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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
parent 32a93d6355 c6a0161047
commit 911f852834
921 changed files with 109503 additions and 21970 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/CMakeLists.txt
+48 -5
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 ""
ROMFS/cannode/init.d/rcS
+17 -13
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
ROMFS/px4fmu_common/extras/README.txt
-5
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
ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin
BIN
View File
Binary file not shown.
ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar
+14
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
ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post
+1 -1
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
ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
+61
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
ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post
+1
View File
@@ -0,0 +1 @@
mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix
ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
-1
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
ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480
+2 -2
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
ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post
+1 -1
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
ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc.post
+1 -1
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
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+3
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
ROMFS/px4fmu_common/init.d-posix/rcS
+68 -34
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
ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil
+9
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
ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
+9
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
ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+9 -1
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
ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox
-1
View File
@@ -18,7 +18,6 @@
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
+9
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
ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox
-1
View File
@@ -16,7 +16,6 @@
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
-1
View File
@@ -18,7 +18,6 @@
# @output AUX5 Throttle
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
-1
View File
@@ -18,7 +18,6 @@
# @output AUX4 Gear
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
-1
View File
@@ -18,7 +18,6 @@
# @output AUX5 Throttle
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
-1
View File
@@ -16,7 +16,6 @@
# @output AUX3 Motor
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/13010_claire
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/13012_convergence
-1
View File
@@ -17,7 +17,6 @@
# @output MAIN8 Elevon left
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+24 -24
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
ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard
-58
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
ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
+41
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
ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
-1
View File
@@ -20,7 +20,6 @@
# @output AUX5 Throttle
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+
-1
View File
@@ -12,7 +12,6 @@
#
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw-
-1
View File
@@ -12,7 +12,6 @@
#
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
-1
View File
@@ -13,7 +13,6 @@
# @maintainer Emmanuel Roussel
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
-1
View File
@@ -18,7 +18,6 @@
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/2105_maja
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/2106_albatross
-1
View File
@@ -20,7 +20,6 @@
#
# @maintainer Andreas Antener <andreas@uaventure.com>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
-1
View File
@@ -10,7 +10,6 @@
# @output MAIN4 tail thruster
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
-1
View File
@@ -15,7 +15,6 @@
#
# @maintainer
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/3031_phantom
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
-3
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
ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/4040_reaper
-1
View File
@@ -15,7 +15,6 @@
# @maintainer Blankered
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
-1
View File
@@ -7,7 +7,6 @@
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
-3
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
ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
-81
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
ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+5 -3
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
ROMFS/px4fmu_common/init.d/airframes/4072_draco
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+6 -3
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
ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/4250_teal
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/4500_clover4
-1
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
#
ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
-1
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
ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
+4 -3
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)
ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
-1
View File
@@ -10,7 +10,6 @@
#
# @maintainer
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
-3
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
#
ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
-1
View File
@@ -15,7 +15,6 @@
# @maintainer Katrin Moritz
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/5001_quad_+
-1
View File
@@ -19,7 +19,6 @@
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic
-1
View File
@@ -8,7 +8,6 @@
# @maintainer
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
-1
View File
@@ -8,7 +8,6 @@
# @maintainer Daniel Duecker <daniel.duecker@tuhh.de>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
-1
View File
@@ -17,7 +17,6 @@
# @maintainer Thies Lennart Alff <thies.lennart.alff@tuhh.de>
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x
-1
View File
@@ -18,7 +18,6 @@
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
+1 -2
View File
@@ -22,7 +22,6 @@
# @board px4_fmu-v4pro exclude
# @board px4_fmu-v5 exclude
# @board px4_fmu-v5x exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
@@ -123,7 +122,7 @@ param set-default BAT_V_DIV 10.133
# TELEM1 ttyS1
param set-default MAV_0_CONFIG 101
param set-default MAV_0_MODE 0 # onboard
param set-default MAV_0_MODE 0
param set-default MAV_0_FORWARD 1
param set-default SER_TEL1_BAUD 57600
ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+
-1
View File
@@ -18,7 +18,6 @@
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/8001_octo_x
-1
View File
@@ -20,7 +20,6 @@
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/9001_octo_+
-1
View File
@@ -20,7 +20,6 @@
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+1 -2
View File
@@ -81,7 +81,6 @@ px4_add_romfs_files(
4052_holybro_qav250
4053_holybro_kopis2
4060_dji_matrice_100
4070_aerofc
4071_ifo
4072_draco
4073_ifo-s
@@ -138,7 +137,7 @@ px4_add_romfs_files(
13012_convergence
13013_deltaquad
13014_vtol_babyshark
13015_generic_vtol_standard
13030_generic_vtol_quad_tiltrotor
13050_generic_vtol_octo
13200_generic_vtol_tailsitter
ROMFS/px4fmu_common/init.d/rc.interface
+35 -7
View File
@@ -30,9 +30,9 @@ then
fi
# USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
if [ $USE_IO = no ]
if [ $USE_IO = no -a $AUX_BANK2 = none ]
then
set MIXER_AUX none
set AUX_MODE none
fi
#
@@ -144,14 +144,10 @@ then
set OUTPUT_DEV /dev/uavcan/esc
fi
if [ $OUTPUT_MODE = tap_esc ]
then
set OUTPUT_DEV /dev/tap_esc
fi
if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
then
echo "INFO [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
else
echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}"
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
@@ -183,6 +179,7 @@ then
if [ $MIXER_AUX_FILE != none ]
