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Merge pull request #15 from ethz-asl/pr-upstream-merge

Browse Source 
03/04/2021 upstream merge
This commit is contained in:
JaeyoungLim 2021-04-09 16:42:42 +02:00 committed by GitHub
commit 911f852834
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922 changed files with 109544 additions and 22011 deletions
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10
.ci/Jenkinsfile-compile
View File

@ -17,7 +17,7 @@ pipeline {
]
def armhf_builds = [
target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
image: docker_images.armhf,
archive: false
]
@ -55,18 +55,23 @@ pipeline {
"holybro_durandal-v1_default",
"holybro_kakutef7_default",
"holybro_pix32v5_default",
"intel_aerofc-v1_default",
"modalai_fc-v1_default",
"mro_ctrl-zero-f7_default",
"mro_ctrl-zero-f7-oem_default",
"mro_ctrl-zero-h7_default",
"mro_ctrl-zero-h7-oem_default",
"mro_pixracerpro_default",
"mro_x21-777_default",
"mro_x21_default",
"nxp_fmuk66-e_default",
"nxp_fmuk66-e_rtps",
"nxp_fmuk66-e_socketcan",
"nxp_fmuk66-v3_default",
"nxp_fmuk66-v3_rtps",
"nxp_fmuk66-v3_socketcan",
"nxp_fmurt1062-v1_default",
"nxp_ucans32k146_default",
"nxp_ucans32k146_canbootloader",
"omnibus_f4sd_default",
"px4_fmu-v2_default",
"px4_fmu-v2_fixedwing",
@ -91,6 +96,7 @@ pipeline {
"px4_fmu-v5x_base_phy_DP83848C",
"px4_fmu-v5x_default",
"px4_fmu-v6u_default",
"px4_fmu-v6u_test",
"px4_fmu-v6x_default",
"px4_io-v2_default",
"spracing_h7extreme_default",

13
.ci/Jenkinsfile-hardware
View File

@ -258,6 +258,7 @@ pipeline {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
@ -333,6 +334,7 @@ pipeline {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
}
@ -407,6 +409,7 @@ pipeline {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
@ -482,6 +485,7 @@ pipeline {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
@ -560,6 +564,7 @@ pipeline {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
@ -635,6 +640,7 @@ pipeline {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
}
@ -713,6 +719,7 @@ pipeline {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
}
@ -787,6 +794,7 @@ pipeline {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
}
@ -941,6 +949,7 @@ pipeline {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
}
@ -1000,10 +1009,12 @@ void statusFTDI() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
@ -1019,6 +1030,7 @@ void statusFTDI() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
@ -1060,6 +1072,7 @@ void statusFTDI() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
// stop logger

1
.github/workflows/compile_linux.yml vendored
View File

@ -15,7 +15,6 @@ jobs:
strategy:
matrix:
config: [
aerotenna_ocpoc_default,
beaglebone_blue_default,
emlid_navio2_default,
px4_raspberrypi_default,

14
.github/workflows/compile_nuttx.yml vendored
View File

@ -17,11 +17,13 @@ jobs:
config: [
airmind_mindpx-v2_default,
ark_can-flow_canbootloader,
ark_can-flow_debug,
ark_can-flow_default,
av_x-v1_default,
bitcraze_crazyflie21_default,
bitcraze_crazyflie_default,
cuav_can-gps-v1_canbootloader,
cuav_can-gps-v1_debug,
cuav_can-gps-v1_default,
cuav_nora_default,
cuav_x7pro_default,
@ -29,22 +31,29 @@ jobs:
cubepilot_cubeorange_default,
cubepilot_cubeyellow_console,
cubepilot_cubeyellow_default,
cubepilot_io-v2_default,
holybro_can-gps-v1_canbootloader,
holybro_can-gps-v1_debug,
holybro_can-gps-v1_default,
holybro_durandal-v1_default,
holybro_kakutef7_default,
holybro_pix32v5_default,
intel_aerofc-v1_default,
modalai_fc-v1_default,
mro_ctrl-zero-f7-oem_default,
mro_ctrl-zero-f7_default,
mro_ctrl-zero-h7-oem_default,
mro_ctrl-zero-h7_default,
mro_pixracerpro_default,
mro_x21-777_default,
mro_x21_default,
nxp_fmuk66-e_default,
nxp_fmuk66-e_rtps,
nxp_fmuk66-e_socketcan,
nxp_fmuk66-v3_default,
nxp_fmuk66-v3_rtps,
nxp_fmuk66-v3_socketcan,
nxp_fmurt1062-v1_default,
nxp_ucans32k146_canbootloader,
nxp_ucans32k146_default,
omnibus_f4sd_default,
px4_fmu-v2_default,
@ -57,17 +66,20 @@ jobs:
px4_fmu-v4_default,
px4_fmu-v4pro_default,
px4_fmu-v5_ctrlalloc,
px4_fmu-v5_debug,
px4_fmu-v5_default,
px4_fmu-v5_fixedwing,
px4_fmu-v5_multicopter,
px4_fmu-v5_optimized,
px4_fmu-v5_rover,
px4_fmu-v5_rtps,
px4_fmu-v5_stackcheck,
px4_fmu-v5_uavcanv0periph,
px4_fmu-v5_uavcanv1,
px4_fmu-v5x_base_phy_DP83848C,
px4_fmu-v5x_default,
px4_fmu-v6u_default,
px4_fmu-v6u_test,
px4_fmu-v6x_default,
px4_io-v2_default,
spracing_h7extreme_default,

