Weekly Digest (4 August, 2019 - 11 August, 2019) #12682

weekly-digest · 2019-08-11T10:03:46Z

Here's the Weekly Digest for PX4/Firmware:

ISSUES

Last week 61 issues were created.
Of these, 37 issues have been closed and 24 issues are still open.

OPEN ISSUES

💚 #12681 Add _vehicle_local_position.v_z_valid and max_altitude validity checks to MulticopterLandDetector, by mcsauder
💚 #12680 VTOL mode when switching out of mission, by sfuhrer
💚 #12679 logger: fix rare case where logging stops, by bkueng
💚 #12678 [TEST CODE Do not merge], by davids5
💚 #12676 scaling airspeed value MS4525DO , by moreba1
💚 #12673 Integrate INA226 with PX4, by ItsTimmy
💚 #12672 Don't override MAVLink behavior in SITL .rc file, by pgorczak
💚 #12671 [WIP]Support ICM20689 rev 4 ID, by davids5
💚 #12670 Incorrect log publisher topic by commander modules, by tecnic08
💚 #12665 Add GPS_GLOBAL_ORIGIN mavlink msg., by nsteele
💚 #12664 Orbit approach with a line trajectory library, by MaEtUgR
💚 #12661 Exception pause debug in lockstep scheduler in OSX (Visual Studio Code), by pedrogasg
💚 #12660 MAV_CMD_NAV_VTOL_TAKEOFF: Heading not considered, by sfuhrer
💚 #12659 Internal temperature sensor., by Louisdirk
💚 #12658 Update vehicle_local_position.ref_alt comment to reflect how ref_alt …, by nsteele
💚 #12656 Pixhawk 2 reverted to 1.8.2, by tuloski
💚 #12655 FailureDetector - Ignore attitude check for MC in acro and FW in manual, acro and rattitude modes, by bresch
💚 #12650 create mc_rate_control (split out of mc_att_control), by dagar
💚 #12647 [WIP] Voltage inconsistency checks on ESCs reporting esc_status, by cmic0
💚 #12638 stm32/adc move from to new WQ, by dagar
💚 #12637 Simple Mixer output Scaler doesn't work, by AlexandreBorowczyk
💚 #12634 [WIP] Dev dshot, by Igor-Misic
💚 #12630 VTOL front transition fixes in mission mode, by sfuhrer
💚 #12626 Mission yawing timeout in mission not working, by sfuhrer

CLOSED ISSUES

LIKED ISSUE

👍 #12646 NuttX boards reduce CONFIG_NFILE_DESCRIPTORS 54 -> 20, by dagar
It received 👍 x0, 😄 x0, 🎉 x0 and ❤️ x1.

NOISY ISSUE

🔈 #12631 Unable to add new airframe for FMU-v5, by themcfadden
It received 8 comments.

PULL REQUESTS

Last week, 100 pull requests were created, updated or merged.

OPEN PULL REQUEST

Last week, 3 pull requests were opened.
💚 #12679 logger: fix rare case where logging stops, by bkueng
💚 #12678 [TEST CODE Do not merge], by davids5
💚 #12671 [WIP]Support ICM20689 rev 4 ID, by davids5

