Merge branch 'master' into pr-dps310_barometer

PX4 · Sep 1, 2019 · 478ab27 · 478ab27
2 parents c0faa73 + 328544a
commit 478ab27
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diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile
@@ -37,7 +37,7 @@ pipeline {
                      "px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5x_default", "px4_fmu-v5x_fixedwing", "px4_fmu-v5x_multicopter", "px4_fmu-v5x_rover", "px4_fmu-v5x_rtps", "px4_fmu-v5x_stackcheck",
                      "intel_aerofc-v1_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default",
-                     "holybro_kakutef7", "mro_ctrl-zero-f7_default", "nxp_fmuk66-v3_default", "omnibus_f4sd_default"],
+                     "holybro_kakutef7", "mro_ctrl-zero-f7_default", "nxp_fmuk66-v3_default", "omnibus_f4sd_default", "uvify_core_default"],
             image: docker_images.nuttx,
             archive: true
           ]

diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
diff --git a/.ci/Jenkinsfile-hardware_linux b/.ci/Jenkinsfile-hardware_linux
@@ -0,0 +1,41 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+    stage('Build and Verify') {
+
+      agent {
+        label 'navio2'
+      }
+      steps {
+        sh 'export'
+        sh 'make distclean'
+        sh 'ccache -z'
+        sh 'git fetch --tags'
+        sh 'CCACHE_BASEDIR=${WORKSPACE} make emlid_navio2_native'
+        sh 'ccache -s'
+        // sanity check
+        sh 'cd build/emlid_navio2_native/ && ./bin/px4 -s ../../posix-configs/rpi/px4_test.config'
+      }
+      post {
+        always {
+          sh 'make distclean'
+        }
+      }
+      options {
+        timeout(time: 30, unit: 'MINUTES')
+      }
+
+    }
+
+  } // stages
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+}
diff --git a/.ci/Jenkinsfile-hardware_snapdragon b/.ci/Jenkinsfile-hardware_snapdragon
@@ -0,0 +1,48 @@
+#!/usr/bin/env groovy
+
+pipeline {
+  agent none
+  stages {
+    stage('Build and Verify') {
+
+      agent {
+        label 'snapdragon'
+      }
+      steps {
+        sh 'export'
+        sh 'make distclean'
+        sh 'ccache -z'
+        sh 'git fetch --tags'
+        sh 'CCACHE_BASEDIR=${WORKSPACE} make eagle_default'
+        sh 'ccache -s'
+        // sanity check
+        sh 'adb devices'
+        sh 'make eagle_default sanity || true'
+      }
+      post {
+        always {
+          sh 'cat boards/atlflight/eagle/scripts/px4.log'
+          sh 'cat boards/atlflight/eagle/scripts/minidm.log'
+          sh 'make distclean'
+        }
+      }
+      options {
+        timeout(time: 30, unit: 'MINUTES')
+      }
+
+    }
+
+  } // stages
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+    ARM_CROSS_GCC_ROOT="/home/jenkins/Qualcomm/ARM_Tools/gcc-4.9-2014.11"
+    HEXAGON_ARM_SYSROOT="/home/jenkins/Qualcomm/qrlinux_sysroot"
+    HEXAGON_SDK_ROOT="/home/jenkins/Qualcomm/Hexagon_SDK/3.0"
+    HEXAGON_TOOLS_ROOT="/home/jenkins/Qualcomm/HEXAGON_Tools/7.2.12/Tools"
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+}
diff --git a/.gitattributes b/.gitattributes
@@ -0,0 +1,7 @@
+* text=auto eol=lf
+*.{cmd,[cC][mM][dD]} text eol=crlf
+*.{bat,[bB][aA][tT]} text eol=crlf
+
+*.bin binary
+*.pdf binary
+*.png binary
diff --git a/.gitignore b/.gitignore
@@ -17,7 +17,6 @@ Testing/
 Packages/*
 build/*
 build_*/
-core
 cscope.out
 cscope.in.out
 cscope.po.out

diff --git a/.vscode/extensions.json b/.vscode/extensions.json
@@ -2,14 +2,14 @@
     // See http://go.microsoft.com/fwlink/?LinkId=827846
     // for the documentation about the extensions.json format
     "recommendations": [
-        "ajshort.ros",
         "chiehyu.vscode-astyle",
         "dan-c-underwood.arm",
         "github.vscode-pull-request-github",
         "marus25.cortex-debug",
+        "ms-azuretools.vscode-docker",
+        "ms-iot.vscode-ros",
         "ms-python.python",
         "ms-vscode.cpptools",
-        "peterjausovec.vscode-docker",
         "twxs.cmake",
         "uavcan.dsdl",
         "vector-of-bool.cmake-tools",

