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Merge branch 'master' into vector_control

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This commit is contained in:
Anton Babushkin 2013-11-08 21:56:11 +04:00
commit e8224376ca
637 changed files with 40494 additions and 10549 deletions
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11
.gitignore vendored
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@ -19,12 +19,19 @@ Archives/*
Build/*
core
cscope.out
dot.gdbinit
Firmware.sublime-workspace
Images/*.bin
Images/*.px4
mavlink/include/mavlink/v0.9/
/nuttx-configs/px4io-v2/src/.depend
/nuttx-configs/px4io-v2/src/Make.dep
/nuttx-configs/px4io-v2/src/libboard.a
/nuttx-configs/px4io-v1/src/.depend
/nuttx-configs/px4io-v1/src/Make.dep
/nuttx-configs/px4io-v1/src/libboard.a
/NuttX
/Documentation/doxy.log
/Documentation/html/
/Documentation/doxygen*objdb*tmp
/Documentation/doxygen*objdb*tmp
.tags
.tags_sorted_by_file

2
Debug/ARMv7M
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@ -56,7 +56,7 @@ define vecstate
if $mmfsr & (1<<3)
printf " during exception return"
end
if $mmfsr & (1<<0)
if $mmfsr & (1<<1)
printf " during data access"
end
if $mmfsr & (1<<0)

173
Debug/Nuttx.py
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@ -2,6 +2,106 @@
import gdb, gdb.types
class NX_register_set(object):
"""Copy of the registers for a given context"""
v7_regmap = {
'R13': 0,
'SP': 0,
'PRIORITY': 1,
'R4': 2,
'R5': 3,
'R6': 4,
'R7': 5,
'R8': 6,
'R9': 7,
'R10': 8,
'R11': 9,
'EXC_RETURN': 10,
'R0': 11,
'R1': 12,
'R2': 13,
'R3': 14,
'R12': 15,
'R14': 16,
'LR': 16,
'R15': 17,
'PC': 17,
'XPSR': 18,
}
v7em_regmap = {
'R13': 0,
'SP': 0,
'PRIORITY': 1,
'R4': 2,
'R5': 3,
'R6': 4,
'R7': 5,
'R8': 6,
'R9': 7,
'R10': 8,
'R11': 9,
'EXC_RETURN': 10,
'R0': 27,
'R1': 28,
'R2': 29,
'R3': 30,
'R12': 31,
'R14': 32,
'LR': 32,
'R15': 33,
'PC': 33,
'XPSR': 34,
}
regs = dict()
def __init__(self, xcpt_regs):
if xcpt_regs is None:
self.regs['R0'] = long(gdb.parse_and_eval('$r0'))
self.regs['R1'] = long(gdb.parse_and_eval('$r1'))
self.regs['R2'] = long(gdb.parse_and_eval('$r2'))
self.regs['R3'] = long(gdb.parse_and_eval('$r3'))
self.regs['R4'] = long(gdb.parse_and_eval('$r4'))
self.regs['R5'] = long(gdb.parse_and_eval('$r5'))
self.regs['R6'] = long(gdb.parse_and_eval('$r6'))
self.regs['R7'] = long(gdb.parse_and_eval('$r7'))
self.regs['R8'] = long(gdb.parse_and_eval('$r8'))
self.regs['R9'] = long(gdb.parse_and_eval('$r9'))
self.regs['R10'] = long(gdb.parse_and_eval('$r10'))
self.regs['R11'] = long(gdb.parse_and_eval('$r11'))
self.regs['R12'] = long(gdb.parse_and_eval('$r12'))
self.regs['R13'] = long(gdb.parse_and_eval('$r13'))
self.regs['SP'] = long(gdb.parse_and_eval('$sp'))
self.regs['R14'] = long(gdb.parse_and_eval('$r14'))
self.regs['LR'] = long(gdb.parse_and_eval('$lr'))
self.regs['R15'] = long(gdb.parse_and_eval('$r15'))
self.regs['PC'] = long(gdb.parse_and_eval('$pc'))
self.regs['XPSR'] = long(gdb.parse_and_eval('$xpsr'))
else:
for key in self.v7em_regmap.keys():
self.regs[key] = int(xcpt_regs[self.v7em_regmap[key]])
@classmethod
def with_xcpt_regs(cls, xcpt_regs):
return cls(xcpt_regs)
@classmethod
def for_current(cls):
return cls(None)
def __format__(self, format_spec):
return format_spec.format(
registers = self.registers
)
@property
def registers(self):
return self.regs
class NX_task(object):
"""Reference to a NuttX task and methods for introspecting it"""
@ -139,56 +239,12 @@ class NX_task(object):
if 'registers' not in self.__dict__:
registers = dict()
if self._state_is('TSTATE_TASK_RUNNING'):
# XXX need to fix this to handle interrupt context
registers['R0'] = long(gdb.parse_and_eval('$r0'))
registers['R1'] = long(gdb.parse_and_eval('$r1'))
registers['R2'] = long(gdb.parse_and_eval('$r2'))
registers['R3'] = long(gdb.parse_and_eval('$r3'))
registers['R4'] = long(gdb.parse_and_eval('$r4'))
registers['R5'] = long(gdb.parse_and_eval('$r5'))
registers['R6'] = long(gdb.parse_and_eval('$r6'))
registers['R7'] = long(gdb.parse_and_eval('$r7'))
registers['R8'] = long(gdb.parse_and_eval('$r8'))
registers['R9'] = long(gdb.parse_and_eval('$r9'))
registers['R10'] = long(gdb.parse_and_eval('$r10'))
registers['R11'] = long(gdb.parse_and_eval('$r11'))
registers['R12'] = long(gdb.parse_and_eval('$r12'))
registers['R13'] = long(gdb.parse_and_eval('$r13'))
registers['SP'] = long(gdb.parse_and_eval('$sp'))
registers['R14'] = long(gdb.parse_and_eval('$r14'))
registers['LR'] = long(gdb.parse_and_eval('$lr'))
registers['R15'] = long(gdb.parse_and_eval('$r15'))
registers['PC'] = long(gdb.parse_and_eval('$pc'))
registers['XPSR'] = long(gdb.parse_and_eval('$xpsr'))
# this would only be valid if we were in an interrupt
registers['EXC_RETURN'] = 0
# we should be able to get this...
registers['PRIMASK'] = 0
registers = NX_register_set.for_current().registers
else:
context = self._tcb['xcp']
regs = context['regs']
registers['R0'] = long(regs[27])
registers['R1'] = long(regs[28])
registers['R2'] = long(regs[29])
registers['R3'] = long(regs[30])
registers['R4'] = long(regs[2])
registers['R5'] = long(regs[3])
registers['R6'] = long(regs[4])
registers['R7'] = long(regs[5])
registers['R8'] = long(regs[6])
registers['R9'] = long(regs[7])
registers['R10'] = long(regs[8])
registers['R11'] = long(regs[9])
registers['R12'] = long(regs[31])
registers['R13'] = long(regs[0])
registers['SP'] = long(regs[0])
registers['R14'] = long(regs[32])
registers['LR'] = long(regs[32])
registers['R15'] = long(regs[33])
registers['PC'] = long(regs[33])
registers['XPSR'] = long(regs[34])
registers['EXC_RETURN'] = long(regs[10])
registers['PRIMASK'] = long(regs[1])
registers = NX_register_set.with_xcpt_regs(regs).registers
self.__dict__['registers'] = registers
return self.__dict__['registers']
@ -267,8 +323,7 @@ class NX_show_heap (gdb.Command):
def _print_allocations(self, region_start, region_end):
if region_start >= region_end:
print 'heap region {} corrupt'.format(hex(region_start))
return
raise gdb.GdbError('heap region {} corrupt'.format(hex(region_start)))
nodecount = region_end - region_start
print 'heap {} - {}'.format(region_start, region_end)
cursor = 1
@ -286,13 +341,31 @@ class NX_show_heap (gdb.Command):
nregions = heap['mm_nregions']
region_starts = heap['mm_heapstart']
region_ends = heap['mm_heapend']
print "{} heap(s)".format(nregions)
print '{} heap(s)'.format(nregions)
# walk the heaps
for i in range(0, nregions):
self._print_allocations(region_starts[i], region_ends[i])
NX_show_heap()
class NX_show_interrupted_thread (gdb.Command):
"""(NuttX) prints the register state of an interrupted thread when in interrupt/exception context"""
def __init__(self):
super(NX_show_interrupted_thread, self).__init__('show interrupted-thread', gdb.COMMAND_USER)
def invoke(self, args, from_tty):
regs = gdb.lookup_global_symbol('current_regs').value()
if regs is 0:
raise gdb.GdbError('not in interrupt context')
else:
registers = NX_register_set.with_xcpt_regs(regs)
my_fmt = ''
my_fmt += ' R0 {registers[R0]:#010x} {registers[R1]:#010x} {registers[R2]:#010x} {registers[R3]:#010x}\n'
my_fmt += ' R4 {registers[R4]:#010x} {registers[R5]:#010x} {registers[R6]:#010x} {registers[R7]:#010x}\n'
my_fmt += ' R8 {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
my_fmt += ' R12 {registers[PC]:#010x}\n'
my_fmt += ' SP {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
print format(registers, my_fmt)
NX_show_interrupted_thread()

2
Debug/PX4
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@ -27,7 +27,7 @@ define _perf_print
# PC_COUNT
if $hdr->type == 0
set $count = (struct perf_ctr_count *)$hdr
printf "%llu events,\n", $count->event_count;
printf "%llu events\n", $count->event_count
end
# PC_ELPASED
if $hdr->type == 1

13
Debug/dot.gdbinit Normal file
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@ -0,0 +1,13 @@
# copy the file to .gdbinit in your Firmware tree, and adjust the path
# below to match your system
# For example:
# target extended /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_DDE5A1C4-if00
# target extended /dev/ttyACM4
monitor swdp_scan
attach 1
monitor vector_catch disable hard
set mem inaccessible-by-default off
set print pretty
source Debug/PX4

22
Debug/olimex-px4fmu-debug.cfg Normal file
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@ -0,0 +1,22 @@
# program a bootable device load on a mavstation
# To run type openocd -f mavprogram.cfg
source [find interface/olimex-arm-usb-ocd-h.cfg]
source [find px4fmu-v1-board.cfg]
init
halt
# Find the flash inside this CPU
flash probe 0
# erase it (128 pages) then program and exit
#flash erase_sector 0 0 127
# stm32f1x mass_erase 0
# It seems that Pat's image has a start address offset of 0x1000 but the vectors need to be at zero, so fixbin.sh moves things around
#flash write_bank 0 fixed.bin 0
#flash write_image firmware.elf
#shutdown

21
Debug/openocd.gdbinit Normal file
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@ -0,0 +1,21 @@
target remote :3333
# Don't let GDB get confused while stepping
define hook-step
mon cortex_m maskisr on
end
define hookpost-step
mon cortex_m maskisr off
end
mon init
mon stm32_init
# mon reset halt
mon poll
mon cortex_m maskisr auto
set mem inaccessible-by-default off
set print pretty
source Debug/PX4
echo PX4 resumed, press ctrl-c to interrupt\n
continue

38
Debug/px4fmu-v1-board.cfg Normal file
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@ -0,0 +1,38 @@
# The latest defaults in OpenOCD 0.7.0 are actually prettymuch correct for the px4fmu
# increase working area to 32KB for faster flash programming
set WORKAREASIZE 0x8000
source [find target/stm32f4x.cfg]
# needed for px4
reset_config trst_only
proc stm32_reset {} {
reset halt
# FIXME - needed to init periphs on reset
# 0x40023800 RCC base
# 0x24 RCC_APB2 0x75933
# RCC_APB2 0
}
# perform init that is required on each connection to the target
proc stm32_init {} {
# force jtag to not shutdown during sleep
#uint32_t cr = getreg32(STM32_DBGMCU_CR);
#cr |= DBGMCU_CR_STANDBY | DBGMCU_CR_STOP | DBGMCU_CR_SLEEP;
#putreg32(cr, STM32_DBGMCU_CR);
mww 0xe0042004 00000007
}
# if srst is not fitted use SYSRESETREQ to
# perform a soft reset
cortex_m reset_config sysresetreq
# Let GDB directly program elf binaries
gdb_memory_map enable
# doesn't work yet
gdb_flash_program disable

5
Debug/runopenocd.sh Executable file
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@ -0,0 +1,5 @@
#!/bin/bash
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
openocd -f interface/olimex-arm-usb-ocd-h.cfg -f $DIR/px4fmu-v1-board.cfg

64
Debug/stm32f4x.cfg
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@ -1,64 +0,0 @@
# script for stm32f2xxx
if { [info exists CHIPNAME] } {
set _CHIPNAME $CHIPNAME
} else {
set _CHIPNAME stm32f4xxx
}
if { [info exists ENDIAN] } {
set _ENDIAN $ENDIAN
} else {
set _ENDIAN little
}
# Work-area is a space in RAM used for flash programming
# By default use 64kB
if { [info exists WORKAREASIZE] } {
set _WORKAREASIZE $WORKAREASIZE
} else {
set _WORKAREASIZE 0x10000
}
# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz
#
# Since we may be running of an RC oscilator, we crank down the speed a
# bit more to be on the safe side. Perhaps superstition, but if are
# running off a crystal, we can run closer to the limit. Note
# that there can be a pretty wide band where things are more or less stable.
jtag_khz 1000
jtag_nsrst_delay 100
jtag_ntrst_delay 100
#jtag scan chain
if { [info exists CPUTAPID ] } {
set _CPUTAPID $CPUTAPID
} else {
# See STM Document RM0033
# Section 32.6.3 - corresponds to Cortex-M3 r2p0
set _CPUTAPID 0x4ba00477
}
jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
if { [info exists BSTAPID ] } {
set _BSTAPID $BSTAPID
} else {
# See STM Document RM0033
# Section 32.6.2
#
set _BSTAPID 0x06413041
}
jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID
set _TARGETNAME $_CHIPNAME.cpu
target create $_TARGETNAME cortex_m3 -endian $_ENDIAN -chain-position $_TARGETNAME -rtos auto
$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
set _FLASHNAME $_CHIPNAME.flash
flash bank $_FLASHNAME stm32f2x 0 0 0 0 $_TARGETNAME
# if srst is not fitted use SYSRESETREQ to
# perform a soft reset
cortex_m3 reset_config sysresetreq