UPDATED PULL REQUEST

Last week, 43 pull requests were updated.
💛 #12673 Integrate INA226 with PX4, by ItsTimmy
💛 #12672 Don't override MAVLink behavior in SITL .rc file, by pgorczak
💛 #12665 Add GPS_GLOBAL_ORIGIN mavlink msg., by nsteele
💛 #12664 Orbit approach with a line trajectory library, by MaEtUgR
💛 #12658 Update vehicle_local_position.ref_alt comment to reflect how ref_alt …, by nsteele
💛 #12655 FailureDetector - Ignore attitude check for MC in acro and FW in manual, acro and rattitude modes, by bresch
💛 #12650 create mc_rate_control (split out of mc_att_control), by dagar
💛 #12647 [WIP] Voltage inconsistency checks on ESCs reporting esc_status, by cmic0
💛 #12638 stm32/adc move from to new WQ, by dagar
💛 #12634 [WIP] Dev dshot, by Igor-Misic
💛 #12630 VTOL front transition fixes in mission mode, by sfuhrer
💛 #12608 splitting preflight and land disarm times into 2 parameters, by catch-twenty-two
💛 #12601 [WIP]: temperature_compensation module, by dagar
💛 #12600 VTOL airframes update legacy VT_MOT_COUNT parameter, by dagar
💛 #12595 RC Failsafe Trigger Update , by bozkurthan
💛 #12593 [WIP Do NOT MERGE] v5x sensors, by davids5
💛 #12572 update most parameter_update to uORB::Subscription consistently, by dagar
💛 #12551 Add calibration parameters for multiple batteries, by ItsTimmy
💛 #12532 Enable offboard position setpoints for Fixedwing position control, by Jaeyoung-Lim
💛 #12513 Block auto-disarm when in Launch Detection for Catapault/Hand-Launched FW, by Kjkinney
💛 #12507 Accomplish requisite work to close out PR #11431., by mcsauder
💛 #12506 Add generic vtol tailsitter airframe and modifiy 4001_quad_x and 13001_caipirinha_vtol to simplify PR 9849, by mcsauder
💛 #12494 Switch into last mode after landing and disarming after RTL/Land, by ItsTimmy
💛 #12479 PID autotuner for velocity loop, by bresch
💛 #12436 NuttX enable SPI DMA per board, by dagar
💛 #12379 Implement ModuleParams inheritance in the VtolLandDetector class., by mcsauder
💛 #12371 introduce uORB::SubscriptionBlocking and use in navigator and simulator, by dagar
💛 #12343 Add return INFINITY; to the LandDetector class _get_max_altitude() method declaration, by mcsauder
💛 #12227 ekf2 move to WQ with uORB callback scheduling, by dagar
💛 #12224 px4fmu move to WQ with uORB callback scheduling, by dagar
💛 #12214 [WIP]: move adc driver to WQ, by dagar
💛 #12145 [WIP] introduce sensor_gyro_control message (1 kHz rate controller), by dagar
💛 #12110 WIP: commander re-evaluate RC mode switch when local position becomes valid, by dagar
💛 #12072 Intuitive manual position control by mapping stick input to acceleration, by MaEtUgR
💛 #11969 Adding parameter to scale velocity in flight task get current state, by FeUs17
💛 #11962 Add parameter for requiring Geofence for arming, by okalachev
💛 #11892 Refactor the teraranger driver: uniform initialization, format whitespace, deprecate usage of the ringbuffer, etc., by mcsauder
💛 #11874 Cherry pick the src/modules/land_detector/ directory and voted_sensors_update.h from PR #9756, by mcsauder
💛 #11845 fw_pos_control_l1: apply pitch setpoint offsets centrally, by dagar
💛 #11357 Disable data link and RC loss reactions for SITL, by MaEtUgR
💛 #11318 parameters metadata generate as single static constexpr header, by dagar
💛 #11067 Feature: go-around patterns for missions, by almaaro
💛 #11063 Fix to first order altitude hold gradient calculation, by almaaro

MERGED PULL REQUEST

COMMITS

Last week there were 109 commits.
🛠️ sensors: uniform initialization and whitespace formatting in voted_sensors_update.h by mcsauder
🛠️ uORB::PublicationQueued don't unadvertise on destruction (#12674) * this is a bit of a hack for vehicle_command and vehicle_command_ack usage by dagar
🛠️ vtol_att_control move to WQ with uORB callback scheduling (#12229) * add perf counters for cycle time and interval by dagar
🛠️ mc_pos_control_main: Fixed missing semicolon by jiejiezhang
🛠️ [GTest functional tests that include parameters and uORB messaging (#12521) * Add kdevelop to gitignore

