PX4 · dagar · Oct 2, 2021 · Sep 29, 2021 · Sep 29, 2021 · Sep 29, 2021
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps
@@ -57,6 +57,7 @@ mc_rate_control start
 # Start Multicopter Attitude Controller.
 #
 mc_att_control start
+mc_autotune_attitude_control start
 
 #
 # Start Multicopter Position Controller.

diff --git a/Tools/px4moduledoc/srcparser.py b/Tools/px4moduledoc/srcparser.py
@@ -14,7 +14,7 @@ class ModuleDocumentation(object):
     # If you add categories or subcategories, they also need to be added to the
     # TOC in https://github.com/PX4/Devguide/blob/master/en/SUMMARY.md
     valid_categories = ['driver', 'estimator', 'controller', 'system',
-                        'communication', 'command', 'template', 'simulation']
+                        'communication', 'command', 'template', 'simulation', 'autotune']
     valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
                            'magnetometer', 'baro', 'optical_flow']
 

diff --git a/boards/airmind/mindpx-v2/default.cmake b/boards/airmind/mindpx-v2/default.cmake
@@ -69,6 +69,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/ark/can-gps/debug.cmake b/boards/ark/can-gps/debug.cmake
@@ -33,6 +33,6 @@ px4_add_board(
 		topic_listener
 		tune_control
 		uorb
-		ver
+		#ver
 		work_queue
 )
diff --git a/boards/ark/can-gps/default.cmake b/boards/ark/can-gps/default.cmake
@@ -4,7 +4,8 @@ px4_add_board(
 	PLATFORM nuttx
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
-	#CONSTRAINED_FLASH
+	CONSTRAINED_FLASH
+	  NO_HELP
 	CONSTRAINED_MEMORY
 	EXTERNAL_METADATA
 	ROMFSROOT cannode

diff --git a/boards/ark/can-rtk-gps/debug.cmake b/boards/ark/can-rtk-gps/debug.cmake
@@ -33,6 +33,6 @@ px4_add_board(
 		topic_listener
 		tune_control
 		uorb
-		ver
+		#ver
 		work_queue
 )
diff --git a/boards/ark/can-rtk-gps/default.cmake b/boards/ark/can-rtk-gps/default.cmake
@@ -4,7 +4,8 @@ px4_add_board(
 	PLATFORM nuttx
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
-	#CONSTRAINED_FLASH
+	CONSTRAINED_FLASH
+	  NO_HELP
 	CONSTRAINED_MEMORY
 	EXTERNAL_METADATA
 	ROMFSROOT cannode

diff --git a/boards/atl/mantis-edu/default.cmake b/boards/atl/mantis-edu/default.cmake
@@ -27,6 +27,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/av/x-v1/default.cmake b/boards/av/x-v1/default.cmake
@@ -68,6 +68,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/beaglebone/blue/default.cmake b/boards/beaglebone/blue/default.cmake
@@ -53,6 +53,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/bitcraze/crazyflie/default.cmake b/boards/bitcraze/crazyflie/default.cmake
@@ -32,6 +32,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		# mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/bitcraze/crazyflie21/default.cmake b/boards/bitcraze/crazyflie21/default.cmake
@@ -31,6 +31,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		# mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/cuav/nora/default.cmake b/boards/cuav/nora/default.cmake
@@ -75,6 +75,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/cuav/nora/test.cmake b/boards/cuav/nora/test.cmake
@@ -16,7 +16,7 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
-		adc/ads1115
+		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -37,8 +37,8 @@ px4_add_board(
 		lights # all available light drivers
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
+		#optical_flow # all available optical flow drivers
+		#osd
 		pca9685
 		pca9685_pwm_out
 		power_monitor/ina226
@@ -75,6 +75,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/cuav/x7pro/default.cmake b/boards/cuav/x7pro/default.cmake
@@ -76,6 +76,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/cuav/x7pro/test.cmake b/boards/cuav/x7pro/test.cmake
@@ -16,7 +16,7 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
-		adc/ads1115
+		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -28,20 +28,21 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
+		#imu/analog_devices/adis16448
 		imu/analog_devices/adis16470
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		imu/invensense/icm20948 # required for ak09916 mag
+		#imu/invensense/icm42688p
 		#irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
+		#optical_flow # all available optical flow drivers
+		#osd
+		#pca9685
+		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -50,6 +51,7 @@ px4_add_board(
 		#roboclaw
 		#rpm
 		safety_button
+		#smart_battery/batmon
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -76,6 +78,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -112,7 +115,7 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
-		serial_test
+		#serial_test
 		#system_time
 		tests # tests and test runner
 		top

