mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-29 02:30:05 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
ad7b74847e |
@@ -9,10 +9,10 @@ pipeline {
|
||||
script {
|
||||
def build_nodes = [:]
|
||||
def docker_images = [
|
||||
armhf: "px4io/px4-dev-armhf:2022-08-12",
|
||||
arm64: "px4io/px4-dev-aarch64:2022-08-12",
|
||||
base: "px4io/px4-dev-ros2-foxy:2022-08-12",
|
||||
nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
|
||||
armhf: "px4io/px4-dev-armhf:2021-09-08",
|
||||
arm64: "px4io/px4-dev-aarch64:2021-09-08",
|
||||
base: "px4io/px4-dev-base-bionic:2021-09-08",
|
||||
nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
|
||||
]
|
||||
|
||||
def armhf_builds = [
|
||||
|
||||
@@ -755,11 +755,9 @@ void runTests() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
|
||||
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
|
||||
|
||||
@@ -54,7 +54,6 @@ jobs:
|
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nxp_fmuk66-e,
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nxp_fmuk66-v3,
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nxp_fmurt1062-v1,
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nxp_mr-canhubk3,
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nxp_ucans32k146,
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omnibus_f4sd,
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px4_fmu-v2,
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||||
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@@ -59,13 +59,13 @@ jobs:
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run: |
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export
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ulimit -a
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- name: Build PX4 and sitl_gazebo-classic
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- name: Build PX4 and sitl_gazebo
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env:
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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run: |
|
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ccache -z
|
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make px4_sitl_default
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make px4_sitl_default sitl_gazebo-classic
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make px4_sitl_default sitl_gazebo
|
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ccache -s
|
||||
|
||||
- name: Core dump settings
|
||||
|
||||
@@ -54,13 +54,13 @@ jobs:
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run: |
|
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export
|
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ulimit -a
|
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- name: Build PX4 and sitl_gazebo-classic
|
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- name: Build PX4 and sitl_gazebo
|
||||
env:
|
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
ccache -z
|
||||
make px4_sitl_default
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make px4_sitl_default sitl_gazebo-classic
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make px4_sitl_default sitl_gazebo
|
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ccache -s
|
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|
||||
- name: Core dump settings
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||||
|
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@@ -74,14 +74,14 @@ jobs:
|
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- name: Build SITL Gazebo
|
||||
env:
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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run: make px4_sitl_default sitl_gazebo-classic
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- name: ccache post-run sitl_gazebo-classic
|
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run: make px4_sitl_default sitl_gazebo
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- name: ccache post-run sitl_gazebo
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run: ccache -s
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- name: Build MAVSDK tests
|
||||
env:
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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||||
DONT_RUN: 1
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||||
run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
|
||||
run: make px4_sitl_default gazebo mavsdk_tests
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||||
- name: ccache post-run mavsdk_tests
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run: ccache -s
|
||||
|
||||
|
||||
@@ -47,6 +47,8 @@ GTAGS
|
||||
*.files
|
||||
*.includes
|
||||
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||||
Tools/jlink-nuttx.so
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||||
|
||||
# CLion ignores
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||||
.idea
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||||
cmake-build-*/
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+3
-3
@@ -10,9 +10,9 @@
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||||
path = Tools/simulation/jmavsim/jMAVSim
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url = https://github.com/PX4/jMAVSim.git
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branch = main
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[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
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path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
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||||
url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
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||||
[submodule "Tools/simulation/gazebo/sitl_gazebo"]
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||||
path = Tools/simulation/gazebo/sitl_gazebo
|
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url = https://github.com/PX4/PX4-SITL_gazebo.git
|
||||
branch = main
|
||||
[submodule "src/drivers/gps/devices"]
|
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path = src/drivers/gps/devices
|
||||
|
||||
@@ -4,7 +4,6 @@ compile_commands.json
|
||||
|
||||
# generated by cmake
|
||||
launch.json
|
||||
c_cpp_properties.json
|
||||
|
||||
# C/C++ extension does some local caching in this folder
|
||||
ipch/
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||||
|
||||
@@ -3,18 +3,14 @@
|
||||
{
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||||
"name": "PX4",
|
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"includePath": [
|
||||
"${workspaceFolder}/**",
|
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"${workspaceFolder}/**"
|
||||
],
|
||||
"defines": [],
|
||||
"macFrameworkPath": [],
|
||||
"configurationProvider": "ms-vscode.cmake-tools",
|
||||
"cppStandard": "c++14",
|
||||
"cStandard": "c11",
|
||||
"forcedInclude": [
|
||||
"@PX4_BINARY_DIR@/px4_boardconfig.h",
|
||||
"@PX4_SOURCE_DIR@/platforms/common/include/px4_platform_common/defines.h"
|
||||
]
|
||||
"cStandard": "c11"
|
||||
}
|
||||
],
|
||||
"version": 4
|
||||
}
|
||||
}
|
||||
Vendored
-10
@@ -266,16 +266,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_fmuk66-v3_default
|
||||
nxp_mr-canhubk3_default:
|
||||
short: nxp_mr-canhubk3_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-canhubk3_default
|
||||
nxp_mr-canhubk3_fmu:
|
||||
short: nxp_mr-canhubk3_fmu
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-canhubk3_fmu
|
||||
raspberrypi_pico_default:
|
||||
short: raspberrypi_pico
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+56
-13
@@ -49,6 +49,49 @@
|
||||
"group": "test"
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "jmavsim build",
|
||||
"type": "shell",
|
||||
"command": "ant create_run_jar copy_res",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
|
||||
},
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
},
|
||||
"problemMatcher": []
|
||||
},
|
||||
{
|
||||
"label": "jmavsim",
|
||||
"type": "shell",
|
||||
"dependsOn": "jmavsim build",
|
||||
"command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim/out/production",
|
||||
"env": {
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
},
|
||||
"problemMatcher": []
|
||||
},
|
||||
{
|
||||
"label": "jmavsim kill",
|
||||
"type": "shell",
|
||||
@@ -67,9 +110,9 @@
|
||||
"dependsOn":["px4_sitl_cleanup"]
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic build",
|
||||
"label": "gazebo build",
|
||||
"type": "shell",
|
||||
"command": "make px4_sitl_default sitl_gazebo-classic",
|
||||
"command": "make px4_sitl_default sitl_gazebo",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
@@ -86,18 +129,18 @@
|
||||
"problemMatcher": [],
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic start",
|
||||
"label": "gazebo start",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo-classic build",
|
||||
"dependsOn": "gazebo build",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world",
|
||||
"command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
@@ -128,18 +171,18 @@
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic",
|
||||
"label": "gazebo",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo-classic start",
|
||||
"dependsOn": "gazebo start",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
|
||||
"command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
|
||||
"isBackground": false,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
@@ -194,7 +237,7 @@
|
||||
"dependsOn":["ign gazebo kill"]
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic kill",
|
||||
"label": "gazebo kill",
|
||||
"type": "shell",
|
||||
"command": "pkill -9 -f gzserver || true",
|
||||
"presentation": {
|
||||
|
||||
+2
-22
@@ -118,21 +118,7 @@ execute_process(
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
)
|
||||
|
||||
# git describe to X.Y.Z version
|
||||
string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
|
||||
|
||||
# major version
|
||||
list(GET VERSION_LIST 0 PX4_VERSION_MAJOR)
|
||||
string(REPLACE "v" "" PX4_VERSION_MAJOR ${PX4_VERSION_MAJOR})
|
||||
# minor version
|
||||
list(GET VERSION_LIST 1 PX4_VERSION_MINOR)
|
||||
# patch version
|
||||
list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
|
||||
string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
|
||||
list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
|
||||
|
||||
message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
|
||||
message(STATUS "PX4 version: ${PX4_GIT_TAG}")
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
|
||||
BRIEF_DOCS "PX4 module libs"
|
||||
@@ -296,10 +282,7 @@ if(${PX4_PLATFORM} STREQUAL "posix")
|
||||
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
||||
set(CMAKE_ENABLE_EXPORTS ON)
|
||||
|
||||
if(CMAKE_BUILD_TYPE MATCHES "Coverage")
|
||||
include(coverage)
|
||||
endif()
|
||||
|
||||
include(coverage)
|
||||
include(sanitizers)
|
||||
|
||||
# Define GNU standard installation directories
|
||||
@@ -470,9 +453,6 @@ add_custom_command(OUTPUT ${uorb_graph_config}
|
||||
add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
|
||||
|
||||
|
||||
include(bloaty)
|
||||
|
||||
|
||||
include(doxygen)
|
||||
include(metadata)
|
||||
include(package)
|
||||
|
||||
@@ -73,13 +73,6 @@ menu "Toolchain"
|
||||
help
|
||||
relative path to the ROMFS root directory
|
||||
|
||||
config BOARD_ROOTFSDIR
|
||||
string "Root directory"
|
||||
depends on PLATFORM_POSIX
|
||||
default "."
