Weekly Digest (26 January, 2020 - 2 February, 2020) #14084

weekly-digest · 2020-02-02T10:55:32Z

Here's the Weekly Digest for PX4/Firmware:

ISSUES

Last week 57 issues were created.
Of these, 30 issues have been closed and 27 issues are still open.

OPEN ISSUES

CLOSED ISSUES

LIKED ISSUE

👍 #14028 msg: rename sensor_bias -> estimator_sensor_bias, by dagar
It received 👍 x1, 😄 x0, 🎉 x0 and ❤️ x0.

NOISY ISSUE

🔈 #14053 NXP_FMUK66_v3 - VTOL - Airspeed sensor not recognized, by dk7xe
It received 9 comments.

PULL REQUESTS

Last week, 79 pull requests were created, updated or merged.

UPDATED PULL REQUEST

Last week, 47 pull requests were updated.
💛 #14082 [WIP] Add S23K1XX and rddrone uavcan146, by davids5
💛 #14080 Honour PYTHON_EXECUTABLE environment variable pass to cmake #14077, by fnoop
💛 #14079 add support for unmanned underwater vehicles:, by DanielDuecker
💛 #14065 Cosmetic changes to navigator_params, by LowOrbitIonCannon
💛 #14063 change how to get ros2 version, by stmoon
💛 #14056 [DNM] DO NOT MERGE - For imxrt test purposes only , by davids5
💛 #14052 cdev: reduce open count (uint16_t -> uint8_t), by dagar
💛 #14051 [WIP] mavlink delete MavlinkOrbSubscription and uORB delete unused orb_stat and last update timestamp, by dagar
💛 #14047 perf: latency add more buckets, print percentage, and average, by dagar
💛 #14046 perf: keep dt in microseconds to avoid numerical problems, by dagar
💛 #14037 Remove unused configs from specific board builds, by LorenzMeier
💛 #14036 [WIP] sensors: refactor common corrections and rotation helpers, by dagar
💛 #14035 mc_rate_control: publish angular acceleration setpoint, by dagar
💛 #14032 Only do SW flow control for 3DR radio, by nicovanduijn
💛 #14024 Add camera attitudes to log, by moreba1
💛 #14021 Fixed prearm check for INA226 power monitor, by ItsTimmy
💛 #14018 Implementation of RPM sensor, by roman-dvorak
💛 #14013 initial "experimental" boards, by dagar
💛 #13983 Disable camera trigger in Return mode, by moreba1
💛 #13981 Hover thrust estimator, by bresch
💛 #13974 attitude_estimator_q: publish sensor_bias, by dagar
💛 #13973 Takeoff: check if the desired velocity is finite when generating the takeoff velocity ramp, by dusan19
💛 #13948 mission:reset mission after finished, by jinchengde
💛 #13934 Support odometry velocity in body and local frame, by kamilritz
💛 #13916 Add SITL target for simulating catapult / handlaunching fixed wing, by Jaeyoung-Lim
💛 #13871 Board config: timer config simplifications, by bkueng
💛 #13831 Pr tfminiplus and command support, by amoizard
💛 #13782 VTOL: disable WV when moving, by sfuhrer
💛 #13779 VTOL tiltrotor tilt ("pusher") support in hover, by sfuhrer
💛 #13681 Mavlink: Implemented SET_CAMERA_ZOOM, by dayjaby
💛 #13335 PX4-RT.1-v1.7.0, by mexdy
💛 #13305 fw_pos_control_l1: move to px4::params, by dagar
💛 #13303 [WIP] Simplying RC Input Logic for Mapping PWM to Flight Modes, by dlwalter
💛 #13276 Allow to keep mag calibration after airframe change, by jlecoeur
💛 #13214 Add camera models for VTOL models for sitl, by Jaeyoung-Lim
💛 #13158 mavlink: add missing uORB publication of tunes, by julianoes
💛 #13136 [WIP] VTOL Transition Task: Control Z and Yaw Velocity to 0, by MaEtUgR
💛 #12989 Imu health reporting and preflight checks improvements, by dusan19
💛 #12976 Added FileNotFound error code according to new Mavlink FTP specification, by MatejFranceskin
💛 #12738 [WIP] add support for range finders via uavcan (for HEX flow module), by DanielePettenuzzo
💛 #12518 Differential thrust for tailsitter, by bluecat1997
💛 #12494 Switch into last mode after landing and disarming after RTL/Land, by ItsTimmy
💛 #12368 [WIP]: vmount: move non-polling orb to uORB::Subscription, by dagar
💛 #12215 EKF introduce ecl_float_t type for double precision floating point where available (disabled by default), by dagar
💛 #11845 fw_pos_control_l1: apply pitch setpoint offsets centrally, by dagar
💛 #11318 parameters metadata generate as single static constexpr header, by dagar
💛 #9849 create a range of common quadcopter frame sizes and general ROMFS cleanup, by dagar

