slew_rate: pass vector by const ref

Same as outer if

.editorconfig

@@ -1,14 +0,0 @@
-root = true
-
-[*]
-insert_final_newline = false
-
-[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
-indent_style = tab
-tab_width = 8
-# Not in the official standard, but supported by many editors
-max_line_length = 120
-
-[*.yaml]
-indent_style = space
-indent_size = 2

.gitmodules

@@ -81,5 +81,5 @@
 	url = https://github.com/PX4/PX4-gazebo-models.git
 	branch = main
 [submodule "boards/modalai/voxl2/libfc-sensor-api"]
-	path = boards/modalai/voxl2/libfc-sensor-api
+	path = src/modules/muorb/apps/libfc-sensor-api
 	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git

Tools/astyle/files_to_check_code_style.sh

@@ -30,5 +30,5 @@ exec find boards msg src platforms test \
     -path src/lib/cdrstream/cyclonedds -prune -o \
     -path src/lib/cdrstream/rosidl -prune -o \
     -path src/modules/zenoh/zenoh-pico -prune -o \
-    -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
+    -path src/modules/muorb/apps/libfc-sensor-api -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

boards/ark/septentrio-gps/default.px4board

@@ -20,7 +20,6 @@ CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
-CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y

boards/ark/septentrio-gps/init/rc.board_defaults

@@ -11,5 +11,3 @@ param set-default SENS_IMU_CLPNOTI 0
 
 safety_button start
 tone_alarm start
-
-ekf2 start

boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig

@@ -50,7 +50,6 @@ CONFIG_STACK_COLORATION=y
 CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_DISABLE_BUFFERING=y
-CONFIG_STM32_FLASH_CONFIG_G=y
 CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0

boards/ark/septentrio-gps/nuttx-config/nsh/defconfig

@@ -123,7 +123,6 @@ CONFIG_STM32_ADC1=y
 CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
 CONFIG_STM32_DMA1=y
 CONFIG_STM32_DMA2=y
-CONFIG_STM32_FLASH_CONFIG_G=y
 CONFIG_STM32_FLASH_PREFETCH=y
 CONFIG_STM32_FLOWCONTROL_BROKEN=y
 CONFIG_STM32_I2C1=y

boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld

@@ -33,7 +33,7 @@
  *
  ****************************************************************************/
 
-/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
+/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
  * 256Kb of SRAM. SRAM is split up into three blocks:
  *
  * 1) 112Kb of SRAM beginning at address 0x2000:0000

boards/ark/septentrio-gps/nuttx-config/scripts/script.ld

@@ -33,7 +33,7 @@
  *
  ****************************************************************************/
 
-/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
+/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
  * 256Kb of SRAM. SRAM is split up into three blocks:
  *
  * 1) 112Kb of SRAM beginning at address 0x2000:0000

boards/modalai/fc-v2/default.px4board

@@ -60,7 +60,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y

boards/modalai/voxl2-slpi/default.px4board

@@ -4,7 +4,6 @@ CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
-CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y

boards/modalai/voxl2/cmake/link_libraries.cmake

@@ -1,7 +1,7 @@
 
 # Link against the public stub version of the proprietary fc sensor library
 target_link_libraries(px4 PRIVATE
-		${PX4_BOARD_DIR}/libfc-sensor-api/build/libfc_sensor.so
+		${PX4_SOURCE_DIR}/src//modules/muorb/apps/libfc-sensor-api/build/libfc_sensor.so
 		px4_layer
 		${module_libraries}
 )

boards/modalai/voxl2/default.px4board

@@ -11,6 +11,7 @@ CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MUORB_APPS=y

boards/modalai/voxl2/scripts/build-deps.sh

@@ -1,9 +1,10 @@
 #!/bin/bash
 
-cd boards/modalai/voxl2/libfc-sensor-api
+cd src/modules/muorb/apps/libfc-sensor-api
 rm -fR build
 mkdir build
 cd build
 CC=/home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc cmake ..
 make
-cd ../../../../..
+cd ../../../../../..
+

boards/modalai/voxl2/target/voxl-px4-hitl-start

@@ -76,6 +76,7 @@ qshell flight_mode_manager start
 # Start all of the processing modules on the applications processor
 dataman start
 navigator start
+load_mon start
 
 # Start microdds_client for ros2 offboard messages from agent over localhost
 microdds_client start -t udp -h 127.0.0.1 -p 8888

boards/modalai/voxl2/target/voxl-px4-start

@@ -207,6 +207,7 @@ qshell flight_mode_manager start
 # Start all of the processing modules on the applications processor
 dataman start
 navigator start
+load_mon start
 
 # This bridge allows raw data packets to be sent over UART to the ESC
 voxl2_io_bridge start

boards/mro/ctrl-zero-classic/default.px4board

@@ -49,6 +49,7 @@ CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y

boards/px4/fmu-v5x/default.px4board

@@ -53,7 +53,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
+CONFIG_MODULES_DIFFERENTIAL_DRIVE=n
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -81,6 +81,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -101,7 +102,9 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

boards/px4/fmu-v6x/default.px4board

@@ -13,7 +13,7 @@ CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=n
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y

msg/AutoTrimStatus.msg

@@ -0,0 +1,17 @@
+uint64 timestamp             # Time since system start (microseconds)
+uint64 timestamp_sample
+
+float32[3] trim_estimate     # Roll/pitch/yaw trim value obtained from torque setpoints averaged over several seconds
+float32[3] trim_estimate_var
+float32[3] trim_test         # Same as trim_estimate but done on a shorter period. Used to validate the trim estimate.
+float32[3] trim_test_var
+float32[3] trim_validated    # Final roll/pitch/yaw trim estimate, verified by trim_test
+
+uint8 STATE_IDLE = 0
+uint8 STATE_SAMPLING = 1
+uint8 STATE_SAMPLING_TEST = 2
+uint8 STATE_VERIFICATION = 3
+uint8 STATE_COMPLETE = 4
+uint8 STATE_FAIL = 5
+
+uint8 state

msg/CMakeLists.txt

@@ -52,13 +52,13 @@ set(msg_files
 	ArmingCheckReply.msg
 	ArmingCheckRequest.msg
 	AutotuneAttitudeControlStatus.msg
+	AutoTrimStatus.msg
 	BatteryStatus.msg
 	Buffer128.msg
 	ButtonEvent.msg
 	CameraCapture.msg
 	CameraStatus.msg
 	CameraTrigger.msg
-	CanInterfaceStatus.msg
 	CellularStatus.msg
 	CollisionConstraints.msg
 	CollisionReport.msg

msg/CanInterfaceStatus.msg

@@ -1,6 +0,0 @@
-uint64 timestamp		# time since system start (microseconds)
-uint8 interface
-
-uint64 io_errors
-uint64 frames_tx
-uint64 frames_rx

platforms/common/CMakeLists.txt

@@ -52,7 +52,6 @@ add_library(px4_platform STATIC
 	shutdown.cpp
 	spi.cpp
 	pab_manifest.c
-	Serial.cpp
 	${SRCS}
 )
 target_link_libraries(px4_platform prebuild_targets px4_work_queue)

platforms/common/Serial.cpp

@@ -1,138 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_platform_common/Serial.hpp>
-
-namespace device
-{
-
-Serial::Serial(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-	       FlowControl flowcontrol) :
-	_impl(port, baudrate, bytesize, parity, stopbits, flowcontrol)
-{
-	// If no baudrate was specified then set it to a reasonable default value
-	if (baudrate == 0) {
-		(void) _impl.setBaudrate(9600);
-	}
-}
-
-Serial::~Serial()
-{
-}
-
-bool Serial::open()
-{
-	return _impl.open();
-}
-
-bool Serial::isOpen() const
-{
-	return _impl.isOpen();
-}
-
-bool Serial::close()
-{
-	return _impl.close();
-}
-
-ssize_t Serial::read(uint8_t *buffer, size_t buffer_size)
-{
-	return _impl.read(buffer, buffer_size);
-}
-
-ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_us);
-}
-
-ssize_t Serial::write(const void *buffer, size_t buffer_size)
-{
-	return _impl.write(buffer, buffer_size);
-}
-
-uint32_t Serial::getBaudrate() const
-{
-	return _impl.getBaudrate();
-}
-
-bool Serial::setBaudrate(uint32_t baudrate)
-{
-	return _impl.setBaudrate(baudrate);
-}
-
-ByteSize Serial::getBytesize() const
-{
-	return _impl.getBytesize();
-}
-
-bool Serial::setBytesize(ByteSize bytesize)
-{
-	return _impl.setBytesize(bytesize);
-}
-
-Parity Serial::getParity() const
-{
-	return _impl.getParity();
-}
-
-bool Serial::setParity(Parity parity)
-{
-	return _impl.setParity(parity);
-}
-
-StopBits Serial::getStopbits() const
-{
-	return _impl.getStopbits();
-}
-
-bool Serial::setStopbits(StopBits stopbits)
-{
-	return _impl.setStopbits(stopbits);
-}
-
-FlowControl Serial::getFlowcontrol() const
-{
-	return _impl.getFlowcontrol();
-}
-
-bool Serial::setFlowcontrol(FlowControl flowcontrol)
-{
-	return _impl.setFlowcontrol(flowcontrol);
-}
-
-const char *Serial::getPort() const
-{
-	return _impl.getPort();
-}
-
-} // namespace device

platforms/common/include/px4_platform_common/Serial.hpp

@@ -1,97 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <SerialImpl.hpp>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device __EXPORT
-{
-
-class Serial
-{
-public:
-	Serial(const char *port, uint32_t baudrate = 57600,
-	       ByteSize bytesize = ByteSize::EightBits, Parity parity = Parity::None,
-	       StopBits stopbits = StopBits::One, FlowControl flowcontrol = FlowControl::Disabled);
-	virtual ~Serial();
-
-	// Open sets up the port and gets it configured based on desired configuration
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	// If port is already open then the following configuration functions
-	// will reconfigure the port. If the port is not yet open then they will
-	// simply store the configuration in preparation for the port to be opened.
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-	const char *getPort() const;
-
-private:
-	// Disable copy constructors
-	Serial(const Serial &);
-	Serial &operator=(const Serial &);
-
-	// platform implementation
-	SerialImpl _impl;
-};
-
-} // namespace device

platforms/common/include/px4_platform_common/SerialCommon.hpp

@@ -1,70 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-namespace device
-{
-namespace SerialConfig
-{
-
-
-// ByteSize: number of data bits
-enum class ByteSize {
-	FiveBits  = 5,
-	SixBits   = 6,
-	SevenBits = 7,
-	EightBits = 8,
-};
-
-// Parity: enable parity checking
-enum class Parity {
-	None = 0,
-	Odd  = 1,
-	Even = 2,
-};
-
-// StopBits: number of stop bits
-enum class StopBits {
-	One = 1,
-	Two = 2
-};
-
-// FlowControl: enable flow control
-enum class FlowControl {
-	Disabled = 0,
-	Enabled  = 1,
-};
-
-} // namespace SerialConfig
-} // namespace device

platforms/common/include/px4_platform_common/time.h

@@ -13,21 +13,11 @@ __END_DECLS
 #define px4_clock_gettime system_clock_gettime
 #endif
 
-#if defined(ENABLE_LOCKSTEP_SCHEDULER) || defined(__PX4_QURT)
-
-__BEGIN_DECLS
-__EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
-__END_DECLS
-
-#else
-
-#define px4_clock_settime system_clock_settime
-
-#endif
-
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 
 __BEGIN_DECLS
+__EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
+
 __EXPORT int px4_usleep(useconds_t usec);
 __EXPORT unsigned int px4_sleep(unsigned int seconds);
 __EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond,
@@ -37,6 +27,7 @@ __END_DECLS
 
 #else
 
+#define px4_clock_settime system_clock_settime
 #define px4_usleep system_usleep
 #define px4_sleep system_sleep
 #define px4_pthread_cond_timedwait system_pthread_cond_timedwait

platforms/common/uORB/SubscriptionBlocking.hpp

@@ -56,6 +56,31 @@ public:
 	SubscriptionBlocking(const orb_metadata *meta, uint32_t interval_us = 0, uint8_t instance = 0) :
 		SubscriptionCallback(meta, interval_us, instance)
 	{
+		// pthread_mutexattr_init
+		pthread_mutexattr_t attr;
+		int ret_attr_init = pthread_mutexattr_init(&attr);
+
+		if (ret_attr_init != 0) {
+			PX4_ERR("pthread_mutexattr_init failed, status=%d", ret_attr_init);
+		}
+
+#if defined(PTHREAD_PRIO_NONE)
+		// pthread_mutexattr_settype
+		//  PTHREAD_PRIO_NONE not available on cygwin
+		int ret_mutexattr_settype = pthread_mutexattr_settype(&attr, PTHREAD_PRIO_NONE);
+
+		if (ret_mutexattr_settype != 0) {
+			PX4_ERR("pthread_mutexattr_settype failed, status=%d", ret_mutexattr_settype);
+		}
+
+#endif // PTHREAD_PRIO_NONE
+
+		// pthread_mutex_init
+		int ret_mutex_init = pthread_mutex_init(&_mutex, &attr);
+
+		if (ret_mutex_init != 0) {
+			PX4_ERR("pthread_mutex_init failed, status=%d", ret_mutex_init);
+		}
 	}
 
 	virtual ~SubscriptionBlocking()

platforms/common/uORB/uORBDeviceNode.cpp

@@ -412,10 +412,7 @@ int16_t uORB::DeviceNode::process_add_subscription()
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
 
 	if (_data != nullptr && ch != nullptr) { // _data will not be null if there is a publisher.
-		// Only send the most recent data to initialize the remote end.
-		if (_data_valid) {
-			ch->send_message(_meta->o_name, _meta->o_size, _data + (_meta->o_size * ((_generation.load() - 1) % _meta->o_queue)));
-		}
+		ch->send_message(_meta->o_name, _meta->o_size, _data);
 	}
 
 	return PX4_OK;

platforms/nuttx/src/px4/common/SerialImpl.cpp

@@ -1,394 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <SerialImpl.hpp>
-#include <string.h> // strncpy
-#include <termios.h>
-#include <px4_log.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <poll.h>
-#include <drivers/drv_hrt.h>
-
-#define MODULE_NAME "SerialImpl"
-
-namespace device
-{
-
-SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		       FlowControl flowcontrol) :
-	_baudrate(baudrate),
-	_bytesize(bytesize),
-	_parity(parity),
-	_stopbits(stopbits),
-	_flowcontrol(flowcontrol)
-{
-	if (port) {
-		strncpy(_port, port, sizeof(_port) - 1);
-		_port[sizeof(_port) - 1] = '\0';
-
-	} else {
-		_port[0] = 0;
-	}
-}
-
-SerialImpl::~SerialImpl()
-{
-	if (isOpen()) {
-		close();
-	}
-}
-
-bool SerialImpl::validateBaudrate(uint32_t baudrate)
-{
-	return ((baudrate == 9600) ||
-		(baudrate == 19200) ||
-		(baudrate == 38400) ||
-		(baudrate == 57600) ||
-		(baudrate == 115200) ||
-		(baudrate == 230400) ||
-		(baudrate == 460800) ||
-		(baudrate == 921600));
-}
-
-bool SerialImpl::configure()
-{
-	/* process baud rate */
-	int speed;
-
-	if (! validateBaudrate(_baudrate)) {
-		PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
-		return false;
-	}
-
-	switch (_baudrate) {
-	case 9600:   speed = B9600;   break;
-
-	case 19200:  speed = B19200;  break;
-
-	case 38400:  speed = B38400;  break;
-
-	case 57600:  speed = B57600;  break;
-
-	case 115200: speed = B115200; break;
-
-	case 230400: speed = B230400; break;
-
-#ifndef B460800
-#define B460800 460800
-#endif
-
-	case 460800: speed = B460800; break;
-
-#ifndef B921600
-#define B921600 921600
-#endif
-
-	case 921600: speed = B921600; break;
-
-	default:
-		PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
-		return false;
-	}
-
-	struct termios uart_config;
-
-	int termios_state;
-
-	/* fill the struct for the new configuration */
-	if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcgetattr)", termios_state);
-		return false;
-	}
-
-	/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
-
-	//
-	// Input flags - Turn off input processing
-	//
-	// convert break to null byte, no CR to NL translation,
-	// no NL to CR translation, don't mark parity errors or breaks
-	// no input parity check, don't strip high bit off,
-	// no XON/XOFF software flow control
-	//
-	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
-				 INLCR | PARMRK | INPCK | ISTRIP | IXON);
-
-	//
-	// Output flags - Turn off output processing
-	//
-	// no CR to NL translation, no NL to CR-NL translation,
-	// no NL to CR translation, no column 0 CR suppression,
-	// no Ctrl-D suppression, no fill characters, no case mapping,
-	// no local output processing
-	//
-	// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
-	//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
-	uart_config.c_oflag = 0;
-
-	//
-	// No line processing
-	//
-	// echo off, echo newline off, canonical mode off,
-	// extended input processing off, signal chars off
-	//
-	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
-
-	/* no parity, one stop bit, disable flow control */
-	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
-
-	/* set baud rate */
-	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetispeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetospeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcsetattr)", termios_state);
-		return false;
-	}
-
-	return true;
-}
-
-bool SerialImpl::open()
-{
-	if (isOpen()) {
-		return true;
-	}
-
-	// Open the serial port
-	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
-
-	if (serial_fd < 0) {
-		PX4_ERR("failed to open %s err: %d", _port, errno);
-		return false;
-	}
-
-	_serial_fd = serial_fd;
-
-	// Configure the serial port
-	if (! configure()) {
-		PX4_ERR("failed to configure %s err: %d", _port, errno);
-		return false;
-	}
-
-	_open = true;
-
-	return _open;
-}
-
-bool SerialImpl::isOpen() const
-{
-	return _open;
-}
-
-bool SerialImpl::close()
-{
-
-	if (_serial_fd >= 0) {
-		::close(_serial_fd);
-	}
-
-	_serial_fd = -1;
-	_open = false;
-
-	return true;
-}
-
-ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot read from serial device until it has been opened");
-		return -1;
-	}
-
-	int ret = ::read(_serial_fd, buffer, buffer_size);
-
-	if (ret < 0) {
-		PX4_DEBUG("%s read error %d", _port, ret);
-	}
-
-	return ret;
-}
-
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	if (!_open) {
-		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
-		return -1;
-	}
-
-	if (buffer_size < character_count) {
-		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
-		return -1;
-	}
-
-	const hrt_abstime start_time_us = hrt_absolute_time();
-	int total_bytes_read = 0;
-
-	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {
-		// Poll for incoming UART data.
-		pollfd fds[1];
-		fds[0].fd = _serial_fd;
-		fds[0].events = POLLIN;
-
-		hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
-
-		if (remaining_time <= 0) { break; }
-
-		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);
-
-		if (ret > 0) {
-			if (fds[0].revents & POLLIN) {
-				const unsigned sleeptime = character_count * 1000000 / (_baudrate / 10);
-
-				int err = 0;
-				int bytes_available = 0;
-				err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available);
-
-				if (err != 0 || bytes_available < (int)character_count) {
-					px4_usleep(sleeptime);
-				}
-
-				ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
-
-				if (ret > 0) {
-					total_bytes_read += ret;
-				}
-
-			} else {
-				PX4_ERR("Got a poll error");
-				return -1;
-			}
-		}
-	}
-
-	return total_bytes_read;
-}
-
-ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot write to serial device until it has been opened");
-		return -1;
-	}
-
-	int written = ::write(_serial_fd, buffer, buffer_size);
-	::fsync(_serial_fd);
-
-	if (written < 0) {
-		PX4_ERR("%s write error %d", _port, written);
-	}
-
-	return written;
-}
-
-const char *SerialImpl::getPort() const
-{
-	return _port;
-}
-
-uint32_t SerialImpl::getBaudrate() const
-{
-	return _baudrate;
-}
-
-bool SerialImpl::setBaudrate(uint32_t baudrate)
-{
-	if (! validateBaudrate(baudrate)) {
-		PX4_ERR("ERR: invalid baudrate: %lu", baudrate);
-		return false;
-	}
-
-	// check if already configured
-	if ((baudrate == _baudrate) && _open) {
-		return true;
-	}
-
-	_baudrate = baudrate;
-
-	// process baud rate change now if port is already open
-	if (_open) {
-		return configure();
-	}
-
-	return true;
-}
-
-ByteSize SerialImpl::getBytesize() const
-{
-	return _bytesize;
-}
-
-bool SerialImpl::setBytesize(ByteSize bytesize)
-{
-	return bytesize == ByteSize::EightBits;
-}
-
-Parity SerialImpl::getParity() const
-{
-	return _parity;
-}
-
-bool SerialImpl::setParity(Parity parity)
-{
-	return parity == Parity::None;
-}
-
-StopBits SerialImpl::getStopbits() const
-{
-	return _stopbits;
-}
-
-bool SerialImpl::setStopbits(StopBits stopbits)
-{
-	return stopbits == StopBits::One;
-}
-
-FlowControl SerialImpl::getFlowcontrol() const
-{
-	return _flowcontrol;
-}
-
-bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
-{
-	return flowcontrol == FlowControl::Disabled;
-}
-
-} // namespace device

