Merge branch 'main' into gz_flow_model

dirksavage88 · Jul 17, 2024 · 87e00c3 · 87e00c3
2 parents ccd3299 + c5c27a8
commit 87e00c3
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diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile
@@ -47,7 +47,7 @@ pipeline {
                      "ark_fmu-v6x_bootloader",
                      "ark_fmu-v6x_default",
                      "ark_pi6x_bootloader",
-                     "ark_pi6x_default"
+                     "ark_pi6x_default",
                      "atl_mantis-edu_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie21_default",

diff --git a/.editorconfig b/.editorconfig
@@ -1,7 +1,7 @@
 root = true
 
 [*]
-insert_final_newline = false
+insert_final_newline = true
 
 [{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
 indent_style = tab

diff --git a/.github/workflows/checks.yml b/.github/workflows/checks.yml
@@ -23,6 +23,7 @@ jobs:
           "shellcheck_all",
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
           "NO_NINJA_BUILD=1 px4_sitl_default",
+          "px4_sitl_allyes",
           "airframe_metadata",
           "module_documentation",
           "parameters_metadata",

diff --git a/.github/workflows/mavros_mission_tests.yml b/.github/workflows/mavros_mission_tests.yml
@@ -11,6 +11,8 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
       matrix:

diff --git a/.github/workflows/mavros_offboard_tests.yml b/.github/workflows/mavros_offboard_tests.yml
@@ -11,6 +11,8 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
       matrix:

diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml
@@ -151,16 +151,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio_gps_default:
-      short: ark_septentrio_gps_default
+    ark_septentrio-gps_default:
+      short: ark_septentrio-gps_default
       buildType: MinSizeRel
       settings:
-        CONFIG: ark_septentrio_gps_default
-    ark_septentrio_gps_canbootloader:
-      short: ark_septentrio_gps_canbootloader
+        CONFIG: ark_septentrio-gps_default
+    ark_septentrio-gps_canbootloader:
+      short: ark_septentrio-gps_canbootloader
       buildType: MinSizeRel
       settings:
-        CONFIG: ark_septentrio_gps_canbootloader
+        CONFIG: ark_septentrio-gps_canbootloader
     ark_cannode_default:
       short: ark_cannode_default
       buildType: MinSizeRel

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -15,6 +15,7 @@
         "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
         "cmake.configureOnOpen": true,
         "cmake.ctest.parallelJobs": 1,
+        "cmake.options.statusBarVisibility": "compact",
         "cmake.skipConfigureIfCachePresent": true,
         "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
         "cmakeExplorer.parallelJobs": 1,

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 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
@@ -132,7 +132,9 @@ list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
 string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
 list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
 
-message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
+# # Capture only the hash part after 'g'
+string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}")
+set(PX4_GIT_HASH ${CMAKE_MATCH_1})
 
 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  BRIEF_DOCS "PX4 module libs"

diff --git a/Makefile b/Makefile
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 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
@@ -323,7 +323,32 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status
 
-bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: \
+	ark_fmu-v6x_bootloader \
+	ark_pi6x_bootloader \
+	cuav_nora_bootloader \
+	cuav_x7pro_bootloader \
+	cubepilot_cubeorange_bootloader \
+	cubepilot_cubeorangeplus_bootloader \
+	hkust_nxt-dual_bootloader \
+	hkust_nxt-v1_bootloader \
+	holybro_durandal-v1_bootloader \
+	holybro_kakuteh7_bootloader \
+	holybro_kakuteh7mini_bootloader \
+	holybro_kakuteh7v2_bootloader \
+	matek_h743_bootloader \
+	matek_h743-mini_bootloader \
+	matek_h743-slim_bootloader \
+	modalai_fc-v2_bootloader \
+	mro_ctrl-zero-classic_bootloader \
+	mro_ctrl-zero-h7_bootloader \
+	mro_ctrl-zero-h7-oem_bootloader \
+	mro_pixracerpro_bootloader \
+	px4_fmu-v6c_bootloader \
+	px4_fmu-v6u_bootloader \
+	px4_fmu-v6x_bootloader \
+	px4_fmu-v6xrt_bootloader \
+	siyi_n7_bootloader
 	git status
 
 .PHONY: coverity_scan

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane
@@ -24,8 +24,6 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default BAT_N_CELLS 3
-
 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
@@ -33,8 +33,6 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default BAT_N_CELLS 3
-
 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal
@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric
@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo b/ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo
@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1
 
