mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 17:33:34 +08:00
Merge branch 'beta' into stable
This commit is contained in:
Lorenz Meier
@@ -1,7 +1,15 @@
|
||||
#!nsh
|
||||
#
|
||||
# HILStar
|
||||
# <lorenz@px4.io>
|
||||
# @name HILStar (XPlane)
|
||||
#
|
||||
# @type Simulation
|
||||
#
|
||||
# @output MAIN1 aileron
|
||||
# @output MAIN2 elevator
|
||||
# @output MAIN3 rudder
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Team Blacksheep Discovery Quadcopter
|
||||
# @name Team Blacksheep Discovery Quadcopter
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# 3DR Iris Quadcopter
|
||||
# @name 3DR Iris Quadrotor
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Steadidrone QU4D
|
||||
# @name Steadidrone QU4D
|
||||
#
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,10 +1,12 @@
|
||||
#!nsh
|
||||
#
|
||||
# Team Blacksheep Discovery Long Range Quadcopter
|
||||
# @name Team Blacksheep Discovery Long Range Quadcopter
|
||||
#
|
||||
# Setup: 15 x 5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
|
||||
#
|
||||
# Simon Wilks <simon@px4.io>
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# HobbyKing SK450 DeadCat modification
|
||||
# @name HobbyKing SK450 DeadCat modification
|
||||
#
|
||||
# Anton Matosov <anton.matosov@gmail.com>
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Anton Matosov <anton.matosov@gmail.com>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# HIL Quadcopter X
|
||||
# @name HIL Quadcopter X
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Simulation
|
||||
#
|
||||
# @maintainer Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# HIL Quadcopter +
|
||||
# @name HIL Quadcopter +
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Simulation
|
||||
#
|
||||
# @maintainer Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# HIL Rascal 110 (Flightgear)
|
||||
# @name HIL Rascal 110 (Flightgear)
|
||||
#
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
# @type Simulation
|
||||
#
|
||||
# @maintainer Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# HIL Malolo 1 (Flightgear)
|
||||
# @name HIL Malolo 1 (Flightgear)
|
||||
#
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
# @type Simulation
|
||||
#
|
||||
# @maintainer Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,6 +1,8 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Hexa coaxial geometry
|
||||
# @name Generic Hexa coaxial geometry
|
||||
#
|
||||
# @type Hexarotor Coaxial
|
||||
#
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Octo coaxial geometry
|
||||
# @name Generic 10" Octo coaxial geometry
|
||||
#
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
# @type Octorotor Coaxial
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,7 +1,12 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic configuration file for caipirinha VTOL version
|
||||
# @name Duorotor Tailsitter
|
||||
#
|
||||
# Roman Bapst <bapstr@gmail.com>
|
||||
# Generic configuration file for a tailsitter with motors in tandem configuration.
|
||||
#
|
||||
# @type VTOL Tailsitter
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic configuration file for BirdsEyeView Aerobotics FireFly6
|
||||
# @name BirdsEyeView Aerobotics FireFly6
|
||||
#
|
||||
# Roman Bapst <bapstroman@gmail.com>
|
||||
# @type VTOL Tiltrotor
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -1,7 +1,12 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name Quadrotor X Tailsitter
|
||||
#
|
||||
# Generic configuration file for a tailsitter with motors in X configuration.
|
||||
#
|
||||
# Roman Bapst <bapstroman@gmail.com>
|
||||
# @type VTOL Tailsitter
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -0,0 +1,23 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name Quadrotor + Tailsitter
