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PX4:main ← chris1seto:pr-better-rc-control-in-fw_at
opened 06:01PM - 18 Aug 22 UTC
## Overview
Right now, fixed wing auto tune must be triggered by a param edit, … and the auto tune process does not allow manual control of the plane. This is unfriendly for a number of reasons:
1. Auto tune is likely to be used during bring up of a new airframe. This is a time when its desirable to always have the RC TX in hand as a quick way to safely deal with control issues. Editing a param means either having a helper or putting the RC TX down and turning attention away from the flying aircraft.
2. The idea of giving up any level of control while autotune is running may be uncomfortable to some users.
## Describe your solution
This PR allows for a selectable aux switch to enable/disable fw_at. It also allows for the user to fly the airplane normally with manual control inputs.
## Test data / coverage
How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
## Additional context
Add any other related context or media.
@farhang needs guidance on ubuntu on mac arm64 targets
PX4:main ← farhangnaderi:pr-dev-env-arm64
opened 09:40PM - 21 Aug 22 UTC
## problem
To add Arm64 capability to development toolchain installation bash … file to handle g++ multilib package under Nuttx dependencies. Normally, multi lib does not exist as g++-multilib under Ubuntu aarch64 packages and has alternatives for installation.This will add capability for arm-based setups to use the toolchain installation bash script with no issues.
The output from terminal is as below:
```
Installing PX4 general dependencies
[sudo] password for parallels:
Hit:1 http://ports.ubuntu.com/ubuntu-ports focal InRelease
Get:2 http://ports.ubuntu.com/ubuntu-ports focal-updates InRelease [114 kB]
Get:3 http://ports.ubuntu.com/ubuntu-ports focal-backports InRelease [108 kB]
Get:4 http://ports.ubuntu.com/ubuntu-ports focal-security InRelease [114 kB]
Get:5 http://ports.ubuntu.com/ubuntu-ports focal-updates/main arm64 Packages [1,439 kB]
Get:6 http://ports.ubuntu.com/ubuntu-ports focal-updates/main Translation-en [365 kB]
Get:7 http://ports.ubuntu.com/ubuntu-ports focal-updates/main arm64 DEP-11 Metadata [278 kB]
Get:8 http://ports.ubuntu.com/ubuntu-ports focal-updates/main arm64 c-n-f Metadata [15.4 kB]
Get:9 http://ports.ubuntu.com/ubuntu-ports focal-updates/restricted Translation-en [174 kB]
Get:10 http://ports.ubuntu.com/ubuntu-ports focal-updates/universe arm64 Packages [889 kB]
Get:11 http://ports.ubuntu.com/ubuntu-ports focal-updates/universe Translation-en [213 kB]
Get:12 http://ports.ubuntu.com/ubuntu-ports focal-updates/universe arm64 DEP-11 Metadata [389 kB]
Get:13 http://ports.ubuntu.com/ubuntu-ports focal-updates/universe arm64 c-n-f Metadata [19.4 kB]
Get:14 http://ports.ubuntu.com/ubuntu-ports focal-backports/main arm64 Packages [45.3 kB]
Get:15 http://ports.ubuntu.com/ubuntu-ports focal-backports/main arm64 DEP-11 Metadata [7,964 B]
Get:16 http://ports.ubuntu.com/ubuntu-ports focal-backports/main DEP-11 48x48 Icons [6,976 B]
Get:17 http://ports.ubuntu.com/ubuntu-ports focal-backports/main DEP-11 64x64 Icons [10.5 kB]
Get:18 http://ports.ubuntu.com/ubuntu-ports focal-backports/main arm64 c-n-f Metadata [1,420 B]
Get:19 http://ports.ubuntu.com/ubuntu-ports focal-backports/universe arm64 Packages [23.9 kB]
Get:20 http://ports.ubuntu.com/ubuntu-ports focal-backports/universe arm64 DEP-11 Metadata [30.5 kB]
Get:21 http://ports.ubuntu.com/ubuntu-ports focal-backports/universe arm64 c-n-f Metadata [860 B]
Get:22 http://ports.ubuntu.com/ubuntu-ports focal-security/main arm64 Packages [1,139 kB]
Get:23 http://ports.ubuntu.com/ubuntu-ports focal-security/main Translation-en [283 kB]
Get:24 http://ports.ubuntu.com/ubuntu-ports focal-security/main arm64 DEP-11 Metadata [40.7 kB]
Get:25 http://ports.ubuntu.com/ubuntu-ports focal-security/main arm64 c-n-f Metadata [10.6 kB]
Get:26 http://ports.ubuntu.com/ubuntu-ports focal-security/restricted Translation-en [162 kB]
Get:27 http://ports.ubuntu.com/ubuntu-ports focal-security/universe arm64 Packages [662 kB]
Get:28 http://ports.ubuntu.com/ubuntu-ports focal-security/universe Translation-en [130 kB]
Get:29 http://ports.ubuntu.com/ubuntu-ports focal-security/universe arm64 DEP-11 Metadata [76.8 kB]
Get:30 http://ports.ubuntu.com/ubuntu-ports focal-security/universe arm64 c-n-f Metadata [12.8 kB]
Err:31 http://packages.osrfoundation.org/gazebo/ubuntu-stable focal InRelease
Temporary failure resolving 'packages.osrfoundation.org'
Fetched 6,762 kB in 25s (270 kB/s)
Reading package lists...
