Merge branch 'PX4:main' into tropic

.vscode/cmake-variants.yaml

@@ -151,16 +151,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio_gps_default:
-      short: ark_septentrio_gps_default
+    ark_septentrio-gps_default:
+      short: ark_septentrio-gps_default
       buildType: MinSizeRel
       settings:
-        CONFIG: ark_septentrio_gps_default
-    ark_septentrio_gps_canbootloader:
-      short: ark_septentrio_gps_canbootloader
+        CONFIG: ark_septentrio-gps_default
+    ark_septentrio-gps_canbootloader:
+      short: ark_septentrio-gps_canbootloader
       buildType: MinSizeRel
       settings:
-        CONFIG: ark_septentrio_gps_canbootloader
+        CONFIG: ark_septentrio-gps_canbootloader
     ark_cannode_default:
       short: ark_cannode_default
       buildType: MinSizeRel

Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2024 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -323,7 +323,32 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status
 
-bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: \
+	ark_fmu-v6x_bootloader \
+	ark_pi6x_bootloader \
+	cuav_nora_bootloader \
+	cuav_x7pro_bootloader \
+	cubepilot_cubeorange_bootloader \
+	cubepilot_cubeorangeplus_bootloader \
+	hkust_nxt-dual_bootloader \
+	hkust_nxt-v1_bootloader \
+	holybro_durandal-v1_bootloader \
+	holybro_kakuteh7_bootloader \
+	holybro_kakuteh7mini_bootloader \
+	holybro_kakuteh7v2_bootloader \
+	matek_h743_bootloader \
+	matek_h743-mini_bootloader \
+	matek_h743-slim_bootloader \
+	modalai_fc-v2_bootloader \
+	mro_ctrl-zero-classic_bootloader \
+	mro_ctrl-zero-h7_bootloader \
+	mro_ctrl-zero-h7-oem_bootloader \
+	mro_pixracerpro_bootloader \
+	px4_fmu-v6c_bootloader \
+	px4_fmu-v6u_bootloader \
+	px4_fmu-v6x_bootloader \
+	px4_fmu-v6xrt_bootloader \
+	siyi_n7_bootloader
 	git status
 
 .PHONY: coverity_scan

ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500

@@ -52,3 +52,4 @@ param set-default SIM_GZ_EC_MAX3 1000
 param set-default SIM_GZ_EC_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60
+param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -101,6 +101,7 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1
 
 param set-default NAV_ACC_RAD 5
+param set-default NAV_DLL_ACT 2
 
 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -132,3 +132,5 @@ param set-default SIM_GZ_EC_MAX1 1100
 param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100
+
+param set-default NAV_DLL_ACT 2

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -84,6 +84,13 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()
 
+if(CONFIG_MODULES_ROVER_ACKERMANN)
+	px4_add_romfs_files(
+		rc.rover_ackermann_apps
+		rc.rover_ackermann_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps

ROMFS/px4fmu_common/init.d/airframes/50010_ackermann_rover_generic

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Generic ackermann rover
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -149,6 +149,12 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()
 
+if(CONFIG_MODULES_ROVER_ACKERMANN)
+	px4_add_romfs_files(
+		50010_ackermann_rover_generic
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		# [60000, 61000] (Unmanned) Underwater Robots

ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps

@@ -0,0 +1,11 @@
+#!/bin/sh
+# Standard apps for a ackermann drive rover.
+
+# Start the attitude and position estimator.
+ekf2 start &
+
+# Start rover ackermann drive controller.
+rover_ackermann start
+
+# Start Land Detector.
+land_detector start rover

ROMFS/px4fmu_common/init.d/rc.rover_ackermann_defaults

@@ -0,0 +1,13 @@
+#!/bin/sh
+# Ackermann rover parameters.
+
+set VEHICLE_TYPE rover_ackermann
+param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
+param set-default CA_AIRFRAME 5 # Rover (Ackermann)
+param set-default CA_R_REV 1 # Motor is assumed to be reversible
+param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
+param set-default NAV_RCL_ACT 6 # Disarm on manual control loss
+param set-default COM_FAIL_ACT_T 1 # Delay before failsafe after rc loss

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -41,6 +41,15 @@ then
 	. ${R}etc/init.d/rc.rover_differential_apps
 fi
 
+#
+# Ackermann Rover setup.
+#
+if [ $VEHICLE_TYPE = rover_ackermann ]
+then
+	# Start ackermann drive rover apps.
+	. ${R}etc/init.d/rc.rover_ackermann_apps
+fi
+
 #
 # VTOL setup.
 #

Tools/setup/arch.sh

@@ -95,7 +95,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 
 	# java (jmavsim)
 	sudo pacman -S --noconfirm --needed \
-		ant
+		ant \
 		;
 
 	# Gazebo setup

Tools/setup/requirements.txt

@@ -1,5 +1,4 @@
 argcomplete
-argparse>=1.2
 cerberus
 coverage
 empy==3.3.4

Tools/setup/ubuntu.sh

@@ -66,6 +66,8 @@ elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
 elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
 	echo "Ubuntu 22.04"
+elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
+	echo "Linux Mint 21.3"
 fi
 
 
@@ -146,7 +148,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		util-linux \
 		vim-common \
 		;
-	if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" ]]; then
+	if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" || "${UBUNTU_RELEASE}" == "21.3" ]]; then
 		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		kconfig-frontends \
 		;
@@ -205,6 +207,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		java_version=13
 	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
 		java_version=11
+	elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
+		java_version=11
 	else
 		java_version=14
 	fi
@@ -228,6 +232,17 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
 		sudo apt-get update -y --quiet
 
