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luft27
2015-08-03 15:37:39 +03:00
parent bcc7b3d110 5fd88f4d3e
commit 0ba1774fcb
390 changed files with 15141 additions and 6508 deletions
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.gitignore
+1
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@@ -51,3 +51,4 @@ xcode
src/platforms/posix/px4_messages/
src/platforms/posix-arm/px4_messages/
src/platforms/qurt/px4_messages/
ROMFS/*/*/rc.autostart
.travis.yml
+1
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@@ -18,6 +18,7 @@ addons:
- build-essential
- ccache
- cmake
- clang-3.5
- g++-4.8
- gcc-4.8
- genromfs
Documentation/px4_hil/SITL_Diagram.png
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Documentation/px4_hil/UserGuide.md
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[TOC]
# Introduction
The HIL architecture allows you to test the flight stack replacing the real physical vehicle and sensors with a simulator of vehicle dynamics and sensor outputs. The flight stack "is not aware" that it is not on a real vehicle. This is a powerful tool for develping and testing code rapidly in a benchtop environment.
The flight stack can be run anywhere that supports a network connection to the simulator (with sufficient bandwidth and latency to transport the sensor and actuator messages). This can be on a standard linux workstation, an on-target linux image, or the on-target DSP image. These modes can be selected based on the goals of the testing. Workstation is useful for rapid testing in a tool-rich environment. DSP image testing is the closest to the final implementation, so is useful for testing actual HW operation, other than the physical sensing and actuation.
## Px4 High-level HIL Architecture
A diagram of the setup described is shown here. Note that UDP port numbers are only displayed on the socket server and are left blank on the socket client.
(???NOTES: This diagram needs to be updated to use control inputs over UDP, either from QGC or from other)
![SITL Diagram](./SITL_Diagram_QGC.png "SITL Diagram")
## Requirements
The simulator that is currently supported is jMAVSim. The setup described here requires PX4 and jMAVSim installed and running. qGroundControl (QGC) is also required because it is the supported method of providing manual control commands.
## Assumptions
# Compiling Code
## JMAVSim
### Platform Requirements
Linux with java-1.7.x or greater
### Build Instructions
In a clean directory
```
> git clone https://github.com/PX4/jMAVSim.git
> cd jMAVSim
> git submodule init
> git submodule update
> ant
```
## qGroundControl
### Platform Requirements
Windows 7
Logitech Gamepad F310 joystick controller
### Download/Install Instructions
Download QGC from http://qgroundcontrol.org/downloads and install using the windows executable.
## PX4
### Platfrom Requirements
Linux or Eagle with a working IP interface (?? does this need further instructions?)
### Build Host Requirements
(???Notes: Windows?)
### Download & Build Instructions
### Installing binaries on the Qualcomm Target
# Running PX4 in HIL Mode
## Starting PX4 on Qualcomm Eagle
```
> adb shell
# bash
root@linaro-developer:/# cd ???
root@linaro-developer:/# ./mainapp
App name: mainapp
Enter a command and its args:
uorb start
muorb start
mavlink start -u 14556
simulator start -p
```
## Starting jMAVSim
In the directory where jMAVSim is installed
```
java -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp <IPADDR>:14560 -n 100
```
replacing <IPADDR> with the IP address of the machine running PX4 (Eagle). This can be found by running "ifconfig" on that machine.
## Starting qGroundControl
Launch the qGroundControl application
1. Set up the communication to the flight stack. In the menu File:Settings:CommLinks, select Add. Enter a Link Name of your choice. Select Link Type: UDP. Set the listening port to an unused port (example: 14561). Select Add. Enter the IP address and port of the PX4 Mavlink app, which is <IPADDR>:14556 with <IPADDR> being the IP address of the Eagle board. Select OK.
1. Set up the joystick. Plug in the joystick to your Windows machine. In the menu File:Settings:CommLinks, check Enable Controllers. Select "Gamepad F310". Select "Manual". Set the axes/channel mapping to 0:Yaw, 1:Throttle, 2:unset, 3:Pitch, 4:Roll. Seletct "Inverted" for the throttle axis. Click "Calibrate range". Move the right joystick through its full range of motion. Move the left joystick full left then full right. Move the left joystick full forward (but not full backward). Click "end calibration."
1. Connect to the flight stack. Click Analyze. Click the "Connect" button in the upper right, and select the connection that you created in the first step.
You should now be connected to the flight stack. You can see incoming Mavlink packets using the MAVLink Instpector (from Advanced:Tool Widgets)
## Controlling PX4 flight in HIL Mode
The joystick can now be used to fly the simulated vehicle. The jMAVSim world visualization gives a FPV view, and QGC can be used to display instruments such as artificial horizon and maps (if GPS simulation is enabled).
# Debugging/FAQ
Documentation/px4_hil/docs/readme.txt
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Documentation/px4_hil/px4_hil.doxyfile
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Makefile
+12 -7
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@@ -169,6 +169,7 @@ TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/$(PX4_TARGET_OS)/px4_messages
MULTIPLATFORM_PREFIX = px4_
TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
MULTI_TOPICHEADER_TEMP_DIR = $(BUILD_DIR)multi_topics_temporary
GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
@@ -181,9 +182,7 @@ generateuorbtopicheaders: checksubmodules
@$(ECHO) "Generating multiplatform uORB topic wrapper headers"
$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
# clean up temporary files
$(Q) (rm -r $(TOPICHEADER_TEMP_DIR))
-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(MULTI_TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
#
# Testing targets
@@ -194,16 +193,20 @@ testbuild:
nuttx posix posix-arm qurt:
ifeq ($(GOALS),)
make PX4_TARGET_OS=$@ $(GOALS)
$(MAKE) PX4_TARGET_OS=$@ $(GOALS)
else
export PX4_TARGET_OS=$@
endif
sitlrun:
Tools/sitl_run.sh
sitl_quad:
$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rcS
sitl_quad_gazebo:
$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros
sitl_plane:
$(Q) Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing
qurtrun:
make PX4_TARGET_OS=qurt sim
$(MAKE) PX4_TARGET_OS=qurt sim
#
# Unittest targets. Builds and runs the host-level
@@ -227,6 +230,8 @@ clean:
$(Q) $(RMDIR) $(BUILD_DIR)*.build
$(Q) $(RMDIR) $(PX4_VERSIONING_DIR)
$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
$(Q) $(RMDIR) $(TOPICHEADER_TEMP_DIR)
$(Q) $(RMDIR) $(MULTI_TOPICHEADER_TEMP_DIR)
.PHONY: distclean
distclean: clean
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil
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@@ -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
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
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@@ -1,8 +1,10 @@
#!nsh
#
# Team Blacksheep Discovery Quadcopter
# @name Team Blacksheep Discovery
#
# 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
ROMFS/px4fmu_common/init.d/10016_3dr_iris
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@@ -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
ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
+6 -5
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@@ -1,24 +1,25 @@
#!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
if [ $AUTOCNF == yes ]
then
# TODO tune roll/pitch separately
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_P 0.19
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 2.8
param set MC_YAW_P 4.0
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
ROMFS/px4fmu_common/init.d/10018_tbs_endurance
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@@ -1,10 +1,10 @@
#!nsh
#
# Team Blacksheep Discovery Long Range Quadcopter
#
# Setup: 15 x 5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
# @name Team Blacksheep Discovery Endurance
#
# Simon Wilks <simon@px4.io>
# @type Quadrotor Wide
#
# @maintainer Simon Wilks <simon@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
+8 -6
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@@ -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
@@ -10,13 +12,13 @@ sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 6.0
param set MC_ROLLRATE_P 0.04
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.03
param set MC_ROLLRATE_D 0.0015
param set MC_PITCH_P 6.0
param set MC_PITCHRATE_P 0.08
param set MC_PITCHRATE_I 0.2
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.03
param set MC_PITCHRATE_D 0.0015
param set MC_YAW_P 2.8
ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil
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@@ -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
ROMFS/px4fmu_common/init.d/10020_3dr_quad
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@@ -0,0 +1,30 @@
#!nsh
#
# @name 3DR DIY Quad
#
# @type Quadrotor x
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.1
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 6.0
param set MC_PITCHRATE_P 0.16
param set MC_PITCHRATE_I 0.09
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 4
fi
set MIXER quad_x
set PWM_OUT 1234
set PWM_MIN 1100
set PWM_MAX 1950
ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil
+4 -2
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@@ -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
ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil
+4 -2
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@@ -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
ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+4 -2
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@@ -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