diff --git a/boards/cubepilot/cubeorange/default.cmake b/boards/cubepilot/cubeorange/default.cmake
@@ -72,6 +72,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/cubepilot/cubeorange/test.cmake b/boards/cubepilot/cubeorange/test.cmake
@@ -73,6 +73,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/cubepilot/cubeyellow/default.cmake b/boards/cubepilot/cubeyellow/default.cmake
@@ -70,6 +70,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/cubepilot/cubeyellow/test.cmake b/boards/cubepilot/cubeyellow/test.cmake
@@ -71,6 +71,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/emlid/navio2/default.cmake b/boards/emlid/navio2/default.cmake
@@ -53,6 +53,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/holybro/durandal-v1/default.cmake b/boards/holybro/durandal-v1/default.cmake
@@ -70,6 +70,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/holybro/durandal-v1/test.cmake b/boards/holybro/durandal-v1/test.cmake
@@ -71,6 +71,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/holybro/kakutef7/default.cmake b/boards/holybro/kakutef7/default.cmake
@@ -1,4 +1,6 @@
 
+add_definitions(-DCONSTRAINED_FLASH_NO_HELP="https://docs.px4.io/master/en/modules/modules_main.html")
+
 px4_add_board(
 	PLATFORM nuttx
 	TOOLCHAIN arm-none-eabi
@@ -45,6 +47,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		# mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/holybro/pix32v5/default.cmake b/boards/holybro/pix32v5/default.cmake
@@ -74,6 +74,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/modalai/fc-v1/default.cmake b/boards/modalai/fc-v1/default.cmake
@@ -68,6 +68,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/modalai/fc-v1/rtps.cmake b/boards/modalai/fc-v1/rtps.cmake
@@ -66,6 +66,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/modalai/fc-v1/test.cmake b/boards/modalai/fc-v1/test.cmake
@@ -68,6 +68,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/modalai/fc-v2/default.cmake b/boards/modalai/fc-v2/default.cmake
@@ -72,6 +72,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/modalai/fc-v2/test.cmake b/boards/modalai/fc-v2/test.cmake
@@ -73,6 +73,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/mro/ctrl-zero-f7-oem/default.cmake b/boards/mro/ctrl-zero-f7-oem/default.cmake
@@ -71,6 +71,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/mro/ctrl-zero-f7/default.cmake b/boards/mro/ctrl-zero-f7/default.cmake
@@ -71,6 +71,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/mro/ctrl-zero-h7-oem/default.cmake b/boards/mro/ctrl-zero-h7-oem/default.cmake
@@ -70,6 +70,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/mro/ctrl-zero-h7/default.cmake b/boards/mro/ctrl-zero-h7/default.cmake
@@ -70,6 +70,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/mro/pixracerpro/default.cmake b/boards/mro/pixracerpro/default.cmake
@@ -70,6 +70,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/mro/x21-777/default.cmake b/boards/mro/x21-777/default.cmake
@@ -71,6 +71,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/mro/x21/default.cmake b/boards/mro/x21/default.cmake
@@ -72,6 +72,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/nxp/fmuk66-e/default.cmake b/boards/nxp/fmuk66-e/default.cmake
@@ -68,6 +68,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control

diff --git a/boards/nxp/fmuk66-e/rtps.cmake b/boards/nxp/fmuk66-e/rtps.cmake
@@ -68,6 +68,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control