MERGED PULL REQUEST

COMMITS

Last week there were 94 commits.
🛠️ Fix hardware detection of Flight Core standalone configuration by modaltb
🛠️ [BACKPORT] hrt needs to be running for ADC time out. From commit 5a1c46deebbe38de35c7ab656ed78248e91eb850 by modaltb
🛠️ logger: choose logged instances by logger_topics file new versions of logger does not allow to log multiple instances of a topic when using 'logger_topics.txt' This commit restores the default behavior (log all instances of a topic) and ad the option to specify an instance to log by NicolasM0
🛠️ setup: select Java 8 after installation by julianoes
🛠️ Tools: check for Java 8 on Linux This allows us to print an error message instead of a weird Java failure further down the road. Better yet would be if this would take down everything, so a user does not have to scroll up to read the message. by julianoes
🛠️ commander params fix whitespace by dagar
🛠️ [codecov notification changes - require the reporting of 5 builds to try and prevent Github actions + Jenkins race condition

don't report if there's no change](d089bac) by dagar
🛠️ commander_params: subedit com_rc_override by hamishwillee
🛠️ px4_fmu-v4pro:Fix USART6 RX DMA Assignment by davids5
🛠️ invensense/icm20608-g: delete unnecessary perf counters by dagar
🛠️ invensense/icm20602: use watermarak interrupt instead of data ready and remove unnecessary perf counters by dagar
🛠️ invensense/mpu9250: delete redundant interval perf counter by dagar
🛠️ new icm20689 driver using FIFOs and raw sampling (8 kHz gyro, 4 kHz accel) by dagar
🛠️ new mpu6000 driver using FIFOs and raw sampling (8 kHz gyro, 1 kHz accel) by dagar
🛠️ EKF params - clarify body frame origin/orientation by hamishwillee
🛠️ mc_pos_control_main: remove obsolete input setpoint assignments These assignments were temporary for correct logging of the input setpoint which now properly also comes out of the controller again. This is reverting the hotfix from: dee8d200d8bb42cd964065f9a6506e3c4a901f10 by MaEtUgR
🛠️ PositionControl: replace interfacemapping checks Removing the skip_controller and interfaceMapping concept and replacing it with a single method checking if the position control update was successful and return the result in the PositionControl.update(). by MaEtUgR
🛠️ PositionControl: handle yaw NAN inputs by MaEtUgR
🛠️ PositionControl: calculate velocity integral once using Vector3f by MaEtUgR
🛠️ PositionControl: simplify horizontal thrust limiting by MaEtUgR
🛠️ PositionControl: readd direct thrust setpoint support This restores original horizontal thrust setpoint execution that I intentionally broke three commits ago. It's necessary for correct stick to tilt mapping of FlightTaskManualAltitude. by MaEtUgR
🛠️ PositionControl: add feed-forwards with addIfNotNan() by MaEtUgR
🛠️ PositionControl: calculate velocity PID once using Vector3f by MaEtUgR
🛠️ PositionControl: temporarily remove direct thrust setpoint support This commit temporarily breaks direct horizontal thrust setpoint execution which is used by FlightTaskManualAltitude. This is necessary to allow for PositionControl cleanup namely calculating the whole velocity PID in one Vector3f formula. Having this in a separate commit is useful since it reduces indentation of a bigger code block. by MaEtUgR
🛠️ ControlMath: add addIfNotNan helper functions by MaEtUgR
🛠️ [Add flow tests to MAVSDK tests (MAVSDK tests #14039) * workflows: remove unneeded pip dep and comments

mavsdk_tests: simple test using flow/offboard

This adds a first proof of concept of a test using flow and offboard.

