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Merge commit '292b87fe2cfa2a5a00616c5ed13516bd60199f5a'

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This commit is contained in:
carmix
2015-10-24 10:41:40 +02:00
parent 9748727331 292b87fe2c
commit 68a5534a76
24 changed files with 75 additions and 49 deletions
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Makefile
+4 -1
View File
@@ -125,6 +125,9 @@ ros_sitl_simple:
qurt_eagle_travis:
$(call cmake-build,$@)
posix_eagle_release:
$(call cmake-build,$@)
posix: posix_sitl_simple
posix_sitl_default: posix_sitl_simple
@@ -135,7 +138,7 @@ run_sitl_quad: posix
Tools/sitl_run.sh posix-configs/SITL/init/rcS none jmavsim
run_sitl_iris: posix
Tools/sitl_run.sh posix-configs/SITL/init/rcS_iris_gazebo
Tools/sitl_run.sh posix-configs/SITL/init/rcS_iris_gazebo none gazebo
run_sitl_plane: posix
Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing
ROMFS/px4fmu_common/init.d/10015_tbs_discovery
-8
View File
@@ -28,11 +28,3 @@ fi
set MIXER quad_w
set PWM_OUT 1234
set PWM_MIN 1200
set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1000
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000
ROMFS/px4fmu_common/init.d/10016_3dr_iris
-3
View File
@@ -32,6 +32,3 @@ fi
set MIXER quad_w
set PWM_OUT 1234
set PWM_MIN 1200
set PWM_MAX 1950
ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
-3
View File
@@ -30,7 +30,4 @@ fi
set MIXER quad_w
set PWM_MIN 1210
set PWM_MAX 2100
set PWM_OUT 1234
ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
-1
View File
@@ -30,7 +30,6 @@ fi
set MIXER sk450_deadcat
set PWM_OUT 1234
set PWM_MIN 1050
set PWM_AUX_OUT 1234
# set PWM_AUX_MIN 900
Tools/px4params/srcparser.py
+2 -1
View File
@@ -45,6 +45,7 @@ class Parameter(object):
"min": 5,
"max": 4,
"unit": 3,
"decimal": 2,
# all others == 0 (sorted alphabetically)
}
@@ -106,7 +107,7 @@ class SourceParser(object):
re_remove_dots = re.compile(r'\.+$')
re_remove_carriage_return = re.compile('\n+')
valid_tags = set(["group", "board", "min", "max", "unit"])
valid_tags = set(["group", "board", "min", "max", "unit", "decimal"])
# Order of parameter groups
priority = {
Tools/sitl_run.sh
+22
View File
@@ -1,12 +1,26 @@
#!/bin/bash
cp Tools/posix_lldbinit build_posix_sitl_simple/src/firmware/posix/.lldbinit
cp Tools/posix.gdbinit build_posix_sitl_simple/src/firmware/posix/.gdbinit
SIM_PID=0
if [ "$3" == "jmavsim" ]
then
cd Tools/jMAVSim
ant
java -Djava.ext.dirs= -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp 127.0.0.1:14560 &
SIM_PID=echo $!
cd ../..
elif [ "$3" == "gazebo" ]
then
if [ -x "$(command -v gazebo)" ]
then
gazebo ${SITL_GAZEBO_PATH}/worlds/iris.world &
SIM_PID=echo $!
else
echo "You need to have gazebo simulator installed!"
