Merge branch 'master' into buster

clever/launch/clever.launch

@@ -8,7 +8,7 @@
     <arg name="optical_flow" default="false"/>
     <arg name="aruco" default="false"/>
     <arg name="rangefinder_vl53l1x" default="false"/>
-    <arg name="led" default="false"/>
+    <arg name="led" default="true"/>
     <arg name="rc" default="true"/>
 
     <!-- log formatting -->

clever/launch/led.launch

@@ -9,7 +9,7 @@
     <node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(arg ws281x)">
         <param name="led_count" value="58"/>
         <param name="gpio_pin" value="21"/>
-        <param name="brightness" value="100"/>
+        <param name="brightness" value="64"/>
         <param name="strip_type" value="WS2811_STRIP_GRB"/>
         <param name="target_frequency" value="800000"/>
         <param name="dma" value="10"/>

clever/launch/mavros.launch

@@ -1,5 +1,5 @@
 <launch>
-    <arg name="fcu_conn" default="usb"/>
+    <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl -->
     <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="gcs_bridge" default="tcp"/>
     <arg name="viz" default="true"/>
@@ -13,9 +13,12 @@
         <!-- USB connection -->
         <param name="fcu_url" value="/dev/px4fmu" if="$(eval fcu_conn == 'usb')"/>
 
-        <!-- sitl -->
+        <!-- sitl before PX4 1.9.0 -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
 
+        <!-- sitl since PX4 1.9.0 -->
+        <param name="fcu_url" value="udp://@$(arg fcu_ip):14580" if="$(eval fcu_conn == 'sitl')"/>
+
         <!-- gcs bridge -->
         <param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
         <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>

clever/launch/sitl.launch

@@ -13,6 +13,7 @@
         <arg name="rosbridge" value="$(arg rosbridge)"/>
         <arg name="aruco" default="false"/>
         <arg name="rangefinder_vl53l1x" default="false"/>
+        <arg name="led" default="false"/>
         <arg name="rc" default="false"/>
     </include>
 </launch>

clever/src/selfcheck.py

@@ -224,6 +224,12 @@ def check_fcu():
             else:
                 info('LPE_FUSION: barometer fusion is disabled')
 
+            mag_yaw_w = get_param('ATT_W_MAG')
+            if mag_yaw_w == 0:
+                info('magnetometer weight (ATT_W_MAG) is zero, better for indoor flights')
+            else:
+                info('magnetometer weight (ATT_W_MAG) is non-zero (%.2f), better for outdoor flights', mag_yaw_w)
+
         elif est == 2:
             info('selected estimator: EKF2')
         else: