Merge branch 'main' into pr-force_mavlink_usb

PX4 · Nov 3, 2023 · 1b44427 · 1b44427
2 parents 2d7412a + 22ee90b
commit 1b44427
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Showing 54 changed files with 62 additions and 52 deletions.
diff --git a/Makefile b/Makefile
@@ -484,7 +484,9 @@ validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
 	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
+	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
+	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
 	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 

diff --git a/boards/airmind/mindpx-v2/default.px4board b/boards/airmind/mindpx-v2/default.px4board
@@ -22,8 +22,8 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
-CONFIG_DRIVERS_IMU_L3GD20=y
-CONFIG_DRIVERS_IMU_LSM303D=y
+CONFIG_DRIVERS_IMU_ST_L3GD20=y
+CONFIG_DRIVERS_IMU_ST_LSM303D=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y

diff --git a/boards/av/x-v1/default.px4board b/boards/av/x-v1/default.px4board
@@ -20,8 +20,8 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_ADIS16477=y
-CONFIG_DRIVERS_IMU_ADIS16497=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16477=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16497=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y

diff --git a/boards/nxp/fmuk66-v3/default.px4board b/boards/nxp/fmuk66-v3/default.px4board
@@ -19,8 +19,8 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_FXAS21002C=y
-CONFIG_DRIVERS_IMU_FXOS8701CQ=y
+CONFIG_DRIVERS_IMU_NXP_FXAS21002C=y
+CONFIG_DRIVERS_IMU_NXP_FXOS8701CQ=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y

diff --git a/boards/px4/fmu-v2/default.px4board b/boards/px4/fmu-v2/default.px4board
@@ -11,8 +11,8 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_IMU_L3GD20=y
-CONFIG_DRIVERS_IMU_LSM303D=y
+CONFIG_DRIVERS_IMU_ST_L3GD20=y
+CONFIG_DRIVERS_IMU_ST_LSM303D=y
 CONFIG_DRIVERS_LIGHTS_RGBLED=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y

diff --git a/boards/px4/fmu-v3/default.px4board b/boards/px4/fmu-v3/default.px4board
@@ -27,8 +27,9 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_IMU_L3GD20=y
-CONFIG_DRIVERS_IMU_LSM303D=y
+CONFIG_DRIVERS_IMU_ST_L3GD20=y
+CONFIG_DRIVERS_IMU_ST_LSM303D=y
+CONFIG_COMMON_INS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y

diff --git a/platforms/common/CMakeLists.txt b/platforms/common/CMakeLists.txt
@@ -33,7 +33,7 @@
 
 set(SRCS)
 
-if(NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader")
+if(NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_PLATFORM}" MATCHES "ros2" AND NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader")
 	list(APPEND SRCS
 		px4_log.cpp
 		px4_log_history.cpp

diff --git a/src/drivers/imu/Kconfig b/src/drivers/imu/Kconfig
@@ -2,14 +2,14 @@ menu "IMU"
     menuconfig COMMON_IMU
         bool "Common IMU's"
         default n
-        select DRIVERS_IMU_ADIS16477
-        select DRIVERS_IMU_ADIS16497
+        select DRIVERS_IMU_ANALOG_DEVICES_ADIS16477
+        select DRIVERS_IMU_ANALOG_DEVICES_ADIS16497
         select DRIVERS_IMU_ANALOG_DEVICES_ADIS16448
         select DRIVERS_IMU_ANALOG_DEVICES_ADIS16470
         select DRIVERS_IMU_BOSCH_BMI055
         select DRIVERS_IMU_BOSCH_BMI088
-        select DRIVERS_IMU_FXAS21002C
-        select DRIVERS_IMU_FXOS8701CQ
+        select DRIVERS_IMU_NXP_FXAS21002C
+        select DRIVERS_IMU_NXP_FXOS8701CQ
         select DRIVERS_IMU_INVENSENSE_ICM20602
         select DRIVERS_IMU_INVENSENSE_ICM20608G
         select DRIVERS_IMU_INVENSENSE_ICM20649
@@ -21,9 +21,9 @@ menu "IMU"
         select DRIVERS_IMU_INVENSENSE_MPU6000
         select DRIVERS_IMU_INVENSENSE_MPU6500
         select DRIVERS_IMU_INVENSENSE_MPU9250
-        select DRIVERS_IMU_L3GD20
-        select DRIVERS_IMU_LSM303D
-        select DRIVERS_IMU_ST
+        select DRIVERS_IMU_ST_L3GD20
+        select DRIVERS_IMU_ST_LSM303D
+        select DRIVERS_IMU_ST_LSM9DS1
         ---help---
             Enable default set of IMU drivers
     rsource "*/Kconfig"