platforms/nuttx/src/px4/common/include/SerialImpl.hpp

@@ -1,104 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <stdint.h>
-#include <unistd.h>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device
-{
-
-class SerialImpl
-{
-public:
-
-	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		   FlowControl flowcontrol);
-	virtual ~SerialImpl();
-
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	const char *getPort() const;
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-private:
-
-	int _serial_fd{-1};
-
-	bool _open{false};
-
-	char _port[32] {};
-
-	uint32_t _baudrate{0};
-
-	ByteSize _bytesize{ByteSize::EightBits};
-	Parity _parity{Parity::None};
-	StopBits _stopbits{StopBits::One};
-	FlowControl _flowcontrol{FlowControl::Disabled};
-
-	bool validateBaudrate(uint32_t baudrate);
-	bool configure();
-
-};
-
-} // namespace device

platforms/nuttx/src/px4/common/px4_layer.cmake

@@ -3,8 +3,6 @@
 add_library(px4_layer
 		${KERNEL_SRCS}
 		cdc_acm_check.cpp
-		${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
-		SerialImpl.cpp
 	)
 
 target_link_libraries(px4_layer

platforms/nuttx/src/px4/common/px4_protected_layers.cmake

@@ -15,8 +15,6 @@ add_library(px4_layer
 	usr_board_ctrl.c
 	usr_hrt.cpp
 	usr_mcu_version.cpp
-	${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
-	SerialImpl.cpp
 )
 
 target_link_libraries(px4_layer

platforms/posix/include/SerialImpl.hpp

@@ -1,103 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <stdint.h>
-#include <unistd.h>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device
-{
-
-class SerialImpl
-{
-public:
-
-	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		   FlowControl flowcontrol);
-	virtual ~SerialImpl();
-
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	const char *getPort() const;
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-private:
-
-	int _serial_fd{-1};
-
-	bool _open{false};
-
-	char _port[32] {};
-
-	uint32_t _baudrate{0};
-
-	ByteSize _bytesize{ByteSize::EightBits};
-	Parity _parity{Parity::None};
-	StopBits _stopbits{StopBits::One};
-	FlowControl _flowcontrol{FlowControl::Disabled};
-
-	bool validateBaudrate(uint32_t baudrate);
-	bool configure();
-};
-
-} // namespace device

platforms/posix/src/px4/common/CMakeLists.txt

@@ -46,8 +46,6 @@ add_library(px4_layer
 	drv_hrt.cpp
 	cpuload.cpp
 	print_load.cpp
-	${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
-	SerialImpl.cpp
 )
 target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
 target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable

platforms/posix/src/px4/common/SerialImpl.cpp

@@ -1,387 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <SerialImpl.hpp>
-#include <string.h> // strncpy
-#include <termios.h>
-#include <px4_log.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <poll.h>
-#include <drivers/drv_hrt.h>
-
-namespace device
-{
-
-SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		       FlowControl flowcontrol) :
-	_baudrate(baudrate),
-	_bytesize(bytesize),
-	_parity(parity),
-	_stopbits(stopbits),
-	_flowcontrol(flowcontrol)
-{
-	if (port) {
-		strncpy(_port, port, sizeof(_port) - 1);
-		_port[sizeof(_port) - 1] = '\0';
-
-	} else {
-		_port[0] = 0;
-	}
-}
-
-SerialImpl::~SerialImpl()
-{
-	if (isOpen()) {
-		close();
-	}
-}
-
-bool SerialImpl::validateBaudrate(uint32_t baudrate)
-{
-	return ((baudrate == 9600) ||
-		(baudrate == 19200) ||
-		(baudrate == 38400) ||
-		(baudrate == 57600) ||
-		(baudrate == 115200) ||
-		(baudrate == 230400) ||
-		(baudrate == 460800) ||
-		(baudrate == 921600));
-}
-
-bool SerialImpl::configure()
-{
-	/* process baud rate */
-	int speed;
-
-	if (! validateBaudrate(_baudrate)) {
-		PX4_ERR("ERR: unknown baudrate: %u", _baudrate);
-		return false;
-	}
-
-	switch (_baudrate) {
-	case 9600:   speed = B9600;   break;
-
-	case 19200:  speed = B19200;  break;
-
-	case 38400:  speed = B38400;  break;
-
-	case 57600:  speed = B57600;  break;
-
-	case 115200: speed = B115200; break;
-
-	case 230400: speed = B230400; break;
-
-#ifndef B460800
-#define B460800 460800
-#endif
-
-	case 460800: speed = B460800; break;
-
-#ifndef B921600
-#define B921600 921600
-#endif
-
-	case 921600: speed = B921600; break;
-
-	default:
-		PX4_ERR("ERR: unknown baudrate: %d", _baudrate);
-		return false;
-	}
-
-	struct termios uart_config;
-
-	int termios_state;
-
-	/* fill the struct for the new configuration */
-	if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcgetattr)", termios_state);
-		return false;
-	}
-
-	/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
-
-	//
-	// Input flags - Turn off input processing
-	//
-	// convert break to null byte, no CR to NL translation,
-	// no NL to CR translation, don't mark parity errors or breaks
-	// no input parity check, don't strip high bit off,
-	// no XON/XOFF software flow control
-	//
-	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
-				 INLCR | PARMRK | INPCK | ISTRIP | IXON);
-
-	//
-	// Output flags - Turn off output processing
-	//
-	// no CR to NL translation, no NL to CR-NL translation,
-	// no NL to CR translation, no column 0 CR suppression,
-	// no Ctrl-D suppression, no fill characters, no case mapping,
-	// no local output processing
-	//
-	// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
-	//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
-	uart_config.c_oflag = 0;
-
-	//
-	// No line processing
-	//
-	// echo off, echo newline off, canonical mode off,
-	// extended input processing off, signal chars off
-	//
-	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
-
-	/* no parity, one stop bit, disable flow control */
-	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
-
-	/* set baud rate */
-	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetispeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
-		PX4_ERR("ERR: %d (cfsetospeed)", termios_state);
-		return false;
-	}
-
-	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
-		PX4_ERR("ERR: %d (tcsetattr)", termios_state);
-		return false;
-	}
-
-	return true;
-}
-
-bool SerialImpl::open()
-{
-	if (isOpen()) {
-		return true;
-	}
-
-	// Open the serial port
-	int serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
-
-	if (serial_fd < 0) {
-		PX4_ERR("failed to open %s err: %d", _port, errno);
-		return false;
-	}
-
-	_serial_fd = serial_fd;
-
-	// Configure the serial port
-	if (! configure()) {
-		PX4_ERR("failed to configure %s err: %d", _port, errno);
-		return false;
-	}
-
-	_open = true;
-
-	return _open;
-}
-
-bool SerialImpl::isOpen() const
-{
-	return _open;
-}
-
-bool SerialImpl::close()
-{
-
-	if (_serial_fd >= 0) {
-		::close(_serial_fd);
-	}
-
-	_serial_fd = -1;
-	_open = false;
-
-	return true;
-}
-
-ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot read from serial device until it has been opened");
-		return -1;
-	}
-
-	int ret = ::read(_serial_fd, buffer, buffer_size);
-
-	if (ret < 0) {
-		PX4_DEBUG("%s read error %d", _port, ret);
-
-	}
-
-	return ret;
-}
-
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	if (!_open) {
-		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
-		return -1;
-	}
-
-	if (buffer_size < character_count) {
-		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
-		return -1;
-	}
-
-	const hrt_abstime start_time_us = hrt_absolute_time();
-	int total_bytes_read = 0;
-
-	while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) {
-		// Poll for incoming UART data.
-		pollfd fds[1];
-		fds[0].fd = _serial_fd;
-		fds[0].events = POLLIN;
-
-		hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
-
-		if (remaining_time <= 0) { break; }
-
-		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);
-
-		if (ret > 0) {
-			if (fds[0].revents & POLLIN) {
-				const unsigned sleeptime = character_count * 1000000 / (_baudrate / 10);
-				px4_usleep(sleeptime);
-
-				ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
-
-				if (ret > 0) {
-					total_bytes_read += ret;
-				}
-
-			} else {
-				PX4_ERR("Got a poll error");
-				return -1;
-			}
-		}
-	}
-
-	return total_bytes_read;
-}
-
-ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot write to serial device until it has been opened");
-		return -1;
-	}
-
-	int written = ::write(_serial_fd, buffer, buffer_size);
-	::fsync(_serial_fd);
-
-	if (written < 0) {
-		PX4_ERR("%s write error %d", _port, written);
-
-	}
-
-	return written;
-}
-
-const char *SerialImpl::getPort() const
-{
-	return _port;
-}
-
-uint32_t SerialImpl::getBaudrate() const
-{
-	return _baudrate;
-}
-
-bool SerialImpl::setBaudrate(uint32_t baudrate)
-{
-	if (! validateBaudrate(baudrate)) {
-		PX4_ERR("ERR: invalid baudrate: %u", baudrate);
-		return false;
-	}
-
-	// check if already configured
-	if ((baudrate == _baudrate) && _open) {
-		return true;
-	}
-
-	_baudrate = baudrate;
-
-	// process baud rate change now if port is already open
-	if (_open) {
-		return configure();
-	}
-
-	return true;
-}
-
-ByteSize SerialImpl::getBytesize() const
-{
-	return _bytesize;
-}
-
-bool SerialImpl::setBytesize(ByteSize bytesize)
-{
-	return bytesize == ByteSize::EightBits;
-}
-
-Parity SerialImpl::getParity() const
-{
-	return _parity;
-}
-
-bool SerialImpl::setParity(Parity parity)
-{
-	return parity == Parity::None;
-}
-
-StopBits SerialImpl::getStopbits() const
-{
-	return _stopbits;
-}
-
-bool SerialImpl::setStopbits(StopBits stopbits)
-{
-	return stopbits == StopBits::One;
-}
-
-FlowControl SerialImpl::getFlowcontrol() const
-{
-	return _flowcontrol;
-}
-
-bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
-{
-	return flowcontrol == FlowControl::Disabled;
-}
-
-} // namespace device

platforms/posix/src/px4/common/drv_hrt.cpp

@@ -51,11 +51,6 @@
 #include <errno.h>
 #include "hrt_work.h"
 
-// Voxl2 board specific API definitions to get time offset
-#if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
-#include "fc_sensor.h"
-#endif
-
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 #include <lockstep_scheduler/lockstep_scheduler.h>
 static LockstepScheduler lockstep_scheduler {true};
@@ -112,29 +107,6 @@ hrt_abstime hrt_absolute_time()
 #else // defined(ENABLE_LOCKSTEP_SCHEDULER)
 	struct timespec ts;
 	px4_clock_gettime(CLOCK_MONOTONIC, &ts);
-
-# if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
-	hrt_abstime temp_abstime = ts_to_abstime(&ts);
-	int apps_time_offset = fc_sensor_get_time_offset();
-
-	if (apps_time_offset < 0) {
-		hrt_abstime temp_offset = -apps_time_offset;
-
-		if (temp_offset >= temp_abstime) {
-			temp_abstime = 0;
-
-		} else {
-			temp_abstime -= temp_offset;
-		}
-
-	} else {
-		temp_abstime += (hrt_abstime) apps_time_offset;
-	}
-
-	ts.tv_sec = temp_abstime / 1000000;
-	ts.tv_nsec = (temp_abstime % 1000000) * 1000;
-# endif // defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
-
 	return ts_to_abstime(&ts);
 #endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
 }
@@ -477,7 +449,6 @@ int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
 
 #endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
 	return system_clock_gettime(clk_id, tp);
-
 }
 
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)

platforms/qurt/CMakeLists.txt

@@ -50,4 +50,5 @@ add_library(px4 SHARED
 target_link_libraries(px4
 	modules__muorb__slpi
 	${module_libraries}
+	px4_layer
 	)

platforms/qurt/include/SerialImpl.hpp

@@ -1,108 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <unistd.h>
-
-#include <px4_platform_common/SerialCommon.hpp>
-
-using device::SerialConfig::ByteSize;
-using device::SerialConfig::Parity;
-using device::SerialConfig::StopBits;
-using device::SerialConfig::FlowControl;
-
-namespace device
-{
-
-class SerialImpl
-{
-public:
-
-	SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		   FlowControl flowcontrol);
-	virtual ~SerialImpl();
-
-	bool open();
-	bool isOpen() const;
-
-	bool close();
-
-	ssize_t read(uint8_t *buffer, size_t buffer_size);
-	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);
-
-	ssize_t write(const void *buffer, size_t buffer_size);
-
-	const char *getPort() const;
-	bool setPort(const char *port);
-
-	uint32_t getBaudrate() const;
-	bool setBaudrate(uint32_t baudrate);
-
-	ByteSize getBytesize() const;
-	bool setBytesize(ByteSize bytesize);
-
-	Parity getParity() const;
-	bool setParity(Parity parity);
-
-	StopBits getStopbits() const;
-	bool setStopbits(StopBits stopbits);
-
-	FlowControl getFlowcontrol() const;
-	bool setFlowcontrol(FlowControl flowcontrol);
-
-private:
-
-	int _serial_fd{-1};
-
-	bool _open{false};
-
-	char _port[32] {};
-
-	uint32_t _baudrate{0};
-
-	ByteSize _bytesize{ByteSize::EightBits};
-	Parity _parity{Parity::None};
-	StopBits _stopbits{StopBits::One};
-	FlowControl _flowcontrol{FlowControl::Disabled};
-
-	bool validateBaudrate(uint32_t baudrate);
-
-	// Mutex used to lock the read functions
-	//pthread_mutex_t read_mutex;
-
-	// Mutex used to lock the write functions
-	//pthread_mutex_t write_mutex;
-};
-
-} // namespace device

platforms/qurt/src/px4/CMakeLists.txt

@@ -38,7 +38,6 @@ set(QURT_LAYER_SRCS
 	px4_qurt_impl.cpp
 	main.cpp
 	qurt_log.cpp
-	SerialImpl.cpp
 	)
 