ROMFS/px4fmu_common/init.d/11001_hexa_cox
+4 -2
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@@ -1,8 +1,10 @@
#!nsh
#
# Generic 10" Hexa coaxial geometry
# @name Generic Hexa coaxial geometry
#
# Lorenz Meier <lorenz@px4.io>
# @type Hexarotor Coaxial
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/12001_octo_cox
+4 -2
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@@ -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
ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
+6 -2
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@@ -1,7 +1,10 @@
#!nsh
#
# Generic configuration file for caipirinha VTOL version
# @name Duorotor Tailsitter
#
# Roman Bapst <bapstr@ethz.ch>
# @type VTOL Tailsitter
#
# @maintainer Roman Bapst <roman@px4.io>
#
sh /etc/init.d/rc.vtol_defaults
@@ -13,3 +16,4 @@ set PWM_MAX 2000
set PWM_RATE 400
param set VT_MOT_COUNT 2
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
ROMFS/px4fmu_common/init.d/13002_firefly6
+5 -2
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@@ -1,8 +1,10 @@
#!nsh
#
# Generic configuration file for BirdsEyeView Aerobotics FireFly6
# @name BirdsEyeView Aerobotics FireFly6
#
# Roman Bapst <romanbapst@yahoo.de>
# @type VTOL Tiltrotor
#
# @maintainer Roman Bapst <roman@px4.io>
#
sh /etc/init.d/rc.vtol_defaults
@@ -41,3 +43,4 @@ set MAV_TYPE 21
param set VT_MOT_COUNT 6
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 1
ROMFS/px4fmu_common/init.d/13003_quad_tailsitter
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@@ -0,0 +1,21 @@
#!nsh
#
# @name Quadrotor X Tailsitter
#
# @type VTOL Tailsitter
#
# @maintainer Roman Bapst <roman@px4.io>
#
sh /etc/init.d/rc.vtol_defaults
set MIXER quad_x_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
ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
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@@ -0,0 +1,21 @@
#!nsh
#
# @name Quadrotor + Tailsitter
#
# @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
ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+
+4 -3
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@@ -1,9 +1,10 @@
#!nsh
#
# Generic Tricopter Y Geometry
# Yaw Servo +Output ==> +Yaw Vehicle Rotation
# @name Generic Tricopter Y+ Geometry
#
# Trent Lukaczyk <aerialhedgehog@gmail.com>
# @type Tricopter Y+
#
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/14002_tri_y_yaw-
+4 -3
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@@ -1,9 +1,10 @@
#!nsh
#
# Generic Tricopter Y Geometry
# Yaw Servo +Output ==> -Yaw Vehicle Rotation
# @name Generic Tricopter Y- Geometry
#
# Trent Lukaczyk <aerialhedgehog@gmail.com>
# @type Tricopter Y-
#
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
#
sh /etc/init.d/rc.mc_defaults
ROMFS/px4fmu_common/init.d/2100_mpx_easystar
+5 -1
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@@ -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
ROMFS/px4fmu_common/init.d/2101_fw_AERT
+22
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@@ -0,0 +1,22 @@
#!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
set MIXER AERT
ROMFS/px4fmu_common/init.d/2101_hk_bixler
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@@ -1,5 +0,0 @@
#!nsh
sh /etc/init.d/rc.fw_defaults
set MIXER AERT
ROMFS/px4fmu_common/init.d/2102_3dr_skywalker
+17
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@@ -1,4 +1,21 @@
#!nsh
#
# @name Skywalker (3DR Aero)
#
# @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
ROMFS/px4fmu_common/init.d/2103_skyhunter_1800
+15
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@@ -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
ROMFS/px4fmu_common/init.d/2104_fw_AETR
+22
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@@ -0,0 +1,22 @@
#!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
set MIXER AETR
ROMFS/px4fmu_common/init.d/3030_io_camflyer
+39
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@@ -1,7 +1,46 @@
#!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
if [ $AUTOCNF == yes ]
then
param set FW_AIRSPD_MAX 15
param set FW_AIRSPD_MIN 10
param set FW_AIRSPD_TRIM 13
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 16
param set FW_LND_ANG 15
param set FW_LND_FLALT 5
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.08
param set FW_RR_FF 0.6
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.04
fi
set MIXER Q
# Provide ESC a constant 1000 us pulse while disarmed
set PWM_OUT 4
ROMFS/px4fmu_common/init.d/3031_phantom
+14 -4
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@@ -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
@@ -16,14 +28,12 @@ then
param set FW_L1_DAMPING 0.75
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.2
param set FW_PR_I 0.005
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_ROLLFF 1
param set FW_RR_FF 0.5
param set FW_RR_I 0.02
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.08
param set FW_R_LIM 50
ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+24 -14
View File
@@ -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
@@ -14,18 +26,16 @@ then
param set FW_AIRSPD_MAX 40
param set FW_ATT_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 15
param set FW_PR_FF 0.3
param set FW_PR_I 0
param set FW_PR_IMAX 0.2
param set FW_PR_P 0.03
param set FW_P_ROLLFF 1
param set FW_RR_FF 0.3
param set FW_RR_I 0
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.03
param set FW_R_LIM 60
param set FW_R_RMAX 0
param set FW_L1_PERIOD 16
param set FW_LND_ANG 15
param set FW_LND_FLALT 5
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_RR_FF 0.6
param set FW_RR_P 0.04
fi
set MIXER X5
ROMFS/px4fmu_common/init.d/3033_wingwing
+14 -17
View File
@@ -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
@@ -23,23 +35,8 @@ then
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_PR_I 0.005
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.08
param set FW_RR_FF 0.6
param set FW_RR_I 0.005
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.04
param set MT_TKF_PIT_MAX 30.0
param set MT_ACC_D 0.2
param set MT_ACC_P 0.6
param set MT_A_LP 0.5
param set MT_PIT_OFF 0.1
param set MT_PIT_I 0.1
param set MT_THR_OFF 0.65
param set MT_THR_I 0.35
param set MT_THR_P 0.2
param set MT_THR_FF 1.5
fi
set MIXER wingwing
ROMFS/px4fmu_common/init.d/3034_fx79
+4 -2
View File
@@ -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
ROMFS/px4fmu_common/init.d/3035_viper
+5 -2
View File
@@ -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
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+12 -7
View File
@@ -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
@@ -22,19 +24,22 @@ then
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_PR_I 0.01
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.08
param set FW_RR_FF 0.6
param set FW_RR_I 0.01
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.04
param set SYS_COMPANION 157600
param set PWM_MAIN_REV0 1
param set PWM_MAIN_REV1 1
param set PWM_DISARMED 0
param set PWM_MIN 900
param set PWM_MAX 2100
fi
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
set MIXER caipi
# Provide ESC a constant 1000 us pulse
set PWM_OUT 4
set PWM_DISARMED 1000
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/4001_quad_x
+8 -2
View File
@@ -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
ROMFS/px4fmu_common/init.d/4008_ardrone
+5 -1
View File
@@ -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
ROMFS/px4fmu_common/init.d/4010_dji_f330
+17 -6
View File
@@ -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
@@ -10,18 +16,23 @@ sh /etc/init.d/4001_quad_x
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
# DJI ESCs do not support calibration and need a higher min
param set PWM_MIN 1230
fi
set PWM_MIN 1200
set PWM_MAX 1950
# Transitional support: ensure suitable PWM min/max param values
if param compare PWM_MIN 1075
then
param set PWM_MIN 1230
fi
ROMFS/px4fmu_common/init.d/4011_dji_f450
+20 -9
View File
@@ -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
@@ -11,18 +17,23 @@ if [ $AUTOCNF == yes ]
then
# TODO REVIEW
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_P 0.16
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_D 0.01
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_P 0.16
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_D 0.01
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
# DJI ESCs do not support calibration and need a higher min
param set PWM_MIN 1230
fi
set PWM_MIN 1230
set PWM_MAX 1950
# Transitional support: ensure suitable PWM min/max param values
if param compare PWM_MIN 1075
then
param set PWM_MIN 1230
fi
ROMFS/px4fmu_common/init.d/4012_quad_x_can
+10 -9
View File
@@ -1,26 +1,27 @@
#!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
if [ $AUTOCNF == yes ]
then
# TODO REVIEW
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_P 0.16
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_D 0.01
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_P 0.16
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_D 0.01
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_P 0.3
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
fi
ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+4 -4
View File
@@ -1,11 +1,11 @@
#!nsh
#
# Hobbyking Micro Integrated PCB Quadcopter
# with SimonK ESC firmware and Mystery A1510 motors
# @name Hobbyking Micro PCB
#
# 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
ROMFS/px4fmu_common/init.d/50001_axialracing_ax10
+3 -2
View File
@@ -1,9 +1,10 @@
#!nsh
#
# loading default values for the axialracing ax10
# @name Axial Racing AX10
#
# @type Rover
#
#load some defaults e.g. PWM values
sh /etc/init.d/rc.axialracing_ax10_defaults
#choose a mixer, for rover control we need a plain passthrough to the servos
ROMFS/px4fmu_common/init.d/5001_quad_+
+4 -2
View File
@@ -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
ROMFS/px4fmu_common/init.d/6001_hexa_x
+8 -2
View File
@@ -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
