Merge pull request #4273 from jgoppert/sf0x_handling

Added LPE to testing, fix LPE logging, add SENS_EN_SF0X

.travis.yml

@@ -100,16 +100,19 @@ script:
   - git submodule update --quiet --init --recursive
   - echo 'Building POSIX Firmware..' && make posix_sitl_default
   - echo 'Running Tests..' && make posix_sitl_default test
+  - build_configs="\
+        px4fmu-v1_default \
+        px4fmu-v2_default \
+        px4fmu-v2_lpe \
+        mindpx4-v2_default \
+        px4-stm32f4discovery_default \
+        uavcan_firmware \
+        px4fmu-v4_default"
   - 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
+      && for config in $build_configs; do echo 'Building NuttX ${config} Firmware..' && make $config; done
-      && echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
-      && echo 'Building NuttX mindpx-v2 Firmware..' && make mindpx-v2_default
-      && echo 'Building UAVCAN node firmware..' && make uavcan_firmware
-      && echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
-      && echo 'Building NuttX px4-stm32f4discovery Firmware..' && make px4-stm32f4discovery_default
       && echo 'Running Tests..' && make tests
       ;
     fi
@@ -119,9 +122,10 @@ after_success:
          make package_firmware
       && cp build_px4fmu-v1_default/src/firmware/nuttx/nuttx-px4fmu-v1-default.px4 px4fmu-v1_default.px4
       && cp build_px4fmu-v2_default/src/firmware/nuttx/nuttx-px4fmu-v2-default.px4 px4fmu-v2_default.px4
+      && cp build_px4fmu-v2_lpe/src/firmware/nuttx/nuttx-px4fmu-v2-lpe.px4 px4fmu-v2_lpe.px4
       && cp build_px4fmu-v4_default/src/firmware/nuttx/nuttx-px4fmu-v4-default.px4 px4fmu-v4_default.px4
       && cp build_px4-stm32f4discovery_default/src/firmware/nuttx/nuttx-px4-stm32f4discovery-default.px4 px4-stm32f4discovery-default.px4
-      && ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
+      && ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v2_lpe.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
       && ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
       && ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
       && ./CI-Tools/s3cmd-put CI-Tools/index.html index.html

ROMFS/px4fmu_common/init.d/rcS

@@ -569,6 +569,54 @@ then
 		fi
 	fi
 
+	#
+	# Optional drivers
+	#
+
+	# Sensors on the PWM interface bank
+	if param compare SENS_EN_LL40LS 1
+	then
+		if pwm_input start
+		then
+			if ll40ls start pwm
+			then
+			fi
+		fi
+	fi
+
+	# sf0x lidar sensor
+	if param compare SENS_EN_SF0X 1
+	then
+		sf0x start
+	fi
+
+	if ver hwcmp PX4FMU_V4
+	then
+		frsky_telemetry start -d /dev/ttyS6
+	fi
+
+	if ver hwcmp PX4FMU_V2
+	then
+		# Check for flow sensor - as it is a background task, launch it last
+		px4flow start &
+	fi
+
+	if ver hwcmp MINDPX_V2
+	then
+		#mindxp also need flow
+		px4flow start &
+	fi
+
+	# Start USB shell if no microSD present, MAVLink else
+	if [ $LOG_FILE == /dev/null ]
+	then
+		# Try to get an USB console
+		nshterm /dev/ttyACM0 &
+	else
+		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+	fi
+
+
 	#
 	# Logging
 	#
@@ -818,44 +866,6 @@ unset TUNE_ERR
 # Boot is complete, inform MAVLink app(s) that the system is now fully up and running
 mavlink boot_complete
 
-# Sensors on the PWM interface bank
-if param compare SENS_EN_LL40LS 1
-then
-	if pwm_input start
-	then
-		if ll40ls start pwm
-		then
-		fi
-	fi
-fi
-
-if ver hwcmp PX4FMU_V4
-then
-	frsky_telemetry start -d /dev/ttyS6
-fi
-
-if ver hwcmp PX4FMU_V2
-then
-	# Check for flow sensor - as it is a background task, launch it last
-	px4flow start &
-fi
-
-if ver hwcmp MINDPX_V2
-then
-	#mindxp also need flow
-	px4flow start &
-fi
-
-# Start USB shell if no microSD present, MAVLink else
-if [ $LOG_FILE == /dev/null ]
-then
-	# Try to get an USB console
-	nshterm /dev/ttyACM0 &
-else
-	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
-fi
-
-
 if [ $EXIT_ON_END == yes ]
 then
 	echo "Exit from nsh"

src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp

@@ -651,9 +651,11 @@ void AttitudeEstimatorQ::task_main()
 			est.vibe[2] = _voter_accel.get_vibration_offset(est.timestamp, 2);
 
 			/* the instance count is not used here */
-			int est_inst;
+			//int est_inst;
 			/* publish to control state topic */
-			orb_publish_auto(ORB_ID(estimator_status), &_est_state_pub, &est, &est_inst, ORB_PRIO_HIGH);
+			// TODO handle attitude states in position estimators instead so we can publish all data at once
+			// or we need to enable more thatn just one estimator_status topic
+			// orb_publish_auto(ORB_ID(estimator_status), &_est_state_pub, &est, &est_inst, ORB_PRIO_HIGH);
 		}
 	}
 }

src/modules/sensors/sensor_params.c

@@ -2871,6 +2871,16 @@ PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);
  */
 PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0);
 
+/**
+ * Enable sf0x driver
+ *
+ * @reboot_required true
+ *
+ * @boolean
+ * @group Sensor Enable
+ */
+PARAM_DEFINE_INT32(SENS_EN_SF0X, 0);
+
 /**
  * Set the minimum PWM for the MAIN outputs
  *