Navigator rewrite and offboard2 #1082
Conversation
…board Conflicts: src/modules/commander/commander.cpp src/modules/commander/state_machine_helper.cpp src/modules/mavlink/mavlink_receiver.cpp src/modules/mavlink/mavlink_receiver.h src/modules/uORB/topics/vehicle_status.h
…om the externalsetpoints branch of mavlink
…hanged, also bugfixes in orb calls
…cs (let the navigator do this)
…position offset control
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@julianoes Could you describe more what the state is, what is expected to work and what comes next? |
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So what currently works: What currently does not work: I plan to get position setpoints working as well and integrate the proper mavlink messages from here: #1070 |
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@thomasgubler @julianoes Did you already look at integrating your efforts with the new MAVLink messages and force set points? Could you provide some feedback there on where you are and what's needed? I'd like to consolidate this, but I don't want to interfere and you seem to have this pretty good under control. It would be great if we could get this onto one branch and iterate there. |
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@LorenzMeier yes we are in contact constantly. We have yet to define the force setpoint message, only the uorb topic exists atm. |
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@thomasgubler Would you mind adding it to your mavlink message PR? That's probably more efficient for you if you own this, rather than me blocking you on this. Please edit the RFC as needed. |
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sure, that's my plan |
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This is now tracked in #1110. |
NuttX: - https://github.com/PX4-NuttX/nuttx/tree/master - PX4/NuttX@15f358d Changes from PX4/NuttX (PX4/NuttX@398a59a) in current PX4/master (9b66cbd) PX4/NuttX@398a59a...15f358d 15f358d (HEAD, origin/master) arch/arm/src/stm32f0l0g0: Fix PWM on TIM16 not working: Adjust TIM registers, Add pins available for mapping TIM14-17, CCMR2 registers was being handled for TIMs who do not have it, and Fix PWM frequency being doubled when in center-aligned mode. f46e5d5 Merged in masayuki2009/nuttx.nuttx/fe310_updates (pull request #1085) b599aa0 fs/cromfs/fs_cromfs.c: Back out an erroneous change I made during a code review. Noted by Jussi Kivilinna. 4e2b2e8 Coding standard corrections in last PR. db49e62 Merged in kyChuGit/nuttx/aht10_sensor (pull request #1084) 7dfae77 .gignore: Remove /pcode. P-code support is gone. 1e2c840 Merged in OSer916/nuttx/fix_stm32l4_sai (pull request #1083) 2007709 Merged in masayuki2009/nuttx.nuttx/spresense_with_elf (pull request #1082) cc0a0e7 arch/arm/src/armv7-m/up_schedulesigaction.c: Correct hardfault that can occur when killing a task via Ctrl-C in PROTECTED mode. 736a0da Fix various coding standard problems in last PR, mostly as reported by tools/nxstyle. Apps: - https://github.com/PX4/NuttX-apps/tree/master - PX4/NuttX-apps@0343ea1 Changes from PX4/NuttX-apps (PX4/NuttX-apps@91b6ad6) in current PX4/master (9b66cbd) PX4/NuttX-apps@91b6ad6...0343ea1 0343ea1a (HEAD -> master, origin/master) examples/udpblaster/Makefile: change UDPBLASTER_PROGNAME to CONFIG_UDPBLASTER_PROGNAME to fix the compile error: apps\include" -Dmain udpblaster_target.c -o udpblaster_target.o <command-line>:0:6: error: expected identifier or '(' before numeric constant udpblaster_target.c:196:5: note: in expansion of macro 'main' 9f1aa3c3 (origin/px4_firmware_nuttx-8.2+) apps//examples/netlink_route: Correct format when printing ARP table entries. eff16338 Remove apps/grephics/traveler 96670609 Remove apps/system/sudoku. 23d2785b system/spi/Kconfig: Simultaneous with Dave Marples patch, kyChu submitted a nearly equivalent change with PR 206. In have enhanced Dave Marples change with some good things form kyChu's PR. 12224806 system/spi/Kconfig: This patch fixes a missing definition in the spitool when SPI is enabled with command/data switching. e89a1aa5 README.txt: Update to include a description of the 'dmesg' command which was apparently never documented. 3ebf7109 Remove all support for the ancient Pascal compiler and pcode interpreter. c084cd82 apps/system/nxplayer and nxrecorder: apps/nxplayer&nxrecorder: Add nuttx shell support. Use system() function to support shell command in nxplayer and nxrecorder applications. 1859f563 apps/netutils/netinit, apps/netutils/netlib/, and apps/include/netutils/netlib.h: Extend a few definitions to permit building netutils and netinit with only Netlink sockets enabled.
This is my work on top of offboard2, merged with the navigator_rewrite.