Updated to match main

.github/workflows/industrial_ci_action.yml

@@ -27,6 +27,8 @@ jobs:
       CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
     steps:
       - uses: actions/checkout@v4 # clone target repository
+        with:
+          submodules: recursive
       - uses: actions/cache@v4 # fetch/store the directory used by ccache before/after the ci run
         with:
           path: ${{ env.CCACHE_DIR }}

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "src/surface/ros2_video_streamer"]
 	path = src/surface/ros2_video_streamer
 	url = git@github.com:CWRUbotix/ros2_video_streamer.git
+[submodule "src/pi/mavros"]
+	path = src/pi/mavros
+	url = https://github.com/mavlink/mavros.git

.pre-commit-config.yaml

@@ -2,7 +2,7 @@
 repos:
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: v0.7.1
+    rev: v0.9.1
     hooks:
       # Run the linter.
       - id: ruff
@@ -11,7 +11,7 @@ repos:
       # Run the formatter.
       - id: ruff-format
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.2
+    rev: v19.1.6
     hooks:
       - id: clang-format
         types_or: [c++, c]
@@ -21,6 +21,6 @@ repos:
     hooks:
       - id: trailing-whitespace
   - repo: https://github.com/google/yamlfmt
-    rev: v0.13.0
+    rev: v0.15.0
     hooks:
       - id: yamlfmt

src/pi/manipulators/manipulators/valve_manipulator_dry_run.py

@@ -7,6 +7,7 @@
 FREQ = 50
 
 gpio_handle = lgpio.gpiochip_open(0)
+lgpio.gpio_claim_output(gpio_handle, SERVO_PIN)
 
 
 def test_gpio(width: int, freq: int = 50) -> None:

src/pi/manipulators/manipulators/valve_manipulator_node.py

@@ -1,3 +1,5 @@
+from typing import Final
+
 import lgpio
 import rclpy
 from rclpy.node import Node
@@ -6,7 +8,7 @@
 from rov_msgs.msg import ValveManip
 
 # Configuration
-SERVO_PIN = 12  # pin used to drive Valve Manip
+SERVO_PIN: Final = 12  # pin used to drive Valve Manip
 
 
 class ValveManipulator(Node):
@@ -17,6 +19,7 @@ def __init__(self) -> None:
         )
 
         self.gpio_handle = lgpio.gpiochip_open(0)
+        lgpio.gpio_claim_output(self.gpio_handle, SERVO_PIN)
         self.curr_active = False
 
     def servo(self, width: int, freq: int = 50) -> None:

src/pi/pi_main/pi_main/run_on_boot.py

@@ -17,7 +17,7 @@ def main() -> None:
     pi_main_share = get_package_share_directory('pi_main')
 
     file_location = Path(__file__).parent.resolve()
-    udev_script = str(file_location / 'copy.py')
+    udev_script = str(file_location / 'copy_udev.py')
 
     cmd = ['/usr/bin/sudo', '/usr/bin/python3', udev_script, pi_main_share]
 

src/pi/pixhawk_communication/launch/mavros_launch.py

@@ -26,12 +26,12 @@ def generate_launch_description() -> LaunchDescription:
             # receive a signal from a GCS.
             {'system_id': 255},
             # plugin_allowlist allows which mavros nodes get launched. The default is all of them.
-            {'plugin_allowlist': ['sys_status', 'rc_io', 'command']},
+            {'plugin_allowlist': ['sys_status', 'rc_io', 'command', 'manual_control']},
             {'fcu_url': '/dev/ttyPixhawk'},
         ],
         remappings=[
             ('/pi/mavros/state', '/tether/mavros/state'),
-            ('/pi/mavros/rc/override', '/tether/mavros/rc/override'),
+            ('/pi/mavros/manual_control/send', '/tether/mavros/manual_control/send'),
             ('/pi/mavros/cmd/arming', '/tether/mavros/cmd/arming'),
             ('/pi/mavros/cmd/command', '/tether/mavros/cmd/command'),
         ],

src/surface/flight_control/flight_control/manual_control_node.py

@@ -57,8 +57,8 @@ class ControllerMode(IntEnum):
 