|
||||
help
|
||||
Configure the root directory in the file system for PX4 files
|
||||
|
||||
config BOARD_IO
|
||||
string "IO board name"
|
||||
default "px4_io-v2_default"
|
||||
@@ -181,8 +174,8 @@ menu "Serial ports"
|
||||
config BOARD_SERIAL_WIFI
|
||||
string "WIFI tty port"
|
||||
|
||||
config BOARD_SERIAL_EXT2
|
||||
string "EXT2 tty port"
|
||||
config BOARD_SERIAL_PPB
|
||||
string "PPB (Pixhawk Payload Bus) tty port"
|
||||
endmenu
|
||||
|
||||
menu "drivers"
|
||||
@@ -202,6 +195,5 @@ source "src/examples/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "platforms"
|
||||
depends on PLATFORM_QURT || PLATFORM_POSIX
|
||||
source "platforms/common/Kconfig"
|
||||
endmenu
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
BSD 3-Clause License
|
||||
|
||||
Copyright (c) 2012 - 2023, PX4 Development Team
|
||||
Copyright (c) 2012 - 2022, PX4 Development Team
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
|
||||
@@ -324,6 +324,10 @@ px4io_update:
|
||||
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
|
||||
git status
|
||||
|
||||
jlink-nuttx:
|
||||
$(CC) -shared -fPIC platforms/nuttx/NuttX/nuttx/tools/jlink-nuttx.c -o Tools/jlink-nuttx.so
|
||||
|
||||
|
||||
bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
|
||||
git status
|
||||
|
||||
@@ -388,17 +392,17 @@ tests_coverage:
|
||||
|
||||
|
||||
rostest: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
|
||||
tests_integration: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
|
||||
@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
|
||||
|
||||
tests_integration_coverage:
|
||||
@$(MAKE) clean
|
||||
@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
|
||||
@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
|
||||
@mkdir -p coverage
|
||||
@@ -408,13 +412,13 @@ tests_mission: rostest
|
||||
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
|
||||
|
||||
rostest_run: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
|
||||
|
||||
tests_mission_coverage:
|
||||
@$(MAKE) clean
|
||||
@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
|
||||
@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
|
||||
|
||||
@@ -489,7 +493,7 @@ validate_module_configs:
|
||||
|
||||
# Cleanup
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: clean submodulesclean submodulesupdate distclean
|
||||
.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
|
||||
|
||||
clean:
|
||||
@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
|
||||
@@ -507,7 +511,10 @@ submodulesupdate:
|
||||
@git submodule update --init --recursive --jobs 4
|
||||
@git fetch --all --tags --recurse-submodules=yes --jobs=4
|
||||
|
||||
distclean:
|
||||
gazeboclean:
|
||||
@rm -rf ~/.gazebo/*
|
||||
|
||||
distclean: gazeboclean
|
||||
@git submodule deinit --force $(SRC_DIR)
|
||||
@rm -rf "$(SRC_DIR)/build"
|
||||
@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
|
||||
@@ -547,14 +554,6 @@ check_px4: $(call make_list,nuttx,"px4") \
|
||||
check_nxp: $(call make_list,nuttx,"nxp") \
|
||||
sizes
|
||||
|
||||
# helpers for running olddefconfig (nuttx) and px4_savedefconfig on all boards
|
||||
.PHONY: all_oldconfig all_px4_savedefconfig
|
||||
all_oldconfig:
|
||||
@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ oldconfig; done
|
||||
|
||||
all_px4_savedefconfig:
|
||||
@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ px4_savedefconfig; done
|
||||
|
||||
.PHONY: failsafe_web run_failsafe_web_server
|
||||
failsafe_web:
|
||||
@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
|
||||
|
||||
@@ -1,32 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL jMAVSim
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Julian Oes <julian@oes.ch>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (foggy_lidar)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set-default EKF2_RNG_A_HMAX 10
|
||||
|
||||
@@ -0,0 +1,11 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (foggy_lidar)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default EKF2_RNG_A_HMAX 10
|
||||
|
||||
+1
@@ -41,3 +41,4 @@ param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set SIH_VEHICLE_TYPE 0
|
||||
|
||||
@@ -1,47 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Optical Flow)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
# EKF2
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default EKF2_GPS_CTRL 0
|
||||
param set-default EKF2_EVP_NOISE 0.05
|
||||
param set-default EKF2_EVA_NOISE 0.05
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
|
||||
param set-default SENS_FLOW_ROT 6
|
||||
param set-default SENS_FLOW_MINHGT 0.7
|
||||
param set-default SENS_FLOW_MAXHGT 3.0
|
||||
param set-default SENS_FLOW_MAXR 2.5
|
||||
@@ -0,0 +1,25 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Optical Flow)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default EKF2_GPS_CTRL 0
|
||||
param set-default EKF2_EVP_NOISE 0.05
|
||||
param set-default EKF2_EVA_NOISE 0.05
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
|
||||
param set-default SENS_FLOW_ROT 6
|
||||
param set-default SENS_FLOW_MINHGT 0.7
|
||||
param set-default SENS_FLOW_MAXHGT 3.0
|
||||
param set-default SENS_FLOW_MAXR 2.5
|
||||
@@ -1,38 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (irlock)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
# enable fusion of landing target velocity
|
||||
param set-default LTEST_MODE 1
|
||||
param set-default PLD_HACC_RAD 0.1
|
||||
param set-default RTL_PLD_MD 2
|
||||
|
||||
# Start up Landing Target Estimator module
|
||||
landing_target_estimator start
|
||||
@@ -0,0 +1,16 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (irlock)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# enable fusion of landing target velocity
|
||||
param set-default LTEST_MODE 1
|
||||
param set-default PLD_HACC_RAD 0.1
|
||||
param set-default RTL_PLD_MD 2
|
||||
|
||||
# Start up Landing Target Estimator module
|
||||
landing_target_estimator start
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (rplidar)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set-default LPE_FUSION 242
|
||||
|
||||
@@ -0,0 +1,11 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (rplidar)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default LPE_FUSION 242
|
||||
|
||||
@@ -1,34 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set-default COM_OBS_AVOID 1
|
||||
param set-default MPC_XY_CRUISE 5.0
