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Here's the Weekly Digest for PX4/Firmware:
Last week 33 issues were created. Of these, 15 issues have been closed and 18 issues are still open.
💚 #12075 WIP: PX4IO F7 DMA buffer review (dcache flush and alignment), by dagar 💚 #12074 altitude mode not failing, when all height sources are missing, by jbeyerstedt 💚 #12072 Intuitive manual position control by mapping stick input to acceleration, by MaEtUgR 💚 #12071 SD card failure lead to crash, by JohnSnowball 💚 #12068 remaining work queue cleanup, by dagar 💚 #12066 Analog Device ADIS16448 cleanup, by dagar 💚 #12065 Bosch BMI055 cleanup, by dagar 💚 #12061 [WIP] RPYrT Support by Pedro-Roque, by MaEtUgR 💚 #12060 since some days ago,jmavsim need to calibration sensor., by roseyangyu 💚 #12057 Geofence safety fixes, by bresch 💚 #12056 VTOL Gazebo Simulation: weird MC behaviour, by ThomasRigi 💚 #12054 About the position control of the offboard using mavros, by kangjingjie 💚 #12053 Slow upload over USB on cygwin to pixracer, by RaphZufferey 💚 #12052 MC position control - Add acceleration/thrust feedforward to velocity PID controller, by bresch 💚 #12051 PID in attitude - multicopter, by alexcherpi 💚 #12050 Simultaneous RC and Virtual Joystick Control, by MattAuto28 💚 #12049 Move hysteresis test to gtest, by julianoes 💚 #12047 CI: add git commit hash to file description of uploaded SITL log, by JohannesBrand
❤️ #12073 vscode add linker script extension to recommended, by dagar ❤️ #12070 Initial PX4 Pull request, by JamesWilliamsGitHub ❤️ #12069 Add unit tests, by JamesWilliamsGitHub ❤️ #12067 astyle don't enforce style in generated build output, by dagar ❤️ #12064 pxh.cpp: fix invalid reference if words is empty, by bkueng ❤️ #12063 fix tunes: make sure a custom tune gets played, by bkueng ❤️ #12062 QGC Can not update airframe, by Evaneee ❤️ #12059 'tune_control play -m "XXX"' is not working, by bys1123 ❤️ #12058 VS Code: remove matter of taste tabs customization, by MaEtUgR ❤️ #12055 Bash Windows upload the build firmware broken, by huangwen0907 ❤️ #12048 Wrong roll and pitch setpoint in LAND, by moreba1 ❤️ #12046 IDL generation: fix constants; improve template, by TSC21 ❤️ #12045 drivers add linux spi support, by dagar ❤️ #12044 Add PX4 magnetometer and barometer classes, by dagar ❤️ #12042 Added a new mixer for differential rover., by SalimTerryLi
👍 #12045 drivers add linux spi support, by dagar It received 👍 x0, 😄 x0, 🎉 x1 and ❤️ x0.
🔈 #12050 Simultaneous RC and Virtual Joystick Control, by MattAuto28 It received 7 comments.
Last week, 45 pull requests were created, updated or merged.
Last week, 1 pull request was opened. 💚 #12075 WIP: PX4IO F7 DMA buffer review (dcache flush and alignment), by dagar
Last week, 30 pull requests were updated. 💛 #12072 Intuitive manual position control by mapping stick input to acceleration, by MaEtUgR 💛 #12066 Analog Device ADIS16448 cleanup, by dagar 💛 #12065 Bosch BMI055 cleanup, by dagar 💛 #12061 [WIP] RPYrT Support by Pedro-Roque, by MaEtUgR 💛 #12057 Geofence safety fixes, by bresch 💛 #12052 MC position control - Add acceleration/thrust feedforward to velocity PID controller, by bresch 💛 #12049 Move hysteresis test to gtest, by julianoes 💛 #12047 CI: add git commit hash to file description of uploaded SITL log, by JohannesBrand 💛 #12040 uORB::Subscription subscribe directly to uORB device node object, by dagar 💛 #12009 send velocity setpoint to enable proper takeoff/land, by mrivi 💛 #11999 Auto - Yaw fixes for goto and hold, by bresch 💛 #11977 [WIP] Create a distance sensor driver base class and refactor the cm8jl65 driver to inherit from the class., by mcsauder 💛 #11921 Migrate remaining variable initializations from constructor list to declarations in mavlink_main.cpp/h., by mcsauder 💛 #11918 Adapted acceptance radius for rovers, and added vehicle_type field, by ItsTimmy 💛 #11896 Migrate vl53lxx driver class member variable initialization to declarations, format whitespace and alphabetize/group/order var/method declarations, by mcsauder 💛 #11894 Migrate ulanding driver class member variable initialization to declarations, format whitespace and alphabetize/group/order var/method declarations, by mcsauder 💛 #11893 Migrate tfmini driver class member variable initialization to declarations, format whitespace and