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microdds_client: rename to uxrce_dds_client 

| | old version | new version (second proposal) |
|-|-|-|
| module name | `microdds_client` | **`uxrce_dds_client`** |
| strings / comments about the module | non consistent | **UXRCE-DDS Client** |
| menuconfig option | `MODULES_MICRODDS_CLIENT` | **`MODULES_UXRCE_DDS_CLIENT`** |
| module parameters group name | `Micro XRCE-DDS` | **UXRCE-DDS Client** |
| module parameters name prefix | `XRCE_DDS_` | `UXRCE_DDS_` |
| module class name | `MicroddsClient` | **`UxrceddsClient`** |
|`init.d/rcS` whenever the module is mentioned | `microdds` | **`uxrce_dds`** |
| main doc page name | XRCE-DDS (PX4-FastDDS Bridge) | **uXRCE-DDS (PX4-micro XRCE-DDS Bridge)**|
| environment variable to have custom namespace in simulation | PX4_MICRODDS_NS | **PX4_UXRCE_DDS_NS** |

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
This commit is contained in:
Beniamino Pozzan 2023-04-20 18:06:06 -07:00 committed by Ramon Roche
parent 1d4b66fcbc
commit 9e5420bbbd
52 changed files with 121 additions and 122 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
.gitmodules vendored
View File

@ -58,7 +58,7 @@
path = src/lib/crypto/libtommath path = src/lib/crypto/libtommath
url = https://github.com/PX4/libtommath.git url = https://github.com/PX4/libtommath.git
branch = px4 branch = px4
[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"] [submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
path = src/modules/microdds_client/Micro-XRCE-DDS-Client path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
url = https://github.com/PX4/Micro-XRCE-DDS-Client.git url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
branch = px4 branch = px4

2
Makefile
View File

@ -483,7 +483,7 @@ shellcheck_all:
validate_module_configs: validate_module_configs:
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \ @find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \ -not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
-not -path "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \ -not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \ -not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \ -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

20
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@ -129,7 +129,7 @@ fi
# multi-instance setup # multi-instance setup
# shellcheck disable=SC2154 # shellcheck disable=SC2154
param set MAV_SYS_ID $((px4_instance+1)) param set MAV_SYS_ID $((px4_instance+1))
param set XRCE_DDS_KEY $((px4_instance+1)) param set UXRCE_DDS_KEY $((px4_instance+1))
if [ $AUTOCNF = yes ] if [ $AUTOCNF = yes ]
then then
@ -265,26 +265,26 @@ fi
navigator start navigator start
# Try to start the microdds_client with UDP transport if module exists # Try to start the UXRCE-DDS Client with UDP transport if module exists
microdds_ns="" uxrce_dds_ns=""
if [ "$px4_instance" -ne "0" ] if [ "$px4_instance" -ne "0" ]
then then
# for multi intances setup, add namespace prefix # for multi intances setup, add namespace prefix
microdds_ns="-n px4_$px4_instance" uxrce_dds_ns="-n px4_$px4_instance"
fi fi
if [ -n "$PX4_MICRODDS_NS" ] if [ -n "$PX4_UXRCE_DDS_NS" ]
then then
# Override namespace if environment variable is defined # Override namespace if environment variable is defined
microdds_ns="-n $PX4_MICRODDS_NS" uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
fi fi
if [ -n "$ROS_DOMAIN_ID" ] if [ -n "$ROS_DOMAIN_ID" ]
then then
# Match XRCE_DDS_DOM_ID with ROS_DOMAIN_ID, if defined # Match UXRCE_DDS_DOM_ID with ROS_DOMAIN_ID, if defined
param set XRCE_DDS_DOM_ID $ROS_DOMAIN_ID param set UXRCE_DDS_DOM_ID $ROS_DOMAIN_ID
else else
param set XRCE_DDS_DOM_ID 0 param set UXRCE_DDS_DOM_ID 0
fi fi
microdds_client start -t udp -h 127.0.0.1 -p 8888 $microdds_ns uxrce_dds_client start -t udp -h 127.0.0.1 -p 8888 $uxrce_dds_ns
if param greater -s MNT_MODE_IN -1 if param greater -s MNT_MODE_IN -1
then then

