The FIFO was created in the server thread, and the PX4 main thread could
already have continued and started to execute the bash script.
In that case the client tried to open the FIFO but it did not exist yet.
Client error:
ERROR [px4_daemon] pipe open fail
ERROR [px4_daemon] Could not send commands
This is needed for companions with high baudrate and high data rate.
Tested with 1500000 Baudrate and mavlink TX rate of ~120KB/s: no drops.
I did not test the exact limit, something like 2500 might be enough. But
we (still) have enough free RAM on FMU-v5.
By reading sizeof(packet), it could have happened that 2 packets at once
were read, and the second one was then ignored.
This makes sure that only one packet at a time is read.
The other 2 changes are for efficiency.
It was not enough to lock individual accesses to the maps.
For example it could happen that a thread was started and exited very
quickly, before the pthread_t item was inserted into the map, such
that when the cleanup method was called, the thread and pipe fd were not
found (and fd=0=stdin was closed).
- move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix
allows for easier unification, only one symlink is required.
- rcS: add AUTOCNF support. Update scripts to match with behavior of PX4
master (parameter values, some sitl driver got removed)
- add alias to allow 'set variable value' syntax in scripts to px4-alias.sh
- use px4_getopt
- use separate argument for the test_data directory
- append PATH from within the px4 binary: this simplifies the usage
w/o the sitl_run.sh script.
- add 'source px4-alias.sh' to all existing sitl startup scripts
- move sitl mixers to ROMFS/px4fmu_common/mixers-sitl
makes it easier to use existing mixers and sitl-specific ones.
- remove unused rcS_gazebo_delta_wing
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
This fixes automatic upload. Since ed95dced0f the NuttX string
is used for device detection, but Linux uses the bootloader's USB vendor
and product strings.
So the NuttX strings must match with the ones from the bootloader.
- nuttx in PX4/Firmware (537fe886015be0ccb6b691a8a2802fb29d17c410): 63775322bf
- nuttx current upstream: f57752b6f1
- Changes: 63775322bf...f57752b6f1
f57752b 2018-06-25 Daniel Agar - Merged in dagar/nuttx/pr-fixCompileError (pull request #660)
If the PX4FMUv2 board does not have the v5 uploader, it's not possible
to check the silicon revision to make sure it's safe to upload the
firmware which is more than 1 MB. However, if the user is sure the
silicon revision is not affected by this errata, he can upload the
firmware using px4_uploader.py with --force argument. This commit adds
`force-upload` make target to do it more convenient way.
Signed-off-by: Andrei Korigodski <akorigod@gmail.com>
to disable automatic evaluation of /dev/ttyS* expression in cygwin.
On linux verbatim seems to be default anyways. At least it doesn't get
evaluated on linux.
These hard coded paths assume all Nuttx targets are ARMv7-M targets. Updating them to use ${CONFIG_ARCH} and ${CONFIG_ARCH_FAMILY} instead allows for the architecture defined by the incoming Nuttx defconfig to be correctly targeted.
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.
In the Cygwin environment the native Windows serial COM# ports get mapped
to /dev/ttyS# for POSIX compatibility. While # is one number lower inside
the environment than the COM port number because it's 0 indexed instead
of 1.
I added the necessary handling to all the dependent parts I found which
allows uploading to /dev/ttyS# when the cygwin platform is detected.
Now the usual "make px4fmu-v4 upload" and
"./Tools/upload.sh build/px4fmu-v4_default/px4fmu-v4_default.px4" work.
This change fragments MAVLink packets more efficiently and therefore increases the net throughput. This in turn makes the connection significantly more stable and the Crazyflie experience overall more usable.
In the stm32f7 the configuration variable for SD card with DMA changed from CONFIG_STM32_SDIO_DMA to CONFIG_STM32F7_SDMMC_DMA
the maximum clock speed of 16MHz can now be achieved.
- move to ModuleBase
- strip down to PWM 8 and 16 modes only
- remove all dead code
- implement missing pwm ioctls (current value, rates, etc)
- default rate 50Hz -> 400Hz
* 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
This is a temporary workaround for equal expressions in chip/sam_xdmac.c
and can be reverted once fixed properly in NuttX. Needed for the GCC 7
upgrade in #8551.
Most of the incompatitbilities are luckily similar to the darwin build.
- New target OS __PX4_CYGWIN added because in other build environments on Windows defines will very likely be completely different
- added all necessary exeptions to the defines
- disabled priorities completely because on Windows they are defined 1-32 and with all the arbitrary +40 -40 priority settings there were a lot of problems
not only did some threads/"virtual tasks" not start because of out of bound priorities but also the resulting scheduling was totally random and inadequate
with default priorities it ran toally fine during my first tests, should be rethought when windows is used onboard in the future
There was and extra "nuttx" dir:
cp: cannot stat '/home/lucas/p/dronecode/PX4/Firmware/build/aerofc-v1_default/NuttX/nuttx/nuttx/.config': No such file or directory
FAILED: NuttX/CMakeFiles/menuconfig
And the board fixup being executed from the wrong working directory:
nuttx-configs/aerofc-v1/nsh/defconfig
fatal: Path 'nuttx-configs/aerofc-v1/nsh/defconfig' does not exist in 'HEAD'
* NuttX cmake
* px4_macros:Pass the stringified predicate as second arg to static assert
CC_ASSERT mapes to the c++ static_assert or provides the same
funtionality for c via the other macros. The c++ static assert
takes 2 argumants the prdicate and a message. This fixes the
lacking second argument.
* Updated nuttx and apps submodule to upstream nuttx 7.21+==master
This is the latest uptake of upstream nuttx and apps.
* ROMFS generate with xxd instead of objcopy
* delete nuttx-patches
* NuttX update submodules to latest px4_nuttx-master
* fix nuttx apps and board dependency
* docker_run update to latest container 2017-08-29
* cmake ROMFS portable sed usage
* NuttX update submodules to latest px4_nuttx-master
Beat Küng
Daniel Agar
Julian Oes
David Sidrane
Bob-F
Dennis Mannhart
vkotaru
PX4 Jenkins
korigod
Elia Tarasov
MaEtUgR
Anthony Lamping
Joshua Whitehead
Roman
DanielePettenuzzo
nathan
barzanisar
Lorenz Meier
Jan Okle
Simone Guscetti
Nicolas de Palezieux
Lucas De Marchi
Lorenz Meier
px4dev