fly316/PX4-Autopilot
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Merged master into stable

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This commit is contained in:
Lorenz Meier
2016-08-06 19:42:14 +02:00
parent cb1528008f c76c8fda04
commit d537a1b628
816 changed files with 41249 additions and 16457 deletions
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.gitignore
-1
View File
@@ -64,7 +64,6 @@ CMakeLists.txt.user
GPATH
GRTAGS
GTAGS
*.config
*.creator
*.creator.user
*.files
.gitmodules
+6 -3
View File
@@ -1,12 +1,15 @@
[submodule "mavlink/include/mavlink/v1.0"]
path = mavlink/include/mavlink/v1.0
url = git://github.com/mavlink/c_library.git
url = https://github.com/mavlink/c_library_v1.git
[submodule "mavlink/include/mavlink/v2.0"]
path = mavlink/include/mavlink/v2.0
url = https://github.com/mavlink/c_library_v2.git
[submodule "NuttX"]
path = NuttX
url = git://github.com/PX4/NuttX.git
url = https://github.com/PX4/NuttX.git
[submodule "src/modules/uavcan/libuavcan"]
path = src/modules/uavcan/libuavcan
url = git://github.com/UAVCAN/libuavcan.git
url = https://github.com/UAVCAN/libuavcan.git
[submodule "Tools/genmsg"]
path = Tools/genmsg
url = https://github.com/ros/genmsg.git
.travis.yml
+80 -92
View File
@@ -7,129 +7,117 @@ matrix:
fast_finish: true
include:
- os: linux
sudo: false
env: GCC_VER=4.8
- os: linux
sudo: false
env: GCC_VER=4.9
sudo: required
env: GCC_VER=4.8 DOCKER_REPO="px4io/px4-dev-base:2016-07-14"
services:
- docker
- os: osx
osx_image: xcode7
sudo: true
osx_image: xcode7.3
env: CCACHE_CPP2=1
cache:
ccache: true
pip: true
directories:
- $HOME/.ccache
addons:
apt:
sources:
- kubuntu-backports
- ubuntu-toolchain-r-test
- george-edison55-precise-backports
packages:
- build-essential
- ccache
- clang-3.5
- cmake
- g++-4.9
- gcc-4.9
- genromfs
- libc6-i386
- libncurses5-dev
- ninja-build
- python-argparse
- python-empy
- s3cmd
- texinfo
- zlib1g-dev
- $HOME/.pip/cache/
- $HOME/Library/Caches/pip
before_install:
- if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
pushd .
&& cd ~ && mkdir gcc && cd gcc
&& if [ "$GCC_VER" = "4.8" ]; then GCC_URL="https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2" ; fi
&& if [ "$GCC_VER" = "4.9" ]; then GCC_URL="https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2" ; fi
&& wget -O gcc.tar.bz2 ${GCC_URL}
&& tar -jxf gcc.tar.bz2 --strip 1
&& exportline="export PATH=$HOME/gcc/bin:\$PATH"
&& if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
&& . ~/.profile
&& popd
&& git clone git://github.com/PX4/CI-Tools.git
&& ./CI-Tools/s3cmd-configure
&& mkdir -p ~/bin
&& wget -O ~/bin/astyle https://github.com/PX4/astyle/releases/download/2.05.1/astyle-linux && chmod +x ~/bin/astyle
&& astyle --version
&& if [ "$CXX" = "g++" ]; then export CXX="g++-4.9" CC="gcc-4.9"; fi
cd ${TRAVIS_BUILD_DIR}
&& git fetch --unshallow && git fetch --all --tags
&& docker pull ${DOCKER_REPO}
;
elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
brew tap PX4/homebrew-px4
&& brew update; brew update
&& brew install cmake ninja
&& brew install genromfs
&& sudo easy_install pip
&& sudo pip install empy
sudo -H easy_install pip
&& sudo -H pip install empy
&& wget https://s3.amazonaws.com/px4-travis/toolchain/macos/ccache
&& sudo mv ccache /usr/local/bin
&& chmod +x /usr/local/bin/ccache
&& mkdir -p ~/bin
&& sudo ln -s /usr/local/bin/ccache ~/bin/c++
&& sudo ln -s /usr/local/bin/ccache ~/bin/cc
&& sudo ln -s /usr/local/bin/ccache ~/bin/clang
&& sudo ln -s /usr/local/bin/ccache ~/bin/clang++
&& sudo ln -s /usr/local/bin/ccache ~/bin/g++
&& sudo ln -s /usr/local/bin/ccache ~/bin/gcc
&& export PATH=~/bin:$PATH
&& wget https://s3.amazonaws.com/px4-travis/toolchain/macos/ninja
&& sudo mv ninja /usr/local/bin
&& chmod +x /usr/local/bin/ninja
;
fi
before_script:
# setup ccache
- mkdir -p ~/bin
- ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
- ln -s /usr/bin/ccache ~/bin/arm-none-eabi-gcc
- ln -s /usr/bin/ccache ~/bin/arm-none-eabi-size
- ln -s /usr/bin/ccache ~/bin/arm-none-eabi-objcopy
- ln -s /usr/bin/ccache ~/bin/clang++
- ln -s /usr/bin/ccache ~/bin/clang++-3.4
- ln -s /usr/bin/ccache ~/bin/clang++-3.5
- ln -s /usr/bin/ccache ~/bin/clang
- ln -s /usr/bin/ccache ~/bin/clang-3.4
- ln -s /usr/bin/ccache ~/bin/clang-3.5
- export PATH=~/bin:$PATH
env:
global:
- NINJA_BUILD=1
# AWS KEY: $PX4_AWS_KEY
- secure: "XknnZHWBbpHbN4f3fuAVwUztdLIu8ej4keC3aQSDofo3uw8AFEzojfsQsN9u77ShWSIV4iYJWh9C9ALkCx7TocJ+xYjiboo10YhM9lH/8u+EXjYWG6GHS8ua0wkir+cViSxoLNaMtmcb/rPTicJecAGANxLsIHyBAgTL3fkbLSA="
# AWS SECRET: $PX4_AWS_SECRET
- secure: "h6oajlW68dWIr+wZhO58Dv6e68dZHrBLVA6lPXZmheFQBW6Xam1HuLGA0LOW6cL9TnrAsOZ8g4goB58eMQnMEijFZKi3mhRwZhd/Xjq/ZGJOWBUrLoQHZUw2dQk5ja5vmUlKEoQnFZjDuMjx8KfX5ZMNy8A3yssWZtJYHD8c+bk="
- PX4_AWS_BUCKET=px4-travis
- GIT_SUBMODULES_ARE_EVIL=1
script:
- git submodule update --quiet --init --recursive
- ccache -M 1GB; ccache -z
- if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
arm-none-eabi-gcc --version && make check VECTORCONTROL=1;
docker run --rm -v `pwd`:`pwd`:rw -v $HOME/.ccache:$HOME/.ccache:rw -e CCACHE_DIR=$HOME/.ccache -e GIT_SUBMODULES_ARE_EVIL=1 -w=`pwd` --user=$UID -it ${DOCKER_REPO} /bin/bash -c "make check_qgc_firmware VECTORCONTROL=1";
elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
make check_posix_sitl_default;
fi
- ccache -s
after_success:
- if [[ "${TRAVIS_OS_NAME}" = "linux" && "${GCC_VER}" = "4.8" ]]; then
make package_firmware
&& find . -name \*.px4 -exec cp "{}" . \;
&& find . -maxdepth 1 -mindepth 1 -type f -name 'nuttx-*-default.px4' | sed 's/.\/nuttx-//' | sed 's/-default.px4//' | xargs -I{} mv nuttx-{}-default.px4 {}_default.px4
&& ./CI-Tools/s3cmd-put `find . -maxdepth 1 -mindepth 1 -type f -name '*_default.px4'` build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
&& ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
&& ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
&& ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
&& ./CI-Tools/s3cmd-put CI-Tools/timestamp.html timestamp.html
&& echo ""
&& echo "Binaries have been posted to:" https://px4-travis.s3.amazonaws.com/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/Firmware.zip
;
- make package_firmware && mkdir s3deploy-archive && cp Firmware.zip s3deploy-archive/
# find all px4 firmware (*.px4) and rename
- find . -type f -name 'nuttx-*-default.px4' -exec cp "{}" . \;
- find . -maxdepth 1 -mindepth 1 -type f -name 'nuttx-*-default.px4' | sed 's/.\/nuttx-//' | sed 's/-default.px4//' | xargs -I{} mv nuttx-{}-default.px4 {}_default.px4
- mkdir s3deploy-branch && mv *_default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml s3deploy-branch/
# only deploy GCC 4.8 builds on master/beta/stable
- if [[ "$GCC_VER" == "4.8" && ( "$TRAVIS_BRANCH" == "master" || "$TRAVIS_BRANCH" == "beta" || "$TRAVIS_BRANCH" == "stable" ) ]]; then
export PX4_S3_DEPLOY=1;
fi
deploy:
provider: releases
api_key:
secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
file: "Firmware.zip"
skip_cleanup: true
on:
tags: true
all_branches: true
repo: PX4/Firmware
condition: $GCC_VER = 4.8
# deploy *.px4 to S3 px4-travis/Firmware/$TRAVIS_BRANCH
- provider: s3
access_key_id: $PX4_AWS_KEY
secret_access_key:
secure: $PX4_AWS_SECRET
bucket: px4-travis
local_dir: s3deploy-branch
upload-dir: Firmware/$TRAVIS_BRANCH
acl: public_read
skip_cleanup: true
on:
all_branches: true
condition: $PX4_S3_DEPLOY = 1
# deploy Firmware.zip to S3 px4-travis/archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID
- provider: s3
access_key_id: $PX4_AWS_KEY
secret_access_key:
secure: $PX4_AWS_SECRET
bucket: px4-travis
local_dir: s3deploy-archive
upload-dir: archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID
acl: public_read
skip_cleanup: true
on:
all_branches: true
condition: $PX4_S3_DEPLOY = 1
# on tags deploy Firmware.zip to Github releases
- provider: releases
api_key:
secure: cdHWLRBxA5UlYpOS0Sp891QK7PFmMgQ5ZWs1aPt+sw0rIrowyWMHCwXNBEdUqaExHYNYgXCUDI0EzNgfB7ZcR63Qv1MQeoyamV4jsxlyAqDqmxNtWO82S6RhHGeMLk26VgFKzynVcEk1IYlQP2nqzMQLdu+jTrngERuAIrCdRuc=
file: "Firmware.zip"
skip_cleanup: true
on:
tags: true
all_branches: true
repo: PX4/Firmware
condition: $GCC_VER = 4.8
notifications:
webhooks:
CMakeLists.txt
+38 -7
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@@ -132,7 +132,7 @@ cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
set(CONFIG "nuttx_px4fmu-v2_default" CACHE STRING "desired configuration")
set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
set(THREADS "4" CACHE STRING
@@ -152,6 +152,17 @@ set(target_name "${OS}-${BOARD}-${LABEL}")
message(STATUS "${target_name}")
# Define GNU standard installation directories
include(GNUInstallDirs)
# Setup install paths
if(NOT CMAKE_INSTALL_PREFIX)
if (${OS} STREQUAL "posix")
set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
endif()
endif()
message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
# switch to ros CMake file if building ros
if (${OS} STREQUAL "ros")
include("cmake/ros-CMakeLists.txt")
@@ -202,7 +213,7 @@ if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0)
endif()
set(version_major 1)
set(version_minor 0)
set(version_minor 4)
set(version_patch 1)
set(version "${version_major}.${version_minor}.${version_patch}")
set(package-contact "px4users@googlegroups.com")
@@ -235,7 +246,7 @@ endforeach()
px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
@@ -295,11 +306,11 @@ add_definitions(${definitions})
#=============================================================================
# source code generation
#
file(GLOB_RECURSE msg_files msg/*.msg)
add_subdirectory(msg)
px4_generate_messages(TARGET msg_gen
MSG_FILES ${msg_files}
OS ${OS}
DEPENDS git_genmsg git_gencpp
DEPENDS git_genmsg git_gencpp prebuild_targets
)
px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD})
px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
@@ -348,6 +359,9 @@ foreach(module ${config_module_list})
#message(STATUS "adding module: ${module}")
endforeach()
# Keep track of external shared libs required for modules
set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "module_external_libraries")
add_subdirectory(src/firmware/${OS})
#add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
@@ -368,10 +382,27 @@ px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
#
# Important to having packaging at end of cmake file.
#
set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
set(CPACK_PACKAGE_VERSION ${version})
set(CPACK_PACKAGE_CONTACT ${package_contact})
set(CPACK_PACKAGE_CONTACT ${package-contact})
set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
set(short-description "The px4 autopilot.")
set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
set(CPACK_GENERATOR "ZIP")
set(CPACK_SOURCE_GENERATOR "ZIP")
set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${version}")
set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
if ("${CMAKE_SYSTEM}" MATCHES "Linux")
find_program(DPKG_PROGRAM dpkg)
if (EXISTS ${DPKG_PROGRAM})
list (APPEND CPACK_GENERATOR "DEB")
endif()
endif()
if (${OS} STREQUAL "posix")
set(CPACK_SET_DESTDIR "ON")
endif()
include(CPack)
endif() # ros alternative endif
Documentation/px4_hil/UserGuide.md
+2 -2
View File
@@ -66,8 +66,8 @@ Linux or Eagle with a working IP interface (?? does this need further instructio
> adb shell
# bash
root@linaro-developer:/# cd ???
root@linaro-developer:/# ./mainapp
App name: mainapp
root@linaro-developer:/# ./px4
App name: px4
Enter a command and its args:
uorb start
muorb start
Images/mindpx-v2.prototype
+4 -4
View File
@@ -1,10 +1,10 @@
{
"board_id": 9,
"magic": "PX4FWv2",
"description": "Firmware for the MindPx-V2 board",
"board_id": 88,
"magic": "MindPX",
"description": "Firmware for the MindPXFMUv2 board",
"image": "",
"build_time": 0,
"summary": "MindPx-v2",
"summary": "MindPXFMUv2",
"version": "2.1",
"image_size": 0,
"git_identity": "",
Images/tap-v1.prototype
+12
View File
@@ -0,0 +1,12 @@
{
"board_id": 78,
"magic": "PX4FWv1",
"description": "Firmware for the TAPv1 board",
"image": "",
"build_time": 0,
"summary": "TAPv1",
"version": "0.1",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}
Makefile
+102 -26
View File
@@ -50,11 +50,11 @@ ifneq ($(CMAKE_VER),0)
$(warning sudo apt-get install cmake)
$(warning )
$(warning Official website:)
$(warning wget https://cmake.org/files/v3.3/cmake-3.3.2-Linux-x86_64.sh)
$(warning chmod +x cmake-3.3.2-Linux-x86_64.sh)
$(warning sudo mkdir /opt/cmake-3.3.2)
$(warning sudo ./cmake-3.3.2-Linux-x86_64.sh --prefix=/opt/cmake-3.3.2 --exclude-subdir)
$(warning export PATH=/opt/cmake-3.3.2/bin:$$PATH)
$(warning wget https://cmake.org/files/v3.4/cmake-3.4.3-Linux-x86_64.sh)
$(warning chmod +x cmake-3.4.3-Linux-x86_64.sh)
$(warning sudo mkdir /opt/cmake-3.4.3)
$(warning sudo ./cmake-3.4.3-Linux-x86_64.sh --prefix=/opt/cmake-3.4.3 --exclude-subdir)
$(warning export PATH=/opt/cmake-3.4.3/bin:$$PATH)
$(warning )
$(error Fatal)
endif
@@ -77,7 +77,7 @@ endif
# in that directory with the target upload.
# explicity set default build target
all: px4fmu-v2_default
all: posix_sitl_default
# Parsing
# --------------------------------------------------------------------
@@ -104,14 +104,27 @@ endif
PX4_MAKE_ARGS = -j$(j) --no-print-directory
endif
# check if replay env variable is set & set build dir accordingly
ifdef replay
BUILD_DIR_SUFFIX := _replay
else
BUILD_DIR_SUFFIX :=
endif
# Functions
# --------------------------------------------------------------------
# describe how to build a cmake config
define cmake-build
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(PWD)/build_$@); fi
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@$(BUILD_DIR_SUFFIX)/Makefile ]; then rm -rf ./build_$@$(BUILD_DIR_SUFFIX); fi
+@if [ ! -e ./build_$@$(BUILD_DIR_SUFFIX)/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@$(BUILD_DIR_SUFFIX) && cd ./build_$@$(BUILD_DIR_SUFFIX) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf ./build_$@$(BUILD_DIR_SUFFIX)); fi
+@Tools/check_submodules.sh
+@(echo "PX4 CONFIG: $@" && cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
+@(echo "PX4 CONFIG: $@$(BUILD_DIR_SUFFIX)" && cd ./build_$@$(BUILD_DIR_SUFFIX) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
endef
define cmake-build-other
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@/Makefile ]; then rm -rf ./build_$@; fi
+@if [ ! -e ./build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@ && cd ./build_$@ && cmake $(2) -G$(PX4_CMAKE_GENERATOR) || (cd .. && rm -rf ./build_$@); fi
+@(cd ./build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
endef
# create empty targets to avoid msgs for targets passed to cmake
@@ -131,12 +144,18 @@ endef
# --------------------------------------------------------------------
# Do not put any spaces between function arguments.
tap-v1_default:
$(call cmake-build,nuttx_tap-v1_default)
px4fmu-v1_default:
$(call cmake-build,nuttx_px4fmu-v1_default)
px4fmu-v2_default:
$(call cmake-build,nuttx_px4fmu-v2_default)
px4fmu-v2_test:
$(call cmake-build,nuttx_px4fmu-v2_test)
px4fmu-v4_default:
$(call cmake-build,nuttx_px4fmu-v4_default)
@@ -155,9 +174,6 @@ posix_sitl_default:
posix_sitl_lpe:
$(call cmake-build,$@)
posix_sitl_ekf2:
$(call cmake-build,$@)
posix_sitl_replay:
$(call cmake-build,$@)
@@ -177,12 +193,13 @@ posix_eagle_default:
$(call cmake-build,$@)
eagle_default: posix_eagle_default qurt_eagle_default
eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default
qurt_eagle_legacy_driver_default:
$(call cmake-build,$@)
$(call cmake-build,$@)
posix_eagle_legacy_driver_default:
$(call cmake-build,$@)
$(call cmake-build,$@)
qurt_excelsior_default:
$(call cmake-build,$@)
@@ -192,10 +209,13 @@ posix_excelsior_default:
excelsior_default: posix_excelsior_default qurt_excelsior_default
posix_rpi2_default:
posix_rpi_native:
$(call cmake-build,$@)
posix_rpi2_release:
posix_rpi_cross:
$(call cmake-build,$@)
posix_bebop_default:
$(call cmake-build,$@)
posix: posix_sitl_default
@@ -213,8 +233,14 @@ run_sitl_ros: sitl_deprecation
# Other targets
# --------------------------------------------------------------------
.PHONY: uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
.NOTPARALLEL: uavcan_firmware check check_format unittest tests package_firmware clean submodulesclean distclean
.PHONY: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
.NOTPARALLEL: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
gazebo_build:
@mkdir -p build_gazebo
@if [ ! -e ./build_gazebo/CMakeCache.txt ];then cd build_gazebo && cmake -Wno-dev -G$(PX4_CMAKE_GENERATOR) ../Tools/sitl_gazebo; fi
@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS)
@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS) sdf
uavcan_firmware:
ifeq ($(VECTORCONTROL),1)
@@ -222,12 +248,39 @@ ifeq ($(VECTORCONTROL),1)
@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
endif
check: check_px4fmu-v1_default check_px4fmu-v2_default check_px4fmu-v4_default_and_uavcan check_mindpx-v2_default check_px4-stm32f4discovery_default check_posix_sitl_default check_unittest check_format
checks_defaults: \
check_px4fmu-v1_default \
check_px4fmu-v2_default \
check_mindpx-v2_default \
check_px4-stm32f4discovery_default \
check_tap-v1_default \
checks_bootloaders: \
checks_tests: \
check_px4fmu-v2_test
checks_alts: \
check_px4fmu-v2_ekf2 \
checks_uavcan: \
check_px4fmu-v4_default_and_uavcan
checks_sitls: \
check_posix_sitl_default
checks_last: \
check_tests \
check_format \
check: checks_defaults checks_tests checks_alts checks_uavcan checks_bootloaders checks_last
quick_check: check_px4fmu-v2_default check_px4fmu-v4_default check_tests check_format
check_format:
$(call colorecho,"Checking formatting with astyle")
@./Tools/fix_code_style.sh
@./Tools/check_code_style.sh
@./Tools/check_code_style_all.sh
check_%:
@echo
@@ -245,7 +298,30 @@ ifeq ($(VECTORCONTROL),1)
endif
unittest: posix_sitl_default
@(cd unittests && cmake -G$(PX4_CMAKE_GENERATOR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) && ctest -j2 --output-on-failure)
$(call cmake-build-other,unittest, ../unittests)
@(cd build_unittest && ctest -j2 --output-on-failure)
run_tests_posix: posix_sitl_default
@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/fs/microsd
@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/eeprom
@touch build_posix_sitl_default/src/firmware/posix/rootfs/eeprom/parameters
@(cd build_posix_sitl_default/src/firmware/posix && ./px4 -d ../../../../posix-configs/SITL/init/rcS_tests | tee test_output)
@(cd build_posix_sitl_default/src/firmware/posix && grep --color=always "All tests passed" test_output)
tests: check_unittest run_tests_posix
# QGroundControl flashable firmware
qgc_firmware: \
check_px4fmu-v1_default \
check_px4fmu-v2_default \
check_mindpx-v2_default \
check_px4fmu-v4_default_and_uavcan \
check_format
extra_firmware: \
check_px4-stm32f4discovery_default \
check_px4fmu-v2_test \
check_px4fmu-v2_ekf2
package_firmware:
@zip --junk-paths Firmware.zip `find . -name \*.px4`
@@ -255,18 +331,18 @@ clean:
@(cd NuttX/nuttx && make clean)
submodulesclean:
@git submodule sync
@git submodule sync --recursive
@git submodule deinit -f .