2
Tools/astyle/files_to_check_code_style.sh
View File

@ -25,5 +25,5 @@ exec find boards msg src platforms test \
-path src/lib/crypto/monocypher -prune -o \ -path src/lib/crypto/monocypher -prune -o \
-path src/lib/crypto/libtomcrypt -prune -o \ -path src/lib/crypto/libtomcrypt -prune -o \
-path src/lib/crypto/libtommath -prune -o \ -path src/lib/crypto/libtommath -prune -o \
-path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \ -path src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client -prune -o \
-type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

2
Tools/convert_ip.py
View File

@ -1,7 +1,7 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
""" """
Converts IP address given in decimal dot notation to int32 to be used in XRCE_DDS_0_CFG parameter Converts IP address given in decimal dot notation to int32 to be used in UXRCE_DDS_CFG parameter
and vice-versa and vice-versa
@author: Beniamino Pozzan (beniamino.pozzan@phd.unipd.it) @author: Beniamino Pozzan (beniamino.pozzan@phd.unipd.it)

2
boards/ark/fmu-v6x/default.px4board
View File

@ -60,11 +60,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y

2
boards/beaglebone/blue/default.px4board
View File

@ -49,7 +49,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -60,6 +59,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DYN=y CONFIG_SYSTEMCMDS_DYN=y

2
boards/cuav/nora/default.px4board
View File

@ -66,13 +66,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y

2
boards/cuav/x7pro/default.px4board
View File

@ -67,13 +67,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y

2
boards/cubepilot/cubeorange/default.px4board
View File

@ -62,11 +62,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_BL_UPDATE=y

2
boards/cubepilot/cubeorangeplus/default.px4board
View File

@ -62,11 +62,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_BL_UPDATE=y

2
boards/emlid/navio2/default.px4board
View File

@ -51,7 +51,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -62,6 +61,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DYN=y CONFIG_SYSTEMCMDS_DYN=y

2
boards/holybro/durandal-v1/default.px4board
View File

@ -59,13 +59,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y

2
boards/holybro/kakutef7/default.px4board
View File

@ -28,8 +28,8 @@ CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PARAM=y

2
boards/holybro/kakuteh7/default.px4board
View File

@ -55,13 +55,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y

2
boards/holybro/kakuteh7v2/default.px4board
View File

@ -55,13 +55,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DMESG=y

2
boards/matek/h743-mini/default.px4board
View File

@ -45,10 +45,10 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DMESG=y

2
boards/matek/h743-slim/default.px4board
View File

@ -46,10 +46,10 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DMESG=y

2
boards/matek/h743/default.px4board
View File

@ -47,10 +47,10 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DMESG=y

2
boards/modalai/fc-v1/default.px4board
View File

@ -65,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -74,6 +73,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_BL_UPDATE=y

2
boards/modalai/fc-v2/default.px4board
View File

@ -61,13 +61,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y

2
boards/mro/ctrl-zero-classic/default.px4board
View File

@ -60,7 +60,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -69,6 +68,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y

2
boards/mro/ctrl-zero-h7-oem/default.px4board
View File

@ -58,7 +58,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -67,6 +66,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y

2
boards/mro/ctrl-zero-h7/default.px4board
View File

@ -59,7 +59,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -68,6 +67,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y

2
boards/mro/pixracerpro/default.px4board
View File

@ -58,7 +58,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -67,6 +66,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y

2
boards/nxp/fmuk66-e/default.px4board
View File

@ -63,13 +63,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_DUMPFILE=y

2
boards/nxp/fmuk66-v3/default.px4board
View File

@ -65,13 +65,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_DUMPFILE=y

2
boards/nxp/fmurt1062-v1/default.px4board
View File

@ -46,10 +46,10 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_DUMPFILE=y

2
boards/omnibus/f4sd/default.px4board
View File

@ -28,10 +28,10 @@ CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PARAM=y

2
boards/px4/fmu-v3/default.px4board
View File

@ -67,7 +67,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -76,6 +75,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_BL_UPDATE=y

