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This e.g. changes the way QGC displays the airspeed in case of an
airspeed failure (0 instead of the last valid airspeed). It will
always display the airspeed that's used currently in the control
modules.
FW land detector: move to subscribe to airspeed_validated instead of airspeed topic
the land detector checks further if the airspeed is NAN, in which case
it sets the airspeed to 0 (min groundspeed, vz and accel checks still
have to pass.
Fixed-wing land detector use airspeed_vaidated: addressed review comments
replaced ternary by conditional
set airspeed to 0 if airspeed_validated stops publishing
Here's the Weekly Digest for PX4/Firmware:
ISSUES
Last week 32 issues were created.
Of these, 19 issues have been closed and 13 issues are still open.
OPEN ISSUES
💚 #13799 Offboard Mode not Switching after Arming, by lilcompaadres
💚 #13797 [DO NOT MERGE] Fixed wing land-detector block, by Kjkinney
💚 #13795 0 bank angle for GPS failure on landing, by Kjkinney
💚 #13793 Altitude Fluctuation in Constant-Altitude Missions, by jordancoult
💚 #13791 setpoint_raw details about implementation, by QING-ML
💚 #13788 Intermittent arming and flying issues in mission mode even with position lock, by myeabhishek
💚 #13787 To test [PX4/NuttX] [BACKPORT] STM32F7 and STM32H7 SDMMC internal pull up usage fixed (#78), by davids5
💚 #13784 Update submodule sitl_gazebo to latest Tue Dec 24 12:39:15 UTC 2019, by dagar
💚 #13782 VTOL: disable WV when moving, by sfuhrer
💚 #13781 MPU9250 failed to start its AK8963 via internal SPI to I2C bridge, by SalimTerryLi
💚 #13779 VTOL tiltrotor tilt ("pusher") support in hover, by sfuhrer
💚 #13777 Add VTOL Mission test in MAVSDK to increase code coverage, by LorenzMeier
💚 #13775 PR block auto-disarm when in Launch Detection for Hand-Launched FW, by Kjkinney
CLOSED ISSUES
❤️ #13802 use default stack size of 2048, fixes stack check failure, by modaltb
❤️ #13801 Update submodule mavlink v2.0 to latest Sat Dec 28 22:21:01 UTC 2019, by dagar
❤️ #13800 Update submodule matrix to latest Sat Dec 28 22:21:15 UTC 2019, by dagar
❤️ #13798 Update submodule ecl to latest Sat Dec 28 12:39:26 UTC 2019, by dagar
❤️ #13796 l3gd20 split into separate header, implementation, and main, by dagar
❤️ #13794 PX4Accelerometer and PX4Gyroscope always publish status, by dagar
❤️ #13792 mavsdk SITL testing code coverage and upload to codecov.io, by dagar
❤️ #13790 Fix Unit Test Float Accuracy, by MaEtUgR
❤️ #13789 Add access token to build_tests.yml, by LorenzMeier
❤️ #13786 Jenkins temporarily disable "PX4 ROS msgs" in master, by dagar
❤️ #13785 [WIP] github actions try compiling all nuttx configs, by dagar
❤️ #13783 Update submodule matrix to latest Tue Dec 24 12:39:27 UTC 2019, by dagar
❤️ #13780 PreFlightChecker: add spike limit argument for innovation check and increase optical flow test limits, by bresch
❤️ #13778 Tests: Speed up boot, by LorenzMeier
❤️ #13776 Fix float accuracy in ControlMathTest, by LorenzMeier
❤️ #13774 Jenkins PX4 ROS2 bridge don't specify python binary, by dagar
❤️ #13773 add negative for min to support tricycle landing gear, by jinchengde
❤️ #13772 Add MAVSDK tests, by LorenzMeier
❤️ #13771 px4 vscode debug problem, by aet2230
LIKED ISSUE
👍 #13778 Tests: Speed up boot, by LorenzMeier
It received 👍 x0, 😄 x0, 🎉 x0 and ❤️ x1.
NOISY ISSUE
🔈 #13781 MPU9250 failed to start its AK8963 via internal SPI to I2C bridge, by SalimTerryLi
It received 6 comments.
PULL REQUESTS
Last week, 47 pull requests were created, updated or merged.
OPEN PULL REQUEST
Last week, 1 pull request was opened.
