Künstliches Feedback für Oberschenkelamputierte - Theoretische Analyse

Dieser Beitrag untersucht auf Basis von Modellen der menschlichen Wahrnehmung den Einfluss künstlichen sensorischen Feedbacks auf posturale Kontrolle und Gangsymmetrie von Oberschenkelamputierten. In der Standphase wird ein vereinfachtes, statisches neuromechanisches Modell verwendet, in der Schwungphase ein Erweitertes Kalman- Filter, das dynamische Effekte berücksichtigt. Die Simulation lässt den Schluss zu, dass Rückmeldung des Fußdruckpunktes während der Standphase die Wahrnehmung verbessern könnte, künstliches Feedback während der Schwungphase jedoch nicht von Vorteil ist. Eine klinische Fallstudie wäre nötig, um die in der Simulation beobachteten Effekte sensorischen Feedbacks in der praktischen Anwendung mit Amputierten zu überprüfe

Firmware: Release v1.4.4

This release improves the overall stability of the system, in particular on Pixracer and USB

mavlink/qgroundcontrol: v4.2.9

<h2>What's Changed</h2> <ul> <li>Backport metadata fixes by @christianrauch in https://github.com/mavlink/qgroundcontrol/pull/10751<ul> <li>Add content_rating to metainfo and fix metadata_license #10615</li> <li>Add release tag to metainfo file #10653</li> </ul> </li> </ul> <p><strong>Full Changelog</strong>: https://github.com/mavlink/qgroundcontrol/compare/v4.2.8...v4.2.9</p&gt

mavlink/qgroundcontrol: Stable V4.3.0

<p>Latest Stable Release</p&gt

PX4/Firmware: v1.7.0 Stable Release

Release Notes First-generation experimental support for ROS2-like setups with FastRTPS Reduced CPU load and RAM usage Support for new sensors (LIDAR, airspeed, IMU, etc) Significant improvements to estimation system (EKF2) Significant improvements to VTOL flight control Increased smoothness of multicopter flight control Better performance of fixed wing flight control Build system improvements Many improvements and fixes in various subsystems, as listed below. Change Log v1.7.0 (2017-12-12) Full Changelog Implemented enhancements: Adding PX4 precompiled 1.6.5 Firmwares #8326 Consider SF1xx Driver for 1.7 Release #8177 Standard way to disable internal magnetometer? #8059 NuttX enable CONFIG_MEMSET_OPTSPEED #7815 add MAVLink FLIGHT_INFORMATION support #7706 FW Minimum Airspeed scaling for banked stall avoidance #7572 Be smart about using MAVLink 2.0 #7246 Bit-banding for atomic flag access on STM32 #7183 HC_SR04 driver needs cleanup #7168 Snapdragon Flight ESC support #6962 Create pure racer config #6780 Gazebo HIL #6631 listener does not work for subtopics #6607 Reduce effect of estimator vertical velocity errors #8445 (priseborough) ekf2: relax preflight yaw check when possible #8424 (priseborough) cmake NuttX wrapper work around windows cygwin path issues #8397 (dagar) QuadChute monitor tecs height rate #8395 (sanderux) vtol_att_control increase stack by 30 Bytes (1200 -> 1230) #8390 (dagar) px4io delete old v1 battery current and voltage #8353 (dagar) fw_pos_control_l1 increase stack by 100 Bytes #8348 (dagar) Update the Description of the estimator_status Message #8346 (acfloria) nuttx-configs remove cu and mount example #8344 (dagar) cmake nuttx build and link libnet if networking is enabled #8314 (dagar) Scale FW cruise throttle based on baro pressure #8304 (sanderux) Add a driver for the ADIS16448 IMU #8301 (ASM3) add boolean parameters to enable/disable each sensor #8283 (dagar) SDP3x Airspeed Correction #8242 (acfloria) Adaptive quadchute #8144 (sanderux) logger: Add logging profile to support comparison of multiple sensors #8134 (priseborough) RTPS and micro-CDR build system improvements #8084 (dagar) Positon Controller: multiple small refinements #8072 (MaEtUgR) Generate mixers from description of multicopter geometry #8063 (jlecoeur) Check mag sensor for consistency before flight #8039 (priseborough) Acro: SuperExpo Stick Input #8036 (MaEtUgR) sitl: add possibility