2
boards/px4/fmu-v4/default.px4board
View File

@ -68,7 +68,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -77,6 +76,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_BL_UPDATE=y

2
boards/px4/fmu-v4pro/default.px4board
View File

@ -64,7 +64,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -73,6 +72,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_BL_UPDATE=y

2
boards/px4/fmu-v5/default.px4board
View File

@ -71,7 +71,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
@ -80,6 +79,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_BL_UPDATE=y

2
boards/px4/fmu-v5/uavcanv0periph.px4board
View File

@ -19,12 +19,12 @@ CONFIG_MODULES_ESC_BATTERY=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_MICRODDS_CLIENT=n
CONFIG_MODULES_ROVER_POS_CONTROL=n CONFIG_MODULES_ROVER_POS_CONTROL=n
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
CONFIG_MODULES_UUV_ATT_CONTROL=n CONFIG_MODULES_UUV_ATT_CONTROL=n
CONFIG_MODULES_UUV_POS_CONTROL=n CONFIG_MODULES_UUV_POS_CONTROL=n
CONFIG_MODULES_UXRCE_DDS_CLIENT=n
CONFIG_SYSTEMCMDS_BL_UPDATE=n CONFIG_SYSTEMCMDS_BL_UPDATE=n
CONFIG_SYSTEMCMDS_DUMPFILE=n CONFIG_SYSTEMCMDS_DUMPFILE=n
CONFIG_SYSTEMCMDS_GPIO=n CONFIG_SYSTEMCMDS_GPIO=n

2
boards/px4/fmu-v5x/default.px4board
View File

@ -73,7 +73,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_PAYLOAD_DELIVERER=y CONFIG_MODULES_PAYLOAD_DELIVERER=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
@ -81,6 +80,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_BL_UPDATE=y

2
boards/px4/fmu-v6c/default.px4board
View File

@ -59,13 +59,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y

2
boards/px4/fmu-v6u/default.px4board
View File

@ -63,13 +63,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y

2
boards/px4/fmu-v6x/default.px4board
View File

@ -67,11 +67,11 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y

2
boards/px4/sitl/default.px4board
View File

@ -36,7 +36,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_PAYLOAD_DELIVERER=y CONFIG_MODULES_PAYLOAD_DELIVERER=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
@ -48,6 +47,7 @@ CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_BSONDUMP=y

2
boards/sky-drones/smartap-airlink/default.px4board
View File

@ -62,13 +62,13 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_BL_UPDATE=y

2
boards/spracing/h7extreme/default.px4board
View File

@ -36,10 +36,10 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y
CONFIG_MODULES_MICRODDS_CLIENT=y
CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_DUMPFILE=y

5
src/modules/microdds_client/Kconfig
View File

@ -1,5 +0,0 @@
menuconfig MODULES_MICRODDS_CLIENT
bool "microdds_client"
default n
---help---
Enable support for the MicroDDS Client

10
src/modules/microdds_client/CMakeLists.txt → src/modules/uxrce_dds_client/CMakeLists.txt
View File