|
||||
#
|
||||
# Generic configuration file for a tailsitter with motors in X configuration.
|
||||
#
|
||||
# @type VTOL Tailsitter
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.vtol_defaults
|
||||
|
||||
set MIXER quad_+_vtol
|
||||
|
||||
set PWM_OUT 1234
|
||||
set PWM_MAX 2000
|
||||
set PWM_RATE 400
|
||||
set MAV_TYPE 20
|
||||
param set VT_MOT_COUNT 4
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 0
|
||||
param set VT_ELEV_MC_LOCK 1
|
||||
@@ -1,9 +1,12 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic Tricopter Y Geometry
|
||||
# @name Generic Tricopter Y Geometry
|
||||
#
|
||||
# Yaw Servo +Output ==> +Yaw Vehicle Rotation
|
||||
#
|
||||
# Trent Lukaczyk <aerialhedgehog@gmail.com>
|
||||
# @type Tricopter Y+
|
||||
#
|
||||
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,9 +1,12 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic Tricopter Y Geometry
|
||||
# @name Generic Tricopter Y Geometry
|
||||
#
|
||||
# Yaw Servo +Output ==> -Yaw Vehicle Rotation
|
||||
#
|
||||
# Trent Lukaczyk <aerialhedgehog@gmail.com>
|
||||
# @type Tricopter Y-
|
||||
#
|
||||
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,6 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# MPX EasyStar Plane
|
||||
# @name Multiplex Easystar
|
||||
#
|
||||
# @type Standard Plane
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,4 +1,21 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name Standard AERT Plane
|
||||
#
|
||||
# @type Standard Plane
|
||||
#
|
||||
# @output MAIN1 aileron
|
||||
# @output MAIN2 elevator
|
||||
# @output MAIN4 rudder
|
||||
# @output MAIN3 throttle
|
||||
# @output MAIN5 flaps
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
@@ -1,4 +1,21 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name Skywalker (3DR or Generic)
|
||||
#
|
||||
# @type Standard Plane
|
||||
#
|
||||
# @output MAIN1 aileron
|
||||
# @output MAIN2 elevator
|
||||
# @output MAIN4 rudder
|
||||
# @output MAIN3 throttle
|
||||
# @output MAIN5 flaps
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
@@ -1,4 +1,19 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name Skyhunter 1800
|
||||
#
|
||||
# @type Standard Plane
|
||||
#
|
||||
# @output MAIN1 aileron
|
||||
# @output MAIN2 elevator
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
@@ -1,4 +1,21 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name Standard AETR Plane
|
||||
#
|
||||
# @type Standard Plane
|
||||
#
|
||||
# @output MAIN1 aileron
|
||||
# @output MAIN2 elevator
|
||||
# @output MAIN3 throttle
|
||||
# @output MAIN4 rudder
|
||||
# @output MAIN5 flaps
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
@@ -1,4 +1,21 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name IO Camflyer
|
||||
#
|
||||
# @url https://pixhawk.org/platforms/planes/bormatec_camflyer_q
|
||||
#
|
||||
# @type Flying Wing
|
||||
#
|
||||
# @output MAIN1 left aileron
|
||||
# @output MAIN2 right aileron
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
@@ -1,8 +1,20 @@
|
||||
#!nsh
|
||||
#
|
||||
# Phantom FPV Flying Wing
|
||||
# @name Phantom FPV Flying Wing
|
||||
#
|
||||
# Simon Wilks <simon@px4.io>
|
||||
# @url https://pixhawk.org/platforms/planes/z-84_wing_wing
|
||||
#
|
||||
# @type Flying Wing
|
||||
#
|
||||
# @output MAIN1 left aileron
|
||||
# @output MAIN2 right aileron
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,8 +1,20 @@
|
||||
#!nsh
|
||||
#
|
||||
# Skywalker X5 Flying Wing
|
||||
# @name Skywalker X5 Flying Wing
|
||||
#
|
||||
# Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
|
||||
# @url https://pixhawk.org/platforms/planes/skywalker_x5
|
||||
#
|
||||
# @type Flying Wing
|
||||
#
|
||||
# @output MAIN1 left aileron
|
||||
# @output MAIN2 right aileron
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,8 +1,20 @@
|
||||
#!nsh
|
||||
#
|
||||
# Wing Wing (aka Z-84) Flying Wing
|
||||
# @name Wing Wing (aka Z-84) Flying Wing
|
||||
#
|
||||
# Simon Wilks <simon@px4.io>
|
||||
# @url https://pixhawk.org/platforms/planes/z-84_wing_wing
|
||||
#
|
||||
# @type Flying Wing
|
||||
#
|
||||
# @output MAIN1 left aileron
|
||||
# @output MAIN2 right aileron
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# FX-79 Buffalo Flying Wing
|
||||
# @name FX-79 Buffalo Flying Wing
|
||||
#
|
||||
# Simon Wilks <simon@px4.io>
|
||||
# @type Flying Wing
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,8 +1,11 @@
|
||||
#
|
||||
#!nsh
|
||||
#
|
||||
# Viper
|
||||
# @name Viper
|
||||
#
|
||||
# Simon Wilks <simon@px4.io>
|
||||
# @type Flying Wing
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# TBS Caipirinha
|
||||
# @name TBS Caipirinha
|
||||
#
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
# @type Flying Wing
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
@@ -1,8 +1,14 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Quad X geometry
