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Build fixes for qurt after rebase on PX4 master

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Removed the re-definitions of the usage method in the posix/main.cpp file.
Added qurt_external_hook interface to call externally linked module.
Fixed code format to comply with PX4 style.
Added usage information to main app and handled cases for unknown arguments.
Fixed the orb_priority interface to use int32_t instead of int.
Fixes to get hil working with led changes.
Added the config_eagle_adsp.mk file and update the make files to to use new
include/lib paths

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-09-04 11:09:29 -07:00
parent 4fae86b5ac
commit 54bae34a2c
23 changed files with 391 additions and 288 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/boards/sitl/module.mk
+8
View File
@@ -0,0 +1,8 @@
#
# Board-specific startup code for SITL
#
SRCS = \
sitl_led.c
MAXOPTIMIZATION = -Os
src/drivers/boards/sitl/sitl_led.c
+81
View File
@@ -0,0 +1,81 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file sitl_led.c
*
* sitl LED backend.
*/
#include <px4_config.h>
#include <px4_log.h>
#include <stdbool.h>
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
static bool _led_state[2] = { false , false };
__EXPORT void led_init()
{
PX4_DEBUG("LED_INIT");
}
__EXPORT void led_on(int led)
{
if (led == 1 || led == 0) {
PX4_DEBUG("LED%d_ON", led);
_led_state[led] = true;
}
}
__EXPORT void led_off(int led)
{
if (led == 1 || led == 0) {
PX4_DEBUG("LED%d_OFF", led);
_led_state[led] = false;
}
}
__EXPORT void led_toggle(int led)
{
if (led == 1 || led == 0) {
_led_state[led] = !_led_state[led];
PX4_DEBUG("LED%d_TOGGLE: %s", led, _led_state[led] ? "ON" : "OFF");
}
}
src/modules/muorb/krait/uORBKraitFastRpcChannel.hpp
+1 -1
View File
@@ -38,7 +38,7 @@
#include <string>
#include <pthread.h>
#include "uORB/uORBCommunicator.hpp"
#include <px4_muorb/px4muorb_KraitRpcWrapper.hpp>
#include <px4muorb_KraitRpcWrapper.hpp>
#include <map>
#include "drivers/drv_hrt.h"
src/modules/simulator/simulator.cpp
-40
View File
@@ -141,10 +141,6 @@ static void usage()
__BEGIN_DECLS
extern int simulator_main(int argc, char *argv[]);
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
extern "C" {
@@ -198,39 +194,3 @@ int simulator_main(int argc, char *argv[])
}
}
bool static _led_state[2] = { false , false };
__EXPORT void led_init()
{
PX4_DEBUG("LED_INIT");
}
__EXPORT void led_on(int led)
{
if (led == 1 || led == 0)
{
PX4_DEBUG("LED%d_ON", led);
_led_state[led] = true;
}
}
__EXPORT void led_off(int led)
{
if (led == 1 || led == 0)
{
PX4_DEBUG("LED%d_OFF", led);
_led_state[led] = false;
}
}
__EXPORT void led_toggle(int led)
{
if (led == 1 || led == 0)
{
_led_state[led] = !_led_state[led];
PX4_DEBUG("LED%d_TOGGLE: %s", led, _led_state[led] ? "ON" : "OFF");
}
}
src/modules/uORB/uORB.cpp
+1 -1
View File
@@ -284,7 +284,7 @@ int orb_group_count(const struct orb_metadata *meta)
* priority, independent of the startup order of the associated publishers.
* @return OK on success, ERROR otherwise with errno set accordingly.
*/
int orb_priority(int handle, int *priority)
int orb_priority(int handle, int32_t *priority)
{
return uORB::Manager::get_instance()->orb_priority(handle, priority);
}
src/modules/uORB/uORBManager.hpp
+1 -1
View File
@@ -269,7 +269,7 @@ public:
* priority, independent of the startup order of the associated publishers.
* @return OK on success, ERROR otherwise with errno set accordingly.
