Merge branch 'PX4:main' into gz_airspeed_tailsitter

PX4 · Aug 19, 2024 · 4a6c8df · 4a6c8df
2 parents 9d4adb8 + ea0ef15
commit 4a6c8df
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diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile
@@ -35,6 +35,7 @@ pipeline {
 
  def nuttx_builds_archive = [
  target: [
+ "3dr_ctrl-zero-h7-oem-revg_default",
  "airmind_mindpx-v2_default",
  "ark_can-flow_canbootloader",
  "ark_can-flow_default",

diff --git a/.github/ISSUE_TEMPLATE/bug_report.yml b/.github/ISSUE_TEMPLATE/bug_report.yml
@@ -20,14 +20,14 @@ body:
  3. Took off '....'
  4. See error
  validations:
- required: true
+ required: false
 
  - type: textarea
  attributes:
  label: Expected behavior
  description: A clear and concise description of what you expected to happen.
  validations:
- required: true
+ required: false
 
  - type: textarea
  attributes:
@@ -45,7 +45,7 @@ body:
  placeholder: |
  # PASTE HERE THE LINK TO THE LOG
  validations:
- required: true
+ required: false
 
  - type: markdown
  attributes:
@@ -60,14 +60,14 @@ body:
  placeholder: |
  # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
  validations:
- required: true
+ required: false
 
  - type: input
  attributes:
  label: Flight controller
  description: Specify your flight controller model (what type is it, where was it bought from, ...).
  validations:
- required: true
+ required: false
 
  - type: dropdown
  attributes:

diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml
@@ -19,6 +19,7 @@ jobs:
  fail-fast: false
  matrix:
  config: [
+ 3dr_ctrl-zero-h7-oem-revg,
  airmind_mindpx-v2,
  ark_can-flow,
  ark_can-gps,

diff --git a/.gitmodules b/.gitmodules
@@ -71,7 +71,7 @@
 [submodule "src/modules/zenoh/zenoh-pico"]
  path = src/modules/zenoh/zenoh-pico
  url = https://github.com/px4/zenoh-pico
- branch = pr-zubf-werror-fix
+ branch = dev/1.0.0-px4
 [submodule "src/lib/heatshrink/heatshrink"]
  path = src/lib/heatshrink/heatshrink
  url = https://github.com/PX4/heatshrink.git

diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml
@@ -111,6 +111,11 @@ CONFIG:
  buildType: MinSizeRel
  settings:
  CONFIG: px4_fmu-v6xrt_bootloader
+ 3dr_ctrl-zero-h7-oem-revg_default:
+ short: 3dr_ctrl-zero-h7-oem-revg
+ buildType: MinSizeRel
+ settings:
+ CONFIG: 3dr_ctrl-zero-h7-oem-revg_default
  airmind_mindpx-v2_default:
  short: airmind_mindpx-v2
  buildType: MinSizeRel

diff --git a/Makefile b/Makefile
@@ -324,6 +324,7 @@ px4io_update:
  git status
 
 bootloaders_update: \
+ 3dr_ctrl-zero-h7-oem-revg_bootloader \
  ark_fmu-v6x_bootloader \
  ark_pi6x_bootloader \
  cuav_nora_bootloader \
@@ -549,7 +550,7 @@ distclean:
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
  $(if $(filter $(FIRST_ARG),$@), \
- $(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
+ $(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) list_config_targets' to get a list of all possible [configuration] targets."),@#)
 
 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
 help:

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow
@@ -47,5 +47,5 @@ param set-default MPC_ALT_MODE 2
 
 param set-default SENS_FLOW_ROT 6
 param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3
+param set-default SENS_FLOW_MAXHGT 15
 param set-default SENS_FLOW_MAXR 2.5
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam
@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult
@@ -41,7 +41,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider
@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal
@@ -23,7 +23,6 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 
 param set-default NAV_ACC_RAD 15

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar
@@ -39,7 +39,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
@@ -6,16 +6,36 @@
 . ${R}etc/init.d/rc.rover_differential_defaults
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
+# Rover parameters
+param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAN_YAW_SCALE 0.1
+param set-default RD_YAW_RATE_I 0.1
+param set-default RD_YAW_RATE_P 5
+param set-default RD_MAX_ACCEL 6
+param set-default RD_MAX_JERK 30
+param set-default RD_MAX_SPEED 7
+param set-default RD_HEADING_P 5
+param set-default RD_HEADING_I 0.1
+param set-default RD_MAX_YAW_RATE 180
+param set-default RD_MISS_SPD_DEF 7
+param set-default RD_TRANS_DRV_TRN 0.349066
+param set-default RD_TRANS_TRN_DRV 0.174533
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 30
+param set-default PP_LOOKAHD_MIN 2
+param set-default PP_LOOKAHD_GAIN 1
+
 # Simulated sensors
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
+param set-default SENS_EN_ARSPDSIM 0
 
 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower b/ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
@@ -15,14 +15,29 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 1
+param set-default SENS_EN_ARSPDSIM 0
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1
 
-# Set Differential Drive Kinematics Library parameters:
-param set RDD_WHEEL_BASE 0.9
-param set RDD_WHEEL_RADIUS 0.22
-param set RDD_WHEEL_SPEED 10.0 # Maximum wheel speed rad/s, approx 8 km/h
+# Rover parameters
+param set-default RD_WHEEL_TRACK 0.9
+param set-default RD_MAN_YAW_SCALE 0.1
+param set-default RD_YAW_RATE_I 0.1
+param set-default RD_YAW_RATE_P 5
+param set-default RD_MAX_ACCEL 1
+param set-default RD_MAX_JERK 3
+param set-default RD_MAX_SPEED 8
+param set-default RD_HEADING_P 5
+param set-default RD_HEADING_I 0.1
+param set-default RD_MAX_YAW_RATE 30
+param set-default RD_MISS_SPD_DEF 8
+param set-default RD_TRANS_DRV_TRN 0.349066
+param set-default RD_TRANS_TRN_DRV 0.174533
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 30
+param set-default PP_LOOKAHD_MIN 2
+param set-default PP_LOOKAHD_GAIN 1
 
 # Actuator mapping - set SITL motors/servos output parameters:
 
@@ -36,14 +51,14 @@ param set-default SIM_GZ_WH_FUNC1 101 # right wheel
 param set-default SIM_GZ_WH_FUNC2 102 # left wheel
 #param set-default SIM_GZ_WH_MIN2 0
 #param set-default SIM_GZ_WH_MAX2 200
-#aram set-default SIM_GZ_WH_DIS2 100
+#param set-default SIM_GZ_WH_DIS2 100
 #param set-default SIM_GZ_WH_FAIL2 100
 
 param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
 
-# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation. 
-# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate 
-# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator 
+# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation.
+# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate
+# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator
 # controls in practical scenarios.
 
 # Cutter deck blades clutch, PCA9685 servo channel 3, "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann b/ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann
@@ -15,9 +15,6 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default NAV_ACC_RAD 0.5
 param set-default RA_ACC_RAD_GAIN 2
 param set-default RA_ACC_RAD_MAX 3
-param set-default RA_LOOKAHD_GAIN 1
-param set-default RA_LOOKAHD_MAX 10
-param set-default RA_LOOKAHD_MIN 1
 param set-default RA_MAX_ACCEL 1.5
 param set-default RA_MAX_JERK 15
 param set-default RA_MAX_SPEED 3
@@ -30,6 +27,11 @@ param set-default RA_SPEED_I 0.01
 param set-default RA_SPEED_P 2
 param set-default RA_WHEEL_BASE 0.321
 
+# Pure Pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+
 # Simulated sensors
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0

diff --git a/ROMFS/px4fmu_common/init.d/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
@@ -44,6 +44,7 @@ px4_add_romfs_files(
  # TODO
  rc.balloon_apps
  rc.balloon_defaults
+ rc.sysinit
 )
 
 if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
@@ -77,7 +78,7 @@ if(CONFIG_MODULES_ROVER_POS_CONTROL)
  )
 endif()
 
