Update submodule rosidl to latest Mon Mar 25 12:39:32 UTC 2024

- rosidl in PX4/Firmware (374f256584): https://github/commit/7790c70717e09c003711f6f65015666c223fc283
    - rosidl current upstream: https://github/commit/f47565cf5f0edfc535e5278503a6a0bce772f1e5
    - Changes: https://github/compare/7790c70717e09c003711f6f65015666c223fc283...f47565cf5f0edfc535e5278503a6a0bce772f1e5

    f47565c 2023-08-21 Mike Purvis - Add rosidl_find_package_idl helper function (#754)
1fab290 2023-08-21 Chris Lalancette - 4.3.1
bf4cce3 2023-08-21 Chris Lalancette - Changelog.
b854136 2023-08-10 Chris Lalancette - Set the C++ version to 17. (#761)
89c6713 2023-07-25 Emerson Knapp - Fix same named types overriding typesources (#759)
c72b454 2023-07-20 Chen Lihui - update comment (#757)
17944a6 2023-07-11 Chris Lalancette - 4.3.0
261cb04 2023-07-11 Chris Lalancette - Changelog.
187210e 2023-06-21 Stefan Fabian - Fixed visibility control file added to wrong header list variable. (#755)
69efae0 2023-06-12 Shane Loretz - Remove unused splitting of .srv files in CMake (#753)
fcf7b5f 2023-06-07 Chris Lalancette - 4.2.0
1225630 2023-06-07 Chris Lalancette - Changelog.
1228f54 2023-06-07 Emerson Knapp - Fix deprecation warnings for message constants (#750)
e3b71ec 2023-05-15 Stefan Fabian - Generate typesupport declarations for actions, messages and services (#703)
a5cc3ec 2023-05-11 Chris Lalancette - 4.1.1
9302d87 2023-05-11 Chris Lalancette - Changelog.
5df46c3 2023-05-10 Alexis Paques - Fix IWYU for clangd in C and C++ (#742)
3853866 2023-05-01 Chris Lalancette - Mark _ in benchmark tests as unused. (#741)
e1af9be 2023-04-28 Yadunund - 4.1.0
a57baea 2023-04-11 Chris Lalancette - 4.0.0
8e82d7a 2023-04-11 Chris Lalancette - Changelog.
7583b95 2023-04-11 methylDragon - Dynamic Subscription (BONUS: Allocators): rosidl (#737)
6da8660 2023-04-08 methylDragon - Runtime Interface Reflection: rosidl (#728)
7cbb116 2023-04-06 Emerson Knapp - Type Description Codegen and Typesupport  (rep2011) (#727)
8b27b67 2023-03-29 Emerson Knapp - Copied type_description_interfaces structs (rep2011) (#732)
eac4201 2023-03-24 Emerson Knapp - Expose type hash on typesupports (rep2011) (#729)
10d0883 2023-03-24 Chris Lalancette - Fix a few more clang analysis problems. (#731)
ce20c11 2023-03-22 Alexander Hans - Return reference from BoundedVector::emplace_back (#730)
b93c518 2023-03-15 Emerson Knapp - Type hash in interface codegen (rep2011) (#722)
383ca18 2023-03-14 Yadu - Fix warnings (#726)

.editorconfig

@@ -1,14 +1,6 @@
 root = true
 
-[*]
+[*.{c,cpp,cc,h,hpp}]
-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

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/lib/cdrstream/rosidl

@@ -1 +1 @@
-Subproject commit 7790c70717e09c003711f6f65015666c223fc283
+Subproject commit f47565cf5f0edfc535e5278503a6a0bce772f1e5

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) {
-	if (!all_disabled || !_was_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);
+	EXPECT_EQ(test_module.num_updates, 0);
-	mixing_output.update();
-	mixing_output.updateSubscriptions(false);
-	mixing_output.update();
-	EXPECT_EQ(test_module.num_updates, 1);
 	test_module.reset();
 
 	// configure motor, ensure all still disarmed

src/modules/px4iofirmware/mixer.cpp

@@ -180,19 +180,15 @@ mixer_tick()
 	 * Run the mixers.
 	 */
 	if (source == MIX_FAILSAFE) {
-		// Set failsafe value if the PWM output isn't disabled
+		/* copy failsafe values to the servo outputs */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
-			if (r_page_servos[i] != 0) {
+			r_page_servos[i] = r_page_servo_failsafe[i];
-				r_page_servos[i] = r_page_servo_failsafe[i];
-			}
 		}
 
 	} else if (source == MIX_DISARMED) {
-		// Set disarmed value if the PWM output isn't disabled
+		/* copy disarmed values to the servo outputs */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
-			if (r_page_servos[i] != 0) {
+			r_page_servos[i] = r_page_servo_disarmed[i];
-				r_page_servos[i] = r_page_servo_disarmed[i];
-			}
 		}
 	}