dagar · dagar · Jul 28, 2019 · Jul 28, 2019 · Jul 28, 2019 · Jun 1, 2019
diff --git a/.ci/Jenkinsfile-SITL_tests b/.ci/Jenkinsfile-SITL_tests
@@ -8,7 +8,7 @@ pipeline {
     stage('Build') {
       agent {
         docker {
-          image 'px4io/px4-dev-ros-kinetic:2019-03-08'
+          image 'px4io/px4-dev-ros-kinetic:2019-07-29'
           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
         }
       }
@@ -93,6 +93,13 @@ pipeline {
               vehicle: "iris_obs_avoid",
               run_script: "rostest_avoidance_run.sh"
             ],
+            [
+              name: "MC_safe_landing",
+              test: "mavros_posix_test_safe_landing.test",
+              mission: "MC_safe_landing",
+              vehicle: "iris_obs_avoid",
+              run_script: "rostest_avoidance_run.sh"
+            ],
 
           ]
 
@@ -123,7 +130,7 @@ def createTestNode(Map test_def) {
   return {
     node {
       cleanWs()
-      docker.image("px4io/px4-dev-ros-kinetic:2019-03-08").inside('-e HOME=${WORKSPACE}') {
+      docker.image("px4io/px4-dev-ros-kinetic:2019-07-29").inside('-e HOME=${WORKSPACE}') {
         stage(test_def.name) {
           def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
           def test_ok = true

diff --git a/Jenkinsfile b/Jenkinsfile
@@ -39,6 +39,9 @@ pipeline {
             always {
               sh 'rm -rf catkin_ws'
             }
+            failure {
+              archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
+            }
           }
           options {
             checkoutToSubdirectory('catkin_ws/src/Firmware')

diff --git a/Makefile b/Makefile
@@ -380,6 +380,7 @@ tests_offboard: rostest
 
 tests_avoidance: rostest
 	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
+	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
 
 python_coverage:
 	@mkdir -p "$(SRC_DIR)"/build/python_coverage

diff --git a/Tools/px4airframes/rcout.py b/Tools/px4airframes/rcout.py
@@ -28,10 +28,10 @@ def __init__(self, groups, board, post_start=False):
                     "# 12000 ..  12999       Octo Cox\n"
                     "# 13000 ..  13999       VTOL\n"
                     "# 14000 ..  14999       Tri Y\n"
-                    ""
-                    ""
-                    "cd /etc/init.d/airframes\n"
                     "\n")
+        result += "\n"
+        result += "set AIRFRAME none\n"
+        result += "\n"
         for group in groups:
             result += "# GROUP: %s\n\n" % group.GetName()
             for param in group.GetParams():
@@ -62,14 +62,25 @@ def __init__(self, groups, board, post_start=False):
                 result +=   "# %s\n" % param.GetName()
                 result +=   "if param compare SYS_AUTOSTART %s\n" % id_val
                 result +=   "then\n"
-                result +=   "\tsh %s\n" % path
+                result +=   "\tset AIRFRAME %s\n" % path
                 result +=   "fi\n"
 
                 #if long_desc is not None:
                 #    result += "# %s\n" % long_desc
                 result += "\n"
 
             result += "\n"
+        result += "\n"
+        result += "if [ ${AIRFRAME} != none ]\n"
+        result += "then\n"
+        result += "\tsh /etc/init.d/airframes/${AIRFRAME}\n"
+        if not post_start:
+            result += "else\n"
+            result += "\techo \"ERROR  [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
+            result += "\techo \"ERROR  [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\" >> $LOG_FILE\n"
+            result += "\ttone_alarm ${TUNE_ERR}\n"
+        result += "fi\n"
+        result += "unset AIRFRAME"
         self.output = result
 
     def Save(self, filename):

diff --git a/boards/aerotenna/ocpoc/src/board_config.h b/boards/aerotenna/ocpoc/src/board_config.h
@@ -56,5 +56,9 @@
 #define ADC_BATTERY_CURRENT_CHANNEL     ((uint8_t)(-1))
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL    11
 
+// SPI
+#define PX4_SPI_BUS_SENSORS		1
+#define PX4_SPIDEV_MPU			PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
+
 #include <system_config.h>
 #include <drivers/boards/common/board_common.h>
diff --git a/boards/aerotenna/ocpoc/ubuntu.cmake b/boards/aerotenna/ocpoc/ubuntu.cmake
@@ -16,6 +16,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
+		imu/mpu9250
 		lights/rgbled
 		linux_pwm_out
 		linux_sbus
@@ -24,7 +25,6 @@ px4_add_board(
 		#telemetry # all available telemetry drivers
 
