px4fmu move to WQ with uORB callback scheduling

[dagar]

Requires #12207 before merging.
Background - #12207

This pull request moves the px4fmu driver (mixing + pwm output) to the new WQ. If mixing the primary actuator controls it runs in the rate_ctrl WQ (highest priority), otherwise it runs in hp_default. Either way it's event driven on new actuator_control publications, which removes the need to optionally run as a task (SYS_FMU_TASK).

Testing

• fmu as MAIN mixer - PWM 400 Hz
• fmu as MAIN mixer - PWM 50 Hz
• fmu as AUX mixer - PWM 400 Hz
• fmu as AUX mixer - PWM 50 Hz
• fmu as MAIN mixer - Oneshot
• fmu as AUX mixer - Oneshot
• fmu with no mixer (test safety button on fmu-v4) (N/A)

[dagar]

TODO: review oneshot

[dagar]

FYI @mcsauder ready to do this one for real.

[mcsauder]

Awesome @dagar ! Well done!

Here are 2 flights that somehow became three logs for you, pixhawk 4 mini, 250 generic quad. This PR flies fantastic, be sure to look at the last log. From these flights I see no reason not to proceed with this work full steam.

Position hold only:
https://review.px4.io/plot_app?log=db95528e-8b9d-4eca-9076-41216428030b
https://review.px4.io/plot_app?log=5a9d6b05-817b-4929-b62a-6435ab905ab5

Multiple flight modes exercised:
https://review.px4.io/plot_app?log=819221ab-61e2-4b0b-b066-b6d4bef5bd0e

Nice work!

[Junkim3DR]

Tested on Pixhawk 4mini v5:

Modes Tested

• Position Mode: Good.
• Altitude Mode: Good.
• Stabilized Mode: Good.
• Mission Plan Mode (Automated): Good.
• RTL (Automated): Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
PR 12224

• https://review.px4.io/plot_app?log=0cb008ad-9f9e-4c25-ad45-c841376277c4
• https://review.px4.io/plot_app?log=632f0768-8156-4052-8b11-a44034190ca8

Master

• https://review.px4.io/plot_app?log=86a79be0-549e-4d83-a8af-ad2a5f2b6c88

[Junkim3DR]

Tested on Pixhawk 2 Cube v3:

Modes Tested

• Position Mode: Good.
• Altitude Mode: Good.
• Stabilized Mode: Good.
• Mission Plan Mode (Automated): Good.
• RTL (Automated): Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
PR 12224

• https://review.px4.io/plot_app?log=c387c7e6-6e67-41cf-bc36-574267404da5
• https://review.px4.io/plot_app?log=8d22dcce-f292-4a51-a69c-fb2bd5bb5bb9

Master

• https://review.px4.io/plot_app?log=8b9e00d5-a35f-4977-a4fc-593fd15eb437
• https://review.px4.io/plot_app?log=51633fe4-de43-491b-ba79-506af5d3cdb4

[jorge789]

Tested on PixRacer V4:

Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL (Automated): Good.
Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
PR 12224
https://review.px4.io/plot_app?log=b28150c5-6776-4cff-8d3c-5b98efef3430

https://review.px4.io/plot_app?log=33c41165-a41c-4860-8621-1b381a914f90

Master:
https://review.px4.io/plot_app?log=3605f434-06c0-469d-a11b-30e99363e717

[dagar]

Revisit after #12225.

TODO: test oneshot

[bkueng]

There's a potential threadding issue due to work queue switching that I don't see being prevented.

@Tony3dr the holybro QAV250 is set to Oneshot by default.

Tested on Omnibus with Oneshot, still works.