Weekly Digest (14 July, 2019 - 21 July, 2019)

[weekly-digest[bot]]

Here's the Weekly Digest for PX4/Firmware:

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ISSUES

Last week 52 issues were created. Of these, 13 issues have been closed and 39 issues are still open.

OPEN ISSUES

:green_heart: #12526 Add airframe .post scripts on NuttX targets, by jlecoeur :green_heart: #12525 Fix airframes incremental build, by jlecoeur :green_heart: #12523 Get 'LOCAL_POSITION_NED' parameter error through pymavlink ?, by wuxianshen :green_heart: #12522 Support mpxv7002dp airspeed sensor for fixedwings, by moreba1 :green_heart: #12521 Unit tests that include parameters and uOrb messaging, by jkflying :green_heart: #12520 Clarify weird behavior of the LIS3MDL, by robertlong13 :green_heart: #12519 Changed timing of actuator_controls_0 message from rover_pos_control, by ItsTimmy :green_heart: #12518 Pr differential thrust for tailsitter, by bluecat1997 :green_heart: #12517 Fixedwing position controller not able follow position setpoints in offboard mode, by Jaeyoung-Lim :green_heart: #12516 Could not calibrate magnetometer on BeagleBone Blue, by silentjet :green_heart: #12515 External INS For Autopilot, by itsyaboiwillyd :green_heart: #12514 LIS3MDL Silicon Bug, by robertlong13 :green_heart: #12513 Block auto-disarm when in Launch Detection for Catapault/Hand-Launched FW, by Kjkinney :green_heart: #12510 ROI not performed in v1.9.2, by hangmann :green_heart: #12509 Unable to build px4 native on beaglebone blue, by Kirito1136 :green_heart: #12508 LEDDAR_ONE not functional with Github source code, by tomcattigerkkk :green_heart: #12507 Accomplish requisite work to close out PR #11431., by mcsauder :green_heart: #12506 Add generic vtol tailsitter airframe and modifiy 4001_quad_x and 13001_caipirinha_vtol to simplify PR 9849, by mcsauder :green_heart: #12505 AutoSmoothVel - Compute desired speed at target based on path curvature, by bresch :green_heart: #12504 EKF2 replay doesnt reproduce in-flight results with default parameters, by abishu :green_heart: #12503 Airspeed_selector follow up issue, by RomanBapst :green_heart: #12502 Memory and mavlink problems pixhawk v2, by tuloski :green_heart: #12501 Fixed hard fault on rover_pos_control stop, by ItsTimmy :green_heart: #12499 Bad position control - need help, log included, by yoosun116 :green_heart: #12495 RC override enabled by default, by MaEtUgR :green_heart: #12494 Switch into last mode after landing and disarming after RTL/Land, by ItsTimmy :green_heart: #12493 How to connect to px4 from offboard control through ESP8266?, by wuxianshen :green_heart: #12492 FlightTasks Refactor, by Stifael :green_heart: #12490 Rover SITL test failing, by ItsTimmy :green_heart: #12488 External magnetometer requires stm32 tone_alarm driver, by sanderux :green_heart: #12487 Simulating a wifi drone through jMavsim, by wuxianshen :green_heart: #12485 critical: string formatting bug leading to invalid ulog files, by bkueng :green_heart: #12484 PX4 V1.9.0 and Later: Attitude Control and Takeoff Issues, by ar1040 :green_heart: #12482 posix: add argument to change the CWD, by lamping7 :green_heart: #12481 jenkins: archive catkin test logs on failure, by lamping7 :green_heart: #12480 When setting pos_sp_triplet yaw, also set the yaw valid flag to true, by dusan19 :green_heart: #12479 PID autotuner for velocity loop, by bresch :green_heart: #12477 [WIP] initial commit for uavcan flow support, by DanielePettenuzzo :green_heart: #12476 EKF2 offboard position control doesn't work with px4 firmware 1.9.2, by EvanAndE