exit 1
fi
fi
cd build_posix_sitl_simple/src/firmware/posix
mkdir -p rootfs/fs/microsd
@@ -22,3 +36,11 @@ then
else
./mainapp ../../../../$1
fi
if [ "$3" == "jmavsim" ]
then
kill -9 $SIM_PID
elif [ "$3" == "gazebo" ]
then
kill -9 $SIM_PID
fi
Vagrantfile
Vendored
+1 -1
View File
@@ -78,7 +78,7 @@ Vagrant.configure(2) do |config|
echo "cd /Firmware" >> ~/.bashrc
# Install software
sudo apt-get update
sudo apt-get install -y build-essential ccache cmake clang-3.5 lldb-3.5 g++-4.8 gcc-4.8 genromfs libc6-i386 libncurses5-dev python-argparse python-empy python-serial s3cmd texinfo zlib1g-dev git-core zip gdb
sudo apt-get install -y build-essential ccache cmake clang-3.5 lldb-3.5 g++-4.8 gcc-4.8 genromfs libc6-i386 libncurses5-dev python-argparse python-empy python-serial s3cmd texinfo zlib1g-dev git-core zip gdb gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf
pushd .
cd ~
wget -q https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
cmake/common/px4_base.cmake
+1 -1
View File
@@ -492,7 +492,6 @@ function(px4_add_common_flags)
-Wpointer-arith
-Wmissing-declarations
-Wno-unused-parameter
-Wno-varargs
-Werror=format-security
-Werror=array-bounds
-Wfatal-errors
@@ -517,6 +516,7 @@ function(px4_add_common_flags)
if (NOT ${OS} STREQUAL "qurt")
list(APPEND warnings
-Wno-unused-const-variable
-Wno-varargs
)
endif()
else()
cmake/configs/posix_eagle_release.cmake
+9
View File
@@ -5,6 +5,15 @@ if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
set(DSPAL_STUBS_ENABLE "1")
endif()
if ("${QRL_SDK_DIR}" STREQUAL "")
set(QRL_SDK_DIR /opt/qrlsdk)
endif()
set(CMAKE_PROGRAM_PATH
"${QRL_SDK_DIR}/gcc-linaro-4.8-2015.06-x86_64_arm-linux-gnueabihf/bin"
${CMAKE_PROGRAM_PATH}
)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
set(config_module_list
cmake/configs/qurt_eagle_hello.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(qurt/px4_impl_qurt)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
set(config_module_list
drivers/device
cmake/configs/qurt_eagle_hil.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(qurt/px4_impl_qurt)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
set(config_module_list
drivers/device
cmake/configs/qurt_eagle_muorb.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(qurt/px4_impl_qurt)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
set(config_module_list
drivers/device
cmake/configs/qurt_eagle_release.cmake
+1 -1
View File
@@ -20,7 +20,7 @@ set(target_libraries
)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
set(config_module_list
#
cmake/configs/qurt_eagle_test.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(qurt/px4_impl_qurt)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
set(config_module_list
drivers/device
cmake/configs/qurt_eagle_travis.cmake
+1 -1
View File
@@ -3,7 +3,7 @@ include(qurt/px4_impl_qurt)
# Run a full link with build stubs to make sure qurt target isn't broken
set(QURT_ENABLE_STUBS "1")
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
set(config_module_list
drivers/device
cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
+3 -3
View File
@@ -26,13 +26,13 @@ set(CMAKE_SYSTEM_VERSION 1)
# specify the cross compiler
find_program(C_COMPILER arm-linux-gnueabihf-gcc)
if(NOT C_COMPILER)