77
.github/workflows/deploy_all.yml vendored Normal file
View File

@ -0,0 +1,77 @@
name: Deploy metadata for all targets
on:
push:
branches:
- 'master'
- 'release/*'
- 'pr-metadata-test'
jobs:
enumerate_targets:
runs-on: ubuntu-latest
outputs:
matrix: ${{ steps.set-matrix.outputs.matrix }}
steps:
- uses: actions/checkout@v1
with:
token: ${{secrets.ACCESS_TOKEN}}
- id: set-matrix
run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
build:
runs-on: ubuntu-latest
needs: enumerate_targets
strategy:
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
steps:
- uses: actions/checkout@v1
with:
token: ${{secrets.ACCESS_TOKEN}}
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${current_date}")
- name: ccache cache files
uses: actions/cache@v2
with:
path: ~/.ccache
key: ${{matrix.target}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: ${{matrix.target}}-ccache-
- name: setup ccache
run: |
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 5" >> ~/.ccache/ccache.conf
echo "max_size = 100M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: make ${{matrix.target}}
run: make ${{matrix.target}}
- name: ccache post-run
run: ccache -s
- name: parameter metadata
run: |
make ${{matrix.target}} ver_gen
./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
cd build/${{ matrix.target }}
mkdir _metadata || true
cp parameters.* _metadata
- uses: jakejarvis/s3-sync-action@master
with:
args: --acl public-read
env:
AWS_S3_BUCKET: 'px4-travis'
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
AWS_REGION: 'us-west-1'
SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'

20
.github/workflows/metadata.yml vendored
View File

@ -4,9 +4,8 @@ on:
push:
branches:
- 'master'
pull_request:
branches:
- '*'
- 'release/*'
- 'pr-metadata-test'
jobs:
@ -51,9 +50,18 @@ jobs:
- name: parameter metadata
run: |
make parameters_metadata
cd build/px4_sitl_default/docs
ls -ls *
# TODO: deploy 'parameters.md, parameters.xml to S3 px4-travis:Firmware/master/
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
- uses: jakejarvis/s3-sync-action@master
with:
args: --acl public-read
env:
AWS_S3_BUCKET: 'px4-travis'
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
AWS_REGION: 'us-west-1'
SOURCE_DIR: 'build/px4_sitl_default/docs/'
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
uorb_graph:
runs-on: ubuntu-latest

3
.gitmodules vendored
View File

@ -51,9 +51,6 @@
[submodule "Tools/jsbsim_bridge"]
path = Tools/jsbsim_bridge
url = https://github.com/PX4/px4-jsbsim-bridge.git
[submodule "src/examples/gyro_fft/CMSIS_5"]
path = src/examples/gyro_fft/CMSIS_5
url = https://github.com/ARM-software/CMSIS_5.git
[submodule "src/drivers/uavcan_v1/libcanard"]
path = src/drivers/uavcan_v1/libcanard
url = https://github.com/UAVCAN/libcanard.git

15
.vscode/cmake-variants.yaml vendored
View File

@ -111,16 +111,21 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: emlid_navio2_default
holybro_can-gps-v1_canbootloader:
short: holybro_can-gps-v1_canbootloader
buildType: MinSizeRel
settings:
CONFIG: holybro_can-gps-v1_canbootloader
holybro_can-gps-v1_default:
short: holybro_can-gps-v1_default
buildType: MinSizeRel
settings:
CONFIG: holybro_can-gps-v1_default
holybro_durandal-v1_default:
short: holybro_durandal-v1
buildType: MinSizeRel
settings:
CONFIG: holybro_durandal-v1_default
intel_aerofc-v1_default:
short: intel_aerofc-v1
buildType: MinSizeRel
settings:
CONFIG: intel_aerofc-v1_default
modalai_fc-v1_default:
short: modalai_fc-v1
buildType: MinSizeRel

1
.vscode/settings.json vendored
View File

@ -27,7 +27,6 @@
"cSpell.showStatus": false,
"cSpell.words": [
"acro",
"rattitude",
"nuttx",
"esc"
],

9
CMakeLists.txt
View File

@ -113,7 +113,7 @@ include(px4_parse_function_args)
include(px4_git)
execute_process(
COMMAND git describe --always --tags
COMMAND git describe --exclude ext/* --always --tags
OUTPUT_VARIABLE PX4_GIT_TAG
OUTPUT_STRIP_TRAILING_WHITESPACE
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@ -454,3 +454,10 @@ add_custom_target(size
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
# install python requirements using configured python
add_custom_target(install_python_requirements
COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
USES_TERMINAL
)

6
Jenkinsfile vendored
View File

@ -110,8 +110,8 @@ pipeline {
sh 'make distclean'
sh 'make parameters_metadata'
dir('build/px4_sitl_default/docs') {
archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
}
}
post {
@ -342,7 +342,7 @@ pipeline {
withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
}
}
when {

6
Makefile
View File

@ -174,6 +174,8 @@ define cmake-build
@$(call cmake-cache-check)
@# make sure to start from scratch when switching from GNU Make to Ninja
@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
@# make sure to start from scratch if ninja build file is missing
@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
mkdir -p $(BUILD_DIR) \
@ -268,7 +270,6 @@ px4fmu_firmware: \
misc_qgc_extra_firmware: \
check_nxp_fmuk66-v3_default \
check_nxp_fmurt1062-v1_default \
check_intel_aerofc-v1_default \
check_mro_x21_default \
check_bitcraze_crazyflie_default \
check_bitcraze_crazyflie21_default \
@ -302,7 +303,6 @@ check_%:
@echo
uorb_graphs:
@./Tools/uorb_graph/create_from_startupscript.sh
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
@ -318,7 +318,7 @@ coverity_scan: px4_sitl_default
.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
parameters_metadata:
@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
airframe_metadata:
@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes

63
README.md
View File

@ -8,26 +8,30 @@
This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
* [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
* [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
* [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
* many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
* [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
* [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
* [VTOL](https://docs.px4.io/master/en/frames_vtol/)
* [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
* [Rover](https://docs.px4.io/master/en/frames_rover/)
* many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
## PX4 Users
## Building a PX4 based drone, rover, boat or robot
The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
## PX4 Developers
## Changing code and contributing
This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
Developers should read the [Guide for Contributions](https://dev.px4.io/master/en/contribute/).
Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
@ -69,10 +73,8 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
* [Daniel Agar](https://github.com/dagar)
* [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
* [Paul Riseborough](https://github.com/priseborough)
* Vision based navigation
* [Julian Kent](https://github.com/jkflying)
* Obstacle Avoidance
* [Martina Rivizzigno](https://github.com/mrivi)
* Vision based navigation and Obstacle Avoidance
* [Markus Achtelik](https://github.com/markusachtelik)
* RTPS/ROS2 Interface
* [Nuno Marques](https://github.com/TSC21)
@ -80,27 +82,36 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
## Supported Hardware
This repository contains code supporting these boards:
* FMUv2
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
* FMUv3
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
### Pixhawk Standard Boards
* FMUv6X and FMUv6U (STM32H7, 2021)
* Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
* FMUv5 and FMUv5X (STM32F7, 2019/20)
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
* [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
* [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
* FMUv4 (STM32F4, 2015)
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
* FMUv3 (STM32F4, 2014)
* [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
* [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
* [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
* FMUv4
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
* FMUv5 (ARM Cortex M7)
* [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
* [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
* [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
* [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
* FMUv2 (STM32F4, 2013)
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
### Manufacturer and Community supported
* [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
* [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
* [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
* [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
* [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
* [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
* [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
* [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)

53
ROMFS/CMakeLists.txt
View File

@ -31,11 +31,12 @@
#
############################################################################
message(STATUS "ROMFS: ${config_romfs_root}")
set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
message(STATUS "ROMFS: ${romfs_path_relative}")
set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
@ -81,6 +82,9 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
if (px4_constrained_flash_build)
set(added_arguments --constrained-flash)
endif()
if(PX4_ETHERNET)
set(added_arguments ${added_arguments} --ethernet)
endif()
# create list of relative romfs file names
set(romfs_copy_files_relative)
foreach(romfs_file IN LISTS romfs_copy_files)
@ -146,15 +150,53 @@ if(config_io_board)
copy_px4io_bin
${fw_io_bin}
)
file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
message(STATUS "ROMFS: Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
endif()
if(config_build_bootloader)
# board bootloader (built or included)
if(TARGET copy_bootloader_bin)
if(board_bootloader_firmware)
file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
else()
file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
endif()
list(APPEND extras_dependencies
copy_bootloader_bin
${bootloader_bin}
)
endif()
# optional board architecture defaults
set(board_arch_rc_file "rc.board_arch_defaults")
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")
add_custom_command(
OUTPUT
${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
${board_arch_rc_file}.stamp
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp
DEPENDS
${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}
romfs_copy.stamp
COMMENT "ROMFS: copying ${board_arch_rc_file}"
)
list(APPEND extras_dependencies
${board_arch_rc_file}.stamp
)
endif()
set(OPTIONAL_BOARD_RC)
list(APPEND OPTIONAL_BOARD_RC
rc.board_defaults
@ -166,7 +208,8 @@ list(APPEND OPTIONAL_BOARD_RC
foreach(board_rc_file ${OPTIONAL_BOARD_RC})
if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
message(STATUS "ROMFS: Adding ${board_rc_file}")
file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")
add_custom_command(
OUTPUT
@ -194,7 +237,7 @@ if(config_uavcan_peripheral_firmware)
foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
# include the px4io binary in ROMFS
message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}")
message(STATUS "ROMFS: Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
ExternalProject_Add(build_${uavcan_peripheral_config}
SOURCE_DIR ${CMAKE_SOURCE_DIR}
DOWNLOAD_COMMAND ""

