Weekly Digest (19 July, 2020 - 26 July, 2020)

[weekly-digest]

Here's the Weekly Digest for PX4/Firmware:

---

ISSUES

Last week 42 issues were created.
Of these, 23 issues have been closed and 19 issues are still open.

OPEN ISSUES

💚 #15418 HITL PIXHAWK does not reset automatically after upload, by bravepaulo
💚 #15417 HITL disarm after takeoff FMU V3, by bravepaulo
💚 #15416 keep the possibility of skipping controllers, by bravepaulo
💚 #15415 boards: rename Hex -> CubePilot, by dagar
💚 #15413 ekf2: completely ignore mag data if EKF2_MAG_TYPE none, by dagar
💚 #15412 Error Generating micrortps_agent , by agent-nelson
💚 #15411 [Feature Request] Mission Mode: Terrain Follow based on rangefinder data, by FlavioTonelli
💚 #15410 RTL: descending before having reached mission land point, by ThomasRigi
💚 #15409 [VTOL] Not yawing towards VTOL Takeoff & Transition waypoint, by ThomasRigi
💚 #15408 Takeoff ramp broken, by ThomasRigi
💚 #15407 Add support for STM32F42x/STM32F43x rev. 5/B, by sfalexrog
💚 #15406 STM32F427 rev.5 reported incorrectly, by sfalexrog
💚 #15405 goal definition with offboard control, by Mekiso
💚 #15392 Bug fix in gazebo_sitl_multiple_run.sh, by iwishiwasaneagle
💚 #15389 Generate param metadata as MAVLink-compatible JSON component info, by hamishwillee
💚 #15387 accel calibration validation , by dagar
💚 #15386 Airframes: Add Jiyi Batman TiltRotor VTOL, by bys1123
💚 #15385 New board: SP Racing H7 Extreme, by Igor-Misic
💚 #15378 New CRC lib, by BazookaJoe1900

CLOSED ISSUES

❤️ #15414 boards: hex cube yellow fix f7 selection, by dagar
❤️ #15404 io firmware remove double definition of GPIO_HEATER_OFF, by mirkix
❤️ #15403 Move XML injection to the group level, by hamishwillee
❤️ #15402 Goto altitude controlled too late for multicopter, by julianoes
❤️ #15401 cmake: NuttX skip --print-memory-usage if using the GOLD linker, by dagar
❤️ #15400 make px4_fmu-v2_default Fail, by Pigwomaniak
❤️ #15399 Tools: abort SITL start if gzserver fails, by julianoes
❤️ #15398 Sometimes SITL fails to start with "An instance of Gazebo is not running.", by julianoes
❤️ #15397 HEX Cube Orange and Cube Yellow IMU heating fix, by mirkix
❤️ #15396 Revert "mavlink: GLOBAL_POSITION_INT send without lat/lon availability", by LorenzMeier
❤️ #15395 Replacement for Discontinued LSM303D Compass , by vincentpoont2
❤️ #15394 Correctly set the FW_ARSP_MODE parameter value, by xdwgood
❤️ #15393 gazebo_sitl_multiple_run.sh doesn't run with different aircraft when using -s, by iwishiwasaneagle
❤️ #15391 ROMFS: remove remaining RC_FLT_CUTOFF, by MaEtUgR
❤️ #15390 Makefile: fix mavsdk_tests invocation, by julianoes
❤️ #15388 setup scripts: install dmidecode before using it, by MaEtUgR
❤️ #15384 ROMFS: remove unnecessary parameter zero padding, by dagar
❤️ #15383 vtol_att_control: limit excessive scheduling, by dagar
❤️ #15382 Update gazebo_sitl_multiple_run.sh, by iwishiwasaneagle
❤️ #15381 drivers/pwm_out: limit scheduling to primary actuator controls groups if used, by dagar
❤️ #15380 rc_loss_alarm: remove unimplemented declaration, by MaEtUgR
❤️ #15379 mixer_module/tap_esc: fix usage of constrain() on input, by MaEtUgR
❤️ #15377 Update submodule sitl_gazebo to latest Sun Jul 19 12:39:36 UTC 2020, by TSC21

LIKED ISSUE

👍 #15389 Generate param metadata as MAVLink-compatible JSON component info, by hamishwillee
It received 👍 x0, 😄 x0, 🎉 x1 and ❤️ x0.