message(FATAL_ERROR "could not find arm-none-eabi-gcc compiler")
message(FATAL_ERROR "could not find arm-linux-gnueabihf-gcc compiler")
endif()
cmake_force_c_compiler(${C_COMPILER} GNU)
find_program(CXX_COMPILER arm-linux-gnueabihf-g++)
if(NOT CXX_COMPILER)
message(FATAL_ERROR "could not find arm-none-eabi-g++ compiler")
message(FATAL_ERROR "could not find arm-linux-gnueabihf-g++ compiler")
endif()
cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
@@ -41,7 +41,7 @@ foreach(tool objcopy nm ld)
string(TOUPPER ${tool} TOOL)
find_program(${TOOL} arm-linux-gnueabihf-${tool})
if(NOT ${TOOL})
message(FATAL_ERROR "could not find ${tool}")
message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
endif()
endforeach()
cmake/toolchains/Toolchain-hexagon-7.4.cmake → cmake/toolchains/Toolchain-hexagon-7.2.10.cmake
+3 -2
View File
@@ -35,7 +35,7 @@ list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
include(common/px4_base)
if(NOT HEXAGON_TOOLS_ROOT)
set(HEXAGON_TOOLS_ROOT /opt/7.4/Tools)
set(HEXAGON_TOOLS_ROOT $ENV{HOME}/Qualcomm/HEXAGON_Tools/7.2.10/Tools)
endif()
macro (list2string out in)
@@ -53,7 +53,7 @@ set(HEXAGON_LIB_DIR ${HEXAGON_TOOLS_ROOT}/gnu/hexagon/lib)
set(HEXAGON_ISS_DIR ${HEXAGON_TOOLS_ROOT}/lib/iss)
set(TOOLSLIB ${HEXAGON_TOOLS_ROOT}/target/hexagon/lib/${V_ARCH}/G0)
# Use the HexagonTools compiler (6.4.05)
# Use the HexagonTools compiler (7.2.10)
set(CMAKE_C_COMPILER ${HEXAGON_BIN}/${CROSSDEV}clang)
set(CMAKE_CXX_COMPILER ${HEXAGON_BIN}/${CROSSDEV}clang++)
@@ -82,6 +82,7 @@ set(ARCHCPUFLAGS
add_definitions(
-D_PID_T -D_UID_T -D_TIMER_T
-Dnoreturn_function=
-D_HAS_C9X
-D__EXPORT=
-Drestrict=
-D_DEBUG
src/modules/attitude_estimator_q/attitude_estimator_q_params.c
+8 -2
View File
@@ -47,6 +47,7 @@
* @group Attitude Q estimator
* @min 0
* @max 1
* @decimal 2
*/
PARAM_DEFINE_FLOAT(ATT_W_ACC, 0.2f);
@@ -56,6 +57,7 @@ PARAM_DEFINE_FLOAT(ATT_W_ACC, 0.2f);
* @group Attitude Q estimator
* @min 0
* @max 1
* @decimal 2
*/
PARAM_DEFINE_FLOAT(ATT_W_MAG, 0.1f);
@@ -65,6 +67,7 @@ PARAM_DEFINE_FLOAT(ATT_W_MAG, 0.1f);
* @group Attitude Q estimator
* @min 0
* @max 1
* @decimal 2
*/
PARAM_DEFINE_FLOAT(ATT_W_GYRO_BIAS, 0.1f);
@@ -77,6 +80,7 @@ PARAM_DEFINE_FLOAT(ATT_W_GYRO_BIAS, 0.1f);
*
* @group Attitude Q estimator
* @unit degrees
* @decimal 2
*/
PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
@@ -106,6 +110,7 @@ PARAM_DEFINE_INT32(ATT_ACC_COMP, 2);
* @min 0
* @max 2
* @unit rad/s
* @decimal 3
*/
PARAM_DEFINE_FLOAT(ATT_BIAS_MAX, 0.05f);
@@ -113,7 +118,8 @@ PARAM_DEFINE_FLOAT(ATT_BIAS_MAX, 0.05f);
* Threshold (of RMS) to warn about high vibration levels
*
* @group Attitude Q estimator
* @min 0.001
* @max 100
* @min 0.01
* @max 10
* @decimal 2
*/
PARAM_DEFINE_FLOAT(ATT_VIBE_THRESH, 0.2f);
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+7 -7
View File
@@ -1122,7 +1122,7 @@ int AttitudePositionEstimatorEKF::start()
_estimator_task = px4_task_spawn_cmd("ekf_att_pos_estimator",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
3900,
4600,
(px4_main_t)&AttitudePositionEstimatorEKF::task_main_trampoline,
nullptr);
@@ -1245,9 +1245,9 @@ void AttitudePositionEstimatorEKF::pollData()
_ekf->dAngIMU.y = _sensor_combined.gyro_integral_rad[_gyro_main * 3 + 1];
_ekf->dAngIMU.z = _sensor_combined.gyro_integral_rad[_gyro_main * 3 + 2];