 	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
-		mpu9250
 		ms5611
 		hmc5883
 

diff --git a/boards/atlflight/eagle/qurt-default.cmake b/boards/atlflight/eagle/qurt-default.cmake
@@ -46,12 +46,12 @@ px4_add_board(
 
 	DRIVERS
 		gps
+		imu/mpu9250
 		spektrum_rc
 		qshell/qurt
 		snapdragon_pwm_out
 
 	DF_DRIVERS
-		mpu9250
 		bmp280
 		hmc5883
 		trone

diff --git a/boards/atlflight/eagle/src/board_config.h b/boards/atlflight/eagle/src/board_config.h
@@ -56,5 +56,9 @@
 #define PX4_I2C_BUS_LED		3
 #define PX4_NUMBER_I2C_BUSES 3
 
+// SPI
+#define PX4_SPI_BUS_SENSORS	1
+#define PX4_SPIDEV_MPU		PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
+
 #include <system_config.h>
 #include <drivers/boards/common/board_common.h>
diff --git a/boards/atlflight/excelsior/qurt-default.cmake b/boards/atlflight/excelsior/qurt-default.cmake
@@ -46,12 +46,12 @@ px4_add_board(
 
 	DRIVERS
 		gps
+		imu/mpu9250
 		spektrum_rc
 		qshell/qurt
 		snapdragon_pwm_out
 
 	DF_DRIVERS
-		mpu9250
 		bmp280
 		hmc5883
 		trone

diff --git a/boards/beaglebone/blue/cross.cmake b/boards/beaglebone/blue/cross.cmake
@@ -16,6 +16,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
+		imu/mpu9250
 		#magnetometer # all available magnetometer drivers
 		pwm_out_sim
 		#telemetry # all available telemetry drivers
@@ -24,7 +25,6 @@ px4_add_board(
 		linux_sbus
 
 	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
-		mpu9250
 		bmp280
 
 	MODULES

diff --git a/boards/beaglebone/blue/native.cmake b/boards/beaglebone/blue/native.cmake
@@ -14,6 +14,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
+		imu/mpu9250
 		#magnetometer # all available magnetometer drivers
 		pwm_out_sim
 		#telemetry # all available telemetry drivers
@@ -22,7 +23,6 @@ px4_add_board(
 		linux_sbus
 
 	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
-		mpu9250
 		bmp280
 
 	MODULES

diff --git a/boards/emlid/navio2/cross.cmake b/boards/emlid/navio2/cross.cmake
@@ -16,6 +16,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
+		imu/mpu9250
 		#magnetometer # all available magnetometer drivers
 		pwm_out_sim
 		#telemetry # all available telemetry drivers
@@ -27,7 +28,6 @@ px4_add_board(
 		hmc5883
 		isl29501
 		lsm9ds1
-		mpu9250
 		ms5611
 		trone
 

diff --git a/boards/emlid/navio2/native.cmake b/boards/emlid/navio2/native.cmake
@@ -14,6 +14,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
+		imu/mpu9250
 		#magnetometer # all available magnetometer drivers
 		pwm_out_sim
 		#telemetry # all available telemetry drivers
@@ -25,7 +26,6 @@ px4_add_board(
 		hmc5883
 		isl29501
 		lsm9ds1
-		mpu9250
 		ms5611
 		trone
 

diff --git a/boards/emlid/navio2/src/board_config.h b/boards/emlid/navio2/src/board_config.h
@@ -56,8 +56,12 @@
 /*
  * I2C busses
  */
-#define PX4_I2C_BUS_EXPANSION	1
-#define PX4_NUMBER_I2C_BUSES 1
+#define PX4_I2C_BUS_EXPANSION		1
+#define PX4_NUMBER_I2C_BUSES		1
+
+// SPI
+#define PX4_SPI_BUS_SENSORS		0
+#define PX4_SPIDEV_MPU			PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
 
 #include <system_config.h>
 #include <drivers/boards/common/board_common.h>
diff --git a/boards/px4/fmu-v5x/default.cmake b/boards/px4/fmu-v5x/default.cmake
@@ -12,7 +12,7 @@ px4_add_board(
 	UAVCAN_INTERFACES 2
 
 	SERIAL_PORTS
-		GPS1:/dev/ttyS1
+		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS6
 		TEL2:/dev/ttyS4
 		TEL3:/dev/ttyS2
@@ -30,7 +30,7 @@ px4_add_board(
 		imu/adis16448
 		imu/adis16497
 		#imu # all available imu drivers
-# TBD		imu/bmi088 - needs bus selection
+		imu/bmi088
 # TBD		imu/ism330dlc - needs bus selection
 		imu/mpu6000
 		irlock

diff --git a/boards/px4/fmu-v5x/init/rc.board_sensors b/boards/px4/fmu-v5x/init/rc.board_sensors
@@ -3,6 +3,10 @@
 # PX4 FMUv5X specific board sensors init
 #------------------------------------------------------------------------------
 
