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EKF introduce ecl_float_t type for double precision floating point where available (disabled by default) #12215

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EKF introduce ecl_float_t type for double precision floating point where available (disabled by default) #12215

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2 changes: 1 addition & 1 deletion .ci/Jenkinsfile-compile
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ pipeline {
"px4_fmu-v3_default",
"px4_fmu-v4_default",
"px4_fmu-v4pro_default",
"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-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck", "px4_fmu-v5_ecldouble",
"px4_fmu-v5x_default",
"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", "uvify_core_default"],
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91 changes: 91 additions & 0 deletions .ci/Jenkinsfile-hardware
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Expand Up @@ -152,6 +152,30 @@ pipeline {
}
}

stage('px4_fmu-v5_ecldouble') {
agent {
docker {
image 'px4io/px4-dev-nuttx:2019-07-29'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'ccache -z'
sh 'git fetch --tags'
sh 'make px4_fmu-v5_ecldouble'
sh 'make sizes'
sh 'ccache -s'
stash includes: 'build/px4_fmu-v5_ecldouble/px4_fmu-v5_ecldouble.elf', name: 'px4_fmu-v5_ecldouble'
}
post {
always {
sh 'make distclean'
}
}
}

stage('px4_fmu-v5_irqmonitor') {
agent {
docker {
Expand Down Expand Up @@ -633,6 +657,73 @@ pipeline {
}
}

stage('px4_fmu-v5_ecldouble') {
agent {
label 'px4_fmu-v5'
}
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v5_ecldouble'
// flash board and watch bootup
sh './platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v5_ecldouble/px4_fmu-v5_ecldouble.elf'
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
// configure
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic multicopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
// run logger
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger on"'
// status commands
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "adc test"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander check"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /dev"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /etc"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /obj"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /proc"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf latency"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info -d /dev/pwm_output1"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb top -1"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
// run tests
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
// ensure buzzer is disabled for the next test
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'
// manually stop everything
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 stop"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger stop"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu stop"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io stop"'
}
options {
timeout(time: 30, unit: 'MINUTES')
}
}

stage('px4_fmu-v5_irqmonitor') {
agent {
label 'px4_fmu-v5'
Expand Down
2 changes: 2 additions & 0 deletions CMakeLists.txt
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Expand Up @@ -132,6 +132,8 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
# configuration
#

option(ECL_USE_DOUBLE_FPU "ECL use float_t = double on appropriate hardware" OFF)

set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")

include(px4_add_module)
Expand Down
129 changes: 129 additions & 0 deletions boards/px4/fmu-v5/ecldouble.cmake
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@@ -0,0 +1,129 @@


set(ECL_USE_DOUBLE_FPU ON)

px4_add_board(
PLATFORM nuttx
VENDOR px4
MODEL fmu-v5
LABEL ecldouble
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
IO px4_io-v2_default
TESTING
UAVCAN_INTERFACES 2

SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
TEL2:/dev/ttyS2
TEL4:/dev/ttyS3

DRIVERS
adc
barometer # all available barometer drivers
batt_smbus
camera_capture
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
gps
#heater
imu/adis16448
imu/adis16497
#imu # all available imu drivers
imu/bmi055
imu/mpu6000
imu/mpu9250
irlock
lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
optical_flow # all available optical flow drivers
pca9685
power_monitor/ina226
#protocol_splitter
pwm_input
pwm_out_sim
px4fmu
px4io
rc_input
roboclaw
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
uavcan

MODULES
attitude_estimator_q
camera_feedback
commander
dataman
ekf2
events
fw_att_control
fw_pos_control_l1
rover_pos_control
land_detector
landing_target_estimator
load_mon
local_position_estimator
logger
mavlink
mc_att_control
mc_pos_control
navigator
sensors
sih
vmount
vtol_att_control
airspeed_selector

SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp
motor_test
mtd
nshterm
param
perf
pwm
reboot
reflect
sd_bench
shutdown
tests # tests and test runner
top
topic_listener
tune_control
usb_connected
ver

EXAMPLES
bottle_drop # OBC challenge
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test
#matlab_csv_serial
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app
segway
uuv_example_app

)
4 changes: 2 additions & 2 deletions boards/px4/fmu-v5/stackcheck.cmake
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Expand Up @@ -20,7 +20,7 @@ px4_add_board(
DRIVERS
adc
barometer # all available barometer drivers
batt_smbus
#batt_smbus
camera_capture
camera_trigger
differential_pressure # all available differential pressure drivers
Expand All @@ -39,7 +39,7 @@ px4_add_board(
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
#mkblctrl
optical_flow # all available optical flow drivers
#pca9685
#protocol_splitter
Expand Down
2 changes: 1 addition & 1 deletion src/lib/ecl
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Submodule ecl updated from 3b32ee to 2801e8
2 changes: 1 addition & 1 deletion src/lib/mathlib/math/Limits.hpp
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Expand Up @@ -102,7 +102,7 @@ inline bool isZero(float val)
/** Safe way to check if double is zero */
inline bool isZero(double val)
{
return fabs(val - 0.0) < DBL_EPSILON;
return fabs(val - (double)0.0) < DBL_EPSILON;
}

}
5 changes: 4 additions & 1 deletion src/modules/ekf2/CMakeLists.txt
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Expand Up @@ -34,7 +34,9 @@ px4_add_module(
MODULE modules__ekf2
MAIN ekf2
COMPILE_FLAGS
STACK_MAX 2400
-Wno-narrowing
-Wno-double-promotion
STACK_MAX 4700
SRCS
ekf2_main.cpp
DEPENDS
Expand All @@ -43,3 +45,4 @@ px4_add_module(
ecl_geo
perf
)

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