fix errors after rebase

ThunderFly-aerospace · Jul 22, 2023 · 3bb2b1c · 3bb2b1c
1 parent 9bea4a5
commit 3bb2b1c
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Showing 10 changed files with 263 additions and 155 deletions.
diff --git a/msg/autogyro_takeoff_status.msg → msg/AutogyroTakeoffStatus.msg b/msg/autogyro_takeoff_status.msg → msg/AutogyroTakeoffStatus.msg
diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
@@ -228,48 +228,8 @@ set(msg_files
 	YawEstimatorStatus.msg
 )
 
-if(NOT px4_constrained_flash_build)
-	list(APPEND msg_files
-		debug_array.msg
-		debug_key_value.msg
-		debug_value.msg
-		debug_vect.msg
-	)
-endif()
-
-if(PX4_TESTING)
-	list(APPEND msg_files
-		orb_test.msg
-		orb_test_large.msg
-		orb_test_medium.msg
-	)
-endif()
-
 list(SORT msg_files)
 
-set(deprecated_msgs
-	ekf2_innovations.msg	# 2019-11-22, Updated estimator interface and logging; replaced by 'estimator_innovations'.
-	)
-
-foreach(msg IN LISTS deprecated_msgs)
-	if(msg IN_LIST msg_files)
-		get_filename_component(msg_we ${msg} NAME_WE)
-		list(APPEND invalid_msgs ${msg_we})
-	endif()
-endforeach()
-if(invalid_msgs)
-	list(LENGTH invalid_msgs invalid_msgs_size)
-	if(${invalid_msgs_size} GREATER 1)
-		foreach(msg IN LISTS invalid_msgs)
-			string(CONCAT invalid_msgs_cs ${invalid_msgs_cs} "'${msg}', ")
-		endforeach()
-		STRING(REGEX REPLACE ", +$" "" invalid_msgs_cs ${invalid_msgs_cs})
-		message(FATAL_ERROR "${invalid_msgs_cs} are listed as deprecated. Please use different names for the messages.")
-	else()
-		message(FATAL_ERROR "'${invalid_msgs}' is listed as deprecated. Please use a different name for the message.")
-	endif()
-endif()
-
 px4_list_make_absolute(msg_files ${CMAKE_CURRENT_SOURCE_DIR} ${msg_files})
 
 if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
@@ -287,90 +247,92 @@ endif()
 # headers
 set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
 set(ucdr_out_path ${PX4_BINARY_DIR}/uORB/ucdr)
-set(msg_source_out_path	${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
+set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
 
-set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
-set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
+set(uorb_headers)
+set(uorb_sources)
 set(uorb_ucdr_headers)
 foreach(msg_file ${msg_files})
 	get_filename_component(msg ${msg_file} NAME_WE)
+
+	# Pascal case to snake case (MsgFile -> msg_file)
+	string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" msg "${msg}")
+	string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" msg "${msg}")
+	string(TOLOWER "${msg}" msg)
+
 	list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
 	list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
 	list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h)
 endforeach()
 
-if (px4_constrained_flash_build)
-	set(added_arguments --constrained-flash)
-endif()
-
 # set parent scope msg_files for other modules to consume (eg topic_listener)
 set(msg_files ${msg_files} PARENT_SCOPE)
 
 # Generate uORB headers
-add_custom_command(OUTPUT ${uorb_headers}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+add_custom_command(
+	OUTPUT
+		${uorb_headers}
+		${msg_out_path}/uORBTopics.hpp
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_out_path}
-		-e templates/uorb
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
-		-q
-		${added_arguments}
+		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
 		${msg_files}
-		templates/uorb/msg.h.em
-		templates/uorb/uORBTopics.hpp.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.h.em
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.hpp.em
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic headers"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
 	)
 add_custom_target(uorb_headers DEPENDS ${uorb_headers})
 
-add_custom_command(OUTPUT ${uorb_ucdr_headers}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+# Generate microcdr headers
+add_custom_command(
+	OUTPUT ${uorb_ucdr_headers}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${ucdr_out_path}
-		-e templates/ucdr
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/ucdr_headers
-		-q
-		${added_arguments}
+		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr
 	DEPENDS
 		${msg_files}
-		templates/ucdr/msg.h.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
+		${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr/msg.h.em
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic ucdr headers"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
 	)
 add_custom_target(uorb_ucdr_headers DEPENDS ${uorb_ucdr_headers})
 