to not run gazebo when running make #7965 (JonasVautherin) VTOL back transition: check only forward velocity #7948 (sanderux) Factor in reverse pusher delay on mission acceptance radius #7915 (sanderux) FW position failsafe defaults #7894 (dagar) delete control_state and cleanup vehicle_attitude #7882 (dagar) NuttX upgrade split UAVCAN bootloaders into separate repository #7878 (dagar) Reverse pusher delay #7877 (sanderux) Remove thrust_sp from pusher assist calculation #7865 (sanderux) [RFC] Make NuttX drivers cross platform (VDev -> CDev) and MS4525 linux driver #7864 (dagar) Allow position failsafe sensitivity to be adjusted for different platform types #7842 (priseborough) Disable pusher assist for quadchute failsafe and while landing #7782 (sanderux) Support thrust reversal for vtol back transition #7666 (sanderux) commander RTL failsafe should be sticky #7576 (dagar) FW raise min airspeed based on commanded bank #7575 (dagar) FW landing abort use reposition #7574 (dagar) EKF: Enable compensation for static pressure positional error #7264 (priseborough) Fixed bugs: v1.7-rc3 'hangs' for split second after arm/disarm #8413 MC: LowBat RTL Performed at 5m Alt instead of 50m! #8408 ECL__Lib EKF stopping navigation -> Meaning? #8401 MR: uncontrollable altitude gain when engaging auto or rtl #8400 F450 with Pixhawk 1 - f63c821 crash #8398 F450 with Pixhawk 3 Pro v1.7.0-rc3 crash #8392 RTL issues with multiCopter #8389 FW crash v1.7.0-rc2 #8380 PX4 1.6.5 Stbl: Loiter switching BUG. #8376 Potential critical NuttX alignment issue #8367 Fixed Wing reject auto mission #8361 [SubmodulesClean] error 1 #8333 Solo PREFLIGHT FAIL: MAG SENSORS INCONSISTENT #8305 F450 frame with Pixhawk mini crash - v1.7.0-rc1 #8299 Error compiling v1.7.0-rc1 for eagle_default target #8297 krait update param failed #8280 Protocol splitter is not sending any messages on UART #8262 RTL issues with multiCopter #8257 EKF2 Altitude estimation problem on Release 1.6.5 Stable #8256 Bug: Firmware does not build if submodule #8255 sensors voter not using SENS_BARO_QNH #8252 MISSION_ITEM_REACHED not sent in SITL #8245 rsync error when building the px4/firmware #8239 Battery remaining inversed when compensating for load #8198 Travis is not returning current master commit #8197 VTOL crash on V4Pro #8186 HIL: can't arm with latest versions #8176 Possible Lidar "double-correction" bug #8163 Param generation broken #8122 BUG on EKF2 when the PX4Flow goes invalid #8102 PX4_simple_app not in Builtin App List? #8087 Nuttx missing tag nuttx-7.21 in repo #8070 make: *** [px4fmu-v2_default] Error 2 #8034 sitl gazebo error DODECA_TOP_COX #7978 PX4IO calling new off ISR from DMA #7971 Pixhawk i2c bus lost (after missing ACK/NAK ?) #7968 previous main state isn't changing #7947 Logging fails on current master #7911 Gazebo8 protoc version conflict on Mac #7872 Mixer of Bormatec Maja not working in Manual Override #7861 Remove Support for Artistic Style Version 2.05.1 (Ubuntu 16.04) #7818 Land detector issues #7768 vmount causes system freeze #7755 Mag timeout current master #7746 Mission takeoff almost no thrust and does not take off #7737 Pixhawk 2.1 internal/external bus detection #7696 make: *** [px4fmu-v2_default] Error 2 #7612 FW Land mode = crash #7609 Battery Monitor not working on PixHawk Mini #7603 BUG: Code dependent on the compiler #7597 PX4 1.6.3: Strange problem with Airspeed-less transition. #7545 [PixHawk3] Accel1 startup bias huge changes #7541 Pixhawk Pro (V4Pro) Quad near flyaway #7495 Out-of-tree module build is broken #7409 Stuck during mission, if altitude higher than max height #7309 FCU:[lpe] gps fault 0.00120141 0.904114 0.156308 0.10 #7089 Setpoint raw issues Mavros ROS #7068 tailsitter after transiton to FW,can not control, has been flying straight line #7063 no_sim=1 make posix_sitl_default gazebo not work #7059 No RC input px4fmu-v4pro_default #7054 Oscillations on actuators with full thrust and roll ~ 45 degree #7051 LPSP.VZ jump during POSCTL #7048 FTP read file timeouts #6984 Failsafe mode on while in OFFBOARD mode #6982 Compiler is not emitting vsqrt.f32 on ARM Cortex M4F targets #6838 FLAPS: Does not work in 1.6.0 RC1 #6827 Preflight EKF error checking is linked to GPS #6797 Slow optical flow drift in SITL #6772 Pixhawk Pro lockup after mag cal #6712 RC lost with no GPS #6617 SITL stops with negative time #6602 commander: Fix pre-flight delta velocity bias check level #8446 (priseborough) NuttX update to latest 7.22+ with pipes poll fix #8431 (dagar) Fix uncontrolled height gain in hold/loiter mode #8418 (priseborough) mc_pos_control: set triplets to NAN if not in auto mode #8412 (Stifael) Update ekf2 to version with fixes for 1.7.0 release #8406 (priseborough) IO override fix #8384 (LorenzMeier) Potential critical NuttX alignment issue in bss prophylactic fix. #8382 (davids5) Fix vulnerability in pre flight checks and failsafe #8374 (priseborough) Increase fixed-wing l1 navigation radius limit #8365 (AndreasAntener) RTL fix RTL_LAND_DELAY behaviour #8351 (dagar) Removed [cal] references from calibration_log_critical() routines. #8347 (dagar) Merge FMUv3 into FMUv2 #8343 (dagar) fix MISSION_ITEM REACHED message broadcast #8332 (lamping7) simplify param scoping (fix out of tree builds) and fix qurt fc_addon linking #8325 (dagar) cmake nuttx keep builtins generated by nuttx apps #8323 (dagar) sensors remove barometer enabled check for now #8291 (dagar) mc_pos_control: smooth takeoff does not require slewrate #8282 (MaEtUgR) ecl: Update ekf2 to version that addresses known vulnerabilities #8276 (priseborough) integrationtests: fix numpy version problem (broken Jenkins) #8274 (korigod) RTL check alt_max before using #8272 (dagar) Fixed version firmware type #8250 (garfieldG) Fix bugs introduced by PR 8199 #8207 (priseborough) sensor priority after failure and EKF2 bias reset #8199 (dagar) circleci force make distclean before build #8111 (dagar) Navigator fix vehicle_command_ack (and landing abort improvements) #8076 (dagar) Pr altitude max fix #8048 (Stifael) fix and enable all mavlink ftp tests #8012 (dagar) FW att ctrl - Fix vehicle_attitude_setpoint timestamp logging when in stabilized #7803 (bresch) land detector revert FW hysteresis constants and cleanup initialization #7796 (dagar) Fix for manual/automatic micro RTPS bridge generation #7724 (vicentemonge) MPU9250 Reset reorganization (fixes I2C functionality) #7653 (dennisss) Closed issues: px4fmu-v3_default binary naming #8436 Anyone use PC with wifi router to control snapdragon drone with wifi receiver? Without use of a RC? #8429 px4io causing inner loop latency #8414 Issue with "make posix jmavsim" #8388 OFFBOARD mode not accessible with RC or ROS #8387 Multi-vehicle(Swarm UAV) Simulation Error #8368 merge FMUv2 and FMUv3 board support #8342 Feature request #8306 LPE with External Vision Position crash into ceiling while in Altitude Control #8295 How yaw control in fixed-wing mode works #8248 Sky Does not display in jMAVSim #8229 "No Local Position" error on takeoff with plane (SITL Gazebo) (log attached) #8227 Logging custom topics in SITL with gazebo #8224 position lock #8204 Possible to simulate motor failure with Pixhawk in Gazebo?? #8174 things to check before v1.7.0 #8171 make px4fmu-v2_default fail #8169 Posctrl Z position hold with LIDAR and PX4Flow #8151 contents of extras.txt not executed upon boot-up of pixhawk mini #8147 Documentation of the SDP3X model #8140 Rpi: Position flight mode seems not functioning well #8130 **Feature Request** Bring back gimbal stabilisation feature for servo gimbals #8120 Quadrotor having vertical Z up velocity in Altitude hold mode #8109 With respect to the Unit tests and testing the coverage or functionality -- Can i get some basic info