|
||||
|
||||
@@ -0,0 +1,12 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default COM_OBS_AVOID 1
|
||||
param set-default MPC_XY_CRUISE 5.0
|
||||
|
||||
@@ -1,40 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Optical Flow)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
# EKF2
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default EKF2_GPS_CTRL 0
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
@@ -0,0 +1,18 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Optical Flow)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default EKF2_GPS_CTRL 0
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
@@ -0,0 +1,13 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Vision Velocity)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2: Vision velocity and heading
|
||||
param set-default EKF2_AID_MASK 272
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
param set-default EKF2_GPS_CTRL 0
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Dual GPS)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
# EKF2: Multi GPS blending
|
||||
param set-default SENS_GPS_MASK 7
|
||||
@@ -0,0 +1,11 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Dual GPS)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2: Multi GPS blending
|
||||
param set-default SENS_GPS_MASK 7
|
||||
@@ -1,81 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL with camera
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.5
|
||||
param set-default TRIM_PITCH -0.15
|
||||
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_RR_I 0.5
|
||||
|
||||
param set-default FW_YR_FF 0.5
|
||||
param set-default FW_YR_P 0.6
|
||||
param set-default FW_YR_I 0.5
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_CS4_TYPE 9
|
||||
param set-default CA_SV_CS5_TYPE 10
|
||||
param set-default PWM_MAIN_FUNC3 204
|
||||
param set-default PWM_MAIN_FUNC4 205
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
|
||||
# Camera trigger interface is MAVLink
|
||||
param set-default TRIG_INTERFACE 3
|
||||
|
||||
# Distance trigger mode enabled
|
||||
param set-default TRIG_MODE 4
|
||||
@@ -0,0 +1,12 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL with camera
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
# Camera trigger interface is MAVLink
|
||||
param set-default TRIG_INTERFACE 3
|
||||
|
||||
# Distance trigger mode enabled
|
||||
param set-default TRIG_MODE 4
|
||||
@@ -1,78 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL with catapult
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.5
|
||||
param set-default TRIM_PITCH -0.15
|
||||
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_RR_I 0.5
|
||||
|
||||
param set-default FW_YR_FF 0.5
|
||||
param set-default FW_YR_P 0.6
|
||||
param set-default FW_YR_I 0.5
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_CS4_TYPE 9
|
||||
param set-default CA_SV_CS5_TYPE 10
|
||||
param set-default PWM_MAIN_FUNC3 204
|
||||
param set-default PWM_MAIN_FUNC4 205
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
|
||||
param set-default RWTO_TKOFF 0
|
||||
|
||||
@@ -0,0 +1,9 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL with catapult
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
param set-default RWTO_TKOFF 0
|
||||
|
||||
+1
@@ -57,3 +57,4 @@ param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
|
||||
@@ -1,78 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL with catapult
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.5
|
||||
param set-default TRIM_PITCH -0.15
|
||||
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_RR_I 0.5
|
||||
|
||||
param set-default FW_YR_FF 0.5
|
||||
param set-default FW_YR_P 0.6
|
||||
param set-default FW_YR_I 0.5
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_CS4_TYPE 9
|
||||
param set-default CA_SV_CS5_TYPE 10
|
||||
param set-default PWM_MAIN_FUNC3 204
|
||||
param set-default PWM_MAIN_FUNC4 205
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
|
||||
param set-default FW_THR_TRIM 0.0
|
||||
param set-default RWTO_TKOFF 0
|
||||
@@ -0,0 +1,9 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL with catapult
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
param set-default FW_THR_TRIM 0.0
|
||||
param set-default RWTO_TKOFF 0
|
||||
@@ -1,65 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
|
||||
param set-default FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
|
||||
param set-default FW_R_TC 0.45
|
||||
param set-default FW_RR_FF 0.40
|
||||
param set-default FW_RR_I 0.132
|
||||
param set-default FW_RR_P 0.085
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_CS4_TYPE 9
|
||||
param set-default CA_SV_CS5_TYPE 10
|
||||
param set-default PWM_MAIN_FUNC3 204
|
||||
param set-default PWM_MAIN_FUNC4 205
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
@@ -1,93 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Standard VTOL
|
||||
#
|
||||
# @type Standard VTOL
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
# TODO: Enable motor failure detection when the
|
||||
# VTOL no longer reports 0A for all ESCs in SITL
|
||||
param set-default FD_ACT_EN 0
|
||||
param set-default FD_ACT_MOT_TOUT 500
|
||||
|
||||
param set-default CA_AIRFRAME 2
|
||||
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_AX 1.0
|
||||
param set-default CA_ROTOR4_AZ 0.0
|
||||
param set-default CA_ROTOR4_PX 0.2
|
||||
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set-default MC_YAW_P 1.6
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_TYPE 2
|
||||
|
||||
|
||||
# Gimbal
|
||||
param set-default PWM_MAIN_FUNC9 420
|
||||
param set-default PWM_MAIN_FUNC10 421
|
||||
param set-default PWM_MAIN_FUNC11 422
|
||||
|
||||
param set-default RC_MAP_AUX1 8
|
||||
param set-default RC_MAP_AUX2 9
|
||||
param set-default RC_MAP_AUX3 10
|
||||
|
||||
@@ -0,0 +1,18 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Standard VTOL
|
||||
#
|
||||
# @type Standard VTOL
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1040_standard_vtol
|
||||
|
||||
# Gimbal
|
||||
param set-default PWM_MAIN_FUNC9 420
|
||||
param set-default PWM_MAIN_FUNC10 421
|
||||
param set-default PWM_MAIN_FUNC11 422
|
||||
|
||||
param set-default RC_MAP_AUX1 8
|
||||
param set-default RC_MAP_AUX2 9
|
||||
param set-default RC_MAP_AUX3 10
|
||||
|
||||
@@ -1,78 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL with downward facing LIDAR.