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -53,6 +53,7 @@
                         ]
                 }
         },
+        "cortex-debug.enableTelemetry": false,
         "C_Cpp.clang_format_fallbackStyle": "none",
         "C_Cpp.configurationWarnings": "Disabled",
         "C_Cpp.default.cppStandard": "c++11",
@@ -63,6 +64,8 @@
         "C_Cpp.intelliSenseEngine": "Default",
         "C_Cpp.intelliSenseEngineFallback": "Disabled",
         "debug.toolBarLocation": "docked",
+        "editor.defaultFormatter": "chiehyu.vscode-astyle",
+        "editor.dragAndDrop": false,
         "editor.insertSpaces": false,
         "editor.minimap.maxColumn": 120,
         "editor.minimap.renderCharacters": false,
@@ -74,17 +77,25 @@
         "explorer.openEditors.visible": 0,
         "files.insertFinalNewline": true,
         "files.trimTrailingWhitespace": true,
+        "files.watcherExclude": {
+                "**/build/*": true
+        },
         "git.detectSubmodulesLimit": 20,
+        "git.ignoreLimitWarning": true,
+        "githubPullRequests.defaultMergeMethod": "squash",
+        "githubPullRequests.telemetry.enabled": false,
+        "gitlens.advanced.telemetry.enabled": false,
         "files.associations": {
                 "*.jinja": "jinja"
         },
         "search.exclude": {
                 "build/**": true
         },
         "search.showLineNumbers": true,
+        "telemetry.enableTelemetry": false,
         "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
         "workbench.editor.highlightModifiedTabs": true,
+        "workbench.enableExperiments": false,
         "workbench.settings.enableNaturalLanguageSearch": false,
-        "workbench.statusBar.feedback.visible": false,
-        "git.ignoreLimitWarning": true
+        "workbench.statusBar.feedback.visible": false
 }
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -347,6 +347,17 @@ else()
 	px4_find_python_module(jinja2 REQUIRED)
 endif()
 
+#=============================================================================
+# get chip and chip manufacturer
+#
+px4_os_determine_build_chip()
+if(NOT PX4_CHIP_MANUFACTURER)
+	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP_MANUFACTURER")
+endif()
+if(NOT PX4_CHIP)
+	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
+endif()
+
 #=============================================================================
 # build flags
 #
@@ -451,7 +462,8 @@ add_library(parameters_interface INTERFACE)
 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
 
-add_subdirectory(src/platforms EXCLUDE_FROM_ALL)
+add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
+add_subdirectory(platforms EXCLUDE_FROM_ALL)
 add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
 add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
 

diff --git a/Jenkinsfile b/Jenkinsfile
@@ -94,7 +94,7 @@ pipeline {
           }
         }
 
-        stage('Bloaty px4_fmu-v2') {
+        stage('px4_fmu-v2 (bloaty)') {
           agent {
             docker {
               image 'px4io/px4-dev-nuttx:2019-07-29'
@@ -122,9 +122,12 @@ pipeline {
               sh 'make distclean'
             }
           }
+          environment {
+            CCACHE_DISABLE = 1
+          }
         }
 
-        stage('Bloaty px4_fmu-v5') {
+        stage('px4_fmu-v5 (bloaty)') {
           agent {
             docker {
               image 'px4io/px4-dev-nuttx:2019-07-29'
@@ -152,9 +155,12 @@ pipeline {
               sh 'make distclean'
             }
           }
+          environment {
+            CCACHE_DISABLE = 1
+          }
         }
 
-        stage('No-ninja px4_fmu-v2') {
+        stage('px4_sitl (bloaty)') {
           agent {
             docker {
               image 'px4io/px4-dev-nuttx:2019-07-29'
@@ -166,17 +172,28 @@ pipeline {
             sh 'make distclean'
             sh 'ccache -z'
             sh 'git fetch --tags'
-            sh 'NO_NINJA_BUILD=1 make px4_fmu-v2_default'
+            sh 'make px4_sitl_default'
+            sh 'make px4_sitl_default bloaty_compileunits'
+            sh 'make px4_sitl_default bloaty_inlines'
+            sh 'make px4_sitl_default bloaty_sections'
+            sh 'make px4_sitl_default bloaty_segments'
+            sh 'make px4_sitl_default bloaty_symbols'
+            sh 'make px4_sitl_default bloaty_templates'
+            //sh 'make px4_fmu-v5_default bloaty_compare_master'
+            sh 'make sizes'
             sh 'ccache -s'
           }
           post {
             always {
               sh 'make distclean'
             }
           }
+          environment {
+            CCACHE_DISABLE = 1
+          }
         }
 
