Merge branch 'release_v1.0.0' into beta

.gitmodules

@@ -4,9 +4,9 @@
 [submodule "NuttX"]
 	path = NuttX
 	url = git://github.com/PX4/NuttX.git
-[submodule "uavcan"]
+[submodule "libuavcan"]
 	path = src/lib/uavcan
-	url = git://github.com/pavel-kirienko/uavcan.git
+	url = git://github.com/UAVCAN/libuavcan.git
 [submodule "Tools/genmsg"]
 	path = Tools/genmsg
 	url = https://github.com/ros/genmsg.git

ROMFS/px4fmu_common/mixers/FX79.main.mix

@@ -27,13 +27,13 @@ for the elevons.
 
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 0 0   7500   7500      0 -10000  10000
+S: 0 0   8500   8500      0 -10000  10000
-S: 0 1   8000   8000      0 -10000  10000
+S: 0 1   9500   9500      0 -10000  10000
 
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 0 0   7500   7500      0 -10000  10000
+S: 0 0   8500   8500      0 -10000  10000
-S: 0 1  -8000  -8000      0 -10000  10000
+S: 0 1  -9500  -9500      0 -10000  10000
 
 Output 2
 --------
@@ -51,19 +51,3 @@ range.  Inputs below zero are treated as zero.
 M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
-
-Inputs to the mixer come from channel group 2 (payload), channels 0
-(bay servo 1), 1 (bay servo 2) and 3 (drop release).
------------------------------------------------------
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 0  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 1  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 2 2 -10000 -10000      0 -10000  10000

src/modules/commander/commander.cpp

@@ -147,6 +147,9 @@ static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60;		/**< Maximum percentage
 
 #define INAIR_RESTART_HOLDOFF_INTERVAL	2000000
 
+#define HIL_ID_MIN 1000
+#define HIL_ID_MAX 1999
+
 enum MAV_MODE_FLAG {
 	MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */
 	MAV_MODE_FLAG_TEST_ENABLED = 2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
@@ -253,6 +256,15 @@ void *commander_low_prio_loop(void *arg);
 
 void answer_command(struct vehicle_command_s &cmd, unsigned result);
 
+/**
+ * check whether autostart ID is in the reserved range for HIL setups
+ */
+bool is_hil_setup(int id);
+
+bool is_hil_setup(int id) {
+	return (id >= HIL_ID_MIN) && (id <= HIL_ID_MAX);
+}
+
 
 int commander_main(int argc, char *argv[])
 {
@@ -437,6 +449,12 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
 {
 	transition_result_t arming_res = TRANSITION_NOT_CHANGED;
 
+	// For HIL platforms, require that simulated sensors are connected
+	if (is_hil_setup(autostart_id) && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
+		mavlink_and_console_log_critical(mavlink_fd_local, "HIL platform: Connect to simulator before arming");
+		return TRANSITION_DENIED;
+	}
+
 	// Transition the armed state. By passing mavlink_fd to arming_state_transition it will
 	// output appropriate error messages if the state cannot transition.
 	arming_res = arming_state_transition(&status, &safety, arm ? vehicle_status_s::ARMING_STATE_ARMED : vehicle_status_s::ARMING_STATE_STANDBY, &armed,
@@ -481,10 +499,14 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 			transition_result_t hil_ret = hil_state_transition(new_hil_state, status_pub, status_local, mavlink_fd);
 
 			// Transition the arming state
-			arming_ret = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command");
+			bool cmd_arm = base_mode & MAV_MODE_FLAG_SAFETY_ARMED;
+
+			arming_ret = arm_disarm(cmd_arm, mavlink_fd, "set mode command");
 
 			/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
-			if (arming_ret == TRANSITION_CHANGED && hrt_absolute_time() > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL) {
+			if (cmd_arm && (arming_ret == TRANSITION_CHANGED) &&
+				(hrt_absolute_time() > (commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL))) {
+
 				commander_set_home_position(*home_pub, *home, *local_pos, *global_pos);
 			}
 
@@ -1156,7 +1178,11 @@ int commander_thread_main(int argc, char *argv[])
 