diff --git a/src/drivers/imu/adis16477/Kconfig b/src/drivers/imu/adis16477/Kconfig
diff --git a/src/drivers/imu/adis16497/Kconfig b/src/drivers/imu/adis16497/Kconfig
diff --git a/src/drivers/imu/analog_devices/Kconfig b/src/drivers/imu/analog_devices/Kconfig
@@ -1,3 +1,3 @@
 menu "Analog Devices"
 rsource "*/Kconfig"
-endmenu
+endmenu #Analog Devices
diff --git a/src/drivers/imu/adis16477/ADIS16477.cpp → ...mu/analog_devices/adis16477/ADIS16477.cpp b/src/drivers/imu/adis16477/ADIS16477.cpp → ...mu/analog_devices/adis16477/ADIS16477.cpp
diff --git a/src/drivers/imu/adis16477/ADIS16477.hpp → ...mu/analog_devices/adis16477/ADIS16477.hpp b/src/drivers/imu/adis16477/ADIS16477.hpp → ...mu/analog_devices/adis16477/ADIS16477.hpp
diff --git a/src/drivers/imu/adis16477/CMakeLists.txt → ...u/analog_devices/adis16477/CMakeLists.txt b/src/drivers/imu/adis16477/CMakeLists.txt → ...u/analog_devices/adis16477/CMakeLists.txt
diff --git a/src/drivers/imu/analog_devices/adis16477/Kconfig b/src/drivers/imu/analog_devices/adis16477/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_IMU_ANALOG_DEVICES_ADIS16477
+	bool "adis16477"
+	default n
+	---help---
+		Enable support for adis16477
diff --git a/src/drivers/imu/adis16477/adis16477_main.cpp → ...alog_devices/adis16477/adis16477_main.cpp b/src/drivers/imu/adis16477/adis16477_main.cpp → ...alog_devices/adis16477/adis16477_main.cpp
diff --git a/src/drivers/imu/adis16497/ADIS16497.cpp → ...mu/analog_devices/adis16497/ADIS16497.cpp b/src/drivers/imu/adis16497/ADIS16497.cpp → ...mu/analog_devices/adis16497/ADIS16497.cpp
diff --git a/src/drivers/imu/adis16497/ADIS16497.hpp → ...mu/analog_devices/adis16497/ADIS16497.hpp b/src/drivers/imu/adis16497/ADIS16497.hpp → ...mu/analog_devices/adis16497/ADIS16497.hpp
diff --git a/src/drivers/imu/adis16497/CMakeLists.txt → ...u/analog_devices/adis16497/CMakeLists.txt b/src/drivers/imu/adis16497/CMakeLists.txt → ...u/analog_devices/adis16497/CMakeLists.txt
diff --git a/src/drivers/imu/analog_devices/adis16497/Kconfig b/src/drivers/imu/analog_devices/adis16497/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_IMU_ANALOG_DEVICES_ADIS16497
+	bool "adis16497"
+	default n
+	---help---
+		Enable support for adis16497
diff --git a/src/drivers/imu/adis16497/adis16497_main.cpp → ...alog_devices/adis16497/adis16497_main.cpp b/src/drivers/imu/adis16497/adis16497_main.cpp → ...alog_devices/adis16497/adis16497_main.cpp
diff --git a/src/drivers/imu/bosch/Kconfig b/src/drivers/imu/bosch/Kconfig
@@ -1,3 +1,3 @@
 menu "Bosch"
 rsource "*/Kconfig"
-endmenu
+endmenu #Bosch
diff --git a/src/drivers/imu/fxas21002c/Kconfig b/src/drivers/imu/fxas21002c/Kconfig
diff --git a/src/drivers/imu/fxos8701cq/Kconfig b/src/drivers/imu/fxos8701cq/Kconfig
diff --git a/src/drivers/imu/l3gd20/Kconfig b/src/drivers/imu/l3gd20/Kconfig
diff --git a/src/drivers/imu/lsm303d/Kconfig b/src/drivers/imu/lsm303d/Kconfig
diff --git a/src/drivers/imu/nxp/Kconfig b/src/drivers/imu/nxp/Kconfig
@@ -0,0 +1,3 @@
+menu "NXP"