ROMFS/px4fmu_common/init.d/7001_hexa_+
+8 -2
View File
@@ -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
ROMFS/px4fmu_common/init.d/8001_octo_x
+8 -2
View File
@@ -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
ROMFS/px4fmu_common/init.d/9001_octo_+
+8 -2
View File
@@ -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
ROMFS/px4fmu_common/init.d/rc.autostart
-296
View File
@@ -1,296 +0,0 @@
#
# SYS_AUTOSTART = 0 means no autostart (default)
#
# AUTOSTART PARTITION:
# 0 .. 999 Reserved (historical)
# 1000 .. 1999 Simulation setups
# 2000 .. 2999 Standard planes
# 3000 .. 3999 Flying wing
# 4000 .. 4999 Quad X
# 5000 .. 5999 Quad +
# 6000 .. 6999 Hexa X
# 7000 .. 7999 Hexa +
# 8000 .. 8999 Octo X
# 9000 .. 9999 Octo +
# 10000 .. 10999 Wide arm / H frame
# 11000 .. 11999 Hexa Cox
# 12000 .. 12999 Octo Cox
# 13000 .. 13999 VTOL
# 14000 .. 14999 Tri Y
#
# Simulation
#
if param compare SYS_AUTOSTART 901
then
sh /etc/init.d/901_bottle_drop_test.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 1000
then
sh /etc/init.d/1000_rc_fw_easystar.hil
fi
if param compare SYS_AUTOSTART 1001
then
sh /etc/init.d/1001_rc_quad_x.hil
fi
if param compare SYS_AUTOSTART 1003
then
sh /etc/init.d/1003_rc_quad_+.hil
fi
if param compare SYS_AUTOSTART 1004
then
sh /etc/init.d/1004_rc_fw_Rascal110.hil
fi
if param compare SYS_AUTOSTART 1005
then
sh /etc/init.d/1005_rc_fw_Malolo1.hil
fi
#
# Plane
#
if param compare SYS_AUTOSTART 2100 100
then
sh /etc/init.d/2100_mpx_easystar
set MODE custom
fi
if param compare SYS_AUTOSTART 2101 101
then
sh /etc/init.d/2101_hk_bixler
set MODE custom
fi
if param compare SYS_AUTOSTART 2102 102
then
sh /etc/init.d/2102_3dr_skywalker
set MODE custom
fi
if param compare SYS_AUTOSTART 2103 103
then
sh /etc/init.d/2103_skyhunter_1800
set MODE custom
fi
#
# Flying wing
#
if param compare SYS_AUTOSTART 3030 30
then
sh /etc/init.d/3030_io_camflyer
fi
if param compare SYS_AUTOSTART 3031 31
then
sh /etc/init.d/3031_phantom
fi
if param compare SYS_AUTOSTART 3032 32
then
sh /etc/init.d/3032_skywalker_x5
fi
if param compare SYS_AUTOSTART 3033 33
then
sh /etc/init.d/3033_wingwing
fi
if param compare SYS_AUTOSTART 3034 34
then
sh /etc/init.d/3034_fx79
fi
if param compare SYS_AUTOSTART 3035 35
then
sh /etc/init.d/3035_viper
fi
if param compare SYS_AUTOSTART 3100
then
sh /etc/init.d/3100_tbs_caipirinha
fi
#
# Quad X
#
if param compare SYS_AUTOSTART 4001
then
sh /etc/init.d/4001_quad_x
fi
#
# ARDrone
#
if param compare SYS_AUTOSTART 4008 8
then
sh /etc/init.d/4008_ardrone
fi
if param compare SYS_AUTOSTART 4010 10
then
sh /etc/init.d/4010_dji_f330
fi
if param compare SYS_AUTOSTART 4011 11
then
sh /etc/init.d/4011_dji_f450
fi
if param compare SYS_AUTOSTART 4012
then
sh /etc/init.d/4012_quad_x_can
fi
if param compare SYS_AUTOSTART 4020
then
sh /etc/init.d/4020_hk_micro_pcb
fi
#
# Quad +
#
if param compare SYS_AUTOSTART 5001
then
sh /etc/init.d/5001_quad_+
fi
#
# Hexa X
#
if param compare SYS_AUTOSTART 6001
then
sh /etc/init.d/6001_hexa_x
fi
#
# Hexa +
#
if param compare SYS_AUTOSTART 7001
then
sh /etc/init.d/7001_hexa_+
fi
#
# Octo X
#
if param compare SYS_AUTOSTART 8001
then
sh /etc/init.d/8001_octo_x
fi
#
# Octo +
#
if param compare SYS_AUTOSTART 9001
then
sh /etc/init.d/9001_octo_+
fi
#
# Wide arm / H frame
#
if param compare SYS_AUTOSTART 10015 15
then
sh /etc/init.d/10015_tbs_discovery
fi
if param compare SYS_AUTOSTART 10016 16
then
sh /etc/init.d/10016_3dr_iris
fi
if param compare SYS_AUTOSTART 10017
then
sh /etc/init.d/10017_steadidrone_qu4d
fi
if param compare SYS_AUTOSTART 10018 18
then
sh /etc/init.d/10018_tbs_endurance
fi
if param compare SYS_AUTOSTART 10019
then
sh /etc/init.d/10019_sk450_deadcat
fi
#
# Hexa Coaxial
#
if param compare SYS_AUTOSTART 11001
then
sh /etc/init.d/11001_hexa_cox
fi
#
# Octo Coaxial
#
if param compare SYS_AUTOSTART 12001
then
sh /etc/init.d/12001_octo_cox
fi
# 13000 is historically reserved for the quadshot
#
# VTOL Caipririnha (Tailsitter)
#
if param compare SYS_AUTOSTART 13001
then
sh /etc/init.d/13001_caipirinha_vtol
fi
#
# VTOL BirdsEyeView FireFly x6 (Tilt-Rotor)
#
if param compare SYS_AUTOSTART 13002
then
sh /etc/init.d/13002_firefly6
fi
#
# TriCopter Y Yaw+
#
if param compare SYS_AUTOSTART 14001
then
sh /etc/init.d/14001_tri_y_yaw+
fi
#
# TriCopter Y Yaw-
#
if param compare SYS_AUTOSTART 14002
then
sh /etc/init.d/14002_tri_y_yaw-
fi
#
# Ground Rover AxialRacing AX10
#
if param compare SYS_AUTOSTART 50001
then
sh /etc/init.d/50001_axialracing_ax10
fi
ROMFS/px4fmu_common/init.d/rc.fw_defaults
+10 -2
View File
@@ -17,9 +17,17 @@ then
param set FW_T_TIME_CONST 5
param set PE_VELNE_NOISE 0.3
param set PE_VELD_NOISE 0.5
param set PE_VELD_NOISE 0.35
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 0.5
param set PE_POSD_NOISE 1.0
param set PE_GBIAS_PNOISE 0.000001
param set PE_ABIAS_PNOISE 0.0002
fi
# This is the gimbal pass mixer
set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1500
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000
ROMFS/px4fmu_common/init.d/rc.mc_defaults
+32 -37
View File
@@ -4,51 +4,46 @@ set VEHICLE_TYPE mc
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.1
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MPC_THR_MAX 1.0
param set MPC_THR_MIN 0.1
param set MPC_XY_P 1.0
param set MPC_XY_VEL_P 0.1
param set MPC_XY_VEL_I 0.02
param set MPC_XY_VEL_D 0.01
param set MPC_XY_VEL_MAX 5
param set MPC_XY_FF 0.5
param set MPC_Z_P 1.0
param set MPC_Z_VEL_P 0.1
param set MPC_Z_VEL_I 0.02
param set MPC_Z_VEL_D 0.0
param set MPC_Z_VEL_MAX 3
param set MPC_Z_FF 0.5
param set MPC_TILTMAX_AIR 45.0
param set MPC_TILTMAX_LND 15.0
param set MPC_LAND_SPEED 1.0
param set PE_VELNE_NOISE 0.5
param set PE_VELD_NOISE 0.7
param set PE_VELD_NOISE 0.35
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.0
param set PE_POSD_NOISE 1.25
param set PE_GBIAS_PNOISE 0.000001
param set PE_ABIAS_PNOISE 0.0001
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set PWM_DISARMED 900
param set PWM_MIN 1075
param set PWM_MAX 1950
fi
# Transitional support: ensure suitable PWM min/max param values
if param compare PWM_MIN 1000
then
param set PWM_MIN 1075
fi
if param compare PWM_MAX 2000
then
param set PWM_MAX 1950
fi
if param compare PWM_DISARMED 0
then
param set PWM_DISARMED 900
fi
# set environment variables (!= parameters)
set PWM_RATE 400
set PWM_DISARMED 900
set PWM_MIN 1075
set PWM_MAX 2000
# tell the mixer to use parameters for these instead
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
# This is the gimbal pass mixer
set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1500
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000
ROMFS/px4fmu_common/init.d/rc.sensors
+1 -12
View File
@@ -111,21 +111,10 @@ else
fi
# Check for flow sensor
if px4flow start
if px4flow start &
then
fi
if param compare SENS_EN_LL40LS 1
then
if pwm_input start
then
fi
if ll40ls start pwm
then
fi
fi
#
# Start sensors
#
ROMFS/px4fmu_common/init.d/rc.vtol_apps
+1 -1
View File
@@ -4,7 +4,7 @@
# att & pos estimator, att & pos control.
#
attitude_estimator_ekf start
attitude_estimator_q start
#ekf_att_pos_estimator start
position_estimator_inav start
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+2 -2
View File
@@ -34,9 +34,9 @@ then
param set FW_RR_P 0.02
param set PE_VELNE_NOISE 0.5
param set PE_VELD_NOISE 0.7
param set PE_VELD_NOISE 0.3
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.0
param set PE_POSD_NOISE 1.25
param set PE_GBIAS_PNOISE 0.000001
param set PE_ABIAS_PNOISE 0.0001
fi
ROMFS/px4fmu_common/init.d/rcS
+24 -6
View File
@@ -451,19 +451,30 @@ then
fi
fi
# Start sensors depending on the interface being up
if param compare SENS_EN_LL40LS 1
then
if pwm_input start
then
if ll40ls start pwm
then
fi
fi
fi
if [ $MAVLINK_F == default ]
then
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
if [ $TTYS1_BUSY == yes ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
set MAVLINK_F "-r 1000 -d /dev/ttyS0"
set MAVLINK_F "-r 1200 -d /dev/ttyS0"
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
# Start MAVLink on default port: ttyS1
set MAVLINK_F "-r 1000"
set MAVLINK_F "-r 1200"
fi
fi
@@ -479,11 +490,11 @@ then
# but this works for now
if param compare SYS_COMPANION 921600
then
mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 20000
mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 80000 -x
fi
if param compare SYS_COMPANION 57600
then
mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 1000
mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 5000 -x
fi
if param compare SYS_COMPANION 157600
then
@@ -564,7 +575,7 @@ then
fi
if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
then
set MAV_TYPE 2
set MAV_TYPE 15
fi
if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
then
@@ -588,6 +599,7 @@ then
if [ $MAV_TYPE == none ]
then
echo "Unknown MAV_TYPE"
param set MAV_TYPE 2
else
param set MAV_TYPE $MAV_TYPE
fi
@@ -631,6 +643,7 @@ then
if [ $MAV_TYPE == none ]
then
echo "Unknown MAV_TYPE"
param set MAV_TYPE 19
else
param set MAV_TYPE $MAV_TYPE
fi
@@ -661,6 +674,8 @@ then
then
sh /etc/init.d/rc.axialracing_ax10_apps
fi
param set MAV_TYPE 10
fi
unset MIXER
@@ -697,7 +712,7 @@ then
fi
unset EXIT_ON_END
# Run no SD alarm last
# Run no SD alarm
if [ $LOG_FILE == /dev/null ]
then
echo "[i] No microSD card found"
@@ -705,6 +720,9 @@ then
tone_alarm error
fi
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
mavlink boot_complete
# End of autostart
fi
ROMFS/px4fmu_common/mixers/AETR.main.mix
+84
View File
@@ -0,0 +1,84 @@
Aileron/Elevator/Throttle/Rudder mixer for PX4FMU
==================================================
This file defines mixers suitable for controlling a fixed wing aircraft with
aileron, rudder, elevator and throttle controls using PX4FMU. The configuration
assumes the aileron servo(s) are connected to PX4FMU servo output 0, the
elevator to output 1, the throttle to output 2 and the rudder to output 3.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch) and 3 (thrust).