 	// Run preflight check
 	param_get(_param_autostart_id, &autostart_id);
-	if (autostart_id > 1999) {
+	if (is_hil_setup(autostart_id)) {
+		// HIL configuration selected: real sensors will be disabled
+		status.condition_system_sensors_initialized = false;
+		set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
+	} else {
 		status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
 		if (!status.condition_system_sensors_initialized) {
 			set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
@@ -1164,11 +1190,6 @@ int commander_thread_main(int argc, char *argv[])
 		else {
 			set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
 		}
-	} else {
-		// HIL configuration selected: real sensors will be disabled
-		warnx("HIL configuration; autostart_id: %d, onboard IMU sensors disabled", autostart_id);
-		status.condition_system_sensors_initialized = false;
-		set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
 	}
 
 	commander_boot_timestamp = hrt_absolute_time();
@@ -1339,14 +1360,14 @@ int commander_thread_main(int argc, char *argv[])
 					}
 
 					/* provide RC and sensor status feedback to the user */
-					if (autostart_id > 1999) {
+					if (is_hil_setup(autostart_id)) {
-						(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
-								!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
-					} else {
 						/* HIL configuration: check only RC input */
-						warnx("new telemetry link connected: checking RC status");
 						(void)Commander::preflightCheck(mavlink_fd, false, false, false, false, false,
 								!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), false);
+					} else {
+						/* check sensors also */
+						(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
+								!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
 					}
 				}
 
@@ -2024,11 +2045,11 @@ int commander_thread_main(int argc, char *argv[])
 			}
 		}
 
-		//Get current timestamp
+		/* Get current timestamp */
 		const hrt_abstime now = hrt_absolute_time();
 
-		//First time home position update
+		/* First time home position update - but only if disarmed */
-		if (!status.condition_home_position_valid) {
+		if (!status.condition_home_position_valid && !armed.armed) {
 			commander_set_home_position(home_pub, _home, local_position, global_position);
 		}
 

src/modules/commander/state_machine_helper.cpp

@@ -494,7 +494,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 	case vehicle_status_s::MAIN_STATE_ALTCTL:
 	case vehicle_status_s::MAIN_STATE_POSCTL:
 		/* require RC for all manual modes */
-		if ((status->rc_signal_lost || status->rc_signal_lost_cmd) && armed) {
+		if ((status->rc_signal_lost || status->rc_signal_lost_cmd) && armed && !status->condition_landed) {
 			status->failsafe = true;
 
 			if (status->condition_global_position_valid && status->condition_home_position_valid) {

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp

@@ -72,6 +72,8 @@ static constexpr float rc = 10.0f;	// RC time constant of 1st order LPF in secon
 static constexpr uint64_t FILTER_INIT_DELAY = 1 * 1000 * 1000; 	///< units: microseconds
 static constexpr float POS_RESET_THRESHOLD = 5.0f; 				///< Seconds before we signal a total GPS failure
 static constexpr unsigned MAG_SWITCH_HYSTERESIS = 10;	///< Ignore the first few mag failures (which amounts to a few milliseconds)
+static constexpr unsigned GYRO_SWITCH_HYSTERESIS = 5;	///< Ignore the first few gyro failures (which amounts to a few milliseconds)
+static constexpr unsigned ACCEL_SWITCH_HYSTERESIS = 5;	///< Ignore the first few accel failures (which amounts to a few milliseconds)
 
 /**
  * estimator app start / stop handling function
@@ -631,7 +633,10 @@ void AttitudePositionEstimatorEKF::task_main()
 				// gps sample rate is 5Hz and altitude is assumed accurate when averaged over 30 seconds
 				// maintain heavily filtered values for both baro and gps altitude
 				// Assume the filtered output should be identical for both sensors
-				_baro_gps_offset = _baro_alt_filt - _gps_alt_filt;
+
+				if (_gpsIsGood) {
+					_baro_gps_offset = _baro_alt_filt - _gps_alt_filt;
+				}
 //				if (hrt_elapsed_time(&_last_debug_print) >= 5e6) {
 //					_last_debug_print = hrt_absolute_time();
 //					perf_print_counter(_perf_baro);
@@ -658,6 +663,8 @@ void AttitudePositionEstimatorEKF::task_main()
 
 					_ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f);
 
+					_filter_ref_offset = -_baro.altitude;
+
 					warnx("filter ref off: baro_alt: %8.4f", (double)_filter_ref_offset);
 