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.5
|
||||
param set-default TRIM_PITCH -0.15
|
||||
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_RR_I 0.5
|
||||
|
||||
param set-default FW_YR_FF 0.5
|
||||
param set-default FW_YR_P 0.6
|
||||
param set-default FW_YR_I 0.5
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_CS4_TYPE 9
|
||||
param set-default CA_SV_CS5_TYPE 10
|
||||
param set-default PWM_MAIN_FUNC3 204
|
||||
param set-default PWM_MAIN_FUNC4 205
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
|
||||
|
||||
param set-default FW_LND_USETER 1
|
||||
@@ -0,0 +1,9 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL with downward facing LIDAR.
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
param set-default FW_LND_USETER 1
|
||||
|
||||
+12
-14
@@ -11,8 +11,6 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
|
||||
@@ -32,19 +30,19 @@ param set-default CA_ROTOR3_PX -0.13
|
||||
param set-default CA_ROTOR3_PY 0.20
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default SIM_GZ_EC_FUNC1 101
|
||||
param set-default SIM_GZ_EC_FUNC2 102
|
||||
param set-default SIM_GZ_EC_FUNC3 103
|
||||
param set-default SIM_GZ_EC_FUNC4 104
|
||||
param set-default SIM_GZ_FUNC1 101
|
||||
param set-default SIM_GZ_FUNC2 102
|
||||
param set-default SIM_GZ_FUNC3 103
|
||||
param set-default SIM_GZ_FUNC4 104
|
||||
|
||||
param set-default SIM_GZ_EC_MIN1 150
|
||||
param set-default SIM_GZ_EC_MIN2 150
|
||||
param set-default SIM_GZ_EC_MIN3 150
|
||||
param set-default SIM_GZ_EC_MIN4 150
|
||||
param set-default SIM_GZ_MIN1 150
|
||||
param set-default SIM_GZ_MIN2 150
|
||||
param set-default SIM_GZ_MIN3 150
|
||||
param set-default SIM_GZ_MIN4 150
|
||||
|
||||
param set-default SIM_GZ_EC_MAX1 1000
|
||||
param set-default SIM_GZ_EC_MAX2 1000
|
||||
param set-default SIM_GZ_EC_MAX3 1000
|
||||
param set-default SIM_GZ_EC_MAX4 1000
|
||||
param set-default SIM_GZ_MAX1 1000
|
||||
param set-default SIM_GZ_MAX2 1000
|
||||
param set-default SIM_GZ_MAX3 1000
|
||||
param set-default SIM_GZ_MAX4 1000
|
||||
|
||||
param set-default MPC_THR_HOVER 0.60
|
||||
@@ -1,50 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo x500 depth
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
|
||||
param set-default CA_ROTOR0_PX 0.13
|
||||
param set-default CA_ROTOR0_PY 0.22
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
|
||||
param set-default CA_ROTOR1_PX -0.13
|
||||
param set-default CA_ROTOR1_PY -0.20
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
|
||||
param set-default CA_ROTOR2_PX 0.13
|
||||
param set-default CA_ROTOR2_PY -0.22
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
|
||||
param set-default CA_ROTOR3_PX -0.13
|
||||
param set-default CA_ROTOR3_PY 0.20
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default SIM_GZ_EC_FUNC1 101
|
||||
param set-default SIM_GZ_EC_FUNC2 102
|
||||
param set-default SIM_GZ_EC_FUNC3 103
|
||||
param set-default SIM_GZ_EC_FUNC4 104
|
||||
|
||||
param set-default SIM_GZ_EC_MIN1 150
|
||||
param set-default SIM_GZ_EC_MIN2 150
|
||||
param set-default SIM_GZ_EC_MIN3 150
|
||||
param set-default SIM_GZ_EC_MIN4 150
|
||||
|
||||
param set-default SIM_GZ_EC_MAX1 1000
|
||||
param set-default SIM_GZ_EC_MAX2 1000
|
||||
param set-default SIM_GZ_EC_MAX3 1000
|
||||
param set-default SIM_GZ_EC_MAX4 1000
|
||||
|
||||
param set-default MPC_THR_HOVER 0.60
|
||||
@@ -1,81 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo rc_cessna
|
||||
# @type Fixedwing
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
|
||||
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.5
|
||||
param set-default TRIM_PITCH -0.15
|
||||
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_RR_I 0.5
|
||||
|
||||
param set-default FW_YR_FF 0.5
|
||||
param set-default FW_YR_P 0.6
|
||||
param set-default FW_YR_I 0.5
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_CS4_TYPE 9
|
||||
param set-default CA_SV_CS5_TYPE 10
|
||||
|
||||
param set-default SIM_GZ_EC_FUNC1 101
|
||||
param set-default SIM_GZ_EC_MIN1 0
|
||||
param set-default SIM_GZ_EC_MAX1 1000
|
||||
|
||||
param set-default SIM_GZ_SV_FUNC1 201
|
||||
param set-default SIM_GZ_SV_FUNC2 202
|
||||
param set-default SIM_GZ_SV_FUNC3 203
|
||||
param set-default SIM_GZ_SV_FUNC4 204
|
||||
param set-default SIM_GZ_SV_FUNC5 205
|
||||
param set-default SIM_GZ_SV_FUNC6 206
|
||||
@@ -1,6 +1,6 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2020-2023 PX4 Development Team. All rights reserved.
