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cmake fmu-v3 fix and enable more examples

Browse Source 
- sync posix_sitl_default and px4fmu-v4pro/v5 with fmu-v3
 - fixes #6667
This commit is contained in:
Daniel Agar 2017-02-25 12:56:58 -05:00 committed by Lorenz Meier
parent 4811ab6b13
commit 89ff9f1fe3
7 changed files with 260 additions and 168 deletions
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14
cmake/configs/nuttx_px4fmu-v3_default.cmake
View File

@ -152,10 +152,12 @@ set(config_module_list
lib/tailsitter_recovery
lib/terrain_estimation
lib/version
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
#
# Platform
#
platforms/common
platforms/nuttx
platforms/nuttx/px4_layer
#
@ -171,25 +173,25 @@ set(config_module_list
#
# Demo apps
#
#examples/math_demo
# Tutorial code from
# https://px4.io/dev/px4_simple_app
examples/px4_simple_app
# Tutorial code from
# https://px4.io/dev/daemon
#examples/px4_daemon_app
examples/px4_daemon_app
# Tutorial code from
# https://px4.io/dev/debug_values
#examples/px4_mavlink_debug
examples/px4_mavlink_debug
# Tutorial code from
# https://px4.io/dev/example_fixedwing_control
examples/fixedwing_control
# Hardware test
#examples/hwtest
examples/hwtest
# EKF
examples/ekf_att_pos_estimator

127
cmake/configs/nuttx_px4fmu-v4pro_default.cmake
View File

@ -10,51 +10,52 @@ set(config_module_list
#
# Board support modules
#
drivers/airspeed
drivers/blinkm
drivers/bma180
drivers/bmi160
drivers/bmp280
drivers/boards/px4fmu-v4pro
drivers/bst
drivers/camera_trigger
drivers/device
drivers/ets_airspeed
drivers/frsky_telemetry
drivers/gps
drivers/hmc5883
drivers/hott
drivers/hott/hott_sensors
drivers/hott/hott_telemetry
drivers/iridiumsbd
drivers/l3gd20
drivers/led
drivers/lis3mdl
drivers/ll40ls
drivers/lsm303d
drivers/mb12xx
drivers/meas_airspeed
drivers/mkblctrl
drivers/mpu6000
drivers/mpu9250
drivers/ms5611
drivers/oreoled
drivers/pwm_input
drivers/pwm_out_sim
drivers/px4flow
drivers/px4fmu
drivers/px4io
drivers/rgbled
drivers/sf0x
drivers/sf1xx
drivers/snapdragon_rc_pwm
drivers/srf02
drivers/stm32
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/led
drivers/px4fmu
drivers/px4io
drivers/boards/px4fmu-v4pro
drivers/rgbled
drivers/mpu6000
drivers/mpu9250
drivers/lsm303d
drivers/l3gd20
drivers/hmc5883
drivers/ms5611
drivers/mb12xx
drivers/srf02
drivers/sf0x
drivers/ll40ls
drivers/trone
drivers/gps
drivers/pwm_out_sim
drivers/hott
drivers/hott/hott_telemetry
drivers/hott/hott_sensors
drivers/blinkm
drivers/airspeed
drivers/ets_airspeed