*/
int orb_priority(int handle, int *priority) ;
int orb_priority(int handle, int32_t *priority) ;
/**
* Set the minimum interval between which updates are seen for a subscription.
src/modules/uORB/uORBManager_nuttx.cpp
+1 -1
View File
@@ -166,7 +166,7 @@ int uORB::Manager::orb_stat(int handle, uint64_t *time)
return ioctl(handle, ORBIOCLASTUPDATE, (unsigned long)(uintptr_t)time);
}
int uORB::Manager::orb_priority(int handle, int *priority)
int uORB::Manager::orb_priority(int handle, int32_t *priority)
{
return ioctl(handle, ORBIOCGPRIORITY, (unsigned long)(uintptr_t)priority);
}
src/modules/uORB/uORBManager_posix.cpp
+1 -1
View File
@@ -172,7 +172,7 @@ int uORB::Manager::orb_stat(int handle, uint64_t *time)
return px4_ioctl(handle, ORBIOCLASTUPDATE, (unsigned long)(uintptr_t)time);
}
int uORB::Manager::orb_priority(int handle, int *priority)
int uORB::Manager::orb_priority(int handle, int32_t *priority)
{
return px4_ioctl(handle, ORBIOCGPRIORITY, (unsigned long)(uintptr_t)priority);
}
src/platforms/px4_log.h
+1 -17
View File
@@ -127,6 +127,7 @@ __EXPORT extern uint64_t hrt_absolute_time(void);
__EXPORT extern const char *__px4_log_level_str[5];
__EXPORT extern int __px4_log_level_current;
__END_DECLS
// __px4_log_level_current will be initialized to PX4_LOG_LEVEL_AT_RUN_TIME
#define PX4_LOG_LEVEL_AT_RUN_TIME _PX4_LOG_LEVEL_WARN
@@ -162,22 +163,6 @@ __EXPORT extern int __px4_log_level_current;
****************************************************************************/
/****************************************************************************
* __px4_log_named_cond:
* Convert a message in the form:
* PX4_LOG_COND(__dbg_enabled, "val is %d", val);
* to
* printf("%-5s val is %d\n", "LOG", val);
* if the first arg/condition is true.
****************************************************************************/
#define __px4_log_named_cond(name, cond, FMT, ...) \
__px4__log_startcond(cond)\
"%s " \
FMT\
__px4__log_end_fmt \
,name, ##__VA_ARGS__\
__px4__log_endline
/****************************************************************************
* __px4_log_named_cond:
* Convert a message in the form:
@@ -389,5 +374,4 @@ __EXPORT extern int __px4_log_level_current;
#endif
#define PX4_LOG_NAMED(name, FMT, ...) __px4_log_named_cond(name, true, FMT, ##__VA_ARGS__)
#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) __px4_log_named_cond(name, cond, FMT, ##__VA_ARGS__)
__END_DECLS
#endif
src/platforms/qurt/eagle_px4_firmware_patch.patch
-190
View File
@@ -1,190 +0,0 @@
diff --git a/src/include/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h
index 4ba2f98..a7b664e 100644
--- a/src/include/mavlink/mavlink_log.h
+++ b/src/include/mavlink/mavlink_log.h
@@ -106,10 +106,11 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
* @param _text The text to log;
*/
-#define mavlink_and_console_log_emergency(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, _text, ##__VA_ARGS__); \
- fprintf(stderr, "telem> "); \
+#define mavlink_and_console_log_emergency(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, _text, ##__VA_ARGS__);
+/* fprintf(stderr, "telem> "); \
fprintf(stderr, _text, ##__VA_ARGS__); \
fprintf(stderr, "\n");
+*/
/**
* Send a mavlink critical message and print to console.
@@ -117,10 +118,11 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
* @param _text The text to log;
*/
-#define mavlink_and_console_log_critical(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, _text, ##__VA_ARGS__); \
- fprintf(stderr, "telem> "); \
+#define mavlink_and_console_log_critical(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, _text, ##__VA_ARGS__)
+/* fprintf(stderr, "telem> "); \
fprintf(stderr, _text, ##__VA_ARGS__); \
fprintf(stderr, "\n");
+*/
/**
* Send a mavlink emergency message and print to console.
@@ -128,11 +130,11 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
* @param _text The text to log;
*/
-#define mavlink_and_console_log_info(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__); \
- fprintf(stderr, "telem> "); \
+#define mavlink_and_console_log_info(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__);
+/* fprintf(stderr, "telem> "); \
fprintf(stderr, _text, ##__VA_ARGS__); \
fprintf(stderr, "\n");
-
+*/
struct mavlink_logmessage {
char text[MAVLINK_LOG_MAXLEN + 1];
unsigned char severity;
diff --git a/src/lib/eigen b/src/lib/eigen
--- a/src/lib/eigen
+++ b/src/lib/eigen
@@ -1 +1 @@
-Subproject commit e7850ed81f9c469e02df496ef09ae32ec0379b71
+Subproject commit e7850ed81f9c469e02df496ef09ae32ec0379b71-dirty
diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp
index bbf5f8e..50c7d8b 100644
--- a/src/modules/commander/PreflightCheck.cpp
+++ b/src/modules/commander/PreflightCheck.cpp
@@ -378,6 +378,14 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
}
}
+
+#ifdef __PX4_QURT
+ // WARNING: Preflight checks are important and should be added back when
+ // all the sensors are supported
+ PX4_WARN("WARNING: Preflight checks PASS always.");
+ failed = false;
+#endif
+
/* Report status */
return !failed;
}
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 971e086..c165322 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1836,8 +1836,13 @@ int commander_thread_main(int argc, char *argv[])
}
/* RC input check */
+#ifndef __PX4_QURT
if (!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF) && !status.rc_input_blocked && sp_man.timestamp != 0 &&
- hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
+ hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
+#else
+ // HACK: remove old data check due to timestamp issue in QURT
+ if (!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF) && !status.rc_input_blocked && sp_man.timestamp != 0 ) {
+#endif
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;
@@ -2526,7 +2531,7 @@ set_control_mode()
/* set vehicle_control_mode according to set_navigation_state */
control_mode.flag_armed = armed.armed;
control_mode.flag_external_manual_override_ok = (!status.is_rotary_wing && !status.is_vtol);
- control_mode.flag_system_hil_enabled = status.hil_state == vehicle_status_s::HIL_STATE_ON;
+ //control_mode.flag_system_hil_enabled = status.hil_state == vehicle_status_s::HIL_STATE_ON;
control_mode.flag_control_offboard_enabled = false;
switch (status.nav_state) {
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 892e50f..7ac6776 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -384,7 +384,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
};
/* wait for initial baro value */
+#ifdef __PX4_QURT
+ // WARNING skipping
+ PX4_WARN("Hacked to skip baro initialization for testing.");
+ bool wait_baro = false;
+#else
bool wait_baro = true;
+#endif
thread_running = true;
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 3fa4458..0ef1883 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1099,7 +1099,12 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
raw.gyro_raw[1] = gyro_report.y_raw;
raw.gyro_raw[2] = gyro_report.z_raw;
+#ifdef __PX4_QURT
+// Temporary fix required due to lack of time sync between apps and dsp cores
+ raw.timestamp = hrt_absolute_time();
+#else
raw.timestamp = gyro_report.timestamp;
+#endif
raw.gyro_errcount = gyro_report.error_count;
raw.gyro_temp = gyro_report.temperature;
}
@@ -2068,6 +2073,7 @@ Sensors::task_main()
/* start individual sensors */
int ret = 0;
+#if 0
do { /* create a scope to handle exit with break */
ret = accel_init();
if (ret) break;
@@ -2091,7 +2097,7 @@ Sensors::task_main()
}
return;
}
-
+#endif
/*
* do subscriptions
*/
diff --git a/src/systemcmds/mixer/mixer.cpp b/src/systemcmds/mixer/mixer.cpp
index 83a9378..ec86faf 100644
--- a/src/systemcmds/mixer/mixer.cpp
+++ b/src/systemcmds/mixer/mixer.cpp
@@ -118,6 +118,8 @@ load(const char *devname, const char *fname)
return 1;
}
+#ifndef __PX4_QURT
+
if (load_mixer_file(fname, &buf[0], sizeof(buf)) < 0) {
warnx("can't load mixer: %s", fname);
return 1;
@@ -125,6 +127,24 @@ load(const char *devname, const char *fname)
/* XXX pass the buffer to the device */
int ret = px4_ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
+#else
+ char newbuf[] =
+ "R: 4x 10000 10000 10000 0\n"
+ "M: 1\n"
+ "O: 10000 10000 0 -10000 10000\n"
+ "S: 0 4 10000 10000 0 -10000 10000\n"
+ "M: 1\n"
+ "O: 10000 10000 0 -10000 10000\n"
+ "S: 0 5 10000 10000 0 -10000 10000\n"
+ "M: 1\n"
+ "O: 10000 10000 0 -10000 10000\n"
+ "S: 0 6 10000 10000 0 -10000 10000\n"
+ "M: 1\n"
+ "O: 10000 10000 0 -10000 10000\n"
+ "S: 0 7 10000 10000 0 -10000 10000\n";
+ /* XXX pass the buffer to the device */
+ int ret = px4_ioctl(dev, MIXERIOCLOADBUF, (unsigned long)newbuf);
+#endif
if (ret < 0) {
warnx("error loading mixers from %s", fname);
src/platforms/qurt/px4_layer/commands_adsp.c
+175
View File
@@ -0,0 +1,175 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file commands_muorb_test.c
* Commands to run for the "qurt_muorb_test" config
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
const char *get_commands()
{
static const char *commands =
"uorb start\n"
"param set CAL_GYRO0_ID 2293760\n"
"param set CAL_ACC0_ID 1310720\n"
"param set CAL_ACC1_ID 1376256\n"
"param set CAL_MAG0_ID 196608\n"
"commander start\n"
"param set RC_RECEIVER_TYPE 1\n"
"rc_receiver start -D /dev/tty-1\n"
"attitude_estimator_q start\n"
"position_estimator_inav start\n"
//"ekf_att_pos_estimator start\n"
"mc_pos_control start\n"
"mc_att_control start\n"
"sleep 1\n"
// Channel mapping for Spektrum DX8
"param set RC_MAP_THROTTLE 1\n"
"param set RC_MAP_ROLL 2\n"
"param set RC_MAP_PITCH 3\n"
"param set RC_MAP_YAW 4\n"
"param set RC_MAP_MODE_SW 5\n"
"param set RC_MAP_POSCTL_SW 6\n"
// RC calibration for Spektrum DX8
"param set RC1_MAX 852\n"
"param set RC1_MIN 171\n"
"param set RC1_TRIM 171\n"
"param set RC1_REV 1\n"
"param set RC2_MAX 852\n"
"param set RC2_MIN 171\n"
"param set RC2_TRIM 512\n"
"param set RC2_REV -1\n"
"param set RC3_MAX 852\n"
"param set RC3_MIN 171\n"
"param set RC3_TRIM 512\n"
"param set RC3_REV 1\n"
"param set RC4_MAX 852\n"
"param set RC4_MIN 171\n"
"param set RC4_TRIM 514\n"
"param set RC4_REV -1\n"
"param set RC5_MAX 852\n"
"param set RC5_MIN 171\n"
"param set RC5_TRIM 512\n"
"param set RC5_REV 1\n"
"param set RC6_MAX 852\n"
"param set RC6_MIN 171\n"
"param set RC6_TRIM 171\n"
"param set RC6_REV 1\n"
// // RC calibration for DX6i
// "param set RC1_MAX 2015\n"
// "param set RC1_MIN 996\n"
// "param set RC1_TRIM 1502\n"
// "param set RC1_REV -1\n"
// "param set RC2_MAX 2016 \n"
// "param set RC2_MIN 995\n"
// "param set RC2_TRIM 1500\n"
// "param set RC3_MAX 2003\n"
// "param set RC3_MIN 992\n"
// "param set RC3_TRIM 992\n"
// "param set RC4_MAX 2011\n"
// "param set RC4_MIN 997\n"
// "param set RC4_TRIM 1504\n"
// "param set RC4_REV -1\n"
// "param set RC6_MAX 2016\n"
// "param set RC6_MIN 992\n"
// "param set RC6_TRIM 1504\n"