|
||||
# @name Generic Quadrotor X config
|
||||
#
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
# @type Quadrotor x
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,6 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# ARDrone
|
||||
# @name AR.Drone Frame
|
||||
#
|
||||
# @type Quadrotor x
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,14 @@
|
||||
#!nsh
|
||||
#
|
||||
# DJI Flame Wheel F330
|
||||
# @name DJI Flame Wheel F330
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Quadrotor x
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
|
||||
@@ -1,8 +1,14 @@
|
||||
#!nsh
|
||||
#
|
||||
# DJI Flame Wheel F450
|
||||
# @name DJI Flame Wheel F450
|
||||
#
|
||||
# Lorenz Meier <lorenz@px4.io>
|
||||
# @type Quadrotor x
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# F450-sized quadrotor with CAN
|
||||
# @name F450-sized quadrotor with CAN
|
||||
#
|
||||
# Pavel Kirienko <pavel@px4.io>
|
||||
# @type Quadrotor x
|
||||
#
|
||||
# @maintainer Pavel Kirienko <pavel@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
|
||||
@@ -1,11 +1,12 @@
|
||||
#!nsh
|
||||
#
|
||||
# Hobbyking Micro Integrated PCB Quadcopter
|
||||
# @name Hobbyking Micro Integrated PCB Quadcopter
|
||||
# with SimonK ESC firmware and Mystery A1510 motors
|
||||
#
|
||||
# Thomas Gubler <thomas@px4.io>
|
||||
# @type Quadrotor x
|
||||
#
|
||||
# @maintainer Thomas Gubler <thomas@px4.io>
|
||||
#
|
||||
echo "HK Micro PCB Quad"
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
|
||||
|
||||
@@ -1,5 +1,9 @@
|
||||
#!nsh
|
||||
#
|
||||
# @name Axial Racing AX10
|
||||
#
|
||||
# @type Rover
|
||||
#
|
||||
# loading default values for the axialracing ax10
|
||||
#
|
||||
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Quad + geometry
|
||||
# @name Generic 10" Quad + geometry
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Quadrotor +
|
||||
#
|
||||
# @maintainer Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,14 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Hexa X geometry
|
||||
# @name Generic Hexarotor x geometry
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Hexarotor x
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,14 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Hexa + geometry
|
||||
# @name Generic Hexarotor + geometry
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Hexarotor +
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,14 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Octo X geometry
|
||||
# @name Generic Octocopter X geometry
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Octorotor x
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -1,8 +1,14 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic 10" Octo + geometry
|
||||
# @name Generic Octocopter + geometry
|
||||
#
|
||||
# Anton Babushkin <anton@px4.io>
|
||||
# @type Octorotor +
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Anton Babushkin <anton@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -282,6 +282,14 @@ then
|
||||
sh /etc/init.d/13003_quad_tailsitter
|
||||
fi
|
||||
|
||||
#
|
||||
# Tailsitter with 4 motors in + config
|
||||
#
|
||||
if param compare SYS_AUTOSTART 13004
|
||||
then
|
||||
sh /etc/init.d/13004_quad+_tailsitter
|
||||
fi
|
||||
|
||||
#
|
||||
# TriCopter Y Yaw+
|
||||
#
|
||||
|
||||
@@ -0,0 +1,28 @@
|
||||
Mixer for Tailsitter with + motor configuration and elevons
|
||||
===========================================================
|
||||
|
||||
This file defines a single mixer for tailsitter with motors in X configuration. All controls
|
||||
are mixed 100%.
|
||||
|
||||
R: 4+ 10000 10000 10000 0
|
||||
|
||||
# mixer for the elevons
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
# mixer for canard surface
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
# mixer for rudder
|
||||
M: 2
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 1 2 -10000 -10000 0 -10000 10000
|
||||
@@ -0,0 +1 @@
|
||||
This folder contains a python library used by px_process_params.py
|
||||
@@ -0,0 +1 @@
|
||||
__all__ = ["srcscanner", "srcparser", "xmlout", "dokuwikiout", "dokuwikirpc"]
|
||||
@@ -0,0 +1,342 @@
|
||||
import sys
|
||||
import re
|
||||
|
||||
class ParameterGroup(object):
|
||||
"""
|
||||
Single parameter group
|
||||
"""
|
||||
def __init__(self, name):
|
||||
self.name = name
|
||||
self.params = []
|
||||
|
||||
def AddParameter(self, param):
|
||||
"""
|
||||
Add parameter to the group
|
||||
"""
|
||||
self.params.append(param)
|
||||
|
||||
def GetName(self):
|
||||
"""
|
||||
Get parameter group name
|
||||
"""
|
||||
return self.name
|
||||
|
||||
def GetParams(self):
|
||||
"""
|
||||
Returns the parsed list of parameters. Every parameter is a Parameter
|
||||
object. Note that returned object is not a copy. Modifications affect
|
||||
state of the parser.
