Merge remote-tracking branch 'px4/master' into pr-sensors_accel_gyro_…

…calibration_cleanup
PX4 · Jun 18, 2020 · 44d2f11 · 44d2f11
2 parents bc34c71 + 588d551
commit 44d2f11
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diff --git a/.github/workflows/sitl_tests.yml b/.github/workflows/sitl_tests.yml
@@ -25,9 +25,9 @@ jobs:
       with:
         token: ${{ secrets.ACCESS_TOKEN }}
     - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.24.0/mavsdk_0.24.0_ubuntu18.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.27.0/mavsdk_0.27.0_ubuntu18.04_amd64.deb
     - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.24.0_ubuntu18.04_amd64.deb
+      run: dpkg -i mavsdk_0.27.0_ubuntu18.04_amd64.deb
     - uses: actions/cache@v1.1.0
       id: ccache-persistence
       with:

diff --git a/ROMFS/px4fmu_common/init.d-posix/10020_if750a b/ROMFS/px4fmu_common/init.d-posix/10020_if750a
@@ -8,5 +8,10 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Multi GPS blending (as the model has 2 GPS's)
+	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+fi
 
+set MIXER quad_x
diff --git a/ROMFS/px4fmu_common/init.d-posix/1019_iris_dual_gps b/ROMFS/px4fmu_common/init.d-posix/1019_iris_dual_gps
@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Dual GPS)
+#
+# @type Quadrotor Wide
+#
+
+sh /etc/init.d-posix/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Multi GPS blending
+	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+fi
diff --git a/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
@@ -36,8 +36,9 @@ then
 
 	param set VT_F_TRANS_DUR 5.0
 	param set VT_F_TRANS_THR 0.75
-	param set VT_TILT_FW 3.1415
-	param set VT_TILT_TRANS 1.2
+	param set VT_FWD_THRUST_SC 1.1
+	param set VT_TILT_FW 1
+	param set VT_TILT_TRANS 0.6
 	param set VT_ELEV_MC_LOCK 0
 	param set VT_TYPE 1
 	param set VT_B_TRANS_DUR 8

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -21,31 +21,6 @@ fi
 #                           Begin Optional drivers                            #
 ###############################################################################
 
-if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
-then
-	if param compare CBRK_AIRSPD_CHK 0
-	then
-		sdp3x_airspeed start -X
-		sdp3x_airspeed start -X -a 0x22
-
-		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
-		# detected as MS5525 because the chip manufacturer was so
-		# clever to assign the same I2C address and skip a WHO_AM_I
-		# register.
-		if [ $BOARD_FMUV3 = 21 ]
-		then
-			ms5525_airspeed start -X -b 2
-		else
-			ms5525_airspeed start -X
-		fi
-
-		ms4525_airspeed start -X
-
-		ets_airspeed start -X
-
-	fi
-fi
-
 if param compare -s SENS_EN_BATT 1
 then
 	batt_smbus start -X
@@ -120,10 +95,47 @@ then
 	paw3902 -S start
 fi
 
+# probe for optional external I2C devices
+if param compare SENS_EXT_I2C_PRB 1
+then
+	# compasses
+	ak09916 -X -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
+	hmc5883 -T -X start
+	ist8308 -X start
+	ist8310 -X start
+	lis2mdl -X start
+	lis3mdl -X start
+	qmc5883 -X start
+	rm3100 -X start
+
+	# differential pressure sensors
+	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
+	then
+		if param compare CBRK_AIRSPD_CHK 0
+		then
+			sdp3x_airspeed start -X
+			sdp3x_airspeed start -X -a 0x22
+
+			# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
+			# detected as MS5525 because the chip manufacturer was so
+			# clever to assign the same I2C address and skip a WHO_AM_I
+			# register.
+			if [ $BOARD_FMUV3 = 21 ]
+			then
+				ms5525_airspeed start -X -b 2
+			else
+				ms5525_airspeed start -X
+			fi
+
+			ms4525_airspeed start -X
+
+			ets_airspeed start -X
+		fi
+	fi
+fi
+
 ###############################################################################
 #                            End Optional drivers                             #
 ###############################################################################
 
-# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
-usleep 20000
 sensors start
diff --git a/Tools/process_sensor_caldata.py b/Tools/process_sensor_caldata.py
@@ -171,7 +171,7 @@ def is_valid_directory(parser, arg):
     plt.subplot(3,1,1)
     plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['x'],'b')
     plt.plot(temp_resample,gyro_0_x_resample,'r')
-    plt.title('Gyro 0 Bias vs Temperature')
+    plt.title('Gyro 0 ({}) Bias vs Temperature'.format(gyro_0_params['TC_G0_ID']))
     plt.ylabel('X bias (rad/s)')
     plt.xlabel('temperature (degC)')
     plt.grid()
@@ -264,7 +264,7 @@ def is_valid_directory(parser, arg):
     plt.subplot(3,1,1)
     plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['x'],'b')
     plt.plot(temp_resample,gyro_1_x_resample,'r')
-    plt.title('Gyro 1 Bias vs Temperature')
+    plt.title('Gyro 1 ({}) Bias vs Temperature'.format(gyro_1_params['TC_G1_ID']))
     plt.ylabel('X bias (rad/s)')
     plt.xlabel('temperature (degC)')
     plt.grid()
@@ -357,7 +357,7 @@ def is_valid_directory(parser, arg):
     plt.subplot(3,1,1)
     plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['x'],'b')
     plt.plot(temp_resample,gyro_2_x_resample,'r')
-    plt.title('Gyro 2 Bias vs Temperature')
+    plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_2_params['TC_G2_ID']))
     plt.ylabel('X bias (rad/s)')
     plt.xlabel('temperature (degC)')
     plt.grid()
@@ -453,7 +453,7 @@ def is_valid_directory(parser, arg):
     plt.subplot(3,1,1)
     plt.plot(sensor_accel_0['temperature'],correction_x,'b')
     plt.plot(temp_resample,correction_x_resample,'r')
-    plt.title('Accel 0 Bias vs Temperature')
+    plt.title('Accel 0 ({}) Bias vs Temperature'.format(accel_0_params['TC_A0_ID']))
     plt.ylabel('X bias (m/s/s)')
     plt.xlabel('temperature (degC)')
     plt.grid()
@@ -549,7 +549,7 @@ def is_valid_directory(parser, arg):
     plt.subplot(3,1,1)
     plt.plot(sensor_accel_1['temperature'],correction_x,'b')
     plt.plot(temp_resample,correction_x_resample,'r')
-    plt.title('Accel 1 Bias vs Temperature')
+    plt.title('Accel 1 ({}) Bias vs Temperature'.format(accel_1_params['TC_A1_ID']))
     plt.ylabel('X bias (m/s/s)')
     plt.xlabel('temperature (degC)')
     plt.grid()
@@ -645,7 +645,7 @@ def is_valid_directory(parser, arg):
     plt.subplot(3,1,1)
     plt.plot(sensor_accel_2['temperature'],correction_x,'b')
     plt.plot(temp_resample,correction_x_resample,'r')
-    plt.title('Accel 2 Bias vs Temperature')
+    plt.title('Accel 2 ({}) Bias vs Temperature'.format(accel_2_params['TC_A2_ID']))
     plt.ylabel('X bias (m/s/s)')
     plt.xlabel('temperature (degC)')
     plt.grid()
@@ -715,7 +715,7 @@ def is_valid_directory(parser, arg):
 # draw plots
 plt.plot(sensor_baro_0['temperature'],100*sensor_baro_0['pressure']-100*median_pressure,'b')
 plt.plot(temp_resample,baro_0_x_resample,'r')
-plt.title('Baro 0 Bias vs Temperature')
+plt.title('Baro 0 ({}) Bias vs Temperature'.format(baro_0_params['TC_B0_ID']))
 plt.ylabel('Z bias (Pa)')
 plt.xlabel('temperature (degC)')
 plt.grid()
@@ -767,7 +767,7 @@ def is_valid_directory(parser, arg):
     # draw plots
     plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
     plt.plot(temp_resample,baro_1_x_resample,'r')
-    plt.title('Baro 1 Bias vs Temperature')
+    plt.title('Baro 1 ({}) Bias vs Temperature'.format(baro_1_params['TC_B1_ID']))
     plt.ylabel('Z bias (Pa)')
     plt.xlabel('temperature (degC)')
     plt.grid()
@@ -820,7 +820,7 @@ def is_valid_directory(parser, arg):
     # draw plots
     plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
     plt.plot(temp_resample,baro_2_x_resample,'r')
-    plt.title('Baro 2 Bias vs Temperature')
+    plt.title('Baro 2 ({}) Bias vs Temperature'.format(baro_2_params['TC_B2_ID']))
     plt.ylabel('Z bias (Pa)')
     plt.xlabel('temperature (degC)')
     plt.grid()

diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh
@@ -130,6 +130,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		libncurses-dev \
 		libtool \
 		pkg-config \
+		screen \
 		vim-common \
 		;
 

diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
diff --git a/boards/airmind/mindpx-v2/init/rc.board_sensors b/boards/airmind/mindpx-v2/init/rc.board_sensors
@@ -5,10 +5,6 @@
 
 adc start
 
-# External I2C bus
-hmc5883 -T -X start
-qmc5883 -X start
-
 # Internal I2C bus
 hmc5883 -T -I -R 12 start
 qmc5883 -I -R 12 start

diff --git a/boards/av/x-v1/init/rc.board_sensors b/boards/av/x-v1/init/rc.board_sensors
@@ -18,8 +18,3 @@ then
 	# try to start adis16497 only if pmw3901 isn't enabled, or parameter doesn't exists
 	adis16497 -S start
 fi
-
-# Possible external compasses
-ist8310 -X start
-hmc5883 -T -X start
-qmc5883 -X start
diff --git a/boards/bitcraze/crazyflie/init/rc.board_defaults b/boards/bitcraze/crazyflie/init/rc.board_defaults
@@ -14,6 +14,6 @@ fi
 
 if [ $AUTOCNF = yes ]
 then
-
+	# don't probe external I2C
+	param set SENS_EXT_I2C_PRB 0
 fi
-
diff --git a/boards/cuav/x7pro/default.cmake b/boards/cuav/x7pro/default.cmake
@@ -32,13 +32,14 @@ px4_add_board(
 		imu/adis16448
 		imu/adis16477
 		imu/adis16497
-		imu/bmi088
+		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		irlock
 		lights/blinkm
 		lights/rgbled
 		lights/rgbled_ncp5623c
+		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		mkblctrl
 		optical_flow # all available optical flow drivers
@@ -50,6 +51,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		safety_button
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm

diff --git a/boards/cuav/x7pro/init/rc.board_defaults b/boards/cuav/x7pro/init/rc.board_defaults
@@ -36,3 +36,6 @@ then
 fi
 
 set LOGGER_BUF 64
+
+rgbled_pwm start
+safety_button start
diff --git a/boards/cuav/x7pro/init/rc.board_sensors b/boards/cuav/x7pro/init/rc.board_sensors
@@ -17,10 +17,3 @@ ms5611 -s -b 4 start
 # SPI6 (internal)
 icm20649 -s -b 6 -R 2 start
 ms5611 -s -b 6 start
-
-
-# Possible external compasses
-ist8310 -X start
-hmc5883 -T -X start
-qmc5883 -X start
-lis3mdl -X start
diff --git a/boards/cuav/x7pro/src/board_config.h b/boards/cuav/x7pro/src/board_config.h
@@ -49,9 +49,7 @@
 #define GPIO_nLED_GREEN      /* PI6 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN6)
 #define GPIO_nLED_BLUE       /* PI7 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN7)
 
