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Merge branch 'main' into wip_new_uart_api

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This commit is contained in:
Eric Katzfey
2024-03-05 08:56:53 -08:00
parent ff133660c0 d1ae242a91
commit 635d4557f7
526 changed files with 20747 additions and 8647 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.ci/Jenkinsfile-compile
+12 -6
View File
@@ -40,16 +40,16 @@ pipeline {
"ark_can-flow_default",
"ark_can-gps_canbootloader",
"ark_can-gps_default",
"ark_cannode_canbootloader",
"ark_cannode_default",
"ark_can-rtk-gps_canbootloader",
"ark_can-rtk-gps_default",
"ark_cannode_canbootloader",
"ark_cannode_default",
"ark_fmu-v6x_bootloader",
"ark_fmu-v6x_default",
"atl_mantis-edu_default",
"av_x-v1_default",
"bitcraze_crazyflie_default",
"bitcraze_crazyflie21_default",
"bitcraze_crazyflie_default",
"cuav_can-gps-v1_canbootloader",
"cuav_can-gps-v1_default",
"cuav_nora_default",
@@ -66,8 +66,8 @@ pipeline {
"holybro_durandal-v1_default",
"holybro_kakutef7_default",
"holybro_kakuteh7_default",
"holybro_kakuteh7v2_default",
"holybro_kakuteh7mini_default",
"holybro_kakuteh7v2_default",
"holybro_pix32v5_default",
"matek_gnss-m9n-f4_canbootloader",
"matek_gnss-m9n-f4_default",
@@ -77,8 +77,8 @@ pipeline {
"modalai_fc-v1_default",
"modalai_fc-v2_default",
"mro_ctrl-zero-classic_default",
"mro_ctrl-zero-f7_default",
"mro_ctrl-zero-f7-oem_default",
"mro_ctrl-zero-f7_default",
"mro_ctrl-zero-h7-oem_default",
"mro_ctrl-zero-h7_default",
"mro_pixracerpro_default",
@@ -104,22 +104,28 @@ pipeline {
"px4_fmu-v5_debug",
"px4_fmu-v5_default",
"px4_fmu-v5_lto",
"px4_fmu-v5_rover",
"px4_fmu-v5_stackcheck",
"px4_fmu-v5_uavcanv0periph",
"px4_fmu-v5x_default",
"px4_fmu-v5x_rover",
"px4_fmu-v6c_default",
"px4_fmu-v6c_rover",
"px4_fmu-v6u_default",
"px4_fmu-v6u_rover",
"px4_fmu-v6x_default",
"px4_fmu-v6x_rover",
"px4_fmu-v6xrt_bootloader",
"px4_fmu-v6xrt_default",
"px4_fmu-v6xrt_rover",
"px4_io-v2_default",
"raspberrypi_pico_default",
"siyi_n7_default",
"sky-drones_smartap-airlink_default",
"spracing_h7extreme_default",
"thepeach_k1_default",
"thepeach_r1_default",
"uvify_core_default",
"siyi_n7_default"
],
image: docker_images.nuttx,
archive: true
.github/workflows/compile_nuttx.yml
+2
View File
@@ -25,6 +25,7 @@ jobs:
ark_can-rtk-gps,
ark_cannode,
ark_fmu-v6x,
ark_septentrio-gps,
atl_mantis-edu,
av_x-v1,
bitcraze_crazyflie,
@@ -48,6 +49,7 @@ jobs:
matek_h743-slim,
modalai_fc-v1,
modalai_fc-v2,
mro_ctrl-zero-classic,
mro_ctrl-zero-f7,
mro_ctrl-zero-f7-oem,
mro_ctrl-zero-h7,
.gitmodules
+4
View File
@@ -79,3 +79,7 @@
[submodule "Tools/simulation/gz"]
path = Tools/simulation/gz
url = https://github.com/PX4/PX4-gazebo-models.git
branch = main
[submodule "boards/modalai/voxl2/libfc-sensor-api"]
path = src/modules/muorb/apps/libfc-sensor-api
url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
.vscode/cmake-variants.yaml
Vendored
+30
View File
@@ -71,6 +71,26 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v5x_default
px4_fmu-v6c_default:
short: px4_fmu-v6c
buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v6c_default
px4_fmu-v6c_bootloader:
short: px4_fmu-v6c_bootloader
buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v6c_bootloader
px4_fmu-v6u_default:
short: px4_fmu-v6u
buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v6u_default
px4_fmu-v6u_bootloader:
short: px4_fmu-v6u_bootloader
buildType: MinSizeRel
settings:
CONFIG: px4_fmu-v6u_bootloader
px4_fmu-v6x_default:
short: px4_fmu-v6x
buildType: MinSizeRel
@@ -131,6 +151,16 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: ark_can-rtk-gps_canbootloader
ark_septentrio_gps_default:
short: ark_septentrio_gps_default
buildType: MinSizeRel
settings:
CONFIG: ark_septentrio_gps_default
ark_septentrio_gps_canbootloader:
short: ark_septentrio_gps_canbootloader
buildType: MinSizeRel
settings:
CONFIG: ark_septentrio_gps_canbootloader
ark_cannode_default:
short: ark_cannode_default
buildType: MinSizeRel
ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx
+9 -10
View File
@@ -22,18 +22,17 @@ param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default CBRK_IO_SAFETY 22027
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane
+3 -3
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@@ -26,7 +26,7 @@ param set-default CBRK_IO_SAFETY 22027
param set-default BAT_N_CELLS 3
param set-default SIH_T_MAX 6.0
param set-default SIH_T_MAX 6
param set-default SIH_MASS 0.3
param set-default SIH_IXX 0.00402
param set-default SIH_IYY 0.0144
@@ -45,9 +45,9 @@ param set-default CA_ROTOR_COUNT 1
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_P 1.0
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS2_TRQ_Y 1.0
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4
param set-default PWM_MAIN_FUNC3 201
param set-default PWM_MAIN_FUNC4 202
ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
+2 -2
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@@ -35,14 +35,14 @@ param set-default CBRK_IO_SAFETY 22027
param set-default BAT_N_CELLS 3
param set-default SIH_T_MAX 2.0
param set-default SIH_T_MAX 2
param set-default SIH_Q_MAX 0.0165
param set-default SIH_MASS 0.2
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
param set-default SIH_IXX 0.00354
param set-default SIH_IYY 0.000625
param set-default SIH_IZZ 0.00300
param set-default SIH_IXZ 0.0
param set-default SIH_IXZ 0
param set-default SIH_KDV 0.2
param set-default SIH_L_ROLL 0.145
ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow
+1 -1
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@@ -47,5 +47,5 @@ param set-default MPC_ALT_MODE 2
param set-default SENS_FLOW_ROT 6
param set-default SENS_FLOW_MINHGT 0.7
param set-default SENS_FLOW_MAXHGT 3.0
param set-default SENS_FLOW_MAXHGT 3
param set-default SENS_FLOW_MAXR 2.5
ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus
+28 -28
View File
@@ -8,34 +8,34 @@
param set-default CA_AIRFRAME 7
param set-default CA_ROTOR_COUNT 4
param set-default CA_R_REV 255
param set-default CA_ROTOR0_AX 1.0000
param set-default CA_ROTOR0_AY 0.0000
param set-default CA_ROTOR0_AZ 0.0000
param set-default CA_ROTOR0_KM 0.0000
param set-default CA_ROTOR0_PX 0.0000
param set-default CA_ROTOR0_PY -0.3000
param set-default CA_ROTOR0_PZ -0.3000
param set-default CA_ROTOR1_AX 1.0000
param set-default CA_ROTOR1_AY 0.0000
param set-default CA_ROTOR1_AZ 0.0000
param set-default CA_ROTOR1_KM 0.0000
param set-default CA_ROTOR1_PX 0.0000
param set-default CA_ROTOR1_PY 0.3000
param set-default CA_ROTOR1_PZ -0.3000
param set-default CA_ROTOR2_AX 1.0000
param set-default CA_ROTOR2_AY 0.0000
param set-default CA_ROTOR2_AZ 0.0000
param set-default CA_ROTOR2_KM 0.0000
param set-default CA_ROTOR2_PX 0.0000
param set-default CA_ROTOR2_PY 0.3000
param set-default CA_ROTOR2_PZ 0.3000
param set-default CA_ROTOR3_AX 1.0000
param set-default CA_ROTOR3_AY 0.0000
param set-default CA_ROTOR3_AZ 0.0000
param set-default CA_ROTOR3_KM 0.0000
param set-default CA_ROTOR3_PX 0.0000
param set-default CA_ROTOR3_PY -0.3000
param set-default CA_ROTOR3_PZ 0.3000
param set-default CA_ROTOR0_AX 1
param set-default CA_ROTOR0_AY 0
param set-default CA_ROTOR0_AZ 0
param set-default CA_ROTOR0_KM 0
param set-default CA_ROTOR0_PX 0
param set-default CA_ROTOR0_PY -0.3
param set-default CA_ROTOR0_PZ -0.3
param set-default CA_ROTOR1_AX 1
param set-default CA_ROTOR1_AY 0
param set-default CA_ROTOR1_AZ 0
param set-default CA_ROTOR1_KM 0
param set-default CA_ROTOR1_PX 0
param set-default CA_ROTOR1_PY 0.3
param set-default CA_ROTOR1_PZ -0.3
param set-default CA_ROTOR2_AX 1
param set-default CA_ROTOR2_AY 0
param set-default CA_ROTOR2_AZ 0
param set-default CA_ROTOR2_KM 0
param set-default CA_ROTOR2_PX 0
param set-default CA_ROTOR2_PY 0.3
param set-default CA_ROTOR2_PZ 0.3
param set-default CA_ROTOR3_AX 1
param set-default CA_ROTOR3_AY 0
param set-default CA_ROTOR3_AZ 0
param set-default CA_ROTOR3_KM 0
param set-default CA_ROTOR3_PX 0
param set-default CA_ROTOR3_PY -0.3
param set-default CA_ROTOR3_PZ 0.3
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy
+43 -43
View File
@@ -9,49 +9,49 @@ param set-default CA_AIRFRAME 7
param set-default CA_ROTOR_COUNT 8
param set-default CA_R_REV 255
param set-default CA_ROTOR0_AX 1.0000
param set-default CA_ROTOR0_AY -1.0000
param set-default CA_ROTOR0_AZ 0.0000
param set-default CA_ROTOR0_KM 0.0000
param set-default CA_ROTOR0_PX 0.5000
param set-default CA_ROTOR0_PY 0.3000
param set-default CA_ROTOR0_PZ 0.2000
