mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 23:43:33 +08:00
Deprecate the tap_common directory, nuttx, driver, and makefile references to tap-v1. (#10629)
This commit is contained in:
Mark Sauder
@@ -1,35 +0,0 @@
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############################################################################
|
||||
#
|
||||
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
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||||
add_subdirectory(init.d)
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add_subdirectory(mixers)
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||||
@@ -1,22 +0,0 @@
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#!nsh
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||||
#
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||||
# @name Generic Quadrotor X config
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||||
#
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||||
# @type Quadrotor x
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||||
# @class Copter
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||||
#
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||||
# @output AUX1 feed-through of RC AUX1 channel
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# @output AUX2 feed-through of RC AUX2 channel
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# @output AUX3 feed-through of RC AUX3 channel
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||||
#
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||||
# @maintainer Lorenz Meier <lorenz@px4.io>
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||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
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||||
if tap_esc start -d /dev/ttyS4 -n 4
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||||
then
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||||
fi
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set OUTPUT_MODE tap_esc
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param set BAT_N_CELLS 4
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||||
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set MIXER quad_x
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||||
@@ -1,26 +0,0 @@
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#!nsh
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#
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# @name Generic Hexarotor x geometry
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#
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# @type Hexarotor x
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# @class Copter
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#
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# @output AUX1 feed-through of RC AUX1 channel
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# @output AUX2 feed-through of RC AUX2 channel
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# @output AUX3 feed-through of RC AUX3 channel
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#
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# @maintainer Lorenz Meier <lorenz@px4.io>
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#
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sh /etc/init.d/rc.mc_defaults
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||||
param set MAV_TYPE 13
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param set MC_YAWRATE_P 0.12
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param set CAL_MAG0_ROT 6
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if tap_esc start -d /dev/ttyS4 -n 6
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then
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fi
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set OUTPUT_MODE tap_esc
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set MIXER hexa_x
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@@ -1,46 +0,0 @@
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############################################################################
|
||||
#
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||||
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
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||||
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||||
px4_add_romfs_files(
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||||
4001_quad_x
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6001_hexa_x
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||||
rc.fw_apps
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||||
rc.fw_defaults
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||||
rc.interface
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||||
rc.mc_apps
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rc.mc_defaults
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rcS
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rc.sensors
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||||
rc.vtol_apps
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rc.vtol_defaults
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)
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@@ -1,20 +0,0 @@
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#!nsh
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||||
#
|
||||
# Standard apps for fixed wing
|
||||
#
|
||||
|
||||
#
|
||||
# Start the attitude and position estimator
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||||
#
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||||
ekf2 start
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||||
|
||||
#
|
||||
# Start attitude controller
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||||
#
|
||||
fw_att_control start
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||||
fw_pos_control_l1 start
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||||
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||||
#
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# Start Land Detector
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||||
#
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||||
land_detector start fixedwing
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@@ -1,23 +0,0 @@
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#!nsh
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||||
set VEHICLE_TYPE fw
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||||
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||||
if [ $AUTOCNF = yes ]
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then
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#
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# Default parameters for FW
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#
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||||
param set RTL_RETURN_ALT 100
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param set RTL_DESCEND_ALT 100
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param set RTL_LAND_DELAY -1
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param set NAV_ACC_RAD 50
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fi
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# This is the gimbal pass mixer
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set MIXER_AUX pass
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set PWM_AUX_RATE 50
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set PWM_AUX_OUT 1234
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set PWM_AUX_DISARMED 1500
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set PWM_AUX_MIN 1000
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set PWM_AUX_MAX 2000
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@@ -1,83 +0,0 @@
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#!nsh
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||||
#
|
||||
# Script to configure control interface
|
||||
#
|
||||
|
||||
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
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||||