alphabetize/group/order var/method declarations, by mcsauder 💛 #11892 Migrate teraranger driver class member variable initialization to declarations, format whitespace and alphabetize/group/order var/method declarations, by mcsauder 💛 #11891 Migrate srf02 driver class member variable initialization to declarations, format whitespace and alphabetize/group/order var/method declarations, by mcsauder 💛 #11878 Improve trigger control for survey applications, by LorenzMeier 💛 #11874 Cherry pick the src/modules/land_detector/ directory and voted_sensors_update.h from PR #9756, by mcsauder 💛 #11861 Change variable initialization to uniform initialization style and format whitespace in the pga460 driver., by mcsauder 💛 #11859 Migrate mb12xx driver class member variable initialization to declarations. Format whitespace and alphabetize/group/order var declarations, by mcsauder 💛 #11858 Migrate remaining member variable intialization to declarations, employ uniform initialization styling, and standardize method order within leddar_one.cpp, by mcsauder 💛 #11857 Migrate HC_SR04 class member variable initialization to declarations, augment code so that it compiles., by mcsauder 💛 #11853 Migrate cm8jl65 variable initialization from constructor list to declarations, format whitespace/comments., by mcsauder 💛 #11629 Adis16477 driver standardization work, by mcsauder 💛 #11381 fw_pos_control_l1 add new simple min groundspeed, by dagar 💛 #11274 Utilize DEFINE_PARAMETERS() macro for params in mavlink_receiver.cpp/h, by mcsauder 💛 #10892 RPYrT Support. Format checked., by Pedro-Roque
src/modules/land_detector/
Last week, 14 pull requests were merged. 💜 #12073 vscode add linker script extension to recommended, by dagar 💜 #12067 astyle don't enforce style in generated build output, by dagar 💜 #12064 pxh.cpp: fix invalid reference if words is empty, by bkueng 💜 #12063 fix tunes: make sure a custom tune gets played, by bkueng 💜 #12058 VS Code: remove matter of taste tabs customization, by MaEtUgR 💜 #12046 IDL generation: fix constants; improve template, by TSC21 💜 #12045 drivers add linux spi support, by dagar 💜 #12044 Add PX4 magnetometer and barometer classes, by dagar 💜 #12032 Fix bug Auto Land, by mrivi 💜 #12028 Add lockstep scheduler test to gtest unit test, by julianoes 💜 #12014 Takeoff Revision, by MaEtUgR 💜 #11948 Update the README to clarify component ownership, by LorenzMeier 💜 #11571 PX4 general work queue and move all drivers to new work queue, by dagar 💜 #11250 uORB simplify handling of subscriptions with configured intervals, by dagar
Last week there were 93 commits. 🛠️ vscode add linker script extension to recommended by dagar 🛠️ Update README.md Co-Authored-By: LorenzMeier lorenz@px4.io by dagar 🛠️ [Update README.md
Fix link for Roman Co-Authored-By: LorenzMeier lorenz@px4.io](782d203) by dagar 🛠️ Update the README to clarify component ownership This represents more closely the actual maintenance model. by LorenzMeier 🛠️ Merge pull request #12063 from PX4/fix_custom_tune fix tunes: make sure a custom tune gets played by bkueng 🛠️ astyle don't enforce style in build output by dagar 🛠️ reset the position lock only if current triplet latitude and longitude are valid by mrivi 🛠️ uORB simplify handling of subscriptions with configured intervals by dagar 🛠️ qmc5883 move to px4 work queue by dagar 🛠️ adis16497 move to px4 work queue by dagar 🛠️ rpi_rc_in move to px4 work queue by dagar 🛠️ tone_alarm move to px4 work queue by dagar 🛠️ bst move to px4 work queue by dagar 🛠️ pmw3901 move to px4 work queue by dagar 🛠️ pca9685 move to px4 work queue by dagar 🛠️ rm3100 move to px4 work queue by dagar 🛠️ lsm303agr move to px4 work queue by dagar 🛠️ lis3mdl move to px4 work queue by dagar 🛠️ bmm150 move to px4 work queue by dagar 🛠️ linux_sbus move to px4 work queue by dagar 🛠️ rgbled_pwm move to px4 work queue by dagar 🛠️ rgbled_ncp5623c move to px4 work queue by dagar 🛠️ rgbled move to px4 work queue by dagar 🛠️ pca8574 move to px4 work queue by dagar 🛠️ oreoled move to px4 work queue by dagar 🛠️ blinkm move to px4 work queue by dagar 🛠️ irlock move to px4 work queue by dagar 🛠️ vl53lxx move to px4 work queue by dagar 🛠️ tfmini move to px4 work queue by dagar 🛠️ teraranger move to px4 work queue by dagar 🛠️ srf02 move to px4 work queue by dagar 🛠️ sf1xx move to px4 work