+# Start Digital power monitors
+ina226 -b 1 start
+ina226 -b 2 start
+
 # Internal SPI bus ICM-20602
 mpu6000 -R 8 -s -T 20602 start
 
@@ -22,10 +26,11 @@ hmc5883 -C -T -X start
 qmc5883 -X start
 
 # Possible internal compass
-bmm150 -C start
+bmm150 start
 
 # Possible internal Barro
-bmp388 -C start
+bmp388 -I start
+#bmp388 -J start fixme
 
 # Possible pmw3901 optical flow sensor
 pmw3901 start
diff --git a/boards/px4/fmu-v5x/nuttx-config/include/board.h b/boards/px4/fmu-v5x/nuttx-config/include/board.h
@@ -253,7 +253,7 @@
  *   DMAMAP_SDMMC2_2 = Channel 11, Stream 5 <- Free for other devices
  */
 
-#define DMAMAP_SDMMC2  DMAMAP_SDMMC1_1
+#define DMAMAP_SDMMC2  DMAMAP_SDMMC2_1
 
 
 /* FLASH wait states

diff --git a/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig b/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
@@ -204,7 +204,9 @@ CONFIG_STM32F7_USART2=y
 CONFIG_STM32F7_USART3=y
 CONFIG_STM32F7_USART6=y
 CONFIG_STM32F7_USART_BREAKS=y
+CONFIG_STM32F7_USART_INVERT=y
 CONFIG_STM32F7_USART_SINGLEWIRE=y
+CONFIG_STM32F7_USART_SWAP=y
 CONFIG_STM32F7_WWDG=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y

diff --git a/boards/px4/fmu-v5x/src/board_config.h b/boards/px4/fmu-v5x/src/board_config.h
@@ -140,7 +140,9 @@
 #define PX4_SPI_BUS_SENSORS1   1
 #define PX4_SPI_BUS_SENSORS2   2
 #define PX4_SPI_BUS_SENSORS3   3
-#define PX4_SPI_BUS_MAG        4
+#define PX4_SPI_BUS_SENSORS4   4
+
+#define PX4_SPI_BUS_MAG        PX4_SPI_BUS_SENSORS4
 #define PX4_SPI_BUS_MEMORY     5
 #define PX4_SPI_BUS_EXTERNAL1  6
 
@@ -251,8 +253,8 @@
 #define PX4_SPIDEV_ISM330           PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS2,0)
 #define PX4_SENSORS2_BUS_CS_GPIO    {GPIO_SPI2_nCS1_ISM330}
 
-#define PX4_SPIDEV_BMI055_GYR       PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS3,0)
-#define PX4_SPIDEV_BMI055_ACC       PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS3,1)
+#define PX4_SPIDEV_BMI088_GYR       PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS3,0)
+#define PX4_SPIDEV_BMI088_ACC       PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS3,1)
 #define PX4_SENSORS3_BUS_CS_GPIO    {GPIO_SPI3_nCS2_BMI088_GYRO, GPIO_SPI3_nCS1_BMI088_ACCEL}
 
 #define PX4_SPIDEV_BMM150           PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS4,0)
@@ -512,12 +514,10 @@
 #define HRT_PPM_CHANNEL         /* T8C1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
 
-#define RC_UXART_BASE                      STM32_USART6_BASE
+/* RC Serial port */
+
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
-#define BOARD_HAS_SINGLE_WIRE              1 /* HW is capable of Single Wire */
-#define BOARD_HAS_SINGLE_WIRE_ON_TX        0 /* HW default is wired as Single Wire On RX pin */
-#define BOARD_HAS_RX_TX_SWAP               1 /* HW Can swap TX and RX */
-#define RC_SERIAL_PORT_IS_SWAPED           1 /* Board wired with RC's TX is on cpu RX */
+#define RC_SERIAL_SINGLEWIRE
 
 /* Input Capture Channels. */
 #define INPUT_CAP1_TIMER                  5
@@ -560,8 +560,8 @@
 #define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
-#define SDIO_SLOTNO                    1  /* Only one slot */
-#define SDIO_MINOR                     1
+#define SDIO_SLOTNO                    0  /* Only one slot */
+#define SDIO_MINOR                     0
 
 /* SD card bringup does not work if performed on the IDLE thread because it
  * will cause waiting.  Use either: