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Merge branch 'main' into pr-commander-enable-low-eph-failsafe-posctrl-main

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This commit is contained in:
Silvan Fuhrer
2025-05-08 09:21:53 +02:00
committed by GitHub
parent c851187eb8 6bca750ab3
commit b5b3389343
6328 changed files with 607713 additions and 14072 deletions
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.gitattributes
+1
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@@ -72,6 +72,7 @@ Makefile.* text eol=lf
*.tar binary
*.tgz binary
*.zip binary
*.hex binary
# everything else
.gitattributes text eol=lf
.github/ISSUE_TEMPLATE/config.yml
-3
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@@ -3,6 +3,3 @@ contact_links:
- name: Support Question
url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
about: For questions about using PX4 or related components, please use the discuss forum and discord server
- name: Documentation Issue
url: https://github.com/PX4/PX4-user_guide/issues
about: If you found an issue in documentation, please submit it directly to the docs repository issues
.github/ISSUE_TEMPLATE/docs_bug_report.yml
+33
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@@ -0,0 +1,33 @@
name: 📑 Documentation Bug report
description: Create a report to help us improve the docs
title: "[Docs] [Bug] "
labels: ["Documentation 📑"]
body:
- type: textarea
attributes:
label: Describe the bug
description: A clear and concise description of the bug.
placeholder: |
# A PR to fix the bug is often better than adding this issue!
#
# If you can't create a PR please provide the following:
# - What page and/or section has the problem
# - What is the problem - missing information, incorrect information?
# - Suggested fixes, links to corresponding code PRs
# - Any additional context
validations:
required: true
- type: input
attributes:
label: Page URL
description: The URL of the problem page.
validations:
required: false
- type: textarea
attributes:
label: Screenshot / Media
description: Add screenshot / media if you have them
validations:
required: false
.github/workflows/build_all_targets.yml
+20 -7
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@@ -14,9 +14,21 @@ on:
- 'stable'
- 'beta'
- 'release/**'
paths-ignore:
- 'docs/**'
- '.github/**'
- 'Tools/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
- 'Tools/**'
concurrency:
group: ${{ github.workflow }}-${{ github.ref }}
cancel-in-progress: true
jobs:
group_targets:
@@ -26,7 +38,6 @@ jobs:
outputs:
matrix: ${{ steps.set-matrix.outputs.matrix }}
timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
tagname: ${{ steps.set-tag.outputs.tagname }}
branchname: ${{ steps.set-branch.outputs.branchname }}
steps:
- uses: actions/checkout@v4
@@ -57,9 +68,9 @@ jobs:
echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
setup:
name: Build Group [${{ matrix.group }}]
name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
# runs-on: ubuntu-latest
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
needs: group_targets
strategy:
matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
@@ -94,7 +105,7 @@ jobs:
- name: Building [${{ matrix.group }}]
run: |
./Tools/ci/build_all_runner.sh ${{matrix.targets}}
./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
- name: Arrange Build Artifacts
run: |
@@ -112,7 +123,7 @@ jobs:
artifacts:
name: Upload Artifacts to S3
# runs-on: ubuntu-latest
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
needs: [setup, group_targets]
if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
steps:
@@ -140,10 +151,12 @@ jobs:
release:
name: Create Release and Upload Artifacts
permissions:
contents: write
# runs-on: ubuntu-latest
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
needs: [setup, group_targets]
if: startsWith(github.ref, 'refs/tags/v')
if: startsWith(github.ref, 'refs/tags/')
steps:
- name: Download Artifacts
uses: actions/download-artifact@v4
.github/workflows/checks.yml
+6
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@@ -4,9 +4,15 @@ on:
push:
branches:
- 'main'
paths-ignore:
- 'docs/**'
- '.github/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
jobs:
build:
.github/workflows/clang-tidy.yml
+6 -1
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@@ -4,10 +4,15 @@ on:
push:
branches:
- 'main'
paths-ignore:
- 'docs/**'
- '.github/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
jobs:
build:
runs-on: ubuntu-latest
.github/workflows/compile_macos.yml
+6
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@@ -4,9 +4,15 @@ on:
push:
branches:
- 'main'
paths-ignore:
- 'docs/**'
- '.github/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
jobs:
build:
.github/workflows/compile_ubuntu.yml
+9
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@@ -7,9 +7,18 @@ on:
- 'stable'
- 'beta'
- 'release/**'
paths-ignore:
- 'docs/**'
- '.github/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
env:
RUNS_IN_DOCKER: true
jobs:
build_and_test:
.github/workflows/dev_container.yml
+135 -64
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@@ -10,29 +10,132 @@ on:
- 'release/**'
tags:
- 'v*'
paths:
- 'Tools/setup/ubuntu.sh'
- 'Tools/setup/requirements.txt'
- 'Tools/setup/Dockerfile'
- 'Tools/setup/docker-entrypoint.sh'
pull_request:
branches:
- '*'
paths:
- 'Tools/setup/ubuntu.sh'
- 'Tools/setup/requirements.txt'
- 'Tools/setup/Dockerfile'
- 'Tools/setup/docker-entrypoint.sh'
jobs:
build:
name: Build and Push Container
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
setup:
name: Set Tags and Variables
permissions:
contents: read
runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
outputs:
px4_version: ${{ steps.px4_version.outputs.px4_version }}
meta_tags: ${{ steps.meta.outputs.tags }}
meta_labels: ${{ steps.meta.outputs.labels }}
steps:
- uses: runs-on/action@v1
- uses: actions/checkout@v4
with:
fetch-tags: true
submodules: false
fetch-depth: 0
- name: Set PX4 Tag
id: px4-tag
- name: Set PX4 Tag Version
id: px4_version
run: |
echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
- name: Extract metadata (tags, labels) for Docker
id: meta
uses: docker/metadata-action@v5
with:
images: |
ghcr.io/PX4/px4-dev
px4io/px4-dev
tags: |
type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
build:
name: Build Container (${{ matrix.arch }})
permissions:
contents: read
packages: write
needs: setup
strategy:
matrix:
include:
- platform: linux/arm64
arch: arm64
runner: arm64
- platform: linux/amd64
arch: amd64
runner: x64
runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
steps:
- uses: runs-on/action@v1
- uses: actions/checkout@v4
with:
fetch-tags: true
submodules: false
fetch-depth: 0
- name: Login to Docker Hub
uses: docker/login-action@v3
if: ${{ startsWith(github.ref, 'refs/tags/') }}
with:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_TOKEN }}
- name: Login to GitHub Container Registry
uses: docker/login-action@v3
if: ${{ startsWith(github.ref, 'refs/tags/') }}
with:
registry: ghcr.io
username: ${{ github.actor }}
password: ${{ secrets.GITHUB_TOKEN }}
- name: Set up Docker Buildx
uses: docker/setup-buildx-action@v3
with:
driver: docker-container
platforms: ${{ matrix.platform }}
- name: Build and Load Container Image
uses: docker/build-push-action@v6
id: docker
with:
context: Tools/setup
tags: |
ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
labels: ${{ needs.setup.outputs.meta_labels }}
platforms: ${{ matrix.platform }}
load: false
push: ${{ startsWith(github.ref, 'refs/tags/') }}
provenance: false
cache-from: type=gha,version=1
cache-to: type=gha,version=1,mode=max
deploy:
name: Deploy To Registry
permissions:
contents: read
packages: write
runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
needs: [build, setup]
if: ${{ startsWith(github.ref, 'refs/tags/') }}
steps:
- uses: runs-on/action@v1
- uses: actions/checkout@v4
with:
fetch-tags: true
submodules: false
fetch-depth: 0
- name: Login to Docker Hub
uses: docker/login-action@v3
if: github.event_name != 'pull_request'
with:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_TOKEN }}
@@ -44,63 +147,31 @@ jobs:
username: ${{ github.actor }}
password: ${{ secrets.GITHUB_TOKEN }}
- name: Extract metadata (tags, labels) for Docker
id: meta
uses: docker/metadata-action@v5
with:
images: |
ghcr.io/PX4/px4-dev
${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
tags: |
type=semver,pattern={{version}}
type=semver,pattern={{major}}.{{minor}}
type=semver,pattern={{major}}
type=ref,event=branch,value=${{ steps.px4-tag.outputs.tag }},priority=700
type=ref,event=branch,suffix=-{{date 'YYYY-MM-DD'}},priority=600
type=ref,event=branch,suffix=,priority=500
- name: Set up Docker Buildx
uses: docker/setup-buildx-action@v3
- name: Build and load container image
uses: docker/build-push-action@v6
id: docker
with:
context: Tools/setup
tags: ${{ steps.meta.outputs.tags }}
labels: ${{ steps.meta.outputs.labels }}
platforms: |
linux/amd64
load: true
push: false
cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
- name: Get Tag Name
id: tag_name
- name: Verify Images Exist Before Creating Manifest
run: |
echo "::set-output name=tag_name::$(echo '${{ fromJSON(steps.docker.outputs.metadata)['image.name'] }}' | sed 's/,.*$//')"
docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
- name: make quick_check
uses: addnab/docker-run-action@v3
with:
image: ${{ steps.tag_name.outputs.tag_name }}
options: -v ${{ github.workspace }}:/workspace
run: |
cd /workspace
git config --global --add safe.directory /workspace
make px4_sitl_default
make px4_fmu-v6x_default
- name: Create and Push Multi-Arch Manifest for Docker Hub
run: |
docker manifest create px4io/px4-dev:${{ needs.setup.outputs.px4_version }} \
--amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
--amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
- name: Push container image
uses: docker/build-push-action@v6
with:
context: Tools/setup
tags: ${{ steps.meta.outputs.tags }}
labels: ${{ steps.meta.outputs.labels }}
platforms: |
linux/amd64
provenance: mode=max
push: true
cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
docker manifest push px4io/px4-dev:${{ needs.setup.outputs.px4_version }}
- name: Create and Push Multi-Arch Manifest for GHCR
run: |
docker manifest create ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} \
--amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
--amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
docker manifest push ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}
.github/workflows/docs_crowdin_download.yml
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@@ -0,0 +1,55 @@
name: Docs - Crowdin - Download Guide Translations
# https://github.com/crowdin/github-action/tree/master
on:
schedule:
- cron: '0 0 * * 0' # Runs every Sunday at 00:00 UTC
workflow_dispatch:
permissions:
contents: write
pull-requests: write
jobs:
synchronize-with-crowdin:
name: Synchronize with Crowdin
runs-on: ubuntu-latest
strategy:
fail-fast: false
max-parallel: 1 # Should be 1 to avoid parallel builds
matrix:
lc: [ko, uk, zh-CN] # Target languages https://developer.crowdin.com/language-codes/
steps:
- name: Checkout
uses: actions/checkout@v4
- name: Debug Environment Variables
run: |
echo "CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}"
echo "CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}"
- name: Matrix
uses: crowdin/github-action@v2
with:
config: 'docs/crowdin_docs.yml'
upload_sources: false
upload_translations: false
download_translations: true
commit_message: New Crowdin translations - ${{ matrix.lc }}
localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }}
crowdin_branch_name: main
create_pull_request: true
pull_request_base_branch_name: 'main'
pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }}
pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}'
pull_request_labels: 'Documentation 📑'
pull_request_reviewers: hamishwillee
download_language: ${{ matrix.lc }}
env:
# A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
GITHUB_TOKEN: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
# A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
# Visit https://crowdin.com/settings#api-key to create this token
CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}
.github/workflows/docs_crowdin_upload.yml
+44
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@@ -0,0 +1,44 @@
name: Docs - Crowdin - Upload Guide sources (en)
# https://github.com/crowdin/github-action/tree/master
on:
push:
branches:
- main
paths:
- 'docs/en/**'
#pull_request:
# types:
# - closed
# branches:
# - main
# paths:
# - 'docs/en/**'
workflow_dispatch:
jobs:
upload-to-crowdin:
#if: github.event.pull_request.merged == true || github.event_name == 'push' || github.event_name == 'workflow_dispatch'
runs-on: ubuntu-latest
steps:
- name: Checkout
uses: actions/checkout@v4
- name: crowdin push
uses: crowdin/github-action@v2
with:
config: 'docs/crowdin_docs.yml'
upload_sources: true
upload_translations: false
download_translations: false
crowdin_branch_name: main
env:
# A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository).
GITHUB_TOKEN: ${{ secrets.PX4BUILDBOT_ACCESSTOKEN }}
# A numeric ID, found at https://crowdin.com/project/<projectName>/tools/api
CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}
# Visit https://crowdin.com/settings#api-key to create this token
CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}
.github/workflows/docs_deploy.yml
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@@ -0,0 +1,99 @@
name: Docs - Deploy PX4 User Guide
on:
push:
branches:
- 'main'
- 'release/**'
paths:
- 'docs/en/**'
pull_request:
branches:
- '*'
paths:
- 'docs/en/**'
# Allows you to run this workflow manually from the Actions tab
workflow_dispatch:
# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
permissions:
contents: read
pages: write
id-token: write
# Allow only one concurrent deployment, skipping runs queued between the run in-progress and latest queued.
# However, do NOT cancel in-progress runs as we want to allow these production deployments to complete.
concurrency:
group: pages
cancel-in-progress: false
env:
BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
jobs:
build:
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
steps:
- uses: runs-on/action@v1
- name: Checkout
uses: actions/checkout@v4
- name: Setup Node
uses: actions/setup-node@v4
with:
node-version: 20
cache: npm
# Specify the path to lock file for correct caching
cache-dependency-path: ./docs/yarn.lock
- name: Install dependencies
run: yarn install --frozen-lockfile --cwd ./docs
- name: Build with VitePress
working-directory: ./docs
run: |
npm run docs:build_ubuntu
touch .vitepress/dist/.nojekyll
npm run docs:sitemap
- name: Upload artifact
if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
uses: actions/upload-artifact@v4
with:
name: px4_docs_build
path: docs/.vitepress/dist/
retention-days: 1
deploy:
if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
needs: build
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
steps:
- name: Download Artifact
uses: actions/download-artifact@v4
with:
name: px4_docs_build
path: ~/_book
- name: Deploy
run: |
git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
# make it an orphan branch
cd docs.px4.io
CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
git checkout --orphan "${CURRENT_DATETIME}_main"
rm -rf ${BRANCH_NAME}
mkdir -p ${BRANCH_NAME}
cp -r ~/_book/* ${BRANCH_NAME}/
git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
git add .