@git submodule update --init --recursive --force
distclean: submodulesclean
@git clean -ff -x -d
@git clean -ff -x -d -e ".project" -e ".cproject"
# targets handled by cmake
cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
cmake_targets = install test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim replay \
jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane
gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane gazebo_solo gazebo_typhoon_h480
$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
.PHONY: clean
NuttX
+1 -1
Submodule NuttX updated: f0f4bdc872...55e8d557ec
README.md
+1 -1
View File
@@ -1,6 +1,6 @@
## PX4 Pro Drone Autopilot ##
[![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)
[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware) [![Build Status](https://travis-ci.org/PX4/Firmware.svg?branch=master)](https://travis-ci.org/PX4/Firmware) [![Coverity Scan](https://scan.coverity.com/projects/3966/badge.svg?flat=1)](https://scan.coverity.com/projects/3966?tab=overview)
[![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/PX4/Firmware?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
ROMFS/px4fmu_common/init.d/10016_3dr_iris
+2 -2
View File
@@ -25,8 +25,8 @@ then
param set MC_YAWRATE_I 0.25
param set MC_YAWRATE_D 0.0
param set BAT_V_SCALING 0.00989
param set BAT_C_SCALING 0.0124
param set BAT_V_DIV 12.27559
param set BAT_A_PER_V 15.39103
fi
set MIXER quad_w
ROMFS/px4fmu_common/init.d/10020_3dr_quad
+1 -8
View File
@@ -7,7 +7,7 @@
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
sh /etc/init.d/4001_quad_x
if [ $AUTOCNF == yes ]
then
@@ -21,10 +21,3 @@ then
param set MC_PITCHRATE_D 0.004
param set MC_YAW_P 4
fi
set MIXER quad_x
set PWM_OUT 1234
set PWM_MIN 1100
set PWM_MAX 1950
ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta
+14 -8
View File
@@ -15,22 +15,28 @@ then
param set VT_MOT_COUNT 4
param set VT_TRANS_THR 0.75
param set MC_ROLL_P 7.0
param set MC_ROLL_P 6.5
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.002
param set MC_ROLLRATE_I 0.01
param set MC_ROLLRATE_D 0.003
param set MC_ROLLRATE_FF 0.0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.12
param set MC_PITCHRATE_I 0.002
param set MC_PITCH_P 6.5
param set MC_PITCHRATE_P 0.15
param set MC_PITCHRATE_I 0.01
param set MC_PITCHRATE_D 0.003
param set MC_PITCHRATE_FF 0.0
param set MC_YAW_P 2.8
param set MC_YAW_P 3.5
param set MC_YAW_FF 0.5
param set MC_YAWRATE_P 0.22
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_P 0.2
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_FF 0.0
param set MC_YAWRATE_MAX 20
param set MC_YAWRAUTO_MAX 20
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P 0.1
param set MPC_ACC_HOR_MAX 2.0
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
ROMFS/px4fmu_common/init.d/13010_claire
+36
View File
@@ -0,0 +1,36 @@
#!nsh
#
# @name CruiseAder Claire
#
# @type VTOL Tiltrotor
#
# @maintainer Samay Siga <samay_s@icloud.com>
#
sh /etc/init.d/rc.vtol_defaults
if [ $AUTOCNF == yes ]
then
param set VT_TYPE 1
param set VT_TILT_MC 0.08
param set VT_TILT_TRANS 0.5
param set VT_TILT_FW 0.9
param set VT_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 1
fi
set MIXER claire
set PWM_OUT 1234
set PWM_RATE 400
set PWM_MAX 2000
set MIXER_AUX claire
set PWM_AUX_RATE 50
set PWM_AUX_RATE 123
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000
set PWM_AUX_DISARMED 1000
set MAV_TYPE 21
ROMFS/px4fmu_common/init.d/15001_coax_heli
+3 -4
View File
@@ -1,6 +1,6 @@
#!nsh
#
# @name Coaxial Helicopter (such as Esky Lama v4 or Esky Big Lama)
# @name Esky (Big) Lama v4
#
# @type Coaxial Helicopter
#
@@ -12,7 +12,8 @@
# @maintainer Emmanuel Roussel
#
set VEHICLE_TYPE mc
sh /etc/init.d/rc.mc_defaults
set MIXER coax
if [ $AUTOCNF == yes ]
then
@@ -47,7 +48,6 @@ then
param set MC_YAWRATE_FF 0
fi
set MIXER coax
# use PWM parameters for throttle channel
set PWM_OUT 34
set PWM_RATE 400
@@ -62,4 +62,3 @@ set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1500
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+27 -14
View File
@@ -11,31 +11,44 @@ sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF == yes ]
then
param set FW_AIRSPD_MAX 20
param set FW_AIRSPD_MIN 12
param set FW_AIRSPD_TRIM 16
param set FW_R_TC 0.3
param set FW_P_TC 0.3
param set FW_L1_DAMPING 0.74
param set FW_L1_PERIOD 16
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 12.5
param set FW_AIRSPD_TRIM 16.5
param set LNDFW_AIRSPD_MAX 6
param set LNDFW_VELI_MAX 4
param set LNDFW_VEL_XY_MAX 3
param set LNDFW_VEL_Z_MAX 5
param set FW_R_TC 0.4
param set FW_P_TC 0.4
param set FW_THR_CRUISE 0.55
param set FW_L1_DAMPING 0.75
param set FW_L1_PERIOD 15
param set FW_LND_ANG 15
param set FW_LND_FLALT 5
param set FW_LND_FLALT 8
param set FW_LND_HHDIST 15
param set FW_LND_HVIRT 13
param set FW_LND_TLALT 5
param set FW_LND_TLALT 10
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_P_LIM_MAX 20
param set FW_P_LIM_MIN -30
param set FW_R_LIM 45
param set FW_PR_FF 0.45
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.08
param set FW_RR_FF 0.6
param set FW_PR_P 0.005
param set FW_RR_FF 0.45
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.04
param set FW_RR_P 0.013
param set FW_P_RMAX_NEG 70
param set FW_P_RMAX_POS 70
param set FW_R_RMAX 70
param set SYS_COMPANION 157600
param set PWM_MAIN_REV0 1
param set PWM_MAIN_REV1 1
param set PWM_MAIN_REV2 1
param set PWM_DISARMED 0
param set PWM_MIN 900
param set PWM_MAX 2100
param set MIS_TAKEOFF_ALT 50
param set NAV_LOITER_RAD 30
fi
set PWM_DISARMED p:PWM_DISARMED
ROMFS/px4fmu_common/init.d/4002_qavr5
+34
View File
@@ -0,0 +1,34 @@
#!nsh
#
# @name Lumenier QAV-R (raceblade) 5" arms
#
# @type Quadrotor x
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer James Goppert <james.goppert@gmail.com>
#
sh /etc/init.d/4001_quad_x
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 8.0
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.05
param set MC_ROLLRATE_D 0.003
param set MC_PITCH_P 8.0
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.05
param set MC_PITCHRATE_D 0.003
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.15
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set PWM_MIN 1075
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
fi
ROMFS/px4fmu_common/init.d/4008_ardrone
+1 -1
View File
@@ -29,7 +29,7 @@ then
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.8
param set BAT_V_SCALING 0.00838095238
param set BAT_V_DIV 34.32838
fi
set OUTPUT_MODE ardrone
ROMFS/px4fmu_common/init.d/4030_solo
+1 -1
View File
@@ -79,7 +79,7 @@ then
param set RC5_TRIM 1500
fi
set MIXER solo
set MIXER quad_x
set PWM_OUT 1234
set MIXER_AUX none
ROMFS/px4fmu_common/init.d/rc.fw_apps
+1 -1
View File
@@ -6,7 +6,7 @@
#
# Start the attitude and position estimator
#
ekf_att_pos_estimator start
ekf2 start
#
# Start attitude controller
ROMFS/px4fmu_common/init.d/rc.fw_defaults
+6 -1
View File
@@ -11,7 +11,12 @@ then
param set RTL_DESCEND_ALT 100
param set RTL_LAND_DELAY -1
param set NAV_ACC_RAD 50
# FW uses L1 distance for acceptance radius
# set a smaller NAV_ACC_RAD for vertical acceptance distance
param set NAV_ACC_RAD 10
param set MIS_LTRMIN_ALT 25
param set MIS_TAKEOFF_ALT 25
param set PE_VELNE_NOISE 0.3
param set PE_VELD_NOISE 0.35
ROMFS/px4fmu_common/init.d/rc.interface
+8 -8
View File
@@ -45,10 +45,10 @@ then
if mixer load $OUTPUT_DEV $MIXER_FILE
then
echo "[i] Mixer: $MIXER_FILE on $OUTPUT_DEV"
echo "INFO [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
else
echo "[i] Error loading mixer: $MIXER_FILE"
echo "ERROR: Could not load mixer: $MIXER_FILE" >> $LOG_FILE
echo "ERROR [init] Error loading mixer: $MIXER_FILE"
echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
@@ -56,8 +56,8 @@ then
else
if [ $MIXER != skip ]
then
echo "[i] Mixer not defined"
echo "ERROR: Mixer not defined" >> $LOG_FILE
echo "ERROR [init] Mixer not defined"
echo "ERROR [init] Mixer not defined" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
fi
@@ -137,10 +137,10 @@ then
then
if mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
then
echo "[i] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV"
echo "INFO [init] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV"
else
echo "[i] Error loading mixer: $MIXER_AUX_FILE"
echo "ERROR: Could not load mixer: $MIXER_AUX_FILE" >> $LOG_FILE
echo "ERROR [init] Error loading mixer: $MIXER_AUX_FILE"
echo "ERROR [init] Could not load mixer: $MIXER_AUX_FILE" >> $LOG_FILE
fi
else
set PWM_AUX_OUT none
ROMFS/px4fmu_common/init.d/rc.mc_apps
+2 -12
View File
@@ -29,19 +29,9 @@ then
fi
#---------------------------------------
if mc_att_control start
then
else
# try the multiplatform version
mc_att_control_m start
fi
mc_att_control start
if mc_pos_control start
then
else
# try the multiplatform version
mc_pos_control_m start
fi
mc_pos_control start
#
# Start Land Detector
ROMFS/px4fmu_common/init.d/rc.sensors
+12 -1
View File
@@ -14,6 +14,17 @@ else
fmu i2c 1 100000
fmu i2c 2 100000
if ver hwcmp PX4FMU_V4
then
# We know there are sketchy boards out there
# as chinese companies produce Pixracers without
# fully understanding the critical parts of the
# schematic and BOM, leading to sensor brownouts
# on boot. Original Pixracers following the
# open hardware design do not require this.
fmu sensor_reset 20
fi
if ms5611 -s start
then
fi
@@ -190,7 +201,7 @@ else
fi
fi
if sf10a start
if sf1xx start
then
fi
ROMFS/px4fmu_common/init.d/rc.uavcan
-29
View File
@@ -1,29 +0,0 @@
#!nsh
#
# UAVCAN initialization script.
#
#
# Starting stuff according to UAVCAN_ENABLE value
#
if param greater UAVCAN_ENABLE 0
then
if uavcan start
then
echo "[i] UAVCAN started"
else
echo "[i] ERROR: Could not start UAVCAN"
tone_alarm $TUNE_ERR
fi
fi
if param greater UAVCAN_ENABLE 1
then
if uavcan start fw
then
echo "[i] UAVCAN servers started"
else
echo "[i] ERROR: Could not start UAVCAN servers"
tone_alarm $TUNE_ERR
fi
fi
ROMFS/px4fmu_common/init.d/rc.usb
-9
View File
@@ -1,9 +0,0 @@
#!nsh
#
# USB MAVLink start
#
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
# Exit shell to make it available to MAVLink
exit
ROMFS/px4fmu_common/init.d/rcS
+76 -49
View File
@@ -32,9 +32,9 @@ else
then
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "[i] microSD card formatted"
echo "INFO [init] MicroSD card formatted"
else
echo "[i] format failed"
echo "ERROR [init] Format failed"
tone_alarm MNBG
set LOG_FILE /dev/null
fi
@@ -50,7 +50,7 @@ fi
set FRC /fs/microsd/etc/rc.txt
if [ -f $FRC ]
then
echo "[i] Executing script: $FRC"
echo "INFO [init] Executing script: $FRC"
sh $FRC
set MODE custom
fi
@@ -109,6 +109,16 @@ then
set AUTOCNF yes
else
set AUTOCNF no
#
# Release 1.4.0 transitional support:
# set to old default if unconfigured.
# this preserves the previous behaviour
#
if param compare BAT_N_CELLS 0
then
param set BAT_N_CELLS 3
fi
fi
#
@@ -173,7 +183,7 @@ then
#
if param compare SYS_AUTOSTART 0
then
echo "[i] No autostart"
echo "INFO [init] No autostart"
else
sh /etc/init.d/rc.autostart
fi
@@ -192,7 +202,7 @@ then
set FCONFIG /fs/microsd/etc/config.txt
if [ -f $FCONFIG ]
then
echo "[i] Custom: $FCONFIG"
echo "INFO [init] Custom: $FCONFIG"
sh $FCONFIG
fi
unset FCONFIG
@@ -223,7 +233,7 @@ then
if px4io checkcrc ${IO_FILE}
then
echo "PX4IO CRC OK" >> $LOG_FILE
echo "INFO [init] PX4IO CRC OK" >> $LOG_FILE
set IO_PRESENT yes
else
@@ -246,16 +256,16 @@ then
usleep 500000
if px4io checkcrc $IO_FILE
then
echo "PX4IO CRC OK after updating" >> $LOG_FILE
echo "INFO [init] PX4IO CRC OK after updating" >> $LOG_FILE
tone_alarm MLL8CDE
set IO_PRESENT yes
else
echo "PX4IO update failed" >> $LOG_FILE
echo "ERROR [init] PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
else
echo "PX4IO update failed" >> $LOG_FILE
echo "ERROR [init] PX4IO update failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
fi
@@ -263,7 +273,7 @@ then
if [ $IO_PRESENT == no ]
then
echo "ERROR: PX4IO not found" >> $LOG_FILE
echo "ERROR [init] PX4IO not found" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
fi
@@ -330,6 +340,11 @@ then
commander start
fi
#
# Start CPU load monitor
#
load_mon start
#
# Start primary output
#
@@ -350,7 +365,7 @@ then
then
if param compare UAVCAN_ENABLE 0
then
echo "[i] OVERRIDING UAVCAN_ENABLE = 1"
echo "INFO [init] OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE
param set UAVCAN_ENABLE 1
fi
fi
@@ -361,7 +376,7 @@ then
then
sh /etc/init.d/rc.io
else
echo "PX4IO start failed" >> $LOG_FILE
echo "INFO [init] PX4IO start failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
fi
@@ -371,7 +386,7 @@ then
if fmu mode_$FMU_MODE
then
else
echo "FMU start failed" >> $LOG_FILE
echo "ERR [init] FMU start failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
@@ -403,7 +418,7 @@ then
if mkblctrl $MKBLCTRL_ARG
then
else
echo "ERROR: MK start failed" >> $LOG_FILE
echo "ERROR [init] MK start failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
unset MKBLCTRL_ARG
@@ -415,7 +430,7 @@ then
if pwm_out_sim mode_port2_pwm8
then
else
echo "PWM SIM start failed" >> $LOG_FILE
echo "ERROR [init] PWM SIM start failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
fi
@@ -431,7 +446,7 @@ then
then
sh /etc/init.d/rc.io
else
echo "PX4IO start failed" >> $LOG_FILE
echo "ERROR [init] PX4IO start failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
fi
@@ -441,7 +456,7 @@ then
if fmu mode_$FMU_MODE
then
else
echo "FMU mode_$FMU_MODE start failed" >> $LOG_FILE
echo "ERROR [init] FMU mode_$FMU_MODE start failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
@@ -525,25 +540,17 @@ then
# clear pins 5 and 6
if param compare SENS_EN_LL40LS 1
then
set FMU_MODE pwm4
set AUX_MODE pwm4
fi
if param greater TRIG_MODE 0
then
# Get FMU driver out of the way
set MIXER_AUX none
set AUX_MODE none
set FMU_MODE pwm4
set AUX_MODE pwm4
camera_trigger start
fi
fi
# Transitional support: Disable safety on all Pixracer boards
if ver hwcmp PX4FMU_V4
then
if param set CBRK_IO_SAFETY 22027
then
fi
fi
#
# Starting stuff according to UAVCAN_ENABLE value
#
@@ -586,6 +593,12 @@ then
sf0x start
fi
# mb12xx sonar sensor
if param compare SENS_EN_MB12XX 1
then
mb12xx start
fi
if ver hwcmp PX4FMU_V4
then
frsky_telemetry start -d /dev/ttyS6
@@ -612,26 +625,36 @@ then
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
fi
#
# Logging
#
if [ -d /fs/microsd ]
if ver hwcmp PX4FMU_V1
then
if ver hwcmp PX4FMU_V1
if sdlog2 start -r 30 -a -b 2 -t
then
if sdlog2 start -r 30 -a -b 2 -t
fi
else
# check if we should increase logging rate for ekf2 replay message logging
if param greater EKF2_REC_RPL 0
then
if param compare SYS_LOGGER 0
then
fi
else
# check if we should increase logging rate for ekf2 replay message logging
if param greater EKF2_REC_RPL 0
then
if sdlog2 start -r 500 -e -b 20 -t
if sdlog2 start -r 500 -e -b 18 -t
then
fi
else
if sdlog2 start -r 100 -a -b 12 -t
if logger start -r 500
then
fi
fi
else
if param compare SYS_LOGGER 0
then
if sdlog2 start -r 100 -a -b 9 -t
then
fi
else
if logger start -b 12 -t
then
fi
fi
@@ -651,7 +674,7 @@ then
#
if [ $VEHICLE_TYPE == fw ]
then
echo "FIXED WING"
echo "INFO [init] Fixedwing"
if [ $MIXER == none ]
then
@@ -679,11 +702,11 @@ then
#
if [ $VEHICLE_TYPE == mc ]
then
echo "MULTICOPTER"
echo "INFO [init] Multicopter"
if [ $MIXER == none ]
then
echo "Mixer undefined"
echo "INFO [init] Mixer undefined"
fi
if [ $MAV_TYPE == none ]
@@ -721,12 +744,16 @@ then
then
set MAV_TYPE 14
fi
if [ $MIXER == coax ]
then
set MAV_TYPE 3
fi
fi
# Still no MAV_TYPE found
if [ $MAV_TYPE == none ]
then
echo "Unknown MAV_TYPE"
echo "WARN [init] Unknown MAV_TYPE"
param set MAV_TYPE 2
else
param set MAV_TYPE $MAV_TYPE
@@ -744,11 +771,11 @@ then
#
if [ $VEHICLE_TYPE == vtol ]
then
echo "VTOL"
echo "INFO [init] VTOL"
if [ $MIXER == none ]
then
echo "VTOL mixer undefined"
echo "WARN [init] VTOL mixer undefined"
fi
if [ $MAV_TYPE == none ]
@@ -771,7 +798,7 @@ then
# Still no MAV_TYPE found
if [ $MAV_TYPE == none ]
then
echo "Unknown MAV_TYPE"
echo "WARN [init] Unknown MAV_TYPE"
param set MAV_TYPE 19
else
param set MAV_TYPE $MAV_TYPE
@@ -855,14 +882,14 @@ then
#
if [ $VEHICLE_TYPE == none ]
then
echo "[i] No autostart ID found"
echo "WARN [init] No autostart ID found"
fi
# Start any custom addons
set FEXTRAS /fs/microsd/etc/extras.txt
if [ -f $FEXTRAS ]
then
echo "[i] Addons script: $FEXTRAS"
echo "INFO [init] Addons script: $FEXTRAS"
sh $FEXTRAS
fi
unset FEXTRAS
@@ -886,7 +913,7 @@ mavlink boot_complete
if [ $EXIT_ON_END == yes ]
then
echo "NSH EXIT"
echo "INFO [init] NSH exit"
exit
fi
unset EXIT_ON_END
ROMFS/px4fmu_common/logging/conv.zip
BIN
View File
Binary file not shown.