NOISY ISSUE

🔈 #15389 Generate param metadata as MAVLink-compatible JSON component info, by hamishwillee
It received 11 comments.

---

PULL REQUESTS

Last week, 58 pull requests were created, updated or merged.

UPDATED PULL REQUEST

Last week, 29 pull requests were updated.
💛 #15416 keep the possibility of skipping controllers, by bravepaulo
💛 #15415 boards: rename Hex -> CubePilot, by dagar
💛 #15413 ekf2: completely ignore mag data if EKF2_MAG_TYPE none, by dagar
💛 #15407 Add support for STM32F42x/STM32F43x rev. 5/B, by sfalexrog
💛 #15392 Bug fix in gazebo_sitl_multiple_run.sh, by iwishiwasaneagle
💛 #15389 Generate param metadata as MAVLink-compatible JSON component info, by hamishwillee
💛 #15386 Airframes: Add Jiyi Batman TiltRotor VTOL, by bys1123
💛 #15385 New board: SP Racing H7 Extreme, by Igor-Misic
💛 #15370 mc_hover_thrust_estimator: small improvements and fixes, by dagar
💛 #15369 Battery Smbus enhancements , by BazookaJoe1900
💛 #15366 Add support for rev E HW nxp_fmuk66-e, by davids5
💛 #15354 microRTPS: fix UART link, by TSC21
💛 #15348 X7Pro adds CAN driver, by CUAVcaijie
💛 #15330 cpuload: updates and NuttX optimization, by dagar
💛 #15314 Fix CUAV CAN_PMU power display as 0%, unable to unlock, by CUAVcaijie
💛 #15306 Fix the case where the flight controller is connected to the battery (charge 100), QGC shows no battery, by CUAVcaijie
💛 #15207 update ecl geo_lookup usage, by dagar
💛 #15140 boards: add new Holybro Pix32v5 board, by dagar
💛 #15097 UAVCAN Rangefinder Support, by avionicsanonymous
💛 #15083 multicopter land detector ground contact fixes, by dagar
💛 #14862 New vehicle type: Airship, by dan-leo
💛 #14754 [WIP] Multicopter Controllers Muxing, by Pedro-Roque
💛 #14681 Add Femtomes GPS Driver, by bys1123
💛 #13983 Disable camera trigger in Return mode, by moreba1
💛 #13932 EKF2: blend GPS antenna offsets, by CarlOlsson
💛 #13351 WIP: Control Allocation, by jlecoeur
💛 #10320 Make DO_SET_SERVO work, by kpetrykin
💛 #10219 [WIP] L1 enhancements: handling small loiter radii and high winds, by tstastny
💛 #9712 manual_control_setpoint split switches into new message manual_control_switches, by dagar