 @dataclass
 class ControllerProfile:
-    manip_left: int = X_BUTTON
-    manip_right: int = O_BUTTON
+    manip_left: int = O_BUTTON
+    manip_right: int = X_BUTTON
     valve_clockwise: int = TRI_BUTTON
     valve_counterclockwise: int = SQUARE_BUTTON
     roll_left: int = L1 # positive roll
@@ -168,16 +168,14 @@ def joystick_to_pixhawk(self, msg: Joy) -> None:
 
     def manip_callback(self, msg: Joy) -> None:
         buttons: MutableSequence[int] = msg.buttons
-
         for button_id, manip_button in self.manip_buttons.items():
             just_pressed = buttons[button_id] == PRESSED
-
             if manip_button.last_button_state is False and just_pressed:
                 new_manip_state = not manip_button.is_active
                 manip_button.is_active = new_manip_state
-
                 manip_msg = Manip(manip_id=manip_button.claw, activated=manip_button.is_active)
                 self.manip_publisher.publish(manip_msg)
+
             manip_button.last_button_state = just_pressed
 
     def valve_manip_callback(self, msg: Joy) -> None:

src/surface/flight_control/flight_control/multiplexer.py

@@ -1,7 +1,8 @@
 from collections.abc import Callable
+from typing import Final
 
 import rclpy
-from mavros_msgs.msg import OverrideRCIn
+from mavros_msgs.msg import ManualControl
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from rclpy.qos import QoSPresetProfiles
@@ -17,9 +18,14 @@
 
 # Range of values Pixhawk takes
 # In microseconds
-ZERO_SPEED = 1500
-MAX_RANGE_SPEED = 400
-RANGE_SPEED = MAX_RANGE_SPEED * SPEED_THROTTLE
+ZERO_SPEED: Final = 0
+Z_ZERO_SPEED: Final = 500
+MAX_RANGE_SPEED: Final = 2000
+Z_MAX_RANGE_SPEED: Final = 1000
+RANGE_SPEED: Final = MAX_RANGE_SPEED * SPEED_THROTTLE
+Z_RANGE_SPEED: Final = Z_MAX_RANGE_SPEED * SPEED_THROTTLE
+
+EXTENSIONS_CODE: Final = 0b00000011
 
 # Channels for RC command
 MAX_CHANNEL = 8
@@ -57,36 +63,39 @@ def __init__(self) -> None:
             QoSPresetProfiles.DEFAULT.value,
         )
 
-        self.rc_pub = self.create_publisher(
-            OverrideRCIn, 'mavros/rc/override', QoSPresetProfiles.DEFAULT.value
+        self.mc_pub = self.create_publisher(
+            ManualControl, 'mavros/manual_control/send', QoSPresetProfiles.DEFAULT.value
         )
 
     @staticmethod
     def apply(msg: PixhawkInstruction, function_to_apply: Callable[[float], float]) -> None:
         """Apply a function to each dimension of this PixhawkInstruction."""
         msg.forward = function_to_apply(msg.forward)
-        msg.vertical = function_to_apply(msg.vertical)
+        msg.vertical = msg.vertical
         msg.lateral = function_to_apply(msg.lateral)
         msg.pitch = function_to_apply(msg.pitch)
         msg.yaw = function_to_apply(msg.yaw)
         msg.roll = function_to_apply(msg.roll)
 
     @staticmethod
-    def to_override_rc_in(msg: PixhawkInstruction) -> OverrideRCIn:
+    def to_manual_control(msg: PixhawkInstruction) -> ManualControl:
         """Convert this PixhawkInstruction to an rc_msg with the appropriate channels array."""
-        rc_msg = OverrideRCIn()
+        mc_msg = ManualControl()
 
         # Maps to PWM
-        MultiplexerNode.apply(msg, lambda value: int(RANGE_SPEED * value) + ZERO_SPEED)
+        MultiplexerNode.apply(msg, lambda value: (RANGE_SPEED * value) + ZERO_SPEED)
 
-        rc_msg.channels[FORWARD_CHANNEL] = msg.forward
-        rc_msg.channels[THROTTLE_CHANNEL] = msg.vertical
-        rc_msg.channels[LATERAL_CHANNEL] = msg.lateral
-        rc_msg.channels[PITCH_CHANNEL] = msg.pitch
-        rc_msg.channels[YAW_CHANNEL] = msg.yaw
-        rc_msg.channels[ROLL_CHANNEL] = msg.roll
+        mc_msg.x = msg.forward
+        mc_msg.z = (
+            Z_RANGE_SPEED * msg.vertical
+        ) + Z_ZERO_SPEED  # To account for different z limits
+        mc_msg.y = msg.lateral
+        mc_msg.r = msg.yaw
+        mc_msg.enabled_extensions = EXTENSIONS_CODE
+        mc_msg.s = msg.pitch
+        mc_msg.t = msg.roll
 