Flow MAVSDK test: check against ground truth
CleanUp
workflows: use latest docker image with psutil
mavsdk_tests: fix PEP8 issues
Add VTOL CI tests back
switch to non-rendering flow mockup
workflows: install mavsdk from GitHub release .deb
Add vision test and disable VTOL temporarlly
Fist draft of combining test coverage and test in one workflow
Add VTOL mavsdk tests back in CI

Co-authored-by: Julian Oes julian@oes.ch
Co-authored-by: kritz kritz@ethz.ch](eb50e89) by LorenzMeier
🛠️ Update submodule sitl_gazebo to latest Thu Jan 30 00:37:59 UTC 2020 - sitl_gazebo in PX4/Firmware (931a3f26841b56c120e818323f9b4fd134a0b572): https://github.com/PX4/sitl_gazebo/commit/029722989e945f0a78d5a2322788b34a3ca99ab6 - sitl_gazebo current upstream: https://github.com/PX4/sitl_gazebo/commit/dfbc28badcffd734c6a5f1b084d7da44f0d19685 - Changes: https://github.com/PX4/sitl_gazebo/compare/029722989e945f0a78d5a2322788b34a3ca99ab6...dfbc28badcffd734c6a5f1b084d7da44f0d19685 dfbc28b 2020-01-29 kamilritz - Reduce airspeed noise 55d74c3 2020-01-11 JaeyoungLim - Add plane catapult model by PX4BuildBot
🛠️ new mpu9250 driver using FIFOs and raw sampling (8 kHz gyro, 4 kHz accel) - currently disabled by default by dagar
🛠️ logger: publish initial logger_status orb message by dagar
🛠️ [sensors: move accel filtering to sensors/vehicle_acceleration I've added a queue depth of 4 for sensor_accel and sensor_gyro. This is initially added because it's not always possible for the vehicle_acceleration to keep up with every publication of the primary accelerator as it runs in the same thread as ekf2, various controllers, etc.

Later this mechanism will be used in a few areas

rate limit vehicle_angular_velocity and vehicle_acceleration without missing any raw data
move IMU integration to vehicle_imu and out of the actual driver threads, eliminating the need for sensor_accel_integrated and sensor_gyro_integrated
integrate raw gyro synchronized with optical flow measurements](2410b31) by dagar
🛠️ Update platforms/nuttx/NuttX/nuttx: imxrt backports merged by davids5
🛠️ imxrt:Add critmon by davids5
🛠️ nxp_fmurt1062-v1:Memory Reorg by davids5
🛠️ nxp_fmurt1062-v1:Performance tuning by davids5
🛠️ nxp_fmurt1062-v1:RC is on LPUART6 ttyS5 by davids5
🛠️ nxp_fmurt1062-v1:PROBES:carry includes and path needed by davids5
🛠️ Updateded NuttX with backports of PX4 imxrt contrib by davids5
🛠️ iimxr:Needed more margin on minimum reload. by davids5
🛠️ nxp_fmurt1062-v1:OC remove Pull up - OC have series 47K by davids5
🛠️ fmurt1062-v1:Correct SPI1_DRDY4_ICM20602 by davids5
🛠️ fmurt1062-v1:Add SPI4 RESET and SYNC by davids5
🛠️ fmurt1062-v1:Add GPIO info by davids5
🛠️ fmurt1062-v1:Add nARMED Support by davids5
🛠️ fmurt1062-v1:Set BAT ADC scaling by davids5
🛠️ imxrt:ToneAlarmInterface Reset mode is dependant on Chan 1 by davids5
🛠️ fmurt1062-v1:Consistently use ONE/ZERO on inital OUTPUT settings by davids5
🛠️ fmurt1062-v1:Fix LPUART8 RX, TX pin definitions by davids5
🛠️ fmurt1062-v1:Fix LPUART3 CTS Pin definition by davids5
🛠️ fmurt1062-v1:Fix and enable support for debut Probes by davids5
🛠️ fmurt1062-v1:Correct ttyS usage by davids5
🛠️ fmurt1062-v1:Support imxrt_lpi2c_reset uses GPIO with SION by davids5
🛠️ fmurt1062-v1:Update board modules ==FMUv5 by davids5
🛠️ fmurt1062-v1:Support configurations to fine tune LPI2C Timeouts. by davids5
🛠️ fmurt1062-v1:Support clock setting for SPI and I2C from board.h by davids5
🛠️ fmurt1062-v1:Update board modules ==FMUv5 by davids5
🛠️ fmurt1062-v1:Remove EVK build options by davids5
🛠️ fmurt1062-v1:Invert USDHC CD by davids5
🛠️ fmurt1062-v1 Build for BB Rev A by davids5
🛠️ fmurt1062-v1:Rev to match Rev A HW by davids5
🛠️ Adding NXP fmurt1062-v1 Add nxp_fmurt1062-v1 to CI by davids5
🛠️ Add nxp imxrt device support by davids5
🛠️ [Flow mockup (Flow mockup #14054) * Add optical flow mockup model