Aileron mixer
-------------
Two scalers total (output, roll).
This mixer assumes that the aileron servos are set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
As there is only one output, if using two servos adjustments to compensate for
differences between the servos must be made mechanically. To obtain the correct
motion using a Y cable, the servos can be positioned reversed from one another.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
Elevator mixer
------------
Two scalers total (output, roll).
This mixer assumes that the elevator servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 -10000 -10000 0 -10000 10000
Motor speed mixer
-----------------
Two scalers total (output, thrust).
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Rudder mixer
------------
Two scalers total (output, yaw).
This mixer assumes that the rudder servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
Gimbal / flaps / payload mixer for last four channels,
using the payload control group
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 2 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 2 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 2 3 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/firefly6.aux.mix
+2 -2
View File
@@ -11,12 +11,12 @@ Elevon mixers
-------------
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 7500 7500 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 7500 7500 0 -10000 10000
S: 1 0 -7500 -7500 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
Landing gear mixer
ROMFS/px4fmu_common/mixers/quad_+_vtol.main.mix
+28
View File
@@ -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: 1
O: 10000 10000 0 -10000 10000
S: 1 1 -10000 -10000 0 -10000 10000
# mixer for rudder
M: 1
O: 10000 10000 0 -10000 10000
S: 1 2 -10000 -10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
+18
View File
@@ -0,0 +1,18 @@
Mixer for Tailsitter with x motor configuration and elevons
===========================================================
This file defines a single mixer for tailsitter with motors in X configuration. All controls
are mixed 100%.
R: 4x 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
ROMFS/px4fmu_test/mixers/IO_pass.mix
+24
View File
@@ -0,0 +1,24 @@
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000
Tools/Matlab/ellipsoid_fit.m
+174
View File
@@ -0,0 +1,174 @@
% Copyright (c) 2009, Yury Petrov
% All rights reserved.
%
% Redistribution and use in source and binary forms, with or without
% modification, are permitted provided that the following conditions are
% met:
%
% * Redistributions of source code must retain the above copyright
% notice, this list of conditions and the following disclaimer.
% * 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
%
% 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.
%
function [ center, radii, evecs, v ] = ellipsoid_fit( X, flag, equals )
%
% Fit an ellispoid/sphere to a set of xyz data points:
%
% [center, radii, evecs, pars ] = ellipsoid_fit( X )
% [center, radii, evecs, pars ] = ellipsoid_fit( [x y z] );
% [center, radii, evecs, pars ] = ellipsoid_fit( X, 1 );
% [center, radii, evecs, pars ] = ellipsoid_fit( X, 2, 'xz' );
% [center, radii, evecs, pars ] = ellipsoid_fit( X, 3 );
%
% Parameters:
% * X, [x y z] - Cartesian data, n x 3 matrix or three n x 1 vectors
% * flag - 0 fits an arbitrary ellipsoid (default),
% - 1 fits an ellipsoid with its axes along [x y z] axes
% - 2 followed by, say, 'xy' fits as 1 but also x_rad = y_rad
% - 3 fits a sphere
%
% Output:
% * center - ellispoid center coordinates [xc; yc; zc]
% * ax - ellipsoid radii [a; b; c]
% * evecs - ellipsoid radii directions as columns of the 3x3 matrix
% * v - the 9 parameters describing the ellipsoid algebraically:
% Ax^2 + By^2 + Cz^2 + 2Dxy + 2Exz + 2Fyz + 2Gx + 2Hy + 2Iz = 1
%
% Author:
% Yury Petrov, Northeastern University, Boston, MA
%
error( nargchk( 1, 3, nargin ) ); % check input arguments
if nargin == 1
flag = 0; % default to a free ellipsoid
end
if flag == 2 && nargin == 2
equals = 'xy';
end
if size( X, 2 ) ~= 3
error( 'Input data must have three columns!' );
else
x = X( :, 1 );
y = X( :, 2 );
z = X( :, 3 );
end
% need nine or more data points
if length( x ) < 9 && flag == 0
error( 'Must have at least 9 points to fit a unique ellipsoid' );
end
if length( x ) < 6 && flag == 1
error( 'Must have at least 6 points to fit a unique oriented ellipsoid' );
end
if length( x ) < 5 && flag == 2
error( 'Must have at least 5 points to fit a unique oriented ellipsoid with two axes equal' );
end
if length( x ) < 3 && flag == 3
error( 'Must have at least 4 points to fit a unique sphere' );
end
if flag == 0
% fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Dxy + 2Exz + 2Fyz + 2Gx + 2Hy + 2Iz = 1
D = [ x .* x, ...
y .* y, ...
z .* z, ...
2 * x .* y, ...
2 * x .* z, ...
2 * y .* z, ...
2 * x, ...
2 * y, ...
2 * z ]; % ndatapoints x 9 ellipsoid parameters
elseif flag == 1
% fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Gx + 2Hy + 2Iz = 1
D = [ x .* x, ...
y .* y, ...
z .* z, ...
2 * x, ...
2 * y, ...
2 * z ]; % ndatapoints x 6 ellipsoid parameters
elseif flag == 2
% fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Gx + 2Hy + 2Iz = 1,
% where A = B or B = C or A = C
if strcmp( equals, 'yz' ) || strcmp( equals, 'zy' )
D = [ y .* y + z .* z, ...
x .* x, ...
2 * x, ...
2 * y, ...
2 * z ];
elseif strcmp( equals, 'xz' ) || strcmp( equals, 'zx' )
D = [ x .* x + z .* z, ...
y .* y, ...
2 * x, ...
2 * y, ...
2 * z ];
else
D = [ x .* x + y .* y, ...
z .* z, ...
2 * x, ...
2 * y, ...
2 * z ];
end
else
% fit sphere in the form A(x^2 + y^2 + z^2) + 2Gx + 2Hy + 2Iz = 1
D = [ x .* x + y .* y + z .* z, ...
2 * x, ...
2 * y, ...
2 * z ]; % ndatapoints x 4 sphere parameters
end
% solve the normal system of equations
v = ( D' * D ) \ ( D' * ones( size( x, 1 ), 1 ) );
% find the ellipsoid parameters
if flag == 0
% form the algebraic form of the ellipsoid
A = [ v(1) v(4) v(5) v(7); ...
v(4) v(2) v(6) v(8); ...
v(5) v(6) v(3) v(9); ...
v(7) v(8) v(9) -1 ];
% find the center of the ellipsoid
center = -A( 1:3, 1:3 ) \ [ v(7); v(8); v(9) ];
% form the corresponding translation matrix
T = eye( 4 );
T( 4, 1:3 ) = center';
% translate to the center
R = T * A * T';
% solve the eigenproblem
[ evecs evals ] = eig( R( 1:3, 1:3 ) / -R( 4, 4 ) );
radii = sqrt( 1 ./ diag( evals ) );
else
if flag == 1
v = [ v(1) v(2) v(3) 0 0 0 v(4) v(5) v(6) ];
elseif flag == 2
if strcmp( equals, 'xz' ) || strcmp( equals, 'zx' )
v = [ v(1) v(2) v(1) 0 0 0 v(3) v(4) v(5) ];
elseif strcmp( equals, 'yz' ) || strcmp( equals, 'zy' )
v = [ v(2) v(1) v(1) 0 0 0 v(3) v(4) v(5) ];
else % xy
v = [ v(1) v(1) v(2) 0 0 0 v(3) v(4) v(5) ];
end
else
v = [ v(1) v(1) v(1) 0 0 0 v(2) v(3) v(4) ];
end
center = ( -v( 7:9 ) ./ v( 1:3 ) )';
gam = 1 + ( v(7)^2 / v(1) + v(8)^2 / v(2) + v(9)^2 / v(3) );
radii = ( sqrt( gam ./ v( 1:3 ) ) )';
evecs = eye( 3 );
end
Tools/Matlab/plot_mag.m
+77
View File
@@ -0,0 +1,77 @@
%
% Tool for plotting mag data
%
% Reference values:
% telem> [cal] mag #0 off: x:0.15 y:0.07 z:0.14 Ga
% MATLAB: x:0.1581 y: 0.0701 z: 0.1439 Ga
% telem> [cal] mag #0 scale: x:1.10 y:0.97 z:1.02
% MATLAB: 0.5499, 0.5190, 0.4907
%
% telem> [cal] mag #1 off: x:-0.18 y:0.11 z:-0.09 Ga
% MATLAB: x:-0.1827 y:0.1147 z:-0.0848 Ga
% telem> [cal] mag #1 scale: x:1.00 y:1.00 z:1.00
% MATLAB: 0.5122, 0.5065, 0.4915
%
%
% User-guided values:
%
% telem> [cal] mag #0 off: x:0.12 y:0.09 z:0.14 Ga
% telem> [cal] mag #0 scale: x:0.88 y:0.99 z:0.95
% telem> [cal] mag #1 off: x:-0.18 y:0.11 z:-0.09 Ga
% telem> [cal] mag #1 scale: x:1.00 y:1.00 z:1.00
close all;
clear all;
plot_scale = 0.8;
xmax = plot_scale;
xmin = -xmax;
ymax = plot_scale;
ymin = -ymax;
zmax = plot_scale;
zmin = -zmax;
mag0_raw = load('../../mag0_raw3.csv');
mag1_raw = load('../../mag1_raw3.csv');
mag0_cal = load('../../mag0_cal3.csv');
mag1_cal = load('../../mag1_cal3.csv');
fm0r = figure();
mag0_x_scale = 0.88;
mag0_y_scale = 0.99;
mag0_z_scale = 0.95;
plot3(mag0_raw(:,1), mag0_raw(:,2), mag0_raw(:,3), '*r');