30
ROMFS/cannode/init.d/rcS
View File

@ -30,14 +30,16 @@ sercon
#
ver all
#
# Set the parameter file if mtd starts successfully.
#
if mtd start
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
then
set PARAM_FILE /fs/mtd_params
fi
if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
then
set PARAM_FILE /dev/eeeprom0
fi
#
# Load parameters.
#
@ -47,6 +49,17 @@ then
param reset_all
fi
#
# Optional board architecture defaults: rc.board_arch_defaults
#
set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
if [ -f $BOARD_ARCH_RC_DEFAULTS ]
then
echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
. $BOARD_ARCH_RC_DEFAULTS
fi
unset BOARD_ARCH_RC_DEFAULTS
#
# Optional board defaults: rc.board_defaults
#
@ -63,15 +76,6 @@ unset BOARD_RC_DEFAULTS
#
rgbled start -X -q
rgbled_ncp5623c start -X -q
rgbled_pwm start
if param greater -s LIGHT_EN_BLINKM 0
then
if blinkm start -X
then
blinkm systemstate
fi
fi
#
# board sensors: rc.sensors

5
ROMFS/px4fmu_common/extras/README.txt
View File

@ -1,5 +0,0 @@
px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader
(https://github.com/PX4/Bootloader)
based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f
for the target px4fmuv3_bl

14
ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar Normal file
View File

@ -0,0 +1,14 @@
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (foggy_lidar)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d-posix/airframes/10016_iris
if [ $AUTOCNF = yes ]
then
param set EKF2_RNG_AID 1
param set EKF2_RNG_A_HMAX 10
fi

2
ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post
View File

@ -1,2 +1,2 @@
# shellcheck disable=SC2154
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK

61
ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop Normal file
View File

@ -0,0 +1,61 @@
#!/bin/sh
#
# @name Standard VTOL
#
# @type Standard VTOL
#
. ${R}etc/init.d/rc.vtol_defaults
if [ $AUTOCNF = yes ]
then
param set FW_L1_PERIOD 12
param set FW_MAN_P_MAX 30
param set FW_PR_FF 0.2
param set FW_PR_I 0.4
param set FW_PR_P 0.9
param set FW_PSP_OFF 2
param set FW_P_LIM_MAX 32
param set FW_P_LIM_MIN -15
param set FW_RR_FF 0.1
param set FW_RR_P 0.3
param set FW_THR_CRUISE 0.25
param set FW_THR_MAX 0.6
param set FW_THR_MIN 0.05
param set FW_T_ALT_TC 2
param set FW_T_CLMB_MAX 8
param set FW_T_HRATE_FF 0.5
param set FW_T_SINK_MAX 2.7
param set FW_T_SINK_MIN 2.2
param set FW_T_TAS_TC 2
param set MC_ROLLRATE_P 0.3
param set MC_YAW_P 1.6
param set MIS_TAKEOFF_ALT 10
param set MPC_ACC_HOR_MAX 2
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P_ACC 3
param set MPC_XY_VEL_I_ACC 4
param set MPC_XY_VEL_D_ACC 0.1
param set NAV_ACC_RAD 5
param set NAV_LOITER_RAD 80
param set VT_FWD_THRUST_EN 4
param set VT_F_TRANS_THR 0.75
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
param set VT_B_TRANS_DUR 8
param set VT_TYPE 2
param set RC_MAP_AUX1 8
param set RC_MAP_AUX2 9
param set RC_MAP_AUX3 10
fi
set MAV_TYPE 22
set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
set MIXER custom

1
ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post Normal file
View File

@ -0,0 +1 @@
mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix

1
ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
View File

@ -38,7 +38,6 @@ then
param set NAV_LOITER_RAD 100
param set RWTO_TKOFF 1
param set MAV_BROADCAST 1
param set FW_ARSP_SCALE_EN 0

4
ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
View File

@ -9,11 +9,11 @@
if [ $AUTOCNF = yes ]
then
param set MC_PITCHRATE_P 0.1000
param set MC_PITCHRATE_P 0.0800
param set MC_PITCHRATE_I 0.0400
param set MC_PITCHRATE_D 0.0010
param set MC_PITCH_P 9.0
param set MC_ROLLRATE_P 0.1000
param set MC_ROLLRATE_P 0.0800
param set MC_ROLLRATE_I 0.0400
param set MC_ROLLRATE_D 0.0010
param set MC_ROLL_P 9.0

2
ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post
View File

@ -1,7 +1,7 @@
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
# shellcheck disable=SC2154
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local

2
ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc.post
View File

@ -1,7 +1,7 @@
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
# shellcheck disable=SC2154
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local

3
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
View File

@ -34,6 +34,7 @@
px4_add_romfs_files(
10016_iris
10017_iris_ctrlalloc
10018_iris_foggy_lidar
10020_if750a
10030_px4vision
1010_iris_opt_flow
@ -64,6 +65,8 @@ px4_add_romfs_files(
1040_standard_vtol
1041_tailsitter
1042_tiltrotor
1043_standard_vtol_drop
1043_standard_vtol_drop.post
1060_rover
1061_r1_rover
1062_tf-r1