// "param set RC_CHAN_CNT 8\n"
// "param set RC_MAP_MODE_SW 5\n"
// "param set RC_MAP_POSCTL_SW 7\n"
// "param set RC_MAP_RETURN_SW 8\n"
"sensors start\n"
"param set MC_YAW_P 7.0\n"
"param set MC_YAWRATE_P 0.1125\n"
"param set MC_YAWRATE_I 0.0\n"
"param set MC_YAWRATE_D 0\n"
"param set MC_PITCH_P 6.0\n"
"param set MC_PITCHRATE_P 0.125\n"
"param set MC_PITCHRATE_I 0.0\n"
"param set MC_PITCHRATE_D 0.0\n"
"param set MC_ROLL_P 6.0\n"
"param set MC_ROLLRATE_P 0.1125\n"
"param set MC_ROLLRATE_I 0.0\n"
"param set MC_ROLLRATE_D 0.0\n"
"param set ATT_W_MAG 0.00\n"
"param set PE_MAG_NOISE 1.0f\n" // ekf_att_pos only
"param set SENS_BOARD_ROT 6\n"
"param set CAL_GYRO0_XOFF 0.0\n"
"param set CAL_GYRO0_YOFF 0.0\n"
"param set CAL_GYRO0_ZOFF 0.0\n"
"param set CAL_GYRO0_XSCALE 1.000000\n"
"param set CAL_GYRO0_YSCALE 1.000000\n"
"param set CAL_GYRO0_ZSCALE 1.000000\n"
"param set CAL_ACC0_XOFF 0.0\n"
"param set CAL_ACC0_YOFF 0.0\n"
"param set CAL_ACC0_ZOFF 0.0\n"
"param set CAL_ACC0_XSCALE 1.0\n"
"param set CAL_ACC0_YSCALE 1.0\n"
"param set CAL_ACC0_ZSCALE 1.0\n"
// "param set CAL_ACC0_XOFF 0.064189\n"
// "param set CAL_ACC0_YOFF 0.153990\n"
// "param set CAL_ACC0_ZOFF -0.000567\n"
"param set MPU_GYRO_LPF_ENUM 4\n"
"param set MPU_ACC_LPF_ENUM 4\n"
"param set MPU_SAMPLE_RATE_ENUM 2\n"
"sleep 1\n"
"mpu9x50 start -D /dev/spi-1\n"
"uart_esc start -D /dev/tty-2\n"
"csr_gps start -D /dev/tty-3\n"
"param set MAV_TYPE 2\n"
"list_devices\n"
"list_files\n"
"list_tasks\n"
"list_topics\n"
;
return commands;
}
/*
simulator numbers
"param set MC_YAW_P 1.5\n"
"param set MC_PITCH_P 3.0\n"
"param set MC_ROLL_P 3.0\n"
"param set MC_YAWRATE_P 0.2\n"
"param set MC_PITCHRATE_P 0.03\n"
"param set MC_ROLLRATE_P 0.03\n"
*/
src/platforms/qurt/px4_layer/commands_hil.c
+1 -1
View File
@@ -56,7 +56,7 @@ const char *get_commands()
"mc_pos_control start\n"
"mc_att_control start\n"
"sleep 1\n"
"hil mode_pwm\n"
"pwm_out_sim mode_pwm\n"
"param set RC1_MAX 2015\n"
"param set RC1_MIN 996\n"
"param set RC1_TRIM 1502\n"
src/platforms/qurt/px4_layer/main.cpp
+9 -5
View File
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file main.cpp
* Basic shell to execute builtin "apps"
* Basic shell to execute builtin "apps"
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
@@ -56,6 +56,8 @@ static px4_task_t g_dspal_task = -1;
__BEGIN_DECLS
// The commands to run are specified in a target file: commands_<target>.c
extern const char *get_commands(void);
// Enable external library hook
void qurt_external_hook(void) __attribute__((weak));
__END_DECLS
static void run_cmd(map<string,px4_main_t> &apps, const vector<string> &appargs) {
@@ -108,7 +110,7 @@ static void process_commands(map<string,px4_main_t> &apps, const char *cmds)
// Eat leading whitespace
eat_whitespace(b, i);
for(;;) {
// End of command line
@@ -156,15 +158,17 @@ __END_DECLS
int dspal_entry( int argc, char* argv[] )
{
//const char *argv[2] = { "dspal_client", NULL };
//int argc = 1;
PX4_INFO("In main\n");
map<string,px4_main_t> apps;
init_app_map(apps);
px4::init_once();
px4::init(argc, (char **)argv, "mainapp");
process_commands(apps, get_commands());
usleep( 1000000 ); // give time for all commands to execute before starting external function
if(qurt_external_hook)
{
qurt_external_hook();
}
for( ;; ){
usleep( 1000000 );
}
src/platforms/qurt/px4_layer/module.mk
+3
View File
@@ -58,6 +58,9 @@ endif
ifeq ($(CONFIG),qurt_hil)
SRCS += commands_hil.c
endif
ifeq ($(CONFIG),qurt_adsp)
SRCS += commands_adsp.c
endif
MAXOPTIMIZATION = -Os