mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-14 22:03:34 +08:00
Merge branch 'main' into pr-boards_serial_rc
This commit is contained in:
Ramon Roche
+23
-2
@@ -216,12 +216,33 @@ foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
|
||||
if(CONFIG_SYSTEMCMDS_BL_UPDATE)
|
||||
# generate rc.board_bootloader_upgrade
|
||||
set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
|
||||
message(STATUS "ROMFS: Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
|
||||
|
||||
# Generate the file using configure_file at configure time to a temporary location
|
||||
set(bootloader_upgrade_tmp ${CMAKE_CURRENT_BINARY_DIR}/rc.board_bootloader_upgrade.tmp)
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${bootloader_upgrade_tmp} @ONLY)
|
||||
|
||||
# Then copy it at build time with proper dependencies
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
|
||||
rc.board_bootloader_upgrade.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_upgrade_tmp} ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
|
||||
COMMAND ${CMAKE_COMMAND} -E touch rc.board_bootloader_upgrade.stamp
|
||||
DEPENDS
|
||||
${bootloader_upgrade_tmp}
|
||||
${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in
|
||||
romfs_copy.stamp
|
||||
COMMENT "ROMFS: copying rc.board_bootloader_upgrade"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
rc.board_bootloader_upgrade.stamp
|
||||
)
|
||||
else()
|
||||
# remove bootloader from extras
|
||||
list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
|
||||
endif()
|
||||
|
||||
endif()
|
||||
endforeach()
|
||||
|
||||
|
||||
@@ -0,0 +1,34 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2025 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(init.d)
|
||||
@@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2025 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_romfs_files(
|
||||
rcS
|
||||
)
|
||||
@@ -0,0 +1,68 @@
|
||||
#!/bin/sh
|
||||
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
|
||||
set +e
|
||||
# Un comment the line below to help debug scripts by printing a trace of the script commands
|
||||
#set -x
|
||||
# PX4FMU startup script.
|
||||
#
|
||||
# NOTE: environment variable references:
|
||||
# If the dollar sign ('$') is followed by a left bracket ('{') then the
|
||||
# variable name is terminated with the right bracket character ('}').
|
||||
# Otherwise, the variable name goes to the end of the argument.
|
||||
#
|
||||
#
|
||||
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
|
||||
#
|
||||
#------------------------------------------------------------------------------
|
||||
set R /
|
||||
|
||||
#
|
||||
# Print full system version.
|
||||
#
|
||||
ver all
|
||||
|
||||
#
|
||||
# Set the parameter file the board supports params on
|
||||
# MTD device.
|
||||
#
|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
|
||||
then
|
||||
set PARAM_FILE /fs/mtd_params
|
||||
fi
|
||||
|
||||
#
|
||||
# Load parameters.
|
||||
#
|
||||
# if the board has a storage for (factory) calibration data
|
||||
if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
|
||||
then
|
||||
param load /fs/mtd_caldata
|
||||
fi
|
||||
|
||||
#
|
||||
# Load parameters.
|
||||
#
|
||||
param select $PARAM_FILE
|
||||
if ! param load
|
||||
then
|
||||
param reset_all
|
||||
fi
|
||||
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
if [ $? = 0 ]
|
||||
then
|
||||
echo "SD card mounted at /fs/microsd"
|
||||
else
|
||||
echo "No SD card found"
|
||||
fi
|
||||
|
||||
unset R
|
||||
|
||||
echo ""
|
||||
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
|
||||
echo "!!!!!! This is the PERFORMANCE TESTING firmware! WARNs and ERRORs are expected! !!!!!"
|
||||
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
|
||||
echo ""
|
||||
@@ -35,8 +35,11 @@ add_subdirectory(airframes)
|
||||
|
||||
px4_add_romfs_files(
|
||||
px4-rc.mavlink
|
||||
px4-rc.params
|
||||
px4-rc.simulator
|
||||
px4-rc.gzsim
|
||||
px4-rc.jmavsim
|
||||
px4-rc.mavlinksim
|
||||
px4-rc.sihsim
|
||||
rc.replay
|
||||
rcS
|
||||
)
|
||||
|
||||
@@ -46,3 +46,22 @@ param set-default PWM_MAIN_FUNC3 203
|
||||
param set-default PWM_MAIN_FUNC4 101
|
||||
|
||||
param set-default EKF2_GPS_DELAY 0
|
||||
|
||||
# Rate controllers
|
||||
param set-default FW_RR_P 0.0500
|
||||
param set-default FW_RR_I 2.0000
|
||||
param set-default FW_RR_D 0.0000
|
||||
param set-default FW_RR_FF 0.0000
|
||||
param set-default FW_RR_IMAX 1.0000
|
||||
|
||||
param set-default FW_PR_P 0.0800
|
||||
param set-default FW_PR_I 2.5000
|
||||
param set-default FW_PR_D 0.0000
|
||||
param set-default FW_PR_FF 0.0000
|
||||
param set-default FW_PR_IMAX 1.0000
|
||||
|
||||
param set-default FW_YR_P 0.0500
|
||||
param set-default FW_YR_I 3.0000
|
||||
param set-default FW_YR_D 0.0000
|
||||
param set-default FW_YR_FF 0.0000
|
||||
param set-default FW_YR_IMAX 1.0000
|
||||
|
||||
@@ -0,0 +1,47 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name HexarotorX SITL for SIH
|
||||
#
|
||||
# @type Hexarotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Matthias Grob <maetugr@gmail.com>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
param set SIH_VEHICLE_TYPE 4
|
||||
|
||||
# Symmetric hexacopter X clockwise motor numbering
|
||||
param set-default CA_ROTOR_COUNT 6
|
||||
param set-default CA_ROTOR0_PX 0.866
|
||||
param set-default CA_ROTOR0_PY 0.5
|
||||
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 -0.866
|
||||
param set-default CA_ROTOR2_PY 0.5
|
||||
param set-default CA_ROTOR3_PX -0.866
|
||||
param set-default CA_ROTOR3_PY -0.5
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_PX 0
|
||||
param set-default CA_ROTOR4_PY -1
|
||||
param set-default CA_ROTOR5_PX 0.866
|
||||
param set-default CA_ROTOR5_PY -0.5
|
||||
param set-default CA_ROTOR5_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
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
|
||||
param set-default EKF2_GPS_DELAY 0
|
||||
@@ -0,0 +1,72 @@
|
||||
#!/bin/sh
|
||||
# @name Rover Ackermann
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_ackermann_defaults
|
||||
|
||||
set VEHICLE_TYPE rover_ackermann
|
||||
param set-default CA_AIRFRAME 5 # Rover (Ackermann)
|
||||
param set-default CA_R_REV 1 # Motor is assumed to be reversible
|
||||
param set-default EKF2_MAG_TYPE 1 # Make sure magnetometer is fused even when not driving
|
||||
param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
|
||||
|
||||
param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 201 # Steering
|
||||
param set-default PWM_MAIN_FUNC2 101 # Throttle
|
||||
param set-default SIH_MASS 20
|
||||
param set-default SIH_IXX 0.4333
|
||||
param set-default SIH_IYY 1.6833
|
||||
param set-default SIH_IZZ 2.0833
|
||||
param set-default SIH_IXZ 0
|
||||
param set-default SIH_KDV 50
|
||||
param set-default SIH_KDW 10
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
# Ackermann Parameters
|
||||
param set-default RA_WHEEL_BASE 0.321
|
||||
param set-default RA_ACC_RAD_GAIN 2
|
||||
param set-default RA_ACC_RAD_MAX 3
|
||||