[mag0_raw_center, mag0_raw_radii, evecs, pars ] = ellipsoid_fit( [mag0_raw(:,1) mag0_raw(:,2) mag0_raw(:,3)] );
mag0_raw_center
mag0_raw_radii
axis([xmin xmax ymin ymax zmin zmax])
viscircles([mag0_raw_center(1), mag0_raw_center(2)], [mag0_raw_radii(1)]);
fm1r = figure();
plot3(mag1_raw(:,1), mag1_raw(:,2), mag1_raw(:,3), '*r');
[center, radii, evecs, pars ] = ellipsoid_fit( [mag1_raw(:,1) mag1_raw(:,2) mag1_raw(:,3)] );
center
radii
axis([xmin xmax ymin ymax zmin zmax])
fm0c = figure();
plot3(mag0_cal(:,1) .* mag0_x_scale, mag0_cal(:,2) .* mag0_y_scale, mag0_cal(:,3) .* mag0_z_scale, '*b');
[mag0_cal_center, mag0_cal_radii, evecs, pars ] = ellipsoid_fit( [mag1_raw(:,1) .* mag0_x_scale mag1_raw(:,2) .* mag0_y_scale mag1_raw(:,3) .* mag0_z_scale] );
mag0_cal_center
mag0_cal_radii
axis([xmin xmax ymin ymax zmin zmax])
viscircles([0, 0], [mag0_cal_radii(3)]);
fm1c = figure();
plot3(mag1_cal(:,1), mag1_cal(:,2), mag1_cal(:,3), '*b');
axis([xmin xmax ymin ymax zmin zmax])
[center, radii, evecs, pars ] = ellipsoid_fit( [mag1_raw(:,1) mag1_raw(:,2) mag1_raw(:,3)] );
viscircles([0, 0], [radii(3)]);
mag0_x_scale_matlab = 1 / (mag0_cal_radii(1) / mag0_raw_radii(1))
mag0_y_scale_matlab = 1 / (mag0_cal_radii(2) / mag0_raw_radii(2))
mag0_z_scale_matlab = 1 / (mag0_cal_radii(3) / mag0_raw_radii(3))
Tools/airframes.xml
+13
View File
@@ -0,0 +1,13 @@
<?xml version='1.0' encoding='UTF-8'?>
<airframes>
<version>1</version>
<airframe_group name="StandardPlane" image="AirframeStandardPlane.png">
<airframe name="Multiplex Easystar 1/2" id="2100"/>
<airframe name="Generic AERT" id="2101"/>
</airframe_group>
<airframe_group name="QuadRotorX" image="AirframeQuadRotorX.png">
<airframe name="Generic 10 inch Quad" id="4001"/>
<airframe name="DJI F330 8 inch Quad" id="4010"/>
<airframe name="DJI F450 10 inch Quad" id="4011"/>
</airframe_group>
</airframes>
Tools/dist/vehicle_configs.xml
Vendored
+23
View File
@@ -0,0 +1,23 @@
<?xml version='1.0' encoding='UTF-8'?>
<vehicle_configs>
<vehicle class="multirotor" rotors="4" geometry="x" propeller_diameter="8" weight="1.0" id="4010">
<title>Standard 8" Prop Quadrotor (x)</title>
<short_desc>Standard quadrotor configuration in x configuration for 8-" propellers</short_desc>
<mixer>/etc/mixers/quad_x.main.mix</mixer>
</vehicle>
<vehicle class="multirotor" rotors="4" geometry="+" propeller_diameter="8" weight="1.0" id="5001">
<title>Standard 8" Prop Quadrotor (+)</title>
<short_desc>Standard quadrotor configuration in + configuration for 8-" propellers</short_desc>
<mixer>/etc/mixers/quad_+.main.mix</mixer>
</vehicle>
<vehicle class="multirotor" rotors="4" geometry="x" propeller_diameter="10" weight="1.5" id="4011">
<title>Standard 8" Prop Quadrotor (x)</title>
<short_desc>Standard quadrotor configuration in x configuration for 8-" propellers</short_desc>
<mixer>/etc/mixers/quad_x.main.mix</mixer>
</vehicle>
<vehicle class="fixed_wing" wingspan="0.85" elevons="yes" ailerons="no" rudder="no" weight="1.5" id="3033">
<title>Zeta Science Wing Wing Z-84</title>
<short_desc>Configuration for a small flying wing.</short_desc>
<mixer>/etc/mixers/wingwing.main.mix</mixer>
</vehicle>
</vehicle_configs>
Tools/posix.gdbinit
+2
View File
@@ -0,0 +1,2 @@
handle SIGCONT nostop
run
Tools/px4airframes/README.md
+1
View File
@@ -0,0 +1 @@
This folder contains a python library used by px_process_params.py
Tools/px4airframes/__init__.py
+1
View File
@@ -0,0 +1 @@
__all__ = ["srcscanner", "srcparser", "xmlout", "rcout"]
Tools/px4airframes/rcout.py
+54
View File
@@ -0,0 +1,54 @@
from xml.sax.saxutils import escape
import codecs
class RCOutput():
def __init__(self, groups, board):
result = ( "#\n"
"#\n"
"# THIS FILE IS AUTO-GENERATED. DO NOT EDIT!\n"
"#\n"
"#\n"
"# SYS_AUTOSTART = 0 means no autostart (default)\n"
"#\n"
"# AUTOSTART PARTITION:\n"
"# 0 .. 999 Reserved (historical)\n"
"# 1000 .. 1999 Simulation setups\n"
"# 2000 .. 2999 Standard planes\n"
"# 3000 .. 3999 Flying wing\n"
"# 4000 .. 4999 Quadrotor x\n"
"# 5000 .. 5999 Quadrotor +\n"
"# 6000 .. 6999 Hexarotor x\n"
"# 7000 .. 7999 Hexarotor +\n"
"# 8000 .. 8999 Octorotor x\n"
"# 9000 .. 9999 Octorotor +\n"
"# 10000 .. 10999 Quadrotor Wide arm / H frame\n"
"# 11000 .. 11999 Hexa Cox\n"
"# 12000 .. 12999 Octo Cox\n"
"# 13000 .. 13999 VTOL\n"
"# 14000 .. 14999 Tri Y\n"
"\n")
for group in groups:
result += "# GROUP: %s\n\n" % group.GetName()
for param in group.GetParams():
path = param.GetPath().rsplit('/', 1)[1]
id_val = param.GetId()
name = param.GetFieldValue("short_desc")
long_desc = param.GetFieldValue("long_desc")
result += "#\n"
result += "# %s\n" % param.GetName()
result += "if param compare SYS_AUTOSTART %s\n" % id_val
result += "then\n"
result += "\tsh /etc/init.d/%s\n" % path
result += "fi\n"
#if long_desc is not None:
# result += "# %s\n" % long_desc
result += "\n"
result += "\n"
self.output = result;
def Save(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
f.write(self.output)
Tools/px4airframes/srcparser.py
+346
View File
@@ -0,0 +1,346 @@
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, path, name, airframe_type, airframe_id, maintainer):
self.fields = {}
self.outputs = {}
self.path = path
self.name = name
self.type = airframe_type
self.id = airframe_id
self.maintainer = maintainer
def GetPath(self):
return self.path
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(path, 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
Tools/px4airframes/srcscanner.py
+37
View File
@@ -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)
Tools/px4airframes/xmlout.py
+84
View File
@@ -0,0 +1,84 @@
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() == "Hexarotor x"):
xml_group.attrib["image"] = "AirframeHexaRotorX.png"
elif (group.GetName() == "Hexarotor +"):
xml_group.attrib["image"] = "AirframeHexaRotorPlus.png"
elif (group.GetName() == "Octorotor +"):
xml_group.attrib["image"] = "AirframeOctoRotorPlus.png"
elif (group.GetName() == "Octorotor x"):
xml_group.attrib["image"] = "AirframeOctoRotorX.png"
elif (group.GetName() == "Quadrotor Wide"):
xml_group.attrib["image"] = "AirframeQuadRotorH.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"] = ""
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")
Tools/px4params/srcparser.py
+63 -35
View File
@@ -101,6 +101,7 @@ class SourceParser(object):
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(["group", "board", "min", "max", "unit"])
@@ -188,12 +189,20 @@ class SourceParser(object):
if last_comment_line:
state = "comment-processed"
else:
tp = None
name = None
defval = ""
# Non-empty line outside the comment
m = self.re_parameter_definition.match(line)
if m:
tp, name, defval = m.group(1, 2, 3)
else:
m = self.re_px4_parameter_definition.match(line)
if m:
tp, name = m.group(1, 2)
if tp is not None:
# Remove trailing type specifier from numbers: 0.1f => 0.1
if self.re_is_a_number.match(defval):
if defval != "" and self.re_is_a_number.match(defval):
defval = self.re_cut_type_specifier.sub('', defval)
param = Parameter(name, tp, defval)
param.SetField("short_desc", name)
@@ -202,52 +211,71 @@ class SourceParser(object):
group = "Miscellaneous"
if state == "comment-processed":
if short_desc is not None:
param.SetField("short_desc",
self.re_remove_dots.sub('', short_desc))
param.SetField("short_desc", self.re_remove_dots.sub('', short_desc))
if long_desc is not None:
long_desc = self.re_remove_carriage_return.sub(' ', long_desc)
param.SetField("long_desc", long_desc)
for tag in tags:
if tag == "group":
group = tags[tag]
elif tag not in self.valid_tags:
sys.stderr.write("Skipping invalid "
"documentation tag: '%s'\n" % tag)
sys.stderr.write("Skipping invalid documentation tag: '%s'\n" % tag)
return False
else:
param.SetField(tag, tags[tag])
# Store the parameter
if group not in self.param_groups:
self.param_groups[group] = ParameterGroup(group)
self.param_groups[group].AddParameter(param)
else:
# Nasty code dup, but this will all go away soon, so quick and dirty (DonLakeFlyer)
m = self.re_px4_parameter_definition.match(line)
if m:
tp, name = m.group(1, 2)
param = Parameter(name, tp)
param.SetField("short_desc", name)
