mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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fix(voxl2): Added the px4 configuration script used by the VOXL SDK
This commit is contained in:
Eric Katzfey
Ramon Roche
parent
c76c8f5518
commit
0f38a581d1
@ -49,6 +49,7 @@ install(PROGRAMS
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${PX4_BOARD_DIR}/target/voxl-px4-start
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${PX4_BOARD_DIR}/target/voxl-px4-hitl
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${PX4_BOARD_DIR}/target/voxl-px4-hitl-start
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${PX4_BOARD_DIR}/scripts/voxl-configure-px4
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DESTINATION bin
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)
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270
boards/modalai/voxl2/scripts/voxl-configure-px4
Executable file
270
boards/modalai/voxl2/scripts/voxl-configure-px4
Executable file
@ -0,0 +1,270 @@
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#!/bin/bash
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################################################################################
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# Copyright 2023 ModalAI Inc.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# 3. Neither the name of the copyright holder nor the names of its contributors
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# may be used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# 4. The Software is used solely in conjunction with devices provided by
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# ModalAI Inc.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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################################################################################
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NAME="voxl-px4"
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SERVICE_FILE="${NAME}.service"
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CONFIG_FILE="/etc/modalai/${NAME}.conf"
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USER=$(whoami)
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print_usage () {
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echo ""
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echo "Config script for voxl-px4"
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echo "wizard coming soon. For now, call with one of the following args:"
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echo ""
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echo ""
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echo "voxl-configure-px4 disable"
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echo "voxl-configure-px4 enable"
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echo "voxl-configure-px4 factory_enable"
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echo "voxl-configure-px4 d0005_v2"
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echo "voxl-configure-px4 starling_v2"
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echo "voxl-configure-px4 d0006_v1"
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echo "voxl-configure-px4 sentinel_v1"
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echo "voxl-configure-px4 d0008"
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echo "voxl-configure-px4 fpv_revB"
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echo "voxl-configure-px4 d0010"
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echo "voxl-configure-px4 d0011"
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echo "voxl-configure-px4 d0013"
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echo "voxl-configure-px4 d0015"
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echo "voxl-configure-px4 voxl2-mini"
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echo ""
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echo "show this help message:"
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echo "voxl-configure-px4 help"
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echo ""
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echo "Use voxl-configure-px4 factory_enable to configure default values"
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}
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## set most parameters which don't have quotes in json
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set_param () {
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if [ "$#" != "2" ]; then
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echo "set_param expected 2 args"
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exit 1
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fi
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var=$1
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val=$2
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sed -i "/$var=/c $var=$val" ${CONFIG_FILE}
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}
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disable_service_and_exit () {
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echo "disabling ${NAME} systemd service"
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systemctl disable ${SERVICE_FILE}
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echo "stopping ${NAME} systemd service"
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systemctl stop ${SERVICE_FILE}
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echo "Done configuring ${NAME}"
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exit 0
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}
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enable_service_and_exit () {
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echo "enabling ${NAME} systemd service"
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systemctl enable ${SERVICE_FILE}
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echo "Done configuring ${NAME}"
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exit 0
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}
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reset_config_file_to_default () {
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echo "wiping old config file"
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rm -rf ${CONFIG_FILE}
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# create config description section on top of file
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echo -e "#!/bin/bash\n#\n# voxl-px4 Configuration File\
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\n#\
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\n# AIRFRAME:\
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\n# Tell PX4 which AIRFRAME to use.\
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\n# Options include: [MULTICOPTER, FIXED_WING]\
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\n#\
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\n# GPS:\
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\n# Tell PX4 which GPS to use. If there is no GPS unit use NONE. Otherwise\
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\n# choose AUTODETECT and the startup script will attempt to automatically\
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\n# configure the GPS, magnetometer, and status LED\
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\n# Options include: [NONE, AUTODETECT]\
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\n#\
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\n# RC:\
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\n# Tell PX4 which RC transmitter to use. \
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\n# Use EXTERNAL when getting RC control from external Mavlink messages (e.g Via QGC)\
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\n# Options include: [SPEKTRUM, CRSF_MAV, CRSF_RAW, M0065_SBUS, EXTERNAL, FAKE_RC_INPUT]\
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\n#\
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\n# ESC:\
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\n# Tell PX4 which type of ESC to use. \
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\n# Options include: [VOXL_ESC, VOXL2_IO_PWM_ESC]\
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\n#\
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\n# POWER_MANAGER:\
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\n# Tell PX4 which power manager to use. \
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\n# Use NONE for ModalAI Mini-ESC since the ESC driver handles PM.\
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\n# Use EXTERNAL when not using the ModalAI APM power manager to power the board\
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\n# This also just disables the voxlpm driver, same as the NONE option\
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\n# Options include: [VOXLPM, EXTERNAL, NONE]\
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\n#\
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\n# AIRSPEED_SENSOR:\
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\n# Tell PX4 which airspeed sensor peripheral to use. \
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\n# Note: The sensor will be started on external I2C port on voxl2\
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\n# Options include: [NONE, MS4525DO]\
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\n#\
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\n# DISTANCE_SENSOR:\
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\n# Tell PX4 which distance sensor peripheral to use. \
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\n# Note: The sensor will be started on the RC port so it is only\
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\n# really possible to use it when using external RC.\
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\n# Options include: [NONE, LIGHTWARE_SF000]\