param set-default RA_MAX_STR_ANG 0.5236
|
||||
param set-default RA_STR_RATE_LIM 360
|
||||
|
||||
# Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.01
|
||||
param set-default RO_YAW_RATE_P 0.25
|
||||
param set-default RO_YAW_RATE_LIM 180
|
||||
param set-default RO_YAW_ACCEL_LIM 400
|
||||
param set-default RO_YAW_DECEL_LIM 800
|
||||
param set-default RO_YAW_RATE_CORR 1
|
||||
|
||||
# Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Velocity Control Parameters
|
||||
param set-default RO_ACCEL_LIM 3
|
||||
param set-default RO_DECEL_LIM 3
|
||||
param set-default RO_JERK_LIM 10
|
||||
param set-default RO_MAX_THR_SPEED 3.2
|
||||
param set-default RO_SPEED_LIM 3
|
||||
param set-default RO_SPEED_I 0.001
|
||||
param set-default RO_SPEED_P 0.001
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Rover
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_L1_PERIOD 10
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_I 3
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 4
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
|
||||
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
|
||||
|
||||
param set-default CA_AIRFRAME 5
|
||||
|
||||
param set-default CA_R_REV 1
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 201
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
param set-default PWM_MAIN_FUNC7 101
|
||||
@@ -1,12 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Aion Robotics R1 Rover
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_differential_defaults
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 101
|
||||
param set-default PWM_MAIN_FUNC6 102
|
||||
param set-default PWM_MAIN_FUNC7 102
|
||||
@@ -44,7 +44,7 @@ param set-default FW_R_LIM 30
|
||||
|
||||
param set-default FW_MAN_R_MAX 30
|
||||
|
||||
param set-default FW_THR_CRUISE 0.8
|
||||
param set-default FW_THR_TRIM 0.8
|
||||
param set-default FW_THR_IDLE 0
|
||||
param set-default COM_DISARM_PRFLT 0
|
||||
|
||||
|
||||
@@ -13,10 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
|
||||
|
||||
@@ -12,13 +12,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
|
||||
@@ -13,9 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
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
|
||||
|
||||
# TODO: Enable motor failure detection when the
|
||||
|
||||
@@ -14,10 +14,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
# Commander Parameters
|
||||
param set-default COM_DISARM_LAND 0.5
|
||||
|
||||
|
||||
@@ -11,8 +11,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
@@ -15,7 +15,6 @@ param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
# Differential Parameters
|
||||
param set-default RD_WHEEL_TRACK 0.3
|
||||
param set-default RD_MAX_THR_YAW_R 1.5
|
||||
param set-default RD_TRANS_DRV_TRN 0.349066
|
||||
param set-default RD_TRANS_TRN_DRV 0.174533
|
||||
|
||||
@@ -31,26 +30,22 @@ param set-default RO_YAW_RATE_P 0.25
|
||||
param set-default RO_YAW_RATE_LIM 180
|
||||
param set-default RO_YAW_ACCEL_LIM 120
|
||||
param set-default RO_YAW_DECEL_LIM 1000
|
||||
param set-default RO_YAW_RATE_CORR 1.43
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Rover Position Control Parameters
|
||||
# Rover Velocity Control Parameters
|
||||
param set-default RO_SPEED_LIM 2
|
||||
param set-default RO_SPEED_I 0.5
|
||||
param set-default RO_SPEED_P 1
|
||||
param set-default RO_SPEED_I 0.01
|
||||
param set-default RO_SPEED_P 0.1
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# 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 0
|
||||
|
||||
# Actuator mapping
|
||||
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
|
||||
param set-default SIM_GZ_WH_MIN1 70
|
||||
|
||||
@@ -1,56 +1,68 @@
|
||||
#!/bin/sh
|
||||
# @name Gazebo lawnmower
|
||||
# @name Gazebo - Zero Turn Lawnmower
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_differential_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=lawn}
|
||||
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 0
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
# We can arm and drive in manual mode when it slides and GPS check fails:
|
||||
param set-default COM_ARM_WO_GPS 1
|
||||
|
||||
# Rover parameters
|
||||
# Differential Parameters
|
||||
param set-default RD_WHEEL_TRACK 0.9
|
||||
param set-default RD_YAW_RATE_I 0.1
|
||||
param set-default RD_YAW_RATE_P 5
|
||||
param set-default RD_MAX_ACCEL 1
|
||||
param set-default RD_MAX_JERK 3
|
||||
param set-default RD_MAX_SPEED 8
|
||||
param set-default RD_YAW_P 5
|
||||
param set-default RD_YAW_I 0.1
|
||||
param set-default RD_MAX_YAW_RATE 30
|
||||
param set-default RD_TRANS_DRV_TRN 0.349066
|
||||
param set-default RD_TRANS_TRN_DRV 0.174533
|
||||
|
||||
# Rover Control Parameters
|
||||
param set-default RO_ACCEL_LIM 1.5
|
||||
param set-default RO_DECEL_LIM 5
|
||||
param set-default RO_JERK_LIM 15
|
||||
param set-default RO_MAX_THR_SPEED 2.7
|
||||
|
||||
# Rover Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.2
|
||||
param set-default RO_YAW_RATE_P 1.0
|
||||
param set-default RO_YAW_RATE_LIM 60
|
||||
param set-default RO_YAW_ACCEL_LIM 50
|
||||
param set-default RO_YAW_DECEL_LIM 1000
|
||||
param set-default RO_YAW_RATE_CORR 1.0
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Rover Velocity Control Parameters
|
||||
param set-default RO_SPEED_LIM 2.1
|
||||
param set-default RO_SPEED_I 0.01
|
||||
param set-default RO_SPEED_P 0.1
|
||||
param set-defatul RO_SPEED_RED 1.0
|
||||
|
||||
# Pure pursuit parameters
|
||||
param set-default PP_LOOKAHD_MAX 30
|
||||
param set-default PP_LOOKAHD_MIN 2
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# 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_MIN1 87
|
||||
param set-default SIM_GZ_WH_MAX1 113
|
||||
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
|
||||
#param set-default SIM_GZ_WH_DIS2 100
|
||||
#param set-default SIM_GZ_WH_FAIL2 100
|
||||
param set-default SIM_GZ_WH_MIN2 87
|
||||
param set-default SIM_GZ_WH_MAX2 113
|
||||
param 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
|
||||
|
||||
|
||||
@@ -30,26 +30,22 @@ param set-default RO_MAX_THR_SPEED 3.1
|
||||
param set-default RO_YAW_RATE_I 0.1
|
||||
param set-default RO_YAW_RATE_P 1
|
||||
param set-default RO_YAW_RATE_LIM 180
|
||||
param set-default RO_YAW_RATE_CORR 1
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 3
|
||||
|
||||
# Rover Position Control Parameters
|
||||
# Rover Velocity Control Parameters
|
||||
param set-default RO_SPEED_LIM 3
|
||||
param set-default RO_SPEED_I 0.1
|
||||
param set-default RO_SPEED_P 1
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# 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 0
|
||||
|
||||
# Wheels
|
||||
param set-default SIM_GZ_WH_FUNC1 101
|
||||
param set-default SIM_GZ_WH_MIN1 0
|
||||
|
||||
@@ -11,34 +11,41 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
# Rover parameters
|
||||
param set-default RM_WHEEL_TRACK 0.3
|
||||
param set-default RM_YAW_RATE_I 0.1
|
||||
param set-default RM_YAW_RATE_P 0.1
|
||||
param set-default RM_MAX_ACCEL 3
|
||||
param set-default RM_MAX_DECEL 5
|
||||
param set-default RM_MAX_JERK 5
|
||||
param set-default RM_MAX_SPEED 2
|
||||
param set-default RM_MAX_THR_SPD 2.2
|
||||
param set-default RM_MAX_THR_YAW_R 1.2
|
||||
param set-default RM_YAW_P 5
|
||||
param set-default RM_YAW_I 0.1
|
||||
param set-default RM_MAX_YAW_RATE 120
|
||||
param set-default RM_MAX_YAW_ACCEL 240
|
||||
param set-default RM_MISS_VEL_GAIN 1
|
||||
param set-default RM_SPEED_I 0.01
|
||||
param set-default RM_SPEED_P 0.1
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
# Pure pursuit parameters
|
||||
# Mecanum Parameters
|
||||
param set-default RM_WHEEL_TRACK 0.3
|
||||
|
||||
# Rover Control Parameters
|
||||
param set-default RO_ACCEL_LIM 3
|
||||
param set-default RO_DECEL_LIM 5
|
||||
param set-default RO_JERK_LIM 30
|
||||
param set-default RO_MAX_THR_SPEED 2.1
|
||||
|
||||
# Rover Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.1
|
||||
param set-default RO_YAW_RATE_P 0.1
|
||||
param set-default RO_YAW_RATE_LIM 120
|
||||
param set-default RO_YAW_ACCEL_LIM 240
|
||||
param set-default RO_YAW_DECEL_LIM 1000
|
||||
param set-default RO_YAW_RATE_CORR 1.75
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Rover Velocity Control Parameters
|
||||
param set-default RO_SPEED_LIM 2
|
||||
param set-default RO_SPEED_I 0.5
|
||||
param set-default RO_SPEED_P 1
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 0.5
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
param set-default PP_LOOKAHD_GAIN 0.5
|
||||
|
||||
# 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 0
|
||||
|
||||
# Actuator mapping
|
||||
param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
|
||||
|
||||
@@ -13,12 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 0
|
||||
|
||||
|
||||
param set-default MAV_TYPE 20
|
||||
|
||||
param set-default CA_AIRFRAME 4
|
||||
|
||||
@@ -13,11 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
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 0
|
||||
|
||||
param set-default MAV_TYPE 21
|
||||
|
||||
param set-default CA_AIRFRAME 3
|
||||
|
||||
@@ -0,0 +1,15 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo x500 with downward optical flow and distance sensor
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_flow}
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/4001_gz_x500
|
||||
|
||||
echo "Disabling Sim GPS"
|
||||
param set-default SYS_HAS_GPS 0
|
||||
param set-default SIM_GPS_USED 0
|
||||
param set-default EKF2_GPS_CTRL 0
|
||||
@@ -0,0 +1,56 @@
|
||||
#!/bin/sh
|
||||
# @name Generic Differential Rover
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_differential_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_differential}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
# Differential Parameters
|
||||
param set-default RD_WHEEL_TRACK 0.6
|
||||
param set-default RD_TRANS_DRV_TRN 0.785398
|
||||
param set-default RD_TRANS_TRN_DRV 0.174533
|
||||
|
||||
# Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.01
|
||||
param set-default RO_YAW_RATE_P 0.25
|
||||
param set-default RO_YAW_RATE_LIM 250
|
||||
param set-default RO_YAW_ACCEL_LIM 400
|
||||
param set-default RO_YAW_DECEL_LIM 800
|
||||
param set-default RO_YAW_RATE_CORR 1
|
||||
|
||||
# Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Velocity Control Parameters
|
||||
param set-default RO_ACCEL_LIM 4
|
||||
param set-default RO_DECEL_LIM 6
|
||||
param set-default RO_JERK_LIM 10
|
||||
param set-default RO_MAX_THR_SPEED 2
|
||||
param set-default RO_SPEED_LIM 1.8
|
||||
param set-default RO_SPEED_I 0.01
|
||||
param set-default RO_SPEED_P 0.01
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# Actuator mapping
|
||||
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
|
||||
param set-default SIM_GZ_WH_MIN1 80
|
||||
param set-default SIM_GZ_WH_MAX1 120
|
||||
param set-default SIM_GZ_WH_DIS1 100
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC2 102 # left wheel
|
||||
param set-default SIM_GZ_WH_MIN2 80
|
||||
param set-default SIM_GZ_WH_MAX2 120
|
||||
param set-default SIM_GZ_WH_DIS2 100
|
||||
@@ -1,155 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 6DoF Spacecraft Model
|
||||
#
|
||||
# @type Freeflyer with 8 thrusters
|
||||
#
|
||||
# @maintainer Pedro Roque <padr@kth.se>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.sc_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 15
|
||||
param set-default MAV_TYPE 99
|
||||
|
||||
param set-default CA_THRUSTER_CNT 12
|
||||
param set-default CA_R_REV 0
|
||||
|
||||
# param set-default FW_ARSP_MODE 1
|
||||
|
||||
# Auto to be provided by Custom Airframe
|
||||
param set-default CA_METHOD 0
|
||||
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
|
||||
# Set proper failsafes
|
||||
param set-default COM_ACT_FAIL_ACT 0
|
||||
param set-default COM_LOW_BAT_ACT 0
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default GF_ACTION 1
|
||||
param set-default NAV_RCL_ACT 1
|
||||
param set-default COM_POSCTL_NAVL 2
|
||||
|
||||
# Set thrusters
|
||||
param set-default CA_THRUSTER0_PX -0.50
|
||||
param set-default CA_THRUSTER0_PY 0.50
|
||||
param set-default CA_THRUSTER0_PZ 0.0
|
||||
param set-default CA_THRUSTER0_CT 0.237
|
||||
param set-default CA_THRUSTER0_AX 0.0
|
||||
param set-default CA_THRUSTER0_AY -1.0
|
||||
param set-default CA_THRUSTER0_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER1_PX 0.50
|
||||
param set-default CA_THRUSTER1_PY 0.50
|
||||
param set-default CA_THRUSTER1_PZ 0.0
|
||||
param set-default CA_THRUSTER1_CT 0.237
|
||||
param set-default CA_THRUSTER1_AX 0.0
|
||||
param set-default CA_THRUSTER1_AY -1.0
|
||||
param set-default CA_THRUSTER1_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER2_PX 0.50
|
||||
param set-default CA_THRUSTER2_PY -0.50
|
||||
param set-default CA_THRUSTER2_PZ 0.0
|
||||
param set-default CA_THRUSTER2_CT 0.237
|
||||
param set-default CA_THRUSTER2_AX 0.0
|
||||
param set-default CA_THRUSTER2_AY 1.0
|
||||
param set-default CA_THRUSTER2_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER3_PX -0.50
|
||||
param set-default CA_THRUSTER3_PY -0.50
|
||||
param set-default CA_THRUSTER3_PZ 0.0
|
||||
param set-default CA_THRUSTER3_CT 0.237
|
||||
param set-default CA_THRUSTER3_AX 0.0
|
||||
param set-default CA_THRUSTER3_AY 1.0
|
||||
param set-default CA_THRUSTER3_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER4_PX -0.50
|
||||
param set-default CA_THRUSTER4_PY 0.0
|
||||
param set-default CA_THRUSTER4_PZ -0.50
|
||||
param set-default CA_THRUSTER4_CT 0.237
|
||||
param set-default CA_THRUSTER4_AX 1.0
|
||||
param set-default CA_THRUSTER4_AY 0.0
|
||||
param set-default CA_THRUSTER4_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER5_PX 0.50
|
||||
param set-default CA_THRUSTER5_PY 0.0
|
||||
param set-default CA_THRUSTER5_PZ -0.50
|
||||
param set-default CA_THRUSTER5_CT 0.237
|
||||
param set-default CA_THRUSTER5_AX -1.0
|
||||
param set-default CA_THRUSTER5_AY 0.0
|
||||
param set-default CA_THRUSTER5_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER6_PX 0.50
|
||||
param set-default CA_THRUSTER6_PY 0.0
|
||||
param set-default CA_THRUSTER6_PZ 0.50
|
||||
param set-default CA_THRUSTER6_CT 0.237
|
||||
param set-default CA_THRUSTER6_AX -1.0
|
||||
param set-default CA_THRUSTER6_AY 0.0
|
||||
param set-default CA_THRUSTER6_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER7_PX -0.50
|
||||
param set-default CA_THRUSTER7_PY 0.0
|
||||
param set-default CA_THRUSTER7_PZ 0.50
|
||||
param set-default CA_THRUSTER7_CT 0.237
|
||||
param set-default CA_THRUSTER7_AX 1.0
|
||||
param set-default CA_THRUSTER7_AY 0.0
|
||||
param set-default CA_THRUSTER7_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER8_PX 0.0
|
||||
param set-default CA_THRUSTER8_PY -0.50
|
||||
param set-default CA_THRUSTER8_PZ -0.50
|
||||
param set-default CA_THRUSTER8_CT 0.237
|
||||
param set-default CA_THRUSTER8_AX 0.0
|
||||
param set-default CA_THRUSTER8_AY 0.0
|
||||
param set-default CA_THRUSTER8_AZ 1.0
|
||||
|
||||
param set-default CA_THRUSTER9_PX 0.0
|
||||
param set-default CA_THRUSTER9_PY 0.50
|
||||
param set-default CA_THRUSTER9_PZ -0.50
|
||||
param set-default CA_THRUSTER9_CT 0.237
|
||||
param set-default CA_THRUSTER9_AX 0.0
|
||||
param set-default CA_THRUSTER9_AY 0.0
|
||||
param set-default CA_THRUSTER9_AZ 1.0
|
||||
|
||||
param set-default CA_THRUSTER10_PX 0.0
|
||||
param set-default CA_THRUSTER10_PY 0.50
|
||||
param set-default CA_THRUSTER10_PZ 0.50
|
||||
param set-default CA_THRUSTER10_CT 0.237
|
||||
param set-default CA_THRUSTER10_AX 0.0
|
||||
param set-default CA_THRUSTER10_AY 0.0
|
||||
param set-default CA_THRUSTER10_AZ -1.0
|
||||
|
||||
param set-default CA_THRUSTER11_PX 0.0
|
||||
param set-default CA_THRUSTER11_PY -0.50
|
||||
param set-default CA_THRUSTER11_PZ 0.50
|
||||
param set-default CA_THRUSTER11_CT 0.237
|
||||
param set-default CA_THRUSTER11_AX 0.0
|
||||
param set-default CA_THRUSTER11_AY 0.0
|
||||
param set-default CA_THRUSTER11_AZ -1.0
|
||||
|
||||
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 PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
param set-default PWM_MAIN_FUNC7 107
|
||||
param set-default PWM_MAIN_FUNC8 108
|
||||
param set-default PWM_MAIN_FUNC9 109
|
||||
param set-default PWM_MAIN_FUNC10 110
|
||||
param set-default PWM_MAIN_FUNC11 111
|
||||
param set-default PWM_MAIN_FUNC12 112
|
||||
|
||||
# PWM Simulation
|
||||
param set PWM_SIM_PWM_MAX 10000
|
||||
param set PWM_SIM_PWM_MIN 0
|
||||
|
||||
# Controller Tunings
|
||||
param set-default SC_ROLLRATE_P 0.14
|
||||
param set-default SC_PITCHRATE_P 0.14
|
||||
param set-default SC_ROLLRATE_I 0.3
|
||||
param set-default SC_PITCHRATE_I 0.3
|
||||
param set-default SC_ROLLRATE_D 0.004
|
||||
param set-default SC_PITCHRATE_D 0.004
|
||||
@@ -15,14 +15,12 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default COM_ARM_CHK_ESCS 0 # We don't have ESCs
|
||||
param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
|
||||
|
||||
param set-default CA_AIRFRAME 14
|
||||
param set-default MAV_TYPE 99
|
||||
param set-default MAV_TYPE 45
|
||||
|
||||
param set-default CA_THRUSTER_CNT 8
|
||||
param set-default CA_R_REV 0
|
||||
|
||||
@@ -83,9 +83,6 @@ param set-default CA_ROTOR7_AY -0.211325
|
||||
param set-default CA_ROTOR7_AZ -0.57735
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
param set-default SIM_GZ_EC_FUNC1 101
|
||||
param set-default SIM_GZ_EC_FUNC2 102
|
||||
|
||||
@@ -62,8 +62,6 @@ px4_add_romfs_files(
|
||||
1043_gazebo-classic_standard_vtol_drop
|
||||
1044_gazebo-classic_plane_lidar
|
||||
1045_gazebo-classic_quadtailsitter
|
||||
1060_gazebo-classic_rover
|
||||
1061_gazebo-classic_r1_rover
|
||||
1062_flightgear_tf-r1
|
||||
1070_gazebo-classic_boat
|
||||
|
||||
@@ -91,6 +89,7 @@ px4_add_romfs_files(
|
||||
4018_gz_quadtailsitter
|
||||
4019_gz_x500_gimbal
|
||||
4020_gz_tiltrotor
|
||||
4021_gz_x500_flow
|
||||
|
||||
6011_gazebo-classic_typhoon_h480
|
||||
6011_gazebo-classic_typhoon_h480.post
|
||||
@@ -108,11 +107,14 @@ px4_add_romfs_files(
|
||||
10041_sihsim_airplane
|
||||
10042_sihsim_xvert
|
||||
10043_sihsim_standard_vtol
|
||||
10044_sihsim_hex
|
||||
10045_sihsim_rover_ackermann
|
||||
|
||||
17001_flightgear_tf-g1
|
||||
17002_flightgear_tf-g2
|
||||
|
||||
71001_gazebo-classic_spacecraft_dart
|
||||
50000_gz_rover_differential
|
||||
|
||||
71002_gz_spacecraft_2d
|
||||
|
||||
# [22000, 22999] Reserve for custom models
|
||||
|
||||
@@ -0,0 +1,206 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
# Enforce minimum gz version as Harmonic (gz-sim8)
|
||||
MIN_GZ_VERSION="8.0.0"
|
||||
GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
|
||||
|
||||
if [ -z "$GZ_SIM_VERSION" ]; then
|
||||
echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# Use sort compare, check that MIN_GZ_VERSION is ordered last
|
||||
if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)" = "$MIN_GZ_VERSION" ]; then
|
||||
gz_command="gz"
|
||||
gz_sub_command="sim"
|
||||
|
||||
echo "INFO [init] Gazebo simulator $GZ_SIM_VERSION"
|
||||
|
||||
# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
|
||||
# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
|
||||
if [ -n "${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 ${PX4_GZ_SIM_RENDER_ENGINE}"
|
||||
fi
|
||||
else
|
||||
echo "ERROR [init] Gazebo version too hold ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# If not standalone launch the world
|
||||
if [ -z "${PX4_GZ_STANDALONE}" ]; then
|
||||
|
||||
# Look for an already running world
|
||||
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
|
||||
|
||||
# shellcheck disable=SC2153
|
||||
if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
|
||||
|
||||
# Setup gz environment variables
|
||||
if [ -f ./gz_env.sh ]; then
|
||||
. ./gz_env.sh
|
||||
|
||||
elif [ -f ../gz_env.sh ]; then
|
||||
. ../gz_env.sh
|
||||
fi
|
||||
|
||||
echo "INFO [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
|
||||
|
||||
${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
|
||||
|
||||
if [ -z "${HEADLESS}" ]; then
|
||||
echo "INFO [init] Starting gz gui"
|
||||
${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
|
||||
fi
|
||||
|
||||
else
|
||||
# Gazebo is already running
|
||||
echo "INFO [init] gazebo already running world: ${gz_world}"
|
||||
PX4_GZ_WORLD=${gz_world}
|
||||
fi
|
||||
|
||||
else
|
||||
echo "INFO [init] Standalone PX4 launch, waiting for Gazebo"
|
||||
fi
|
||||
|
||||
# Wait for Gazebo world to be ready before proceeding
|
||||
check_scene_info() {
|
||||
SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
|
||||
if echo "$SERVICE_INFO" | grep -q "Service providers"; then
|
||||
return 0
|
||||
else
|
||||
return 1
|
||||
fi
|
||||
}
|
||||
|
||||
ATTEMPTS=30
|
||||
while [ $ATTEMPTS -gt 0 ]; do
|
||||
if check_scene_info; then
|
||||
echo "INFO [init] Gazebo world is ready"
|
||||
break
|
||||
fi
|
||||
ATTEMPTS=$((ATTEMPTS-1))
|
||||
if [ $ATTEMPTS -eq 0 ]; then
|
||||
echo "ERROR [init] Timed out waiting for Gazebo world"
|
||||
exit 1
|
||||
fi
|
||||
echo "INFO [init] Waiting for Gazebo world..."