Update Tools.sitl_gazebo](92e7545) by kamilritz
🛠️ workflows: build pull requests and master With this change pull requests from forks are also built. We yet need to verify if tags/releases are built or if we need to specify the tags as well. by julianoes
🛠️ mavsdk_tests: fix model name of plane However, the test does not pass yet, so I'm leaving it commented out. by julianoes
🛠️ mavsdk_tests: enable VTOL, fix TEST_CASE name We can't use commas in the TEST_CASE name. With the comma, the test did not run and displayed: Filters: Takeoff, transition and RTL No test cases matched 'Takeoff' No test cases matched 'transition and RTL' ========================================== No tests ran by julianoes
🛠️ mavsdk_tests: DISPLAY env for gazebo, --verbose by julianoes
🛠️ prearmCheck: vtol cleanup Signed-off-by: RomanBapst bapstroman@gmail.com by RomanBapst
🛠️ mission feasibilty check: fix for VTOL backtransition and land waypoint Prior this fix VTOL missions get rejected if they have a DO_LAND_START marker, but then do not end with a LAND waypoint but a VTOL transition and land. Signed-off-by: Silvan Fuhrer silvan@auterion.com by sfuhrer
🛠️ Codecov: Adjust target to current range This is required to enable CI. by LorenzMeier
🛠️ Disable Coveralls service We are covered by Codecov. by LorenzMeier
🛠️ Coverage: Ignore examples and unused apps These paths are unused code that is not part of the supported set. by LorenzMeier
🛠️ MAVSDK tests: Enable coverage testing This enables minimal coverage testing for multicopters. by LorenzMeier
🛠️ Makefile: Improve the error message if a target is not found The previous error message was misleading. The new more verbose error indicates that either the target does not exist or the ordering is wrong. by LorenzMeier
🛠️ Coverage: Run lcov separate to fix paths Without this the paths of the different compile units do not match up. by LorenzMeier
🛠️ MAVLink sim: Start faster This reduces test times across the board. by LorenzMeier
🛠️ Tests: Add VTOL test This is a first initial VTOL test. by LorenzMeier
🛠️ Plane tester: Complement test Prepare wider plane test. by LorenzMeier
🛠️ Test runner: Terminate all px4 apps correctly Without this change an aborted run leaves zombie processes running. by LorenzMeier
🛠️ Clang: Force absolute paths This helps with some diagnostics tools as we have various compile units in different paths. by LorenzMeier
🛠️ Coverage: Fix build for Mac OS These changes are needed for Mac OS. by LorenzMeier
🛠️ Coverage tests: Run faster We want the coverage tests to run at the maximum speedup factor the CI machine can deliver. by LorenzMeier
🛠️ airframes: delete 4004 H4 680mm - this doesn't include any actual airframe configuration by dagar
🛠️ airframes: delete 4012 quad x can by dagar
🛠️ airframes: delete 4002 quad x mount - the mount can be enabled via parameter by dagar
🛠️ px4_fmu-v2_fixedwing: disable vmount to save flash by dagar
🛠️ pre arm check: add circuit breaker for the VTOL arming in fixed-wing mode prevention Added a new circuit breaker that, if set, enables arming in fixed-wing mode for VTOLs. Signed-off-by: Silvan Fuhrer silvan@auterion.com by sfuhrer
🛠️ pre arm check: VTOL: do not allow arming if not in multicopter mode Signed-off-by: Silvan Fuhrer silvan@auterion.com by sfuhrer
🛠️ [sensors: compute and publish vehicle_angular_acceleration - introduces parameter IMU_DGYRO_CUTOFF to configure the angular acceleration low pass filter