git commit -a -m "PX4 docs build update (vitepress) `date`"
# push branch as backup
git push origin "${CURRENT_DATETIME}_main"
# Now make main from backup and push updated
git branch -D main
git checkout -b main
git push origin main -f
.github/workflows/docs_flaw_checker.yml
+74
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@@ -0,0 +1,74 @@
name: Docs - Check for flaws in PX4 Guide Source
# So far:
# Modifications of translations files
# Broken internal links
on:
pull_request_target:
types: [opened, edited, synchronize]
paths:
- 'docs/en/**'
jobs:
check_flaws:
runs-on: ubuntu-latest
steps:
- name: Checkout
uses: actions/checkout@v3
with:
ref: ${{ github.event.pull_request.head.sha }}
- name: Install Node.js
uses: actions/setup-node@v3
with:
node-version: '18'
- name: Create logs directory
run: |
mkdir logs
- name: Get changed english doc files
id: get_changed_markdown_english
uses: tj-actions/changed-files@v35.9.2
with:
json: true
base_sha: "${{ github.event.pull_request.base.sha }}"
sha: "${{ github.event.pull_request.head.sha }}"
# Below are used to output files to a directory. May use in flaw checker.
# write_output_files: true
# output_dir: "./logs"
files: |
docs/en/**/*.md
- name: Save JSON file containing files to link check
run: |
echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}"
echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}" > ./logs/prFiles.json
- name: Run link checker
id: link-check
run: |
npm -g install markdown_link_checker_sc@0.0.138
markdown_link_checker_sc -r ${{ github.workspace }} -d docs -e en -f ./logs/prFiles.json -i assets -u docs.px4.io/main/ > ./logs/errorsFilteredByPrPages.md
mkdir -p ./pr
cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
- name: Read errorsFilteredByPrPages.md file
id: read-errors-by-page
uses: juliangruber/read-file-action@v1
with:
path: ./logs/errorsFilteredByPrPages.md
- name: Echo Errors by Page
run: echo "${{ steps.read-errors-by-page.outputs.content }}"
- name: Save PR number
env:
PR_NUMBER: ${{ github.event.number }}
run: |
#mkdir -p ./pr
echo $PR_NUMBER > ./pr/pr_number
- uses: actions/upload-artifact@v4
with:
name: pr_number
path: pr/
.github/workflows/docs_pr_comment.yml
+107
View File
@@ -0,0 +1,107 @@
name: Docs - Comment Workflow
on:
workflow_run:
workflows: ["Docs - Check for flaws in PX4 Guide Source"]
types:
- completed
jobs:
comment:
permissions:
pull-requests: write # for marocchino/sticky-pull-request-comment
name: Comments
runs-on: ubuntu-latest
steps:
- name: 'Download PR artifact'
uses: actions/github-script@v6
with:
script: |
let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
owner: context.repo.owner,
repo: context.repo.repo,
run_id: context.payload.workflow_run.id,
});
let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
return artifact.name == "pr_number"
})[0];
let download = await github.rest.actions.downloadArtifact({
owner: context.repo.owner,
repo: context.repo.repo,
artifact_id: matchArtifact.id,
archive_format: 'zip',
});
let fs = require('fs');
fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
- name: 'Unzip artifact'
run: unzip pr_number.zip
# Doesn't work across workflows
#- name: Get artifacts from flaw checker workflow
# uses: actions/download-artifact@v3
# with:
# name: logs_and_errors
# #path: ./logs
- name: Read errorsFilteredByPrPages.md file
id: read-errors-by-page
uses: juliangruber/read-file-action@v1
with:
path: ./errorsFilteredByPrPages.md
- name: Read PR number
id: read-error-pr-number
uses: juliangruber/read-file-action@v1
with:
path: ./pr_number
- name: File detail info
run: |
echo "${{ steps.read-errors-by-page.outputs.content }}"
echo "${{ steps.read-error-pr-number.outputs.content }}"
- name: Create or update comment
id: comment_to_pr
uses: marocchino/sticky-pull-request-comment@v2
with:
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
recreate: true
number: ${{ steps.read-error-pr-number.outputs.content }}
header: flaws
message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
#- name: Dump GitHub context
# env:
# GITHUB_CONTEXT: ${{ toJSON(github) }}
# run: echo "$GITHUB_CONTEXT"
# Would like to do this, but it doesn't work (for me).
# Moving to time-based, or triggering on workflow
#- name: Wait for artifacts upload to succeed
# uses: lewagon/wait-on-check-action@v1.3.1
# with:
# ref: ${{ github.ref }}
# check-name: 'Archive production artifacts'
# repo-token: ${{ secrets.GITHUB_TOKEN }}
# wait-interval: 80
# Not needed for now - trying to trigger off the workflow
#- name: Sleep for 80 seconds
# run: sleep 80s
# shell: bash
#- name: Find Comment
# uses: peter-evans/find-comment@v2
# id: fc
# with:
# issue-number: ${{ steps.read-error-pr-number.outputs.content }}
# comment-author: 'github-actions[bot]'
# body-includes: Flaws (may be none)
#- name: Create or update comment
# uses: peter-evans/create-or-update-comment@v3
# with:
# comment-id: ${{ steps.fc.outputs.comment-id }}
# issue-number: ${{ steps.read-error-pr-number.outputs.content }}
# body: |
# Flaws (may be none)
# ${{ steps.read-errors-by-page.outputs.content }}
# edit-mode: replace
.github/workflows/ekf_functional_change_indicator.yml
+3
View File
@@ -4,6 +4,9 @@ on:
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
jobs:
unit_tests:
.github/workflows/ekf_update_change_indicator.yml
+5 -1
View File
@@ -1,6 +1,10 @@
name: EKF Update Change Indicator
on: push
on:
push:
paths-ignore:
- 'docs/**'
- '.github/**'
jobs:
unit_tests:
.github/workflows/failsafe_sim.yml
+6
View File
@@ -4,9 +4,15 @@ on:
push:
branches:
- 'main'
paths-ignore:
- 'docs/**'
- '.github/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
jobs:
build:
.github/workflows/flash_analysis.yml
+15 -1
View File
@@ -1,12 +1,23 @@
name: FLASH usage analysis
permissions:
contents: read
pull-requests: write
issues: write
on:
push:
branches:
- 'main'
paths-ignore:
- 'docs/**'
- '.github/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
env:
MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
@@ -83,6 +94,9 @@ jobs:
echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
echo "$EOF" >> $GITHUB_OUTPUT
# TODO:
# This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks.
# Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
post_pr_comment:
name: Publish Results
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
@@ -92,7 +106,7 @@ jobs:
V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
if: ${{ github.event.pull_request }}
if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository
steps:
- name: Find Comment
uses: peter-evans/find-comment@v3
.github/workflows/mavros_mission_tests.yml
+6
View File
@@ -4,9 +4,15 @@ on:
push:
branches:
- 'main'
paths-ignore:
- 'docs/**'
- '.github/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
jobs:
build:
.github/workflows/mavros_offboard_tests.yml
+6
View File
@@ -4,9 +4,15 @@ on:
push:
branches:
- 'main'
paths-ignore:
- 'docs/**'
- '.github/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
jobs:
build:
.github/workflows/nuttx_env_config.yml
+6
View File
@@ -4,9 +4,15 @@ on:
push:
branches:
- 'main'
paths-ignore:
- 'docs/**'
- '.github/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
jobs:
build:
.github/workflows/python_checks.yml
+6
View File
@@ -4,9 +4,15 @@ on:
push:
branches:
- 'main'
paths-ignore:
- 'docs/**'
- '.github/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
jobs:
build:
.github/workflows/ros_integration_tests.yml
+123
View File
@@ -0,0 +1,123 @@
# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
# and comment the "runs-on: [runs-on,runner=..." lines.
# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
name: ROS Integration Tests
on:
push:
branches:
- 'main'
paths-ignore:
- 'docs/**'
- '.github/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
jobs:
build:
runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
container:
image: px4io/px4-dev-ros2-galactic:2021-09-08
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
steps:
- uses: actions/checkout@v4
with:
fetch-depth: 0
- name: Git Ownership Workaround
run: git config --system --add safe.directory '*'
- name: Install gazebo
run: |
apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${current_date}")
- name: ccache cache files
uses: actions/cache@v4
with:
path: ~/.ccache
key: ros_integration_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: ros_integration_tests-${{matrix.config.build_type}}-ccache-
- name: setup ccache
run: |
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 6" >> ~/.ccache/ccache.conf
echo "max_size = 300M" >> ~/.ccache/ccache.conf
echo "hash_dir = false" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: Get and build micro-xrce-dds-agent
run: |
cd /opt
git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
git checkout v2.2.1 # recent versions require cmake 3.22, but px4-dev-ros2-galactic:2021-09-08 is on 3.16
sed -i 's/_fastdds_tag 2.8.x/_fastdds_tag 2.8.2/g' CMakeLists.txt
mkdir build
cd build
cmake ..
make -j2
- name: ccache post-run micro-xrce-dds-agent
run: ccache -s
- name: Get and build the ros2 interface library
shell: bash
run: |
PX4_DIR="$(pwd)"
. /opt/ros/galactic/setup.bash
mkdir -p /opt/px4_ws/src
cd /opt/px4_ws/src
git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
cd ..
# Copy messages to ROS workspace
"${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
rm -rf src/translation_node src/px4_msgs_old
colcon build --symlink-install
- name: ccache post-run ros workspace
run: ccache -s
- name: Build PX4
run: make px4_sitl_default
- name: ccache post-run px4/firmware
run: ccache -s
- name: Build SITL Gazebo
run: make px4_sitl_default sitl_gazebo-classic
- name: ccache post-run sitl_gazebo-classic
run: ccache -s
- name: Core dump settings
run: |
ulimit -c unlimited
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
- name: Run tests
shell: bash
run: |
. /opt/px4_ws/install/setup.bash
/opt/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 localhost -p 8888 -v 0 &
test/ros_test_runner.py --verbose --model iris --upload --force-color
timeout-minutes: 45
- name: Upload failed logs
if: failure()
uses: actions/upload-artifact@v4
with:
name: failed-logs.zip
path: |
logs/**/**/**/*.log
logs/**/**/**/*.ulg
build/px4_sitl_default/tmp_ros_tests/rootfs/log/**/*.ulg
.github/workflows/ros_translation_node.yml
+58
View File
@@ -0,0 +1,58 @@
name: ROS Translation Node Tests
on:
push:
branches:
- 'main'
paths-ignore:
- 'docs/**'
- '.github/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
defaults:
run:
shell: bash
jobs:
build_and_test:
name: Build and test
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
strategy:
fail-fast: false
matrix:
config:
- {ros_version: "humble", ubuntu: "jammy"}
- {ros_version: "jazzy", ubuntu: "noble"}
container:
image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
steps:
- name: Setup ROS 2 (${{ matrix.config.ros_version }})
uses: ros-tooling/setup-ros@v0.7
with:
required-ros-distributions: ${{ matrix.config.ros_version }}
- name: Checkout repository
uses: actions/checkout@v4
with:
fetch-depth: 0
# Workaround for https://github.com/actions/runner/issues/2033
- name: ownership workaround
run: git config --system --add safe.directory '*'
- name: Check .msg file versioning
if: github.event_name == 'pull_request'
run: |
./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}
- name: Build and test
run: |
ros_ws=/ros_ws
mkdir -p $ros_ws/src
./Tools/copy_to_ros_ws.sh $ros_ws
cd $ros_ws
source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
source ./install/setup.sh
./build/translation_node/translation_node_unit_tests
.github/workflows/sitl_tests.yml
+8 -2
View File
@@ -9,9 +9,15 @@ on:
push:
branches:
- 'main'
paths-ignore:
- 'docs/**'
- '.github/**'
pull_request:
branches:
- '*'
paths-ignore:
- 'docs/**'
- '.github/**'
jobs:
build:
@@ -110,7 +116,7 @@ jobs:
PX4_HOME_LON: ${{matrix.config.longitude}}
PX4_HOME_ALT: ${{matrix.config.altitude}}
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose --force-color
timeout-minutes: 45
- name: Upload failed logs
@@ -121,7 +127,7 @@ jobs:
path: |
logs/**/**/**/*.log
logs/**/**/**/*.ulg
build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/**/*.ulg
- name: Look at Core files
if: failure() && ${{ hashFiles('px4.core') != '' }}
.gitignore
+1
View File
@@ -108,3 +108,4 @@ src/systemcmds/topic_listener/listener_generated.cpp
# colcon
log/
keys/
.vscode/cmake-variants.yaml
Vendored
+30
View File
@@ -131,6 +131,11 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: ark_can-flow_canbootloader
ark_can-flow-mr_canbootloader:
short: ark_can-flow-mr_canbootloader
buildType: MinSizeRel
settings:
CONFIG: ark_can-flow-mr_canbootloader
ark_can-gps_default:
short: ark_can-gps_default
buildType: MinSizeRel
@@ -166,6 +171,11 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: ark_septentrio-gps_canbootloader
ark_teseo-gps_canbootloader:
short: ark_teseo-gps_canbootloader
buildType: MinSizeRel
settings:
CONFIG: ark_teseo-gps_canbootloader
ark_cannode_default:
short: ark_cannode_default
buildType: MinSizeRel
@@ -221,6 +231,11 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: bitcraze_crazyflie_default
bluerobotics_navigator_default:
short: bluerobotics_navigator
buildType: MinSizeRel
settings:
CONFIG: bluerobotics_navigator_default
cuav_can-gps-v1_default:
short: cuav_can-gps-v1_default
buildType: MinSizeRel
@@ -301,6 +316,11 @@ CONFIG:
buildType: MiniSizeRel
settings:
CONFIG: matek_gnss-m9n-f4_default
micoair_h743_bootloader:
short: micoair_h743_bootloader
buildType: MinSizeRel
settings:
CONFIG: micoair_h743_bootloader
micoair_h743_default:
short: micoair_h743
buildType: MinSizeRel
@@ -316,6 +336,16 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: micoair_h743-aio_default
micoair_h743-v2_bootloader:
short: micoair_h743-v2_bootloader
buildType: MinSizeRel
settings:
CONFIG: micoair_h743-v2_bootloader
micoair_h743-v2_default:
short: micoair_h743-v2
buildType: MinSizeRel
settings:
CONFIG: micoair_h743-v2_default
modalai_fc-v1_default:
short: modalai_fc-v1
buildType: MinSizeRel
.vscode/settings.json
Vendored
-1
View File
@@ -129,5 +129,4 @@
"yaml.schemas": {
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
},
"ros.distro": "humble"
}
CMakeLists.txt
+1 -1
View File
@@ -99,7 +99,7 @@
#
#=============================================================================
cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
Jenkinsfile
Vendored
+2 -2
View File
@@ -235,9 +235,9 @@ pipeline {
sh('rm -f px4_msgs/srv/*.srv')
sh('rm -f px4_msgs/srv/versioned/*.srv')
sh('cp msg/*.msg px4_msgs/msg/')
sh('mkdir -p px4_msgs/msg/versioned && cp msg/versioned/*.msg px4_msgs/msg/versioned/')
sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
sh('cp srv/*.srv px4_msgs/srv/')
sh('mkdir -p px4_msgs/srv/versioned && cp srv/versioned/*.srv px4_msgs/srv/versioned/')
sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
sh('cd px4_msgs; git push origin main || true')
sh('rm -rf px4_msgs')
Kconfig
-7
View File
@@ -73,13 +73,6 @@ menu "Toolchain"
help
relative path to the ROMFS root directory
config BOARD_ROOTFSDIR
string "Root directory"
depends on PLATFORM_POSIX
default "."
help
Configure the root directory in the file system for PX4 files
config BOARD_IO
string "IO board name"
default "px4_io-v2_default"
MAINTAINERS.md
+42
View File
@@ -0,0 +1,42 @@
Maintainers
===========
See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/maintainers.html) to learn about the role of the maintainers and the process to become one.