 add_library(px4_layer

platforms/qurt/src/px4/SerialImpl.cpp

@@ -1,326 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <SerialImpl.hpp>
-#include <string.h> // strncpy
-#include <px4_log.h>
-#include <drivers/device/qurt/uart.h>
-#include <drivers/drv_hrt.h>
-
-namespace device
-{
-
-SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits,
-		       FlowControl flowcontrol) :
-	_baudrate(baudrate),
-	_bytesize(bytesize),
-	_parity(parity),
-	_stopbits(stopbits),
-	_flowcontrol(flowcontrol)
-{
-	if (port) {
-		strncpy(_port, port, sizeof(_port) - 1);
-		_port[sizeof(_port) - 1] = '\0';
-
-	} else {
-		_port[0] = 0;
-	}
-}
-
-SerialImpl::~SerialImpl()
-{
-	if (isOpen()) {
-		close();
-	}
-}
-
-bool SerialImpl::validateBaudrate(uint32_t baudrate)
-{
-	if ((baudrate != 9600)   &&
-	    (baudrate != 38400)  &&
-	    (baudrate != 57600)  &&
-	    (baudrate != 115200) &&
-	    (baudrate != 230400) &&
-	    (baudrate != 250000) &&
-	    (baudrate != 420000) &&
-	    (baudrate != 460800) &&
-	    (baudrate != 921600) &&
-	    (baudrate != 1000000) &&
-	    (baudrate != 1843200) &&
-	    (baudrate != 2000000)) {
-		return false;
-	}
-
-	return true;
-}
-
-bool SerialImpl::open()
-{
-	// There's no harm in calling open multiple times on the same port.
-	// In fact, that's the only way to change the baudrate
-
-	_open = false;
-	_serial_fd = -1;
-
-	if (! validateBaudrate(_baudrate)) {
-		PX4_ERR("Invalid baudrate: %u", _baudrate);
-		return false;
-	}
-
-	if (_bytesize != ByteSize::EightBits) {
-		PX4_ERR("Qurt platform only supports ByteSize::EightBits");
-		return false;
-	}
-
-	if (_parity != Parity::None) {
-		PX4_ERR("Qurt platform only supports Parity::None");
-		return false;
-	}
-
-	if (_stopbits != StopBits::One) {
-		PX4_ERR("Qurt platform only supports StopBits::One");
-		return false;
-	}
-
-	if (_flowcontrol != FlowControl::Disabled) {
-		PX4_ERR("Qurt platform only supports FlowControl::Disabled");
-		return false;
-	}
-
-	// qurt_uart_open will check validity of port and baudrate
-	int serial_fd = qurt_uart_open(_port, _baudrate);
-
-	if (serial_fd < 0) {
-		PX4_ERR("failed to open %s, fd returned: %d", _port, serial_fd);
-		return false;
-
-	} else {
-		PX4_INFO("Successfully opened UART %s with baudrate %u", _port, _baudrate);
-	}
-
-	_serial_fd = serial_fd;
-	_open = true;
-
-	return _open;
-}
-
-bool SerialImpl::isOpen() const
-{
-	return _open;
-}
-
-bool SerialImpl::close()
-{
-	// No close defined for qurt uart yet
-	// if (_serial_fd >= 0) {
-	// 	qurt_uart_close(_serial_fd);
-	// }
-
-	_serial_fd = -1;
-	_open = false;
-
-	return true;
-}
-
-ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot read from serial device until it has been opened");
-		return -1;
-	}
-
-	int ret_read = qurt_uart_read(_serial_fd, (char *) buffer, buffer_size, 500);
-
-	if (ret_read < 0) {
-		PX4_DEBUG("%s read error %d", _port, ret_read);
-
-	}
-
-	return ret_read;
-}
-
-ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us)
-{
-	if (!_open) {
-		PX4_ERR("Cannot readAtLeast from serial device until it has been opened");
-		return -1;
-	}
-
-	if (buffer_size < character_count) {
-		PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__);
-		return -1;
-	}
-
-	const hrt_abstime start_time_us = hrt_absolute_time();
-	int total_bytes_read = 0;
-
-	while (total_bytes_read < (int) character_count) {
-
-		if (timeout_us > 0) {
-			const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us);
-
-			if (elapsed_us >= timeout_us) {
-				// If there was a partial read but not enough to satisfy the minimum then they will be lost
-				// but this really should never happen when everything is working normally.
-				// PX4_WARN("%s timeout %d bytes read (%llu us elapsed)", __FUNCTION__, total_bytes_read, elapsed_us);
-				// Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)?
-				return total_bytes_read;
-			}
-		}
-
-		int current_bytes_read = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
-
-		if (current_bytes_read < 0) {
-			// Again, if there was a partial read but not enough to satisfy the minimum then they will be lost
-			// but this really should never happen when everything is working normally.
-			PX4_ERR("%s failed to read uart", __FUNCTION__);
-			// Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)?
-			return -1;
-		}
-
-		// Current bytes read could be zero
-		total_bytes_read += current_bytes_read;
-
-		// If we have at least reached our desired minimum number of characters
-		// then we can return now
-		if (total_bytes_read >= (int) character_count) {
-			return total_bytes_read;
-		}
-
-		// Wait a set amount of time before trying again or the remaining time
-		// until the timeout if we are getting close
-		const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us);
-		int64_t time_until_timeout = timeout_us - elapsed_us;
-		uint64_t time_to_sleep = 5000;
-
-		if ((time_until_timeout >= 0) &&
-		    (time_until_timeout < (int64_t) time_to_sleep)) {
-			time_to_sleep = time_until_timeout;
-		}
-
-		px4_usleep(time_to_sleep);
-	}
-
-	return -1;
-}
-
-ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
-{
-	if (!_open) {
-		PX4_ERR("Cannot write to serial device until it has been opened");
-		return -1;
-	}
-
-	int ret_write = qurt_uart_write(_serial_fd, (const char *) buffer, buffer_size);
-
-	if (ret_write < 0) {
-		PX4_ERR("%s write error %d", _port, ret_write);
-
-	}
-
-	return ret_write;
-}
-
-const char *SerialImpl::getPort() const
-{
-	return _port;
-}
-
-uint32_t SerialImpl::getBaudrate() const
-{
-	return _baudrate;
-}
-
-bool SerialImpl::setBaudrate(uint32_t baudrate)
-{
-	if (! validateBaudrate(baudrate)) {
-		PX4_ERR("Invalid baudrate: %u", baudrate);
-		return false;
-	}
-
-	// check if already configured
-	if (baudrate == _baudrate) {
-		return true;
-	}
-
-	_baudrate = baudrate;
-
-	// process baud rate change now if port is already open
-	if (_open) {
-		return open();
-	}
-
-	return true;
-}
-
-ByteSize SerialImpl::getBytesize() const
-{
-	return _bytesize;
-}
-
-bool SerialImpl::setBytesize(ByteSize bytesize)
-{
-	return bytesize == ByteSize::EightBits;
-}
-
-Parity SerialImpl::getParity() const
-{
-	return _parity;
-}
-
-bool SerialImpl::setParity(Parity parity)
-{
-	return parity == Parity::None;
-}
-
-StopBits SerialImpl::getStopbits() const
-{
-	return _stopbits;
-}
-
-bool SerialImpl::setStopbits(StopBits stopbits)
-{
-	return stopbits == StopBits::One;
-}
-
-FlowControl SerialImpl::getFlowcontrol() const
-{
-	return _flowcontrol;
-}
-
-bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
-{
-	return flowcontrol == FlowControl::Disabled;
-}
-
-} // namespace device

platforms/qurt/src/px4/drv_hrt.cpp

@@ -81,7 +81,7 @@ static void hrt_unlock()
 	px4_sem_post(&_hrt_lock);
 }
 
-int px4_clock_settime(clockid_t clk_id, const struct timespec *tp)
+int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
 {
 	return 0;
 }

src/drivers/drv_hrt.h

@@ -162,16 +162,7 @@ static inline void abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
  */
 static inline hrt_abstime hrt_elapsed_time(const hrt_abstime *then)
 {
-	hrt_abstime now = hrt_absolute_time();
-
-	// Cannot allow a negative elapsed time as this would appear
-	// to be a huge positive elapsed time when represented as an
-	// unsigned value!
-	if (*then > now) {
-		return 0;
-	}
-
-	return now - *then;
+	return hrt_absolute_time() - *then;
 }
 
 /**

src/drivers/gps/gps.cpp

@@ -45,6 +45,7 @@
 #include <poll.h>
 #endif
 
+#include <termios.h>
 #include <cstring>
 
 #include <drivers/drv_sensor.h>
@@ -56,8 +57,6 @@
 #include <px4_platform_common/cli.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
-#include <px4_platform_common/time.h>
-#include <px4_platform_common/Serial.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
@@ -82,7 +81,6 @@
 #include <linux/spi/spidev.h>
 #endif /* __PX4_LINUX */
 
-using namespace device;
 using namespace time_literals;
 
 #define TIMEOUT_1HZ		1300	//!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
@@ -171,10 +169,7 @@ public:
 	void reset_if_scheduled();
 
 private:
-#ifdef __PX4_LINUX
-	int				_spi_fd {-1};					///< SPI interface to GPS
-#endif
-	Serial 			*_uart = nullptr;				///< UART interface to GPS
+	int				_serial_fd{-1};					///< serial interface to GPS
 	unsigned			_baudrate{0};					///< current baudrate
 	const unsigned			_configured_baudrate{0};			///< configured baudrate (0=auto-detect)
 	char				_port[20] {};					///< device / serial port path
@@ -334,11 +329,8 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
 		char c = _port[strlen(_port) - 1]; // last digit of path (eg /dev/ttyS2)
 		set_device_bus(c - 48); // sub 48 to convert char to integer
 
-#ifdef __PX4_LINUX
-
 	} else if (_interface == GPSHelper::Interface::SPI) {
 		set_device_bus_type(device::Device::DeviceBusType::DeviceBusType_SPI);
-#endif
 	}
 
 	if (_mode == gps_driver_mode_t::None) {
@@ -411,23 +403,10 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
 			return num_read;
 		}
 
-	case GPSCallbackType::writeDeviceData: {
-			gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true);
+	case GPSCallbackType::writeDeviceData:
+		gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true);
 
-			int ret = 0;
-
-			if (gps->_uart) {
-				ret = gps->_uart->write((void *) data1, (size_t) data2);
-
-#ifdef __PX4_LINUX
-
-			} else if (gps->_spi_fd >= 0) {
-				ret = ::write(gps->_spi_fd, data1, (size_t)data2);
-#endif
-			}
-
-			return ret;
-		}
+		return ::write(gps->_serial_fd, data1, (size_t)data2);
 
 	case GPSCallbackType::setBaudrate:
 		return gps->setBaudrate(data2);
@@ -470,64 +449,72 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
 
 int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
 {
-	int ret = 0;
-	const unsigned character_count = 32; // minimum bytes that we want to read
-	const int max_timeout = 50;
-	int timeout_adjusted = math::min(max_timeout, timeout);
-
 	handleInjectDataTopic();
 
-	if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
-		ret = _uart->readAtLeast(buf, buf_length, character_count, timeout_adjusted);
+#if !defined(__PX4_QURT)
 
-// SPI is only supported on LInux
-#if defined(__PX4_LINUX)
+	/* For non QURT, use the usual polling. */
 
-	} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
+	//Poll only for the serial data. In the same thread we also need to handle orb messages,
+	//so ideally we would poll on both, the serial fd and orb subscription. Unfortunately the
+	//two pollings use different underlying mechanisms (at least under posix), which makes this
+	//impossible. Instead we limit the maximum polling interval and regularly check for new orb
+	//messages.
+	//FIXME: add a unified poll() API
+	const int max_timeout = 50;
 
-		//Poll only for the SPI data. In the same thread we also need to handle orb messages,
-		//so ideally we would poll on both, the SPI fd and orb subscription. Unfortunately the
-		//two pollings use different underlying mechanisms (at least under posix), which makes this
-		//impossible. Instead we limit the maximum polling interval and regularly check for new orb
-		//messages.
-		//FIXME: add a unified poll() API
+	pollfd fds[1];
+	fds[0].fd = _serial_fd;
+	fds[0].events = POLLIN;
 
-		pollfd fds[1];
-		fds[0].fd = _spi_fd;
-		fds[0].events = POLLIN;
+	int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), math::min(max_timeout, timeout));
 
-		ret = poll(fds, sizeof(fds) / sizeof(fds[0]), timeout_adjusted);
+	if (ret > 0) {
+		/* if we have new data from GPS, go handle it */
+		if (fds[0].revents & POLLIN) {
+			/*
+			 * We are here because poll says there is some data, so this
+			 * won't block even on a blocking device. But don't read immediately
+			 * by 1-2 bytes, wait for some more data to save expensive read() calls.
+			 * If we have all requested data available, read it without waiting.
+			 * If more bytes are available, we'll go back to poll() again.
+			 */
+			const unsigned character_count = 32; // minimum bytes that we want to read
+			unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate;
+			const unsigned sleeptime = character_count * 1000000 / (baudrate / 10);
 
-		if (ret > 0) {
-			/* if we have new data from GPS, go handle it */
-			if (fds[0].revents & POLLIN) {
-				/*
-				 * We are here because poll says there is some data, so this
-				 * won't block even on a blocking device. But don't read immediately
-				 * by 1-2 bytes, wait for some more data to save expensive read() calls.
-				 * If we have all requested data available, read it without waiting.
-				 * If more bytes are available, we'll go back to poll() again.
-				 */
-				unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate;
-				const unsigned sleeptime = character_count * 1000000 / (baudrate / 10);
+#ifdef __PX4_NUTTX
+			int err = 0;
+			int bytes_available = 0;
+			err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available);
 
+			if (err != 0 || bytes_available < (int)character_count) {
 				px4_usleep(sleeptime);
-
-				ret = ::read(_spi_fd, buf, buf_length);
-
-				if (ret > 0) {
-					_num_bytes_read += ret;
-				}
-
-			} else {
-				ret = -1;
 			}
-		}
 
+#else
+			px4_usleep(sleeptime);
 #endif
+
+			ret = ::read(_serial_fd, buf, buf_length);
+
+			if (ret > 0) {
+				_num_bytes_read += ret;
+			}
+
+		} else {
+			ret = -1;
+		}
 	}
 
 	return ret;
+
+#else
+	/* For QURT, just use read for now, since this doesn't block, we need to slow it down
+	 * just a bit. */
+	px4_usleep(10000);
+	return ::read(_serial_fd, buf, buf_length);
+#endif
 }
 
 void GPS::handleInjectDataTopic()
@@ -596,38 +583,105 @@ bool GPS::injectData(uint8_t *data, size_t len)
 {
 	dumpGpsData(data, len, gps_dump_comm_mode_t::Full, true);
 
-	size_t written = 0;
-
-	if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
-		written = _uart->write((const void *) data, len);
-
-#ifdef __PX4_LINUX
-
-	} else if (_interface == GPSHelper::Interface::SPI) {
-		written = ::write(_spi_fd, data, len);
-		::fsync(_spi_fd);
-#endif
-	}
-
+	size_t written = ::write(_serial_fd, data, len);
+	::fsync(_serial_fd);
 	return written == len;
 }
 
 int GPS::setBaudrate(unsigned baud)
 {
-	if (_interface == GPSHelper::Interface::UART) {
-		if ((_uart) && (_uart->setBaudrate(baud))) {
-			return 0;
-		}
+	/* process baud rate */
+	int speed;
 
-#ifdef __PX4_LINUX
+	switch (baud) {
+	case 9600:   speed = B9600;   break;
 
-	} else if (_interface == GPSHelper::Interface::SPI) {
-		// Can't set the baudrate on a SPI port but just return a success
-		return 0;
+	case 19200:  speed = B19200;  break;
+
+	case 38400:  speed = B38400;  break;
+
+	case 57600:  speed = B57600;  break;
+
+	case 115200: speed = B115200; break;
+
+	case 230400: speed = B230400; break;
+
+#ifndef B460800
+#define B460800 460800
 #endif
+
+	case 460800: speed = B460800; break;
+
+#ifndef B921600
+#define B921600 921600
+#endif
+
+	case 921600: speed = B921600; break;
+
+	default:
+		PX4_ERR("ERR: unknown baudrate: %d", baud);
+		return -EINVAL;
 	}
 
-	return -1;
+	struct termios uart_config;
+
+	int termios_state;
+
+	/* fill the struct for the new configuration */
+	tcgetattr(_serial_fd, &uart_config);
+
+	/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
+
+	//
+	// Input flags - Turn off input processing
+	//
+	// convert break to null byte, no CR to NL translation,
+	// no NL to CR translation, don't mark parity errors or breaks
+	// no input parity check, don't strip high bit off,
+	// no XON/XOFF software flow control
+	//
+	uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
+				 INLCR | PARMRK | INPCK | ISTRIP | IXON);
+	//
+	// Output flags - Turn off output processing
+	//
+	// no CR to NL translation, no NL to CR-NL translation,
+	// no NL to CR translation, no column 0 CR suppression,
+	// no Ctrl-D suppression, no fill characters, no case mapping,
+	// no local output processing
+	//
+	// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
+	//                     ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
+	uart_config.c_oflag = 0;
+
+	//
+	// No line processing
+	//
+	// echo off, echo newline off, canonical mode off,
+	// extended input processing off, signal chars off
+	//
+	uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
+
+	/* no parity, one stop bit, disable flow control */
+	uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
+
+	/* set baud rate */
+	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
+		GPS_ERR("ERR: %d (cfsetispeed)", termios_state);
+		return -1;
+	}
+
+	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
+		GPS_ERR("ERR: %d (cfsetospeed)", termios_state);
+		return -1;
+	}
+
+	if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
+		GPS_ERR("ERR: %d (tcsetattr)", termios_state);
+		return -1;
+	}
+
+	return 0;
 }
 
 void GPS::initializeCommunicationDump()
@@ -786,58 +840,31 @@ GPS::run()
 			_helper = nullptr;
 		}
 
-		if ((_interface == GPSHelper::Interface::UART) && (_uart == nullptr)) {
+		if (_serial_fd < 0) {
+			/* open the serial port */
+			_serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
 
-			// Create the UART port instance
-			_uart = new Serial(_port);
-
-			if (_uart == nullptr) {
-				PX4_ERR("Error creating serial device %s", _port);
-				px4_sleep(1);
-				continue;
-			}
-		}
-
-		if ((_interface == GPSHelper::Interface::UART) && (! _uart->isOpen())) {
-			// Configure the desired baudrate if one was specified by the user.
-			// Otherwise the default baudrate will be used.
-			if (_configured_baudrate) {
-				if (! _uart->setBaudrate(_configured_baudrate)) {
-					PX4_ERR("Error setting baudrate to %u on %s", _configured_baudrate, _port);
-					px4_sleep(1);
-					continue;
-				}
-			}
-
-			// Open the UART. If this is successful then the UART is ready to use.
-			if (! _uart->open()) {
-				PX4_ERR("Error opening serial device  %s", _port);
+			if (_serial_fd < 0) {
+				PX4_ERR("failed to open %s err: %d", _port, errno);
 				px4_sleep(1);
 				continue;
 			}
 
 #ifdef __PX4_LINUX
 
-		} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd < 0)) {
-			_spi_fd = ::open(_port, O_RDWR | O_NOCTTY);
+			if (_interface == GPSHelper::Interface::SPI) {
+				int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
+				int status_value = ::ioctl(_serial_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
 
-			if (_spi_fd < 0) {
-				PX4_ERR("failed to open SPI port %s err: %d", _port, errno);
-				px4_sleep(1);
-				continue;
-			}
+				if (status_value < 0) {
+					PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
+				}
 
-			int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
-			int status_value = ::ioctl(_spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
+				status_value = ::ioctl(_serial_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
 
-			if (status_value < 0) {
-				PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
-			}
-
-			status_value = ::ioctl(_spi_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
-
-			if (status_value < 0) {
-				PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
+				if (status_value < 0) {
+					PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
+				}
 			}
 
