DriverFramework purge #13900
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DriverFramework purge #13900
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Board: beaglebone
Admin: Cleanup (housekeeping) 🧹
Drivers 🔧
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Everything is working on a raspberry pi with navio2 shield. pxh> ver all
HW arch: EMLID_NAVIO2
FW git-hash: 5dd475668cc45a628b88c9e9d3dd5c7eff1bd476
FW version: 1.11.0 80 (17498240)
FW git-branch: pr-DriverFramework_purge
OS: Linux
OS version: Release 4.19.83 (68375551)
Build datetime: Jan 9 2020 18:20:28
Build uri: localhost
Toolchain: GNU GCC, 8.3.0
PX4GUID: 100449495052303030443030303030303030
UNKNOWN MCUpxh> sensors status
INFO [sensors] gyro status:
INFO [ecl/validation] validator: best: 1, prev best: 1, failsafe: NO (0 events)
INFO [ecl/validation] sensor #0, prio: 75, state: OK
INFO [ecl/validation] val: 0.3852, lp: 0.3831 mean dev: -0.0003 RMS: 0.0266 conf: 1.0000
INFO [ecl/validation] val: -0.3398, lp: -0.3378 mean dev: -0.0005 RMS: 0.0240 conf: 1.0000
INFO [ecl/validation] val: 0.0612, lp: 0.0905 mean dev: -0.0003 RMS: 0.0196 conf: 1.0000
INFO [ecl/validation] sensor #1, prio: 100, state: OK
INFO [ecl/validation] val: -0.0088, lp: -0.0083 mean dev: -0.0000 RMS: 0.0013 conf: 1.0000
INFO [ecl/validation] val: -0.0103, lp: -0.0122 mean dev: 0.0000 RMS: 0.0013 conf: 1.0000
INFO [ecl/validation] val: -0.0015, lp: -0.0017 mean dev: -0.0000 RMS: 0.0014 conf: 1.0000
INFO [sensors] accel status:
INFO [ecl/validation] validator: best: 1, prev best: 1, failsafe: NO (0 events)
INFO [ecl/validation] sensor #0, prio: 75, state: OK
INFO [ecl/validation] val: -1.0005, lp: -0.9785 mean dev: -0.0007 RMS: 0.0242 conf: 1.0000
INFO [ecl/validation] val: -0.0031, lp: 0.0304 mean dev: 0.0000 RMS: 0.0129 conf: 1.0000
INFO [ecl/validation] val: -9.3581, lp: -9.3311 mean dev: -0.0000 RMS: 0.0248 conf: 1.0000
INFO [ecl/validation] sensor #1, prio: 100, state: OK
INFO [ecl/validation] val: -1.3825, lp: -1.3865 mean dev: -0.0001 RMS: 0.0096 conf: 1.0000
INFO [ecl/validation] val: 0.0790, lp: 0.0763 mean dev: -0.0000 RMS: 0.0097 conf: 1.0000
INFO [ecl/validation] val: -9.3336, lp: -9.3419 mean dev: -0.0002 RMS: 0.0145 conf: 1.0000
INFO [sensors] mag status:
INFO [ecl/validation] validator: best: 1, prev best: 1, failsafe: NO (0 events)
INFO [ecl/validation] sensor #0, prio: 75, state: OK
INFO [ecl/validation] val: -0.4002, lp: -0.4008 mean dev: 0.0002 RMS: 0.0032 conf: 1.0000
INFO [ecl/validation] val: 0.2993, lp: 0.2982 mean dev: -0.0008 RMS: 0.0042 conf: 1.0000
INFO [ecl/validation] val: 0.4095, lp: 0.4092 mean dev: 0.0002 RMS: 0.0047 conf: 1.0000
INFO [ecl/validation] sensor #1, prio: 100, state: OK
INFO [ecl/validation] val: 0.2405, lp: 0.2543 mean dev: -0.0008 RMS: 0.0088 conf: 1.0000
INFO [ecl/validation] val: 0.4414, lp: 0.4318 mean dev: 0.0004 RMS: 0.0492 conf: 1.0000
INFO [ecl/validation] val: 0.2691, lp: 0.2552 mean dev: 0.0003 RMS: 0.0083 conf: 1.0000
INFO [sensors] baro status:
INFO [ecl/validation] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [ecl/validation] sensor #0, prio: 75, state: OK
INFO [ecl/validation] val: 1024.2300, lp: 1024.2072 mean dev: 0.0053 RMS: 0.0619 conf: 1.0000
INFO [ecl/validation] val: 40.6900, lp: 40.6726 mean dev: 0.0150 RMS: 0.0372 conf: 1.0000
INFO [ecl/validation] val: 0.0000, lp: 0.0000 mean dev: 0.0000 RMS: 0.0000 conf: 1.0000
INFO [sensors] Temperature Compensation:
INFO [sensors] gyro: enabled: 0
INFO [sensors] accel: enabled: 0
INFO [sensors] baro: enabled: 0
INFO [sensors] Airspeed status:
INFO [ecl/validation] no data
INFO [vehicle_acceleration] selected sensor: 1
INFO [vehicle_angular_velocity] selected sensor: 1
INFO [vehicle_angular_velocity] using sensor_gyro_control: 2359554 (1) |
mhkabir
reviewed
Jan 10, 2020
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| uorb start | |||
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These eagle/excelsior configs are probably not very useful in their entirety anymore.