drivers/meas_airspeed
drivers/frsky_telemetry
modules/sensors
drivers/mkblctrl
drivers/px4flow
drivers/oreoled
drivers/vmount
drivers/pwm_input
drivers/camera_trigger
drivers/bst
drivers/snapdragon_rc_pwm
drivers/lis3mdl
drivers/sf1xx
drivers/bmp280
drivers/bma180
drivers/bmi160
drivers/tap_esc
drivers/trone
drivers/vmount
modules/sensors
#
# System commands
@ -82,10 +83,11 @@ set(config_module_list
#
drivers/sf0x/sf0x_tests
drivers/test_ppm
#lib/rc/rc_tests
modules/commander/commander_tests
modules/mc_pos_control/mc_pos_control_tests
modules/controllib_test
modules/mavlink/mavlink_tests
modules/mc_pos_control/mc_pos_control_tests
modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
@ -95,27 +97,26 @@ set(config_module_list
#
modules/commander
modules/events
modules/load_mon
modules/navigator
modules/mavlink
modules/gpio_led
modules/uavcan
modules/land_detector
modules/load_mon
modules/mavlink
modules/navigator
modules/uavcan
#
# Estimation modules (EKF/ SO3 / other filters)
# Estimation modules
#
modules/attitude_estimator_q
modules/position_estimator_inav
modules/local_position_estimator
modules/ekf2
modules/local_position_estimator
modules/position_estimator_inav
#
# Vehicle Control
#
# modules/segway # XXX Needs GCC 4.7 fix
modules/fw_pos_control_l1
modules/fw_att_control
modules/fw_pos_control_l1
modules/mc_att_control
modules/mc_pos_control
modules/vtol_att_control
@ -123,39 +124,41 @@ set(config_module_list
#
# Logging
#
modules/sdlog2
modules/logger
modules/sdlog2
#
# Library modules
#
modules/dataman
modules/param
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/dataman
#
# Libraries
#
lib/controllib
lib/mathlib
lib/mathlib/math/filter
lib/conversion
lib/DriverFramework/framework
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/conversion
lib/launchdetection
lib/terrain_estimation
lib/mathlib
lib/mathlib/math/filter
lib/runway_takeoff
lib/tailsitter_recovery
lib/terrain_estimation
lib/version
lib/DriverFramework/framework
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
#
# Platform
#
platforms/common
platforms/nuttx
platforms/nuttx/px4_layer
#
@ -171,10 +174,10 @@ set(config_module_list
#
# Demo apps
#
#examples/math_demo
# Tutorial code from
# https://px4.io/dev/px4_simple_app
examples/px4_simple_app
#examples/px4_simple_app
# Tutorial code from
# https://px4.io/dev/daemon
@ -192,7 +195,7 @@ set(config_module_list
#examples/hwtest
# EKF
examples/ekf_att_pos_estimator
#examples/ekf_att_pos_estimator
)
set(config_extra_builtin_cmds