|
||||
# Copyright (c) 2020 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
|
||||
@@ -32,61 +32,54 @@
|
||||
############################################################################
|
||||
|
||||
px4_add_romfs_files(
|
||||
10016_iris
|
||||
10018_iris_foggy_lidar
|
||||
10019_omnicopter
|
||||
10030_px4vision
|
||||
10040_quadx
|
||||
10041_airplane
|
||||
10042_xvert
|
||||
1010_iris_opt_flow
|
||||
1010_iris_opt_flow.post
|
||||
1011_iris_irlock
|
||||
1012_iris_rplidar
|
||||
1013_iris_vision
|
||||
1013_iris_vision.post
|
||||
1015_iris_obs_avoid
|
||||
1015_iris_obs_avoid.post
|
||||
1017_iris_opt_flow_mockup
|
||||
1018_iris_vision_velocity
|
||||
1019_iris_dual_gps
|
||||
1021_uuv_hippocampus
|
||||
1022_uuv_bluerov2_heavy
|
||||
1030_plane
|
||||
1031_plane_cam
|
||||
1032_plane_catapult
|
||||
1033_rascal
|
||||
1034_rascal-electric
|
||||
1035_techpod
|
||||
1036_malolo
|
||||
1037_believer
|
||||
1038_glider
|
||||
1039_advanced_plane
|
||||
1040_standard_vtol
|
||||
1041_tailsitter
|
||||
1042_tiltrotor
|
||||
1043_standard_vtol_drop
|
||||
1044_plane_lidar
|
||||
1060_rover
|
||||
1061_r1_rover
|
||||
1062_tf-r1
|
||||
1070_boat
|
||||
3010_quadrotor_x
|
||||
3011_hexarotor_x
|
||||
|
||||
1010_gazebo-classic_iris_opt_flow
|
||||
1010_gazebo-classic_iris_opt_flow.post
|
||||
1011_gazebo-classic_iris_irlock
|
||||
1012_gazebo-classic_iris_rplidar
|
||||
1013_gazebo-classic_iris_vision
|
||||
1013_gazebo-classic_iris_vision.post
|
||||
1015_gazebo-classic_iris_obs_avoid
|
||||
1015_gazebo-classic_iris_obs_avoid.post
|
||||
1017_gazebo-classic_iris_opt_flow_mockup
|
||||
1019_gazebo-classic_iris_dual_gps
|
||||
1021_gazebo-classic_uuv_hippocampus
|
||||
1022_gazebo-classic_uuv_bluerov2_heavy
|
||||
1030_gazebo-classic_plane
|
||||
1031_gazebo-classic_plane_cam
|
||||
1032_gazebo-classic_plane_catapult
|
||||
1033_jsbsim_rascal
|
||||
1034_flightgear_rascal-electric
|
||||
1035_gazebo-classic_techpod
|
||||
1036_jsbsim_malolo
|
||||
1037_gazebo-classic_believer
|
||||
1038_gazebo-classic_glider
|
||||
1039_gazebo-classic_advanced_plane
|
||||
1040_gazebo-classic_standard_vtol
|
||||
1041_gazebo-classic_tailsitter
|
||||
1042_gazebo-classic_tiltrotor
|
||||
1043_gazebo-classic_standard_vtol_drop
|
||||
1044_gazebo-classic_plane_lidar
|
||||
1060_gazebo-classic_rover
|
||||
1061_gazebo-classic_r1_rover
|
||||
1062_flightgear_tf-r1
|
||||
1070_gazebo-classic_boat
|
||||
4001_x500
|
||||
|
||||
2507_gazebo-classic_cloudship
|
||||
17001_tf-g1
|
||||
17002_tf-g2
|
||||
2507_cloudship
|
||||
|
||||
3010_jsbsim_quadrotor_x
|
||||
3011_jsbsim_hexarotor_x
|
||||
|
||||
4001_gz_x500
|
||||
4002_gz_x500_depth
|
||||
4003_gz_rc_cessna
|
||||
|
||||
6011_gazebo-classic_typhoon_h480
|
||||
6011_gazebo-classic_typhoon_h480.post
|
||||
|
||||
10016_gazebo-classic_iris
|
||||
10017_jmavsim_iris
|
||||
10018_gazebo-classic_iris_foggy_lidar
|
||||
10019_gazebo-classic_omnicopter
|
||||
10030_gazebo-classic_px4vision
|
||||
|
||||
10040_sihsim_quadx
|
||||
10041_sihsim_airplane
|
||||
10042_sihsim_xvert
|
||||
|
||||
17001_flightgear_tf-g1
|
||||
17002_flightgear_tf-g2
|
||||
6011_typhoon_h480
|
||||
6011_typhoon_h480.post
|
||||
)
|
||||
|
||||
@@ -6,8 +6,6 @@ param set-default IMU_INTEG_RATE 250
|
||||
|
||||
if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
|
||||
|
||||
echo "INFO [init] SIH simulator"
|
||||
|
||||
if simulator_sih start; then
|
||||
|
||||
sensor_baro_sim start
|
||||
@@ -19,27 +17,18 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then
|
||||
elif [ "$PX4_SIMULATOR" = "gz" ]; then
|
||||
|
||||
# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
|
||||
if [ -f ./gz_env.sh ]; then
|
||||
. ./gz_env.sh
|
||||
# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
|
||||
if [ -f ./gazebo_env.sh ]; then
|
||||
. ./gazebo_env.sh
|
||||
|
||||
elif [ -f ../gz_env.sh ]; then
|
||||
. ../gz_env.sh
|
||||
elif [ -f ../gazebo_env.sh ]; then
|
||||
. ../gazebo_env.sh
|
||||
fi
|
||||
|
||||
# "gz sim" only avaiilable in Garden and later
|
||||
GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
|
||||
if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
|
||||
then
|
||||
# "gz sim" from Garden on
|
||||
gz_command="gz"
|
||||
gz_sub_command="sim"
|
||||
else
|
||||
echo "ERROR [init] Gazebo gz please install gz-garden"
|
||||
exit 1
|
||||
fi
|
||||
gz_command="ign" # "ign" before garden
|
||||
gz_sub_command="gazebo" # "gazebo" before garden
|
||||
|
||||
# look for running ${gz_command} gazebo world
|
||||
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
|
||||
@@ -52,8 +41,8 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
|
||||
${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
|
||||
|
||||
if [ -z "${HEADLESS}" ]; then
|
||||
# HEADLESS not set, starting gui
|
||||
${gz_command} ${gz_sub_command} -g &
|
||||
# HEADLESS not set, starting ign gazebo gui
|
||||
${gz_command} gazebo -g &
|
||||
fi
|
||||
|
||||
else
|
||||
@@ -82,7 +71,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
|
||||
sensor_mag_sim start
|
||||
|
||||
else
|
||||
echo "ERROR [init] gz_bridge failed to start"
|
||||
echo "ERROR [init] gazebo failed to start"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
@@ -95,7 +84,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
|
||||
sensor_mag_sim start
|
||||
|
||||
else
|
||||
echo "ERROR [init] gz_bridge failed to start"
|
||||
echo "ERROR [init] gazebo failed to start"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
@@ -103,13 +92,13 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
|
||||
|
||||
echo "WARN [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
|
||||
|
||||
if gz_bridge start -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
|
||||
if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
|
||||
sensor_baro_sim start
|
||||
sensor_gps_sim start
|
||||
sensor_mag_sim start
|
||||
|
||||
else
|
||||
echo "ERROR [init] gz_bridge failed to start"
|
||||
echo "ERROR [init] gazebo failed to start"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
@@ -118,20 +107,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
|
||||
exit 1
|
||||
fi
|
||||
|
||||
elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
|
||||
|
||||
echo "INFO [init] jMAVSim simulator"
|
||||
|
||||
if jps | grep -i jmavsim; then
|
||||
kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
|
||||
sleep 1
|
||||
fi
|
||||
|
||||
param set IMU_INTEG_RATE 250
|
||||
./jmavsim_run.sh -l -r 250 &
|
||||
|
||||
simulator_mavlink start -h localhost $((4560+px4_instance))
|
||||
|
||||
else
|
||||
# otherwise start simulator (mavlink) module
|
||||
simulator_tcp_port=$((4560+px4_instance))
|
||||
@@ -142,15 +117,15 @@ else
|
||||
if [ -z "${PX4_SIM_HOSTNAME}" ]; then
|
||||
|
||||
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
|
||||
echo "INFO [init] PX4_SIM_HOSTNAME: localhost"
|
||||
echo "PX4 SIM HOST: localhost"
|
||||
simulator_mavlink start -c $simulator_tcp_port
|
||||
else
|
||||
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
|
||||
echo "PX4 SIM HOST: ${PX4_SIM_HOST_ADDR}"
|
||||
simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
|
||||
fi
|
||||
|
||||
else
|
||||
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
|
||||
echo "PX4 SIM HOST: ${PX4_SIM_HOSTNAME}"