-        return rc_msg
+        return mc_msg
 
     def state_control(
         self, req: AutonomousFlight.Request, res: AutonomousFlight.Response
@@ -106,14 +115,15 @@ def control_callback(self, msg: PixhawkInstruction) -> None:
         elif (
             msg.author == PixhawkInstruction.KEYBOARD_CONTROL
             and self.state == AutonomousFlight.Request.STOP
-            or msg.author == PixhawkInstruction.AUTONOMOUS_CONTROL
+        ) or (
+            msg.author == PixhawkInstruction.AUTONOMOUS_CONTROL
             and self.state == AutonomousFlight.Request.START
         ):
             pass
         else:
             return
 
-        self.rc_pub.publish(msg=self.to_override_rc_in(msg))
+        self.mc_pub.publish(self.to_manual_control(msg))
 
 
 def main() -> None:

src/surface/flight_control/launch/flight_control_launch.py

@@ -38,7 +38,7 @@ def generate_launch_description() -> LaunchDescription:
     multiplexer_node = Node(
         package='flight_control',
         executable='multiplexer_node',
-        remappings=[('/surface/mavros/rc/override', '/tether/mavros/rc/override')],
+        remappings=[('/surface/mavros/manual_control/send', '/tether/mavros/manual_control/send')],
         emulate_tty=True,
         output='screen',
     )

src/surface/flight_control/test/test_manual_control.py

@@ -1,13 +1,9 @@
 import rclpy
 from flight_control.manual_control_node import ManualControlNode
 from flight_control.multiplexer import (
-    FORWARD_CHANNEL,
-    LATERAL_CHANNEL,
-    PITCH_CHANNEL,
     RANGE_SPEED,
-    ROLL_CHANNEL,
-    THROTTLE_CHANNEL,
-    YAW_CHANNEL,
+    Z_RANGE_SPEED,
+    Z_ZERO_SPEED,
     ZERO_SPEED,
     MultiplexerNode,
 )
@@ -35,14 +31,14 @@ def test_joystick_profiles() -> None:
         roll=0.92,
     )
 
-    msg = MultiplexerNode.to_override_rc_in(instruction)
+    msg = MultiplexerNode.to_manual_control(instruction)
 
-    assert msg.channels[FORWARD_CHANNEL] == ZERO_SPEED
-    assert msg.channels[THROTTLE_CHANNEL] == (ZERO_SPEED + RANGE_SPEED)
-    assert msg.channels[LATERAL_CHANNEL] == (ZERO_SPEED - RANGE_SPEED)
+    assert msg.x == ZERO_SPEED
+    assert msg.z == (Z_ZERO_SPEED + Z_RANGE_SPEED)
+    assert msg.y == (ZERO_SPEED - RANGE_SPEED)
 
     # 1539 1378
 
-    assert msg.channels[PITCH_CHANNEL] == ZERO_SPEED + int(RANGE_SPEED * 0.34)
-    assert msg.channels[YAW_CHANNEL] == ZERO_SPEED + int(RANGE_SPEED * -0.6)
-    assert msg.channels[ROLL_CHANNEL] == ZERO_SPEED + int(RANGE_SPEED * 0.92)
+    assert msg.s == ZERO_SPEED + int(RANGE_SPEED * 0.34)
+    assert msg.r == ZERO_SPEED + int(RANGE_SPEED * -0.6)
+    assert msg.t == ZERO_SPEED + int(RANGE_SPEED * 0.92)

src/surface/gui/gui/widgets/float_comm.py

@@ -136,10 +136,9 @@ def handle_data(self, msg: FloatData) -> None:
         time_data = list(msg.time_data)
         depth_data = list(msg.depth_data)
 
-        if (
-            msg.profile_number == 0
-            and self.completed_profile_one
-            or msg.profile_number not in (0, 1)
+        if (msg.profile_number == 0 and self.completed_profile_one) or msg.profile_number not in (
+            0,
+            1,
         ):
             return
 

src/surface/transceiver/transceiver/serial_reader.py

@@ -130,16 +130,15 @@ def message_parser(self, packet: str) -> FloatData:
 
         if len(packet_sections) != PACKET_SECTIONS:
             raise ValueError(
-                f'Packet expected {PACKET_SECTIONS} sections, '
-                f'found {len(packet_sections)} sections'
+                f'Packet expected {PACKET_SECTIONS} sections, found {len(packet_sections)} sections'
             )
 
         header = packet_sections[1].split(COMMA_SEPARATOR)
         data = packet_sections[2]
 
         if len(header) != HEADER_LENGTH:
             raise ValueError(
-                f'Packet header length of {HEADER_LENGTH} expected ' f'found {len(header)} instead'
+                f'Packet header length of {HEADER_LENGTH} expected found {len(header)} instead'
             )
 
         msg.team_number = int(header[0])