**Active Maintainers**
| Name | Sector | GitHub | Chat | email
|-------------------------|--------|--------|------|----------------
| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] | | <lorenz@px4.io>
| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
| Paul Riseborough | State Estimation | [priseborough][priseborough] | |
| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
**Documentation Maintainers**
| Name | GitHub | Chat | email
|------|--------|------|----------------------
| Hamish Willee | [hamishwillee][hamishwillee] | hamishwillee |
**Release Managers**
| Name | GitHub | Chat | email
|------|--------|------|----------------------
| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
**Retired Maintainers**
| Name | GitHub | Chat | email
|------|--------|------|----------------------
| | | |
Makefile
+2 -5
View File
@@ -344,6 +344,7 @@ bootloaders_update: \
matek_h743-slim_bootloader \
micoair_h743_bootloader \
micoair_h743-aio_bootloader \
micoair_h743-v2_bootloader \
modalai_fc-v2_bootloader \
mro_ctrl-zero-classic_bootloader \
mro_ctrl-zero-h7_bootloader \
@@ -403,7 +404,7 @@ check_newlines:
# Testing
# --------------------------------------------------------------------
.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
.PHONY: rostest python_coverage
tests:
@@ -456,10 +457,6 @@ tests_offboard: rostest
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
tests_avoidance: rostest
@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
python_coverage:
@mkdir -p "$(SRC_DIR)"/build/python_coverage
@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
README.md
+11 -88
View File
@@ -17,17 +17,19 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out o
* [VTOL](https://docs.px4.io/main/en/frames_vtol/)
* [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
* [Rover](https://docs.px4.io/main/en/frames_rover/)
* many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
* many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
## Releases
Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).
## Building a PX4 based drone, rover, boat or robot
The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
## Changing code and contributing
## Changing Code and Contributing
This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
@@ -35,7 +37,7 @@ Developers should read the [Guide for Contributions](https://docs.px4.io/main/en
See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
### Weekly Dev Call
## Weekly Dev Call
The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
@@ -44,96 +46,17 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
## Maintenance Team
Note: This is the source of truth for the active maintainers of PX4 ecosystem.
See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.
| Sector | Maintainer |
|---|---|
| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
| OS/NuttX | [David Sidrane](https://github.com/davids5) |
| Drivers | [Daniel Agar](https://github.com/dagar) |
| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
| Vehicle Type | Maintainer |
|---|---|
| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
| Rover | [Christian Friedrich](https://github.com/chfriedrich98) |
| Boat | x |
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).
## Supported Hardware
Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
### Pixhawk Standard Boards
These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
* FMUv6X and FMUv6C
* [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
* [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
* [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
* [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
* FMUv5 and FMUv5X (STM32F7, 2019/20)
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
* [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
* [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode)
* FMUv4 (STM32F4, 2015)
* [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
* [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
* FMUv3 (STM32F4, 2014)
* [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
* [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
* [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
* FMUv2 (STM32F4, 2013)
* [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
### Manufacturer supported
These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/ark_v6x.html)
* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
### Community supported
These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members.
### Experimental
These boards are not maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
## Project Roadmap
**Note: Outdated**
A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
## Project Governance
The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
<div style="padding:10px">&nbsp;</div>
ROMFS/performance-test/CMakeLists.txt
+34
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@@ -0,0 +1,34 @@
############################################################################
#
# Copyright (c) 2025 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.
#
############################################################################
add_subdirectory(init.d)
src/lib/bezier/CMakeLists.txt → ROMFS/performance-test/init.d/CMakeLists.txt
+3 -6
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
# Copyright (c) 2025 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
@@ -31,9 +31,6 @@
#
############################################################################
px4_add_library(bezier
BezierQuad.cpp
BezierN.cpp
px4_add_romfs_files(
rcS
)
px4_add_unit_gtest(SRC BezierNTest.cpp LINKLIBS bezier)
ROMFS/performance-test/init.d/rcS
+68
View File
@@ -0,0 +1,68 @@
#!/bin/sh
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
set +e
# Un comment the line below to help debug scripts by printing a trace of the script commands
#set -x
# PX4FMU startup script.
#
# NOTE: environment variable references:
# If the dollar sign ('$') is followed by a left bracket ('{') then the
# variable name is terminated with the right bracket character ('}').
# Otherwise, the variable name goes to the end of the argument.
#
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
#------------------------------------------------------------------------------
set R /
#
# Print full system version.
#
ver all
#
# Set the parameter file the board supports params on
# MTD device.
#
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
then
set PARAM_FILE /fs/mtd_params
fi
#
# Load parameters.
#
# if the board has a storage for (factory) calibration data
if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
then
param load /fs/mtd_caldata
fi
#
# Load parameters.
#
param select $PARAM_FILE
if ! param load
then
param reset_all
fi
#
# Try to mount the microSD card.
#
mount -t vfat /dev/mmcsd0 /fs/microsd
if [ $? = 0 ]
then
echo "SD card mounted at /fs/microsd"
else
echo "No SD card found"
fi
unset R
echo ""
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
echo "!!!!!! This is the PERFORMANCE TESTING firmware! WARNs and ERRORs are expected! !!!!!"
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
echo ""
ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
+4 -1
View File
@@ -35,8 +35,11 @@ add_subdirectory(airframes)
px4_add_romfs_files(
px4-rc.mavlink
px4-rc.params
px4-rc.simulator
px4-rc.gzsim
px4-rc.jmavsim
px4-rc.mavlinksim
px4-rc.sihsim
rc.replay
rcS
)
ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx
-4
View File
@@ -16,10 +16,6 @@ param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
# disable some checks to allow to fly:
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane
+7 -12
View File
@@ -16,12 +16,6 @@ param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 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
param set-default SIH_T_MAX 6
param set-default SIH_MASS 0.3
param set-default SIH_IXX 0.00402
@@ -33,18 +27,19 @@ param set-default SIH_KDV 0.2
param set-default SIH_VEHICLE_TYPE 1 # sih as fixed wing
param set-default RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4
param set-default CA_SV_CS2_TYPE 4 # rudder
param set-default PWM_MAIN_FUNC1 201
param set-default PWM_MAIN_FUNC2 202
param set-default PWM_MAIN_FUNC3 203
ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
-4
View File
@@ -28,10 +28,6 @@ param set-default MC_PITCH_P 5
param set-default MAV_TYPE 19
# disable some checks to allow to fly:
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
param set-default SIH_T_MAX 2
param set-default SIH_Q_MAX 0.0165
param set-default SIH_MASS 0.2
ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_standard_vtol
+96
View File
@@ -0,0 +1,96 @@
#!/bin/sh
#
# @name SIH Standard VTOL
#
# @type Simulation
# @class VTOL
#
# @output Motor1 MC motor front right
# @output Motor2 MC motor back left
# @output Motor3 MC motor front left
# @output Motor4 MC motor back right
# @output Motor5 Forward thrust motor
# @output Servo1 Ailerons (single channel)
# @output Servo2 Elevator
# @output Servo3 Rudder
#
# @board px4_fmu-v2 exclude
#
. ${R}etc/init.d/rc.vtol_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
param set-default EKF2_GPS_DELAY 0
param set-default VT_TYPE 2
param set-default MPC_MAN_Y_MAX 60
param set-default MC_PITCH_P 5
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR0_PX 0.2
param set-default CA_ROTOR0_PY 0.2
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR1_PX -0.2
param set-default CA_ROTOR1_PY -0.2
param set-default CA_ROTOR2_PX 0.2
param set-default CA_ROTOR2_PY -0.2
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.2
param set-default CA_ROTOR3_PY 0.2
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX -0.3
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4 # rudder
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 10
param set-default FW_AIRSPD_MAX 12
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 201
param set-default PWM_MAIN_FUNC6 202
param set-default PWM_MAIN_FUNC7 203
param set-default PWM_MAIN_FUNC8 105
param set-default MAV_TYPE 22
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
# param set-default SYS_HITL 2
param set-default SENS_DPRES_OFF 0.001
param set SIH_T_MAX 2.0
param set SIH_Q_MAX 0.0165
param set SIH_MASS 0.2
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
param set SIH_IXX 0.00354
param set SIH_IYY 0.000625
param set SIH_IZZ 0.00300
param set SIH_IXZ 0
param set SIH_KDV 0.2
param set SIH_L_ROLL 0.2
# sih as standard vtol
param set SIH_VEHICLE_TYPE 3
ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid
-32
View File
@@ -1,32 +0,0 @@
#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
#
# @type Quadrotor Wide
#
. ${R}etc/init.d/rc.mc_defaults
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default COM_OBS_AVOID 1
ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post
-2
View File
@@ -1,2 +0,0 @@
# shellcheck disable=SC2154
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2
+1 -1
View File
@@ -44,7 +44,7 @@ param set-default FW_R_LIM 30
param set-default FW_MAN_R_MAX 30
param set-default FW_THR_CRUISE 0.8
param set-default FW_THR_TRIM 0.8
param set-default FW_THR_IDLE 0
param set-default COM_DISARM_PRFLT 0
ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500
-4
View File
@@ -13,10 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
-5
View File
@@ -12,13 +12,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
param set-default FW_LND_ANG 8
param set-default NPFG_PERIOD 12
ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
-3
View File
@@ -13,9 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
# TODO: Enable motor failure detection when the
ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
-5
View File
@@ -14,12 +14,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
# Commander Parameters
param set-default COM_OBS_AVOID 0
param set-default COM_DISARM_LAND 0.5
# EKF2 parameters
ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane
-2
View File
@@ -11,8 +11,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
param set-default FW_LND_ANG 8
ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
+27 -23
View File
@@ -11,35 +11,39 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
param set-default SIM_GZ_EN 1 # Gazebo bridge
# Rover parameters
param set-default NAV_ACC_RAD 0.5
# Differential Parameters
param set-default RD_WHEEL_TRACK 0.3
param set-default RD_MAX_ACCEL 5
param set-default RD_MAX_DECEL 10
param set-default RD_MAX_JERK 30
param set-default RD_MAX_THR_YAW_R 1.5
param set-default RD_YAW_RATE_P 0.25
param set-default RD_YAW_RATE_I 0.01
param set-default RD_YAW_P 5
param set-default RD_YAW_I 0.1
param set-default RD_MAX_SPEED 2
param set-default RD_MAX_THR_SPD 2.15
param set-default RD_SPEED_P 0.1
param set-default RD_SPEED_I 0.01
param set-default RD_MAX_YAW_RATE 180
param set-default RD_TRANS_DRV_TRN 0.349066
param set-default RD_TRANS_TRN_DRV 0.174533
param set-default RD_MAX_YAW_ACCEL 1000
# Pure pursuit parameters
param set-default PP_LOOKAHD_MAX 30
param set-default PP_LOOKAHD_MIN 2
# Rover Control Parameters
param set-default RO_ACCEL_LIM 5
param set-default RO_DECEL_LIM 10
param set-default RO_JERK_LIM 30
param set-default RO_MAX_THR_SPEED 2.1
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.01
param set-default RO_YAW_RATE_P 0.25
param set-default RO_YAW_RATE_LIM 180
param set-default RO_YAW_ACCEL_LIM 120
param set-default RO_YAW_DECEL_LIM 1000
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 2
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 0.1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
# Simulated sensors
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
# Actuator mapping
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
-5
View File
@@ -11,11 +11,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
param set-default SIM_GZ_EN 1 # Gazebo bridge
# Simulated sensors
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0
# We can arm and drive in manual mode when it slides and GPS check fails:
param set-default COM_ARM_WO_GPS 1
ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann
+23 -19
View File
@@ -11,35 +11,39 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
param set-default SIM_GZ_EN 1 # Gazebo bridge
# Rover parameters
param set-default NAV_ACC_RAD 0.5
# Ackermann Parameters
param set-default RA_WHEEL_BASE 0.321
param set-default RA_ACC_RAD_GAIN 2
param set-default RA_ACC_RAD_MAX 3
param set-default RA_LAT_ACCEL_I 0.01
param set-default RA_LAT_ACCEL_P 0.1
param set-default RA_MAX_ACCEL 3
param set-default RA_MAX_DECEL 6
param set-default RA_MAX_JERK 15
param set-default RA_MAX_LAT_ACCEL 4
param set-default RA_MAX_SPEED 3
param set-default RA_MAX_STR_ANG 0.5236
param set-default RA_MAX_STR_RATE 360
param set-default RA_MAX_THR_SPEED 3.1
param set-default RA_SPEED_I 0.01
param set-default RA_SPEED_P 0.1
param set-default RA_WHEEL_BASE 0.321
param set-default RA_STR_RATE_LIM 360
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 6
param set-default RO_JERK_LIM 15
param set-default RO_MAX_THR_SPEED 3.1
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.1
param set-default RO_YAW_RATE_P 1
param set-default RO_YAW_RATE_LIM 180
# Rover Attitude Control Parameters
param set-default RO_YAW_P 3
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 3
param set-default RO_SPEED_I 0.1
param set-default RO_SPEED_P 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
# Simulated sensors
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0
# Wheels
param set-default SIM_GZ_WH_FUNC1 101
param set-default SIM_GZ_WH_MIN1 0
ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum
+29 -22
View File
@@ -11,34 +11,41 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
param set-default SIM_GZ_EN 1 # Gazebo bridge
# Rover parameters
param set-default RM_WHEEL_TRACK 0.3
param set-default RM_YAW_RATE_I 0.1
param set-default RM_YAW_RATE_P 0.1
param set-default RM_MAX_ACCEL 3
param set-default RM_MAX_DECEL 5
param set-default RM_MAX_JERK 5
param set-default RM_MAX_SPEED 2
param set-default RM_MAX_THR_SPD 2.2
param set-default RM_MAX_THR_YAW_R 1.2
param set-default RM_YAW_P 5
param set-default RM_YAW_I 0.1
param set-default RM_MAX_YAW_RATE 120
param set-default RM_MAX_YAW_ACCEL 240
param set-default RM_MISS_VEL_GAIN 1
param set-default RM_SPEED_I 0.01
param set-default RM_SPEED_P 0.1
param set-default NAV_ACC_RAD 0.5
# Pure pursuit parameters
# Mecanum Parameters
param set-default RM_WHEEL_TRACK 0.3
param set-default RM_MAX_THR_YAW_R 1.2
param set-default RM_MISS_SPD_GAIN 1
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 5
param set-default RO_JERK_LIM 30
param set-default RO_MAX_THR_SPEED 2.1
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.1
param set-default RO_YAW_RATE_P 0.1
param set-default RO_YAW_RATE_LIM 120
param set-default RO_YAW_ACCEL_LIM 240
param set-default RO_YAW_DECEL_LIM 1000
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 2
param set-default RO_SPEED_I 0.5
param set-default RO_SPEED_P 1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 0.5
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
param set-default PP_LOOKAHD_GAIN 0.5
# Simulated sensors
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0
# Actuator mapping
param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
ROMFS/px4fmu_common/init.d-posix/airframes/4018_gz_quadtailsitter
-6
View File
@@ -13,12 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
param set-default SIM_GZ_EN 1 # Gazebo bridge
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0
param set-default MAV_TYPE 20
param set-default CA_AIRFRAME 4
ROMFS/px4fmu_common/init.d-posix/airframes/4020_gz_tiltrotor
-5
View File
@@ -13,11 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}
param set-default SIM_GZ_EN 1 # Gazebo bridge
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0
param set-default MAV_TYPE 21
param set-default CA_AIRFRAME 3
ROMFS/px4fmu_common/init.d-posix/airframes/4021_gz_x500_flow
+15
View File
@@ -0,0 +1,15 @@
#!/bin/sh
#
# @name Gazebo x500 with downward optical flow and distance sensor
#
# @type Quadrotor
#
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_flow}
. ${R}etc/init.d-posix/airframes/4001_gz_x500
echo "Disabling Sim GPS"
param set-default SYS_HAS_GPS 0
param set-default SIM_GPS_USED 0
param set-default EKF2_GPS_CTRL 0
ROMFS/px4fmu_common/init.d-posix/airframes/71001_gazebo-classic_spacecraft_dart
+155
View File
@@ -0,0 +1,155 @@
#!/bin/sh
#
# @name 6DoF Spacecraft Model
#
# @type Freeflyer with 8 thrusters
#
# @maintainer Pedro Roque <padr@kth.se>
#
. ${R}etc/init.d/rc.sc_defaults
param set-default CA_AIRFRAME 15
param set-default MAV_TYPE 99
param set-default CA_THRUSTER_CNT 12
param set-default CA_R_REV 0
# param set-default FW_ARSP_MODE 1
# Auto to be provided by Custom Airframe
param set-default CA_METHOD 0
# disable attitude failure detection
param set-default FD_FAIL_P 0
param set-default FD_FAIL_R 0
# Set proper failsafes
param set-default COM_ACT_FAIL_ACT 0
param set-default COM_LOW_BAT_ACT 0
param set-default NAV_DLL_ACT 0
param set-default GF_ACTION 1
param set-default NAV_RCL_ACT 1
param set-default COM_POSCTL_NAVL 2
# Set thrusters
param set-default CA_THRUSTER0_PX -0.50
param set-default CA_THRUSTER0_PY 0.50
param set-default CA_THRUSTER0_PZ 0.0
param set-default CA_THRUSTER0_CT 0.237
param set-default CA_THRUSTER0_AX 0.0
param set-default CA_THRUSTER0_AY -1.0
param set-default CA_THRUSTER0_AZ 0.0
param set-default CA_THRUSTER1_PX 0.50
param set-default CA_THRUSTER1_PY 0.50
param set-default CA_THRUSTER1_PZ 0.0
param set-default CA_THRUSTER1_CT 0.237
param set-default CA_THRUSTER1_AX 0.0
param set-default CA_THRUSTER1_AY -1.0
param set-default CA_THRUSTER1_AZ 0.0
param set-default CA_THRUSTER2_PX 0.50
param set-default CA_THRUSTER2_PY -0.50
param set-default CA_THRUSTER2_PZ 0.0
param set-default CA_THRUSTER2_CT 0.237
param set-default CA_THRUSTER2_AX 0.0
param set-default CA_THRUSTER2_AY 1.0
param set-default CA_THRUSTER2_AZ 0.0
param set-default CA_THRUSTER3_PX -0.50
param set-default CA_THRUSTER3_PY -0.50
param set-default CA_THRUSTER3_PZ 0.0
param set-default CA_THRUSTER3_CT 0.237
param set-default CA_THRUSTER3_AX 0.0
param set-default CA_THRUSTER3_AY 1.0
param set-default CA_THRUSTER3_AZ 0.0
param set-default CA_THRUSTER4_PX -0.50
param set-default CA_THRUSTER4_PY 0.0
param set-default CA_THRUSTER4_PZ -0.50
param set-default CA_THRUSTER4_CT 0.237
param set-default CA_THRUSTER4_AX 1.0
param set-default CA_THRUSTER4_AY 0.0
param set-default CA_THRUSTER4_AZ 0.0
param set-default CA_THRUSTER5_PX 0.50
param set-default CA_THRUSTER5_PY 0.0
param set-default CA_THRUSTER5_PZ -0.50
param set-default CA_THRUSTER5_CT 0.237
param set-default CA_THRUSTER5_AX -1.0
param set-default CA_THRUSTER5_AY 0.0
param set-default CA_THRUSTER5_AZ 0.0
param set-default CA_THRUSTER6_PX 0.50
param set-default CA_THRUSTER6_PY 0.0
param set-default CA_THRUSTER6_PZ 0.50
param set-default CA_THRUSTER6_CT 0.237
param set-default CA_THRUSTER6_AX -1.0
param set-default CA_THRUSTER6_AY 0.0
param set-default CA_THRUSTER6_AZ 0.0
param set-default CA_THRUSTER7_PX -0.50
param set-default CA_THRUSTER7_PY 0.0
param set-default CA_THRUSTER7_PZ 0.50
param set-default CA_THRUSTER7_CT 0.237
param set-default CA_THRUSTER7_AX 1.0
param set-default CA_THRUSTER7_AY 0.0
param set-default CA_THRUSTER7_AZ 0.0
param set-default CA_THRUSTER8_PX 0.0
param set-default CA_THRUSTER8_PY -0.50
param set-default CA_THRUSTER8_PZ -0.50
param set-default CA_THRUSTER8_CT 0.237
param set-default CA_THRUSTER8_AX 0.0
param set-default CA_THRUSTER8_AY 0.0
param set-default CA_THRUSTER8_AZ 1.0
param set-default CA_THRUSTER9_PX 0.0
param set-default CA_THRUSTER9_PY 0.50
param set-default CA_THRUSTER9_PZ -0.50
param set-default CA_THRUSTER9_CT 0.237
param set-default CA_THRUSTER9_AX 0.0
param set-default CA_THRUSTER9_AY 0.0
param set-default CA_THRUSTER9_AZ 1.0
param set-default CA_THRUSTER10_PX 0.0
param set-default CA_THRUSTER10_PY 0.50
param set-default CA_THRUSTER10_PZ 0.50
param set-default CA_THRUSTER10_CT 0.237
param set-default CA_THRUSTER10_AX 0.0
param set-default CA_THRUSTER10_AY 0.0
param set-default CA_THRUSTER10_AZ -1.0
param set-default CA_THRUSTER11_PX 0.0
param set-default CA_THRUSTER11_PY -0.50
param set-default CA_THRUSTER11_PZ 0.50
param set-default CA_THRUSTER11_CT 0.237
param set-default CA_THRUSTER11_AX 0.0
param set-default CA_THRUSTER11_AY 0.0
param set-default CA_THRUSTER11_AZ -1.0
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 105
param set-default PWM_MAIN_FUNC6 106
param set-default PWM_MAIN_FUNC7 107
param set-default PWM_MAIN_FUNC8 108
param set-default PWM_MAIN_FUNC9 109
param set-default PWM_MAIN_FUNC10 110
param set-default PWM_MAIN_FUNC11 111
param set-default PWM_MAIN_FUNC12 112
# PWM Simulation
param set PWM_SIM_PWM_MAX 10000
param set PWM_SIM_PWM_MIN 0
# Controller Tunings
param set-default SC_ROLLRATE_P 0.14
param set-default SC_PITCHRATE_P 0.14
param set-default SC_ROLLRATE_I 0.3
param set-default SC_PITCHRATE_I 0.3
param set-default SC_ROLLRATE_D 0.004
param set-default SC_PITCHRATE_D 0.004
ROMFS/px4fmu_common/init.d-posix/airframes/71002_gz_spacecraft_2d
+147
View File
@@ -0,0 +1,147 @@
#!/bin/sh
#
# @name 3DoF Spacecraft Model
#
# @type 2D Freeflyer with 8 thrusters - Planar motion
#
# @maintainer Pedro Roque <padr@kth.se>
#
. ${R}etc/init.d/rc.sc_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_MAGSIM 1
param set-default COM_ARM_CHK_ESCS 0 # We don't have ESCs
param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
param set-default CA_AIRFRAME 14
param set-default MAV_TYPE 99
param set-default CA_THRUSTER_CNT 8
param set-default CA_R_REV 0
# param set-default FW_ARSP_MODE 1
# Auto to be provided by Custom Airframe
param set-default CA_METHOD 0 # 0 is PseudoInverse, 3 is Metric
# Set proper failsafes
param set-default COM_ACT_FAIL_ACT 0
param set-default COM_LOW_BAT_ACT 0
param set-default NAV_DLL_ACT 0
param set-default GF_ACTION 1
param set-default NAV_RCL_ACT 1
param set-default COM_POSCTL_NAVL 2
# disable attitude failure detection
param set-default FD_FAIL_P 0
param set-default FD_FAIL_R 0
param set-default CA_THRUSTER0_PX -0.12
param set-default CA_THRUSTER0_PY -0.12
param set-default CA_THRUSTER0_PZ 0.0
param set-default CA_THRUSTER0_CT 1.4
param set-default CA_THRUSTER0_AX 1.0
param set-default CA_THRUSTER0_AY 0.0
param set-default CA_THRUSTER0_AZ 0.0
param set-default CA_THRUSTER1_PX 0.12
param set-default CA_THRUSTER1_PY -0.12
param set-default CA_THRUSTER1_PZ 0.0
param set-default CA_THRUSTER1_CT 1.4
param set-default CA_THRUSTER1_AX -1.0
param set-default CA_THRUSTER1_AY 0.0
param set-default CA_THRUSTER1_AZ 0.0
param set-default CA_THRUSTER2_PX -0.12
param set-default CA_THRUSTER2_PY 0.12
param set-default CA_THRUSTER2_PZ 0.0
param set-default CA_THRUSTER2_CT 1.4
param set-default CA_THRUSTER2_AX 1.0
param set-default CA_THRUSTER2_AY 0.0
param set-default CA_THRUSTER2_AZ 0.0
param set-default CA_THRUSTER3_PX 0.12
param set-default CA_THRUSTER3_PY 0.12
param set-default CA_THRUSTER3_PZ 0.0
param set-default CA_THRUSTER3_CT 1.4
param set-default CA_THRUSTER3_AX -1.0
param set-default CA_THRUSTER3_AY 0.0
param set-default CA_THRUSTER3_AZ 0.0
param set-default CA_THRUSTER4_PX 0.12
param set-default CA_THRUSTER4_PY -0.12
param set-default CA_THRUSTER4_PZ 0.0
param set-default CA_THRUSTER4_CT 1.4
param set-default CA_THRUSTER4_AX 0.0
param set-default CA_THRUSTER4_AY 1.0
param set-default CA_THRUSTER4_AZ 0.0
param set-default CA_THRUSTER5_PX 0.12
param set-default CA_THRUSTER5_PY 0.12
param set-default CA_THRUSTER5_PZ 0.0
param set-default CA_THRUSTER5_CT 1.4
param set-default CA_THRUSTER5_AX 0.0
param set-default CA_THRUSTER5_AY -1.0
param set-default CA_THRUSTER5_AZ 0.0
param set-default CA_THRUSTER6_PX -0.12
param set-default CA_THRUSTER6_PY -0.12
param set-default CA_THRUSTER6_PZ 0.0
param set-default CA_THRUSTER6_CT 1.4
param set-default CA_THRUSTER6_AX 0.0
param set-default CA_THRUSTER6_AY 1.0
param set-default CA_THRUSTER6_AZ 0.0
param set-default CA_THRUSTER7_PX -0.12
param set-default CA_THRUSTER7_PY 0.12
param set-default CA_THRUSTER7_PZ 0.0
param set-default CA_THRUSTER7_CT 1.4
param set-default CA_THRUSTER7_AX 0.0
param set-default CA_THRUSTER7_AY -1.0
param set-default CA_THRUSTER7_AZ 0.0
param set-default SIM_GZ_TH_FUNC1 101
param set-default SIM_GZ_TH_FUNC2 102
param set-default SIM_GZ_TH_FUNC3 103
param set-default SIM_GZ_TH_FUNC4 104
param set-default SIM_GZ_TH_FUNC5 105
param set-default SIM_GZ_TH_FUNC6 106
param set-default SIM_GZ_TH_FUNC7 107
param set-default SIM_GZ_TH_FUNC8 108
param set-default SIM_GZ_TH_MIN1 0
param set-default SIM_GZ_TH_MIN2 0
param set-default SIM_GZ_TH_MIN3 0
param set-default SIM_GZ_TH_MIN4 0
param set-default SIM_GZ_TH_MIN5 0
param set-default SIM_GZ_TH_MIN6 0
param set-default SIM_GZ_TH_MIN7 0
param set-default SIM_GZ_TH_MIN8 0
param set-default SIM_GZ_TH_MAX1 10000
param set-default SIM_GZ_TH_MAX2 10000
param set-default SIM_GZ_TH_MAX3 10000
param set-default SIM_GZ_TH_MAX4 10000
param set-default SIM_GZ_TH_MAX5 10000
param set-default SIM_GZ_TH_MAX6 10000
param set-default SIM_GZ_TH_MAX7 10000
param set-default SIM_GZ_TH_MAX8 10000
# Controller Tunings
param set SC_YAWRATE_P 3.335
param set SC_YAWRATE_I 0.87
param set SC_YAWRATE_D 0.15
param set SC_YR_INT_LIM 0.2
param set SC_YAW_P 3.0
param set SPC_POS_P 0.20
param set SPC_VEL_P 6.55
param set SPC_VEL_I 0.0
param set SPC_VEL_D 0.0
param set SPC_VEL_MAX 12.0
ROMFS/px4fmu_common/init.d-posix/airframes/8011_gz_omnicopter
-3
View File
@@ -83,9 +83,6 @@ param set-default CA_ROTOR7_AY -0.211325
param set-default CA_ROTOR7_AZ -0.57735
param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_FUNC2 102
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+5 -2
View File
@@ -39,8 +39,6 @@ px4_add_romfs_files(
1012_gazebo-classic_iris_rplidar
1013_gazebo-classic_iris_vision
1013_gazebo-classic_iris_vision.post
1014_gazebo-classic_iris_obs_avoid
1014_gazebo-classic_iris_obs_avoid.post
1015_gazebo-classic_iris_depth_camera
1016_gazebo-classic_iris_downward_depth_camera
1017_gazebo-classic_iris_opt_flow_mockup
@@ -93,6 +91,7 @@ px4_add_romfs_files(
4018_gz_quadtailsitter
4019_gz_x500_gimbal
4020_gz_tiltrotor
4021_gz_x500_flow
6011_gazebo-classic_typhoon_h480
6011_gazebo-classic_typhoon_h480.post
@@ -109,9 +108,13 @@ px4_add_romfs_files(
10040_sihsim_quadx
10041_sihsim_airplane
10042_sihsim_xvert
10043_sihsim_standard_vtol
17001_flightgear_tf-g1
17002_flightgear_tf-g2
71001_gazebo-classic_spacecraft_dart
71002_gz_spacecraft_2d
# [22000, 22999] Reserve for custom models
)
ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
+195
View File
@@ -0,0 +1,195 @@
#!/bin/sh
# shellcheck disable=SC2154
# Enforce minimum gz version as Harmonic (gz-sim8)
MIN_GZ_VERSION="8.0.0"
GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
if [ -z "$GZ_SIM_VERSION" ]; then
echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
exit 1
fi
# Use sort compare, check that MIN_GZ_VERSION is ordered last
if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)" = "$MIN_GZ_VERSION" ]; then
gz_command="gz"
gz_sub_command="sim"
echo "INFO [init] Gazebo simulator $GZ_SIM_VERSION"
# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
echo "INFO [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
fi
else
echo "ERROR [init] Gazebo version too hold ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
exit 1
fi
# If not standalone
if [ -z "${PX4_GZ_STANDALONE}" ]; then
# Look for an already running world
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
# shellcheck disable=SC2153
if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
# Setup gz environment variables
if [ -f ./gz_env.sh ]; then
. ./gz_env.sh
elif [ -f ../gz_env.sh ]; then
. ../gz_env.sh
fi
echo "INFO [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
if [ -z "${HEADLESS}" ]; then
echo "INFO [init] Starting gz gui"
${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
fi
else
# Gazebo is already running
echo "INFO [init] gazebo already running world: ${gz_world}"
PX4_GZ_WORLD=${gz_world}
fi
else
echo "INFO [init] Standalone PX4 launch, waiting for Gazebo"
fi
# Wait for Gazebo world to be ready before proceeding
check_scene_info() {
SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
if echo "$SERVICE_INFO" | grep -q "Service providers"; then
return 0
else
return 1
fi
}
ATTEMPTS=30
while [ $ATTEMPTS -gt 0 ]; do
if check_scene_info; then
echo "INFO [init] Gazebo world is ready"
break
fi
ATTEMPTS=$((ATTEMPTS-1))
if [ $ATTEMPTS -eq 0 ]; then
echo "ERROR [init] Timed out waiting for Gazebo world"
exit 1
fi
echo "INFO [init] Waiting for Gazebo world..."
sleep 1
done
# World is ready, check if custom location is provided
if [ -n "${PX4_HOME_LAT}" ] || [ -n "${PX4_HOME_LON}" ] || [ -n "${PX4_HOME_ALT}" ]; then
# must have all three
if [ -z "${PX4_HOME_LAT}" ] || [ -z "${PX4_HOME_LON}" ] || [ -z "${PX4_HOME_ALT}" ]; then
echo "ERROR [init] PX4_HOME_LAT, PX4_HOME_LON and PX4_HOME_ALT must all be set"
exit 1
fi
echo "INFO [init] Setting world origin to lat: ${PX4_HOME_LAT}, lon: ${PX4_HOME_LON}, alt: ${PX4_HOME_ALT}"
${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_spherical_coordinates" \
--reqtype gz.msgs.SphericalCoordinates \
--reptype gz.msgs.Boolean \
--timeout 1000 \
--req "surface_model: EARTH_WGS84, latitude_deg: ${PX4_HOME_LAT}, longitude_deg: ${PX4_HOME_LON}, elevation: ${PX4_HOME_ALT}" > /dev/null 2>&1
fi
# Start gz_bridge - either spawn a model or connect to existing one
if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
# Spawn a model
MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
POSE_ARG=""
if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
pos_x=${pos_x:-0}
pos_y=${pos_y:-0}
pos_z=${pos_z:-0}
POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
echo "INFO [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
fi
echo "INFO [init] Spawning model"
# Spawn model
${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
--reptype gz.msgs.Boolean --timeout 5000 \
--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
# Wait for model to spawn
sleep 1
# Start gz_bridge
if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${MODEL_NAME_INSTANCE}"; then
echo "ERROR [init] gz_bridge failed to start and spawn model"
exit 1
fi
# Set physics parameters for faster-than-realtime simulation if needed
if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
echo "INFO [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
--reptype gz.msgs.Boolean --timeout 5000 \
--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
fi
# Set up camera to follow the model if requested
if [ -n "${PX4_GZ_FOLLOW}" ]; then
echo "INFO [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
# Set camera to follow the model
${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
--reptype gz.msgs.Boolean --timeout 5000 \
--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
# Set default camera offset if not specified
follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
# Set camera offset
${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
--reptype gz.msgs.Boolean --timeout 5000 \
--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
echo "INFO [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
fi
elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
# Connect to existing model
echo "INFO [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${PX4_GZ_MODEL_NAME}"; then
echo "ERROR [init] gz_bridge failed to start and attach to existing model"
exit 1
fi
else
echo "ERROR [init] failed to pass either PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
exit 1
fi
# NOTE: Only for rover_mecanum and spacecraft_2d. All other models have
# the magnetometer sensor in the model.sdf.
if param compare -s SENS_EN_MAGSIM 1
then
sensor_mag_sim start
fi
# NOTE: new gz has airspeed sensor, remove once added
if param compare -s SENS_EN_ARSPDSIM 1
then
sensor_airspeed_sim start
fi
ROMFS/px4fmu_common/init.d-posix/px4-rc.jmavsim
+14
View File
@@ -0,0 +1,14 @@
#!/bin/sh
# shellcheck disable=SC2154
echo "INFO [init] jMAVSim simulator"
if jps | grep -i jmavsim; then
kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
sleep 1
fi
param set IMU_INTEG_RATE 250
./jmavsim_run.sh -l -r 250 &
simulator_mavlink start -h localhost $((4560+px4_instance))
ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlinksim
+27
View File
@@ -0,0 +1,27 @@
#!/bin/sh
# shellcheck disable=SC2154
# EKF2 specifics
param set-default EKF2_GPS_DELAY 10
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0
simulator_tcp_port=$((4560+px4_instance))
# 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 "INFO [init] PX4_SIM_HOSTNAME: localhost"
simulator_mavlink start -c $simulator_tcp_port
else
echo "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: ${PX4_SIM_HOSTNAME}"
simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
fi
ROMFS/px4fmu_common/init.d-posix/px4-rc.params
-5
View File
@@ -1,5 +0,0 @@
#!/bin/sh
# shellcheck disable=SC2154
#param set-default MAV_SYS_ID $((px4_instance+1))
#param set-default IMU_INTEG_RATE 250
ROMFS/px4fmu_common/init.d-posix/px4-rc.sihsim
+38
View File
@@ -0,0 +1,38 @@
#!/bin/sh
echo "INFO [init] SIH simulator"
if [ -n "${PX4_HOME_LAT}" ]; then
param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
fi
if [ -n "${PX4_HOME_LON}" ]; then
param set SIH_LOC_LON0 ${PX4_HOME_LON}
fi
if [ -n "${PX4_HOME_ALT}" ]; then
param set SIH_LOC_H0 ${PX4_HOME_ALT}
fi
if simulator_sih start; then
if param compare -s SENS_EN_BAROSIM 1
then
sensor_baro_sim start
fi
if param compare -s SENS_EN_GPSSIM 1
then
sensor_gps_sim start
fi
if param compare -s SENS_EN_MAGSIM 1
then
sensor_mag_sim start
fi
if param compare -s SENS_EN_AGPSIM 1
then
sensor_agp_sim start
fi
else
echo "ERROR [init] simulator_sih failed to start"
exit 1
fi
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+11 -193
View File
@@ -4,204 +4,22 @@
# Simulator IMU data provided at 250 Hz
param set-default IMU_INTEG_RATE 250
# For simulation, allow registering modes while armed for developer convenience
param set-default COM_MODE_ARM_CHK 1
if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
echo "INFO [init] SIH simulator"
if [ -n "${PX4_HOME_LAT}" ]; then
param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
fi
if [ -n "${PX4_HOME_LON}" ]; then
param set SIH_LOC_LON0 ${PX4_HOME_LON}
fi
if [ -n "${PX4_HOME_ALT}" ]; then
param set SIH_LOC_H0 ${PX4_HOME_ALT}
fi
if simulator_sih start; then
if param compare -s SENS_EN_BAROSIM 1
then
sensor_baro_sim start
fi
if param compare -s SENS_EN_GPSSIM 1
then
sensor_gps_sim start
fi
if param compare -s SENS_EN_MAGSIM 1
then
sensor_mag_sim start
fi
if param compare -s SENS_EN_AGPSIM 1
then
sensor_agp_sim start
fi
else
echo "ERROR [init] simulator_sih failed to start"
exit 1
fi
# Run SIH
. px4-rc.sihsim
elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
# Use Gazebo
echo "INFO [init] Gazebo simulator"
# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
if [ -z "${PX4_GZ_STANDALONE}" ]; then
# "gz sim" only available in Garden and later
GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
then
# "gz sim" from Garden on
gz_command="gz"
gz_sub_command="sim"
# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
echo "INFO [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
fi
else
echo "ERROR [init] Gazebo gz please install gz-garden"
exit 1
fi
# look for running ${gz_command} gazebo world
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
# shellcheck disable=SC2153
if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
if [ -f ./gz_env.sh ]; then
. ./gz_env.sh
elif [ -f ../gz_env.sh ]; then
. ../gz_env.sh
fi
echo "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}/${PX4_GZ_WORLD}.sdf" &
if [ -z "${HEADLESS}" ]; then
# HEADLESS not set, starting gui
${gz_command} ${gz_sub_command} -g &
fi
else
# Gazebo is already running, do not start the simulator, nor the GUI
echo "INFO [init] gazebo already running world: ${gz_world}"
PX4_GZ_WORLD=${gz_world}
fi
else
echo "INFO [init] Standalone PX4 launch, waiting for Gazebo"
fi
# start gz_bridge
if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
# model specified, gz_bridge will spawn model
if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
# model pose provided: [x, y, z, roll, pitch, yaw]
# Clean potential input line formatting.
model_pose="$( 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: ${model_pose}"
else
# model pose not provided, origin will be used
echo "WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
model_pose="0,0,0,0,0,0"
fi
# start gz bridge with pose arg.
if ! gz_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
echo "ERROR [init] gz_bridge failed to start and spawn model"
exit 1
fi
elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
# model name specificed, gz_bridge will attach to existing model
echo "INFO [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
if ! gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
echo "ERROR [init] gz_bridge failed to start and attach to existing model"
exit 1
fi
else
echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
exit 1
fi
# Start the sensor simulator modules
if param compare -s SENS_EN_BAROSIM 1
then
sensor_baro_sim start
fi
if param compare -s SENS_EN_GPSSIM 1
then
sensor_gps_sim start
fi
if param compare -s SENS_EN_MAGSIM 1
then
sensor_mag_sim start
fi
if param compare -s SENS_EN_ARSPDSIM 1
then
sensor_airspeed_sim start
fi
if param compare -s SENS_EN_AGPSIM 1
then
sensor_agp_sim start
fi
# Run Gazebo (gz)
. px4-rc.gzsim
elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
echo "INFO [init] jMAVSim simulator"
if jps | grep -i jmavsim; then
kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
sleep 1
fi
param set IMU_INTEG_RATE 250
./jmavsim_run.sh -l -r 250 &
simulator_mavlink start -h localhost $((4560+px4_instance))
# Run jMAVSim
. px4-rc.jmavsim
else
# otherwise start simulator (mavlink) module
# EKF2 specifics
param set-default EKF2_GPS_DELAY 10
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0
simulator_tcp_port=$((4560+px4_instance))
# 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 "INFO [init] PX4_SIM_HOSTNAME: localhost"
simulator_mavlink start -c $simulator_tcp_port
else
echo "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: ${PX4_SIM_HOSTNAME}"
simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
fi
# Run simulator_mavlink module for interface with gazebo-classic
. px4-rc.mavlinksim
fi
ROMFS/px4fmu_common/init.d-posix/rcS
+16 -5
View File
@@ -126,6 +126,15 @@ then
set AUTOCNF yes
fi
# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
env | while IFS='=' read -r line; do
value=${line#*=}
name=${line%%=*}
case $name in
"PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
esac
done
# multi-instance setup
# shellcheck disable=SC2154
param set MAV_SYS_ID $((px4_instance+1))
@@ -153,8 +162,6 @@ fi
param set-default BAT1_N_CELLS 4
param set-default CBRK_SUPPLY_CHK 894281
# disable check, no CPU load reported on posix yet
param set-default COM_CPU_MAX -1
param set-default COM_RAM_MAX -1
@@ -229,9 +236,6 @@ then
exit 1
fi
#user defined params for instances can be in PATH
. px4-rc.params
dataman start
# only start the simulator if not in replay mode, as both control the lockstep time
@@ -247,6 +251,8 @@ then
battery_simulator start
fi
system_power_simulator start
tone_alarm start
rc_update start
manual_control start
@@ -337,6 +343,11 @@ then
payload_deliverer start
fi
if param compare -s ICE_EN 1
then
internal_combustion_engine_control start
fi
#user defined mavlink streams for instances can be in PATH
. px4-rc.mavlink
ROMFS/px4fmu_common/init.d/CMakeLists.txt
+7
View File
@@ -92,6 +92,13 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
)
endif()
if(CONFIG_MODULES_SPACECRAFT)
px4_add_romfs_files(
rc.sc_apps
rc.sc_defaults
)
endif()
if(CONFIG_MODULES_ROVER_MECANUM)