-if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
  px4_add_romfs_files(
  rc.rover_differential_apps
  rc.rover_differential_defaults

diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Generic Rover Differential
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_differential_defaults
diff --git a/....d/airframes/50003_aion_robotics_r1_rover → ....d/airframes/50001_aion_robotics_r1_rover b/....d/airframes/50003_aion_robotics_r1_rover → ....d/airframes/50001_aion_robotics_r1_rover
@@ -15,9 +15,6 @@
 
 param set-default BAT1_N_CELLS 4
 
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-
 # Set geometry & output configration
 param set-default RBCLW_ADDRESS 128
 param set-default RBCLW_FUNC1 101

diff --git a/...d/airframes/50010_ackermann_rover_generic → ...d/airframes/51000_generic_rover_ackermann b/...d/airframes/50010_ackermann_rover_generic → ...d/airframes/51000_generic_rover_ackermann
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name Generic ackermann rover
+# @name Generic Rover Ackermann
 #
 # @type Rover
 # @class Rover

diff --git a/ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho b/ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho
@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name Axial SCX10 2 Trail Honcho
+#
+# @url https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+param set-default BAT1_N_CELLS 3
+
+# Rover parameters
+param set-default NAV_ACC_RAD 0.5
+param set-default RA_ACC_RAD_GAIN 2
+param set-default RA_ACC_RAD_MAX 3
+param set-default RA_MAX_ACCEL 0.5
+param set-default RA_MAX_JERK 10
+param set-default RA_MAX_SPEED 2.7
+param set-default RA_MAX_STR_ANG 0.5236
+param set-default RA_MAX_STR_RATE 270
+param set-default RA_MISS_VEL_DEF 2.7
+param set-default RA_MISS_VEL_GAIN 3.5
+param set-default RA_MISS_VEL_MIN 1
+param set-default RA_SPEED_I 0.1
+param set-default RA_SPEED_P 0.5
+param set-default RA_WHEEL_BASE 0.321
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_GAIN 1
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1.5
diff --git a/....d/airframes/50000_generic_ground_vehicle → ....d/airframes/59000_generic_ground_vehicle b/....d/airframes/50000_generic_ground_vehicle → ....d/airframes/59000_generic_ground_vehicle
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name Generic Ground Vehicle (Ackermann)
+# @name Generic Ground Vehicle (Deprecated)
 #
 # @type Rover
 # @class Rover

diff --git a/....d/airframes/50004_nxpcup_car_dfrobot_gpx → ....d/airframes/59001_nxpcup_car_dfrobot_gpx b/....d/airframes/50004_nxpcup_car_dfrobot_gpx → ....d/airframes/59001_nxpcup_car_dfrobot_gpx
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name NXP Cup car: DF Robot GPX
+# @name NXP Cup car: DF Robot GPX (Deprecated)
 
 #
 # @type Rover

diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -136,22 +136,27 @@ if(CONFIG_MODULES_VTOL_ATT_CONTROL)
  )
 endif()
 
-if(CONFIG_MODULES_ROVER_POS_CONTROL)
+if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
  px4_add_romfs_files(
- 50000_generic_ground_vehicle
- 50004_nxpcup_car_dfrobot_gpx
+ # [50000, 50999] Differential rovers
+ 50000_generic_rover_differential
+ 50001_aion_robotics_r1_rover
  )
 endif()
 
-if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+if(CONFIG_MODULES_ROVER_ACKERMANN)
  px4_add_romfs_files(
- 50003_aion_robotics_r1_rover
+ # [51000, 51999] Ackermann rovers
+ 51000_generic_rover_ackermann
+ 51001_axial_scx10_2_trail_honcho
  )
 endif()
 
-if(CONFIG_MODULES_ROVER_ACKERMANN)
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
  px4_add_romfs_files(
- 50010_ackermann_rover_generic
+ # [59000, 59999] Rover position control (deprecated)
+ 59000_generic_ground_vehicle
+ 59001_nxpcup_car_dfrobot_gpx
  )
 endif()