MERGED PULL REQUEST

Last week, 29 pull requests were merged.
💜 #15414 boards: hex cube yellow fix f7 selection, by dagar
💜 #15404 io firmware remove double definition of GPIO_HEATER_OFF, by mirkix
💜 #15403 Move XML injection to the group level, by hamishwillee
💜 #15401 cmake: NuttX skip --print-memory-usage if using the GOLD linker, by dagar
💜 #15399 Tools: abort SITL start if gzserver fails, by julianoes
💜 #15397 HEX Cube Orange and Cube Yellow IMU heating fix, by mirkix
💜 #15396 Revert "mavlink: GLOBAL_POSITION_INT send without lat/lon availability", by LorenzMeier
💜 #15394 Correctly set the FW_ARSP_MODE parameter value, by xdwgood
💜 #15391 ROMFS: remove remaining RC_FLT_CUTOFF, by MaEtUgR
💜 #15390 Makefile: fix mavsdk_tests invocation, by julianoes
💜 #15388 setup scripts: install dmidecode before using it, by MaEtUgR
💜 #15384 ROMFS: remove unnecessary parameter zero padding, by dagar
💜 #15383 vtol_att_control: limit excessive scheduling, by dagar
💜 #15382 Update gazebo_sitl_multiple_run.sh, by iwishiwasaneagle
💜 #15381 drivers/pwm_out: limit scheduling to primary actuator controls groups if used, by dagar
💜 #15380 rc_loss_alarm: remove unimplemented declaration, by MaEtUgR
💜 #15379 mixer_module/tap_esc: fix usage of constrain() on input, by MaEtUgR
💜 #15377 Update submodule sitl_gazebo to latest Sun Jul 19 12:39:36 UTC 2020, by TSC21
💜 #15375 Enable PMW3901 on MindPX/MindRacer., by rolandash
💜 #15374 Update submodule nuttx to latest Sat Jul 18 12:39:41 UTC 2020, by TSC21
💜 #15372 Update submodule matrix to latest Sat Jul 18 12:39:56 UTC 2020, by TSC21
💜 #15368 cdev: posix remove std::map usage, by dagar
💜 #15357 uORB: print individual bits of fields, by dagar
💜 #15356 px4io: servorail_status -> px4io_status and log all flags, by dagar
💜 #15353 sensors/vehicle_imu: initially schedule conservatively, by dagar
💜 #15352 Fix transition fail on tailsitter, by xdwgood
💜 #15350 mc_att_control: add gradual3 function to cover hover thrust rescaling, by MaEtUgR
💜 #15319 Orbit yaw behaviours addition, by MaEtUgR
💜 #15292 Orbit approach fixes, by MaEtUgR

---

COMMITS

Last week there were 41 commits.
🛠️ boards: hex cube yellow fix STM32F7 selection (STM32F765II -> STM32F777VI) by dagar
🛠️ parameters: move XML injection to the group level (#15403) So that they are also in the markdown and json output. by hamishwillee
🛠️ math: add unit tests for everything in Functions.hpp by MaEtUgR
🛠️ mc_att_control: add gradual3 function to cover hover thrust rescaling by MaEtUgR
🛠️ pwm_out: limit actuator control callbacks to primary groups - add backup schedule at minimum PWM rate - fixes #15043 by dagar
🛠️ mixer_module: add subscription option to limit additional actuator_control callbacks - optionally only register callbacks for primary control groups (if used) by dagar
🛠️ cmake: only allow gold linker for posix builds - the gold linker doesn't currently work for NuttX builds - NuttX skip --print-memory-usage if using the GOLD linker - fixes #15400 by dagar
🛠️ hex io firmware remove double definition of GPIO_HEATER_OFF by mirkix
🛠️ px4 io firmware remove double definition of GPIO_HEATER_OFF by mirkix
🛠️ Tools: abort SITL start if gzserver fails Sometimes gzserver seems to not start or not start fast enough. In this case, instead of stalling forever, it would be nice to abort. by julianoes
🛠️ HEX Cube Yellow: enable platform-specific IO firmware with inverted heater pin. by mirkix
🛠️ HEX Cube Orange: enable platform-specific IO firmware with inverted heater pin. by mirkix
🛠️ Add platform-specific IO firmware for HEX autopilots. by mirkix
🛠️ Add ifdef to invert heater pin for px4 IO firmware. by mirkix
🛠️ Correctly set the FW_ARSP_MODE parameter value by xdwgood
🛠️ Revert "mavlink: GLOBAL_POSITION_INT send without lat/lon availability" This reverts commit ad14796b5feb556aa9da8895e12b62b96105a31c. by LorenzMeier
🛠️ [vtol_att_control: limit excessive scheduling - this is to prevent vtol_att_control running at absurdly high rates (kilohertz) from every single actuator controls publication from both the multicopter and fixed wing controllers