+rsource "*/Kconfig"
+endmenu #NXP
diff --git a/src/drivers/imu/fxas21002c/CMakeLists.txt → ...drivers/imu/nxp/fxas21002c/CMakeLists.txt b/src/drivers/imu/fxas21002c/CMakeLists.txt → ...drivers/imu/nxp/fxas21002c/CMakeLists.txt
diff --git a/src/drivers/imu/fxas21002c/FXAS21002C.cpp → ...drivers/imu/nxp/fxas21002c/FXAS21002C.cpp b/src/drivers/imu/fxas21002c/FXAS21002C.cpp → ...drivers/imu/nxp/fxas21002c/FXAS21002C.cpp
diff --git a/src/drivers/imu/fxas21002c/FXAS21002C.hpp → ...drivers/imu/nxp/fxas21002c/FXAS21002C.hpp b/src/drivers/imu/fxas21002c/FXAS21002C.hpp → ...drivers/imu/nxp/fxas21002c/FXAS21002C.hpp
diff --git a/src/drivers/imu/nxp/fxas21002c/Kconfig b/src/drivers/imu/nxp/fxas21002c/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_IMU_NXP_FXAS21002C
+	bool "fxas21002c"
+	default n
+	---help---
+		Enable support for fxas21002c
diff --git a/...drivers/imu/fxas21002c/fxas21002c_i2c.cpp → ...ers/imu/nxp/fxas21002c/fxas21002c_i2c.cpp b/...drivers/imu/fxas21002c/fxas21002c_i2c.cpp → ...ers/imu/nxp/fxas21002c/fxas21002c_i2c.cpp
diff --git a/...rivers/imu/fxas21002c/fxas21002c_main.cpp → ...rs/imu/nxp/fxas21002c/fxas21002c_main.cpp b/...rivers/imu/fxas21002c/fxas21002c_main.cpp → ...rs/imu/nxp/fxas21002c/fxas21002c_main.cpp
diff --git a/...drivers/imu/fxas21002c/fxas21002c_spi.cpp → ...ers/imu/nxp/fxas21002c/fxas21002c_spi.cpp b/...drivers/imu/fxas21002c/fxas21002c_spi.cpp → ...ers/imu/nxp/fxas21002c/fxas21002c_spi.cpp
diff --git a/src/drivers/imu/fxos8701cq/CMakeLists.txt → ...drivers/imu/nxp/fxos8701cq/CMakeLists.txt b/src/drivers/imu/fxos8701cq/CMakeLists.txt → ...drivers/imu/nxp/fxos8701cq/CMakeLists.txt
diff --git a/src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp → ...drivers/imu/nxp/fxos8701cq/FXOS8701CQ.cpp b/src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp → ...drivers/imu/nxp/fxos8701cq/FXOS8701CQ.cpp
diff --git a/src/drivers/imu/fxos8701cq/FXOS8701CQ.hpp → ...drivers/imu/nxp/fxos8701cq/FXOS8701CQ.hpp b/src/drivers/imu/fxos8701cq/FXOS8701CQ.hpp → ...drivers/imu/nxp/fxos8701cq/FXOS8701CQ.hpp
diff --git a/src/drivers/imu/nxp/fxos8701cq/Kconfig b/src/drivers/imu/nxp/fxos8701cq/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_IMU_NXP_FXOS8701CQ
+	bool "fxos8701cq"
+	default n
+	---help---
+		Enable support for fxos8701cq
diff --git a/...drivers/imu/fxos8701cq/fxos8701cq_i2c.cpp → ...ers/imu/nxp/fxos8701cq/fxos8701cq_i2c.cpp b/...drivers/imu/fxos8701cq/fxos8701cq_i2c.cpp → ...ers/imu/nxp/fxos8701cq/fxos8701cq_i2c.cpp
diff --git a/...rivers/imu/fxos8701cq/fxos8701cq_main.cpp → ...rs/imu/nxp/fxos8701cq/fxos8701cq_main.cpp b/...rivers/imu/fxos8701cq/fxos8701cq_main.cpp → ...rs/imu/nxp/fxos8701cq/fxos8701cq_main.cpp
diff --git a/...drivers/imu/fxos8701cq/fxos8701cq_spi.cpp → ...ers/imu/nxp/fxos8701cq/fxos8701cq_spi.cpp b/...drivers/imu/fxos8701cq/fxos8701cq_spi.cpp → ...ers/imu/nxp/fxos8701cq/fxos8701cq_spi.cpp
diff --git a/src/drivers/imu/st/Kconfig b/src/drivers/imu/st/Kconfig
@@ -1,3 +1,3 @@
 menu "ST"
 rsource "*/Kconfig"
