fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-11 11:41:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

WIP: px4log

Browse Source
This commit is contained in:
Daniel Agar
2023-03-16 21:20:58 -04:00
parent 0ae296bfe2
commit b4555db0e7
245 changed files with 573 additions and 1185 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+16 -16
View File
@@ -6,7 +6,7 @@ param set-default IMU_INTEG_RATE 250
if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
echo "INFO [init] SIH simulator"
px4log "INFO [init] SIH simulator"
if [ -n "${PX4_HOME_LAT}" ]; then
param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
@@ -32,7 +32,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
fi
else
echo "ERROR [init] simulator_sih failed to start"
px4log "ERROR [init] simulator_sih failed to start"
exit 1
fi
@@ -54,7 +54,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
gz_command="gz"
gz_sub_command="sim"
else
echo "ERROR [init] Gazebo gz please install gz-garden"
px4log "ERROR [init] Gazebo gz please install gz-garden"
exit 1
fi
@@ -64,7 +64,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
# shellcheck disable=SC2153
if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
echo "INFO [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
px4log "INFO [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
@@ -74,7 +74,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
fi
else
echo "INFO [init] gazebo already running world: ${gz_world}"
px4log "INFO [init] gazebo already running world: ${gz_world}"
PX4_GZ_WORLD=${gz_world}
fi
@@ -85,10 +85,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
# Clean potential input line formatting.
model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
echo "INFO [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
px4log "INFO [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
else
echo "WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
px4log "WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
model_pose="0,0,0,0,0,0"
fi
@@ -112,7 +112,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
fi
else
echo "ERROR [init] gz_bridge failed to start"
px4log "ERROR [init] gz_bridge failed to start"
exit 1
fi
@@ -138,13 +138,13 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
fi
else
echo "ERROR [init] gz_bridge failed to start"
px4log "ERROR [init] gz_bridge failed to start"
exit 1
fi
elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
echo "WARN [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
px4log "WARN [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
if gz_bridge start -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
if param compare -s SENS_EN_BAROSIM 1
@@ -165,18 +165,18 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
fi
else
echo "ERROR [init] gz_bridge failed to start"
px4log "ERROR [init] gz_bridge failed to start"
exit 1
fi
else
echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
px4log "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
exit 1
fi
elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
echo "INFO [init] jMAVSim simulator"
px4log "INFO [init] jMAVSim simulator"
if jps | grep -i jmavsim; then
kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
@@ -198,15 +198,15 @@ else
if [ -z "${PX4_SIM_HOSTNAME}" ]; then
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
echo "INFO [init] PX4_SIM_HOSTNAME: localhost"
px4log "INFO [init] PX4_SIM_HOSTNAME: localhost"
simulator_mavlink start -c $simulator_tcp_port
else
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
px4log "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
fi
else
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
px4log "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
fi
ROMFS/px4fmu_common/init.d-posix/rc.replay
+2 -2
View File
@@ -4,12 +4,12 @@
# shellcheck disable=SC2154
if [ ! -f ${replay} ]; then
echo "Invalid replay log file ${replay}"
px4log "Invalid replay log file ${replay}"
exit 1
fi
if [ ! -f replay_params.txt ]; then
echo "Creating $(pwd)/replay_params.txt"
px4log "Creating $(pwd)/replay_params.txt"
ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
fi
ROMFS/px4fmu_common/init.d-posix/rcS
+13 -11
View File
@@ -13,6 +13,8 @@ set +e
#search path for sourcing px4-rc.*
PATH="$PATH:${R}etc/init.d-posix"
px4log_tail &
#
# Main SITL startup script
#
@@ -40,7 +42,7 @@ then
elif [ -n "$PX4_SYS_AUTOSTART" ]
then
echo "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
px4log "env SYS_AUTOSTART: ${PX4_SYS_AUTOSTART}"
SYS_AUTOSTART=${PX4_SYS_AUTOSTART}
elif [ "$PX4_SIM_MODEL" = "none" ] || [ -z $PX4_SIM_MODEL ]
@@ -55,11 +57,11 @@ then
# shellcheck disable=SC2012
REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
if [ -z "$REQUESTED_AUTOSTART" ]; then
echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
px4log "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
exit 1
else
SYS_AUTOSTART=$REQUESTED_AUTOSTART
echo "INFO [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
px4log "INFO [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
fi
fi
@@ -72,7 +74,7 @@ if [ -f $PARAM_FILE ]; then
if ! param import
then
echo "ERROR [init] param import failed"
px4log "ERROR [init] param import failed"
bsondump $PARAM_FILE
@@ -82,7 +84,7 @@ if [ -f $PARAM_FILE ]; then
# try importing from backup file
if [ -f $PARAM_BACKUP_FILE ]
then
echo "[init] importing from parameter backup"
px4log "[init] importing from parameter backup"
# dump current backup file contents for comparison
bsondump $PARAM_BACKUP_FILE
@@ -97,7 +99,7 @@ if [ -f $PARAM_FILE ]; then
fi
elif [ -f $PARAM_BACKUP_FILE ]; then
echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
px4log "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"
param import $PARAM_BACKUP_FILE
fi
@@ -191,19 +193,19 @@ param set-default COM_LOW_BAT_ACT 2
# Adapt timeout parameters if simulation runs faster or slower than realtime.
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
px4log "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
px4log "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
px4log "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"
px4log "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
fi
@@ -229,7 +231,7 @@ then
elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
then
echo "Error: no autostart file found ($autostart_file)"
px4log "Error: no autostart file found ($autostart_file)"
exit 1
fi