ROMFS/px4fmu_common/mixers/claire.aux.mix
+38
View File
@@ -0,0 +1,38 @@
# mixer for the CruiseAder Claire tilt mechansim servo, aileron and elevator
=======================================================================
Tilt mechanism servo mixer
---------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 4 10000 10000 0 -10000 10000
Aileron mixers
-------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
Elevator mixers
-------------
M: 1
O: 10000 10000 0 -10000 10000
S: 1 1 -10000 -10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/claire.main.mix
+7
View File
@@ -0,0 +1,7 @@
# CruiseAder Claire Main Multirotor mixer for PX4FMU
#
#===========================
R: 4x 10000 10000 10000 0
ROMFS/px4fmu_common/mixers/plane_sitl.main.mix
-26
View File
@@ -1,26 +0,0 @@
Mixer for SITL plane, using the VTOL airframe for now
=========================================================
Z:
Z:
Z:
Z:
# mixer for the elevons
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 5000 5000 0 -10000 10000
S: 0 1 -5000 -5000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 5000 5000 0 -10000 10000
S: 0 1 5000 5000 0 -10000 10000
# mixer for the pusher/puller throttle
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
ROMFS/px4fmu_common/mixers/quad_v.main.mix
-18
View File
@@ -1,18 +0,0 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a quadrotor in the V configuration. All controls
are mixed 100%.
R: 4v 10000 10000 10000 0
Gimbal / payload mixer for last two channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 3 6 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
+9 -1
View File
@@ -6,13 +6,21 @@ are mixed 100%.
R: 4x 10000 10000 10000 0
#mixer for the elevons
Z:
# left elevon
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 5000 5000 0 -10000 10000
S: 1 1 5000 5000 0 -10000 10000
# right elevon
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 5000 5000 0 -10000 10000
S: 1 1 -5000 -5000 0 -10000 10000
# mixer for the virtual elevator
M: 1
O: 10000 10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/solo.main.mix
-7
View File
@@ -1,7 +0,0 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a quadrotor in the X configuration. All controls
are mixed 100%.
R: 4x 10000 10000 10000 0
ROMFS/px4fmu_common/mixers/vtol_delta.aux.mix
+4 -4
View File
@@ -19,13 +19,13 @@ input is inverted between the two servos.
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -6000 -6000 0 -10000 10000
S: 1 1 6500 6500 0 -10000 10000
S: 1 0 -8000 -8000 0 -10000 10000
S: 1 1 8000 8000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 -6000 -6000 0 -10000 10000
S: 1 1 -6500 -6500 0 -10000 10000
S: 1 0 -8000 -8000 0 -10000 10000
S: 1 1 -8000 -8000 0 -10000 10000
Motor speed mixer
-----------------
ROMFS/px4fmu_test/init.d/rc.sensors
+201
View File
@@ -0,0 +1,201 @@
#!nsh
#
# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers.
#
if ver hwcmp PX4FMU_V1
then
if ms5611 start
then
fi
else
# Configure all I2C buses to 100 KHz as they
# are all external or slow
fmu i2c 1 100000
fmu i2c 2 100000
if ms5611 -s start
then
fi
# Blacksheep telemetry
if bst start
then
fi
fi
if adc start
then
fi
if ver hwcmp PX4FMU_V2
then
# External I2C bus
if hmc5883 -C -T -X start
then
fi
# External I2C bus
if lis3mdl -X start
then
fi
# Internal I2C bus
if hmc5883 -C -T -I -R 4 start
then
fi
# external MPU6K is rotated 180 degrees yaw
if mpu6000 -X -R 4 start
then
set BOARD_FMUV3 true
else
set BOARD_FMUV3 false
fi
if [ $BOARD_FMUV3 == true ]
then
# external L3GD20H is rotated 180 degrees yaw
if l3gd20 -X -R 4 start
then
fi
# external LSM303D is rotated 270 degrees yaw
if lsm303d -X -R 6 start
then
fi
# internal MPU6000 is rotated 180 deg roll, 270 deg yaw
if mpu6000 -R 14 start
then
fi
if hmc5883 -C -T -S -R 8 start
then
fi
if meas_airspeed start -b 2
then
fi
else
# FMUv2
if mpu6000 start
then
fi
if l3gd20 start
then
fi
if lsm303d start
then
fi
fi
fi
if ver hwcmp PX4FMU_V4
then
# External I2C bus
if hmc5883 -C -T -X start
then
fi
if lis3mdl -R 2 start
then
fi
# Internal SPI bus is rotated 90 deg yaw
if hmc5883 -C -T -S -R 2 start
then
fi
# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
if mpu6000 -R 2 -T 20608 start
then
fi
# Internal SPI bus mpu9250 is rotated 90 deg yaw
if mpu9250 -R 2 start
then
fi
fi
if ver hwcmp PX4FMU_V1
then
# FMUv1
if mpu6000 start
then
fi
if l3gd20 start
then
fi
# MAG selection
if param compare SENS_EXT_MAG 2
then
if hmc5883 -C -I start
then
fi
else
# Use only external as primary
if param compare SENS_EXT_MAG 1
then
if hmc5883 -C -X start
then
fi
else
# auto-detect the primary, prefer external
if hmc5883 start
then
fi
fi
fi
fi
if ver hwcmp MINDPX_V2
then
if mpu6500 start
then
fi
if lsm303d start
then
fi
if l3gd20 start
then
fi
# External I2C bus
if hmc5883 -C -T -X start
then
fi
if lis3mdl -R 2 start
then
fi
fi
if meas_airspeed start
then
else
if ets_airspeed start
then
else
if ets_airspeed start -b 1
then
fi
fi
fi
if sf1xx start
then
fi
# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
usleep 20000
if sensors start
then
fi
ROMFS/px4fmu_test/init.d/rcS
+10 -112
View File
@@ -38,6 +38,11 @@ fi
# Start a minimal system
#
#
# Start the ORB (first app to start)
#
uorb start
#
# Load parameters
#
@@ -104,131 +109,24 @@ then
tests mount
fi
sh /etc/init.d/rc.sensors
ver all
#
# Run unit tests at board boot, reporting failure as needed.
# Add new unit tests using the same pattern as below.
#
if mavlink_tests
then
else
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
fi
if commander_tests
then
else
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} commander_tests"
fi
if uorb test
then
else
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} uorb_tests"
fi
# Start all sensors on all boards
ms5611 start
adc start
if mpu6000 -X start
then
fi
if mpu6000 start
then
fi
if l3gd20 -X start
then
fi
if l3gd20 start
then
fi
# MAG selection
if param compare SENS_EXT_MAG 2
then
if hmc5883 -I start
then
fi
else
# Use only external as primary
if param compare SENS_EXT_MAG 1
then
if hmc5883 -X start
then
fi
else
# auto-detect the primary, prefer external
if hmc5883 start
then
fi
fi
fi
if ver hwcmp PX4FMU_V2
then
if lsm303d -X start
then
fi
if lsm303d start
then
fi
if ms5611 -X start
then
fi
fi
if meas_airspeed start
then
else
if ets_airspeed start
then
else
if ets_airspeed start -b 1
then
fi
fi
fi
if sensors start
then
fi
# Check for flow sensor
if px4flow start
then
fi
if ll40ls start
then
fi
if tests all
then
else
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} system_tests"
fi
if [ $unit_test_failure == 0 ]
then
echo
echo "All Unit Tests PASSED"
rgbled rgb 20 255 20
else
echo
echo "Some Unit Tests FAILED:${unit_test_failure_list}"
echo "Some Unit Tests FAILED"
rgbled rgb 255 20 20
fi
ver all
free
ROMFS/px4fmu_common/mixers/quad_test.mix → ROMFS/px4fmu_test/mixers/quad_test.mix
View File
ROMFS/sitl/mixers/plane_sitl.main.mix
+36
View File
@@ -0,0 +1,36 @@
Mixer for SITL plane
=========================================================
Z:
Z:
# mixer for the rudder
M: 1
O: 10000 10000 0 -10000 10000
S: 0 2 10000 10000 0 -10000 10000
# mixer for the flaps
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
# mixer for the pusher/puller throttle
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
# mixer for the left aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
# mixer for the right aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
# mixer for the elevator
M: 1
O: 10000 10000 0 -10000 10000
S: 0 1 10000 10000 0 -10000 10000
ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix → ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
+16 -14
View File
@@ -1,24 +1,26 @@
Mixer for standard vtol plane (SITL) with motor x configuration
=========================================================
This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration.
The plane has two ailerons and one elevator. The ailerons and elevator are treated as elevons
in order to make the standard vtol simulation compatible with the tailsitter simulation.
This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
R: 4x 10000 10000 10000 0
# mixer for the elevons
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 5000 5000 0 -10000 10000
S: 1 1 -5000 -5000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 5000 5000 0 -10000 10000
S: 1 1 5000 5000 0 -10000 10000
# mixer for the pusher/puller throttle
M: 1
O: 10000 10000 0 -10000 10000
S: 1 3 0 20000 -10000 -10000 10000
# mixer for the left aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
# mixer for the right aileron
M: 1
O: 10000 10000 0 -10000 10000
S: 1 0 -10000 -10000 0 -10000 10000
# mixer for the elevator
M: 1
O: 10000 10000 0 -10000 10000
S: 1 1 10000 10000 0 -10000 10000
ROMFS/tap_common/init.d/4001_quad_x
+18
View File
@@ -0,0 +1,18 @@
#!nsh
#
# @name Generic Quadrotor X config
#
# @type Quadrotor x
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
set MIXER quad_x
set PWM_OUT 1234
ROMFS/tap_common/init.d/6001_hexa_x
+19
View File
@@ -0,0 +1,19 @@
#!nsh
#
# @name Generic Hexarotor x geometry
#
# @type Hexarotor x
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Anton Babushkin <anton@px4.io>
#
sh /etc/init.d/rc.mc_defaults
set MIXER hexa_x
# Need to set all 8 channels
set PWM_OUT 12345678
ROMFS/tap_common/init.d/rc.fw_apps
+20
View File
@@ -0,0 +1,20 @@
#!nsh
#
# Standard apps for fixed wing
#
#
# Start the attitude and position estimator
#
ekf2 start
#
# Start attitude controller
#
fw_att_control start
fw_pos_control_l1 start
#
# Start Land Detector
#
land_detector start fixedwing
ROMFS/tap_common/init.d/rc.fw_defaults
+28
View File
@@ -0,0 +1,28 @@
#!nsh
set VEHICLE_TYPE fw
if [ $AUTOCNF == yes ]
then
#
# Default parameters for FW
#
param set RTL_RETURN_ALT 100
param set RTL_DESCEND_ALT 100
param set RTL_LAND_DELAY -1
param set NAV_ACC_RAD 50
param set PE_VELNE_NOISE 0.3
param set PE_VELD_NOISE 0.35
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.0
fi
# This is the gimbal pass mixer
set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1500
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000
ROMFS/tap_common/init.d/rc.interface
+83
View File
@@ -0,0 +1,83 @@
#!nsh
#
# Script to configure control interface
#
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
if [ $MIXER != none -a $MIXER != skip ]
then
#
# Load main mixer
#
# Use the mixer file
set MIXER_FILE /etc/mixers/$MIXER.main.mix
set OUTPUT_DEV /dev/pwm_output0
if [ $OUTPUT_MODE == uavcan_esc ]
then
set OUTPUT_DEV /dev/uavcan/esc
fi
if mixer load $OUTPUT_DEV $MIXER_FILE
then
echo "INFO [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
else
echo "ERROR [init] Error loading mixer: $MIXER_FILE"
echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
unset MIXER_FILE
else
if [ $MIXER != skip ]
then
echo "ERROR [init] Mixer not defined"
echo "ERROR [init] Mixer not defined" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
fi
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == io ]
then
if [ $PWM_OUT != none ]
then
#
# Set PWM output frequency
#
if [ $PWM_RATE != none ]
then
pwm rate -c $PWM_OUT -r $PWM_RATE
fi
#
# Set disarmed, min and max PWM values
#
if [ $PWM_DISARMED != none ]
then
pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
fi
if [ $PWM_MIN != none ]
then
pwm min -c $PWM_OUT -p $PWM_MIN
fi
if [ $PWM_MAX != none ]
then
pwm max -c $PWM_OUT -p $PWM_MAX
fi
fi
if [ $FAILSAFE != none ]
then
pwm failsafe -d $OUTPUT_DEV $FAILSAFE
fi
fi
unset PWM_OUT
unset PWM_RATE
unset PWM_MIN
unset PWM_MAX
unset FAILSAFE
unset OUTPUT_DEV
ROMFS/tap_common/init.d/rc.mc_apps
+17
View File
@@ -0,0 +1,17 @@
#!nsh
#
# Standard apps for multirotors:
# att & pos estimator, att & pos control.
#
ekf2 start
mc_att_control start
mc_pos_control start
#
# Start Land Detector
#
land_detector start multicopter
ROMFS/tap_common/init.d/rc.mc_defaults
+49
View File
@@ -0,0 +1,49 @@
#!nsh
set VEHICLE_TYPE mc
if [ $AUTOCNF == yes ]
then
param set PE_VELNE_NOISE 0.5
param set PE_VELD_NOISE 0.35
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.25
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set PWM_DISARMED 900
param set PWM_MIN 1075
param set PWM_MAX 1950
param set RTL_LAND_DELAY 0
fi
# set environment variables (!= parameters)
set PWM_RATE 400
# tell the mixer to use parameters for these instead
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
# This is the gimbal pass mixer
set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1500
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000
# Transitional support: ensure suitable PWM min/max param values
if param compare PWM_MIN 1000
then
param set PWM_MIN 1075
fi
if param compare PWM_MAX 2000
then
param set PWM_MAX 1950
fi
if param compare PWM_DISARMED 0
then
param set PWM_DISARMED 900
fi
ROMFS/tap_common/init.d/rc.sensors
+46
View File
@@ -0,0 +1,46 @@
#!nsh
#
# Standard startup script for TAP v1 onboard sensor drivers.
#
if adc start
then
fi
# External I2C bus
if hmc5883 -C -T -X start
then
fi
if lis3mdl -R 2 start
then
fi
# Internal SPI bus is rotated 90 deg yaw
if hmc5883 -C -T -S -R 2 start
then
fi
# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
if mpu6000 -R 2 -T 20608 start
then
fi
# Internal SPI bus mpu9250 is rotated 90 deg yaw
if mpu9250 -R 2 start
then
fi
if meas_airspeed start
then
fi
if sf1xx start
then
fi
# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
usleep 20000
if sensors start
then
fi
ROMFS/tap_common/init.d/rc.vtol_apps
+24
View File
@@ -0,0 +1,24 @@
#!nsh
#
# Standard apps for vtol:
# att & pos estimator, att & pos control.
#
#
#---------------------------------------
# Estimator group selction
#
ekf2 start
vtol_att_control start
mc_att_control start
mc_pos_control start
fw_att_control start
fw_pos_control_l1 start
#
# Start Land Detector
# Multicopter for now until we have something for VTOL
#
land_detector start vtol
ROMFS/tap_common/init.d/rc.vtol_defaults
+49
View File
@@ -0,0 +1,49 @@
#!nsh
set VEHICLE_TYPE vtol
if [ $AUTOCNF == yes ]
