Merge branch 'main' into board_specific_dds_topics

.gitmodules

@@ -2,10 +2,6 @@
 	path = src/modules/mavlink/mavlink
 	url = https://github.com/mavlink/mavlink.git
 	branch = master
-[submodule "src/drivers/uavcan/libuavcan"]
-	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/dronecan/libuavcan.git
-	branch = main
 [submodule "Tools/simulation/jmavsim/jMAVSim"]
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -87,3 +83,9 @@
 	path = src/drivers/actuators/vertiq_io/iq-module-communication-cpp
 	url = https://github.com/PX4/iq-module-communication-cpp.git
 	branch = master
+[submodule "src/drivers/uavcan/libdronecan/dsdl"]
+	path = src/drivers/uavcan/libdronecan/dsdl
+	url = https://github.com/PX4/DSDL.git
+[submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
+	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
+	url = https://github.com/dronecan/pydronecan

Documentation/Doxyfile.in

@@ -828,7 +828,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
+EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libdronecan \
                          @CMAKE_SOURCE_DIR@/src/examples \
                          @CMAKE_SOURCE_DIR@/src/templates
 

ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5

@@ -42,12 +42,16 @@ param set-default CA_ROTOR3_PX -0.0762
 param set-default CA_ROTOR3_PY 0.09525
 param set-default CA_ROTOR3_KM -0.05
 
+param set-default PWM_MAIN_TIM0 -3
+param set-default DSHOT_TEL_CFG 104
+
 param set-default EKF2_MIN_RNG 0.01
 param set-default EKF2_OF_POS_X 0.043
 param set-default EKF2_OF_POS_Y 0.011
 param set-default EKF2_OF_QMIN_GND 1
 param set-default EKF2_RNG_POS_X 0.043
 param set-default EKF2_RNG_POS_Y 0.0
+param set-default EKF2_RNG_A_HMAX 25.0
 
 param set-default IMU_GYRO_DNF_EN 2
 
@@ -78,3 +82,9 @@ param set-default SENS_FLOW_MINHGT 0.0
 param set-default SER_TEL2_BAUD 3000000
 
 param set-default UXRCE_DDS_CFG 102
+
+param set-default EKF2_HGT_REF 2
+
+# I saw a very sketchy extreme yaw setpoint that I cant explain
+# https://review.px4.io/plot_app?log=4b69399f-b001-4dc2-acd5-e779fe266799
+param set-default MC_YAWRATE_MAX 100

Tools/astyle/files_to_check_code_style.sh

@@ -11,7 +11,7 @@ exec find boards msg src platforms test \
     -path platforms/nuttx/NuttX -prune -o \
     -path platforms/qurt/dspal -prune -o \
     -path src/drivers/ins/vectornav/libvnc -prune -o \
-    -path src/drivers/uavcan/libuavcan -prune -o \
+    -path src/drivers/uavcan/libdronecan -prune -o \
     -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
     -path src/drivers/cyphal/libcanard -prune -o \
     -path src/lib/crypto/monocypher -prune -o \

Tools/px_uploader.py

@@ -428,7 +428,8 @@ def __drawProgressBar(self, label, progress, maxVal):
 
         percent = (float(progress) / float(maxVal)) * 100.0
 
-        sys.stdout.write("\r%s: [%-20s] %.1f%%" % (label, '='*int(percent/5.0), percent))
+        redraw = "\r" if sys.stdout.isatty() else "\n"
+        sys.stdout.write("%s%s: [%-20s] %.1f%%" % (redraw, label, '='*int(percent/5.0), percent))
         sys.stdout.flush()
 
     # send the CHIP_ERASE command and wait for the bootloader to become ready

boards/holybro/kakuteh7/default.px4board

@@ -34,10 +34,10 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+CONFIG_EKF2_EXTERNAL_VISION=y
 # CONFIG_EKF2_AUXVEL is not set
 # CONFIG_EKF2_BARO_COMPENSATION is not set
 # CONFIG_EKF2_DRAG_FUSION is not set
-# CONFIG_EKF2_EXTERNAL_VISION is not set
 # CONFIG_EKF2_GNSS_YAW is not set
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_ESC_BATTERY=y