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I want to get rid of posix-configs entirely soon.
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Bye bye! |
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@dagar Something seems to be off for real here: |
I believe that's the last "small" change I made to the work queue manager to not inherit priorities. My guess is something isn't right with the SCHED_RR change. I'll bring it in first separately so we can take a closer look. |
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Quick test flight on a Navio2 - https://logs.px4.io/plot_app?log=6854d5e6-7061-4e19-a5f4-0336c707f5b0 All sensors (using in tree drivers) are working, including apply calibration through the formerly "NuttX" ioctl path. pxh> param show CAL*
Symbols: x = used, + = saved, * = unsaved
x CAL_ACC0_EN [26,67] : 1
x + CAL_ACC0_ID [27,68] : 1442050
x + CAL_ACC0_XOFF [28,69] : 0.1294
x + CAL_ACC0_XSCALE [29,70] : 1.0051
x + CAL_ACC0_YOFF [30,71] : 0.0795
x + CAL_ACC0_YSCALE [31,72] : 1.0008
x + CAL_ACC0_ZOFF [32,73] : 0.4059
x + CAL_ACC0_ZSCALE [33,74] : 0.9974
x CAL_ACC1_EN [34,75] : 1
x + CAL_ACC1_ID [35,76] : 4457218
x + CAL_ACC1_XOFF [36,77] : 0.4475
x + CAL_ACC1_XSCALE [37,78] : 1.0114
x + CAL_ACC1_YOFF [38,79] : 0.0868
x + CAL_ACC1_YSCALE [39,80] : 1.0122
x + CAL_ACC1_ZOFF [40,81] : 0.2236
x + CAL_ACC1_ZSCALE [41,82] : 1.0031
x + CAL_ACC_PRIME [42,91] : 1442050
x CAL_AIR_CMODEL [43,92] : 0
x CAL_AIR_TUBED_MM [44,93] : 1.5000
x CAL_AIR_TUBELEN [45,94] : 0.2000
x CAL_BARO_PRIME [46,95] : 0
x CAL_GYRO0_EN [47,96] : 1
x + CAL_GYRO0_ID [48,97] : 2359554
x + CAL_GYRO0_XOFF [49,98] : -0.0096
x + CAL_GYRO0_YOFF [50,99] : -0.0082
x + CAL_GYRO0_ZOFF [51,100] : -0.0028
x CAL_GYRO1_EN [52,101] : 1
x + CAL_GYRO1_ID [53,102] : 4457218
x + CAL_GYRO1_XOFF [54,103] : 0.3476
x + CAL_GYRO1_YOFF [55,104] : -0.2605
x + CAL_GYRO1_ZOFF [56,105] : 0.0991
x + CAL_GYRO_PRIME [57,111] : 2359554
x CAL_MAG0_EN [58,112] : 1
x + CAL_MAG0_ID [59,113] : 262402
x CAL_MAG0_ROT [60,114] : -1
x + CAL_MAG0_XOFF [61,115] : 0.2008
x + CAL_MAG0_XSCALE [62,116] : 0.9794
x + CAL_MAG0_YOFF [63,117] : 0.2316
x + CAL_MAG0_YSCALE [64,118] : 1.0013
x + CAL_MAG0_ZOFF [65,119] : 0.0135
x + CAL_MAG0_ZSCALE [66,120] : 1.0178
x CAL_MAG1_EN [67,121] : 1
x + CAL_MAG1_ID [68,122] : 4522498
x CAL_MAG1_ROT [69,123] : -1
x + CAL_MAG1_XOFF [70,124] : 0.2331
x + CAL_MAG1_XSCALE [71,125] : 0.9535
x + CAL_MAG1_YOFF [72,126] : 0.2015
x + CAL_MAG1_YSCALE [73,127] : 1.0018
x + CAL_MAG1_ZOFF [74,128] : 0.1825
x + CAL_MAG1_ZSCALE [75,129] : 1.0437
x + CAL_MAG2_ID [76,131] : 0
x CAL_MAG2_ROT [77,132] : -1
x + CAL_MAG3_ID [78,140] : 0
x CAL_MAG3_ROT [79,141] : -1
x + CAL_MAG_PRIME [80,148] : 262402
x CAL_MAG_SIDES [81,149] : 63Notes
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The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.
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The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.
- DriverFramework (src/lib/DriverFramework submodule) completely removed
- added dspal submodule in qurt platform (was brought in via DriverFramework)
- all df wrapper drivers removed
- all boards using df wrapper drivers updated to use in tree equivalents
- unused empty arch/board.h on posix and qurt removed
- unused IOCTLs removed (pub block, priv, etc)
- Integrator delete methods only used from df wrapper drivers
- commander: sensor calibration use "NuttX version" everywhere for now
- sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
- load_mon and top remove from linux boards (unused)
- delete unused PX4_MAIN_FUNCTION
- delete unused getreg32 macro
- delete unused SIOCDEVPRIVATE define
- named each platform tasks consistently
- posix list_devices and list_topics removed (list_files now shows all virtual files)
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This was referenced Jan 15, 2020
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