Merge branch 'master' into verbose_rc_override

.github/workflows/docs.yml

@@ -0,0 +1,25 @@
+name: Documentation
+
+on: [push]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python 3.x
+      uses: actions/setup-python@v1
+      with:
+        python-version: '3.x' 
+        architecture: 'x64' 
+    - name: Display Python version
+      run: python -c "import sys; print(sys.version)"
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install mkdocs mkdocs-material pygments pymdown-extensions
+    - name: Build Documentation
+      run: |
+        mkdocs build -s

.github/workflows/f1_firmware.yml

@@ -0,0 +1,21 @@
+name: F1 Firmware
+
+on: [push]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: checkout submodules
+      run: git submodule update --init --recursive
+    - name: install toolchain
+      run: |
+        sudo add-apt-repository -y -u ppa:team-gcc-arm-embedded/ppa
+        sudo apt -y install gcc-arm-embedded
+    - name: check toolchain
+      run: arm-none-eabi-gcc --version
+    - name: make
+      run: make BOARD=NAZE -j4 -l4

.github/workflows/f4_firmware.yml

@@ -0,0 +1,21 @@
+name: F4 Firmware
+
+on: [push]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: checkout submodules
+      run: git submodule update --init --recursive
+    - name: install toolchain
+      run: |
+        sudo add-apt-repository -y -u ppa:team-gcc-arm-embedded/ppa
+        sudo apt -y install gcc-arm-embedded
+    - name: check toolchain
+      run: arm-none-eabi-gcc --version
+    - name: make
+      run: make BOARD=REVO -j4 -l4

.github/workflows/pre-release.yml

@@ -0,0 +1,37 @@
+---
+name: "pre-release"
+
+on:
+  push:
+    branches:
+      - "master"
+
+jobs:
+  pre-release:
+    name: "Pre Release"
+    runs-on: "ubuntu-latest"
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: checkout submodules
+      run: git submodule update --init --recursive
+    - name: install toolchain
+      run: |
+        sudo add-apt-repository -y -u ppa:team-gcc-arm-embedded/ppa
+        sudo apt -y install gcc-arm-embedded
+    - name: check toolchain
+      run: arm-none-eabi-gcc --version
+    - name: make_f4
+      run: make BOARD=REVO -j4 -l4
+    - name: make_f1
+      run: make BOARD=NAZE -j4 -l4
+
+    - uses: "marvinpinto/action-automatic-releases@latest"
+      with:
+        repo_token: "${{ secrets.GITHUB_TOKEN }}"
+        automatic_release_tag: "latest"
+        prerelease: true
+        title: "Development Build"
+        files: |
+          boards/airbourne/build/rosflight_REVO_Release.bin
+          boards/breezy/build/rosflight_NAZE_Release.hex

.github/workflows/release.yml

@@ -0,0 +1,35 @@
+---
+name: "Release"
+
+on:
+  push:
+    tags:
+      - 'v*' # Push events to matching v*, i.e. v1.0, v20.15.10
+
+jobs:
+  release:
+    name: "Release"
+    runs-on: "ubuntu-latest"
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: checkout submodules
+      run: git submodule update --init --recursive
+    - name: install toolchain
+      run: |
+        sudo add-apt-repository -y -u ppa:team-gcc-arm-embedded/ppa
+        sudo apt -y install gcc-arm-embedded
+    - name: check toolchain
+      run: arm-none-eabi-gcc --version
+    - name: make_f4
+      run: make BOARD=REVO -j4 -l4
+    - name: make_f1
+      run: make BOARD=NAZE -j4 -l4
+
+    - uses: "marvinpinto/action-automatic-releases@latest"
+      with:
+        repo_token: "${{ secrets.GITHUB_TOKEN }}"
+        prerelease: false
+        files: |
+          boards/airbourne/build/rosflight_REVO_Release.bin
+          boards/breezy/build/rosflight_NAZE_Release.hex

.github/workflows/unit_tests.yml

@@ -0,0 +1,35 @@
+name: Unit Tests
+
+on: [push]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: clone
+      run: git submodule update --init --recursive
+    - name: apt install
+      run: sudo apt-get install -y build-essential cmake libgtest-dev libeigen3-dev
+    - name: install gtest
+      run: |
+        cd /usr/src/gtest
+        sudo cmake CMakeLists.txt 
+        sudo make 
+        sudo cp *.a /usr/lib
+    - name: cmake
+      run: |
+        cd test 
+        mkdir build 
+        cd build 
+        cmake .. -DCMAKE_BUILD_TYPE=Release
+    - name: make
+      run: |
+        cd test/build 
+        make
+    - name: test
+      run: |
+        cd test/build 
+        ./unit_tests

README.md

@@ -1,14 +1,19 @@
 # ROSflight
-[![Build Status](https://travis-ci.org/rosflight/firmware.svg?branch=master)](https://travis-ci.org/rosflight/firmware)
+
+![Unit Tests](https://github.com/rosflight/firmware/workflows/Unit%20Tests/badge.svg)
+![F4 Firmware](https://github.com/rosflight/firmware/workflows/F4%20Firmware/badge.svg)
+![F1 Firmware](https://github.com/rosflight/firmware/workflows/F1%20Firmware/badge.svg)
+
+![Documentation](https://github.com/rosflight/firmware/workflows/Documentation/badge.svg)
 
 This is the firmware required for STM32F10x-based flight controllers (Naze32, Flip32 etc...) and STM32F4x5 boards (Revo) to run ROSflight. ROSflight is a software architecture which uses a simple, inexpensive flight controller in tandem with a much more capable companion computer running ROS. The companion computer is given a high-bandwidth connection to the flight controller to access sensor information and perform actuator commands at high rates. This architecture provides direct control of lower-level functions via the embedded processor while also enabling more complicated functionality such as vision processing and optimization via the ROS middleware.
 
