Merge 63a66a5 into 0483e80

mavlink · Jul 12, 2019 · 13aea65 · 13aea65
2 parents 0483e80 + 63a66a5
commit 13aea65
Show file tree

Hide file tree

Showing 5 changed files with 23 additions and 14 deletions.
diff --git a/Jenkinsfile b/Jenkinsfile
@@ -10,7 +10,7 @@ pipeline {
         stage('Ubuntu 16.04 Debug') {
           agent {
             docker {
-              image 'mavsdk/mavsdk-ubuntu-16.04:2019-06-17'
+              image 'mavsdk/mavsdk-ubuntu-16.04:2019-07-12'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -40,7 +40,7 @@ pipeline {
         stage('Ubuntu 16.04 Release') {
           agent {
             docker {
-              image 'mavsdk/mavsdk-ubuntu-16.04:2019-06-17'
+              image 'mavsdk/mavsdk-ubuntu-16.04:2019-07-12'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -70,7 +70,7 @@ pipeline {
         stage('Ubuntu 18.04 Debug') {
           agent {
             docker {
-              image 'mavsdk/mavsdk-ubuntu-18.04:2019-06-17'
+              image 'mavsdk/mavsdk-ubuntu-18.04:2019-07-12'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -100,7 +100,7 @@ pipeline {
         stage('Ubuntu 18.04 Release') {
           agent {
             docker {
-              image 'mavsdk/mavsdk-ubuntu-18.04:2019-06-17'
+              image 'mavsdk/mavsdk-ubuntu-18.04:2019-07-12'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -130,7 +130,7 @@ pipeline {
         stage('Ubuntu 18.04 Debug PX4 SITL') {
           agent {
             docker {
-              image 'mavsdk/mavsdk-ubuntu-18.04-px4-sitl:2019-06-17'
+              image 'mavsdk/mavsdk-ubuntu-18.04-px4-sitl:2019-07-12'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -158,7 +158,7 @@ pipeline {
         stage('Fedora 29 Debug') {
           agent {
             docker {
-              image 'mavsdk/mavsdk-fedora-29:2019-06-17'
+              image 'mavsdk/mavsdk-fedora-29:2019-07-12'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -188,7 +188,7 @@ pipeline {
         stage('Fedora 29 Release') {
           agent {
             docker {
-              image 'mavsdk/mavsdk-fedora-29:2019-06-17'
+              image 'mavsdk/mavsdk-fedora-29:2019-07-12'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -218,7 +218,7 @@ pipeline {
         stage('Fedora 30 Debug') {
           agent {
             docker {
-              image 'mavsdk/mavsdk-fedora-30:2019-06-17'
+              image 'mavsdk/mavsdk-fedora-30:2019-07-12'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -248,7 +248,7 @@ pipeline {
         stage('Fedora 30 Release') {
           agent {
             docker {
-              image 'mavsdk/mavsdk-fedora-30:2019-06-17'
+              image 'mavsdk/mavsdk-fedora-30:2019-07-12'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -344,7 +344,7 @@ pipeline {
         stage('check style') {
           agent {
             docker {
-              image 'mavsdk/mavsdk-ubuntu-16.04:2019-06-17'
+              image 'mavsdk/mavsdk-ubuntu-16.04:2019-07-12'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -368,7 +368,7 @@ pipeline {
     stage('Generate Docs') {
       agent {
         docker {
-          image 'mavsdk/mavsdk-ubuntu-16.04:2019-06-17'
+          image 'mavsdk/mavsdk-ubuntu-16.04:2019-07-12'
           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
         }
       }

diff --git a/docker/Dockerfile-Ubuntu-18.04-PX4-SITL b/docker/Dockerfile-Ubuntu-18.04-PX4-SITL
@@ -2,7 +2,7 @@
 # PX4 SITL testing environment for MAVSDK based on Ubuntu 18.04.
 # Author: Julian Oes <julian@oes.ch>
 #
-FROM mavlink/mavsdk-ubuntu-18.04
+FROM mavsdk/mavsdk-ubuntu-18.04
 MAINTAINER Julian Oes <julian@oes.ch>
 
 ENV FIRMWARE_DIR ${WORKDIR}../Firmware
@@ -30,5 +30,6 @@ RUN apt-get update && \
     && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 
 RUN git clone https://github.com/PX4/Firmware.git ${FIRMWARE_DIR}
+RUN git -C ${FIRMWARE_DIR} checkout stable
 RUN git -C ${FIRMWARE_DIR} submodule update --init --recursive
 RUN cd ${FIRMWARE_DIR} && DONT_RUN=1 make px4_sitl gazebo && DONT_RUN=1 make px4_sitl gazebo
diff --git a/docker/README.md b/docker/README.md
@@ -16,7 +16,7 @@ To create an image :
 
 ```bash
 cd /whereever/MAVSDK/docker
-docker build -t mavlink/mavsdk-ubuntu-18.04 -f Dockerfile-Ubuntu-18.04 .
+docker build -t mavsdk/mavsdk-ubuntu-18.04 -f Dockerfile-Ubuntu-18.04 .
 ```
 
 To use the image :

diff --git a/src/integration_tests/action_takeoff_and_kill.cpp b/src/integration_tests/action_takeoff_and_kill.cpp
@@ -40,7 +40,10 @@ TEST_F(SitlTest, ActionTakeoffAndKill)
         ASSERT_EQ(fut.wait_for(std::chrono::seconds(10)), std::future_status::ready);
     }
 
-    action->set_takeoff_altitude(0.4f);
+    // FIXME: We only want to takeoff to an altitude to maybe 0.5 meters, however,
+    //        that's currently broken in PX4, so we use a higher altitude.
+    //        Also see: https://github.com/PX4/Firmware/issues/12471
+    action->set_takeoff_altitude(1.5f);
 
     {
         LogInfo() << "Arming";

diff --git a/src/plugins/telemetry/telemetry_impl.cpp b/src/plugins/telemetry/telemetry_impl.cpp
@@ -68,6 +68,11 @@ void TelemetryImpl::init()
     _parent->register_mavlink_message_handler(
         MAVLINK_MSG_ID_RC_CHANNELS, std::bind(&TelemetryImpl::process_rc_channels, this, _1), this);
 
+    _parent->register_mavlink_message_handler(
+        MAVLINK_MSG_ID_HIGHRES_IMU,
+        std::bind(&TelemetryImpl::process_imu_reading_ned, this, _1),
+        this);
+
     _parent->register_param_changed_handler(
         std::bind(&TelemetryImpl::process_parameter_update, this, _1), this);
 }