 #endif /* __PX4_LINUX */
@@ -1029,17 +1056,9 @@ GPS::run()
 			}
 		}
 
-		if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
-			(void) _uart->close();
-			delete _uart;
-			_uart = nullptr;
-
-#ifdef __PX4_LINUX
-
-		} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
-			::close(_spi_fd);
-			_spi_fd = -1;
-#endif
+		if (_serial_fd >= 0) {
+			::close(_serial_fd);
+			_serial_fd = -1;
 		}
 
 		if (_mode_auto) {
@@ -1387,7 +1406,7 @@ int GPS::task_spawn(int argc, char *argv[], Instance instance)
 				   entry_point, (char *const *)argv);
 
 	if (task_id < 0) {
-		_task_id = -1;
+		task_id = -1;
 		return -errno;
 	}
 
@@ -1458,12 +1477,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 			break;
 
 		case 'i':
-			if (!strcmp(myoptarg, "uart")) {
-				interface = GPSHelper::Interface::UART;
-#ifdef __PX4_LINUX
-			} else if (!strcmp(myoptarg, "spi")) {
+			if (!strcmp(myoptarg, "spi")) {
 				interface = GPSHelper::Interface::SPI;
-#endif
+
+			} else if (!strcmp(myoptarg, "uart")) {
+				interface = GPSHelper::Interface::UART;
+
 			} else {
 				PX4_ERR("unknown interface: %s", myoptarg);
 				error_flag = true;
@@ -1471,12 +1490,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 			break;
 
 		case 'j':
-			if (!strcmp(myoptarg, "uart")) {
-				interface_secondary = GPSHelper::Interface::UART;
-#ifdef __PX4_LINUX
-			} else if (!strcmp(myoptarg, "spi")) {
+			if (!strcmp(myoptarg, "spi")) {
 				interface_secondary = GPSHelper::Interface::SPI;
-#endif
+
+			} else if (!strcmp(myoptarg, "uart")) {
+				interface_secondary = GPSHelper::Interface::UART;
+
 			} else {
 				PX4_ERR("unknown interface for secondary: %s", myoptarg);
 				error_flag = true;

src/drivers/px4io/px4io.cpp

@@ -364,13 +364,6 @@ PX4IO::~PX4IO()
 bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 			  unsigned num_outputs, unsigned num_control_groups_updated)
 {
-	for (size_t i = 0; i < num_outputs; i++) {
-		if (!_mixing_output.isFunctionSet(i)) {
-			// do not run any signal on disabled channels
-			outputs[i] = 0;
-		}
-	}
-
 	if (!_test_fmu_fail) {
 		/* output to the servos */
 		io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, outputs, num_outputs);

src/drivers/uavcan/CMakeLists.txt

@@ -75,7 +75,6 @@ add_definitions(
 	-DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1
 	-DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
 	-DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
-	-DUAVCAN_NUM_IFACES=${config_uavcan_num_ifaces}
 	-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
 	-DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER}
 	-DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1

src/drivers/uavcan/uavcan_main.cpp

@@ -744,41 +744,6 @@ UavcanNode::Run()
 
 	_node.spinOnce(); // expected to be non-blocking
 
-	// Publish status
-	constexpr hrt_abstime status_pub_interval = 100_ms;
-
-	if (hrt_absolute_time() - _last_can_status_pub >= status_pub_interval) {
-		_last_can_status_pub = hrt_absolute_time();
-
-		for (int i = 0; i < _node.getDispatcher().getCanIOManager().getCanDriver().getNumIfaces(); i++) {
-			if (i > UAVCAN_NUM_IFACES) {
-				break;
-			}
-
-			auto iface = _node.getDispatcher().getCanIOManager().getCanDriver().getIface(i);
-
-			if (!iface) {
-				continue;
-			}
-
-			auto iface_perf_cnt = _node.getDispatcher().getCanIOManager().getIfacePerfCounters(i);
-			can_interface_status_s status{
-				.timestamp = hrt_absolute_time(),
-				.io_errors = iface_perf_cnt.errors,
-				.frames_tx = iface_perf_cnt.frames_tx,
-				.frames_rx = iface_perf_cnt.frames_rx,
-				.interface = static_cast<uint8_t>(i),
-			};
-
-			if (_can_status_pub_handles[i] == nullptr) {
-				int instance{0};
-				_can_status_pub_handles[i] = orb_advertise_multi(ORB_ID(can_interface_status), nullptr, &instance);
-			}
-
-			(void)orb_publish(ORB_ID(can_interface_status), _can_status_pub_handles[i], &status);
-		}
-	}
-
 	// check for parameter updates
 	if (_parameter_update_sub.updated()) {
 		// clear update

src/drivers/uavcan/uavcan_main.hpp

@@ -96,7 +96,6 @@
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionInterval.hpp>
-#include <uORB/topics/can_interface_status.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/uavcan_parameter_request.h>
 #include <uORB/topics/uavcan_parameter_value.h>
@@ -310,10 +309,6 @@ private:
 
 	uORB::Publication<uavcan_parameter_value_s> _param_response_pub{ORB_ID(uavcan_parameter_value)};
 	uORB::Publication<vehicle_command_ack_s>	_command_ack_pub{ORB_ID(vehicle_command_ack)};
-	uORB::PublicationMulti<can_interface_status_s> _can_status_pub{ORB_ID(can_interface_status)};
-
-	hrt_abstime _last_can_status_pub{0};
-	orb_advert_t _can_status_pub_handles[UAVCAN_NUM_IFACES] = {nullptr};
 
 	/*
 	 * The MAVLink parameter bridge needs to know the maximum parameter index

src/lib/events/enums.json

@@ -364,7 +364,7 @@
                         },
                         "1": {
                             "name": "manual_control_loss",
-                            "description": "Manual control loss"
+                            "description": "manual control loss"
                         },
                         "2": {
                             "name": "gcs_connection_loss",
@@ -372,19 +372,19 @@
                         },
                         "3": {
                             "name": "low_battery_level",
-                            "description": "Low battery level"
+                            "description": "low battery level"
                         },
                         "4": {
                             "name": "critical_battery_level",
-                            "description": "Critical battery level"
+                            "description": "critical battery level"
                         },
                         "5": {
                             "name": "emergency_battery_level",
-                            "description": "Emergency battery level"
+                            "description": "emergency battery level"
                         },
                         "6": {
                             "name": "low_remaining_flight_time",
-                            "description": "Remaining flight time low"
+                            "description": "low remaining flight time"
                         }
                     }
                 },
@@ -402,19 +402,19 @@
                         },
                         "2": {
                             "name": "fallback_posctrl",
-                            "description": "Position mode"
+                            "description": "fallback to position control"
                         },
                         "3": {
                             "name": "fallback_altctrl",
-                            "description": "Altitude mode"
+                            "description": "fallback to altitude control"
                         },
                         "4": {
                             "name": "fallback_stabilized",
-                            "description": "Stabilized mode"
+                            "description": "fallback to stabilized"
                         },
                         "5": {
                             "name": "hold",
-                            "description": "Hold"
+                            "description": "hold"
                         },
                         "6": {
                             "name": "rtl",
@@ -422,11 +422,11 @@
                         },
                         "7": {
                             "name": "land",
-                            "description": "Land"
+                            "description": "land"
                         },
                         "8": {
                             "name": "descend",
-                            "description": "Descend"
+                            "description": "descend"
                         },
                         "9": {
                             "name": "disarm",

src/lib/mathlib/math/Utilities.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2024 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -51,18 +51,17 @@ static constexpr float sq(float var) { return var * var; }
 // rot312(1) - Second rotation is a RH rotation about the X axis (rad)
 // rot312(2) - Third rotation is a RH rotation about the Y axis (rad)
 // See http://www.atacolorado.com/eulersequences.doc
-template<typename T = float>
-inline matrix::Dcm<T> taitBryan312ToRotMat(const matrix::Vector3<T> &rot312)
+inline matrix::Dcmf taitBryan312ToRotMat(const matrix::Vector3f &rot312)
 {
 	// Calculate the frame2 to frame 1 rotation matrix from a 312 Tait-Bryan rotation sequence
-	const T c2 = cosf(rot312(2)); // third rotation is pitch
-	const T s2 = sinf(rot312(2));
-	const T s1 = sinf(rot312(1)); // second rotation is roll
-	const T c1 = cosf(rot312(1));
-	const T s0 = sinf(rot312(0)); // first rotation is yaw
-	const T c0 = cosf(rot312(0));
+	const float c2 = cosf(rot312(2)); // third rotation is pitch
+	const float s2 = sinf(rot312(2));
+	const float s1 = sinf(rot312(1)); // second rotation is roll
+	const float c1 = cosf(rot312(1));
+	const float s0 = sinf(rot312(0)); // first rotation is yaw
+	const float c0 = cosf(rot312(0));
 
-	matrix::Dcm<T> R;
+	matrix::Dcmf R;
 	R(0, 0) = c0 * c2 - s0 * s1 * s2;
 	R(1, 1) = c0 * c1;
 	R(2, 2) = c2 * c1;
@@ -76,21 +75,20 @@ inline matrix::Dcm<T> taitBryan312ToRotMat(const matrix::Vector3<T> &rot312)
 	return R;
 }
 
-template<typename T = float>
-inline matrix::Dcm<T> quatToInverseRotMat(const matrix::Quaternion<T> &quat)
+inline matrix::Dcmf quatToInverseRotMat(const matrix::Quatf &quat)
 {
-	const T q00 = quat(0) * quat(0);
-	const T q11 = quat(1) * quat(1);
-	const T q22 = quat(2) * quat(2);
-	const T q33 = quat(3) * quat(3);
-	const T q01 = quat(0) * quat(1);
-	const T q02 = quat(0) * quat(2);
-	const T q03 = quat(0) * quat(3);
-	const T q12 = quat(1) * quat(2);
-	const T q13 = quat(1) * quat(3);
-	const T q23 = quat(2) * quat(3);
+	const float q00 = quat(0) * quat(0);
+	const float q11 = quat(1) * quat(1);
+	const float q22 = quat(2) * quat(2);
+	const float q33 = quat(3) * quat(3);
+	const float q01 = quat(0) * quat(1);
+	const float q02 = quat(0) * quat(2);
+	const float q03 = quat(0) * quat(3);
+	const float q12 = quat(1) * quat(2);
+	const float q13 = quat(1) * quat(3);
+	const float q23 = quat(2) * quat(3);
 
-	matrix::Dcm<T> dcm;
+	matrix::Dcmf dcm;
 	dcm(0, 0) = q00 + q11 - q22 - q33;
 	dcm(1, 1) = q00 - q11 + q22 - q33;
 	dcm(2, 2) = q00 - q11 - q22 + q33;
@@ -107,46 +105,40 @@ inline matrix::Dcm<T> quatToInverseRotMat(const matrix::Quaternion<T> &quat)
 // We should use a 3-2-1 Tait-Bryan (yaw-pitch-roll) rotation sequence
 // when there is more roll than pitch tilt and a 3-1-2 rotation sequence
 // when there is more pitch than roll tilt to avoid gimbal lock.
-template<typename T = float>
-inline bool shouldUse321RotationSequence(const matrix::Dcm<T> &R)
+inline bool shouldUse321RotationSequence(const matrix::Dcmf &R)
 {
 	return fabsf(R(2, 0)) < fabsf(R(2, 1));
 }
 
-template<typename T = float>
-inline float getEuler321Yaw(const matrix::Dcm<T> &R)
+inline float getEuler321Yaw(const matrix::Dcmf &R)
 {
 	return atan2f(R(1, 0), R(0, 0));
 }
 
-template<typename T = float>
-inline float getEuler312Yaw(const matrix::Dcm<T> &R)
+inline float getEuler312Yaw(const matrix::Dcmf &R)
 {
 	return atan2f(-R(0, 1), R(1, 1));
 }
 
-template<typename T = float>
-inline T getEuler321Yaw(const matrix::Quaternion<T> &q)
+inline float getEuler321Yaw(const matrix::Quatf &q)
 {
 	// Values from yaw_input_321.c file produced by
 	// https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/quat2yaw321.m
-	const T a = static_cast<T>(2.) * (q(0) * q(3) + q(1) * q(2));
-	const T b = sq(q(0)) + sq(q(1)) - sq(q(2)) - sq(q(3));
+	const float a = 2.f * (q(0) * q(3) + q(1) * q(2));
+	const float b = sq(q(0)) + sq(q(1)) - sq(q(2)) - sq(q(3));
 	return atan2f(a, b);
 }
 
-template<typename T = float>
-inline T getEuler312Yaw(const matrix::Quaternion<T> &q)
+inline float getEuler312Yaw(const matrix::Quatf &q)
 {
 	// Values from yaw_input_312.c file produced by
 	// https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/quat2yaw312.m
-	const T a = static_cast<T>(2.) * (q(0) * q(3) - q(1) * q(2));
-	const T b = sq(q(0)) - sq(q(1)) + sq(q(2)) - sq(q(3));
+	const float a = 2.f * (q(0) * q(3) - q(1) * q(2));
+	const float b = sq(q(0)) - sq(q(1)) + sq(q(2)) - sq(q(3));
 	return atan2f(a, b);
 }
 
-template<typename T = float>
-inline T getEulerYaw(const matrix::Dcm<T> &R)
+inline float getEulerYaw(const matrix::Dcmf &R)
 {
 	if (shouldUse321RotationSequence(R)) {
 		return getEuler321Yaw(R);
@@ -156,32 +148,23 @@ inline T getEulerYaw(const matrix::Dcm<T> &R)
 	}
 }
 
-template<typename T = float>
-inline T getEulerYaw(const matrix::Quaternion<T> &q)
+inline matrix::Dcmf updateEuler321YawInRotMat(float yaw, const matrix::Dcmf &rot_in)
 {
-	return getEulerYaw(matrix::Dcm<T>(q));
-}
-
-template<typename T = float>
-inline matrix::Dcm<T> updateEuler321YawInRotMat(T yaw, const matrix::Dcm<T> &rot_in)
-{
-	matrix::Euler<T> euler321(rot_in);
+	matrix::Eulerf euler321(rot_in);
 	euler321(2) = yaw;
-	return matrix::Dcm<T>(euler321);
+	return matrix::Dcmf(euler321);
 }
 
-template<typename T = float>
-inline matrix::Dcm<T> updateEuler312YawInRotMat(T yaw, const matrix::Dcm<T> &rot_in)
+inline matrix::Dcmf updateEuler312YawInRotMat(float yaw, const matrix::Dcmf &rot_in)
 {
-	const matrix::Vector3<T> rotVec312(yaw,                                  // yaw
-					   asinf(rot_in(2, 1)),                  // roll
-					   atan2f(-rot_in(2, 0), rot_in(2, 2))); // pitch
+	const matrix::Vector3f rotVec312(yaw,  // yaw
+					 asinf(rot_in(2, 1)),  // roll
+					 atan2f(-rot_in(2, 0), rot_in(2, 2)));  // pitch
 	return taitBryan312ToRotMat(rotVec312);
 }
 
 // Checks which euler rotation sequence to use and update yaw in rotation matrix
-template<typename T = float>
-inline matrix::Dcm<T> updateYawInRotMat(T yaw, const matrix::Dcm<T> &rot_in)
+inline matrix::Dcmf updateYawInRotMat(float yaw, const matrix::Dcmf &rot_in)
 {
 	if (shouldUse321RotationSequence(rot_in)) {
 		return updateEuler321YawInRotMat(yaw, rot_in);

src/lib/mathlib/math/WelfordMeanVector.hpp

@@ -39,6 +39,8 @@
 
 #pragma once
 
+#include <lib/mathlib/mathlib.h>
+
 namespace math
 {
 

src/lib/mixer_module/mixer_module.cpp

@@ -455,8 +455,7 @@ bool MixingOutput::update()
 		}
 	}
 
-	// Send output if any function mapped or one last disabling sample
-	if (!all_disabled || !_was_all_disabled) {
+	if (!all_disabled) {
 		if (!_armed.armed && !_armed.manual_lockdown) {
 			_actuator_test.overrideValues(outputs, _max_num_outputs);
 		}
@@ -464,8 +463,6 @@ bool MixingOutput::update()
 		limitAndUpdateOutputs(outputs, has_updates);
 	}
 
-	_was_all_disabled = all_disabled;
-
 	return true;
 }
 

src/lib/mixer_module/mixer_module.hpp

@@ -288,7 +288,6 @@ private:
 	hrt_abstime _lowrate_schedule_interval{300_ms};
 	ActuatorTest _actuator_test{_function_assignment};
 	uint32_t _reversible_mask{0}; ///< per-output bits. If set, the output is configured to be reversible (motors only)
-	bool _was_all_disabled{false};
 
 	uORB::SubscriptionCallbackWorkItem *_subscription_callback{nullptr}; ///< current scheduling callback
 

src/lib/mixer_module/mixer_module_tests.cpp

@@ -191,15 +191,11 @@ TEST_F(MixerModuleTest, basic)
 	mixing_output.setAllMaxValues(MAX_VALUE);
 	EXPECT_EQ(test_module.num_updates, 0);
 
-	// all functions disabled: expect to get one single update to process disabling the output signal
+	// all functions disabled: not expected to get an update
 	mixing_output.update();
 	mixing_output.updateSubscriptions(false);
 	mixing_output.update();
-	EXPECT_EQ(test_module.num_updates, 1);
-	mixing_output.update();
-	mixing_output.updateSubscriptions(false);
-	mixing_output.update();
-	EXPECT_EQ(test_module.num_updates, 1);
+	EXPECT_EQ(test_module.num_updates, 0);
 	test_module.reset();
 
 	// configure motor, ensure all still disarmed

src/lib/slew_rate/SlewRate.hpp

@@ -56,13 +56,13 @@ public:
 	 * Set maximum rate of change for the value
 	 * @param slew_rate maximum rate of change
 	 */
-	void setSlewRate(const Type slew_rate) { _slew_rate = slew_rate; }
+	void setSlewRate(const Type &slew_rate) { _slew_rate = slew_rate; }
 
 	/**
 	 * Set value ignoring slew rate for initialization purpose
 	 * @param value new applied value
 	 */
-	void setForcedValue(const Type value) { _value = value; }
+	void setForcedValue(const Type &value) { _value = value; }
 
