zrzk/px4_autopilot - px4_autopilot - Gitea: Brown's Gitea

Author	SHA1	Message	Date
Julian Oes	e6b1775bb6	vmount/navigator/mavlink: gimbal v2 changes This is a collection of commits all having to do with changes in the Mavlink gimbal v2 protocol as described in: https://mavlink.io/en/services/gimbal_v2.html	4 years ago
Martina Rivizzigno	48b00ff678	Support for gimbal v2 protocol - add command to request a message - add gimbal attitude message mavlink_receiver handle GIMBAL_MANAGER_SET_ATTITUDE first implementation of new vmount input MavlinkGimbalV2 - setup class - decode gimbal_manager_set_attitude in ControlData add gimbal information message add gimbal manager information and vehicle command ack mavlink messages: add stream for GIMBAL_MANAGER_INFORMATION mavlink_receiver: handle GIMBAL_DEVICE_INFORMATION remove mavlink cmd handling from vmount input MavlinkGimbalV2 complete gimbal manager: - send out fake gimbal_device_information for dummy gimbals - complete ROI handling with nudging small fixes fix typos cleanup - gimbal device information - flags lock - check sanity of string add support for CMD_DO_GIMBAL_MANAGER_ATTITUDE stream GimbalDeviceAttitudeStatus for dummy gimbals - add uROB gimbal_attitude_status - fill status in vmount output_rc for dummy gimbals not able to send the status themselves - stream mavlink GimbalDeviceAttitudeStatus better handle the request for gimbal infomation request clean up bring gimbal information back on vmount init add new gimbal message to mavlink normal stream fix publication of gimbal device information rename gimbal_attitude_status to gimbal_device_attitude_status stream gimbal_manager_status at 5Hz mavlink: send information only on request Sending the information message once on request should now work and we don't need to keep publishing it. mavlink: debug output for now make sure to copy over control data mavlink: add missing copyright header, pragma once mavlink: address review comments mavlink: handle stream not updated Our answer does not just depend on whether the stream was found but whether we actually were able to send out an update. mavlink: remove outdated comment vmount: add option for yaw stabilization only The stabilize flag is used for gimbals which do not have an internal IMU and need the autopilot's attitude in order to do stabilization. These gimbals are probably quite rare by now but it makes sense to keep the functionality given it can e.g. be used by simple servo gimbals for sensors other than highres cameras. The stabilize flag can also be re-used for gimbals which are capable of stabilizing pitch and roll but not absolute yaw (e.g. locked to North). For such gimbals we can now set the param MNT_DO_STAB to 2. We still support configuring which axes are stabilized by the MAVLink command DO_MOUNT_CONFIGURE, however, this is generally not recommended anymore. vmount: fix incorrect check for bit flag mavlink_messages: remove debug message Signed-off-by: Claudio Micheli <claudio@auterion.com> use device id remove debug print gimbal attitude fix mistake clang tidy fix split: - gimbal_attitude -> gimbal_device_set_attitude, gimbal_manager_set_attitude - gimbal_information -> gimbal_device_informatio, gimbal_manager_information add gimbal protocol messages to rtps msg ids support set attitude for gimbal directly speaking mavlink clean up gimbal urob messages vmount: address a few small review comments vmount: split output into v1 and v2 protocol This way we can continue to support the MAVLink v1 protocol. Also, we don't send the old vehicle commands when actually using the new v2 protocol. vmount: config via ctor instead of duplicate param vmount: use loop to poll all topics Otherwise we might give up too soon and miss some data, or run too fast based on commands that have nothing to do with the gimbal. typhoon_h480: use gimbal v2 protocol, use yaw stab Let's by default use the v2 protocol with typhoon_h480 and enable yaw lock mode by stabilizing yaw.	4 years ago
Daniel Agar	9585055e9e	uORB: add bitset for faster orb_exists check and remove uORB::Subscription lazy subscribe hack/optimization - add PX4 bitset and atomic_bitset with testing - add uORB::Subscription constructor to take ORB_ID enum - move orb test messages into msg/	5 years ago
TSC21	f6a5c7cca9	qshell: rename qshell sequence fields so they can be parsed on fastrtpsgen	6 years ago
TSC21	e932030d88	add timestamp field to uORB msgs; sync timestamp whenever possible	7 years ago
Julian Oes	0c5c741b1a	add posix shell squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase	7 years ago