CLOSED ISSUES

:heart: #12524 Enabling custom MAVLINK topic for SITL, by yehonathanlitman :heart: #12512 param: fix potential nullptr dereferencing on param import, by bkueng :heart: #12511 FlightTaskAutoLine/SmoothVel: stop at waypoint , by Stifael :heart: #12500 preflight check failed, missing sensor during GAZEBO simulation, by joeytrib :heart: #12498 Fixed uninitialized variable, by ItsTimmy :heart: #12497 Fixed UTM Global Position flags, by ItsTimmy :heart: #12496 parrot bebop2 v1.9.1 and mavsdk, by david6096 :heart: #12491 Removed rover CI test, by ItsTimmy :heart: #12489 hotfix for logger: use '%i' instead of '%zu', by bkueng :heart: #12486 Safety protocol after losing GPS while in offboard mode., by jbourne15 :heart: #12483 jenkins: pub_test needs to start px4 in daemon mode, by lamping7 :heart: #12478 Support analog airspeed sensor , by moreba1 :heart: #12475 Jenkins intermittant failure (Catkin build on ROS workspace), by dagar

LIKED ISSUE

:+1: #12492 FlightTasks Refactor, by Stifael It received :+1: x3, :smile: x0, :tada: x0 and :heart: x0.

NOISY ISSUE

:speaker: #12502 Memory and mavlink problems pixhawk v2, by tuloski It received 15 comments.

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PULL REQUESTS

Last week, 80 pull requests were created, updated or merged.

UPDATED PULL REQUEST

Last week, 65 pull requests were updated. :yellow_heart: #12526 Add airframe .post scripts on NuttX targets, by jlecoeur :yellow_heart: #12521 Unit tests that include parameters and uOrb messaging, by jkflying :yellow_heart: #12519 Changed timing of actuator_controls_0 message from rover_pos_control, by ItsTimmy :yellow_heart: #12518 Pr differential thrust for tailsitter, by bluecat1997 :yellow_heart: #12513 Block auto-disarm when in Launch Detection for Catapault/Hand-Launched FW, by Kjkinney :yellow_heart: #12507 Accomplish requisite work to close out PR #11431., by mcsauder :yellow_heart: #12506 Add generic vtol tailsitter airframe and modifiy 4001_quad_x and 13001_caipirinha_vtol to simplify PR 9849, by mcsauder :yellow_heart: #12505 AutoSmoothVel - Compute desired speed at target based on path curvature, by bresch :yellow_heart: #12501 Fixed hard fault on rover_pos_control stop, by ItsTimmy :yellow_heart: #12495 RC override enabled by default, by MaEtUgR :yellow_heart: #12482 posix: add argument to change the CWD, by lamping7 :yellow_heart: #12481 jenkins: archive catkin test logs on failure, by lamping7 :yellow_heart: #12480 When setting pos_sp_triplet yaw, also set the yaw valid flag to true, by dusan19 :yellow_heart: #12479 PID autotuner for velocity loop, by bresch :yellow_heart: #12477 [WIP] initial commit for uavcan flow support, by DanielePettenuzzo :yellow_heart: #12470 updated rtl parameter descriptions., by RomanBapst :yellow_heart: #12468 navigator: fix save mission state., by ToppingXu :yellow_heart: #12428 Fix mavlink config stream corner case where USB is not connected at boot., by mcsauder :yellow_heart: #12424 moved ms5611 from common rc.sensors, by BazookaJoe1900 :yellow_heart: #12416 Rewrote Roboclaw driver, by ItsTimmy :yellow_heart: #12379 Implement ModuleParams inheritance in the VtolLandDetector class. Requires PR #12356, by mcsauder :yellow_heart: #12356 Implement ModuleParams inheritance in the MultiCopterLandDetector class., by mcsauder :yellow_heart: #12353 Pr airspeed selector module, by sfuhrer :yellow_heart: #12349 [DO NOT MERGE] OA: add point type, by mrivi :yellow_heart: #12343 Add return INFINITY; to the LandDetector class _get_max_altitude() method declaration, by mcsauder :yellow_heart: #11977 [WIP] Create a distance sensor driver base class, by mcsauder :yellow_heart: #11894 Refactor ulanding driver to utilize ScheduledWorkQueue class inheritance, by mcsauder :yellow_heart: #11892 Migrate teraranger driver class member variable initialization to declarations, format whitespace and alphabetize/group/order var/method declarations, by mcsauder :yellow_heart: #11874 Cherry pick the src/modules/land_detector/ directory and voted_sensors_update.h from PR #9756, by mcsauder :yellow_heart: #11865 do not check VP fusion during GPS startup, by copterspace :yellow_heart: #11857 Migrate HC_SR04 class member variable initialization to declarations, augment code so that it compiles., by mcsauder :yellow_heart: #11845 fw_pos_control_l1: apply pitch setpoint offsets centrally, by dagar :yellow_heart: #11680 Misprints in parameters naming and description, by EgoPingvina :yellow_heart: #11663 Send PWM_MIN value after a PWM_MAX value while calibrating ESCs, by dusan19 :yellow_heart: #11455 EKF: only set in_air flag true if not landed and armed, by CarlOlsson :yellow_heart: #11431 Add mavlink play tune message to simulator class, by catch-twenty-two :yellow_heart: #11381 fw_pos_control_l1 add new simple min groundspeed, by dagar :yellow_heart: #11357 Disable data link and RC loss reactions for SITL, by MaEtUgR :yellow_heart: #11347 fmu handle sensor_reset, peripheral_reset, i2c in board, by dagar :yellow_heart: #11287 SITL VTOL: scale outputs based on motor count (param VT_MOT_COUNT), by jlecoeur :yellow_heart: #11249 motor_ramp: set fmu in test mode and main cleanup, by DanielePettenuzzo :yellow_heart: #11189 Fix driver load order for external ICM20948/Here GNSS for Pixhawk Cube, by flochir :yellow_heart: #11130 EKF2: added absolute range altimeter param, by tuloski :yellow_heart: #11042 [WIP] px4io driver always build io firmware, by dagar :yellow_heart: #10522 WIP: accel cal index bug, by dagar :yellow_heart: #10404 navigator: let vtol descend in fixed wing mode before transitioning, by RomanBapst :yellow_heart: #10394 Mavlink check transmit buffer before send, by dagar :yellow_heart: #10320 [WIP] Make DO_SET_SERVO work, by kpetrykin :yellow_heart: #10219 [WIP] L1 enhancements: handling small loiter radii and high winds, by tstastny :yellow_heart: #10119 px4fmu split safety button into new module, by dagar :yellow_heart: #9849 create a range of common quadcopter frame sizes and general ROMFS cleanup, by dagar :yellow_heart: #9756 [WIP] introduce new vehicle_imu message, by dagar :yellow_heart: #9747 [WIP] mission_result split into mission_status and navigator_status, by dagar :yellow_heart: #9664 commander: do not reboot on USB disconnect when armed, by korigod :yellow_heart: #9659 AMOV-IMU codes for px4 1.8.0 rc0, by zarathustr :yellow_heart: #9471 launch: add launch specific idle throttle param, by tstastny :yellow_heart: #9029 WIP: Pozyx addition to precision landing, by AndreasAntener :yellow_heart: #8999 delete old style mode switches, by dagar :yellow_heart: #8907 actuator controls update, by dagar :yellow_heart: #8618 Commander: Add land detection configuration to preflight checks, by LorenzMeier :yellow_heart: #8138 Enable I2C2 bus of auav x21, by tubeme :yellow_heart: #7717 Reposition: Fix previous valid state to enable proper line following, by LorenzMeier :yellow_heart: #7432 [WIP] use local coordinates for position control (Global to local), by ChristophTobler :yellow_heart: #7363 [WIP] Smart RTL from @samuelsadok, by mhkabir :yellow_heart: #7208 [WIP] Implement MAIN and AUX pwm output on MindPX, by iZhangHui

MERGED PULL REQUEST

Last week, 15 pull requests were merged. :purple_heart: #12512 param: fix potential nullptr dereferencing on param import, by bkueng :purple_heart: #12511 FlightTaskAutoLine/SmoothVel: stop at waypoint , by Stifael :purple_heart: #12498 Fixed uninitialized variable, by ItsTimmy :purple_heart: #12497 Fixed UTM Global Position flags, by ItsTimmy :purple_heart: #12491 Removed rover CI test, by ItsTimmy :purple_heart: #12489 hotfix for logger: use '%i' instead of '%zu', by bkueng :purple_heart: #12483 jenkins: pub_test needs to start px4 in daemon mode, by lamping7 :purple_heart: #12472 PID rate controller - Add controller gain to support Ideal PID form (ISA standard), by bresch :purple_heart: #12467 Reduce a few LOC in rcS AUTOCNF logic, by mcsauder :purple_heart: #12452 Use UTM_GLOBAL_POSITION for collision avoidance, by ItsTimmy :purple_heart: #12440 KakuteF7 board support, by bkueng :purple_heart: #12389 FlightTask - Proper initialization after switching task, by bresch :purple_heart: #12346 Enable auto disarm by default, by MaEtUgR :purple_heart: #12179 Collision Prevention with distance sensor , by mrivi :purple_heart: #12034 Mavlink split BATTERY_STATUS from SYS_STATUS update and handle all bricks, by dagar

