update github worklows from upstream #911
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This board specific rc file is executed very early in rcS, and can be used to set rcS variables only. This allows: - Redefining $FRC to replace rest of rcS with an own script from any mountpoint OR - Redefining params file location, can be stored as a file in other mountpoints Signed-off-by: Jukka Laitinen <[email protected]>
If ToneAlarmInterface has been implemented by using PWM device node, file descriptor need to be opened in the same thread we are going to use start_note() and stop_note() functions. Therefore init() and all file descriptor related calls are moved into Run().
These give warnings, which we want to remove Signed-off-by: Jukka Laitinen <[email protected]>
…ecific file The current macro, which parses the FLASH_START_ADDRESS from APP_LOAD_ADDRESS assumes that the FLASH_START_ADDRESS is aligned to the BOARD_FLASH_SIZE. This not necessarily true, and it is better to allow just defining FLASH_START_ADDRES in board spcific hw_conf.h Signed-off-by: Jukka Laitinen <[email protected]>
These are just broken in all toolchains, and cause random linking errors. Remove them for now, this solves the problems but increases the code size by 5-10% Signed-off-by: Jukka Laitinen <[email protected]>
…irement Using multicast address works without these Signed-off-by: Jukka Laitinen <[email protected]>
Signed-off-by: Jukka Laitinen <[email protected]>
Signed-off-by: Jukka Laitinen <[email protected]>
Rename script ssrc-test-simulation.sh -> ssrc-sim-tester.sh Support multiple drones in one simulation Cleanup containers to stop simulation
Signed-off-by: Jukka Laitinen <[email protected]>
Simulator generates new device_id value for each new gps id detected from received hil_gps message. Generated device_id is not stored but latter sensor_gps messages for the same gps device has device_id value zero. This patch stores the generated device_id and use the value in next messages.
- Allocate a separate wait semaphore for each process (one in PROTECTED_BUILD). Allocate the semaphore in "REGISTER" ioctl, free it in "UNREGISTER" if process exits - Duplicate the user side call events to kernel memory to make them accessible by kernel at all times. Keep track of the allocated items in "freelist" queue - Replace fixed size callout queue with an "inflight" queue Co-authored-by: Jukka Laitinen <[email protected]>
Signed-off-by: Jukka Laitinen <[email protected]>
if ssrc_config dir exists and SSRC_CONFIG env variable found the related config.txt file is sourced. example env variable set: SSRC_CONFIG=indoor => /ssrc_config/config_indoor.txt is used
…hen _in_descend Signed-off-by: Jukka Laitinen <[email protected]>
Do not poke the tcb directly from userspace
Either exit or politely ask a process to kill itself, instead of calling the kernel private procedure 'task_delete()'.
This allows signinig the protected mode binary, by encapsulating the firmware between a header (the ToC) and the signature, instead of placing the ToC inside of the firmware itself. The problem was that the ToC went to the kernel binary, while the signature is appended to the user binary. The ToC needs the location of the signature which cannot be known at the time when the kernel is linked. For ToC integrity protection, the ToC itself is also signed and verified.
Also simplify the previous implementation. The first TOC entry must contain the TOC; but it doesn't matter whether it contains only the TOC or also something else Signed-off-by: Jukka Laitinen <[email protected]>
Re-build did not re-create the ToC, which results in a bad ToC for the px4 firmware.
The syscall lookup table contains poisoned xxenv() procedures and causes a build error. The file is included via a massive header that includes almost everything in /arch/risc-v/ etc (riscv_internal.h). This was already fixed once, and, tbh, suppressing the poison error is the only way to get this to work reliably.
All data should come already by HIL_SENSORS messages, so HIL_STATE_QUATERNION should not be needed. Add time_remaining_s field to HIL_SENSORS battery_status filling
Mavlink start supports '-i <x>' flag to read IP address from MAV_<x>_REMOTE_IPn params.
move init_logfile_encryption() call after the buffer start_log() call to have log file already open while storing the header and key data to the beginning of the file.