|
||||
"""
|
||||
return sorted(self.params,
|
||||
key=lambda x: x.GetFieldValue("code"))
|
||||
|
||||
class Parameter(object):
|
||||
"""
|
||||
Single parameter
|
||||
"""
|
||||
|
||||
# Define sorting order of the fields
|
||||
priority = {
|
||||
"board": 9,
|
||||
"short_desc": 8,
|
||||
"long_desc": 7,
|
||||
"min": 5,
|
||||
"max": 4,
|
||||
"unit": 3,
|
||||
# all others == 0 (sorted alphabetically)
|
||||
}
|
||||
|
||||
def __init__(self, name, airframe_type, airframe_id, maintainer):
|
||||
self.fields = {}
|
||||
self.outputs = {}
|
||||
self.name = name
|
||||
self.type = airframe_type
|
||||
self.id = airframe_id
|
||||
self.maintainer = maintainer
|
||||
|
||||
def GetName(self):
|
||||
return self.name
|
||||
|
||||
def GetType(self):
|
||||
return self.type
|
||||
|
||||
def GetId(self):
|
||||
return self.id
|
||||
|
||||
def GetMaintainer(self):
|
||||
return self.maintainer
|
||||
|
||||
def SetField(self, code, value):
|
||||
"""
|
||||
Set named field value
|
||||
"""
|
||||
self.fields[code] = value
|
||||
|
||||
def SetOutput(self, code, value):
|
||||
"""
|
||||
Set named output value
|
||||
"""
|
||||
self.outputs[code] = value
|
||||
|
||||
def GetFieldCodes(self):
|
||||
"""
|
||||
Return list of existing field codes in convenient order
|
||||
"""
|
||||
keys = self.fields.keys()
|
||||
keys = sorted(keys)
|
||||
keys = sorted(keys, key=lambda x: self.priority.get(x, 0), reverse=True)
|
||||
return keys
|
||||
|
||||
def GetFieldValue(self, code):
|
||||
"""
|
||||
Return value of the given field code or None if not found.
|
||||
"""
|
||||
fv = self.fields.get(code)
|
||||
if not fv:
|
||||
# required because python 3 sorted does not accept None
|
||||
return ""
|
||||
return self.fields.get(code)
|
||||
|
||||
def GetOutputCodes(self):
|
||||
"""
|
||||
Return list of existing output codes in convenient order
|
||||
"""
|
||||
keys = self.outputs.keys()
|
||||
keys = sorted(keys)
|
||||
keys = sorted(keys, key=lambda x: self.priority.get(x, 0), reverse=True)
|
||||
return keys
|
||||
|
||||
def GetOutputValue(self, code):
|
||||
"""
|
||||
Return value of the given output code or None if not found.
|
||||
"""
|
||||
fv = self.outputs.get(code)
|
||||
if not fv:
|
||||
# required because python 3 sorted does not accept None
|
||||
return ""
|
||||
return self.outputs.get(code)
|
||||
|
||||
class SourceParser(object):
|
||||
"""
|
||||
Parses provided data and stores all found parameters internally.
|
||||
"""
|
||||
|
||||
re_split_lines = re.compile(r'[\r\n]+')
|
||||
re_comment_start = re.compile(r'^\#\s')
|
||||
re_comment_content = re.compile(r'^\#\s*(.*)')
|
||||
re_comment_tag = re.compile(r'@([a-zA-Z][a-zA-Z0-9_]*)\s*(.*)')
|
||||
re_comment_end = re.compile(r'(.*?)\s*\#\n/')
|
||||
re_cut_type_specifier = re.compile(r'[a-z]+$')
|
||||
re_is_a_number = re.compile(r'^-?[0-9\.]')
