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posix shell: lots of cleanup and fixes
- move posix-configs/SITL/init/{rcS,10016_iris,6011_typhoon_h480} to ROMFS/px4fmu_common/init.d-posix
allows for easier unification, only one symlink is required.
- rcS: add AUTOCNF support. Update scripts to match with behavior of PX4
master (parameter values, some sitl driver got removed)
- add alias to allow 'set variable value' syntax in scripts to px4-alias.sh
- use px4_getopt
- use separate argument for the test_data directory
- append PATH from within the px4 binary: this simplifies the usage
w/o the sitl_run.sh script.
- add 'source px4-alias.sh' to all existing sitl startup scripts
- move sitl mixers to ROMFS/px4fmu_common/mixers-sitl
makes it easier to use existing mixers and sitl-specific ones.
- remove unused rcS_gazebo_delta_wing
This commit is contained in:
Beat Küng
@@ -0,0 +1,11 @@
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#!nsh
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#
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# @name 3DR Iris Quadrotor SITL
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#
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# @type Quadrotor Wide
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#
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# @maintainer Julian Oes <julian@oes.ch>
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#
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pwm_out_sim mode_pwm
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mixer load /dev/pwm_output0 etc/mixers/quad_w.main.mix
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@@ -0,0 +1,32 @@
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#!nsh
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#
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# @name Typhoon H480 SITL
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#
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# @type Hexarotor x
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#
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if [ $AUTOCNF == yes ]
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then
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param set MAV_TYPE 13
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param set MC_PITCHRATE_P 0.1
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param set MC_ROLLRATE_P 0.05
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param set MPC_XY_VEL_I 0.2
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param set MPC_XY_VEL_P 0.15
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param set RTL_DESCEND_ALT 10.0
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param set RTL_LAND_DELAY 0
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param set TRIG_INTERFACE 3
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param set TRIG_MODE 4
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param set MNT_MODE_IN 0
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param set MAV_PROTO_VER 2
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fi
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mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
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pwm_out_sim mode_pwm16
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mixer load /dev/pwm_output0 etc/mixers/hexa_x.main.mix
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mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
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vmount start
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camera_trigger start
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@@ -0,0 +1,151 @@
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#!/usr/bin/bash
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# PX4 commands need the 'px4-' prefix in bash.
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# (px4-alias.sh is expected to be in the PATH)
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source px4-alias.sh
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# TODO: In the future we want to share rc.autostart with NuttX
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#source rc.autostart
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# Use the variable set by sitl_run.sh to choose the model settings.
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if [ "$PX4_SIM_MODEL" == "iris" ]; then
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set REQUESTED_AUTOSTART 10016
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elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then
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set REQUESTED_AUTOSTART 6011
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else
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echo "Unknown model"
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exit -1
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fi
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uorb start
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if [ -f eeprom/parameters ]
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then
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param load
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fi
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if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
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then
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set AUTOCNF no
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else
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set AUTOCNF yes
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fi
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if [ $AUTOCNF == yes ]
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then
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param set SYS_AUTOSTART $REQUESTED_AUTOSTART
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param set BAT_N_CELLS 3
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param set CAL_ACC0_ID 1376264
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param set CAL_ACC0_XOFF 0.01
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param set CAL_ACC0_XSCALE 1.01
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param set CAL_ACC0_YOFF -0.01
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param set CAL_ACC0_YSCALE 1.01
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param set CAL_ACC0_ZOFF 0.01
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param set CAL_ACC0_ZSCALE 1.01
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param set CAL_ACC1_ID 1310728
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param set CAL_ACC1_XOFF 0.01
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param set CAL_GYRO0_ID 2293768
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param set CAL_GYRO0_XOFF 0.01
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param set CAL_MAG0_ID 196616
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param set CAL_MAG0_XOFF 0.01
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param set COM_DISARM_LAND 3
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param set COM_OBL_ACT 2
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param set COM_OBL_RC_ACT 0
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param set COM_OF_LOSS_T 5
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param set COM_RC_IN_MODE 1
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param set EKF2_AID_MASK 1
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param set EKF2_ANGERR_INIT 0.01
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param set EKF2_GBIAS_INIT 0.01
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param set EKF2_HGT_MODE 0
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param set EKF2_MAG_TYPE 1
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param set MC_PITCH_P 6
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param set MC_PITCHRATE_P 0.2
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param set MC_ROLL_P 6
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param set MC_ROLLRATE_P 0.2
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param set MIS_TAKEOFF_ALT 2.5
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param set MPC_HOLD_MAX_Z 2.0
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param set MPC_Z_VEL_I 0.15
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param set MPC_Z_VEL_P 0.6
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param set NAV_ACC_RAD 2.0
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param set NAV_DLL_ACT 2
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param set RTL_DESCEND_ALT 5.0
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param set RTL_LAND_DELAY 5
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param set RTL_RETURN_ALT 30.0
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param set SDLOG_DIRS_MAX 7
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param set SENS_BOARD_ROT 0
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param set SENS_BOARD_X_OFF 0.000001
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param set SYS_RESTART_TYPE 2
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fi
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# Use environment variable PX4_ESTIMATOR to choose estimator.