queue by dagar 🛠️ sf0x move to px4 work queue by dagar 🛠️ mb12xx move to px4 work queue by dagar 🛠️ ll40ls move to px4 work queue by dagar 🛠️ leddar_one move to px4 work queue by dagar 🛠️ hc_sr04 move to px4 work queue by dagar 🛠️ cm8jl65 move to px4 work queue by dagar 🛠️ mpl3115a2 move to px4 work queue by dagar 🛠️ lps25h move to px4 work queue by dagar 🛠️ lps22hb move to px4 work queue by dagar 🛠️ bmp280 move to px4 work queue by dagar 🛠️ drivers/differential_pressure move all to px4 work queue by dagar 🛠️ ist8310 move to px4 work queue by dagar 🛠️ lsm303d move to px4 work queue by dagar 🛠️ icm20948 move to px4 work queue by dagar 🛠️ fxos8701cq move to px4 work queue by dagar 🛠️ fxas21002c move to px4 work queue by dagar 🛠️ bmi160 move to px4 work queue by dagar 🛠️ bma180 move to px4 work queue by dagar 🛠️ bmi055 move to px4 work queue by dagar 🛠️ l3gd20 move to px4 work queue by dagar 🛠️ adis16477 move to px4 work queue by dagar 🛠️ adis16448 move to px4 work queue by dagar 🛠️ mpu6000 move to px4 work queue by dagar 🛠️ hmc5883 move to px4 work queue by dagar 🛠️ ms5611 move to px4 work queue by dagar 🛠️ mpu9250 move to px4 work queue by dagar 🛠️ PX4 general work queue by dagar 🛠️ pxh.cpp: fix invalid reference if words is empty This can happen for example if 'line' is a space. by bkueng 🛠️ vscode: remove matter of taste tabs customization by MaEtUgR 🛠️ Takeoff: address @RomanBapst's review comments by MaEtUgR 🛠️ mc_att_control: fix applying not updated thrust setpoint by MaEtUgR 🛠️ Revert "mc_att_control: fix having high thrust when disarmed" This reverts commit 0c81a19decde6ddfe4ce87c34c762ea15fd3ab09. by MaEtUgR 🛠️ mc_pos_control: switch back to velocity ramp But fix the two crucial problems: - When to begin the ramp? There's a calculation now for the velocity ramp initial value such that the resulting thrust is zero at the beginning. - When to end the ramp? The ramp is applied to the upwards velocity constraint and it just ramps from the initial value to the velocity constraint which is applied during flight. Slower/going down is always possible. by MaEtUgR 🛠️ mc_pos_control_params: user friendly default spool/rampup times by MaEtUgR 🛠️ mc_pos_control: fix updating takeoff state when no flight task is running Without always updating the takeoff state it will not get skipped when the takeoff happened manually and when you switch from manual to position mode the drone goes to idle and falls. by MaEtUgR 🛠️ mc_pos_control: fix adjusting the wrong setpoint There are two local_position_setpoint in the position controller. One describing the setpoint the task gives to the position controller and a second one with the output of the position controller. I corrected the wrong one during takeoff because the new takeoff thrust ramp runs after the controller and not before. by MaEtUgR 🛠️ Add a Takeoff class to handle multicopter takeoff In a deterministic way with clear states to go through. by MaEtUgR 🛠️ mc_pos_control: replace takeoff velocity ramp with thrust ramp The velocity ramp had problems with: - different vehicle tunings resulted in the start value of the resulting thrust ramp staring either higher and lower than zero thrust. lower -> delay of beginning higher -> small jump at beginning - when a task set position and velocity at the same time during takeoff (which AutoSmoothVel does) it resulted in a velocity setpoint jump at the end of the ramp because the additional velocity setpoint correction from the position controller was not considered. The thrust ramp should now be very deterministic: - always start at zero - always end at the curreant thrust setpoint output of the complete position controller by MaEtUgR 🛠️ AutoSmoothVel - Override checkTakeoff with task-specific logic and reactivate z axis with downward velocity to takeoff smoothly by bresch 🛠️ FlightTasks: fix takeoff trigger for offboard by MaEtUgR 🛠️ mc_pos_control/FlightTasks: trigger takeoff based on task The initial idea of the flight task architecture was that a task can freely set it's setpoints and doesn't have to worry about takeoff and landing. It would just takeoff when it's landed and there's a setpoint to go up and land when it puts a setpoint that pushes into the ground. With the takeoff logic there are some significant interface problems depending on the way a task