param set-default CA_ROTOR1_AX 1.0000
param set-default CA_ROTOR1_AY 1.0000
param set-default CA_ROTOR1_AZ 0.0000
param set-default CA_ROTOR1_KM 0.0000
param set-default CA_ROTOR1_PX 0.5000
param set-default CA_ROTOR1_PY -0.3000
param set-default CA_ROTOR1_PZ 0.2000
param set-default CA_ROTOR2_AX 1.0000
param set-default CA_ROTOR2_AY 1.0000
param set-default CA_ROTOR2_AZ 0.0000
param set-default CA_ROTOR2_KM 0.0000
param set-default CA_ROTOR2_PX -0.5000
param set-default CA_ROTOR2_PY 0.3000
param set-default CA_ROTOR2_PZ 0.2000
param set-default CA_ROTOR3_AX 1.0000
param set-default CA_ROTOR3_AY -1.0000
param set-default CA_ROTOR3_AZ 0.0000
param set-default CA_ROTOR3_KM 0.0000
param set-default CA_ROTOR3_PX -0.5000
param set-default CA_ROTOR3_PY -0.3000
param set-default CA_ROTOR3_PZ 0.2000
param set-default CA_ROTOR4_AZ -1.0000
param set-default CA_ROTOR4_KM 0.0000
param set-default CA_ROTOR4_PX 0.5000
param set-default CA_ROTOR4_PY 0.5000
param set-default CA_ROTOR5_AZ 1.0000
param set-default CA_ROTOR5_KM 0.0000
param set-default CA_ROTOR5_PX 0.5000
param set-default CA_ROTOR5_PY -0.5000
param set-default CA_ROTOR6_AZ 1.0000
param set-default CA_ROTOR6_KM 0.0000
param set-default CA_ROTOR6_PX -0.5000
param set-default CA_ROTOR6_PY 0.5000
param set-default CA_ROTOR7_KM 0.0000
param set-default CA_ROTOR7_PX -0.5000
param set-default CA_ROTOR7_PY -0.5000
param set-default CA_ROTOR0_AX 1
param set-default CA_ROTOR0_AY -1
param set-default CA_ROTOR0_AZ 0
param set-default CA_ROTOR0_KM 0
param set-default CA_ROTOR0_PX 0.5
param set-default CA_ROTOR0_PY 0.3
param set-default CA_ROTOR0_PZ 0.2
param set-default CA_ROTOR1_AX 1
param set-default CA_ROTOR1_AY 1
param set-default CA_ROTOR1_AZ 0
param set-default CA_ROTOR1_KM 0
param set-default CA_ROTOR1_PX 0.5
param set-default CA_ROTOR1_PY -0.3
param set-default CA_ROTOR1_PZ 0.2
param set-default CA_ROTOR2_AX 1
param set-default CA_ROTOR2_AY 1
param set-default CA_ROTOR2_AZ 0
param set-default CA_ROTOR2_KM 0
param set-default CA_ROTOR2_PX -0.5
param set-default CA_ROTOR2_PY 0.3
param set-default CA_ROTOR2_PZ 0.2
param set-default CA_ROTOR3_AX 1
param set-default CA_ROTOR3_AY -1
param set-default CA_ROTOR3_AZ 0
param set-default CA_ROTOR3_KM 0
param set-default CA_ROTOR3_PX -0.5
param set-default CA_ROTOR3_PY -0.3
param set-default CA_ROTOR3_PZ 0.2
param set-default CA_ROTOR4_AZ -1
param set-default CA_ROTOR4_KM 0
param set-default CA_ROTOR4_PX 0.5
param set-default CA_ROTOR4_PY 0.5
param set-default CA_ROTOR5_AZ 1
param set-default CA_ROTOR5_KM 0
param set-default CA_ROTOR5_PX 0.5
param set-default CA_ROTOR5_PY -0.5
param set-default CA_ROTOR6_AZ 1
param set-default CA_ROTOR6_KM 0
param set-default CA_ROTOR6_PX -0.5
param set-default CA_ROTOR6_PY 0.5
param set-default CA_ROTOR7_KM 0
param set-default CA_ROTOR7_PX -0.5
param set-default CA_ROTOR7_PY -0.5
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane
+2 -2
View File
@@ -54,9 +54,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam
+2 -2
View File
@@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult
+2 -2
View File
@@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal
+2 -2
View File
@@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric
+2 -2
View File
@@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod
+2 -2
View File
@@ -40,9 +40,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo
+2 -2
View File
@@ -42,9 +42,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer
+2 -2
View File
@@ -48,9 +48,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider
+2 -2
View File
@@ -55,9 +55,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal
+2 -2
View File
@@ -47,9 +47,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane
+2 -2
View File
@@ -45,9 +45,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol
+3 -3
View File
@@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
param set-default CA_ROTOR4_PX 0.2
param set-default CA_SV_CS_COUNT 3
@@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter
+2 -4
View File
@@ -50,11 +50,11 @@ param set-default SENS_IMU_MODE 1
param set-default FW_P_TC 0.6
param set-default FW_PR_FF 0.1
param set-default FW_PR_FF 0.0
param set-default FW_PSP_OFF 2
param set-default FW_RR_FF 0.1
param set-default FW_RR_I 0.2
param set-default FW_RR_P 0.3
param set-default FW_RR_P 0.5
param set-default FW_THR_TRIM 0.35
param set-default FW_THR_MAX 0.8
param set-default FW_THR_MIN 0.05
@@ -66,8 +66,6 @@ param set-default FW_T_SINK_MIN 1.6
param set-default MC_AIRMODE 1
param set-default MC_ROLL_P 3
param set-default MC_PITCH_P 3
param set-default MC_ROLLRATE_P 0.3
param set-default MC_PITCHRATE_P 0.3
param set-default VT_ARSP_TRANS 10
param set-default VT_B_TRANS_DUR 5
ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor
+1 -1
View File
@@ -31,7 +31,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_TL_COUNT 2
ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop
+3 -3
View File
@@ -27,8 +27,8 @@ param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
param set-default CA_ROTOR4_PX 0.2
param set-default CA_SV_CS_COUNT 3
@@ -37,7 +37,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar
+2 -2
View File
@@ -57,9 +57,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover
+1 -1
View File
@@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
param set-default GND_WHEEL_BASE 2
param set-default CA_AIRFRAME 5
ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1
+1 -1
View File
@@ -29,7 +29,7 @@ param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 3.0
param set-default GND_WHEEL_BASE 3
param set-default CA_AIRFRAME 5
ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat
+1 -1
View File
@@ -22,7 +22,7 @@ param set-default NAV_ACC_RAD 0.5
param set-default NAV_LOITER_RAD 2
param set-default GND_MAX_ANG 0.6
param set-default GND_WHEEL_BASE 2.0
param set-default GND_WHEEL_BASE 2
param set-default CA_AIRFRAME 9
ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1
+2 -2
View File
@@ -14,7 +14,7 @@
param set-default FW_AIRSPD_STALL 8
param set-default FW_P_RMAX_NEG 20.0
param set-default FW_P_RMAX_NEG 20
param set-default FW_W_RMAX 10
param set-default FW_W_EN 1
@@ -37,7 +37,7 @@ param set-default FW_P_LIM_MAX 25
param set-default FW_P_LIM_MIN -5
param set-default FW_R_LIM 30
param set-default FW_MAN_R_MAX 30.0
param set-default FW_MAN_R_MAX 30
param set-default FW_THR_TRIM 0.8
param set-default FW_THR_IDLE 0
ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2
+5 -5
View File
@@ -14,7 +14,7 @@
param set-default FW_AIRSPD_STALL 5
param set-default FW_P_RMAX_NEG 20.0
param set-default FW_P_RMAX_NEG 20
param set-default FW_W_RMAX 10
param set-default FW_W_EN 1
@@ -29,9 +29,9 @@ param set-default NAV_LOITER_RAD 50
# Parameters related to autogyro takeoff PR
#param set-default AG_TKOFF 1
#param set-default AG_PROT_TYPE 1
#param set-default AG_PROT_MIN_RPM 50.0
#param set-default AG_PROT_TRG_RPM 900.0
#param set-defoult AG_ROTOR_RPM 900.0
#param set-default AG_PROT_MIN_RPM 50
#param set-default AG_PROT_TRG_RPM 900
#param set-defoult AG_ROTOR_RPM 900
param set-default FW_ARSP_SCALE_EN 0
@@ -42,7 +42,7 @@ param set-default FW_P_LIM_MAX 25
param set-default FW_P_LIM_MIN -5
param set-default FW_R_LIM 30
param set-default FW_MAN_R_MAX 30.0
param set-default FW_MAN_R_MAX 30
param set-default FW_THR_CRUISE 0.8
param set-default FW_THR_IDLE 0
ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship
+13 -13
View File
@@ -14,21 +14,21 @@
param set-default CA_AIRFRAME 9
param set-default CA_ROTOR_COUNT 3
param set-default CA_ROTOR0_AX 1.0000
param set-default CA_ROTOR0_AZ 0.0000
param set-default CA_ROTOR0_KM 0.0000
param set-default CA_ROTOR0_PY 2.0000
param set-default CA_ROTOR1_AX 1.0000
param set-default CA_ROTOR1_AZ 0.0000
param set-default CA_ROTOR1_KM 0.0000
param set-default CA_ROTOR1_PY -2.0000
param set-default CA_ROTOR2_AY -1.0000
param set-default CA_ROTOR2_AZ 0.0000
param set-default CA_ROTOR2_KM 0.0000
param set-default CA_ROTOR2_PX -10.0000
param set-default CA_ROTOR0_AX 1
param set-default CA_ROTOR0_AZ 0
param set-default CA_ROTOR0_KM 0
param set-default CA_ROTOR0_PY 2
param set-default CA_ROTOR1_AX 1
param set-default CA_ROTOR1_AZ 0
param set-default CA_ROTOR1_KM 0
param set-default CA_ROTOR1_PY -2
param set-default CA_ROTOR2_AY -1
param set-default CA_ROTOR2_AZ 0
param set-default CA_ROTOR2_KM 0
param set-default CA_ROTOR2_PX -10
param set-default CA_SV_CS_COUNT 1
param set-default CA_SV_CS0_TRQ_P 1.0000