💚 #13779 VTOL tiltrotor tilt ("pusher") support in hover, by sfuhrer
UPDATED PULL REQUEST
Last week, 22 pull requests were updated.
💛 #13797 [DO NOT MERGE] Fixed wing land-detector block, by Kjkinney
💛 #13795 0 bank angle for GPS failure on landing, by Kjkinney
💛 #13787 To test [PX4/NuttX] [BACKPORT] STM32F7 and STM32H7 SDMMC internal pull up usage fixed (#78), by davids5
💛 #13782 VTOL: disable WV when moving, by sfuhrer
💛 #13781 MPU9250 failed to start its AK8963 via internal SPI to I2C bridge, by SalimTerryLi
💛 #13775 PR block auto-disarm when in Launch Detection for Hand-Launched FW, by Kjkinney
💛 #13769 Rover land detection, by ealdaz-seesai
💛 #13739 geofence: GF_ALTMODE clarification, by hamishwillee
💛 #13619 rc_input: move to PX4 WQ and minor cleanup, by dagar
💛 #13584 move GPS aggregation and blending to sensors, by dagar
💛 #13572 msg: remove gencpp and genmsg submodules; remove gencpp imports, by TSC21
💛 #13346 Ekf reinitialization after motion, by bresch
💛 #12989 Imu health reporting and preflight checks improvements, by dusan19
💛 #12984 Swift UAVCAN servo actuation, by m1kelyons
💛 #12896 posix: add fuzz testing using MAVLink messages, by julianoes
💛 #12864 [WIP] Lidar Lite multi instance, by DanielePettenuzzo
💛 #12745 Added better logic to encode NAN as INT16_MAX to transfer to IO from FMU, by dlwalter
💛 #12601 [WIP]: temperature_compensation module, by dagar
💛 #12329 Magnetometer compensation based on throttle, by RomanBapst
💛 #12277 Maximum numbers of connected ESCs in uORB and in UAVCAN expanded to 16., by irsdkv
💛 #12215 EKF introduce ecl_float_t type for double precision floating point where available (disabled by default), by dagar
💛 #9712 manual_control_setpoint split switches into new message manual_control_switches, by dagar
MERGED PULL REQUEST
Last week, 24 pull requests were merged.
💜 #13796 l3gd20 split into separate header, implementation, and main, by dagar
💜 #13794 PX4Accelerometer and PX4Gyroscope always publish status, by dagar
💜 #13792 mavsdk SITL testing code coverage and upload to codecov.io, by dagar
💜 #13790 Fix Unit Test Float Accuracy, by MaEtUgR
💜 #13789 Add access token to build_tests.yml, by LorenzMeier
💜 #13786 Jenkins temporarily disable "PX4 ROS msgs" in master, by dagar
💜 #13785 [WIP] github actions try compiling all nuttx configs, by dagar
💜 #13783 Update submodule matrix to latest Tue Dec 24 12:39:27 UTC 2019, by dagar
💜 #13780 PreFlightChecker: add spike limit argument for innovation check and increase optical flow test limits, by bresch
💜 #13778 Tests: Speed up boot, by LorenzMeier
💜 #13776 Fix float accuracy in ControlMathTest, by LorenzMeier
💜 #13774 Jenkins PX4 ROS2 bridge don't specify python binary, by dagar
💜 #13773 add negative for min to support tricycle landing gear, by jinchengde
💜 #13772 Add MAVSDK tests, by LorenzMeier
💜 #13766 Pre-flight check: add parameter to en/disable mag field strength check, by bresch
💜 #13761 Navigator: VTOL: enable weather vane in auto mode outside of mission, by sfuhrer
💜 #13734 Fix mission with LAND_START and RTL item, by julianoes
💜 #13729 Support multi vehicle sitl gazebo without ros, by Jaeyoung-Lim
💜 #13710 Pr move land detector mavlink to airspeed validated, by sfuhrer
💜 #13695 commander: remove manual mode before geofence handling, by MaEtUgR
💜 #13693 navigator: do not use fixed wing acceptance radius if in rotary wing…, by RomanBapst
💜 #13672 rc_update: cleanup parameter usage, by dagar
💜 #13613 commander: move more static variables to class, by dagar
💜 #12673 Integrate INA226 with PX4, by ItsTimmy
COMMITS
Last week there were 90 commits.
