- make sure to kill all px4 instances and gazebo client when exiting
- add arguments to specify number of vehicles and vehicle model
- exit for now if vehicle model is not iris, since needs changes in
sitl_gazebo submodule
Signed-off-by: RomanBapst <bapstroman@gmail.com>
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.
The 9 seconds to erase a board probably still come from the FMU-v1 and
Pixhawks with only 1 MB flash. By now, many targets have 2 MB flash and
take a bit longer to erase. Therefore, we can increase the estimated
time a bit and don't need to resort to the timeout notice.
- jMAVSim in PX4/Firmware (a6a8877463): 3bd51e67e0
- jMAVSim current upstream: eeb23ef68e
- Changes: 3bd51e67e0...eeb23ef68e
eeb23ef 2019-10-30 bresch - magnetometer: update inclination/declination/local mag field strength of default starting locations. Set magnetometer scale factor to 1 (instead of 2) Set local mag field using DEFAULT_MAG_FIELD instead of an estimated one using inclination/declination and a norm of 1
* ubuntu.sh: fix space and capitalization
* Add setup script for Arch Linux
* arch.sh: remove numerous confirmations, added some base packages
* setup scripts: adjust messages according to review
* bump container tags to 2019-10-04
* docker_run: update container name and tag
* generate_microRTPS_bridge.py: force FastRTPSGen to version 1.0 if the result of 'fastrtpsgen -version' command is not a number
* CI: temporarly disable avoidance and safe landing tests
* CI: try to revive tiltrotor test
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
* WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
* Add kdevelop to gitignore
* Add test stubs
* Rename px4_add_gtest to px4_add_unit_gtest
* Add infrastructure to run functional tests
* Add example tests with parameters and uorb messages
* Fix memory issues in destructors in uORB manager and CDev
* Add a more real-world test of the collision prevention
- sitl_gazebo in PX4/Firmware (7bba5a7287): 95adbb11f8
- sitl_gazebo current upstream: 22df9475ca
- Changes: 95adbb11f8...22df9475ca
22df947 2019-06-27 Martina Rivizzigno - Range.proto: fix indentation
8ef5625 2019-05-28 Martina Rivizzigno - update sonar message to match mavlink distance sensor definition
e04ff96 2018-12-04 Martina - get distance sensor orientation from the vehicle model instead of hard-coding it in the gazebo interface, add horizontal and vertical fov
In order to be consistent between Gazebo and jMAVSim we should be using
the env variable PX4_SIM_SPEED_FACTOR in the same way. This enables
vscode to set the speed using the env variable.
- sitl_gazebo in PX4/Firmware (b0176dc88a): a0b0eb8df1
- sitl_gazebo current upstream: af00ac4dfc
- Changes: a0b0eb8df1...af00ac4dfc
af00ac4 2019-06-07 Lukas Woodtli - Add support for unit tests on macOS
3a81838 2019-06-04 Lukas Woodtli - Add support to build and run unit tests with catkin
c59d214 2019-05-11 Lukas Woodtli - Add unit tests for gps plugin
860e1ce 2018-09-20 Lukas Woodtli - Add unit tests for gimbal controller plugin
Before, the pyserial check would fail before it could check for the
VERSION that the Python 2.7 version contains. This fixes it to check
for the VERSION independently.
- sitl_gazebo in PX4/Firmware (88127380e7): 3062d287c3
- sitl_gazebo current upstream: a0b0eb8df1
- Changes: 3062d287c3...a0b0eb8df1
- a0b0eb8 2019-05-10 bazooka joe - Calculate iris inertia from the body colision parameters assuming that the body is homogenic cube. that fixes impossible inertia matrix
- 113605b 2019-03-27 Elia Tarasov - fix gimbal_controller timestep sign
* 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
- jMAVSim in PX4/Firmware (7ec6f0dca6): 79586deda5
- jMAVSim current upstream: ae1593d0c8
- Changes: 79586deda5...ae1593d0c8
ae1593d 2019-04-30 Julian Oes - Merge pull request #100 from PX4/fix-port-default
9de8f86 2019-04-29 Julian Oes - Simulator: fix default for QGC and SDK link
d42efaf 2019-04-29 Julian Oes - Merge pull request #99 from PX4/pr-add-sdk-port
7d0bebb 2019-04-26 Julian Oes - Simulator: fix copy paste mistake
a94816e 2019-04-26 Julian Oes - Simulator: add MAVLink UDP port for SDK
6a9634b 2019-04-26 Julian Oes - Visualizer3D: ran fix_style.sh
Includes:
- Fix for vibration on ground for standard_vtol.