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\n#\
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\n# OSD:\
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\n# Tell PX4 whether to enable OSD (on-screen display). \
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\n# Options include: [ENABLE, DISABLE]\
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\n#\
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\n# DAEMON_MODE:\
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\n# Tell PX4 whether to enable daemon mode. \
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\n# Options include: [ENABLE, DISABLE]\
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\n#\
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\n# SENSOR_CAL:\
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\n# Tell PX4 where to source sensor calibration information. \
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\n# Options include: [ACTUAL, FAKE]\
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\n#\
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\n# ARTIFACT_MODE:\
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\n# Do not allow artifacts to be saved to disk. Will not start the logging \
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\n# module, will delete any current log files, and will delete the data manager file. \
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\n# Options include: [ENABLE, DISABLE]\
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\n#\
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\n# EXTRA_STEPS:\
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\n# Optional field that allows a user to define custom commands to be run by PX4 on boot. \
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\n# Must be a valid bash array as seen below \
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\n# Example: EXTRA_STEPS=( \"qshell gps start\" \"qshell commander mode manual\" ) \
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\n#\
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\n#" > $CONFIG_FILE
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echo "AIRFRAME=MULTICOPTER" >> $CONFIG_FILE
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echo "GPS=NONE" >> $CONFIG_FILE
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echo "RC=SPEKTRUM" >> $CONFIG_FILE
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echo "ESC=VOXL_ESC" >> $CONFIG_FILE
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echo "POWER_MANAGER=VOXLPM" >> $CONFIG_FILE
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echo "AIRSPEED_SENSOR=NONE" >> $CONFIG_FILE
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echo "DISTANCE_SENSOR=NONE" >> $CONFIG_FILE
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echo "OSD=DISABLE" >> $CONFIG_FILE
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echo "DAEMON_MODE=ENABLE" >> $CONFIG_FILE
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echo "SENSOR_CAL=ACTUAL" >> $CONFIG_FILE
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echo "ARTIFACT_MODE=DISABLE" >> $CONFIG_FILE
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echo "EXTRA_STEPS=()" >> $CONFIG_FILE
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}
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################################################################################
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## actual start of execution, handle optional arguments first
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################################################################################
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## sanity checks
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if [ "${USER}" != "root" ]; then
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echo "Please run this script as root"
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exit 1
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fi
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## convert argument to lower case for robustness
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arg=$(echo "$1" | tr '[:upper:]' '[:lower:]')
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## parse arguments
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case ${arg} in
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"")
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echo "ERROR no argument given"
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print_usage
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exit 1
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;;
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"h"|"-h"|"help"|"--help")
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print_usage
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exit 0
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;;
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"disable")
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disable_service_and_exit
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;;
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"enable")
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enable_service_and_exit
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;;
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"factory_enable")
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reset_config_file_to_default
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enable_service_and_exit
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;;
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"crsf_gps_apm"|"d0005_v2"|"starling_v2"|"d0006_v2"|"sentinel_v2")
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reset_config_file_to_default
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set_param GPS AUTODETECT
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set_param RC CRSF_RAW
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enable_service_and_exit
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;;
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"spektrum_gps_apm"|"d0006_v1"|"sentinel_v1")
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## First revision Sentinel with Holybro GPS and Spektrum Radio
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reset_config_file_to_default
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set_param GPS AUTODETECT
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set_param RC SPEKTRUM
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enable_service_and_exit
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;;
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"d0008"|"fpv_revb")
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reset_config_file_to_default
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set_param GPS NONE
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set_param RC CRSF_RAW
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set_param OSD ENABLE
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enable_service_and_exit
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;;
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"crsf_nogps_apm"|"d0010")
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## Starling 1 with no GPS
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reset_config_file_to_default
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set_param GPS NONE
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set_param RC CRSF_RAW
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enable_service_and_exit
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;;
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"crsf_gps_noapm"|"d0011"|"voxl2-mini")
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reset_config_file_to_default
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set_param GPS AUTODETECT
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set_param RC CRSF_RAW
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set_param POWER_MANAGER NONE
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enable_service_and_exit
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;;
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"crsf_nogps_noapm"|"d0013")
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reset_config_file_to_default
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set_param GPS NONE
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set_param RC CRSF_RAW
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set_param POWER_MANAGER NONE
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enable_service_and_exit
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;;
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"d0015")
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reset_config_file_to_default
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set_param GPS AUTODETECT
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set_param ESC VOXL2_IO_PWM_ESC
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set_param RC CRSF_RAW
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set_param AIRFRAME FIXED_WING
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set_param AIRSPEED_SENSOR MS4525DO
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set_param DISTANCE_SENSOR LIGHTWARE_SF000
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enable_service_and_exit
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;;
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*)
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echo "invalid option: $arg"
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exit 1
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esac
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## should never get here
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exit 1
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