🛠️ ekf2check: add COM_ARM_MAG_STR to en/disable mag field strength preflight check by bresch
🛠️ [update airspeed usage to airspeed_validated (#13710) * Mavlink: subscribe to airspeed_validated instead of airspeed topic
FW land detector: move to subscribe to airspeed_validated instead of airspeed topic
it sets the airspeed to 0 (min groundspeed, vz and accel checks still
have to pass.
Fixed-wing land detector use airspeed_vaidated: addressed review comments
Signed-off-by: Silvan Fuhrer silvan@auterion.com](7bb952b) by sfuhrer
🛠️ INA226: Integrate with PX4 (#12673) * Publish I2C battery data as battery_status by ItsTimmy
🛠️ [Navigator: make weather vane work in all auto modes, not just mission (#13761) - rename of flag in position sp: from allow_weather_vane to disable_weather_vane
Signed-off-by: Silvan Fuhrer silvan@auterion.com](574b482) by sfuhrer
🛠️ PX4Accelerometer and PX4Gyroscope add vibration metrics and always publish status by dagar
🛠️ l3gd20: split into separate header, implementation, and main by dagar
🛠️ mavsdk SITL testing code coverage and upload to codecov.io by dagar
🛠️ Update ccpp.yml The checkout action is not recursive, leading to build issues. Rely on auto-checkout on make instead. by LorenzMeier
🛠️ GH Actions: Remove submodules The checkout action is not recursive, leading to build issues. Rely on auto-checkout on make instead. by LorenzMeier
🛠️ Disable ROS2 in Jenkins due to Python3 We will bring this back when Python 3 is back operational. by LorenzMeier
🛠️ Update SITL Github Action Github doesn't check out recursively, which breaks the build. We rely on the auto-checkout in our build system instead. by LorenzMeier
🛠️ Update compile_nuttx.yml Fix submodule usage in CI. by LorenzMeier
🛠️ SITL Github Action: Document Grind config in-place This helps anyone needing it to find and set the correct grind iteration parameter. by LorenzMeier
🛠️ Add access token to SITL test Github Action This is needed for downstream adopters. We want them to re-use our CI tests so that contributions already are pre-tested when they are submitted. by LorenzMeier
🛠️ Add access token to NuttX Github Action This is necessary for downstream adopters. We want them to run these actions as well so that contributions are already pre-tested. by LorenzMeier
🛠️ Add access token to C++ build test This is necessary for downstream adopters. by LorenzMeier
🛠️ [Add access token to build_tests.yml (#13789) Add access token to build_tests.yml
This is necessary to enable GH Actions for downstream adopters. This also enables the explicit submodule checkout.](d86a308) by LorenzMeier
🛠️ Unit tests: use EXPECT_FLOAT_EQ for float comparisons as precaution to prevent failing tests because of small potential rounding errors on certain platforms or compilares. by MaEtUgR
🛠️ ControlMathTest: consistent short float literal notation by MaEtUgR
🛠️ ControlMathTest: switch back to direct EXPECT_EQ calls for Vectors Since the google test calls matrix::operator==() which calls matrix::isEqual(). by MaEtUgR
🛠️ Update comments by Jaeyoung-Lim
🛠️ gazebo multiple sim script: cleanup - make sure to kill all px4 instances and gazebo client when exiting - add arguments to specify number of vehicles and vehicle model - exit for now if vehicle model is not iris, since needs changes in sitl_gazebo submodule Signed-off-by: RomanBapst bapstroman@gmail.com by RomanBapst
🛠️ Source environment inside the script by Jaeyoung-Lim
🛠️ Update comments by Jaeyoung-Lim
🛠️ gazebo multiple sim: use xacro from the sitl_gazebo repository Signed-off-by: RomanBapst bapstroman@gmail.com by Jaeyoung-Lim
🛠️ Support multi vehicle sitl gazebo without ros by Jaeyoung-Lim
🛠️ GH Actions: Only build on push This still captures all commits, but does not cover the merged state of the PR. All PRs need to be up-to-date before merging/rebasing, which is better practice anyway. by LorenzMeier
🛠️ Harden autostart logic for non-existent airframe values This ensures that the user is pushed back to the airframe configuration stage. by LorenzMeier
🛠️ FMUv2: Exclude some multicopter targets These are rarely used airframes that should not be missed. by LorenzMeier