• I don't really like this solution, but it works for now until there are larger VTOL architectural changes in place](e4f65f8) by dagar
  🛠️ ROMFS: remove remaining RC_FLT_CUTOFF The parameter was removed in #14896 and I forgot to remove it from all the configurations. by MaEtUgR
  🛠️ setup scripts: install dmidecode before using it On normal desktop distributions dmidecode is preinstalled and I was assuming it's part of the core tools. Thanks to a hint https://github.com/PX4/Firmware/pull/15241#issuecomment-659395458 I found out it's not and am installing the package before using it. by MaEtUgR
  🛠️ cdev: posix remove std::map usage - this is to make things a little easier for platforms like QuRT (voxl snapdragon) where there are libstdc++ complications by dagar
  🛠️ px4io: servorail_status -> px4io_status and log all flags by dagar
  🛠️ Makefile: fix mavsdk_tests invocation The config file was missing and a speed factor of 20 is much more realistic. by julianoes
  🛠️ FlightTaskOrbit: reset approach if radius gets changed by MaEtUgR
  🛠️ StraightLine: allow resetting reached flag by MaEtUgR
  🛠️ FlightTaskOrbit: reset reached when new parameters are set such that they get applied to the straight line trajectory class and the drone starts approaching the new orbit. by MaEtUgR
  🛠️ FlightTaskOrbit: simplify tangential yaw_setpoint and pi wrap by MaEtUgR
  🛠️ FlightTaskOrbit: set initial heading for every new command by MaEtUgR
  🛠️ FlightTaskOrbit: move start_to_circle to more local scope & const reference parameters by MaEtUgR
  🛠️ FlightTaskOrbit: use yaw setpoint from Altitude task with RC yaw mode by MaEtUgR
  🛠️ FlightTaskOrbit: move line break causing comments before by MaEtUgR
  🛠️ tailsitter.cpp:ensure input quaternions are exactly normalized by xdwgood
  🛠️ ROMFS: remove unnecessary parameter zero padding by dagar
  🛠️ [Update gazebo_sitl_multiple_run.sh (Update gazebo_sitl_multiple_run.sh #15382) If make px4_sitl_default is run, and not make px4_sitl_default gazebo then each model instance will throw the following errors:

[Err] [Plugin.hh:178] Failed to load plugin libgazebo_gps_plugin.so: libgazebo_gps_plugin.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_multirotor_base_plugin.so: libgazebo_multirotor_base_plugin.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_motor_model.so: libgazebo_motor_model.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_motor_model.so: libgazebo_motor_model.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_motor_model.so: libgazebo_motor_model.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_motor_model.so: libgazebo_motor_model.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_groundtruth_plugin.so: libgazebo_groundtruth_plugin.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_magnetometer_plugin.so: libgazebo_magnetometer_plugin.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_barometer_plugin.so: libgazebo_barometer_plugin.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_mavlink_interface.so: libgazebo_mavlink_interface.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:178] Failed to load plugin libgazebo_imu_plugin.so: libgazebo_imu_plugin.so: cannot open shared object file: No such file or directory
```](https://github.com/PX4/Firmware/commit/0b50f85096553d9dcecc415fbb37d5b9b757831e) by [iwishiwasaneagle](https://github.com/iwishiwasaneagle)
:hammer_and_wrench: [sensors/vehicle_imu: initially schedule conservatively   - this lowers the load immediately at boot while still allowing each VehicleIMU instance to properly measure the actual accel/gyro data rates
 - for lockstep builds this is ignored and VehicleIMU initially runs with every new sensor_accel/sensor_gyro publication](https://github.com/PX4/Firmware/commit/2adc23fd97a07ca24cbc59c376d9e1e0d9cd664c) by [dagar](https://github.com/dagar)
:hammer_and_wrench: [rc_loss_alarm: remove unimplemented declaration](https://github.com/PX4/Firmware/commit/ed7732eaecf621c8e383a78e68cc862d236368f7) by [MaEtUgR](https://github.com/MaEtUgR)
:hammer_and_wrench: [mixer_module/tap_esc: fix usage of constrain() on input  I changed the input constraint in #15349 but screwed up the usage because I was convinced it's püass by reference. I'll double check for sure next time.](https://github.com/PX4/Firmware/commit/987826f1d41090a4169529155d6d318bead271d0) by [MaEtUgR](https://github.com/MaEtUgR)
:hammer_and_wrench: [Update submodule matrix to latest Sun Jul 19 12:40:00 UTC 2020      - matrix in PX4/Firmware (20d5e7acd6d7be141de802ad155592e7be4c9f77): https://github.com/PX4/Matrix/commit/9a30828a0a1d79e87fd09653bb9f936d7ca0ba17     - matrix current upstream: https://github.com/PX4/Matrix/commit/0fd99c59f1740a7aa2ead03168705b4211bf29e8     - Changes: https://github.com/PX4/Matrix/compare/9a30828a0a1d79e87fd09653bb9f936d7ca0ba17...0fd99c59f1740a7aa2ead03168705b4211bf29e8      0fd99c5 2020-07-14 Matthias Grob - Switch operator() to return a const reference 8a59b46 2020-07-17 kamilritz - Quaternion: Use template type instead of single hardcoded type](https://github.com/PX4/Firmware/commit/650b601206674062a48fec360e493075f6d9b10b) by [PX4BuildBot](https://github.com/PX4BuildBot)
:hammer_and_wrench: [uORB: print individual bits of fields   - applies to messages with names containing "flags" or "bits" and unsigned fixed width integer type (uint8, uint16, uint32)](https://github.com/PX4/Firmware/commit/459abcd0352c3214c7c2f1ee2f61f8ce7b50c679) by [dagar](https://github.com/dagar)
:hammer_and_wrench: [Enable PMW3901 on MindPX/MindRacer. (#15375)  * enable pmw3901 on MindPX/MindRacer.

* remove useless line.](https://github.com/PX4/Firmware/commit/b8f3b97bad75748a8891b24add193c42597a15d7) by [rolandash](https://github.com/rolandash)
