Merge branch 'beta' into stable

.gitignore

@@ -22,6 +22,8 @@ build/*
 build_*/
 core
 cscope.out
+cscope.in.out
+cscope.po.out
 Firmware.sublime-workspace
 user.sublime*
 Images/*.bin

.travis.yml

@@ -60,9 +60,8 @@ before_install:
     elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
          brew tap PX4/homebrew-px4
       && brew update; brew update
-      && brew install cmake ninja astyle gcc-arm-none-eabi
+      && brew install cmake ninja
       && brew install genromfs
-      && brew install kconfig-frontends
       && sudo easy_install pip
       && sudo pip install pyserial empy
       ;
@@ -93,24 +92,22 @@ env:
     - PX4_AWS_BUCKET=px4-travis
 
 script:
-  - git submodule update --init --recursive
-  - make check_format
-  - arm-none-eabi-gcc --version
+  - git submodule update --quiet --init --recursive
   - echo 'Building POSIX Firmware..' && make posix_sitl_default
   - echo 'Running Tests..' && make posix_sitl_default test
   - echo 'Running Unittests..' && cd unittests && ./run_tests.sh
-  - cd ..
-  - echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
-  - echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
-# Only provide UAVCAN firmware binaries for Pixracer and Pixhawk 3
-  - echo 'Building UAVCAN node firmware..' && git clone https://github.com/thiemar/vectorcontrol
-  - cd vectorcontrol
-  - BOARD=s2740vc_1_0 make && BOARD=px4esc_1_6 make
-  - ../Tools/uavcan_copy.sh
-  - cd ..
-  - echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
-  - echo 'Building NuttX px4-stm32f4discovery Firmware..' && make px4-stm32f4discovery_default
-  - echo 'Running Tests..' && make px4fmu-v2_default test
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+         cd ${TRAVIS_BUILD_DIR}
+      && make check_format
+      && arm-none-eabi-gcc --version
+      && echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
+      && echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
+      && echo 'Building UAVCAN node firmware..' && (git clone https://github.com/thiemar/vectorcontrol && cd vectorcontrol && BOARD=s2740vc_1_0 make -s && BOARD=px4esc_1_6 make -s && ../Tools/uavcan_copy.sh)
+      && echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
+      && echo 'Building NuttX px4-stm32f4discovery Firmware..' && make px4-stm32f4discovery_default
+      && echo 'Running Tests..' && make px4fmu-v2_default test
+      ;
+    fi
 
 after_success:
   - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then

Makefile

@@ -109,9 +109,8 @@ endif
 # describe how to build a cmake config
 define cmake-build
 +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
-+git submodule init
-+Tools/check_submodules.sh 
-+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule sync && git submodule init && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
++@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule sync && git submodule update --init --recursive && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
++Tools/check_submodules.sh
 +$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
 endef
 
@@ -155,7 +154,6 @@ posix_sitl_ekf2:
 
 ros_sitl_default:
 	@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
-#	$(call cmake-build,$@)
 
 qurt_eagle_travis:
 	$(call cmake-build,$@)
@@ -202,7 +200,7 @@ clean:
 # targets handled by cmake
 cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
 	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim \
-	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_tailsitter \
+	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
 	gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
 

ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil

@@ -37,9 +37,8 @@ then
 	param set FW_RR_I 0.1
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.3
+	param set RWTO_TKOFF 1
 fi
 
-param set RWTO_TKOFF 1
-
 set HIL yes
 set MIXER AERT

ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik

@@ -0,0 +1,41 @@
+#!nsh
+#
+# @name Steadidrone MAVRIK
+#
+# @type Octo Coax Wide
+#
+# @maintainer Simon Wilks <[email protected]>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_PITCH_P 4.0
+	param set MC_PITCHRATE_P 0.24
+	param set MC_PITCHRATE_I 0.09
+	param set MC_PITCHRATE_D 0.013
+	param set MC_PITCHRATE_MAX 180.0
+
+	param set MC_ROLL_P 4.0
+	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_I 0.07
+	param set MC_ROLLRATE_D 0.009
+	param set MC_ROLLRATE_MAX 180.0
+
+	param set MC_YAW_P 3.0
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+
+	param set MPC_HOLD_MAX_XY 0.25
+	param set MPC_THR_MIN 0.15
+	param set MPC_Z_VEL_MAX 2.0
+
+	param set BAT_N_CELLS 4
+fi
+
+set MIXER octo_cox_w
+
+set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -1,14 +1,40 @@
 #!nsh
 #
-# @name Duorotor Tailsitter
+# @name Caipiroshka Duo Tailsitter
 #
 # @type VTOL Duo Tailsitter
 #
+# @output MAIN1 motor left
+# @output MAIN2 motor right
+# @output MAIN5 elevon left
+# @output MAIN6 elevon right
+#
 # @maintainer Roman Bapst <[email protected]>
 #
 
