Autogyro takeoff, squash and clean

Squash and the removal of unrelated commits.

ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1

@@ -26,7 +26,12 @@ param set-default NAV_ACC_RAD 20
 param set-default NAV_DLL_ACT 2
 param set-default NAV_LOITER_RAD 100
 
-param set-default RWTO_TKOFF 1
+param set-default RWTO_TKOFF 0
+param set-default AG_TKOFF 1
+param set-default AG_PROT_TYPE 1
+# param set-default AG_PROT_MIN_RPM 10.0
+# param set-default AG_PROT_TRG_RPM 300.0
+# param set-defoult AG_ROTOR_RPM 300.0
 
 param set-default FW_ARSP_SCALE_EN 0
 

msg/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -50,6 +50,7 @@ set(msg_files
 	AirspeedValidated.msg
 	AirspeedWind.msg
 	AutotuneAttitudeControlStatus.msg
+	AutogyroTakeoffStatus.msg
 	BatteryStatus.msg
 	ButtonEvent.msg
 	CameraCapture.msg
@@ -226,8 +227,49 @@ set(msg_files
 	Wind.msg
 	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 "")
@@ -245,92 +287,90 @@ 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)
-set(uorb_sources)
+set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
+set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
 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}
-		${msg_out_path}/uORBTopics.hpp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+add_custom_command(OUTPUT ${uorb_headers}
+	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_out_path}
-		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
+		-e templates/uorb
+		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
+		-q
+		${added_arguments}
 	DEPENDS
 		${msg_files}
-		${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
+		templates/uorb/msg.h.em
+		templates/uorb/uORBTopics.hpp.em
+		tools/px_generate_uorb_topic_files.py
+		tools/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})
 
-# Generate microcdr headers
-add_custom_command(
-	OUTPUT ${uorb_ucdr_headers}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+add_custom_command(OUTPUT ${uorb_ucdr_headers}
+	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${ucdr_out_path}
-		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr
+		-e templates/ucdr
+		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/ucdr_headers
+		-q
+		${added_arguments}
 	DEPENDS
 		${msg_files}
-		${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
+		templates/ucdr/msg.h.em
+		tools/px_generate_uorb_topic_files.py
+		tools/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}
-		${msg_source_out_path}/uORBTopics.cpp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+add_custom_command(OUTPUT ${uorb_sources}
+	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
 		--sources
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_source_out_path}
-		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
+		-e templates/uorb
+		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources
+		-q
+		${added_arguments}
 	DEPENDS
 		${msg_files}
-		${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
+		templates/uorb/msg.cpp.em
+		templates/uorb/uORBTopics.cpp.em
+		tools/px_generate_uorb_topic_files.py
+		tools/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic sources"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
 	)
 
-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_library(uorb_msgs ${uorb_sources})
 add_dependencies(uorb_msgs prebuild_targets uorb_headers)

msg/TuneControl.msg

@@ -23,7 +23,10 @@ uint8 TUNE_ID_PROG_PX4IO           = 16
 uint8 TUNE_ID_PROG_PX4IO_OK        = 17
 uint8 TUNE_ID_PROG_PX4IO_ERR       = 18
 uint8 TUNE_ID_POWER_OFF            = 19
-uint8 NUMBER_OF_TUNES              = 20
+uint8 TUNE_ID_TAKEOFF_NEXT_STEP    = 20
+uint8 TUNE_ID_TAKEOFF_RELEASE      = 21
+uint8 TUNE_ID_TAKEOFF_ERROR        = 22
+uint8 NUMBER_OF_TUNES              = 23
 
 uint8 tune_id        # tune_id corresponding to TuneID::* from the tune_defaults.h in the tunes library
 bool tune_override   # if true the tune which is playing will be stopped and the new started

msg/autogyro_takeoff_status.msg

@@ -0,0 +1,7 @@
+uint64 timestamp		# time since system start (microseconds)
+uint32 time_in_state
+uint32 state # Autogyro start status
+bool rpm
+bool airspeed
+bool landed
+bool climbout

src/drivers/tone_alarm/ToneAlarm.cpp

@@ -160,6 +160,18 @@ void ToneAlarm::Run()
 					case tune_control_s::TUNE_ID_HOME_SET:
 						PX4_INFO("home set");
 						break;
+
+					case tune_control_s::TUNE_ID_TAKEOFF_NEXT_STEP:
+						PX4_INFO("TAKEOFF: Next step");
+						break;
+
+					case tune_control_s::TUNE_ID_TAKEOFF_ERROR:
+						PX4_INFO("TAKEOFF: error");
+						break;
+
+					case tune_control_s::TUNE_ID_TAKEOFF_RELEASE:
+						PX4_INFO("TAKEOFF: Release me");
+						break;
 					}
 