134
cmake/configs/nuttx_px4fmu-v5_default.cmake
View File

@ -10,47 +10,49 @@ set(config_module_list
#
# Board support modules
#
drivers/airspeed
drivers/blinkm
drivers/bma180
drivers/bmi160
drivers/bmp280
drivers/boards/px4fmu-v5
drivers/bst
drivers/camera_trigger
drivers/device
drivers/ets_airspeed
drivers/frsky_telemetry
drivers/gps
drivers/hmc5883
drivers/hott
drivers/hott/hott_sensors
drivers/hott/hott_telemetry
drivers/iridiumsbd
drivers/led
drivers/lis3mdl
drivers/ll40ls
drivers/mb12xx
drivers/meas_airspeed
drivers/mkblctrl
drivers/mpu6000
drivers/mpu9250
drivers/ms5611
drivers/oreoled
drivers/pwm_input
drivers/pwm_out_sim
drivers/px4flow
drivers/px4fmu
drivers/rgbled_pwm
drivers/sf0x
drivers/sf1xx
drivers/snapdragon_rc_pwm
drivers/srf02
drivers/stm32
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/led
drivers/px4fmu
drivers/boards/px4fmu-v5
drivers/rgbled_pwm
drivers/mpu6000
drivers/mpu9250
drivers/hmc5883
drivers/ms5611
drivers/mb12xx
drivers/srf02
drivers/sf0x
drivers/ll40ls
drivers/trone
drivers/gps
drivers/pwm_out_sim
drivers/hott
drivers/hott/hott_telemetry
drivers/hott/hott_sensors
drivers/blinkm
drivers/airspeed
drivers/ets_airspeed
drivers/meas_airspeed
drivers/frsky_telemetry
modules/sensors
drivers/mkblctrl
drivers/px4flow
drivers/oreoled
drivers/vmount
drivers/pwm_input
drivers/camera_trigger
drivers/bst
drivers/snapdragon_rc_pwm
drivers/lis3mdl
drivers/bmp280
drivers/bma180
drivers/bmi160
drivers/tap_esc
drivers/trone
drivers/vmount
modules/sensors
#
# System commands
@ -73,32 +75,45 @@ set(config_module_list
systemcmds/topic_listener
systemcmds/ver
#
# Testing
#
drivers/sf0x/sf0x_tests
drivers/test_ppm
#lib/rc/rc_tests
modules/commander/commander_tests
modules/controllib_test
modules/mavlink/mavlink_tests
modules/mc_pos_control/mc_pos_control_tests
modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
#
# General system control
#
modules/commander
modules/events
modules/load_mon
modules/navigator
modules/mavlink
modules/gpio_led
modules/uavcan
modules/land_detector
modules/load_mon
modules/mavlink
modules/navigator
modules/uavcan
#
# Estimation modules
#
modules/attitude_estimator_q
modules/position_estimator_inav
modules/local_position_estimator
modules/ekf2
modules/local_position_estimator
modules/position_estimator_inav
#
# Vehicle Control
#
# modules/segway # XXX Needs GCC 4.7 fix
modules/fw_pos_control_l1
modules/fw_att_control
modules/fw_pos_control_l1
modules/mc_att_control
modules/mc_pos_control
modules/vtol_att_control
@ -112,53 +127,55 @@ set(config_module_list
#
# Library modules
#
modules/dataman
modules/param
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/dataman
#
# Libraries
#
lib/controllib
lib/mathlib
lib/mathlib/math/filter
lib/rc
lib/conversion
lib/DriverFramework/framework
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/conversion
lib/launchdetection
lib/terrain_estimation
lib/mathlib
lib/mathlib/math/filter
lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
lib/terrain_estimation
lib/version
lib/DriverFramework/framework
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
#
# Platform
#
platforms/common
platforms/nuttx
platforms/nuttx/px4_layer
#
# OBC challenge
#
modules/bottle_drop
#modules/bottle_drop
#
# Rover apps
#
examples/rover_steering_control
#examples/rover_steering_control
#
# Demo apps
#
#examples/math_demo
# Tutorial code from
# https://px4.io/dev/px4_simple_app
examples/px4_simple_app
#examples/px4_simple_app
# Tutorial code from
# https://px4.io/dev/daemon
@ -174,6 +191,9 @@ set(config_module_list
# Hardware test
#examples/hwtest
# EKF
#examples/ekf_att_pos_estimator
)
set(config_extra_builtin_cmds

