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28373 Commits

Author SHA1 Message Date
Julian Oes d94748c831 Makefile: use px4_sitl_test board for `make tests` 
This means that we can use the normal host scheduling (not lockstep) for
the unit tests.

In the future we might add unit tests using lockstep as well.
 2018-12-22 10:32:18 +01:00
Julian Oes 547dd8511b platforms: use define for lockstep scheduler 
Instead of using the define __PX4_POSIX_SITL it makes more sense to have
a define just to determine if the lockstep scheduler should be used.
 2018-12-22 10:32:18 +01:00
Julian Oes 73578a593f simulator: bring -t argument back 
The -t argument had been deleted because I didn't realize that it was
actually being used. Therefore, this brings it back and we now use -c
for TCP.
 2018-12-22 10:32:18 +01:00
Julian Oes f03e938953 sitl_gazebo: updated submodule 
This fixes all world files at 250 Hz simulation rate.
 2018-12-22 10:32:18 +01:00
Julian Oes d0251581d3 samv7: fix include 2018-12-22 10:32:18 +01:00
Julian Oes a7c2adc877 sitl_gazebo: update submodule 
This brings support for TCP and lockstep.
 2018-12-22 10:32:18 +01:00
Julian Oes 1b685de70d simulator: raise timeout 
This is not suposed to ever trigger anyway.
 2018-12-22 10:32:18 +01:00
Julian Oes 8b2c47523f simulator: set socket options after opening socket 2018-12-22 10:32:18 +01:00
Julian Oes e4af97b11b simulator: fix printf format 2018-12-22 10:32:18 +01:00
Julian Oes 564cae86b5 simulator: remove doubled tcgetattr call 2018-12-22 10:32:18 +01:00
Julian Oes 8a5e0558e4 simulator: improve a couple of error messages 2018-12-22 10:32:18 +01:00
Julian Oes 1165739a56 sensors: check other gyros on timeout 
@bkueng reviewed this and found that it is dangerous to continue on
timeout because we don't update other gyro sensors in the timeout case.
 2018-12-22 10:32:18 +01:00
Julian Oes 8e4296d000 parameters: remove unneeded usleep 
According to @bkueng this was to schedule other processes but can now be
removed.
 2018-12-22 10:32:18 +01:00
Julian Oes 5280a4aba1 platforms: prevent wrap-arounds in px4_sleep 
@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.
 2018-12-22 10:32:18 +01:00
Julian Oes 4efe4b0d15 platforms: reorg after rebase on new board config 
The new board config changed everything, so I needed to move the
lockstep_scheduler repo.
 2018-12-22 10:32:18 +01:00
Julian Oes b4382d4a71 DriverFramework: updated submodule 2018-12-22 10:32:18 +01:00
Julian Oes 185ddb2ab6 lockstep_scheduler: format to PX4 style 
Consistency over taste :(.
 2018-12-22 10:32:18 +01:00
Julian Oes fb9f72d029 lockstep_scheduler: modernize warnings 2018-12-22 10:32:18 +01:00
Julian Oes 6d273f3bd8 px4_layer: modernize warnings 2018-12-22 10:32:18 +01:00
Julian Oes 85486e0469 platforms: let's try clockid_t as int 
Who knows what this really is.
 2018-12-22 10:32:18 +01:00
Julian Oes f3aad419ac DriverFramework: update submodule 
Hopefully, we can fix the defines for macOS.
 2018-12-22 10:32:18 +01:00
Julian Oes c24f6ef943 platforms: lockstep_scheduler ain't no submodule 2018-12-22 10:32:18 +01:00
Julian Oes 7b43e96896 platforms: copied files from lockstep-scheduler 
The files are copied from:
https://github.com/julianoes/lockstep-scheduler/
 2018-12-22 10:32:18 +01:00
Julian Oes 3cbb2d8661 platforms: removed lockstep_scheduler submodule 2018-12-22 10:32:18 +01:00
Julian Oes 357870377a platforms: try to get submodule checked out 2018-12-22 10:32:18 +01:00
Julian Oes f36f85010c simulator: fix casting warning on Windows 2018-12-22 10:32:18 +01:00
Julian Oes 393a665424 DriverFramework: update submodule 
Fixes the unit test on macOS.
 2018-12-22 10:32:18 +01:00
Julian Oes e046a6255f DriverFramework: update submodule 
This brings a couple more build fixes.
 2018-12-22 10:32:18 +01:00
Julian Oes e41518a08b platforms: clean up various build/linking issues 
This makes sure lockstep is only built for SITL builds and fixes the
existing builds.
 2018-12-22 10:32:18 +01:00
Julian Oes 23264fe579 kinetis: add missing include 2018-12-22 10:32:18 +01:00
Julian Oes 9724a84801 gitmodules: use https link for lockstep-scheduler 2018-12-22 10:32:18 +01:00
Julian Oes 8cbe26c6f6 platforms: fix linking issues for NuttX build 2018-12-22 10:32:18 +01:00
Julian Oes a193e4117c drv_hrt: update signature of ts_to_abstime 2018-12-22 10:32:18 +01:00
Julian Oes d75389b2e4 platforms: consolidate latency_buckets 
These symbols were duplicated all over the place.
 2018-12-22 10:32:18 +01:00
Julian Oes b13600ed1a platforms: remove TODO 
It turns out Mac OS X v10.11.6 (El Capitan) is still covered by security
updates at this time, so not end-of-lifed, so we might as well keep
these legacy things.
 2018-12-22 10:32:18 +01:00
Julian Oes 22b584b3b4 simulator: fix TCP connection init on macOS 
When `connect()` fails, the state of the socket is unspecified and we
need to close the it and create it again.