regarding as to how to approach and accomplish testing of the entire software firmware built ? #8086 SITL with gazebo and px4 #8068 MC: PWM goes into Saturation in PosCTL #8056 PX4 version on Pixhawk #8025 FMUV5 need to align with SPEKTRUM_POWER API #8024 Documentation of offboard mode #8021 LPE GPS initialization fault when FUSE VISION_POSITION checkbox is enaled #8018 Servo doesn't move #8016 Helicopter Mixer BUG! #8013 The local_position/pose topic's refresh rate is too low #8004 [Bug] mc_pos_control, LAND not to it's current position #7990 Full Parameter Load fails #7961 Single Direction Drift With Optical Flow On LPE #7959 pixhawk i2c deadlock in v1.6.5 #7951 MC: Estimator divergence? #7941 no setting of status->failsafe #7934 Pixhawk X2.1 : No Voltage, nor Amp reading in the QGC. #7931 HMC5883 report x, y doesn't match direction of x_raw, y_raw nor x, y direction of chip #7929 Possibility of dataman database corruption #7927 MC: Add Lightware SF/LW 20 Support #7899 Even though it is normal, dataman worker thread can not be created #7898 modules to consider retiring #7895 make posix gazebo_typhoon_h480 bug, ekf2: exceeded maximum number of file descriptors #7892 Pixhawk default PWM when safety switch is "off" (blinking once) #7887 multi uav simulation using mavros #7886 pixhawk-pi connection #7880 GPS Failure parameters not used #7879 Failed to flash board through terminal and QT #7869 Actuator control doens't work with in mavros #7854 Nuttx Upgrade for 1.8 Release #7852 Assisted and Mission Mode with sudden roll and pitch actuation blowing past limits #7846 PX4 1.6.5 Does not hold heading on Position mode. #7843 I want to try the EKF2_replay function without gps data. What should I do? #7832 Quite different outputs between actuator 0,1 and 2,3 #7823 Rename VDev to CDev #7817 Flight Performance issue with Intel Aero on master #7811 Look at the problem and find the problem. Please. #7807 vmount still causes board freeze-ups #7801 pixhawk 2.1 firmware px4fmu-v3_default has motor_test command problem #7800 Px4flow initial value wrong and does not change in flight #7797 Why did you choose C++ nor C/lua #7793 FastRTPS: Example from http://dev.px4.io stalls after around one second #7780 No PPM when connected to RC IN #7761 motor_test not part of the nsh commands ? #7760 FMUv1 Deprecation Notice and removal from source tree. #7758 Add pyulog to ubuntu_sim_nuttx.sh #7730 ignore me #7726 suddenly drone was fall ... #7719 qgroundcontrol log file. Look at the graph and let me know the problem. #7712 SF1XX driver: sf1xx doesn't appear in /dev #7695 Add SDP3x sensor compensation #7684 MISSION_ITEM_REACHED is not sent #7679 Some questions about "mc_att_control" hope to get help #7675 QML Performance: MissionItemEditor creation expensive #7674 Maxbotix sonar sensor not working #7664 Compilation Error #7661 Is End-To-End Ethernet (Ad Hoc) Control of Pixhawk controller over Wifi possible? #7652 Change of MAV_SYS_ID sends status_text message #7642 The problem in pixhawk stay altitude. #7635 Pixhawk does not connect to QGC [when using XBee link] #7633 Multiple-Vehicles Gazebo Simulation Local Position Estimation (LPE) error #7631 Laser Altimeter and terrain follow. #7630 I want to know code means in ecl_l1_pos_controller.cpp #7629 Flash PX4 onto Crazyflie 2 problem #7624 Potential bug: Unreliable setting of home altitude leading to crash #7623 ROS launch scripts refer to overdefined executables #7619 Snapdragon flight spektrum not receiving #7615 Pixracer external compass not detected #7607 Multi-Vehicle Simulation Error #7596 1.6.4 Stable reported as 1.6.4dev #7592 Position Mode for VTOL in MC Tuning. #7591 Severe horizontal overshots #7566 Run CI with gcc 7 #7539 How to get global yaw with vision heading estimation enabled #7527 HIL broken in 1.6 for multi rotors #7516 [EKF2/Vision] huge local position drift after vision