 	/**
 	 * Get value from last update of the slew rate
@@ -76,7 +76,7 @@ public:
 	 * @param deltatime time in seconds since last update
 	 * @return actual value that complies with the slew rate
 	 */
-	Type update(const Type new_value, const float deltatime)
+	Type update(const Type &new_value, const float deltatime)
 	{
 		// Limit the rate of change of the value
 		const Type dvalue_desired = new_value - _value;
@@ -90,3 +90,14 @@ protected:
 	Type _slew_rate{}; ///< maximum rate of change for the value
 	Type _value{}; ///< state to keep last value of the slew rate
 };
+
+template<>
+inline matrix::Vector3f SlewRate<matrix::Vector3f>::update(const matrix::Vector3f &new_value, const float deltatime)
+{
+	// Limit the rate of change of the value
+	const matrix::Vector3f dvalue_desired = new_value - _value;
+	const matrix::Vector3f dvalue_max = _slew_rate * deltatime;
+	const matrix::Vector3f dvalue = matrix::constrain(dvalue_desired, -dvalue_max, dvalue_max);
+	_value += dvalue;
+	return _value;
+}

src/modules/commander/Commander.cpp

@@ -598,9 +598,6 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
 
 		if (!_health_and_arming_checks.canArm(_vehicle_status.nav_state)) {
 			tune_negative(true);
-			mavlink_log_critical(&_mavlink_log_pub, "Arming denied: Resolve system health failures first\t");
-			events::send(events::ID("commander_arm_denied_resolve_failures"), {events::Log::Critical, events::LogInternal::Info},
-				     "Arming denied: Resolve system health failures first");
 			return TRANSITION_DENIED;
 		}
 	}
@@ -2422,14 +2419,7 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning)
 		if (_cpuload_sub.copy(&cpuload)) {
 			const float cpuload_percent = cpuload.load * 100.f;
 
-			bool overload = false;
-
-			// Only check CPU load if it hasn't been disabled
-			if (!(_param_com_cpu_max.get() < FLT_EPSILON)) {
-				overload = (cpuload_percent > _param_com_cpu_max.get());
-			}
-
-			overload = overload || (cpuload.ram_usage > 0.99f);
+			bool overload = (cpuload_percent > _param_com_cpu_max.get()) || (cpuload.ram_usage > 0.99f);
 
 			if (_overload_start == 0 && overload) {
 				_overload_start = time_now_us;

src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp

@@ -293,9 +293,7 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 					mavlink_log_warning(reporter.mavlink_log_pub(), "GNSS data fusion stopped\t");
 				}
 
-				// only report this failure as critical if not already in a local position invalid state
-				events::Log log_level = reporter.failsafeFlags().local_position_invalid ? events::Log::Info : events::Log::Error;
-				events::send(events::ID("check_estimator_gnss_fusion_stopped"), {log_level, events::LogInternal::Info},
+				events::send(events::ID("check_estimator_gnss_fusion_stopped"), {events::Log::Error, events::LogInternal::Info},
 					     "GNSS data fusion stopped");
 
 			} else if (!_gps_was_fused && ekf_gps_fusion) {

src/modules/commander/failsafe/failsafe.cpp

@@ -369,7 +369,7 @@ FailsafeBase::ActionOptions Failsafe::fromRemainingFlightTimeLowActParam(int par
 {
 	ActionOptions options{};
 
-	options.allow_user_takeover = UserTakeoverAllowed::Auto;
+	options.allow_user_takeover = UserTakeoverAllowed::Always;
 	options.cause = Cause::RemainingFlightTimeLow;
 
 	switch (command_after_remaining_flight_time_low(param_value)) {

src/modules/commander/failsafe/framework.cpp

@@ -195,7 +195,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action
 			events::send<uint32_t, events::px4::enums::failsafe_action_t, uint16_t>(
 				events::ID("commander_failsafe_enter_generic_hold"),
 			{events::Log::Critical, events::LogInternal::Warning},
-			"Failsafe, triggering {2} in {3} seconds", mavlink_mode, failsafe_action,
+			"Failsafe activated, triggering {2} in {3} seconds", mavlink_mode, failsafe_action,
 			(uint16_t) delay_s);
 
 		} else {
@@ -204,7 +204,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action
 			events::send<uint32_t, events::px4::enums::failsafe_action_t, uint16_t, events::px4::enums::failsafe_cause_t>(
 				events::ID("commander_failsafe_enter_hold"),
 			{events::Log::Critical, events::LogInternal::Warning},
-			"{4}, triggering {2} in {3} seconds", mavlink_mode, failsafe_action,
+			"Failsafe activated due to {4}, triggering {2} in {3} seconds", mavlink_mode, failsafe_action,
 			(uint16_t) delay_s, failsafe_cause);
 		}
 
@@ -231,7 +231,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action
 				events::send<uint32_t, events::px4::enums::failsafe_action_t>(
 					events::ID("commander_failsafe_enter_generic"),
 				{events::Log::Critical, events::LogInternal::Warning},
-				"Failsafe, triggering {2}", mavlink_mode, failsafe_action);
+				"Failsafe activated, triggering {2}", mavlink_mode, failsafe_action);
 			}
 
 		} else {
@@ -272,7 +272,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action
 				events::send<uint32_t, events::px4::enums::failsafe_action_t, events::px4::enums::failsafe_cause_t>(
 					events::ID("commander_failsafe_enter"),
 				{events::Log::Critical, events::LogInternal::Warning},
-				"{3}, triggering {2}", mavlink_mode, failsafe_action, failsafe_cause);
+				"Failsafe activated due to {3}, triggering {2}", mavlink_mode, failsafe_action, failsafe_cause);
 			}
 		}
 
@@ -517,8 +517,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 			break;
 		}
 
-		returned_state.cause = Cause::Generic;
-
 	// fallthrough
 	case Action::FallbackAltCtrl:
 		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_ALTCTL)) {
@@ -526,8 +524,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 			break;
 		}
 
-		returned_state.cause = Cause::Generic;
-
 	// fallthrough
 	case Action::FallbackStab:
 		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_STAB)) {
@@ -535,8 +531,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 			break;
 		} // else: fall through here as well. If stabilized isn't available, we most certainly end up in Terminate
 
-		returned_state.cause = Cause::Generic;
-
 	// fallthrough
 	case Action::Hold:
 		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER)) {
@@ -544,8 +538,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 			break;
 		}
 
-		returned_state.cause = Cause::Generic;
-
 	// fallthrough
 	case Action::RTL:
 		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL)) {
@@ -553,8 +545,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 			break;
 		}
 
-		returned_state.cause = Cause::Generic;
-
 	// fallthrough
 	case Action::Land:
 		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_LAND)) {
@@ -562,8 +552,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 			break;
 		}
 
-		returned_state.cause = Cause::Generic;
-
 	// fallthrough
 	case Action::Descend:
 		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_DESCEND)) {
@@ -571,8 +559,6 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 			break;
 		}
 
-		returned_state.cause = Cause::Generic;
-
 	// fallthrough
 	case Action::Terminate:
 		selected_action = Action::Terminate;

src/modules/commander/failsafe/framework.h

@@ -147,7 +147,7 @@ public:
 		       bool rc_sticks_takeover_request,
 		       const failsafe_flags_s &status_flags);
 
-	bool inFailsafe() const { return (_selected_action != Action::None && _selected_action != Action::Warn); }
+	bool inFailsafe() const { return _selected_action != Action::None; }
 
 	Action selectedAction() const { return _selected_action; }
 

src/modules/ekf2/EKF/ekf.h

@@ -485,14 +485,9 @@ public:
 #else
 		// Efficient implementation of the Joseph stabilized covariance update
 		// Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006"
-		// P = (I - K * H) * P * (I - K * H).T   + K * R * K.T
-		//   =      P_temp     * (I - H.T * K.T) + K * R * K.T
-		//   =      P_temp - P_temp * H.T * K.T  + K * R * K.T
 
 		// Step 1: conventional update
-		// Compute P_temp and store it in P to avoid allocating more memory
-		// P is symmetric, so PH == H.T * P.T == H.T * P. Taking the row is faster as matrices are row-major
-		VectorState PH = P * H; // H is stored as a column vector. H is in fact H.T
+		VectorState PH = P * H;
 
 		for (unsigned i = 0; i < State::size; i++) {
 			for (unsigned j = 0; j < State::size; j++) {
@@ -501,7 +496,7 @@ public:
 		}
 
 		// Step 2: stabilized update
-		PH = P * H; // H is stored as a column vector. H is in fact H.T
+		PH = P * H;
 
 		for (unsigned i = 0; i < State::size; i++) {
 			for (unsigned j = 0; j <= i; j++) {

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -865,24 +865,18 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c
 #else
 	// Efficient implementation of the Joseph stabilized covariance update
 	// Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006"
-	// P = (I - K * H) * P * (I - K * H).T   + K * R * K.T
-	//   =      P_temp     * (I - H.T * K.T) + K * R * K.T
-	//   =      P_temp - P_temp * H.T * K.T  + K * R * K.T
 
 	// Step 1: conventional update
-	// Compute P_temp and store it in P to avoid allocating more memory
-	// P is symmetric, so PH == H.T * P.T == H.T * P. Taking the row is faster as matrices are row-major
 	VectorState PH = P.row(state_index);
 
 	for (unsigned i = 0; i < State::size; i++) {
 		for (unsigned j = 0; j < State::size; j++) {
-			P(i, j) -= K(i) * PH(j); // P is now not symmetric if K is not optimal (e.g.: some gains have been zeroed)
+			P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed)
 		}
 	}
 
 	// Step 2: stabilized update
-	// P (or "P_temp") is not symmetric so we must take the column
-	PH = P.col(state_index);
+	PH = P.row(state_index);
 
 	for (unsigned i = 0; i < State::size; i++) {
 		for (unsigned j = 0; j <= i; j++) {

src/modules/ekf2/EKF/gps_control.cpp

@@ -246,7 +246,7 @@ bool Ekf::tryYawEmergencyReset()
 	bool success = false;
 
 	/* A rapid reset to the yaw emergency estimate is performed if horizontal velocity innovation checks continuously
-	 * fails while the difference between the yaw emergency estimator and the yaw estimate is large.
+	 * fails while the difference between the yaw emergency estimator and the yas estimate is large.
 	 * This enables recovery from a bad yaw estimate. A reset is not performed if the fault condition was
 	 * present before flight to prevent triggering due to GPS glitches or other sensor errors.
 	 */

src/modules/ekf2/EKF/python/ekf_derivation/derivation.py

@@ -390,20 +390,70 @@ def compute_mag_z_innov_var_and_h(
 
     return (innov_var, H.T)
 
-def compute_yaw_innov_var_and_h(
+def compute_yaw_321_innov_var_and_h(
         state: VState,
         P: MTangent,
-        R: sf.Scalar
+        R: sf.Scalar,
+        epsilon: sf.Scalar
 ) -> (sf.Scalar, VTangent):
 
     state = vstate_to_state(state)
-    q = sf.Quaternion.from_storage(state["quat_nominal"].to_storage())
-    r = sf.Quaternion.symbolic('r')
-    delta_q = q * r.conj() # create a quaternion error of the measurement at the origin
-    delta_meas_pred = 2 * delta_q.z # Use small angle approximation to obtain a simpler jacobian
+    R_to_earth = state["quat_nominal"].to_rotation_matrix()
+    # Fix the singularity at pi/2 by inserting epsilon
+    meas_pred = sf.atan2(R_to_earth[1,0], R_to_earth[0,0], epsilon=epsilon)
 
-    H = sf.V1(delta_meas_pred).jacobian(state)
-    H = H.subs({r.w: q.w, r.x: q.x, r.y: q.y, r.z: q.z}) # assume innovation is small
+    H = sf.V1(meas_pred).jacobian(state)
+    innov_var = (H * P * H.T + R)[0,0]
+
+    return (innov_var, H.T)
+
+def compute_yaw_321_innov_var_and_h_alternate(
+        state: VState,
+        P: MTangent,
+        R: sf.Scalar,
+        epsilon: sf.Scalar
+) -> (sf.Scalar, VTangent):
+
+    state = vstate_to_state(state)
+    R_to_earth = state["quat_nominal"].to_rotation_matrix()
+    # Alternate form that has a singularity at yaw 0 instead of pi/2
+    meas_pred = sf.pi/2 - sf.atan2(R_to_earth[0,0], R_to_earth[1,0], epsilon=epsilon)
+
+    H = sf.V1(meas_pred).jacobian(state)
+    innov_var = (H * P * H.T + R)[0,0]
+
+    return (innov_var, H.T)
+
+def compute_yaw_312_innov_var_and_h(
+        state: VState,
+        P: MTangent,
+        R: sf.Scalar,
+        epsilon: sf.Scalar
+) -> (sf.Scalar, VTangent):
+
+    state = vstate_to_state(state)
+    R_to_earth = state["quat_nominal"].to_rotation_matrix()
+    # Alternate form to be used when close to pitch +-pi/2
+    meas_pred = sf.atan2(-R_to_earth[0,1], R_to_earth[1,1], epsilon=epsilon)
+
+    H = sf.V1(meas_pred).jacobian(state)
+    innov_var = (H * P * H.T + R)[0,0]
+
+    return (innov_var, H.T)
+
+def compute_yaw_312_innov_var_and_h_alternate(
+        state: VState,
+        P: MTangent,
+        R: sf.Scalar,
+        epsilon: sf.Scalar
+) -> (sf.Scalar, VTangent):
+
+    state = vstate_to_state(state)
+    R_to_earth = state["quat_nominal"].to_rotation_matrix()
+    # Alternate form to be used when close to pitch +-pi/2
+    meas_pred = sf.pi/2 - sf.atan2(-R_to_earth[1,1], R_to_earth[0,1], epsilon=epsilon)
+
+    H = sf.V1(meas_pred).jacobian(state)
     innov_var = (H * P * H.T + R)[0,0]
 
     return (innov_var, H.T)
@@ -628,7 +678,10 @@ if not args.disable_wind:
     generate_px4_function(compute_sideslip_innov_and_innov_var, output_names=["innov", "innov_var"])
     generate_px4_function(compute_wind_init_and_cov_from_airspeed, output_names=["wind", "P_wind"])
 
-generate_px4_function(compute_yaw_innov_var_and_h, output_names=["innov_var", "H"])
+generate_px4_function(compute_yaw_312_innov_var_and_h, output_names=["innov_var", "H"])
+generate_px4_function(compute_yaw_312_innov_var_and_h_alternate, output_names=["innov_var", "H"])
+generate_px4_function(compute_yaw_321_innov_var_and_h, output_names=["innov_var", "H"])
+generate_px4_function(compute_yaw_321_innov_var_and_h_alternate, output_names=["innov_var", "H"])
 generate_px4_function(compute_flow_xy_innov_var_and_hx, output_names=["innov_var", "H"])
 generate_px4_function(compute_flow_y_innov_var_and_h, output_names=["innov_var", "H"])
 generate_px4_function(compute_gnss_yaw_pred_innov_var_and_h, output_names=["meas_pred", "innov_var", "H"])

src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h

@@ -0,0 +1,76 @@
+// -----------------------------------------------------------------------------
+// This file was autogenerated by symforce from template:
+//     function/FUNCTION.h.jinja
+// Do NOT modify by hand.
+// -----------------------------------------------------------------------------
+
+#pragma once
+
+#include <matrix/math.hpp>
+
+namespace sym {
+
+/**
+ * This function was autogenerated from a symbolic function. Do not modify by hand.
+ *
+ * Symbolic function: compute_yaw_312_innov_var_and_h
+ *
+ * Args:
+ *     state: Matrix24_1
+ *     P: Matrix23_23
+ *     R: Scalar
+ *     epsilon: Scalar
+ *
+ * Outputs:
+ *     innov_var: Scalar
+ *     H: Matrix23_1
+ */
+template <typename Scalar>
+void ComputeYaw312InnovVarAndH(const matrix::Matrix<Scalar, 24, 1>& state,
+                               const matrix::Matrix<Scalar, 23, 23>& P, const Scalar R,
+                               const Scalar epsilon, Scalar* const innov_var = nullptr,
+                               matrix::Matrix<Scalar, 23, 1>* const H = nullptr) {
+  // Total ops: 53
+
+  // Input arrays
+
+  // Intermediate terms (15)
+  const Scalar _tmp0 = 2 * state(0, 0);
+  const Scalar _tmp1 = -_tmp0 * state(3, 0);
+  const Scalar _tmp2 = 2 * state(1, 0);
+  const Scalar _tmp3 = _tmp2 * state(2, 0);
+  const Scalar _tmp4 = _tmp1 + _tmp3;
+  const Scalar _tmp5 = std::pow(state(3, 0), Scalar(2));
+  const Scalar _tmp6 = std::pow(state(1, 0), Scalar(2));
+  const Scalar _tmp7 = -2 * _tmp5 - 2 * _tmp6 + 1;
+  const Scalar _tmp8 = _tmp7 + epsilon * ((((_tmp7) > 0) - ((_tmp7) < 0)) + Scalar(0.5));
+  const Scalar _tmp9 = std::pow(_tmp8, Scalar(2));
+  const Scalar _tmp10 = _tmp4 / _tmp9;
+  const Scalar _tmp11 = Scalar(1.0) / (_tmp8);
+  const Scalar _tmp12 = _tmp9 / (std::pow(_tmp4, Scalar(2)) + _tmp9);
+  const Scalar _tmp13 = _tmp12 * (_tmp10 * (_tmp1 - _tmp3) -
+                                  _tmp11 * (_tmp5 - _tmp6 - std::pow(state(0, 0), Scalar(2)) +
+                                            std::pow(state(2, 0), Scalar(2))));
+  const Scalar _tmp14 = _tmp12 * (_tmp10 * (-_tmp2 * state(0, 0) + 2 * state(2, 0) * state(3, 0)) -
+                                  _tmp11 * (_tmp0 * state(2, 0) + _tmp2 * state(3, 0)));
+
+  // Output terms (2)
+  if (innov_var != nullptr) {
+    Scalar& _innov_var = (*innov_var);
+
+    _innov_var = R + _tmp13 * (P(0, 2) * _tmp14 + P(2, 2) * _tmp13) +
+                 _tmp14 * (P(0, 0) * _tmp14 + P(2, 0) * _tmp13);
+  }
+
+  if (H != nullptr) {
+    matrix::Matrix<Scalar, 23, 1>& _h = (*H);
+
+    _h.setZero();
+
+    _h(0, 0) = _tmp14;
+    _h(2, 0) = _tmp13;
+  }
+}  // NOLINT(readability/fn_size)
+
+// NOLINTNEXTLINE(readability/fn_size)
+}  // namespace sym

