mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-23 20:37:34 +08:00
Compare commits
5 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 JaeyoungLim
|
b01e3e50d4 | ||
|
JaeyoungLim
|
c92bde66fb | ||
|
JaeyoungLim
|
10d094ae97 | ||
|
JaeyoungLim
|
f4a2e0db40 | ||
|
JaeyoungLim
|
b67cc482d4 |
@@ -0,0 +1,7 @@
|
||||
FROM gcr.io/oss-fuzz-base/base-builder:v1
|
||||
COPY . $SRC/PX4-Autopilot
|
||||
RUN apt-get install -y libjpeg8-dev zlib1g-dev
|
||||
RUN pip3 install --upgrade pip
|
||||
RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
|
||||
WORKDIR $SRC/PX4-Autopilot
|
||||
COPY ./.clusterfuzzlite/build.sh $SRC/
|
||||
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash -eu
|
||||
|
||||
PX4_FUZZ=1 make px4_sitl
|
||||
cp build/px4_sitl_default/bin/px4 $OUT/px4
|
||||
@@ -0,0 +1 @@
|
||||
language: c++
|
||||
@@ -12,11 +12,3 @@ max_line_length = 120
|
||||
[*.yaml, *.yml]
|
||||
indent_style = space
|
||||
indent_size = 2
|
||||
|
||||
[*.sh]
|
||||
indent_style = tab
|
||||
indent_size = 2
|
||||
insert_final_newline = true
|
||||
trim_trailing_whitespace = true
|
||||
# Not in the official standard, but supported by many editors
|
||||
max_line_length = 80
|
||||
|
||||
@@ -1,6 +0,0 @@
|
||||
---
|
||||
title: '[CI] Fuzzing Workflow Failed'
|
||||
labels: ['Fuzzing']
|
||||
---
|
||||
The automated fuzzing workflow has failed.
|
||||
See {{ env.WORKFLOW_RUN_URL }} for details.
|
||||
+1
-1
@@ -5,6 +5,6 @@
|
||||
|
||||
|
||||
# Add 'Documentation' label to any changes within 'docs' folder or any subfolders
|
||||
"Documentation 📑":
|
||||
"Documentation+📑":
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: docs/**
|
||||
|
||||
@@ -1,24 +0,0 @@
|
||||
runners:
|
||||
x86-small-runner:
|
||||
cpu: [1, 2]
|
||||
ram: [1, 4]
|
||||
disk: default
|
||||
spot: price-capacity-optimized
|
||||
image: ubuntu24-full-x64
|
||||
extras: s3-cache
|
||||
x86-firmware-builder:
|
||||
cpu: [4, 8]
|
||||
ram: [8, 16]
|
||||
disk: default
|
||||
family: ["c7i", "m7i", "r7i"]
|
||||
spot: price-capacity-optimized
|
||||
image: ubuntu24-full-x64
|
||||
extras: s3-cache
|
||||
arm64-firmware-builder:
|
||||
cpu: [4, 8]
|
||||
ram: [8, 16]
|
||||
disk: default
|
||||
family: ["c7g", "m7g", "r7g"]
|
||||
spot: price-capacity-optimized
|
||||
image: ubuntu24-full-arm64
|
||||
extras: s3-cache
|
||||
@@ -2,37 +2,6 @@
|
||||
# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
|
||||
# and comment the "runs-on: [runs-on,runner=..." lines.
|
||||
# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
|
||||
#
|
||||
# ===================================================================================
|
||||
# RELEASE UPLOAD LOGIC
|
||||
# ===================================================================================
|
||||
# This workflow handles building firmware and uploading to S3 + GitHub Releases.
|
||||
#
|
||||
# S3 Bucket Structure (s3://px4-travis/Firmware/):
|
||||
# - master/ <- Latest main branch build (for QGC compatibility)
|
||||
# - stable/ <- Latest stable release, controlled by 'stable' branch
|
||||
# - beta/ <- Latest pre-release, controlled by 'beta' branch
|
||||
# - vX.Y.Z/ <- Archived stable release
|
||||
# - vX.Y.Z-beta1/ <- Archived pre-release
|
||||
#
|
||||
# Trigger Behavior:
|
||||
# - Tag v1.16.1 -> Upload to: v1.16.1/ only (versioned archive)
|
||||
# - Tag v1.17.0-beta1 -> Upload to: v1.17.0-beta1/ only (versioned archive)
|
||||
# - Branch main -> Upload to: master/ (for QGC compatibility)
|
||||
# - Branch stable -> Upload to: stable/ (QGC stable firmware)
|
||||
# - Branch beta -> Upload to: beta/ (QGC beta firmware)
|
||||
# - Branch release/** -> Build only, no S3 upload (CI validation)
|
||||
# - Pull requests -> Build only, no S3 upload (CI validation)
|
||||
#
|
||||
# GitHub Releases:
|
||||
# - All version tags create a draft GitHub Release
|
||||
# - Pre-releases (alpha/beta/rc suffixes) are automatically marked as such
|
||||
#
|
||||
# IMPORTANT: Version tags do NOT upload to stable/ or beta/. Only the
|
||||
# corresponding branch pushes control those directories. This prevents
|
||||
# pre-release tags from accidentally overwriting stable firmware (#26340)
|
||||
# and avoids race conditions between tag and branch builds.
|
||||
# ===================================================================================
|
||||
|
||||
name: Build all targets
|
||||
|
||||
@@ -57,15 +26,11 @@ concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
permissions:
|
||||
contents: write
|
||||
actions: read
|
||||
|
||||
jobs:
|
||||
group_targets:
|
||||
name: Scan for Board Targets
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
outputs:
|
||||
matrix: ${{ steps.set-matrix.outputs.matrix }}
|
||||
timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
|
||||
@@ -73,14 +38,6 @@ jobs:
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Cache Python pip
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: ~/.cache/pip
|
||||
key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
|
||||
restore-keys: |
|
||||
${{ runner.os }}-pip-
|
||||
|
||||
- name: Update python packaging to avoid canonicalize_version() error
|
||||
run: |
|
||||
pip3 install -U packaging
|
||||
@@ -91,15 +48,12 @@ jobs:
|
||||
path: "./Tools/setup/requirements.txt"
|
||||
|
||||
- id: set-matrix
|
||||
name: Generate Build Matrix
|
||||
run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT
|
||||
run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
|
||||
|
||||
- id: set-timestamp
|
||||
name: Save Current Timestamp
|
||||
run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
|
||||
run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
|
||||
|
||||
- id: set-branch
|
||||
name: Save Current Branch Name
|
||||
run: |
|
||||
echo "branchname=${{
|
||||
github.event_name == 'pull_request' &&
|
||||
@@ -116,7 +70,7 @@ jobs:
|
||||
echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
|
||||
|
||||
setup:
|
||||
name: Build [${{ matrix.runner }}][${{ matrix.group }}]
|
||||
name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
|
||||
needs: group_targets
|
||||
@@ -126,7 +80,6 @@ jobs:
|
||||
container:
|
||||
image: ${{ matrix.container }}
|
||||
steps:
|
||||
- uses: runs-on/action@v2
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
@@ -134,24 +87,14 @@ jobs:
|
||||
- name: Git ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
# ccache key breakdown:
|
||||
# ccache-<system os>-<system arch>-<builder group>-
|
||||
# ccache-<linux>-<arm64>-<aarch64-0>-
|
||||
# ccache-<linux>-<x64>-<nuttx-0>-
|
||||
- name: Cache Restore from Key
|
||||
id: cc_restore
|
||||
uses: actions/cache/restore@v4
|
||||
- name: Setup ccache
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
|
||||
restore-keys: |
|
||||
ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
|
||||
ccache-${{ runner.os }}-${{ matrix.runner }}-
|
||||
ccache-${{ runner.os }}-${{ matrix.runner }}-
|
||||
ccache-${{ runner.os }}-
|
||||
ccache-
|
||||
key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
|
||||
restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
|
||||
|
||||
- name: Cache Config and Stats
|
||||
- name: Configure ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
@@ -159,11 +102,10 @@ jobs:
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 120M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
echo "compiler_check = content" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: Building Artifacts for [${{ matrix.targets }}]
|
||||
- name: Building [${{ matrix.group }}]
|
||||
run: |
|
||||
./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
|
||||
|
||||
@@ -177,34 +119,15 @@ jobs:
|
||||
name: px4_${{matrix.group}}_build_artifacts
|
||||
path: artifacts/
|
||||
|
||||
- name: Cache Post Build Stats
|
||||
if: always()
|
||||
run: |
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: Cache Save
|
||||
if: always()
|
||||
uses: actions/cache/save@v4
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{ steps.cc_restore.outputs.cache-primary-key }}
|
||||
run: ccache -s
|
||||
|
||||
# ===========================================================================
|
||||
# ARTIFACT UPLOAD JOB
|
||||
# ===========================================================================
|
||||
# Uploads build artifacts to S3 and creates GitHub Releases.
|
||||
# Runs for version tags (v*), main, stable, and beta branch pushes.
|
||||
# See header comments for full upload logic documentation.
|
||||
# ===========================================================================
|
||||
artifacts:
|
||||
name: Upload Artifacts
|
||||
name: Upload Artifacts to S3
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
needs: [setup, group_targets]
|
||||
if: startsWith(github.ref, 'refs/tags/v') || contains(fromJSON('["main","stable","beta"]'), needs.group_targets.outputs.branchname)
|
||||
outputs:
|
||||
uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
|
||||
if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
|
||||
steps:
|
||||
- name: Download Artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
@@ -212,36 +135,11 @@ jobs:
|
||||
path: artifacts/
|
||||
merge-multiple: true
|
||||
|
||||
- name: Choose Upload Location
|
||||
id: upload-location
|
||||
- name: Branch Name
|
||||
run: |
|
||||
set -euo pipefail
|
||||
echo "${{ needs.group_targets.outputs.branchname }}"
|
||||
|
||||
ref="${GITHUB_REF}"
|
||||
branch=${{ needs.group_targets.outputs.branchname }}
|
||||
location="$branch"
|
||||
is_prerelease="false"
|
||||
|
||||
# Main branch uploads to "master" for QGC backward compatibility
|
||||
if [[ "$branch" == "main" ]]; then
|
||||
location="master"
|
||||
fi
|
||||
|
||||
# Version tags: upload to versioned directory (e.g., v1.16.1/)
|
||||
if [[ "$ref" == refs/tags/v[0-9]* ]]; then
|
||||
tag="${ref#refs/tags/}"
|
||||
location="$tag"
|
||||
|
||||
# Pre-release tags contain -alpha, -beta, or -rc suffix
|
||||
if [[ "$tag" =~ -(alpha|beta|rc) ]]; then
|
||||
is_prerelease="true"
|
||||
fi
|
||||
fi
|
||||
|
||||
echo "uploadlocation=$location" >> $GITHUB_OUTPUT
|
||||
echo "is_prerelease=$is_prerelease" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
|
||||
- name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
|
||||
uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
@@ -251,15 +149,25 @@ jobs:
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: artifacts/
|
||||
DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
|
||||
DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
|
||||
|
||||
# Create a draft GitHub Release for all version tags
|
||||
# Pre-releases are automatically marked as such
|
||||
- name: Upload Artifacts to GitHub Release
|
||||
release:
|
||||
name: Create Release and Upload Artifacts
|
||||
permissions:
|
||||
contents: write
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
needs: [setup, group_targets]
|
||||
if: startsWith(github.ref, 'refs/tags/')
|
||||
steps:
|
||||
- name: Download Artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
path: artifacts/
|
||||
merge-multiple: true
|
||||
|
||||
- name: Upload Binaries to Release
|
||||
uses: softprops/action-gh-release@v2
|
||||
if: startsWith(github.ref, 'refs/tags/v')
|
||||
with:
|
||||
draft: true
|
||||
prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
|
||||
files: artifacts/*.px4
|
||||
name: ${{ steps.upload-location.outputs.uploadlocation }}
|
||||
|
||||
@@ -0,0 +1,34 @@
|
||||
name: ClusterFuzzLite batch fuzzing
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 6 * * *' # UTC 6am every day.