px4_add_romfs_files(
rc.rover_mecanum_apps
ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+9
View File
@@ -5,6 +5,15 @@
# @type Standard VTOL
# @class VTOL
#
# @output Motor1 MC motor front right
# @output Motor2 MC motor back left
# @output Motor3 MC motor front left
# @output Motor4 MC motor back right
# @output Motor5 Forward thrust motor
# @output Servo1 Aileron
# @output Servo2 Elevator
# @output Servo3 Rudder
#
# @maintainer Roman Bapst <roman@auterion.com>
#
# @board px4_fmu-v2 exclude
ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
+9 -8
View File
@@ -17,15 +17,16 @@ param set UAVCAN_ENABLE 0
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4
param set HIL_ACT_REV 1
# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4 # rudder
param set HIL_ACT_FUNC1 201
param set HIL_ACT_FUNC2 202
param set HIL_ACT_FUNC3 203
ROMFS/px4fmu_common/init.d/airframes/1103_standard_vtol_sih.hil
+92
View File
@@ -0,0 +1,92 @@
#!/bin/sh
#
# @name SIH Standard VTOL QuadPlane
#
# @type Simulation
# @class VTOL
#
# @output Motor1 MC motor front right
# @output Motor2 MC motor back left
# @output Motor3 MC motor front left
# @output Motor4 MC motor back right
# @output Motor5 Forward thrust motor
# @output Servo1 Ailerons (single channel)
# @output Servo2 Elevator
# @output Servo3 Rudder
#
# @board px4_fmu-v2 exclude
#
. ${R}etc/init.d/rc.vtol_defaults
param set UAVCAN_ENABLE 0
param set-default VT_TYPE 2
param set-default MPC_MAN_Y_MAX 60
param set-default MC_PITCH_P 5
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR0_PX 0.2
param set-default CA_ROTOR0_PY 0.2
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR1_PX -0.2
param set-default CA_ROTOR1_PY -0.2
param set-default CA_ROTOR2_PX 0.2
param set-default CA_ROTOR2_PY -0.2
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.2
param set-default CA_ROTOR3_PY 0.2
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX -0.3
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR4_AX 1
param set-default CA_ROTOR4_AZ 0
# SIH for now hardcodes this configuration which we need to match in the airframe files.
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 1
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
param set-default CA_SV_CS1_TRQ_P 1
param set-default CA_SV_CS1_TYPE 3 # elevator
param set-default CA_SV_CS2_TRQ_Y 1
param set-default CA_SV_CS2_TYPE 4 # rudder
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 10
param set-default FW_AIRSPD_MAX 12
param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
param set-default HIL_ACT_FUNC3 103
param set-default HIL_ACT_FUNC4 104
param set-default HIL_ACT_FUNC5 201
param set-default HIL_ACT_FUNC6 202
param set-default HIL_ACT_FUNC7 203
param set-default HIL_ACT_FUNC8 105
param set-default MAV_TYPE 22
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set-default SYS_HITL 2
# disable some checks to allow to fly:
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
param set-default SENS_DPRES_OFF 0.001
param set SIH_T_MAX 2.0
param set SIH_Q_MAX 0.0165
param set SIH_MASS 0.2
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
param set SIH_IXX 0.00354
param set SIH_IYY 0.000625
param set SIH_IZZ 0.00300
param set SIH_IXZ 0
param set SIH_KDV 0.2
param set SIH_L_ROLL 0.2
# sih as standard vtol
param set SIH_VEHICLE_TYPE 3
ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
-1
View File
@@ -12,7 +12,6 @@
. ${R}etc/init.d/rc.mc_defaults
# Commander Parameters
param set-default COM_OBS_AVOID 1
param set-default COM_DISARM_LAND 0.5
# EKF2 parameters
ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2
-5
View File
@@ -22,11 +22,6 @@ param set-default MC_PITCHRATE_I 0.3
param set-default MC_ROLLRATE_D 0.004
param set-default MC_PITCHRATE_D 0.004
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
+1 -1
View File
@@ -7,12 +7,12 @@
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board px4_fmu-v6x exclude
#
. ${R}etc/init.d/rc.mc_defaults
# Commander Parameters
param set-default COM_OBS_AVOID 1
param set-default COM_DISARM_LAND 0.5
# EKF2 parameters
ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
+27 -16
View File
@@ -21,26 +21,37 @@ param set-default RBCLW_FUNC1 101
param set-default RBCLW_FUNC2 102
param set-default RBCLW_REV 1 # reverse right wheels
# Rover parameters
param set-default NAV_ACC_RAD 0.5
# Differential Parameters
param set-default RD_WHEEL_TRACK 0.3
param set-default RD_MAX_ACCEL 3
param set-default RD_MAX_DECEL 4
param set-default RD_MAX_JERK 5
param set-default RD_MAX_SPEED 1.6
param set-default RD_MAX_THR_SPD 1.9
param set-default RD_MAX_THR_YAW_R 0.7
param set-default RD_MAX_YAW_ACCEL 600
param set-default RD_MAX_YAW_RATE 250
param set-default RD_SPEED_P 0.1
param set-default RD_SPEED_I 0.01
param set-default RD_TRANS_DRV_TRN 0.785398
param set-default RD_TRANS_TRN_DRV 0.139626
param set-default RD_YAW_P 5
param set-default RD_YAW_I 0.1
param set-default RD_YAW_RATE_P 0.1
param set-default RD_YAW_RATE_I 0.01
# Pure pursuit parameters
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 4
param set-default RO_JERK_LIM 5
param set-default RO_MAX_THR_SPEED 1.9
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.1
param set-default RO_YAW_RATE_P 0.1
param set-default RO_YAW_RATE_LIM 250
param set-default RO_YAW_ACCEL_LIM 600
param set-default RO_YAW_DECEL_LIM 600
# Rover Attitude Control Parameters
param set-default RO_YAW_P 2.5
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 1.6
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 0.1
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
param set-default PP_LOOKAHD_GAIN 1
ROMFS/px4fmu_common/init.d/airframes/51001_axial_scx10_2_trail_honcho
+23 -14
View File
@@ -14,24 +14,33 @@
. ${R}etc/init.d/rc.rover_ackermann_defaults
param set-default BAT1_N_CELLS 3
# Rover parameters
param set-default NAV_ACC_RAD 0.5
# Ackermann Parameters
param set-default RA_WHEEL_BASE 0.321
param set-default RA_ACC_RAD_GAIN 2
param set-default RA_ACC_RAD_MAX 3
param set-default RA_LAT_ACCEL_I 0.01
param set-default RA_LAT_ACCEL_P 0.1
param set-default RA_MAX_ACCEL 1.5
param set-default RA_MAX_DECEL 10
param set-default RA_MAX_JERK 20
param set-default RA_MAX_LAT_ACCEL 3
param set-default RA_MAX_SPEED 2.5
param set-default RA_MAX_STR_ANG 0.5236
param set-default RA_MAX_STR_RATE 270
param set-default RA_MAX_THR_SPEED 2.8
param set-default RA_SPEED_I 0.01
param set-default RA_SPEED_P 0.1
param set-default RA_WHEEL_BASE 0.321
param set-default RA_STR_RATE_LIM 270
# Rover Control Parameters
param set-default RO_ACCEL_LIM 1.5
param set-default RO_DECEL_LIM 10
param set-default RO_JERK_LIM 20
param set-default RO_MAX_THR_SPEED 2.8
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.1
param set-default RO_YAW_RATE_P 0.1
param set-default RO_YAW_RATE_LIM 120
# Rover Attitude Control Parameters
param set-default RO_YAW_P 2.5
# Rover Position Control Parameters
param set-default RO_SPEED_LIM 2.5
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 0.1
# Pure pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
ROMFS/px4fmu_common/init.d/airframes/70000_spacecraft_2d
+150
View File
@@ -0,0 +1,150 @@
#!/bin/sh
#
# @name KTH Space Robot
#
# @type Space Robot
# @class 2D Space Robot
#
# @maintainer DISCOWER
#
. ${R}etc/init.d/rc.sc_defaults
param set-default CA_AIRFRAME 14
param set-default MAV_TYPE 99
param set-default CA_THRUSTER_CNT 8
param set-default CA_R_REV 0
# Auto to be provided by Custom Airframe
param set-default CA_METHOD 0
# Set proper failsafes
param set-default COM_ACT_FAIL_ACT 0
param set-default COM_LOW_BAT_ACT 0
param set-default NAV_DLL_ACT 0
param set-default GF_ACTION 1
param set-default NAV_RCL_ACT 1
param set-default COM_POSCTL_NAVL 2
# Set Mocap Vision frame
param set EKF2_EV_CTRL 15
param set EKF2_HGT_REF 3
# disable attitude failure detection
param set-default FD_FAIL_P 0
param set-default FD_FAIL_R 0
param set-default CA_THRUSTER0_PX -0.12
param set-default CA_THRUSTER0_PY -0.12
param set-default CA_THRUSTER0_PZ 0.0
param set-default CA_THRUSTER0_CT 1.4
param set-default CA_THRUSTER0_AX 1.0
param set-default CA_THRUSTER0_AY 0.0
param set-default CA_THRUSTER0_AZ 0.0
param set-default CA_THRUSTER1_PX 0.12
param set-default CA_THRUSTER1_PY -0.12
param set-default CA_THRUSTER1_PZ 0.0
param set-default CA_THRUSTER1_CT 1.4
param set-default CA_THRUSTER1_AX -1.0
param set-default CA_THRUSTER1_AY 0.0
param set-default CA_THRUSTER1_AZ 0.0
param set-default CA_THRUSTER2_PX -0.12
param set-default CA_THRUSTER2_PY 0.12
param set-default CA_THRUSTER2_PZ 0.0
param set-default CA_THRUSTER2_CT 1.4
param set-default CA_THRUSTER2_AX 1.0
param set-default CA_THRUSTER2_AY 0.0
param set-default CA_THRUSTER2_AZ 0.0
param set-default CA_THRUSTER3_PX 0.12
param set-default CA_THRUSTER3_PY 0.12
param set-default CA_THRUSTER3_PZ 0.0
param set-default CA_THRUSTER3_CT 1.4
param set-default CA_THRUSTER3_AX -1.0
param set-default CA_THRUSTER3_AY 0.0
param set-default CA_THRUSTER3_AZ 0.0
param set-default CA_THRUSTER4_PX 0.12
param set-default CA_THRUSTER4_PY -0.12
param set-default CA_THRUSTER4_PZ 0.0
param set-default CA_THRUSTER4_CT 1.4
param set-default CA_THRUSTER4_AX 0.0
param set-default CA_THRUSTER4_AY 1.0
param set-default CA_THRUSTER4_AZ 0.0
param set-default CA_THRUSTER5_PX 0.12
param set-default CA_THRUSTER5_PY 0.12
param set-default CA_THRUSTER5_PZ 0.0
param set-default CA_THRUSTER5_CT 1.4
param set-default CA_THRUSTER5_AX 0.0
param set-default CA_THRUSTER5_AY -1.0
param set-default CA_THRUSTER5_AZ 0.0
param set-default CA_THRUSTER6_PX -0.12
param set-default CA_THRUSTER6_PY -0.12
param set-default CA_THRUSTER6_PZ 0.0
param set-default CA_THRUSTER6_CT 1.4
param set-default CA_THRUSTER6_AX 0.0
param set-default CA_THRUSTER6_AY 1.0
param set-default CA_THRUSTER6_AZ 0.0
param set-default CA_THRUSTER7_PX -0.12
param set-default CA_THRUSTER7_PY 0.12
param set-default CA_THRUSTER7_PZ 0.0
param set-default CA_THRUSTER7_CT 1.4
param set-default CA_THRUSTER7_AX 0.0
param set-default CA_THRUSTER7_AY -1.0
param set-default CA_THRUSTER7_AZ 0.0
param set-default PWM_AUX_TIM0 10
param set-default PWM_AUX_TIM1 10
param set-default PWM_AUX_TIM2 10
param set-default PWM_AUX_FUNC1 101
param set-default PWM_AUX_FUNC2 102
param set-default PWM_AUX_FUNC3 103
param set-default PWM_AUX_FUNC4 104
param set-default PWM_AUX_FUNC5 105
param set-default PWM_AUX_FUNC6 106
param set-default PWM_AUX_FUNC7 107
param set-default PWM_AUX_FUNC8 108
param set-default PWM_AUX_DIS1 0
param set-default PWM_AUX_DIS2 0
param set-default PWM_AUX_DIS3 0
param set-default PWM_AUX_DIS4 0
param set-default PWM_AUX_DIS5 0
param set-default PWM_AUX_DIS6 0
param set-default PWM_AUX_DIS7 0
param set-default PWM_AUX_DIS8 0
param set-default PWM_AUX_MIN1 0
param set-default PWM_AUX_MIN2 0
param set-default PWM_AUX_MIN3 0
param set-default PWM_AUX_MIN4 0
param set-default PWM_AUX_MIN5 0
param set-default PWM_AUX_MIN6 0
param set-default PWM_AUX_MIN7 0
param set-default PWM_AUX_MIN8 0
# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
param set-default PWM_AUX_MAX1 10000
param set-default PWM_AUX_MAX2 10000
param set-default PWM_AUX_MAX3 10000
param set-default PWM_AUX_MAX4 10000
param set-default PWM_AUX_MAX5 10000
param set-default PWM_AUX_MAX6 10000
param set-default PWM_AUX_MAX7 10000
param set-default PWM_AUX_MAX8 10000
# Controller Tunings
param set-default SC_ROLLRATE_P 0.14
param set-default SC_PITCHRATE_P 0.14
param set-default SC_ROLLRATE_I 0.3
param set-default SC_PITCHRATE_I 0.3
param set-default SC_ROLLRATE_D 0.004
param set-default SC_PITCHRATE_D 0.004
ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+1
View File
@@ -48,6 +48,7 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
1100_rc_quad_x_sih.hil
1101_rc_plane_sih.hil
1102_tailsitter_duo_sih.hil
1103_standard_vtol_sih.hil
)
endif()