then
param set MC_ROLL_P 6.0
param set MC_PITCH_P 6.0
param set MC_YAW_P 4
param set PE_VELNE_NOISE 0.5
param set PE_VELD_NOISE 0.3
param set PE_POSNE_NOISE 0.5
param set PE_POSD_NOISE 1.25
param set PE_ABIAS_PNOISE 0.0001
#
# Default parameters for mission and position handling
#
param set NAV_ACC_RAD 3
param set MPC_TKO_SPEED 1.0
param set MPC_LAND_SPEED 0.7
param set MPC_Z_VEL_MAX 1.5
param set MPC_XY_VEL_MAX 4.0
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2.0
param set RTL_LAND_DELAY 0
fi
# set environment variables (!= parameters)
set PWM_RATE 400
# tell the mixer to use parameters for these instead
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
# Transitional support: ensure suitable PWM min/max param values
if param compare PWM_MIN 1000
then
param set PWM_MIN 1075
fi
if param compare PWM_MAX 2000
then
param set PWM_MAX 1950
fi
if param compare PWM_DISARMED 0
then
param set PWM_DISARMED 900
fi
ROMFS/tap_common/init.d/rcS
+486
View File
@@ -0,0 +1,486 @@
#!nsh
#
# PX4FMU startup script.
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
#
# Start CDC/ACM serial driver
#
sercon
#
# Default to auto-start mode.
#
set MODE autostart
set TUNE_ERR ML<<CP4CP4CP4CP4CP4
set LOG_FILE /fs/microsd/bootlog.txt
#
# Try to mount the microSD card.
#
# REBOOTWORK this needs to start after the flight control loop
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
# Start playing the startup tune
tone_alarm start
else
tone_alarm MBAGP
if mkfatfs /dev/mmcsd0
then
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "INFO [init] MicroSD card formatted"
else
echo "ERROR [init] Format failed"
tone_alarm MNBG
set LOG_FILE /dev/null
fi
else
set LOG_FILE /dev/null
fi
fi
#
# Look for an init script on the microSD card.
# Disable autostart if the script found.
#
set FRC /fs/microsd/etc/rc.txt
if [ -f $FRC ]
then
echo "INFO [init] Executing script: $FRC"
sh $FRC
set MODE custom
fi
unset FRC
if [ $MODE == autostart ]
then
#
# Start the ORB (first app to start)
#
uorb start
#
# Load parameters
#
set PARAM_FILE /fs/microsd/params
if mtd start
then
set PARAM_FILE /fs/mtd_params
fi
param select $PARAM_FILE
if param load
then
else
if param reset
then
fi
fi
#
# Start system state indicator
#
if rgbled start
then
fi
#
# Set AUTOCNF flag to use it in AUTOSTART scripts
#
if param compare SYS_AUTOCONFIG 1
then
# Wipe out params except RC*
param reset_nostart RC*
set AUTOCNF yes
else
set AUTOCNF no
fi
#
# Set default values
#
set VEHICLE_TYPE none
set MIXER none
set OUTPUT_MODE none
set PWM_OUT none
set PWM_RATE none
set PWM_DISARMED none
set PWM_MIN none
set PWM_MAX none
set FMU_MODE pwm
set MAVLINK_F default
set EXIT_ON_END no
set MAV_TYPE none
set FAILSAFE none
set USE_IO no
#
# Set parameters and env variables for selected AUTOSTART
#
if param compare SYS_AUTOSTART 0
then
echo "INFO [init] No autostart"
else
sh /etc/init.d/rc.autostart
fi
unset MODE
#
# If autoconfig parameter was set, reset it and save parameters
#
if [ $AUTOCNF == yes ]
then
param set SYS_AUTOCONFIG 0
param save
fi
unset AUTOCNF
#
# Set default output if not set
#
if [ $OUTPUT_MODE == none ]
then
if [ $USE_IO == yes ]
then
set OUTPUT_MODE io
else
set OUTPUT_MODE fmu
fi
fi
gps start -d /dev/ttyS0
# waypoint storage
# REBOOTWORK this needs to start in parallel
if dataman start
then
fi
#
# Sensors System (start before Commander so Preflight checks are properly run)
#
sh /etc/init.d/rc.sensors
commander start
#
# Start CPU load monitor
#
load_mon start
#
# Start primary output
#
set TTYS1_BUSY no
#
# Check if UAVCAN is enabled, default to it for ESCs
#
if param greater UAVCAN_ENABLE 2
then
set OUTPUT_MODE uavcan_esc
fi
# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
if [ $OUTPUT_MODE != none ]
then
if [ $OUTPUT_MODE == uavcan_esc ]
then
if param compare UAVCAN_ENABLE 0
then
echo "INFO [init] OVERRIDING UAVCAN_ENABLE = 1" >> $LOG_FILE
param set UAVCAN_ENABLE 1
fi
fi
if [ $OUTPUT_MODE == fmu ]
then
if fmu mode_$FMU_MODE
then
else
echo "ERR [init] FMU start failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
fi
if fmu mode_pwm4
then
else
echo "ERROR [init] FMU mode_$FMU_MODE start failed" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
fi
mavlink start -r 1200 -d /dev/ttyS1
#
# Starting stuff according to UAVCAN_ENABLE value
#
if param greater UAVCAN_ENABLE 0
then
if uavcan start
then
else
tone_alarm $TUNE_ERR
fi
fi
if param greater UAVCAN_ENABLE 1
then
if uavcan start fw
then
else
tone_alarm $TUNE_ERR
fi
fi
#
# Optional drivers
#
# Sensors on the PWM interface bank
if param compare SENS_EN_LL40LS 1
then
if pwm_input start
then
if ll40ls start pwm
then
fi
fi
fi
# sf0x lidar sensor
if param compare SENS_EN_SF0X 1
then
sf0x start
fi
# Start USB shell if no microSD present, MAVLink else
if [ $LOG_FILE == /dev/null ]
then
# Try to get an USB console
nshterm /dev/ttyACM0 &
else
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
fi
#
# Logging
#
if param compare SYS_LOGGER 0
then
if sdlog2 start -r 100 -a -b 9 -t
then
fi
else
if logger start -b 12 -t
then
fi
fi
#
# Fixed wing setup
#
if [ $VEHICLE_TYPE == fw ]
then
echo "INFO [init] Fixedwing"
if [ $MIXER == none ]
then
# Set default mixer for fixed wing if not defined
set MIXER AERT
fi
if [ $MAV_TYPE == none ]
then
# Use MAV_TYPE = 1 (fixed wing) if not defined
set MAV_TYPE 1
fi
param set MAV_TYPE $MAV_TYPE
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard fixedwing apps
sh /etc/init.d/rc.fw_apps
fi
#
# Multicopters setup
#
if [ $VEHICLE_TYPE == mc ]
then
echo "INFO [init] Multicopter"
if [ $MIXER == none ]
then
echo "INFO [init] Mixer undefined"
fi
if [ $MAV_TYPE == none ]
then
# Use mixer to detect vehicle type
if [ $MIXER == quad_x -o $MIXER == quad_+ ]
then
set MAV_TYPE 2
fi
if [ $MIXER == quad_w ]
then
set MAV_TYPE 2
fi
if [ $MIXER == quad_h ]
then
set MAV_TYPE 2
fi
if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
then
set MAV_TYPE 15
fi
if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
then
set MAV_TYPE 13
fi
if [ $MIXER == hexa_cox ]
then
set MAV_TYPE 13
fi
if [ $MIXER == octo_x -o $MIXER == octo_+ ]
then
set MAV_TYPE 14
fi
fi
# Still no MAV_TYPE found
if [ $MAV_TYPE == none ]
then
echo "WARN [init] Unknown MAV_TYPE"
param set MAV_TYPE 2
else
param set MAV_TYPE $MAV_TYPE
fi
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard multicopter apps
sh /etc/init.d/rc.mc_apps
fi
#
# VTOL setup
#
if [ $VEHICLE_TYPE == vtol ]
then
echo "INFO [init] VTOL"
if [ $MIXER == none ]
then
echo "WARN [init] VTOL mixer undefined"
fi
if [ $MAV_TYPE == none ]
then
# Use mixer to detect vehicle type
if [ $MIXER == caipirinha_vtol ]
then
set MAV_TYPE 19
fi
if [ $MIXER == firefly6 ]
then
set MAV_TYPE 21
fi
if [ $MIXER == quad_x_pusher_vtol ]
then
set MAV_TYPE 22
fi
fi
# Still no MAV_TYPE found
if [ $MAV_TYPE == none ]
then
echo "WARN [init] Unknown MAV_TYPE"
param set MAV_TYPE 19
else
param set MAV_TYPE $MAV_TYPE
fi
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard vtol apps
sh /etc/init.d/rc.vtol_apps
fi
#
# Rover setup
#
if [ $VEHICLE_TYPE == rover ]
then
# 10 is MAV_TYPE_GROUND_ROVER
set MAV_TYPE 10
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard rover apps
sh /etc/init.d/rc.axialracing_ax10_apps
param set MAV_TYPE 10
fi
unset MIXER
unset MAV_TYPE
unset OUTPUT_MODE
#
# Start the navigator
#
navigator start
#
# Generic setup (autostart ID not found)
#
if [ $VEHICLE_TYPE == none ]
then
echo "WARN [init] No autostart ID found"
fi
# Start any custom addons
set FEXTRAS /fs/microsd/etc/extras.txt
if [ -f $FEXTRAS ]
then
echo "INFO [init] Addons script: $FEXTRAS"
sh $FEXTRAS
fi
unset FEXTRAS
# Run no SD alarm
if [ $LOG_FILE == /dev/null ]
then
# Play SOS
tone_alarm error
fi
# End of autostart
fi
# There is no further script processing, so we can free some RAM
# XXX potentially unset all script variables.
unset TUNE_ERR
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
mavlink boot_complete
if [ $EXIT_ON_END == yes ]
then
echo "INFO [init] NSH exit"
exit
fi
unset EXIT_ON_END
ROMFS/tap_common/mixers/README.md
+105
View File
@@ -0,0 +1,105 @@
## PX4 mixer definitions ##
Files in this directory implement example mixers that can be used as a basis
for customisation, or for general testing purposes.
For a detailed description of the mixing architecture and examples see:
http://px4.io/dev/mixing
### Syntax ###
Mixer definitions are text files; lines beginning with a single capital letter
followed by a colon are significant. All other lines are ignored, meaning that
explanatory text can be freely mixed with the definitions.
Each file may define more than one mixer; the allocation of mixers to actuators
is specific to the device reading the mixer definition, and the number of
actuator outputs generated by a mixer is specific to the mixer.
For example: each simple or null mixer is assigned to outputs 1 to x
in the order they appear in the mixer file.
A mixer begins with a line of the form
<tag>: <mixer arguments>
The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a
multirotor mixer, etc.
#### Null Mixer ####
A null mixer consumes no controls and generates a single actuator output whose
value is always zero. Typically a null mixer is used as a placeholder in a
collection of mixers in order to achieve a specific pattern of actuator outputs.
The null mixer definition has the form:
Z:
#### Simple Mixer ####
A simple mixer combines zero or more control inputs into a single actuator
output. Inputs are scaled, and the mixing function sums the result before
applying an output scaler.
A simple mixer definition begins with:
M: <control count>
O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
If <control count> is zero, the sum is effectively zero and the mixer will
output a fixed value that is <offset> constrained by <lower limit> and <upper
limit>.
The second line defines the output scaler with scaler parameters as discussed
above. Whilst the calculations are performed as floating-point operations, the
values stored in the definition file are scaled by a factor of 10000; i.e. an
offset of -0.5 is encoded as -5000.
The definition continues with <control count> entries describing the control
inputs and their scaling, in the form:
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
The <group> value identifies the control group from which the scaler will read,
and the <index> value an offset within that group. These values are specific to
the device reading the mixer definition.
When used to mix vehicle controls, mixer group zero is the vehicle attitude
control group, and index values zero through three are normally roll, pitch,
yaw and thrust respectively.
The remaining fields on the line configure the control scaler with parameters as
discussed above. Whilst the calculations are performed as floating-point
operations, the values stored in the definition file are scaled by a factor of
10000; i.e. an offset of -0.5 is encoded as -5000.
#### Multirotor Mixer ####
The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
into a set of actuator outputs intended to drive motor speed controllers.
The mixer definition is a single line of the form:
R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
The supported geometries include:
* 4x - quadrotor in X configuration
* 4+ - quadrotor in + configuration
* 6x - hexcopter in X configuration
* 6+ - hexcopter in + configuration
* 8x - octocopter in X configuration
* 8+ - octocopter in + configuration
Each of the roll, pitch and yaw scale values determine scaling of the roll,
pitch and yaw controls relative to the thrust control. Whilst the calculations
are performed as floating-point operations, the values stored in the definition
file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
thrust input ranges from 0.0 to 1.0. Output for each actuator is in the
range -1.0 to 1.0.
In the case where an actuator saturates, all actuator values are rescaled so that
the saturating actuator is limited to 1.0.
ROMFS/tap_common/mixers/hexa_x.main.mix
+3
View File
@@ -0,0 +1,3 @@
# Hexa X
R: 6x 10000 10000 10000 0
ROMFS/tap_common/mixers/quad_x.main.mix
+7
View File
@@ -0,0 +1,7 @@
R: 4x 10000 10000 10000 0
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 3 6 10000 10000 0 -10000 10000
Tools/CI/VTOLmission.txt
-9
View File
@@ -1,9 +0,0 @@
QGC WPL 110
0 1 0 16 0 0 0 0 47.3979949951 8.54559612274 25.0 1
1 0 2 3000 4.0 0.0 0.0 0.0 47.3980331421 8.54578971863 25.0 1
2 0 3 16 0.0 0.0 -0.0 0.0 47.399269104 8.54557228088 25.0 1
3 0 3 16 0.0 0.0 -0.0 0.0 47.3992652893 8.54230213165 25.0 1
4 0 3 16 0.0 0.0 -0.0 0.0 47.3974761963 8.54239082336 25.0 1
5 0 3 16 0.0 0.0 -0.0 0.0 47.3976669312 8.54509449005 25.0 1
6 0 2 3000 3.0 0.0 0.0 0.0 47.3977851868 8.54526233673 25.0 1
7 0 3 21 25.0 0.0 -0.0 0.0 47.3979797363 8.54460906982 25.0 1
Tools/adb_upload.sh
+4
View File
@@ -23,3 +23,7 @@ do
adb push $arg $last
((i+=1))
done
# Make sure they are synced to the file system
echo "Syncing FS..."
adb shell sync
Tools/adb_upload_to_bebop.sh
Executable
+39
View File
@@ -0,0 +1,39 @@
#!/bin/bash
if [ -z ${BEBOP_IP+x} ]; then
ip=192.168.42.1
echo "\$BEBOP_IP is not set (use default: $ip)"
else
ip=$BEBOP_IP
echo "\$BEBOP_IP is set to $ip"
fi
port=9050
echo "Connecting to bebop: $ip:$port"
# adb returns also 0 as exit status if the connection fails
adb_return=$(adb connect $ip:$port)
adb_status=$(echo $adb_return | cut -f 1 -d " ")
if [[ $adb_status == "unable" ]]; then
echo ""
echo "Connection with Parrot Bebop could not be established:"
echo " Make sure you are connected with the Bebop's WiFi and"
echo " enable access to the board by pressing the power button 4 times."
echo ""
exit 50
fi
echo "Connection successfully established"
sleep 1
adb shell mount -o remount,rw /
adb shell touch /home/root/parameters
../Tools/adb_upload.sh $@
echo "Disconnecting from bebop"
adb disconnect
Tools/check_code_style.sh
+20 -67
View File
@@ -1,70 +1,23 @@
#!/usr/bin/env bash
set -eu
failed=0
for fn in $(find src/examples \
src/systemcmds \
src/include \
src/drivers \
src/platforms \
src/firmware \
src/lib/launchdetection \
src/lib/geo \
src/lib/geo_lookup \
src/lib/conversion \
src/lib/rc \
src/lib/version \
src/modules/attitude_estimator_q \
src/modules/fw_att_control \
src/modules/gpio_led \
src/modules/land_detector \
src/modules/muorb \
src/modules/px4iofirmware \
src/modules/param \
src/modules/sensors \
src/modules/simulator \
src/modules/uORB \
src/modules/bottle_drop \
src/modules/dataman \
src/modules/segway \
src/modules/local_position_estimator \
src/modules/unit_test \
src/modules/systemlib \
src/lib/controllib \
-path './Build' -prune -o \
-path './mavlink' -prune -o \
-path './NuttX' -prune -o \
-path './src/lib/eigen' -prune -o \
-path './src/modules/uavcan/libuavcan' -prune -o \
-path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
-path './src/modules/ekf_att_pos_estimator' -prune -o \
-path './src/modules/sdlog2' -prune -o \
-path './src/modules/uORB' -prune -o \
-path './src/modules/vtol_att_control' -prune -o \
-path './unittests/build' -prune -o \
-path './unittests/gtest' -prune -o \
-name '*.c' -o -name '*.cpp' -o -name '*.hpp' -o -name '*.h' \
-not -name '*generated*' \
-not -name '*uthash.h' \
-not -name '*utstring.h' \
-not -name '*utlist.h' \
-not -name '*utarray.h' \
-type f); do
if [ -f "$fn" ];
then
./Tools/fix_code_style.sh --quiet < $fn > $fn.pretty
diffsize=$(diff -y --suppress-common-lines $fn $fn.pretty | wc -l)
rm -f $fn.pretty
if [ $diffsize -ne 0 ]; then
failed=1
echo $fn 'bad formatting, please run "./Tools/fix_code_style.sh' $fn'"'
fi
fi
done
if [ $failed -eq 0 ]; then
echo "Format checks passed"
exit 0
else
echo "Format checks failed"
exit 1
file=$1
DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
if [ -f "$file" ];
then
${DIR}/fix_code_style.sh --dry-run $file | grep --quiet Formatted
if [[ $? -eq 0 ]]
then
${DIR}/fix_code_style.sh --quiet < $file > $file.pretty
echo
git --no-pager diff --no-index --minimal --histogram --color=always $file $file.pretty
echo
rm -f $file.pretty
echo $file 'bad formatting, please run "./Tools/fix_code_style.sh' $file'"'
exit 1
fi
fi
Tools/check_code_style_all.sh
Executable
+57
View File
@@ -0,0 +1,57 @@
#!/usr/bin/env bash
set -eu
failed=0
DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
find \
src/drivers \
src/examples \
src/firmware \
src/include \
src/lib/controllib \
src/lib/conversion \
src/lib/geo \
src/lib/geo_lookup \
src/lib/launchdetection \
src/lib/rc \
src/lib/tailsitter_recovery \
src/lib/terrain_estimation \
src/lib/version \
src/modules/attitude_estimator_q \
src/modules/bottle_drop \
src/modules/controllib_test \
src/modules/dataman \
src/modules/fw_att_control \
src/modules/fw_pos_control_l1 \
src/modules/gpio_led \
src/modules/land_detector \
src/modules/local_position_estimator \
src/modules/logger \
src/modules/mavlink/mavlink_tests \
src/modules/muorb \
src/modules/param \
src/modules/px4iofirmware \
src/modules/replay \
src/modules/segway \
src/modules/sensors \
src/modules/simulator \
src/modules/systemlib \
src/modules/unit_test \
src/modules/uORB \
src/modules/vtol_att_control \
src/platforms \
src/systemcmds \
-type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) \
-not -name '*generated.h' \
-not -name '*uthash.h' \
-not -name '*utstring.h' \
-not -name '*utlist.h' \
-not -name '*utarray.h' \
-print0 | xargs -0 -n 1 -P 8 -I % ${DIR}/check_code_style.sh %
if [ $? -eq 0 ]; then
echo "Format checks passed"
exit 0
fi
Tools/check_submodules.sh
+1
View File
@@ -69,6 +69,7 @@ check_git_submodule Tools/jMAVSim
check_git_submodule Tools/sitl_gazebo
check_git_submodule cmake/cmake_hexagon
check_git_submodule mavlink/include/mavlink/v1.0
check_git_submodule mavlink/include/mavlink/v2.0
check_git_submodule src/lib/DriverFramework
check_git_submodule src/lib/DriverFramework/cmake/cmake_hexagon
check_git_submodule src/lib/DriverFramework/dspal
Tools/decode_backtrace.py
+6 -6
View File
@@ -43,10 +43,10 @@ import subprocess
# If the following lines were pasted into the shell after running decode_backtrace.py
#
# INFO Backtrace: 10
# INFO ./mainapp(px4_backtrace+0x27) [0x42b212]
# INFO ./mainapp() [0x42d608]
# INFO ./mainapp() [0x42d57e]
# INFO ./mainapp() [0x4ba48d]
# INFO ./px4(px4_backtrace+0x27) [0x42b212]
# INFO ./px4() [0x42d608]
# INFO ./px4() [0x42d57e]
# INFO ./px4() [0x4ba48d]
#
# The output would be:
#
@@ -63,7 +63,7 @@ def usage():
msg = """
Usage: Tools/decode_backtrace.py <builddir>
This will load the symbols for <builddir>/src/firmware/posix/mainapp
This will load the symbols for <builddir>/src/firmware/posix/px4
The user just needs to copy and paste the backtrace into the terminal
where decode_backtrace.py is running.