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COMMITS

Last week there were 51 commits. :hammer_and_wrench: param: fix potential nullptr dereferencing on param import NuttX 7.28 seemed to handle this gracefully, but officially passing NULL results in undefined behavior, and with 7.29 leads to a hardfault. This happens on configs with flash-based params, on the first unsuccessful import attempt. by bkueng :hammer_and_wrench: commander_params: enable automatic disarming after land detection by default by MaEtUgR :hammer_and_wrench: mavlink: split BATTERY_STATUS from SYS_STATUS update and handle all bricks (#12034) by dagar :hammer_and_wrench: Commented out rover SITL test by ItsTimmy :hammer_and_wrench: Minor bugfix by ItsTimmy :hammer_and_wrench: Fixed uninitialized variable by ItsTimmy :hammer_and_wrench: [rcS: reduce a few LOC in AUTOCNF logic (#12467) * Set/unset rcS vars at beginning and end of rcS script and reduce a few LOC checking SYS_AUTOCONFIG with improved logic.

• Restore current placement of set/unset vars in rcS script to leave only the SYS_AUTOCONFIG logic modification.

• Replace set AUTOCNF no after inadvertent deletion.](https://github.com/PX4/Firmware/commit/4a02475dd183721701536fbcb4a4229d55911006) by mcsauder :hammer_and_wrench: hotfix for logger: use '%i' instead of '%zu' Work-around for https://github.com/PX4/Firmware/issues/12485. This can be reverted after the root-cause is fixed. by bkueng :hammer_and_wrench: FlightTask - Rename state_prev to last_setpoint by bresch :hammer_and_wrench: FlightTask - Move checkSetpoints function in each FlightTask to be tailored to the specific needs and avoid checking all the setpoints by bresch :hammer_and_wrench: FlightTask smoothVel - Initialize ekf reset counters when task is activated by bresch :hammer_and_wrench: FlightTask - When switching task, pass the last setpoints of the previous task to the new task This is done to allow proper initialization of the new FlightTask and give it a chance to continue the setpoints without discontinuity. The function checkSetpoints replaces the setpoints containing NANs with an estimate of the state. The estimate is usually the current estimate of the EKF or zero. The transition FlightTask also provides an estimate of the current acceleration to properly initialize the next FlightTask after back-transition. This avoid having to initialize the accelerations to zero knowing that the actual acceleration is usually far from zero. by bresch :hammer_and_wrench: PID rate controller - Add controller gain to support Ideal PID form (ISA standard) by bresch :hammer_and_wrench: Fixed overflowing tslc. by ItsTimmy :hammer_and_wrench: Added message handler for UTM_GLOBAL_POSITION by ItsTimmy :hammer_and_wrench: jenkins: pub_test needs to start px4 in daemon mode by lamping7 :hammer_and_wrench: Jenkinsfile-compile: add kakutef7 to nuttx build targets by bkueng :hammer_and_wrench: shellcheck: disable SC2181 The combination of 'if mycmd' and a logical expression is not supported in NuttX. by bkueng :hammer_and_wrench: Generic-arm-none-eabi-gcc-cortex-m7: use SP float depending on NuttX config Not all m7 boards support double, as for example the STM32F745. by bkueng :hammer_and_wrench: boards: add Holybro KakuteF7 by bkueng :hammer_and_wrench: missing SD card error tune: play only twice instead of repeating endlessly by bkueng :hammer_and_wrench: ToneAlarmInterface: add support for non-pwm-based buzzers by bkueng :hammer_and_wrench: CBRK_BUZZER: allow to disable startup sound The 'if [ $LOG_FILE = /dev/null ]' block can be removed, because STARTUP_TUNE is already set in that case. by bkueng :hammer_and_wrench: fix atxxxx osd driver: use correct device id by bkueng :hammer_and_wrench: rc_input: add RC_PORT_CONFIG param to configure RC port The parameter will only be available if the board defines an 'RC' serial port in SERIAL_PORTS (in default.cmake). by bkueng :hammer_and_wrench: boards: simplify RC port configuration by using NuttX ioctl's A board only needs to define: #define RC_SERIAL_PORT "/dev/ttyS4" Then it can optionally define one or more of the following: #define RC_SERIAL_SWAP_RXTX #define RC_SERIAL_SINGLEWIRE #define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true) by bkueng :hammer_and_wrench: fix ToneAlarmInterface: correct TOME_ALARM_CLOCK for timer 13 and 14 by bkueng :hammer_and_wrench: board_defaults: remove unnecessary 'set MIXER_AUX none' On all of these boards '$USE_IO = no' will hold. by bkueng :hammer_and_wrench: fmu-v5 init.c: remove unused include by bkueng :hammer_and_wrench: atxxxx: fix comment by bkueng :hammer_and_wrench: adc: allow board to not define BOARD_ADC_HIPOWER_5V_OC or BOARD_ADC_PERIPH_5V_OC by bkueng :hammer_and_wrench: bmp280: fix device_id initialization by bkueng :hammer_and_wrench: CollisionPrevention: address https://github.com/PX4/Firmware/pull/12179 review comments by mrivi :hammer_and_wrench: CollisionPrevention: compute the attitude_sensor_frame outside for loop by mrivi :hammer_and_wrench: CollisionPrevention: use the maximum timestamp between offboard and distance sensor such that if one of the two fails the vehicle goes into failsafe, do not switch off CollisionPrevention if it fails by mrivi :hammer_and_wrench: mc_pos_control: increase stack size by 100 bytes by mrivi :hammer_and_wrench: CollisionPrevention: use FlightTasks convention for private/public methods, add doxygen on header file by mrivi :hammer_and_wrench: CollisionPrevention: add failsafe for stale distance data by mrivi :hammer_and_wrench: logger: log obstacle_distance_fused instead of obstacle_distance by mrivi :hammer_and_wrench: stream mavlink message OBSTACLE DISTANCE by mrivi :hammer_and_wrench: add uORB message obstacle_distance_fused with data from offboard obstacle_distance and distance sensor by mrivi :hammer_and_wrench: CollisionPrevention: make sure that vehicle tilt compensation is correct for all sensor orientation by mrivi :hammer_and_wrench: CollisionPrevention: refactor code to make it more readable by mrivi :hammer_and_wrench: CollisionPrevention: make sure that the timestamp is updated for distance sensors even if they are out of range by mrivi :hammer_and_wrench: Obstacle_distance: use only one increment in float directly CollisionPrevention: rename a few variables to make the code more readable by mrivi :hammer_and_wrench: cm8jl65: use paramter to set sensor orientation by mrivi :hammer_and_wrench: cm8jl65: add field of view by mrivi :hammer_and_wrench: CollisionPrevention: map distance_sensor data to obstacle distance by mrivi :hammer_and_wrench: simulator mavlink: add horizontal and vertical fov + quaterion orientation to distance sensor by mrivi :hammer_and_wrench: obstacle_distance: add fields from mavlink extension by mrivi :hammer_and_wrench: distance_sensor: add horiontal and vertical fov, add quaternion for sensor orientation by mrivi

• • • CONTRIBUTORS

      Last week there were 8 contributors. :bust_in_silhouette: bkueng :bust_in_silhouette: MaEtUgR :bust_in_silhouette: dagar :bust_in_silhouette: ItsTimmy :bust_in_silhouette: mcsauder :bust_in_silhouette: bresch :bust_in_silhouette: lamping7 :bust_in_silhouette: mrivi

• • • STARGAZERS

      Last week there were 18 stagazers. :star: lookingforfeng :star: bigwhite :star: gxian :star: weiyaoxing :star: Eric436 :star: yyzhi :star: zqsh :star: Shubham-SK :star: Obs01ete :star: joeytrib :star: shawnbmccarthy :star: Rusaman :star: BennyTW :star: CatRoad :star: BAmercury :star: bigsuperZZZX :star: DingZiming :star: ucaksiz You all are the stars! :star2:

• • • RELEASES

      Last week there were no releases.

That's all for last week, please :eyes: Watch and :star: Star the repository PX4/Firmware to receive next weekly updates. :smiley:

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[julianoes]

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[lamping7]

I take a look at these to stay up date with changes and see what's going on. It's nice to have this all in one place when you don't have time to check all the relevant pages on GitHub frequently.