|
||||
re_remove_dots = re.compile(r'\.+$')
|
||||
re_remove_carriage_return = re.compile('\n+')
|
||||
|
||||
valid_tags = set(["url", "maintainer", "output", "name", "type"])
|
||||
|
||||
# Order of parameter groups
|
||||
priority = {
|
||||
# All other groups = 0 (sort alphabetically)
|
||||
"Miscellaneous": -10
|
||||
}
|
||||
|
||||
def __init__(self):
|
||||
self.param_groups = {}
|
||||
|
||||
def GetSupportedExtensions(self):
|
||||
"""
|
||||
Returns list of supported file extensions that can be parsed by this
|
||||
parser. The parser uses any extension.
|
||||
"""
|
||||
return [""]
|
||||
|
||||
def Parse(self, path, contents):
|
||||
"""
|
||||
Incrementally parse program contents and append all found airframes
|
||||
to the list.
|
||||
"""
|
||||
|
||||
airframe_id = None
|
||||
airframe_id = path.rsplit('/',1)[1].split('_',1)[0]
|
||||
|
||||
# Skip if not numeric
|
||||
if (not self.IsNumber(airframe_id)):
|
||||
return True
|
||||
|
||||
# This code is essentially a comment-parsing grammar. "state"
|
||||
# represents parser state. It contains human-readable state
|
||||
# names.
|
||||
state = None
|
||||
tags = {}
|
||||
outputs = {}
|
||||
for line in self.re_split_lines.split(contents):
|
||||
line = line.strip()
|
||||
# Ignore empty lines
|
||||
if line == "":
|
||||
continue
|
||||
if state is None and self.re_comment_start.match(line):
|
||||
state = "wait-short"
|
||||
short_desc = None
|
||||
long_desc = None
|
||||
if state is not None and state != "comment-processed":
|
||||
m = self.re_comment_end.search(line)
|
||||
if m:
|
||||
line = m.group(1)
|
||||
last_comment_line = True
|
||||
else:
|
||||
last_comment_line = False
|
||||
m = self.re_comment_content.match(line)
|
||||
if m:
|
||||
comment_content = m.group(1)
|
||||
if comment_content == "":
|
||||
# When short comment ends with empty comment line,
|
||||
# start waiting for the next part - long comment.
|
||||
if state == "wait-short-end":
|
||||
state = "wait-long"
|
||||
else:
|
||||
m = self.re_comment_tag.match(comment_content)
|
||||
if m:
|
||||
tag, desc = m.group(1, 2)
|
||||
if (tag == "output"):
|
||||
key, text = desc.split(' ', 1)
|
||||
outputs[key] = text;
|
||||
else:
|
||||
tags[tag] = desc
|
||||
current_tag = tag
|
||||
state = "wait-tag-end"
|
||||
elif state == "wait-short":
|
||||
# Store first line of the short description
|
||||
short_desc = comment_content
|
||||
state = "wait-short-end"
|
||||
elif state == "wait-short-end":
|
||||
# Append comment line to the short description
|
||||
short_desc += "\n" + comment_content
|
||||
elif state == "wait-long":
|
||||
# Store first line of the long description
|
||||
long_desc = comment_content
|
||||
state = "wait-long-end"
|
||||
elif state == "wait-long-end":
|
||||
# Append comment line to the long description
|
||||
long_desc += "\n" + comment_content
|
||||
elif state == "wait-tag-end":
|
||||
# Append comment line to the tag text
|
||||
tags[current_tag] += "\n" + comment_content
|
||||
else:
|
||||
raise AssertionError(
|
||||
"Invalid parser state: %s" % state)
|
||||
elif not last_comment_line:
|
||||
# Invalid comment line (inside comment, but not starting with
|
||||
# "*" or "*/". Reset parsed content.
|
||||
state = None
|
||||
if last_comment_line:
|
||||
state = "comment-processed"
|
||||
else:
|
||||
state = None
|
||||
|
||||
# Process parsed content
|
||||
airframe_type = None
|
||||
maintainer = "John Doe <john@example.com>"
|
||||
airframe_name = None
|
||||
|
||||
# Done with file, store
|
||||
for tag in tags:
|
||||
if tag == "maintainer":
|
||||
maintainer = tags[tag]
|
||||
elif tag == "type":
|
||||
airframe_type = tags[tag]
|
||||
elif tag == "name":
|
||||
airframe_name = tags[tag]
|
||||
elif tag not in self.valid_tags:
|
||||
sys.stderr.write("Aborting due to invalid documentation tag: '%s'\n" % tag)
|
||||
return False
|
||||
|
||||
# Sanity check
|
||||
if airframe_type == None:
|
||||
sys.stderr.write("Aborting due to missing @type tag in file: '%s'\n" % path)
|
||||
return False
|
||||
|
||||
if airframe_name == None:
|
||||
sys.stderr.write("Aborting due to missing @name tag in file: '%s'\n" % path)
|
||||
return False
|
||||
|
||||
# We already know this is an airframe config, so add it
|
||||
param = Parameter(airframe_name, airframe_type, airframe_id, maintainer)
|
||||
|
||||
# Done with file, store
|
||||
for tag in tags:
|
||||
if tag == "maintainer":
|
||||
maintainer = tags[tag]
|
||||
if tag == "type":
|
||||
airframe_type = tags[tag]
|
||||
if tag == "name":
|
||||
airframe_name = tags[tag]
|
||||
else:
|
||||
param.SetField(tag, tags[tag])
|
||||
|
||||
# Store outputs
|
||||
for output in outputs:
|
||||
param.SetOutput(output, outputs[output])
|
||||
|
||||
# Store the parameter
|
||||
if airframe_type not in self.param_groups:
|
||||
self.param_groups[airframe_type] = ParameterGroup(airframe_type)
|
||||
self.param_groups[airframe_type].AddParameter(param)
|
||||
|
||||
return True
|
||||
|
||||
def IsNumber(self, numberString):
|
||||
try:
|
||||
float(numberString)
|
||||
return True
|
||||
except ValueError:
|
||||
return False
|
||||
|
||||
def Validate(self):
|
||||
"""
|
||||
Validates the airframe meta data.
|
||||
"""
|
||||
seenParamNames = []
|
||||
for group in self.GetParamGroups():
|
||||
for param in group.GetParams():
|
||||
name = param.GetName()
|
||||
board = param.GetFieldValue("board")
|
||||
# Check for duplicates
|
||||
name_plus_board = name + "+" + board
|
||||
for seenParamName in seenParamNames:
|
||||
if seenParamName == name_plus_board:
|
||||
sys.stderr.write("Duplicate parameter definition: {0}\n".format(name_plus_board))
|
||||
return False
|
||||
seenParamNames.append(name_plus_board)
|
||||
# Validate values
|
||||
default = param.GetDefault()
|
||||
min = param.GetFieldValue("min")
|
||||
max = param.GetFieldValue("max")
|
||||
#sys.stderr.write("{0} default:{1} min:{2} max:{3}\n".format(name, default, min, max))
|
||||
if default != "" and not self.IsNumber(default):
|
||||
sys.stderr.write("Default value not number: {0} {1}\n".format(name, default))
|
||||
return False
|
||||
if min != "":
|
||||
if not self.IsNumber(min):
|
||||
sys.stderr.write("Min value not number: {0} {1}\n".format(name, min))
|
||||
return False
|
||||
if default != "" and float(default) < float(min):
|
||||
sys.stderr.write("Default value is smaller than min: {0} default:{1} min:{2}\n".format(name, default, min))
|
||||
return False
|
||||
if max != "":
|
||||
if not self.IsNumber(max):
|
||||
sys.stderr.write("Max value not number: {0} {1}\n".format(name, max))
|
||||
return False
|
||||
if default != "" and float(default) > float(max):
|
||||
sys.stderr.write("Default value is larger than max: {0} default:{1} max:{2}\n".format(name, default, max))
|
||||
return False
|
||||
return True
|
||||
|
||||
def GetParamGroups(self):
|
||||
"""
|
||||
Returns the parsed list of parameters. Every parameter is a Parameter
|
||||
object. Note that returned object is not a copy. Modifications affect
|
||||
state of the parser.
|
||||
"""
|
||||
groups = self.param_groups.values()
|
||||
groups = sorted(groups, key=lambda x: x.GetName())
|
||||
groups = sorted(groups, key=lambda x: self.priority.get(x.GetName(), 0), reverse=True)
|
||||
return groups
|
||||
@@ -0,0 +1,37 @@
|
||||
import os
|
||||
import re
|
||||
import codecs
|
||||
|
||||
class SourceScanner(object):
|
||||
"""
|
||||
Traverses directory tree, reads all source files, and passes their contents
|
||||
to the Parser.