1962
Documentation/control_flow.graffle
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Documentation/flight_mode_state_machine.pdf
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Documentation/rc_mode_switch.odg
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12
Images/px4fmu-v2.prototype Normal file
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@ -0,0 +1,12 @@
{
"board_id": 9,
"magic": "PX4FWv1",
"description": "Firmware for the PX4FMUv2 board",
"image": "",
"build_time": 0,
"summary": "PX4FMUv2",
"version": "0.1",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}

12
Images/px4io-v2.prototype Normal file
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@ -0,0 +1,12 @@
{
"board_id": 10,
"magic": "PX4FWv2",
"description": "Firmware for the PX4IOv2 board",
"image": "",
"build_time": 0,
"summary": "PX4IOv2",
"version": "2.0",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}

12
Images/px4iov2.prototype Normal file
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@ -0,0 +1,12 @@
{
"board_id": 10,
"magic": "PX4FWv2",
"description": "Firmware for the PX4IOv2 board",
"image": "",
"build_time": 0,
"summary": "PX4IOv2",
"version": "2.0",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}

66
Makefile
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@ -40,14 +40,27 @@ export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
include $(PX4_BASE)makefiles/setup.mk
#
# Canned firmware configurations that we build.
# Get a version string provided by git
# This assumes that git command is available and that
# the directory holding this file also contains .git directory
#
CONFIGS ?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
GIT_DESC := $(shell git log -1 --pretty=format:%H)
ifneq ($(words $(GIT_DESC)),1)
GIT_DESC := "unknown_git_version"
endif
export GIT_DESC
#
# Boards that we build NuttX export kits for.
# Canned firmware configurations that we (know how to) build.
#
BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
KNOWN_CONFIGS := $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
CONFIGS ?= $(KNOWN_CONFIGS)
#
# Boards that we (know how to) build NuttX export kits for.
#
KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
BOARDS ?= $(KNOWN_BOARDS)
#
# Debugging
@ -87,10 +100,11 @@ endif
#
# Built products
#
STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
all: $(STAGED_FIRMWARES)
all: $(DESIRED_FIRMWARES)
#
# Copy FIRMWARES into the image directory.
@ -114,13 +128,26 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
@$(ECHO) %%%%
@$(ECHO) %%%% Building $(config) in $(work_dir)
@$(ECHO) %%%%
$(Q) mkdir -p $(work_dir)
$(Q) make -r -C $(work_dir) \
$(Q) $(MKDIR) -p $(work_dir)
$(Q) $(MAKE) -r -C $(work_dir) \
-f $(PX4_MK_DIR)firmware.mk \
CONFIG=$(config) \
WORK_DIR=$(work_dir) \
$(FIRMWARE_GOAL)
#
# Make FMU firmwares depend on the corresponding IO firmware.
#
# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
# and forces the _default config in all cases. There has to be a better way to do this...
#
FMU_VERSION = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
define FMU_DEP
$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
endef
FMU_CONFIGS := $(filter px4fmu%,$(CONFIGS))
$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
#
# Build the NuttX export archives.
#
@ -147,12 +174,12 @@ $(ARCHIVE_DIR)%.export: configuration = nsh
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
@$(ECHO) %% Configuring NuttX for $(board)
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
@$(ECHO) %% Exporting NuttX for $(board)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
$(Q) mkdir -p $(dir $@)
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
$(Q) $(MKDIR) -p $(dir $@)
$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
@ -168,11 +195,11 @@ BOARD = $(BOARDS)
menuconfig: $(NUTTX_SRC)
@$(ECHO) %% Configuring NuttX for $(BOARD)
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
@$(ECHO) %% Running menuconfig for $(BOARD)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
@$(ECHO) %% Saving configuration file
$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
else
@ -191,7 +218,7 @@ $(NUTTX_SRC):
# Testing targets
#
testbuild:
$(Q) (cd $(PX4_BASE) && make distclean && make archives && make -j8)
$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
#
# Cleanup targets. 'clean' should remove all built products and force
@ -206,7 +233,8 @@ clean:
.PHONY: distclean
distclean: clean
$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
#
# Print some help text
@ -228,9 +256,9 @@ help:
@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
@$(ECHO) ""
@for config in $(CONFIGS); do \
echo " $$config"; \
echo " Build just the $$config firmware configuration."; \
echo ""; \
$(ECHO) " $$config"; \
$(ECHO) " Build just the $$config firmware configuration."; \
$(ECHO) ""; \
done
@$(ECHO) " clean"
@$(ECHO) " Remove all firmware build pieces."

107
ROMFS/px4fmu_common/init.d/01_fmu_quad_x
View File

@ -1,107 +0,0 @@
#!nsh
#
# Flight startup script for PX4FMU with PWM outputs.
#
# disable USB and autostart
set USB no
set MODE custom
echo "[init] doing PX4FMU Quad startup..."
#
# Start the ORB
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set MC_ATTRATE_P 0.14
param set MC_ATTRATE_I 0
param set MC_ATTRATE_D 0.006
param set MC_ATT_P 5.5
param set MC_ATT_I 0
param set MC_ATT_D 0
param set MC_YAWPOS_D 0
param set MC_YAWPOS_I 0
param set MC_YAWPOS_P 0.6
param set MC_YAWRATE_D 0
param set MC_YAWRATE_I 0
param set MC_YAWRATE_P 0.08
param set RC_SCALE_PITCH 1
param set RC_SCALE_ROLL 1
param set RC_SCALE_YAW 3
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start the commander.
#
commander start
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator
#
attitude_estimator_ekf start
echo "[init] starting PWM output"
fmu mode_pwm
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
pwm -u 400 -m 0xff
#
# Start attitude control
#
multirotor_att_control start
#
# Start logging
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi

101
ROMFS/px4fmu_common/init.d/02_io_quad_x
View File

@ -1,101 +0,0 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Disable px4io topic limiting
#
px4io limit 200
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
attitude_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
pwm -u 400 -m 0xff
multirotor_att_control start
#
# Start logging
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi

104
ROMFS/px4fmu_common/init.d/08_ardrone
View File

@ -1,99 +1,57 @@
#!nsh
#
# Flight startup script for PX4FMU on PX4IOAR carrier board.
#
# Disable the USB interface
set USB no
# Disable autostarting other apps
set MODE ardrone
echo "[init] doing PX4IOAR startup..."
echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board"
#
# Start the ORB
# Load default params for this platform
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
if param compare SYS_AUTOCONFIG 1
then
param load /fs/microsd/params
# Set all params here, then disable autoconfig
param set MC_ATTRATE_D 0
param set MC_ATTRATE_I 0
param set MC_ATTRATE_P 0.13
param set MC_ATT_D 0
param set MC_ATT_I 0.3
param set MC_ATT_P 5
param set MC_YAWPOS_D 0.1
param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_P 1
param set MC_YAWRATE_D 0
param set MC_YAWRATE_I 0
param set MC_YAWRATE_P 0.15
param set SYS_AUTOCONFIG 0
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
param set BAT_V_SCALING 0.008381
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start the commander.
#
commander start
#
# Start the attitude estimator
#
attitude_estimator_ekf start
#
# Fire up the multi rotor attitude controller
#
multirotor_att_control start
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start logging
#
sdlog start -s 10
#
# Start GPS capture
#
gps start
#
# Start system state
#
if blinkm start
then
echo "using BlinkM for state indication"
blinkm systemstate
else
echo "no BlinkM found, OK."
fi
#
# startup is done; we don't want the shell because we
# use the same UART for telemetry
# Start common for all multirotors apps
#
echo "[init] startup done"
sh /etc/init.d/rc.multirotor
# Exit, because /dev/ttyS0 is needed for MAVLink
exit

74
ROMFS/px4fmu_common/init.d/09_ardrone_flow
View File

@ -1,55 +1,59 @@
#!nsh
#
# Flight startup script for PX4FMU on PX4IOAR carrier board.
#
# Disable the USB interface
set USB no
echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW"
# Disable autostarting other apps
set MODE ardrone
echo "[init] doing PX4IOAR startup..."
#
# Start the ORB
# Load default params for this platform
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
if param compare SYS_AUTOCONFIG 1
then
param load /fs/microsd/params
# Set all params here, then disable autoconfig
param set MC_ATTRATE_D 0
param set MC_ATTRATE_I 0
param set MC_ATTRATE_P 0.13
param set MC_ATT_D 0
param set MC_ATT_I 0.3
param set MC_ATT_P 5
param set MC_YAWPOS_D 0.1
param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_P 1
param set MC_YAWRATE_D 0
param set MC_YAWRATE_I 0
param set MC_YAWRATE_P 0.15
param set SYS_AUTOCONFIG 0
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
param set BAT_V_SCALING 0.008381
#
# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor)
#
mavlink start -d /dev/ttyS0 -b 57600
mavlink_onboard start -d /dev/ttyS3 -b 115200
usleep 5000
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors
#
# Start MAVLink and MAVLink Onboard (Flow Sensor)
#
mavlink start -d /dev/ttyS0 -b 57600
mavlink_onboard start -d /dev/ttyS3 -b 115200
usleep 5000
#
# Start the commander.
#
@ -79,16 +83,6 @@ flow_position_control start
# Fire up the flow speed controller
#
flow_speed_control start
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# startup is done; we don't want the shell because we
# use the same UART for telemetry
#
echo "[init] startup done"
# Exit, because /dev/ttyS0 is needed for MAVLink
exit

87
ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil Normal file
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@ -0,0 +1,87 @@
#!nsh
#
# USB HIL start
#
echo "[HIL] HILStar starting.."
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set SYS_AUTOCONFIG 0
param save
fi
# Allow USB some time to come up
sleep 1
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/ttyACM0
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
#
# Check if we got an IO
#
if px4io start
then
echo "IO started"
else
fmu mode_serial
echo "FMU started"
fi
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the attitude estimator (depends on orb)
#
att_pos_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
fw_pos_control_l1 start
fw_att_control start
echo "[HIL] setup done, running"

105
ROMFS/px4fmu_common/init.d/1001_rc_quad.hil Normal file
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@ -0,0 +1,105 @@
#!nsh
#
# USB HIL start
#
echo "[HIL] HILS quadrotor starting.."
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.0
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.05
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 3.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_P 2.1
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_P 0.05
param set NAV_TAKEOFF_ALT 3.0
param set MPC_TILT_MAX 0.5
param set MPC_THR_MAX 0.5
param set MPC_THR_MIN 0.1
param set MPC_XY_D 0
param set MPC_XY_P 0.5
param set MPC_XY_VEL_D 0
param set MPC_XY_VEL_I 0
param set MPC_XY_VEL_MAX 3
param set MPC_XY_VEL_P 0.2
param set MPC_Z_D 0
param set MPC_Z_P 1
param set MPC_Z_VEL_D 0
param set MPC_Z_VEL_I 0.1
param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20
param save
fi
# Allow USB some time to come up
sleep 1
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/ttyACM0
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Check if we got an IO
#
if px4io start
then
echo "IO started"
else
fmu mode_serial
echo "FMU started"
fi
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the attitude estimator (depends on orb)
#
att_pos_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Start position estimator
#
position_estimator_inav start
#
# Start attitude control
#
multirotor_att_control start
#
# Start position control
#
multirotor_pos_control start
echo "[HIL] setup done, running"

79
ROMFS/px4fmu_common/init.d/1002_rc_fw_state.hil Normal file
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@ -0,0 +1,79 @@
#!nsh
#
# USB HIL start
#
echo "[HIL] HILStar starting in state-HIL mode.."
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set SYS_AUTOCONFIG 0
param save
fi
# Allow USB some time to come up
sleep 1
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/ttyACM0
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
#
# Check if we got an IO
#
if px4io start
then
echo "IO started"
else
fmu mode_serial
echo "FMU started"
fi
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
fw_pos_control_l1 start
fw_att_control start
echo "[HIL] setup done, running"

105
ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil Normal file
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@ -0,0 +1,105 @@
#!nsh
#
# USB HIL start
#
echo "[HIL] HILS quadrotor + starting.."
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.0
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.05
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 3.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_P 2.1
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_P 0.05
param set NAV_TAKEOFF_ALT 3.0
param set MPC_TILT_MAX 0.5
param set MPC_THR_MAX 0.5
param set MPC_THR_MIN 0.1
param set MPC_XY_D 0
param set MPC_XY_P 0.5
param set MPC_XY_VEL_D 0
param set MPC_XY_VEL_I 0
param set MPC_XY_VEL_MAX 3
param set MPC_XY_VEL_P 0.2
param set MPC_Z_D 0
param set MPC_Z_P 1
param set MPC_Z_VEL_D 0
param set MPC_Z_VEL_I 0.1
param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20
param save
fi
# Allow USB some time to come up
sleep 1
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/ttyACM0
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Check if we got an IO
#
if px4io start
then
echo "IO started"
else
fmu mode_serial
echo "FMU started"
fi
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the attitude estimator (depends on orb)
#
att_pos_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
#
# Start position estimator
#
position_estimator_inav start
#
# Start attitude control
#
multirotor_att_control start
#
# Start position control
#
multirotor_pos_control start
echo "[HIL] setup done, running"