|
||||
permissions: read-all
|
||||
jobs:
|
||||
BatchFuzzing:
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
sanitizer:
|
||||
- address
|
||||
- undefined
|
||||
- memory
|
||||
steps:
|
||||
- name: Build Fuzzers (${{ matrix.sanitizer }})
|
||||
id: build
|
||||
uses: google/clusterfuzzlite/actions/build_fuzzers@v1
|
||||
with:
|
||||
sanitizer: ${{ matrix.sanitizer }}
|
||||
- name: Run Fuzzers (${{ matrix.sanitizer }})
|
||||
id: run
|
||||
uses: google/clusterfuzzlite/actions/run_fuzzers@v1
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
fuzz-seconds: 1800 # 30 mins
|
||||
mode: 'batch'
|
||||
sanitizer: ${{ matrix.sanitizer }}
|
||||
# Optional but recommended: For storing certain artifacts from fuzzing.
|
||||
# See later section on "Git repo for storage".
|
||||
# storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
|
||||
# storage-repo-branch: main # Optional. Defaults to "main"
|
||||
# storage-repo-branch-coverage: gh-pages # Optional. Defaults to "gh-pages".
|
||||
@@ -19,10 +19,6 @@ concurrency:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -39,17 +35,20 @@ jobs:
|
||||
"px4_sitl_allyes",
|
||||
"module_documentation",
|
||||
]
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Building [${{ matrix.check }}]
|
||||
run: |
|
||||
cd "$GITHUB_WORKSPACE"
|
||||
git config --global --add safe.directory "$GITHUB_WORKSPACE"
|
||||
make ${{ matrix.check }}
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make ${{ matrix.check }}
|
||||
|
||||
- name: Uploading Coverage to Codecov.io
|
||||
if: contains(matrix.check, 'coverage')
|
||||
|
||||
@@ -19,7 +19,7 @@ jobs:
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Testing (clang-tidy)
|
||||
- name: Testing (clang-tidy-quiet)
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev-clang:2021-09-08
|
||||
@@ -27,4 +27,4 @@ jobs:
|
||||
run: |
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make clang-tidy
|
||||
make clang-tidy-quiet
|
||||
|
||||
@@ -34,8 +34,7 @@ jobs:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: setup
|
||||
run: |
|
||||
./Tools/setup/macos.sh
|
||||
run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
|
||||
@@ -29,7 +29,7 @@ jobs:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
version: ['ubuntu:22.04', 'ubuntu:24.04']
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: ${{ matrix.version }}
|
||||
volumes:
|
||||
|
||||
@@ -39,7 +39,7 @@ jobs:
|
||||
name: Set Tags and Variables
|
||||
permissions:
|
||||
contents: read
|
||||
runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
|
||||
runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
|
||||
outputs:
|
||||
px4_version: ${{ steps.px4_version.outputs.px4_version }}
|
||||
meta_tags: ${{ steps.meta.outputs.tags }}
|
||||
@@ -87,7 +87,7 @@ jobs:
|
||||
- platform: linux/amd64
|
||||
arch: amd64
|
||||
runner: x64
|
||||
runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
|
||||
runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
|
||||
steps:
|
||||
- uses: runs-on/action@v1
|
||||
- uses: actions/checkout@v4
|
||||
@@ -138,7 +138,7 @@ jobs:
|
||||
permissions:
|
||||
contents: read
|
||||
packages: write
|
||||
runs-on: [runs-on,"runner=4cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
|
||||
runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
|
||||
needs: [build, setup]
|
||||
if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
|
||||
steps:
|
||||
|
||||
@@ -1,6 +1,19 @@
|
||||
name: Docs - Deploy PX4 User Guide to Github pages (Manual)
|
||||
name: Docs - Deploy PX4 User Guide
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'release/**'
|
||||
paths:
|
||||
- 'docs/en/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
paths:
|
||||
- 'docs/en/**'
|
||||
|
||||
# Allows you to run this workflow manually from the Actions tab
|
||||
workflow_dispatch:
|
||||
|
||||
# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
|
||||
@@ -20,7 +33,7 @@ env:
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
|
||||
steps:
|
||||
- uses: runs-on/action@v1
|
||||
- name: Checkout
|
||||
@@ -55,7 +68,7 @@ jobs:
|
||||
deploy:
|
||||