102
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@ -21,6 +21,7 @@ fi
# initialize script variables
set AUX_MODE none
set AUX_BANK2 none
set IO_PRESENT no
set MAV_TYPE none
set MIXER none
@ -97,7 +98,7 @@ then
set AUTOCNF yes
# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
fi
# multi-instance setup
@ -117,49 +118,51 @@ if [ $AUTOCNF = yes ]
then
param set SYS_AUTOSTART $REQUESTED_AUTOSTART
param set BAT_N_CELLS 4
param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
param set CAL_MAG0_ID 197388
param set CAL_MAG1_ID 197644
param set CBRK_AIRSPD_CHK 0
param set CBRK_SUPPLY_CHK 894281
# Don't require RC calibration and configuration
param set COM_RC_IN_MODE 1
# Speedup SITL startup
param set EKF2_REQ_GPS_H 0.5
# Multi-EKF
param set EKF2_MULTI_IMU 3
param set SENS_IMU_MODE 0
param set EKF2_MULTI_MAG 2
param set SENS_MAG_MODE 0
# By default log from boot until first disarm.
param set SDLOG_MODE 1
# enable default, estimator replay and vision/avoidance logging profiles
param set SDLOG_PROFILE 131
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
param set SYS_RESTART_TYPE 2
param set TRIG_INTERFACE 3
param set SYS_RESTART_TYPE 2
fi
param set COM_CPU_MAX -1 # disable check, no CPU load reported on posix yet
param set-default BAT_N_CELLS 4
# Simulator IMU data provided at 250 Hz
param set IMU_INTEG_RATE 250
param set-default CBRK_AIRSPD_CHK 0
param set-default CBRK_SUPPLY_CHK 894281
# disable check, no CPU load reported on posix yet
param set-default COM_CPU_MAX -1
# Don't require RC calibration and configuration
param set-default COM_RC_IN_MODE 1
# Speedup SITL startup
param set-default EKF2_REQ_GPS_H 0.5
# Multi-EKF
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0
param set-default EKF2_MULTI_MAG 2
param set-default SENS_MAG_MODE 0
param set-default IMU_GYRO_FFT_EN 1
# By default log from boot until first disarm.
param set-default SDLOG_MODE 1
# enable default, estimator replay and vision/avoidance logging profiles
param set-default SDLOG_PROFILE 131
param set-default SDLOG_DIRS_MAX 7
param set-default TRIG_INTERFACE 3
# Adapt timeout parameters if simulation runs faster or slower than realtime.
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@ -174,6 +177,10 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
fi
# Autostart ID
@ -206,11 +213,28 @@ then
param set SYS_AUTOCONFIG 0
fi
# Simulator IMU data provided at 250 Hz
param set IMU_INTEG_RATE 250
dataman start
# only start the simulator if not in replay mode, as both control the lockstep time
if ! replay tryapplyparams
then
simulator start -c $simulator_tcp_port
# Check if PX4_SIM_HOSTNAME environment variable is empty
# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
# If both are empty use localhost for simulator
if [ -z "${PX4_SIM_HOSTNAME}" ]; then
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
echo "PX4 SIM HOST: localhost"
simulator start -c $simulator_tcp_port
else
echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
fi
else
echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
fi
fi
load_mon start
battery_simulator start
@ -232,6 +256,16 @@ then
camera_feedback start
fi
if param compare -s IMU_GYRO_FFT_EN 1
then
gyro_fft start
fi
if param compare -s IMU_GYRO_CAL_EN 1
then
gyro_calibration start
fi
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for rc.interface,
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
@ -241,7 +275,7 @@ fi
if [ -e etc/init.d-posix/rc.mavlink_override ]
then
echo "Running non-default mavlink config rc.mavlink_override"
sh etc/init.d-posix/rc.mavlink_override
. ${R}etc/init.d-posix/rc.mavlink_override
else
# GCS link
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f

9
ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
View File

@ -47,4 +47,13 @@ param set-default RWTO_TKOFF 1
param set SYS_HITL 1
# disable some checks to allow to fly
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027
set MIXER AERT

1
ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
View File

@ -20,7 +20,6 @@
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
View File

@ -18,7 +18,6 @@
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
View File

@ -20,7 +20,6 @@
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
View File

@ -20,7 +20,6 @@
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

9
ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
View File

@ -14,3 +14,12 @@ set MIXER quad_x
set PWM_OUT 1234
param set SYS_HITL 1
# disable some checks to allow to fly
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027

10
ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
View File

@ -8,7 +8,6 @@
# @maintainer Roman Bapst <roman@auterion.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
@ -67,6 +66,15 @@ param set-default VT_TYPE 2
param set SYS_HITL 1
# disable some checks to allow to fly
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027
set MAV_TYPE 22
set MIXER standard_vtol_hitl

1
ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
View File

@ -18,7 +18,6 @@
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

9
ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
View File

@ -17,3 +17,12 @@ set PWM_OUT 1234
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set SYS_HITL 2
# disable some checks to allow to fly:
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027

1
ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
View File

@ -16,7 +16,6 @@
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
View File

@ -17,7 +17,6 @@
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
View File

@ -18,7 +18,6 @@
# @output AUX5 Throttle
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
View File

@ -13,7 +13,6 @@
# @maintainer Roman Bapst <roman@px4.io>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
View File

@ -18,7 +18,6 @@
# @output AUX4 Gear
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
View File

@ -8,7 +8,6 @@
# @maintainer Roman Bapst <roman@px4.io>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
View File

@ -17,7 +17,6 @@
# @maintainer Roman Bapst <roman@px4.io>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
View File

@ -18,7 +18,6 @@
# @output AUX5 Throttle
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
View File

@ -16,7 +16,6 @@
# @output AUX3 Motor
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
View File

@ -8,7 +8,6 @@
# @maintainer Sander Smeets <sander@droneslab.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
View File

@ -8,7 +8,6 @@
# @maintainer Sander Smeets <sander@droneslab.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
View File