# If comment was found before the parameter declaration,
# inject its data into the newly created parameter.
group = "Miscellaneous"
if state == "comment-processed":
if short_desc is not None:
param.SetField("short_desc",
self.re_remove_dots.sub('', short_desc))
if long_desc is not None:
param.SetField("long_desc", long_desc)
for tag in tags:
if tag == "group":
group = tags[tag]
elif tag not in self.valid_tags:
sys.stderr.write("Skipping invalid "
"documentation tag: '%s'\n" % tag)
else:
param.SetField(tag, tags[tag])
# Store the parameter
if group not in self.param_groups:
self.param_groups[group] = ParameterGroup(group)
self.param_groups[group].AddParameter(param)
# Reset parsed comment.
state = None
state = None
return True
def IsNumber(self, numberString):
try:
float(numberString)
return True
except ValueError:
return False
def Validate(self):
"""
Validates the parameter 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):
"""
Tools/px4params/srcscanner.py
+5 -3
View File
@@ -17,8 +17,10 @@ class SourceScanner(object):
for dirname, dirnames, filenames in os.walk(srcdir):
for filename in filenames:
if filename.endswith(extensions):
path = os.path.join(dirname, filename)
self.ScanFile(path, parser)
path = os.path.join(dirname, filename)
if not self.ScanFile(path, parser):
return False
return True
def ScanFile(self, path, parser):
"""
@@ -32,4 +34,4 @@ class SourceScanner(object):
contents = ''
print('Failed reading file: %s, skipping content.' % path)
pass
parser.Parse(contents)
return parser.Parse(contents)
Tools/px_generate_uorb_topic_headers.py
+35 -8
View File
@@ -93,6 +93,30 @@ def convert_dir(inputdir, outputdir, templatedir):
"""
Converts all .msg files in inputdir to uORB header files
"""
# Find the most recent modification time in input dir
maxinputtime = 0
for f in os.listdir(inputdir):
fni = os.path.join(inputdir, f)
if os.path.isfile(fni):
it = os.path.getmtime(fni)
if it > maxinputtime:
maxinputtime = it;
# Find the most recent modification time in output dir
maxouttime = 0
if os.path.isdir(outputdir):
for f in os.listdir(outputdir):
fni = os.path.join(outputdir, f)
if os.path.isfile(fni):
it = os.path.getmtime(fni)
if it > maxouttime:
maxouttime = it;
# Do not generate if nothing changed on the input
if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
return False
includepath = incl_default + [':'.join([package, inputdir])]
for f in os.listdir(inputdir):
# Ignore hidden files
@@ -109,6 +133,8 @@ def convert_dir(inputdir, outputdir, templatedir):
templatedir,
includepath)
return True
def copy_changed(inputdir, outputdir, prefix=''):
"""
@@ -129,14 +155,16 @@ def copy_changed(inputdir, outputdir, prefix=''):
shutil.copy(fni, fno)
print("{0}: new header file".format(f))
continue
# The file exists in inputdir and outputdir
# only copy if contents do not match
if not filecmp.cmp(fni, fno):
shutil.copy(fni, fno)
print("{0}: updated".format(f))
continue
print("{0}: unchanged".format(f))
if os.path.getmtime(fni) > os.path.getmtime(fno):
# The file exists in inputdir and outputdir
# only copy if contents do not match
if not filecmp.cmp(fni, fno):
shutil.copy(fni, fno)
print("{0}: updated".format(f))
continue
#print("{0}: unchanged".format(f))
def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
@@ -146,7 +174,6 @@ def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
"""
# Create new headers in temporary output directory
convert_dir(inputdir, temporarydir, templatedir)
# Copy changed headers from temporary dir to output dir
copy_changed(temporarydir, outputdir, prefix)
Tools/px_mkfw.py
+6
View File
@@ -74,6 +74,7 @@ parser.add_argument("--summary", action="store", help="set a brief description")
parser.add_argument("--description", action="store", help="set a longer description")
parser.add_argument("--git_identity", action="store", help="the working directory to check for git identity")
parser.add_argument("--parameter_xml", action="store", help="the parameters.xml file")
parser.add_argument("--airframe_xml", action="store", help="the airframes.xml file")
parser.add_argument("--image", action="store", help="the firmware image")
args = parser.parse_args()
@@ -107,6 +108,11 @@ if args.parameter_xml != None:
bytes = f.read()
desc['parameter_xml_size'] = len(bytes)
desc['parameter_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
if args.airframe_xml != None:
f = open(args.airframe_xml, "rb")
bytes = f.read()
desc['airframe_xml_size'] = len(bytes)
desc['airframe_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
if args.image != None:
f = open(args.image, "rb")
bytes = f.read()
Tools/px_process_airframes.py
Executable
+110
View File
@@ -0,0 +1,110 @@
#!/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, rcout
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("-s", "--start-script",
nargs='?',
const="rc.autostart",
metavar="FILENAME",
help="Create start script file")
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) and not (args.start_script):
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)
if args.start_script:
print("Creating start script " + args.start_script)
out = rcout.RCOutput(param_groups, args.board)
out.Save(args.start_script)
print("All done!")
if __name__ == "__main__":
main()
Tools/px_process_params.py
+4 -1
View File
@@ -115,7 +115,10 @@ def main():
# Scan directories, and parse the files
print("Scanning source path " + args.src_path)
scanner.ScanDir(args.src_path, parser)
if not scanner.ScanDir(args.src_path, parser):
sys.exit(1)
if not parser.Validate():
sys.exit(1)
param_groups = parser.GetParamGroups()
# Output to XML file
Tools/qurt_apps.py
+16
View File
@@ -48,6 +48,8 @@ print """
#include <px4_tasks.h>
#include <px4_posix.h>
#include <px4_log.h>
#include <stdlib.h>
using namespace std;
@@ -64,6 +66,7 @@ static int list_tasks_main(int argc, char *argv[]);
static int list_files_main(int argc, char *argv[]);
static int list_devices_main(int argc, char *argv[]);
static int list_topics_main(int argc, char *argv[]);
static int sleep_main(int argc, char *argv[]);
}
@@ -78,6 +81,7 @@ print '\tapps["list_tasks"] = list_tasks_main;'
print '\tapps["list_files"] = list_files_main;'
print '\tapps["list_devices"] = list_devices_main;'
print '\tapps["list_topics"] = list_topics_main;'
print '\tapps["sleep"] = sleep_main;'
print """
}
@@ -117,5 +121,17 @@ static int list_files_main(int argc, char *argv[])
px4_show_files();
return 0;
}
static int sleep_main(int argc, char *argv[])
{
if (argc != 2) {
PX4_WARN( "Usage: sleep <seconds>" );
return 1;
}
unsigned long usecs = ( (unsigned long) atol( argv[1] ) ) * 1000 * 1000;
PX4_WARN("Sleeping for %s, %ld",argv[1],usecs);
usleep( usecs );
return 0;
}
"""
Tools/sitl_run.sh
+1 -1
View File
@@ -2,4 +2,4 @@
mkdir -p Build/posix_sitl.build/rootfs/fs/microsd
mkdir -p Build/posix_sitl.build/rootfs/eeprom
cd Build/posix_sitl.build && ./mainapp ../../posix-configs/SITL/init/rcS
cd Build/posix_sitl.build && ./mainapp ../../$1
Vagrantfile
Vendored
+102
View File
@@ -0,0 +1,102 @@
# -*- mode: ruby -*-
# vi: set ft=ruby :
# All Vagrant configuration is done below. The "2" in Vagrant.configure
# configures the configuration version (we support older styles for
# backwards compatibility). Please don't change it unless you know what
# you're doing.
Vagrant.configure(2) do |config|
# Every Vagrant development environment requires a box. You can search for
# boxes at https://atlas.hashicorp.com/search.
config.vm.box = "ubuntu/trusty64"
# Disable automatic box update checking. If you disable this, then
# boxes will only be checked for updates when the user runs
# `vagrant box outdated`. This is not recommended.
# config.vm.box_check_update = false
# Create a forwarded port mapping which allows access to a specific port
# within the machine from a port on the host machine. In the example below,
# accessing "localhost:8080" will access port 80 on the guest machine.
# MAVLink telemetry via UDP in SITL mode
config.vm.network "forwarded_port", guest: 14556, host: 14556, protocol: "udp"
# SITL simulation data
config.vm.network "forwarded_port", guest: 14560, host: 14560, protocol: "udp"
# Create a private network, which allows host-only access to the machine
# using a specific IP.
# config.vm.network "private_network", ip: "192.168.33.10"
# Create a public network, which generally matched to bridged network.
# Bridged networks make the machine appear as another physical device on
# your network.
# config.vm.network "public_network"
# Share an additional folder to the guest VM. The first argument is
# the path on the host to the actual folder. The second argument is
# the path on the guest to mount the folder. And the optional third
# argument is a set of non-required options.
config.vm.synced_folder ".", "/Firmware"
# Provider-specific configuration so you can fine-tune various
# backing providers for Vagrant. These expose provider-specific options.
# Example for VirtualBox:
#
config.vm.provider "virtualbox" do |vb|
# Display the VirtualBox GUI when booting the machine
vb.gui = false
vb.customize ["modifyvm", :id, "--ioapic", "on"]
vb.customize ["modifyvm", :id, "--cpus", "2"]
# Since make and other tools freak out if they see timestamps
# from the future and we share directories, tightly lock the host and guest clocks together (clock sync if more than 2 seconds off)
vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-threshold", 2000]
# Do this on start and restore
vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-start"]
vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-on-restore", "1"]
# Customize the amount of memory on the VM:
vb.memory = "2048"
end
#
# View the documentation for the provider you are using for more
# information on available options.
# Define a Vagrant Push strategy for pushing to Atlas. Other push strategies
# such as FTP and Heroku are also available. See the documentation at
# https://docs.vagrantup.com/v2/push/atlas.html for more information.
# config.push.define "atlas" do |push|
# push.app = "YOUR_ATLAS_USERNAME/YOUR_APPLICATION_NAME"
# end
# Enable provisioning with a shell script. Additional provisioners such as
# Puppet, Chef, Ansible, Salt, and Docker are also available. Please see the
# documentation for more information about their specific syntax and use.
config.vm.provision "shell", inline: <<-SHELL
# Ensure we start in the Firmware folder
echo "cd /Firmware" >> ~/.bashrc
# Install software
sudo apt-get update
sudo apt-get install -y build-essential ccache cmake clang-3.5 lldb-3.5 g++-4.8 gcc-4.8 genromfs libc6-i386 libncurses5-dev python-argparse python-empy python-serial s3cmd texinfo zlib1g-dev git-core
pushd .