Add test stubs
Rename px4_add_gtest to px4_add_unit_gtest
Add infrastructure to run functional tests
Add example tests with parameters and uorb messages
Fix memory issues in destructors in uORB manager and CDev
Add a more real-world test of the collision prevention](d70b024) by jkflying
🛠️ Create TrajMath library and move waypoint speed calculations in it by bresch
🛠️ AutoSmoothVel - scale down acc_hor using traj_p parameter in the computation of the maximum waypoint entrance speed by bresch
🛠️ MC auto - Modify yaw_sp_aligned to take mis_yaw_error tolerance. Add check for this flag in AutoLine by bresch
🛠️ FlightTaskAutoLine/SmoothVel: stop at waypoint if altitude is has not been reached yet by Stifael
🛠️ AutoSmoothVel - Compute desired speed at target based on angle between previous-current and current-next waypoints Also remove crosstrack P controller that produces overshoots when the acceptance radius is large (crosstrack error is suddenly large at waypoint switch). by bresch
🛠️ Airspeed Selector: resolve conflics for wind estimate topic publishing after rebase Signed-off-by: Silvan Fuhrer silvan@auterion.com by sfuhrer
🛠️ Omnibus: take out local_position_estimator from build as was out of flash after ecl update for airspeed selection module Signed-off-by: Silvan Fuhrer silvan@auterion.com by sfuhrer
🛠️ AirspeedSelector: added RTPS ID for airspeed_validated message Signed-off-by: Silvan Fuhrer silvan@auterion.com by sfuhrer
🛠️ Airspeed Selector: repurpose wind estimator into an airspeed (selection, validation) module. This new airspeed module does: -runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale -selects another airspeed sensor if for the current one a failure is detected -estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present -outputs airspeed_validated topic Signed-off-by: Silvan Fuhrer silvan@auterion.com by sfuhrer
🛠️ Increased stack of lp work queue as with new airspeed modudle it was getting low Signed-off-by: Silvan Fuhrer silvan@auterion.com by sfuhrer
🛠️ Airspeed Selector: added airspeed validator class This validator takes measurements from a single airspeed sensor and: -checks validity of measurement -can estimate an airspeed scale factor (estimation enabled with parameter setting) to accout for errors in airspeed due due placement of sensor Signed-off-by: Silvan Fuhrer silvan@auterion.com by sfuhrer
🛠️ Airspeed Selector: changes in airspeed library to account for new EAS state (equivalent airspeed) Signed-off-by: Silvan Fuhrer silvan@auterion.com by sfuhrer
🛠️ uavcan esc: use time literals for timeout checks. Signed-off-by: Claudio Micheli claudio@auterion.com by cmic0
🛠️ Commander: move esc_status as local variable. Signed-off-by: Claudio Micheli claudio@auterion.com by cmic0
🛠️ mixer_group: improved get_multirotor_count () code readbility. Signed-off-by: Claudio Micheli claudio@auterion.com by cmic0
🛠️ Simplified esc_status healthiness logic. Signed-off-by: Claudio Micheli claudio@auterion.com by cmic0
🛠️ Improved code comment for condition_escs_error topic. Signed-off-by: Claudio Micheli claudio@auterion.com by cmic0
🛠️ uavcan_main: replaced printf messages with PX4_INFO Signed-off-by: Claudio Micheli claudio@auterion.com by cmic0
🛠️ uavcan escs: Modified esc_status reporting to have _rotor_count published. Signed-off-by: Claudio Micheli claudio@auterion.com by cmic0
🛠️ Commander: added esc_status prearm checks Signed-off-by: Claudio Micheli claudio@auterion.com by cmic0
🛠️ uavcan esc: added timeout checks to escs. Signed-off-by: Claudio Micheli claudio@auterion.com by cmic0
🛠️ Added topics to esc_status and vehicle_status_flags. Signed-off-by: Claudio Micheli claudio@auterion.com by cmic0
🛠️ MultiCopterLandDetector: Implement ModuleParams inheritance (#12356) by mcsauder
🛠️ containers/List add nullptr check by dagar
🛠️ [Update submodule mavlink v2.0 to latest Fri Aug 9 02:59:05 UTC 2019 (Update submodule mavlink v2.0 to latest Fri Aug 9 00:37:55 UTC 2019 #12669) - mavlink v2.0 in PX4/Firmware (e8a1108): https://github.com/mavlink/c_library_v2/commit/72832840733f0d78cda7e2071a6bf6c7fc3f9273
- mavlink v2.0 current upstream: mavlink/c_library_v2@0385f82
- Changes: mavlink/c_library_v2@7283284...0385f82286df78d51b06e5e325b13e2411ba2170](https://github.com/PX4/Firmware/commit/9481b3b232dd64f5c27133ac494b0f217b24e6c9) by dagar