param set-default CA_SV_CS0_TRQ_P 1
param set-default CA_R_REV 7
ROMFS/px4fmu_common/init.d-posix/airframes/3011_jsbsim_hexarotor_x
+6 -6
View File
@@ -13,9 +13,9 @@ param set-default MAV_TYPE 13
param set-default MC_PITCHRATE_P 0.1
param set-default MC_PITCHRATE_I 0.05
param set-default MC_PITCH_P 6.0
param set-default MC_PITCH_P 6
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLL_P 6.0
param set-default MC_ROLL_P 6
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
@@ -27,11 +27,11 @@ param set-default MNT_MODE_IN 4
param set-default MNT_DO_STAB 2
param set-default CA_ROTOR0_PX 0.0
param set-default CA_ROTOR0_PY 1.0
param set-default CA_ROTOR0_PX 0
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR1_PX 0.0
param set-default CA_ROTOR1_PY -1.0
param set-default CA_ROTOR1_PX 0
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.866025
param set-default CA_ROTOR2_PY -0.5
ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
+2 -2
View File
@@ -70,9 +70,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
+3 -3
View File
@@ -40,8 +40,8 @@ param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
param set-default CA_ROTOR4_PX 0.2
param set-default SIM_GZ_EC_FUNC1 101
@@ -73,7 +73,7 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default NPFG_PERIOD 12
param set-default FW_PR_FF 0.2
ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
+9 -23
View File
@@ -105,31 +105,19 @@ param set-default CBRK_IO_SAFETY 22027
param set-default THR_MDL_FAC 0.3
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
# Outputs
# param set-default PWM_AUX_FUNC1 101
# param set-default PWM_AUX_FUNC2 102
# param set-default PWM_AUX_FUNC3 103
# param set-default PWM_AUX_FUNC4 104
# param set-default PWM_MAIN_FUNC1 101
# param set-default PWM_MAIN_FUNC2 102
# param set-default PWM_MAIN_FUNC3 103
# param set-default PWM_MAIN_FUNC4 104
param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_FUNC2 102
param set-default SIM_GZ_EC_FUNC3 103
@@ -144,5 +132,3 @@ param set-default SIM_GZ_EC_MAX1 1100
param set-default SIM_GZ_EC_MAX2 1100
param set-default SIM_GZ_EC_MAX3 1100
param set-default SIM_GZ_EC_MAX4 1100
ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane
+2 -2
View File
@@ -63,9 +63,9 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
+80
View File
@@ -0,0 +1,80 @@
#!/bin/sh
# @name Gazebo lawnmower
# @type Rover
# @class Rover
. ${R}etc/init.d/rc.rover_differential_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
param set-default SIM_GZ_EN 1 # Gazebo bridge
# Simulated sensors
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
# We can arm and drive in manual mode when it slides and GPS check fails:
param set-default COM_ARM_WO_GPS 1
# Set Differential Drive Kinematics Library parameters:
param set RDD_WHEEL_BASE 0.9
param set RDD_WHEEL_RADIUS 0.22
param set RDD_WHEEL_SPEED 10.0 # Maximum wheel speed rad/s, approx 8 km/h
# Actuator mapping - set SITL motors/servos output parameters:
# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
#param set-default SIM_GZ_WH_MIN1 0
#param set-default SIM_GZ_WH_MAX1 200
#param set-default SIM_GZ_WH_DIS1 100
#param set-default SIM_GZ_WH_FAIL1 100
param set-default SIM_GZ_WH_FUNC2 102 # left wheel
#param set-default SIM_GZ_WH_MIN2 0
#param set-default SIM_GZ_WH_MAX2 200
#aram set-default SIM_GZ_WH_DIS2 100
#param set-default SIM_GZ_WH_FAIL2 100
param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation.
# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate
# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator
# controls in practical scenarios.
# Cutter deck blades clutch, PCA9685 servo channel 3, "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
param set-default SIM_GZ_SV_FUNC3 203
param set-default SIM_GZ_SV_MIN3 0
param set-default SIM_GZ_SV_MAX3 1000
param set-default SIM_GZ_SV_DIS3 500
param set-default SIM_GZ_SV_FAIL3 500
# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
# - on minimum when disarmed or failed:
param set-default SIM_GZ_SV_FUNC4 204
param set-default SIM_GZ_SV_MIN4 0
param set-default SIM_GZ_SV_MAX4 1000
param set-default SIM_GZ_SV_DIS4 500
param set-default SIM_GZ_SV_FAIL4 500
# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
# Strobes, PCA9685 servo channel 5, "Servo 5" (205) - flashing indicates Mission mode:
#param set-default SIM_GZ_SV_FUNC5 205
#param set-default SIM_GZ_SV_MIN5 1000
#param set-default SIM_GZ_SV_MAX5 2000
#param set-default SIM_GZ_SV_DIS5 1000
#param set-default SIM_GZ_SV_FAIL5 1000
# Horn, PCA9685 servo channel 6, "Servo 6" (206) - for alarms like GPS failure:
#param set-default SIM_GZ_SV_FUNC6 206
# Spare PCA9685 servo channel 7 on "RC AUX2" (408) - right knob, or "Servo 7" (207):
#param set-default SIM_GZ_SV_FUNC7 207
# Spare PCA9685 servo channel 8 - "Servo 8" (208):
#param set-default SIM_GZ_SV_FUNC8 208
ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480
+12 -12
View File
@@ -9,14 +9,14 @@
param set-default MAV_TYPE 13
param set-default MC_PITCHRATE_P 0.0800
param set-default MC_PITCHRATE_I 0.0400
param set-default MC_PITCHRATE_D 0.0010
param set-default MC_PITCH_P 9.0
param set-default MC_ROLLRATE_P 0.0800
param set-default MC_ROLLRATE_I 0.0400
param set-default MC_ROLLRATE_D 0.0010
param set-default MC_ROLL_P 9.0
param set-default MC_PITCHRATE_P 0.08
param set-default MC_PITCHRATE_I 0.04
param set-default MC_PITCHRATE_D 0.001
param set-default MC_PITCH_P 9
param set-default MC_ROLLRATE_P 0.08
param set-default MC_ROLLRATE_I 0.04
param set-default MC_ROLLRATE_D 0.001
param set-default MC_ROLL_P 9
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_P_ACC 3
@@ -31,11 +31,11 @@ param set-default MAV_PROTO_VER 2
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 6
param set-default CA_ROTOR0_PX 0.0
param set-default CA_ROTOR0_PY 1.0
param set-default CA_ROTOR0_PX 0
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR1_PX 0.0
param set-default CA_ROTOR1_PY -1.0
param set-default CA_ROTOR1_PX 0
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.866025
param set-default CA_ROTOR2_PY -0.5
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+1
View File
@@ -82,6 +82,7 @@ px4_add_romfs_files(
4008_gz_advanced_plane
4009_gz_r1_rover
4010_gz_x500_mono_cam
4011_gz_lawnmower
6011_gazebo-classic_typhoon_h480
6011_gazebo-classic_typhoon_h480.post
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+13 -13
View File
@@ -41,19 +41,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
echo "INFO [init] Gazebo simulator"
# set local coordinate frame reference
if [ -n "${PX4_HOME_LAT}" ]; then
param set SIM_GZ_HOME_LAT ${PX4_HOME_LAT}
fi
if [ -n "${PX4_HOME_LON}" ]; then
param set SIM_GZ_HOME_LON ${PX4_HOME_LON}
fi
if [ -n "${PX4_HOME_ALT}" ]; then
param set SIM_GZ_HOME_ALT ${PX4_HOME_ALT}
fi
# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
if [ -z "${PX4_GZ_STANDALONE}" ]; then
@@ -64,6 +51,13 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
# "gz sim" from Garden on
gz_command="gz"
gz_sub_command="sim"
# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
echo "INFO [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
fi
else
echo "ERROR [init] Gazebo gz please install gz-garden"
exit 1
@@ -173,6 +167,12 @@ elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)"
else
# otherwise start simulator (mavlink) module
# EKF2 specifics
param set-default EKF2_GPS_DELAY 10
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0
simulator_tcp_port=$((4560+px4_instance))
# Check if PX4_SIM_HOSTNAME environment variable is empty
ROMFS/px4fmu_common/init.d-posix/rcS
+6 -5
View File
@@ -164,10 +164,6 @@ param set-default COM_RC_IN_MODE 1
# Speedup SITL startup
param set-default EKF2_REQ_GPS_H 0.5
# Multi-EKF
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0
param set-default IMU_GYRO_FFT_EN 1
param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
@@ -248,7 +244,12 @@ then
fi
load_mon start
battery_simulator start
if param compare SIM_BAT_ENABLE 1
then
battery_simulator start
fi
tone_alarm start
rc_update start
manual_control start
ROMFS/px4fmu_common/init.d/CMakeLists.txt
+71 -20
View File
@@ -34,28 +34,79 @@
add_subdirectory(airframes)
px4_add_romfs_files(
rc.airship_apps
rc.airship_defaults
rc.autostart_ext
rc.balloon_apps
rc.balloon_defaults
rc.boat_defaults
rc.fw_apps
rc.fw_defaults
rc.heli_defaults
rc.logging
rc.mc_apps
rc.mc_defaults
rcS
rc.sensors
rc.thermal_cal
rc.rover_apps
rc.rover_defaults
rc.rover_differential_apps
