Merge branch 'master' into mag-consistency-check

.ci/Jenkinsfile-SITL_tests

@@ -8,7 +8,7 @@ pipeline {
     stage('Build') {
       agent {
         docker {
-          image 'px4io/px4-dev-ros-kinetic:2019-03-08'
+          image 'px4io/px4-dev-ros-kinetic:2019-07-29'
           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
         }
       }
@@ -93,6 +93,13 @@ pipeline {
               vehicle: "iris_obs_avoid",
               run_script: "rostest_avoidance_run.sh"
             ],
+            [
+              name: "MC_safe_landing",
+              test: "mavros_posix_test_safe_landing.test",
+              mission: "MC_safe_landing",
+              vehicle: "iris_obs_avoid",
+              run_script: "rostest_avoidance_run.sh"
+            ],
 
           ]
 
@@ -123,7 +130,7 @@ def createTestNode(Map test_def) {
   return {
     node {
       cleanWs()
-      docker.image("px4io/px4-dev-ros-kinetic:2019-03-08").inside('-e HOME=${WORKSPACE}') {
+      docker.image("px4io/px4-dev-ros-kinetic:2019-07-29").inside('-e HOME=${WORKSPACE}') {
         stage(test_def.name) {
           def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
           def test_ok = true

Makefile

@@ -380,6 +380,7 @@ tests_offboard: rostest
 
 tests_avoidance: rostest
 	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
+	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
 
 python_coverage:
 	@mkdir -p "$(SRC_DIR)"/build/python_coverage

boards/px4/fmu-v5x/default.cmake

@@ -30,7 +30,7 @@ px4_add_board(
 		imu/adis16448
 		imu/adis16497
 		#imu # all available imu drivers
-# TBD		imu/bmi088 - needs bus selection
+		imu/bmi088
 # TBD		imu/ism330dlc - needs bus selection
 		imu/mpu6000
 		irlock

integrationtests/python_src/px4_it/mavros/missions/MC_safe_landing.plan

@@ -0,0 +1,107 @@
+{
+    "fileType": "Plan",
+    "geoFence": {
+        "circles": [
+        ],
+        "polygons": [
+        ],
+        "version": 2
+    },
+    "groundStation": "QGroundControl",
+    "mission": {
+        "cruiseSpeed": 15,
+        "firmwareType": 12,
+        "hoverSpeed": 5,
+        "items": [
+            {
+                "AMSLAltAboveTerrain": null,
+                "Altitude": 18,
+                "AltitudeMode": 1,
+                "autoContinue": true,
+                "command": 22,
+                "doJumpId": 1,
+                "frame": 3,
+                "params": [
+                    15,
+                    0,
+                    0,
+                    null,
+                    47.3977394,
+                    8.5455942,
+                    18
+                ],
+                "type": "SimpleItem"
+            },
+            {
+                "AMSLAltAboveTerrain": null,
+                "Altitude": 18,
+                "AltitudeMode": 1,
+                "autoContinue": true,
+                "command": 16,
+                "doJumpId": 2,
+                "frame": 3,
+                "params": [
+                    0,
+                    0,
+                    0,
+                    null,
+                    47.3977394,
+                    8.5456982,
+                    18
+                ],
+                "type": "SimpleItem"
+            },
+            {
+                "AMSLAltAboveTerrain": null,
+                "Altitude": 18,
+                "AltitudeMode": 1,
+                "autoContinue": true,
+                "command": 16,
+                "doJumpId": 3,
+                "frame": 3,
+                "params": [
+                    0,
+                    0,
+                    0,
+                    null,
+                    47.3977432,
+                    8.545805,
+                    18
+                ],
+                "type": "SimpleItem"
+            },
+            {
+                "AMSLAltAboveTerrain": null,
+                "Altitude": 0,
+                "AltitudeMode": 1,
+                "autoContinue": true,
+                "command": 21,
+                "doJumpId": 4,
+                "frame": 3,
+                "params": [
+                    0,
+                    0,
+                    0,
+                    null,
+                    47.3977432,
+                    8.545804,
+                    0
+                ],
+                "type": "SimpleItem"
+            }
+        ],
+        "plannedHomePosition": [
+            47.3977419,
+            8.5455941,
+            489
+        ],
+        "vehicleType": 2,
+        "version": 2
+    },
+    "rallyPoints": {
+        "points": [
+        ],
+        "version": 2
+    },
+    "version": 1
+}