 				} else {
@@ -1219,7 +1226,7 @@ void AttitudePositionEstimatorEKF::pollData()
 	if (isfinite(_sensor_combined.gyro_rad_s[0]) &&
 	    isfinite(_sensor_combined.gyro_rad_s[1]) &&
 	    isfinite(_sensor_combined.gyro_rad_s[2]) &&
-	    (_sensor_combined.gyro_errcount <= _sensor_combined.gyro1_errcount)) {
+	    (_sensor_combined.gyro_errcount <= (_sensor_combined.gyro1_errcount + GYRO_SWITCH_HYSTERESIS))) {
 
 		_ekf->angRate.x = _sensor_combined.gyro_rad_s[0];
 		_ekf->angRate.y = _sensor_combined.gyro_rad_s[1];
@@ -1258,7 +1265,7 @@ void AttitudePositionEstimatorEKF::pollData()
 		int last_accel_main = _accel_main;
 
 		/* fail over to the 2nd accel if we know the first is down */
-		if (_sensor_combined.accelerometer_errcount <= _sensor_combined.accelerometer1_errcount) {
+		if (_sensor_combined.accelerometer_errcount <= (_sensor_combined.accelerometer1_errcount + ACCEL_SWITCH_HYSTERESIS)) {
 			_ekf->accel.x = _sensor_combined.accelerometer_m_s2[0];
 			_ekf->accel.y = _sensor_combined.accelerometer_m_s2[1];
 			_ekf->accel.z = _sensor_combined.accelerometer_m_s2[2];

src/modules/navigator/mission.cpp

@@ -230,9 +230,9 @@ Mission::update_offboard_mission()
 		 * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
 		dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
 
-		failed = !_missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
+		failed = !_missionFeasiblityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing,
 				dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
-				_navigator->get_home_position()->alt);
+				_navigator->get_home_position()->alt, _navigator->home_position_valid());
 
 	} else {
 		warnx("offboard mission update failed");
@@ -374,7 +374,7 @@ Mission::set_mission_items()
 	} else if (home_dist_ok && read_mission_item(false, true, &_mission_item)) {
 		/* if mission type changed, notify */
 		if (_mission_type != MISSION_TYPE_OFFBOARD) {
-			mavlink_log_critical(_navigator->get_mavlink_fd(), "offboard mission now running");
+			mavlink_log_info(_navigator->get_mavlink_fd(), "offboard mission now running");
 		}
 		_mission_type = MISSION_TYPE_OFFBOARD;
 	} else {

src/modules/navigator/mission_feasibility_checker.cpp

@@ -63,42 +63,43 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capab
 }
 
 
-bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
+bool MissionFeasibilityChecker::checkMissionFeasible(int mavlink_fd, bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid)
 {
 	bool failed = false;
 	/* Init if not done yet */
 	init();
 
-	/* Open mavlink fd */
+	_mavlink_fd = mavlink_fd;
-	if (_mavlink_fd < 0) {
-		/* try to open the mavlink log device every once in a while */
-		_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-	}
 
 	// check if all mission item commands are supported
 	failed |= !checkMissionItemValidity(dm_current, nMissionItems);
 
 
-	if (isRotarywing)
+	if (isRotarywing) {
-		failed |= !checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence, home_alt);
+		failed |= !checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence, home_alt, home_valid);
-	else
+	} else {
-		failed |= !checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt);
+		failed |= !checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt, home_valid);
+	}
+
+	if (!failed) {
+		mavlink_log_info(_mavlink_fd, "Mission checked and ready.");
+	}
 
 	return !failed;
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
+bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid)
 {
 
 	/* Perform checks and issue feedback to the user for all checks */
 	bool resGeofence = checkGeofence(dm_current, nMissionItems, geofence);
-	bool resHomeAltitude = checkHomePositionAltitude(dm_current, nMissionItems, home_alt);
+	bool resHomeAltitude = checkHomePositionAltitude(dm_current, nMissionItems, home_alt, home_valid);
 
 	/* Mission is only marked as feasible if all checks return true */
 	return (resGeofence && resHomeAltitude);
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
+bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid)
 {
 	/* Update fixed wing navigation capabilites */
 	updateNavigationCapabilities();
@@ -107,7 +108,7 @@ bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_curre
 	/* Perform checks and issue feedback to the user for all checks */
 	bool resLanding = checkFixedWingLanding(dm_current, nMissionItems);
 	bool resGeofence = checkGeofence(dm_current, nMissionItems, geofence);
-	bool resHomeAltitude = checkHomePositionAltitude(dm_current, nMissionItems, home_alt);
+	bool resHomeAltitude = checkHomePositionAltitude(dm_current, nMissionItems, home_alt, home_valid);
 
