mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 07:23:33 +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 @@
|
||||
|
||||
# FMUv3 is FMUv2 with access to the full 2MB flash
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR px4
|
||||
MODEL fmu-v3
|
||||
LABEL ctrlalloc
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
TEL1:/dev/ttyS1
|
||||
TEL2:/dev/ttyS2
|
||||
TEL4:/dev/ttyS6
|
||||
DRIVERS
|
||||
adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
#heater
|
||||
#imu # all available imu drivers
|
||||
imu/adis16448
|
||||
imu/adis16477
|
||||
imu/adis16497
|
||||
imu/l3gd20
|
||||
imu/lsm303d
|
||||
imu/invensense/icm20608g
|
||||
imu/invensense/mpu6000
|
||||
imu/invensense/mpu9250
|
||||
imu/icm20948
|
||||
irlock
|
||||
lights/blinkm
|
||||
lights/rgbled
|
||||
lights/rgbled_ncp5623c
|
||||
#lights/rgbled_pwm
|
||||
magnetometer # all available magnetometer drivers
|
||||
mkblctrl
|
||||
#optical_flow # all available optical flow drivers
|
||||
optical_flow/px4flow
|
||||
#osd
|
||||
pca9685
|
||||
#power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
roboclaw
|
||||
tap_esc
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
angular_velocity_controller
|
||||
attitude_estimator_q
|
||||
battery_status
|
||||
camera_feedback
|
||||
commander
|
||||
control_allocator
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
#dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
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
|
||||
)
|
||||
@@ -0,0 +1,128 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR px4
|
||||
MODEL fmu-v4
|
||||
LABEL default
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
TEL1:/dev/ttyS1
|
||||
TEL2:/dev/ttyS2
|
||||
DRIVERS
|
||||
adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
heater
|
||||
#imu # all available imu drivers
|
||||
imu/adis16448
|
||||
imu/adis16477
|
||||
imu/adis16497
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20608g
|
||||
imu/invensense/icm40609d
|
||||
imu/invensense/mpu6500
|
||||
imu/invensense/mpu9250
|
||||
irlock
|
||||
lights/blinkm
|
||||
lights/rgbled
|
||||
lights/rgbled_ncp5623c
|
||||
magnetometer # all available magnetometer drivers
|
||||
mkblctrl
|
||||
optical_flow # all available optical flow drivers
|
||||
#osd
|
||||
pca9685
|
||||
#protocol_splitter
|
||||
pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
rc_input
|
||||
roboclaw
|
||||
safety_button
|
||||
tap_esc
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
angular_velocity_controller
|
||||
attitude_estimator_q
|
||||
battery_status
|
||||
camera_feedback
|
||||
commander
|
||||
control_allocator
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
uuv_att_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
#dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
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
|
||||
)
|
||||
@@ -0,0 +1,132 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR px4
|
||||
MODEL fmu-v5
|
||||
LABEL default
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
TEL1:/dev/ttyS1
|
||||
TEL2:/dev/ttyS2
|
||||
TEL4:/dev/ttyS3
|
||||
DRIVERS
|
||||
adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
#heater
|
||||
#imu # all available imu drivers
|
||||
imu/adis16448
|
||||
imu/adis16477
|
||||
imu/adis16497
|
||||
imu/bmi055
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20689
|
||||
#imu/mpu6000 # legacy icm20602/icm20689 driver
|
||||
irlock
|
||||
lights/blinkm
|
||||
lights/rgbled
|
||||
lights/rgbled_ncp5623c
|
||||
lights/rgbled_pwm
|
||||
magnetometer # all available magnetometer drivers
|
||||
mkblctrl
|
||||
optical_flow # all available optical flow drivers
|
||||
#osd
|
||||
pca9685
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
rc_input
|
||||
roboclaw
|
||||
rpm
|
||||
safety_button
|
||||
tap_esc
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
angular_velocity_controller
|
||||
attitude_estimator_q
|
||||
battery_status
|
||||
camera_feedback
|
||||
commander
|
||||
control_allocator
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
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
|
||||
)
|
||||
@@ -0,0 +1,108 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM posix
|
||||
VENDOR px4
|
||||
MODEL sitl
|
||||
LABEL default
|
||||
TESTING
|
||||
DRIVERS
|
||||
#barometer # all available barometer drivers
|
||||
#batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
#differential_pressure # all available differential pressure drivers
|
||||
#distance_sensor # all available distance sensor drivers
|
||||
gps
|
||||
#imu # all available imu drivers
|
||||
#magnetometer # all available magnetometer drivers
|
||||
pwm_out_sim
|
||||
rpm/rpm_simulator
|
||||
#telemetry # all available telemetry drivers
|
||||
tone_alarm
|
||||
#uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
angular_velocity_controller
|
||||
attitude_estimator_q
|
||||
camera_feedback
|
||||
commander
|
||||
control_allocator
|
||||
dataman
|
||||
ekf2
|
||||
events
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
#load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
navigator
|
||||
rc_update
|
||||
replay
|
||||
rover_pos_control
|
||||
sensors
|
||||
#sih
|
||||
simulator
|
||||
temperature_compensation
|
||||
vmount
|
||||
vtol_att_control
|
||||
uuv_att_control
|
||||
|
||||
SYSTEMCMDS
|
||||
#dumpfile
|
||||
dyn
|
||||
esc_calib
|
||||
led_control
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
#mtd
|
||||
#nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
sd_bench
|
||||
shutdown
|
||||
tests # tests and test runner
|
||||
#top
|
||||
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
|
||||
)
|
||||
|
||||
set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
|
||||
set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
|
||||
|
||||
set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
|
||||
set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")
|
||||
|
||||
# If the environment variable 'replay' is defined, we are building with replay
|
||||
# support. In this case, we enable the orb publisher rules.
|
||||
set(REPLAY_FILE "$ENV{replay}")
|
||||
if(REPLAY_FILE)
|
||||
message(STATUS "Building with uorb publisher rules support")
|
||||
add_definitions(-DORB_USE_PUBLISHER_RULES)
|
||||
|
||||
message(STATUS "Building without lockstep for replay")
|
||||
set(ENABLE_LOCKSTEP_SCHEDULER no)
|
||||
else()
|
||||
set(ENABLE_LOCKSTEP_SCHEDULER yes)
|
||||
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