@ -32,7 +32,7 @@
############################################################################ ############################################################################
if(${CMAKE_VERSION} VERSION_LESS "3.11") if(${CMAKE_VERSION} VERSION_LESS "3.11")
message(WARNING "skipping microdds_client, Micro-XRCE-DDS-Client needs to be fixed to work with CMAKE_VERSION ${CMAKE_VERSION}") message(WARNING "skipping uxrce_dds_client, Micro-XRCE-DDS-Client needs to be fixed to work with CMAKE_VERSION ${CMAKE_VERSION}")
else() else()
px4_add_git_submodule(TARGET git_micro_xrce_dds_client PATH "${CMAKE_CURRENT_LIST_DIR}/Micro-XRCE-DDS-Client") px4_add_git_submodule(TARGET git_micro_xrce_dds_client PATH "${CMAKE_CURRENT_LIST_DIR}/Micro-XRCE-DDS-Client")
@ -130,8 +130,8 @@ else()
add_custom_target(topic_bridge_files DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h) add_custom_target(topic_bridge_files DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h)
px4_add_module( px4_add_module(
MODULE modules__microdds_client MODULE modules__uxrce_dds_client
MAIN microdds_client MAIN uxrce_dds_client
STACK_MAIN 9000 STACK_MAIN 9000
INCLUDES INCLUDES
${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}
@ -140,8 +140,8 @@ else()
${MAX_CUSTOM_OPT_LEVEL} ${MAX_CUSTOM_OPT_LEVEL}
SRCS SRCS
${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h ${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h
microdds_client.cpp uxrce_dds_client.cpp
microdds_client.h uxrce_dds_client.h
DEPENDS DEPENDS
microxrceddsclient microxrceddsclient
libmicroxrceddsclient libmicroxrceddsclient

5
src/modules/uxrce_dds_client/Kconfig Normal file
View File

@ -0,0 +1,5 @@
menuconfig MODULES_UXRCE_DDS_CLIENT
bool "uxrce_dds_client"
default n
---help---
Enable support for the UXRCE-DDS Client

0
src/modules/microdds_client/Micro-XRCE-DDS-Client → src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
View File

0
src/modules/microdds_client/dds_topics.h.em → src/modules/uxrce_dds_client/dds_topics.h.em
View File

2
src/modules/microdds_client/dds_topics.yaml → src/modules/uxrce_dds_client/dds_topics.yaml
View File

@ -1,6 +1,6 @@
##### #####
# #
# This file maps all the topics that are to be used on the micro DDS client. # This file maps all the topics that are to be used on the uXRCE-DDS client.
# #
##### #####
publications: publications:

2
src/modules/microdds_client/generate_dds_topics.py → src/modules/uxrce_dds_client/generate_dds_topics.py
View File

@ -53,7 +53,7 @@ parser.add_argument("-t", "--template_file", dest='template_file', type=str,
help="DDS topics template file") help="DDS topics template file")
parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str, parser.add_argument("-u", "--client-outdir", dest='clientdir', type=str,
help="Client output dir, by default using relative path 'src/modules/microdds_client'", default=None) help="Client output dir, by default using relative path 'src/modules/uxrce_dds_client'", default=None)
if len(sys.argv) <= 1: if len(sys.argv) <= 1:
parser.print_usage() parser.print_usage()

38
src/modules/microdds_client/module.yaml → src/modules/uxrce_dds_client/module.yaml
View File