-#define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#define BOARD_OVERLOAD_LED     LED_RED
-#define BOARD_ARMED_STATE_LED  LED_BLUE
+#define BOARD_HAS_LED_PWM              1
 
 /* ADC channels */
 #define PX4_ADC_GPIO  \
@@ -122,17 +120,17 @@
 #define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen  */
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C   /* USB     is Chosen */
 
-#define GPIO_nVDD_5V_HIPOWER_EN         /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
+#define GPIO_VDD_5V_HIPOWER_EN          /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
 #define GPIO_nVDD_5V_PERIPH_EN          /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
 #define GPIO_VDD_5V_RC_EN               /* PG5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
 
-#define GPIO_nVDD_5V_HIPOWER_OC         /* PJ3 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN3)
+#define GPIO_VDD_5V_HIPOWER_OC          /* PJ3 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN3)
 #define GPIO_nVDD_5V_PERIPH_OC          /* PJ4 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN4)
 
 /* Power switch controls ******************************************************/
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
-#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_nVDD_5V_HIPOWER_EN, !(on_true))
+#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_EN, (on_true))
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
 
 #define SPEKTRUM_POWER(on_true)            px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
@@ -176,10 +174,12 @@
 /* RSSI_IN */
 #define GPIO_RSSI_IN                   /* PB0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
 
-/* Safety Switch is only on PX4IO */
-#define GPIO_nSAFETY_SWITCH_LED_OUT   /* PE12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN12) // FMU_LED_AMBER
+/* Safety Switch is only on FMU */
+#define FMU_LED_AMBER                 /* PE12 */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN12) // FMU_LED_AMBER
 #define GPIO_BTN_SAFETY               /* PE10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN10) // SAFETY_SW
 
+#define GPIO_LED_SAFETY FMU_LED_AMBER
+
 /* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
  * this board support the ADC system_power interface, and therefore
  * provides the true logic GPIO BOARD_ADC_xxxx macros.
@@ -189,7 +189,7 @@
 #define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
 #define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
 #define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
-#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
+#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_OC))
 
 
 /* This board provides a DMA pool and APIs */
@@ -220,8 +220,8 @@
 		GPIO_nPOWER_IN_C,                 \
 		GPIO_nVDD_5V_PERIPH_EN,           \
 		GPIO_nVDD_5V_PERIPH_OC,           \
-		GPIO_nVDD_5V_HIPOWER_EN,          \
-		GPIO_nVDD_5V_HIPOWER_OC,          \
+		GPIO_VDD_5V_HIPOWER_EN,           \
+		GPIO_VDD_5V_HIPOWER_OC,          \
 		GPIO_VDD_5V_RC_EN,                \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
@@ -233,7 +233,7 @@
 		GPIO_OTGFS_VBUS,                  \
 		PX4_GPIO_PIN_OFF(GPIO_HS_USB_EN), \
 		GPIO_RSSI_IN,                     \
-		GPIO_nSAFETY_SWITCH_LED_OUT,      \
+		FMU_LED_AMBER,                    \
 		GPIO_BTN_SAFETY,                  \
 	}
 

diff --git a/boards/cuav/x7pro/src/led.c b/boards/cuav/x7pro/src/led.c
@@ -64,17 +64,12 @@ __END_DECLS
 
 #  define xlat(p) (p)
 static uint32_t g_ledmap[] = {
-	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
-	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
-	GPIO_nSAFETY_SWITCH_LED_OUT,        // Indexed by LED_SAFETY (defaulted to an input)
-	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
+	FMU_LED_AMBER,        // Indexed by LED_SAFETY (defaulted to an output)
 };
 
 __EXPORT void led_init(void)
 {
 	/* Configure LED GPIOs for output */
-	g_ledmap[2] = GPIO_nSAFETY_SWITCH_LED_OUT;
-
 	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
 		if (g_ledmap[l] != 0) {
 			stm32_configgpio(g_ledmap[l]);