  🛠️ Update submodule ecl to latest Fri Aug 9 02:59:11 UTC 2019 - ecl in PX4/Firmware (e93e676c38bc3ce2e57c20a8dc33ffe377826903): https://github.com/PX4/ecl/commit/d38164fc8e68b740405669127138e550c3c7375c - ecl current upstream: https://github.com/PX4/ecl/commit/62fa464e4dd6cb5e585d23bd353aa50a469879f7 - Changes: https://github.com/PX4/ecl/compare/d38164fc8e68b740405669127138e550c3c7375c...62fa464e4dd6cb5e585d23bd353aa50a469879f7 62fa464 2019-07-17 RomanBapst - WindEstimator: added support for pre-set airspeed scale factor a7d9c73 2019-07-09 Silvan Fuhrer - Wind estimator: added wind_estimator_reset state (to indicate if wind estimator was reset in last fusion-cycle) 09f29db 2019-07-02 Silvan Fuhrer - added option to fix airspeed scaling to 1 by PX4BuildBot
  🛠️ create uORB::PublicationMulti for multi publications by dagar
  🛠️ mavlink receiver move to uORB::Publication by dagar
  🛠️ [px4_fmu-v5x: add networking * fixed dropped CONFIG_LIBC_FLOATINGPOINT=y
fix RMII TX pinning
update platforms/nuttx/NuttX/nuttx w/ f7 eth](2178260) by davids5
🛠️ Delete whitespace to quiet githooks. by mcsauder
🛠️ sensors angular velocity and acceleration publishers fix auto usage - if the primary gyro or accel change this will cause the callback to be registered multiple times by dagar
🛠️ fw_pos_control_l1: move to WQ with uORB callback scheduling by dagar
🛠️ fw_att_control: move to WQ with uORB callback scheduling by dagar
🛠️ NuttX boards reduce CONFIG_NFILE_DESCRIPTORS 54 -> 20 by dagar
🛠️ fw_pos_control_l1 add new simple min groundspeed by dagar
🛠️ voted_sensors_update: refactor to camelCase function names by MaEtUgR
🛠️ PreflightCheck: improve output in case of mag inconsistency by MaEtUgR
🛠️ voted_sensors_update: refactor out matrix:: because of using namespace by MaEtUgR
🛠️ Improve magnetometer inconsistency check To check directional difference between the magnetometer field vectors instead of vector component difference. by MaEtUgR
🛠️ logger move to uORB::SubscriptionInterval (#12123) by dagar
🛠️ change angle parmeter to degrees by baumanta
🛠️ add unit for coll prev angle by baumanta
🛠️ add parameter for detection angle by baumanta
🛠️ change size of reaction angle by baumanta
🛠️ no slinding in collision prevention (roll jerk fix) by baumanta
🛠️ sensors: create vehicle_acceleration module (#12597) by dagar
🛠️ Yaw mode 3 - Add check for minimum distance to target in MPC_YAW_MODE 3 (along trajectory) to be consistent with the other yaw modes by bresch
🛠️ Revert "CollisionPrevention only process distance_sensor updates" This reverts commit 839787568c523dad917946322019293eddf6461c. by mrivi
🛠️ InvenSense ICM20948 move to PX4Accelerometer, PX4Gyroscope, PX4Magnetometer helpers by dagar
🛠️ NuttX increase HPWORK and LPWORK stack by 256 bytes by dagar
🛠️ simple circleci.com px4_fmu-v5 build & archive example by dagar
🛠️ vehicle_angular_velocity: sensor_selection callback - needed to update the main sensor_gyro subscription if the primary stops responding by dagar
🛠️ uORB fix vehicle_angular_velocity RTPS id by dagar
🛠️ sensors: create vehicle_angular_velocity module (#12596) * split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl by dagar
🛠️ bloaty fix master comparison - jenkins add new sections and segments output by dagar
🛠️ logger use uORB::PublicationQueued for ulog_stream - queue depth is now set by the msg by dagar
🛠️ logger move non-logged subscriptions to uORB::Subscription by dagar
🛠️ NuttX reduce stack for interrupts, HPWORK, LPWORK by dagar
🛠️ px4flow add parameter to enable (SENS_EN_PX4FLOW) - fixes https://github.com/PX4/Firmware/issues/12571 by dagar
🛠️ mavlink: added check if instance mode is serial when trying to find if instance exists (#12642) by garfieldG
🛠️ fmuv5x:Use ADC3 for HW VER/REV detection fmu-v5x:hrt needs to be running for ADC time out Fixes bug introduced in 320d2e adding platform layer. by davids5
🛠️ adc:Add that ability to select an ADC by davids5
🛠️ fmu-v5:hrt needs to be running for ADC time out Fixes bug introduced in 320d2e adding platform layer. by davids5
🛠️ [uORB::Subscription minor API cleanup * the forceInit() method was combined with the existing subscribe()
delete unused last_update()](8f5b7de) by dagar
