Merge branch 'main' into display-x11-docker

CMakeLists.txt

@@ -113,12 +113,20 @@ include(px4_parse_function_args)
 include(px4_git)
 
 execute_process(
- COMMAND git describe --exclude ext/* --always --tags
+ COMMAND git describe --exclude ext/* --tags --match "v[0-9]*"
  OUTPUT_VARIABLE PX4_GIT_TAG
  OUTPUT_STRIP_TRAILING_WHITESPACE
+ RESULTS_VARIABLE GIT_DESCRIBE_RESULT
  WORKING_DIRECTORY ${PX4_SOURCE_DIR}
  )
 
+# if proper git tag unavilable default to v0.0.0
+if(NOT ${GIT_DESCRIBE_RESULT} MATCHES "0")
+ set(PX4_GIT_TAG "v0.0.0")
+endif()
+
+message(STATUS "PX4_GIT_TAG: ${PX4_GIT_TAG}")
+
 # git describe to X.Y.Z version
 string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
 

src/lib/version/CMakeLists.txt

@@ -53,7 +53,8 @@ endif()
 
 set(px4_git_ver_header ${CMAKE_CURRENT_BINARY_DIR}/build_git_version.h)
 add_custom_command(OUTPUT ${px4_git_ver_header}
- COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py ${px4_git_ver_header} --validate
+ COMMAND
+ ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py ${px4_git_ver_header} --validate --git_tag '${PX4_GIT_TAG}'
  DEPENDS
  ${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py
  ${git_dir_path}/HEAD

src/lib/version/px_update_git_header.py

@@ -10,6 +10,7 @@
 generate a version header file. The working directory is expected to be
 the root of Firmware.""")
 parser.add_argument('filename', metavar='version.h', help='Header output file')
+parser.add_argument('--git_tag', help='git tag string')
 parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
  help='Verbose output', default=False)
 parser.add_argument('--validate', dest='validate', action='store_true',
@@ -36,8 +37,11 @@
 
 
 # PX4
-git_describe_cmd = 'git describe --exclude ext/* --always --tags --dirty'
-git_tag = subprocess.check_output(git_describe_cmd.split(),
+if args.git_tag:
+ git_tag = args.git_tag
+else:
+ git_describe_cmd = 'git describe --exclude ext/* --always --tags --dirty'
+ git_tag = subprocess.check_output(git_describe_cmd.split(),
  stderr=subprocess.STDOUT).decode('utf-8').strip()
 
 try:
@@ -57,17 +61,7 @@
  # now check the version format
  m = re.match(r'v([0-9]+)\.([0-9]+)\.[0-9]+(((-dev)|(-alpha[0-9]+)|(-beta[0-9]+)|(-rc[0-9]+))|'\
  r'(-[0-9]+\.[0-9]+\.[0-9]+((-dev)|(-alpha[0-9]+)|(-beta[0-9]+)|([-]?rc[0-9]+))?))?$', git_tag_test)
- if m:
- # format matches, check the major and minor numbers
- major = int(m.group(1))
- minor = int(m.group(2))
- if major < 1 or (major == 1 and minor < 9):
- print("")
- print("Error: PX4 version too low, expected at least v1.9.0")
- print("Check the git tag (current tag: '{:}')".format(git_tag_test))
- print("")
- sys.exit(1)
- else:
+ if not m:
  print("")
  print("Error: the git tag '{:}' does not match the expected format.".format(git_tag_test))
  print("")
@@ -103,9 +97,9 @@
 if tag_or_branch is None:
  # replace / so it can be used as directory name
  tag_or_branch = git_branch_name.replace('/', '-')
- # either a release or master branch (used for metadata)
+ # either a release or main branch (used for metadata)
  if not tag_or_branch.startswith('release-'):
- tag_or_branch = 'master'
+ tag_or_branch = 'main'
 
 header += f"""
 #define PX4_GIT_VERSION_STR "{git_version}"
@@ -115,7 +109,7 @@
 
 #define PX4_GIT_OEM_VERSION_STR "{oem_tag}"
 
-#define PX4_GIT_TAG_OR_BRANCH_NAME "{tag_or_branch}" // special variable: git tag, release or master branch
+#define PX4_GIT_TAG_OR_BRANCH_NAME "{tag_or_branch}" // special variable: git tag, release or main branch
 """
 