|
||||
simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
|
||||
fi
|
||||
|
||||
|
||||
@@ -18,7 +18,6 @@ control_allocator start
|
||||
#
|
||||
# Start attitude controller.
|
||||
#
|
||||
fw_rate_control start
|
||||
fw_att_control start
|
||||
fw_pos_control_l1 start
|
||||
airspeed_selector start
|
||||
|
||||
@@ -23,12 +23,6 @@ then
|
||||
set LOGGER_ARGS "${LOGGER_ARGS} -x"
|
||||
fi
|
||||
|
||||
if param compare SDLOG_MODE 4
|
||||
then
|
||||
set LOGGER_ARGS "${LOGGER_ARGS} -a"
|
||||
fi
|
||||
|
||||
|
||||
if ! param compare SDLOG_MODE -1
|
||||
then
|
||||
logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
|
||||
|
||||
@@ -101,24 +101,12 @@ then
|
||||
pmw3901 -S start
|
||||
fi
|
||||
|
||||
# vl53l0x i2c distance sensor
|
||||
if param compare -s SENS_EN_VL53L0X 1
|
||||
then
|
||||
vl53l0x start -X
|
||||
fi
|
||||
|
||||
# vl53l1x i2c distance sensor
|
||||
if param compare -s SENS_EN_VL53L1X 1
|
||||
then
|
||||
vl53l1x start -X
|
||||
fi
|
||||
|
||||
# tf02 pro i2c distance sensor
|
||||
if param compare -s SENS_EN_TF02PRO 1
|
||||
then
|
||||
tf02pro start -X
|
||||
fi
|
||||
|
||||
# ADIS16448 spi external IMU
|
||||
if param compare -s SENS_EN_ADIS164X 1
|
||||
then
|
||||
|
||||
@@ -35,7 +35,6 @@ then
|
||||
mc_autotune_attitude_control start
|
||||
fi
|
||||
|
||||
fw_rate_control start vtol
|
||||
fw_att_control start vtol
|
||||
fw_pos_control_l1 start vtol
|
||||
fw_autotune_attitude_control start vtol
|
||||
|
||||
@@ -29,7 +29,6 @@ set LOGGER_ARGS ""
|
||||
set LOGGER_BUF 8
|
||||
set PARAM_FILE ""
|
||||
set PARAM_BACKUP_FILE ""
|
||||
set RC_INPUT_ARGS ""
|
||||
set SDCARD_AVAILABLE no
|
||||
set SDCARD_EXT_PATH /fs/microsd/ext_autostart
|
||||
set SDCARD_FORMAT no
|
||||
@@ -350,7 +349,6 @@ else
|
||||
simulator_sih start
|
||||
sensor_baro_sim start
|
||||
sensor_mag_sim start
|
||||
sensor_gps_sim start
|
||||
fi
|
||||
|
||||
else
|
||||
@@ -412,8 +410,10 @@ else
|
||||
#
|
||||
. ${R}etc/init.d/rc.serial
|
||||
|
||||
# Must be started after the serial config is read
|
||||
rc_input start $RC_INPUT_ARGS
|
||||
if param compare -s RC_PPM_EN 1
|
||||
then
|
||||
ppm_in start
|
||||
fi
|
||||
|
||||
#
|
||||
# Play the startup tune (if not disabled or there is an error)
|
||||
@@ -545,7 +545,6 @@ unset LOGGER_ARGS
|
||||
unset LOGGER_BUF
|
||||
unset PARAM_FILE
|
||||
unset PARAM_BACKUP_FILE
|
||||
unset RC_INPUT_ARGS
|
||||
unset SDCARD_AVAILABLE
|
||||
unset SDCARD_EXT_PATH
|
||||
unset SDCARD_FORMAT
|
||||
|
||||
@@ -54,10 +54,7 @@ do
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink status' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps status' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
|
||||
|
||||
done
|
||||
|
||||
@@ -10,7 +10,6 @@ fi
|
||||
exec find boards msg src platforms test \
|
||||
-path platforms/nuttx/NuttX -prune -o \
|
||||
-path platforms/qurt/dspal -prune -o \
|
||||
-path src/drivers/ins/vectornav/libvnc -prune -o \
|
||||
-path src/drivers/uavcan/libuavcan -prune -o \
|
||||
-path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
|
||||
-path src/drivers/cyphal/libcanard -prune -o \
|
||||
|
||||
@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
|
||||
# TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
|
||||
valid_categories = ['driver', 'estimator', 'controller', 'system',
|
||||
'communication', 'command', 'template', 'simulation', 'autotune']
|
||||
valid_subcategories = ['', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
|
||||
valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
|
||||
'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
|
||||
|
||||
max_line_length = 80 # wrap lines that are longer than this
|
||||
|
||||
+10
-13
@@ -14,6 +14,7 @@ set -e
|
||||
INSTALL_NUTTX="true"
|
||||
INSTALL_SIM="true"
|
||||
INSTALL_ARCH=`uname -m`
|
||||
INSTALL_SIM_JAMMY="false"
|
||||
|
||||
# Parse arguments
|
||||
for arg in "$@"
|
||||
@@ -25,6 +26,11 @@ do
|
||||
if [[ $arg == "--no-sim-tools" ]]; then
|
||||
INSTALL_SIM="false"
|
||||
fi
|
||||
|
||||
if [[ $arg == "--sim_jammy" ]]; then
|
||||
INSTALL_SIM_JAMMY="true"
|
||||
fi
|
||||
|
||||
done
|
||||
|
||||
# detect if running in docker
|
||||
@@ -65,7 +71,9 @@ elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||
elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||
echo "Ubuntu 20.04"
|
||||
elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
echo "Ubuntu 22.04"
|
||||
echo "Ubuntu 22.04, simulation build off by default."
|
||||
echo "Use --sim_jammy to enable simulation build."