is implemented: From the setpoint is not high enough to trigger to an unexpected takeoff because of some estimator fluctuation affecting the setpoint. It's easiest to solve this by allowing the task to determine when a takeoff is triggered. If no condition is implemented by default a task is not allowing a takeoff and cannot be used to get the vehicle off the ground. by MaEtUgR 🛠️ mc_att_control: fix having high thrust when disarmed After boot the user is in manual mode and if he has an RC but doesn't switch out the thrust gets set to the throttle stick position. When he then starts a takeoff from tablet the thrust is still high while arming and the land detector immediately sees a takeoff skiping smooth takeoff from the position controller. by MaEtUgR 🛠️ mc_pos_control: initialize takeoff altitude reference according to @dagar's review comment. by MaEtUgR 🛠️ mc_pos_control: refactor takeoff trigger conditions to be positive by MaEtUgR 🛠️ mc_pos_control: fix smooth takeoff ramp - start from a velocity setpoint pushing into the ground to ramp from idle thrust up. - start with a bit higher velocity setpoint threshold to make sure the vehicle has a chance to really get off the ground. - calculate ramp slope from initialization setpoint to the desired one instead from zero to the desired. this ramps up quicker when you demand a very small upwards velocity like the AutoLineSmoothVel and ManualPositionSmoothVel tasks do at the beginning. - don't stay in the takeoff ramp depending on the land detector, this is unnecessary. by MaEtUgR 🛠️ mc_pos_control: refactor smooth takeoff names The comments and variable names were partly misleading. I grouped all members, hopefully gave them more understandable names and adjusted the comments. by MaEtUgR 🛠️ mc_pos_control: refactor smooth takeoff call There were two rather confusing function calls one to check if smooth takeoff needs to be ran and one that updates it. I combined them and documented the interface correctly making the parameters non-reference const floats. by MaEtUgR 🛠️ astyle: add microRTPS related code for format check and fix by TSC21 🛠️ microRTPS_transport: use preprocessor declarations to setup different build contexts for client and agent code by TSC21 🛠️ microRTPS_agent_CMakeLists.txt.template: add header files to micrortps_agent executable build by TSC21 🛠️ msg.idl.template: do not generate typdefs for builtin types (not required) by TSC21 🛠️ microRTPS bridge generation: improve fastrtpsgen verbosity by TSC21 🛠️ RTPS IDL: fix const names; make IDL template similar to rosidl_generator_dds_idl/resource/msg.idl.em by TSC21 🛠️ create PX4Barometer class by dagar 🛠️ PX4Magnetometer now functional by dagar 🛠️ visibility.h: clean up includes, add comments This tries to make the visibility.h header clearer and better structured. We don't actually need the ifdef for lockstep enabled or disabled because that's now handled elsewhere. by julianoes 🛠️ visibility.h: fix missing headers by julianoes 🛠️ lockstep_scheduler: always use the same code This define was not set anyway, and in my opinion we should not use different code for tests anyway. by julianoes 🛠️ cmake: include lockstep_scheduler test This makes sure we add the lockstep_scheduler_test even if the ENABLE_LOCKSTEP_SCHEDULER is not set to yes. This means the lockstep_scheduler is not used for SITL but the CMakeLists.txt file still used and the test added. by julianoes 🛠️ lockstep_scheduler: convert test to gtest by julianoes 🛠️ device drivers lib add linux spi support by dagar
Last week there were 8 contributors. 👤 dagar 👤 LorenzMeier 👤 bkueng 👤 mrivi 👤 MaEtUgR 👤 bresch 👤 TSC21 👤 julianoes
Last week there were 15 stagazers. ⭐ zmmqq00 ⭐ hello-sea ⭐ cruxjiang ⭐ CaptainDuo ⭐ washingtonxr ⭐ robmarkcole ⭐ griseyda6 ⭐ amilim ⭐ sarathid ⭐ Majed55647 ⭐ qq782645210 ⭐ Hydra-yqm ⭐ 20after4 ⭐ vasiliy-pdk ⭐ leeligh You all are the stars! 🌟
Last week there were 2 releases. 🚀 v1.9.0 v1.9.0 Stable Release 🚀 v1.9.0-rc2 v1.9.0 Third Release Candidate
That's all for last week, please 👀 Watch and ⭐ Star the repository PX4/Firmware to receive next weekly updates. 😃
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Here's the Weekly Digest for PX4/Firmware:
ISSUES
Last week 33 issues were created.
Of these, 15 issues have been closed and 18 issues are still open.
