Commit Graph

43 Commits

Author SHA1 Message Date
Silvan Fuhrer d5e1f0fdaa uorb_graph: remove handling for actuator_controls topic
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-03-16 11:55:45 +01:00
Hamish Willee 30e2490d5b
Docs are now in user guide and main (#19977)
* Fix links to docs in source to point to docs on main not master

* More docs and scripts that need to point to main
2022-08-01 11:39:39 +10:00
SungTae Moon 4c6e746360
uorb graph: fix the link problem for multi topics (#19062) 2022-01-24 09:18:21 +01:00
Beat Küng 45ed1c5b5d uorb_graph: improve module dependency search 2021-08-03 07:54:41 +02:00
Beat Küng 91cae70097 uorb_graph: fix module scope logic 2021-08-03 07:54:41 +02:00
Beat Küng 2320477839 uorb graph: some minor fixes, add full graph w/o mavlink 2021-08-03 07:54:41 +02:00
Daniel Williams 0f29b87101 [uorb-graph][squash][refactor] Rework of uorb-graph script -- Greatly expands handled test cases
- Source processing now happens on original source files:
    - processing to line-by-line
    - required overhaul of regex match patterns + processing
    - pros:
        - enable tracing of ambiguous parsing sites -- reports (module, file, line-number, line-contents)
        - simplifies code
        - reduces computational complexity
    - cons:
        - certain declarations are harder to parse: multiline declarations
- refactors:
    - added specific subclasses for each: Publications, Subscriptions, Ambiguities
    - added a "Scope" class to represent either a module ('ModuleScope') or a library ('LibraryScope')
- regexes:
    - added cases for C++-style classes
    - expanded C++-style regex cases to accommodate templates
    - `ORB_ID::` is accepted wherever `ORB_ID(` is accepted
    - adds 'orb_copy' regex to the subscription cases
    - emit ambiguous-line warning for declarations with `ORB_ID` on the same line
    - emit ambiguous-line warning for `ORB_ID` with a declaration on the same line
- changed 'module whitelist' to 'scope-whitelist'
    - whitelist may now apply to libraries
    - libraries are optionally merged with their depending modules (but not by default)
    - may be merged with their depending modules with the `--merge-depends` cli flag
    - eliminates some redundant 'special-case' handling code
- debug output
    - raises exception and aborts if a topic is found outside of a scope
    - debug output is now printed & filtered with the python 'logging' standard module
    - alphabetizes topic output in debug logging
    - fixes debug output if package dependencies are missing
    - now warns on ambiguous matches
    - prints a list of ambiguous source sites (aka warnings) on completion
    - (still) emits a warning if we find ORB_ID outside of a scope
    - adds warnings if any of the source paths are invalid
    - do not emit debug output for modules outside of the module/scope whitelist
- Expand script's CLI parameters
    - added 'none' output options: undocumented debugging option to silence file output while debugging
    - added the `--merge-depends` cli flag -- merges output of modules & their dependee libraries
2021-03-29 09:36:34 +02:00
Daniel Williams f6eae08597 [uorb_graph][fix][doc] FIxes type around regex definition
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
2021-03-20 08:11:41 +01:00
Daniel Williams e7b1ffbd4c [uorb_graph][fix] broadens regex for ambiguous subscription arrays
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
2021-03-20 08:11:41 +01:00
Daniel Williams 1dce38a8fe [uorb_graph][fix] fixes typo in Graph class __init__
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
2021-03-20 08:11:41 +01:00
Daniel Williams 711422d755 [uorb-graph][squash][refactor] Rework of uorb-graph script -- Greatly expands handled test cases
- debug output is now printed & filtered with the python 'logging' standard module
- changed 'module whitelist' to 'scope-whitelist'
    - whitelist may now apply to libraries
    - libraries are not included by default
    - may be merged with their depending modules with the `--merge-depends` cli flag
    - eliminates redundant 'special-case' handling code
- greatly expands debugging output
    - fixes debug output if package dependencies are missing
    - still crashes on error matches
    - now warns on ambiguous matches
    - prints a list of ambiguous source sites (aka warnings) on completion
    - adds warnings if any of the source paths are invalid
    - do not emit debug output for modules outside of the module/scope whitelist
- Expand script's CLI parameters
    - added 'none' output options: undocumented debugging option to silence file output while debugging
    - added the `--merge-depends` cli flag -- merges output of modules & their dependee libraries
- Source processing now happens on original source files:
    - processing to line-by-line
    - required overhaul of regex match patterns + processing
    - pros:
        - enable tracing of ambiguous parsing sites -- reports (module, file, line-number, line-contents)
        - simplifies code
        - reduces computational complexity
    - cons:
        - certain declarations are harder to parse (multiline arrays)
- refactors:
    - added specific subclasses for each: Publications, Subscriptions, Ambiguities
    - added a "Scope" class to represent either a module ('ModuleScope') or a library ('LibraryScope')
2021-03-20 08:11:41 +01:00
Daniel Williams 8c87ef4272 [refactor][uorb-graph] add a pythonic __main__ idiom to the uorb-graph tool script 2021-03-20 08:11:41 +01:00
Beat Küng 0e8c73f4af drivers: remove snapdragon_pwm_out
- it would need to be refactored to use mixer_module
- rather than having a separate driver it should use linux_pwm_out
2021-02-25 09:28:37 -05:00
Beat Küng 7e33d03470 drivers: remove tap_esc
- it's not used anymore
- it would need a refactoring to use mixer_module
2021-02-25 09:28:37 -05:00
Beat Küng f0cc8a344b linux_pwm_out: refactor to run on a work queue and use mixer_module 2021-02-25 09:28:37 -05:00
Daniel Agar a57b9f9381 delete drv_baro.h, drv_mag.h, drv_range_finder.h, drv_device.h and purge UAVCAN CDev usage 2021-01-12 22:04:52 -05:00
Daniel Agar c25b2e11fe Github Actions start migrating Jenkins metadata (airframe, parameter, etc) jobs 2020-06-23 13:41:57 -04:00
Daniel Agar aa2f3a6624 sensors: complete move to uORB::Subscription 2020-04-01 16:17:14 -04:00
Daniel Agar 5fcd7932e9
mavlink: replace MavlinkOrbSubscription with uORB::Subscription
* uORB orb_stat() and update(uint64_t *time, void *dst) are now obsolete and have been deleted
 * mavlink messages add more advertised checks in streams get_size() check to improve data rate calculation across different scenarios
2020-03-14 12:52:46 -04:00
Julian Oes b04f68553e Tools: use Python 3, improve import checks
In more detail:
- Change shebang to Python 3.
- Suggest installation using pip3 as user.
2020-01-16 16:25:26 +01:00
Julian Oes a9ca16cafe
Fix a couple of flake8 Python warnings (#13763)
* Tools: fix flake8 error