|
||||
sleep 1
|
||||
done
|
||||
|
||||
# World is ready, check if custom location is provided
|
||||
if [ -n "${PX4_HOME_LAT}" ] || [ -n "${PX4_HOME_LON}" ] || [ -n "${PX4_HOME_ALT}" ]; then
|
||||
# must have all three
|
||||
if [ -z "${PX4_HOME_LAT}" ] || [ -z "${PX4_HOME_LON}" ] || [ -z "${PX4_HOME_ALT}" ]; then
|
||||
echo "ERROR [init] PX4_HOME_LAT, PX4_HOME_LON and PX4_HOME_ALT must all be set"
|
||||
exit 1
|
||||
fi
|
||||
echo "INFO [init] Setting world origin to lat: ${PX4_HOME_LAT}, lon: ${PX4_HOME_LON}, alt: ${PX4_HOME_ALT}"
|
||||
${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_spherical_coordinates" \
|
||||
--reqtype gz.msgs.SphericalCoordinates \
|
||||
--reptype gz.msgs.Boolean \
|
||||
--timeout 1000 \
|
||||
--req "surface_model: EARTH_WGS84, latitude_deg: ${PX4_HOME_LAT}, longitude_deg: ${PX4_HOME_LON}, elevation: ${PX4_HOME_ALT}" > /dev/null 2>&1
|
||||
fi
|
||||
|
||||
# Start gz_bridge - either spawn a model or connect to existing one
|
||||
if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
|
||||
# Spawn a model
|
||||
MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
|
||||
MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
|
||||
|
||||
sdf_pose_str=""
|
||||
|
||||
if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
|
||||
pose_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
|
||||
pose_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
|
||||
pose_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
|
||||
pose_roll=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $4}')
|
||||
pose_pitch=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $5}')
|
||||
pose_yaw=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $6}')
|
||||
|
||||
pose_x=${pose_x:-0}
|
||||
pose_y=${pose_y:-0}
|
||||
pose_z=${pose_z:-0}
|
||||
pose_roll=${pose_roll:-0}
|
||||
pose_pitch=${pose_pitch:-0}
|
||||
pose_yaw=${pose_yaw:-0}
|
||||
|
||||
sdf_pose_str="<pose> ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw} </pose>"
|
||||
echo "INFO [init] Gazebo model pose: ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw}"
|
||||
fi
|
||||
|
||||
echo "INFO [init] Spawning Gazebo model"
|
||||
|
||||
# include the actual SDF in this one, containing the pose if given
|
||||
sdf_str="<sdf version=\"1.6\"> <include> <uri>file://${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf</uri> ${sdf_pose_str} </include> </sdf>"
|
||||
|
||||
# Spawn model
|
||||
${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
|
||||
--reptype gz.msgs.Boolean --timeout 5000 \
|
||||
--req "name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false, sdf: '${sdf_str}'" > /dev/null 2>&1
|
||||
|
||||
# Wait for model to spawn
|
||||
sleep 1
|
||||
|
||||
# Start gz_bridge
|
||||
if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${MODEL_NAME_INSTANCE}"; then
|
||||
echo "ERROR [init] gz_bridge failed to start and spawn model"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# Set physics parameters for faster-than-realtime simulation if needed
|
||||
if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
|
||||
echo "INFO [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
|
||||
${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
|
||||
--reptype gz.msgs.Boolean --timeout 5000 \
|
||||
--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
|
||||
fi
|
||||
|
||||
# Set up camera to follow the model if requested
|
||||
if [ -n "${PX4_GZ_FOLLOW}" ]; then
|
||||
|
||||
echo "INFO [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
|
||||
|
||||
# Set camera to follow the model
|
||||
${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
|
||||
--reptype gz.msgs.Boolean --timeout 5000 \
|
||||
--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
|
||||
|
||||
# Set default camera offset if not specified
|
||||
follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
|
||||
follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
|
||||
follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
|
||||
|
||||
# Set camera offset
|
||||
${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
|
||||
--reptype gz.msgs.Boolean --timeout 5000 \
|
||||
--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
|
||||
|
||||
echo "INFO [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
|
||||
fi
|
||||
|
||||
elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
|
||||
# Connect to existing model
|
||||
echo "INFO [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
|
||||
if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${PX4_GZ_MODEL_NAME}"; then
|
||||
echo "ERROR [init] gz_bridge failed to start and attach to existing model"
|
||||
exit 1
|
||||
fi
|
||||
else
|
||||
echo "ERROR [init] failed to pass either PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# NOTE: Only for rover_mecanum and spacecraft_2d. All other models have