OPEN ISSUES
💚 #12075 WIP: PX4IO F7 DMA buffer review (dcache flush and alignment), by dagar
💚 #12074 altitude mode not failing, when all height sources are missing, by jbeyerstedt
💚 #12072 Intuitive manual position control by mapping stick input to acceleration, by MaEtUgR
💚 #12071 SD card failure lead to crash, by JohnSnowball
💚 #12068 remaining work queue cleanup, by dagar
💚 #12066 Analog Device ADIS16448 cleanup, by dagar
💚 #12065 Bosch BMI055 cleanup, by dagar
💚 #12061 [WIP] RPYrT Support by Pedro-Roque, by MaEtUgR
💚 #12060 since some days ago,jmavsim need to calibration sensor., by roseyangyu
💚 #12057 Geofence safety fixes, by bresch
💚 #12056 VTOL Gazebo Simulation: weird MC behaviour, by ThomasRigi
💚 #12054 About the position control of the offboard using mavros, by kangjingjie
💚 #12053 Slow upload over USB on cygwin to pixracer, by RaphZufferey
💚 #12052 MC position control - Add acceleration/thrust feedforward to velocity PID controller, by bresch
💚 #12051 PID in attitude - multicopter, by alexcherpi
💚 #12050 Simultaneous RC and Virtual Joystick Control, by MattAuto28
💚 #12049 Move hysteresis test to gtest, by julianoes
💚 #12047 CI: add git commit hash to file description of uploaded SITL log, by JohannesBrand
CLOSED ISSUES
❤️ #12073 vscode add linker script extension to recommended, by dagar
❤️ #12070 Initial PX4 Pull request, by JamesWilliamsGitHub
❤️ #12069 Add unit tests, by JamesWilliamsGitHub
❤️ #12067 astyle don't enforce style in generated build output, by dagar
❤️ #12064 pxh.cpp: fix invalid reference if words is empty, by bkueng
❤️ #12063 fix tunes: make sure a custom tune gets played, by bkueng
❤️ #12062 QGC Can not update airframe, by Evaneee
❤️ #12059 'tune_control play -m "XXX"' is not working, by bys1123
❤️ #12058 VS Code: remove matter of taste tabs customization, by MaEtUgR
❤️ #12055 Bash Windows upload the build firmware broken, by huangwen0907
❤️ #12048 Wrong roll and pitch setpoint in LAND, by moreba1
❤️ #12046 IDL generation: fix constants; improve template, by TSC21
❤️ #12045 drivers add linux spi support, by dagar
❤️ #12044 Add PX4 magnetometer and barometer classes, by dagar
❤️ #12042 Added a new mixer for differential rover., by SalimTerryLi
LIKED ISSUE
👍 #12045 drivers add linux spi support, by dagar
It received 👍 x0, 😄 x0, 🎉 x1 and ❤️ x0.
NOISY ISSUE
🔈 #12050 Simultaneous RC and Virtual Joystick Control, by MattAuto28
It received 7 comments.
PULL REQUESTS
Last week, 45 pull requests were created, updated or merged.
OPEN PULL REQUEST
Last week, 1 pull request was opened.
💚 #12075 WIP: PX4IO F7 DMA buffer review (dcache flush and alignment), by dagar
UPDATED PULL REQUEST
Last week, 30 pull requests were updated.
💛 #12072 Intuitive manual position control by mapping stick input to acceleration, by MaEtUgR
💛 #12066 Analog Device ADIS16448 cleanup, by dagar
💛 #12065 Bosch BMI055 cleanup, by dagar
💛 #12061 [WIP] RPYrT Support by Pedro-Roque, by MaEtUgR
💛 #12057 Geofence safety fixes, by bresch
💛 #12052 MC position control - Add acceleration/thrust feedforward to velocity PID controller, by bresch
💛 #12049 Move hysteresis test to gtest, by julianoes
💛 #12047 CI: add git commit hash to file description of uploaded SITL log, by JohannesBrand
💛 #12040 uORB::Subscription subscribe directly to uORB device node object, by dagar
💛 #12009 send velocity setpoint to enable proper takeoff/land, by mrivi
💛 #11999 Auto - Yaw fixes for goto and hold, by bresch
💛 #11977 [WIP] Create a distance sensor driver base class and refactor the cm8jl65 driver to inherit from the class., by mcsauder
💛 #11921 Migrate remaining variable initializations from constructor list to declarations in mavlink_main.cpp/h., by mcsauder
💛 #11918 Adapted acceptance radius for rovers, and added vehicle_type field, by ItsTimmy
💛 #11896 Migrate vl53lxx driver class member variable initialization to declarations, format whitespace and alphabetize/group/order var/method declarations, by mcsauder
💛 #11894 Migrate ulanding driver class member variable initialization to declarations, format whitespace and alphabetize/group/order var/method declarations, by mcsauder
💛 #11893 Migrate tfmini driver class member variable initialization to declarations, format whitespace and alphabetize/group/order var/method declarations, by mcsauder
💛 #11892 Migrate teraranger driver class member variable initialization to declarations, format whitespace and alphabetize/group/order var/method declarations, by mcsauder
💛 #11891 Migrate srf02 driver class member variable initialization to declarations, format whitespace and alphabetize/group/order var/method declarations, by mcsauder
💛 #11878 Improve trigger control for survey applications, by LorenzMeier
💛 #11874 Cherry pick the
src/modules/land_detector/directory and voted_sensors_update.h from PR #9756, by mcsauder💛 #11861 Change variable initialization to uniform initialization style and format whitespace in the pga460 driver., by mcsauder
💛 #11859 Migrate mb12xx driver class member variable initialization to declarations. Format whitespace and alphabetize/group/order var declarations, by mcsauder
💛 #11858 Migrate remaining member variable intialization to declarations, employ uniform initialization styling, and standardize method order within leddar_one.cpp, by mcsauder
💛 #11857 Migrate HC_SR04 class member variable initialization to declarations, augment code so that it compiles., by mcsauder
💛 #11853 Migrate cm8jl65 variable initialization from constructor list to declarations, format whitespace/comments., by mcsauder
💛 #11629 Adis16477 driver standardization work, by mcsauder
💛 #11381 fw_pos_control_l1 add new simple min groundspeed, by dagar
💛 #11274 Utilize DEFINE_PARAMETERS() macro for params in mavlink_receiver.cpp/h, by mcsauder
💛 #10892 RPYrT Support. Format checked., by Pedro-Roque
MERGED PULL REQUEST
Last week, 14 pull requests were merged.
💜 #12073 vscode add linker script extension to recommended, by dagar
💜 #12067 astyle don't enforce style in generated build output, by dagar
💜 #12064 pxh.cpp: fix invalid reference if words is empty, by bkueng
💜 #12063 fix tunes: make sure a custom tune gets played, by bkueng
💜 #12058 VS Code: remove matter of taste tabs customization, by MaEtUgR
💜 #12046 IDL generation: fix constants; improve template, by TSC21
💜 #12045 drivers add linux spi support, by dagar
💜 #12044 Add PX4 magnetometer and barometer classes, by dagar
💜 #12032 Fix bug Auto Land, by mrivi
💜 #12028 Add lockstep scheduler test to gtest unit test, by julianoes
💜 #12014 Takeoff Revision, by MaEtUgR
💜 #11948 Update the README to clarify component ownership, by LorenzMeier
💜 #11571 PX4 general work queue and move all drivers to new work queue, by dagar
💜 #11250 uORB simplify handling of subscriptions with configured intervals, by dagar
COMMITS
Last week there were 93 commits.
🛠️ vscode add linker script extension to recommended by dagar
🛠️ Update README.md Co-Authored-By: LorenzMeier lorenz@px4.io by dagar
🛠️ [Update README.md
Fix link for Roman Co-Authored-By: LorenzMeier lorenz@px4.io](782d203) by dagar
🛠️ Update the README to clarify component ownership This represents more closely the actual maintenance model. by LorenzMeier
🛠️ Merge pull request #12063 from PX4/fix_custom_tune fix tunes: make sure a custom tune gets played by bkueng
🛠️ astyle don't enforce style in build output by dagar
🛠️ reset the position lock only if current triplet latitude and longitude are valid by mrivi
🛠️ uORB simplify handling of subscriptions with configured intervals by dagar