@ -1,36 +1,36 @@
module_name: Micro XRCE-DDS module_name: UXRCE-DDS Client
serial_config: serial_config:
- command: | - command: |
if [ $SERIAL_DEV != ethernet ]; then if [ $SERIAL_DEV != ethernet ]; then
set XRCE_DDS_ARGS "-t serial -d ${SERIAL_DEV} -b p:${BAUD_PARAM}" set UXRCE_DDS_ARGS "-t serial -d ${SERIAL_DEV} -b p:${BAUD_PARAM}"
else else
set XRCE_DDS_ARGS "-t udp" set UXRCE_DDS_ARGS "-t udp"
fi fi
microdds_client start ${XRCE_DDS_ARGS} uxrce_dds_client start ${UXRCE_DDS_ARGS}
port_config_param: port_config_param:
name: XRCE_DDS_CFG name: UXRCE_DDS_CFG
group: Micro XRCE-DDS group: UXRCE-DDS Client
supports_networking: true supports_networking: true
parameters: parameters:
- group: Micro XRCE-DDS - group: UXRCE-DDS Client
definitions: definitions:
XRCE_DDS_DOM_ID: UXRCE_DDS_DOM_ID:
description: description:
short: XRCE DDS domain ID short: uXRCE-DDS domain ID
long: XRCE DDS domain ID long: uXRCE-DDS domain ID
category: System category: System
type: int32 type: int32
reboot_required: true reboot_required: true
default: 0 default: 0
XRCE_DDS_KEY: UXRCE_DDS_KEY:
description: description:
short: XRCE DDS Session key short: uXRCE-DDS Session key
long: | long: |
XRCE DDS key, must be different from zero. uXRCE-DDS key, must be different from zero.
In a single agent - multi client configuration, each client In a single agent - multi client configuration, each client
must have a unique session key. must have a unique session key.
category: System category: System
@ -38,11 +38,11 @@ parameters:
reboot_required: true reboot_required: true
default: 1 default: 1
XRCE_DDS_PRT: UXRCE_DDS_PRT:
description: description:
short: Micro DDS UDP Port short: uXRCE-DDS UDP Port
long: | long: |
If ethernet enabled and selected as configuration for micro DDS, If ethernet enabled and selected as configuration for uXRCE-DDS,
selected udp port will be set and used. selected udp port will be set and used.
type: int32 type: int32
min: 0 min: 0
@ -51,11 +51,11 @@ parameters:
default: 8888 default: 8888
requires_ethernet: true requires_ethernet: true
XRCE_DDS_AG_IP: UXRCE_DDS_AG_IP:
description: description:
short: Micro DDS Agent IP address short: uXRCE-DDS Agent IP address
long: | long: |
If ethernet enabled and selected as configuration for micro DDS, If ethernet enabled and selected as configuration for uXRCE-DDS,
selected Agent IP address will be set and used. selected Agent IP address will be set and used.
Decimal dot notation is not supported. IP address must be provided Decimal dot notation is not supported. IP address must be provided
in int32 format. For example, 192.168.1.2 is mapped to -1062731518; in int32 format. For example, 192.168.1.2 is mapped to -1062731518;

0
src/modules/microdds_client/utilities.hpp → src/modules/uxrce_dds_client/utilities.hpp
View File

64
src/modules/microdds_client/microdds_client.cpp → src/modules/uxrce_dds_client/uxrce_dds_client.cpp
View File