ROMFS/px4fmu_common/init.d/rc.fw_defaults
-1
View File
@@ -24,7 +24,6 @@ param set-default COM_DISARM_PRFLT -1
param set-default EKF2_ARSP_THR 8
param set-default EKF2_FUSE_BETA 1
param set-default EKF2_GPS_CHECK 21
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_REQ_EPH 10
param set-default EKF2_REQ_EPV 10
ROMFS/px4fmu_common/init.d/rc.heli_defaults
+1
View File
@@ -12,6 +12,7 @@ param set-default MAV_TYPE 4
param set-default COM_PREARM_MODE 2
param set-default COM_SPOOLUP_TIME 10
param set-default COM_DISARM_PRFLT 60
# No need for minimum collective pitch (or airmode) to keep torque authority
param set-default MPC_MANTHR_MIN 0
ROMFS/px4fmu_common/init.d/rc.mc_defaults
+3
View File
@@ -21,3 +21,6 @@ param set-default RTL_RETURN_ALT 30
param set-default RTL_DESCEND_ALT 10
param set-default GPS_UBX_DYNMODEL 6
# lower RNG_FOG since MC are expected to fly closer over obstacles
param set-default EKF2_RNG_FOG 1.0
ROMFS/px4fmu_common/init.d/rc.sc_apps
+36
View File
@@ -0,0 +1,36 @@
#!/bin/sh
#
# Standard apps for sr. Attitude/Position estimator, Attitude/Position control.
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
# Start Spacecraft App
spacecraft start
# Estimator Group Selection
# ekf2 start &
# Start MicroDDS Client
# uxrce_dds_client start -t udp -h 192.168.0.1 -n spacebot2
# uxrce_dds_client start -t udp -p 8888
#
# Start Control Allocator
#
# sc_control_allocator start
#
# Start Spacecraft Rate Controller.
#
# sc_rate_control start
#
# Start Spacecraft Attitude Controller.
#
# sc_att_control start
#
# Start Spacecraft Position Controller.
#
# sc_pos_control start
ROMFS/px4fmu_common/init.d/rc.sc_defaults
+27
View File
@@ -0,0 +1,27 @@
#!/bin/sh
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
set VEHICLE_TYPE sc
# MAV_TYPE_QUADROTOR 2
#param set-default MAV_TYPE 12
# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
param set-default UXRCE_DDS_AG_IP -1062731775
# Disable preflight disarm to not interfere with external launching
param set-default COM_DISARM_PRFLT -1
param set-default CBRK_SUPPLY_CHK 894281
param set-default COM_ARM_HFLT_CHK 0
#Missing params
param set-default CP_DIST -1.0
# Default to MoCap fusion
param set-default ATT_EXT_HDG_M 2
param set-default EKF2_EV_CTRL 15
param set-default EKF2_EV_DELAY 5
param set-default EKF2_GPS_CTRL 0
param set-default EKF2_HGT_REF 3
ROMFS/px4fmu_common/init.d/rc.sensors
+1 -7
View File
@@ -71,12 +71,6 @@ then
fi
# Heater driver for temperature regulated IMUs.
if param compare -s SENS_EN_THERMAL 1
then
heater start
fi
# Teraranger one tof sensor
if param greater -s SENS_EN_TRANGER 0
then
@@ -232,9 +226,9 @@ then
# compasses
hmc5883 -T -X -q start
iis2mdc -X -q start
ist8308 -X -q start
ist8310 -X -q start
lis2mdl -X -q start
if ! lis3mdl -X -q start
then
lis3mdl -X -q -a 0x1c start
ROMFS/px4fmu_common/init.d/rcS
+110 -80
View File
@@ -302,85 +302,14 @@ else
. $FCONFIG
fi
if px4io supported
then
# Check if PX4IO present and update firmware if needed.
if [ -f $IOFW ]
then
if ! px4io checkcrc ${IOFW}
then
# tune Program PX4IO
tune_control play -t 16 # tune 16 = PROG_PX4IO
if px4io update ${IOFW}
then
usleep 10000
tune_control stop
if px4io checkcrc ${IOFW}
then
tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
else
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
fi
else
tune_control stop
fi
fi
if ! px4io start
then
echo "PX4IO start failed"
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
fi
fi
fi
#
# RC update (map raw RC input to calibrate manual control)
# start before commander
#
rc_update start
manual_control start
# Start camera trigger, capture and PPS before pwm_out as they might access
# pwm pins
if param greater -s TRIG_MODE 0
then
camera_trigger start
camera_feedback start
fi
# PPS capture driver
if param greater -s PPS_CAP_ENABLE 0
then
pps_capture start
fi
# RPM capture driver
if param greater -s RPM_CAP_ENABLE 0
then
rpm_capture start
fi
# Camera capture driver
if param greater -s CAM_CAP_FBACK 0
then
if camera_capture start
then
camera_capture on
fi
fi
#
# Sensors System (start before Commander so Preflight checks are properly run).
# Commander needs to be this early for in-air-restarts.
#
if param greater SYS_HITL 0
then
if ! pwm_out_sim start -m hil
then
tune_control play error
fi
sensors start -h
commander start -h
# disable GPS
param set GPS_1_CONFIG 0
@@ -419,14 +348,11 @@ else
fi
sensors start
commander start
dshot start
pwm_out start
fi
#
# state estimator selection
#
if param compare -s EKF2_EN 1
then
ekf2 start &
@@ -442,6 +368,102 @@ else
attitude_estimator_q start
fi
#
# px4io
#
if px4io supported
then
# Check if PX4IO present and update firmware if needed.
if [ -f $IOFW ]
then
if ! px4io checkcrc ${IOFW}
then
# tune Program PX4IO
tune_control play -t 16 # tune 16 = PROG_PX4IO
if px4io update ${IOFW}
then
usleep 10000
tune_control stop
if px4io checkcrc ${IOFW}
then
tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
else
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
fi
else
tune_control stop
fi
fi
if ! px4io start
then
echo "PX4IO start failed"
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
fi
fi
fi
# Heater driver for temperature regulated IMUs.
# The heater needs to start after px4io.
if param compare -s SENS_EN_THERMAL 1
then
heater start
fi
#
# RC update (map raw RC input to calibrate manual control)
# start before commander
#
rc_update start
manual_control start
# Start camera trigger, capture and PPS before pwm_out as they might access
# pwm pins
if param greater -s TRIG_MODE 0
then
camera_trigger start
camera_feedback start
fi
# PPS capture driver
if param greater -s PPS_CAP_ENABLE 0
then
pps_capture start
fi
# RPM capture driver
if param greater -s RPM_CAP_ENABLE 0
then
rpm_capture start
fi
# Camera capture driver
if param greater -s CAM_CAP_FBACK 0
then
if camera_capture start
then
camera_capture on
fi
fi
#
# Commander
#
if param greater SYS_HITL 0
then
commander start -h
if ! pwm_out_sim start -m hil
then
tune_control play error
fi
else
commander start
dshot start
pwm_out start
fi
#
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
@@ -474,11 +496,14 @@ else
rc_input start $RC_INPUT_ARGS
# Manages USB interface
if ! cdcacm_autostart start
if param greater -s SYS_USB_AUTO -1
then
sercon
echo "Starting MAVLink on /dev/ttyACM0"
mavlink start -d /dev/ttyACM0
if ! cdcacm_autostart start
then
sercon
echo "Starting MAVLink on /dev/ttyACM0"
mavlink start -d /dev/ttyACM0
fi
fi
#
@@ -541,6 +566,11 @@ else
payload_deliverer start
fi
if param compare -s ICE_EN 1
then
internal_combustion_engine_control start
fi
#
# Optional board supplied extras: rc.board_extras
#
Tools/HIL/run_tests.py
-3
View File
@@ -136,9 +136,6 @@ class TestHardwareMethods(unittest.TestCase):
def test_atomic_bitset(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))
def test_bezier(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))
def test_bitset(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))
Tools/astyle/check_newlines.sh
+2 -2
View File
@@ -3,14 +3,14 @@
return_value=0
# Check if there are files checked in that don't end in a newline (POSIX requirement)
git grep --cached -Il '' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
if [ $? -ne 0 ]; then
return_value=1
fi
# Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks)
git grep --cached -Il '' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
if [ $? -ne 0 ]; then
return_value=1
Tools/astyle/files_to_check_code_style.sh
+2
View File
@@ -8,10 +8,12 @@ if [ $# -gt 0 ]; then
fi
exec find boards msg src platforms test \
-path msg/translation_node -prune -o \
-path platforms/nuttx/NuttX -prune -o \
-path platforms/qurt/dspal -prune -o \
-path src/drivers/ins/vectornav/libvnc -prune -o \
-path src/drivers/uavcan/libdronecan -prune -o \
-path src/drivers/uavcan/libuavcan -prune -o \
-path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-path src/drivers/cyphal/libcanard -prune -o \
-path src/lib/crypto/monocypher -prune -o \
Tools/ci/check_msg_versioning.sh
Executable
+76
View File
@@ -0,0 +1,76 @@
#! /bin/bash
# Copy a git diff between two commits if msg versioning is added
DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
PX4_SRC_DIR="$DIR/.."
BASE_COMMIT="$1"
HEAD_COMMIT="$2"
if [ -z "${BASE_COMMIT}" ] || [ -z "${HEAD_COMMIT}" ]
then
echo "Usage: $0 <base_commit> <head_commit>"
exit 1
fi
failed=0
# Iterate git diff files between BASE_COMMIT and HEAD_COMMIT
modified_files="$(git --no-pager diff --no-color --name-only --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
all_files="$( git --no-pager diff --no-color --name-only "${BASE_COMMIT}"..."${HEAD_COMMIT}")"
for file in ${modified_files}
do
if [[ "$file" == msg/versioned/*.msg ]]; then
echo "Modified msg file: ${file}"
# A modified versioned .msg file requires:
# - Incrementing the version
# - An old .msg version exists
# - A translation header exists and is included
# Ignore changes to comments or constants
content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
if [ "${content_a}" == "${content_b}" ]; then
echo "No version update required for ${file}"
continue
fi
diff=$(git --no-pager diff --no-color --diff-filter=M "${BASE_COMMIT}"..."${HEAD_COMMIT}" -- "${file}")
old_version=$(echo "${diff}" | sed -n 's/^-uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
new_version=$(echo "${diff}" | sed -n 's/^+uint32 MESSAGE_VERSION = \([0-9]*\).*/\1/p')
# Check that the version is incremented
if [ -z "${new_version}" ] || [ -z "${old_version}" ]; then
echo "ERROR: Missing version update for ${file}"
failed=1
else
if [ $((new_version-old_version)) -ne 1 ]; then
echo "ERROR: Version not incremented by +1 for ${file}"
failed=1
fi
fi
# Check that an old version exists
filename=$(basename -- "$file")
filename="${filename%.*}"
old_version_file="px4_msgs_old/msg/${filename}V${old_version}.msg"
if [[ "${all_files}" != *"${old_version_file}"* ]]; then
echo "ERROR: Old message version does not exist for ${file} (missing ${old_version_file})"
failed=1
fi
# Check that a translation header got added by checking for a modification to all_translations.h
# If it is changed, we assume a new header got added too, so we don't explicitly check for that
if [[ "${modified_files}" != *"translations/all_translations.h"* ]]; then
echo "ERROR: missing modification to translations/all_translations.h"
failed=1
fi
fi
done
if [ ${failed} -ne 0 ]; then
echo ""
echo "ERROR: missing message versioning due to changed .msg file(s) (see above)"
echo "Check the documentation under https://docs.px4.io/main/en/ros2/px4_ros2_msg_translation_node.html for how to add a new version"
exit 1
fi
Tools/ci/generate_board_targets_json.py
+10 -1
View File
@@ -69,7 +69,7 @@ def process_target(px4board_file, target_name):
group = None
if px4board_file.endswith("default.px4board") or \
px4board_file.endswith("recovery.px4board") or \
px4board_file.endswith("performance-test.px4board") or \
px4board_file.endswith("bootloader.px4board"):
kconf.load_config(px4board_file, replace=True)
else: # Merge config with default.px4board
@@ -87,19 +87,25 @@ def process_target(px4board_file, target_name):
if platform not in excluded_platforms:
# get the container based on the platform and toolchain
# TODO enable once newer container is validated
# container = 'ghcr.io/px4/px4-dev:v1.16.0-alpha2-419-gd48631e2ce'
if platform == 'posix':
# TODO remove once newer container is validated
container = 'px4io/px4-dev-base-focal:2021-09-08'
group = 'base'
if toolchain:
if toolchain.startswith('aarch64'):
# TODO remove once newer container is validated
container = 'px4io/px4-dev-aarch64:2022-08-12'
group = 'aarch64'
elif toolchain == 'arm-linux-gnueabihf':
# TODO remove once newer container is validated
container = 'px4io/px4-dev-armhf:2023-06-26'
group = 'armhf'
else:
if verbose: print(f'unmatched toolchain: {toolchain}')
elif platform == 'nuttx':
# TODO remove once newer container is validated
container = 'px4io/px4-dev-nuttx-focal:2022-08-12'
group = 'nuttx'
else:
@@ -124,7 +130,10 @@ if(verbose):
# - Events
metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
grouped_targets['base'] = {}
# TODO remove once newer container is validated
grouped_targets['base']['container'] = 'px4io/px4-dev-base-focal:2021-09-08'
# TODO enable once newer container is validated
#grouped_targets['base']['container'] = 'ghcr.io/px4/px4-dev:v1.16.0-alpha2-419-gd48631e2ce'
grouped_targets['base']['manufacturers'] = {}
grouped_targets['base']['manufacturers']['px4'] = []
grouped_targets['base']['manufacturers']['px4'] += metadata_targets
Tools/ci/package_build_artifacts.sh
+21 -19
View File
@@ -4,8 +4,8 @@ mkdir artifacts
cp **/**/*.px4 artifacts/
cp **/**/*.elf artifacts/
for build_dir_path in build/*/ ; do
build_dir_path=${build_dir_path::${#build_dir_path}-1}
build_dir=${build_dir_path#*/}
build_dir=${build_dir::${#build_dir}-1}
mkdir artifacts/$build_dir
find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
# Airframe
@@ -26,21 +26,23 @@ for build_dir_path in build/*/ ; do
echo "----------"
done
# general metadata
mkdir artifacts/_general/
cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
# Airframe
cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
# Parameters
cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
# Actuators
cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
# Events
cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
# ROS 2 msgs
cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
# Module Docs
ls -la artifacts/_general/
if [ -d artifacts/px4_sitl_default ]; then
# general metadata
mkdir artifacts/_general/
cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
# Airframe
cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
# Parameters
cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
# Actuators
cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
# Events
cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
# ROS 2 msgs
cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
# Module Docs
ls -la artifacts/_general/
fi
Tools/copy_to_ros_ws.sh
Executable
+33
View File
@@ -0,0 +1,33 @@
#! /bin/bash
# Copy msgs and the message translation node into a ROS workspace directory
DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
PX4_SRC_DIR="$DIR/.."
WS_DIR="$1"
if [ ! -e "${WS_DIR}" ]
then
echo "Usage: $0 <ros_ws_dir>"
exit 1
fi
WS_DIR="$WS_DIR"/src
if [ ! -e "${WS_DIR}" ]
then
echo "'src' directory not found inside ROS workspace (${WS_DIR})"
exit 1
fi
cp -ar "${PX4_SRC_DIR}"/msg/translation_node "${WS_DIR}"
cp -ar "${PX4_SRC_DIR}"/msg/px4_msgs_old "${WS_DIR}"
PX4_MSGS_DIR="${WS_DIR}"/px4_msgs
if [ ! -e "${PX4_MSGS_DIR}" ]
then
git clone https://github.com/PX4/px4_msgs.git "${PX4_MSGS_DIR}"
rm -rf "${PX4_MSGS_DIR}"/msg/*.msg
rm -rf "${PX4_MSGS_DIR}"/msg/versioned/*.msg
rm -rf "${PX4_MSGS_DIR}"/srv/*.srv
fi
cp -ar "${PX4_SRC_DIR}"/msg/*.msg "${PX4_MSGS_DIR}"/msg
cp -ar "${PX4_SRC_DIR}"/msg/versioned/*.msg "${PX4_MSGS_DIR}"/msg
cp -ar "${PX4_SRC_DIR}"/srv/*.srv "${PX4_MSGS_DIR}"/srv
Tools/cryptotools.py
-172
View File
@@ -1,172 +0,0 @@
#!/usr/bin/env python3
import nacl.encoding
import nacl.signing
import nacl.hash
import struct
import binascii
import json
import time
import argparse
from pathlib import Path
import sys
def make_public_key_h_file(signing_key,key_name):
"""
This file generate the public key header file
to be included into the bootloader build.