It turns out retrying connect worked on Linux but it didn't on macOS.
 2018-12-22 10:32:18 +01:00
Julian Oes b2f1a59164 DriverFramework: update submodule 
This fixes the build on macOS.
 2018-12-22 10:32:18 +01:00
Julian Oes 6ed6941aba DriverFramework: update submodule 
This fixes the SITL speedup for macOS.
 2018-12-22 10:32:18 +01:00
Julian Oes 546f89aee7 lockstep_scheduler: update submodule 2018-12-22 10:32:18 +01:00
Julian Oes 876d4ebd76 posix: remove appalling errno hack 2018-12-22 10:32:18 +01:00
Julian Oes 66e7b4d578 posix: remove random lies 2018-12-22 10:32:18 +01:00
Julian Oes 11b7411bf8 platforms: cleaned up defines 2018-12-22 10:32:18 +01:00
Julian Oes 23acb77e2d Tools: add PX4_SIM_SPEED_FACTOR as env variable 
This adds the env variable PX4_SIM_SPEED_FACTOR to set the speed factor
to run SITL at.
 2018-12-22 10:32:18 +01:00
Julian Oes 107606e757 simulator: set device_ids when publishing directly 
Without setting the device_id, the preflight checks fail because the
calibration is not found.
 2018-12-22 10:32:18 +01:00
Julian Oes 843033d530 platforms: remove unused function 2018-12-22 10:32:18 +01:00
Julian Oes b436f3dd56 ROMFS/Tools: switch to TCP connection for SITL 
This switches from UDP to TCP to connect to jMAVSim.
 2018-12-22 10:32:18 +01:00
Julian Oes 6d7fb232dd simulator: added TCP, general cleanup, lockstep 
This adds the option to connect over UDP or TCP for mavlink to the
SITL simulator.

Also, this includes a bunch of general cleanup and refactoring of the
simulator interface code. For instance sending of mavlink messages was
put into separate functions and unneccessary comments were removed.

Also, this now sets the timestamp sent by the SITL simulator in the
HIL_SENSOR message in order to enable lockstep.
 2018-12-22 10:32:18 +01:00
Julian Oes cf39fdd37b simulator: use usual type of timestamp 2018-12-22 10:32:18 +01:00
Julian Oes 9b7857315c sensors: handle timeout 2018-12-22 10:32:18 +01:00
Julian Oes 22bd06e5d5 mc_pos_control: don't do orb_check on polled topic 
When we poll on vehicle_local_position we shouldn't do yet another
orb_check but copy it first up.
 2018-12-22 10:32:18 +01:00