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if [ "$PX4_ESTIMATOR" == "ekf2" ]; then
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param set SYS_MC_EST_GROUP 2
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elif [ "$PX4_ESTIMATOR" == "lpe" ]; then
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param set SYS_MC_EST_GROUP 1
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fi
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dataman start
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replay tryapplyparams
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simulator start -s
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tone_alarm start
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gyrosim start
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accelsim start
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barosim start
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gpssim start
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sensors start
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commander start
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land_detector start multicopter
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navigator start
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if param compare SYS_MC_EST_GROUP 1
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then
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attitude_estimator_q start
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local_position_estimator start
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elif param compare SYS_MC_EST_GROUP 2
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then
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ekf2 start
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else
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echo "No estimator chosen"
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exit -1
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fi
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mc_pos_control start
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mc_att_control start
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# TODO: eventually we want to re-use the existing autostart
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# infrastructure already available on NuttX.
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if param compare SYS_AUTOSTART 10016
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then
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source etc/init.d-posix/10016_iris
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elif param compare SYS_AUTOSTART 6011
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then
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source etc/init.d-posix/6011_typhoon_h480
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fi
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mavlink start -x -u 14556 -r 4000000
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mavlink start -x -u 14557 -r 4000000 -m onboard -o 14540
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mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
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mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
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mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
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mavlink stream -r 50 -s ATTITUDE -u 14556
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mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
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mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
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mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
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mavlink stream -r 20 -s RC_CHANNELS -u 14556
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mavlink stream -r 250 -s HIGHRES_IMU -u 14556
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mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
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# Required for the typhoon
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mavlink stream -r 10 -s MOUNT_ORIENTATION -u 14556
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mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14557
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mavlink stream -r 10 -s MOUNT_ORIENTATION -u 14557
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logger start -e -t -b 1000
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mavlink boot_complete
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replay trystart
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@@ -0,0 +1,24 @@
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M: 4
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O: 10000 10000 0 -10000 10000
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S: 0 0 -10000 -10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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S: 0 2 +10000 +10000 0 -10000 10000
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S: 0 3 +10000 +10000 0 -10000 10000
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M: 4
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O: 10000 10000 0 -10000 10000
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S: 0 0 +10000 +10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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S: 0 2 -10000 -10000 0 -10000 10000
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S: 0 3 +10000 +10000 0 -10000 10000
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M: 4
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O: 10000 10000 0 -10000 10000
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S: 0 0 -10000 -10000 0 -10000 10000
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S: 0 1 +10000 +10000 0 -10000 10000
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S: 0 2 -10000 -10000 0 -10000 10000
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S: 0 3 +10000 +10000 0 -10000 10000
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M: 4
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O: 10000 10000 0 -10000 10000
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S: 0 0 +10000 +10000 0 -10000 10000
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S: 0 1 +10000 +10000 0 -10000 10000
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S: 0 2 +10000 +10000 0 -10000 10000
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S: 0 3 +10000 +10000 0 -10000 10000
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@@ -1,34 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2018 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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add_subdirectory(mixers)
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