mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Merge pull request #11 from ethz-asl/pr-upstream-merge
23/02/2021 Upstream Merge
This commit is contained in:
JaeyoungLim
@@ -187,6 +187,46 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
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endforeach()
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if(config_uavcan_peripheral_firmware)
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include(ExternalProject)
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foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
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# include the px4io binary in ROMFS
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message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}")
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ExternalProject_Add(build_${uavcan_peripheral_config}
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SOURCE_DIR ${CMAKE_SOURCE_DIR}
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DOWNLOAD_COMMAND ""
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UPDATE_COMMAND ""
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CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
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INSTALL_COMMAND ""
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USES_TERMINAL_BUILD true
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DEPENDS git_nuttx git_nuttx_apps
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BUILD_ALWAYS 1
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)
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ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
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add_custom_command(
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OUTPUT
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${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
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${uavcan_peripheral_config}.stamp
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COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
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COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
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COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
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COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
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DEPENDS
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build_${uavcan_peripheral_config}
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COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
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)
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list(APPEND extras_dependencies
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${uavcan_peripheral_config}.stamp
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)
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endforeach()
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endif()
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list(APPEND extras_dependencies
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${config_romfs_extra_dependencies}
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)
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@@ -30,13 +30,6 @@ sercon
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#
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ver all
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#
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# Start the ORB (first app to start)
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# tone_alarm and tune_control
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# is dependent.
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#
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uorb start
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#
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# Set the parameter file if mtd starts successfully.
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#
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@@ -12,6 +12,11 @@ if [ $AUTOCNF = yes ]
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then
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# EKF2: Multi GPS blending (as the model has 2 GPS's)
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param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
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param set TRIG_INTERFACE 3
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param set TRIG_MODE 4
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param set MNT_MODE_IN 4
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param set MNT_MODE_OUT 2
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param set MNT_DO_STAB 2
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fi
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set MIXER quad_x
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@@ -26,7 +26,6 @@ then
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param set TRIG_MODE 4
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param set MNT_MODE_IN 4
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param set MNT_DO_STAB 2
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param set MAV_PROTO_VER 2
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fi
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set MAV_TYPE 13
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@@ -24,7 +24,8 @@ then
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param set TRIG_INTERFACE 3
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param set TRIG_MODE 4
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param set MNT_MODE_IN 0
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param set MNT_MODE_IN 4
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param set MNT_MODE_OUT 2
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param set MAV_PROTO_VER 2
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fi
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@@ -20,7 +20,6 @@ module: replay
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ignore_others: false
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EOF
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uorb start
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param set SDLOG_DIRS_MAX 7
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# apply all params before ekf starts, as some params cannot be changed after startup
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@@ -53,8 +53,6 @@ else
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fi
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fi
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uorb start
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# Load parameters
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set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
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param select $PARAM_FILE
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@@ -111,6 +109,8 @@ udp_offboard_port_remote=$((14540+px4_instance))
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[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
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udp_onboard_payload_port_local=$((14280+px4_instance))
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udp_onboard_payload_port_remote=$((14030+px4_instance))
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udp_onboard_gimbal_port_local=$((13030+px4_instance))
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udp_onboard_gimbal_port_remote=$((13280+px4_instance))
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udp_gcs_port_local=$((18570+px4_instance))
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if [ $AUTOCNF = yes ]
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@@ -244,7 +244,7 @@ then
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sh etc/init.d-posix/rc.mavlink_override
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else
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# GCS link
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mavlink start -x -u $udp_gcs_port_local -r 4000000
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mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
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mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
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mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
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mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
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@@ -256,12 +256,15 @@ else
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mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
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# API/Offboard link
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mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
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mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
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# Onboard link to camera
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mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
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# Onboard link to gimbal
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mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
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fi
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# execute autostart post script if any
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[ -e "$autostart_file".post ] && . "$autostart_file".post
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@@ -73,13 +73,6 @@ sercon
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#
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ver all
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#
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# Start the ORB (first app to start)
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# tone_alarm and tune_control
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# is dependent.
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#
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uorb start
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#
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# Try to mount the microSD card.
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#
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@@ -289,33 +282,18 @@ else
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# tune Program PX4IO
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tune_control play -t 16 # tune 16 = PROG_PX4IO
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if px4io start
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then
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# Try to safety px4 io so motor outputs don't go crazy.
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if ! px4io safety_on
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then
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# px4io did not respond to the safety command.
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px4io stop
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fi
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fi
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if px4io forceupdate 14662 ${IOFW}
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if px4io update ${IOFW}
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then
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usleep 10000
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tune_control stop
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if px4io checkcrc ${IOFW}
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then
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echo "PX4IO CRC OK after updating"
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tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
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set IO_PRESENT yes
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else
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tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
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fi
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fi
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if [ $IO_PRESENT = no ]
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then
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echo "PX4IO update failed"
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tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
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fi
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fi
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fi
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fi
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@@ -5,9 +5,4 @@
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echo "[i] doing standalone PX4FMU startup..."
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#
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# Start the ORB
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#
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uorb start
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echo "[i] startup done"
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@@ -8,8 +8,6 @@ set unit_test_failure 0
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set BOARD_RC ${R}etc/init.d/rc.board
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uorb start
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if rgbled start -X
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then
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led_control on -c blue
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@@ -41,11 +39,6 @@ fi
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# Start a minimal system
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#
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#
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# Start the ORB (first app to start)
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#
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uorb start
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#
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# Load parameters
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#
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@@ -91,7 +84,7 @@ then
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else
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echo "PX4IO CRC failure"
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tune_control play -t 16 # tune 16 = PROG_PX4IO
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if px4io forceupdate 14662 $io_file
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if px4io update $io_file
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then
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if px4io start
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then
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