|
||||
"""
|
||||
|
||||
def ScanDir(self, srcdir, parser):
|
||||
"""
|
||||
Scans provided path and passes all found contents to the parser using
|
||||
parser.Parse method.
|
||||
"""
|
||||
extensions = tuple(parser.GetSupportedExtensions())
|
||||
for dirname, dirnames, filenames in os.walk(srcdir):
|
||||
for filename in filenames:
|
||||
if filename.endswith(extensions):
|
||||
path = os.path.join(dirname, filename)
|
||||
if not self.ScanFile(path, parser):
|
||||
return False
|
||||
return True
|
||||
|
||||
def ScanFile(self, path, parser):
|
||||
"""
|
||||
Scans provided file and passes its contents to the parser using
|
||||
parser.Parse method.
|
||||
"""
|
||||
with codecs.open(path, 'r', 'utf-8') as f:
|
||||
try:
|
||||
contents = f.read()
|
||||
except:
|
||||
contents = ''
|
||||
print('Failed reading file: %s, skipping content.' % path)
|
||||
pass
|
||||
return parser.Parse(path, contents)
|
||||
@@ -0,0 +1,82 @@
|
||||
import xml.etree.ElementTree as ET
|
||||
import codecs
|
||||
|
||||
def indent(elem, level=0):
|
||||
i = "\n" + level*" "
|
||||
if len(elem):
|
||||
if not elem.text or not elem.text.strip():
|
||||
elem.text = i + " "
|
||||
if not elem.tail or not elem.tail.strip():
|
||||
elem.tail = i
|
||||
for elem in elem:
|
||||
indent(elem, level+1)
|
||||
if not elem.tail or not elem.tail.strip():
|
||||
elem.tail = i
|
||||
else:
|
||||
if level and (not elem.tail or not elem.tail.strip()):
|
||||
elem.tail = i
|
||||
|
||||
class XMLOutput():
|
||||
|
||||
def __init__(self, groups, board):
|
||||
xml_parameters = ET.Element("airframes")
|
||||
xml_version = ET.SubElement(xml_parameters, "version")
|
||||
xml_version.text = "1"
|
||||
last_param_name = ""
|
||||
board_specific_param_set = False
|
||||
for group in groups:
|
||||
xml_group = ET.SubElement(xml_parameters, "airframe_group")
|
||||
xml_group.attrib["name"] = group.GetName()
|
||||
if (group.GetName() == "Standard Plane"):
|
||||
xml_group.attrib["image"] = "AirframeStandardPlane.png"
|
||||
elif (group.GetName() == "Flying Wing"):
|
||||
xml_group.attrib["image"] = "AirframeFlyingWing.png"
|
||||
elif (group.GetName() == "Quadrotor x"):
|
||||
xml_group.attrib["image"] = "AirframeQuadRotorX.png"
|
||||
elif (group.GetName() == "Quadrotor +"):
|
||||
xml_group.attrib["image"] = "AirframeQuadRotorPlus.png"
|
||||
elif (group.GetName() == "Hexa x"):
|
||||
xml_group.attrib["image"] = "AirframeHexaRotorX.png"
|
||||
elif (group.GetName() == "Hexa +"):
|
||||
xml_group.attrib["image"] = "AirframeHexaRotorPlus.png"
|
||||
elif (group.GetName() == "Octo +"):
|
||||
xml_group.attrib["image"] = "AirframeOctoRotorPlus.png"
|
||||
elif (group.GetName() == "Octo X"):
|
||||
xml_group.attrib["image"] = "AirframeOctoRotorX.png"
|
||||
elif (group.GetName() == "Quadrotor H"):
|
||||
xml_group.attrib["image"] = "AirframeQuadRotorH.png"
|
||||
elif (group.GetName() == "Simulation"):
|
||||
xml_group.attrib["image"] = "AirframeSimulation.png"
|
||||
else:
|
||||
xml_group.attrib["image"] = "AirframeStandardPlane.png"
|
||||
for param in group.GetParams():
|
||||
if (last_param_name == param.GetName() and not board_specific_param_set) or last_param_name != param.GetName():
|
||||
xml_param = ET.SubElement(xml_group, "airframe")
|
||||
xml_param.attrib["name"] = param.GetName()
|
||||
xml_param.attrib["id"] = param.GetId()
|
||||
xml_param.attrib["maintainer"] = param.GetMaintainer()
|
||||
last_param_name = param.GetName()
|
||||
for code in param.GetFieldCodes():
|
||||
value = param.GetFieldValue(code)
|
||||
if code == "board":
|
||||
if value == board:
|
||||
board_specific_param_set = True