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||||
if [ $MIXER != none -a $MIXER != skip ]
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||||
then
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||||
#
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||||
# Load main mixer
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||||
#
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||||
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||||
# Use the mixer file
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set MIXER_FILE /etc/mixers/$MIXER.main.mix
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set OUTPUT_DEV /dev/pwm_output0
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if [ $OUTPUT_MODE = tap_esc ]
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then
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set OUTPUT_DEV /dev/tap_esc
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fi
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||||
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||||
if mixer load $OUTPUT_DEV $MIXER_FILE
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||||
then
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||||
echo "INFO [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
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||||
else
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||||
echo "ERROR [init] Error loading mixer: $MIXER_FILE"
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||||
echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
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tune_control play -t 20
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||||
fi
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||||
unset MIXER_FILE
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else
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if [ $MIXER != skip ]
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then
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echo "ERROR [init] Mixer not defined"
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echo "ERROR [init] Mixer not defined" >> $LOG_FILE
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tune_control play -t 20
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fi
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fi
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||||
if [ $OUTPUT_MODE = fmu -o $OUTPUT_MODE = io ]
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||||
then
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||||
if [ $PWM_OUT != none ]
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||||
then
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||||
#
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||||
# Set PWM output frequency
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||||
#
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||||
if [ $PWM_RATE != none ]
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||||
then
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||||
pwm rate -c $PWM_OUT -r $PWM_RATE
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||||
fi
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||||
#
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||||
# Set disarmed, min and max PWM values
|
||||
#
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||||
if [ $PWM_DISARMED != none ]
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||||
then
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||||
pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
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fi
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||||
if [ $PWM_MIN != none ]
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then
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pwm min -c $PWM_OUT -p $PWM_MIN
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fi
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if [ $PWM_MAX != none ]
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then
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pwm max -c $PWM_OUT -p $PWM_MAX
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fi
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fi
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if [ $FAILSAFE != none ]
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then
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pwm failsafe -d $OUTPUT_DEV $FAILSAFE
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fi
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fi
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||||
unset PWM_OUT
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unset PWM_RATE
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unset PWM_MIN
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unset PWM_MAX
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unset FAILSAFE
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unset OUTPUT_DEV
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@@ -1,17 +0,0 @@
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#!nsh
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||||
#
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||||
# Standard apps for multirotors:
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||||
# att & pos estimator, att & pos control.
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||||
#
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||||
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||||
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ekf2 start
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mc_att_control start
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||||
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mc_pos_control start
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#
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# Start Land Detector
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#
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land_detector start multicopter
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@@ -1,33 +0,0 @@
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#!nsh
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||||
set VEHICLE_TYPE mc
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||||
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||||
if [ $AUTOCNF = yes ]
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||||
then
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||||
param set PWM_DISARMED 900
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param set PWM_MIN 1075
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param set PWM_MAX 1950
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fi
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||||
|
||||
param set NAV_ACC_RAD 2.0
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param set MIS_TAKEOFF_ALT 2.5
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param set RTL_RETURN_ALT 30.0
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param set RTL_DESCEND_ALT 10.0
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param set RTL_LAND_DELAY 0
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param set MPC_THR_MIN 0.10
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param set MPC_MANTHR_MIN 0.04
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# set environment variables (!= parameters)
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set PWM_RATE 400
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# tell the mixer to use parameters for these instead
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set PWM_DISARMED p:PWM_DISARMED
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set PWM_MIN p:PWM_MIN
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set PWM_MAX p:PWM_MAX
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|
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# This is the gimbal pass mixer
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set MIXER_AUX pass
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set PWM_AUX_RATE 50
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set PWM_AUX_OUT 1234
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||||
set PWM_AUX_DISARMED 1500
|
||||
set PWM_AUX_MIN 1000
|
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set PWM_AUX_MAX 2000
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@@ -1,28 +0,0 @@
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#!nsh
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||||
#
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||||
# Standard startup script for TAP v1 onboard sensor drivers.
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#
|
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||||
if adc start
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then
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fi
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|
||||
if ms5611 -T 5607 -I start
|
||||
then
|
||||
fi
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||||
|
||||
# External I2C bus
|
||||
if hmc5883 -C -T -X start
|
||||
then
|
||||
fi
|
||||
|
||||
# Internal I2C bus
|
||||
if mpu6000 -I -T 6000 start
|
||||
then
|
||||
fi
|
||||
|
||||
# Wait 50 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
|
||||
usleep 50000
|
||||
if sensors start
|
||||
then
|
||||
fi
|
||||
@@ -1,24 +0,0 @@
|
||||
#!nsh
|
||||
#
|
||||
# Standard apps for vtol:
|
||||
# att & pos estimator, att & pos control.
|
||||
#
|
||||
#
|
||||
|
||||
|
||||
#---------------------------------------
|
||||
# Estimator group selction
|
||||
#
|
||||
ekf2 start
|
||||
|
||||
vtol_att_control start
|
||||
mc_att_control start
|
||||
mc_pos_control start
|
||||
fw_att_control start
|
||||
fw_pos_control_l1 start
|
||||
|
||||
#
|
||||
# Start Land Detector
|
||||
# Multicopter for now until we have something for VTOL
|
||||
#
|
||||
land_detector start vtol
|
||||
@@ -1,43 +0,0 @@
|
||||
#!nsh
|
||||
|
||||
set VEHICLE_TYPE vtol
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_ROLL_P 6.0
|
||||
param set MC_PITCH_P 6.0
|
||||
param set MC_YAW_P 4
|
||||
|
||||
#
|
||||
# Default parameters for mission and position handling
|
||||
#
|
||||
param set NAV_ACC_RAD 3
|
||||
param set MPC_TKO_SPEED 1.0
|
||||
param set MPC_LAND_SPEED 0.7
|
||||
param set MPC_Z_VEL_MAX_DN 1.5
|
||||
param set MPC_XY_VEL_MAX 4.0
|
||||
param set MIS_YAW_TMT 10
|
||||
param set MPC_ACC_HOR_MAX 2.0
|
||||
param set RTL_LAND_DELAY 0
|
||||
fi
|
||||
|
||||
# set environment variables (!= parameters)
|
||||
set PWM_RATE 400
|
||||
# tell the mixer to use parameters for these instead
|
||||
set PWM_DISARMED p:PWM_DISARMED
|
||||
set PWM_MIN p:PWM_MIN
|
||||
set PWM_MAX p:PWM_MAX
|
||||
|
||||
# Transitional support: ensure suitable PWM min/max param values
|
||||
if param compare PWM_MIN 1000
|
||||
then
|
||||
param set PWM_MIN 1075
|
||||
fi
|
||||
if param compare PWM_MAX 2000
|
||||
then
|
||||
param set PWM_MAX 1950
|
||||
fi
|
||||
if param compare PWM_DISARMED 0
|
||||
then
|
||||
param set PWM_DISARMED 900
|
||||
fi
|
||||
@@ -1,367 +0,0 @@
|
||||
#!nsh
|
||||
#
|
||||
# TAP startup script.
|
||||
#
|
||||
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
|
||||
#
|
||||
|
||||
# Serial map:
|
||||
# /dev/ttyS0: GPS
|
||||
# /dev/ttyS1: GB
|
||||
# /dev/ttyS2: nsh shell / console
|
||||
# /dev/ttyS3: payload
|
||||
# /dev/ttyS4: esc bus
|
||||
# /dev/ttyS5: RC input
|
||||
|
||||
#
|
||||
# Start CDC/ACM serial driver
|
||||
#
|
||||
sercon
|
||||
|
||||
set LOG_FILE /fs/microsd/bootlog.txt
|
||||
set DATAMAN_OPT -r
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
# tone_alarm and tune_control
|
||||
# is dependent.
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Start the tone_alarm driver.
|
||||
#
|
||||
tone_alarm start
|
||||
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
echo "microSD present"
|
||||
unset DATAMAN_OPT
|
||||
else
|
||||
if mkfatfs /dev/mmcsd0
|
||||
then
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
echo "microSD card formatted"
|
||||
unset DATAMAN_OPT
|
||||
else
|
||||
echo "ERROR [init] Format failed"
|
||||
tune_control play -t 17
|
||||
set LOG_FILE /dev/null
|
||||
fi
|
||||
else
|
||||
set LOG_FILE /dev/null
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Load parameters
|
||||
#
|
||||
set PARAM_FILE /fs/microsd/params
|
||||
if mtd start
|
||||
then
|
||||
set PARAM_FILE /fs/mtd_params
|
||||
fi
|
||||
|
||||
param select $PARAM_FILE
|
||||
if !param load
|
||||
then
|
||||
param reset
|
||||
fi
|
||||
|
||||
#
|
||||
# Start system state indicator
|
||||
#
|
||||
if rgbled_pwm start
|
||||
then
|
||||
fi
|
||||
|
||||
if rgbled start
|
||||
then
|
||||
fi
|
||||
|
||||
#
|
||||
# Set parameters and env variables for selected AUTOSTART
|
||||
#
|
||||
if param compare SYS_AUTOSTART 0
|
||||
then
|
||||
param set SYS_AUTOSTART 6001
|
||||
param set SYS_AUTOCONFIG 1
|
||||
fi
|
||||
|
||||
#
|
||||
# Set AUTOCNF flag to use it in AUTOSTART scripts
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Wipe out params except RC*
|
||||
param reset_nostart RC*
|
||||
set AUTOCNF yes
|
||||
else
|
||||
set AUTOCNF no
|
||||
fi
|
||||
|
||||
#
|
||||
# Set default values
|
||||
#
|
||||
set VEHICLE_TYPE none
|
||||
set MIXER none
|
||||
set OUTPUT_MODE none
|
||||
set PWM_OUT none
|
||||
set PWM_RATE none
|
||||
set PWM_DISARMED none
|
||||
set PWM_MIN none
|
||||
set PWM_MAX none
|
||||
set FMU_MODE pwm
|
||||
set MAV_TYPE none
|
||||
set FAILSAFE none
|
||||
|
||||
# Start canned airframe config
|
||||
sh /etc/init.d/rc.autostart
|
||||
|
||||
#
|
||||
# If autoconfig parameter was set, reset it and save parameters
|
||||
#
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save
|
||||
fi
|
||||
unset AUTOCNF
|
||||
|
||||
#
|
||||
# Set default output if not set
|
||||
#
|
||||
if [ $OUTPUT_MODE = none ]
|
||||
then
|
||||
if [ $USE_IO = yes ]
|
||||
then
|
||||
set OUTPUT_MODE io
|
||||
else
|
||||
set OUTPUT_MODE fmu
|
||||
fi
|
||||
fi
|
||||
|
||||
gps start -d /dev/ttyS0
|
||||
|
||||
# waypoint storage
|
||||
# REBOOTWORK this needs to start in parallel
|
||||
if dataman start $DATAMAN_OPT
|
||||
then
|
||||
fi
|
||||
|
||||
#
|
||||
# Sensors System (start before Commander so Preflight checks are properly run)
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start CPU load monitor
|
||||
#
|
||||
load_mon start
|
||||
|
||||
# Start MAVLink on the gimbal port
|
||||
#mavlink start -r 1200 -d /dev/ttyS1
|
||||
|
||||
# Start MAVLink on USB, developers can use the MAVLink shell
|
||||
mavlink start -r 60000 -d /dev/ttyACM0 -m config
|
||||
|
||||
#
|
||||
# Logging
|
||||
#
|
||||
#if logger start -b 2 -t
|
||||
#then
|
||||
#fi
|
||||
|
||||
#
|
||||
# Fixed wing setup
|
||||
#
|
||||
if [ $VEHICLE_TYPE = fw ]
|
||||
then
|
||||
echo "INFO [init] Fixedwing"
|
||||
|
||||
if [ $MIXER = none ]
|
||||
then
|
||||
# Set default mixer for fixed wing if not defined
|
||||
set MIXER AERT
|
||||
fi
|
||||
|
||||
if [ $MAV_TYPE = none ]
|
||||
then
|
||||
# Use MAV_TYPE = 1 (fixed wing) if not defined
|
||||
set MAV_TYPE 1
|
||||
fi
|
||||
|
||||
param set MAV_TYPE $MAV_TYPE
|
||||
|
||||
# Load mixer and configure outputs
|
||||
sh /etc/init.d/rc.interface
|
||||
|
||||
# Start standard fixedwing apps
|
||||
sh /etc/init.d/rc.fw_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# Multicopters setup
|
||||
#
|
||||
if [ $VEHICLE_TYPE = mc ]
|
||||
then
|
||||
echo "INFO [init] Multicopter"
|
||||
|
||||
if [ $MIXER = none ]
|
||||
then
|
||||
echo "INFO [init] Mixer undefined"
|
||||
fi
|
||||
|
||||
if [ $MAV_TYPE = none ]
|
||||
then
|
||||
# Use mixer to detect vehicle type
|
||||
if [ $MIXER = quad_x -o $MIXER = quad_+ ]