W: Failed to fetch http://packages.osrfoundation.org/gazebo/ubuntu-stable/dists/focal/InRelease Temporary failure resolving 'packages.osrfoundation.org'
W: Some index files failed to download. They have been ignored, or old ones used instead.
Reading package lists...
Building dependency tree...
Reading state information...
cmake is already the newest version (3.16.3-1ubuntu1).
file is already the newest version (1:5.38-4).
g++ is already the newest version (4:9.3.0-1ubuntu2).
gcc is already the newest version (4:9.3.0-1ubuntu2).
make is already the newest version (4.2.1-1.2).
python3 is already the newest version (3.8.2-0ubuntu2).
python3-dev is already the newest version (3.8.2-0ubuntu2).
python3-setuptools is already the newest version (45.2.0-1).
unzip is already the newest version (6.0-25ubuntu1).
zip is already the newest version (3.0-11build1).
astyle is already the newest version (3.1-2build1).
cppcheck is already the newest version (1.90-4build1).
lcov is already the newest version (1.14-2).
ninja-build is already the newest version (1.10.0-1build1).
python3-wheel is already the newest version (0.34.2-1).
shellcheck is already the newest version (0.7.0-2build2).
build-essential is already the newest version (12.8ubuntu1.1).
gdb is already the newest version (9.2-0ubuntu1~20.04.1).
git is already the newest version (1:2.25.1-1ubuntu3.5).
libxml2-dev is already the newest version (2.9.10+dfsg-5ubuntu0.20.04.4).
libxml2-utils is already the newest version (2.9.10+dfsg-5ubuntu0.20.04.4).
rsync is already the newest version (3.1.3-8ubuntu0.4).
python3-pip is already the newest version (20.0.2-5ubuntu1.6).
0 upgraded, 0 newly installed, 0 to remove and 95 not upgraded.
Installing PX4 Python3 dependencies
Requirement already satisfied: argcomplete in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 1)) (2.0.0)
Requirement already satisfied: argparse>=1.2 in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 2)) (1.4.0)
Requirement already satisfied: cerberus in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 3)) (1.3.4)
Requirement already satisfied: coverage in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 4)) (6.4.4)
Requirement already satisfied: empy>=3.3 in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 5)) (3.3.4)
Requirement already satisfied: future in /usr/lib/python3/dist-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 6)) (0.18.2)
Requirement already satisfied: jinja2>=2.8 in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 7)) (3.1.2)
Requirement already satisfied: jsonschema in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 8)) (4.14.0)
Requirement already satisfied: kconfiglib in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 9)) (14.1.0)
Requirement already satisfied: lxml in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 10)) (4.9.1)
Requirement already satisfied: matplotlib>=3.0.* in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 11)) (3.6.0rc1)
Requirement already satisfied: numpy>=1.13 in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 12)) (1.23.2)
Requirement already satisfied: nunavut>=1.1.0 in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 13)) (1.8.3)
Requirement already satisfied: packaging in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 14)) (21.3)
Requirement already satisfied: pandas>=0.21 in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 15)) (1.4.3)
Requirement already satisfied: pkgconfig in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 16)) (1.5.5)
Requirement already satisfied: psutil in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 17)) (5.9.1)
Requirement already satisfied: pygments in /usr/lib/python3/dist-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 18)) (2.3.1)
Requirement already satisfied: wheel>=0.31.1 in /usr/lib/python3/dist-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 19)) (0.34.2)
Requirement already satisfied: pymavlink in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 20)) (2.4.34)
Requirement already satisfied: pyros-genmsg in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 21)) (0.5.8)
Requirement already satisfied: pyserial in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 22)) (3.5)
Requirement already satisfied: pyulog>=0.5.0 in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 23)) (0.9.0)
Requirement already satisfied: pyyaml in /usr/lib/python3/dist-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 24)) (5.3.1)
Requirement already satisfied: requests in /usr/lib/python3/dist-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 25)) (2.22.0)
Requirement already satisfied: setuptools>=39.2.0 in /usr/lib/python3/dist-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 26)) (45.2.0)
Requirement already satisfied: six>=1.12.0 in /usr/lib/python3/dist-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 27)) (1.14.0)
Requirement already satisfied: toml>=0.9 in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 28)) (0.10.2)
Requirement already satisfied: sympy>=1.10.1 in /home/parallels/.local/lib/python3.8/site-packages (from -r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 29)) (1.10.1)
Requirement already satisfied: MarkupSafe>=2.0 in /home/parallels/.local/lib/python3.8/site-packages (from jinja2>=2.8->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 7)) (2.1.1)
Requirement already satisfied: importlib-resources>=1.4.0; python_version < "3.9" in /home/parallels/.local/lib/python3.8/site-packages (from jsonschema->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 8)) (5.9.0)
Requirement already satisfied: attrs>=17.4.0 in /home/parallels/.local/lib/python3.8/site-packages (from jsonschema->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 8)) (22.1.0)
Requirement already satisfied: pkgutil-resolve-name>=1.3.10; python_version < "3.9" in /home/parallels/.local/lib/python3.8/site-packages (from jsonschema->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 8)) (1.3.10)
Requirement already satisfied: pyrsistent!=0.17.0,!=0.17.1,!=0.17.2,>=0.14.0 in /home/parallels/.local/lib/python3.8/site-packages (from jsonschema->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 8)) (0.18.1)
Requirement already satisfied: kiwisolver>=1.0.1 in /home/parallels/.local/lib/python3.8/site-packages (from matplotlib>=3.0.*->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 11)) (1.4.4)
Requirement already satisfied: python-dateutil>=2.7 in /usr/lib/python3/dist-packages (from matplotlib>=3.0.*->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 11)) (2.7.3)
Requirement already satisfied: pyparsing>=2.2.1 in /home/parallels/.local/lib/python3.8/site-packages (from matplotlib>=3.0.*->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 11)) (3.0.9)
Requirement already satisfied: cycler>=0.10 in /home/parallels/.local/lib/python3.8/site-packages (from matplotlib>=3.0.*->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 11)) (0.11.0)
Requirement already satisfied: fonttools>=4.22.0 in /home/parallels/.local/lib/python3.8/site-packages (from matplotlib>=3.0.*->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 11)) (4.36.0)
Requirement already satisfied: contourpy>=1.0.1 in /home/parallels/.local/lib/python3.8/site-packages (from matplotlib>=3.0.*->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 11)) (1.0.4)
Requirement already satisfied: pillow>=6.2.0 in /usr/lib/python3/dist-packages (from matplotlib>=3.0.*->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 11)) (7.0.0)
Requirement already satisfied: pydsdl~=1.16 in /home/parallels/.local/lib/python3.8/site-packages (from nunavut>=1.1.0->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 13)) (1.16.0)
Requirement already satisfied: pytz>=2020.1 in /home/parallels/.local/lib/python3.8/site-packages (from pandas>=0.21->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 15)) (2022.2.1)
Requirement already satisfied: mpmath>=0.19 in /home/parallels/.local/lib/python3.8/site-packages (from sympy>=1.10.1->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 29)) (1.2.1)
Requirement already satisfied: zipp>=3.1.0; python_version < "3.10" in /home/parallels/.local/lib/python3.8/site-packages (from importlib-resources>=1.4.0; python_version < "3.9"->jsonschema->-r /home/parallels/PX4-Autopilot/Tools/setup/requirements.txt (line 8)) (3.8.1)
Installing NuttX dependencies
Reading package lists...