src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h_alternate.h

@@ -0,0 +1,76 @@
+// -----------------------------------------------------------------------------
+// This file was autogenerated by symforce from template:
+//     function/FUNCTION.h.jinja
+// Do NOT modify by hand.
+// -----------------------------------------------------------------------------
+
+#pragma once
+
+#include <matrix/math.hpp>
+
+namespace sym {
+
+/**
+ * This function was autogenerated from a symbolic function. Do not modify by hand.
+ *
+ * Symbolic function: compute_yaw_312_innov_var_and_h_alternate
+ *
+ * Args:
+ *     state: Matrix24_1
+ *     P: Matrix23_23
+ *     R: Scalar
+ *     epsilon: Scalar
+ *
+ * Outputs:
+ *     innov_var: Scalar
+ *     H: Matrix23_1
+ */
+template <typename Scalar>
+void ComputeYaw312InnovVarAndHAlternate(const matrix::Matrix<Scalar, 24, 1>& state,
+                                        const matrix::Matrix<Scalar, 23, 23>& P, const Scalar R,
+                                        const Scalar epsilon, Scalar* const innov_var = nullptr,
+                                        matrix::Matrix<Scalar, 23, 1>* const H = nullptr) {
+  // Total ops: 57
+
+  // Input arrays
+
+  // Intermediate terms (15)
+  const Scalar _tmp0 = 2 * state(0, 0);
+  const Scalar _tmp1 = 2 * state(1, 0);
+  const Scalar _tmp2 = std::pow(state(3, 0), Scalar(2));
+  const Scalar _tmp3 = std::pow(state(1, 0), Scalar(2));
+  const Scalar _tmp4 = -2 * _tmp2 - 2 * _tmp3 + 1;
+  const Scalar _tmp5 = -_tmp0 * state(3, 0);
+  const Scalar _tmp6 = _tmp1 * state(2, 0);
+  const Scalar _tmp7 = _tmp5 + _tmp6;
+  const Scalar _tmp8 = _tmp7 + epsilon * ((((_tmp7) > 0) - ((_tmp7) < 0)) + Scalar(0.5));
+  const Scalar _tmp9 = std::pow(_tmp8, Scalar(2));
+  const Scalar _tmp10 = _tmp4 / _tmp9;
+  const Scalar _tmp11 = Scalar(1.0) / (_tmp8);
+  const Scalar _tmp12 = _tmp9 / (std::pow(_tmp4, Scalar(2)) + _tmp9);
+  const Scalar _tmp13 = _tmp12 * (_tmp10 * (_tmp0 * state(2, 0) + _tmp1 * state(3, 0)) -
+                                  _tmp11 * (-_tmp1 * state(0, 0) + 2 * state(2, 0) * state(3, 0)));
+  const Scalar _tmp14 = _tmp12 * (_tmp10 * (_tmp2 - _tmp3 - std::pow(state(0, 0), Scalar(2)) +
+                                            std::pow(state(2, 0), Scalar(2))) -
+                                  _tmp11 * (_tmp5 - _tmp6));
+
+  // Output terms (2)
+  if (innov_var != nullptr) {
+    Scalar& _innov_var = (*innov_var);
+
+    _innov_var = R - _tmp13 * (-P(0, 0) * _tmp13 - P(2, 0) * _tmp14) -
+                 _tmp14 * (-P(0, 2) * _tmp13 - P(2, 2) * _tmp14);
+  }
+
+  if (H != nullptr) {
+    matrix::Matrix<Scalar, 23, 1>& _h = (*H);
+
+    _h.setZero();
+
+    _h(0, 0) = -_tmp13;
+    _h(2, 0) = -_tmp14;
+  }
+}  // NOLINT(readability/fn_size)
+
+// NOLINTNEXTLINE(readability/fn_size)
+}  // namespace sym

src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h.h

@@ -0,0 +1,76 @@
+// -----------------------------------------------------------------------------
+// This file was autogenerated by symforce from template:
+//     function/FUNCTION.h.jinja
+// Do NOT modify by hand.
+// -----------------------------------------------------------------------------
+
+#pragma once
+
+#include <matrix/math.hpp>
+
+namespace sym {
+
+/**
+ * This function was autogenerated from a symbolic function. Do not modify by hand.
+ *
+ * Symbolic function: compute_yaw_321_innov_var_and_h
+ *
+ * Args:
+ *     state: Matrix24_1
+ *     P: Matrix23_23
+ *     R: Scalar
+ *     epsilon: Scalar
+ *
+ * Outputs:
+ *     innov_var: Scalar
+ *     H: Matrix23_1
+ */
+template <typename Scalar>
+void ComputeYaw321InnovVarAndH(const matrix::Matrix<Scalar, 24, 1>& state,
+                               const matrix::Matrix<Scalar, 23, 23>& P, const Scalar R,
+                               const Scalar epsilon, Scalar* const innov_var = nullptr,
+                               matrix::Matrix<Scalar, 23, 1>* const H = nullptr) {
+  // Total ops: 53
+
+  // Input arrays
+
+  // Intermediate terms (15)
+  const Scalar _tmp0 = 2 * state(0, 0);
+  const Scalar _tmp1 = _tmp0 * state(3, 0);
+  const Scalar _tmp2 = 2 * state(1, 0);
+  const Scalar _tmp3 = _tmp2 * state(2, 0);
+  const Scalar _tmp4 = _tmp1 + _tmp3;
+  const Scalar _tmp5 = std::pow(state(3, 0), Scalar(2));
+  const Scalar _tmp6 = std::pow(state(2, 0), Scalar(2));
+  const Scalar _tmp7 = -2 * _tmp5 - 2 * _tmp6 + 1;
+  const Scalar _tmp8 = _tmp7 + epsilon * ((((_tmp7) > 0) - ((_tmp7) < 0)) + Scalar(0.5));
+  const Scalar _tmp9 = std::pow(_tmp8, Scalar(2));
+  const Scalar _tmp10 = _tmp4 / _tmp9;
+  const Scalar _tmp11 = Scalar(1.0) / (_tmp8);
+  const Scalar _tmp12 = _tmp9 / (std::pow(_tmp4, Scalar(2)) + _tmp9);
+  const Scalar _tmp13 = _tmp12 * (-_tmp10 * (-_tmp1 + _tmp3) +
+                                  _tmp11 * (-_tmp5 + _tmp6 + std::pow(state(0, 0), Scalar(2)) -
+                                            std::pow(state(1, 0), Scalar(2))));
+  const Scalar _tmp14 = _tmp12 * (-_tmp10 * (-_tmp0 * state(2, 0) - _tmp2 * state(3, 0)) +
+                                  _tmp11 * (_tmp2 * state(0, 0) - 2 * state(2, 0) * state(3, 0)));
+
+  // Output terms (2)
+  if (innov_var != nullptr) {
+    Scalar& _innov_var = (*innov_var);
+
+    _innov_var = R + _tmp13 * (P(1, 2) * _tmp14 + P(2, 2) * _tmp13) +
+                 _tmp14 * (P(1, 1) * _tmp14 + P(2, 1) * _tmp13);
+  }
+
+  if (H != nullptr) {
+    matrix::Matrix<Scalar, 23, 1>& _h = (*H);
+
+    _h.setZero();
+
+    _h(1, 0) = _tmp14;
+    _h(2, 0) = _tmp13;
+  }
+}  // NOLINT(readability/fn_size)
+
+// NOLINTNEXTLINE(readability/fn_size)
+}  // namespace sym

src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h_alternate.h

@@ -0,0 +1,76 @@
+// -----------------------------------------------------------------------------
+// This file was autogenerated by symforce from template:
+//     function/FUNCTION.h.jinja
+// Do NOT modify by hand.
+// -----------------------------------------------------------------------------
+
+#pragma once
+
+#include <matrix/math.hpp>
+
+namespace sym {
+
+/**
+ * This function was autogenerated from a symbolic function. Do not modify by hand.
+ *
+ * Symbolic function: compute_yaw_321_innov_var_and_h_alternate
+ *
+ * Args:
+ *     state: Matrix24_1
+ *     P: Matrix23_23
+ *     R: Scalar
+ *     epsilon: Scalar
+ *
+ * Outputs:
+ *     innov_var: Scalar
+ *     H: Matrix23_1
+ */
+template <typename Scalar>
+void ComputeYaw321InnovVarAndHAlternate(const matrix::Matrix<Scalar, 24, 1>& state,
+                                        const matrix::Matrix<Scalar, 23, 23>& P, const Scalar R,
+                                        const Scalar epsilon, Scalar* const innov_var = nullptr,
+                                        matrix::Matrix<Scalar, 23, 1>* const H = nullptr) {
+  // Total ops: 57
+
+  // Input arrays
+
+  // Intermediate terms (15)
+  const Scalar _tmp0 = 2 * state(2, 0);
+  const Scalar _tmp1 = 2 * state(1, 0);
+  const Scalar _tmp2 = 2 * state(0, 0) * state(3, 0);
+  const Scalar _tmp3 = _tmp1 * state(2, 0);
+  const Scalar _tmp4 = _tmp2 + _tmp3;
+  const Scalar _tmp5 = _tmp4 + epsilon * ((((_tmp4) > 0) - ((_tmp4) < 0)) + Scalar(0.5));
+  const Scalar _tmp6 = Scalar(1.0) / (_tmp5);
+  const Scalar _tmp7 = std::pow(state(3, 0), Scalar(2));
+  const Scalar _tmp8 = std::pow(state(2, 0), Scalar(2));
+  const Scalar _tmp9 = -2 * _tmp7 - 2 * _tmp8 + 1;
+  const Scalar _tmp10 = std::pow(_tmp5, Scalar(2));
+  const Scalar _tmp11 = _tmp9 / _tmp10;
+  const Scalar _tmp12 = _tmp10 / (_tmp10 + std::pow(_tmp9, Scalar(2)));
+  const Scalar _tmp13 = _tmp12 * (-_tmp11 * (-_tmp0 * state(3, 0) + _tmp1 * state(0, 0)) +
+                                  _tmp6 * (-_tmp0 * state(0, 0) - _tmp1 * state(3, 0)));
+  const Scalar _tmp14 = _tmp12 * (-_tmp11 * (-_tmp7 + _tmp8 + std::pow(state(0, 0), Scalar(2)) -
+                                             std::pow(state(1, 0), Scalar(2))) +
+                                  _tmp6 * (-_tmp2 + _tmp3));
+
+  // Output terms (2)
+  if (innov_var != nullptr) {
+    Scalar& _innov_var = (*innov_var);
+
+    _innov_var = R - _tmp13 * (-P(1, 1) * _tmp13 - P(2, 1) * _tmp14) -
+                 _tmp14 * (-P(1, 2) * _tmp13 - P(2, 2) * _tmp14);
+  }
+
+  if (H != nullptr) {
+    matrix::Matrix<Scalar, 23, 1>& _h = (*H);
+
+    _h.setZero();
+
+    _h(1, 0) = -_tmp13;
+    _h(2, 0) = -_tmp14;
+  }
+}  // NOLINT(readability/fn_size)
+
+// NOLINTNEXTLINE(readability/fn_size)
+}  // namespace sym

src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h

@@ -1,65 +0,0 @@
-// -----------------------------------------------------------------------------
-// This file was autogenerated by symforce from template:
-//     function/FUNCTION.h.jinja
-// Do NOT modify by hand.
-// -----------------------------------------------------------------------------
-
-#pragma once
-
-#include <matrix/math.hpp>
-
-namespace sym {
-
-/**
- * This function was autogenerated from a symbolic function. Do not modify by hand.
- *
- * Symbolic function: compute_yaw_innov_var_and_h
- *
- * Args:
- *     state: Matrix24_1
- *     P: Matrix23_23
- *     R: Scalar
- *
- * Outputs:
- *     innov_var: Scalar
- *     H: Matrix23_1
- */
-template <typename Scalar>
-void ComputeYawInnovVarAndH(const matrix::Matrix<Scalar, 24, 1>& state,
-                            const matrix::Matrix<Scalar, 23, 23>& P, const Scalar R,
-                            Scalar* const innov_var = nullptr,
-                            matrix::Matrix<Scalar, 23, 1>* const H = nullptr) {
-  // Total ops: 36
-
-  // Input arrays
-
-  // Intermediate terms (5)
-  const Scalar _tmp0 = 2 * state(2, 0);
-  const Scalar _tmp1 = 2 * state(1, 0);
-  const Scalar _tmp2 = -_tmp0 * state(0, 0) + _tmp1 * state(3, 0);
-  const Scalar _tmp3 = _tmp0 * state(3, 0) + _tmp1 * state(0, 0);
-  const Scalar _tmp4 = std::pow(state(0, 0), Scalar(2)) - std::pow(state(1, 0), Scalar(2)) -
-                       std::pow(state(2, 0), Scalar(2)) + std::pow(state(3, 0), Scalar(2));
-
-  // Output terms (2)
-  if (innov_var != nullptr) {
-    Scalar& _innov_var = (*innov_var);
-
-    _innov_var = R + _tmp2 * (P(0, 0) * _tmp2 + P(1, 0) * _tmp3 + P(2, 0) * _tmp4) +
-                 _tmp3 * (P(0, 1) * _tmp2 + P(1, 1) * _tmp3 + P(2, 1) * _tmp4) +
-                 _tmp4 * (P(0, 2) * _tmp2 + P(1, 2) * _tmp3 + P(2, 2) * _tmp4);
-  }
-
-  if (H != nullptr) {
-    matrix::Matrix<Scalar, 23, 1>& _h = (*H);
-
-    _h.setZero();
-
-    _h(0, 0) = _tmp2;
-    _h(1, 0) = _tmp3;
-    _h(2, 0) = _tmp4;
-  }
-}  // NOLINT(readability/fn_size)
-
-// NOLINTNEXTLINE(readability/fn_size)
-}  // namespace sym

src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/mc_wind_estimator_tuning.py

@@ -45,20 +45,14 @@ import numpy as np
 import quaternion
 from scipy import optimize
 
-def getAllData(logfile, use_gnss):
+def getAllData(logfile):
     log = ULog(logfile)
 
-    if use_gnss:
-        v_local = np.array([getData(log, 'vehicle_gps_position', 'vel_n_m_s'),
-                  getData(log, 'vehicle_gps_position', 'vel_e_m_s'),
-                  getData(log, 'vehicle_gps_position', 'vel_d_m_s')])
-        t_v_local = ms2s(getData(log, 'vehicle_gps_position', 'timestamp'))
+    v_local = np.matrix([getData(log, 'vehicle_local_position', 'vx'),
+              getData(log, 'vehicle_local_position', 'vy'),
+              getData(log, 'vehicle_local_position', 'vz')])
 
-    else:
-        v_local = np.array([getData(log, 'vehicle_local_position', 'vx'),
-                  getData(log, 'vehicle_local_position', 'vy'),
-                  getData(log, 'vehicle_local_position', 'vz')])
-        t_v_local = ms2s(getData(log, 'vehicle_local_position', 'timestamp'))
+    t_v_local = ms2s(getData(log, 'vehicle_local_position', 'timestamp'))
 
     accel = np.matrix([getData(log, 'sensor_combined', 'accelerometer_m_s2[0]'),
               getData(log, 'sensor_combined', 'accelerometer_m_s2[1]'),
@@ -132,8 +126,8 @@ def getData(log, topic_name, variable_name, instance=0):
 def ms2s(time_ms):
     return time_ms * 1e-6
 
-def run(logfile, use_gnss):
-    (t, v_body, a_body) = getAllData(logfile, use_gnss)
+def run(logfile):
+    (t, v_body, a_body) = getAllData(logfile)
 
     rho = 1.15 # air densitiy
     rho15 = 1.225 # air density at 15 degC
@@ -203,10 +197,8 @@ if __name__ == '__main__':
 
     # Provide parameter file path and name
     parser.add_argument('logfile', help='Full ulog file path, name and extension', type=str)
-    parser.add_argument('--gnss', help='Use GNSS velocity instead of local velocity estimate',
-                        action='store_true')
     args = parser.parse_args()
 
     logfile = os.path.abspath(args.logfile) # Convert to absolute path
 
-    run(logfile, args.gnss)
+    run(logfile)

src/modules/ekf2/EKF/yaw_fusion.cpp

@@ -33,7 +33,8 @@
 
 #include "ekf.h"
 
-#include <ekf_derivation/generated/compute_yaw_innov_var_and_h.h>
+#include <ekf_derivation/generated/compute_yaw_321_innov_var_and_h.h>
+#include <ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h>
 
 #include <mathlib/mathlib.h>
 
@@ -41,7 +42,7 @@
 bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status)
 {
 	VectorState H_YAW;
-	sym::ComputeYawInnovVarAndH(_state.vector(), P, aid_src_status.observation_variance, &aid_src_status.innovation_variance, &H_YAW);
+	computeYawInnovVarAndH(aid_src_status.observation_variance, aid_src_status.innovation_variance, H_YAW);
 
 	return fuseYaw(aid_src_status, H_YAW);
 }
@@ -134,5 +135,10 @@ bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H
 
 void Ekf::computeYawInnovVarAndH(float variance, float &innovation_variance, VectorState &H_YAW) const
 {
-	sym::ComputeYawInnovVarAndH(_state.vector(), P, variance, &innovation_variance, &H_YAW);
+	if (shouldUse321RotationSequence(_R_to_earth)) {
+		sym::ComputeYaw321InnovVarAndH(_state.vector(), P, variance, FLT_EPSILON, &innovation_variance, &H_YAW);
+
+	} else {
+		sym::ComputeYaw312InnovVarAndH(_state.vector(), P, variance, FLT_EPSILON, &innovation_variance, &H_YAW);
+	}
 }

src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv

@@ -1,391 +1,391 @@
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src/modules/ekf2/test/change_indication/iris_gps.csv