-        stage('No-ninja px4_fmu-v5') {
+        stage('px4_fmu-v5 (no ninja)') {
           agent {
             docker {
               image 'px4io/px4-dev-nuttx:2019-07-29'
@@ -188,20 +205,24 @@ pipeline {
             sh 'make distclean'
             sh 'ccache -z'
             sh 'git fetch --tags'
-            sh 'NO_NINJA_BUILD=1 make px4_fmu-v5_default'
+            sh 'make px4_fmu-v5_default'
+            sh 'make sizes'
             sh 'ccache -s'
           }
           post {
             always {
               sh 'make distclean'
             }
           }
+          environment {
+            NO_NINJA_BUILD = 1
+          }
         }
 
-        stage('No-ninja SITL build') {
+        stage('px4_sitl (no ninja)') {
           agent {
             docker {
-              image 'px4io/px4-dev-base-bionic:2019-07-29'
+              image 'px4io/px4-dev-nuttx:2019-07-29'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -210,14 +231,18 @@ pipeline {
             sh 'make distclean'
             sh 'ccache -z'
             sh 'git fetch --tags'
-            sh 'NO_NINJA_BUILD=1 make px4_sitl_default'
+            sh 'make px4_sitl_default'
+            sh 'make sizes'
             sh 'ccache -s'
           }
           post {
             always {
               sh 'make distclean'
             }
           }
+          environment {
+            NO_NINJA_BUILD = 1
+          }
         }
 
         stage('SITL unit tests') {

diff --git a/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
@@ -35,7 +35,8 @@ then
 	param set VT_F_TRANS_DUR 5
 	param set VT_F_TRANS_THR 0.75
 	param set VT_ARSP_TRANS 16
-	param set VT_MOT_COUNT 4
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
 	param set VT_TYPE 2
 
 fi

diff --git a/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter b/ROMFS/px4fmu_common/init.d-posix/1041_tailsitter
@@ -35,7 +35,6 @@ then
 
 	param set VT_F_TRANS_DUR 1.5
 	param set VT_F_TRANS_THR 0.7
-	param set VT_MOT_COUNT 0
 	param set VT_TYPE 0
 
 fi

diff --git a/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
@@ -35,7 +35,6 @@ then
 
 	param set VT_F_TRANS_DUR 1.5
 	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_COUNT 4
 	param set VT_TILT_FW 3.1415
 	param set VT_TILT_TRANS 1.2
 	param set VT_ELEV_MC_LOCK 0

diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@@ -58,7 +58,8 @@ then
 	param set SYS_RESTART_TYPE 2
 
 	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_COUNT 4
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
 	param set VT_TYPE 2
 fi
 

diff --git a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
@@ -42,7 +42,8 @@ then
 
 	param set VT_FW_MOT_OFFID 34
 	param set VT_IDLE_PWM_MC 1080
-	param set VT_MOT_COUNT 123456
+	param set VT_MOT_ID 123456
+	param set VT_FW_MOT_OFFID 56
 	param set VT_TILT_MC 0.08
 	param set VT_TILT_TRANS 0.5
 	param set VT_TILT_FW 0.9

diff --git a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
@@ -26,7 +26,6 @@ then
 	param set PWM_MAX 2000
 	param set PWM_RATE 400
 
-	param set VT_MOT_COUNT 1234
 	param set VT_IDLE_PWM_MC  1080
 	param set VT_TYPE 0
 	param set VT_ELEV_MC_LOCK 1

diff --git a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
@@ -58,7 +58,7 @@ then
 	param set VT_ARSP_BLEND 6
 	param set VT_ARSP_TRANS 12
 	param set VT_F_TRANS_THR 0.75
-	param set VT_MOT_COUNT 1234
+	param set VT_MOT_ID 1234
 	param set VT_FW_MOT_OFFID 1234
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2

diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@@ -97,7 +97,6 @@ then
 	param set MPC_XY_VEL_MAX 5
 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_LAND_SPEED 1.2
-	param set MPC_MAN_R_MAX 30
 	param set MPC_TILTMAX_LND 35
 	param set MPC_Z_VEL_MAX 1.5
 	param set MPC_Z_VEL_MAX_UP 1.5