|
||||
INSTALL_SIM=$INSTALL_SIM_JAMMY
|
||||
fi
|
||||
|
||||
|
||||
@@ -217,7 +225,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
# Set Java 11 as default
|
||||
sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
|
||||
|
||||
# Install Gazebo classic
|
||||
# Gazebo
|
||||
if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||
gazebo_version=9
|
||||
gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
|
||||
@@ -254,17 +262,6 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
# fix VMWare 3D graphics acceleration for gazebo
|
||||
echo "export SVGA_VGPU10=0" >> ~/.profile
|
||||
fi
|
||||
|
||||
# Install Gazebo
|
||||
if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
|
||||
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||
# Update list, since new gazebo-stable.list has been added
|
||||
sudo apt-get update -y --quiet
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
ignition-fortress \
|
||||
;
|
||||
fi
|
||||
fi
|
||||
|
||||
if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
|
||||
@@ -22,7 +22,7 @@ echo build_path: $build_path
|
||||
rootfs="$build_path/rootfs" # this is the working directory
|
||||
mkdir -p "$rootfs"
|
||||
|
||||
export PX4_SIM_MODEL=flightgear_${model}
|
||||
export PX4_SIM_MODEL=${model}
|
||||
|
||||
echo "FG setup"
|
||||
cd "${src_path}/Tools/simulation/flightgear/flightgear_bridge/"
|
||||
|
||||
Submodule Tools/simulation/gazebo-classic/sitl_gazebo-classic deleted from 9343aaf4e2
+3
-3
@@ -16,9 +16,9 @@ SRC_DIR=$1
|
||||
BUILD_DIR=$2
|
||||
|
||||
# setup Gazebo env and update package path
|
||||
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo-classic
|
||||
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
|
||||
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo-classic
|
||||
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo
|
||||
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo/sitl_gazebo/models
|
||||
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo
|
||||
|
||||
echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
|
||||
echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"
|
||||
Submodule
+1
Submodule Tools/simulation/gazebo/sitl_gazebo added at 049b667d5e
+7
-7
@@ -1,10 +1,10 @@
|
||||
#!/bin/bash
|
||||
# run multiple instances of the 'px4' binary, with the gazebo SITL simulation
|
||||
# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo-classic'
|
||||
# It assumes px4 is already built, with 'make px4_sitl_default gazebo'
|
||||
|
||||
# The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
|
||||
# For example gazebo can be run like this:
|
||||
#./Tools/simulation/gazebo-classic/sitl_multiple_run.sh -n 10 -m iris
|
||||
#./Tools/simulation/gazebo/sitl_multiple_run.sh -n 10 -m iris
|
||||
|
||||
function cleanup() {
|
||||
pkill -x px4
|
||||
@@ -35,7 +35,7 @@ function spawn_model() {
|
||||
pushd "$working_dir" &>/dev/null
|
||||
echo "starting instance $N in $(pwd)"
|
||||
$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &
|
||||
python3 ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
|
||||
python3 ${src_path}/Tools/simulation/gazebo/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
|
||||
|
||||
echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
|
||||
|
||||
@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
|
||||
world=${WORLD:=empty}
|
||||
target=${TARGET:=px4_sitl_default}
|
||||
vehicle_model=${VEHICLE_MODEL:="iris"}
|
||||
export PX4_SIM_MODEL=gazebo-classic_${vehicle_model}
|
||||
export PX4_SIM_MODEL=${vehicle_model}
|
||||
|
||||
echo ${SCRIPT}
|
||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
||||
@@ -84,7 +84,7 @@ pkill -x px4 || true
|
||||
|
||||
sleep 1
|
||||
|
||||
source ${src_path}/Tools/simulation/gazebo-classic/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
|
||||
source ${src_path}/Tools/simulation/gazebo/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
|
||||
|
||||
# To use gazebo_ros ROS2 plugins
|
||||
if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
|
||||
@@ -94,7 +94,7 @@ else
|
||||
fi
|
||||
|
||||
echo "Starting gazebo"
|
||||
gzserver ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world --verbose $ros_args &
|
||||
gzserver ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
|
||||
sleep 5
|
||||
|
||||
n=0
|
||||
@@ -126,7 +126,7 @@ else
|
||||
|
||||
m=0
|
||||
while [ $m -lt ${target_number} ]; do
|
||||
export PX4_SIM_MODEL=gazebo-classic_${target_vehicle}
|
||||
export PX4_SIM_MODEL=${target_vehicle}
|
||||
spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
|
||||
m=$(($m + 1))
|
||||
n=$(($n + 1))
|
||||
@@ -67,7 +67,7 @@ fi
|
||||
# be running from last time
|
||||
pkill -x gazebo || true
|
||||
|
||||
export PX4_SIM_MODEL=gazebo-classic_${model}
|
||||
export PX4_SIM_MODEL=${model}
|
||||
export PX4_SIM_WORLD=${world}
|
||||
|
||||
SIM_PID=0
|
||||
@@ -75,27 +75,31 @@ SIM_PID=0
|
||||
if [ -x "$(command -v gazebo)" ]; then
|
||||
# Get the model name
|
||||
model_name="${model}"
|
||||
# Check if a 'modelname-gen.sdf' file exist for the models using jinja and generating the SDF files
|
||||
if [ -f "${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${model}/${model}-gen.sdf" ]; then
|
||||
model_name="${model}-gen"
|
||||
fi
|
||||
|
||||
# Set the plugin path so Gazebo finds our model and sim
|
||||
source "$src_path/Tools/simulation/gazebo-classic/setup_gazebo.bash" "${src_path}" "${build_path}"
|
||||
source "$src_path/Tools/simulation/gazebo/setup_gazebo.bash" "${src_path}" "${build_path}"
|
||||
if [ -z $PX4_SITL_WORLD ]; then
|
||||
#Spawn predefined world
|
||||
if [ "$world" == "none" ]; then
|
||||
if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world ]; then
|
||||
if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world ]; then
|
||||
echo "empty world, default world ${model}.world for model found"
|
||||
world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world"
|
||||
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world"
|
||||
else
|
||||
echo "empty world, setting empty.world as default"
|
||||
world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world"
|
||||
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world"
|
||||
fi
|
||||
else
|
||||
#Spawn empty world if world with model name doesn't exist
|
||||
world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world"
|
||||
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world"
|
||||
fi
|
||||
else
|
||||
if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world ]; then
|
||||
if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
|
||||
# Spawn world by name if exists in the worlds directory from environment variable
|
||||
world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world"
|
||||
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
|
||||
else
|
||||
# Spawn world from environment variable with absolute path
|
||||
world_path="$PX4_SITL_WORLD"
