Merge remote-tracking branch 'px4/main' into pr-ekf2_output_predictor…

…_init_cleanup

.ci/Jenkinsfile-compile

@@ -117,7 +117,8 @@ pipeline {
                      "spracing_h7extreme_default",
                      "thepeach_k1_default",
                      "thepeach_r1_default",
-                     "uvify_core_default"
+                     "uvify_core_default",
+                     "siyi_n7_default"
             ],
             image: docker_images.nuttx,
             archive: true

.devcontainer/devcontainer.json

@@ -29,7 +29,8 @@
 		"twxs.cmake",
 		"uavcan.dsdl",
 		"wholroyd.jinja",
-		"zixuanwang.linkerscript"
+		"zixuanwang.linkerscript",
+		"ms-vscode.makefile-tools"
 	],
 
 	"containerUser": "user",

.github/workflows/compile_nuttx.yml

@@ -73,7 +73,8 @@ jobs:
           raspberrypi_pico,
           sky-drones_smartap-airlink,
           spracing_h7extreme,
-          uvify_core
+          uvify_core,
+          siyi_n7
           ]
     steps:
     - uses: actions/checkout@v1

.gitmodules

@@ -62,3 +62,13 @@
 	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
 	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
 	branch = px4
+[submodule "src/lib/cdrstream/cyclonedds"]
+	path = src/lib/cdrstream/cyclonedds
+	url = https://github.com/px4/cyclonedds
+[submodule "src/lib/cdrstream/rosidl"]
+	path = src/lib/cdrstream/rosidl
+	url = https://github.com/px4/rosidl
+[submodule "src/modules/zenoh/zenoh-pico"]
+	path = src/modules/zenoh/zenoh-pico
+	url = https://github.com/px4/zenoh-pico
+	branch = pr-zubf-werror-fix

.vscode/extensions.json

@@ -18,6 +18,7 @@
         "twxs.cmake",
         "uavcan.dsdl",
         "wholroyd.jinja",
-        "zixuanwang.linkerscript"
+        "zixuanwang.linkerscript",
+        "ms-vscode.makefile-tools"
     ]
 }

.vscode/settings.json

@@ -127,5 +127,6 @@
         "terminal.integrated.scrollback": 15000,
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        }
+        },
+        "ros.distro": "humble"
 }

CMakeLists.txt

@@ -414,6 +414,8 @@ endif()
 #
 add_library(parameters_interface INTERFACE)
 add_library(kernel_parameters_interface INTERFACE)
+add_library(events_interface INTERFACE)
+add_library(kernel_events_interface INTERFACE)
 
 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -440,8 +442,11 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
 	target_link_libraries(parameters_interface INTERFACE usr_parameters)
 	target_link_libraries(kernel_parameters_interface INTERFACE parameters)
+	target_link_libraries(events_interface INTERFACE usr_events)
+	target_link_libraries(kernel_events_interface INTERFACE events)
 else()
 	target_link_libraries(parameters_interface INTERFACE parameters)
+	target_link_libraries(events_interface INTERFACE events)
 endif()
 
 # firmware added last to generate the builtin for included modules

Kconfig

@@ -205,3 +205,5 @@ menu "platforms"
 depends on PLATFORM_QURT || PLATFORM_POSIX
 source "platforms/common/Kconfig"
 endmenu
+
+source "src/lib/*/Kconfig"

README.md

@@ -114,7 +114,7 @@ These boards are maintained to be compatible with PX4-Autopilot by the Manufactu
 
 ### Community supported
 
-These boards don't fully comply industry standards, and thus is solely maintained by the PX4 publc community members.
+These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members.
 
