mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 06:03:34 +08:00
initial control allocation support
- control allocation module with multirotor, VTOL standard, and tiltrotor support - angular_velocity_controller - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details Co-authored-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Roman Bapst <bapstroman@gmail.com>
This commit is contained in:
Julien Lecoeur
committed by
Daniel Agar
Daniel Agar
co-authored by
Silvan Fuhrer
Roman Bapst
Silvan Fuhrer
Roman Bapst
parent
fc6b61dad1
commit
343cf5603e
@@ -0,0 +1,134 @@
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# FMUv3 is FMUv2 with access to the full 2MB flash
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px4_add_board(
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PLATFORM nuttx
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VENDOR px4
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MODEL fmu-v3
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LABEL ctrlalloc
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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IO px4_io-v2_default
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TESTING
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UAVCAN_INTERFACES 2
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SERIAL_PORTS
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GPS1:/dev/ttyS3
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TEL1:/dev/ttyS1
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TEL2:/dev/ttyS2
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TEL4:/dev/ttyS6
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DRIVERS
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adc
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barometer # all available barometer drivers
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batt_smbus
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camera_capture
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camera_trigger
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differential_pressure # all available differential pressure drivers
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distance_sensor # all available distance sensor drivers
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dshot
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gps
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#heater
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#imu # all available imu drivers
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imu/adis16448
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imu/adis16477
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imu/adis16497
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imu/l3gd20
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imu/lsm303d
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imu/invensense/icm20608g
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imu/invensense/mpu6000
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imu/invensense/mpu9250
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imu/icm20948
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irlock
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lights/blinkm
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lights/rgbled
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lights/rgbled_ncp5623c
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#lights/rgbled_pwm
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magnetometer # all available magnetometer drivers
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mkblctrl
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#optical_flow # all available optical flow drivers
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optical_flow/px4flow
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#osd
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pca9685
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#power_monitor/ina226
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#protocol_splitter
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pwm_input
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pwm_out_sim
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pwm_out
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px4io
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roboclaw
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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tone_alarm
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uavcan
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MODULES
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airspeed_selector
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angular_velocity_controller
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attitude_estimator_q
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battery_status
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camera_feedback
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commander
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control_allocator
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dataman
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ekf2
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esc_battery
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events
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fw_att_control
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fw_pos_control_l1
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land_detector
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landing_target_estimator
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load_mon
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local_position_estimator
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logger
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mavlink
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mc_att_control
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mc_hover_thrust_estimator
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mc_pos_control
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mc_rate_control
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#micrortps_bridge
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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temperature_compensation
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vmount
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vtol_att_control
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SYSTEMCMDS
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bl_update
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#dmesg
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dumpfile
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esc_calib
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gpio
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hardfault_log
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i2cdetect
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led_control
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mixer
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motor_ramp
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motor_test
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mtd
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nshterm
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param
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perf
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pwm
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reboot
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reflect
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sd_bench
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tests # tests and test runner
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top
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topic_listener
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tune_control
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usb_connected
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ver
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work_queue
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EXAMPLES
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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#matlab_csv_serial
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px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
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px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
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rover_steering_control # Rover example app
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uuv_example_app
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work_item
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)
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@@ -0,0 +1,128 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR px4
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MODEL fmu-v4
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LABEL default
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m4
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ROMFSROOT px4fmu_common
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TESTING
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UAVCAN_INTERFACES 1
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SERIAL_PORTS
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GPS1:/dev/ttyS3
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TEL1:/dev/ttyS1
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TEL2:/dev/ttyS2
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DRIVERS
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adc
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barometer # all available barometer drivers
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batt_smbus
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camera_capture
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camera_trigger
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differential_pressure # all available differential pressure drivers
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distance_sensor # all available distance sensor drivers
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dshot
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gps
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heater
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#imu # all available imu drivers
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imu/adis16448
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imu/adis16477
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imu/adis16497
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imu/invensense/icm20602
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imu/invensense/icm20608g
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imu/invensense/icm40609d
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imu/invensense/mpu6500
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imu/invensense/mpu9250
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irlock
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lights/blinkm
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lights/rgbled
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lights/rgbled_ncp5623c
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magnetometer # all available magnetometer drivers
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mkblctrl
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optical_flow # all available optical flow drivers
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#osd
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pca9685
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#protocol_splitter
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pwm_input
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pwm_out_sim
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pwm_out
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rc_input
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roboclaw
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safety_button
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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tone_alarm
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uavcan
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MODULES
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airspeed_selector
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angular_velocity_controller
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attitude_estimator_q
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battery_status
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camera_feedback
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commander
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control_allocator
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dataman
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ekf2
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esc_battery
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events
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fw_att_control
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fw_pos_control_l1
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land_detector
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landing_target_estimator
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load_mon
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local_position_estimator
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logger
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mavlink
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mc_att_control
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mc_hover_thrust_estimator
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mc_pos_control
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mc_rate_control
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#micrortps_bridge
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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temperature_compensation
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uuv_att_control
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vmount
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vtol_att_control
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SYSTEMCMDS
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bl_update
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#dmesg
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dumpfile
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esc_calib
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gpio
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hardfault_log
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i2cdetect
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led_control
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mixer
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motor_ramp