@ -8,7 +8,6 @@
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/13010_claire
View File

@ -8,7 +8,6 @@
# @maintainer Samay Siga <samay_s@icloud.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/13012_convergence
View File

@ -17,7 +17,6 @@
# @output MAIN8 Elevon left
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
View File

@ -17,7 +17,6 @@
# @output MAIN8 Pusher reverse channel
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

48
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
View File

@ -17,7 +17,6 @@
# @output MAIN8 motor 4
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
@ -27,48 +26,48 @@
param set-default BAT_N_CELLS 6
param set-default FW_AIRSPD_MAX 30
param set-default FW_AIRSPD_MIN 19
param set-default FW_AIRSPD_TRIM 23
param set-default FW_AIRSPD_MAX 30
param set-default FW_AIRSPD_MIN 19
param set-default FW_AIRSPD_TRIM 23
param set-default FW_L1_R_SLEW_MAX 40
param set-default FW_LND_EARLYCFG 1
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_I 0.1
param set-default FW_PSP_OFF 3
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_I 0.1
param set-default FW_PSP_OFF 3
param set-default FW_P_LIM_MAX 18
param set-default FW_P_LIM_MIN -25
param set-default FW_RLL_TO_YAW_FF 0.1
param set-default FW_RR_I 0.1
param set-default FW_RR_P 0.08
param set-default FW_RLL_TO_YAW_FF 0.1
param set-default FW_RR_I 0.1
param set-default FW_RR_P 0.08
param set-default FW_R_LIM 45
param set-default FW_R_RMAX 50
param set-default FW_R_RMAX 50
param set-default FW_THR_CRUISE 0.65
param set-default FW_THR_MIN 0.3
param set-default FW_THR_SLEW_MAX 0.6
param set-default FW_T_HRATE_FF 0
param set-default FW_T_SINK_MAX 15
param set-default FW_T_SINK_MIN 3
param set-default FW_YR_I 0.1
param set-default FW_YR_P 0.15
param set-default FW_T_SINK_MAX 15
param set-default FW_T_SINK_MIN 3
param set-default FW_YR_I 0.1
param set-default FW_YR_P 0.15
param set-default IMU_GYRO_CUTOFF 40
param set-default IMU_DGYRO_CUTOFF 15
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_I 0.2
param set-default MC_PITCHRATE_MAX 60
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_I 0.2
param set-default MC_ROLLRATE_MAX 60
param set-default MC_YAWRATE_I 0.15
param set-default MC_YAWRATE_MAX 40
param set-default MC_YAWRATE_P 0.3
param set-default MIS_TAKEOFF_ALT 30
param set-default MIS_TAKEOFF_ALT 30
param set-default MPC_ACC_DOWN_MAX 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_ACC_UP_MAX 3
param set-default MPC_ACC_DOWN_MAX 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_ACC_UP_MAX 3
param set-default MC_AIRMODE 1
param set-default MPC_JERK_AUTO 4
param set-default MPC_JERK_AUTO 4
param set-default MPC_LAND_SPEED 1
param set-default MPC_MAN_TILT_MAX 25
param set-default MPC_MAN_Y_MAX 40
@ -77,7 +76,7 @@ param set-default MPC_SPOOLUP_TIME 1.5
param set-default MPC_THR_HOVER 0.45
param set-default MPC_TILTMAX_AIR 25
param set-default MPC_TKO_RAMP_T 1.8
param set-default MPC_TKO_SPEED 1
param set-default MPC_TKO_SPEED 1
param set-default MPC_VEL_MANUAL 3
param set-default MPC_XY_CRUISE 3
param set-default MPC_XY_VEL_MAX 3.5
@ -85,7 +84,7 @@ param set-default MPC_YAWRAUTO_MAX 40
param set-default MPC_Z_VEL_MAX_DN 1.5
param set-default MPC_Z_VEL_MAX_UP 2
param set-default NAV_ACC_RAD 3
param set-default NAV_ACC_RAD 3
param set-default PWM_MAIN_DIS3 1000
param set-default PWM_MAIN_MIN3 1120
@ -113,3 +112,4 @@ set MIXER babyshark
set MIXER_AUX pass
set PWM_OUT 5678
set PWM_AUX_OUT 1234

58
ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard
View File

@ -1,58 +0,0 @@
#!/bin/sh
#
# @name Generic Quadplane VTOL (PWM14)
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 Aileron 1
# @output MAIN6 Aileron 2
# @output MAIN7 Elevator
# @output MAIN8 Rudder
# @output MAIN9 Pusher motor
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default PWM_MAIN_RATE 400
param set-default PWM_MAIN_MIN1 1100
param set-default PWM_MAIN_MIN2 1100
param set-default PWM_MAIN_MIN3 1100
param set-default PWM_MAIN_MIN4 1100
param set-default PWM_MAIN_MAX1 1900
param set-default PWM_MAIN_MAX2 1900
param set-default PWM_MAIN_MAX3 1900
param set-default PWM_MAIN_MAX4 1900
param set-default PWM_MAIN_DIS1 900
param set-default PWM_MAIN_DIS2 900
param set-default PWM_MAIN_DIS3 900
param set-default PWM_MAIN_DIS4 900
param set-default PWM_MAIN_DIS5 1500
param set-default PWM_MAIN_DIS6 1500
param set-default PWM_MAIN_DIS7 1500
param set-default PWM_MAIN_DIS8 1500
param set-default PWM_MAIN_DIS9 900
param set-default VT_TYPE 2
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234
set MAV_TYPE 22
set MIXER quad_x_vtol_AAERT
set MIXER_AUX none
set PWM_OUT 1234