interrupt #7491 Create a new Custom MAVLink Messages , but can not receive it #7448 MC: YAW Mission WP Setting ignored / defaulting to 0° #7437 Listing many Logfiles causes Data Link Lost Message #7436 Issues found with Pixhawk 3 Pro #7431 Inspect SITL on Mac OS #7419 GPS_STATUS message support #7392 Creating new mixer geometry - documentation required #7382 Mission takeoff with rotary wing rejected due to (horizontal) acceptance radius #7379 FW Flashing Stable: wrong reporting. #7378 Unclear firmware version \<=> hardware correspondance in documentation #7324 SITL low acceleration for distant waypoints #7317 Syslink parameter acks broken Crazyflie 2 #7282 Emild reach RTK GPS support #7275 Quad using flow lands, when enabling GPS and being in takeoff (auto) #7251 Access denied to connect to PX4flow in Comm Links. What is the output? #7222 Please have a look at my px4flow test logs #7207 LPE Auto.Takeoff w/o GPS works in Gazebo, but not in real life #7128 Confusions about topics in gazebo_mavlink_interface.cpp. #6909 Revisit Nuttx Build #6881 Land detected after VTOL back transition #6730 Ensure system is not leaking FDs #6606 Merged pull requests: mavlink delete unimplemented #8452 (dagar) Force submodules to update in CI #8450 (dagar) Jenkins remove fast fail #8448 (dagar) submodule improvements #8444 (dagar) Jenkins correctly archive artifacts and print sizes #8443 (dagar) Jenkins add eagle_default build with docker credentials #8442 (dagar) Jenkinsfile small optimizations #8441 (dagar) Mavlink only stream HOME_POSITION if valid #8440 (dagar) cmake nuttx base .px4 file naming on binary #8439 (dagar) px4fmu-v3_default name binary appropriately #8438 (dagar) Jenkins fetch git tags #8435 (dagar) Add forwarding on telem2 normal telemetry option #8434 (sanderux) cmake add git submodule replace . in target name #8433 (dagar) load_mon: remove usage of CONFIG_RAM_SIZE #8432 (bkueng) FMUv5: correct detection of internal mag #8430 (bkueng) Param Save Improvements #8428 (bkueng) cmake improve git submodule dependencies #8426 (dagar) Jenkins clear ccache stats before each build #8425 (dagar) delete old configs #8423 (dagar) Jenkins temporarily disable coverage and clang-tidy #8422 (dagar) [WIP] Jenkins: build posix_sitl_default and nuttx_px4fmu-v5_default under Archlinux (GCC7) #8420 (jlecoeur) Fix gcc7 warnings #8417 (jlecoeur) mc_att_control set timestamp_sample from gyro #8415 (dagar) micrortps_bridge: add optical_flow to the set of received topics #8411 (bkueng) QC improvements #8402 (sanderux) Fix typo error in micrortps_client module #8399 (avinash-palleti) tap_esc: changes needed to run on qurt #8394 (ChristophTobler) Jenkins increase test timeout #8386 (dagar) Jenkins shared ccache for build slaves #8385 (dagar) travis-ci remove tests, coverage, clang-tidy #8383 (dagar) jenkins add all builds #8381 (dagar) delete unused RC_RL1_DSM_VCC #8379 (dagar) vehicle command ROI: do not erroneously report command unsupported #8377 (ndepal) Stop parameter names from wrapping in markdown table #8375 (hamishwillee) sensors delete disabled ATT_VIBE_THRESH #8372 (dagar) delete old modules in examples #8371 (dagar) delete more unused uORB messages #8370 (dagar) FW enable EKF2 synthetic sideslip fusion by default #8360 (dagar) uORB msg delete unused hil_sensor #8356 (dagar) Jenkins clean before building #8352 (dagar) add killswitch (manual_lockdown) to Snapdragon uart ESC #8340 (ChristophTobler) wrap yaw attitude setpoint for offboard mode #8339 (mrivi) Python import error: Recommend pip over apt-get #8338 (jlecoeur) parameters.xml sort parameters by name, sort enums by value #8337 (dagar) travis-ci fix coverity build #8335 (dagar) submodule fixes and improvements #8334 (dagar) Add RTPS cmake config for AeroFC #8328 (avinash-palleti) travis-ci coverity build install python-toml python-numpy #8324 (dagar) only update baro periodically #8322 (sanderux) Change the "mpu9250 test" command output units #8313 (fanchuannangang1503) Change the name of sdlog file in case of differential gps #8311 (fanchuannangang1503) DQ: Better scaling for reverse mixer #8309 (sanderux) Detect external buses on FMU variants correctly and clean up driver implementation #8300 (dagar) fix mc_att_control: re-add dropped acro parameters #8293 (bkueng) ekf2: Update parameter descriptions #8292 (priseborough) Jenkins: update docker image #8286 (jlecoeur) navigator: reset triplets if navigation mode changes #8285 (Stifael) cmake nuttx improvements (windows build + builtins) #8284 (dagar) navigator: make FollowTarget::_follow_position_matricies constexpr #8281 (bkueng) use int32_t instead of int #8279 (ChristophTobler) vtol_att_control: ack transition commands #8264 (julianoes) bmm150 has noting to do with spi bus #8261 (fanchuannangang1503) jMAVSim: update submodule to include fix for VMware driver #8254 (bkueng) Topic_listener: allow multi-topic messages #8241 (jlecoeur) Jenkins track test results #8236 (dagar) EKF2 always publish status message #8234 (dagar) Fix protocol_splitter compilation issues #8230 (avinash-palleti) modules: lpe: small updates and fixes #8226 (TSC21) fix NAV_TRAFF_AVOID param definition: needs a ; #8220 (bkueng) esc_calib properly cleanup on failure #8219 (dagar) mavlink parameters initialize struct #8218 (dagar) travis ci update #8217 (dagar) vmount initialize params #8216 (dagar) sensors ignore invalid failover index #8215 (dagar) Navigator: Add the ability to do a low-altitude RTL to avoid traffic #8214 (LorenzMeier) jenkins don't update devguide and user guide from pipeline #8212 (dagar) Use linux_sbus driver on OcPoC #8211 (davidaroyer) JenkinsFile updates #8210 (dagar) mavlink_receiver: disable ulog streaming via Telemetry links #8209 (bkueng) commander: fix 'commander arm' not working in HIL mode #8208 (bkueng) PX4IO Firmware: Fix usage of new operator in IRQ #8206 (LorenzMeier) Fix follow me position setpoint #8203 (julianoes) circleci fix build reconfigure loop #8202 (dagar) initial Jenkinsfile #8201 (dagar) New Look for jMAVSim #8194 (bkueng) SDP3X: fix comment #8189 (mirkix) modules: lpe: fix double correction on lidar #8188 (TSC21) move bottle_drop to examples #8187 (dagar) px4fmu-v2_default add sf1xx driver #8185 (dagar) reset setpoint to current position #8183 (ChristophTobler) Fix type of MNT_OB_LOCK_MODE and MNT_OB_NORM_MODE parameters #8180 (mdailey) Type-safety for param_get() #8179 (bkueng) add subscriber handler and status displays #8172 (ChristophTobler) Fix bad meta data which is making QGC angry #8166 (DonLakeFlyer) Replace TECS controller with a new version from ECL library #8165 (LorenzMeier) travis-ci fix coverity scan, px4_metadata upload, enable UBSAN build #8156 (dagar) stable: AeroFC important backports #8155 (zehortigoza) Servo gimbal #8149 (mje-nz) navigator: check distances between waypoints #8146 (julianoes) travis-ci allow coverage failures #8145 (dagar) airframe 4040_reaper: fix type to quad h #8143 (bkueng) dataman: Prevent database corruption #8137 (zehortigoza) Mavlink: fix flight information #8136 (bkueng) orb_exists: change semantics from (is published or subscribed) to (is published) #8135 (bkueng) Adding Sugnan as maintainer for Intel Aero #8133 (lfelipe) Add ICM20602 to AUAV-x21 sensor startup #8129 (nkhoit) Logger: add high-rate profile & change profile param into a bitset #8128 (bkueng) Add a few mavlink messages to Typhoon H480 SITL #8125 (julianoes) update ekf #8123 (ChristophTobler) When switching to land in VTOL, update land target during back trans #8119 (sanderux) Build fixes #8115 (lucasdemarchi) IO Mixer Fix #8114 (acfloria) move RTPS to dedicated px4fmu-v{3,4,4pro,5}, posix, sdflight builds #8113 (dagar) cmake fix ctest output on failure for coverage #8112 (dagar) fmu: minor refactoring & fi