|
||||
then
|
||||
set MAV_TYPE 2
|
||||
fi
|
||||
if [ $MIXER = quad_w ]
|
||||
then
|
||||
set MAV_TYPE 2
|
||||
fi
|
||||
if [ $MIXER = quad_h ]
|
||||
then
|
||||
set MAV_TYPE 2
|
||||
fi
|
||||
if [ $MIXER = tri_y_yaw- -o $MIXER = tri_y_yaw+ ]
|
||||
then
|
||||
set MAV_TYPE 15
|
||||
fi
|
||||
if [ $MIXER = hexa_x -o $MIXER = hexa_+ ]
|
||||
then
|
||||
set MAV_TYPE 13
|
||||
fi
|
||||
if [ $MIXER = hexa_cox ]
|
||||
then
|
||||
set MAV_TYPE 13
|
||||
fi
|
||||
if [ $MIXER = octo_x -o $MIXER = octo_+ ]
|
||||
then
|
||||
set MAV_TYPE 14
|
||||
fi
|
||||
fi
|
||||
|
||||
# Still no MAV_TYPE found
|
||||
if [ $MAV_TYPE = none ]
|
||||
then
|
||||
echo "WARN [init] Unknown MAV_TYPE"
|
||||
param set MAV_TYPE 2
|
||||
else
|
||||
param set MAV_TYPE $MAV_TYPE
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs
|
||||
sh /etc/init.d/rc.interface
|
||||
|
||||
# Start standard multicopter apps
|
||||
sh /etc/init.d/rc.mc_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# VTOL setup
|
||||
#
|
||||
if [ $VEHICLE_TYPE = vtol ]
|
||||
then
|
||||
echo "INFO [init] VTOL"
|
||||
|
||||
if [ $MIXER = none ]
|
||||
then
|
||||
echo "WARN [init] VTOL mixer undefined"
|
||||
fi
|
||||
|
||||
if [ $MAV_TYPE = none ]
|
||||
then
|
||||
# Use mixer to detect vehicle type
|
||||
if [ $MIXER = caipirinha_vtol ]
|
||||
then
|
||||
set MAV_TYPE 19
|
||||
fi
|
||||
if [ $MIXER = firefly6 ]
|
||||
then
|
||||
set MAV_TYPE 21
|
||||
fi
|
||||
if [ $MIXER = quad_x_pusher_vtol ]
|
||||
then
|
||||
set MAV_TYPE 22
|
||||
fi
|
||||
fi
|
||||
|
||||
# Still no MAV_TYPE found
|
||||
if [ $MAV_TYPE = none ]
|
||||
then
|
||||
echo "WARN [init] Unknown MAV_TYPE"
|
||||
param set MAV_TYPE 19
|
||||
else
|
||||
param set MAV_TYPE $MAV_TYPE
|
||||
fi
|
||||
|
||||
# Load mixer and configure outputs
|
||||
sh /etc/init.d/rc.interface
|
||||
|
||||
# Start standard vtol apps
|
||||
sh /etc/init.d/rc.vtol_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# UGV/Rover setup
|
||||
#
|
||||
if [ $VEHICLE_TYPE = ugv ]
|
||||
then
|
||||
# 10 is MAV_TYPE_GROUND_ROVER
|
||||
set MAV_TYPE 10
|
||||
|
||||
# Load mixer and configure outputs
|
||||
sh /etc/init.d/rc.interface
|
||||
|
||||
# Start standard rover apps
|
||||
sh /etc/init.d/rc.ugv_apps
|
||||
|
||||
param set MAV_TYPE 10
|
||||
fi
|
||||
|
||||
unset MIXER
|
||||
unset MAV_TYPE
|
||||
unset OUTPUT_MODE
|
||||
|
||||
#
|
||||
# Start the RC input driver
|
||||
#
|
||||
if fmu mode_pwm1
|
||||
then
|
||||
fi
|
||||
|
||||
#
|
||||
# Use 400 Hz PWM output for landing gear (frequency also affects RGB LED)
|
||||
#
|
||||
pwm rate -c 1 -r 400
|
||||
|
||||
#
|
||||
# Load the gear mixer onto fmu
|
||||
#
|
||||
mixer load /dev/px4fmu /etc/mixers/gear.mix
|
||||
|
||||
#
|
||||
# Start the navigator
|
||||
#
|
||||
if navigator start
|
||||
then
|
||||
fi
|
||||
|
||||
# There is no further script processing, so we can free some RAM
|
||||
# XXX potentially unset all script variables.
|
||||
unset TUNE_ERR
|
||||
unset LOG_FILE
|
||||
unset DATAMAN_OPT
|
||||
|
||||
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
|
||||
mavlink boot_complete
|
||||
@@ -1,39 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_romfs_files(
|
||||
gear.mix
|
||||
hexa_x.main.mix
|
||||
hexa_x.main.mix
|
||||
quad_x.main.mix
|
||||
)
|
||||
@@ -1,105 +0,0 @@
|
||||
## PX4 mixer definitions ##
|
||||
|
||||
Files in this directory implement example mixers that can be used as a basis
|
||||
for customisation, or for general testing purposes.
|
||||
|
||||
For a detailed description of the mixing architecture and examples see:
|
||||
http://px4.io/dev/mixing
|
||||
|
||||
### Syntax ###
|
||||
|
||||
Mixer definitions are text files; lines beginning with a single capital letter
|
||||
followed by a colon are significant. All other lines are ignored, meaning that
|
||||
explanatory text can be freely mixed with the definitions.