@ -35,7 +35,7 @@
#include <px4_platform_common/cli.h> #include <px4_platform_common/cli.h>
#include <px4_platform_common/posix.h> #include <px4_platform_common/posix.h>
#include "microdds_client.h" #include "uxrce_dds_client.h"
#include <uxr/client/client.h> #include <uxr/client/client.h>
#include <uxr/client/util/ping.h> #include <uxr/client/util/ping.h>
@ -47,7 +47,7 @@
#include <unistd.h> #include <unistd.h>
#if defined(CONFIG_NET) || defined(__PX4_POSIX) #if defined(CONFIG_NET) || defined(__PX4_POSIX)
# define MICRODDS_CLIENT_UDP 1 # define UXRCE_DDS_CLIENT_UDP 1
#endif #endif
#define STREAM_HISTORY 4 #define STREAM_HISTORY 4
@ -79,7 +79,7 @@ void on_time(uxrSession *session, int64_t current_time, int64_t received_timesta
} }
} }
MicroddsClient::MicroddsClient(Transport transport, const char *device, int baudrate, const char *agent_ip, UxrceddsClient::UxrceddsClient(Transport transport, const char *device, int baudrate, const char *agent_ip,
const char *port, bool localhost_only, bool custom_participant, const char *client_namespace) : const char *port, bool localhost_only, bool custom_participant, const char *client_namespace) :
ModuleParams(nullptr), ModuleParams(nullptr),
_localhost_only(localhost_only), _custom_participant(custom_participant), _localhost_only(localhost_only), _custom_participant(custom_participant),
@ -120,7 +120,7 @@ MicroddsClient::MicroddsClient(Transport transport, const char *device, int baud
} else if (transport == Transport::Udp) { } else if (transport == Transport::Udp) {
#if defined(MICRODDS_CLIENT_UDP) #if defined(UXRCE_DDS_CLIENT_UDP)
_transport_udp = new uxrUDPTransport(); _transport_udp = new uxrUDPTransport();
strncpy(_port, port, PORT_MAX_LENGTH - 1); strncpy(_port, port, PORT_MAX_LENGTH - 1);
strncpy(_agent_ip, agent_ip, AGENT_IP_MAX_LENGTH - 1); strncpy(_agent_ip, agent_ip, AGENT_IP_MAX_LENGTH - 1);
@ -141,7 +141,7 @@ MicroddsClient::MicroddsClient(Transport transport, const char *device, int baud
} }
} }
MicroddsClient::~MicroddsClient() UxrceddsClient::~UxrceddsClient()
{ {
delete _subs; delete _subs;
delete _pubs; delete _pubs;
@ -157,7 +157,7 @@ MicroddsClient::~MicroddsClient()
} }
} }
void MicroddsClient::run() void UxrceddsClient::run()
{ {
if (!_comm) { if (!_comm) {
PX4_ERR("init failed"); PX4_ERR("init failed");
@ -386,7 +386,7 @@ void MicroddsClient::run()
} }
} }
int MicroddsClient::setBaudrate(int fd, unsigned baud) int UxrceddsClient::setBaudrate(int fd, unsigned baud)
{ {
int speed; int speed;
@ -523,14 +523,14 @@ int MicroddsClient::setBaudrate(int fd, unsigned baud)
return 0; return 0;
} }
int MicroddsClient::custom_command(int argc, char *argv[]) int UxrceddsClient::custom_command(int argc, char *argv[])
{ {
return print_usage("unknown command"); return print_usage("unknown command");
} }
int MicroddsClient::task_spawn(int argc, char *argv[]) int UxrceddsClient::task_spawn(int argc, char *argv[])
{ {
_task_id = px4_task_spawn_cmd("microdds_client", _task_id = px4_task_spawn_cmd("uxrce_dds_client",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT, SCHED_PRIORITY_DEFAULT,
PX4_STACK_ADJUSTED(10000), PX4_STACK_ADJUSTED(10000),
@ -545,10 +545,10 @@ int MicroddsClient::task_spawn(int argc, char *argv[])
return 0; return 0;
} }
int MicroddsClient::print_status() int UxrceddsClient::print_status()
{ {
PX4_INFO("Running, %s", _connected ? "connected" : "disconnected"); PX4_INFO("Running, %s", _connected ? "connected" : "disconnected");
#if defined(MICRODDS_CLIENT_UDP) #if defined(UXRCE_DDS_CLIENT_UDP)
if (_transport_udp != nullptr) { if (_transport_udp != nullptr) {
PX4_INFO("Using transport: udp"); PX4_INFO("Using transport: udp");
@ -571,7 +571,7 @@ int MicroddsClient::print_status()
return 0; return 0;
} }
MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[]) UxrceddsClient *UxrceddsClient::instantiate(int argc, char *argv[])
{ {
bool error_flag = false; bool error_flag = false;
int myoptind = 1; int myoptind = 1;
@ -581,7 +581,7 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
char port[PORT_MAX_LENGTH] = {0}; char port[PORT_MAX_LENGTH] = {0};
char agent_ip[AGENT_IP_MAX_LENGTH] = {0}; char agent_ip[AGENT_IP_MAX_LENGTH] = {0};
#if defined(MICRODDS_CLIENT_UDP) #if defined(UXRCE_DDS_CLIENT_UDP)
Transport transport = Transport::Udp; Transport transport = Transport::Udp;
#else #else
Transport transport = Transport::Serial; Transport transport = Transport::Serial;
@ -622,7 +622,7 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
break; break;
#if defined(MICRODDS_CLIENT_UDP) #if defined(UXRCE_DDS_CLIENT_UDP)
case 'h': case 'h':
snprintf(agent_ip, AGENT_IP_MAX_LENGTH, "%s", myoptarg); snprintf(agent_ip, AGENT_IP_MAX_LENGTH, "%s", myoptarg);
@ -639,7 +639,7 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
case 'c': case 'c':
custom_participant = true; custom_participant = true;
break; break;
#endif // MICRODDS_CLIENT_UDP #endif // UXRCE_DDS_CLIENT_UDP