@@ -75,7 +75,7 @@ func = []
# Load the symbols from the binary
def load_symbol_map():
output = subprocess.check_output(["nm", "-p", "-C", os.sys.argv[1]+"/src/firmware/posix/mainapp"])
output = subprocess.check_output(["nm", "-p", "-C", os.sys.argv[1]+"/src/firmware/posix/px4"])
data = output.split("\n")
data.sort()
Tools/generate_listener.py
+1 -1
View File
@@ -115,7 +115,6 @@ print("""
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#define __STDC_FORMAT_MACROS
#include <inttypes.h>
#ifndef PRIu64
@@ -173,6 +172,7 @@ for index,m in enumerate(messages[1:]):
print("\t\t\ti++;")
print("\t\t\tprintf(\"\\nTOPIC: %s #%%d\\n\", i);" % m)
print("\t\t\torb_copy(ID,sub,&container);")
print("\t\t\tprintf(\"timestamp: %\" PRIu64 \"\\n\", container.timestamp);")
for item in message_elements[index+1]:
if item[0] == "float":
print("\t\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
Tools/jMAVSim
+1 -1
Submodule Tools/jMAVSim updated: 9155c8f955...a5b0f1f089
Tools/mavlink_shell.py
Executable
+206
View File
@@ -0,0 +1,206 @@
#!/usr/bin/env python
"""
Open a shell over MAVLink.
@author: Beat Kueng (beat-kueng@gmx.net)
"""
from __future__ import print_function
import sys, select
import termios
try:
from pymavlink import mavutil
import serial
except:
print("Failed to import pymavlink.")
print("You may need to install it with 'pip install pymavlink pyserial'")
exit(-1)
from argparse import ArgumentParser
class MavlinkSerialPort():
'''an object that looks like a serial port, but
transmits using mavlink SERIAL_CONTROL packets'''
def __init__(self, portname, baudrate, devnum=0, debug=0):
self.baudrate = 0
self._debug = debug
self.buf = ''
self.port = devnum
self.debug("Connecting with MAVLink to %s ..." % portname)
self.mav = mavutil.mavlink_connection(portname, autoreconnect=True, baud=baudrate)
self.mav.wait_heartbeat()
self.debug("HEARTBEAT OK\n")
self.debug("Locked serial device\n")
def debug(self, s, level=1):
'''write some debug text'''
if self._debug >= level:
print(s)
def write(self, b):
'''write some bytes'''
self.debug("sending '%s' (0x%02x) of len %u\n" % (b, ord(b[0]), len(b)), 2)
while len(b) > 0:
n = len(b)
if n > 70:
n = 70
buf = [ord(x) for x in b[:n]]
buf.extend([0]*(70-len(buf)))
self.mav.mav.serial_control_send(self.port,
mavutil.mavlink.SERIAL_CONTROL_FLAG_EXCLUSIVE |
mavutil.mavlink.SERIAL_CONTROL_FLAG_RESPOND,
0,
0,
n,
buf)
b = b[n:]
def close(self):
self.mav.mav.serial_control_send(self.port, 0, 0, 0, 0, [0]*70)
def _recv(self):
'''read some bytes into self.buf'''
m = self.mav.recv_match(condition='SERIAL_CONTROL.count!=0',
type='SERIAL_CONTROL', blocking=True,
timeout=0.03)
if m is not None:
if self._debug > 2:
print(m)
data = m.data[:m.count]
self.buf += ''.join(str(chr(x)) for x in data)
def read(self, n):
'''read some bytes'''
if len(self.buf) == 0:
self._recv()
if len(self.buf) > 0:
if n > len(self.buf):
n = len(self.buf)
ret = self.buf[:n]
self.buf = self.buf[n:]
if self._debug >= 2:
for b in ret:
self.debug("read 0x%x" % ord(b), 2)
return ret
return ''
def main():
parser = ArgumentParser(description=__doc__)
parser.add_argument('port', metavar='PORT', nargs='?', default = None,
help='Mavlink port name: serial: DEVICE[,BAUD], udp: IP:PORT, tcp: tcp:IP:PORT. Eg: \
/dev/ttyUSB0 or 0.0.0.0:14550. Auto-detect serial if not given.')
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int,
help="Mavlink port baud rate (default=115200)", default=115200)
args = parser.parse_args()
if args.port == None:
serial_list = mavutil.auto_detect_serial(preferred_list=['*FTDI*',
"*Arduino_Mega_2560*", "*3D_Robotics*", "*USB_to_UART*", '*PX4*', '*FMU*'])
if len(serial_list) == 0:
print("Error: no serial connection found")
return
if len(serial_list) > 1:
print('Auto-detected serial ports are:')
for port in serial_list:
print(" {:}".format(port))
print('Using port {:}'.format(serial_list[0]))
args.port = serial_list[0].device
print("Connecting to MAVLINK...")
mav_serialport = MavlinkSerialPort(args.port, args.baudrate, devnum=10)
mav_serialport.write('\n') # make sure the shell is started
# setup the console, so we can read one char at a time
fd_in = sys.stdin.fileno()
old_attr = termios.tcgetattr(fd_in)
new_attr = termios.tcgetattr(fd_in)
new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
new_attr[3] = new_attr[3] & ~termios.ICANON
try:
termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
cur_line = ''
command_history = []
cur_history_index = 0
def erase_last_n_chars(N):
if N == 0: return
CURSOR_BACK_N = '\x1b['+str(N)+'D'
ERASE_END_LINE = '\x1b[K'
sys.stdout.write(CURSOR_BACK_N + ERASE_END_LINE)
while True:
while True:
i, o, e = select.select([sys.stdin], [], [], 0)
if not i: break
ch = sys.stdin.read(1)
# provide a simple shell with command history
if ch == '\n':
if len(cur_line) > 0:
# erase current text (mavlink shell will echo it as well)
erase_last_n_chars(len(cur_line))
# add to history
if len(command_history) == 0 or command_history[-1] != cur_line:
command_history.append(cur_line)
if len(command_history) > 50:
del command_history[0]
cur_history_index = len(command_history)
mav_serialport.write(cur_line+'\n')
cur_line = ''
elif ord(ch) == 127: # backslash
if len(cur_line) > 0:
erase_last_n_chars(1)
cur_line = cur_line[:-1]
sys.stdout.write(ch)
elif ord(ch) == 033:
ch = sys.stdin.read(1) # skip one
ch = sys.stdin.read(1)
if ch == 'A': # arrow up
if cur_history_index > 0:
cur_history_index -= 1
elif ch == 'B': # arrow down
if cur_history_index < len(command_history):
cur_history_index += 1
# TODO: else: support line editing
erase_last_n_chars(len(cur_line))
if cur_history_index == len(command_history):
cur_line = ''
else:
cur_line = command_history[cur_history_index]
sys.stdout.write(cur_line)
elif ord(ch) > 3:
cur_line += ch
sys.stdout.write(ch)
sys.stdout.flush()
data = mav_serialport.read(4096)
if data and len(data) > 0:
sys.stdout.write(data)
sys.stdout.flush()
except serial.serialutil.SerialException as e:
print(e)
except KeyboardInterrupt:
mav_serialport.close()
finally:
termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)
if __name__ == '__main__':
main()
Tools/px4airframes/xmlout.py
+2
View File
@@ -69,6 +69,8 @@ class XMLOutput():
xml_group.attrib["image"] = "VTOLTiltRotor"
elif (group.GetName() == "Coaxial Helicopter"):
xml_group.attrib["image"] = "HelicopterCoaxial"
elif (group.GetName() == "Helicopter"):
xml_group.attrib["image"] = "Helicopter"
elif (group.GetName() == "Hexarotor Coaxial"):
xml_group.attrib["image"] = "Y6A"
elif (group.GetName() == "Y6B"):
Tools/px4params/srcparser.py
+49 -2
View File
@@ -1,5 +1,7 @@
import sys
import re
import math
global default_var
default_var = {}
@@ -39,7 +41,7 @@ class Parameter(object):
# Define sorting order of the fields
priority = {
"board": 9,
"board": 9,
"short_desc": 8,
"long_desc": 7,
"min": 5,
@@ -52,6 +54,7 @@ class Parameter(object):
def __init__(self, name, type, default = ""):
self.fields = {}
self.values = {}
self.bitmask = {}
self.name = name
self.type = type
self.default = default
@@ -77,6 +80,12 @@ class Parameter(object):
"""
self.values[code] = value
def SetBitmaskBit(self, index, bit):
"""
Set named enum value
"""
self.bitmask[index] = bit
def GetFieldCodes(self):
"""
Return list of existing field codes in convenient order
@@ -115,6 +124,24 @@ class Parameter(object):
return ""
return fv
def GetBitmaskList(self):
"""
Return list of existing bitmask codes in convenient order
"""
keys = self.bitmask.keys()
keys.sort(key=float)
return keys
def GetBitmaskBit(self, index):
"""
Return value of the given bitmask code or None if not found.
"""
fv = self.bitmask.get(index)
if not fv:
# required because python 3 sorted does not accept None
return ""
return fv
class SourceParser(object):
"""
Parses provided data and stores all found parameters internally.
@@ -133,7 +160,7 @@ class SourceParser(object):
re_remove_dots = re.compile(r'\.+$')
re_remove_carriage_return = re.compile('\n+')
valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "increment", "reboot_required", "value", "boolean"])
valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "increment", "reboot_required", "value", "boolean", "bit"])
# Order of parameter groups
priority = {
@@ -164,6 +191,7 @@ class SourceParser(object):
long_desc = None
tags = {}
def_values = {}
def_bitmask = {}
elif state is not None and state != "comment-processed":
m = self.re_comment_end.search(line)
if m:
@@ -187,6 +215,10 @@ class SourceParser(object):
# Take the meta info string and split the code and description
metainfo = desc.split(" ", 1)
def_values[metainfo[0]] = metainfo[1]
elif (tag == "bit"):
# Take the meta info string and split the code and description
metainfo = desc.split(" ", 1)
def_bitmask[metainfo[0]] = metainfo[1]
else:
tags[tag] = desc
current_tag = tag
@@ -262,6 +294,8 @@ class SourceParser(object):
param.SetField(tag, tags[tag])
for def_value in def_values:
param.SetEnumValue(def_value, def_values[def_value])
for def_bit in def_bitmask:
param.SetBitmaskBit(def_bit, def_bitmask[def_bit])
# Store the parameter
if group not in self.param_groups:
self.param_groups[group] = ParameterGroup(group)
@@ -284,6 +318,9 @@ class SourceParser(object):
for group in self.GetParamGroups():
for param in group.GetParams():
name = param.GetName()
if len(name) > 16:
sys.stderr.write("Parameter Name {0} is too long (Limit is 16)\n".format(name))
return False
board = param.GetFieldValue("board")
# Check for duplicates
name_plus_board = name + "+" + board
@@ -321,6 +358,16 @@ class SourceParser(object):
if param.GetEnumValue(code) == "":
sys.stderr.write("Description for enum value is empty: {0} {1}\n".format(name, code))
return False
for index in param.GetBitmaskList():
if not self.IsNumber(index):
sys.stderr.write("bit value not number: {0} {1}\n".format(name, index))
return False
if not int(min) <= math.pow(2, int(index)) <= int(max):
sys.stderr.write("Bitmask bit must be between {0} and {1}: {2} {3}\n".format(min, max, name, math.pow(2, int(index))))
return False
if param.GetBitmaskBit(index) == "":
sys.stderr.write("Description for bitmask bit is empty: {0} {1}\n".format(name, index))
return False
return True
def GetParamGroups(self):
Tools/px4params/srcscanner.py
+3 -2
View File
@@ -33,8 +33,9 @@ class SourceScanner(object):
Scans provided file and passes its contents to the parser using
parser.Parse method.
"""
prefix = ".." + os.path.sep + "src" + os.path.sep
scope = re.sub(prefix, '', os.path.dirname(os.path.relpath(path)))
prefix = "^.*" + os.path.sep + "src" + os.path.sep
scope = re.sub(prefix.replace("\\", "/"), "", os.path.dirname(os.path.relpath(path)).replace("\\", "/"))
with codecs.open(path, 'r', 'utf-8') as f:
try:
contents = f.read()
Tools/px4params/xmlout.py
+8
View File
@@ -63,6 +63,14 @@ class XMLOutput():
xml_value = ET.SubElement(xml_values, "value")
xml_value.attrib["code"] = code;
xml_value.text = param.GetEnumValue(code)
if len(param.GetBitmaskList()) > 0:
xml_values = ET.SubElement(xml_param, "bitmask")
for index in param.GetBitmaskList():
xml_value = ET.SubElement(xml_values, "bit")
xml_value.attrib["index"] = index;
xml_value.text = param.GetBitmaskBit(index)
indent(xml_parameters)
self.xml_document = ET.ElementTree(xml_parameters)
Tools/px_generate_uorb_topic_headers.py → Tools/px_generate_uorb_topic_files.py
+127 -43
View File
@@ -1,7 +1,7 @@
#!/usr/bin/env python
#############################################################################
#
# Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
# Copyright (C) 2013-2016 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
@@ -33,8 +33,8 @@
#############################################################################
"""
px_generate_uorb_topic_headers.py
Generates c/cpp header files for uorb topics from .msg (ROS syntax)
px_generate_uorb_topics.py
Generates c/cpp header/source files for uorb topics from .msg (ROS syntax)
message files
"""
from __future__ import print_function
@@ -49,6 +49,7 @@ sys.path.append(px4_tools_dir + "/genmsg/src")
sys.path.append(px4_tools_dir + "/gencpp/src")
try:
import em
import genmsg.template_tools
except ImportError as e:
print("python import error: ", e)
@@ -68,35 +69,99 @@ On Windows please run:
''')
exit(1)
__author__ = "Thomas Gubler"
__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team."
__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
__copyright__ = "Copyright (C) 2013-2016 PX4 Development Team."
__license__ = "BSD"
__email__ = "thomasgubler@gmail.com"
msg_template_map = {'msg.h.template': '@NAME@.h'}
srv_template_map = {}
incl_default = ['std_msgs:./msg/std_msgs']
package = 'px4'
TEMPLATE_FILE = ['msg.h.template', 'msg.cpp.template']
TOPICS_LIST_TEMPLATE_FILE = 'uORBTopics.cpp.template'
OUTPUT_FILE_EXT = ['.h', '.cpp']
INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
PACKAGE = 'px4'
TOPICS_TOKEN = '# TOPICS '
def convert_file(filename, outputdir, templatedir, includepath):
def get_multi_topics(filename):
"""
Converts a single .msg file to a uorb header
Get TOPICS names from a "# TOPICS" line
"""
#print("Generating headers from {0}".format(filename))
genmsg.template_tools.generate_from_file(filename,
package,
outputdir,
templatedir,
includepath,
msg_template_map,
srv_template_map)
ofile = open(filename, 'r')
text = ofile.read()
result = []
for each_line in text.split('\n'):
if each_line.startswith (TOPICS_TOKEN):
topic_names_str = each_line.strip()
topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
result.extend(topic_names_str.split(" "))
ofile.close()
return result
def get_msgs_list(msgdir):
"""
Makes list of msg files in the given directory
"""
return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
def convert_dir(inputdir, outputdir, templatedir):
def generate_output_from_file(format_idx, filename, outputdir, templatedir, includepath):
"""
Converts all .msg files in inputdir to uORB header files
Converts a single .msg file to an uorb header/source file
"""
msg_context = genmsg.msg_loader.MsgContext.create_default()
full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename))
spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
topics = get_multi_topics(filename)
if includepath:
search_path = genmsg.command_line.includepath_to_dict(includepath)
else:
search_path = {}
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
md5sum = genmsg.gentools.compute_md5(msg_context, spec)
if len(topics) == 0:
topics.append(spec.short_name)
em_globals = {
"file_name_in": filename,
"md5sum": md5sum,
"search_path": search_path,
"msg_context": msg_context,
"spec": spec,
"topics": topics
}
# Make sure output directory exists:
if not os.path.isdir(outputdir):
os.makedirs(outputdir)
template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
output_file = os.path.join(outputdir, spec.short_name +
OUTPUT_FILE_EXT[format_idx])
return generate_by_template(output_file, template_file, em_globals)
def generate_by_template(output_file, template_file, em_globals):
"""
Invokes empy intepreter to geneate output_file by the
given template_file and predefined em_globals dict
"""
ofile = open(output_file, 'w')
# todo, reuse interpreter
interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
if not os.path.isfile(template_file):
ofile.close()
os.remove(output_file)
raise RuntimeError("Template file %s not found" % (template_file))
interpreter.file(open(template_file)) #todo try
interpreter.shutdown()
ofile.close()
return True
def convert_dir(format_idx, inputdir, outputdir, templatedir):
"""
Converts all .msg files in inputdir to uORB header/source files
"""
# Find the most recent modification time in input dir
@@ -122,7 +187,7 @@ def convert_dir(inputdir, outputdir, templatedir):
if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
return False
includepath = incl_default + [':'.join([package, inputdir])]
includepath = INCL_DEFAULT + [':'.join([PACKAGE, inputdir])]
for f in os.listdir(inputdir):
# Ignore hidden files
if f.startswith("."):
@@ -133,11 +198,10 @@ def convert_dir(inputdir, outputdir, templatedir):
if not os.path.isfile(fn):
continue
convert_file(fn,
outputdir,
templatedir,
includepath)
if fn[-4:].lower() != '.msg':
continue
generate_output_from_file(format_idx, fn, outputdir, templatedir, includepath)
return True
@@ -151,15 +215,15 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
if not os.path.isdir(outputdir):
os.makedirs(outputdir)
for f in os.listdir(inputdir):
fni = os.path.join(inputdir, f)
for input_file in os.listdir(inputdir):
fni = os.path.join(inputdir, input_file)
if os.path.isfile(fni):
# Check if f exists in outpoutdir, copy the file if not
fno = os.path.join(outputdir, prefix + f)
# Check if input_file exists in outpoutdir, copy the file if not
fno = os.path.join(outputdir, prefix + input_file)
if not os.path.isfile(fno):
shutil.copy(fni, fno)
if not quiet:
print("{0}: new header file".format(f))
print("{0}: new header file".format(fno))
continue
if os.path.getmtime(fni) > os.path.getmtime(fno):
@@ -168,26 +232,39 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
if not filecmp.cmp(fni, fno):
shutil.copy(fni, fno)
if not quiet:
print("{0}: updated".format(f))
print("{0}: updated".format(input_file))
continue
if not quiet:
print("{0}: unchanged".format(f))
print("{0}: unchanged".format(input_file))
def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
def convert_dir_save(format_idx, inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
"""
Converts all .msg files in inputdir to uORB header files
Unchanged existing files are not overwritten.
