* Add return to land to mission
This method uses the planned mission for rtl. If a landing sequence
is present it will continue the mission and land. If not it will
fly back the mission and loiter/land at the home position.
Flight tested: ekf2 w/ mag and compass by @nathantsoi: https://logs.px4.io/plot_app?log=79b81031-cf1e-41f0-890b-d6cd7d559766
NOTE: external I2C devices need a pullup. I have tested with a 3.3v 2.2k pullup.
Working:
- mpu6000, bench tested and verified via nsh
- fmu
- all 6 ch output bench tested w/ pwm and oneshot via nsh
- ppm input bench tested
- dsm input bench tested
- bmp280, bench tested and verified via nsh
- hmc5883, bench tested and verified via nsh, but requires an external i2c pullup
- gps on uart6
- startuplog, nsh, mavlink on uart4, but params are not sent for some reason. RSSI pin is TX, MOTOR 5 is RX (normal mode, 57600 baud)
- rgbled over i2c, bench tested and workingp
- sbus via the shared sbus/ppm pin (which includes an inverter to the mcu SBUS in pin), remove the solder bridge or jumper to the ppm pin before use
Not yet implemented:
- ADC
- OSD: passthrough video is untested, use at your own risk until a basic driver is implemented.
We are running out of flash memory in px4fmu-v2 so removing all the
distance sensors from binary and adding then individually.
Right now only LeddarOne is not being buid.
* Cygwin: repaired NuttX build after 1f63d85869
all the NuttX specific WINTOOL define handling was skiped in cmake Make.defs generation
The Nuttx build is makfile based and needs its cygwin treatment
Additionally the ${PX4_SOURCE_DIR}/src/include which was added through cmake needs path conversion
The two root causes for the special handling are:
- ARM GCC for Windows doesn't support cygwin paths passed as an argument
so they need to be either relative or converted via cypath tool
- Symbolic links are totally different under Windows and because NuttX uses them extensively
it has special handling scripts that need to be fed with the correct defines
* Cygwin: NuttX include paths all converted in Make.defs.in
differentiate between WINTOOL define (MSYS & cygwin) and cygwin using uname command:
- MSYS needs symbolic link handling for ARM GCC but no path conversion
- Cygwin needs both
Daniel Agar
Florian Achermann
DanielePettenuzzo
nathan
Beat Küng
Matthias Grob
PX4 Jenkins
Martin Trgina
Roman
mcsauder
José Roberto de Souza
ChristophTobler
Simone Guscetti