98
ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil Normal file
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@ -0,0 +1,98 @@
#!nsh
#
# USB HIL start
#
echo "[HIL] HILStar starting.."
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set SYS_AUTOCONFIG 0
param save
fi
# Allow USB some time to come up
sleep 1
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/ttyACM0
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
#
# Check if we got an IO
#
if px4io start
then
echo "IO started"
else
fmu mode_serial
echo "FMU started"
fi
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the attitude estimator (depends on orb)
#
att_pos_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
set MODE autostart
mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
then
echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AERT.mix
else
echo "Using /etc/mixers/FMU_AERT.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
fi
fw_pos_control_l1 start
fw_att_control start
echo "[HIL] setup done, running"

87
ROMFS/px4fmu_common/init.d/100_mpx_easystar Normal file
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@ -0,0 +1,87 @@
#!nsh
echo "[init] PX4FMU v1, v2 with or without IO on EasyStar"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set SYS_AUTOCONFIG 0
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing
#
param set MAV_TYPE 1
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
sh /etc/init.d/rc.io
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
px4io limit 100
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer and start controllers (depends on px4io)
#
if [ -f /fs/microsd/etc/mixers/FMU_RET.mix ]
then
echo "Using /fs/microsd/etc/mixers/FMU_RET.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_RET.mix
else
echo "Using /etc/mixers/FMU_RET.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix
fi
#
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then
exit
fi

87
ROMFS/px4fmu_common/init.d/101_hk_bixler Normal file
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@ -0,0 +1,87 @@
#!nsh
echo "[init] PX4FMU v1, v2 with or without IO on HK Bixler"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 16
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set SYS_AUTOCONFIG 0
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing
#
param set MAV_TYPE 1
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
sh /etc/init.d/rc.io
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
px4io limit 100
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer and start controllers (depends on px4io)
#
if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
then
echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AERT.mix
else
echo "Using /etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
fi
#
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then
exit
fi

97
ROMFS/px4fmu_common/init.d/10_dji_f330 Normal file
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#!nsh
echo "[init] PX4FMU v1, v2 with or without IO on DJI F330"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.004
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 7.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_P 2.0
param set MC_YAWRATE_D 0.005
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_P 0.3
param set NAV_TAKEOFF_ALT 3.0
param set MPC_TILT_MAX 0.5
param set MPC_THR_MAX 0.7
param set MPC_THR_MIN 0.3
param set MPC_XY_D 0
param set MPC_XY_P 0.5
param set MPC_XY_VEL_D 0
param set MPC_XY_VEL_I 0
param set MPC_XY_VEL_MAX 3
param set MPC_XY_VEL_P 0.2
param set MPC_Z_D 0
param set MPC_Z_P 1
param set MPC_Z_VEL_D 0
param set MPC_Z_VEL_I 0.1
param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
usleep 5000
sh /etc/init.d/rc.io
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
usleep 5000
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Set PWM output frequency
#
pwm rate -c 1234 -r 400
#
# Set disarmed, min and max PWM signals (for DJI ESCs)
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1200
pwm max -c 1234 -p 1800
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi

116
ROMFS/px4fmu_common/init.d/10_io_f330
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@ -1,116 +0,0 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.005
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.1
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 4.5
param set MC_RCLOSS_THR 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.3
param set MC_YAWPOS_P 0.6
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_P 0.1
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Start MAVLink (depends on orb)
#
mavlink start
usleep 5000
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
pwm -u 400 -m 0xff
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Disable px4io topic limiting
#
px4io limit 200
#
# This sets a PWM right after startup (regardless of safety button)
#
px4io idle 900 900 900 900
#
# The values are for spinning motors when armed using DJI ESCs
#
px4io min 1200 1200 1200 1200
#
# Upper limits could be higher, this is on the safe side
#
px4io max 1800 1800 1800 1800
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
attitude_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
multirotor_att_control start
#
# Start logging
#
sdlog2 start -r 20 -a -b 16
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi

83
ROMFS/px4fmu_common/init.d/11_dji_f450 Normal file
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@ -0,0 +1,83 @@
#!nsh
echo "[init] PX4FMU v1, v2 with or without IO on DJI F450"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.004
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 7.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_P 2.0
param set MC_YAWRATE_D 0.005
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_P 0.3
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
usleep 5000
commander start
sh /etc/init.d/rc.io
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
usleep 5000
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Set PWM output frequency
#
pwm rate -c 1234 -r 400
#
# Set disarmed, min and max PWM signals (for DJI ESCs)
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1200
pwm max -c 1234 -p 1800
#
# Start common multirotor apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi

98
ROMFS/px4fmu_common/init.d/12-13_hex Normal file
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@ -0,0 +1,98 @@
#!nsh
echo "[init] PX4FMU v1, v2 with or without IO on Hex"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.004
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.12
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 7.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_P 2.0
param set MC_YAWRATE_D 0.005
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_P 0.3
param set NAV_TAKEOFF_ALT 3.0
param set MPC_TILT_MAX 0.5
param set MPC_THR_MAX 0.7
param set MPC_THR_MIN 0.3
param set MPC_XY_D 0
param set MPC_XY_P 0.5
param set MPC_XY_VEL_D 0
param set MPC_XY_VEL_I 0
param set MPC_XY_VEL_MAX 3
param set MPC_XY_VEL_P 0.2
param set MPC_Z_D 0
param set MPC_Z_P 1
param set MPC_Z_VEL_D 0
param set MPC_Z_VEL_I 0.1
param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE list: https://pixhawk.ethz.ch/mavlink/
# 13 = hexarotor
#
param set MAV_TYPE 13
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
usleep 5000
sh /etc/init.d/rc.io
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
usleep 5000
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_hex_x.mix
#
# Set PWM output frequency to 400 Hz
#
pwm rate -c 123456 -r 400
#
# Set disarmed, min and max PWM signals
#
pwm disarmed -c 123456 -p 900
pwm min -c 123456 -p 1100
pwm max -c 123456 -p 1900
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi

81
ROMFS/px4fmu_common/init.d/15_tbs_discovery Normal file
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@ -0,0 +1,81 @@
#!nsh
echo "[init] Team Blacksheep Discovery Quad"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.006
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.17
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 5.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_P 0.5
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_P 0.2
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
usleep 5000
sh /etc/init.d/rc.io
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
usleep 5000
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load the mixer for a quad with wide arms
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
#
# Set PWM output frequency
#
pwm rate -c 1234 -r 400
#
# Set disarmed, min and max PWM signals
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1100
pwm max -c 1234 -p 1900
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi

81
ROMFS/px4fmu_common/init.d/16_3dr_iris Normal file
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@ -0,0 +1,81 @@
#!nsh
echo "[init] 3DR Iris Quad"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.004
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.13
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 9.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_P 0.5
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_P 0.2
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
usleep 5000
sh /etc/init.d/rc.io
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
usleep 5000
fmu mode_pwm
param set BAT_V_SCALING 0.0098
set EXIT_ON_END yes
fi
#
# Load the mixer for a quad with wide arms
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
#
# Set PWM output frequency
#
pwm rate -c 1234 -r 400
#
# Set disarmed, min and max PWM signals
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1200
pwm max -c 1234 -p 1800
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi

140
ROMFS/px4fmu_common/init.d/30_io_camflyer
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@ -1,26 +1,6 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
echo "[init] PX4FMU v1, v2 with or without IO on Camflyer"
#
# Load default params for this platform
@ -28,94 +8,58 @@ fi
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 1 = fixed wing
#
param set MAV_TYPE 1
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
set EXIT_ON_END no
#
# Set actuator limit to 100 Hz update (50 Hz PWM)
px4io limit 100
# Start and configure PX4IO or FMU interface
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
kalman_demo start
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
sh /etc/init.d/rc.io
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
px4io limit 100
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo start
#
# Start logging
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
then
blinkm systemstate
echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
else
echo "Using /etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
fi
#
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then
exit
fi

162
ROMFS/px4fmu_common/init.d/31_io_phantom
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@ -1,26 +1,6 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV"
#
# Load default params for this platform
@ -28,94 +8,80 @@ fi
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set FW_P_D 0
param set FW_P_I 0
param set FW_P_IMAX 15
param set FW_P_LIM_MAX 50
param set FW_P_LIM_MIN -50
param set FW_P_P 60
param set FW_P_RMAX_NEG 0
param set FW_P_RMAX_POS 0
param set FW_P_ROLLFF 1.1
param set FW_R_D 0
param set FW_R_I 5
param set FW_R_IMAX 20
param set FW_R_P 100
param set FW_R_RMAX 100
param set FW_THR_CRUISE 0.65
param set FW_THR_MAX 1
param set FW_THR_MIN 0
param set FW_T_SINK_MAX 5.0
param set FW_T_SINK_MIN 4.0
param set FW_Y_ROLLFF 1.1
param set FW_L1_PERIOD 17
param set RC_SCALE_ROLL 1.0
param set RC_SCALE_PITCH 1.0
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 1 = fixed wing
#
param set MAV_TYPE 1
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
set EXIT_ON_END no
#
# Set actuator limit to 100 Hz update (50 Hz PWM)
px4io limit 100
# Start and configure PX4IO or FMU interface
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
kalman_demo start
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
sh /etc/init.d/rc.io
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
px4io limit 100
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo start
#
# Start logging
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
then
blinkm systemstate
echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
else
echo "Using /etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
fi
#
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then
exit
fi

65
ROMFS/px4fmu_common/init.d/32_skywalker_x5 Normal file
View File

@ -0,0 +1,65 @@
#!nsh
echo "[init] PX4FMU v1, v2 with or without IO on Skywalker X5"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing
#
param set MAV_TYPE 1
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
sh /etc/init.d/rc.io
# Limit to 100 Hz updates and (implicit) 50 Hz PWM
px4io limit 100
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer and start controllers (depends on px4io)
#
if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ]
then
echo "Using /fs/microsd/etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix
else
echo "Using /etc/mixers/FMU_Q.mix"
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
fi
#
# Start common fixedwing apps
#
sh /etc/init.d/rc.fixedwing
if [ $EXIT_ON_END == yes ]
then
exit
fi

88
ROMFS/px4fmu_common/init.d/40_io_segway
View File

@ -1,26 +1,4 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
#
# Load default params for this platform
@ -28,65 +6,34 @@ fi
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 10 = ground rover
#
param set MAV_TYPE 10
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start and configure PX4IO interface
#
sh /etc/init.d/rc.io
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Disable px4io topic limiting
#
px4io limit 200
#
# Start the sensors (depends on orb, px4io)
#
@ -105,18 +52,5 @@ attitude_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
md25 start 3 0x58
roboclaw start /dev/ttyS2 128 1200
segway start
#
# Start logging
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi

83
ROMFS/px4fmu_common/init.d/666_fmu_q_x550 Normal file
View File

@ -0,0 +1,83 @@
#!nsh
echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with or without IO"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set MC_ATTRATE_P 0.14
param set MC_ATTRATE_I 0
param set MC_ATTRATE_D 0.006
param set MC_ATT_P 5.5
param set MC_ATT_I 0
param set MC_ATT_D 0
param set MC_YAWPOS_D 0
param set MC_YAWPOS_I 0
param set MC_YAWPOS_P 0.6
param set MC_YAWRATE_D 0
param set MC_YAWRATE_I 0
param set MC_YAWRATE_P 0.08
param set RC_SCALE_PITCH 1
param set RC_SCALE_ROLL 1
param set RC_SCALE_YAW 3
param set SYS_AUTOCONFIG 0
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
set EXIT_ON_END no
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
usleep 5000
sh /etc/init.d/rc.io
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
usleep 5000
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Set PWM output frequency
#
pwm rate -c 1234 -r 400
#
# Set disarmed, min and max PWM signals
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1100
pwm max -c 1234 -p 1900
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi

9
ROMFS/px4fmu_common/init.d/cmp_test Normal file
View File

@ -0,0 +1,9 @@
#!nsh
cp /etc/extras/px4io-v2_default.bin /fs/microsd/px4io.loaded
if cmp /etc/extras/px4io-v2_default.bin /fs/microsd/px4io.loaded
then
echo "CMP returned true"
else
echo "CMP returned false"
fi

66
ROMFS/px4fmu_common/init.d/rc.boarddetect
View File

@ -1,66 +0,0 @@
#!nsh
#
# If we are still in flight mode, work out what airframe
# configuration we have and start up accordingly.
#
if [ $MODE != autostart ]
then
echo "[init] automatic startup cancelled by user script"
else
echo "[init] detecting attached hardware..."
#
# Assume that we are PX4FMU in standalone mode
#
set BOARD PX4FMU
#
# Are we attached to a PX4IOAR (AR.Drone carrier board)?
#
if boardinfo test name PX4IOAR
then
set BOARD PX4IOAR
if [ -f /etc/init.d/rc.PX4IOAR ]
then
echo "[init] reading /etc/init.d/rc.PX4IOAR"
usleep 500
sh /etc/init.d/rc.PX4IOAR
fi
else
echo "[init] PX4IOAR not detected"
fi
#
# Are we attached to a PX4IO?
#
if boardinfo test name PX4IO
then
set BOARD PX4IO
if [ -f /etc/init.d/rc.PX4IO ]
then
echo "[init] reading /etc/init.d/rc.PX4IO"
usleep 500
sh /etc/init.d/rc.PX4IO
fi
else
echo "[init] PX4IO not detected"
fi
#
# Looks like we are stand-alone
#
if [ $BOARD == PX4FMU ]
then
echo "[init] no expansion board detected"
if [ -f /etc/init.d/rc.standalone ]
then
echo "[init] reading /etc/init.d/rc.standalone"
sh /etc/init.d/rc.standalone
fi
fi
#
# We may not reach here if the airframe-specific script exits the shell.
#
echo "[init] startup done."
fi