"""
# Create new headers in temporary output directory
convert_dir(inputdir, temporarydir, templatedir)
convert_dir(format_idx, inputdir, temporarydir, templatedir)
if generate_idx == 1:
generate_topics_list_file(inputdir, temporarydir, templatedir)
# Copy changed headers from temporary dir to output dir
copy_changed(temporarydir, outputdir, prefix, quiet)
def generate_topics_list_file(msgdir, outputdir, templatedir):
# generate cpp file with topics list
tl_globals = {"msgs" : get_msgs_list(msgdir)}
tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
generate_by_template(tl_out_file, tl_template_file, tl_globals)
if __name__ == "__main__":
parser = argparse.ArgumentParser(
description='Convert msg files to uorb headers')
description='Convert msg files to uorb headers/sources')
parser.add_argument('--headers', help='Generate header files',
action='store_true')
parser.add_argument('--sources', help='Generate source files',
action='store_true')
parser.add_argument('-d', dest='dir', help='directory with msg files')
parser.add_argument('-f', dest='file',
help="files to convert (use only without -d)",
@@ -206,15 +283,22 @@ if __name__ == "__main__":
' name when converting directories')
args = parser.parse_args()
if args.headers:
generate_idx = 0
elif args.sources:
generate_idx = 1
else:
print('Error: either --headers or --sources must be specified')
exit(-1)
if args.file is not None:
for f in args.file:
convert_file(
f,
args.outputdir,
args.templatedir,
incl_default)
for f in args.file:
generate_output_from_file(generate_idx, f, args.outputdir, args.templatedir, INCL_DEFAULT)
if generate_idx == 1:
generate_topics_list_file(args.dir, args.outputdir, args.templatedir)
elif args.dir is not None:
convert_dir_save(
convert_dir_save(
generate_idx,
args.dir,
args.outputdir,
args.templatedir,
Tools/px_generate_uorb_topic_helper.py
+171
View File
@@ -0,0 +1,171 @@
# helper methods & common code for the uorb message templates msg.{cpp,h}.template
# Another positive effect of having the code here, is that this file will get
# precompiled and thus message generation will be much faster
import genmsg.msgs
import gencpp
type_map = {
'int8': 'int8_t',
'int16': 'int16_t',
'int32': 'int32_t',
'int64': 'int64_t',
'uint8': 'uint8_t',
'uint16': 'uint16_t',
'uint32': 'uint32_t',
'uint64': 'uint64_t',
'float32': 'float',
'float64': 'double',
'bool': 'bool',
'char': 'char',
}
msgtype_size_map = {
'int8': 1,
'int16': 2,
'int32': 4,
'int64': 8,
'uint8': 1,
'uint16': 2,
'uint32': 4,
'uint64': 8,
'float32': 4,
'float64': 8,
'bool': 1,
'char': 1,
}
def bare_name(msg_type):
"""
Get bare_name from <dir>/<bare_name>[x] format
"""
bare = msg_type
if '/' in msg_type:
# removing prefix
bare = (msg_type.split('/'))[1]
# removing suffix
return bare.split('[')[0]
def sizeof_field_type(field):
"""
Get size of a field, used for sorting
"""
bare_name_str = bare_name(field.type)
if bare_name_str in msgtype_size_map:
return msgtype_size_map[bare_name_str]
return 0 # this is for non-builtin types: sort them at the end
def get_children_fields(base_type, search_path):
(package, name) = genmsg.names.package_resource_name(base_type)
tmp_msg_context = genmsg.msg_loader.MsgContext.create_default()
spec_temp = genmsg.msg_loader.load_msg_by_type(tmp_msg_context, '%s/%s' %(package, name), search_path)
sorted_fields = sorted(spec_temp.parsed_fields(), key=sizeof_field_type, reverse=True)
return sorted_fields
def add_padding_bytes(fields, search_path):
"""
Add padding fields before the embedded types, at the end and calculate the
struct size
returns a tuple with the struct size and padding at the end
"""
struct_size = 8 # account for the timestamp
align_to = 8 # this is always 8, because of the 64bit timestamp
i = 0
padding_idx = 0
while i < len(fields):
field = fields[i]
if not field.is_header:
a_pos = field.type.find('[')
array_size = 1
if field.is_array:
array_size = field.array_len
if field.is_builtin:
field.sizeof_field_type = sizeof_field_type(field)
else:
# embedded type: may need to add padding
num_padding_bytes = align_to - (struct_size % align_to)
if num_padding_bytes != align_to:
padding_field = genmsg.Field('_padding'+str(padding_idx),
'uint8['+str(num_padding_bytes)+']')
padding_idx += 1
padding_field.sizeof_field_type = 1
struct_size += num_padding_bytes
fields.insert(i, padding_field)
i += 1
children_fields = get_children_fields(field.base_type, search_path)
field.sizeof_field_type, unused = add_padding_bytes(children_fields,
search_path)
struct_size += field.sizeof_field_type * array_size
i += 1
# add padding at the end (necessary for embedded types)
num_padding_bytes = align_to - (struct_size % align_to)
if num_padding_bytes == align_to:
num_padding_bytes = 0
else:
padding_field = genmsg.Field('_padding'+str(padding_idx),
'uint8['+str(num_padding_bytes)+']')
padding_idx += 1
padding_field.sizeof_field_type = 1
struct_size += num_padding_bytes
fields.append(padding_field)
return (struct_size, num_padding_bytes)
def convert_type(spec_type):
"""
Convert from msg type to C type
"""
bare_type = spec_type
if '/' in spec_type:
# removing prefix
bare_type = (spec_type.split('/'))[1]
msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
c_type = msg_type
if msg_type in type_map:
c_type = type_map[msg_type]
if is_array:
return c_type + "[" + str(array_length) + "]"
return c_type
def print_field_def(field):
"""
Print the C type from a field
"""
type_name = field.type
# detect embedded types
sl_pos = type_name.find('/')
type_appendix = ''
type_prefix = ''
if (sl_pos >= 0):
type_name = type_name[sl_pos + 1:]
type_prefix = 'struct '
type_appendix = '_s'
# detect arrays
a_pos = type_name.find('[')
array_size = ''
if (a_pos >= 0):
# field is array
array_size = type_name[a_pos:]
type_name = type_name[:a_pos]
if type_name in type_map:
# need to add _t: int8 --> int8_t
type_px4 = type_map[type_name]
else:
type_px4 = type_name
comment = ''
if field.name.startswith('_padding'):
comment = ' // required for logger'
print('\t%s%s%s %s%s;%s'%(type_prefix, type_px4, type_appendix, field.name,
array_size, comment))
Tools/px_process_airframes.py
+1 -1
View File
@@ -71,7 +71,7 @@ def main():
const="",
metavar="BOARD",
help="Board to create airframes xml for")
parser.add_argument("-v", "--verbose", help="verbose output")
parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
args = parser.parse_args()
# Check for valid command
Tools/px_process_params.py
+1 -1
View File
@@ -107,7 +107,7 @@ def main():
metavar="SUMMARY",
default="Automagically updated parameter documentation from code.",
help="DokuWiki page edit summary")
parser.add_argument("-v", "--verbose", help="verbose output")
parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
args = parser.parse_args()
# Check for valid command
Tools/px_romfs_pruner.py
+23 -11
View File
@@ -1,7 +1,7 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2014-2015 PX4 Development Team. All rights reserved.
# Copyright (C) 2014-2016 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
@@ -35,7 +35,12 @@
"""
px_romfs_pruner.py:
Delete all comments and newlines before ROMFS is converted to an image
Try to keep size of ROMFS minimal.
This script goes through the temporarily copied ROMFS data and deletes all
comments, empty lines and leading whitespace.
It also deletes hidden files such as auto-saved backups that a text editor
might have left in the tree.
@author: Julian Oes <julian@oes.ch>
"""
@@ -53,18 +58,25 @@ def main():
help="ROMFS scratch folder.")
args = parser.parse_args()
#print("Pruning ROMFS files.")
# go through
# go through temp folder
for (root, dirs, files) in os.walk(args.folder):
for file in files:
# only prune text files
if ".zip" in file or ".bin" in file or ".swp" in file \
or ".data" in file or ".DS_Store" in file \
or file.startswith("."):
file_path = os.path.join(root, file)
# delete hidden files
if file.startswith("."):
os.remove(file_path)
continue
file_path = os.path.join(root, file)
# delete documentation
if file.startswith("README"):
os.remove(file_path)
continue
# only prune text files
if ".zip" in file or ".bin" in file or ".swp" in file \
or ".data" in file or ".DS_Store" in file:
continue
# read file line by line
pruned_content = ""
@@ -77,7 +89,7 @@ def main():
else:
if not line.isspace() \
and not line.strip().startswith("#"):
pruned_content += line
pruned_content += line.strip() + "\n"
# overwrite old scratch file
with open(file_path, "wb") as f:
pruned_content = re.sub("\r\n", "\n", pruned_content)
Tools/scp_upload.sh
Executable
+32
View File
@@ -0,0 +1,32 @@
#!/bin/bash
if [[ "$#" < 2 ]]; then
echo "usage: scp_upload.sh SRC1 [SRC2 ...] DEST"
exit
fi
if [ -z ${AUTOPILOT_HOST+x} ]; then
host=px4autopilot
echo "\$AUTOPILOT_HOST is not set (use default: $host)"
else
host=$AUTOPILOT_HOST
echo "\$AUTOPILOT_HOST is set to $host"
fi
echo "Uploading..."
# Get last argument
for last; do true; done
# Go through source files and push them one by one.
i=0
for arg
do
if [[ $((i+1)) == "$#" ]]; then
break
fi
# echo "Pushing $arg to $last"
#adb push $arg $last
scp $arg pi@$host:$last
((i+=1))
done
Tools/sdlog2/README.txt
+10 -2
View File
@@ -8,6 +8,14 @@ logconv.m: This is a MATLAB script which will automatically convert and display
sdlog2_dump.py: This is a Python script (compatible with v2 and v3) which converts the self-describing binary log format to a CSV file. To export a CSV file from within a shell (Windows CMD or BASH on Linux / Mac OS), run:
python sdlog2_dump.py log001.bin -f "export.csv" -t "TIME" -d "," -n ""
python sdlog2_dump.py log001.bin -f "export.csv" -t "TIME" -d "," -n ""
Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux.
geo_tag_images.py: Use this script to geotag a set of images. It uses GPS time and file creation date to synchronize the images, so it needs that the images have a valid creation date.
python geo_tag_images.py --logfile=mylog.bin --input=images/ --output=tagged/
geotagging.py: Use this script to geotag a set of images. It uses the CAM trigger data from the log file for image association.
python geotagging.py --logfile=mylog.bin --input=images/ --output=tagged/
Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux.
Tools/sdlog2/geo_tag_images.py
+375
View File
@@ -0,0 +1,375 @@
#!/usr/bin/env python
#
# Tag the images recorded during a flight with geo location extracted from
# a PX4 binary log file.
#
# This file accepts *.jpg format images and reads position information
# from a *.bin file
#
# Example Syntax:
# python geotag.py --logfile=log001.bin --input=images/ --output=imagesWithTag/ --offset=-0.4 -v
#
# Author: Hector Azpurua
# Based on the script of Andreas Bircher
import os
import re
import sys
import csv
import bisect
import pyexiv2
import argparse
from lxml import etree
import datetime, calendar
from shutil import copyfile
from pykml.factory import KML_ElementMaker as KML
from pykml.factory import GX_ElementMaker as GX
class GpsPosition(object):
def __init__(self, timestamp, lat, lon, alt):
self.timestamp = timestamp
self.lat = float(lat)
self.lon = float(lon)
self.alt = float(alt)
class Main:
def __init__(self):
"""
:param logfile:
:param input:
:param output:
:param offset:
:param verbose:
:return:
"""
args = self.get_arg()
self.logfile = args['logfile']
self.input = args['input']
self.output = args['output']
self.klm = args['klm']
self.verbose = args['verbose']
self.offset = args['offset']
self.time_tresh = args['treshold']
self.tdiff_list = []
self.non_processed_files = []
self.tagged_gps = []
self.gps_list = self.load_gps_from_log(self.logfile, self.offset)
self.img_list = self.load_image_list(self.input)
if len(self.img_list) <= 0:
print '[ERROR] Cannot load JPG images from input folder, please check filename extensions.'
sys.exit(1)
if not os.path.exists(self.output):
os.makedirs(self.output)
if not self.output.endswith(os.path.sep):
self.output += os.path.sep
self.tag_images()
if self.klm and len(self.tdiff_list) > 0:
self.gen_klm()
if len(self.non_processed_files) > 0:
print '[WARNING] Some images werent processed:'
for elem in self.non_processed_files:
print '\t', elem
@staticmethod
def to_degree(value, loc):
"""
Convert a lat or lon value to degrees/minutes/seconds
:param value: the latitude or longitude value
:param loc: could be ["S", "N"] or ["W", "E"]
:return:
"""
if value < 0:
loc_value = loc[0]
elif value > 0:
loc_value = loc[1]
else:
loc_value = ""
absolute_value = abs(value)
deg = int(absolute_value)
t1 = (absolute_value-deg) * 60
minute = int(t1)
sec = round((t1 - minute) * 60, 5)
return deg, minute, sec, loc_value
@staticmethod
def gps_week_seconds_to_datetime(gpsweek, gpsmillis, leapmillis=0):
"""
Convert GPS week and seconds to datetime object, using leap milliseconds if necessary
:param gpsweek:
:param gpsmillis:
:param leapmillis:
:return:
"""
datetimeformat = "%Y-%m-%d %H:%M:%S.%f"
epoch = datetime.datetime.strptime("1980-01-06 00:00:00.000", datetimeformat)
elapsed = datetime.timedelta(days=(gpsweek * 7), milliseconds=(gpsmillis + leapmillis))
return Main.utc_to_local(epoch + elapsed)
@staticmethod
def utc_to_local(utc_dt):
"""
Convert UTC time in local time
:param utc_dt:
:return:
"""
timestamp = calendar.timegm(utc_dt.timetuple()) # use integer timestamp to avoid precision lost
local_dt = datetime.datetime.fromtimestamp(timestamp)
assert utc_dt.resolution >= datetime.timedelta(microseconds=1)
return local_dt.replace(microsecond=utc_dt.microsecond)
def gen_klm(self):
"""
Generate a KML file with keypoints on the locations of the pictures, including height
:return:
"""
style_dot = "sn_shaded_dot"
style_path = "red_path"
doc = KML.kml(
KML.Document(
KML.Name("GPS of the images"),
KML.Style(
KML.IconStyle(
KML.scale(0.4),
KML.Icon(
KML.href("http://maps.google.com/mapfiles/kml/shapes/shaded_dot.png")
),
),
id=style_dot,
),
KML.Style(
KML.LineStyle(
KML.color('7f0000ff'),
KML.width(6),
GX.labelVisibility('1'),
),
id=style_path
)
)
)
# create points
for i, gps in enumerate(self.tagged_gps):
ii = i + 1
doc.Document.append(
KML.Placemark(
KML.styleUrl('#{0}'.format(style_dot)),
KML.Point(
KML.extrude(True),
KML.altitudeMode('relativeToGround'),
KML.coordinates("{},{},{}".format(gps.lon, gps.lat, gps.alt))
),
KML.name(str(ii)) if ii % 5 == 0 or ii == 1 else KML.name()
)
)
# create the path
doc.Document.append(
KML.Placemark(
KML.styleUrl('#{0}'.format(style_path)),
KML.LineString(
KML.altitudeMode('relativeToGround'),
KML.coordinates(
' '.join(["{},{},{}".format(gps.lon, gps.lat, gps.alt) for gps in self.tagged_gps])
)
)
)
)
s = etree.tostring(doc)
file_path = self.output + 'GoogleEarth_points.kml'
f = open(file_path,'w')
f.write(s)
f.close()
print '[INFO] KML file generated on:', file_path
def get_closest_datetime_index(self, datetime_list, elem):
"""
Get the closest element between a list of datetime objects and a date
:param datetime_list:
:param elem:
:return:
"""
i = bisect.bisect_left(datetime_list, elem)
date = datetime_list[i]
diff = (date - elem).total_seconds()
if diff > self.time_tresh:
return -1, diff
return i, diff
def set_gps_location(self, file_name, lat, lng, alt):
"""
Add the GPS tag and altitude to a image file
:param file_name:
:param lat:
:param lng:
:param alt:
:return:
"""
lat_deg = self.to_degree(lat, ["S", "N"])
lng_deg = self.to_degree(lng, ["W", "E"])
exiv_lat = (pyexiv2.Rational(lat_deg[0] * 60 + lat_deg[1], 60),
pyexiv2.Rational(lat_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
exiv_lng = (pyexiv2.Rational(lng_deg[0] * 60 + lng_deg[1], 60),
pyexiv2.Rational(lng_deg[2] * 100, 6000), pyexiv2.Rational(0, 1))
try:
exiv_image = pyexiv2.ImageMetadata(file_name)
exiv_image.read()
exiv_image["Exif.GPSInfo.GPSLatitude"] = exiv_lat
exiv_image["Exif.GPSInfo.GPSLatitudeRef"] = lat_deg[3]
exiv_image["Exif.GPSInfo.GPSLongitude"] = exiv_lng
exiv_image["Exif.GPSInfo.GPSLongitudeRef"] = lng_deg[3]
exiv_image["Exif.GPSInfo.GPSAltitude"] = pyexiv2.Rational(alt, 1)
exiv_image["Exif.GPSInfo.GPSAltitudeRef"] = '0'
exiv_image["Exif.Image.GPSTag"] = 654
exiv_image["Exif.GPSInfo.GPSMapDatum"] = "WGS-84"
exiv_image["Exif.GPSInfo.GPSVersionID"] = '2 0 0 0'
exiv_image.write(True)
except Exception as e:
print '[ERROR]', e
def load_gps_from_log(self, log_file, offset):
"""
Load gps list from PX4 binary log
:param log_file:
:param offset:
:return:
"""
os.system('python sdlog2_dump.py ' + log_file + ' -f log.csv')
f = open('log.csv', 'rb')
reader = csv.reader(f)
headers = reader.next()
line = {}
for h in headers:
line[h] = []
for row in reader:
for h, v in zip(headers, row):
line[h].append(v)
gps_list = []
for seq in range(0, len(line['GPS_Lat']) - 1):
gps_time = int(line['GPS_TimeMS'][seq + 1])
gps_week = int(line['GPS_Week'][seq + 1])
gps_lat = float(line['GPS_Lat'][seq + 1])
gps_lon = float(line['GPS_Lng'][seq + 1])
gps_alt = float(line['GPS_RelAlt'][seq + 1])
date = self.gps_week_seconds_to_datetime(gps_week, gps_time, leapmillis=offset)
print date
gps_list.append(GpsPosition(date, gps_lat, gps_lon, gps_alt))
return gps_list
def load_image_list(self, input_folder, file_type='jpg'):
"""
Load image list from a folder given a file type
:param input_folder:
:param file_type:
:return:
"""
self.img_list = [input_folder + filename for filename in os.listdir(input_folder)
if re.search(r'\.'+file_type+'$', filename, re.IGNORECASE)]
self.img_list = sorted(self.img_list)
return self.img_list
def tag_images(self):
"""
Tag the image list using the GPS loaded from the LOG file
:return:
"""
tagged_gps = []
img_size = len(self.img_list)
print '[INFO] Number of images:', img_size
dt_list = [x.timestamp for x in self.gps_list]
img_seq = 1
for i in xrange(img_size):
base_path, filename = os.path.split(self.img_list[i])
cdate = datetime.datetime.fromtimestamp(os.path.getmtime(self.img_list[i]))
gps_i, img_tdiff = self.get_closest_datetime_index(dt_list, cdate)
if gps_i == -1:
self.non_processed_files.append(filename)
continue
closest_gps = self.gps_list[gps_i]
self.tdiff_list.append(img_tdiff)
if self.verbose:
msg = "[DEBUG] %s/%s) %s\n\timg %s -> gps %s (%ss)\n\tlat:%s, lon:%s, alt:%s".ljust(60) %\
(i+1, img_size, filename, cdate, closest_gps.timestamp, img_tdiff, closest_gps.lat, closest_gps.lon, closest_gps.alt)
print msg
copyfile(self.img_list[i], self.output + str(img_seq) + filename)
self.set_gps_location(self.output + str(img_seq) + filename, closest_gps.lat, closest_gps.lon, closest_gps.alt)
self.tagged_gps.append(closest_gps)
img_seq += 1
if len(self.tdiff_list) > 0:
print '[INFO] Mean diff in seconds:', sum(self.tdiff_list) / float(len(self.tdiff_list))
@staticmethod
def get_arg():
parser = argparse.ArgumentParser(
description='Geotag script to add GPS info to pictures from PX4 binary log files.'\
'It uses synchronized time to allocate GPS positions.'