|
||||
# the magnetometer sensor in the model.sdf.
|
||||
if param compare -s SENS_EN_MAGSIM 1
|
||||
then
|
||||
sensor_mag_sim start
|
||||
fi
|
||||
# NOTE: new gz has airspeed sensor, remove once added
|
||||
if param compare -s SENS_EN_ARSPDSIM 1
|
||||
then
|
||||
sensor_airspeed_sim start
|
||||
fi
|
||||
@@ -0,0 +1,14 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
echo "INFO [init] jMAVSim simulator"
|
||||
|
||||
if jps | grep -i jmavsim; then
|
||||
kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
|
||||
sleep 1
|
||||
fi
|
||||
|
||||
param set IMU_INTEG_RATE 250
|
||||
./jmavsim_run.sh -l -r 250 &
|
||||
|
||||
simulator_mavlink start -h localhost $((4560+px4_instance))
|
||||
@@ -0,0 +1,27 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
# EKF2 specifics
|
||||
param set-default EKF2_GPS_DELAY 10
|
||||
param set-default EKF2_MULTI_IMU 3
|
||||
param set-default SENS_IMU_MODE 0
|
||||
|
||||
simulator_tcp_port=$((4560+px4_instance))
|
||||
|
||||
# Check if PX4_SIM_HOSTNAME environment variable is empty
|
||||
# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
|
||||
# If both are empty use localhost for simulator
|
||||
if [ -z "${PX4_SIM_HOSTNAME}" ]; then
|
||||
|
||||
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
|
||||
echo "INFO [init] PX4_SIM_HOSTNAME: localhost"
|
||||
simulator_mavlink start -c $simulator_tcp_port
|
||||
else
|
||||
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
|
||||
simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
|
||||
fi
|
||||
|
||||
else
|
||||
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
|
||||
simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
|
||||
fi
|
||||
@@ -1,5 +0,0 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
#param set-default MAV_SYS_ID $((px4_instance+1))
|
||||
#param set-default IMU_INTEG_RATE 250
|
||||
@@ -0,0 +1,38 @@
|
||||
#!/bin/sh
|
||||
|
||||
echo "INFO [init] SIH simulator"
|
||||
|
||||
if [ -n "${PX4_HOME_LAT}" ]; then
|
||||
param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
|
||||
fi
|
||||
|
||||
if [ -n "${PX4_HOME_LON}" ]; then
|
||||
param set SIH_LOC_LON0 ${PX4_HOME_LON}
|
||||
fi
|
||||
if [ -n "${PX4_HOME_ALT}" ]; then
|
||||
param set SIH_LOC_H0 ${PX4_HOME_ALT}
|
||||
fi
|
||||
|
||||
if simulator_sih start; then
|
||||
|
||||
if param compare -s SENS_EN_BAROSIM 1
|
||||
then
|
||||
sensor_baro_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_GPSSIM 1
|
||||
then
|
||||
sensor_gps_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_MAGSIM 1
|
||||
then
|
||||
sensor_mag_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_AGPSIM 1
|
||||
then
|
||||
sensor_agp_sim start
|
||||
fi
|
||||
|
||||
else
|
||||
echo "ERROR [init] simulator_sih failed to start"
|
||||
exit 1
|
||||
fi
|
||||
@@ -8,203 +8,18 @@ param set-default IMU_INTEG_RATE 250
|
||||
param set-default COM_MODE_ARM_CHK 1
|
||||
|
||||
if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
|
||||
|
||||
echo "INFO [init] SIH simulator"
|
||||
|
||||
if [ -n "${PX4_HOME_LAT}" ]; then
|
||||
param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
|
||||
fi
|
||||
|
||||
if [ -n "${PX4_HOME_LON}" ]; then
|
||||
param set SIH_LOC_LON0 ${PX4_HOME_LON}
|
||||
fi
|
||||
if [ -n "${PX4_HOME_ALT}" ]; then
|
||||
param set SIH_LOC_H0 ${PX4_HOME_ALT}
|
||||
fi
|
||||
|
||||
if simulator_sih start; then
|
||||
|
||||
if param compare -s SENS_EN_BAROSIM 1
|
||||
then
|
||||
sensor_baro_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_GPSSIM 1
|
||||
then
|
||||
sensor_gps_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_MAGSIM 1
|
||||
then
|
||||
sensor_mag_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_AGPSIM 1
|
||||
then
|
||||
sensor_agp_sim start
|
||||
fi
|
||||
|
||||
else
|
||||
echo "ERROR [init] simulator_sih failed to start"
|
||||
exit 1
|
||||
fi
|
||||
# Run SIH
|
||||
. px4-rc.sihsim
|
||||
|
||||
elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
|
||||
# Use Gazebo
|
||||
|
||||
echo "INFO [init] Gazebo simulator"
|
||||
|
||||
# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
|
||||
if [ -z "${PX4_GZ_STANDALONE}" ]; then
|
||||
|
||||
# "gz sim" only available in Garden and later
|
||||
GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
|
||||
if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
|
||||
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
|
||||
fi
|
||||
|
||||
# look for running ${gz_command} gazebo world
|
||||
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
|
||||
|
||||
# shellcheck disable=SC2153
|
||||
if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
|
||||
|
||||
# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
|
||||
if [ -f ./gz_env.sh ]; then
|
||||
. ./gz_env.sh
|
||||
|
||||
elif [ -f ../gz_env.sh ]; then
|
||||
. ../gz_env.sh
|
||||
fi
|
||||
|
||||
echo "INFO [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
|
||||
|
||||
${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
|
||||
|
||||
if [ -z "${HEADLESS}" ]; then
|
||||
# HEADLESS not set, starting gui
|
||||
${gz_command} ${gz_sub_command} -g &
|
||||
fi
|
||||
|
||||
else
|
||||
# Gazebo is already running, do not start the simulator, nor the GUI
|
||||
echo "INFO [init] gazebo already running world: ${gz_world}"
|
||||
PX4_GZ_WORLD=${gz_world}
|
||||
fi
|
||||
else
|
||||
echo "INFO [init] Standalone PX4 launch, waiting for Gazebo"
|
||||
fi
|
||||
|
||||
# start gz_bridge
|
||||
if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
|
||||
# model specified, gz_bridge will spawn model
|
||||
|
||||
if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
|
||||
# model pose provided: [x, y, z, roll, pitch, yaw]
|
||||
|
||||
# Clean potential input line formatting.
|
||||
model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
|
||||
echo "INFO [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
|
||||
|
||||
else
|
||||
# model pose not provided, origin will be used
|
||||
|
||||
echo "WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
|
||||
model_pose="0,0,0,0,0,0"
|
||||
fi
|
||||
|
||||
# start gz bridge with pose arg.
|
||||
if ! gz_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
|
||||
echo "ERROR [init] gz_bridge failed to start and spawn model"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
|
||||
# model name specificed, gz_bridge will attach to existing model
|
||||
|
||||
echo "INFO [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
|
||||
if ! gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
|
||||
echo "ERROR [init] gz_bridge failed to start and attach to existing model"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
else
|
||||
echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# Start the sensor simulator modules
|
||||
if param compare -s SENS_EN_BAROSIM 1
|
||||
then
|
||||
sensor_baro_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_GPSSIM 1
|
||||
then
|
||||
sensor_gps_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_MAGSIM 1
|
||||
then
|
||||
sensor_mag_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_ARSPDSIM 1
|
||||
then
|
||||
sensor_airspeed_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_AGPSIM 1
|
||||
then
|
||||
sensor_agp_sim start
|
||||
fi
|
||||
# Run Gazebo (gz)
|
||||
. px4-rc.gzsim
|
||||
|
||||
elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
|
||||
|
||||
echo "INFO [init] jMAVSim simulator"
|
||||
|
||||
if jps | grep -i jmavsim; then
|
||||
kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
|
||||
sleep 1
|
||||
fi
|
||||
|
||||
param set IMU_INTEG_RATE 250
|
||||
./jmavsim_run.sh -l -r 250 &
|
||||
|
||||
simulator_mavlink start -h localhost $((4560+px4_instance))
|
||||
# Run jMAVSim
|
||||
. px4-rc.jmavsim
|
||||
|
||||
else
|
||||
# otherwise start simulator (mavlink) module
|
||||
|
||||
# EKF2 specifics
|
||||
param set-default EKF2_GPS_DELAY 10
|
||||
param set-default EKF2_MULTI_IMU 3
|
||||
param set-default SENS_IMU_MODE 0
|
||||
|
||||
simulator_tcp_port=$((4560+px4_instance))
|
||||
|
||||
# Check if PX4_SIM_HOSTNAME environment variable is empty
|
||||
# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
|
||||
# If both are empty use localhost for simulator
|
||||