41
ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor Normal file
View File

@ -0,0 +1,41 @@
#!/bin/sh
#
# @name Generic Quadplane VTOL Tiltrotor
#
# @type VTOL Tiltrotor
# @class VTOL
#
# @maintainer
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output AUX1 Motor tilt front left
# @output AUX2 Motor tilt front right
# @output AUX3 Motor tilt rear left
# @output AUX4 Motor tilt rear right
# @output AUX5 Aileron left
# @output AUX6 Aileron right
# @output AUX7 Elevator
# @output AUX8 Rudder
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default PWM_MAIN_RATE 400
param set-default VT_IDLE_PWM_MC 1100
param set-default VT_TYPE 1
param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 24
set MAV_TYPE 21
set MIXER quad_x
set MIXER_AUX vtol_TTTTAAER
set PWM_OUT 1234

1
ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
View File

@ -20,7 +20,6 @@
# @output AUX5 Throttle
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
View File

@ -13,7 +13,6 @@
# @maintainer Roman Bapst <roman@px4.io>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
View File

@ -12,7 +12,6 @@
#
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
View File

@ -12,7 +12,6 @@
#
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
View File

@ -13,7 +13,6 @@
# @maintainer Emmanuel Roussel
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
View File

@ -14,7 +14,6 @@
# @output MAIN5 tail-rotor servo
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
View File

@ -20,7 +20,6 @@
# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
View File

@ -15,7 +15,6 @@
# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
View File

@ -10,7 +10,6 @@
# @maintainer ThunderFly s.r.o.
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
View File

@ -18,7 +18,6 @@
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/2105_maja
View File

@ -20,7 +20,6 @@
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/2106_albatross
View File

@ -20,7 +20,6 @@
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
View File

@ -21,7 +21,6 @@
# @maintainer Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
View File

@ -22,7 +22,6 @@
# @maintainer Ian McNanie <ianmcnanie@gmail.com>
# @maintainer William Peale <develop707@gmail.com>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
View File

@ -10,7 +10,6 @@
# @output MAIN4 tail thruster
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
View File

@ -15,7 +15,6 @@
#
# @maintainer
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
View File

@ -16,7 +16,6 @@
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/3031_phantom
View File

@ -18,7 +18,6 @@
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
View File

@ -16,7 +16,6 @@
# @maintainer Julian Oes <julian@px4.io>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
View File

@ -18,7 +18,6 @@
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

3
ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
View File

@ -21,11 +21,8 @@
set MIXER quad_x
set PWM_OUT 1234
param set-default IMU_GYRO_CUTOFF 40
param set-default IMU_DGYRO_CUTOFF 20
param set-default IMU_GYRO_RATEMAX 400
param set-default MC_ROLLRATE_P 0.18
param set-default MC_ROLLRATE_I 0.15

1
ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
View File

@ -13,7 +13,6 @@
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
View File

@ -13,7 +13,6 @@
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
View File

@ -8,7 +8,6 @@
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/4040_reaper
View File

@ -15,7 +15,6 @@
# @maintainer Blankered
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
View File

@ -18,7 +18,6 @@
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
View File

@ -7,7 +7,6 @@
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
View File

@ -17,7 +17,6 @@
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
View File

@ -10,7 +10,6 @@
# @maintainer Beat Kueng <beat-kueng@gmx.net>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

3
ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
View File

@ -8,7 +8,6 @@
# @maintainer Beat Kueng <beat@px4.io>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
@ -17,8 +16,6 @@
set MIXER quad_x
set PWM_OUT 1234
set PARAM_DEFAULTS_VER 2
param set-default BAT_N_CELLS 4

1
ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
View File

@ -8,7 +8,6 @@
# @maintainer James Goppert <james.goppert@gmail.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