the angular acceleration is computed by differentiating angular velocity after the notch filter (IMU_GYRO_NF_FREQ & IMU_GYRO_NF_BW) is applied

Co-authored-by: Julien Lecoeur jlecoeur@users.noreply.github.com](1237402) by dagar
🛠️ airframes: add ThunderFly Auto-G2 autogyro (#14015) by roman-dvorak
🛠️ [sensors: move gyro filtering to sensors/vehicle_angular_velocity - gyro filtering (low-pass and notch) only performed on primary gyro in sensors/vehicle_angular_velocity instead of every gyro in PX4Gyroscope

sample rate is calculated from actual updates (the fixed value was slightly wrong in many cases, and very wrong in a few)
In the FIFO case the array is now averaged and published in sensor_gyro for filtering downstream. I'll update this in the future to use the full FIFO array (if available), but right now it should be fine.](24f0c2d) by dagar
🛠️ Update sitl_gazebo: Vision fix by kamilritz
🛠️ Add standard_vtol as supported model for multivehicle sim gazebo Fix by Jaeyoung-Lim
🛠️ commander: don't run preflightCheck during calibration on reconnect by dagar
🛠️ msg: rename sensor_bias -> estimator_sensor_bias by dagar

CONTRIBUTORS

Last week there were 14 contributors.
👤 modaltb
👤 NicolasM0
👤 julianoes
👤 dagar
👤 hamishwillee
👤 davids5
👤 MaEtUgR
👤 LorenzMeier
👤 PX4BuildBot
👤 kamilritz
👤 RomanBapst
👤 sfuhrer
👤 roman-dvorak
👤 Jaeyoung-Lim

STARGAZERS

Last week there were 18 stagazers.
⭐ dexter31
⭐ Boubou818
⭐ sosher
⭐ iftahnaf
⭐ wly0215
⭐ SamFisher940425
⭐ richardxu
⭐ timolinn
⭐ arrebagrove
⭐ DanielPetelin
⭐ ganeshr2
⭐ geokal
⭐ yhch87
⭐ onuroztrk
⭐ t-kobayashi
⭐ slater1
⭐ aqilco
⭐ chenzhepeter
You all are the stars! 🌟

RELEASES

Last week there were no releases.

That's all for last week, please 👀 Watch and ⭐ Star the repository PX4/Firmware to receive next weekly updates. 😃

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weekly-digest bot added the [ARCHIVED] weekly-digest (depreciated) label Feb 2, 2020

julianoes closed this as completed Feb 4, 2020

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Weekly Digest (26 January, 2020 - 2 February, 2020) #14084

Weekly Digest (26 January, 2020 - 2 February, 2020) #14084

weekly-digest bot commented Feb 2, 2020

Weekly Digest (26 January, 2020 - 2 February, 2020) #14084

Weekly Digest (26 January, 2020 - 2 February, 2020) #14084

Comments

weekly-digest bot commented Feb 2, 2020

ISSUES

OPEN ISSUES

CLOSED ISSUES

LIKED ISSUE

NOISY ISSUE

PULL REQUESTS

UPDATED PULL REQUEST

MERGED PULL REQUEST

COMMITS

CONTRIBUTORS

STARGAZERS

RELEASES