@@ -1,351 +1,351 @@
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+34390000,-0.27,0.016,-0.0078,0.96,0.042,0.097,-0.054,0.092,-0.02,-0.048,-0.0013,-0.0057,6e-05,0.076,-0.034,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00034,0.042,0.02,0.022,0.005,0.37,0.37,0.03,2.6e-07,2.4e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
+34490000,-0.27,0.016,-0.0079,0.96,0.045,0.1,-0.052,0.095,-0.0099,-0.05,-0.0013,-0.0057,7.3e-05,0.076,-0.034,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00034,0.042,0.021,0.023,0.005,0.38,0.39,0.03,2.6e-07,2.4e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
+34590000,-0.27,0.016,-0.0078,0.96,0.049,0.094,0.74,0.09,-0.024,-0.022,-0.0013,-0.0057,5.9e-05,0.076,-0.033,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00033,0.042,0.019,0.022,0.005,0.38,0.38,0.03,2.6e-07,2.3e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
+34690000,-0.27,0.015,-0.0078,0.96,0.058,0.095,1.7,0.096,-0.015,0.097,-0.0013,-0.0057,6.5e-05,0.076,-0.033,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00033,0.042,0.02,0.022,0.0051,0.39,0.4,0.03,2.6e-07,2.3e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
+34790000,-0.27,0.015,-0.0077,0.96,0.062,0.088,2.7,0.089,-0.028,0.28,-0.0013,-0.0057,5.4e-05,0.077,-0.034,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00033,0.042,0.02,0.021,0.005,0.39,0.39,0.03,2.6e-07,2.3e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1
+34890000,-0.27,0.015,-0.0077,0.96,0.071,0.089,3.7,0.095,-0.02,0.57,-0.0013,-0.0057,6e-05,0.077,-0.033,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00033,0.042,0.021,0.023,0.005,0.4,0.41,0.03,2.6e-07,2.3e-07,2.1e-06,0.028,0.028,0.0001,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1

src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp

@@ -314,13 +314,3 @@ float EkfWrapper::getMagHeadingNoise() const
 {
 	return _ekf_params->mag_heading_noise;
 }
-
-void EkfWrapper::enableGyroBiasEstimation()
-{
-	_ekf_params->imu_ctrl |= static_cast<int32_t>(ImuCtrl::GyroBias);
-}
-
-void EkfWrapper::disableGyroBiasEstimation()
-{
-	_ekf_params->imu_ctrl &= ~static_cast<int32_t>(ImuCtrl::GyroBias);
-}

src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h

@@ -128,9 +128,6 @@ public:
 
 	float getMagHeadingNoise() const;
 
-	void enableGyroBiasEstimation();
-	void disableGyroBiasEstimation();
-
 private:
 	std::shared_ptr<Ekf> _ekf;
 

src/modules/ekf2/test/test_EKF_gps_yaw.cpp

@@ -81,10 +81,9 @@ public:
 void EkfGpsHeadingTest::runConvergenceScenario(float yaw_offset_rad, float antenna_offset_rad)
 {
 	// GIVEN: an initial GPS yaw, not aligned with the current one
-	// The yaw antenna offset has already been corrected in the driver
-	float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle());
+	float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + yaw_offset_rad);
 
-	_sensor_simulator._gps.setYaw(gps_heading); // used to remove the correction to fuse the real measurement
+	_sensor_simulator._gps.setYaw(gps_heading);
 	_sensor_simulator._gps.setYawOffset(antenna_offset_rad);
 
 	// WHEN: the GPS yaw fusion is activated
@@ -92,7 +91,7 @@ void EkfGpsHeadingTest::runConvergenceScenario(float yaw_offset_rad, float anten
 	_sensor_simulator.runSeconds(5);
 
 	// THEN: the estimate is reset and stays close to the measurement
-	checkConvergence(gps_heading, 0.01f);
+	checkConvergence(gps_heading, 0.05f);
 }
 
 void EkfGpsHeadingTest::checkConvergence(float truth, float tolerance_deg)

src/modules/ekf2/test/test_EKF_initialization.cpp

@@ -191,32 +191,6 @@ TEST_F(EkfInitializationTest, initializeWithZeroTiltNotAtRest)
 	learningCorrectAccelBias();
 }
 
-TEST_F(EkfInitializationTest, initializeWithTiltNoGyroBiasEstimate)
-{
-	const float pitch = math::radians(30.0f);
-	const float roll = math::radians(-20.0f);
-	const Eulerf euler_angles_sim(roll, pitch, 0.0f);
-	const Quatf quat_sim(euler_angles_sim);
-
-	_ekf_wrapper.disableGyroBiasEstimation();
-	_sensor_simulator.simulateOrientation(quat_sim);
-
-	_sensor_simulator.runSeconds(_init_tilt_period);
-
-	EXPECT_TRUE(_ekf->control_status_flags().tilt_align);
-
-	initializedOrienationIsMatchingGroundTruth(quat_sim);
-	quaternionVarianceBigEnoughAfterOrientationInitialization(0.00001f);
-
-	velocityAndPositionCloseToZero();
-
-	positionVarianceBigEnoughAfterOrientationInitialization(0.00001f); // Fake position fusion obs var when at rest sq(0.5f)
-	velocityVarianceBigEnoughAfterOrientationInitialization(0.0001f);
-
-	_sensor_simulator.runSeconds(1.f);
-	learningCorrectAccelBias();
-}
-
 TEST_F(EkfInitializationTest, gyroBias)
 {
 	// GIVEN: a healthy filter
@@ -346,7 +320,7 @@ TEST_F(EkfInitializationTest, initializeWithTiltNotAtRest)
 	_ekf->set_vehicle_at_rest(false);
 	_sensor_simulator.simulateOrientation(quat_sim);
 	//_sensor_simulator.runSeconds(_init_tilt_period);
-	_sensor_simulator.runSeconds(10);
+	_sensor_simulator.runSeconds(7);
 
 	EXPECT_TRUE(_ekf->control_status_flags().tilt_align);
 

src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp

@@ -35,16 +35,60 @@
 #include "EKF/ekf.h"
 #include "test_helper/comparison_helper.h"
 
-#include "../EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h"
+#include "../EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h.h"
+#include "../EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h_alternate.h"
+#include "../EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h"
+#include "../EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h_alternate.h"
 
 using namespace matrix;
 
-Vector3f getRotVarNed(const Quatf &q, const SquareMatrixState &P)
+TEST(YawFusionGenerated, singularityYawEquivalence)
 {
-	constexpr auto S = State::quat_nominal;
-	matrix::SquareMatrix3f rot_cov_body = P.slice<S.dof, S.dof>(S.idx, S.idx);
-	auto R_to_earth = Dcmf(q);
-	return matrix::SquareMatrix<float, State::quat_nominal.dof>(R_to_earth * rot_cov_body * R_to_earth.T()).diag();
+	// GIVEN: an attitude that should give a singularity when transforming the
+	// rotation matrix to Euler yaw
+	StateSample state{};
+	state.quat_nominal = Eulerf(M_PI_F, 0.f, M_PI_F);
+
+	const float R = sq(radians(10.f));
+	SquareMatrixState P = createRandomCovarianceMatrix();
+
+	VectorState H_a;
+	VectorState H_b;
+	float innov_var_a;
+	float innov_var_b;
+
+	// WHEN: computing the innovation variance and H using two different
+	// alternate forms (one is singular at pi/2 and the other one at 0)
+	sym::ComputeYaw321InnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var_a, &H_a);
+	sym::ComputeYaw321InnovVarAndHAlternate(state.vector(), P, R, FLT_EPSILON, &innov_var_b, &H_b);
+
+	// THEN: Even at the singularity point, the result is still correct, thanks to epsilon
+	EXPECT_TRUE(isEqual(H_a, H_b));
+	EXPECT_NEAR(innov_var_a, innov_var_b, 1e-5f);
+	EXPECT_TRUE(innov_var_a < 50.f && innov_var_a > R) << "innov_var = " << innov_var_a;
+}
+
+TEST(YawFusionGenerated, gimbalLock321vs312)
+{
+	// GIVEN: an attitude at gimbal lock position
+	StateSample state{};
+	state.quat_nominal = Eulerf(0.f, -M_PI_F / 2.f, M_PI_F);
+
+	const float R = sq(radians(10.f));
+	SquareMatrixState P = createRandomCovarianceMatrix();
+
+	VectorState H_321;
+	VectorState H_312;
+	float innov_var_321;
+	float innov_var_312;
+	sym::ComputeYaw321InnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var_321, &H_321);
+
+	sym::ComputeYaw312InnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var_312, &H_312);
+
+	// THEN: both computation are not equivalent, 321 is undefined but 312 is valid
+	EXPECT_FALSE(isEqual(H_321, H_312));
+	EXPECT_GT(fabsf(innov_var_321 - innov_var_312), 1e6f);
+	EXPECT_TRUE(innov_var_312 < 50.f && innov_var_312 > R) << "innov_var = " << innov_var_312;
 }
 
 TEST(YawFusionGenerated, positiveVarianceAllOrientations)
@@ -55,14 +99,19 @@ TEST(YawFusionGenerated, positiveVarianceAllOrientations)
 	VectorState H;
 	float innov_var;
 
-	// GIVEN: all orientations
-	for (float yaw = 0.f; yaw < 2.f * M_PI_F; yaw += M_PI_F / 4.f) {
-		for (float pitch = 0.f; pitch < 2.f * M_PI_F; pitch += M_PI_F / 4.f) {
-			for (float roll = 0.f; roll < 2.f * M_PI_F; roll += M_PI_F / 4.f) {
+	// GIVEN: all orientations (90 deg steps)
+	for (float yaw = 0.f; yaw < 2.f * M_PI_F; yaw += M_PI_F / 2.f) {
+		for (float pitch = 0.f; pitch < 2.f * M_PI_F; pitch += M_PI_F / 2.f) {
+			for (float roll = 0.f; roll < 2.f * M_PI_F; roll += M_PI_F / 2.f) {
 				StateSample state{};
 				state.quat_nominal = Eulerf(roll, pitch, yaw);
 
-				sym::ComputeYawInnovVarAndH(state.vector(), P, R, &innov_var, &H);
+				if (shouldUse321RotationSequence(Dcmf(state.quat_nominal))) {
+					sym::ComputeYaw321InnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var, &H);
+
+				} else {
+					sym::ComputeYaw312InnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var, &H);
+				}
 
 				// THEN: the innovation variance must be positive and finite
 				EXPECT_TRUE(innov_var < 100.f && innov_var > R)
@@ -70,18 +119,6 @@ TEST(YawFusionGenerated, positiveVarianceAllOrientations)
 						<< " pitch = " << degrees(pitch)
 						<< " roll = " << degrees(roll)
 						<< " innov_var = " << innov_var;
-
-				// AND: it should be the same as the "true" innovation variance obtained by summing
-				// the Z rotation variance in NED and the measurement variance
-				const float innov_var_true = getRotVarNed(state.quat_nominal, P)(2) + R;
-				EXPECT_NEAR(innov_var, innov_var_true, 1e-5f)
-						<< "yaw = " << degrees(yaw)
-						<< " pitch = " << degrees(pitch)
-						<< " roll = " << degrees(roll)
-						<< " innov_var = " << innov_var
-						<< " innov_var_true = " << innov_var_true;
-
-				EXPECT_TRUE(H.isAllFinite());
 			}
 		}
 	}

src/modules/fw_rate_control/CMakeLists.txt

@@ -30,6 +30,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+add_subdirectory(fw_trim)
 
 px4_add_module(
 	MODULE modules__fw_rate_control
@@ -38,6 +39,7 @@ px4_add_module(
 		FixedwingRateControl.cpp
 		FixedwingRateControl.hpp
 	DEPENDS
+		FwTrim
 		px4_work_queue
 		RateControl
 		SlewRate

src/modules/fw_rate_control/FixedwingRateControl.cpp

@@ -37,7 +37,6 @@ using namespace time_literals;
 using namespace matrix;
 
 using math::constrain;
-using math::interpolate;
 using math::radians;
 
 FixedwingRateControl::FixedwingRateControl(bool vtol) :
@@ -54,6 +53,7 @@ FixedwingRateControl::FixedwingRateControl(bool vtol) :
 	parameters_update();
 
 	_rate_ctrl_status_pub.advertise();
+	_trim_slew.setSlewRate(Vector3f(0.01f, 0.01f, 0.01f));
 }
 
 FixedwingRateControl::~FixedwingRateControl()
@@ -96,6 +96,12 @@ FixedwingRateControl::parameters_update()
 	return PX4_OK;
 }
 
+void
+FixedwingRateControl::save_params()
+{
+	_trim.saveParams();
+}
+
 void
 FixedwingRateControl::vehicle_manual_poll()
 {
@@ -127,13 +133,14 @@ FixedwingRateControl::vehicle_manual_poll()
 
 			} else {
 				// Manual/direct control, filled in FW-frame. Note that setpoints will get transformed to body frame prior publishing.
+				const Vector3f trim = _trim_slew.getState();
 
 				_vehicle_torque_setpoint.xyz[0] = math::constrain(_manual_control_setpoint.roll * _param_fw_man_r_sc.get() +
-								  _param_trim_roll.get(), -1.f, 1.f);
+								  trim(0), -1.f, 1.f);
 				_vehicle_torque_setpoint.xyz[1] = math::constrain(-_manual_control_setpoint.pitch * _param_fw_man_p_sc.get() +
-								  _param_trim_pitch.get(), -1.f, 1.f);
+								  trim(1), -1.f, 1.f);
 				_vehicle_torque_setpoint.xyz[2] = math::constrain(_manual_control_setpoint.yaw * _param_fw_man_y_sc.get() +
-								  _param_trim_yaw.get(), -1.f, 1.f);
+								  trim(2), -1.f, 1.f);
 
 				_vehicle_thrust_setpoint.xyz[0] = math::constrain((_manual_control_setpoint.throttle + 1.f) * .5f, 0.f, 1.f);
 			}
@@ -256,7 +263,14 @@ void FixedwingRateControl::Run()
 		const bool is_fixed_wing = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
 		_in_fw_or_transition_wo_tailsitter_transition =  is_fixed_wing || is_in_transition_except_tailsitter;
 
-		_vehicle_control_mode_sub.update(&_vcontrol_mode);
+		{
+			const bool armed_prev = _vcontrol_mode.flag_armed;
+			_vehicle_control_mode_sub.update(&_vcontrol_mode);
+
+			if (!_vcontrol_mode.flag_armed && armed_prev) {
+				save_params();
+			}
+		}
 
 		vehicle_land_detected_poll();
 
@@ -321,78 +335,56 @@ void FixedwingRateControl::Run()
 				}
 			}
 
-			/* bi-linear interpolation over airspeed for actuator trim scheduling */
-			Vector3f trim(_param_trim_roll.get(), _param_trim_pitch.get(), _param_trim_yaw.get());
+			_trim.setAirspeed(airspeed);
+			_trim_slew.update(_trim.getTrim(), dt);
 
-			if (airspeed < _param_fw_airspd_trim.get()) {
-				trim(0) += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(),
-						       _param_fw_dtrim_r_vmin.get(),
-						       0.0f);
-				trim(1) += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(),
-						       _param_fw_dtrim_p_vmin.get(),
-						       0.0f);
-				trim(2) += interpolate(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(),
-						       _param_fw_dtrim_y_vmin.get(),
-						       0.0f);
+			_rates_sp_sub.update(&_rates_sp);
 
-			} else {
-				trim(0) += interpolate(airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f,
-						       _param_fw_dtrim_r_vmax.get());
-				trim(1) += interpolate(airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f,
-						       _param_fw_dtrim_p_vmax.get());
-				trim(2) += interpolate(airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f,
-						       _param_fw_dtrim_y_vmax.get());
+			Vector3f body_rates_setpoint = Vector3f(_rates_sp.roll, _rates_sp.pitch, _rates_sp.yaw);
+
+			// Tailsitter: rotate setpoint from hover to fixed-wing frame (controller is in fixed-wing frame, interface in hover)
+			if (_vehicle_status.is_vtol_tailsitter) {
+				body_rates_setpoint = Vector3f(-_rates_sp.yaw, _rates_sp.pitch, _rates_sp.roll);
 			}
 
-			if (_vcontrol_mode.flag_control_rates_enabled) {
-				_rates_sp_sub.update(&_rates_sp);
+			// Run attitude RATE controllers which need the desired attitudes from above, add trim.
+			const Vector3f angular_acceleration_setpoint = _rate_control.update(rates, body_rates_setpoint, angular_accel, dt,
+					_landed);
 
-				Vector3f body_rates_setpoint = Vector3f(_rates_sp.roll, _rates_sp.pitch, _rates_sp.yaw);
+			const Vector3f gain_ff(_param_fw_rr_ff.get(), _param_fw_pr_ff.get(), _param_fw_yr_ff.get());
+			const Vector3f feedforward = gain_ff.emult(body_rates_setpoint) * _airspeed_scaling;
 
-				// Tailsitter: rotate setpoint from hover to fixed-wing frame (controller is in fixed-wing frame, interface in hover)
-				if (_vehicle_status.is_vtol_tailsitter) {
-					body_rates_setpoint = Vector3f(-_rates_sp.yaw, _rates_sp.pitch, _rates_sp.roll);
-				}
+			Vector3f control_u = angular_acceleration_setpoint * _airspeed_scaling * _airspeed_scaling + feedforward;
 
-				// Run attitude RATE controllers which need the desired attitudes from above, add trim.
-				const Vector3f angular_acceleration_setpoint = _rate_control.update(rates, body_rates_setpoint, angular_accel, dt,
-						_landed);
+			// Special case yaw in Acro: if the parameter FW_ACRO_YAW_CTL is not set then don't control yaw
+			if (!_vcontrol_mode.flag_control_attitude_enabled && !_param_fw_acro_yaw_en.get()) {
+				control_u(2) = _manual_control_setpoint.yaw * _param_fw_man_y_sc.get();
+				_rate_control.resetIntegral(2);
+			}
 
-				const Vector3f gain_ff(_param_fw_rr_ff.get(), _param_fw_pr_ff.get(), _param_fw_yr_ff.get());
-				const Vector3f feedforward = gain_ff.emult(body_rates_setpoint) * _airspeed_scaling;
+			if (control_u.isAllFinite()) {
+				matrix::constrain(control_u + _trim_slew.getState(), -1.f, 1.f).copyTo(_vehicle_torque_setpoint.xyz);
 
-				Vector3f control_u = angular_acceleration_setpoint * _airspeed_scaling * _airspeed_scaling + feedforward;
+			} else {
+				_rate_control.resetIntegral();
+				_trim_slew.getState().copyTo(_vehicle_torque_setpoint.xyz);
+			}
 
-				// Special case yaw in Acro: if the parameter FW_ACRO_YAW_CTL is not set then don't control yaw
-				if (!_vcontrol_mode.flag_control_attitude_enabled && !_param_fw_acro_yaw_en.get()) {
-					control_u(2) = _manual_control_setpoint.yaw * _param_fw_man_y_sc.get();
-					_rate_control.resetIntegral(2);
-				}
+			/* throttle passed through if it is finite */
+			_vehicle_thrust_setpoint.xyz[0] = PX4_ISFINITE(_rates_sp.thrust_body[0]) ? _rates_sp.thrust_body[0] : 0.0f;
 
-				if (control_u.isAllFinite()) {
-					matrix::constrain(control_u + trim, -1.f, 1.f).copyTo(_vehicle_torque_setpoint.xyz);
+			/* scale effort by battery status */
+			if (_param_fw_bat_scale_en.get() && _vehicle_thrust_setpoint.xyz[0] > 0.1f) {
 