rc.rover_differential_defaults
rc.uuv_apps
rc.uuv_defaults
rc.vehicle_setup
rc.vtol_apps
rc.vtol_defaults
# TODO
rc.balloon_apps
rc.balloon_defaults
)
if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
px4_add_romfs_files(
rc.airship_apps
rc.airship_defaults
)
endif()
if(CONFIG_MODULES_FW_RATE_CONTROL)
px4_add_romfs_files(
rc.fw_apps
rc.fw_defaults
)
endif()
if(CONFIG_MODULES_MC_RATE_CONTROL)
px4_add_romfs_files(
rc.heli_defaults
rc.mc_apps
rc.mc_defaults
)
endif()
if(CONFIG_MODULES_ROVER_POS_CONTROL)
px4_add_romfs_files(
rc.rover_apps
rc.rover_defaults
rc.boat_defaults # hack
)
endif()
if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
px4_add_romfs_files(
rc.rover_differential_apps
rc.rover_differential_defaults
)
endif()
if(CONFIG_MODULES_UUV_ATT_CONTROL)
px4_add_romfs_files(
rc.uuv_apps
rc.uuv_defaults
)
endif()
if(CONFIG_MODULES_VTOL_ATT_CONTROL)
px4_add_romfs_files(
rc.vtol_apps
rc.vtol_defaults
)
endif()
if(CONFIG_MODULES_LOGGER)
px4_add_romfs_files(
rc.logging
)
endif()
if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
px4_add_romfs_files(
rc.thermal_cal
)
endif()
ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
+18 -18
View File
@@ -11,30 +11,30 @@
. ${R}etc/init.d/rc.mc_defaults
param set SYS_HITL 1
param set UAVCAN_ENABLE 0
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
param set-default HIL_ACT_FUNC3 103
param set-default HIL_ACT_FUNC4 104
# disable some checks to allow to fly
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default CBRK_IO_SAFETY 22027
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
param set-default HIL_ACT_FUNC3 103
param set-default HIL_ACT_FUNC4 104
ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+16 -16
View File
@@ -14,7 +14,6 @@
. ${R}etc/init.d/rc.vtol_defaults
param set-default BAT1_N_CELLS 3
param set-default COM_RC_IN_MODE 1
@@ -55,26 +54,29 @@ param set-default VT_TYPE 2
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
param set-default CA_ROTOR4_PX 0.2
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default HIL_ACT_FUNC1 101
@@ -98,5 +100,3 @@ param set-default CBRK_SUPPLY_CHK 894281
param set-default CBRK_IO_SAFETY 22027
param set-default MAV_TYPE 22
ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
+18 -18
View File
@@ -12,26 +12,8 @@
. ${R}etc/init.d/rc.mc_defaults
param set UAVCAN_ENABLE 0
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
param set-default HIL_ACT_FUNC3 103
param set-default HIL_ACT_FUNC4 104
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set SYS_HITL 2
@@ -42,3 +24,21 @@ param set-default CBRK_SUPPLY_CHK 894281
param set-default CBRK_IO_SAFETY 22027
param set SIH_VEHICLE_TYPE 0
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
param set-default HIL_ACT_FUNC3 103
param set-default HIL_ACT_FUNC4 104
ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
+3 -3
View File
@@ -21,9 +21,9 @@ param set-default CA_ROTOR0_PX 0.3
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TRQ_R 0.5
param set-default CA_SV_CS0_TYPE 2
param set-default CA_SV_CS1_TRQ_P 1.0
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS2_TRQ_Y 1.0
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4
param set-default CA_SV_CS3_TYPE 10
@@ -46,7 +46,7 @@ param set-default CBRK_IO_SAFETY 22027
param set-default BAT_N_CELLS 3
param set SIH_T_MAX 6.0
param set SIH_T_MAX 6
param set SIH_MASS 0.3
param set SIH_IXX 0.00402
param set SIH_IYY 0.0144
ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
+1 -1
View File
@@ -71,7 +71,7 @@ param set SIH_MASS 0.2
param set SIH_IXX 0.00354
param set SIH_IYY 0.000625
param set SIH_IZZ 0.00300
param set SIH_IXZ 0.0
param set SIH_IXZ 0
param set SIH_KDV 0.2
param set SIH_L_ROLL 0.145
ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+15 -13
View File
@@ -14,6 +14,21 @@
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default VT_TYPE 2
param set-default MAV_TYPE 22
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
@@ -24,16 +39,3 @@ param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TYPE 4
param set-default VT_TYPE 2
param set-default MAV_TYPE 22
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+3 -3
View File
@@ -120,8 +120,8 @@ param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
param set-default CA_ROTOR4_PX 0.2
param set-default CA_SV_CS_COUNT 3
@@ -130,4 +130,4 @@ param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+10 -8
View File
@@ -80,6 +80,10 @@ param set-default VT_TYPE 2
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
@@ -90,18 +94,16 @@ param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TYPE 15
param set-default CA_SV_CS0_TRQ_R 1.0
param set-default CA_SV_CS1_TRQ_P 0.5000
param set-default CA_SV_CS1_TRQ_R 0.0000
param set-default CA_SV_CS1_TRQ_Y -0.5000
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS1_TRQ_P 0.5
param set-default CA_SV_CS1_TRQ_R 0
param set-default CA_SV_CS1_TRQ_Y -0.5
param set-default CA_SV_CS1_TYPE 13
param set-default CA_SV_CS2_TRQ_P 0.5000
param set-default CA_SV_CS2_TRQ_Y 0.5000
param set-default CA_SV_CS2_TRQ_P 0.5
param set-default CA_SV_CS2_TRQ_Y 0.5
param set-default CA_SV_CS2_TYPE 14
param set-default PWM_MAIN_FUNC1 201
ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
+14 -14
View File
@@ -19,30 +19,30 @@ param set-default MAV_TYPE 21
param set-default VT_TYPE 1
param set-default CA_AIRFRAME 3
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR0_TILT 1
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR1_TILT 2
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR2_TILT 3
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR3_TILT 4
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_TL_COUNT 4
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor
+5 -2
View File
@@ -12,19 +12,22 @@
. ${R}etc/init.d/rc.vtol_defaults
param set-default CA_AIRFRAME 3
param set-default CA_ROTOR0_TILT 2
param set-default CA_ROTOR2_TILT 1
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR0_TILT 2
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_TILT 1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5
ROMFS/px4fmu_common/init.d/airframes/14001_generic_mc_with_tilt
+8 -8
View File
@@ -20,16 +20,16 @@ param set-default MAV_TYPE 15
param set-default CA_AIRFRAME 8
# Tricopter
param set-default CA_ROTOR0_PX 0.2500
param set-default CA_ROTOR0_PY 0.4330
param set-default CA_ROTOR1_PX 0.2500
param set-default CA_ROTOR1_PY -0.4300
param set-default CA_ROTOR2_PX -0.5000
param set-default CA_ROTOR2_PY 0.0000
param set-default CA_ROTOR0_PX 0.25
param set-default CA_ROTOR0_PY 0.433
param set-default CA_ROTOR1_PX 0.25
param set-default CA_ROTOR1_PY -0.43
param set-default CA_ROTOR2_PX -0.5
param set-default CA_ROTOR2_PY 0
param set-default CA_ROTOR2_TILT 1
param set-default CA_ROTOR_COUNT 3
param set-default CA_SV_TL0_MAXA 45.0000
param set-default CA_SV_TL0_MINA -45.0000
param set-default CA_SV_TL0_MAXA 45
param set-default CA_SV_TL0_MINA -45
param set-default CA_SV_TL0_TD 90
param set-default CA_SV_TL_COUNT 1
ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
+2 -2
View File
@@ -18,7 +18,7 @@ param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TRQ_P 1
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TRQ_Y 1
param set-default CA_SV_CS3_TYPE 4
ROMFS/px4fmu_common/init.d/airframes/2106_albatross
+7 -7
View File
@@ -35,17 +35,17 @@ param set-default FW_W_RMAX 0
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_SV_CS_COUNT 7
param set-default CA_SV_CS0_TRQ_R -0.5000
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1 #left aileron
param set-default CA_SV_CS1_TRQ_R 0.5000
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2 #right aileron
param set-default CA_SV_CS2_TRQ_P 0.5000
param set-default CA_SV_CS2_TRQ_Y -0.5000
param set-default CA_SV_CS2_TRQ_P 0.5
param set-default CA_SV_CS2_TRQ_Y -0.5
param set-default CA_SV_CS2_TYPE 13 #left A-tail
param set-default CA_SV_CS3_TRQ_P 0.5000
param set-default CA_SV_CS3_TRQ_Y 0.5000
param set-default CA_SV_CS3_TRQ_P 0.5
param set-default CA_SV_CS3_TRQ_Y 0.5
param set-default CA_SV_CS3_TYPE 14 #right A-tail
param set-default CA_SV_CS4_TRQ_Y 1.0000
param set-default CA_SV_CS4_TRQ_Y 1
param set-default CA_SV_CS4_TYPE 12
param set-default CA_SV_CS5_TYPE 9 #left flap
param set-default CA_SV_CS6_TYPE 10 #right flap
ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
+13 -13
View File
@@ -21,21 +21,21 @@ param set-default CBRK_IO_SAFETY 22027
param set-default CA_AIRFRAME 9
param set-default CA_ROTOR_COUNT 3