:hammer_and_wrench: [Update submodule sitl_gazebo to latest Sun Jul 19 12:39:36 UTC 2020      - sitl_gazebo in PX4/Firmware (f4d7052bece7608fc3f94b6520b788fc83339635): https://github.com/PX4/sitl_gazebo/commit/629e5f5c239d88421edab12b4a7e2e3c3ea7e8fc     - sitl_gazebo current upstream: https://github.com/PX4/sitl_gazebo/commit/ce1eca2bd0bedf9305d09b622454fa21962d50ba     - Changes: https://github.com/PX4/sitl_gazebo/compare/629e5f5c239d88421edab12b4a7e2e3c3ea7e8fc...ce1eca2bd0bedf9305d09b622454fa21962d50ba      ce1eca2 2020-07-19 Daniel Leonard Robinson - New vehicle type: Airship (#490) df186d2 2020-07-18 TSC21 - use 'EnableC++XX' and remove duplicated compiler sets 60e5d4e 2020-07-18 TSC21 - remove the check for the 'px4' binary (it's never found since it's built in parallel with sitl_gazebo) a3b5c5e 2020-07-19 JaeyoungLim - Fix moment calculation (#545) 07820ee 2020-07-19 JaeyoungLim - Fix gimbal imu sensors intefering with each other (#549)](https://github.com/PX4/Firmware/commit/11614f789db511cf4a9d87fa66e56dd5154a21d0) by [PX4BuildBot](https://github.com/PX4BuildBot)
:hammer_and_wrench: [Update submodule nuttx to latest Sun Jul 19 12:39:45 UTC 2020      - nuttx in PX4/Firmware (2624730b02ea71fa2bbd28cc424d9bade5766356): https://github.com/PX4/NuttX/commit/61742342ec979867dbe4b85c89a6821656090ee2     - nuttx current upstream: https://github.com/PX4/NuttX/commit/dc10293feb724d50f6a0a64a068b47cb8cdae631     - Changes: https://github.com/PX4/NuttX/compare/61742342ec979867dbe4b85c89a6821656090ee2...dc10293feb724d50f6a0a64a068b47cb8cdae631      dc10293feb 2020-05-25 Claudio Micheli - [BACKPORT] stm32l4: extend CAN ioctrl with NART/ABOM. Add RTR to CAN header 5735f765e2 2020-05-25 Claudio Micheli - [BACKPORT] stm32: extend CAN ioctrl with NART/ABOM. Add RTR to CAN header 4dc9ae05f5 2020-05-25 Claudio Micheli - [BACKPORT] stm32f7: Add the option to include RTR in CAN header bdd9e786e1 2020-04-21 Beat Küng - [BACKPORT] stm32f7: add CANIOC_SET_NART and CANIOC_SET_ABOM ioctl's to can driver](https://github.com/PX4/Firmware/commit/fb2ebc9379e7f66d080c1cc381d3d9c08edbb9a4) by [PX4BuildBot](https://github.com/PX4BuildBot)

- - - 
# CONTRIBUTORS
Last week there were 10 contributors.
:bust_in_silhouette: [dagar](https://github.com/dagar)
:bust_in_silhouette: [hamishwillee](https://github.com/hamishwillee)
:bust_in_silhouette: [MaEtUgR](https://github.com/MaEtUgR)
:bust_in_silhouette: [mirkix](https://github.com/mirkix)
:bust_in_silhouette: [julianoes](https://github.com/julianoes)
:bust_in_silhouette: [xdwgood](https://github.com/xdwgood)
:bust_in_silhouette: [LorenzMeier](https://github.com/LorenzMeier)
:bust_in_silhouette: [iwishiwasaneagle](https://github.com/iwishiwasaneagle)
:bust_in_silhouette: [PX4BuildBot](https://github.com/PX4BuildBot)
:bust_in_silhouette: [rolandash](https://github.com/rolandash)

- - - 
# STARGAZERS
Last week there were 22 stagazers.
:star: [peapodss](https://github.com/peapodss)
:star: [mrusme](https://github.com/mrusme)
:star: [iceberg1369](https://github.com/iceberg1369)
:star: [fengyunzhijian](https://github.com/fengyunzhijian)
:star: [hamburgerBear](https://github.com/hamburgerBear)
:star: [Divyanshu23](https://github.com/Divyanshu23)
:star: [1035440368mt](https://github.com/1035440368mt)
:star: [kcx064](https://github.com/kcx064)
:star: [ruthvik-droid](https://github.com/ruthvik-droid)
:star: [lee-iv](https://github.com/lee-iv)
:star: [phoomparin](https://github.com/phoomparin)
:star: [j-james](https://github.com/j-james)
:star: [mushroomlb](https://github.com/mushroomlb)
:star: [ZHWKnight](https://github.com/ZHWKnight)
:star: [sjtushizhe](https://github.com/sjtushizhe)
:star: [farzingkh](https://github.com/farzingkh)
:star: [vivaxy](https://github.com/vivaxy)
:star: [pradityamsook](https://github.com/pradityamsook)
:star: [randombenj](https://github.com/randombenj)
:star: [sherlocksho](https://github.com/sherlocksho)
:star: [ipinak](https://github.com/ipinak)
:star: [ZhuMinghui2020](https://github.com/ZhuMinghui2020)
You all are the stars! :star2:

- - - 
# RELEASES
Last week there were no releases.

- - - 

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