launch/single_vehicle_spawn.launch

@@ -25,7 +25,7 @@
     <!-- PX4 SITL -->
     <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
     <arg     if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
-    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
+    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
     </node>
     <!-- spawn vehicle -->
     <node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param rotors_description -model $(arg vehicle)_$(arg ID) -package_to_model -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>

launch/single_vehicle_spawn_sdf.launch

@@ -25,7 +25,7 @@
     <!-- PX4 SITL -->
     <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
     <arg     if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
-    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
+    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
     </node>
     <!-- spawn vehicle -->
     <node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-sdf -param model_description -model $(arg vehicle)_$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>

msg/battery_status.msg

@@ -7,7 +7,7 @@ float32 average_current_a		# Battery current average in amperes, -1 if unknown
 float32 discharged_mah		# Discharged amount in mAh, -1 if unknown
 float32 remaining		# From 1 to 0, -1 if unknown
 float32 scale		# Power scaling factor, >= 1, or -1 if unknown
-float32 temperature         # temperature of the battery
+float32 temperature         # temperature of the battery. NaN if unknown
 int32 cell_count		# Number of cells
 bool connected			# Whether or not a battery is connected, based on a voltage threshold
 bool system_source		# Whether or not a this battery is the active power source for VDD_5V_IN

msg/manual_control_setpoint.msg

@@ -4,14 +4,14 @@ uint8 SWITCH_POS_NONE = 0		# switch is not mapped
 uint8 SWITCH_POS_ON = 1		# switch activated (value = 1)
 uint8 SWITCH_POS_MIDDLE = 2		# middle position (value = 0)
 uint8 SWITCH_POS_OFF = 3		# switch not activated (value = -1)
-int8 MODE_SLOT_NONE = -1		# no mode slot assigned
-int8 MODE_SLOT_1 = 0			# mode slot 1 selected
-int8 MODE_SLOT_2 = 1			# mode slot 2 selected
-int8 MODE_SLOT_3 = 2			# mode slot 3 selected
-int8 MODE_SLOT_4 = 3			# mode slot 4 selected
-int8 MODE_SLOT_5 = 4			# mode slot 5 selected
-int8 MODE_SLOT_6 = 5			# mode slot 6 selected
-int8 MODE_SLOT_MAX = 6			# number of slots plus one
+uint8 MODE_SLOT_NONE = 0		# no mode slot assigned
+uint8 MODE_SLOT_1 = 1			# mode slot 1 selected
+uint8 MODE_SLOT_2 = 2			# mode slot 2 selected
+uint8 MODE_SLOT_3 = 3			# mode slot 3 selected
+uint8 MODE_SLOT_4 = 4			# mode slot 4 selected
+uint8 MODE_SLOT_5 = 5			# mode slot 5 selected
+uint8 MODE_SLOT_6 = 6			# mode slot 6 selected
+uint8 MODE_SLOT_NUM = 6			# number of slots
 uint8 SOURCE_RC = 1			# radio control
 uint8 SOURCE_MAVLINK_0 = 2		# mavlink instance 0
 uint8 SOURCE_MAVLINK_1 = 3		# mavlink instance 1
@@ -61,7 +61,7 @@ uint8 kill_switch		 # throttle kill: _NORMAL_, KILL
 uint8 arm_switch		 # arm/disarm switch: _DISARMED_, ARMED
 uint8 transition_switch	 # VTOL transition switch: _HOVER, FORWARD_FLIGHT
 uint8 gear_switch	 # landing gear switch: _DOWN_, UP
-int8 mode_slot			 # the slot a specific model selector is in
+uint8 mode_slot			 # the slot a specific model selector is in
 uint8 data_source		 # where this input is coming from
 uint8 stab_switch 		 # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED
 uint8 man_switch		 # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL

platforms/posix/src/main.cpp

@@ -109,6 +109,7 @@ static bool dir_exists(const std::string &path);
 static bool file_exists(const std::string &name);
 static std::string file_basename(std::string const &pathname);
 static std::string pwd();
+static int change_directory(const std::string &directory);
 