param set-default CA_ROTOR0_AX 1.0000
param set-default CA_ROTOR0_AZ 0.0000
param set-default CA_ROTOR0_KM 0.0000
param set-default CA_ROTOR0_PY 2.0000
param set-default CA_ROTOR1_AX 1.0000
param set-default CA_ROTOR1_AZ 0.0000
param set-default CA_ROTOR1_KM 0.0000
param set-default CA_ROTOR1_PY -2.0000
param set-default CA_ROTOR2_AY -1.0000
param set-default CA_ROTOR2_AZ 0.0000
param set-default CA_ROTOR2_KM 0.0000
param set-default CA_ROTOR2_PX -10.0000
param set-default CA_ROTOR0_AX 1
param set-default CA_ROTOR0_AZ 0
param set-default CA_ROTOR0_KM 0
param set-default CA_ROTOR0_PY 2
param set-default CA_ROTOR1_AX 1
param set-default CA_ROTOR1_AZ 0
param set-default CA_ROTOR1_KM 0
param set-default CA_ROTOR1_PY -2
param set-default CA_ROTOR2_AY -1
param set-default CA_ROTOR2_AZ 0
param set-default CA_ROTOR2_KM 0
param set-default CA_ROTOR2_PX -10
param set-default CA_SV_CS_COUNT 1
param set-default CA_SV_CS0_TRQ_P 1.0000
param set-default CA_SV_CS0_TRQ_P 1
param set-default CA_R_REV 7
ROMFS/px4fmu_common/init.d/airframes/4001_quad_x
+9 -9
View File
@@ -10,15 +10,15 @@
. ${R}etc/init.d/rc.mc_defaults
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
ROMFS/px4fmu_common/init.d/airframes/4014_s500
+9 -8
View File
@@ -18,14 +18,15 @@ param set-default MC_PITCHRATE_P 0.18
param set-default MC_ROLLRATE_I 0.15
param set-default MC_PITCHRATE_I 0.15
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
ROMFS/px4fmu_common/init.d/airframes/4015_holybro_s500
+9 -8
View File
@@ -22,14 +22,15 @@ param set-default MC_PITCHRATE_I 0.3
param set-default MC_ROLLRATE_D 0.004
param set-default MC_PITCHRATE_D 0.004
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+9 -11
View File
@@ -97,18 +97,17 @@ param set-default CBRK_IO_SAFETY 22027
param set-default THR_MDL_FAC 0.3
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
# Outputs
@@ -116,4 +115,3 @@ param set-default PWM_AUX_FUNC1 101
param set-default PWM_AUX_FUNC2 102
param set-default PWM_AUX_FUNC3 103
param set-default PWM_AUX_FUNC4 104
ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
+9 -8
View File
@@ -21,14 +21,15 @@ param set-default MC_ROLLRATE_I 0.15
param set-default MC_PITCHRATE_P 0.18
param set-default MC_PITCHRATE_I 0.15
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2
+13 -12
View File
@@ -22,19 +22,20 @@ param set-default MC_PITCHRATE_I 0.3
param set-default MC_ROLLRATE_D 0.004
param set-default MC_PITCHRATE_D 0.004
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.25
param set-default CA_ROTOR0_PY 0.25
param set-default CA_ROTOR1_PX -0.25
param set-default CA_ROTOR1_PY -0.25
param set-default CA_ROTOR2_PX 0.25
param set-default CA_ROTOR2_PY -0.25
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.25
param set-default CA_ROTOR3_PY 0.25
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
+9 -11
View File
@@ -98,18 +98,17 @@ param set-default CBRK_IO_SAFETY 22027
param set-default THR_MDL_FAC 0.3
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
# Outputs
@@ -117,4 +116,3 @@ param set-default PWM_AUX_FUNC1 101
param set-default PWM_AUX_FUNC2 102
param set-default PWM_AUX_FUNC3 103
param set-default PWM_AUX_FUNC4 104
ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
+9 -11
View File
@@ -46,22 +46,20 @@ param set-default SYS_HAS_MAG 0
param set-default BAT1_N_CELLS 2
# Square quadrotor X with reverse turn direction
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.03
param set-default CA_ROTOR0_PY 0.03
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR1_PX -0.03
param set-default CA_ROTOR1_PY -0.03
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR2_PX 0.03
param set-default CA_ROTOR2_PY -0.03
param set-default CA_ROTOR2_KM 0.05
param set-default CA_ROTOR3_PX -0.03
param set-default CA_ROTOR3_PY 0.03
param set-default CA_ROTOR3_KM 0.05
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default PWM_MAIN_FUNC1 104
param set-default PWM_MAIN_FUNC2 101
param set-default PWM_MAIN_FUNC3 102
param set-default PWM_MAIN_FUNC4 103
ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
+9 -10
View File
@@ -36,16 +36,15 @@ param set-default SDLOG_PROFILE 19
param set-default IMU_DGYRO_CUTOFF 50
param set-default IMU_GYRO_CUTOFF 90
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
+9 -9
View File
@@ -46,20 +46,20 @@ param set-default MPC_Z_VEL_I_ACC 1.7
param set-default THR_MDL_FAC 0.3
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
+9 -10
View File
@@ -53,16 +53,17 @@ param set-default MC_AIRMODE 1
param set-default EV_TSK_RC_LOSS 1
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 104
@@ -72,5 +73,3 @@ param set-default PWM_MAIN_FUNC4 103
param set-default PWM_MAIN_TIM0 -2
param set-default PWM_MAIN_TIM1 -2
ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
+31 -31
View File
@@ -11,12 +11,11 @@
. ${R}etc/init.d/rc.mc_defaults
# Battery settings
param set-default BAT_CRIT_THR 0.20
param set-default BAT_LOW_THR 0.25
param set-default BAT1_CAPACITY 2800.0
param set-default BAT1_CAPACITY 2800
param set-default BAT1_N_CELLS 3
param set-default BAT1_R_INTERNAL 0.02
param set-default BAT1_V_CHARGED 4.26
@@ -38,7 +37,7 @@ param set-default COM_RC_LOSS_T 3
# ekf2
param set-default EKF2_TERR_MASK 1
param set-default EKF2_BARO_NOISE 2.0
param set-default EKF2_BARO_NOISE 2
param set-default EKF2_BCOEF_X 31.5
param set-default EKF2_BCOEF_Y 25.5
@@ -56,11 +55,11 @@ param set-default EKF2_MAG_NOISE 0.1
param set-default EKF2_MIN_RNG 0.15
param set-default EKF2_OF_DELAY 38
param set-default EKF2_OF_GATE 2.0
param set-default EKF2_OF_GATE 2
param set-default EKF2_OF_POS_X -0.035
param set-default EKF2_OF_POS_Z 0.033
param set-default EKF2_OF_MIN_RNG 0.01
param set-default EKF2_OF_A_HMAX 7.0
param set-default EKF2_OF_A_HMAX 7
param set-default EKF2_OF_QMIN 30
param set-default EKF2_PCOEF_XN -0.3
@@ -68,18 +67,18 @@ param set-default EKF2_PCOEF_XP -0.4
param set-default EKF2_PCOEF_YN -0.4
param set-default EKF2_PCOEF_YP -0.4
param set-default EKF2_RNG_A_VMAX 1.0
param set-default EKF2_RNG_A_VMAX 1
param set-default EKF2_RNG_CTRL 0
param set-default EKF2_RNG_DELAY 55
param set-default EKF2_RNG_POS_X -0.035
param set-default EKF2_RNG_POS_Y 0.0
param set-default EKF2_RNG_POS_Y 0
param set-default EKF2_RNG_POS_Z 0.033
param set-default EKF2_TERR_NOISE 1.0
param set-default EKF2_TERR_NOISE 1
# Maximum allowed angle velocity in the landed state
param set-default LNDMC_ROT_MAX 40.0
param set-default LNDMC_ROT_MAX 40
# Maximum vertical velocity allowed in the landed state
param set-default LNDMC_Z_VEL_MAX 0.7
@@ -94,36 +93,36 @@ param set-default IMU_GYRO_CUTOFF 65
param set-default MC_PITCHRATE_P 0.075
param set-default MC_PITCHRATE_I 0.1
param set-default MC_PITCHRATE_D 0.0005
param set-default MC_PITCHRATE_MAX 360.0
param set-default MC_PITCH_P 8.0
param set-default MC_PITCHRATE_MAX 360
param set-default MC_PITCH_P 8
# Roll angle & rate setting
param set-default MC_ROLLRATE_P 0.055
param set-default MC_ROLLRATE_I 0.1
param set-default MC_ROLLRATE_D 0.0005
param set-default MC_ROLLRATE_MAX 360.0
param set-default MC_ROLL_P 8.0
param set-default MC_ROLLRATE_MAX 360
param set-default MC_ROLL_P 8
# Yaw angle & rate setting
param set-default MC_YAWRATE_P 0.1
param set-default MC_YAWRATE_MAX 120.0
param set-default MC_YAWRATE_MAX 120
param set-default MC_YAW_P 2.5
param set-default MPC_ACC_DOWN_MAX 2.0
param set-default MPC_ACC_HOR 3.0
param set-default MPC_ACC_HOR_MAX 10.0
param set-default MPC_ACC_UP_MAX 3.0
param set-default MPC_ACC_DOWN_MAX 2
param set-default MPC_ACC_HOR 3
param set-default MPC_ACC_HOR_MAX 10
param set-default MPC_ACC_UP_MAX 3
param set-default MPC_ALT_MODE 0
param set-default MPC_LAND_SPEED 0.5
param set-default MPC_MAN_TILT_MAX 20
param set-default MPC_YAWRAUTO_MAX 80.0
param set-default MPC_YAWRAUTO_MAX 80
param set-default MPC_THR_HOVER 0.54
param set-default MPC_THR_MAX 0.9
param set-default MPC_THR_MIN 0.06
param set-default MPC_TILTMAX_AIR 30
param set-default MPC_XY_P 1.0
param set-default MPC_Z_P 2.0
param set-default MPC_Z_VEL_MAX_DN 2.0
param set-default MPC_XY_P 1
param set-default MPC_Z_P 2
param set-default MPC_Z_VEL_MAX_DN 2
# gimbal configuration
param set-default MNT_MODE_IN 0
@@ -150,21 +149,22 @@ param set-default RC1_TRIM 1000
# optical flow
param set-default SENS_FLOW_MAXR 7.4
param set-default SENS_FLOW_MINHGT 0.15
param set-default SENS_FLOW_MAXHGT 5.0
param set-default SENS_FLOW_MAXHGT 5
# ignore the SD card errors and use normal startup sound
set STARTUP_TUNE "1"