 sh /etc/init.d/rc.vtol_defaults
 
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.12
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_PITCH_P 4.5
+	param set MC_PITCHRATE_P 0.3
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_YAW_P 3.8
+	param set MC_YAW_FF 0.5
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
+
+fi
+
 set MIXER caipirinha_vtol
 
 set PWM_OUT 12

ROMFS/px4fmu_common/init.d/13002_firefly6

@@ -14,12 +14,12 @@ then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.17
 	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_D 0.003
 	param set MC_ROLLRATE_FF 0.0
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.14
 	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_D 0.003
 	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 3.8
 	param set MC_YAW_FF 0.5
@@ -35,13 +35,9 @@ fi
 
 set MIXER firefly6
 set PWM_OUT 12345678
+set PWM_RATE 400
 
 set MIXER_AUX firefly6
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1000
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
 
 set MAV_TYPE 21
 

ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad

@@ -14,34 +14,44 @@ then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
 	param set VT_TRANS_THR 0.75
+	param set VT_ARSP_TRANS 12
+	param set VT_ARSP_BLEND 6
 
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.17
 	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_D 0.004
 	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.19
 	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_D 0.004
 	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 2.8
 	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+
+	param set FW_PR_FF 0.5
+	param set FW_PR_I 0.02
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.08
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.01
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.05
+	param set FW_THR_CRUISE 0.75
 fi
 
 set MIXER vtol_quad_x
-set PWM_OUT 12345678
+set PWM_OUT 1234
+set PWM_RATE 400
 
 set MIXER_AUX vtol_AAERT
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1000
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
+set PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950
 
 set MAV_TYPE 22
 

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

@@ -34,14 +34,12 @@ then
 fi
 
 set MIXER vtol_quad_x
-set PWM_OUT 12345678
+set PWM_OUT 1234
+set PWM_RATE 400
 
 set MIXER_AUX vtol_delta
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1000
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
+set PWM_ACHDIS 3
+set PWM_AUX_DISARMED 950
 
 set MAV_TYPE 22
 

ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad

@@ -31,18 +31,15 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
-
 fi
 
 set MIXER vtol_quad_x
-set PWM_OUT 12345678
+set PWM_OUT 1234
+set PWM_RATE 400
 
 set MIXER_AUX vtol_AAVVT
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1000
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
+set PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950
 
 set MAV_TYPE 22
 

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -19,32 +19,36 @@ then
 	param set PWM_AUX_REV2 1
 
 	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.25
-	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.004
 	param set MC_ROLLRATE_FF 0.0
 	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.23
-	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.004
 	param set MC_PITCHRATE_FF 0.0
-	param set MC_YAW_P 2.8
-	param set MC_YAW_FF 0.5
-	param set MC_YAWRATE_P 0.22
-	param set MC_YAWRATE_I 0.02
+	param set MC_YAW_P 3.5
+	param set MC_YAW_FF 0.7
+	param set MC_YAWRATE_P 0.6
+	param set MC_YAWRATE_I 0.04
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+
+	param set MPC_ACC_HOR_MAX 2.0
+
+	param set VT_ARSP_TRANS 15.0
+	param set VT_ARSP_BLEND 10.0
+	param set VT_B_TRANS_DUR 4.0
 fi
 
 set MIXER vtol_quad_x
-set PWM_OUT 12345678
+set PWM_OUT 1234
+set PWM_RATE 400
 
 set MIXER_AUX vtol_AAERT
-set PWM_AUX_RATE 50
-set PWM_AUX_OUT 1234
-set PWM_AUX_DISARMED 1000
-set PWM_AUX_MIN 1000
-set PWM_AUX_MAX 2000
+set PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950
 
 set MAV_TYPE 22
 

ROMFS/px4fmu_common/init.d/4010_dji_f330

@@ -30,9 +30,3 @@ then
 	# DJI ESCs do not support calibration and need a higher min
 	param set PWM_MIN 1230
 fi
-
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1075
-then
-	param set PWM_MIN 1230
-fi

ROMFS/px4fmu_common/init.d/4011_dji_f450

@@ -18,21 +18,15 @@ then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.01
+	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.15
 	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.01
+	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 	# DJI ESCs do not support calibration and need a higher min
 	param set PWM_MIN 1230
 fi
-
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1075
-then
-	param set PWM_MIN 1230
-fi