141
cmake/configs/posix_sitl_default.cmake
View File

@ -9,8 +9,7 @@ set(config_module_list
drivers/gps
drivers/pwm_out_sim
drivers/vmount
platforms/common
modules/sensors
platforms/posix/drivers/accelsim
platforms/posix/drivers/adcsim
platforms/posix/drivers/airspeedsim
@ -20,46 +19,92 @@ set(config_module_list
platforms/posix/drivers/ledsim
platforms/posix/drivers/rgbledsim
platforms/posix/drivers/tonealrmsim
platforms/posix/px4_layer
platforms/posix/work_queue
#
# System commands
#
#systemcmds/bl_update
#systemcmds/config
#systemcmds/dumpfile
systemcmds/esc_calib
#systemcmds/hardfault_log
systemcmds/mixer
systemcmds/motor_ramp
#systemcmds/mtd
#systemcmds/nshterm
systemcmds/param
systemcmds/perf
#systemcmds/pwm
systemcmds/reboot
systemcmds/sd_bench
systemcmds/top
systemcmds/topic_listener
systemcmds/ver
systemcmds/top
systemcmds/motor_ramp
modules/attitude_estimator_q
#
# Testing
#
drivers/sf0x/sf0x_tests
#drivers/test_ppm
lib/rc/rc_tests
modules/commander/commander_tests
modules/controllib_test
modules/mavlink/mavlink_tests
modules/mc_pos_control/mc_pos_control_tests
modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
#
# General system control
#
modules/commander
modules/dataman
modules/events
#modules/gpio_led
modules/land_detector
modules/load_mon
modules/mavlink
modules/navigator
modules/replay
modules/simulator
#modules/uavcan
#
# Estimation modules
#
modules/attitude_estimator_q
modules/ekf2
modules/ekf2_replay
modules/events
modules/local_position_estimator
modules/position_estimator_inav
#
# Vehicle Control
#
modules/fw_att_control
modules/fw_pos_control_l1
modules/land_detector
modules/logger
modules/mavlink
modules/mc_att_control
modules/mc_pos_control
modules/navigator
modules/param
modules/position_estimator_inav
modules/local_position_estimator
modules/replay
modules/vtol_att_control
#
# Logging
#
modules/logger
modules/sdlog2
modules/sensors
modules/simulator
#
# Library modules
#
modules/dataman
modules/param
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/vtol_att_control
#
# Libraries
#
lib/controllib
lib/conversion
lib/DriverFramework/framework
@ -76,27 +121,49 @@ set(config_module_list
lib/terrain_estimation
lib/version
#
# Platform
#
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
#
# OBC challenge
#
modules/bottle_drop
#
# Rover apps
#
examples/rover_steering_control
#
# Demo apps
#
# Tutorial code from
# https://px4.io/dev/px4_simple_app
examples/px4_simple_app
examples/mc_att_control_multiplatform
examples/mc_pos_control_multiplatform
examples/ekf_att_pos_estimator
examples/attitude_estimator_ekf
# Tutorial code from
# https://px4.io/dev/daemon
examples/px4_daemon_app
# Tutorial code from
# https://px4.io/dev/debug_values
examples/px4_mavlink_debug
# Tutorial code from
# https://px4.io/dev/example_fixedwing_control
examples/fixedwing_control
#
# Testing
#
drivers/sf0x/sf0x_tests
lib/rc/rc_tests
modules/commander/commander_tests
modules/mc_pos_control/mc_pos_control_tests
modules/controllib_test
modules/mavlink/mavlink_tests
modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
# Hardware test
#examples/hwtest
)
# EKF
examples/ekf_att_pos_estimator
)
set(config_extra_builtin_cmds
serdis

2
src/examples/px4_daemon_app/px4_daemon_app.c
View File

@ -44,7 +44,7 @@
#include <unistd.h>
#include <px4_config.h>
#include <nuttx/sched.h>
#include <px4_tasks.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>

2
src/examples/rover_steering_control/main.cpp
View File

@ -427,7 +427,7 @@ int rover_steering_control_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 20,
2048,
rover_steering_control_thread_main,
(argv) ? (char *const *)&argv[2] : (char *const *)NULL);
(argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
thread_running = true;
exit(0);
}

8
src/modules/bottle_drop/bottle_drop.cpp
View File

@ -206,7 +206,7 @@ BottleDrop::~BottleDrop()
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_main_task);
px4_task_delete(_main_task);
break;
}
} while (_main_task != -1);
@ -225,7 +225,7 @@ BottleDrop::start()
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 15,
1500,
(main_t)&BottleDrop::task_main_trampoline,
(px4_main_t)&BottleDrop::task_main_trampoline,
nullptr);
if (_main_task < 0) {
@ -653,7 +653,7 @@ BottleDrop::task_main()
// We're close enough - open the bay
distance_open_door = math::max(10.0f, 3.0f * fabsf(t_door * groundspeed_body));
if (isfinite(distance_real) && distance_real < distance_open_door &&
if (PX4_ISFINITE(distance_real) && distance_real < distance_open_door &&
fabsf(approach_error) < math::radians(20.0f)) {
open_bay();
_drop_state = DROP_STATE_BAY_OPEN;
@ -671,7 +671,7 @@ BottleDrop::task_main()
map_projection_reproject(&ref, x_f, y_f, &x_f_NED, &y_f_NED);
future_distance = get_distance_to_next_waypoint(x_f_NED, y_f_NED, _drop_position.lat, _drop_position.lon);
if (isfinite(distance_real) &&
if (PX4_ISFINITE(distance_real) &&
(distance_real < precision) && ((distance_real < future_distance))) {
drop();
_drop_state = DROP_STATE_DROPPED;