 

src/modules/commander/Commander.cpp

@@ -698,11 +698,23 @@ Commander::Commander() :
  // default for vtol is rotary wing
  _vtol_vehicle_status.vehicle_vtol_state = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
 
- _param_mav_comp_id = param_find("MAV_COMP_ID");
- _param_mav_sys_id = param_find("MAV_SYS_ID");
+ param_t param_mav_comp_id = param_find("MAV_COMP_ID");
+ param_t param_mav_sys_id = param_find("MAV_SYS_ID");
  _param_mav_type = param_find("MAV_TYPE");
  _param_rc_map_fltmode = param_find("RC_MAP_FLTMODE");
 
+ int32_t value_int32 = 0;
+
+ // MAV_SYS_ID => vehicle_status.system_id
+ if ((param_mav_sys_id != PARAM_INVALID) && (param_get(param_mav_sys_id, &value_int32) == PX4_OK)) {
+ _vehicle_status.system_id = value_int32;
+ }
+
+ // MAV_COMP_ID => vehicle_status.component_id
+ if ((param_mav_comp_id != PARAM_INVALID) && (param_get(param_mav_comp_id, &value_int32) == PX4_OK)) {
+ _vehicle_status.component_id = value_int32;
+ }
+
  updateParameters();
 }
 
@@ -1682,22 +1694,11 @@ void Commander::updateParameters()
 
  int32_t value_int32 = 0;
 
- // MAV_SYS_ID => vehicle_status.system_id
- if ((_param_mav_sys_id != PARAM_INVALID) && (param_get(_param_mav_sys_id, &value_int32) == PX4_OK)) {
- _vehicle_status.system_id = value_int32;
- }
-
- // MAV_COMP_ID => vehicle_status.component_id
- if ((_param_mav_comp_id != PARAM_INVALID) && (param_get(_param_mav_comp_id, &value_int32) == PX4_OK)) {
- _vehicle_status.component_id = value_int32;
- }
-
  // MAV_TYPE -> vehicle_status.system_type
  if ((_param_mav_type != PARAM_INVALID) && (param_get(_param_mav_type, &value_int32) == PX4_OK)) {
  _vehicle_status.system_type = value_int32;
  }
 
-
  _vehicle_status.avoidance_system_required = _param_com_obs_avoid.get();
 
  _auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s);

src/modules/commander/Commander.hpp

@@ -324,8 +324,6 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
  perf_counter_t _preflight_check_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": preflight check")};
 
  // optional parameters
- param_t _param_mav_comp_id{PARAM_INVALID};
- param_t _param_mav_sys_id{PARAM_INVALID};
  param_t _param_mav_type{PARAM_INVALID};
  param_t _param_rc_map_fltmode{PARAM_INVALID};
 

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -898,17 +898,21 @@ void Ekf::updateIMUBiasInhibit(const imuSample &imu_delayed)
  // inhibit learning of imu accel bias if the manoeuvre levels are too high to protect against the effect of sensor nonlinearities or bad accel data is detected
  // xy accel bias learning is also disabled on ground as those states are poorly observable when perpendicular to the gravity vector
  {
+ const Vector3f gyro_corrected = imu_delayed.delta_ang / imu_delayed.delta_ang_dt - _state.gyro_bias;
+
  const float alpha = math::constrain((imu_delayed.delta_ang_dt / _params.acc_bias_learn_tc), 0.f, 1.f);
  const float beta = 1.f - alpha;
- _ang_rate_magnitude_filt = fmaxf(imu_delayed.delta_ang.norm() / imu_delayed.delta_ang_dt,
-   beta * _ang_rate_magnitude_filt);
+
+ _ang_rate_magnitude_filt = fmaxf(gyro_corrected.norm(), beta * _ang_rate_magnitude_filt);
  }
 
  {
+ const Vector3f accel_corrected = imu_delayed.delta_vel / imu_delayed.delta_vel_dt - _state.accel_bias;
+
  const float alpha = math::constrain((imu_delayed.delta_vel_dt / _params.acc_bias_learn_tc), 0.f, 1.f);
  const float beta = 1.f - alpha;
 
- _accel_magnitude_filt = fmaxf(imu_delayed.delta_vel.norm() / imu_delayed.delta_vel_dt, beta * _accel_magnitude_filt);
+ _accel_magnitude_filt = fmaxf(accel_corrected.norm(), beta * _accel_magnitude_filt);
  }