Building dependency tree...
Reading state information...
Package gcc-multilib is not available, but is referred to by another package.
This may mean that the package is missing, has been obsoleted, or
is only available from another source
E: Unable to locate package g++-multilib
E: Couldn't find any package by regex 'g++-multilib'
E: Package 'gcc-multilib' has no installation candidate
```
## solution
Hardware check for how to handle this package installation since they have different names.
## possible alternatives
There currently is a way to have Dev toolchain on RPi which nuttx and sim tools have to be neglected.
## Test data / coverage
Already tested on M1 Macbook with Ubuntu 20.04 and even got a successful board build.
## Additional context
Reviews are highly needed and appreciated.
Running v1.13 on a standard quad VTOL with an old Cube Black, and I have ESC calibration issues. The ESCs I’m using are PWM based, and all motors spin correctly when I do spin test so I know the communication FC-ESC works (I can even fly in stabilized, but it’s not nice).
opened 12:21PM - 19 Aug 22 UTC
feature-request
## Describe problem solved by the proposed feature
I am using the MS5837 sens… or for my uuv which gives me a pressure reading that I want to use to estimate the depth in water.
EKF2 uses the result from VehicleAirData::PressureToAltitude but that one uses an equation that is only correct if the vehicle is in air.
Under water a different equation needs to be used.
## Describe your preferred solution
Add a param `IN_AIR` to VehicleAirData or use an existing one (maybe vehicle type).
If IN_AIR is false use this equation: `altitude = (measure_p - p_at_sea_level) * 0.01f;`
If you want to participate on a meeting to fix this please join us on a meeting (select times below)
https://calendly.com/d/d3v-nx4-5q6/px4-uuv-meeting
@Jaeyoung-Lim
PX4:main ← PX4:pr-rover-ratesp
opened 01:49PM - 21 Aug 22 UTC
## Describe problem solved by this pull request
Previously USVs(boats) did not … work in mission mode due to the lack of low level control in the rover position control. Due to the low yaw damping on water the boat model would just oscillate on the yaw axis without meaningful navigation.
## Describe your solution
This PR adds a rate control loop on the rover position control module and enables way point navigation for boats.
- Added rate control of a rover using the common rate control library
- Added support for Acro mode for rovers (includes https://github.com/PX4/PX4-Autopilot/pull/18317)
- Had to make commander consider boats as a rover vehicle type for waypoint acceptance (Fixes https://github.com/PX4/PX4-Autopilot/issues/19045)
- This PR needs a modification of the gazebo model for Improved control authority and directional stability of the gazebo boat model https://github.com/PX4/PX4-SITL_gazebo/pull/895
## Test data / coverage
### After PR
Tested in SITL and demonstrated successfully of following a survey pattern
```
make px4_sitl gazebo_boat
```
- Flight log: [Log](https://review.px4.io/plot_app?log=c14bff87-6756-438c-9362-1f42c19e1d2d)
### Before PR
- Flight log: [Log](https://review.px4.io/plot_app?log=5c69e211-0a61-4abd-a6b9-20707fa7b193)
## Additional context
- This is a extended PR of https://github.com/PX4/PX4-Autopilot/pull/18317
- @junwoo091400 This should be useful for https://github.com/PX4/PX4-Autopilot/pull/19957
- Fixes https://github.com/PX4/PX4-Autopilot/issues/19045
- Depends on https://github.com/PX4/PX4-SITL_gazebo/pull/895
There are some transmitters that you can buy and plug speak mavlink, and there are a few checks that need to be added in PX4 to be compliant. The initial work has been done by @ThomasDebrunner
PX4:main ← PX4:up-open-drone-id-publish
opened 07:23AM - 11 Aug 22 UTC
## Describe problem solved by this pull request
This PR adds mavlink streams fo… r some of the Open Drone ID messages to be streamed over mavlink
The messages can then be picked up by transceivers connected to the autopilot to be sent out.
This also adds a check for the heartbeat of the ODID system, as well as a pre-arm check to prevent arming in case the heartbeat is not received or does not indicate healthy.
## Describe your solution
Adds mavlink streams for open drone id messages and adds a pre-arm check
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