 ### Experimental
 

ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow

@@ -31,6 +31,7 @@ param set-default PWM_MAIN_FUNC4 104
 
 # EKF2
 param set-default EKF2_GPS_CTRL 0
+param set-default EKF2_HGT_REF 0
 param set-default EKF2_EVP_NOISE 0.05
 param set-default EKF2_EVA_NOISE 0.05
 param set-default EKF2_OF_CTRL 1
@@ -39,6 +40,9 @@ param set-default EKF2_OF_CTRL 1
 param set-default LPE_FUSION 242
 param set-default LPE_FAKE_ORIGIN 1
 
+# Commander
+# param set-default COM_HOME_EN 0 # Disable setting of home position
+
 param set-default MPC_ALT_MODE 2
 
 param set-default SENS_FLOW_ROT 6

ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_depth_camera

@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor with a depth camera (forward-facing)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris

ROMFS/px4fmu_common/init.d-posix/airframes/1016_gazebo-classic_iris_downward_depth_camera

@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor with a depth camera (downward-facing)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -7,6 +7,7 @@
 
 param set-default FW_LAUN_DETCN_ON 1
 param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
+param set-default FW_LAUN_AC_THLD 10
 
 param set-default FW_LND_ANG 8
 

ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane

@@ -8,7 +8,6 @@
 
 
 param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
 
 param set-default NPFG_PERIOD 12
 
@@ -36,7 +35,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-#param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1
 
 param set-default CA_ROTOR_COUNT 1
@@ -61,7 +59,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -39,8 +39,10 @@ px4_add_romfs_files(
 	1012_gazebo-classic_iris_rplidar
 	1013_gazebo-classic_iris_vision
 	1013_gazebo-classic_iris_vision.post
-	1015_gazebo-classic_iris_obs_avoid
-	1015_gazebo-classic_iris_obs_avoid.post
+	1014_gazebo-classic_iris_obs_avoid
+	1014_gazebo-classic_iris_obs_avoid.post
+	1015_gazebo-classic_iris_depth_camera
+	1016_gazebo-classic_iris_downward_depth_camera
 	1017_gazebo-classic_iris_opt_flow_mockup
 	1019_gazebo-classic_iris_dual_gps
 	1021_gazebo-classic_uuv_hippocampus

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -38,5 +38,3 @@ param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_TIM0 -4
-

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie

@@ -43,7 +43,6 @@ param set-default MC_ROLLRATE_P 0.07
 param set-default MC_YAW_P 3
 
 param set-default MPC_THR_HOVER 0.7
-param set-default MPC_THR_MAX 1
 param set-default MPC_Z_P 1.5
 param set-default MPC_Z_VEL_P_ACC 8
 param set-default MPC_Z_VEL_I_ACC 6

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -42,7 +42,6 @@ param set-default MC_ROLLRATE_P 0.07
 param set-default MC_YAW_P 3
 
 param set-default MPC_THR_HOVER 0.7
-param set-default MPC_THR_MAX 1
 param set-default MPC_Z_P 1.5
 param set-default MPC_Z_VEL_P_ACC 8
 param set-default MPC_Z_VEL_I_ACC 6

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -34,6 +34,7 @@ param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
 param set-default EKF2_REQ_SACC 1
 param set-default EKF2_REQ_VDRIFT 1.0
+param set-default EKF2_RNG_QLTY_T 3.0
 
 param set-default RTL_TYPE 1
 param set-default RTL_RETURN_ALT 100

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -172,6 +172,12 @@ then
 	ms5525dso start -X
 fi
 
+# TE ASP5033 differential pressure sensor external I2C
+if param compare -s SENS_EN_ASP5033 1
+then
+	asp5033 start -X
+fi
+
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then

ROMFS/px4fmu_common/init.d/rcS

@@ -93,6 +93,14 @@ then
 		fi
 	fi
 
+	# Check for an update of the ext_autostart folder, and replace the old one with it
+	if [ -e /fs/microsd/ext_autostart_new ]
+	then
+		echo "Updating external autostart files"
+		rm -r $SDCARD_EXT_PATH
+		mv /fs/microsd/ext_autostart_new $SDCARD_EXT_PATH
+	fi
+
 	set PARAM_FILE /fs/microsd/params
 	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
 fi
@@ -529,6 +537,10 @@ else
 			cyphal start
 		fi
 	fi
+	if param greater -s ZENOH_ENABLE 0
+	then
+		zenoh start
+	fi
 