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motor_test
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mtd
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nshterm
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param
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perf
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pwm
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reboot
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reflect
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sd_bench
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tests # tests and test runner
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top
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topic_listener
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tune_control
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usb_connected
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ver
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work_queue
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EXAMPLES
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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#matlab_csv_serial
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px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
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px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
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rover_steering_control # Rover example app
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uuv_example_app
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work_item
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)
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@@ -0,0 +1,132 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR px4
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MODEL fmu-v5
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LABEL default
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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IO px4_io-v2_default
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TESTING
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UAVCAN_INTERFACES 2
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SERIAL_PORTS
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GPS1:/dev/ttyS0
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TEL1:/dev/ttyS1
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TEL2:/dev/ttyS2
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TEL4:/dev/ttyS3
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DRIVERS
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adc
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barometer # all available barometer drivers
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batt_smbus
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camera_capture
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camera_trigger
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differential_pressure # all available differential pressure drivers
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distance_sensor # all available distance sensor drivers
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dshot
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gps
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#heater
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#imu # all available imu drivers
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imu/adis16448
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imu/adis16477
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imu/adis16497
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imu/bmi055
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imu/invensense/icm20602
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imu/invensense/icm20689
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#imu/mpu6000 # legacy icm20602/icm20689 driver
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irlock
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lights/blinkm
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lights/rgbled
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lights/rgbled_ncp5623c
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lights/rgbled_pwm
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magnetometer # all available magnetometer drivers
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mkblctrl
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optical_flow # all available optical flow drivers
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#osd
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pca9685
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power_monitor/ina226
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#protocol_splitter
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pwm_input
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pwm_out_sim
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pwm_out
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px4io
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rc_input
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roboclaw
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rpm
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safety_button
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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tone_alarm
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uavcan
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MODULES
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airspeed_selector
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angular_velocity_controller
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attitude_estimator_q
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battery_status
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camera_feedback
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commander
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control_allocator
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dataman
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ekf2
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esc_battery
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events
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fw_att_control
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fw_pos_control_l1
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land_detector
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landing_target_estimator
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load_mon
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local_position_estimator
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logger
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mavlink
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mc_att_control
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mc_hover_thrust_estimator
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mc_pos_control
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mc_rate_control
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#micrortps_bridge
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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temperature_compensation
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vmount
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vtol_att_control
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SYSTEMCMDS
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bl_update
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dmesg
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dumpfile
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esc_calib
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gpio
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hardfault_log
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i2cdetect
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led_control
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mixer
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motor_ramp
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motor_test
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mtd
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nshterm
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param
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perf
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pwm
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reboot
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reflect
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sd_bench
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tests # tests and test runner
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top
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topic_listener
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tune_control
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usb_connected
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ver
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work_queue
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EXAMPLES
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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#matlab_csv_serial
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px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
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px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
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rover_steering_control # Rover example app
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uuv_example_app
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work_item
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)
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@@ -0,0 +1,108 @@
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px4_add_board(
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PLATFORM posix
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VENDOR px4
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MODEL sitl
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LABEL default
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TESTING
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DRIVERS
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#barometer # all available barometer drivers
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#batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
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#differential_pressure # all available differential pressure drivers
|
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#distance_sensor # all available distance sensor drivers
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gps
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#imu # all available imu drivers
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||||
#magnetometer # all available magnetometer drivers
|
||||
pwm_out_sim
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rpm/rpm_simulator
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#telemetry # all available telemetry drivers
|
||||
tone_alarm
|
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#uavcan
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MODULES
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airspeed_selector
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angular_velocity_controller
|
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attitude_estimator_q
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||||
camera_feedback
|
||||
commander
|
||||
control_allocator
|
||||
dataman
|
||||
ekf2
|
||||
events
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||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
#load_mon
|
||||
local_position_estimator
|
||||
logger
|
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mavlink
|
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mc_att_control
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mc_hover_thrust_estimator
|
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mc_pos_control
|
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mc_rate_control
|
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navigator
|
||||
rc_update
|
||||
replay
|
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rover_pos_control
|
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sensors
|
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#sih
|
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simulator
|
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temperature_compensation
|
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vmount
|
||||
vtol_att_control
|
||||
uuv_att_control
|
||||
|
||||
SYSTEMCMDS
|
||||
#dumpfile
|
||||
dyn
|
||||
esc_calib
|
||||
led_control
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
#mtd
|
||||
#nshterm
|
||||
param
|
||||
perf
|
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pwm
|
||||
sd_bench
|
||||
shutdown
|
||||
tests # tests and test runner
|
||||
#top
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||||
topic_listener
|
||||
tune_control
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
dyn_hello # dynamically loading modules example
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
#hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
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||||
)
|
||||
|
||||
set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
|
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set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
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set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
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set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")
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# If the environment variable 'replay' is defined, we are building with replay
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# support. In this case, we enable the orb publisher rules.
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set(REPLAY_FILE "$ENV{replay}")
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if(REPLAY_FILE)
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message(STATUS "Building with uorb publisher rules support")
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add_definitions(-DORB_USE_PUBLISHER_RULES)
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||||
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message(STATUS "Building without lockstep for replay")
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set(ENABLE_LOCKSTEP_SCHEDULER no)
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else()
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||||
set(ENABLE_LOCKSTEP_SCHEDULER yes)
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||||
endif()
|
||||
@@ -28,6 +28,7 @@ px4_add_board(
|
||||
attitude_estimator_q
|
||||
camera_feedback
|
||||
commander
|
||||
control_allocator
|
||||
dataman
|
||||
ekf2
|
||||
events
|
||||
|
||||
Reference in New Issue
Block a user