cd ~
wget -q https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
. ~/.profile
popd
# setup ccache
mkdir -p ~/bin
ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
ln -s /usr/bin/ccache ~/bin/arm-none-eabi-gcc
ln -s /usr/bin/ccache ~/bin/g++-4.8
ln -s /usr/bin/ccache ~/bin/gcc-4.8
export PATH=~/bin:$PATH
# Configure hardware related bits
sudo apt-get -y remove modemmanager
sudo usermod -a -G dialout $USER
SHELL
end
launch/gazebo_iris_mavros_posix_sitl.launch
+23
View File
@@ -0,0 +1,23 @@
<launch>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="enable_logging" default="false"/>
<arg name="enable_ground_truth" default="true"/>
<arg name="ns" default="iris"/>
<arg name="log_file" default="$(arg ns)"/>
<arg name="mavlink_bridge_url" default="udp://localhost:14553@localhost:14560" />
<include file="$(find rotors_gazebo)/launch/iris_empty_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
</include>
<include file="$(find mavros)/launch/mavlink_bridge.launch">
<arg name="mavlink_bridge_url" value="$(arg mavlink_bridge_url)" />
<arg name="ns" value="$(arg ns)"/>
</include>
</launch>
makefiles/nuttx/config_aerocore_default.mk
+4 -3
View File
@@ -48,11 +48,12 @@ MODULES += modules/navigator
MODULES += modules/mavlink
#
# Estimation modules (EKF/ SO3 / other filters)
# Estimation modules (EKF / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_so3
# Too high RAM usage due to static allocations
#MODULES += modules/attitude_estimator_ekf
MODULES += modules/ekf_att_pos_estimator
MODULES += modules/attitude_estimator_q
MODULES += modules/position_estimator_inav
#
makefiles/nuttx/config_px4fmu-v1_default.mk
+1
View File
@@ -37,6 +37,7 @@ MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
MODULES += drivers/frsky_telemetry
MODULES += modules/sensors
MODULES += drivers/px4flow
#
# System commands
makefiles/nuttx/config_px4fmu-v2_default.mk
+3 -1
View File
@@ -73,11 +73,13 @@ MODULES += modules/mavlink
MODULES += modules/gpio_led
MODULES += modules/uavcan
MODULES += modules/land_detector
MODULES += modules/camera_trigger
#
# Estimation modules (EKF/ SO3 / other filters)
#
MODULES += modules/attitude_estimator_ekf
# Too high RAM usage due to static allocations
#MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_q
MODULES += modules/ekf_att_pos_estimator
MODULES += modules/position_estimator_inav
makefiles/nuttx/config_px4fmu-v2_test.mk
-1
View File
@@ -88,7 +88,6 @@ MODULES += examples/px4_simple_app
#
# Drivers / modules to test build, but not useful for test environment
#
MODULES += modules/attitude_estimator_so3
MODULES += drivers/pca8574
#
makefiles/nuttx/nuttx_px4.mk
+4 -1
View File
@@ -35,7 +35,8 @@
PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4
PRODUCT_BIN = $(WORK_DIR)firmware.bin
PRODUCT_ELF = $(WORK_DIR)firmware.elf
PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
PRODUCT_AIRFRAMEXML = $(WORK_DIR)/airframes.xml
.PHONY: firmware
firmware: $(PRODUCT_BUNDLE)
@@ -48,9 +49,11 @@ $(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) $(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) \
--airframe_xml $(PRODUCT_AIRFRAMEXML) \
--image $< > $@
else
$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
makefiles/nuttx/nuttx_romfs.mk
+7
View File
@@ -68,6 +68,9 @@ ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
LIBS += $(ROMFS_OBJ)
LINK_DEPS += $(ROMFS_OBJ)
# Add autostart script
ROMFS_AUTOSTART = $(PX4_BASE)/Tools/px_process_airframes.py
# Remove all comments from startup and mixer files
ROMFS_PRUNER = $(PX4_BASE)/Tools/px_romfs_pruner.py
@@ -90,6 +93,10 @@ ifneq ($(ROMFS_EXTRA_FILES),)
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
endif
$(Q) $(PYTHON) -u $(ROMFS_AUTOSTART) -a $(ROMFS_ROOT)/init.d -s $(ROMFS_SCRATCH)/init.d/rc.autostart
# Execute in standard dir as well
# so developers notice the generated file
$(Q) $(PYTHON) -u $(ROMFS_AUTOSTART) -a $(ROMFS_ROOT)/init.d -s $(ROMFS_ROOT)/init.d/rc.autostart
$(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH)
EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG)
makefiles/nuttx/upload.mk
+1 -1
View File
@@ -15,7 +15,7 @@ ifeq ($(SYSTYPE),Darwin)
SERIAL_PORTS ?= "/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
endif
ifeq ($(SYSTYPE),Linux)
SERIAL_PORTS ?= "/dev/serial/by-id/usb-3D_Robotics*"
SERIAL_PORTS ?= "/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/pci-3D_Robotics*"
endif
ifeq ($(SERIAL_PORTS),)