120
ROMFS/px4fmu_common/init.d/rc.custom_dji_f330_mkblctrl Normal file
View File

@ -0,0 +1,120 @@
#!nsh
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.002
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.09
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 6.8
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_P 2.0
param set MC_YAWRATE_D 0.005
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_P 0.3
param set NAV_TAKEOFF_ALT 3.0
param set MPC_TILT_MAX 0.5
param set MPC_THR_MAX 0.7
param set MPC_THR_MIN 0.3
param set MPC_XY_D 0
param set MPC_XY_P 0.5
param set MPC_XY_VEL_D 0
param set MPC_XY_VEL_I 0
param set MPC_XY_VEL_MAX 3
param set MPC_XY_VEL_P 0.2
param set MPC_Z_D 0
param set MPC_Z_P 1
param set MPC_Z_VEL_D 0
param set MPC_Z_VEL_I 0.1
param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20
param save
fi
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
set EXIT_ON_END no
#
# Start the Mikrokopter ESC driver
#
if [ $MKBLCTRL_MODE == yes ]
then
if [ $MKBLCTRL_FRAME == x ]
then
echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing"
mkblctrl -mkmode x
else
echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing"
mkblctrl -mkmode +
fi
else
if [ $MKBLCTRL_FRAME == x ]
then
echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame"
else
echo "[init] PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame"
fi
mkblctrl
fi
usleep 10000
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start
usleep 5000
sh /etc/init.d/rc.io
else
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS0
usleep 5000
fmu mode_pwm
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
#
# Load mixer
#
if [ $MKBLCTRL_FRAME == x ]
then
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
else
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
fi
#
# Set disarmed, min and max PWM signals
#
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 1200
pwm max -c 1234 -p 1800
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi

120
ROMFS/px4fmu_common/init.d/rc.custom_io_esc Normal file
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@ -0,0 +1,120 @@
#!nsh
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.002
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.09
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 6.8
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_P 2.0
param set MC_YAWRATE_D 0.005
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_P 0.3
param set NAV_TAKEOFF_ALT 3.0
param set MPC_TILT_MAX 0.5
param set MPC_THR_MAX 0.7
param set MPC_THR_MIN 0.3
param set MPC_XY_D 0
param set MPC_XY_P 0.5
param set MPC_XY_VEL_D 0
param set MPC_XY_VEL_I 0
param set MPC_XY_VEL_MAX 3
param set MPC_XY_VEL_P 0.2
param set MPC_Z_D 0
param set MPC_Z_P 1
param set MPC_Z_VEL_D 0
param set MPC_Z_VEL_I 0.1
param set MPC_Z_VEL_MAX 2
param set MPC_Z_VEL_P 0.20
param save
fi
echo "RC script for PX4FMU + PX4IO + PPM-ESCs running"
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
set EXIT_ON_END no
usleep 10000
#
# Start and configure PX4IO or FMU interface
#
if px4io detect
then
# Start MAVLink (depends on orb)
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
sh /etc/init.d/rc.io
else
fmu mode_pwm
# Start MAVLink (on UART1 / ttyS0)
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
param set BAT_V_SCALING 0.004593
set EXIT_ON_END yes
fi
if [ $ESC_MAKER = afro ]
then
# Set PWM values for Afro ESCs
pwm disarmed -c 1234 -p 1050
pwm min -c 1234 -p 1080
pwm max -c 1234 -p 1860
else
# Set PWM values for typical ESCs
pwm disarmed -c 1234 -p 900
pwm min -c 1234 -p 980
pwm max -c 1234 -p 1800
fi
#
# Load mixer
#
if [ $FRAME_GEOMETRY == x ]
then
echo "Frame geometry X"
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
else
if [ $FRAME_GEOMETRY == w ]
then
echo "Frame geometry W"
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
else
echo "Frame geometry +"
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
fi
fi
#
# Set PWM output frequency
#
pwm rate -r 400 -c 1234
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
if [ $EXIT_ON_END == yes ]
then
exit
fi
echo "Script end"

34
ROMFS/px4fmu_common/init.d/rc.fixedwing Normal file
View File

@ -0,0 +1,34 @@
#!nsh
#
# Standard everything needed for fixedwing except mixer, actuator output and mavlink
#
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start logging (depends on sensors)
#
sh /etc/init.d/rc.logging
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude and position estimator
#
att_pos_estimator_ekf start
#
# Start attitude controller
#
fw_att_control start
#
# Start the position controller
#
fw_pos_control_l1 start

68
ROMFS/px4fmu_common/init.d/rc.hil
View File

@ -1,68 +0,0 @@
#!nsh
#
# USB HIL start
#
echo "[HIL] starting.."
uorb start
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/console
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Check if we got an IO
#
if [ px4io start ]
then
echo "IO started"
else
fmu mode_serial
echo "FMU started"
end
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the attitude estimator (depends on orb)
#
att_pos_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
fixedwing_backside start
echo "[HIL] setup done, running"
# Exit shell to make it available to MAVLink
exit

23
ROMFS/px4fmu_common/init.d/rc.io Normal file
View File

@ -0,0 +1,23 @@
#
# Start PX4IO interface (depends on orb, commander)
#
if px4io start
then
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Disable px4io topic limiting
#
if [ $BOARD == fmuv1 ]
then
px4io limit 200
else
px4io limit 400
fi
else
# SOS
tone_alarm error
fi

7
ROMFS/px4fmu_common/init.d/rc.logging
View File

@ -5,5 +5,10 @@
if [ -d /fs/microsd ]
then
sdlog start
if [ $BOARD == fmuv1 ]
then
sdlog2 start -r 50 -a -b 16
else
sdlog2 start -r 200 -a -b 16
fi
fi

39
ROMFS/px4fmu_common/init.d/rc.multirotor Normal file
View File

@ -0,0 +1,39 @@
#!nsh
#
# Standard everything needed for multirotors except mixer, actuator output and mavlink
#
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start logging (depends on sensors)
#
sh /etc/init.d/rc.logging
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator
#
attitude_estimator_ekf start
#
# Start position estimator
#
position_estimator_inav start
#
# Start attitude control
#
multirotor_att_control start
#
# Start position control
#
multirotor_pos_control start

38
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -7,25 +7,40 @@
# Start sensor drivers here.
#
#
# Check for UORB
#
if uorb start
then
echo "uORB started"
fi
ms5611 start
adc start
# mag might be external
if hmc5883 start
then
echo "using HMC5883"
fi
if mpu6000 start
then
echo "using MPU6000 and HMC5883L"
hmc5883 start
echo "using MPU6000"
set BOARD fmuv1
else
echo "using L3GD20 and LSM303D"
l3gd20 start
lsm303d start
set BOARD fmuv2
fi
# Start airspeed sensors
if meas_airspeed start
then
echo "using MEAS airspeed sensor"
else
if ets_airspeed start
then
echo "using ETS airspeed sensor (bus 3)"
else
if ets_airspeed start -b 1
then
echo "Using ETS airspeed sensor (bus 1)"
fi
fi
fi
#
@ -36,8 +51,5 @@ fi
#
if sensors start
then
#
# Check sensors - run AFTER 'sensors start'
#
preflight_check &
fi

16
ROMFS/px4fmu_common/init.d/rc.usb
View File

@ -8,14 +8,28 @@ echo "Starting MAVLink on this USB console"
# Stop tone alarm
tone_alarm stop
#
# Check for UORB
#
if uorb start
then
echo "uORB started"
fi
# Tell MAVLink that this link is "fast"
if mavlink stop
then
echo "stopped other MAVLink instance"
fi
sleep 2
mavlink start -b 230400 -d /dev/ttyACM0
# Stop commander
if commander stop
then
echo "Commander stopped"
fi
sleep 1
# Start the commander
if commander start
then

357
ROMFS/px4fmu_common/init.d/rcS
View File

@ -20,7 +20,7 @@ then
else
echo "[init] no microSD card found"
# Play SOS
tone_alarm 2
tone_alarm error
fi
#
@ -57,90 +57,301 @@ fi
if [ $MODE == autostart ]
then
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
if ramtron start
then
param select /ramtron/params
if [ -f /ramtron/params ]
#
# Start terminal
#
if sercon
then
param load /ramtron/params
echo "USB connected"
fi
else
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
fi
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
#if ramtron start
#then
# param select /ramtron/params
# if [ -f /ramtron/params ]
# then
# param load /ramtron/params
# fi
#else
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
if param load /fs/microsd/params
then
echo "Parameters loaded"
else
echo "Parameter file corrupt - ignoring"
fi
fi
#fi
#
# Start system state indicator
#
if rgbled start
then
echo "Using external RGB Led"
else
if blinkm start
then
blinkm systemstate
fi
fi
fi
#
# Start the Commander (needs to be this early for in-air-restarts)
#
commander start
#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
#
if param compare SYS_AUTOSTART 1
then
sh /etc/init.d/01_fmu_quad_x
fi
if param compare SYS_AUTOSTART 1000
then
sh /etc/init.d/1000_rc_fw_easystar.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 1001
then
sh /etc/init.d/1001_rc_quad.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 1002
then
sh /etc/init.d/1002_rc_fw_state.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 1003
then
sh /etc/init.d/1003_rc_quad_+.hil
set MODE custom
fi
if param compare SYS_AUTOSTART 2
then
sh /etc/init.d/02_io_quad_x
fi
if param compare SYS_AUTOSTART 1004
then
sh /etc/init.d/1004_rc_fw_Rascal110.hil
set MODE custom
fi
if [ $MODE != custom ]
then
# Try to get an USB console
nshterm /dev/ttyACM0 &
fi
if param compare SYS_AUTOSTART 8
then
sh /etc/init.d/08_ardrone
fi
#
# Upgrade PX4IO firmware
#
if px4io detect
then
echo "PX4IO running, not upgrading"
else
echo "Attempting to upgrade PX4IO"
if px4io update
then
if [ -d /fs/microsd ]
then
echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log
fi
if param compare SYS_AUTOSTART 9
then
sh /etc/init.d/09_ardrone_flow
fi
# Allow IO to safely kick back to app
usleep 200000
else
echo "No PX4IO to upgrade here"
fi
fi
#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
#
if param compare SYS_AUTOSTART 8
then
sh /etc/init.d/08_ardrone
set MODE custom
fi
if param compare SYS_AUTOSTART 9
then
sh /etc/init.d/09_ardrone_flow
set MODE custom
fi
if param compare SYS_AUTOSTART 10
then
sh /etc/init.d/10_dji_f330
set MODE custom
fi
if param compare SYS_AUTOSTART 10
then
sh /etc/init.d/10_io_f330
fi
if param compare SYS_AUTOSTART 11
then
sh /etc/init.d/11_dji_f450
set MODE custom
fi
if param compare SYS_AUTOSTART 30
then
sh /etc/init.d/30_io_camflyer
fi
if param compare SYS_AUTOSTART 12
then
set MIXER /etc/mixers/FMU_hex_x.mix
sh /etc/init.d/12-13_hex
set MODE custom
fi
if param compare SYS_AUTOSTART 31
then
sh /etc/init.d/31_io_phantom
fi
if param compare SYS_AUTOSTART 13
then
set MIXER /etc/mixers/FMU_hex_+.mix
sh /etc/init.d/12-13_hex
set MODE custom
fi
if param compare SYS_AUTOSTART 15
then
sh /etc/init.d/15_tbs_discovery
set MODE custom
fi
if param compare SYS_AUTOSTART 16
then
sh /etc/init.d/16_3dr_iris
set MODE custom
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame
if param compare SYS_AUTOSTART 17
then
set MKBLCTRL_MODE no
set MKBLCTRL_FRAME x
sh /etc/init.d/rc.custom_dji_f330_mkblctrl
set MODE custom
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame
if param compare SYS_AUTOSTART 18
then
set MKBLCTRL_MODE no
set MKBLCTRL_FRAME +
sh /etc/init.d/rc.custom_dji_f330_mkblctrl
set MODE custom
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 X Frame Mikrokopter-Addressing
if param compare SYS_AUTOSTART 19
then
set MKBLCTRL_MODE yes
set MKBLCTRL_FRAME x
sh /etc/init.d/rc.custom_dji_f330_mkblctrl
set MODE custom
fi
# PX4FMU v1, v2 with or without IO and Mikrokopter I2C ESCs on DJI F330 + Frame Mikrokopter-Addressing
if param compare SYS_AUTOSTART 20
then
set MKBLCTRL_MODE yes
set MKBLCTRL_FRAME +
sh /etc/init.d/rc.custom_dji_f330_mkblctrl
set MODE custom
fi
# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
if param compare SYS_AUTOSTART 21
then
set FRAME_GEOMETRY x
set ESC_MAKER afro
sh /etc/init.d/rc.custom_io_esc
set MODE custom
fi
# PX4FMU v1 with IO + PPM-based ESCs on Quad X-shape frame
if param compare SYS_AUTOSTART 22
then
set FRAME_GEOMETRY w
sh /etc/init.d/rc.custom_io_esc
set MODE custom
fi
if param compare SYS_AUTOSTART 30
then
sh /etc/init.d/30_io_camflyer
set MODE custom
fi
if param compare SYS_AUTOSTART 31
then
sh /etc/init.d/31_io_phantom
set MODE custom
fi
if param compare SYS_AUTOSTART 32
then
sh /etc/init.d/32_skywalker_x5
set MODE custom
fi
if param compare SYS_AUTOSTART 40
then
sh /etc/init.d/40_io_segway
set MODE custom
fi
if param compare SYS_AUTOSTART 100
then
sh /etc/init.d/100_mpx_easystar
set MODE custom
fi
if param compare SYS_AUTOSTART 101
then
sh /etc/init.d/101_hk_bixler
set MODE custom
fi
# Start any custom extensions that might be missing
if [ -f /fs/microsd/etc/rc.local ]
then
sh /fs/microsd/etc/rc.local
fi
# If none of the autostart scripts triggered, get a minimal setup
if [ $MODE == autostart ]
then
# Telemetry port is on both FMU boards ttyS1
# but the AR.Drone motors can be get 'flashed'
# if starting MAVLink on them - so do not
# start it as default (default link: USB)
# Start commander
commander start
# Start px4io if present
if px4io detect
then
px4io start
else
if fmu mode_serial
then
echo "FMU driver (no PWM) started"
fi
fi
# Start sensors
sh /etc/init.d/rc.sensors
# Start one of the estimators
attitude_estimator_ekf start
# Start GPS
gps start
fi
# End of autostart
fi