 
 #ifdef __PX4_SITL_MAIN_OVERRIDE
@@ -181,13 +182,14 @@ int main(int argc, char **argv)
 		std::string data_path;
 		std::string commands_file = "etc/init.d/rcS";
 		std::string test_data_path;
+		std::string working_directory;
 		int instance = 0;
 
 		int myoptind = 1;
 		int ch;
 		const char *myoptarg = nullptr;
 
-		while ((ch = px4_getopt(argc, argv, "hdt:s:i:", &myoptind, &myoptarg)) != EOF) {
+		while ((ch = px4_getopt(argc, argv, "hdt:s:i:w:", &myoptind, &myoptarg)) != EOF) {
 			switch (ch) {
 			case 'h':
 				print_usage();
@@ -209,6 +211,10 @@ int main(int argc, char **argv)
 				instance = strtoul(myoptarg, nullptr, 10);
 				break;
 
+			case 'w':
+				working_directory = myoptarg;
+				break;
+
 			default:
 				PX4_ERR("unrecognized flag");
 				print_usage();
@@ -218,6 +224,15 @@ int main(int argc, char **argv)
 
 		PX4_DEBUG("instance: %i", instance);
 
+		// change the CWD befre setting up links and other directories
+		if (!working_directory.empty()) {
+			int ret = change_directory(working_directory);
+
+			if (ret != PX4_OK) {
+				return ret;
+			}
+		}
+
 		if (myoptind < argc) {
 			std::string optional_arg = argv[myoptind];
 
@@ -232,7 +247,6 @@ int main(int argc, char **argv)
 			return -1;
 		}
 
-
 		int ret = create_symlinks_if_needed(data_path);
 
 		if (ret != PX4_OK) {
@@ -383,7 +397,6 @@ int create_dirs()
 	return PX4_OK;
 }
 
-
 void register_sig_handler()
 {
 	// SIGINT
@@ -544,14 +557,15 @@ void print_usage()
 {
 	printf("Usage for Server/daemon process: \n");
 	printf("\n");
-	printf("    px4 [-h|-d] [-s <startup_file>] [-t <test_data_directory>] [<rootfs_directory>] [-i <instance>]\n");
+	printf("    px4 [-h|-d] [-s <startup_file>] [-t <test_data_directory>] [<rootfs_directory>] [-i <instance>] [-w <working_directory>]\n");
 	printf("\n");
-	printf("    -s <startup_file>  shell script to be used as startup (default=etc/init.d/rcS)\n");
-	printf("    <rootfs_directory> directory where startup files and mixers are located,\n");
-	printf("                       (if not given, CWD is used)\n");
-	printf("    -i <instance>      px4 instance id to run multiple instances [0...N], default=0\n");
-	printf("    -h                 help/usage information\n");
-	printf("    -d                 daemon mode, don't start pxh shell\n");
+	printf("    -s <startup_file>      shell script to be used as startup (default=etc/init.d/rcS)\n");
+	printf("    <rootfs_directory>     directory where startup files and mixers are located,\n");
+	printf("                           (if not given, CWD is used)\n");
+	printf("    -i <instance>          px4 instance id to run multiple instances [0...N], default=0\n");
+	printf("    -w <working_directory> directory to change to\n");
+	printf("    -h                     help/usage information\n");
+	printf("    -d                     daemon mode, don't start pxh shell\n");
 	printf("\n");
 	printf("Usage for client: \n");
 	printf("\n");
@@ -626,3 +640,26 @@ std::string pwd()
 	char temp[PATH_MAX];
 	return (getcwd(temp, PATH_MAX) ? std::string(temp) : std::string(""));
 }
+
+int change_directory(const std::string &directory)
+{
+	// create directory
+	if (!dir_exists(directory)) {
+		int ret = mkdir(directory.c_str(), S_IRWXU | S_IRWXG | S_IRWXO);
+
+		if (ret == -1) {
+			PX4_ERR("Error creating directory: %s (%s)", directory.c_str(), strerror(errno));
+			return -1;
+		}
+	}
+
+	// change directory
+	int ret = chdir(directory.c_str());
+
+	if (ret == -1) {
+		PX4_ERR("Error changing current path to: %s (%s)", directory.c_str(), strerror(errno));
+		return -1;
+	}
+
+	return PX4_OK;
+}