🛠️ FMUv2: Exclude some fixed wing targets These are rarely used airframes that should not be missed. by LorenzMeier
🛠️ FMUv2: Exclude rover targets This is reasonable as these boards are very old and rovers are a new area of activity. by LorenzMeier
🛠️ SITL shell: Do math using the shell Bash or zsh from the last 10 years or so do math using the $((a + b)) syntax. This saves us from having bc as dependency. by LorenzMeier
🛠️ GH Actions: Enable grind option This allows to run the script in grind mode to find CI failures that are triggered through e.g. race conditions. by LorenzMeier
🛠️ Tests: Add further instrumentation by LorenzMeier
🛠️ Simulator: Remove EKF2 based wait This is cleaner and needs testing. by LorenzMeier
🛠️ Simulation: Set scheduling policy RR for lockstep This should ensure that all processes do still run at full load. by LorenzMeier
🛠️ Integration tests: Add Makefile target This enables unfamiliar users to run the tests quickly without having to memorize all commandsline options. by LorenzMeier
🛠️ Add baseline SITL environment via Github actions by LorenzMeier
🛠️ ROMFS: prevent high accel bias in SITL by julianoes
🛠️ mavsdk_tests: fix verbose output by julianoes
🛠️ posix: exit if the startup script is not ok In general, if anything goes wrong in the startup script, we should fail entirely because things might not work as expected. In particular, this prevents that we have to press Ctrl+C twice if the simulator start call is hung waiting for the simulator to appear and start communicating. We now press Ctrl+C once and exit straightaway whereas before we would press it once to get the warning: "Startup script returned with return value: 2", and then finally exit on the second press. by julianoes
🛠️ simulator: cleanup and wait for startup Unfortunately this commit contains two things: 1. Some cleanup and renaiming. 2. An additional wait until lockstep has been initialized. By waiting until HIL_SENSOR messages arrive including timestamps we stop the startup script and prevent other modules from running until time is set up. This should resolve some busy waiting by various modules and prevent races on initialization (e.g. the landing state being subscribed by mavlink before being published by the land detector). by julianoes
🛠️ mavsdk_tests: remove output to logfile for now by julianoes
🛠️ mavsdk_tests: add option for gzclient GUI by julianoes
🛠️ mavsdk_tests: don't use SIGINT, just terminate by julianoes
🛠️ mavsdk_tests: end the logfiles with .log by julianoes
🛠️ mavsdk_tests: return error if not ready by julianoes
🛠️ mavsdk_tests: env vars need to be strings by julianoes
🛠️ mavsdk_tests: use subprocess instead of sys stdout by julianoes
🛠️ mavsdk_tests: fix bugs in readyness checks by julianoes
🛠️ mavsdk_tests: restart SITL after each test case by julianoes
🛠️ mavsdk_tests: enable VTOL tests as well by julianoes
🛠️ mavsdk_tests: check if build everything is built by julianoes
🛠️ mavsdk_tests: use SIGINT before SIGTERM by julianoes
🛠️ mavsdk_tests: rename C++ executable The executable contains all tests, so the name was a poor choice. by julianoes
🛠️ mavsdk_tests: print overall result by julianoes
🛠️ mavsdk_tests: properly handle timeout by julianoes
🛠️ mavsdk_tests: option for speed factor And we also need to communicate the speed factor for the px4 executable, otherwise it can't adapt the timeouts accordingly. by julianoes
🛠️ mavsdk_tests: better process management We now error if px4 or gzserver are already running on startup, and we also make sure to terminate what we started if interrupted. by julianoes
🛠️ mavsdk_tests: run test runner, speed up sim by julianoes
🛠️ mavsdk_tests: add termination/kill, custom log dir by julianoes
🛠️ mavsdk_tests: added test runner by julianoes
🛠️ Move mavsdk_tests into test by julianoes
🛠️ mavsdk_tests: add to PX4 Makefile/CMakeLists.txt by julianoes
🛠️ mavsdk_tests: raise timeout for realtime sim speed by julianoes
🛠️ mavsdk_tests: add manual RTL after mission by julianoes
🛠️ mavsdk_tests: wait until mission is done by julianoes
🛠️ mavsdk_tests: Split tests and test main by julianoes
🛠️ Added first two simple MAVSDK tests by julianoes