if [ -z "${PX4_SIM_HOSTNAME}" ]; then
|
||||
|
||||
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
|
||||
echo "INFO [init] PX4_SIM_HOSTNAME: localhost"
|
||||
simulator_mavlink start -c $simulator_tcp_port
|
||||
else
|
||||
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
|
||||
simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
|
||||
fi
|
||||
|
||||
else
|
||||
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
|
||||
simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
|
||||
fi
|
||||
|
||||
# Run simulator_mavlink module for interface with gazebo-classic
|
||||
. px4-rc.mavlinksim
|
||||
fi
|
||||
|
||||
@@ -126,6 +126,15 @@ then
|
||||
set AUTOCNF yes
|
||||
fi
|
||||
|
||||
# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
|
||||
env | while IFS='=' read -r line; do
|
||||
value=${line#*=}
|
||||
name=${line%%=*}
|
||||
case $name in
|
||||
"PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
|
||||
esac
|
||||
done
|
||||
|
||||
# multi-instance setup
|
||||
# shellcheck disable=SC2154
|
||||
param set MAV_SYS_ID $((px4_instance+1))
|
||||
@@ -227,9 +236,6 @@ then
|
||||
exit 1
|
||||
fi
|
||||
|
||||
#user defined params for instances can be in PATH
|
||||
. px4-rc.params
|
||||
|
||||
dataman start
|
||||
|
||||
# only start the simulator if not in replay mode, as both control the lockstep time
|
||||
@@ -289,10 +295,15 @@ then
|
||||
# for multi intances setup, add namespace prefix
|
||||
uxrce_dds_ns="-n px4_$px4_instance"
|
||||
fi
|
||||
if [ -n "$PX4_UXRCE_DDS_NS" ]
|
||||
then
|
||||
# Override namespace if environment variable is defined
|
||||
uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
|
||||
if [ "${PX4_UXRCE_DDS_NS+x}" ]; then
|
||||
# Override, as variable is set (empty or not)
|
||||
if [ -n "$PX4_UXRCE_DDS_NS" ]; then
|
||||
# Override namespace if environment variable is non-empty
|
||||
uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
|
||||
else
|
||||
# Clear namespace if variable is empty
|
||||
uxrce_dds_ns=""
|
||||
fi
|
||||
fi
|
||||
if [ -n "$ROS_DOMAIN_ID" ]
|
||||
then
|
||||
|
||||
@@ -69,15 +69,6 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
|
||||
)
|
||||
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_ROVER_DIFFERENTIAL)
|
||||
px4_add_romfs_files(
|
||||
rc.rover_differential_apps
|
||||
|
||||
@@ -22,11 +22,6 @@ 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 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
|
||||
|
||||
@@ -7,6 +7,7 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board px4_fmu-v6x exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -5,8 +5,5 @@
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_differential_defaults
|
||||
|
||||
@@ -7,9 +7,6 @@
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_differential_defaults
|
||||
|
||||
@@ -26,7 +23,6 @@ param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
# Differential Parameters
|
||||
param set-default RD_WHEEL_TRACK 0.3
|
||||
param set-default RD_MAX_THR_YAW_R 0.7
|
||||
param set-default RD_TRANS_DRV_TRN 0.785398
|
||||
param set-default RD_TRANS_TRN_DRV 0.139626
|
||||
|
||||
@@ -37,19 +33,21 @@ param set-default RO_JERK_LIM 5
|
||||
param set-default RO_MAX_THR_SPEED 1.9
|
||||
|
||||
# Rover Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.01
|
||||
param set-default RO_YAW_RATE_I 0.1
|
||||
param set-default RO_YAW_RATE_P 0.1
|
||||
param set-default RO_YAW_RATE_LIM 250
|
||||
param set-default RO_YAW_ACCEL_LIM 600
|
||||
param set-default RO_YAW_DECEL_LIM 600
|
||||
param set-default RO_YAW_RATE_CORR 2.7
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
param set-default RO_YAW_P 2.5
|
||||
|
||||
# Rover Position Control Parameters
|
||||
# Rover Velocity Control Parameters
|
||||
param set-default RO_SPEED_LIM 1.6
|
||||
param set-default RO_SPEED_I 0.01
|
||||
param set-default RO_SPEED_P 0.1
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
|
||||
@@ -5,8 +5,5 @@
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_ackermann_defaults
|
||||
|
||||
@@ -7,9 +7,6 @@
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_ackermann_defaults
|
||||
|
||||
@@ -30,17 +27,19 @@ param set-default RO_JERK_LIM 20
|
||||
param set-default RO_MAX_THR_SPEED 2.8
|
||||
|
||||
# Rover Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0
|
||||
param set-default RO_YAW_RATE_P 0
|
||||
param set-default RO_YAW_RATE_LIM 0
|
||||
param set-default RO_YAW_RATE_I 0.1
|
||||
param set-default RO_YAW_RATE_P 0.1
|
||||
param set-default RO_YAW_RATE_LIM 120
|
||||
param set-default RO_YAW_RATE_CORR 1
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 0
|
||||
param set-default RO_YAW_P 2.5
|
||||
|
||||
# Rover Position Control Parameters
|
||||
# Rover Velocity Control Parameters
|
||||
param set-default RO_SPEED_LIM 2.5
|
||||
param set-default RO_SPEED_I 0.01
|
||||
param set-default RO_SPEED_P 0.1
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
|
||||
@@ -5,8 +5,5 @@
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_mecanum_defaults
|
||||
|
||||
@@ -1,49 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Generic Ground Vehicle (Deprecated)
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @output Motor1 throttle
|
||||
# @output Servo1 steering
|
||||
#
|
||||
# @maintainer
|
||||
#
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default BAT1_N_CELLS 2
|
||||
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_MAG_TYPE 1
|
||||
|
||||
param set-default FW_AIRSPD_MAX 3
|
||||
param set-default FW_AIRSPD_MIN 0
|
||||
param set-default FW_AIRSPD_TRIM 1
|
||||
|
||||
# Settings for a typical wheelbase 0f 0.3m
|
||||
param set-default GND_L1_DIST 1
|
||||
param set-default GND_L1_PERIOD 5
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_I 3
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
param set-default CA_AIRFRAME 5
|
||||
|
||||
param set-default CA_R_REV 1
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 201
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
param set-default PWM_MAIN_FUNC7 101
|
||||
@@ -1,64 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name NXP Cup car: DF Robot GPX (Deprecated)
|
||||
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
# @output Motor1 Speed of left wheels
|
||||
# @output Servo1 Steering servo
|
||||
#
|
||||
# @maintainer Katrin Moritz
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default BAT1_N_CELLS 2
|
||||
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
param set-default EKF2_MAG_TYPE 1
|
||||
|
||||
param set-default FW_AIRSPD_MIN 0
|
||||
param set-default FW_AIRSPD_TRIM 1
|
||||
param set-default FW_AIRSPD_MAX 3
|
||||
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
|
||||
# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
|
||||
param set-default GND_MAX_ANG 1.042
|
||||
param set-default GND_WHEEL_BASE 0.17
|
||||
|
||||
# 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
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_I 3
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
param set-default CA_AIRFRAME 5
|
||||
|
||||
param set-default CA_R_REV 1
|
||||
param set-default PWM_MAIN_FUNC2 201
|
||||
param set-default PWM_MAIN_FUNC3 101
|
||||
param set-default PWM_MAIN_FUNC4 101
|
||||
|
||||
# Provide ESC a constant 1500 us pulse to idle
|
||||
param set-default PWM_MAIN_DIS2 1500
|
||||
param set-default PWM_MAIN_DIS3 1485
|
||||
param set-default PWM_MAIN_DIS4 1485
|
||||
param set-default PWM_MAIN_FAIL3 1485
|
||||
param set-default PWM_MAIN_FAIL4 1485
|
||||
param set-default PWM_MAIN_MIN3 970
|
||||
param set-default PWM_MAIN_MIN4 970
|
||||
@@ -11,7 +11,7 @@
|
||||
. ${R}etc/init.d/rc.sc_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 14
|
||||
param set-default MAV_TYPE 99
|
||||
param set-default MAV_TYPE 45
|
||||
|
||||
param set-default CA_THRUSTER_CNT 8
|
||||
param set-default CA_R_REV 0
|
||||
|
||||
@@ -158,14 +158,6 @@ if(CONFIG_MODULES_ROVER_MECANUM)
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_ROVER_POS_CONTROL)
|
||||
px4_add_romfs_files(
|
||||
# [59000, 59999] Rover position control (deprecated)
|
||||
59000_generic_ground_vehicle
|
||||
59001_nxpcup_car_dfrobot_gpx
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_UUV_ATT_CONTROL)