"""
public_key_c='\n'
for i,c in enumerate(signing_key.verify_key.encode(encoder=nacl.encoding.RawEncoder)):
public_key_c+= hex(c)
public_key_c+= ', '
if((i+1)%8==0):
public_key_c+= '\n'
with open(key_name+'.pub' ,mode='w') as f:
f.write("//Public key to verify signed binaries")
f.write(public_key_c)
def make_key_file(signing_key, key_name):
"""
Writes the key.json file.
Attention do not override your existing key files.
Do not publish your private key!!
"""
key_file = Path(key_name+'.json')
if key_file.is_file():
print("ATTENTION: key.json already exists, are you sure you want to overwrite it?")
print("Remove file and run script again.")
print("Script aborted!")
sys.exit(1)
keys={}
keys["date"] = time.asctime()
keys["public"] = (signing_key.verify_key.encode(encoder=nacl.encoding.HexEncoder)).decode()
keys["private"] = binascii.hexlify(signing_key._seed).decode()
#print (keys)
with open(key_name+'.json', "w") as write_file:
json.dump(keys, write_file)
return keys
def ed25519_sign(private_key, signee_bin):
"""
This function creates the signature. It takes the private key and the binary file
and returns the tuple (signature, public key)
"""
signing_key = nacl.signing.SigningKey(private_key, encoder=nacl.encoding.HexEncoder)
# Sign a message with the signing key
signed = signing_key.sign(signee_bin,encoder=nacl.encoding.RawEncoder)
# Obtain the verify key for a given signing key
verify_key = signing_key.verify_key
# Serialize the verify key to send it to a third party
verify_key_hex = verify_key.encode(encoder=nacl.encoding.HexEncoder)
return signed.signature, verify_key_hex
def sign(bin_file_path, key_file_path=None, generated_key_file=None):
"""
reads the binary file and the key file.
If the key file does not exist, it generates a
new key file.
"""
with open(bin_file_path,mode='rb') as f:
signee_bin = f.read()
# Align to 4 bytes. Signature always starts at
# 4 byte aligned address, but the signee size
# might not be aligned
if len(signee_bin)%4 != 0:
signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)
try:
with open(key_file_path,mode='r') as f:
keys = json.load(f)
#print(keys)
except:
print('ERROR: Key file',key_file_path,'not found')
sys.exit(1)
signature, public_key = ed25519_sign(keys["private"], signee_bin)
# Do a sanity check. This type of signature is always 64 bytes long
assert len(signature) == 64
# Print out the signing information
print("Binary \"%s\" signed."%bin_file_path)
print("Signature:",binascii.hexlify(signature))
print("Public key:",binascii.hexlify(public_key))
return signee_bin + signature, public_key
def generate_key(key_file):
"""
Generate two files:
"key_file.pub" containing the public key in C-format to be included in the bootloader build
"key_file.json, containt both private and public key.
Do not leak or loose the key file. This is mandatory for signing
all future binaries you want to deploy!
"""
# Generate a new random signing key
signing_key = nacl.signing.SigningKey.generate()
# Serialize the verify key to send it to a third party
verify_key_hex = signing_key.verify_key.encode(encoder=nacl.encoding.HexEncoder)
print("public key :",verify_key_hex)
private_key_hex=binascii.hexlify(signing_key._seed)
print("private key :",private_key_hex)
keys = make_key_file(signing_key,key_file)
make_public_key_h_file(signing_key,key_file)
return keys
if(__name__ == "__main__"):
parser = argparse.ArgumentParser(description="""CLI tool to calculate and add signature to px4. bin files\n
if given it takes an existing key file, else it generate new keys""",
epilog="Output: SignedBin.bin and a key.json file")
parser.add_argument("signee", help=".bin file to add signature", nargs='?', default=None)
parser.add_argument("signed", help="signed output .bin", nargs='?', default=None)
parser.add_argument("--key", help="key.json file", default="Tools/test_keys/test_keys.json")
parser.add_argument("--rdct", help="binary R&D certificate file", default=None)
parser.add_argument("--genkey", help="new generated key", default=None)
args = parser.parse_args()
# Only generate a key pair, don't sign
if args.genkey:
# Only create a key file, don't sign
generate_key(args.genkey)
print('New key file generated:',args.genkey)
sys.exit(0);
# Check that both signee and signed exist
if not args.signee or not args.signed:
print("ERROR: Must either provide file names for both signee and signed")
print(" or --genkey [key] to generate a new key pair")
sys.exit(1)
# Issue a warning when signing with testing key
if args.key=='Tools/test_keys/test_keys.json':
print("WARNING: Signing with PX4 test key")
# Sign the binary
signed, public_key = sign(args.signee, args.key, args.genkey)
with open(args.signed, mode='wb') as fs:
# Write signed binary
fs.write(signed)
# Append rdcert if given
try:
with open(args.rdct ,mode='rb') as f:
with open(args.signed, mode='ab') as fs:
fs.write(f.read())
except:
pass
Tools/decrypt_ulog.py
-91
View File
@@ -1,91 +0,0 @@
#!/usr/bin/env python3
import sys
try:
from Crypto.Cipher import ChaCha20
except ImportError as e:
print("Failed to import crypto: " + str(e))
print("")
print("You may need to install it using:")
print(" pip3 install --user pycryptodome")
print("")
sys.exit(1)
from Crypto.PublicKey import RSA
from Crypto.Cipher import PKCS1_OAEP
from Crypto.Hash import SHA256
from pathlib import Path
import argparse
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="""CLI tool to decrypt an ulog file\n""")
parser.add_argument("ulog_file", help=".ulge/.ulgc, encrypted log file", nargs='?', default=None)
parser.add_argument("ulog_key", help=".ulgk, legacy encrypted key (give empty string '' to ignore for .ulge)", nargs='?', default=None)
parser.add_argument("rsa_key", help=".pem format key for decrypting the ulog key", nargs='?', default=None)
args = parser.parse_args()
# Check all arguments are given
if not args.rsa_key:
print('Need all arguments, the encrypted ulog file, key file (or empty string if not needed) and the key decryption key (.pem)')
sys.exit(1)
# Read the private RSA key to decrypt the cahcha key
with open(args.rsa_key, 'rb') as f:
r = RSA.importKey(f.read(), passphrase='')
if args.ulog_key == "":
key_data_filename = args.ulog_file
magic = "ULogEnc"
else:
key_data_filename = args.ulog_key
magic = "ULogKey"
with open(key_data_filename, 'rb') as f:
# Read the encrypted xchacha key and the nonce
ulog_key_header = f.read(22)
# Parse the header
try:
# magic
if not ulog_key_header.startswith(bytearray(magic.encode())):
print("Incorrect header magic")
raise Exception()
# version
if ulog_key_header[7] != 1:
print("Unsupported header version")
raise Exception()
# expected key exchange algorithm (RSA_OAEP)
if ulog_key_header[16] != 4:
print("Unsupported key algorithm")
raise Exception()
key_size = ulog_key_header[19] << 8 | ulog_key_header[18]
nonce_size = ulog_key_header[21] << 8 | ulog_key_header[20]
ulog_key_cipher = f.read(key_size)
nonce = f.read(nonce_size)
except:
print("Keydata format error")
sys.exit(1)
if magic == "ULogEnc":
data_offset = 22 + key_size + nonce_size
else:
data_offset = 0
# Decrypt the xchacha key
cipher_rsa = PKCS1_OAEP.new(r,SHA256)
ulog_key = cipher_rsa.decrypt(ulog_key_cipher)
#print(binascii.hexlify(ulog_key))
# Read and decrypt the ulog data
cipher = ChaCha20.new(key=ulog_key, nonce=nonce)
outfilename = Path(args.ulog_file).stem + ".ulog"
with open(args.ulog_file, 'rb') as f:
if data_offset > 0:
f.seek(data_offset)
with open(outfilename, 'wb') as out:
out.write(cipher.decrypt(f.read()))
Tools/docker_run.sh
+5 -5
View File
@@ -5,8 +5,8 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
if [[ $@ =~ .*px4_fmu.* ]]; then
# nuttx-px4fmu-v{1,2,3,4,5}
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]] || [[ $@ =~ .*navigator.* ]]; then
# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default, bluerobotics_navigator_default
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
elif [[ $@ =~ .*pilotpi.arm64 ]]; then
# scumaker_pilotpi_arm64
@@ -33,10 +33,10 @@ fi
# docker hygiene
#Delete all stopped containers (including data-only containers)
#docker rm $(docker ps -a -q)
# docker container prune
#Delete all 'untagged/dangling' (<none>) images
#docker rmi $(docker images -q -f dangling=true)
# docker image prune
echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
@@ -47,6 +47,7 @@ CCACHE_DIR=${HOME}/.ccache
mkdir -p "${CCACHE_DIR}"
docker run -it --rm -w "${SRC_DIR}" \
--user="$(id -u):$(id -g)" \
--env=AWS_ACCESS_KEY_ID \
--env=AWS_SECRET_ACCESS_KEY \
--env=BRANCH_NAME \
@@ -54,7 +55,6 @@ docker run -it --rm -w "${SRC_DIR}" \
--env=CI \
--env=CODECOV_TOKEN \
--env=COVERALLS_REPO_TOKEN \
--env=LOCAL_USER_ID="$(id -u)" \
--env=PX4_ASAN \
--env=PX4_MSAN \
--env=PX4_TSAN \
Tools/ecl_ekf/analyse_logdata_ekf.py
+2 -2
View File
@@ -111,13 +111,13 @@ def find_checks_that_apply(
innov_fail_checks.append('yaw')
# Velocity Sensor Checks
if (np.amax(estimator_status_flags['cs_gps']) > 0.5):
if (np.amax(estimator_status_flags['cs_gnss_vel']) > 0.5):
sensor_checks.append('vel')
innov_fail_checks.append('velh')
innov_fail_checks.append('velv')
# Position Sensor Checks
if (pos_checks_when_sensors_not_fused or (np.amax(estimator_status_flags['cs_gps']) > 0.5)
if (pos_checks_when_sensors_not_fused or (np.amax(estimator_status_flags['cs_gnss_pos']) > 0.5)
or (np.amax(estimator_status_flags['cs_ev_pos']) > 0.5)):
sensor_checks.append('pos')
innov_fail_checks.append('posh')
Tools/ecl_ekf/plotting/pdf_report.py
+1 -1
View File
@@ -185,7 +185,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
# plot control mode summary A
data_plot = ControlModeSummaryPlot(
status_flags_time, estimator_status_flags, [['cs_tilt_align', 'cs_yaw_align'],
['cs_gps', 'cs_opt_flow', 'cs_ev_pos'], ['cs_baro_hgt', 'cs_gps_hgt',
['cs_gnss_pos', 'cs_opt_flow', 'cs_ev_pos'], ['cs_baro_hgt', 'cs_gps_hgt',
'cs_rng_hgt', 'cs_ev_hgt'], ['cs_mag_hdg', 'cs_mag_3d', 'cs_mag_dec']],
x_label='time (sec)', y_labels=['aligned', 'pos aiding', 'hgt aiding', 'mag aiding'],
annotation_text=[['tilt alignment', 'yaw alignment'], ['GPS aiding', 'optical flow aiding',
Tools/kconfig/allyesconfig.py
+3
View File
@@ -53,6 +53,7 @@ exception_list = [
'SYSTEMCMDS_I2C_LAUNCHER', # undefined reference to `system',
'MODULES_MUORB_APPS', # Weird QURT/Posix package doesn't work on x86 px4 sitl
'MODULES_SIMULATION_SIMULATOR_SIH', # Causes compile errors
'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
]
exception_list_sitl = [
@@ -73,6 +74,8 @@ exception_list_sitl = [
'SYSTEMCMDS_I2CDETECT', # Not supported in SITL
'SYSTEMCMDS_DMESG', # Not supported in SITL
'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL
'SYSTEMCMDS_MFT_CFG', # Not supported in SITL
'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
]
def main():
Tools/log_encryption/README.md
+86
View File
@@ -0,0 +1,86 @@
# PX4 Log Encryption Tools
Tools for generating encryption keys, building PX4 firmware with encrypted logs, downloading logs, and decrypting them.
For more information see: https://docs.px4.io/main/en/dev_log/log_encryption.html
## Usage
1. **Get the board file**:
In order to use these tools you need to create an `encrypted_logs` target in your target board directory. For example:
```bash
encrypted_logs.px4board
```
Using `make menuconfig` you should enable these settings: `Blake2s hash algorithm`, `entropy pool` and `strong random number generator` and select `use interrupts` to feed timing randomness to the entropy pool.
Once you have generated the keys make sure you add them to the boardconfig.
```bash
make <your_board_name>_encrypted_logs menuconfig
```
2. **Generate Keys**:
```bash
cd PX4-Autopilot/Tools/log_encryption
python3 generate_keys.py
```
Make sure you have the right key in your board file
```CONFIG_PUBLIC_KEY1="../../../keys/public/public_key.pub"```
3. **Build Firmware**:
```bash
cd PX4-Autopilot
AND
make <your_board_name>_encrypted_logs
FOR INSTANCE
make_ark_fpv_encrypted_logs
Upload the custom firmware on your flight controller and record some logs
```
4. **Download Logs**:
```bash
cd PX4-Autopilot/Tools/log_encryption
python3 download_logs.py /dev/ttyACM0 --baudrate 57600
OR
python3 download_logs.py udp:0.0.0.0:14550
```
Addresses might need to be adjusted
5. **Decrypt Logs**:
The easiest way to run this is to have your private key and encrypted logs in the following folders respectively:
```bash
PX4-Autopilot/keys/private
PX4-Autopilot/logs/encrypted
```
Then run:
```bash
cd PX4-Autopilot/Tools/log_encryption
AND
# Uses default key + default folder
python3 decrypt_logs.py
OR
# Use --help to get all the options
python3 decrypt_logs.py --help
```
Your decrypted logs can be found in:
```bash
PX4-Autopilot/logs/decrypted
```
Otherwise
## Directory Structure
- **`keys/`**: Encryption keys.
- **`logs/encrypted/`**: Downloaded encrypted logs.
- **`logs/decrypted/`**: Decrypted logs.

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