20
ROMFS/px4fmu_common/mixers/FMU_AERT.mix
View File

@ -62,3 +62,23 @@ range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / flaps / payload mixer for last four channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

20
ROMFS/px4fmu_common/mixers/FMU_AET.mix
View File

@ -58,3 +58,23 @@ range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / flaps / payload mixer for last four channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

18
ROMFS/px4fmu_common/mixers/FMU_Q.mix
View File

@ -50,3 +50,21 @@ M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / flaps / payload mixer for last four channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

20
ROMFS/px4fmu_common/mixers/FMU_RET.mix
View File

@ -51,3 +51,23 @@ range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / payload mixer for last four channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

19
ROMFS/px4fmu_common/mixers/FMU_X5.mix
View File

@ -48,3 +48,22 @@ M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / payload mixer for last four channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

20
ROMFS/px4fmu_common/mixers/FMU_delta.mix
View File

@ -48,3 +48,23 @@ M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
Gimbal / flaps / payload mixer for last four channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

11
ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
View File

@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the + configuration. All co
are mixed 100%.
R: 6+ 10000 10000 10000 0
Gimbal / payload mixer for last two channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

11
ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
View File

@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the X configuration. All c
are mixed 100%.
R: 6x 10000 10000 10000 0
Gimbal / payload mixer for last two channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

7
ROMFS/px4fmu_common/mixers/FMU_octo_cox.mix Normal file
View File

@ -0,0 +1,7 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a Coaxial Octocopter in the X configuration. All controls
are mixed 100%.
R: 8c 10000 10000 10000 0

20
ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
View File

@ -5,3 +5,23 @@ This file defines a single mixer for a quadrotor in the + configuration. All con
are mixed 100%.
R: 4+ 10000 10000 10000 0
Gimbal / payload mixer for last four channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

19
ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
View File

@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the V configuration. All co
are mixed 100%.
R: 4v 10000 10000 10000 0
Gimbal / payload mixer for last four channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

19
ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
View File

@ -4,3 +4,22 @@ Multirotor mixer for PX4FMU
This file defines a single mixer for a quadrotor with a wide configuration. All controls are mixed 100%.
R: 4w 10000 10000 10000 0
Gimbal / payload mixer for last four channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

19
ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
View File

@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the X configuration. All co
are mixed 100%.
R: 4x 10000 10000 10000 0
Gimbal / payload mixer for last four channels
-----------------------------------------------------
M: 1
O: 10000 10000 0 -10000 10000
S: 0 4 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

13
ROMFS/px4fmu_test/init.d/rc.standalone Normal file
View File

@ -0,0 +1,13 @@
#!nsh
#
# Flight startup script for PX4FMU standalone configuration.
#
echo "[init] doing standalone PX4FMU startup..."
#
# Start the ORB
#
uorb start
echo "[init] startup done"

4
ROMFS/px4fmu_test/init.d/rcS Executable file
View File

@ -0,0 +1,4 @@
#!nsh
#
# PX4FMU startup script for test hackery.
#

2
Tools/px4params/.gitignore vendored Normal file
View File

@ -0,0 +1,2 @@
parameters.wiki
parameters.xml

9
Tools/px4params/README.md Normal file
View File

@ -0,0 +1,9 @@
h1. PX4 Parameters Processor
It's designed to scan PX4 source codes, find declarations of tunable parameters,
and generate the list in various formats.
Currently supported formats are:
* XML for the parametric UI generator
* Human-readable description in DokuWiki format

27
Tools/px4params/dokuwikiout.py Normal file
View File

@ -0,0 +1,27 @@
import output
class DokuWikiOutput(output.Output):
def Generate(self, groups):
result = ""
for group in groups:
result += "==== %s ====\n\n" % group.GetName()
for param in group.GetParams():
code = param.GetFieldValue("code")
name = param.GetFieldValue("short_desc")
if code != name:
name = "%s (%s)" % (name, code)
result += "=== %s ===\n\n" % name
long_desc = param.GetFieldValue("long_desc")
if long_desc is not None:
result += "%s\n\n" % long_desc
min_val = param.GetFieldValue("min")
if min_val is not None:
result += "* Minimal value: %s\n" % min_val
max_val = param.GetFieldValue("max")
if max_val is not None:
result += "* Maximal value: %s\n" % max_val
def_val = param.GetFieldValue("default")
if def_val is not None:
result += "* Default value: %s\n" % def_val
result += "\n"
return result

5
Tools/px4params/output.py Normal file
View File

@ -0,0 +1,5 @@
class Output(object):
def Save(self, groups, fn):
data = self.Generate(groups)
with open(fn, 'w') as f:
f.write(data)

220
Tools/px4params/parser.py Normal file
View File

@ -0,0 +1,220 @@
import sys
import re
class ParameterGroup(object):
"""
Single parameter group
"""
def __init__(self, name):
self.name = name
self.params = []
def AddParameter(self, param):
"""
Add parameter to the group
"""
self.params.append(param)
def GetName(self):
"""
Get parameter group name
"""
return self.name
def GetParams(self):
"""
Returns the parsed list of parameters. Every parameter is a Parameter
object. Note that returned object is not a copy. Modifications affect
state of the parser.
"""
return sorted(self.params,
cmp=lambda x, y: cmp(x.GetFieldValue("code"),
y.GetFieldValue("code")))
class Parameter(object):
"""
Single parameter
"""
# Define sorting order of the fields
priority = {
"code": 10,
"type": 9,
"short_desc": 8,
"long_desc": 7,
"default": 6,
"min": 5,
"max": 4,
# all others == 0 (sorted alphabetically)
}
def __init__(self):
self.fields = {}
def SetField(self, code, value):
"""
Set named field value
"""
self.fields[code] = value
def GetFieldCodes(self):
"""
Return list of existing field codes in convenient order
"""
return sorted(self.fields.keys(),
cmp=lambda x, y: cmp(self.priority.get(y, 0),
self.priority.get(x, 0)) or cmp(x, y))
def GetFieldValue(self, code):
"""
Return value of the given field code or None if not found.
"""
return self.fields.get(code)
class Parser(object):
"""
Parses provided data and stores all found parameters internally.
"""
re_split_lines = re.compile(r'[\r\n]+')
re_comment_start = re.compile(r'^\/\*\*')
re_comment_content = re.compile(r'^\*\s*(.*)')
re_comment_tag = re.compile(r'@([a-zA-Z][a-zA-Z0-9_]*)\s*(.*)')
re_comment_end = re.compile(r'(.*?)\s*\*\/')
re_parameter_definition = re.compile(r'PARAM_DEFINE_([A-Z_][A-Z0-9_]*)\s*\(([A-Z_][A-Z0-9_]*)\s*,\s*([^ ,\)]+)\s*\)\s*;')
re_cut_type_specifier = re.compile(r'[a-z]+$')
re_is_a_number = re.compile(r'^-?[0-9\.]')
re_remove_dots = re.compile(r'\.+$')
valid_tags = set(["min", "max", "group"])
# Order of parameter groups
priority = {
# All other groups = 0 (sort alphabetically)
"Miscellaneous": -10
}
def __init__(self):
self.param_groups = {}
def GetSupportedExtensions(self):
"""
Returns list of supported file extensions that can be parsed by this
parser.
"""
return ["cpp", "c"]
def Parse(self, contents):
"""
Incrementally parse program contents and append all found parameters
to the list.
"""
# This code is essentially a comment-parsing grammar. "state"
# represents parser state. It contains human-readable state
# names.
state = None
for line in self.re_split_lines.split(contents):
line = line.strip()
# Ignore empty lines
if line == "":
continue
if self.re_comment_start.match(line):
state = "wait-short"
short_desc = None
long_desc = None
tags = {}
elif state is not None and state != "comment-processed":
m = self.re_comment_end.search(line)
if m:
line = m.group(1)
last_comment_line = True
else:
last_comment_line = False
m = self.re_comment_content.match(line)
if m:
comment_content = m.group(1)
if comment_content == "":
# When short comment ends with empty comment line,
# start waiting for the next part - long comment.
if state == "wait-short-end":
state = "wait-long"
else:
m = self.re_comment_tag.match(comment_content)
if m:
tag, desc = m.group(1, 2)
tags[tag] = desc
current_tag = tag
state = "wait-tag-end"
elif state == "wait-short":
# Store first line of the short description
short_desc = comment_content
state = "wait-short-end"
elif state == "wait-short-end":
# Append comment line to the short description
short_desc += "\n" + comment_content
elif state == "wait-long":
# Store first line of the long description
long_desc = comment_content
state = "wait-long-end"
elif state == "wait-long-end":
# Append comment line to the long description
long_desc += "\n" + comment_content
elif state == "wait-tag-end":
# Append comment line to the tag text
tags[current_tag] += "\n" + comment_content
else:
raise AssertionError(
"Invalid parser state: %s" % state)
elif not last_comment_line:
# Invalid comment line (inside comment, but not starting with
# "*" or "*/". Reset parsed content.
state = None
if last_comment_line:
state = "comment-processed"
else:
# Non-empty line outside the comment
m = self.re_parameter_definition.match(line)
if m:
tp, code, defval = m.group(1, 2, 3)
# Remove trailing type specifier from numbers: 0.1f => 0.1
if self.re_is_a_number.match(defval):
defval = self.re_cut_type_specifier.sub('', defval)
param = Parameter()
param.SetField("code", code)
param.SetField("short_desc", code)
param.SetField("type", tp)
param.SetField("default", defval)
# If comment was found before the parameter declaration,
# inject its data into the newly created parameter.
group = "Miscellaneous"
if state == "comment-processed":
if short_desc is not None:
param.SetField("short_desc",
self.re_remove_dots.sub('', short_desc))
if long_desc is not None:
param.SetField("long_desc", long_desc)
for tag in tags:
if tag == "group":
group = tags[tag]
elif tag not in self.valid_tags:
sys.stderr.write("Skipping invalid"
"documentation tag: '%s'\n" % tag)
else:
param.SetField(tag, tags[tag])
# Store the parameter
if group not in self.param_groups:
self.param_groups[group] = ParameterGroup(group)
self.param_groups[group].AddParameter(param)
# Reset parsed comment.
state = None
def GetParamGroups(self):
"""
Returns the parsed list of parameters. Every parameter is a Parameter
object. Note that returned object is not a copy. Modifications affect
state of the parser.
"""
return sorted(self.param_groups.values(),
cmp=lambda x, y: cmp(self.priority.get(y.GetName(), 0),
self.priority.get(x.GetName(), 0)) or cmp(x.GetName(),
y.GetName()))

61
Tools/px4params/px_process_params.py Executable file
View File

@ -0,0 +1,61 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2013 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# PX4 paramers processor (main executable file)
#
# It scans src/ subdirectory of the project, collects all parameters
# definitions, and outputs list of parameters in XML and DokuWiki formats.
#
import scanner
import parser
import xmlout
import dokuwikiout
# Initialize parser
prs = parser.Parser()
# Scan directories, and parse the files
sc = scanner.Scanner()
sc.ScanDir("../../src", prs)
output = prs.GetParamGroups()
# Output into XML
out = xmlout.XMLOutput()
out.Save(output, "parameters.xml")
# Output into DokuWiki
out = dokuwikiout.DokuWikiOutput()
out.Save(output, "parameters.wiki")

34
Tools/px4params/scanner.py Normal file
View File

@ -0,0 +1,34 @@
import os
import re
class Scanner(object):
"""
Traverses directory tree, reads all source files, and passes their contents
to the Parser.
"""
re_file_extension = re.compile(r'\.([^\.]+)$')
def ScanDir(self, srcdir, parser):
"""
Scans provided path and passes all found contents to the parser using
parser.Parse method.
"""
extensions = set(parser.GetSupportedExtensions())
for dirname, dirnames, filenames in os.walk(srcdir):
for filename in filenames:
m = self.re_file_extension.search(filename)
if m:
ext = m.group(1)
if ext in extensions:
path = os.path.join(dirname, filename)
self.ScanFile(path, parser)
def ScanFile(self, path, parser):
"""
Scans provided file and passes its contents to the parser using
parser.Parse method.
"""
with open(path, 'r') as f:
contents = f.read()
parser.Parse(contents)