- Noise for diff pressure / airspeed on Gazebo side.
- Fix for macOS magnetometer plugin linking error.
This is a workaround for the write timeout that we have seen for some
host computers trying to flash the firmware.
We don't know the root cause of the problem but we do observed the
following:
- For blocking writes with timeout (Pyserial write_timeout=0.5):
write() throws SerialTimeoutException. In systrace we see that the
select() call after write waiting for the write to be finished hangs
and finally times out.
- For blocking writes without timeout (Pyserial write_timeout=None):
write() hangs indefinitely. In systrace we see that the
select() call after write waiting for the write to be finished hangs.
- For non-blocking writes:
write() works but flush() hangs. In systrace we see that
ioctl(fd, TCSBRK, 1) which is (correctly) triggered by termios tcdrain
hangs.
Inspecting USB traffic using usbmon, we can see that the data which is
written actually seems to be sent and looking at responses from the
Pixhawk bootloader and the timings it looks like all the data has
arrived.
This workaround uses non-blocking writes without flushing and this
seemed to prevent the issue from happening so far.
Debugging was done in collaboration with Beat Küng and David Sidrane.
If we dont explicitly check for pyserial, we can have the case where the
import works but the Serial object creation fails. However, we don't see
this because we have this huge try/catch block which swallows
everything.
- sitl_gazebo in PX4/Firmware (4e792b2487): b34a96e7e5
- sitl_gazebo current upstream: 2e80474653
- Changes: b34a96e7e5...2e80474653
2e80474 2019-02-18 Elia Tarasov - fix comment for mag strength table unit
9a9a137 2019-02-18 Elia Tarasov - fix comment for the file name
7c49b2f 2019-02-18 Elia Tarasov - add units to mag variables
c004d94 2019-02-18 Elia Tarasov - fix magnetic field calculation by using geo lookup table
e9a3940 2019-02-18 Elia Tarasov - fix comment on magnetic data source and properties
c76ac17 2019-02-18 Elia Tarasov - copy magnetic data tables and functions from ecl/geo_lookup
28f59c5 2019-02-18 Elia Tarasov - add constrain function
8c869ed 2019-02-18 Elia Tarasov - fix linker complain on multiple definitions
b5213a7 2019-02-18 Elia Tarasov - add getters for mag inclination and strength
d311233 2019-02-15 Elia Tarasov - fix D-component of magnetic field for Zurich according to WMM2015
This updates the jMAVSim submodule which includes a fix for HITL.
In order to fix HITL, a CLI argument `-lockstep` was required to enable
lockstep. This has now been added to the command in jmavsim_run.sh.