} else {
_ekf->dAngIMU.x = 0.5f * (_ekf->angRate.x + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 0]);
_ekf->dAngIMU.y = 0.5f * (_ekf->angRate.y + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 1]);
_ekf->dAngIMU.z = 0.5f * (_ekf->angRate.z + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 2]);
_ekf->dAngIMU.x = 0.5f * (_ekf->angRate.x + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 0]) * _ekf->dtIMU;
_ekf->dAngIMU.y = 0.5f * (_ekf->angRate.y + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 1]) * _ekf->dtIMU;
_ekf->dAngIMU.z = 0.5f * (_ekf->angRate.z + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 2]) * _ekf->dtIMU;
}
_ekf->angRate.x = _sensor_combined.gyro_rad_s[_gyro_main * 3 + 0];
@@ -1265,9 +1265,9 @@ void AttitudePositionEstimatorEKF::pollData()
_ekf->dVelIMU.y = _sensor_combined.accelerometer_integral_m_s[_accel_main * 3 + 1];
_ekf->dVelIMU.z = _sensor_combined.accelerometer_integral_m_s[_accel_main * 3 + 2];
} else {
_ekf->dVelIMU.x = 0.5f * (_ekf->accel.x + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0]);
_ekf->dVelIMU.y = 0.5f * (_ekf->accel.y + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 1]);
_ekf->dVelIMU.z = 0.5f * (_ekf->accel.z + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 2]);
_ekf->dVelIMU.x = 0.5f * (_ekf->accel.x + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0]) * _ekf->dtIMU;
_ekf->dVelIMU.y = 0.5f * (_ekf->accel.y + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 1]) * _ekf->dtIMU;
_ekf->dVelIMU.z = 0.5f * (_ekf->accel.z + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 2]) * _ekf->dtIMU;
}
_ekf->accel.x = _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0];
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+1 -1
View File
@@ -179,7 +179,7 @@ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
* @max 150.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f);
PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 10.0f);
/**
* Maximum climb rate
src/modules/mavlink/mavlink_main.cpp
-1
View File
@@ -1676,7 +1676,6 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("GPS_RAW_INT", 1.0f);
configure_stream("GLOBAL_POSITION_INT", 3.0f);
configure_stream("LOCAL_POSITION_NED", 3.0f);
configure_stream("NAMED_VALUE_FLOAT", 2.0f);
configure_stream("RC_CHANNELS", 1.0f);
configure_stream("SERVO_OUTPUT_RAW_0", 1.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
src/platforms/posix/main.cpp
+8
View File
@@ -66,6 +66,13 @@ extern "C" {
cout.flush();
_exit(0);
}
void _SigFpeHandler(int sig_num);
void _SigFpeHandler(int sig_num)
{
cout.flush();
cout << endl << "floating point exception" << endl;
cout.flush();
}
}
static void print_prompt()
@@ -137,6 +144,7 @@ int main(int argc, char **argv)
{
bool daemon_mode = false;
signal(SIGINT, _SigIntHandler);
signal(SIGFPE, _SigFpeHandler);
int index = 1;
bool error_detected = false;
src/platforms/px4_defines.h
-8
View File
@@ -234,14 +234,6 @@ __END_DECLS
// Missing math.h defines
#define PX4_ISFINITE(x) __builtin_isfinite(x)
// FIXME - these are missing for clang++ but not for clang
#if defined(__cplusplus)
#define isfinite(x) true
#define isnan(x) false
#define isinf(x) false
#define fminf(x, y) ((x) > (y) ? y : x)
#endif
#endif
/*