22
Tools/px4params/xmlout.py Normal file
View File

@ -0,0 +1,22 @@
import output
from xml.dom.minidom import getDOMImplementation
class XMLOutput(output.Output):
def Generate(self, groups):
impl = getDOMImplementation()
xml_document = impl.createDocument(None, "parameters", None)
xml_parameters = xml_document.documentElement
for group in groups:
xml_group = xml_document.createElement("group")
xml_group.setAttribute("name", group.GetName())
xml_parameters.appendChild(xml_group)
for param in group.GetParams():
xml_param = xml_document.createElement("parameter")
xml_group.appendChild(xml_param)
for code in param.GetFieldCodes():
value = param.GetFieldValue(code)
xml_field = xml_document.createElement(code)
xml_param.appendChild(xml_field)
xml_value = xml_document.createTextNode(value)
xml_field.appendChild(xml_value)
return xml_document.toprettyxml(indent=" ", newl="\n", encoding="utf-8")

8
Tools/px_mkfw.py
View File

@ -1,7 +1,7 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
# Copyright (C) 2012, 2013 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
@ -60,7 +60,7 @@ def mkdesc():
proto['description'] = ""
proto['git_identity'] = ""
proto['build_time'] = 0
proto['image'] = base64.b64encode(bytearray())
proto['image'] = bytes()
proto['image_size'] = 0
return proto
@ -99,12 +99,12 @@ if args.description != None:
if args.git_identity != None:
cmd = " ".join(["git", "--git-dir", args.git_identity + "/.git", "describe", "--always", "--dirty"])
p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
desc['git_identity'] = p.read().strip()
desc['git_identity'] = str(p.read().strip())
p.close()
if args.image != None:
f = open(args.image, "rb")
bytes = f.read()
desc['image_size'] = len(bytes)
desc['image'] = base64.b64encode(zlib.compress(bytes,9))
desc['image'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
print(json.dumps(desc, indent=4))

119
Tools/px_uploader.py
View File

@ -1,7 +1,7 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
# Copyright (C) 2012, 2013 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
@ -102,7 +102,7 @@ class firmware(object):
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d])
crcpad = bytearray('\xff\xff\xff\xff')
crcpad = bytearray(b'\xff\xff\xff\xff')
def __init__(self, path):
@ -137,34 +137,40 @@ class uploader(object):
'''Uploads a firmware file to the PX FMU bootloader'''
# protocol bytes
INSYNC = chr(0x12)
EOC = chr(0x20)
INSYNC = b'\x12'
EOC = b'\x20'
# reply bytes
OK = chr(0x10)
FAILED = chr(0x11)
INVALID = chr(0x13) # rev3+
OK = b'\x10'
FAILED = b'\x11'
INVALID = b'\x13' # rev3+
# command bytes
NOP = chr(0x00) # guaranteed to be discarded by the bootloader
GET_SYNC = chr(0x21)
GET_DEVICE = chr(0x22)
CHIP_ERASE = chr(0x23)
CHIP_VERIFY = chr(0x24) # rev2 only
PROG_MULTI = chr(0x27)
READ_MULTI = chr(0x28) # rev2 only
GET_CRC = chr(0x29) # rev3+
REBOOT = chr(0x30)
NOP = b'\x00' # guaranteed to be discarded by the bootloader
GET_SYNC = b'\x21'
GET_DEVICE = b'\x22'
CHIP_ERASE = b'\x23'
CHIP_VERIFY = b'\x24' # rev2 only
PROG_MULTI = b'\x27'
READ_MULTI = b'\x28' # rev2 only
GET_CRC = b'\x29' # rev3+
REBOOT = b'\x30'
INFO_BL_REV = chr(1) # bootloader protocol revision
INFO_BL_REV = b'\x01' # bootloader protocol revision
BL_REV_MIN = 2 # minimum supported bootloader protocol
BL_REV_MAX = 3 # maximum supported bootloader protocol
INFO_BOARD_ID = chr(2) # board type
INFO_BOARD_REV = chr(3) # board revision
INFO_FLASH_SIZE = chr(4) # max firmware size in bytes
BL_REV_MAX = 4 # maximum supported bootloader protocol
INFO_BOARD_ID = b'\x02' # board type
INFO_BOARD_REV = b'\x03' # board revision
INFO_FLASH_SIZE = b'\x04' # max firmware size in bytes
PROG_MULTI_MAX = 60 # protocol max is 255, must be multiple of 4
READ_MULTI_MAX = 60 # protocol max is 255, something overflows with >= 64
NSH_INIT = bytearray(b'\x0d\x0d\x0d')
NSH_REBOOT_BL = b"reboot -b\n"
NSH_REBOOT = b"reboot\n"
MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x48\xf0')
MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xd7\xac')
def __init__(self, portname, baudrate):
# open the port, keep the default timeout short so we can poll quickly
@ -176,7 +182,7 @@ class uploader(object):
def __send(self, c):
# print("send " + binascii.hexlify(c))
self.port.write(str(c))
self.port.write(c)
def __recv(self, count=1):
c = self.port.read(count)
@ -192,9 +198,9 @@ class uploader(object):
def __getSync(self):
self.port.flush()
c = self.__recv()
if c is not self.INSYNC:
raise RuntimeError("unexpected 0x%x instead of INSYNC" % ord(c))
c = bytes(self.__recv())
if c != self.INSYNC:
raise RuntimeError("unexpected %s instead of INSYNC" % c)
c = self.__recv()
if c == self.INVALID:
raise RuntimeError("bootloader reports INVALID OPERATION")
@ -249,17 +255,29 @@ class uploader(object):
# send a PROG_MULTI command to write a collection of bytes
def __program_multi(self, data):
self.__send(uploader.PROG_MULTI
+ chr(len(data)))
if runningPython3 == True:
length = len(data).to_bytes(1, byteorder='big')
else:
length = chr(len(data))
self.__send(uploader.PROG_MULTI)
self.__send(length)
self.__send(data)
self.__send(uploader.EOC)
self.__getSync()
# verify multiple bytes in flash
def __verify_multi(self, data):
self.__send(uploader.READ_MULTI
+ chr(len(data))
+ uploader.EOC)
if runningPython3 == True:
length = len(data).to_bytes(1, byteorder='big')
else:
length = chr(len(data))
self.__send(uploader.READ_MULTI)
self.__send(length)
self.__send(uploader.EOC)
self.port.flush()
programmed = self.__recv(len(data))
if programmed != data:
@ -350,7 +368,24 @@ class uploader(object):
print("done, rebooting.")
self.__reboot()
self.port.close()
def send_reboot(self):
# try reboot via NSH first
self.__send(uploader.NSH_INIT)
self.__send(uploader.NSH_REBOOT_BL)
self.__send(uploader.NSH_INIT)
self.__send(uploader.NSH_REBOOT)
# then try MAVLINK command
self.__send(uploader.MAVLINK_REBOOT_ID1)
self.__send(uploader.MAVLINK_REBOOT_ID0)
# Detect python version
if sys.version_info[0] < 3:
runningPython3 = False
else:
runningPython3 = True
# Parse commandline arguments
parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
@ -365,7 +400,19 @@ print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property(
# Spin waiting for a device to show up
while True:
for port in args.port.split(","):
portlist = []
patterns = args.port.split(",")
# on unix-like platforms use glob to support wildcard ports. This allows
# the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
# causing modem hangups etc
if "linux" in _platform or "darwin" in _platform:
import glob
for pattern in patterns:
portlist += glob.glob(pattern)
else:
portlist = patterns
for port in portlist:
#print("Trying %s" % port)
@ -383,7 +430,7 @@ while True:
# Windows, don't open POSIX ports
if not "/" in port:
up = uploader(port, args.baud)
except:
except Exception:
# open failed, rate-limit our attempts
time.sleep(0.05)
@ -396,8 +443,12 @@ while True:
up.identify()
print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
except:
# most probably a timeout talking to the port, no bootloader
except Exception:
# most probably a timeout talking to the port, no bootloader, try to reboot the board
print("attempting reboot on %s..." % port)
up.send_reboot()
# wait for the reboot, without we might run into Serial I/O Error 5
time.sleep(0.5)
continue
try:

25
Tools/sdlog2_dump.py
View File

@ -25,8 +25,12 @@ import struct, sys
if sys.hexversion >= 0x030000F0:
runningPython3 = True
def _parseCString(cstr):
return str(cstr, 'ascii').split('\0')[0]
else:
runningPython3 = False
def _parseCString(cstr):
return str(cstr).split('\0')[0]
class SDLog2Parser:
BLOCK_SIZE = 8192
@ -175,9 +179,9 @@ class SDLog2Parser:
self.__csv_columns.append(full_label)
self.__csv_data[full_label] = None
if self.__file != None:
print(self.__csv_delim.join(self.__csv_columns), file=self.__file)
print(self.__csv_delim.join(self.__csv_columns), file=self.__file)
else:
print(self.__csv_delim.join(self.__csv_columns))
print(self.__csv_delim.join(self.__csv_columns))
def __printCSVRow(self):
s = []
@ -190,9 +194,9 @@ class SDLog2Parser:
s.append(v)
if self.__file != None:
print(self.__csv_delim.join(s), file=self.__file)
print(self.__csv_delim.join(s), file=self.__file)
else:
print(self.__csv_delim.join(s))
print(self.__csv_delim.join(s))
def __parseMsgDescr(self):
if runningPython3:
@ -202,14 +206,9 @@ class SDLog2Parser:
msg_type = data[0]
if msg_type != self.MSG_TYPE_FORMAT:
msg_length = data[1]
if runningPython3:
msg_name = str(data[2], 'ascii').strip("\0")
msg_format = str(data[3], 'ascii').strip("\0")
msg_labels = str(data[4], 'ascii').strip("\0").split(",")
else:
msg_name = str(data[2]).strip("\0")
msg_format = str(data[3]).strip("\0")
msg_labels = str(data[4]).strip("\0").split(",")
msg_name = _parseCString(data[2])
msg_format = _parseCString(data[3])
msg_labels = _parseCString(data[4]).split(",")
# Convert msg_format to struct.unpack format string
msg_struct = ""
msg_mults = []
@ -243,7 +242,7 @@ class SDLog2Parser:
data = list(struct.unpack(msg_struct, str(self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length])))
for i in range(len(data)):
if type(data[i]) is str:
data[i] = data[i].strip("\0")
data[i] = _parseCString(data[i])
m = msg_mults[i]
if m != None:
data[i] = data[i] * m

2
Tools/tests-host/.gitignore vendored Normal file
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@ -0,0 +1,2 @@
./obj/*
mixer_test

39
Tools/tests-host/Makefile Normal file
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@ -0,0 +1,39 @@
CC=g++
CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers -I../../src -D__EXPORT="" -Dnullptr="0"
ODIR=obj
LDIR =../lib
LIBS=-lm
#_DEPS = test.h
#DEPS = $(patsubst %,$(IDIR)/%,$(_DEPS))
_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o mixer.o mixer_group.o mixer_load.o
OBJ = $(patsubst %,$(ODIR)/%,$(_OBJ))
#$(DEPS)
$(ODIR)/%.o: %.cpp
$(CC) -c -o $@ $< $(CFLAGS)
$(ODIR)/%.o: ../../src/systemcmds/tests/%.cpp
$(CC) -c -o $@ $< $(CFLAGS)
$(ODIR)/%.o: ../../src/modules/systemlib/%.cpp
$(CC) -c -o $@ $< $(CFLAGS)
$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.cpp
$(CC) -c -o $@ $< $(CFLAGS)
$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.c
$(CC) -c -o $@ $< $(CFLAGS)
#
mixer_test: $(OBJ)
g++ -o $@ $^ $(CFLAGS) $(LIBS)
.PHONY: clean
clean:
rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~

0
Tools/tests-host/arch/board/board.h Normal file
View File

12
Tools/tests-host/mixer_test.cpp Normal file
View File

@ -0,0 +1,12 @@
#include <systemlib/mixer/mixer.h>
#include <systemlib/err.h>
#include "../../src/systemcmds/tests/tests.h"
int main(int argc, char *argv[]) {
warnx("Host execution started");
char* args[] = {argv[0], "../../ROMFS/px4fmu_common/mixers/IO_pass.mix",
"../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
test_mixer(3, args);
}

0
Tools/tests-host/nuttx/config.h Normal file
View File

11
makefiles/board_px4fmu-v2.mk Normal file
View File

@ -0,0 +1,11 @@
#
# Board-specific definitions for the PX4FMUv2
#
#
# Configure the toolchain
#
CONFIG_ARCH = CORTEXM4F
CONFIG_BOARD = PX4FMU_V2
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk

11
makefiles/board_px4io-v2.mk Normal file
View File

@ -0,0 +1,11 @@
#
# Board-specific definitions for the PX4IOv2
#
#
# Configure the toolchain
#
CONFIG_ARCH = CORTEXM3
CONFIG_BOARD = PX4IO_V2
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk

42
makefiles/config_px4fmu-v1_default.mk
View File

@ -6,6 +6,7 @@
# Use the configuration's ROMFS.
#
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v1_default.bin
#
# Board support modules
@ -17,7 +18,7 @@ MODULES += drivers/stm32/tone_alarm
MODULES += drivers/led
MODULES += drivers/px4io
MODULES += drivers/px4fmu
MODULES += drivers/boards/px4fmu
MODULES += drivers/boards/px4fmu-v1
MODULES += drivers/ardrone_interface
MODULES += drivers/l3gd20
MODULES += drivers/bma180
@ -30,8 +31,9 @@ MODULES += drivers/hil
MODULES += drivers/hott/hott_telemetry
MODULES += drivers/hott/hott_sensors
MODULES += drivers/blinkm
MODULES += drivers/rgbled
MODULES += drivers/mkblctrl
MODULES += drivers/md25
MODULES += drivers/roboclaw
MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
@ -50,15 +52,18 @@ MODULES += systemcmds/param
MODULES += systemcmds/perf
MODULES += systemcmds/preflight_check
MODULES += systemcmds/pwm
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
#
# General system control
#
MODULES += modules/commander
MODULES += modules/navigator
MODULES += modules/mavlink
MODULES += modules/mavlink_onboard
MODULES += modules/gpio_led
@ -67,21 +72,17 @@ MODULES += modules/gpio_led
# Estimation modules (EKF / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_so3_comp
MODULES += modules/position_estimator
MODULES += modules/att_pos_estimator_ekf
MODULES += modules/position_estimator_inav
MODULES += examples/flow_position_estimator
#
# Vehicle Control
#
MODULES += modules/segway
MODULES += modules/fixedwing_backside
MODULES += modules/fixedwing_att_control
MODULES += modules/fixedwing_pos_control
MODULES += modules/fw_att_control_vector
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
MODULES += modules/fw_pos_control_l1
MODULES += modules/fw_att_control
MODULES += modules/multirotor_att_control
MODULES += modules/mc_att_control_vector
MODULES += modules/multirotor_pos_control
MODULES += examples/flow_position_control
MODULES += examples/flow_speed_control
@ -91,20 +92,30 @@ MODULES += examples/flow_speed_control
#
MODULES += modules/sdlog2
#
# Unit tests
#
#MODULES += modules/unit_test
#MODULES += modules/commander/commander_tests
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/mathlib
MODULES += modules/mathlib/math/filter
MODULES += modules/controllib
MODULES += modules/uORB
#
# Libraries
#
LIBRARIES += modules/mathlib/CMSIS
LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/ecl
MODULES += lib/external_lgpl
MODULES += lib/geo
MODULES += lib/conversion
#
# Demo apps
@ -124,7 +135,10 @@ LIBRARIES += modules/mathlib/CMSIS
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
MODULES += examples/fixedwing_control
#MODULES += examples/fixedwing_control
# Hardware test
#MODULES += examples/hwtest
#
# Transitional support - add commands from the NuttX export archive.

155
makefiles/config_px4fmu-v2_default.mk Normal file
View File

@ -0,0 +1,155 @@
#
# Makefile for the px4fmu_default configuration
#
#
# Use the configuration's ROMFS, copy the px4iov2 firmware into
# the ROMFS if it's available
#
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
#
# Board support modules
#
MODULES += drivers/device
MODULES += drivers/stm32
MODULES += drivers/stm32/adc
MODULES += drivers/stm32/tone_alarm
MODULES += drivers/led
MODULES += drivers/px4fmu
MODULES += drivers/px4io
MODULES += drivers/boards/px4fmu-v2
MODULES += drivers/rgbled
MODULES += drivers/lsm303d
MODULES += drivers/l3gd20
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/mb12xx
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/hott/hott_telemetry
MODULES += drivers/hott/hott_sensors
MODULES += drivers/blinkm
MODULES += drivers/roboclaw
MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
MODULES += modules/sensors
# Needs to be burned to the ground and re-written; for now,
# just don't build it.
#MODULES += drivers/mkblctrl
#
# System commands
#
MODULES += systemcmds/ramtron
MODULES += systemcmds/bl_update
MODULES += systemcmds/boardinfo
MODULES += systemcmds/mixer
MODULES += systemcmds/param
MODULES += systemcmds/perf
MODULES += systemcmds/preflight_check
MODULES += systemcmds/pwm
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
#
# General system control
#
MODULES += modules/commander
MODULES += modules/navigator
MODULES += modules/mavlink
MODULES += modules/mavlink_onboard
#
# Estimation modules (EKF / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/att_pos_estimator_ekf
MODULES += modules/position_estimator_inav
MODULES += examples/flow_position_estimator
#
# Vehicle Control
#
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
MODULES += modules/fw_pos_control_l1
MODULES += modules/fw_att_control
MODULES += modules/multirotor_att_control
MODULES += modules/multirotor_pos_control
#
# Logging
#
MODULES += modules/sdlog2
#
# Unit tests
#
#MODULES += modules/unit_test
#MODULES += modules/commander/commander_tests
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/controllib
MODULES += modules/uORB
#
# Libraries
#
LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/ecl
MODULES += lib/external_lgpl
MODULES += lib/geo
MODULES += lib/conversion
#
# Demo apps
#
#MODULES += examples/math_demo
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/hello_sky
MODULES += examples/px4_simple_app
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/daemon
#MODULES += examples/px4_daemon_app
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/debug_values
#MODULES += examples/px4_mavlink_debug
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
#MODULES += examples/fixedwing_control
# Hardware test
#MODULES += examples/hwtest
#
# Transitional support - add commands from the NuttX export archive.
#
# In general, these should move to modules over time.
#
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
# to make the table a bit more readable.
#
define _B
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
endef
# command priority stack entrypoint
BUILTIN_COMMANDS := \
$(call _B, sercon, , 2048, sercon_main ) \
$(call _B, serdis, , 2048, serdis_main )

41
makefiles/config_px4fmu-v2_test.mk Normal file
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@ -0,0 +1,41 @@
#
# Makefile for the px4fmu_default configuration
#
#
# Use the configuration's ROMFS.
#
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_test
#
# Board support modules
#
MODULES += drivers/device
MODULES += drivers/stm32
MODULES += drivers/led
MODULES += drivers/boards/px4fmu-v2
MODULES += systemcmds/perf
MODULES += systemcmds/reboot
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/uORB
#
# Transitional support - add commands from the NuttX export archive.
#
# In general, these should move to modules over time.
#
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
# to make the table a bit more readable.
#
define _B
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
endef
# command priority stack entrypoint
BUILTIN_COMMANDS := \
$(call _B, sercon, , 2048, sercon_main ) \
$(call _B, serdis, , 2048, serdis_main )

2
makefiles/config_px4io-v1_default.mk
View File

@ -6,5 +6,5 @@
# Board support modules
#
MODULES += drivers/stm32
MODULES += drivers/boards/px4io
MODULES += drivers/boards/px4io-v1
MODULES += modules/px4iofirmware

10
makefiles/config_px4io-v2_default.mk Normal file
View File

@ -0,0 +1,10 @@
#
# Makefile for the px4iov2_default configuration
#
#
# Board support modules
#
MODULES += drivers/stm32
MODULES += drivers/boards/px4io-v2
MODULES += modules/px4iofirmware

35
makefiles/firmware.mk
View File

@ -110,6 +110,8 @@ ifneq ($(words $(PX4_BASE)),1)
$(error Cannot build when the PX4_BASE path contains one or more space characters.)
endif
$(info % GIT_DESC = $(GIT_DESC))
#
# Set a default target so that included makefiles or errors here don't
# cause confusion.
@ -177,6 +179,17 @@ GLOBAL_DEPS += $(MAKEFILE_LIST)
#
EXTRA_CLEANS =
#
# Extra defines for compilation
#
export EXTRADEFINES := -DGIT_VERSION=$(GIT_DESC)
#
# Append the per-board driver directory to the header search path.
#
INCLUDE_DIRS += $(PX4_MODULE_SRC)drivers/boards/$(BOARD)
################################################################################
# NuttX libraries and paths
################################################################################
@ -317,7 +330,7 @@ endif
# a root from several templates. That would be a nice feature.
#
# Add dependencies on anything in the ROMFS root
# Add dependencies on anything in the ROMFS root directory
ROMFS_FILES += $(wildcard \
$(ROMFS_ROOT)/* \
$(ROMFS_ROOT)/*/* \
@ -329,7 +342,14 @@ ifeq ($(ROMFS_FILES),)
$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
endif
ROMFS_DEPS += $(ROMFS_FILES)
# Extra files that may be copied into the ROMFS /extras directory
# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional
ROMFS_EXTRA_FILES += $(wildcard $(ROMFS_OPTIONAL_FILES))
ROMFS_DEPS += $(ROMFS_EXTRA_FILES)
ROMFS_IMG = romfs.img
ROMFS_SCRATCH = romfs_scratch
ROMFS_CSRC = $(ROMFS_IMG:.img=.c)
ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
LIBS += $(ROMFS_OBJ)
@ -340,9 +360,18 @@ $(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
$(call BIN_TO_OBJ,$<,$@,romfs_img)
# Generate the ROMFS image from the root
$(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS)
$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
@$(ECHO) "ROMFS: $@"
$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
$(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol"
# Construct the ROMFS scratch root from the canonical root
$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
ifneq ($(ROMFS_EXTRA_FILES),)
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
endif
EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG)

5
makefiles/setup.mk
View File

@ -43,6 +43,7 @@
#
export PX4_INCLUDE_DIR = $(abspath $(PX4_BASE)/src/include)/
export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src)/
export PX4_LIB_DIR = $(abspath $(PX4_BASE)/src/lib)/
export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/
export NUTTX_SRC = $(abspath $(PX4_BASE)/NuttX/nuttx)/
export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/NuttX/apps)/
@ -57,7 +58,8 @@ export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/
#
export INCLUDE_DIRS := $(PX4_MODULE_SRC) \
$(PX4_MODULE_SRC)/modules/ \
$(PX4_INCLUDE_DIR)
$(PX4_INCLUDE_DIR) \
$(PX4_LIB_DIR)
#
# Tools
@ -71,6 +73,7 @@ export RMDIR = rm -rf
export GENROMFS = genromfs
export TOUCH = touch
export MKDIR = mkdir
export FIND = find
export ECHO = echo
export UNZIP_CMD = unzip
export PYTHON = python

8
makefiles/upload.mk
View File

@ -12,13 +12,13 @@ SYSTYPE := $(shell uname -s)
# XXX The uploader should be smarter than this.
#
ifeq ($(SYSTYPE),Darwin)
SERIAL_PORTS ?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4"
SERIAL_PORTS ?= "/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
endif
ifeq ($(SYSTYPE),Linux)
SERIAL_PORTS ?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
SERIAL_PORTS ?= "/dev/serial/by-id/usb-3D_Robotics*"
endif
ifeq ($(SERIAL_PORTS),)
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"
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"
endif
.PHONY: all upload-$(METHOD)-$(BOARD)
@ -27,6 +27,8 @@ all: upload-$(METHOD)-$(BOARD)
upload-serial-px4fmu-v1: $(BUNDLE) $(UPLOADER)
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
upload-serial-px4fmu-v2: $(BUNDLE) $(UPLOADER)
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
#
# JTAG firmware uploading with OpenOCD

11
mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
View File

File diff suppressed because one or more lines are too long

18
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h
View File

@ -89,7 +89,7 @@ static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t componen
* @brief Pack a ahrs message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param omegaIx X gyro drift estimate rad/s
* @param omegaIy Y gyro drift estimate rad/s
@ -137,7 +137,7 @@ static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t com
}
/**
* @brief Encode a ahrs struct into a message
* @brief Encode a ahrs struct
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
@ -149,6 +149,20 @@ static inline uint16_t mavlink_msg_ahrs_encode(uint8_t system_id, uint8_t compon
return mavlink_msg_ahrs_pack(system_id, component_id, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
}
/**
* @brief Encode a ahrs struct on a channel
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param ahrs C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ahrs_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
{
return mavlink_msg_ahrs_pack_chan(system_id, component_id, chan, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
}
/**
* @brief Send a ahrs message
* @param chan MAVLink channel to send the message

419
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_airspeed_autocal.h Normal file
View File

