WIP: sensors split rc_update into new standalone module

PX4 · Oct 21, 2019 · a5d2464 · a5d2464
1 parent 6a0f524
commit a5d2464
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Showing 62 changed files with 863 additions and 530 deletions.
diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -209,6 +209,7 @@ simulator start -c $simulator_tcp_port
 tone_alarm start
 gpssim start
 sensors start
+rc_update start
 commander start
 navigator start
 

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
@@ -310,6 +310,12 @@ else
 		tune_control play -t 2
 	fi
 
+	#
+	# RC update (map raw RC input to calibrate manual control)
+	#  start before commander
+	#
+	rc_update start
+
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run).
 	# Commander needs to be this early for in-air-restarts.

diff --git a/boards/aerotenna/ocpoc/ubuntu.cmake b/boards/aerotenna/ocpoc/ubuntu.cmake
@@ -48,6 +48,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		#simulator

diff --git a/boards/airmind/mindpx-v2/default.cmake b/boards/airmind/mindpx-v2/default.cmake
@@ -66,6 +66,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/atlflight/eagle/default.cmake b/boards/atlflight/eagle/default.cmake
@@ -82,6 +82,7 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		navigator
+		rc_update
 		sensors
 		#sih
 		simulator

diff --git a/boards/atlflight/eagle/qurt-default.cmake b/boards/atlflight/eagle/qurt-default.cmake
@@ -72,6 +72,7 @@ px4_add_board(
 		local_position_estimator
 		mc_att_control
 		mc_pos_control
+		rc_update
 		sensors
 		#sih
 		vmount

diff --git a/boards/atlflight/excelsior/default.cmake b/boards/atlflight/excelsior/default.cmake
@@ -82,6 +82,7 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		navigator
+		rc_update
 		sensors
 		sih
 		simulator

diff --git a/boards/atlflight/excelsior/qurt-default.cmake b/boards/atlflight/excelsior/qurt-default.cmake
@@ -72,6 +72,7 @@ px4_add_board(
 		local_position_estimator
 		mc_att_control
 		mc_pos_control
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/auav/x21/default.cmake b/boards/auav/x21/default.cmake
@@ -71,6 +71,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/av/x-v1/default.cmake b/boards/av/x-v1/default.cmake
@@ -72,6 +72,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/beaglebone/blue/cross.cmake b/boards/beaglebone/blue/cross.cmake
@@ -47,6 +47,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/beaglebone/blue/native.cmake b/boards/beaglebone/blue/native.cmake
@@ -45,6 +45,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/bitcraze/crazyflie/default.cmake b/boards/bitcraze/crazyflie/default.cmake
@@ -34,6 +34,7 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		navigator
+		rc_update
 		sensors
 		sih
 		#vtol_att_control

diff --git a/boards/emlid/navio2/cross.cmake b/boards/emlid/navio2/cross.cmake
@@ -51,6 +51,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		#simulator

diff --git a/boards/emlid/navio2/native.cmake b/boards/emlid/navio2/native.cmake
@@ -49,6 +49,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		#simulator

diff --git a/boards/holybro/kakutef7/default.cmake b/boards/holybro/kakutef7/default.cmake
@@ -45,6 +45,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 
 	SYSTEMCMDS

diff --git a/boards/intel/aerofc-v1/default.cmake b/boards/intel/aerofc-v1/default.cmake
@@ -51,6 +51,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		#sih
 		vmount

diff --git a/boards/intel/aerofc-v1/rtps.cmake b/boards/intel/aerofc-v1/rtps.cmake
@@ -55,6 +55,7 @@ px4_add_board(
 		micrortps_bridge
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/modalai/fc-v1/default.cmake b/boards/modalai/fc-v1/default.cmake
@@ -72,6 +72,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		rover_pos_control
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/mro/ctrl-zero-f7/default.cmake b/boards/mro/ctrl-zero-f7/default.cmake
@@ -74,6 +74,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/nxp/fmuk66-v3/default.cmake b/boards/nxp/fmuk66-v3/default.cmake
@@ -70,6 +70,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/omnibus/f4sd/default.cmake b/boards/omnibus/f4sd/default.cmake
@@ -62,6 +62,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		#vmount

diff --git a/boards/parrot/bebop/default.cmake b/boards/parrot/bebop/default.cmake
@@ -38,6 +38,7 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		navigator
+		rc_update
 		sensors
 		sih
 		#vtol_att_control

diff --git a/boards/px4/fmu-v2/default.cmake b/boards/px4/fmu-v2/default.cmake
@@ -62,15 +62,16 @@ px4_add_board(
 		#uavcan
 