|
||||
px4_add_romfs_files(
|
||||
# [60000, 61000] (Unmanned) Underwater Robots
|
||||
|
||||
@@ -15,7 +15,8 @@ control_allocator start
|
||||
#
|
||||
fw_rate_control start
|
||||
fw_att_control start
|
||||
fw_pos_control start
|
||||
fw_mode_manager start
|
||||
fw_lat_lon_control start
|
||||
airspeed_selector start
|
||||
|
||||
#
|
||||
|
||||
@@ -13,8 +13,6 @@ param set-default MAV_TYPE 1
|
||||
#
|
||||
# Default parameters for fixed wing UAVs.
|
||||
#
|
||||
# there is a 2.5 factor applied on the _FS thresholds if for invalidation
|
||||
param set-default COM_POS_FS_EPH 50
|
||||
param set-default COM_VEL_FS_EVH 3
|
||||
|
||||
param set-default COM_POS_LOW_EPH 50
|
||||
|
||||
@@ -20,7 +20,5 @@ param set-default NAV_ACC_RAD 2
|
||||
param set-default RTL_RETURN_ALT 30
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
|
||||
param set-default GPS_UBX_DYNMODEL 6
|
||||
|
||||
# lower RNG_FOG since MC are expected to fly closer over obstacles
|
||||
param set-default EKF2_RNG_FOG 1.0
|
||||
|
||||
@@ -1,21 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Standard apps for unmanned ground vehicles (UGV).
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
#
|
||||
# Start attitude controllers.
|
||||
#
|
||||
rover_pos_control start
|
||||
|
||||
#
|
||||
# Start Land Detector.
|
||||
#
|
||||
land_detector start rover
|
||||
@@ -1,19 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# UGV default parameters.
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
set VEHICLE_TYPE rover
|
||||
|
||||
# MAV_TYPE_GROUND_ROVER 10
|
||||
param set-default MAV_TYPE 10
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
|
||||
# Temporary.
|
||||
param set-default NAV_FW_ALT_RAD 1000
|
||||
@@ -3,10 +3,10 @@
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
set VEHICLE_TYPE sc
|
||||
set VEHICLE_TYPE spacecraft
|
||||
|
||||
# MAV_TYPE_QUADROTOR 2
|
||||
#param set-default MAV_TYPE 12
|
||||
# MAV_TYPE_SPACECRAFT_ORBITTER
|
||||
param set-default MAV_TYPE 45
|
||||
|
||||
# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
|
||||
param set-default UXRCE_DDS_AG_IP -1062731775
|
||||
|
||||
@@ -71,12 +71,6 @@ then
|
||||
fi
|
||||
|
||||
|
||||
# Heater driver for temperature regulated IMUs.
|
||||
if param compare -s SENS_EN_THERMAL 1
|
||||
then
|
||||
heater start
|
||||
fi
|
||||
|
||||
# Teraranger one tof sensor
|
||||
if param greater -s SENS_EN_TRANGER 0
|
||||
then
|
||||
@@ -232,15 +226,17 @@ then
|
||||
|
||||
# compasses
|
||||
hmc5883 -T -X -q start
|
||||
iis2mdc -X -q start
|
||||
ist8308 -X -q start
|
||||
ist8310 -X -q start
|
||||
lis2mdl -X -q start
|
||||
if ! lis3mdl -X -q start
|
||||
then
|
||||
lis3mdl -X -q -a 0x1c start
|
||||
fi
|
||||
qmc5883l -X -q start
|
||||
qmc5883p -X -q start
|
||||
rm3100 -X -q start
|
||||
bmm350 -X -q start
|
||||
|
||||
# start last (wait for possible icm20948 passthrough mode)
|
||||
ak09916 -X -q start
|
||||
|
||||
@@ -68,6 +68,15 @@ then
|
||||
. ${R}etc/init.d/rc.vtol_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# Spapcecraft setup.
|
||||
#
|
||||
if [ $VEHICLE_TYPE = spacecraft ]
|
||||
then
|
||||
# Start standard multicopter apps.
|
||||
. ${R}etc/init.d/rc.sc_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# Airship setup.
|
||||
#
|
||||
|
||||
@@ -27,7 +27,8 @@ fi
|
||||
|
||||
fw_rate_control start vtol
|
||||
fw_att_control start vtol
|
||||
fw_pos_control start vtol
|
||||
fw_mode_manager start
|
||||
fw_lat_lon_control start vtol
|
||||
fw_autotune_attitude_control start vtol
|
||||
|
||||
# Start Land Detector
|
||||
|
||||
@@ -10,9 +10,6 @@ set VEHICLE_TYPE vtol
|
||||
# MAV_TYPE_VTOL_FIXEDROTOR 22
|
||||
param set-default MAV_TYPE 22
|
||||
|
||||
# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
|
||||
param set-default COM_POS_FS_EPH 50
|
||||
|
||||
param set-default COM_POS_LOW_EPH 50
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
|
||||
@@ -38,7 +38,7 @@ set VEHICLE_TYPE none
|
||||
# Airframe parameter versioning
|
||||
# Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
|
||||
# Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
|
||||
# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enfoces a reset.
|
||||
# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enforces a reset.
|
||||
set PARAM_DEFAULTS_VER 1
|
||||
|
||||
#
|
||||
@@ -223,7 +223,7 @@ else
|
||||
# Look for airframe in ROMFS
|
||||
. ${R}etc/init.d/rc.autostart
|
||||
|
||||
if [ ${VEHICLE_TYPE} == none ]
|
||||
if [ ${VEHICLE_TYPE} = none ]
|
||||
then
|
||||
# Use external startup file
|
||||
if [ $STORAGE_AVAILABLE = yes ]
|
||||
@@ -234,7 +234,7 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ ${VEHICLE_TYPE} == none ]
|
||||
if [ ${VEHICLE_TYPE} = none ]
|
||||
then
|
||||
echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
|
||||
param set SYS_AUTOSTART 0
|
||||
@@ -279,6 +279,14 @@ else
|
||||
#
|
||||
send_event start
|
||||
|
||||
#
|
||||
# Start the hardfault streamer.
|
||||
#
|
||||
if param compare -s SYS_HF_MAV 1
|
||||
then
|
||||
hardfault_stream start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the resource load monitor.
|
||||
#
|
||||
@@ -403,6 +411,14 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
# Heater driver for temperature regulated IMUs.
|
||||
# The heater needs to start after px4io.
|
||||
if param compare -s SENS_EN_THERMAL 1
|
||||
then
|
||||
heater start
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# RC update (map raw RC input to calibrate manual control)
|
||||
# start before commander
|
||||
@@ -484,11 +500,14 @@ else
|
||||
. ${R}etc/init.d/rc.serial
|
||||
|
||||
# Manages USB interface
|
||||
if ! cdcacm_autostart start
|
||||
if param greater -s SYS_USB_AUTO -1
|
||||
then
|
||||
sercon
|
||||
echo "Starting MAVLink on /dev/ttyACM0"
|
||||
mavlink start -d /dev/ttyACM0
|
||||
if ! cdcacm_autostart start
|
||||
then
|
||||
sercon
|
||||
echo "Starting MAVLink on /dev/ttyACM0"
|
||||
mavlink start -d /dev/ttyACM0
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
|
||||
Reference in New Issue
Block a user