@ -0,0 +1,419 @@
// MESSAGE AIRSPEED_AUTOCAL PACKING
#define MAVLINK_MSG_ID_AIRSPEED_AUTOCAL 174
typedef struct __mavlink_airspeed_autocal_t
{
float vx; ///< GPS velocity north m/s
float vy; ///< GPS velocity east m/s
float vz; ///< GPS velocity down m/s
float diff_pressure; ///< Differential pressure pascals
float EAS2TAS; ///< Estimated to true airspeed ratio
float ratio; ///< Airspeed ratio
float state_x; ///< EKF state x
float state_y; ///< EKF state y
float state_z; ///< EKF state z
float Pax; ///< EKF Pax
float Pby; ///< EKF Pby
float Pcz; ///< EKF Pcz
} mavlink_airspeed_autocal_t;
#define MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN 48
#define MAVLINK_MSG_ID_174_LEN 48
#define MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC 167
#define MAVLINK_MSG_ID_174_CRC 167
#define MAVLINK_MESSAGE_INFO_AIRSPEED_AUTOCAL { \
"AIRSPEED_AUTOCAL", \
12, \
{ { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_airspeed_autocal_t, vx) }, \
{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_airspeed_autocal_t, vy) }, \
{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_airspeed_autocal_t, vz) }, \
{ "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_airspeed_autocal_t, diff_pressure) }, \
{ "EAS2TAS", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_airspeed_autocal_t, EAS2TAS) }, \
{ "ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_airspeed_autocal_t, ratio) }, \
{ "state_x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_airspeed_autocal_t, state_x) }, \
{ "state_y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_airspeed_autocal_t, state_y) }, \
{ "state_z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_airspeed_autocal_t, state_z) }, \
{ "Pax", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_airspeed_autocal_t, Pax) }, \
{ "Pby", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_airspeed_autocal_t, Pby) }, \
{ "Pcz", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_airspeed_autocal_t, Pcz) }, \
} \
}
/**
* @brief Pack a airspeed_autocal message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param vx GPS velocity north m/s
* @param vy GPS velocity east m/s
* @param vz GPS velocity down m/s
* @param diff_pressure Differential pressure pascals
* @param EAS2TAS Estimated to true airspeed ratio
* @param ratio Airspeed ratio
* @param state_x EKF state x
* @param state_y EKF state y
* @param state_z EKF state z
* @param Pax EKF Pax
* @param Pby EKF Pby
* @param Pcz EKF Pcz
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_airspeed_autocal_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float vx, float vy, float vz, float diff_pressure, float EAS2TAS, float ratio, float state_x, float state_y, float state_z, float Pax, float Pby, float Pcz)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN];
_mav_put_float(buf, 0, vx);
_mav_put_float(buf, 4, vy);
_mav_put_float(buf, 8, vz);
_mav_put_float(buf, 12, diff_pressure);
_mav_put_float(buf, 16, EAS2TAS);
_mav_put_float(buf, 20, ratio);
_mav_put_float(buf, 24, state_x);
_mav_put_float(buf, 28, state_y);
_mav_put_float(buf, 32, state_z);
_mav_put_float(buf, 36, Pax);
_mav_put_float(buf, 40, Pby);
_mav_put_float(buf, 44, Pcz);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
#else
mavlink_airspeed_autocal_t packet;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
packet.diff_pressure = diff_pressure;
packet.EAS2TAS = EAS2TAS;
packet.ratio = ratio;
packet.state_x = state_x;
packet.state_y = state_y;
packet.state_z = state_z;
packet.Pax = Pax;
packet.Pby = Pby;
packet.Pcz = Pcz;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_AIRSPEED_AUTOCAL;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
#endif
}
/**
* @brief Pack a airspeed_autocal message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param vx GPS velocity north m/s
* @param vy GPS velocity east m/s
* @param vz GPS velocity down m/s
* @param diff_pressure Differential pressure pascals
* @param EAS2TAS Estimated to true airspeed ratio
* @param ratio Airspeed ratio
* @param state_x EKF state x
* @param state_y EKF state y
* @param state_z EKF state z
* @param Pax EKF Pax
* @param Pby EKF Pby
* @param Pcz EKF Pcz
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_airspeed_autocal_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float vx,float vy,float vz,float diff_pressure,float EAS2TAS,float ratio,float state_x,float state_y,float state_z,float Pax,float Pby,float Pcz)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN];
_mav_put_float(buf, 0, vx);
_mav_put_float(buf, 4, vy);
_mav_put_float(buf, 8, vz);
_mav_put_float(buf, 12, diff_pressure);
_mav_put_float(buf, 16, EAS2TAS);
_mav_put_float(buf, 20, ratio);
_mav_put_float(buf, 24, state_x);
_mav_put_float(buf, 28, state_y);
_mav_put_float(buf, 32, state_z);
_mav_put_float(buf, 36, Pax);
_mav_put_float(buf, 40, Pby);
_mav_put_float(buf, 44, Pcz);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
#else
mavlink_airspeed_autocal_t packet;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
packet.diff_pressure = diff_pressure;
packet.EAS2TAS = EAS2TAS;
packet.ratio = ratio;
packet.state_x = state_x;
packet.state_y = state_y;
packet.state_z = state_z;
packet.Pax = Pax;
packet.Pby = Pby;
packet.Pcz = Pcz;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_AIRSPEED_AUTOCAL;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
#endif
}
/**
* @brief Encode a airspeed_autocal struct
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param airspeed_autocal C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_airspeed_autocal_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_airspeed_autocal_t* airspeed_autocal)
{
return mavlink_msg_airspeed_autocal_pack(system_id, component_id, msg, airspeed_autocal->vx, airspeed_autocal->vy, airspeed_autocal->vz, airspeed_autocal->diff_pressure, airspeed_autocal->EAS2TAS, airspeed_autocal->ratio, airspeed_autocal->state_x, airspeed_autocal->state_y, airspeed_autocal->state_z, airspeed_autocal->Pax, airspeed_autocal->Pby, airspeed_autocal->Pcz);
}
/**
* @brief Encode a airspeed_autocal struct on a channel
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param airspeed_autocal C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_airspeed_autocal_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_airspeed_autocal_t* airspeed_autocal)
{
return mavlink_msg_airspeed_autocal_pack_chan(system_id, component_id, chan, msg, airspeed_autocal->vx, airspeed_autocal->vy, airspeed_autocal->vz, airspeed_autocal->diff_pressure, airspeed_autocal->EAS2TAS, airspeed_autocal->ratio, airspeed_autocal->state_x, airspeed_autocal->state_y, airspeed_autocal->state_z, airspeed_autocal->Pax, airspeed_autocal->Pby, airspeed_autocal->Pcz);
}
/**
* @brief Send a airspeed_autocal message
* @param chan MAVLink channel to send the message
*
* @param vx GPS velocity north m/s
* @param vy GPS velocity east m/s
* @param vz GPS velocity down m/s
* @param diff_pressure Differential pressure pascals
* @param EAS2TAS Estimated to true airspeed ratio
* @param ratio Airspeed ratio
* @param state_x EKF state x
* @param state_y EKF state y
* @param state_z EKF state z
* @param Pax EKF Pax
* @param Pby EKF Pby
* @param Pcz EKF Pcz
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_airspeed_autocal_send(mavlink_channel_t chan, float vx, float vy, float vz, float diff_pressure, float EAS2TAS, float ratio, float state_x, float state_y, float state_z, float Pax, float Pby, float Pcz)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN];
_mav_put_float(buf, 0, vx);
_mav_put_float(buf, 4, vy);
_mav_put_float(buf, 8, vz);
_mav_put_float(buf, 12, diff_pressure);
_mav_put_float(buf, 16, EAS2TAS);
_mav_put_float(buf, 20, ratio);
_mav_put_float(buf, 24, state_x);
_mav_put_float(buf, 28, state_y);
_mav_put_float(buf, 32, state_z);
_mav_put_float(buf, 36, Pax);
_mav_put_float(buf, 40, Pby);
_mav_put_float(buf, 44, Pcz);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
#endif
#else
mavlink_airspeed_autocal_t packet;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
packet.diff_pressure = diff_pressure;
packet.EAS2TAS = EAS2TAS;
packet.ratio = ratio;
packet.state_x = state_x;
packet.state_y = state_y;
packet.state_z = state_z;
packet.Pax = Pax;
packet.Pby = Pby;
packet.Pcz = Pcz;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, (const char *)&packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, (const char *)&packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
#endif
#endif
}
#endif
// MESSAGE AIRSPEED_AUTOCAL UNPACKING
/**
* @brief Get field vx from airspeed_autocal message
*
* @return GPS velocity north m/s
*/
static inline float mavlink_msg_airspeed_autocal_get_vx(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field vy from airspeed_autocal message
*
* @return GPS velocity east m/s
*/
static inline float mavlink_msg_airspeed_autocal_get_vy(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field vz from airspeed_autocal message
*
* @return GPS velocity down m/s
*/
static inline float mavlink_msg_airspeed_autocal_get_vz(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field diff_pressure from airspeed_autocal message
*
* @return Differential pressure pascals
*/
static inline float mavlink_msg_airspeed_autocal_get_diff_pressure(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field EAS2TAS from airspeed_autocal message
*
* @return Estimated to true airspeed ratio
*/
static inline float mavlink_msg_airspeed_autocal_get_EAS2TAS(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field ratio from airspeed_autocal message
*
* @return Airspeed ratio
*/
static inline float mavlink_msg_airspeed_autocal_get_ratio(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field state_x from airspeed_autocal message
*
* @return EKF state x
*/
static inline float mavlink_msg_airspeed_autocal_get_state_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field state_y from airspeed_autocal message
*
* @return EKF state y
*/
static inline float mavlink_msg_airspeed_autocal_get_state_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Get field state_z from airspeed_autocal message
*
* @return EKF state z
*/
static inline float mavlink_msg_airspeed_autocal_get_state_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 32);
}
/**
* @brief Get field Pax from airspeed_autocal message
*
* @return EKF Pax
*/
static inline float mavlink_msg_airspeed_autocal_get_Pax(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 36);
}
/**
* @brief Get field Pby from airspeed_autocal message
*
* @return EKF Pby
*/
static inline float mavlink_msg_airspeed_autocal_get_Pby(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 40);
}
/**
* @brief Get field Pcz from airspeed_autocal message
*
* @return EKF Pcz
*/
static inline float mavlink_msg_airspeed_autocal_get_Pcz(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 44);
}
/**
* @brief Decode a airspeed_autocal message into a struct
*
* @param msg The message to decode
* @param airspeed_autocal C-struct to decode the message contents into
*/
static inline void mavlink_msg_airspeed_autocal_decode(const mavlink_message_t* msg, mavlink_airspeed_autocal_t* airspeed_autocal)
{
#if MAVLINK_NEED_BYTE_SWAP
airspeed_autocal->vx = mavlink_msg_airspeed_autocal_get_vx(msg);
airspeed_autocal->vy = mavlink_msg_airspeed_autocal_get_vy(msg);
airspeed_autocal->vz = mavlink_msg_airspeed_autocal_get_vz(msg);
airspeed_autocal->diff_pressure = mavlink_msg_airspeed_autocal_get_diff_pressure(msg);
airspeed_autocal->EAS2TAS = mavlink_msg_airspeed_autocal_get_EAS2TAS(msg);
airspeed_autocal->ratio = mavlink_msg_airspeed_autocal_get_ratio(msg);
airspeed_autocal->state_x = mavlink_msg_airspeed_autocal_get_state_x(msg);
airspeed_autocal->state_y = mavlink_msg_airspeed_autocal_get_state_y(msg);
airspeed_autocal->state_z = mavlink_msg_airspeed_autocal_get_state_z(msg);
airspeed_autocal->Pax = mavlink_msg_airspeed_autocal_get_Pax(msg);
airspeed_autocal->Pby = mavlink_msg_airspeed_autocal_get_Pby(msg);
airspeed_autocal->Pcz = mavlink_msg_airspeed_autocal_get_Pcz(msg);
#else
memcpy(airspeed_autocal, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
#endif
}

18
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h
View File

@ -84,7 +84,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t compon
* @brief Pack a ap_adc message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param adc1 ADC output 1
* @param adc2 ADC output 2
@ -129,7 +129,7 @@ static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t c
}
/**
* @brief Encode a ap_adc struct into a message
* @brief Encode a ap_adc struct
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
@ -141,6 +141,20 @@ static inline uint16_t mavlink_msg_ap_adc_encode(uint8_t system_id, uint8_t comp
return mavlink_msg_ap_adc_pack(system_id, component_id, msg, ap_adc->adc1, ap_adc->adc2, ap_adc->adc3, ap_adc->adc4, ap_adc->adc5, ap_adc->adc6);
}
/**
* @brief Encode a ap_adc struct on a channel
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param ap_adc C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ap_adc_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ap_adc_t* ap_adc)
{
return mavlink_msg_ap_adc_pack_chan(system_id, component_id, chan, msg, ap_adc->adc1, ap_adc->adc2, ap_adc->adc3, ap_adc->adc4, ap_adc->adc5, ap_adc->adc6);
}
/**
* @brief Send a ap_adc message
* @param chan MAVLink channel to send the message

18
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h
View File

@ -67,7 +67,7 @@ static inline uint16_t mavlink_msg_data16_pack(uint8_t system_id, uint8_t compon
* @brief Pack a data16 message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param type data type
* @param len data length
@ -101,7 +101,7 @@ static inline uint16_t mavlink_msg_data16_pack_chan(uint8_t system_id, uint8_t c
}
/**
* @brief Encode a data16 struct into a message
* @brief Encode a data16 struct
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
@ -113,6 +113,20 @@ static inline uint16_t mavlink_msg_data16_encode(uint8_t system_id, uint8_t comp
return mavlink_msg_data16_pack(system_id, component_id, msg, data16->type, data16->len, data16->data);
}
/**
* @brief Encode a data16 struct on a channel
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param data16 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data16_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data16_t* data16)
{
return mavlink_msg_data16_pack_chan(system_id, component_id, chan, msg, data16->type, data16->len, data16->data);
}
/**
* @brief Send a data16 message
* @param chan MAVLink channel to send the message

18
mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h
View File

@ -67,7 +67,7 @@ static inline uint16_t mavlink_msg_data32_pack(uint8_t system_id, uint8_t compon
* @brief Pack a data32 message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param type data type
* @param len data length
@ -101,7 +101,7 @@ static inline uint16_t mavlink_msg_data32_pack_chan(uint8_t system_id, uint8_t c
}
/**
* @brief Encode a data32 struct into a message
* @brief Encode a data32 struct
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
@ -113,6 +113,20 @@ static inline uint16_t mavlink_msg_data32_encode(uint8_t system_id, uint8_t comp
return mavlink_msg_data32_pack(system_id, component_id, msg, data32->type, data32->len, data32->data);
}
/**
* @brief Encode a data32 struct on a channel
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param data32 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data32_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data32_t* data32)
{
return mavlink_msg_data32_pack_chan(system_id, component_id, chan, msg, data32->type, data32->len, data32->data);
}
/**
* @brief Send a data32 message
* @param chan MAVLink channel to send the message

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