Fix issues related to unspecified delays in the ADIS sensor: 1. The reset occurs only after some delay from writing the SW reset, and the 193ms mentioned in the datasheet occurs only after that. When the reset sequence really starts can be determined with logic analyzer by monitoring DR signal and SPI writes. This delay is measured to be between 10-20ms, so add 20ms to SW reset recovery time. 2. The self test sequence starts only after some delay from writing the command, and the 14ms mentioned in the datasheet starts only after this delay. Again, the behaviour can be studied with logic analyzer by monitoring the DR signal and the SPI writes - when the self test is completed, the IMU starts measuring again and the DR starts toggling. This unspecified delay is measured to be somewhere between 5-10ms, so add 10ms to self test time. 3. After writing the register set in Configure(), there is an unspecified delay before the register can be read back. This was bisected to be around 50us, so add 100us delay after setting the registers before trying to read them back. In addition: 1. Make sure that the IMU has woken up after reset by reading the PROD_ID register always after the reset, also before starting the self test sequence on the first boot. 2. If self test fails, reset the IMU as a false result may occur due to moving the device during self test (according to the datasheet). Signed-off-by: Jukka Laitinen <[email protected]>
…ead and RegisterWrite calls Add a 1us delay before register read and register write. It is not specified in the datasheet, but it has been found via testing & oscilloscope measurements that > 1us inactive phase is required between reads and writes. Signed-off-by: Jukka Laitinen <[email protected]>
In case of any register read/write errors it is not enough to just check if one of the bits is 0; the whole register contents needs to be checked. Also, if initial read of the register fails in any reason, we should not write back some corrupted value such as 0 or 0xFFFE. Signed-off-by: Jukka Laitinen <[email protected]>
Added Dockerfile for HITL simulation and MAVSDK testing, along with a helper script for easier container usage. Changes to be committed: new file: Tools/run_docker_hitl_gzsim_mavsdk_server.sh new file: packaging/entrypoint_hitl_gzsim_mavsdk.sh new file: packaging/Dockerfile.hitl_gzsim_mavsdk new file: packaging/build_px4_hitl_gzsim_mavsdk.sh
Unsubscribe & unadvertise topics which were subscribed/advertised in the constructor Signed-off-by: Jukka Laitinen <[email protected]>
This fixes the cpuload topic, calculates an average CPU idle time from all CPUs and uses this to estimate application CPU load (1-idle = load).
Added Xchacha20 decrypt support Xchacha20 modified to support MAC and non-MAC versions RSA_SIG signature check support Logger file encrypt modified to call non-MAC version (mac as nullpointer)
…d be closed Signed-off-by: Jukka Laitinen <[email protected]>
Use PRIu32 for uint32_t to fix compilation error on 64-bit targets Signed-off-by: Jukka Laitinen <[email protected]>
…iers Signed-off-by: Jukka Laitinen <[email protected]>
…mpilation error on nxp93 The stacks are large enough anyhow, so this is safe Signed-off-by: Jukka Laitinen <[email protected]>
Fix a linking error of not finding "atmosphere::getDensityFromPressureAndTemp(float, float)" Signed-off-by: Jukka Laitinen <[email protected]>
Signed-off-by: Jukka Laitinen <[email protected]>
"message" : "Token failed verification: expired" px4 files are available thru docker as instructed in github actions summary page
…nters Parameter "void *val" passed to the functions in parameters.cpp are not always 4-byte aligned, so on some platforms direct casting to "int32_t *" or "float *" leads to an unaligned exception. An example of such user is Logger, which directly packs parameter values to character buffer. Signed-off-by: Jukka Laitinen <[email protected]>
dds_topics.yaml has support for adding optional rate parameter for
each publication topics
e.g. Limit SensorCombined topic pub rate to 10 Hz:
- topic: /fmu/out/sensor_combined
type: px4_msgs::msg::SensorCombined
rate: 10
…flat build Signed-off-by: Jukka Laitinen <[email protected]>
- add clang for rust bindings - use rust toolchain 1.81.0 for riscv: compatibility with old nuttx c/cpp toolchain
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deleted workflows which has also been disabled on our env - .github/workflows/compile_linux.yml - .github/workflows/compile_linux_arm64.yml - .github/workflows/compile_nuttx.yml - .github/workflows/deploy_all.yml - .github/workflows/metadata.yml workflows which are disabled on our env - .github/workflows/compile_macos.yml - .github/workflows/checks.yml - .github/workflows/mavros_mission_tests.yml - .github/workflows/mavros_offboard_tests.yml - .github/workflows/python_checks.yml reformatted in upstream - .github/workflows/clang-tidy.yml - .github/workflows/sitl_tests.yml - .github/workflows/ekf_functional_change_indicator.yml - .github/workflows/ekf_update_change_indicator.yml - .github/workflows/failsafe_sim.yml - .github/workflows/nuttx_env_config.yml running in AWS so we should setup executor for these (not ported) - flash_analysis.yml - .github/workflows/ros_translation_node.yml not ported - compile_ubuntu.yml - dev_container.yml - cflite_batch.yml - nuttx_env_config.yml
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deleted workflows which has also been disabled on our env
workflows which are disabled on our env
reformatted in upstream
running in AWS so we should setup executor for these (not ported)
not ported
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