- Nuttx only process all suspend & resume scheduling notes when top is running, otherwise only track IDLE
- convert cpuload and print load to c++
- delete unused fields from print_load struct
- update hrt_store_absolute_time (previous unused)
- new intrusive linked list container (c++ template) that sorts on insertion
- primarily for convenience inspecting things in the system like uORB or WorkQueues
- uorb status or top sorted alphabetically
- work_queue status threads sorted by priority, then items sorted alphabetically within each
- always check with state machine before reboot/shutdown
- respect BOARD_HAS_POWER_CONTROL (shutdown from command, low battery, power button)
- px4_shutdown_request add optional delay and always execute from HPWORK
- px4_shutdown_request split out px4_reboot_request
This adds a sitl target and aiframe configs for the r1_rover, which is a differential rover example for SITL rover. The model is based on the aion robotics r1 rover
When this triggered it actually just kept printing
"floating point exception" and never recovered. By removing this we can
at least catch it with a core dump, in CI as well as locally.
* add support for unmanned underwater vehicles:
* airframe uuv_generic + uuv_hippocammpus including mav_type = 12 for submarines
* mixer for UUVs with X-shaped thruster setup similar to quadcopter
* add module uuv_att_control for underwater robot attitude control
* add rc.uuv_defaults/apps for autostarting e.g. ekf2 and uuv_att_control app
The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.
- DriverFramework (src/lib/DriverFramework submodule) completely removed
- added dspal submodule in qurt platform (was brought in via DriverFramework)
- all df wrapper drivers removed
- all boards using df wrapper drivers updated to use in tree equivalents
- unused empty arch/board.h on posix and qurt removed
- unused IOCTLs removed (pub block, priv, etc)
- Integrator delete methods only used from df wrapper drivers
- commander: sensor calibration use "NuttX version" everywhere for now
- sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
- load_mon and top remove from linux boards (unused)
- delete unused PX4_MAIN_FUNCTION
- delete unused getreg32 macro
- delete unused SIOCDEVPRIVATE define
- named each platform tasks consistently
- posix list_devices and list_topics removed (list_files now shows all virtual files)
This target was never fully supported and is heavily dependent on a number of DriverFramework drivers that have no in tree equivalents (bebop bus, flow, rangefinder, etc). Deleting this will make it easier to fully drop DriverFramework shortly.
- deprecate DriverFramework bmp280 driver (df_bmp280_wrapper)
- update beaglebone blue and snapdragon flight eagle boards to use in tree bmp280
- update posix (really just linux) and qurt I2C wrappers
- tested on beaglebone blue
In general, if anything goes wrong in the startup script, we
should fail entirely because things might not work as expected.
In particular, this prevents that we have to press Ctrl+C twice if the
simulator start call is hung waiting for the simulator to appear and
start communicating. We now press Ctrl+C once and exit straightaway
whereas before we would press it once to get the warning:
"Startup script returned with return value: 2",
and then finally exit on the second press.
- added gazebo VTOL tailsitter debug target
- improved jmavsim debug target and helper tasks to work properly (build and launch directly instead of through the jmavsim_run.sh script)
- improved output console handling for helper tasks (eg gazebo and jmavsim build and run, followed by cleanup after debug)
- added miniterm.py as a task
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
* 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
The current SEGV handling on posix is not useful: as soon as our handler
is left, it's triggered again, infinitely.
This patch changes to restore the original handler, so the OS can create
a core dump, etc.
This moves the hysteresis test out of the systemlib and makes it its own
small library. Since it still depends on hrt_absolute_time this does not
link yet. My attempt to get all link dependencies together failed.
This makes sure we add the lockstep_scheduler_test even if the
ENABLE_LOCKSTEP_SCHEDULER is not set to yes. This means the
lockstep_scheduler is not used for SITL but the CMakeLists.txt file
still used and the test added.
It turns out that we can fix the unit tests of the lockstep_scheduler
just by checking if `passed_lock` is not `nullptr`.
Without this check, the unit tests segfaulted.
This solves a potential dead-lock when trying to shutdown: a call to exit()
stops all threads and calls all destructors for static objects.
The destructor of LockstepScheduler takes a lock. However this is not
safe, as the lock could already be taken (by any thread).
Some threads do not exit and are still running when
trying to exit SITL running under Windows in Cygwin.
This problem was introduced with:
- posix shell #10173 because of strating a child process
for the startup script and mixing up the signal handling
(only Ctrl+C broken)
- lockstep #10648 because of simulator threads not
stopping gracefully anymore with timing race conditions
(no graceful exit possible anymore)
I leave the SIGINT handler on its default implementation for
Cygwin which kills the process and all its threads when pressing
Ctrl+C.
This hotfix at least allows the usage of Ctrl+C again instead
of forcing the user to use the task manager to shut down
px4.exe going crazy on CPU load instead of exiting
everytime.
- use a linked-list instead of std::vector. Insertion and removal are now
O(1)
- avoid malloc and use a thread_local instance of TimedWait.
It gets destroyed when the thread exits, so we have to add protection
in case a thread exits too quickly. This in turn requires a fix to the
unit-tests.
The API of cond_timedwait was wrong. It used return -1 and set errno
instead of returning the error as specified for pthread_cond_timedwait
which it tries to mock.
It seems that the hysteresis test fails every now and then, presumably
due to timing issues. The tests needs some improvements, e.g. isolating
it from the system time.
@bkueng found that the old implementation was likely to wrap-around
given seconds is only a uint32_t. We now cast it directly to uint64_t
and therefore should fix this problem.
This uses the "fake" px4_sem based on mutex and condition_variable on
all POSIX system, not just macOS and Cygwin. This means that we can
change px4_sem_timedwait under the hood and inject the simulated time.
This integrates the lockstep_scheduler, so that the system time is set
by the mavlink HIL_SENSOR message.
This means that the speed factor is removed and the speed is entirely
given by the simulator.
These contains some rough changes trying to get SITL to speed up by a
SPEED_FACTOR.
This platform time code probably requires some more thought and refactor
but this gets a demo at 4x working.
Daniel Agar
Beat Küng
oneWayOut
Daniel Leonard Robinson
JaeyoungLim
TSC21
kritz
Jakub Kákona
JaeyoungLim
mcsauder
Julian Oes
SalimTerryLi
Lorenz Meier
Daniel Duecker
Chris Lovett
Matthias Grob
roangel
Julian Kent
Anthony Lamping
Nico van Duijn
karliss
James Goppert
Kārlis Seņko