 #endif // (!TONE_ALARM_TIMER && !GPIO_TONE_ALARM_GPIO) || DEBUG_BUILD

src/lib/tunes/tune_definition.desc

@@ -104,4 +104,8 @@ PX4_DEFINE_TUNE(15, SD_ERROR,              "MNBG",
 PX4_DEFINE_TUNE(16, PROG_PX4IO,            "MLL32CP8MB",                                    false /*  Program PX4IO */)
 PX4_DEFINE_TUNE(17, PROG_PX4IO_OK,         "MLL8CDE",                                       false /*  Program PX4IO success */)
 PX4_DEFINE_TUNE(18, PROG_PX4IO_ERR,        "ML<<CP4CP4CP4CP4CP4",                           true  /*  Program PX4IO fail */)
-PX4_DEFINE_TUNE(19, POWER_OFF,             "MFT255a8g8f8e8c8<b8a8g4",                       false  /*  When pressing off button */)
+PX4_DEFINE_TUNE(19, POWER_OFF,             "MFT255a8g8f8e8c8<b8a8g4",                       true  /*  When pressing off button */)
+PX4_DEFINE_TUNE(20, TAKEOFF_NEXT_STEP,     "MFc10e10g10",                                   true  /*  Next step of takeoff */)
+PX4_DEFINE_TUNE(21, TAKEOFF_RELEASE,       "MB<c10d10e10",                                  true  /*  Takeoff release from moving platform */)
+PX4_DEFINE_TUNE(22, TAKEOFF_ERROR,         "MFe10e10c5",                                    true  /*  Error in takeoff process */)
+

src/modules/fw_pos_control/CMakeLists.txt

@@ -33,6 +33,7 @@
 
 add_subdirectory(launchdetection)
 add_subdirectory(runway_takeoff)
+add_subdirectory(autogyro_takeoff)
 
 px4_add_module(
 	MODULE modules__fw_pos_control
@@ -44,6 +45,7 @@ px4_add_module(
 		launchdetection
 		npfg
 		runway_takeoff
+		autogyro_takeoff
 		SlewRate
 		tecs
 		motion_planning

src/modules/fw_pos_control/FixedwingPositionControl.cpp

@@ -54,7 +54,8 @@ FixedwingPositionControl::FixedwingPositionControl(bool vtol) :
 	_attitude_sp_pub(vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
 	_launchDetector(this),
-	_runway_takeoff(this)
+	_runway_takeoff(this),
+	_autogyro_takeoff(this)
 {
 	if (vtol) {
 		_param_handle_airspeed_trans = param_find("VT_ARSP_TRANS");
@@ -338,6 +339,14 @@ FixedwingPositionControl::manual_control_setpoint_poll()
 	}
 }
 
+void
+FixedwingPositionControl::rpm_poll()
+{
+	if (_rpm_sub.update(&_rpm)) {
+		_rpm_sub.copy(&_rpm);
+		_rpm_frequency = _rpm.indicated_frequency_rpm;
+	}
+}
 
 void
 FixedwingPositionControl::vehicle_attitude_poll()
@@ -689,13 +698,29 @@ FixedwingPositionControl::getManualHeightRateSetpoint()
 void
 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());
+	}
+//TF CHECK
 	if (!_completed_manual_takeoff) {
 		const bool at_controllable_airspeed = _airspeed > _param_fw_airspd_min.get()
 						      || !_airspeed_valid;
 		const bool is_hovering = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
 					 && _control_mode.flag_armed;
 		_completed_manual_takeoff = (!_landed && at_controllable_airspeed) || is_hovering;
 	}
+
+	// in air for < 10s
+	return (hrt_elapsed_time(&_time_went_in_air) < 10_s)
+	       && (_current_altitude <= _takeoff_ground_alt + _param_fw_clmbout_diff.get());
+
 }
 
 void
@@ -2435,6 +2460,8 @@ FixedwingPositionControl::reset_takeoff_state()
 {
 	_runway_takeoff.reset();
 
+	_autogyro_takeoff.reset();
+
 	_launchDetector.reset();
 
 	_launch_detected = false;