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Merge branch 'main' into pr-boards_serial_rc

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This commit is contained in:
Ramon Roche
2025-07-21 12:32:24 -07:00
committed by GitHub
parent d9039b0cf6 8dd14d9aaa
commit 8575199bc7
6419 changed files with 609408 additions and 20370 deletions
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ROMFS/px4fmu_common/init.d/CMakeLists.txt
-9
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@@ -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
ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2
-5
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@@ -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
ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
+1
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@@ -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
ROMFS/px4fmu_common/init.d/airframes/50000_generic_rover_differential
-3
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@@ -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
ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
+5 -7
View File
@@ -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
ROMFS/px4fmu_common/init.d/airframes/51000_generic_rover_ackermann
-3
View File
@@ -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
ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho
+7 -8
View File
@@ -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
ROMFS/px4fmu_common/init.d/airframes/52000_generic_rover_mecanum
-3
View File
@@ -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
ROMFS/px4fmu_common/init.d/airframes/59000_generic_ground_vehicle
-49
View File
@@ -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
ROMFS/px4fmu_common/init.d/airframes/59001_nxpcup_car_dfrobot_gpx
-64
View File
@@ -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
ROMFS/px4fmu_common/init.d/airframes/70000_spacecraft_2d
+1 -1
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@@ -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
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
-8
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@@ -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
ROMFS/px4fmu_common/init.d/rc.fw_apps
+2 -1
View File
@@ -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
#
ROMFS/px4fmu_common/init.d/rc.fw_defaults
-2
View File
@@ -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
ROMFS/px4fmu_common/init.d/rc.mc_defaults
-2
View File
@@ -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
ROMFS/px4fmu_common/init.d/rc.rover_apps
-21
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@@ -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
ROMFS/px4fmu_common/init.d/rc.rover_defaults
-19
View File
@@ -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
ROMFS/px4fmu_common/init.d/rc.sc_defaults
+3 -3
View File
@@ -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
ROMFS/px4fmu_common/init.d/rc.sensors
+3 -7
View File
@@ -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
ROMFS/px4fmu_common/init.d/rc.vehicle_setup
+9
View File
@@ -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.
#
ROMFS/px4fmu_common/init.d/rc.vtol_apps
+2 -1
View File
@@ -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
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
-3
View File
@@ -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
ROMFS/px4fmu_common/init.d/rcS
+26 -7
View File
@@ -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
#