boards/holybro/kakuteh7mini/default.px4board

@@ -33,10 +33,10 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+CONFIG_EKF2_EXTERNAL_VISION=y
 # CONFIG_EKF2_AUXVEL is not set
 # CONFIG_EKF2_BARO_COMPENSATION is not set
 # CONFIG_EKF2_DRAG_FUSION is not set
-# CONFIG_EKF2_EXTERNAL_VISION is not set
 # CONFIG_EKF2_GNSS_YAW is not set
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_ESC_BATTERY=y

boards/holybro/kakuteh7v2/default.px4board

@@ -34,10 +34,10 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+CONFIG_EKF2_EXTERNAL_VISION=y
 # CONFIG_EKF2_AUXVEL is not set
 # CONFIG_EKF2_BARO_COMPENSATION is not set
 # CONFIG_EKF2_DRAG_FUSION is not set
-# CONFIG_EKF2_EXTERNAL_VISION is not set
 # CONFIG_EKF2_GNSS_YAW is not set
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_ESC_BATTERY=y

platforms/nuttx/src/bootloader/common/bl.c

@@ -153,6 +153,7 @@
 #define STATE_ALLOWS_REBOOT       (STATE_ALLOWS_ERASE|STATE_PROTO_PROG_MULTI|STATE_PROTO_GET_CRC)
 #  define SET_BL_STATE(s) bl_state |= (s)
 #endif
+#define STATE_ALLOWS_BOOTLOADER   (STATE_PROTO_GET_SYNC|STATE_PROTO_GET_DEVICE)
 
 static uint8_t bl_type;
 static uint8_t last_input;
@@ -1107,9 +1108,10 @@ bootloader(unsigned timeout)
 			continue;
 		}
 
-		// we got a command worth syncing, so kill the timeout because
-		// we are probably talking to the uploader
-		timeout = 0;
+		// We got a sync command as well as a get_device command, we are very likely talking to the uploader.
+		if ((bl_state & STATE_ALLOWS_BOOTLOADER) == STATE_ALLOWS_BOOTLOADER) {
+			timeout = 0;
+		}
 
 		// Set the bootloader port based on the port from which we received the first valid command
 		if (bl_type == NONE) {

src/drivers/actuators/vertiq_io/module.yaml

@@ -254,36 +254,36 @@ parameters:
                   The module IDs [32, 62] that should be asked for telemetry. The data received from these IDs will be published via the esc_status topic.
             type: bitmask
             bit:
-                32: Module ID 32
-                33: Module ID 33
-                34: Module ID 34
-                35: Module ID 35
-                36: Module ID 36
-                37: Module ID 37
-                38: Module ID 38
-                39: Module ID 39
-                40: Module ID 40
-                41: Module ID 41
-                42: Module ID 42
-                43: Module ID 43
-                44: Module ID 44
-                45: Module ID 45
-                46: Module ID 46
-                47: Module ID 47
-                48: Module ID 48
-                49: Module ID 49
-                50: Module ID 50
-                51: Module ID 51
-                52: Module ID 52
-                53: Module ID 53
-                54: Module ID 54
-                55: Module ID 55
-                56: Module ID 56
-                57: Module ID 57
-                58: Module ID 58
-                59: Module ID 59
-                60: Module ID 60
-                61: Module ID 61
-                62: Module ID 62
+                0: Module ID 32
+                1: Module ID 33
+                2: Module ID 34
+                3: Module ID 35
+                4: Module ID 36
+                5: Module ID 37
+                6: Module ID 38
+                7: Module ID 39
+                8: Module ID 40
+                9: Module ID 41
+                10: Module ID 42
+                11: Module ID 43
+                12: Module ID 44
+                13: Module ID 45
+                14: Module ID 46
+                15: Module ID 47
+                16: Module ID 48
+                17: Module ID 49
+                18: Module ID 50
+                19: Module ID 51
+                20: Module ID 52
+                21: Module ID 53
+                22: Module ID 54
+                23: Module ID 55
+                24: Module ID 56
+                25: Module ID 57
+                26: Module ID 58
+                27: Module ID 59
+                28: Module ID 60
+                29: Module ID 61
+                30: Module ID 62
             reboot_required: true
             default: 0

src/drivers/uavcan/CMakeLists.txt

@@ -31,12 +31,14 @@
 #
 ############################################################################
 
-set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/drivers/uavcan/libuavcan)
-set(LIBUAVCAN_DIR_DRIVERS ${PX4_SOURCE_DIR}/src/drivers/uavcan/uavcan_drivers)
+set(LIBDRONECAN_DIR ${PX4_SOURCE_DIR}/src/drivers/uavcan/libdronecan)
+set(LIBDRONECAN_DIR_DRIVERS ${PX4_SOURCE_DIR}/src/drivers/uavcan/uavcan_drivers)
 