case 'n': case 'n':
client_namespace = myoptarg; client_namespace = myoptarg;
@ -656,12 +656,12 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
} }
} }
#if defined(MICRODDS_CLIENT_UDP) #if defined(UXRCE_DDS_CLIENT_UDP)
if (port[0] == '\0') { if (port[0] == '\0') {
// no port specified, use XRCE_DDS_PRT // no port specified, use UXRCE_DDS_PRT
int32_t port_i = 0; int32_t port_i = 0;
param_get(param_find("XRCE_DDS_PRT"), &port_i); param_get(param_find("UXRCE_DDS_PRT"), &port_i);
if (port_i < 0 || port_i > 65535) { if (port_i < 0 || port_i > 65535) {
PX4_ERR("port must be between 0 and 65535"); PX4_ERR("port must be between 0 and 65535");
@ -672,16 +672,16 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
} }
if (agent_ip[0] == '\0') { if (agent_ip[0] == '\0') {
// no agent ip specified, use XRCE_DDS_AG_IP // no agent ip specified, use UXRCE_DDS_AG_IP
int32_t ip_i = 0; int32_t ip_i = 0;
param_get(param_find("XRCE_DDS_AG_IP"), &ip_i); param_get(param_find("UXRCE_DDS_AG_IP"), &ip_i);
snprintf(agent_ip, AGENT_IP_MAX_LENGTH, "%u.%u.%u.%u", static_cast<uint8_t>(((ip_i) >> 24) & 0xff), snprintf(agent_ip, AGENT_IP_MAX_LENGTH, "%u.%u.%u.%u", static_cast<uint8_t>(((ip_i) >> 24) & 0xff),
static_cast<uint8_t>(((ip_i) >> 16) & 0xff), static_cast<uint8_t>(((ip_i) >> 16) & 0xff),
static_cast<uint8_t>(((ip_i) >> 8) & 0xff), static_cast<uint8_t>(((ip_i) >> 8) & 0xff),
static_cast<uint8_t>(ip_i & 0xff)); static_cast<uint8_t>(ip_i & 0xff));
} }
#endif // MICRODDS_CLIENT_UDP #endif // UXRCE_DDS_CLIENT_UDP
if (error_flag) { if (error_flag) {
return nullptr; return nullptr;
@ -694,11 +694,11 @@ MicroddsClient *MicroddsClient::instantiate(int argc, char *argv[])
} }
} }
return new MicroddsClient(transport, device, baudrate, agent_ip, port, localhost_only, custom_participant, return new UxrceddsClient(transport, device, baudrate, agent_ip, port, localhost_only, custom_participant,
client_namespace); client_namespace);
} }
int MicroddsClient::print_usage(const char *reason) int UxrceddsClient::print_usage(const char *reason)
{ {
if (reason) { if (reason) {
PX4_WARN("%s\n", reason); PX4_WARN("%s\n", reason);
@ -707,20 +707,20 @@ int MicroddsClient::print_usage(const char *reason)
PRINT_MODULE_DESCRIPTION( PRINT_MODULE_DESCRIPTION(
R"DESCR_STR( R"DESCR_STR(
### Description ### Description
MicroDDS Client used to communicate uORB topics with an Agent over serial or UDP. UXRCE-DDS Client used to communicate uORB topics with an Agent over serial or UDP.
### Examples ### Examples
$ microdds_client start -t serial -d /dev/ttyS3 -b 921600 $ uxrce_dds_client start -t serial -d /dev/ttyS3 -b 921600
$ microdds_client start -t udp -h 127.0.0.1 -p 15555 $ uxrce_dds_client start -t udp -h 127.0.0.1 -p 15555
)DESCR_STR"); )DESCR_STR");
PRINT_MODULE_USAGE_NAME("microdds_client", "system"); PRINT_MODULE_USAGE_NAME("uxrce_dds_client", "system");
PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_STRING('t', "udp", "serial|udp", "Transport protocol", true); PRINT_MODULE_USAGE_PARAM_STRING('t', "udp", "serial|udp", "Transport protocol", true);
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "serial device", true); PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "serial device", true);
PRINT_MODULE_USAGE_PARAM_INT('b', 0, 0, 3000000, "Baudrate (can also be p:<param_name>)", true); PRINT_MODULE_USAGE_PARAM_INT('b', 0, 0, 3000000, "Baudrate (can also be p:<param_name>)", true);
PRINT_MODULE_USAGE_PARAM_STRING('h', nullptr, "<IP>", "Agent IP. If not provided, defaults to XRCE_DDS_AG_IP", true); PRINT_MODULE_USAGE_PARAM_STRING('h', nullptr, "<IP>", "Agent IP. If not provided, defaults to UXRCE_DDS_AG_IP", true);
PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 65535, "Agent listening port. If not provided, defaults to XRCE_DDS_PRT", true); PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 65535, "Agent listening port. If not provided, defaults to UXRCE_DDS_PRT", true);
PRINT_MODULE_USAGE_PARAM_FLAG('l', "Restrict to localhost (use in combination with ROS_LOCALHOST_ONLY=1)", true); PRINT_MODULE_USAGE_PARAM_FLAG('l', "Restrict to localhost (use in combination with ROS_LOCALHOST_ONLY=1)", true);
PRINT_MODULE_USAGE_PARAM_FLAG('c', "Use custom participant config (profile_name=\"px4_participant\")", true); PRINT_MODULE_USAGE_PARAM_FLAG('c', "Use custom participant config (profile_name=\"px4_participant\")", true);
PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, nullptr, "Client DDS namespace", true); PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, nullptr, "Client DDS namespace", true);
@ -729,7 +729,7 @@ $ microdds_client start -t udp -h 127.0.0.1 -p 15555
return 0; return 0;
} }
extern "C" __EXPORT int microdds_client_main(int argc, char *argv[]) extern "C" __EXPORT int uxrce_dds_client_main(int argc, char *argv[])
{ {
return MicroddsClient::main(argc, argv); return UxrceddsClient::main(argc, argv);
} }

