Merge branch 'PX4:main' into pr-static-vision-target-estimator

Author: JonasPerolini

.github/workflows/fuzzing.yml

@@ -5,6 +5,7 @@ on:
 
 permissions:
   contents: read
+  issues: write # for JasonEtco/create-an-issue
 
 env:
   RUNS_IN_DOCKER: true

boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld

@@ -1,4 +1,3 @@
-/* Auto-generated */
 *(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
 *(.text._ZN13MavlinkStream6updateERKy)
 *(.text._ZN7Mavlink16update_rate_multEv)
@@ -394,7 +393,7 @@
 *(.text._ZN4EKF215PublishBaroBiasERKy)
 *(.text._ZN4EKF221UpdateGyroCalibrationERKy)
 *(.text._ZN6matrix9constrainIfLj3ELj1EEENS_6MatrixIT_XT0_EXT1_EEERKS3_S2_S2_)
-*(.text._ZN4uORB22SubscriptionMultiArrayI16battery_status_sLh4EE16advertised_countEv)
+*(.text._ZN4uORB22SubscriptionMultiArrayI16battery_status_sLh3EE16advertised_countEv)
 *(.text._ZN23MavlinkStreamScaledIMU34sendEv)
 *(.text.__aeabi_ldivmod)
 *(.text._ZN15PositionControl16setInputSetpointERK21trajectory_setpoint_s)

boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld

@@ -1,4 +1,3 @@
-/* Auto-generated */
 *(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
 *(.text._ZN13MavlinkStream6updateERKy)
 *(.text._ZN7Mavlink16update_rate_multEv)
@@ -402,7 +401,7 @@
 *(.text._ZN4EKF215PublishBaroBiasERKy)
 *(.text._ZN4EKF221UpdateGyroCalibrationERKy)
 *(.text._ZN6matrix9constrainIfLj3ELj1EEENS_6MatrixIT_XT0_EXT1_EEERKS3_S2_S2_)
-*(.text._ZN4uORB22SubscriptionMultiArrayI16battery_status_sLh4EE16advertised_countEv)
+*(.text._ZN4uORB22SubscriptionMultiArrayI16battery_status_sLh3EE16advertised_countEv)
 *(.text._ZN23MavlinkStreamScaledIMU34sendEv)
 *(.text.__aeabi_ldivmod)
 *(.text._ZN15PositionControl16setInputSetpointERK21trajectory_setpoint_s)

msg/versioned/BatteryStatus.msg

@@ -5,7 +5,7 @@
 # Battery instance information is also logged and streamed in MAVLink telemetry.
 
 uint32 MESSAGE_VERSION = 1
-uint8 MAX_INSTANCES = 4
+uint8 MAX_INSTANCES = 3
 
 uint64 timestamp  # [us] Time since system start
 

platforms/common/include/px4_platform_common/board_common.h

@@ -173,10 +173,6 @@
 #  define BOARD_BATT_V_LIST       {ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL, ADC_BATTERY3_VOLTAGE_CHANNEL}
 #  define BOARD_BATT_I_LIST       {ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL, ADC_BATTERY3_CURRENT_CHANNEL}
 #  define BOARD_BRICK_VALID_LIST  {BOARD_ADC_BRICK1_VALID, BOARD_ADC_BRICK2_VALID, BOARD_ADC_BRICK3_VALID}
-#elif BOARD_NUMBER_BRICKS == 4
-#  define BOARD_BATT_V_LIST       {ADC_BATTERY1_VOLTAGE_CHANNEL, ADC_BATTERY2_VOLTAGE_CHANNEL, ADC_BATTERY3_VOLTAGE_CHANNEL, ADC_BATTERY4_VOLTAGE_CHANNEL}
-#  define BOARD_BATT_I_LIST       {ADC_BATTERY1_CURRENT_CHANNEL, ADC_BATTERY2_CURRENT_CHANNEL, ADC_BATTERY3_CURRENT_CHANNEL, ADC_BATTERY4_CURRENT_CHANNEL}
-#  define BOARD_BRICK_VALID_LIST  {BOARD_ADC_BRICK1_VALID, BOARD_ADC_BRICK2_VALID, BOARD_ADC_BRICK3_VALID, BOARD_ADC_BRICK4_VALID}
 #else
 #  error Unsuported BOARD_NUMBER_BRICKS number.
 #endif

platforms/nuttx/NuttX/nuttx

@@ -105,7 +105,7 @@ class UavcanBatteryBridge : public UavcanSensorBridgeBase, public ModuleParams
 	hrt_abstime _last_timestamp;
 