* platforms: fix flake8 error

This is just guessed.
2019-12-19 07:36:16 -08:00
Christian Clauss 6dc55f97d4 More fixes for Python 3 compatibility (#13008)
* More fixes for Python 3 compatibility

* Workaround if the six module is not pip installed

* Lose the semicolons
2019-12-19 02:05:55 -08:00
Daniel Agar 0cc250194d
VTOL: explicitly start all FW & MC controllers in VTOL mode 2019-11-30 12:58:36 -05:00
Daniel Agar 84fe64b1c2
create new multicopter rate controller module (mc_rate_control) split out of mc_att_control 2019-11-19 17:03:11 -05:00
LP 0527f278cb Update create.py to support Python3.x
file() -> open()
dict_obj_A.keys() + dict_obj_B.keys() -> list(dict_obj_A.keys()) + list(dict_obj_B.keys())
2019-11-08 10:10:17 +01:00
Beat Küng 5dff065ec5 uavcan: move to work queue and use MixingOutput
Main UAVCAN protocol handling and ESC updates run on the same thread/wq as
before. There are 2 WorkItems for separate scheduling of the 2, so that
ESC updates run in sync with actuator_control updates. UAVCAN is scheduled
at a fixed rate of 3ms (previously the poll timeout) and on each UAVCAN
bus event.
This leads to roughly the same behavior as before. CPU & RAM usage are
pretty much the same (tested on Pixhawk 4).

Testing done: Motors still work (with feedback), param changes and a
UAVCAN optical flow sensor.
2019-11-07 10:40:03 +01:00
Beat Küng 349469cf75 refactor pwm_out_sim: use mixer_module and run on work queue
Tested with SITL + HITL
2019-10-21 09:42:08 +02:00
Christian Clauss 41516fbd55 Old style exceptions are Python 3 syntax errors 2019-09-22 17:47:37 -04:00
Daniel Agar c13835c0f0 replay module split replay_main.cpp into separate compilation units 2019-09-17 14:33:04 +02:00
Daniel Agar 7d248e0f45
px4fmu: move to WQ with uORB callback scheduling (#12224) 2019-08-20 20:24:12 -04:00
Matthias Grob 161429f8c6 voted_sensors_update: refactor to camelCase function names 2019-08-07 18:44:39 +02:00
Roman Bapst 816aa0ffb6 VTOL transitions: use FW attitude loop (#11911)
* VTOL trans: changed that now in transition for both MC and FW the corresponding (correct) attitude controller is running
* attitude setpoint for stabilized mode is generated by tailsitter.cpp
* reset yaw setpoint during transition to avoid big yaw errors after
transition back to hover
* VT_TYPE parameter: added "reboot required" metadata
2019-05-08 10:33:13 -04:00
Alexis Paques 7a5aaa33b2 Fix @property and super function does not work properly if the 'NewStyle' class type is not used.
https://lgtm.com/rules/10030086/
2019-04-03 22:53:10 -04:00
Roman Bapst 90bfdb6f0a VTOL rate control architecture improvements (#10819)
* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
  * move airspeed and scaling calculation into separate method
  * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
2018-11-21 20:32:40 -05:00
Jake Dahl e6f9caccf4 removed batt_smbus from uorb_graph create.py 2018-11-01 10:49:26 -04:00
Daniel Agar 2302c64004 listener: add optional rate and cleanup existing arguments 2018-08-03 06:50:41 +02:00
Daniel Agar 8537863848 delete sdlog2 2018-07-13 09:02:59 +02:00
Daniel Agar 97815df1a8 uorb_graph update fw_att_control special case 2018-02-21 21:07:29 -05:00
Beat Küng 3da8031e8e uorb graph: improve error output 2017-12-18 10:19:15 +01:00
Beat Küng eeff52cda7 uorb_graph: add .gitignore, change graph file for sitl runtime config 2017-12-18 10:19:15 +01:00
Beat Küng 57f92250b3 uorb graph create.py: sort modules & topics by name length for JSON output 2017-12-18 10:19:15 +01:00
Beat Küng 9bff0c8c04 uorb graphs: add script to create graph from a posix startup script 2017-12-18 10:19:15 +01:00
Beat Küng e2d6c0a8f9 uorb_graph: add script to generate uORB pub/sub graphs
2 possible output formats:
- JSON (can be used with D3.js)
- Graphviz

Not covered yet: Publication & Subscription classes
2017-12-18 10:19:15 +01:00