 	/* Mission is only marked as feasible if all checks return true */
 	return (resLanding && resGeofence && resHomeAltitude);
@@ -136,7 +137,7 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
 	return true;
 }
 
-bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error)
+bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool home_valid, bool throw_error)
 {
 	/* Check if all all waypoints are above the home altitude, only return false if bool throw_error = true */
 	for (size_t i = 0; i < nMissionItems; i++) {
@@ -152,6 +153,12 @@ bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current,
 			}
 		}
 
+		/* always reject relative alt without home set */
+		if (missionitem.altitude_is_relative && !home_valid) {
+			mavlink_log_critical(_mavlink_fd, "Rejecting Mission: No home pos, WP %d uses rel alt", i);
+			return false;
+		}
+
 		/* calculate the global waypoint altitude */
 		float wp_alt = (missionitem.altitude_is_relative) ? missionitem.altitude + home_alt : missionitem.altitude;
 
@@ -197,7 +204,6 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
 			return false;
 		}
 	}
-	mavlink_log_info(_mavlink_fd, "Mission ready.");
 	return true;
 }
 

src/modules/navigator/mission_feasibility_checker.h

@@ -61,16 +61,16 @@ private:
 
 	/* Checks for all airframes */
 	bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
-	bool checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error = false);
+	bool checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool home_valid, bool throw_error = false);
 	bool checkMissionItemValidity(dm_item_t dm_current, size_t nMissionItems);
 
 	/* Checks specific to fixedwing airframes */
-	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
+	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid);
 	bool checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems);
 	void updateNavigationCapabilities();
 
 	/* Checks specific to rotarywing airframes */
-	bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
+	bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid);
 public:
 
 	MissionFeasibilityChecker();
@@ -79,8 +79,8 @@ public:
 	/*
 	 * Returns true if mission is feasible and false otherwise
 	 */
-	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence,
+	bool checkMissionFeasible(int mavlink_fd, bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence,
-				  float home_alt);
+				  float home_alt, bool home_valid);
 
 };
 

src/modules/navigator/navigator.h

@@ -134,6 +134,7 @@ public:
 	struct vehicle_gps_position_s*	    get_gps_position() { return &_gps_pos; }
 	struct sensor_combined_s*	    get_sensor_combined() { return &_sensor_combined; }
 	struct home_position_s*		    get_home_position() { return &_home_pos; }
+	bool				    home_position_valid() { return _home_position_set; }
 	struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; }
 	struct mission_result_s*	    get_mission_result() { return &_mission_result; }
 	struct geofence_result_s*		    get_geofence_result() { return &_geofence_result; }

src/modules/navigator/navigator_main.cpp

@@ -209,7 +209,10 @@ Navigator::home_position_update()
 
 	if (updated) {
 		orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos);
-		_home_position_set = true;
+
+		if (_home_pos.timestamp > 0) {
+			_home_position_set = true;
+		}
 	}
 }
 

src/modules/px4iofirmware/mixer.cpp

@@ -311,13 +311,6 @@ mixer_callback(uintptr_t handle,
 	case MIX_FMU:
 		if (control_index < PX4IO_CONTROL_CHANNELS && control_group < PX4IO_CONTROL_GROUPS ) {
 			control = REG_TO_FLOAT(r_page_controls[CONTROL_PAGE_INDEX(control_group, control_index)]);
-			if (control_group == 0 && control_index == 0) {
-				control += REG_TO_FLOAT(r_setup_trim_roll);
-			} else if (control_group == 0 && control_index == 1) {
-				control += REG_TO_FLOAT(r_setup_trim_pitch);
-			} else if (control_group == 0 && control_index == 2) {
-				control += REG_TO_FLOAT(r_setup_trim_yaw);
-			}
 			break;
 		}
 		return -1;
@@ -360,6 +353,13 @@ mixer_callback(uintptr_t handle,
 		return -1;
 	}
 
+	/* limit output */
+	if (control > 1.0f) {
+		control = 1.0f;
+	} else if (control < -1.0f) {
+		control = -1.0f;
+	}
+
 	return 0;
 }