Merge branch 'master' into remote_id_arm, set operator loc. to takeoff

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,96 @@
+name: 🐛 Bug report
+description: Create a report to help us improve
+title: "[Bug]: "
+labels: ["bug-report"]
+body:
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: A clear and concise description of the bug.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: To Reproduce
+      description: |
+          Steps to reproduce the behavior.
+          1. Drone switched on '...'
+          2. Uploaded mission '....' (attach QGC mission file)
+          3. Took off '....'
+          4. See error
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Expected behavior
+      description: A clear and concise description of what you expected to happen.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Screenshot / Media
+      description: Add screenshot / media if you have them
+
+  - type: textarea
+    attributes:
+      label: Flight Log
+      description: |
+          *Always* provide a link to the flight log file:
+          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+          - Share the link to the log (Copy and paste the URL of the log)
+      placeholder: |
+          # PASTE HERE THE LINK TO THE LOG
+      render: txt
+    validations:
+      required: true
+
+  - type: markdown
+    attributes:
+      value: |
+        # Setup / Versions
+
+  - type: textarea
+    attributes:
+      label: Software Version
+      description: |
+          Which version of PX4 are you using?
+      placeholder: |
+          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
+      render: txt
+    validations:
+      required: true
+
+  - type: input
+    attributes:
+      label: Flight controller
+      description: Specify your flight controller model (what type is it, where was it bought from, ...).
+    validations:
+      required: true
+
+  - type: dropdown
+    attributes:
+      label: Vehicle type
+      options:
+        - Multicopter
+        - Helicopter
+        - Fixed Wing
+        - Hybrid VTOL
+        - Airship/Balloon
+        - Rover
+        - Boat
+        - Submarine
+        - Other
+
+  - type: textarea
+    attributes:
+      label: How are the different components wired up (including port information)
+      description: Details about how all is wired.
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      description: Add any other context about the problem here.

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,8 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Support Question
+    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
+    about: For questions about using PX4 or related components, please use the discuss forum and discord server
+  - name: Documentation Issue
+    url: https://github.com/PX4/PX4-user_guide/issues
+    about: If you found an issue in documentation, please submit it directly to the docs repository issues

.github/ISSUE_TEMPLATE/feature_request.yml

@@ -0,0 +1,35 @@
+name: 🚀 Feature Request
+description: Suggest an idea for this project
+labels: [feature-request"]
+body:
+  - type: markdown
+    attributes:
+      value: |
+        **Please note that feature requests are not 'fire and forget'.**
+        It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
+
+  - type: textarea
+    attributes:
+      label: Describe problem solved by the proposed feature
+      description: A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Describe your preferred solution
+      description: A clear and concise description of what you want to happen.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Describe possible alternatives
+      description: A clear and concise description of any alternative solutions or features you've considered.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      description: Add any other context or screenshots for the feature request here.

.github/PULL_REQUEST_TEMPLATE.md

@@ -23,7 +23,7 @@ For release notes:
 ```
 Feature/Bugfix XYZ
 New parameter: XYZ_Z
-Documentation: Need to clarfiy page ... / done, read docs.px4.io/...
+Documentation: Need to clarify page ... / done, read docs.px4.io/...
 ```
 
 ### Alternatives

.github/workflows/compile_linux.yml

@@ -11,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-09-08
+    container: px4io/px4-dev-armhf:2023-06-26
     strategy:
       matrix:
         config: [
@@ -24,7 +24,8 @@ jobs:
     - uses: actions/checkout@v1
       with:
         token: ${{secrets.ACCESS_TOKEN}}
-
+    - name: ownership workaround
+      run: git config --system --add safe.directory '*'
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp
       shell: cmake -P {0}

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -94,4 +94,6 @@ px4_add_romfs_files(
 
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
+
+	# [22000, 22999] Reserve for custom models
 )

ROMFS/px4fmu_common/init.d/rcS

@@ -254,6 +254,7 @@ else
 	#
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q
+	rgbled_lp5562 start -X -q
 
 	#
 	# Override parameters from user configuration file.

Tools/ecl_ekf/analysis/checks.py

@@ -56,11 +56,14 @@ def perform_imu_checks(
     # perform the vibration check
     imu_status['imu_vibration_check'] = 'Pass'
     for imu_vibr_metric in ['imu_coning', 'imu_hfgyro', 'imu_hfaccel']:
-        mean_metric = '{:s}_mean'.format(imu_vibr_metric)
-        peak_metric = '{:s}_peak'.format(imu_vibr_metric)
-        if imu_metrics[mean_metric] > check_levels['{:s}_warn'.format(mean_metric)] \
-                or imu_metrics[peak_metric] > check_levels['{:s}_warn'.format(peak_metric)]:
-            imu_status['imu_vibration_check'] = 'Warning'
+        mean_metric = '{:s}_mean_warn'.format(imu_vibr_metric)
+        peak_metric = '{:s}_peak_warn'.format(imu_vibr_metric)
+        mean_key = '{:s}_mean'.format(imu_vibr_metric)
+        peak_key = '{:s}_peak'.format(imu_vibr_metric)
+        if mean_key in imu_metrics and peak_key in imu_metrics:
+            if imu_metrics[mean_key] > check_levels[mean_metric] \
+                   or imu_metrics[peak_key] > check_levels[peak_metric]:
+                imu_status['imu_vibration_check'] = 'Warning'
 
     if imu_status['imu_vibration_check'] == 'Warning':
         print('IMU vibration check warning.')

Tools/ecl_ekf/analysis/metrics.py

@@ -104,9 +104,9 @@ def calculate_innov_fail_metrics(
 
     # calculate innovation check fail metrics
     for signal_id, signal, result in [('posv', 'reject_ver_pos', 'hgt_fail_percentage'),
-                                      ('magx', 'reject_mag_x', 'magx_fail_percentage'),
-                                      ('magy', 'reject_mag_y', 'magy_fail_percentage'),
-                                      ('magz', 'reject_mag_z', 'magz_fail_percentage'),
+                                      ('magx', 'fs_bad_mag_x', 'magx_fail_percentage'),
+                                      ('magy', 'fs_bad_mag_y', 'magy_fail_percentage'),
+                                      ('magz', 'fs_bad_mag_z', 'magz_fail_percentage'),
                                       ('yaw', 'reject_yaw', 'yaw_fail_percentage'),
                                       ('velh', 'reject_hor_vel', 'vel_fail_percentage'),
                                       ('velv', 'reject_ver_vel', 'vel_fail_percentage'),

Tools/ecl_ekf/plotting/pdf_report.py

@@ -222,7 +222,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
         data_plot = CheckFlagsPlot(
             status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
                                                                                'reject_hagl'],
-                                       ['reject_mag_x', 'reject_mag_y', 'reject_mag_z',
+                                       ['fs_bad_mag_x', 'fs_bad_mag_y', 'fs_bad_mag_z',
                                         'reject_yaw'], ['reject_airspeed'], ['reject_sideslip'],
                                        ['reject_optflow_x',
                                         'reject_optflow_y']], x_label='time (sec)',