* refactor ekf analysis part 1: move plotting to functions
* add plot_check_flags plot function
* put plots in seperate file
* use object-oriented programming for plotting
* move functions for post processing and pdf report creation to new files
* add in_air_detector and description as a csv file
* refactor metrics and checks into separate functions
* refactor metrics into seperate file, seperate plotting
* ecl-ekf tools: re-structure folder and move results table generation
* ecl-ekf-tool: fix imports and test_results_table
* ecl-ekf tools: bugfix output observer tracking error plot
* ecl-ekf-tools: update batch processing to new api, fix exception handling
* ecl-ekf-tools: use correct in_air_detector
* ecl-ekf-tools: rename csv file containing the bare test results table
* ecl-tools: refactor for improving readability
* ecl-ekf tools: small plotting bugfixes
* ecl-ekf tools: small bugfixes in_air time, on_ground_trans, filenames
* ecl-ekf-tools: fix amber metric bug
* ecl-ekf-tools: remove custom function in inairdetector
* ecl-ekf-tools: remove import of pandas
* ecl-ekf-tools: add python interpreter to the script start
* ecl-ekf-tools pdf_report: fix python interpreter line
* px4-dev-ros-kinetic: update container tag to 2019-02-13
* ecl-ekf-tools python interpreter line: call python3 bin directly
* ecl-ekf-tools: change airtime from namedtuple to class for python 3.5
* ecl-ekf-tools: update docker image px4-dev-ros-kinetic
* ecl-ekf-tools: fix memory leak by correctly closing matplotlib figures
- Jenkins compile drop arch until container is updated and maintained
- clang-tidy disable for now, the new version isn't respecting the existing configuration
* 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
- sitl_gazebo in PX4/Firmware (560a9b45ed): 3d80f63562
- sitl_gazebo current upstream: 2adc86b5bf
- Changes: 3d80f63562...2adc86b5bf
2adc86b 2018-11-14 Elia Tarasov - add max value for wind and wind gust means
fb20a36 2018-11-14 Elia Tarasov - add normal gaussian distribution to wind gust force and direction
bd5ce12 2018-11-14 Elia Tarasov - add normal gaussian distribution to wind force and direction
913c094 2018-11-07 Jacob Schloss - reverse order of test
7d08ef5 2018-11-07 Jacob Schloss - fall back to only enabling up to c++14 on old cmake
0fd93b0 2018-11-07 Jacob Schloss - set CMAKE_CXX_STANDARD so cmake does not append a defualt language standard
The open flag `U` causes a deprecation warning starting with Python 3.4.
The option to open all kinds of newlines as `\n` has been replaced with
the argument `newline=None`. However, this argument is not available for
Python 2 unless we use `io.open` instead of `open`.
to fix Cygwin upload. It failed silently but when catching it prints
"non-standard baudrates are not supported on this platform".
Discussion about platform independet FTDI detection is in issue #10429.
This uses the systems default shell:
- Ubuntu: dash
- Fedora: bash
Since bash is invoked via /bin/sh, it operates in POSIX mode:
https://tiswww.case.edu/php/chet/bash/POSIX
- remove '# Ignore the expand_aliases command in zshell.'
Not needed because the shell operates in POSIX mode
- [[ is bashism -> use [
- autostart_files=( $autostart_file_match )
is not supported in dash, so use 'ls'
- shellcheck runs the dash flavor, since dash is a minimalistic shell.
Tested on dash & bash.
This checks if we are on macOS and if we have Java 8 installed. If yes,
it falls back to Java 8 by setting JAVA_HOME.
This avoids https://github.com/PX4/jMAVSim/issues/81
I sometimes start jmavsim independently from px4, and in that case jmavsim
should not be killed. These are the commands:
./Tools/jmavsim_run.sh
make posix none
It seems that the oneline to find the process ID of any running jMAVSim
instance was not working correctly.
1. On Linux, the name of the process does not contain Simulator but
jmavsim_run.jar. Also, it triggers incorrectly, if you have opened
Simulator.java using the command line :).
2. The cutting to get the PID at the end does not work as intenteded and
gives the username instead of PID, at least on Arch Linux. Using awk
should fix this.
The high frequency acceleration noise levels in the gazebo models and also seen on some hardware is causing the IMU vibration check warning to fail.
The thresholds have been lifted and the reporting improved to make it clearer which sensor noise is causing the failure.
- 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
Daniel Agar
JaeyoungLim
RomanBapst
Lorenz Meier
Julian Oes
Christian Clauss
Matthias Grob
kamilritz
bresch
PX4 BuildBot
TSC21
LP
Beat Küng
CAI Dongcai
katzfey
Martina Rivizzigno
garfieldG
Hamish Willee
Hyon Lim
Julian Kent
Julian Kent
Julien Lecoeur
Alexis Paques
Ildar Sadykov
Nico van Duijn
johannes
Anthony Lamping
Angel
David Sidrane
Ramón Hernán Roche Quintana
Mara Bos
Jake Dahl
CarlOlsson
sanderux
Pietro De Nicolao
Paul Riseborough
Bram Strack van Schijndel