then
# Start the output module
if $OUTPUT_CMD mode_${AUX_MODE}
then
# Append aux mixer to main device.
@@ -204,6 +201,7 @@ then
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
fi
else
echo "INFO [init] setting PWM_AUX_OUT none"
set PWM_AUX_OUT none
fi
else
@@ -228,6 +226,36 @@ then
fi
fi
if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
then
#
# Load aux mixer.
#
if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
then
set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
else
if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
then
set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
fi
fi
if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
then
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
# Set PWM_AUX output frequency.
if [ $PWM_AUX_RATE != none ]
then
pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
fi
else
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
fi
fi
if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
then
if [ $PWM_OUT != none ]
ROMFS/px4fmu_common/init.d/rc.logging
-6
View File
@@ -4,12 +4,6 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
if param greater -s UAVCAN_ENABLE 1
then
# Reduce logger buffer to free up some RAM for UAVCAN servers.
set LOGGER_BUF 6
fi
###############################################################################
# End Setup for board specific configurations. #
###############################################################################
ROMFS/px4fmu_common/init.d/rc.mc_defaults
+2
View File
@@ -7,6 +7,8 @@
set VEHICLE_TYPE mc
param set-default IMU_GYRO_RATEMAX 800
param set-default NAV_ACC_RAD 2
param set-default RTL_RETURN_ALT 30
ROMFS/px4fmu_common/init.d/rc.sensors
+24 -19
View File
@@ -5,7 +5,7 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
if ! ver hwcmp AEROFC_V1 OMNIBUS_F4SD
if ! ver hwcmp OMNIBUS_F4SD
then
if ! ver hwcmp BITCRAZE_CRAZYFLIE
then
@@ -108,6 +108,12 @@ then
vl53l1x start -X
fi
# ADIS16448 spi external IMU
if param compare -s SENS_EN_ADIS164X 1
then
adis16448 -S start
fi
# probe for optional external I2C devices
if param compare SENS_EXT_I2C_PRB 1
then
@@ -124,26 +130,25 @@ then
# differential pressure sensors
if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
then
if param compare CBRK_AIRSPD_CHK 0
# Always try to start the airspeed sensors
# even if their usage might be disabled
sdp3x_airspeed start -X -q
sdp3x_airspeed start -X -a 0x22 -q
# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
# detected as MS5525 because the chip manufacturer was so
# clever to assign the same I2C address and skip a WHO_AM_I
# register.
if [ $BOARD_FMUV3 = 21 ]
then
sdp3x_airspeed start -X -q
sdp3x_airspeed start -X -a 0x22 -q
# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
# detected as MS5525 because the chip manufacturer was so
# clever to assign the same I2C address and skip a WHO_AM_I
# register.
if [ $BOARD_FMUV3 = 21 ]
then
ms5525_airspeed start -X -b 2 -q
else
ms5525_airspeed start -X -q
fi
ms4525_airspeed start -X -q
ets_airspeed start -X -q
ms5525_airspeed start -X -b 2 -q
else
ms5525_airspeed start -X -q
fi
ms4525_airspeed start -X -q
ets_airspeed start -X -q
fi
fi

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