 ROSflight is designed to accomplish the following objectives:
 
 1. Provide simpler and easier methods to develop and run advanced autopilot code on both multirotor and fixed-wing UAVs without extensive embedded programming.
-1. Robust software-in-the-loop (SIL) simulation tools for rapid testing and development of UAV code.
-1. The extensive use of peer-reviewed sources for all critical control and estimation algorithms complete with official documentation explaining all critical code.
-1. Prioritize high-bandwidth, low-latency communication with a companion computer running ROS.
+2. Robust software-in-the-loop (SIL) simulation tools for rapid testing and development of UAV code.
+3. The extensive use of peer-reviewed sources for all critical control and estimation algorithms complete with official documentation explaining all critical code.
+4. Prioritize high-bandwidth, low-latency communication with a companion computer running ROS.
 
 These objectives will allow researchers to more easily develop, test and field UAV code by prioritizing offboard control, good documentation and robust development tools.
 

boards/airbourne/Makefile

@@ -128,7 +128,10 @@ AIRBOURNE_SRCS = led.cpp \
                  uart.cpp \
                  M25P16.cpp \
                  ms4525.cpp \
-                 backup_sram.cpp
+                 backup_sram.cpp \
+                 analog_digital_converter.cpp \
+                 analog_pin.cpp \
+                 battery_monitor.cpp \
 
 
 # board-specific source files

boards/airbourne/airbourne_board.cpp

@@ -145,6 +145,8 @@ void AirbourneBoard::sensors_init()
   sonar_.init(&ext_i2c_);
   airspeed_.init(&ext_i2c_);
   // gnss_.init(&uart1_);
+  battery_adc_.init(battery_monitor_config.adc);
+  battery_monitor_.init(battery_monitor_config, &battery_adc_, 0,0);
 }
 
 uint16_t AirbourneBoard::num_sensor_errors()
@@ -331,6 +333,36 @@ GNSSRaw AirbourneBoard::gnss_raw_read()
   return raw;
 }
 
+bool AirbourneBoard::battery_voltage_present() const
+{
+  return this->battery_monitor_.has_voltage_sense();
+}
+
+float AirbourneBoard::battery_voltage_read() const
+{
+  return static_cast<float>(this->battery_monitor_.read_voltage());
+}
+
+void AirbourneBoard::battery_voltage_set_multiplier(double multiplier)
+{
+  this->battery_monitor_.set_voltage_multiplier(multiplier);
+}
+
+bool AirbourneBoard::battery_current_present() const
+{
+  return this->battery_monitor_.has_current_sense();
+}
+
+float AirbourneBoard::battery_current_read() const
+{
+  return static_cast<float>(this->battery_monitor_.read_current());
+}
+
+void AirbourneBoard::battery_current_set_multiplier(double multiplier)
+{
+  this->battery_monitor_.set_current_multiplier(multiplier);
+}
+
 // PWM
 void AirbourneBoard::rc_init(rc_type_t rc_type)
 {
@@ -432,16 +464,27 @@ void AirbourneBoard::led1_toggle()
   led2_.toggle();
 }
 
-//Backup memory
-bool AirbourneBoard::has_backup_data()
+// Backup memory
+void AirbourneBoard::backup_memory_init()
 {
-  BackupData backup_data = backup_sram_read();
-  return (check_backup_checksum(backup_data) && backup_data.error_code!=0);
+  backup_sram_init();
 }
 
-rosflight_firmware::BackupData AirbourneBoard::get_backup_data()
+bool AirbourneBoard::backup_memory_read(void *dest, size_t len)
 {
-  return backup_sram_read();
+  backup_sram_read(dest, len);
+  return true; //!< @todo backup_sram_read() has no return value
 }
 
+void AirbourneBoard::backup_memory_write(const void *src, size_t len)
+{
+  backup_sram_write(src, len);
+}
+
+void AirbourneBoard::backup_memory_clear(size_t len)
+{
+  backup_sram_clear(len);
+}
+
+
 } // namespace rosflight_firmware

boards/airbourne/airbourne_board.h

@@ -57,6 +57,9 @@
 #include "uart.h"
 #include "mb1242.h"
 #include "backup_sram.h"
+#include "analog_digital_converter.h"
+#include "analog_pin.h"
+#include "battery_monitor.h"
 // #include "ublox.h"
 
 #include "board.h"
@@ -88,6 +91,8 @@ class AirbourneBoard : public Board
   LED led2_;
   LED led1_;
   M25P16 flash_;
+  AnalogDigitalConverter battery_adc_;
+  BatteryMonitor battery_monitor_;
   // UBLOX gnss_;
 
   enum SerialDevice : uint32_t
@@ -163,6 +168,14 @@ class AirbourneBoard : public Board
   bool gnss_present() override;
   void gnss_update() override;
 
+  bool battery_voltage_present() const override;
+  float battery_voltage_read() const override;
+  void battery_voltage_set_multiplier(double multiplier) override;
+
+  bool battery_current_present() const override;
+  float battery_current_read() const override;
+  void battery_current_set_multiplier(double multiplier) override;
+
   //GNSS
   GNSSData gnss_read() override;
   bool gnss_has_new_data() override;
@@ -191,9 +204,11 @@ class AirbourneBoard : public Board
   void led1_off() override;
   void led1_toggle() override;
 
-  //Backup Data
-  bool has_backup_data() override;
-  rosflight_firmware::BackupData get_backup_data() override;
+  // Backup Data
+  void backup_memory_init() override;
+  bool backup_memory_read(void *dest, size_t len) override;
+  void backup_memory_write(const void *src, size_t len) override;
+  void backup_memory_clear(size_t len) override;
 };
 
 } // namespace rosflight_firmware