🛠️ posix configs: set trigger interface to mavlink as it's the only one supported on posix Signed-off-by: RomanBapst bapstroman@gmail.com by RomanBapst
🛠️ camera trigger: do not try to start if interface was not created Signed-off-by: RomanBapst bapstroman@gmail.com by RomanBapst
🛠️ Add i2cdetect to K66 by davids5
🛠️ i2cdetect do not exceed 100Khz by davids5
🛠️ [Update submodule nuttx to latest Mon Aug 5 20:30:34 UTC 2019 (Update submodule nuttx to latest Mon Aug 5 20:30:34 UTC 2019 #12636) - nuttx in PX4/Firmware (be76f909beadfe80415b733c020695efb042adef): https://github.com/PX4/NuttX/commit/b4013dcd4a9ec8edf412277fa3e4dccd419089c1
- nuttx current upstream: PX4/NuttX@14f4dc7
- Changes: PX4/NuttX@b4013dc...14f4dc7
14f4dc7 2019-08-05 David Sidrane - [BACKPORT] kinetis:i2c transfer ensure correct result returned](64f105b) by dagar
🛠️ uORB add RTPS message id for new wheel_encoders msg by dagar
🛠️ ObstacleAvoidance: update empty_trajectory_waypoint by mrivi
🛠️ increase mc_pos_control stack from 1300 to 1500 by mrivi
🛠️ ObstacleAvoidance: use hysteresis on z to check progress towards the goal by mrivi
🛠️ add point type (mavlink command associated with wp) in Obstacle Avoidance interface by mrivi
🛠️ commander: use shutdown_if_allowed() to check for shutdown safety Signed-off-by: Andrei Korigodski akorigod@gmail.com by korigod
🛠️ vehicle_status: replace ARMING_STATE_REBOOT with ARMING_STATE_SHUTDOWN Signed-off-by: Andrei Korigodski akorigod@gmail.com by korigod
🛠️ commander: do not reboot on USB disconnect when armed Signed-off-by: Andrei Korigodski akorigod@gmail.com by korigod
🛠️ Fix a corner case that prevented mavlink config streams from being indexed appropriately when USB is not connected at boot. Break out Mavlink class constructor logic into set_instance() and set_channel() methods. and add const specifiers and default arguments to Mavlink::mavlink_open_uart(). by mcsauder
🛠️ Mavlink FTP: Fix for wrong component id in retry by MatejFranceskin
🛠️ mavlink command sender: give channels more time to request command - if a channel receives an ack for a command, do not immediately remove the command item from the send queue but wait until the next ack timeout occurs. This gives other mavlink channels time to try to put identical commands into the send queue. Signed-off-by: RomanBapst bapstroman@gmail.com by RomanBapst
🛠️ mavlink_command_sender: don't try to resend command to instance which did not request this command Signed-off-by: RomanBapst bapstroman@gmail.com by RomanBapst
🛠️ mavlink: fix race condition in mavlink_command_sender - if we receive an ack for a command through a specific mavlink channel then do not drop the corresponding command in the queue if this specific mavlink channel did not issue the command. If we don't do this we can end up in a situation where we associate an ack coming through a specific mavlink channel to a command in the queue which was not requested by this mavlink channel. Moreover, the actual command for which the ack was meant remains in the queue and eventually triggers a timeout. Signed-off-by: RomanBapst bapstroman@gmail.com by RomanBapst
🛠️ Changed wheel encoder publication to multi-instance by ItsTimmy
🛠️ Added module.yaml and serial port configuration. by ItsTimmy
🛠️ More code cleanup by ItsTimmy
🛠️ Removed some parameters by ItsTimmy
🛠️ Implemented reading speed from the Roboclaw by ItsTimmy
🛠️ Further fixing up parameters by ItsTimmy
🛠️ Added parameters by ItsTimmy
🛠️ Fixed timeout error handling by ItsTimmy
🛠️ Minor cleanup by ItsTimmy
🛠️ Fixed timeout handling by ItsTimmy
🛠️ Fixed disarming by ItsTimmy
🛠️ Publishing encoder message at regular intervals by ItsTimmy
🛠️ Ongoing encoder work by ItsTimmy
🛠️ Ongoing encoder work by ItsTimmy
🛠️ Ongoing work to update RoboClaw driver by ItsTimmy
🛠️ update all docker tags 2019-03-08 -> 2019-07-29 by dagar
🛠️ cmake make bloaty available everywhere and improve output by dagar
🛠️ AV-X board_config.h fix ADIS16497 chip select by dagar
🛠️ rtps: ids: add missing aliased topics by TSC21
🛠️ rtps: generation scripts: make indexing of lists possible in both Python 2 and 3 by TSC21
🛠️ introduce uORB::PublicationQueued and transition most orb_advertise_queue usage by dagar
🛠️ CollisionPrevention only process distance_sensor updates by dagar