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default TAP_ESC_FUNC1 101
ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+13 -14
View File
@@ -73,23 +73,22 @@ param set-default MAV_1_CONFIG 102
param set-default MAV_1_MODE 0
param set-default SER_TEL2_BAUD 57600
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_TIM0 0
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+13 -13
View File
@@ -91,22 +91,22 @@ param set-default EKF2_OF_POS_Z -0.07
# Failsafe
param set-default COM_LOW_BAT_ACT 3
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_TIM0 -3
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
ROMFS/px4fmu_common/init.d/airframes/4500_clover4
+9 -8
View File
@@ -27,16 +27,17 @@ param set-default MPC_XY_P 1.1
param set-default MPC_Z_VEL_P_ACC 4.8
param set-default MPC_Z_P 1.2
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
+12 -13
View File
@@ -17,7 +17,6 @@
#
. ${R}etc/init.d/rc.mc_defaults
param set-default SYS_MC_EST_GROUP 2
param set-default SYS_HAS_MAG 0
param set-default EKF2_OF_CTRL 1
@@ -50,22 +49,22 @@ param set-default MPC_MAX_FLOW_HGT 3
param set-default NAV_RCL_ACT 3
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.03
param set-default CA_ROTOR0_PY 0.03
param set-default CA_ROTOR1_PX -0.03
param set-default CA_ROTOR1_PY 0.03
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR2_PX -0.03
param set-default CA_ROTOR2_PY -0.03
param set-default CA_ROTOR3_PX 0.03
param set-default CA_ROTOR3_PY -0.03
param set-default CA_ROTOR3_KM -0.05
# Run the motors at 328.125 kHz (recommended)
param set-default PWM_MAIN_TIM0 3921
param set-default PWM_MAIN_TIM1 3921
# Square quadrotor X clockwise numbering
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
param set-default CA_ROTOR1_PY 1
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR2_PX -1
param set-default CA_ROTOR2_PY -1
param set-default CA_ROTOR3_PX 1
param set-default CA_ROTOR3_PY -1
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
+2 -2
View File
@@ -36,9 +36,9 @@ param set-default GND_THR_MAX 0.5
param set-default GND_MAX_ANG 1.042
param set-default GND_WHEEL_BASE 0.17
# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
# TODO: Set to -1, to allow reversing. This will require many changes in the codebase
# to support negative throttle.
param set-default GND_THR_MIN 0.0
param set-default GND_THR_MIN 0
param set-default GND_SPEED_P 0.25
param set-default GND_SPEED_I 3
param set-default GND_SPEED_D 0.001
ROMFS/px4fmu_common/init.d/airframes/5001_quad_+
+15 -13
View File
@@ -1,12 +1,10 @@
#!/bin/sh
#
# @name Generic 10" Quad + geometry
# @name Generic Quad + geometry
#
# @type Quadrotor +
# @class Copter
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board bitcraze_crazyflie exclude
# @board px4_fmu-v2 exclude
#
@@ -14,13 +12,17 @@
. ${R}etc/init.d/rc.mc_defaults
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR0_PX 0
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX 0
param set-default CA_ROTOR1_PY -1
param set-default CA_ROTOR2_PX 1
param set-default CA_ROTOR2_PY 0
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 0
param set-default CA_ROTOR3_KM -0.05
ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
-2
View File
@@ -5,8 +5,6 @@
# @type Underwater Robot
# @class Underwater Robot
#
# @maintainer
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
+1 -32
View File
@@ -12,38 +12,7 @@
#
. ${R}etc/init.d/rc.uuv_defaults
param set-default CA_AIRFRAME 7
param set-default CA_ROTOR_COUNT 4
param set-default CA_R_REV 255
param set-default CA_ROTOR0_AX 1
param set-default CA_ROTOR0_AY 0
param set-default CA_ROTOR0_AZ 0
param set-default CA_ROTOR0_KM 0
param set-default CA_ROTOR0_PX 0
param set-default CA_ROTOR0_PY -0.3
param set-default CA_ROTOR0_PZ -0.3
param set-default CA_ROTOR1_AX 1
param set-default CA_ROTOR1_AY 0
param set-default CA_ROTOR1_AZ 0
param set-default CA_ROTOR1_KM 0
param set-default CA_ROTOR1_PX 0
param set-default CA_ROTOR1_PY 0.3
param set-default CA_ROTOR1_PZ -0.3
param set-default CA_ROTOR2_AX 1
param set-default CA_ROTOR2_AY 0
param set-default CA_ROTOR2_AZ 0
param set-default CA_ROTOR2_KM 0
param set-default CA_ROTOR2_PX 0
param set-default CA_ROTOR2_PY 0.3
param set-default CA_ROTOR2_PZ 0.3
param set-default CA_ROTOR3_AX 1
param set-default CA_ROTOR3_AY 0
param set-default CA_ROTOR3_AZ 0
param set-default CA_ROTOR3_KM 0
param set-default CA_ROTOR3_PX 0
param set-default CA_ROTOR3_PY -0.3
param set-default CA_ROTOR3_PZ 0.3
. ${R}etc/init.d/airframes/60000_uuv_generic
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
+44 -44
View File
@@ -30,7 +30,7 @@ param set-default MAV_1_CONFIG 102
param set-default BAT1_A_PER_V 37.8798
param set-default BAT1_CAPACITY 18000
param set-default BAT1_V_DIV 11.0
param set-default BAT1_V_DIV 11
param set-default BAT1_N_CELLS 4
param set-default BAT_V_OFFS_CURR 0.33
@@ -38,49 +38,49 @@ param set-default CA_AIRFRAME 7
param set-default CA_ROTOR_COUNT 8
param set-default CA_R_REV 255
param set-default CA_ROTOR0_AX 1.0000
param set-default CA_ROTOR0_AY -1.0000
param set-default CA_ROTOR0_AZ 0.0000
param set-default CA_ROTOR0_KM 0.0000
param set-default CA_ROTOR0_PX 0.5000
param set-default CA_ROTOR0_PY 0.3000
param set-default CA_ROTOR0_PZ 0.2000
param set-default CA_ROTOR1_AX 1.0000
param set-default CA_ROTOR1_AY 1.0000
param set-default CA_ROTOR1_AZ 0.0000
param set-default CA_ROTOR1_KM 0.0000
param set-default CA_ROTOR1_PX 0.5000
param set-default CA_ROTOR1_PY -0.3000
param set-default CA_ROTOR1_PZ 0.2000
param set-default CA_ROTOR2_AX 1.0000
param set-default CA_ROTOR2_AY 1.0000
param set-default CA_ROTOR2_AZ 0.0000
param set-default CA_ROTOR2_KM 0.0000
param set-default CA_ROTOR2_PX -0.5000
param set-default CA_ROTOR2_PY 0.3000
param set-default CA_ROTOR2_PZ 0.2000
param set-default CA_ROTOR3_AX 1.0000
param set-default CA_ROTOR3_AY -1.0000
param set-default CA_ROTOR3_AZ 0.0000
param set-default CA_ROTOR3_KM 0.0000
param set-default CA_ROTOR3_PX -0.5000
param set-default CA_ROTOR3_PY -0.3000
param set-default CA_ROTOR3_PZ 0.2000
param set-default CA_ROTOR4_AZ -1.0000
param set-default CA_ROTOR4_KM 0.0000
param set-default CA_ROTOR4_PX 0.5000
param set-default CA_ROTOR4_PY 0.5000
param set-default CA_ROTOR5_AZ 1.0000
param set-default CA_ROTOR5_KM 0.0000
param set-default CA_ROTOR5_PX 0.5000
param set-default CA_ROTOR5_PY -0.5000
param set-default CA_ROTOR6_AZ 1.0000
param set-default CA_ROTOR6_KM 0.0000
param set-default CA_ROTOR6_PX -0.5000
param set-default CA_ROTOR6_PY 0.5000
param set-default CA_ROTOR7_KM 0.0000
param set-default CA_ROTOR7_PX -0.5000
param set-default CA_ROTOR7_PY -0.5000
param set-default CA_ROTOR0_AX 1
param set-default CA_ROTOR0_AY -1
param set-default CA_ROTOR0_AZ 0
param set-default CA_ROTOR0_KM 0
param set-default CA_ROTOR0_PX 0.5
param set-default CA_ROTOR0_PY 0.3
param set-default CA_ROTOR0_PZ 0.2
param set-default CA_ROTOR1_AX 1
param set-default CA_ROTOR1_AY 1
param set-default CA_ROTOR1_AZ 0
param set-default CA_ROTOR1_KM 0
param set-default CA_ROTOR1_PX 0.5
param set-default CA_ROTOR1_PY -0.3
param set-default CA_ROTOR1_PZ 0.2
param set-default CA_ROTOR2_AX 1
param set-default CA_ROTOR2_AY 1
param set-default CA_ROTOR2_AZ 0
param set-default CA_ROTOR2_KM 0
param set-default CA_ROTOR2_PX -0.5
param set-default CA_ROTOR2_PY 0.3
param set-default CA_ROTOR2_PZ 0.2
param set-default CA_ROTOR3_AX 1
param set-default CA_ROTOR3_AY -1
param set-default CA_ROTOR3_AZ 0
param set-default CA_ROTOR3_KM 0
param set-default CA_ROTOR3_PX -0.5
param set-default CA_ROTOR3_PY -0.3
param set-default CA_ROTOR3_PZ 0.2
param set-default CA_ROTOR4_AZ -1
param set-default CA_ROTOR4_KM 0
param set-default CA_ROTOR4_PX 0.5