if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
|
||||
needs: build
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
|
||||
steps:
|
||||
- name: Download Artifact
|
||||
|
||||
@@ -1,116 +0,0 @@
|
||||
name: Docs - Deploy PX4 User Guide to AWS
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- "main"
|
||||
- "release/**"
|
||||
paths:
|
||||
- "docs/en/**"
|
||||
- "docs/zh/**"
|
||||
- "docs/uk/**"
|
||||
- "docs/ko/**"
|
||||
pull_request:
|
||||
paths:
|
||||
- "docs/en/**"
|
||||
- "docs/zh/**"
|
||||
- "docs/uk/**"
|
||||
- "docs/ko/**"
|
||||
|
||||
workflow_dispatch:
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
actions: read
|
||||
id-token: write # for AWS OIDC
|
||||
|
||||
concurrency:
|
||||
group: docs-deploy
|
||||
cancel-in-progress: false
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
|
||||
outputs:
|
||||
branchname: ${{ steps.set-branch.outputs.branchname }}
|
||||
releaseversion: ${{ steps.set-version.outputs.releaseversion }}
|
||||
steps:
|
||||
- uses: runs-on/action@v1
|
||||
|
||||
- name: Checkout
|
||||
uses: actions/checkout@v4
|
||||
|
||||
- id: set-branch
|
||||
run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
|
||||
|
||||
- id: set-version
|
||||
run: |
|
||||
branch="${{ steps.set-branch.outputs.branchname }}"
|
||||
if [[ "$branch" == "main" ]]; then
|
||||
version="main"
|
||||
else
|
||||
version="v${branch#release/}"
|
||||
fi
|
||||
echo "releaseversion=$version" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Setup Node
|
||||
uses: actions/setup-node@v4
|
||||
with:
|
||||
node-version: 20
|
||||
cache: npm
|
||||
cache-dependency-path: ./docs/yarn.lock
|
||||
|
||||
- name: Install dependencies
|
||||
run: yarn install --frozen-lockfile --cwd ./docs
|
||||
|
||||
- name: Build with VitePress
|
||||
working-directory: ./docs
|
||||
env:
|
||||
BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
|
||||
run: |
|
||||
npm run docs:build_ubuntu
|
||||
touch .vitepress/dist/.nojekyll
|
||||
npm run docs:sitemap
|
||||
|
||||
- name: Upload artifact
|
||||
if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: px4_docs_build
|
||||
path: docs/.vitepress/dist/
|
||||
retention-days: 1
|
||||
|
||||
deploy:
|
||||
if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
|
||||
needs: build
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
steps:
|
||||
- name: Download Artifact
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: px4_docs_build
|
||||
path: ~/_book
|
||||
|
||||
- name: Configure AWS from OIDC
|
||||
uses: aws-actions/configure-aws-credentials@v4
|
||||
with:
|
||||
role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
|
||||
aws-region: us-west-2
|
||||
|
||||
- name: Sanity check AWS credentials
|
||||
run: aws sts get-caller-identity
|
||||
|
||||
- name: Upload HTML with short cache
|
||||
run: |
|
||||
aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
|
||||
--delete \
|
||||
--exclude "*" --include "*.html" \
|
||||
--cache-control "public, max-age=60"
|
||||
|
||||
- name: Upload assets with long cache
|
||||
run: |
|
||||
aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
|
||||
--delete \
|
||||
--exclude "*.html" \
|
||||
--cache-control "public, max-age=86400, immutable"
|
||||
@@ -29,7 +29,7 @@ jobs:
|
||||
|
||||
- name: Get changed english doc files
|
||||
id: get_changed_markdown_english
|
||||
uses: tj-actions/changed-files@v46.0.5
|
||||
uses: tj-actions/changed-files@v35.9.2
|
||||
with:
|
||||
json: true
|
||||
base_sha: "${{ github.event.pull_request.base.sha }}"
|
||||
@@ -42,24 +42,14 @@ jobs:
|
||||
|
||||
- name: Save JSON file containing files to link check
|
||||
run: |
|
||||
echo "$ALL_CHANGED_FILES"
|
||||
# echo "$ALL_CHANGED_FILES" > ./logs/prFiles.json
|
||||
echo "$ALL_CHANGED_FILES" | sed 's/\\//g' | jq '.' > ./logs/prFiles.json
|
||||
env:
|
||||
ALL_CHANGED_FILES: ${{ steps.get_changed_markdown_english.outputs.all_changed_files }}
|
||||
echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}"
|
||||
echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}" > ./logs/prFiles.json
|
||||
|
||||
- name: Run link checker