🛠️ qmc5883 move to px4 work queue by dagar
🛠️ adis16497 move to px4 work queue by dagar
🛠️ rpi_rc_in move to px4 work queue by dagar
🛠️ tone_alarm move to px4 work queue by dagar
🛠️ bst move to px4 work queue by dagar
🛠️ pmw3901 move to px4 work queue by dagar
🛠️ pca9685 move to px4 work queue by dagar
🛠️ rm3100 move to px4 work queue by dagar
🛠️ lsm303agr move to px4 work queue by dagar
🛠️ lis3mdl move to px4 work queue by dagar
🛠️ bmm150 move to px4 work queue by dagar
🛠️ linux_sbus move to px4 work queue by dagar
🛠️ rgbled_pwm move to px4 work queue by dagar
🛠️ rgbled_ncp5623c move to px4 work queue by dagar
🛠️ rgbled move to px4 work queue by dagar
🛠️ pca8574 move to px4 work queue by dagar
🛠️ oreoled move to px4 work queue by dagar
🛠️ blinkm move to px4 work queue by dagar
🛠️ irlock move to px4 work queue by dagar
🛠️ vl53lxx move to px4 work queue by dagar
🛠️ tfmini move to px4 work queue by dagar
🛠️ teraranger move to px4 work queue by dagar
🛠️ srf02 move to px4 work queue by dagar
🛠️ sf1xx move to px4 work queue by dagar
🛠️ sf0x move to px4 work queue by dagar
🛠️ mb12xx move to px4 work queue by dagar
🛠️ ll40ls move to px4 work queue by dagar
🛠️ leddar_one move to px4 work queue by dagar
🛠️ hc_sr04 move to px4 work queue by dagar
🛠️ cm8jl65 move to px4 work queue by dagar
🛠️ mpl3115a2 move to px4 work queue by dagar
🛠️ lps25h move to px4 work queue by dagar
🛠️ lps22hb move to px4 work queue by dagar
🛠️ bmp280 move to px4 work queue by dagar
🛠️ drivers/differential_pressure move all to px4 work queue by dagar
🛠️ ist8310 move to px4 work queue by dagar
🛠️ lsm303d move to px4 work queue by dagar
🛠️ icm20948 move to px4 work queue by dagar
🛠️ fxos8701cq move to px4 work queue by dagar
🛠️ fxas21002c move to px4 work queue by dagar
🛠️ bmi160 move to px4 work queue by dagar
🛠️ bma180 move to px4 work queue by dagar
🛠️ bmi055 move to px4 work queue by dagar
🛠️ l3gd20 move to px4 work queue by dagar
🛠️ adis16477 move to px4 work queue by dagar
🛠️ adis16448 move to px4 work queue by dagar
🛠️ mpu6000 move to px4 work queue by dagar
🛠️ hmc5883 move to px4 work queue by dagar
🛠️ ms5611 move to px4 work queue by dagar
🛠️ mpu9250 move to px4 work queue by dagar
🛠️ PX4 general work queue by dagar
🛠️ pxh.cpp: fix invalid reference if words is empty This can happen for example if 'line' is a space. by bkueng
🛠️ vscode: remove matter of taste tabs customization by MaEtUgR
🛠️ Takeoff: address @RomanBapst's review comments by MaEtUgR
🛠️ mc_att_control: fix applying not updated thrust setpoint by MaEtUgR
🛠️ Revert "mc_att_control: fix having high thrust when disarmed" This reverts commit 0c81a19decde6ddfe4ce87c34c762ea15fd3ab09. by MaEtUgR
🛠️ mc_pos_control: switch back to velocity ramp But fix the two crucial problems: - When to begin the ramp? There's a calculation now for the velocity ramp initial value such that the resulting thrust is zero at the beginning. - When to end the ramp? The ramp is applied to the upwards velocity constraint and it just ramps from the initial value to the velocity constraint which is applied during flight. Slower/going down is always possible. by MaEtUgR
🛠️ mc_pos_control_params: user friendly default spool/rampup times by MaEtUgR
🛠️ mc_pos_control: fix updating takeoff state when no flight task is running Without always updating the takeoff state it will not get skipped when the takeoff happened manually and when you switch from manual to position mode the drone goes to idle and falls. by MaEtUgR
🛠️ mc_pos_control: fix adjusting the wrong setpoint There are two local_position_setpoint in the position controller. One describing the setpoint the task gives to the position controller and a second one with the output of the position controller. I corrected the wrong one during takeoff because the new takeoff thrust ramp runs after the controller and not before. by MaEtUgR
🛠️ Add a Takeoff class to handle multicopter takeoff In a deterministic way with clear states to go through. by MaEtUgR
🛠️ mc_pos_control: replace takeoff velocity ramp with thrust ramp The velocity ramp had problems with: - different vehicle tunings resulted in the start value of the resulting thrust ramp staring either higher and lower than zero thrust. lower -> delay of beginning higher -> small jump at beginning - when a task set position and velocity at the same time during takeoff (which AutoSmoothVel does) it resulted in a velocity setpoint jump at the end of the ramp because the additional velocity setpoint correction from the position controller was not considered. The thrust ramp should now be very deterministic: - always start at zero - always end at the curreant thrust setpoint output of the complete position controller by MaEtUgR
🛠️ AutoSmoothVel - Override checkTakeoff with task-specific logic and reactivate z axis with downward velocity to takeoff smoothly by bresch