 	// Separate battery info publication because UavcanSensorBridgeBase only supports publishing one topic
-	uORB::PublicationMulti<battery_info_s> _battery_info_pub[battery_status_s::MAX_INSTANCES] {ORB_ID(battery_info), ORB_ID(battery_info), ORB_ID(battery_info), ORB_ID(battery_info)};
+	uORB::PublicationMulti<battery_info_s> _battery_info_pub[battery_status_s::MAX_INSTANCES] {ORB_ID(battery_info), ORB_ID(battery_info), ORB_ID(battery_info)};
 
 	battery_info_s _battery_info[battery_status_s::MAX_INSTANCES] {};
 	battery_status_s _battery_status[battery_status_s::MAX_INSTANCES] {};
@@ -115,15 +115,13 @@ class UavcanBatteryBridge : public UavcanSensorBridgeBase, public ModuleParams
 	static constexpr int BATTERY_INDEX_1 = 1;
 	static constexpr int BATTERY_INDEX_2 = 2;
 	static constexpr int BATTERY_INDEX_3 = 3;
-	static constexpr int BATTERY_INDEX_4 = 4;
 	static constexpr int SAMPLE_INTERVAL_US = 500_ms; // Typical message rate for a CAN battery monitor should be 2-5Hz.
 
-	static_assert(battery_status_s::MAX_INSTANCES <= BATTERY_INDEX_4, "Battery array too big");
+	static_assert(battery_status_s::MAX_INSTANCES <= BATTERY_INDEX_3, "Battery array too big");
 
 	Battery battery1 = {BATTERY_INDEX_1, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_EXTERNAL};
 	Battery battery2 = {BATTERY_INDEX_2, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_EXTERNAL};
 	Battery battery3 = {BATTERY_INDEX_3, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_EXTERNAL};
-	Battery battery4 = {BATTERY_INDEX_4, this, SAMPLE_INTERVAL_US, battery_status_s::SOURCE_EXTERNAL};
 
-	Battery *_battery[battery_status_s::MAX_INSTANCES] = { &battery1, &battery2, &battery3, &battery4 };
+	Battery *_battery[battery_status_s::MAX_INSTANCES] = { &battery1, &battery2, &battery3};
 };

src/drivers/uavcan/sensors/battery.hpp

@@ -468,7 +468,7 @@ int Commander::custom_command(int argc, char *argv[])
 			const float heading_accuracy = NAN;
 
 			bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_EXTERNAL_ATTITUDE_ESTIMATE,
-							0.f, 0.f, heading, 0.f, 0.f, 0.f, heading_accuracy);
+							0.f, 0.f, heading, 0.f, 0.0, 0.0, heading_accuracy);
 			return (ret ? 0 : 1);
 
 		} else {

src/modules/commander/Commander.cpp

@@ -51,7 +51,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("airspeed", 1000);
 	add_optional_topic("airspeed_validated", 200);
 	add_optional_topic("autotune_attitude_control_status", 100);
-	add_topic_multi("battery_info", 5000, 2);
+	add_topic_multi("battery_info", 5000, 3);
 	add_optional_topic("camera_capture");
 	add_optional_topic("camera_trigger");
 	add_topic("cellular_status", 200);

src/modules/logger/logged_topics.cpp

@@ -685,7 +685,7 @@ class MavlinkStreamHighLatency2 : public MavlinkStream
 	hrt_abstime _last_update_time{0};
 	float _update_rate_filtered{0};
 
-	PerBatteryData _batteries[battery_status_s::MAX_INSTANCES] {0, 1, 2, 3};
+	PerBatteryData _batteries[battery_status_s::MAX_INSTANCES] {0, 1, 2};
 };
 
 #endif // HIGH_LATENCY2_HPP