-endmenu #Invensense
+endmenu #ST
diff --git a/src/drivers/imu/l3gd20/CMakeLists.txt → src/drivers/imu/st/l3gd20/CMakeLists.txt b/src/drivers/imu/l3gd20/CMakeLists.txt → src/drivers/imu/st/l3gd20/CMakeLists.txt
diff --git a/src/drivers/imu/st/l3gd20/Kconfig b/src/drivers/imu/st/l3gd20/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_IMU_ST_L3GD20
+	bool "l3gd20"
+	default n
+	---help---
+		Enable support for l3gd20
diff --git a/src/drivers/imu/l3gd20/L3GD20.cpp → src/drivers/imu/st/l3gd20/L3GD20.cpp b/src/drivers/imu/l3gd20/L3GD20.cpp → src/drivers/imu/st/l3gd20/L3GD20.cpp
diff --git a/src/drivers/imu/l3gd20/L3GD20.hpp → src/drivers/imu/st/l3gd20/L3GD20.hpp b/src/drivers/imu/l3gd20/L3GD20.hpp → src/drivers/imu/st/l3gd20/L3GD20.hpp
diff --git a/src/drivers/imu/l3gd20/l3gd20_main.cpp → src/drivers/imu/st/l3gd20/l3gd20_main.cpp b/src/drivers/imu/l3gd20/l3gd20_main.cpp → src/drivers/imu/st/l3gd20/l3gd20_main.cpp
diff --git a/src/drivers/imu/lsm303d/CMakeLists.txt → src/drivers/imu/st/lsm303d/CMakeLists.txt b/src/drivers/imu/lsm303d/CMakeLists.txt → src/drivers/imu/st/lsm303d/CMakeLists.txt
diff --git a/src/drivers/imu/st/lsm303d/Kconfig b/src/drivers/imu/st/lsm303d/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_IMU_ST_LSM303D
+	bool "lsm303d"
+	default n
+	---help---
+		Enable support for lsm303d
diff --git a/src/drivers/imu/lsm303d/LSM303D.cpp → src/drivers/imu/st/lsm303d/LSM303D.cpp b/src/drivers/imu/lsm303d/LSM303D.cpp → src/drivers/imu/st/lsm303d/LSM303D.cpp
diff --git a/src/drivers/imu/lsm303d/LSM303D.hpp → src/drivers/imu/st/lsm303d/LSM303D.hpp b/src/drivers/imu/lsm303d/LSM303D.hpp → src/drivers/imu/st/lsm303d/LSM303D.hpp
diff --git a/src/drivers/imu/lsm303d/lsm303d_main.cpp → src/drivers/imu/st/lsm303d/lsm303d_main.cpp b/src/drivers/imu/lsm303d/lsm303d_main.cpp → src/drivers/imu/st/lsm303d/lsm303d_main.cpp
diff --git a/src/lib/parameters/CMakeLists.txt b/src/lib/parameters/CMakeLists.txt
@@ -201,4 +201,8 @@ if(${PX4_PLATFORM} STREQUAL "nuttx")
 	target_link_libraries(parameters PRIVATE flashparams)
 endif()
 
+if(${PX4_PLATFORM} STREQUAL "posix" OR ${PX4_PLATFORM} STREQUAL "ros2")
+	target_include_directories(parameters PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/../../../platforms/posix/include/")
+endif()
+
 px4_add_functional_gtest(SRC ParameterTest.cpp LINKLIBS parameters)
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1724,7 +1724,7 @@ MavlinkReceiver::handle_message_battery_status(mavlink_message_t *msg)
 
 	battery_status.voltage_v = voltage_sum;
 	battery_status.voltage_filtered_v  = voltage_sum;
-	battery_status.current_a = battery_status.current_filtered_a = (float)(battery_mavlink.current_battery) / 100.0f;
+	battery_status.current_a = (float)(battery_mavlink.current_battery) / 100.0f;
 	battery_status.current_filtered_a = battery_status.current_a;
 	battery_status.remaining = (float)battery_mavlink.battery_remaining / 100.0f;
 	battery_status.discharged_mah = (float)battery_mavlink.current_consumed;