|
||||
|
||||
Each file may define more than one mixer; the allocation of mixers to actuators
|
||||
is specific to the device reading the mixer definition, and the number of
|
||||
actuator outputs generated by a mixer is specific to the mixer.
|
||||
|
||||
For example: each simple or null mixer is assigned to outputs 1 to x
|
||||
in the order they appear in the mixer file.
|
||||
|
||||
A mixer begins with a line of the form
|
||||
|
||||
<tag>: <mixer arguments>
|
||||
|
||||
The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a
|
||||
multirotor mixer, etc.
|
||||
|
||||
#### Null Mixer ####
|
||||
|
||||
A null mixer consumes no controls and generates a single actuator output whose
|
||||
value is always zero. Typically a null mixer is used as a placeholder in a
|
||||
collection of mixers in order to achieve a specific pattern of actuator outputs.
|
||||
|
||||
The null mixer definition has the form:
|
||||
|
||||
Z:
|
||||
|
||||
#### Simple Mixer ####
|
||||
|
||||
A simple mixer combines zero or more control inputs into a single actuator
|
||||
output. Inputs are scaled, and the mixing function sums the result before
|
||||
applying an output scaler.
|
||||
|
||||
A simple mixer definition begins with:
|
||||
|
||||
M: <control count>
|
||||
O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
|
||||
|
||||
If <control count> is zero, the sum is effectively zero and the mixer will
|
||||
output a fixed value that is <offset> constrained by <lower limit> and <upper
|
||||
limit>.
|
||||
|
||||
The second line defines the output scaler with scaler parameters as discussed
|
||||
above. Whilst the calculations are performed as floating-point operations, the
|
||||
values stored in the definition file are scaled by a factor of 10000; i.e. an
|
||||
offset of -0.5 is encoded as -5000.
|
||||
|
||||
The definition continues with <control count> entries describing the control
|
||||
inputs and their scaling, in the form:
|
||||
|
||||
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
|
||||
|
||||
The <group> value identifies the control group from which the scaler will read,
|
||||
and the <index> value an offset within that group. These values are specific to
|
||||
the device reading the mixer definition.
|
||||
|
||||
When used to mix vehicle controls, mixer group zero is the vehicle attitude
|
||||
control group, and index values zero through three are normally roll, pitch,
|
||||
yaw and thrust respectively.
|
||||
|
||||
The remaining fields on the line configure the control scaler with parameters as
|
||||
discussed above. Whilst the calculations are performed as floating-point
|
||||
operations, the values stored in the definition file are scaled by a factor of
|
||||
10000; i.e. an offset of -0.5 is encoded as -5000.
|
||||
|
||||
#### Multirotor Mixer ####
|
||||
|
||||
The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
|
||||
into a set of actuator outputs intended to drive motor speed controllers.
|
||||
|
||||
The mixer definition is a single line of the form:
|
||||
|
||||
R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
|
||||
|
||||
The supported geometries include:
|
||||
|
||||
* 4x - quadrotor in X configuration
|
||||
* 4+ - quadrotor in + configuration
|
||||
* 6x - hexcopter in X configuration
|
||||
* 6+ - hexcopter in + configuration
|
||||
* 8x - octocopter in X configuration
|
||||
* 8+ - octocopter in + configuration
|
||||
|
||||
Each of the roll, pitch and yaw scale values determine scaling of the roll,
|
||||
pitch and yaw controls relative to the thrust control. Whilst the calculations
|
||||
are performed as floating-point operations, the values stored in the definition
|
||||
file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
|
||||
|
||||
Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
|
||||
thrust input ranges from 0.0 to 1.0. Output for each actuator is in the
|
||||
range -1.0 to 1.0.
|
||||
|
||||
In the case where an actuator saturates, all actuator values are rescaled so that
|
||||
the saturating actuator is limited to 1.0.
|
||||
@@ -1,7 +0,0 @@
|
||||
#
|
||||
# This maps actuator_controls_0[7] to the first and only PWM output
|
||||
#
|
||||
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 7 10000 10000 0 -10000 10000
|
||||
@@ -1,3 +0,0 @@
|
||||
# Hexa X
|
||||
|
||||
R: 6x 10000 10000 10000 0
|
||||
@@ -1,7 +0,0 @@
|
||||
R: 4x 10000 10000 10000 0
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 3 5 10000 10000 0 -10000 10000
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 3 6 10000 10000 0 -10000 10000
|
||||
Reference in New Issue
Block a user