|
||||
File diff suppressed because one or more lines are too long
@@ -1,165 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
|
||||
<asset>
|
||||
<contributor>
|
||||
<authoring_tool>SketchUp 15.3.331</authoring_tool>
|
||||
</contributor>
|
||||
<created>2015-05-26T23:41:25Z</created>
|
||||
<modified>2015-05-26T23:41:25Z</modified>
|
||||
<unit meter="0.0254" name="inch" />
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="ID1">
|
||||
<node name="SketchUp">
|
||||
<node id="ID2" name="instance_0">
|
||||
<matrix>0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 -0 0 1 -19.50896 0 0 0 1</matrix>
|
||||
<instance_node url="#ID3" />
|
||||
</node>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<library_nodes>
|
||||
<node id="ID3" name="ske2A3">
|
||||
<node id="ID4" name="group_0">
|
||||
<matrix>1.963935 -3.469447e-018 0 1.237124 3.469447e-018 1.963935 0 258.791 0 0 1.963935 40.4385 0 0 0 1</matrix>
|
||||
<instance_geometry url="#ID5">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="Material2" target="#ID6">
|
||||
<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
|
||||
</instance_material>
|
||||
<instance_material symbol="Material3" target="#ID11">
|
||||
<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
|
||||
</instance_material>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
<node id="ID15" name="group_1">
|
||||
<matrix>1.963935 -4.336809e-018 0 -68.35112 4.336809e-018 1.963935 0 258.791 0 0 1.963935 40.4385 0 0 0 1</matrix>
|
||||
<instance_geometry url="#ID16">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="Material2" target="#ID6">
|
||||
<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
|
||||
</instance_material>
|
||||
<instance_material symbol="Material3" target="#ID11">
|
||||
<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
|
||||
</instance_material>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
</node>
|
||||
</library_nodes>
|
||||
<library_geometries>
|
||||
<geometry id="ID5">
|
||||
<mesh>
|
||||
<source id="ID8">
|
||||
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|
||||
<technique_common>
|
||||
<accessor count="42" source="#ID13" stride="3">
|
||||
<param name="X" type="float" />
|
||||
<param name="Y" type="float" />
|
||||
<param name="Z" type="float" />
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="ID9">
|
||||
<float_array id="ID14" count="126">8.832897e-019 -1 0 8.832897e-019 -1 0 8.832897e-019 -1 0 -8.832897e-019 1 -0 -8.832897e-019 1 -0 -8.832897e-019 1 -0 -0.002532054 -0.9982624 0.05887026 -0.002532054 -0.9982624 0.05887026 -0.002532054 -0.9982624 0.05887026 0.002532054 0.9982624 -0.05887026 0.002532054 0.9982624 -0.05887026 0.002532054 0.9982624 -0.05887026 0.007390569 0.1304752 -0.991424 -0.002688162 0.0002829644 -0.9999963 0.004389455 0.04876336 -0.9988007 -0.004389455 -0.04876336 0.9988007 0.002688162 -0.0002829644 0.9999963 -0.007390569 -0.1304752 0.991424 -0.9752032 0.2211027 0.009609949 -0.9931459 0.1045417 0.05227084 -0.9949927 0.093762 0.03461586 0.9949927 -0.093762 -0.03461586 0.9931459 -0.1045417 -0.05227084 0.9752032 -0.2211027 -0.009609949 0.005110827 0.03434514 0.999397 0.003976796 0.01640632 0.9998575 0.00269488 -0.0001959912 0.9999963 -0.00269488 0.0001959912 -0.9999963 -0.003976796 -0.01640632 -0.9998575 -0.005110827 -0.03434514 -0.999397 0.009196932 0.1303557 -0.9914246 -0.009196932 -0.1303557 0.9914246 -0.9758321 0.2185214 -5.056631e-018 0.9758321 -0.2185214 5.056631e-018 0.00548519 0.03663055 0.9993138 -0.00548519 -0.03663055 -0.9993138 0.0146102 0.1019572 -0.9946815 -0.0146102 -0.1019572 0.9946815 -0.9317774 0.3630302 0 0.9317774 -0.3630302 -0 0.00513686 0.03584755 0.9993441 -0.00513686 -0.03584755 -0.9993441</float_array>
|
||||
<technique_common>
|
||||
<accessor count="42" source="#ID14" stride="3">
|
||||
<param name="X" type="float" />
|
||||
<param name="Y" type="float" />
|
||||
<param name="Z" type="float" />
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="ID10">
|
||||
<input semantic="POSITION" source="#ID8" />
|
||||
<input semantic="NORMAL" source="#ID9" />
|
||||
</vertices>
|
||||
<triangles count="13" material="Material2">
|
||||
<input offset="0" semantic="VERTEX" source="#ID10" />
|
||||
<p>0 1 2 6 7 8 6 7 8 12 13 14 18 19 20 0 1 2 24 25 26 30 12 14 18 20 32 24 34 25 30 14 36 38 18 32 40 34 24</p>
|
||||
</triangles>
|
||||
<triangles count="13" material="Material3">
|
||||
<input offset="0" semantic="VERTEX" source="#ID10" />
|
||||
<p>3 4 5 9 10 11 9 10 11 15 16 17 21 22 23 3 4 5 27 28 29 15 17 31 33 21 23 28 35 29 37 15 31 33 23 39 29 35 41</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<geometry id="ID16">
|
||||
<mesh>
|
||||
<source id="ID17">
|
||||
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|
||||
<technique_common>
|
||||
<accessor count="48" source="#ID20" stride="3">
|
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<param name="X" type="float" />
|
||||
<param name="Y" type="float" />
|
||||
<param name="Z" type="float" />
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="ID18">
|
||||
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|
||||
<technique_common>
|
||||
<accessor count="48" source="#ID21" stride="3">
|
||||
<param name="X" type="float" />
|
||||
<param name="Y" type="float" />
|
||||
<param name="Z" type="float" />
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="ID19">
|
||||
<input semantic="POSITION" source="#ID17" />
|
||||
<input semantic="NORMAL" source="#ID18" />
|
||||
</vertices>
|
||||
<triangles count="13" material="Material2">
|
||||
<input offset="0" semantic="VERTEX" source="#ID19" />
|
||||
<p>0 1 2 2 1 6 8 9 10 14 15 16 20 21 22 26 8 10 6 1 28 8 30 9 32 33 34 32 33 34 38 39 40 44 38 45 38 40 45</p>
|
||||
</triangles>
|
||||
<triangles count="13" material="Material3">
|
||||
<input offset="0" semantic="VERTEX" source="#ID19" />
|
||||
<p>3 4 5 7 4 3 11 12 13 17 18 19 23 24 25 11 13 27 29 4 7 12 31 13 35 36 37 35 36 37 41 42 43 46 43 47 46 41 43</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_materials>
|
||||
<material id="ID6" name="Color_003">
|
||||
<instance_effect url="#ID7" />
|
||||
</material>
|
||||
<material id="ID11" name="__White_">
|
||||
<instance_effect url="#ID12" />
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_effects>
|
||||
<effect id="ID7">
|
||||
<profile_COMMON>
|
||||
<technique sid="COMMON">
|
||||
<lambert>
|
||||
<diffuse>
|
||||
<color>0.6666667 0.6666667 0.6666667 1</color>
|
||||
</diffuse>
|
||||
</lambert>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
<effect id="ID12">
|
||||
<profile_COMMON>
|
||||
<technique sid="COMMON">
|
||||
<lambert>
|
||||
<diffuse>
|
||||
<color>1 1 1 1</color>
|
||||
</diffuse>
|
||||
</lambert>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<scene>
|
||||
<instance_visual_scene url="#ID1" />
|
||||
</scene>
|
||||
</COLLADA>
|
||||
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user