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VOXL2 specific drivers, modules, and miscellaneous support files (#22588)

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This commit is contained in:
Eric Katzfey
2024-01-18 12:14:17 -05:00
committed by GitHub
parent b60e73c76f
commit 2b69a3d290
96 changed files with 8266 additions and 678 deletions
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boards/modalai/voxl2/scripts/build-deps.sh
Executable
+10
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@@ -0,0 +1,10 @@
#!/bin/bash
cd src/modules/muorb/apps/libfc-sensor-api
rm -fR build
mkdir build
cd build
CC=/home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc cmake ..
make
cd ../../../../../..
boards/modalai/voxl2/scripts/build-slpi.sh
-2
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@@ -6,6 +6,4 @@ source /home/build-env.sh
make modalai_voxl2-slpi
cat build/modalai_voxl2-slpi_default/src/lib/version/build_git_version.h
echo "*** End of qurt slpi build ***"
boards/modalai/voxl2/scripts/clean.sh
+5 -2
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@@ -1,5 +1,8 @@
#!/bin/bash
# Clean out the build artifacts
source /home/build-env.sh
make clean
# source /home/build-env.sh
# make clean
# This gets rid of everything and starts fresh
sudo rm -fR build
boards/modalai/voxl2/scripts/install-voxl-bins.sh
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+9
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@@ -0,0 +1,9 @@
#!/bin/bash
# Push slpi image to voxl2
adb push build/modalai_voxl2-slpi_default/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
# Push apps processor image to voxl2
adb push build/modalai_voxl2_default/bin/px4 /usr/bin
adb shell sync
boards/modalai/voxl2/scripts/install-voxl.sh
+9
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@@ -10,14 +10,19 @@ adb push build/modalai_voxl2_default/bin/px4 /usr/bin
adb push build/modalai_voxl2_default/bin/px4-alias.sh /usr/bin
adb push boards/modalai/voxl2/target/voxl-px4 /usr/bin
adb push boards/modalai/voxl2/target/voxl-px4-start /usr/bin
adb push boards/modalai/voxl2/target/voxl-px4-hitl /usr/bin
adb push boards/modalai/voxl2/target/voxl-px4-hitl-start /usr/bin
adb shell chmod a+x /usr/bin/px4-alias.sh
adb shell chmod a+x /usr/bin/voxl-px4
adb shell chmod a+x /usr/bin/voxl-px4-start
adb shell chmod a+x /usr/bin/voxl-px4-hitl
adb shell chmod a+x /usr/bin/voxl-px4-hitl-start
# Push configuration file
adb shell mkdir -p /etc/modalai
adb push boards/modalai/voxl2/target/voxl-px4-set-default-parameters.config /etc/modalai
adb push boards/modalai/voxl2/target/voxl-px4-fake-imu-calibration.config /etc/modalai
adb push boards/modalai/voxl2/target/voxl-px4-hitl-set-default-parameters.config /etc/modalai
# Make sure to setup all of the needed px4 aliases.
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-accelsim"
@@ -34,6 +39,7 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-commander_tests"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-control_allocator"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-controllib_test"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-dataman"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-dsp_hitl"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ekf2"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-esc_calib"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ets_airspeed"
@@ -65,7 +71,9 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mb12xx"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_att_control"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mc_pos_control"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-measairspeedsim"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-microdds_client"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-mixer"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-voxl2_io_bridge"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-motor_ramp"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-modalai_gps_timer"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-ms4525_airspeed"
@@ -119,6 +127,7 @@ adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-rc_controller"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-uart_esc_driver"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-flight_mode_manager"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-imu_server"
adb shell "cd /usr/bin; /bin/ln -f -s px4 px4-apps_sbus"
# Make sure any required directories exist
adb shell "/bin/mkdir -p /data/px4/param"
boards/modalai/voxl2/scripts/patch-gazebo.sh
Executable
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@@ -0,0 +1,13 @@
#!/bin/bash
cd Tools/simulation/gazebo-classic/sitl_gazebo-classic/src
patch < ../../../../../boards/modalai/voxl2/gazebo-docker/patch/mavlink_interface.patch
cd -
cd Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris_hitl
patch < ../../../../../../boards/modalai/voxl2/gazebo-docker/patch/iris_hitl.patch
cd -
cd Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris_vision
patch < ../../../../../../boards/modalai/voxl2/gazebo-docker/patch/iris_vision.patch
cd -