 # Generate uORB sources
-add_custom_command(OUTPUT ${uorb_sources}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+add_custom_command(
+	OUTPUT
+		${uorb_sources}
+		${msg_source_out_path}/uORBTopics.cpp
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--sources
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_source_out_path}
-		-e templates/uorb
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources
-		-q
-		${added_arguments}
+		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
 		${msg_files}
-		templates/uorb/msg.cpp.em
-		templates/uorb/uORBTopics.cpp.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.cpp.em
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.cpp.em
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic sources"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
 	)
 
-add_library(uorb_msgs ${uorb_sources})
+add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp)
+target_link_libraries(uorb_msgs PRIVATE m)
 add_dependencies(uorb_msgs prebuild_targets uorb_headers)
diff --git a/msg/TakeoffStatus.msg b/msg/TakeoffStatus.msg
@@ -10,5 +10,6 @@ uint8 TAKEOFF_STATE_RAMPUP            = 4
 uint8 TAKEOFF_STATE_FLIGHT            = 5
 
 uint8 takeoff_state
+uint64 time_in_state
 
 float32 tilt_limit # limited tilt feasibility during takeoff, contains maximum tilt otherwise
diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
@@ -700,14 +700,10 @@ FixedwingPositionControl::updateManualTakeoffStatus()
 {
 
 //TF CHECK
-	// a VTOL does not need special takeoff handling
-	if (_vehicle_status.is_vtol) {
-		return false;
-	}
-
-	if (_autogyro_takeoff.autogyroTakeoffEnabled()) {
-		return (!_autogyro_takeoff.isInitialized() || _autogyro_takeoff.climbout());
-	}
+//
+//	if (_autogyro_takeoff.autogyroTakeoffEnabled()) {
+//		return (!_autogyro_takeoff.isInitialized() || _autogyro_takeoff.climbout());
+//	}
 //TF CHECK
 	if (!_completed_manual_takeoff) {
 		const bool at_controllable_airspeed = _airspeed > _param_fw_airspd_min.get()
@@ -718,8 +714,8 @@ FixedwingPositionControl::updateManualTakeoffStatus()
 	}
 
 	// in air for < 10s
-	return (hrt_elapsed_time(&_time_went_in_air) < 10_s)
-	       && (_current_altitude <= _takeoff_ground_alt + _param_fw_clmbout_diff.get());
+	//return (hrt_elapsed_time(&_time_went_in_air) < 10_s)
+	//       && (_current_altitude <= _takeoff_ground_alt + _param_fw_clmbout_diff.get());
 
 }
 

diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.hpp b/src/modules/fw_pos_control/FixedwingPositionControl.hpp
@@ -327,6 +327,8 @@ class FixedwingPositionControl final : public ModuleBase<FixedwingPositionContro
 	// class handling runway takeoff for fixed-wing UAVs with steerable wheels
 	RunwayTakeoff _runway_takeoff;
 
+	AutogyroTakeoff _autogyro_takeoff;
+
 	bool _skipping_takeoff_detection{false};
 
 	// AUTO LANDING
@@ -342,13 +344,8 @@ class FixedwingPositionControl final : public ModuleBase<FixedwingPositionContro
 	// orbit to altitude only when the aircraft has entered the final *straight approach.
 	hrt_abstime _time_started_landing{0};
 
-<<<<<<< HEAD
 	// [m] lateral touchdown position offset manually commanded during landing
 	float _lateral_touchdown_position_offset{0.0f};
-=======
-	RunwayTakeoff _runway_takeoff;
-	AutogyroTakeoff _autogyro_takeoff;
->>>>>>> Autogyro takeoff, squash and clean
 
 	// [m] relative vector from land point to approach entrance (NE)
 	Vector2f _landing_approach_entrance_offset_vector{};
@@ -402,12 +399,12 @@ class FixedwingPositionControl final : public ModuleBase<FixedwingPositionContro
 
 	float _groundspeed_undershoot{0.0f};			///< ground speed error to min. speed in m/s
 
-	float _roll{0.0f};
-	float _pitch{0.0f};
-	float _yaw{0.0f};
-	float _yawrate{0.0f};
+	//float _roll{0.0f};
+	//float _pitch{0.0f};
+	//float _yaw{0.0f};
+	//float _yawrate{0.0f};
 
-    // TECS
+	// TECS
 	// total energy control system - airspeed / altitude control
 	TECS _tecs;
 
@@ -874,6 +871,8 @@ class FixedwingPositionControl final : public ModuleBase<FixedwingPositionContro
 
 	DEFINE_PARAMETERS(
 
+		(ParamFloat<px4::params::FW_CLMBOUT_DIFF>) _param_fw_clmbout_diff,
+
 		(ParamFloat<px4::params::FW_AIRSPD_MAX>) _param_fw_airspd_max,
 		(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
 		(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,