+		# Install Gazebo
+		gazebo_packages="gz-garden"
+	elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
+		echo "Gazebo (Garden) will be installed"
+		echo "Earlier versions will be removed"
+		# Add Gazebo binary repository
+		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+
+		sudo apt-get update -y --quiet
+
 		# Install Gazebo
 		gazebo_packages="gz-garden"
 	else

boards/ark/fmu-v6x/nuttx-config/nsh/defconfig

@@ -147,8 +147,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49

boards/ark/pi6x/init/rc.board_defaults

@@ -32,19 +32,10 @@ then
 	param set-default SENS_TEMP_ID 2490378
 fi
 
-param set-default EKF2_BARO_DELAY 39
-param set-default EKF2_BARO_NOISE 0.9
-param set-default EKF2_HGT_REF 0
-param set-default EKF2_MAG_DELAY 60
-param set-default EKF2_MAG_NOISE 0.06
 param set-default EKF2_MULTI_IMU 2
 param set-default EKF2_OF_CTRL 1
-param set-default EKF2_OF_DELAY 28
 param set-default EKF2_OF_N_MIN 0.05
 param set-default EKF2_RNG_A_HMAX 25
-param set-default EKF2_RNG_DELAY 105
-param set-default EKF2_RNG_NOISE 0.03
 param set-default EKF2_RNG_QLTY_T 0.1
-param set-default EKF2_RNG_SFE 0.03
 
 param set-default SENS_FLOW_RATE 150

boards/ark/septentrio-gps/src/board_config.h

@@ -47,7 +47,7 @@
 #define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)
 
 /* Safety LED */
-#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
 
 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -139,8 +139,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y

boards/holybro/kakutef7/init/rc.board_defaults

@@ -15,7 +15,7 @@ param set-default SYS_AUTOSTART 4050
 param set-default SYS_HAS_MAG 0
 
 # enable gravity fusion
-param set-default EKF2_IMU_CONTROL 7
+param set-default EKF2_IMU_CTRL 7
 
 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090

boards/holybro/kakuteh7/init/rc.board_defaults

@@ -25,7 +25,7 @@ param set-default SYS_AUTOSTART 4050
 # use EKF2 without mag
 param set-default SYS_HAS_MAG 0
 # and enable gravity fusion
-param set-default EKF2_IMU_CONTROL 7
+param set-default EKF2_IMU_CTRL 7
 
 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090

boards/holybro/kakuteh7mini/init/rc.board_defaults

@@ -25,7 +25,7 @@ param set-default SYS_AUTOSTART 4050
 # use EKF2 without mag
 param set-default SYS_HAS_MAG 0
 # and enable gravity fusion
-param set-default EKF2_IMU_CONTROL 7
+param set-default EKF2_IMU_CTRL 7
 
 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090

boards/holybro/kakuteh7v2/init/rc.board_defaults

@@ -25,7 +25,7 @@ param set-default SYS_AUTOSTART 4050
 # use EKF2 without mag
 param set-default SYS_HAS_MAG 0
 # and enable gravity fusion
-param set-default EKF2_IMU_CONTROL 7
+param set-default EKF2_IMU_CTRL 7
 
 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090

boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig

@@ -158,8 +158,8 @@ CONFIG_NETDEV_LATEINIT=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49

boards/nxp/mr-canhubk3/nuttx-config/sysview/defconfig

@@ -158,8 +158,8 @@ CONFIG_NETDEV_LATEINIT=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49

boards/px4/fmu-v5/rover.px4board

@@ -19,3 +19,4 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
+CONFIG_MODULES_ROVER_ACKERMANN=y

boards/px4/fmu-v5x/init/rc.board_defaults

@@ -3,23 +3,25 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
-# Mavlink ethernet (CFG 1000)
-param set-default MAV_2_CONFIG 1000
-param set-default MAV_2_BROADCAST 1
-param set-default MAV_2_MODE 0
-param set-default MAV_2_RADIO_CTL 0
-param set-default MAV_2_RATE 100000
-param set-default MAV_2_REMOTE_PRT 14550
-param set-default MAV_2_UDP_PRT 14550
-
 param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
 if ver hwbasecmp 008 009 00a 010 011
 then
-	# Skynode: use the "custom participant" config for uxrce_dds_client
+	# Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client
 	param set-default UXRCE_DDS_PTCFG 2
+	param set-default UXRCE_DDS_AG_IP 170461697
+	param set-default UXRCE_DDS_CFG 1000
+else
+	# Mavlink ethernet (CFG 1000)
+	param set-default MAV_2_CONFIG 1000
+	param set-default MAV_2_BROADCAST 1
+	param set-default MAV_2_MODE 0
+	param set-default MAV_2_RADIO_CTL 0
+	param set-default MAV_2_RATE 100000
+	param set-default MAV_2_REMOTE_PRT 14550
+	param set-default MAV_2_UDP_PRT 14550
 fi
 
 safety_button start

boards/px4/fmu-v5x/nuttx-config/nsh/defconfig

@@ -143,8 +143,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49

boards/px4/fmu-v5x/nuttx-config/test/defconfig

@@ -143,8 +143,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_DNSIPADDR=0xA290AFE
+CONFIG_NETINIT_DRIPADDR=0xA290AFE
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y