)
parser.add_argument(
'-l', '--logfile', help='PX4 log file containing recorded positions.', required=True
)
parser.add_argument(
'-i', '--input', help='Input folder containing untagged images.', required=True
)
parser.add_argument(
'-o', '--output', help='Output folder to contain tagged images.', required=True
)
parser.add_argument(
'-t', '--treshold', help='Time treshold between the GPS time and the local image time.',
default=1, required=False, type=float
)
parser.add_argument(
'-of', '--offset', help='Time offset in MILLISECONDS between the GPS time and the local time.',
default=-17000, required=False, type=float
)
parser.add_argument(
'-klm', '--klm', help='Save the in KML format the information of all tagged images.',
required=False, action='store_true'
)
parser.add_argument(
'-v', '--verbose', help='Prints lots of information.',
required=False, action='store_true'
)
args = vars(parser.parse_args())
return args
if __name__ == "__main__":
m = Main()
Tools/sitl_gazebo
+1 -1
Submodule Tools/sitl_gazebo updated: 9353834b2f...00dcabb1c2
Tools/sitl_multiple_run.sh
Executable
+52
View File
@@ -0,0 +1,52 @@
#!/bin/bash
sitl_num=2
sim_port=15019
mav_port=15010
mav_port2=15011
mav_oport=15015
mav_oport2=15016
port_step=10
src_path=`pwd`
rc_script="posix-configs/SITL/init/rcS_multiple"
build_path=${src_path}/build_posix_sitl_default
pkill px4
sleep 2
cd $build_path/src/firmware/posix
user=`whoami`
n=1
while [ $n -le $sitl_num ]; do
if [ ! -d $n ]; then
mkdir -p $n
cd $n
mkdir -p rootfs/fs/microsd
mkdir -p rootfs/eeprom
touch rootfs/eeprom/parameters
cp ${src_path}/ROMFS/px4fmu_common/mixers/quad_w.main.mix ./
cat ${src_path}/${rc_script}_gazebo_iris | sed s/_SIMPORT_/${sim_port}/ | sed s/_MAVPORT_/${mav_port}/g | sed s/_MAVOPORT_/${mav_oport}/ | sed s/_MAVPORT2_/${mav_port2}/ | sed s/_MAVOPORT2_/${mav_oport2}/ > rcS
cd ../
fi
cd $n
sudo -b -u $user ../px4 -d rcS >out.log 2>err.log
cd ../
n=$(($n + 1))
sim_port=$(($sim_port + $port_step))
mav_port=$(($mav_port + $port_step))
mav_port2=$(($mav_port2 + $port_step))
mav_oport=$(($mav_oport + $port_step))
mav_oport2=$(($mav_oport2 + $port_step))
done
Tools/sitl_run.sh
+23 -19
View File
@@ -43,7 +43,7 @@ fi
# kill process names that might stil
# be running from last time
pkill gazebo
pkill mainapp
pkill px4
jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
if [ -n "$jmavsim_pid" ]
then
@@ -58,7 +58,7 @@ cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit
SIM_PID=0
if [ "$program" == "jmavsim" ] && [ "$no_sim" == "" ]
if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
then
cd Tools/jMAVSim
ant create_run_jar copy_res
@@ -66,31 +66,33 @@ then
java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
SIM_PID=`echo $!`
cd ../..
elif [ "$program" == "gazebo" ] && [ "$no_sim" == "" ]
elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]
then
if [ -x "$(command -v gazebo)" ]
then
# Set the plugin path so Gazebo finds our model and sim
export GAZEBO_PLUGIN_PATH=$curr_dir/Tools/sitl_gazebo/Build:${GAZEBO_PLUGIN_PATH}
export GAZEBO_PLUGIN_PATH=$curr_dir/build_gazebo:${GAZEBO_PLUGIN_PATH}
# Set the model path so Gazebo finds the airframes
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$curr_dir/Tools/sitl_gazebo/models
# The next line would disable online model lookup, can be commented in, in case of unstable behaviour.
# export GAZEBO_MODEL_DATABASE_URI=""
export SITL_GAZEBO_PATH=$curr_dir/Tools/sitl_gazebo
mkdir -p Tools/sitl_gazebo/Build
cd Tools/sitl_gazebo/Build
cmake -Wno-dev ..
make -j4
make sdf
gzserver --verbose ../worlds/${model}.world &
make --no-print-directory gazebo_build
gzserver --verbose $curr_dir/Tools/sitl_gazebo/worlds/${model}.world &
SIM_PID=`echo $!`
gzclient --verbose &
GUI_PID=`echo $!`
if [[ -n "$HEADLESS" ]]; then
echo "not running gazebo gui"
else
gzclient --verbose &
GUI_PID=`echo $!`
fi
else
echo "You need to have gazebo simulator installed!"
exit 1
fi
elif [ "$program" == "replay" ] && [ "$no_sim" == "" ]
elif [ "$program" == "replay" ] && [ ! -n "$no_sim" ]
then
echo "Replaying logfile: $logfile"
# This is not a simulator, but a log file to replay
@@ -115,18 +117,18 @@ set +e
# Start Java simulator
if [ "$debugger" == "lldb" ]
then
lldb -- mainapp ../../../../${rc_script}_${program}_${model}
lldb -- px4 ../../../../${rc_script}_${program}_${model}
elif [ "$debugger" == "gdb" ]
then
gdb --args mainapp ../../../../${rc_script}_${program}_${model}
gdb --args px4 ../../../../${rc_script}_${program}_${model}
elif [ "$debugger" == "ddd" ]
then
ddd --debugger gdb --args mainapp ../../../../${rc_script}_${program}_${model}
ddd --debugger gdb --args px4 ../../../../${rc_script}_${program}_${model}
elif [ "$debugger" == "valgrind" ]
then
valgrind ./mainapp ../../../../${rc_script}_${program}_${model}
valgrind ./px4 ../../../../${rc_script}_${program}_${model}
else
$sudo_enabled ./mainapp $chroot_enabled ../../../../${rc_script}_${program}_${model}
$sudo_enabled ./px4 $chroot_enabled ../../../../${rc_script}_${program}_${model}
fi
if [ "$program" == "jmavsim" ]
@@ -135,5 +137,7 @@ then
elif [ "$program" == "gazebo" ]
then
kill -9 $SIM_PID
kill -9 $GUI_PID
if [[ ! -n "$HEADLESS" ]]; then
kill -9 $GUI_PID
fi
fi
Tools/upload.sh
+2 -2
View File
@@ -17,7 +17,7 @@ fi
if [ $SYSTYPE = "Linux" ];
then
SERIAL_PORTS="/dev/serial/by-id/usb-3D_Robotics*"
SERIAL_PORTS="/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/usb-The_Autopilot*"
fi
if [ $SYSTYPE = "" ];
@@ -25,4 +25,4 @@ then
SERIAL_PORTS="COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
fi
python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
circle.yml
+20
View File
@@ -0,0 +1,20 @@
machine:
services:
- docker
checkout:
post:
- git submodule sync --recursive
- git submodule update --init --recursive
## Customize dependencies
dependencies:
cache_directories:
- "~/.ccache"
pre:
- docker pull px4io/px4-dev-nuttx-gcc4.9
test:
override:
- docker run --rm -v `pwd`:`pwd`:rw -w=`pwd` -v $HOME/.ccache:$HOME/.ccache:rw -e CCACHE_DIR=$HOME/.ccache --user=$UID -it px4io/px4-dev-nuttx-gcc4.9 /bin/bash -c "ccache -z; make px4fmu-v4_default; ccache -s"
cmake/cmake_hexagon
+1 -1
Submodule cmake/cmake_hexagon updated: 77d487dc07...eb1d242e57
cmake/common/px4_base.cmake
+95 -16
View File
@@ -303,6 +303,9 @@ function(px4_add_module)
if(MAIN)
set_target_properties(${MODULE} PROPERTIES
COMPILE_DEFINITIONS PX4_MAIN=${MAIN}_app_main)
add_definitions(-DMODULE_NAME="${MAIN}")
else()
add_definitions(-DMODULE_NAME="${MODULE}")
endif()
if(INCLUDES)
@@ -359,13 +362,15 @@ function(px4_generate_messages)
NAME px4_generate_messages
OPTIONS VERBOSE
ONE_VALUE OS TARGET
MULTI_VALUE MSG_FILES DEPENDS
MULTI_VALUE MSG_FILES DEPENDS INCLUDES
REQUIRED MSG_FILES OS TARGET
ARGN ${ARGN})
set(QUIET)
if(NOT VERBOSE)
set(QUIET "-q")
endif()
# headers
set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
set(msg_list)
foreach(msg_file ${MSG_FILES})
@@ -378,18 +383,48 @@ function(px4_generate_messages)
endforeach()
add_custom_command(OUTPUT ${msg_files_out}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_headers.py
Tools/px_generate_uorb_topic_files.py
--headers
${QUIET}
-d msg
-o ${msg_out_path}
-e msg/templates/uorb
-t ${CMAKE_BINARY_DIR}/topics_temporary
-t ${CMAKE_BINARY_DIR}/topics_temporary_header
DEPENDS ${DEPENDS} ${MSG_FILES}
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMENT "Generating uORB topic headers"
VERBATIM
)
# !sources
set(msg_source_out_path ${CMAKE_BINARY_DIR}/topics_sources)
set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
foreach(msg ${msg_list})
list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
endforeach()
add_custom_command(OUTPUT ${msg_source_files_out}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_files.py
--sources
${QUIET}
-d msg
-o ${msg_source_out_path}
-e msg/templates/uorb
-t ${CMAKE_BINARY_DIR}/topics_temporary_sources
DEPENDS ${DEPENDS} ${MSG_FILES}
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMENT "Generating uORB topic sources"
VERBATIM
)
set_source_files_properties(${msg_source_files_out} PROPERTIES GENERATED TRUE)
# We remove uORBTopics.cpp to make sure the generator is re-run, which is
# necessary when a .msg file is removed and because uORBTopics.cpp depends
# on all topics.
execute_process(COMMAND rm uORBTopics.cpp
WORKING_DIRECTORY ${msg_source_out_path}
ERROR_QUIET)
# multi messages for target OS
set(msg_multi_out_path
${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
@@ -399,7 +434,8 @@ function(px4_generate_messages)
endforeach()
add_custom_command(OUTPUT ${msg_multi_files_out}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_headers.py
Tools/px_generate_uorb_topic_files.py
--headers
${QUIET}
-d msg
-o ${msg_multi_out_path}
@@ -411,8 +447,13 @@ function(px4_generate_messages)
COMMENT "Generating uORB topic multi headers for ${OS}"
VERBATIM
)
add_custom_target(${TARGET}
DEPENDS ${msg_multi_files_out} ${msg_files_out})
add_library(${TARGET}
${msg_source_files_out}
${msg_multi_files_out}
${msg_files_out}
)
endfunction()
#=============================================================================
@@ -447,6 +488,7 @@ function(px4_add_upload)
if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
list(APPEND serial_ports
/dev/serial/by-id/usb-3D_Robotics*
/dev/serial/by-id/usb-The_Autopilot*
/dev/serial/by-id/pci-3D_Robotics*
)
elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
@@ -490,6 +532,42 @@ function(px4_add_adb_push)
)
endfunction()
function(px4_add_adb_push_to_bebop)
px4_parse_function_args(
NAME px4_add_upload_to_bebop
ONE_VALUE OS BOARD OUT DEST
MULTI_VALUE FILES DEPENDS
REQUIRED OS BOARD OUT FILES DEPENDS DEST
ARGN ${ARGN})
add_custom_target(${OUT}
COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
DEPENDS ${DEPENDS}
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMENT "uploading ${BUNDLE}"
VERBATIM
USES_TERMINAL
)
endfunction()
function(px4_add_scp_push)
px4_parse_function_args(
NAME px4_add_upload
ONE_VALUE OS BOARD OUT DEST
MULTI_VALUE FILES DEPENDS
REQUIRED OS BOARD OUT FILES DEPENDS DEST
ARGN ${ARGN})
add_custom_target(${OUT}
COMMAND ${CMAKE_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
DEPENDS ${DEPENDS}
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMENT "uploading ${BUNDLE}"
VERBATIM
USES_TERMINAL
)
endfunction()
#=============================================================================
#
@@ -541,7 +619,6 @@ function(px4_add_common_flags)
-Wall
-Werror
-Wextra
-Wpacked
-Wno-sign-compare
-Wshadow
-Wfloat-equal
@@ -583,7 +660,8 @@ function(px4_add_common_flags)
endif()
if ($ENV{MEMORY_DEBUG} MATCHES "1")
set(max_optimization -O0)
message(STATUS "address sanitizer enabled")
set(max_optimization -Os)
set(optimization_flags
-fno-strict-aliasing
@@ -591,7 +669,7 @@ function(px4_add_common_flags)
-funsafe-math-optimizations
-ffunction-sections
-fdata-sections
-g -fsanitize=address
-g3 -fsanitize=address
)
else()
set(max_optimization -Os)
@@ -710,6 +788,7 @@ function(px4_add_common_flags)
string(REPLACE "-" "_" board_config ${board_upper})
set(added_definitions
-DCONFIG_ARCH_BOARD_${board_config}
-D__STDC_FORMAT_MACROS
)
if (NOT (APPLE AND (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")))
@@ -776,21 +855,21 @@ function(px4_create_git_hash_header)
REQUIRED HEADER
ARGN ${ARGN})
execute_process(
COMMAND git describe --tags
COMMAND git describe --always --tags
OUTPUT_VARIABLE git_tag
OUTPUT_STRIP_TRAILING_WHITESPACE
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
#message(STATUS "GIT_TAG = ${git_tag}")
message(STATUS "GIT_TAG = ${git_tag}")
execute_process(
COMMAND git rev-parse HEAD
OUTPUT_VARIABLE git_desc
COMMAND git rev-parse --verify HEAD
OUTPUT_VARIABLE git_version
OUTPUT_STRIP_TRAILING_WHITESPACE
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
#message(STATUS "GIT_DESC = ${git_desc}")
set(git_desc_short)
string(SUBSTRING ${git_desc} 1 16 git_desc_short)
#message(STATUS "GIT_VERSION = ${git_version}")
set(git_version_short)
string(SUBSTRING ${git_version} 1 16 git_version_short)
configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
endfunction()
cmake/configs/nuttx_mindpx-v2_default.cmake
+27 -14
View File
@@ -15,7 +15,7 @@ set(config_module_list
drivers/led
drivers/px4fmu
#drivers/px4io
drivers/test_ppm
#drivers/test_ppm
drivers/boards/mindpx-v2
#drivers/rgbled
drivers/rgbled_pwm
@@ -64,18 +64,33 @@ set(config_module_list
systemcmds/pwm
systemcmds/esc_calib
systemcmds/reboot
#systemcmds/topic_listener
systemcmds/topic_listener
systemcmds/top
systemcmds/config
systemcmds/nshterm
systemcmds/mtd
systemcmds/dumpfile
systemcmds/ver
systemcmds/sd_bench
systemcmds/motor_ramp
#
# Tests
#
drivers/sf0x/sf0x_tests
drivers/test_ppm
modules/commander/commander_tests
modules/controllib_test
modules/mavlink/mavlink_tests
modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
#
# General system control
#
modules/commander
modules/load_mon
modules/navigator
modules/mavlink
modules/gpio_led
@@ -85,16 +100,15 @@ set(config_module_list
#
# Estimation modules (EKF/ SO3 / other filters)
#
# Too high RAM usage due to static allocations
# modules/attitude_estimator_ekf
modules/attitude_estimator_q
modules/ekf_att_pos_estimator
modules/position_estimator_inav
modules/local_position_estimator
modules/ekf2
#
# Vehicle Control
#
# modules/segway # XXX Needs GCC 4.7 fix
modules/fw_pos_control_l1
modules/fw_att_control
modules/mc_att_control
@@ -105,6 +119,7 @@ set(config_module_list
# Logging
#
modules/sdlog2
modules/logger
#
# Library modules
@@ -134,7 +149,7 @@ set(config_module_list
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/common
platforms/nuttx/px4_layer
#
@@ -145,7 +160,7 @@ set(config_module_list
#
# Rover apps
#
examples/rover_steering_control
#examples/rover_steering_control
#
# Demo apps
@@ -153,7 +168,7 @@ set(config_module_list
#examples/math_demo
# Tutorial code from
# https://px4.io/dev/px4_simple_app
examples/px4_simple_app
#examples/px4_simple_app
# Tutorial code from
# https://px4.io/dev/daemon
@@ -176,10 +191,6 @@ set(config_extra_builtin_cmds
sercon
)
set(config_io_board
px4io-v2
)
set(config_extra_libs
uavcan
uavcan_stm32_driver
@@ -191,9 +202,11 @@ set(config_io_extra_libs
add_custom_target(sercon)
set_target_properties(sercon PROPERTIES
PRIORITY "SCHED_PRIORITY_DEFAULT"
MAIN "sercon" STACK_MAIN "2048")
MAIN "sercon"
STACK_MAIN "2048")
add_custom_target(serdis)
set_target_properties(serdis PROPERTIES
PRIORITY "SCHED_PRIORITY_DEFAULT"
MAIN "serdis" STACK_MAIN "2048")
MAIN "serdis"
STACK_MAIN "2048")
cmake/configs/nuttx_px4fmu-v1_default.cmake
+2
View File
@@ -61,6 +61,7 @@ set(config_module_list
# General system control
#
modules/commander
modules/load_mon
modules/navigator
modules/mavlink
modules/gpio_led
@@ -90,6 +91,7 @@ set(config_module_list
# Logging
#
modules/sdlog2
modules/logger
#
# Library modules
cmake/configs/nuttx_px4fmu-v2_default.cmake
+26 -10
View File
@@ -48,33 +48,48 @@ set(config_module_list
drivers/bst
drivers/snapdragon_rc_pwm
drivers/lis3mdl
drivers/bmi160
#
# System commands
#
systemcmds/bl_update
systemcmds/config
systemcmds/dumpfile
#systemcmds/esc_calib
systemcmds/mixer
#systemcmds/motor_ramp
systemcmds/mtd
systemcmds/nshterm
systemcmds/param
systemcmds/perf
systemcmds/pwm
systemcmds/esc_calib
systemcmds/reboot
#systemcmds/topic_listener
#systemcmds/sd_bench
systemcmds/top
systemcmds/config
systemcmds/nshterm
systemcmds/mtd
systemcmds/dumpfile
#systemcmds/topic_listener
systemcmds/ver
#
# Testing
#
#drivers/sf0x/sf0x_tests
#drivers/test_ppm
#lib/rc/rc_tests
#modules/commander/commander_tests
#modules/controllib_test
#modules/mavlink/mavlink_tests
#modules/unit_test
#modules/uORB/uORB_tests
#systemcmds/tests
#
# General system control
#
modules/commander
modules/load_mon
modules/navigator
modules/mavlink
modules/gpio_led
#modules/gpio_led
modules/uavcan
modules/land_detector
@@ -82,14 +97,14 @@ set(config_module_list
# Estimation modules (EKF/ SO3 / other filters)
#
modules/attitude_estimator_q
modules/ekf_att_pos_estimator
#modules/ekf_att_pos_estimator
modules/position_estimator_inav
modules/local_position_estimator
modules/ekf2
#
# Vehicle Control
#
# modules/segway # XXX Needs GCC 4.7 fix
modules/fw_pos_control_l1
modules/fw_att_control
modules/mc_att_control
@@ -99,6 +114,7 @@ set(config_module_list
#
# Logging
#
#modules/logger
modules/sdlog2
#
cmake/configs/nuttx_px4fmu-v2_ekf2.cmake
+10 -7
View File
@@ -41,11 +41,13 @@ set(config_module_list
modules/sensors
#drivers/mkblctrl
drivers/px4flow
drivers/oreoled
#drivers/oreoled
drivers/gimbal
drivers/pwm_input
drivers/camera_trigger
drivers/bst
#drivers/snapdragon_rc_pwm
#drivers/lis3mdl
#
# System commands
@@ -64,25 +66,25 @@ set(config_module_list
systemcmds/mtd
systemcmds/dumpfile
systemcmds/ver
#systemcmds/sd_bench
#systemcmds/tests
systemcmds/motor_ramp
#
# General system control
#
modules/commander
modules/load_mon