param set-default CA_ROTOR4_PY 0.5
param set-default CA_ROTOR5_AZ 1
param set-default CA_ROTOR5_KM 0
param set-default CA_ROTOR5_PX 0.5
param set-default CA_ROTOR5_PY -0.5
param set-default CA_ROTOR6_AZ 1
param set-default CA_ROTOR6_KM 0
param set-default CA_ROTOR6_PX -0.5
param set-default CA_ROTOR6_PY 0.5
param set-default CA_ROTOR7_KM 0
param set-default CA_ROTOR7_PX -0.5
param set-default CA_ROTOR7_PY -0.5
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
+2 -2
View File
@@ -16,10 +16,10 @@
param set-default MAV_TYPE 13
param set-default CA_ROTOR_COUNT 6
param set-default CA_ROTOR0_PX 0.0
param set-default CA_ROTOR0_PX 0
param set-default CA_ROTOR0_PY 0.5
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR1_PX 0.0
param set-default CA_ROTOR1_PX 0
param set-default CA_ROTOR1_PY -0.5
param set-default CA_ROTOR2_PX 0.43
param set-default CA_ROTOR2_PY -0.25
ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
+2 -2
View File
@@ -97,10 +97,10 @@ param set-default SER_TEL2_BAUD 921600
param set-default CA_ROTOR_COUNT 6
param set-default CA_ROTOR0_PX 0.0
param set-default CA_ROTOR0_PX 0
param set-default CA_ROTOR0_PY 0.5
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR1_PX 0.0
param set-default CA_ROTOR1_PX 0
param set-default CA_ROTOR1_PY -0.5
param set-default CA_ROTOR2_PX 0.43
param set-default CA_ROTOR2_PY -0.25
ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
+2 -2
View File
@@ -17,10 +17,10 @@ param set-default MAV_TYPE 13
param set-default CA_ROTOR_COUNT 6
param set-default CA_ROTOR0_PX 0.5
param set-default CA_ROTOR0_PY 0.0
param set-default CA_ROTOR0_PY 0
param set-default CA_ROTOR0_KM -0.05
param set-default CA_ROTOR1_PX -0.5
param set-default CA_ROTOR1_PY 0.0
param set-default CA_ROTOR1_PY 0
param set-default CA_ROTOR2_PX -0.25
param set-default CA_ROTOR2_PY -0.43
param set-default CA_ROTOR2_KM -0.05
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+118 -85
View File
@@ -32,94 +32,127 @@
############################################################################
px4_add_romfs_files(
# [0-999] Reserved (historical)"
# [1000, 1999] Simulation setups"
1001_rc_quad_x.hil
1002_standard_vtol.hil
1100_rc_quad_x_sih.hil
1101_rc_plane_sih.hil
1102_tailsitter_duo_sih.hil
# [2000, 2999] Standard planes"
2100_standard_plane
2106_albatross
2507_cloudship
# [3000, 3999] Flying wing"
3000_generic_wing
# [4000, 4999] Quadrotor x"
4001_quad_x
4014_s500
4015_holybro_s500
4016_holybro_px4vision
4017_nxp_hovergames
4019_x500_v2
4020_holybro_px4vision_v1_5
4041_beta75x
4050_generic_250
4052_holybro_qav250
4053_holybro_kopis2
4061_atl_mantis_edu
4071_ifo
4073_ifo-s
4500_clover4
4901_crazyflie21
# [5000, 5999] Quadrotor +"
5001_quad_+
# [6000, 6999] Hexarotor x"
6001_hexa_x
6002_draco_r
# [7000, 7999] Hexarotor +"
7001_hexa_+
# [8000, 8999] Octorotor +"
8001_octo_x
# [9000, 9999] Octorotor +"
9001_octo_+
# [11000, 11999] Hexa Cox
11001_hexa_cox
# [12000, 12999] Octo Cox
12001_octo_cox
# [13000, 13999] VTOL
13000_generic_vtol_standard
13100_generic_vtol_tiltrotor
13013_deltaquad
13014_vtol_babyshark
13030_generic_vtol_quad_tiltrotor
13200_generic_vtol_tailsitter
# [14000, 14999] MC with tilt
14001_generic_mc_with_tilt
16001_helicopter
# [17000, 17999] Autogyro
17002_TF-AutoG2
17003_TF-G2
# [0-999] Reserved (historical)
# [18000, 18999] High-altitude balloons
18001_TF-B1
# [22000, 22999] Reserve for custom models
24001_dodeca_cox
50000_generic_ground_vehicle
50004_nxpcup_car_dfrobot_gpx
50003_aion_robotics_r1_rover
# [60000, 61000] (Unmanned) Underwater Robots
60000_uuv_generic
60001_uuv_hippocampus
60002_uuv_bluerov2_heavy
)
if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
px4_add_romfs_files(
# [1000, 1999] Simulation setups
1001_rc_quad_x.hil
1002_standard_vtol.hil
1100_rc_quad_x_sih.hil
1101_rc_plane_sih.hil
1102_tailsitter_duo_sih.hil
)
endif()
if(CONFIG_MODULES_MC_RATE_CONTROL)
px4_add_romfs_files(
# [4000, 4999] Quadrotor x
4001_quad_x
4014_s500
4015_holybro_s500
4016_holybro_px4vision
4017_nxp_hovergames
4019_x500_v2
4020_holybro_px4vision_v1_5
4041_beta75x
4050_generic_250
4052_holybro_qav250
4053_holybro_kopis2
4061_atl_mantis_edu
4071_ifo
4073_ifo-s
4500_clover4
4901_crazyflie21
# [5000, 5999] Quadrotor +
5001_quad_+
# [6000, 6999] Hexarotor x
6001_hexa_x
6002_draco_r
# [7000, 7999] Hexarotor +
7001_hexa_+
# [8000, 8999] Octorotor +
8001_octo_x
# [9000, 9999] Octorotor +
9001_octo_+
# [11000, 11999] Hexa Cox
11001_hexa_cox
# [12000, 12999] Octo Cox
12001_octo_cox
# [14000, 14999] MC with tilt
14001_generic_mc_with_tilt
16001_helicopter
24001_dodeca_cox
)
endif()
if(CONFIG_MODULES_FW_RATE_CONTROL)
px4_add_romfs_files(
# [2000, 2999] Standard planes
2100_standard_plane
2106_albatross
# [3000, 3999] Flying wing
3000_generic_wing
# [17000, 17999] Autogyro
17002_TF-AutoG2
17003_TF-G2
)
endif()
if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
px4_add_romfs_files(
2507_cloudship
)
endif()
if(CONFIG_MODULES_VTOL_ATT_CONTROL)
px4_add_romfs_files(
# [13000, 13999] VTOL
13000_generic_vtol_standard
13100_generic_vtol_tiltrotor
13013_deltaquad
13014_vtol_babyshark
13030_generic_vtol_quad_tiltrotor
13200_generic_vtol_tailsitter
)
endif()
if(CONFIG_MODULES_ROVER_POS_CONTROL)
px4_add_romfs_files(
50000_generic_ground_vehicle
50004_nxpcup_car_dfrobot_gpx
)
endif()
if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
px4_add_romfs_files(
50003_aion_robotics_r1_rover
)
endif()
if(CONFIG_MODULES_UUV_ATT_CONTROL)
px4_add_romfs_files(
# [60000, 61000] (Unmanned) Underwater Robots
60000_uuv_generic
60001_uuv_hippocampus
60002_uuv_bluerov2_heavy
)
endif()
ROMFS/px4fmu_common/init.d/rc.fw_defaults
+2 -3
View File
@@ -28,13 +28,12 @@ param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default EKF2_GPS_CHECK 21
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
param set-default EKF2_REQ_EPH 10
param set-default EKF2_REQ_EPV 10
param set-default EKF2_REQ_HDRIFT 0.5
param set-default EKF2_REQ_SACC 1
param set-default EKF2_REQ_VDRIFT 1.0
param set-default EKF2_RNG_QLTY_T 3.0
param set-default EKF2_REQ_VDRIFT 1
param set-default EKF2_RNG_QLTY_T 3
param set-default RTL_TYPE 1
param set-default RTL_RETURN_ALT 100
ROMFS/px4fmu_common/init.d/rc.rover_differential_apps
+1 -1
View File
@@ -5,7 +5,7 @@
ekf2 start &
# Start rover differential drive controller.
differential_drive_control start
differential_drive start
# Start Land Detector.
land_detector start rover
ROMFS/px4fmu_common/init.d/rc.thermal_cal
+5
View File
@@ -22,6 +22,11 @@ then
set TEMP_COMP_START "true"
fi
if param compare -s TC_M_ENABLE 1
then
set TEMP_COMP_START "true"
fi
if [ "x$TEMP_COMP_START" != "x" ]
then
temperature_compensation start
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+1 -1
View File
@@ -21,7 +21,7 @@ param set-default MIS_YAW_TMT 10
param set-default EKF2_ARSP_THR 10
param set-default EKF2_FUSE_BETA 1
param set-default HTE_VXY_THR 2.0
param set-default HTE_VXY_THR 2
param set-default MIS_TKO_LAND_REQ 2
ROMFS/px4fmu_common/init.d/rcS
+13 -3
View File
@@ -170,7 +170,7 @@ else
param select-backup $PARAM_BACKUP_FILE
fi
if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X PX4_FMU_V6XRT
if mft query -q -k MFT -s MFT_ETHERNET -v 1
then
netman update -i eth0
fi
@@ -439,7 +439,12 @@ else
#
# Start a thermal calibration if required.
#
. ${R}etc/init.d/rc.thermal_cal
set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
if [ -f ${RC_THERMAL_CAL} ]
then
. ${RC_THERMAL_CAL}
fi
unset RC_THERMAL_CAL
#
# Start gimbal to control mounts such as gimbals, disabled by default.
@@ -500,7 +505,12 @@ else
#
# Start the logger.
#
. ${R}etc/init.d/rc.logging
set RC_LOGGING ${R}etc/init.d/rc.logging
if [ -f ${RC_LOGGING} ]