81
ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
View File

@ -1,81 +0,0 @@
#!/bin/sh
#
# @name Intel Aero Ready to Fly Drone
#
# @type Quadrotor x
# @class Copter
#
# @maintainer Beat Kueng <beat@px4.io>
#
# @board px4_fmu-v2 exclude
# @board px4_fmu-v3 exclude
# @board px4_fmu-v4 exclude
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board bitcraze_crazyflie exclude
#
. ${R}etc/init.d/rc.mc_defaults
#
# Load default params for this platform
#
# Set all params here, then disable autoconfig
param set-default EKF2_GPS_POS_X -0.06
param set-default EKF2_GPS_POS_Z -0.1
param set-default EKF2_MIN_OBS_DT 50
param set-default EKF2_BARO_GATE 10
param set-default EKF2_BARO_NOISE 5
param set-default EKF2_ACC_NOISE 0.7
param set-default LNDMC_Z_VEL_MAX 2
param set-default MC_ROLL_P 8
param set-default MC_ROLLRATE_P 0.13
param set-default MC_ROLLRATE_I 0.07
param set-default MC_ROLLRATE_D 0.0012
param set-default MC_ROLLRATE_MAX 360
param set-default MC_PITCH_P 8
param set-default MC_PITCHRATE_P 0.13
param set-default MC_PITCHRATE_I 0.07
param set-default MC_PITCHRATE_D 0.0012
param set-default MC_PITCHRATE_MAX 360
param set-default MC_YAW_P 4
param set-default MC_YAWRATE_P 0.12
param set-default MC_YAWRATE_I 0.05
param set-default MC_YAWRATE_D 0
param set-default MPC_LAND_SPEED 0.7
param set-default MPC_MANTHR_MIN 0.04
param set-default MPC_THR_HOVER 0.5
param set-default MPC_THR_MAX 0.94
param set-default MPC_THR_MIN 0.1
param set-default MPC_XY_CRUISE 8
param set-default MPC_XY_P 1.5
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_Z_P 1.5
param set-default MPC_Z_VEL_P_ACC 16
param set-default MPC_Z_VEL_I_ACC 3
param set-default MPC_Z_VEL_MAX_DN 4
param set-default MPC_Z_VEL_MAX_UP 5
# TELEM2 config
param set-default MAV_1_CONFIG 102
param set-default MAV_1_RATE 80000
param set-default MAV_1_FORWARD 1
param set-default SER_TEL2_BAUD 921600
if ! param greater SYS_HITL 0
then
tap_esc start -d /dev/ttyS0 -n 4
usleep 300000
set OUTPUT_MODE tap_esc
fi
set MIXER quad_x
set USE_IO no

8
ROMFS/px4fmu_common/init.d/airframes/4071_ifo
View File

@ -17,8 +17,8 @@
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
# @board cuav_x7pro exclude
#
set VEHICLE_TYPE mc
@ -112,10 +112,12 @@ param set-default NAV_RCL_ACT 6
# TELEM1 ttyS1 - Wifi module
param set-default MAV_0_CONFIG 101
param set-default MAV_0_RATE 0
param set-default MAV_0_MODE 2 # onboard
# onboard
param set-default MAV_0_MODE 2
param set-default SER_TEL1_BAUD 921600
# TELEM2 ttyS2 - Sub 1-Ghz
param set-default MAV_1_CONFIG 102
param set-default MAV_1_MODE 0 # normal
# normal
param set-default MAV_1_MODE 0
param set-default SER_TEL2_BAUD 57600

1
ROMFS/px4fmu_common/init.d/airframes/4072_draco
View File

@ -17,7 +17,6 @@
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

9
ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
View File

@ -15,7 +15,8 @@
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
# @board cuav_x7pro exclude
#
# @maintainer Hyon Lim <lim@uvify.com>
#
@ -120,12 +121,14 @@ param set-default NAV_RCL_ACT 6
# TELEM1 ttyS1 - Wifi module
param set-default MAV_0_CONFIG 101
param set-default MAV_0_RATE 0
param set-default MAV_0_MODE 2 # onboard
# onboard
param set-default MAV_0_MODE 2
param set-default SER_TEL1_BAUD 921600
# TELEM2 ttyS2 - Sub 1-Ghz
param set-default MAV_1_CONFIG 102
param set-default MAV_1_MODE 0 # normal
# normal
param set-default MAV_1_MODE 0
param set-default SER_TEL2_BAUD 57600
# DSHOT

1
ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
View File

@ -8,7 +8,6 @@
# @maintainer Anton Matosov <anton.matosov@gmail.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
View File

@ -12,7 +12,6 @@
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
View File

@ -19,7 +19,6 @@
# @maintainer Ricardo Marques <marques.ricardo17@gmail.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/4250_teal
View File

@ -17,7 +17,6 @@
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/4500_clover4
View File

@ -8,7 +8,6 @@
# @maintainer Oleg Kalachev <okalachev@gmail.com>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
View File

@ -13,7 +13,6 @@
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
#
. ${R}etc/init.d/rc.mc_defaults

7
ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
View File

@ -13,15 +13,16 @@
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
#
. ${R}etc/init.d/rc.mc_defaults
set MIXER quad_x_cw
set PWM_OUT 1234
param set-default SYS_MC_EST_GROUP 3
param set-default SYS_MC_EST_GROUP 2
param set-default SYS_HAS_MAG 0
param set-default EKF2_AID_MASK 2
param set-default EKF2_MAG_TYPE 5
param set-default BAT_N_CELLS 1
param set-default BAT1_N_CELLS 1
@ -59,7 +60,7 @@ param set-default MPC_MAX_FLOW_HGT 3
param set-default NAV_RCL_ACT 3
param set-default PWM_MAIN_DISARM 0
param set-default PWM_MAIN_MIN 0
param set-default PWM_MAIN_MIN 20
param set-default PWM_MAIN_MAX 255
# Run the motors at 328.125 kHz (recommended)

1
ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
View File

@ -10,7 +10,6 @@
#
# @maintainer
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

3
ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
View File

@ -7,15 +7,12 @@
# @type Rover
# @class Rover
#
# @board px4_fmu-v2 exclude
#
# @output MAIN0 Speed of left wheels
# @output MAIN1 Speed of right wheels
#
# @maintainer Timothy Scott
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
View File

@ -15,7 +15,6 @@
# @maintainer Katrin Moritz
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/5001_quad_+
View File

@ -19,7 +19,6 @@
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

1
ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
View File

@ -8,7 +8,6 @@
# @maintainer
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

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