 	MODULES
+		#airspeed_selector
 		#attitude_estimator_q
+		battery_status
 		camera_feedback
 		commander
 		dataman
 		ekf2
 		events
 		fw_att_control
 		fw_pos_control_l1
-		#rover_pos_control
 		land_detector
 		#landing_target_estimator
 		load_mon
@@ -80,11 +81,11 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		navigator
-		battery_status
+		rc_update
+		#rover_pos_control
 		sensors
 		vmount
 		vtol_att_control
-		#airspeed_selector
 
 	SYSTEMCMDS
 		bl_update

diff --git a/boards/px4/fmu-v2/fixedwing.cmake b/boards/px4/fmu-v2/fixedwing.cmake
@@ -21,7 +21,7 @@ px4_add_board(
 		adc
 		#barometer # all available barometer drivers
 		barometer/ms5611
-		batt_smbus
+		#batt_smbus
 		camera_capture
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
@@ -42,6 +42,8 @@ px4_add_board(
 		#uavcan
 
 	MODULES
+		airspeed_selector
+		battery_status
 		camera_feedback
 		commander
 		dataman
@@ -54,10 +56,9 @@ px4_add_board(
 		logger
 		mavlink
 		navigator
-		battery_status
+		rc_update
 		sensors
 		vmount
-		airspeed_selector
 
 	SYSTEMCMDS
 		bl_update

diff --git a/boards/px4/fmu-v2/lpe.cmake b/boards/px4/fmu-v2/lpe.cmake
@@ -77,6 +77,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		vmount
 		#vtol_att_control

diff --git a/boards/px4/fmu-v2/multicopter.cmake b/boards/px4/fmu-v2/multicopter.cmake
@@ -55,6 +55,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		vmount
 

diff --git a/boards/px4/fmu-v2/rover.cmake b/boards/px4/fmu-v2/rover.cmake
@@ -47,6 +47,7 @@ px4_add_board(
 		mavlink
 		navigator
 		battery_status
+		rc_update
 		sensors
 		vmount
 

diff --git a/boards/px4/fmu-v2/test.cmake b/boards/px4/fmu-v2/test.cmake
@@ -77,6 +77,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		vmount
 		vtol_att_control

diff --git a/boards/px4/fmu-v3/default.cmake b/boards/px4/fmu-v3/default.cmake
@@ -32,11 +32,11 @@ px4_add_board(
 		#heater
 		imu/adis16448
 		#imu # all available imu drivers
+		imu/icm20948
 		imu/l3gd20
 		imu/lsm303d
 		imu/mpu6000
 		imu/mpu9250
-		imu/icm20948
 		irlock
 		lights/blinkm
 		lights/rgbled
@@ -61,15 +61,16 @@ px4_add_board(
 		uavcan
 
 	MODULES
+		airspeed_selector
 		attitude_estimator_q
+		battery_status
 		camera_feedback
 		commander
 		dataman
 		ekf2
 		events
 		fw_att_control
 		fw_pos_control_l1
-		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
@@ -79,12 +80,12 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		navigator
-		battery_status
+		rc_update
+		rover_pos_control
 		sensors
 		sih
 		vmount
 		vtol_att_control
-		airspeed_selector
 
 	SYSTEMCMDS
 		bl_update

diff --git a/boards/px4/fmu-v3/rtps.cmake b/boards/px4/fmu-v3/rtps.cmake
@@ -79,6 +79,7 @@ px4_add_board(
 		micrortps_bridge
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/px4/fmu-v3/stackcheck.cmake b/boards/px4/fmu-v3/stackcheck.cmake
@@ -78,6 +78,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake
@@ -67,6 +67,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		rover_pos_control
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/px4/fmu-v4/rtps.cmake b/boards/px4/fmu-v4/rtps.cmake
@@ -68,6 +68,7 @@ px4_add_board(
 		micrortps_bridge
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/px4/fmu-v4/stackcheck.cmake b/boards/px4/fmu-v4/stackcheck.cmake
@@ -65,6 +65,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/px4/fmu-v4pro/default.cmake b/boards/px4/fmu-v4pro/default.cmake
@@ -77,6 +77,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/px4/fmu-v4pro/rtps.cmake b/boards/px4/fmu-v4pro/rtps.cmake
@@ -77,6 +77,7 @@ px4_add_board(
 		micrortps_bridge
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		vmount

diff --git a/boards/px4/fmu-v5/critmonitor.cmake b/boards/px4/fmu-v5/critmonitor.cmake
@@ -78,6 +78,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		battery_status
+		rc_update
 		sensors
 		sih
 		vmount
-Original file line number
+Diff line change
@@ Expand Up / @@ -47,6 +47,7 @@ px4_add_board( @@
     		mavlink
     		navigator
     		battery_status
+    		rc_update
     		sensors
     		vmount
@@ Expand Down @@