then
. ${RC_LOGGING}
fi
unset RC_LOGGING
#
# Set additional parameters and env variables for selected AUTOSTART.
Tools/simulation/gazebo-classic/sitl_gazebo-classic
+1 -1
Submodule Tools/simulation/gazebo-classic/sitl_gazebo-classic updated: 33ac87a376...da7206e057
Tools/simulation/gz
+1 -1
Submodule Tools/simulation/gz updated: c78f7f0141...2228336568
boards/ark/fmu-v6x/init/rc.board_defaults
+2 -2
View File
@@ -22,12 +22,12 @@ param set-default SENS_IMU_TEMP 10.0
#param set-default SENS_IMU_TEMP_I 0.025
#param set-default SENS_IMU_TEMP_P 1.0
if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
if ver hwtypecmp ARKV6X000
then
param set-default SENS_TEMP_ID 2818058
fi
if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
if ver hwtypecmp ARKV6X001
then
param set-default SENS_TEMP_ID 3014666
fi
boards/ark/fmu-v6x/init/rc.board_sensors
+3 -3
View File
@@ -5,7 +5,7 @@
set HAVE_PM2 yes
set HAVE_PM3 yes
if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X005004
if mft query -q -k MFT -s MFT_PM2 -v 0
then
set HAVE_PM2 no
set HAVE_PM3 no
@@ -66,7 +66,7 @@ then
fi
fi
if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
if ver hwtypecmp ARKV6X000
then
# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
iim42652 -R 3 -s -b 1 -C 32051 start
@@ -78,7 +78,7 @@ then
icm42688p -R 6 -s -b 3 -C 32051 start
fi
if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
if ver hwtypecmp ARKV6X001
then
# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
#iim42653 -R 3 -s -b 1 -C 32051 start
boards/ark/fmu-v6x/nuttx-config/include/board.h
+2 -2
View File
@@ -248,7 +248,7 @@
/* ADC 1 2 3 clock source */
#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2
#define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2
/* FDCAN 1 2 clock source */
@@ -380,7 +380,7 @@
#define GPIO_UART5_RX GPIO_UART5_RX_3 /* PD2 */
#define GPIO_UART5_TX GPIO_UART5_TX_3 /* PC12 */
// GPIO_UART5_RTS No remap /* PC8 */
// GPIO_UART5_CTS No remap /* PC9 */
#define GPIO_UART5_CTS (GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9|GPIO_PULLDOWN) /* PC9 */
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */
boards/ark/fmu-v6x/src/CMakeLists.txt
-1
View File
@@ -55,7 +55,6 @@ else()
init.c
led.c
mtd.cpp
manifest.c
sdio.c
spi.cpp
spix_sync.c
boards/ark/fmu-v6x/src/board_config.h
+5 -13
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2024 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
@@ -204,25 +204,17 @@
#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
/* HW Version and Revision drive signals Default to 1 to detect */
#define BOARD_HAS_HW_VERSIONING
#define BOARD_HAS_HW_SPLIT_VERSIONING
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
#define HW_INFO_INIT_PREFIX "ARKV6X"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 8 // Rev 0 and Rev 1
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
// Base/FMUM
#define ARKV6X00 HW_VER_REV(0x0,0x0) // ARKV6X, Sensor Set Rev 0
#define ARKV6X01 HW_VER_REV(0x0,0x1) // ARKV6X, Sensor Set Rev 1
//#define ARKV6X03 HW_VER_REV(0x0,0x3) // ARKV6X, Sensor Set Rev 3
//#define ARKV6X04 HW_VER_REV(0x0,0x4) // ARKV6X, Sensor Set Rev 4
#define ARKV6X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Sensor Set Rev 0
#define ARKV6X11 HW_VER_REV(0x1,0x1) // NO PX4IO, Sensor Set Rev 1
#define ARKV6X40 HW_VER_REV(0x4,0x0) // ARKV6X, Sensor Set Rev 0 HB CM4 base Rev 3
#define ARKV6X41 HW_VER_REV(0x4,0x1) // ARKV6X, Sensor Set Rev 1 HB CM4 base Rev 4
#define ARKV6X50 HW_VER_REV(0x5,0x0) // ARKV6X, Sensor Set Rev 0 HB Mini Rev 5
#define ARKV6X51 HW_VER_REV(0x5,0x1) // ARKV6X, Sensor Set Rev 1 HB Mini Rev 1 // never shipped
#define ARKV6X_0 HW_FMUM_ID(0x0) // ARKV6X, Sensor Set Rev 0
#define ARKV6X_1 HW_FMUM_ID(0x1) // ARKV6X, Sensor Set Rev 1
#define UAVCAN_NUM_IFACES_RUNTIME 1
boards/ark/fmu-v6x/src/manifest.c
-216
View File
@@ -1,216 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2022 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 manifest.c
*
* This module supplies the interface to the manifest of hardware that is
* optional and dependent on the HW REV and HW VER IDs
*
* The manifest allows the system to know whether a hardware option
* say for example the PX4IO is an no-pop option vs it is broken.
*
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <board_config.h>
#include <inttypes.h>
#include <stdbool.h>
#include <syslog.h>
#include "systemlib/px4_macros.h"
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
typedef struct {
uint32_t hw_ver_rev; /* the version and revision */
const px4_hw_mft_item_t *mft; /* The first entry */
uint32_t entries; /* the lenght of the list */
} px4_hw_mft_list_entry_t;
typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
// List of components on a specific board configuration
// The index of those components is given by the enum (px4_hw_mft_item_id_t)
// declared in board_common.h
static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
{
// PX4_MFT_PX4IO
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
// PX4_MFT_USB
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
// PX4_MFT_CAN2
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
};
static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
{
// PX4_MFT_PX4IO
.present = 0,
.mandatory = 0,
.connection = px4_hw_con_unknown,
},
{
// PX4_MFT_USB
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
// PX4_MFT_CAN2
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
};
static const px4_hw_mft_item_t hw_mft_list_v0640[] = {
{
// PX4_MFT_PX4IO
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
// PX4_MFT_USB
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
// PX4_MFT_CAN2
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
};
static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
{
// PX4_MFT_PX4IO
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_unknown,
},
{
// PX4_MFT_USB
.present = 1,
.mandatory = 1,
.connection = px4_hw_con_onboard,
},
{
// PX4_MFT_CAN2
.present = 0,
.mandatory = 0,
.connection = px4_hw_con_unknown,
},
};
static px4_hw_mft_list_entry_t mft_lists[] = {
// ver_rev
{ARKV6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X, Sensor Set Rev 0
{ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X, Sensor Set Rev 1
{ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO, Sensor Set Rev 0
{ARKV6X11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO, Sensor Set Rev 1
{ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X, Sensor Set Rev 0 HB CM4 base Rev 3
{ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X, Sensor Set Rev 1 HB CM4 base Rev 4
{ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X, Sensor Set Rev 0 HB Mini Rev 5
{ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X, Sensor Set Rev 1 HB Mini Rev 1 // never shipped
};
/************************************************************************************
* Name: board_query_manifest
*
* Description:
* Optional returns manifest item.
*
* Input Parameters:
* manifest_id - the ID for the manifest item to retrieve
*
* Returned Value:
* 0 - item is not in manifest => assume legacy operations
* pointer to a manifest item
*
************************************************************************************/
__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
{
static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
if (boards_manifest == px4_hw_mft_list_uninitialized) {
uint32_t ver_rev = board_get_hw_version() << 16;
ver_rev |= board_get_hw_revision();
for (unsigned i = 0; i < arraySize(mft_lists); i++) {
if (mft_lists[i].hw_ver_rev == ver_rev) {
boards_manifest = &mft_lists[i];
break;
}
}
if (boards_manifest == px4_hw_mft_list_uninitialized) {
syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
}
}
px4_hw_mft_item rv = &device_unsupported;
if (boards_manifest != px4_hw_mft_list_uninitialized &&
id < boards_manifest->entries) {
rv = &boards_manifest->mft[id];
}
return rv;
}
boards/ark/fmu-v6x/src/mtd.cpp
+12 -3
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2022 PX4 Development Team. All rights reserved.
* Copyright (C) 2024 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
@@ -31,6 +31,9 @@
*
****************************************************************************/
#include <nuttx/config.h>
#include <board_config.h>
#include <nuttx/spi/spi.h>
#include <px4_platform_common/px4_manifest.h>
// KiB BS nB
@@ -86,10 +89,16 @@ static const px4_mft_entry_s mtd_mft = {
.pmft = (void *) &board_mtd_config,
};
static const px4_mft_entry_s mft_mft = {
.type = MFT,
.pmft = (void *) system_query_manifest,
};
static const px4_mft_s mft = {
.nmft = 1,
.nmft = 2,
.mfts = {
&mtd_mft
&mtd_mft,
&mft_mft,
}
};
boards/ark/fmu-v6x/src/spi.cpp
+3 -141
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2022 PX4 Development Team. All rights reserved.
* Copyright (C) 2024 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
@@ -36,7 +36,7 @@
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
initSPIHWVersion(ARKV6X00, {
initSPIFmumID(ARKV6X_0, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
@@ -59,145 +59,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}),
}),
initSPIHWVersion(ARKV6X01, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
initSPIHWVersion(ARKV6X10, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
initSPIHWVersion(ARKV6X11, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
initSPIHWVersion(ARKV6X40, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
initSPIHWVersion(ARKV6X41, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
initSPIHWVersion(ARKV6X50, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
initSPIHWVersion(ARKV6X51, {
initSPIFmumID(ARKV6X_1, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
boards/ark/septentrio-gps/canbootloader.px4board
+5
View File
@@ -0,0 +1,5 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m4"
CONFIG_BOARD_ROMFSROOT=""
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_DRIVERS_BOOTLOADERS=y
boards/ark/septentrio-gps/default.px4board
+37
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@@ -0,0 +1,37 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m4"
CONFIG_BOARD_ROMFSROOT="cannode"
CONFIG_BOARD_NO_HELP=y
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_DRIVERS_BAROMETER_BMP388=y
CONFIG_DRIVERS_BOOTLOADERS=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
CONFIG_DRIVERS_SAFETY_BUTTON=y
CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_DRIVERS_UAVCANNODE=y
CONFIG_UAVCANNODE_BEEP_COMMAND=y
CONFIG_UAVCANNODE_GNSS_FIX=y
CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
CONFIG_UAVCANNODE_RTK_DATA=y
CONFIG_UAVCANNODE_SAFETY_BUTTON=y
CONFIG_UAVCANNODE_STATIC_PRESSURE=y
CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_SENSORS=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_VER=y
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
boards/ark/septentrio-gps/firmware.prototype
+13
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@@ -0,0 +1,13 @@
{
"board_id": 84,
"magic": "PX4FWv1",
"description": "Firmware for the ARK Septentrio GPS board",
"image": "",
"build_time": 0,
"summary": "ARKSEPTENTRIOGPS",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2080768,
"git_identity": "",
"board_revision": 0
}

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