|
||||
id: link-check
|
||||
run: |
|
||||
npm -g install markdown_link_checker_sc@0.0.138
|
||||
markdown_link_checker_sc \
|
||||
-r "$GITHUB_WORKSPACE" \
|
||||
-d docs \
|
||||
-e en \
|
||||
-f ./logs/prFiles.json \
|
||||
-i assets \
|
||||
-u docs.px4.io/main/ \
|
||||
> ./logs/errorsFilteredByPrPages.md
|
||||
markdown_link_checker_sc -r ${{ github.workspace }} -d docs -e en -f ./logs/prFiles.json -i assets -u docs.px4.io/main/ > ./logs/errorsFilteredByPrPages.md
|
||||
mkdir -p ./pr
|
||||
cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
|
||||
|
||||
@@ -70,15 +60,14 @@ jobs:
|
||||
path: ./logs/errorsFilteredByPrPages.md
|
||||
|
||||
- name: Echo Errors by Page
|
||||
run: echo "$ERRORS"
|
||||
env:
|
||||
ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
|
||||
run: echo "${{ steps.read-errors-by-page.outputs.content }}"
|
||||
|
||||
- name: Save PR number
|
||||
run: echo "$PR_NUMBER" > ./pr/pr_number
|
||||
env:
|
||||
PR_NUMBER: ${{ github.event.number }}
|
||||
|
||||
run: |
|
||||
#mkdir -p ./pr
|
||||
echo $PR_NUMBER > ./pr/pr_number
|
||||
- uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: pr_number
|
||||
|
||||
@@ -4,7 +4,6 @@ on:
|
||||
workflows: ["Docs - Check for flaws in PX4 Guide Source"]
|
||||
types:
|
||||
- completed
|
||||
|
||||
jobs:
|
||||
comment:
|
||||
permissions:
|
||||
@@ -57,11 +56,8 @@ jobs:
|
||||
|
||||
- name: File detail info
|
||||
run: |
|
||||
echo "$ERRORS"
|
||||
echo "$PRNUM"
|
||||
env:
|
||||
ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
|
||||
PRNUM: ${{ steps.read-error-pr-number.outputs.content }}
|
||||
echo "${{ steps.read-errors-by-page.outputs.content }}"
|
||||
echo "${{ steps.read-error-pr-number.outputs.content }}"
|
||||
|
||||
- name: Create or update comment
|
||||
id: comment_to_pr
|
||||
|
||||
@@ -7,29 +7,24 @@ on:
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
# If two events are triggered within a short time in the same PR, cancel the run of the oldest event
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.event.pull_request.number }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: main test
|
||||
- name: main test
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev-base-focal:2021-09-08
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd "$GITHUB_WORKSPACE"
|
||||
git config --global --add safe.directory "$GITHUB_WORKSPACE"
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make tests TESTFILTER=EKF
|
||||
|
||||
- name: Check if there is a functional change
|
||||
run: git diff --exit-code
|
||||
working-directory: src/modules/ekf2/test/change_indication
|
||||
- name: Check if there is a functional change
|
||||
run: git diff --exit-code
|
||||
working-directory: src/modules/ekf2/test/change_indication
|
||||
|
||||
@@ -8,47 +8,40 @@ on:
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
|
||||
env:
|
||||
GIT_COMMITTER_EMAIL: bot@px4.io
|
||||
GIT_COMMITTER_NAME: PX4BuildBot
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: main test
|
||||
- name: main test
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev-base-focal:2021-09-08
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd "$GITHUB_WORKSPACE"
|
||||
git config --global --add safe.directory "$GITHUB_WORKSPACE"
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make tests TESTFILTER=EKF
|
||||
|
||||
- name: Check if there exists diff and save result in variable
|
||||
id: diff-check
|
||||
working-directory: src/modules/ekf2/test/change_indication
|
||||
run: |
|
||||
if git diff --quiet; then
|
||||
echo "CHANGE_INDICATED=false" >> $GITHUB_OUTPUT
|
||||
else
|
||||
echo "CHANGE_INDICATED=true" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
- name: Check if there exists diff and save result in variable
|
||||
id: diff-check
|
||||
run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
|
||||
working-directory: src/modules/ekf2/test/change_indication
|
||||
|
||||
- name: auto-commit any changes to change indication
|
||||
if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
|
||||
uses: stefanzweifel/git-auto-commit-action@v4
|
||||
with:
|
||||