 #
 # End of autostart.

Tools/astyle/files_to_check_code_style.sh

@@ -26,4 +26,7 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/libtomcrypt -prune -o \
     -path src/lib/crypto/libtommath -prune -o \
     -path src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client -prune -o \
+    -path src/lib/cdrstream/cyclonedds -prune -o \
+    -path src/lib/cdrstream/rosidl -prune -o \
+    -path src/drivers/zenoh/zenoh-pico -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/auterion/remote_update_fmu.sh

@@ -0,0 +1,115 @@
+#!/bin/bash
+# Flash PX4 to a device running AuterionOS in the local network
+if [ "$1" == "-h" ] || [ "$1" == "--help" ] || [ $# -lt 2 ]; then
+	echo "Usage: $0 -f <firmware.px4|.elf> [-c <configuration_dir>] -d <IP/Device> [-u <user>] [-p <ssh_port>] [--revert]"
+	exit 1
+fi
+
+ssh_port=22
+ssh_user=root
+
+while getopts ":f:c:d:p:u:r" opt; do
+	case ${opt} in
+		f )
+			if [ -n "$OPTARG" ]; then
+				firmware_file="$OPTARG"
+			else
+				echo "ERROR: -f requires a non-empty option argument."
+				exit 1
+			fi
+			;;
+		c )
+			if [ -f "$OPTARG/rc.autostart" ]; then
+				config_dir="$OPTARG"
+			else
+				echo "ERROR: -c configuration directory is empty or does not contain a valid rc.autostart"
+				exit 1
+			fi
+			;;
+		d )
+			if [ "$OPTARG" ]; then
+				device="$OPTARG"
+			else
+				echo "ERROR: -d requires a non-empty option argument."
+				exit 1
+			fi
+			;;
+		p )
+			if [[ "$OPTARG" =~ ^[0-9]+$ ]]; then
+				ssh_port="$OPTARG"
+			else
+				echo "ERROR: -p ssh_port must be a number."
+				exit 1
+			fi
+			;;
+		u )
+			if [ "$OPTARG" ]; then
+				ssh_user="$OPTARG"
+			else
+				echo "ERROR: -u requires a non-empty option argument."
+				exit 1
+			fi
+			;;
+		r )
+			revert=true
+			;;
+	esac
+done
+
+if [ -z "$device" ]; then
+	echo "Error: missing device"
+	exit 1
+fi
+
+target_dir=/shared_container_dir/fmu
+target_file_name="update-dev.tar"
+
+if [ "$revert" == true ]; then
+	# revert to the release version which was originally deployed
+	cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
+	ssh -t -p $ssh_port $ssh_user@$device "$cmd"
+else
+	# create custom update-dev.tar
+	tmp_dir="$(mktemp -d)"
+	config_path=""
+	firmware_path=""
+
+	if [ -d "$config_dir" ]; then
+		cp -r "$config_dir" "$tmp_dir/config"
+		config_path=config
+	fi
+
+	if [ -f "$firmware_file" ]; then
+		extension="${firmware_file##*.}"
+		cp "$firmware_file" "$tmp_dir/firmware.$extension"
+		if [ "$extension" == "elf" ]; then
+			# ensure the file is stripped to reduce file size
+			arm-none-eabi-strip "$tmp_dir/firmware.$extension"
+		fi
+		firmware_path="firmware.$extension"
+	fi
+
+	pushd "$tmp_dir" &>/dev/null
+
+	if [ -z $firmware_path ] && [ -z $config_path ]; then
+		exit 1
+	fi
+
+	tar_name="tar"
+
+	if [ -x "$(command -v gtar)" ]; then
+		# check if gnu-tar is installed on macOS and use that instead
+		tar_name="gtar"
+	fi
+
+	$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path
+
+	# send it to the target to start flashing
+	scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
+	popd &>/dev/null
+	rm -rf "$tmp_dir"
+fi
+
+# grab status output for flashing progress
+cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
+ssh -t -p $ssh_port $ssh_user@$device "$cmd"