modules/navigator
modules/mavlink
modules/gpio_led
#modules/gpio_led
modules/uavcan
modules/land_detector
#
# Estimation modules (EKF/ SO3 / other filters)
#
# Too high RAM usage due to static allocations
# modules/attitude_estimator_ekf
modules/attitude_estimator_q
modules/ekf2
modules/position_estimator_inav
#
# Vehicle Control
@@ -97,6 +99,7 @@ set(config_module_list
#
# Logging
#
modules/logger
modules/sdlog2
#
@@ -138,7 +141,7 @@ set(config_module_list
#
# Rover apps
#
examples/rover_steering_control
#examples/rover_steering_control
#
# Demo apps
cmake/configs/nuttx_px4fmu-v2_test.cmake
+210
View File
@@ -0,0 +1,210 @@
include(nuttx/px4_impl_nuttx)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_uavcan_num_ifaces 2)
set(config_module_list
#
# Board support modules
#
drivers/device
drivers/stm32
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/led
drivers/px4fmu
drivers/px4io
drivers/boards/px4fmu-v2
drivers/rgbled
drivers/mpu6000
drivers/mpu9250
drivers/lsm303d
drivers/l3gd20
drivers/hmc5883
drivers/ms5611
#drivers/mb12xx
#drivers/srf02
#drivers/sf0x
#drivers/ll40ls
#drivers/trone
drivers/gps
#drivers/pwm_out_sim
#drivers/hott
#drivers/hott/hott_telemetry
#drivers/hott/hott_sensors
drivers/blinkm
drivers/airspeed
drivers/ets_airspeed
drivers/meas_airspeed
drivers/frsky_telemetry
modules/sensors
#drivers/mkblctrl
drivers/px4flow
#drivers/oreoled
drivers/gimbal
drivers/pwm_input
drivers/camera_trigger
#drivers/bst
#drivers/snapdragon_rc_pwm
#drivers/lis3mdl
#
# System commands
#
systemcmds/bl_update
systemcmds/config
systemcmds/dumpfile
#systemcmds/esc_calib
systemcmds/mixer
systemcmds/motor_ramp
systemcmds/mtd
systemcmds/nshterm
systemcmds/param
systemcmds/perf
systemcmds/pwm
systemcmds/reboot
#systemcmds/sd_bench
systemcmds/top
#systemcmds/topic_listener
systemcmds/ver
#
# Testing
#
drivers/sf0x/sf0x_tests
drivers/test_ppm
#lib/rc/rc_tests
modules/commander/commander_tests
modules/controllib_test
modules/mavlink/mavlink_tests
modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
#
# General system control
#
modules/commander
modules/load_mon
modules/navigator
modules/mavlink
#modules/gpio_led
modules/uavcan
modules/land_detector
#
# Estimation modules (EKF/ SO3 / other filters)
#
modules/attitude_estimator_q
#modules/ekf_att_pos_estimator
modules/position_estimator_inav
modules/local_position_estimator
modules/ekf2
#
# Vehicle Control
#
modules/fw_pos_control_l1
modules/fw_att_control
modules/mc_att_control
modules/mc_pos_control
modules/vtol_att_control
#
# Logging
#
#modules/logger
#modules/sdlog2
#
# Library modules
#
modules/param
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/dataman
#
# Libraries
#
lib/controllib
lib/mathlib
lib/mathlib/math/filter
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/conversion
lib/launchdetection
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
lib/DriverFramework/framework
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/nuttx/px4_layer
#
# OBC challenge
#
#modules/bottle_drop
#
# Rover apps
#
#examples/rover_steering_control
#
# Demo apps
#
#examples/math_demo
# Tutorial code from
# https://px4.io/dev/px4_simple_app
#examples/px4_simple_app
# Tutorial code from
# https://px4.io/dev/daemon
#examples/px4_daemon_app
# Tutorial code from
# https://px4.io/dev/debug_values
#examples/px4_mavlink_debug
# Tutorial code from
# https://px4.io/dev/example_fixedwing_control
#examples/fixedwing_control
# Hardware test
#examples/hwtest
)
set(config_extra_builtin_cmds
serdis
sercon
)
set(config_io_board
px4io-v2
)
set(config_extra_libs
uavcan
uavcan_stm32_driver
)
set(config_io_extra_libs
)
add_custom_target(sercon)
set_target_properties(sercon PROPERTIES
PRIORITY "SCHED_PRIORITY_DEFAULT"
MAIN "sercon" STACK_MAIN "2048")
add_custom_target(serdis)
set_target_properties(serdis PROPERTIES
PRIORITY "SCHED_PRIORITY_DEFAULT"
MAIN "serdis" STACK_MAIN "2048")
cmake/configs/nuttx_px4fmu-v4_default.cmake
+21 -2
View File
@@ -23,6 +23,7 @@ set(config_module_list
drivers/mb12xx
drivers/srf02
drivers/sf0x
drivers/sf1xx
drivers/ll40ls
drivers/trone
drivers/gps
@@ -45,6 +46,10 @@ set(config_module_list
drivers/bst
drivers/snapdragon_rc_pwm
drivers/lis3mdl
drivers/bmp280
drivers/bma180
drivers/bmi160
drivers/tap_esc
#
# System commands
@@ -63,12 +68,26 @@ set(config_module_list
systemcmds/mtd
systemcmds/dumpfile
systemcmds/ver
systemcmds/sd_bench
systemcmds/motor_ramp
#
# Testing
#
drivers/sf0x/sf0x_tests
drivers/test_ppm
modules/commander/commander_tests
modules/controllib_test
modules/mavlink/mavlink_tests
modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
#
# General system control
#
modules/commander
modules/load_mon
modules/navigator
modules/mavlink
modules/gpio_led
@@ -78,12 +97,11 @@ set(config_module_list
#
# Estimation modules (EKF/ SO3 / other filters)
#
# Too high RAM usage due to static allocations
# modules/attitude_estimator_ekf
modules/attitude_estimator_q
modules/ekf_att_pos_estimator
modules/position_estimator_inav
modules/ekf2
modules/local_position_estimator
#
# Vehicle Control
@@ -99,6 +117,7 @@ set(config_module_list
# Logging
#
modules/sdlog2
modules/logger
#
# Library modules
cmake/configs/nuttx_tap-v1_default.cmake
+129
View File
@@ -0,0 +1,129 @@
include(nuttx/px4_impl_nuttx)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_module_list
#
# Board support modules
#
drivers/device
drivers/stm32
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/led
drivers/px4fmu
drivers/boards/tap-v1
drivers/rgbled_pwm
drivers/tap_esc
#drivers/mpu6500
drivers/ms5611
drivers/hmc5883
drivers/gps
drivers/airspeed
drivers/meas_airspeed
modules/sensors
drivers/camera_trigger
#
# System commands
#
systemcmds/bl_update
systemcmds/mixer
systemcmds/param
systemcmds/perf
systemcmds/pwm
systemcmds/motor_test
systemcmds/reboot
systemcmds/top
systemcmds/config
systemcmds/nshterm
systemcmds/mtd
systemcmds/dumpfile
systemcmds/ver
systemcmds/topic_listener
#
# General system control
#
modules/commander
modules/load_mon
modules/navigator
modules/mavlink
modules/land_detector
#
# Estimation modules (EKF/ SO3 / other filters)
#
modules/ekf2
#
# Vehicle Control
#
modules/fw_pos_control_l1
modules/fw_att_control
modules/mc_att_control
modules/mc_pos_control
modules/vtol_att_control
#
# Logging
#
modules/logger
#
# Library modules
#
modules/param
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/dataman
#
# Libraries
#
lib/controllib
lib/mathlib
lib/mathlib/math/filter
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/conversion
lib/launchdetection
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
lib/DriverFramework/framework
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/nuttx/px4_layer
)
set(config_extra_builtin_cmds
serdis
sercon
)
set(config_io_board
)
set(config_extra_libs
)
set(config_io_extra_libs
)
add_custom_target(sercon)
set_target_properties(sercon PROPERTIES
PRIORITY "SCHED_PRIORITY_DEFAULT"
MAIN "sercon"
STACK_MAIN "2048")
add_custom_target(serdis)
set_target_properties(serdis PROPERTIES
PRIORITY "SCHED_PRIORITY_DEFAULT"
MAIN "serdis"
STACK_MAIN "2048")
cmake/configs/posix_rpi2_release.cmake → cmake/configs/posix_bebop_default.cmake
+76 -27
View File
@@ -1,57 +1,106 @@
include(posix/px4_impl_posix)
if ("${RPI_TOOLCHAIN_DIR}" STREQUAL "")
set(RPI_TOOLCHAIN_DIR /opt/rpi_toolchain)
endif()
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
set(CMAKE_PROGRAM_PATH
add_definitions(
-D__PX4_POSIX_BEBOP
-D__LINUX
-D__BEBOP
)
set(CMAKE_PROGRAM_PATH
"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
${CMAKE_PROGRAM_PATH}
)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
set(config_module_list
# examples/px4_simple_app
#
# Board support modules
#
drivers/device
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
modules/sensors
platforms/posix/drivers/df_ms5607_wrapper
platforms/posix/drivers/df_mpu6050_wrapper
platforms/posix/drivers/df_ak8963_wrapper
#
# System commands
#
systemcmds/param
systemcmds/mixer
systemcmds/ver
systemcmds/esc_calib
systemcmds/reboot
systemcmds/topic_listener
systemcmds/perf
modules/uORB
#
# Estimation modules (EKF/ SO3 / other filters)
#
#modules/attitude_estimator_ekf
modules/ekf_att_pos_estimator
modules/attitude_estimator_q
modules/position_estimator_inav
modules/local_position_estimator
modules/ekf2
#
# Vehicle Control
#
modules/mc_att_control
modules/mc_pos_control
modules/fw_att_control
modules/fw_pos_control_l1
modules/vtol_att_control
#
# Library modules
#
modules/sdlog2
modules/logger
modules/commander
modules/param
modules/systemlib
modules/systemlib/mixer
modules/sensors
modules/mavlink
modules/attitude_estimator_q
modules/position_estimator_inav
modules/navigator
modules/vtol_att_control
modules/mc_pos_control
modules/mc_att_control
modules/land_detector
modules/fw_att_control
modules/fw_pos_control_l1
modules/uORB
modules/dataman
modules/sdlog2
modules/commander
modules/land_detector
modules/navigator
modules/mavlink
#
# PX4 drivers
#
#
# Libraries
#
lib/controllib
lib/mathlib
lib/mathlib/math/filter
lib/conversion
lib/ecl
lib/external_lgpl
lib/geo
lib/ecl
lib/geo_lookup
lib/launchdetection
lib/external_lgpl
lib/conversion
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
lib/DriverFramework/framework
#
# POSIX
#
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
)
set(config_df_driver_list
ms5607
mpu6050
ak8963
)
cmake/configs/posix_eagle_hil.cmake
+1
View File
@@ -27,6 +27,7 @@ set(config_module_list
modules/sensors
modules/dataman
modules/sdlog2
modules/logger
modules/simulator
modules/commander
cmake/configs/posix_eagle_legacy_driver_default.cmake
+4 -2
View File
@@ -1,6 +1,6 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
@@ -12,7 +12,7 @@ set(CONFIG_SHMEM "1")
# or if it is for the Snapdragon.
add_definitions(
-D__PX4_POSIX_EAGLE
-D__USING_SNAPDRAGON_LEGACY_DRIVER
-D__USING_SNAPDRAGON_LEGACY_DRIVER
)
set(config_module_list
@@ -45,8 +45,10 @@ set(config_module_list
modules/sensors
modules/dataman
modules/sdlog2
modules/logger
modules/simulator
modules/commander
modules/navigator
lib/controllib
lib/mathlib
cmake/configs/posix_rpi2_default.cmake
-48
View File
@@ -1,48 +0,0 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/device
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
systemcmds/param
systemcmds/mixer
systemcmds/ver
systemcmds/esc_calib
systemcmds/reboot
systemcmds/topic_listener
systemcmds/perf
modules/uORB
modules/param
modules/systemlib
modules/systemlib/mixer
modules/sensors
modules/mavlink
modules/attitude_estimator_q
modules/position_estimator_inav
modules/navigator
modules/vtol_att_control
modules/mc_pos_control
modules/mc_att_control
modules/land_detector
modules/fw_att_control
modules/fw_pos_control_l1
modules/dataman
modules/sdlog2
modules/commander
lib/controllib
lib/mathlib
lib/mathlib/math/filter
lib/conversion
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/launchdetection
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
lib/DriverFramework/framework
)
cmake/configs/posix_rpi_common.cmake
+114
View File
@@ -0,0 +1,114 @@
# This file is shared between posix_rpi_native.cmake
# and posix_rpi_cross.cmake.
include(posix/px4_impl_posix)
# This definition allows to differentiate if this just the usual POSIX build
# or if it is for the RPi.
add_definitions(
-D__PX4_POSIX_RPI
-D__LINUX
)
set(config_module_list
#
# Board support modules
#
drivers/device
modules/sensors
platforms/posix/drivers/df_mpu9250_wrapper
platforms/posix/drivers/df_lsm9ds1_wrapper
platforms/posix/drivers/df_ms5611_wrapper
platforms/posix/drivers/df_hmc5883_wrapper
platforms/posix/drivers/df_trone_wrapper
platforms/posix/drivers/df_isl29501_wrapper
#
# System commands
#
systemcmds/param
systemcmds/mixer
systemcmds/ver
systemcmds/esc_calib
systemcmds/reboot
systemcmds/topic_listener
systemcmds/perf
#
# Estimation modules (EKF/ SO3 / other filters)
#
#modules/attitude_estimator_ekf
modules/ekf_att_pos_estimator
modules/attitude_estimator_q
modules/position_estimator_inav
modules/local_position_estimator
modules/ekf2
#
# Vehicle Control
#
modules/mc_att_control
modules/mc_pos_control
modules/fw_att_control
modules/fw_pos_control_l1
modules/vtol_att_control
#
# Library modules
#
modules/sdlog2
modules/logger
modules/commander
modules/param
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/dataman
modules/land_detector
modules/navigator
modules/mavlink
#
# PX4 drivers
#
drivers/gps
drivers/navio_sysfs_rc_in
drivers/navio_sysfs_pwm_out
#
# Libraries
#
lib/controllib
lib/mathlib
lib/mathlib/math/filter
lib/geo
lib/ecl
lib/geo_lookup
lib/launchdetection
lib/external_lgpl
lib/conversion
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
lib/DriverFramework/framework
#
# POSIX
#
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
)
#
# DriverFramework driver
#
set(config_df_driver_list
mpu9250
lsm9ds1
ms5611
hmc5883
trone
isl29501
)
cmake/configs/posix_rpi_cross.cmake
+8
View File
@@ -0,0 +1,8 @@
include(configs/posix_rpi_common)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
set(CMAKE_PROGRAM_PATH
"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
${CMAKE_PROGRAM_PATH}
)
cmake/configs/posix_rpi_native.cmake
+3
View File
@@ -0,0 +1,3 @@
include(configs/posix_rpi_common)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
cmake/configs/posix_sdflight_default.cmake
+2
View File
@@ -38,8 +38,10 @@ set(config_module_list
modules/sensors
modules/dataman
modules/sdlog2
modules/logger
modules/simulator
modules/commander
modules/navigator
lib/controllib
lib/mathlib
cmake/configs/posix_sitl_broadcast.cmake
+1
View File
@@ -49,6 +49,7 @@ set(config_module_list
modules/fw_pos_control_l1
modules/dataman
modules/sdlog2
modules/logger
modules/commander
lib/controllib
lib/mathlib
cmake/configs/posix_sitl_default.cmake
+69 -35
View File
@@ -3,67 +3,92 @@ include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/device
drivers/boards/sitl
drivers/pwm_out_sim
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
platforms/posix/drivers/adcsim
platforms/posix/drivers/gpssim
drivers/device
drivers/gps
platforms/posix/drivers/tonealrmsim
drivers/pwm_out_sim
platforms/common
platforms/posix/drivers/accelsim
platforms/posix/drivers/adcsim
platforms/posix/drivers/airspeedsim
platforms/posix/drivers/barosim
platforms/posix/drivers/gpssim
platforms/posix/drivers/gyrosim
platforms/posix/drivers/rgbledsim
platforms/posix/drivers/ledsim
systemcmds/param
systemcmds/mixer
systemcmds/ver
platforms/posix/drivers/rgbledsim
platforms/posix/drivers/tonealrmsim
platforms/posix/px4_layer
platforms/posix/work_queue
systemcmds/esc_calib
systemcmds/reboot
systemcmds/topic_listener
systemcmds/mixer
systemcmds/param
systemcmds/perf
modules/uORB
modules/param
modules/systemlib
modules/systemlib/mixer
modules/sensors
modules/simulator
modules/mavlink
systemcmds/reboot
systemcmds/sd_bench
systemcmds/topic_listener
systemcmds/ver
systemcmds/top
systemcmds/motor_ramp
modules/attitude_estimator_ekf
modules/attitude_estimator_q
modules/commander
modules/dataman
modules/ekf2
modules/ekf_att_pos_estimator
modules/position_estimator_inav
modules/navigator
modules/vtol_att_control
modules/mc_pos_control
modules/mc_att_control
modules/mc_pos_control_multiplatform
modules/mc_att_control_multiplatform
modules/land_detector
modules/fw_att_control
modules/fw_pos_control_l1
modules/dataman
modules/land_detector
modules/logger
modules/mavlink
modules/mc_att_control
modules/mc_att_control_multiplatform
modules/mc_pos_control
modules/mc_pos_control_multiplatform
modules/navigator
modules/param
modules/position_estimator_inav
modules/local_position_estimator
modules/replay
modules/sdlog2
modules/commander
modules/sensors
modules/simulator
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/vtol_att_control
lib/controllib
lib/mathlib
lib/mathlib/math/filter
lib/conversion
lib/DriverFramework/framework
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/launchdetection
lib/terrain_estimation
lib/mathlib
lib/mathlib/math/filter
lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
lib/DriverFramework/framework
lib/terrain_estimation
examples/px4_simple_app
#
# Testing
#
drivers/sf0x/sf0x_tests
lib/rc/rc_tests
modules/commander/commander_tests
modules/controllib_test
#modules/mavlink/mavlink_tests #TODO: fix mavlink_tests
modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
)
set(config_extra_builtin_cmds
@@ -89,3 +114,12 @@ set(config_sitl_debugger
)
set_property(CACHE config_sitl_debugger
PROPERTY STRINGS "disable;gdb;lldb")
# If the environment variable 'replay' is defined, we are building with replay
# support. In this case, we enable the orb publisher rules.
set(REPLAY_FILE "$ENV{replay}")
if(REPLAY_FILE)
message("Building with uorb publisher rules support")
add_definitions(-DORB_USE_PUBLISHER_RULES)
endif()

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