-px4_add_git_submodule(TARGET git_uavcan PATH ${LIBUAVCAN_DIR})
+set(DSDLC_DIR "${PX4_SOURCE_DIR}/src/drivers/uavcan/libdronecan/dsdl")
+
+px4_add_git_submodule(TARGET git_uavcan_dsdl PATH ${DSDLC_DIR})
+px4_add_git_submodule(TARGET git_uavcan_pydronecan PATH ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/pydronecan)
 
-set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
 set(UAVCAN_PLATFORM "generic")
 
 if(CONFIG_ARCH_CHIP)
@@ -90,25 +92,24 @@ add_compile_options(
 	-Wno-address-of-packed-member
 )
 set(CMAKE_WARN_DEPRECATED OFF CACHE BOOL "" FORCE) # silence libuavcan deprecation warning for now (TODO: fix and remove)
-add_subdirectory(${LIBUAVCAN_DIR} libuavcan EXCLUDE_FROM_ALL)
+add_subdirectory(${LIBDRONECAN_DIR} libdronecan EXCLUDE_FROM_ALL)
 add_dependencies(uavcan prebuild_targets)
 
 # driver
-add_subdirectory(${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver libuavcan_drivers EXCLUDE_FROM_ALL)
+add_subdirectory(${LIBDRONECAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver libuavcan_drivers EXCLUDE_FROM_ALL)
 target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
-	${LIBUAVCAN_DIR}/libuavcan/include
-	${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
+	${LIBDRONECAN_DIR}/libuavcan/include
+	${LIBDRONECAN_DIR}/libuavcan/include/dsdlc_generated
 )
 
 
 # generated DSDL
-set(DSDLC_DIR "${PX4_SOURCE_DIR}/src/drivers/uavcan/dsdl")
 set(DSDLC_INPUTS
-	"${LIBUAVCAN_DIR}/dsdl/ardupilot"
-	"${LIBUAVCAN_DIR}/dsdl/com"
-	"${LIBUAVCAN_DIR}/dsdl/cuav"
-	"${LIBUAVCAN_DIR}/dsdl/dronecan"
-	"${LIBUAVCAN_DIR}/dsdl/uavcan"
+	"${DSDLC_DIR}/ardupilot"
+	"${DSDLC_DIR}/com"
+	"${DSDLC_DIR}/cuav"
+	"${DSDLC_DIR}/dronecan"
+	"${DSDLC_DIR}/uavcan"
 )
 set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
 
@@ -119,7 +120,7 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
 endforeach(DSDLC_INPUT)
 add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
 	COMMAND
-		${PYTHON_EXECUTABLE} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
+		${PYTHON_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
 			--outdir ${DSDLC_OUTPUT} ${DSDLC_INPUTS}
 			#--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
@@ -138,10 +139,10 @@ px4_add_module(
 		#-DDEBUG_BUILD
 	INCLUDES
 		${DSDLC_OUTPUT}
-		${LIBUAVCAN_DIR}/libuavcan/include
-		${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
-		${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include
-		${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
+		${LIBDRONECAN_DIR}/libuavcan/include
+		${LIBDRONECAN_DIR}/libuavcan/include/dsdlc_generated
+		${LIBDRONECAN_DIR_DRIVERS}/posix/include
+		${LIBDRONECAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
 	SRCS
 		arming_status.cpp
 		arming_status.hpp
@@ -191,7 +192,8 @@ px4_add_module(
 		mixer_module
 		version
 
-		git_uavcan
+		git_uavcan_dsdl
+		git_uavcan_pydronecan
 		uavcan_${UAVCAN_DRIVER}_driver
 
 		drivers_rangefinder # Fix undefined reference when no distance sensors are selected

src/drivers/uavcan/libdronecan/.gitignore

@@ -0,0 +1,30 @@
+# Build outputs
+*.o
+*.d
+lib*.so
+lib*.so.*
+*.a
+build*/
+.dep
+__pycache__
+*.pyc
+
+# Eclipse
+.metadata
+.settings
+.project
+.cproject
+.pydevproject
+.gdbinit
+
+# vsstudio code
+.vscode
+
+# vagrant
+.vagrant
+
+# libuavcan DSDL compiler default output directory
+dsdlc_generated
+
+# Log files
+*.log