15
src/modules/microdds_client/microdds_client.h → src/modules/uxrce_dds_client/uxrce_dds_client.h
View File

@ -36,11 +36,11 @@
#include <px4_platform_common/module.h> #include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h> #include <px4_platform_common/module_params.h>
#include <src/modules/microdds_client/dds_topics.h> #include <src/modules/uxrce_dds_client/dds_topics.h>
#include <lib/timesync/Timesync.hpp> #include <lib/timesync/Timesync.hpp>
class MicroddsClient : public ModuleBase<MicroddsClient>, public ModuleParams class UxrceddsClient : public ModuleBase<UxrceddsClient>, public ModuleParams
{ {
public: public:
enum class Transport { enum class Transport {
@ -48,16 +48,16 @@ public:
Udp Udp
}; };
MicroddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port, UxrceddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port,
bool localhost_only, bool custom_participant, const char *client_namespace); bool localhost_only, bool custom_participant, const char *client_namespace);
~MicroddsClient(); ~UxrceddsClient();
/** @see ModuleBase */ /** @see ModuleBase */
static int task_spawn(int argc, char *argv[]); static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */ /** @see ModuleBase */
static MicroddsClient *instantiate(int argc, char *argv[]); static UxrceddsClient *instantiate(int argc, char *argv[]);
/** @see ModuleBase */ /** @see ModuleBase */
static int custom_command(int argc, char *argv[]); static int custom_command(int argc, char *argv[]);
@ -104,8 +104,7 @@ private:
Timesync _timesync{timesync_status_s::SOURCE_PROTOCOL_DDS}; Timesync _timesync{timesync_status_s::SOURCE_PROTOCOL_DDS};
DEFINE_PARAMETERS( DEFINE_PARAMETERS(
(ParamInt<px4::params::XRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id, (ParamInt<px4::params::UXRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id,
(ParamInt<px4::params::XRCE_DDS_KEY>) _param_xrce_key (ParamInt<px4::params::UXRCE_DDS_KEY>) _param_xrce_key
) )
}; };