🛠️ Jenkins temporarily disable "PX4 ROS msgs" in master - re-enable once the python issues are resolved by dagar
🛠️ github actions compile all nuttx configs by dagar
🛠️ PreFlightChecker: update unit tests by bresch
🛠️ PreFlightChecker: add spike limit argument for innovation check and increase optical flow test limits. by bresch
🛠️ Update submodule matrix to latest Tue Dec 24 12:39:27 UTC 2019 - matrix in PX4/Firmware (0aa62a3bfff12d854d6a8e378a518bd8646a9f4b): https://github.com/PX4/Matrix/commit/4f3565da94d00c4cd1feb560f1f72a81296522f8 - matrix current upstream: https://github.com/PX4/Matrix/commit/e81483a808ce7b0217c11d3dc0fce90685f44353 - Changes: https://github.com/PX4/Matrix/compare/4f3565da94d00c4cd1feb560f1f72a81296522f8...e81483a808ce7b0217c11d3dc0fce90685f44353 e81483a 2019-12-18 kritz - Catch quaternion canonical corner cases (#116) by PX4BuildBot
🛠️ navigator: do not use fixed wing acceptance readius if in rotary wing mode Signed-off-by: RomanBapst bapstroman@gmail.com by RomanBapst
🛠️ Style check commit hook: Ensure that formatted files need to be re-added. by LorenzMeier
🛠️ commander: move most static variables and parameters to class by dagar
🛠️ fix flt_cutoff_min -> flt_cutoff_max by dagar
🛠️ Update src/modules/rc_update/rc_update.cpp Co-Authored-By: Beat Küng beat-kueng@gmx.net by dagar
🛠️ Update src/modules/rc_update/rc_update.cpp Co-Authored-By: Beat Küng beat-kueng@gmx.net by dagar
🛠️ rc_update: cleanup parameter usage by dagar
🛠️ Tests: Speed up boot The previous boot configuration took at minimum one second to boot. This is in particular significant in tests when the system is often started and stopped by LorenzMeier
🛠️ Fix float accuracy in ControlMathTest The test was testing the result of 3D float vector operations with binary equality of the floating point numbers, which is not a valid assumption to make for floating point math. This change switches to proper comparisons with float accuracy and compares vectors using the norm of their difference. by LorenzMeier
🛠️ mission feasibility checker: move checks for VTOL landing into separate function Signed-off-by: Silvan Fuhrer silvan@auterion.com by sfuhrer
🛠️ navigator: improve if structure for vtol/mc/fw by julianoes
🛠️ navigator: don't allow Land together with RTL item This is a check to protect a user from upload a mission which includes a land_start marker as well as a RTL mission item. This works around the problem that we experienced where the navigator would switch to mission mode on RTL and start with land_start, and then continue to the RTL item. At this point, navigator would send the vehicle_command for RTL to commander which would deny it because it is already in RTL mode. Thus navigator won't (re)set any items to actually do RTL and it means the vehicle will just head to whatever setpoint it received last. by julianoes
🛠️ navigator: check fixedwing mission for VTOL A VTOL mission can also contain a fixedwing landing. Therefore, I think, it makes sense to run the fixedwing checks as well, however, don't check for a landing start necessarily. by julianoes
🛠️ commander: remove manual mode before geofence handling by MaEtUgR
🛠️ FW runway takeoff: add negative for min to support tricycle landing gear - if we used tricycle landing gear, we need the wheel to touch the ground to control the direction by jinchengde
🛠️ Jenkins PX4 ROS2 bridge don't specify python binary by dagar
CONTRIBUTORS
Last week there were 11 contributors.
👤 bresch
👤 sfuhrer
👤 ItsTimmy
👤 dagar
👤 LorenzMeier
👤 MaEtUgR
👤 Jaeyoung-Lim
👤 RomanBapst
👤 julianoes
👤 PX4BuildBot
👤 jinchengde
STARGAZERS
Last week there were 21 stagazers.
⭐ LinnDang
⭐ f2dmarques
⭐ qs90514
⭐ mnlijian
⭐ HotAntOne
⭐ huangfuluya
⭐ jackhftang
⭐ wangzhao9562
⭐ archepro84
⭐ vrusty
⭐ kcant
⭐ ChenHuang20
⭐ Mavrikant
⭐ duyi324
⭐ prankurverma
⭐ soeromiber
⭐ liangshoulong
⭐ zeke-zefang
⭐ HuHongLi9
⭐ 363546178
⭐ hongkedavid
You all are the stars! 🌟
RELEASES
Last week there were no releases.
That's all for last week, please 👀 Watch and ⭐ Star the repository PX4/Firmware to receive next weekly updates. 😃
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