[DO NOT MERGE] uORB Subscription callback testing

[dagar]

For testing #12207

[mcsauder]

@dagar, I gave it a quick flight test and it was lively! :) https://review.px4.io/plot_app?log=adf7ed32-d3af-4559-bc49-3089d287e9e5

This definitely has an impact on timing, I might need to play with tuning gains. The big thing that needs digging into was that the motors were occasionally twitching/spinning while landed and disarmed.

I performed a few more short flights in manual mode only and position mode only with similar results. Here is a manual flight: https://review.px4.io/plot_app?log=f6f65fd3-3a24-4d58-a5e5-aa05d2061ce9

[dagar]

Thanks Mark, do you have a good log from this vehicle close to master?

The problem is likely in the px4fmu driver (mixing and pwm output on the pixhawk 4 mini). #12224

[mcsauder]

Hi @dagar, here is a flight from current master on the same airframe for an a/b comparison,
250 sized quad, Holybro pixhawk4 mini: https://review.px4.io/plot_app?log=01342848-e183-4ab3-ba2f-0c5ed2fca2de

[jorge789]

Tested on Pixhawk 2 Cube V3:

Flight Card 1

Modes Tested:
Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.

Procedure:
Arm in position mode, check take off behavior (Vehicle should stay on the ground as long as the throttle stick is at the middle or below, and start to ascend smoothly as long as throttle stick as above the middle.), the land and disarm.
Same procedure was repeated with Altitude and Stabilized mode.

Notes:
No issues were noted, good flight in general.

Flight Card 2

Modes Tested
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.

Procedure
Arm and Take off in mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint see landing behavior.

Note:
No issues were noted, good flight in general.

Flight Card 3

Modes Tested
Position Mode: Good.
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint see landing behavior.

Note:
No issues were noted, good flight in general.

Logs:

Flight card 1: https://review.px4.io/plot_app?log=889ff9ad-23e9-457a-97f8-aa9ed177e82e

Flight card 2: https://review.px4.io/plot_app?log=0ac6a07c-9a03-4bad-bb04-7e6dce2ed9e4

Flight card 3 : https://review.px4.io/plot_app?log=0969d351-92c8-414f-a6f9-2c1638a40360

Flight card 3: https://review.px4.io/plot_app?log=0919a0f4-f2a1-4209-abdc-5e69fdba276c

Tested on Pixhawk 2 Cube V3:

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: Comparison to master
https://review.px4.io/plot_app?log=3fdff52a-a110-4e11-b592-8263b1ffaf00

Tested on PixRacer V4:

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: Comparison to master
https://review.px4.io/plot_app?log=b2e5ab23-9177-4e66-8b94-c3e9445ddc41

Tested on PixRacer V4:

Flight Card 3

Modes Tested
Position Mode: Good.
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint see landing behavior.

Note:
Vehicle was constantly oscillating during the flight; this could be seen in position, mission and RTL mode.
Loaded master to see if the issue persisted but it was not the case, vehicle flew as expected without oscillations.

Logs
https://review.px4.io/plot_app?log=2ad4653d-b099-4c46-be6b-90fb70c9be4a

[mcsauder]

Here is an additional flight log on pixhawk 4 mini 250 racer: https://review.px4.io/plot_app?log=08a780ff-9c15-4064-9bb2-27617521d1f7

The current commit fixes the issue I mentioned above. The flight in this log was great.

[dannyfpv]

Tested on Pixhawk4 V5 f450
Modes Tested

Position Mode: no issue
Altitude Mode: no issue
Stabilized Mode: no issue
mission mode: no issue
rtl: no issue

logs:
fc #1: https://review.px4.io/plot_app?log=4c8364bc-0bb2-4842-8232-ade808b64542

fc#2: https://review.px4.io/plot_app?log=de67c939-f6c3-4f02-866f-263f85176f7e

fc#3: https://review.px4.io/plot_app?log=01e7590f-be7b-4db0-a844-262270dbfa80

fc#4: https://review.px4.io/plot_app?log=45cd2709-cd60-43b1-bf01-c95d96336ee5

master log:

https://review.px4.io/plot_app?log=906cf7b4-0c3e-4abd-bd5f-bb3f110ce53e

[dagar]

Thanks everyone!