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uORB::Publication simplify and cleanup #12210

Merged
merged 1 commit into from
Jun 12, 2019
Merged

uORB::Publication simplify and cleanup #12210

merged 1 commit into from
Jun 12, 2019

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dagar
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@dagar dagar commented Jun 7, 2019 •
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  • drop linked list
  • base class is now template
  • virtualization no longer required
  • type safety!
  • ekf2 updated to only publish with uORB::Publication

@dagar dagar force-pushed the pr-uorb_publication branch 3 times, most recently from eccc18f to 7cd8014 Compare June 7, 2019 19:45
@dagar dagar requested a review from a team June 7, 2019 19:45
@dagar dagar requested a review from julianoes June 7, 2019 19:46
@dannyfpv
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dannyfpv commented Jun 7, 2019 •
edited by Junkim3DR
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Tested on Pixhawk 4 V5 f-450

Modes Tested

  • Position Mode: no issue
  • Altitude Mode: no issue
  • Stabilized Mode: no issue
  • Mission Plan Mode: switch to hold mode
    -RTL: switch to hold mode

Notes:
While triggering Mission and RTL vehicle switched to Hold Flight Mode, had to land manually.

PR Log

@dagar dagar force-pushed the pr-uorb_publication branch from 7cd8014 to 6ce888f Compare June 8, 2019 14:50
@dagar
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dagar commented Jun 8, 2019

Your home position wasn't being published. Can you please try again with the current state of the PR?
Thanks

@dagar dagar force-pushed the pr-uorb_publication branch 2 times, most recently from 6f15109 to c5f03e0 Compare June 8, 2019 15:20
@dannyfpv
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dannyfpv commented Jun 8, 2019 •
edited by Tony3dr
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@dagar I waited about 10 minutes for GPS Lock on the PR and nothing. I decided to upload the master branch and had GPS Lock on 30 seconds, I will test this again on Monday to confirm the state of the PR.

@weekly-digest weekly-digest bot mentioned this pull request Jun 9, 2019
Closed
@dagar dagar force-pushed the pr-uorb_publication branch from c5f03e0 to 665b709 Compare June 9, 2019 14:45
@dagar
uORB::Publication simplify and cleanup
e2cfe31 
 - drop linked list
 - base class is now template
 - virtualization no longer required
@dagar dagar force-pushed the pr-uorb_publication branch from 665b709 to e2cfe31 Compare June 10, 2019 16:49
@Junkim3DR
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Tested on Pixhawk 4 mini v5

Modes Tested

  • Position Mode: Good.
  • Altitude Mode: Good.
  • Stabilized Mode: Good.
  • Mission Plan Mode (Automated): Good.
  • RTL: Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Logs:
PR 12210

Master

@dannyfpv
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dannyfpv commented Jun 10, 2019 •
edited by Tony3dr
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Tested on Pixhawk 4 V5
Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

  • Procedure
    Arm and Take off in stabilized mode, position mode, altitude, and mission mode

Notes:
No issues noted good flight in general.

PR Log:

https://review.px4.io/plot_app?log=2c809d10-c7f7-49bd-b278-c7efa225bf9c

Master log:

https://review.px4.io/plot_app?log=71a5aa74-1e6e-4c9c-ae20-2baff55f3daf

@jorge789
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Tested on PixRacer V4

Modes Tested

Position Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.
Procedure
Arm and Take off in position mode, after flying for approximately one minute,then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Logs:
https://review.px4.io/plot_app?log=e6d7dc6a-5843-461c-8931-630b18e1634b

MASTER COMPARISON
https://review.px4.io/plot_app?log=8705340c-1489-47db-adf4-81e32bf1fd55

julianoes
julianoes approved these changes Jun 12, 2019
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Ok!

@dagar dagar merged commit 79d4c09 into PX4:master Jun 12, 2019
@dagar dagar deleted the pr-uorb_publication branch June 12, 2019 12:48
@dagar dagar mentioned this pull request Jun 12, 2019
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@weekly-digest weekly-digest bot mentioned this pull request Jun 16, 2019
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5 participants
@dagar @dannyfpv @Junkim3DR @jorge789 @julianoes