-				} else {
-					_rate_control.resetIntegral();
-					trim.copyTo(_vehicle_torque_setpoint.xyz);
-				}
+				if (_battery_status_sub.updated()) {
+					battery_status_s battery_status{};
 
-				/* throttle passed through if it is finite */
-				_vehicle_thrust_setpoint.xyz[0] = PX4_ISFINITE(_rates_sp.thrust_body[0]) ? _rates_sp.thrust_body[0] : 0.0f;
-
-				/* scale effort by battery status */
-				if (_param_fw_bat_scale_en.get() && _vehicle_thrust_setpoint.xyz[0] > 0.1f) {
-
-					if (_battery_status_sub.updated()) {
-						battery_status_s battery_status{};
-
-						if (_battery_status_sub.copy(&battery_status) && battery_status.connected && battery_status.scale > 0.f) {
-							_battery_scale = battery_status.scale;
-						}
+					if (_battery_status_sub.copy(&battery_status) && battery_status.connected && battery_status.scale > 0.f) {
+						_battery_scale = battery_status.scale;
 					}
-
-					_vehicle_thrust_setpoint.xyz[0] *= _battery_scale;
 				}
+
+				_vehicle_thrust_setpoint.xyz[0] *= _battery_scale;
 			}
 
 			// publish rate controller status
@@ -405,6 +397,7 @@ void FixedwingRateControl::Run()
 		} else {
 			// full manual
 			_rate_control.resetIntegral();
+			_trim.reset();
 		}
 
 		// Add feed-forward from roll control output to yaw control output
@@ -432,6 +425,8 @@ void FixedwingRateControl::Run()
 				_vehicle_torque_setpoint.timestamp_sample = angular_velocity.timestamp_sample;
 				_vehicle_torque_setpoint_pub.publish(_vehicle_torque_setpoint);
 			}
+
+			_trim.updateAutoTrim(Vector3f(_vehicle_torque_setpoint.xyz), dt);
 		}
 
 		updateActuatorControlsStatus(dt);

src/modules/fw_rate_control/FixedwingRateControl.hpp

@@ -69,6 +69,8 @@
 #include <uORB/topics/vehicle_thrust_setpoint.h>
 #include <uORB/topics/vehicle_torque_setpoint.h>
 
+#include "fw_trim/FwTrim.hpp"
+
 using matrix::Eulerf;
 using matrix::Quatf;
 
@@ -170,13 +172,6 @@ private:
 
 		(ParamBool<px4::params::FW_BAT_SCALE_EN>) _param_fw_bat_scale_en,
 
-		(ParamFloat<px4::params::FW_DTRIM_P_VMAX>) _param_fw_dtrim_p_vmax,
-		(ParamFloat<px4::params::FW_DTRIM_P_VMIN>) _param_fw_dtrim_p_vmin,
-		(ParamFloat<px4::params::FW_DTRIM_R_VMAX>) _param_fw_dtrim_r_vmax,
-		(ParamFloat<px4::params::FW_DTRIM_R_VMIN>) _param_fw_dtrim_r_vmin,
-		(ParamFloat<px4::params::FW_DTRIM_Y_VMAX>) _param_fw_dtrim_y_vmax,
-		(ParamFloat<px4::params::FW_DTRIM_Y_VMIN>) _param_fw_dtrim_y_vmin,
-
 		(ParamFloat<px4::params::FW_MAN_P_SC>) _param_fw_man_p_sc,
 		(ParamFloat<px4::params::FW_MAN_R_SC>) _param_fw_man_r_sc,
 		(ParamFloat<px4::params::FW_MAN_Y_SC>) _param_fw_man_y_sc,
@@ -200,15 +195,14 @@ private:
 		(ParamFloat<px4::params::FW_YR_P>) _param_fw_yr_p,
 		(ParamFloat<px4::params::FW_YR_D>) _param_fw_yr_d,
 
-		(ParamFloat<px4::params::TRIM_PITCH>) _param_trim_pitch,
-		(ParamFloat<px4::params::TRIM_ROLL>) _param_trim_roll,
-		(ParamFloat<px4::params::TRIM_YAW>) _param_trim_yaw,
-
 		(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man
 	)
 
 	RateControl _rate_control; ///< class for rate control calculations
 
+	FwTrim _trim{this};
+	SlewRate<matrix::Vector3f> _trim_slew{}; ///< prevents large trim changes
+
 	void updateActuatorControlsStatus(float dt);
 
 	/**
@@ -216,6 +210,8 @@ private:
 	 */
 	int		parameters_update();
 
+	void		save_params();
+
 	void		vehicle_manual_poll();
 	void		vehicle_land_detected_poll();
 

src/modules/fw_rate_control/fw_rate_control_params.c

@@ -295,6 +295,21 @@ PARAM_DEFINE_INT32(FW_BAT_SCALE_EN, 0);
  */
 PARAM_DEFINE_INT32(FW_ARSP_SCALE_EN, 1);
 
+/**
+ * Auto-Trim mode
+ *
+ * In calibration mode, the estimated trim is used to set the TRIM_ROLL/PITCH/YAW
+ * parameters after landing. The parameter is then changed to continuous mode.
+ * In continuous mode, part of the auto-trim estimated
+ * during flight is used to update the exitsting trim.
+ *
+ * @group FW Rate Control
+ * @value 0 Disabled
+ * @value 1 Calibration
+ * @value 2 Continuous
+ */
+PARAM_DEFINE_INT32(FW_ATRIM_MODE, 1);
+
 /**
 * Roll trim increment at minimum airspeed
 *

src/modules/fw_rate_control/fw_trim/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2024 ModalAI, Inc. All rights reserved.
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -30,5 +30,10 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+px4_add_library(FwTrim
+	FwTrim.cpp
+	FwAutoTrim.cpp
+)
 
-include_directories(${PX4_BOARD_DIR}/libfc-sensor-api/inc)
+# target_link_libraries(FwTrim)
+target_include_directories(FwTrim PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/modules/fw_rate_control/fw_trim/FwAutoTrim.cpp

@@ -0,0 +1,203 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "FwAutoTrim.hpp"
+
+#include <mathlib/mathlib.h>
+
+using namespace time_literals;
+using matrix::Vector3f;
+
+FwAutoTrim::FwAutoTrim(ModuleParams *parent) :
+	ModuleParams(parent)
+{
+	_auto_trim_status_pub.advertise();
+	updateParams();
+}
+
+FwAutoTrim::~FwAutoTrim()
+{
+	perf_free(_cycle_perf);
+}
+
+void FwAutoTrim::updateParams()
+{
+	ModuleParams::updateParams();
+}
+
+void FwAutoTrim::reset()
+{
+	_state = state::idle;
+	_trim_estimate.reset();
+	_trim_test.reset();
+	_trim_validated.zero();
+}
+
+void FwAutoTrim::update(const Vector3f &torque_sp, const float dt)
+{
+	if (_vehicle_land_detected_sub.updated()) {
+		vehicle_land_detected_s vehicle_land_detected;
+
+		if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) {
+			_landed = vehicle_land_detected.landed;
+		}
+	}
+
+	perf_begin(_cycle_perf);
+
+	if (_vehicle_status_sub.updated()) {
+		vehicle_status_s vehicle_status;
+
+		if (_vehicle_status_sub.copy(&vehicle_status)) {
+			_armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
+			_fixed_wing = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
+			_tailsitter = vehicle_status.is_vtol_tailsitter;
+		}
+	}
+
+	if (_airspeed_validated_sub.updated()) {
+		airspeed_validated_s airspeed_validated;
+
+		if (_airspeed_validated_sub.copy(&airspeed_validated)) {
+			if (PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s)) {
+				_calibrated_airspeed_m_s = airspeed_validated.calibrated_airspeed_m_s;
+
+			} else {
+				_calibrated_airspeed_m_s = airspeed_validated.calibrated_ground_minus_wind_m_s;
+			}
+		}
+	}
+
+	if (_vehicle_attitude_sub.updated()) {
+		vehicle_attitude_s vehicle_attitude;
+
+		if (_vehicle_attitude_sub.copy(&vehicle_attitude)) {
+			const Vector3f earth_z_in_body_frame = matrix::Quatf(vehicle_attitude.q).rotateVectorInverse(Vector3f(0.f, 0.f, 1.f));
+			_cos_tilt = _tailsitter ? earth_z_in_body_frame(0) : earth_z_in_body_frame(2);
+		}
+	}
+
+	const hrt_abstime now = hrt_absolute_time();
+
+	const bool run_auto_trim = _fixed_wing
+				   && _armed
+				   && !_landed
+				   && (dt > 0.001f) && (dt < 0.1f)
+				   && torque_sp.isAllFinite()
+				   && ((_calibrated_airspeed_m_s >= _param_fw_airspd_min.get() && _calibrated_airspeed_m_s <= _param_fw_airspd_max.get())
+				       || (!PX4_ISFINITE(_calibrated_airspeed_m_s) && (_param_sys_has_num_aspd.get() == 0)))
+				   && _cos_tilt > cosf(math::radians(_kTiltMaxDeg));
+
+	if (run_auto_trim) {
+		switch (_state) {
+		default:
+
+		// fallthrough
+		case state::idle:
+			_trim_estimate.reset();
+			_trim_test.reset();
+			_state = state::sampling;
+			_state_start_time = now;
+			break;
+
+		case state::sampling:
+			// Average the torque setpoint over a long period of time
+			_trim_estimate.update(torque_sp);
+
+			if ((now - _state_start_time) > 5_s) {
+				_state = state::sampling_test;
+				_state_start_time = now;
+			}
+
+			break;
+
+		case state::sampling_test:
+			// Average a smaller amount of data to validate the trim estimate
+			_trim_test.update(torque_sp);
+
+			if ((now - _state_start_time) > 2_s) {
+				_state = state::verification;
+				_state_start_time = now;
+			}
+
+			break;
+
+		case state::verification: {
+				// Perform a statistical test between the estimated and test data
+				const float gate = 5.f;
+				const Vector3f innovation = _trim_test.mean() - _trim_estimate.mean();
+				const Vector3f innovation_variance = _trim_test.variance() + _trim_estimate.variance();
+				const float test_ratio = Vector3f(innovation.edivide(innovation_variance * gate * gate)) * innovation;
+
+				if ((test_ratio <= 1.f) && !innovation.longerThan(0.05f)) {
+					_trim_validated = _trim_estimate.mean();
+					_state = state::complete;
+					_state_start_time = now;
+
+				} else {
+					_state = state::fail;
+				}
+
+			} break;
+
+		case state::complete:
+			//TODO: depending on param, stay or restart
+			_state = state::idle;
+			break;
+		}
+
+	} else {
+		_state = state::fail;
+	}
+
+	publishStatus(now);
+
+	perf_end(_cycle_perf);
+}
+
+void FwAutoTrim::publishStatus(const hrt_abstime now)
+{
+	auto_trim_status_s status_msg{};
+
+	_trim_validated.copyTo(status_msg.trim_validated);
+	_trim_estimate.mean().copyTo(status_msg.trim_estimate);
+	_trim_estimate.variance().copyTo(status_msg.trim_estimate_var);
+	_trim_test.mean().copyTo(status_msg.trim_test);
+	_trim_test.variance().copyTo(status_msg.trim_test_var);
+	status_msg.state = static_cast<int>(_state);
+
+	status_msg.timestamp = now;
+	status_msg.timestamp_sample = now;
+
+	_auto_trim_status_pub.publish(status_msg);
+}

src/modules/fw_rate_control/fw_trim/FwAutoTrim.hpp

@@ -0,0 +1,111 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <drivers/drv_hrt.h>
+#include <lib/hysteresis/hysteresis.h>
+#include <lib/perf/perf_counter.h>
+#include <lib/mathlib/math/WelfordMeanVector.hpp>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/airspeed_validated.h>
+#include <uORB/topics/auto_trim_status.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_land_detected.h>
+#include <uORB/topics/vehicle_status.h>
+
+using namespace time_literals;
+
+class FwAutoTrim : public ModuleParams
+{
+public:
+	FwAutoTrim(ModuleParams *parent);
+	~FwAutoTrim();
+
+	void reset();
+	void update(const matrix::Vector3f &torque_sp, float dt);
+
+	const matrix::Vector3f &getTrim() const { return _trim_validated; }
+
+protected:
+	void updateParams() override;
+
+private:
+	void publishStatus(const hrt_abstime now);
+
+	uORB::Publication<auto_trim_status_s> _auto_trim_status_pub{ORB_ID(auto_trim_status)};
+
+	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
+	uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
+
+	enum class state {
+		idle = auto_trim_status_s::STATE_IDLE,
+		sampling = auto_trim_status_s::STATE_SAMPLING,
+		sampling_test = auto_trim_status_s::STATE_SAMPLING_TEST,
+		verification = auto_trim_status_s::STATE_VERIFICATION,
+		complete = auto_trim_status_s::STATE_COMPLETE,
+		fail = auto_trim_status_s::STATE_FAIL,
+	} _state{state::idle};
+
+	hrt_abstime _state_start_time{0};
+
+	bool _armed{false};
+	bool _landed{false};
+	bool _fixed_wing{false};
+	bool _tailsitter{false};
+	float _calibrated_airspeed_m_s{0.f};
+	float _cos_tilt{0.f};
+
+	math::WelfordMeanVector<float, 3> _trim_estimate{};
+	math::WelfordMeanVector<float, 3> _trim_test{};
+
+	matrix::Vector3f _trim_validated{};
+
+	perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, "[AutoTrim] cycle time")};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::SYS_HAS_NUM_ASPD>) _param_sys_has_num_aspd,
+		(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
+		(ParamFloat<px4::params::FW_AIRSPD_MAX>) _param_fw_airspd_max
+	)
+
+	static constexpr float _kTiltMaxDeg = 10.f;
+};

src/modules/fw_rate_control/fw_trim/FwTrim.cpp

@@ -0,0 +1,150 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "FwTrim.hpp"
+
+#include <mathlib/mathlib.h>
+
+using namespace time_literals;
+using matrix::Vector3f;
+using math::interpolate;
+
+FwTrim::FwTrim(ModuleParams *parent) :
+	ModuleParams(parent)
+{
+	updateParams();
+	_airspeed = _param_fw_airspd_trim.get();
+}
+
+void FwTrim::updateParams()
+{
+	ModuleParams::updateParams();
+	updateParameterizedTrim();
+}
+
+void FwTrim::saveParams()
+{
+	const Vector3f autotrim = _auto_trim.getTrim();
+	bool updated = false;
+	const Vector3f trim_prev(_param_trim_roll.get(), _param_trim_pitch.get(), _param_trim_yaw.get());
+
+	if (_param_fw_atrim_mode.get() == static_cast<int32_t>(AutoTrimMode::kCalibration)) {
+		// Replace the current trim with the one identified during auto-trim
+		updated |= _param_trim_roll.commit_no_notification(_param_trim_roll.get() + autotrim(0));
+		updated |= _param_trim_pitch.commit_no_notification(_param_trim_pitch.get() + autotrim(1));
+		updated |= _param_trim_yaw.commit_no_notification(_param_trim_yaw.get() + autotrim(2));
+
+		if (updated) {
+			_param_fw_atrim_mode.set(static_cast<int32_t>(AutoTrimMode::kContinuous));
+			_param_fw_atrim_mode.commit();
+		}
+
+	} else  if (_param_fw_atrim_mode.get() == static_cast<int32_t>(AutoTrimMode::kContinuous)) {
+		// In continuous trim mode, limit the amount of trim that can be applied back to the parameter
+		const Vector3f constrained_autotrim = matrix::constrain(autotrim, -0.05f, 0.05f);
+		updated |= _param_trim_roll.commit_no_notification(_param_trim_roll.get() + constrained_autotrim(0));
+		updated |= _param_trim_pitch.commit_no_notification(_param_trim_pitch.get() + constrained_autotrim(1));
+		updated |= _param_trim_yaw.commit_no_notification(_param_trim_yaw.get() + constrained_autotrim(2));
+
+		if (updated) {
+			_param_trim_yaw.commit();
+		}
+
+	} else {
+		// nothing to do
+	}
+
+	if (updated) {
+		const Vector3f trim_new(_param_trim_roll.get(), _param_trim_pitch.get(), _param_trim_yaw.get());
+		PX4_INFO("Trim offset committed: [%.3f %.3f %.3f]->[%.3f %.3f %.3f]",
+			 (double)trim_prev(0), (double)trim_prev(1), (double)trim_prev(2),
+			 (double)trim_new(0), (double)trim_new(1), (double)trim_new(2));
+	}
+
+	_auto_trim.reset();
+}
+
+void FwTrim::reset()
+{
+	_auto_trim.reset();
+}
+
+void FwTrim::updateAutoTrim(const Vector3f &torque_sp, const float dt)
+{
+	_auto_trim.update(torque_sp - _parameterized_trim, dt);
+}
+
+Vector3f FwTrim::getTrim() const
+{
+	Vector3f trim = _parameterized_trim;
+
+	if (_param_fw_atrim_mode.get() > 0) {
+		trim +=  _auto_trim.getTrim();
+	}
+
+	return trim;
+}
+
+void FwTrim::setAirspeed(const float airspeed)
+{
+	_airspeed = airspeed;
+	updateParameterizedTrim();
+}
+
+void FwTrim::updateParameterizedTrim()
+{
+	/* bi-linear interpolation over airspeed for actuator trim scheduling */
+	Vector3f trim(_param_trim_roll.get(), _param_trim_pitch.get(), _param_trim_yaw.get());
+
+	if (_airspeed < _param_fw_airspd_trim.get()) {
+		trim(0) += interpolate(_airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(),
+				       _param_fw_dtrim_r_vmin.get(),
+				       0.0f);
+		trim(1) += interpolate(_airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(),
+				       _param_fw_dtrim_p_vmin.get(),
+				       0.0f);
+		trim(2) += interpolate(_airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_trim.get(),
+				       _param_fw_dtrim_y_vmin.get(),
+				       0.0f);
+
+	} else {
+		trim(0) += interpolate(_airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f,
+				       _param_fw_dtrim_r_vmax.get());
+		trim(1) += interpolate(_airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f,
+				       _param_fw_dtrim_p_vmax.get());
+		trim(2) += interpolate(_airspeed, _param_fw_airspd_trim.get(), _param_fw_airspd_max.get(), 0.0f,
+				       _param_fw_dtrim_y_vmax.get());
+	}
+
+	_parameterized_trim = trim;
+}