 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal
@@ -25,7 +25,6 @@ param set-default FW_W_EN 1
 
 param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500 b/ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500
@@ -52,3 +52,4 @@ param set-default SIM_GZ_EC_MAX3 1000
 param set-default SIM_GZ_EC_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60
+param set-default NAV_DLL_ACT 2
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
@@ -101,8 +101,9 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1
 
 param set-default NAV_ACC_RAD 5
+param set-default NAV_DLL_ACT 2
 
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
+param set-default VT_F_TRANS_THR 0.3
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision b/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
@@ -132,3 +132,5 @@ param set-default SIM_GZ_EC_MAX1 1100
 param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100
+
+param set-default NAV_DLL_ACT 2
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann b/ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann
@@ -0,0 +1,47 @@
+#!/bin/sh
+# @name Rover Ackermann
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+# Rover parameters
+param set-default NAV_ACC_RAD 0.5
+param set-default RA_ACC_RAD_GAIN 2
+param set-default RA_ACC_RAD_MAX 3
+param set-default RA_LOOKAHD_GAIN 1
+param set-default RA_LOOKAHD_MAX 10
+param set-default RA_LOOKAHD_MIN 1
+param set-default RA_MAX_ACCEL 1.5
+param set-default RA_MAX_JERK 15
+param set-default RA_MAX_SPEED 3
+param set-default RA_MAX_STR_ANG 0.5236
+param set-default RA_MAX_STR_RATE 360
+param set-default RA_MISS_VEL_DEF 3
+param set-default RA_MISS_VEL_GAIN 5
+param set-default RA_MISS_VEL_MIN 1
+param set-default RA_SPEED_I 0.01
+param set-default RA_SPEED_P 2
+param set-default RA_WHEEL_BASE 0.321
+
+# Simulated sensors
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 0
+
+# Wheels
+param set-default SIM_GZ_WH_FUNC1 101
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_DIS1 100
+
+# Steering
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_REV 1
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4013_gz_x500_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/4013_gz_x500_lidar
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 lidar
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -83,7 +83,9 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
-	4014_gz_x500_flow
+	4012_gz_rover_ackermann
+	4013_gz_x500_lidar
+  4014_gz_x500_flow
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
@@ -15,6 +15,9 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 	if [ -n "${PX4_HOME_LON}" ]; then
 		param set SIH_LOC_LON0 ${PX4_HOME_LON}
 	fi
+	if [ -n "${PX4_HOME_ALT}" ]; then
+		param set SIH_LOC_H0 ${PX4_HOME_ALT}
+	fi
 
 	if simulator_sih start; then
 

diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -157,6 +157,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 
 # disable check, no CPU load reported on posix yet
 param set-default COM_CPU_MAX -1
+param set-default COM_RAM_MAX -1
 
 # Don't require RC calibration and configuration
 param set-default COM_RC_IN_MODE 1

diff --git a/ROMFS/px4fmu_common/init.d/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
@@ -84,6 +84,13 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()
 
+if(CONFIG_MODULES_ROVER_ACKERMANN)
+	px4_add_romfs_files(
+		rc.rover_ackermann_apps
+		rc.rover_ackermann_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps

diff --git a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
@@ -44,8 +44,6 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default BAT_N_CELLS 3
-
 param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402

diff --git a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
@@ -62,8 +62,6 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default BAT_N_CELLS 3
-
 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
 param set SIH_MASS 0.2

diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@@ -66,7 +66,6 @@ param set-default MC_PITCHRATE_I 0.05
 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1
 
-param set-default MIS_DIST_1WP 100
 param set-default MIS_TAKEOFF_ALT 15
 
 param set-default MPC_XY_P 0.8

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
@@ -6,6 +6,7 @@
 # @class Copter
 #
 # @board px4_fmu-v2 exclude
+# @board px4_fmu-v5x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <[email protected]>

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
@@ -7,6 +7,10 @@
 #
 # @maintainer
 # @board px4_fmu-v2 exclude
+# @board cuav_x7pro exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
@@ -36,7 +40,6 @@ param set-default COM_RC_LOSS_T 3
 
 
 # ekf2
-param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_NOISE 2
 
 param set-default EKF2_BCOEF_X 31.5

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
@@ -12,6 +12,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
@@ -10,6 +10,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4
@@ -8,6 +8,7 @@
 # @maintainer Oleg Kalachev <[email protected]>
 #
 # @board px4_fmu-v2 exclude
+# @board px4_fmu-v4pro exclude
 # @board bitcraze_crazyflie exclude
 #
 

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5 b/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5
@@ -25,7 +25,6 @@
 param set-default BAT1_CAPACITY 4000
 param set-default BAT1_N_CELLS 6
 param set-default BAT1_V_EMPTY 3.3
-param set-default BAT1_V_LOAD_DROP 0.5
 param set-default BAT_AVRG_CURRENT 13
 
 # Square quadrotor X PX4 numbering
Original file line number	Diff line number	Diff line change
Expand Up		@@ -52,3 +52,4 @@ param set-default SIM_GZ_EC_MAX3 1000
		param set-default SIM_GZ_EC_MAX4 1000

		param set-default MPC_THR_HOVER 0.60
		param set-default NAV_DLL_ACT 2