENTER to use ' + default + ')'
     ask_string += ': '
-
-    if sys.version_info[0] < 3:
-        ret = raw_input(ask_string)
-    else:
-        ret = input(ask_string)
-
+    ret = input(ask_string).strip()
     if ret == "" and default != None:
         return default
     return ret

diff --git a/boards/holybro/durandal-v1/src/board_config.h b/boards/holybro/durandal-v1/src/board_config.h
@@ -376,9 +376,9 @@
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */
 
 #define GPIO_nVDD_5V_PERIPH_EN          /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
-#define GPIO_nVDD_5V_PERIPH_OC          /* PE15 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
+#define GPIO_nVDD_5V_PERIPH_OC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_nVDD_5V_HIPOWER_EN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
-#define GPIO_nVDD_5V_HIPOWER_OC         /* PG13 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTF|GPIO_PIN13)
+#define GPIO_nVDD_5V_HIPOWER_OC         /* PG13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
 #define GPIO_VDD_3V3_SENSORS_EN         /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)

diff --git a/boards/holybro/kakutef7/init/rc.board_sensors b/boards/holybro/kakutef7/init/rc.board_sensors
@@ -12,7 +12,7 @@ then
 fi
 
 # Internal Baro
-bmp280 -I start
+bmp280 start
 
 # Possible external compasses
 ist8310 -C -b 1 start

diff --git a/boards/px4/fmu-v2/multicopter.cmake b/boards/px4/fmu-v2/multicopter.cmake
@@ -54,7 +54,8 @@ px4_add_board(
 		navigator
 		rc_update
 		sensors
-		temperature_compensation
+		sih
+		#temperature_compensation
 		vmount
 	SYSTEMCMDS
 		#bl_update

diff --git a/boards/px4/fmu-v5/src/board_config.h b/boards/px4/fmu-v5/src/board_config.h
@@ -450,9 +450,9 @@
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */
 
 #define GPIO_nVDD_5V_PERIPH_EN          /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
-#define GPIO_nVDD_5V_PERIPH_OC          /* PE15 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
+#define GPIO_nVDD_5V_PERIPH_OC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_nVDD_5V_HIPOWER_EN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
-#define GPIO_nVDD_5V_HIPOWER_OC         /* PG13 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTF|GPIO_PIN13)
+#define GPIO_nVDD_5V_HIPOWER_OC         /* PG13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
 #define GPIO_VDD_3V3_SENSORS_EN         /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
 #define GPIO_VDD_5V_RC_EN               /* PG5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)

diff --git a/boards/px4/fmu-v5x/src/board_config.h b/boards/px4/fmu-v5x/src/board_config.h
@@ -448,9 +448,9 @@
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */
 
 #define GPIO_VDD_5V_PERIPH_nEN          /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
-#define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
+#define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_VDD_5V_HIPOWER_nEN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
-#define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTF|GPIO_PIN13)
+#define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
 #define GPIO_VDD_3V3_SENSORS1_EN        /* PI11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN11)
 #define GPIO_VDD_3V3_SENSORS2_EN        /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
 #define GPIO_VDD_3V3_SENSORS3_EN        /* PE7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN7)

diff --git a/boards/px4/sitl/replay.cmake b/boards/px4/sitl/replay.cmake
@@ -0,0 +1,25 @@
+
+px4_add_board(
+	PLATFORM posix
+	VENDOR px4
+	MODEL sitl
+	LABEL replay
+	MODULES
+		ekf2
+		logger
+		replay
+	SYSTEMCMDS
+		param
+		perf
+		reboot
+		shutdown
+		topic_listener
+		ver
+		work_queue
+	)
+
+message(STATUS "Building with uorb publisher rules support")
+add_definitions(-DORB_USE_PUBLISHER_RULES)
+
+message(STATUS "Building without lockstep for replay")
+set(ENABLE_LOCKSTEP_SCHEDULER no)