CONTRIBUTORS

Last week there were 19 contributors.
👤 mcsauder
👤 dagar
👤 jiejiezhang
👤 jkflying
👤 bresch
👤 Stifael
👤 sfuhrer
👤 cmic0
👤 PX4BuildBot
👤 davids5
👤 MaEtUgR
👤 baumanta
👤 mrivi
👤 garfieldG
👤 RomanBapst
👤 korigod
👤 MatejFranceskin
👤 ItsTimmy
👤 TSC21

STARGAZERS

Last week there were 28 stagazers.
⭐ as1ndu
⭐ PabloRdrRbl
⭐ hayari10
⭐ hwiorn
⭐ jperenia
⭐ jyotirmayamahanta
⭐ khangvo
⭐ OnlyLoveLiuQiang
⭐ Rusaman
⭐ DWZ-zh
⭐ heymarcin
⭐ edidada
⭐ DingZiming
⭐ wuzaigang
⭐ juliomorales-drone
⭐ MoonUniverse
⭐ orociic
⭐ jessearmand
⭐ catastrop
⭐ osthafen
⭐ aiseei
⭐ jrmysvr
⭐ bmw111
⭐ xueqingxiao
⭐ theiron97
⭐ Tagussan
⭐ krunal2103
⭐ dec0dOS
You all are the stars! 🌟

RELEASES

Last week there were no releases.

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Weekly Digest (4 August, 2019 - 11 August, 2019) #12682

Weekly Digest (4 August, 2019 - 11 August, 2019) #12682

weekly-digest bot commented Aug 11, 2019

Weekly Digest (4 August, 2019 - 11 August, 2019) #12682

Weekly Digest (4 August, 2019 - 11 August, 2019) #12682

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weekly-digest bot commented Aug 11, 2019

ISSUES

OPEN ISSUES

CLOSED ISSUES

LIKED ISSUE

NOISY ISSUE

PULL REQUESTS

OPEN PULL REQUEST

UPDATED PULL REQUEST

MERGED PULL REQUEST

COMMITS

CONTRIBUTORS

STARGAZERS

RELEASES