|
||||
xml_field = ET.SubElement(xml_param, code)
|
||||
xml_field.text = value
|
||||
else:
|
||||
xml_group.remove(xml_param)
|
||||
else:
|
||||
xml_field = ET.SubElement(xml_param, code)
|
||||
xml_field.text = value
|
||||
for code in param.GetOutputCodes():
|
||||
value = param.GetOutputValue(code)
|
||||
xml_field = ET.SubElement(xml_param, "output")
|
||||
xml_field.attrib["name"] = code
|
||||
xml_field.text = value
|
||||
if last_param_name != param.GetName():
|
||||
board_specific_param_set = False
|
||||
indent(xml_parameters)
|
||||
self.xml_document = ET.ElementTree(xml_parameters)
|
||||
|
||||
def Save(self, filename):
|
||||
self.xml_document.write(filename, encoding="UTF-8")
|
||||
Executable
+100
@@ -0,0 +1,100 @@
|
||||
#!/usr/bin/env python
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2013-2015 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
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# PX4 airframe config processor (main executable file)
|
||||
#
|
||||
# This tool scans the PX4 source code for declarations of airframes
|
||||
#
|
||||
# Currently supported formats are:
|
||||
# * XML for the parametric UI generator
|
||||
#
|
||||
#
|
||||
|
||||
from __future__ import print_function
|
||||
import sys
|
||||
import os
|
||||
import argparse
|
||||
from px4airframes import srcscanner, srcparser, xmlout
|
||||
|
||||
def main():
|
||||
# Parse command line arguments
|
||||
parser = argparse.ArgumentParser(description="Process airframe documentation.")
|
||||
parser.add_argument("-a", "--airframes-path",
|
||||
default="../ROMFS/px4fmu_common",
|
||||
metavar="PATH",
|
||||
help="path to source files to scan for parameters")
|
||||
parser.add_argument("-x", "--xml",
|
||||
nargs='?',
|
||||
const="airframes.xml",
|
||||
metavar="FILENAME",
|
||||
help="Create XML file"
|
||||
" (default FILENAME: airframes.xml)")
|
||||
parser.add_argument("-b", "--board",
|
||||
nargs='?',
|
||||
const="",
|
||||
metavar="BOARD",
|
||||
help="Board to create airframes xml for")
|
||||
args = parser.parse_args()
|
||||
|
||||
# Check for valid command
|
||||
if not (args.xml):
|
||||
print("Error: You need to specify at least one output method!\n")
|
||||
parser.print_usage()
|
||||
sys.exit(1)
|
||||
|
||||
# Initialize source scanner and parser
|
||||
scanner = srcscanner.SourceScanner()
|
||||
parser = srcparser.SourceParser()
|
||||
|
||||
# Scan directories, and parse the files
|
||||
print("Scanning source path " + args.airframes_path)
|
||||
if not scanner.ScanDir(args.airframes_path, parser):
|
||||
sys.exit(1)
|
||||
# We can't validate yet
|
||||
# if not parser.Validate():
|
||||
# sys.exit(1)
|
||||
param_groups = parser.GetParamGroups()
|
||||
|
||||
# Output to XML file
|
||||
if args.xml:
|
||||
print("Creating XML file " + args.xml)
|
||||
out = xmlout.XMLOutput(param_groups, args.board)
|
||||
out.Save(args.xml)
|
||||
|
||||
print("All done!")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -496,7 +496,7 @@ $(PRODUCT_BUNDLE): $(PRODUCT_BIN)
|
||||
@$(ECHO) %% Generating $@
|
||||
ifdef GEN_PARAM_XML
|
||||
$(Q) $(PYTHON) $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
|
||||
$(Q) $(COPY) $(PX4_BASE)/Tools/airframes.xml $(WORK_DIR)/airframes.xml
|
||||
$(Q) $(PYTHON) $(PX4_BASE)/Tools/px_process_airframes.py -a $(PX4_BASE)/ROMFS/px4fmu_common/init.d --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
|
||||
$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
|
||||
--git_identity $(PX4_BASE) \
|
||||
--parameter_xml $(PRODUCT_PARAMXML) \
|
||||
|
||||
Reference in New Issue
Block a user