SERIAL_PORTS = "COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
makefiles/posix-arm/config_eagle_default.mk
+4 -11
View File
@@ -18,7 +18,8 @@ MODULES += modules/sensors
#
MODULES += systemcmds/param
MODULES += systemcmds/mixer
MODULES += systemcmds/topic_listener
MODULES += systemcmds/ver
#MODULES += systemcmds/topic_listener
#
# General system control
@@ -34,7 +35,7 @@ MODULES += modules/ekf_att_pos_estimator
#
# Vehicle Control
#
MODULES += modules/navigator
#MODULES += modules/navigator
MODULES += modules/mc_pos_control
MODULES += modules/mc_att_control
@@ -48,7 +49,7 @@ MODULES += modules/dataman
MODULES += modules/sdlog2
MODULES += modules/simulator
MODULES += modules/commander
MODULES += modules/controllib
#MODULES += modules/controllib
#
# Libraries
@@ -58,18 +59,10 @@ MODULES += lib/mathlib/math/filter
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
#
# Linux port
#
MODULES += platforms/posix/px4_layer
MODULES += platforms/posix/drivers/accelsim
MODULES += platforms/posix/drivers/gyrosim
MODULES += platforms/posix/drivers/adcsim
MODULES += platforms/posix/drivers/barosim
MODULES += platforms/posix/drivers/tonealrmsim
MODULES += platforms/posix/drivers/airspeedsim
MODULES += platforms/posix/drivers/gpssim
#
# Unit tests
makefiles/posix-arm/config_eagle_hil.mk
+86
View File
@@ -0,0 +1,86 @@
#
# Makefile for the POSIXTEST *default* configuration
#
#
# Board support modules
#
MODULES += drivers/device
#MODULES += drivers/blinkm
#MODULES += drivers/hil
#MODULES += drivers/rgbled
MODULES += drivers/led
#MODULES += modules/sensors
#MODULES += drivers/ms5611
#
# System commands
#
MODULES += systemcmds/param
#MODULES += systemcmds/mixer
#MODULES += systemcmds/topic_listener
MODULES += systemcmds/ver
#
# General system control
#
MODULES += modules/mavlink
#
# Estimation modules (EKF/ SO3 / other filters)
#
#MODULES += modules/attitude_estimator_ekf
#MODULES += modules/ekf_att_pos_estimator
#
# Vehicle Control
#
#MODULES += modules/navigator
#MODULES += modules/mc_pos_control
#MODULES += modules/mc_att_control
#
# Library modules
#
MODULES += modules/systemlib
#MODULES += modules/systemlib/mixer
MODULES += modules/uORB
MODULES += modules/dataman
MODULES += modules/sdlog2
MODULES += modules/simulator
MODULES += modules/commander
#MODULES += modules/controllib
#
# Libraries
#
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
#
# Linux port
#
MODULES += platforms/posix/px4_layer
#MODULES += platforms/posix/drivers/accelsim
#MODULES += platforms/posix/drivers/gyrosim
#MODULES += platforms/posix/drivers/adcsim
#MODULES += platforms/posix/drivers/barosim
#MODULES += platforms/posix/drivers/tonealrmsim
#MODULES += platforms/posix/drivers/airspeedsim
#MODULES += platforms/posix/drivers/gpssim
#
# Unit tests
#
#MODULES += platforms/posix/tests/hello
#MODULES += platforms/posix/tests/vcdev_test
#MODULES += platforms/posix/tests/hrt_test
#MODULES += platforms/posix/tests/wqueue
#
# muorb fastrpc changes.
#
MODULES += modules/muorb/krait
makefiles/posix-arm/config_eagle_muorb_test.mk
+89
View File
@@ -0,0 +1,89 @@
#
# Makefile for the POSIXTEST *default* configuration
#
#
# Board support modules
#
MODULES += drivers/device
#MODULES += drivers/blinkm
#MODULES += drivers/hil
#MODULES += drivers/rgbled
#MODULES += drivers/led
#MODULES += modules/sensors
#MODULES += drivers/ms5611
#
# System commands
#
#MODULES += systemcmds/param
#MODULES += systemcmds/mixer
#MODULES += systemcmds/topic_listener
#
# General system control
#
#MODULES += modules/mavlink
#
# Estimation modules (EKF/ SO3 / other filters)
#
#MODULES += modules/attitude_estimator_ekf
#MODULES += modules/ekf_att_pos_estimator
#
# Vehicle Control
#
#MODULES += modules/navigator
#MODULES += modules/mc_pos_control
#MODULES += modules/mc_att_control
#
# Library modules
#
#MODULES += modules/systemlib
#MODULES += modules/systemlib/mixer
MODULES += modules/uORB
#MODULES += modules/dataman
#MODULES += modules/sdlog2
#MODULES += modules/simulator
#MODULES += modules/commander
#MODULES += modules/controllib
#
# Libraries
#
#MODULES += lib/mathlib
#MODULES += lib/mathlib/math/filter
#MODULES += lib/geo
#MODULES += lib/geo_lookup
#MODULES += lib/conversion
#
# Linux port
#
MODULES += platforms/posix/px4_layer
#MODULES += platforms/posix/drivers/accelsim
#MODULES += platforms/posix/drivers/gyrosim
#MODULES += platforms/posix/drivers/adcsim
#MODULES += platforms/posix/drivers/barosim
#MODULES += platforms/posix/drivers/tonealrmsim
#MODULES += platforms/posix/drivers/airspeedsim
#MODULES += platforms/posix/drivers/gpssim
#
# muorb fastrpc changes.
#
MODULES += modules/muorb/krait
#
#
# Unit tests
#
#MODULES += platforms/posix/tests/hello
#MODULES += platforms/posix/tests/vcdev_test
#MODULES += platforms/posix/tests/hrt_test
#MODULES += platforms/posix/tests/wqueue
MODULES += platforms/posix/tests/muorb
src/platforms/qurt/px4_layer/work_lock.h → makefiles/posix-arm/ld.script
+13 -10
View File
@@ -1,6 +1,8 @@
/****************************************************************************
* ld.script
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
* Author: Mark Charlebois <charlebm@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -31,13 +33,14 @@
*
****************************************************************************/
#ifndef _work_lock_h_
#define _work_lock_h_
//#pragma once
void work_lock(int id);
void work_unlock(int id);
#endif // _work_lock_h_
SECTIONS
{
/*
* Construction data for parameters.
*/
__param : ALIGN(8) {
__param_start = .;
KEEP(*(__param*))
__param_end = .;
}
}
makefiles/posix-arm/toolchain_gnu-arm-linux-gnueabihf.mk
+8 -5
View File
@@ -57,6 +57,7 @@ ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
endif
EXT_MUORB_LIB_ROOT = /opt/muorb_libs
# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
@@ -156,12 +157,11 @@ ARCHWARNINGS = -Wall \
-Werror=reorder \
-Werror=uninitialized \
-Werror=init-self \
-Wno-error=logical-op \
-Wdouble-promotion \
-Wno-error=logical-op \
-Wlogical-op \
-Wformat=1 \
-Werror=unused-but-set-variable \
-Werror=double-promotion \
-Wno-error=double-promotion \
-fno-strength-reduce \
-Wno-error=unused-value
@@ -188,9 +188,11 @@ ARCHWARNINGSXX = $(ARCHWARNINGS) \
# pull in *just* libm from the toolchain ... this is grody
LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
#EXTRA_LIBS += $(LIBM)
#EXTRA_LIBS += ${PX4_BASE}../muorb_krait/lib/libmuorb.so
EXTRA_LIBS += -lpx4muorb -ladsprpc
EXTRA_LIBS += -pthread -lm -lrt
LIB_DIRS += $(EXT_MUORB_LIB_ROOT)/krait/libs
# Flags we pass to the C compiler
#
CFLAGS = $(ARCHCFLAGS) \
@@ -226,7 +228,7 @@ AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \
$(EXTRADEFINES) \
$(EXTRAAFLAGS)
LDSCRIPT = $(PX4_BASE)/posix-configs/posixtest/scripts/ld.script
LDSCRIPT = $(PX4_BASE)/makefiles/posix-arm/ld.script
# Flags we pass to the linker
#
LDFLAGS += $(EXTRALDFLAGS) \
@@ -323,6 +325,7 @@ endef
define LINK
@$(ECHO) "LINK: $1"
@$(MKDIR) -p $(dir $1)
echo "$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)"
$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
endef
makefiles/posix/config_posix_sitl.mk
+23 -11
View File
@@ -11,15 +11,20 @@ MODULES += drivers/hil
MODULES += drivers/rgbled
MODULES += drivers/led
MODULES += modules/sensors
#MODULES += drivers/ms5611
#MODULES += drivers/ms5611
#
# System commands
#
MODULES += systemcmds/param
MODULES += systemcmds/mixer
MODULES += systemcmds/topic_listener
MODULES += systemcmds/ver
MODULES += systemcmds/param
MODULES += systemcmds/mixer
#MODULES += systemcmds/esc_calib
MODULES += systemcmds/tests
#MODULES += systemcmds/reboot
MODULES += systemcmds/topic_listener
MODULES += systemcmds/ver
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
#
# General system control
@@ -30,7 +35,10 @@ MODULES += modules/mavlink
# Estimation modules (EKF/ SO3 / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_q
MODULES += modules/ekf_att_pos_estimator
MODULES += modules/attitude_estimator_q
MODULES += modules/position_estimator_inav
#
# Vehicle Control
@@ -38,6 +46,9 @@ MODULES += modules/ekf_att_pos_estimator
MODULES += modules/navigator
MODULES += modules/mc_pos_control
MODULES += modules/mc_att_control
MODULES += modules/mc_pos_control_multiplatform
MODULES += modules/mc_att_control_multiplatform
MODULES += modules/land_detector
#
# Library modules
@@ -61,9 +72,10 @@ MODULES += lib/geo_lookup
MODULES += lib/conversion
#
# Linux port
# POSIX port
#
MODULES += platforms/posix/px4_layer
MODULES += platforms/posix/work_queue
MODULES += platforms/posix/drivers/accelsim
MODULES += platforms/posix/drivers/gyrosim
MODULES += platforms/posix/drivers/adcsim
@@ -75,12 +87,12 @@ MODULES += platforms/posix/drivers/gpssim
#
# Unit tests
#
#MODULES += platforms/posix/tests/hello
#MODULES += platforms/posix/tests/vcdev_test
#MODULES += platforms/posix/tests/hrt_test
#MODULES += platforms/posix/tests/wqueue
#MODULES += platforms/posix/tests/hello
#MODULES += platforms/posix/tests/vcdev_test
#MODULES += platforms/posix/tests/hrt_test
#MODULES += platforms/posix/tests/wqueue
#
# muorb fastrpc changes.
#
#MODULES += $(PX4_BASE)../muorb_krait
#MODULES += $(PX4_BASE)../muorb_krait
makefiles/posix/posix_elf.mk
+4 -2
View File
@@ -56,9 +56,11 @@ $(PRODUCT_SHARED_PRELINK): $(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS)
$(PRODUCT_SHARED_LIB): $(PRODUCT_SHARED_PRELINK)
$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))
$(WORK_DIR)apps.h: $(WORK_DIR)builtin_commands
$(PX4_BASE)/Tools/posix_apps.py > $(WORK_DIR)apps.h
MAIN = $(PX4_BASE)/src/platforms/posix/main.cpp
$(WORK_DIR)mainapp: $(PRODUCT_SHARED_LIB)
$(PX4_BASE)/Tools/posix_apps.py > apps.h
$(WORK_DIR)mainapp: $(PRODUCT_SHARED_LIB) $(WORK_DIR)apps.h
$(call LINK,$@, -I. $(MAIN) $(PRODUCT_SHARED_LIB))
#
makefiles/posix/toolchain_native.mk
+10 -3
View File
@@ -44,12 +44,18 @@
# Set to 1 for GCC-4.8.2 and to 0 for Clang-3.5 (Ubuntu 14.04)
USE_GCC?=0
ifeq ($(PX4_DEBUG_LEVEL),)
VERBOSITY_LEVEL=
else
VERBOSITY_LEVEL=-D$(PX4_DEBUG_LEVEL)
endif
ifneq ($(USE_GCC),1)
HAVE_CLANG35:=$(shell clang-3.5 -dumpversion 2>/dev/null)
# Clang will report 4.2.1 as GCC version
HAVE_CLANG:=$(shell clang -dumpversion)
HAVE_CLANG:=$(shell clang -dumpversion 2> /dev/null)
#If using ubuntu 14.04 and packaged clang 3.5
ifeq ($(HAVE_CLANG35),4.2.1)
@@ -120,7 +126,8 @@ ifeq ($(CONFIG_BOARD),)
$(error Board config does not define CONFIG_BOARD)
endif
ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
-Dnoreturn_function= \
-Dnoreturn_function=__attribute__\(\(noreturn\)\) \
$(VERBOSITY_LEVEL)\
-I$(PX4_BASE)/src/modules/systemlib \
-I$(PX4_BASE)/src/lib/eigen \
-I$(PX4_BASE)/src/platforms/posix/include \
@@ -296,7 +303,7 @@ endef
define COMPILEXX
@$(ECHO) "CXX: $1"
@$(MKDIR) -p $(dir $2)
@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
@$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
endef

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