🛠️ FlightTasks: fix takeoff trigger for offboard by MaEtUgR
🛠️ mc_pos_control/FlightTasks: trigger takeoff based on task The initial idea of the flight task architecture was that a task can freely set it's setpoints and doesn't have to worry about takeoff and landing. It would just takeoff when it's landed and there's a setpoint to go up and land when it puts a setpoint that pushes into the ground. With the takeoff logic there are some significant interface problems depending on the way a task is implemented: From the setpoint is not high enough to trigger to an unexpected takeoff because of some estimator fluctuation affecting the setpoint. It's easiest to solve this by allowing the task to determine when a takeoff is triggered. If no condition is implemented by default a task is not allowing a takeoff and cannot be used to get the vehicle off the ground. by MaEtUgR
🛠️ mc_att_control: fix having high thrust when disarmed After boot the user is in manual mode and if he has an RC but doesn't switch out the thrust gets set to the throttle stick position. When he then starts a takeoff from tablet the thrust is still high while arming and the land detector immediately sees a takeoff skiping smooth takeoff from the position controller. by MaEtUgR
🛠️ mc_pos_control: initialize takeoff altitude reference according to @dagar's review comment. by MaEtUgR
🛠️ mc_pos_control: refactor takeoff trigger conditions to be positive by MaEtUgR
🛠️ mc_pos_control: fix smooth takeoff ramp - start from a velocity setpoint pushing into the ground to ramp from idle thrust up. - start with a bit higher velocity setpoint threshold to make sure the vehicle has a chance to really get off the ground. - calculate ramp slope from initialization setpoint to the desired one instead from zero to the desired. this ramps up quicker when you demand a very small upwards velocity like the AutoLineSmoothVel and ManualPositionSmoothVel tasks do at the beginning. - don't stay in the takeoff ramp depending on the land detector, this is unnecessary. by MaEtUgR
🛠️ mc_pos_control: refactor smooth takeoff names The comments and variable names were partly misleading. I grouped all members, hopefully gave them more understandable names and adjusted the comments. by MaEtUgR
🛠️ mc_pos_control: refactor smooth takeoff call There were two rather confusing function calls one to check if smooth takeoff needs to be ran and one that updates it. I combined them and documented the interface correctly making the parameters non-reference const floats. by MaEtUgR
🛠️ astyle: add microRTPS related code for format check and fix by TSC21
🛠️ microRTPS_transport: use preprocessor declarations to setup different build contexts for client and agent code by TSC21
🛠️ microRTPS_agent_CMakeLists.txt.template: add header files to micrortps_agent executable build by TSC21
🛠️ msg.idl.template: do not generate typdefs for builtin types (not required) by TSC21
🛠️ microRTPS bridge generation: improve fastrtpsgen verbosity by TSC21
🛠️ RTPS IDL: fix const names; make IDL template similar to rosidl_generator_dds_idl/resource/msg.idl.em by TSC21
🛠️ create PX4Barometer class by dagar
🛠️ PX4Magnetometer now functional by dagar
🛠️ visibility.h: clean up includes, add comments This tries to make the visibility.h header clearer and better structured. We don't actually need the ifdef for lockstep enabled or disabled because that's now handled elsewhere. by julianoes
🛠️ visibility.h: fix missing headers by julianoes
🛠️ lockstep_scheduler: always use the same code This define was not set anyway, and in my opinion we should not use different code for tests anyway. by julianoes
🛠️ cmake: include lockstep_scheduler test This makes sure we add the lockstep_scheduler_test even if the ENABLE_LOCKSTEP_SCHEDULER is not set to yes. This means the lockstep_scheduler is not used for SITL but the CMakeLists.txt file still used and the test added. by julianoes
🛠️ lockstep_scheduler: convert test to gtest by julianoes
🛠️ device drivers lib add linux spi support by dagar
CONTRIBUTORS
Last week there were 8 contributors.
👤 dagar
👤 LorenzMeier
👤 bkueng
👤 mrivi
👤 MaEtUgR
👤 bresch
👤 TSC21
👤 julianoes
STARGAZERS
Last week there were 15 stagazers.
⭐ zmmqq00
⭐ hello-sea
⭐ cruxjiang
⭐ CaptainDuo
⭐ washingtonxr
⭐ robmarkcole
⭐ griseyda6
⭐ amilim
⭐ sarathid
⭐ Majed55647
⭐ qq782645210
⭐ Hydra-yqm
⭐ 20after4
⭐ vasiliy-pdk
⭐ leeligh
You all are the stars! 🌟
RELEASES
Last week there were 2 releases.
🚀 v1.9.0 v1.9.0 Stable Release
🚀 v1.9.0-rc2 v1.9.0 Third Release Candidate
That's all for last week, please 👀 Watch and ⭐ Star the repository PX4/Firmware to receive next weekly updates. 😃
You can also view all Weekly Digests by clicking here.
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