file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
|
||||
commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
|
||||
commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
|
||||
commit_message: |
|
||||
[AUTO COMMIT] update change indication
|
||||
- name: auto-commit any changes to change indication
|
||||
uses: stefanzweifel/git-auto-commit-action@v4
|
||||
with:
|
||||
file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
|
||||
commit_user_name: ${GIT_COMMITTER_NAME}
|
||||
commit_user_email: ${GIT_COMMITTER_EMAIL}
|
||||
commit_message: |
|
||||
'[AUTO COMMIT] update change indication'
|
||||
|
||||
See .github/workflows/ekf_update_change_indicator.yml for more details
|
||||
See .github/workflopws/ekf_update_change_indicator.yml for more details
|
||||
|
||||
- name: if there is a functional change, fail check
|
||||
if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
|
||||
run: exit 1
|
||||
- name: if there is a functional change, fail check
|
||||
if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
|
||||
run: exit 1
|
||||
|
||||
@@ -48,7 +48,6 @@ jobs:
|
||||
run: |
|
||||
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
|
||||
cd _emscripten_sdk
|
||||
git checkout 4.0.15
|
||||
./emsdk install latest
|
||||
./emsdk activate latest
|
||||
|
||||
|
||||
@@ -24,7 +24,7 @@ env:
|
||||
jobs:
|
||||
analyze_flash:
|
||||
name: Analyzing ${{ matrix.target }}
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
strategy:
|
||||
@@ -97,7 +97,7 @@ jobs:
|
||||
# Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
|
||||
post_pr_comment:
|
||||
name: Publish Results
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
needs: [analyze_flash]
|
||||
env:
|
||||
V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
|
||||
|
||||
@@ -1,49 +0,0 @@
|
||||
name: Fuzzing
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 6 * * *' # UTC 6am every day.
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
issues: write # for JasonEtco/create-an-issue
|
||||
|
||||
env:
|
||||
RUNS_IN_DOCKER: true
|
||||
|
||||
jobs:
|
||||
Fuzzing:
|
||||
runs-on: ubuntu-latest
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc2-4-gb67c65bfe6
|
||||
steps:
|
||||
- name: Install Dependencies
|
||||
run: |
|
||||
apt update && apt install -y clang
|
||||
|
||||
- name: Fix git in Container
|
||||
run: |
|
||||
git config --global --add safe.directory $(realpath .)
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Build and Run Fuzz Tests
|
||||
run: |
|
||||
# Only build the tests
|
||||
export CC=clang
|
||||
export CXX=clang++
|
||||
make tests TESTFILTER=__no_tests__
|
||||
|
||||
# Run the fuzz tests
|
||||
for fuzz_binary in build/px4_sitl_test/*fuzz*; do
|
||||
./Tools/ci/run_fuzz_tests.sh $fuzz_binary 15m
|
||||
done
|
||||
|
||||
# Create a github issue in case of a failure
|
||||
- name: Create Issue
|
||||
if: ${{ failure() }}
|
||||
uses: JasonEtco/create-an-issue@v2
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
WORKFLOW_RUN_URL: https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }}
|
||||
with:
|
||||
filename: .github/fuzzing_issue_template.md
|
||||
@@ -22,7 +22,7 @@ concurrency:
|
||||
jobs:
|
||||
check_itcm:
|
||||
name: Checking ${{ matrix.target }}
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
strategy:
|
||||
@@ -41,10 +41,6 @@ jobs:
|
||||
scripts: >
|
||||
boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
|
||||
boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
|
||||
- target: nxp_mr-tropic
|
||||
scripts: >
|
||||
boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
|
||||
boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
|
||||
@@ -19,27 +19,26 @@ concurrency:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {vehicle: "iris", mission: "MC_mission_box"}
|
||||
- {vehicle: "rover", mission: "rover_mission_1"}
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Build SITL and Run Tests (inside old ROS container)
|
||||
- name: Build SITL and Run Tests
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
docker run --rm \
|
||||
-v "${GITHUB_WORKSPACE}:/workspace" \
|
||||
-w /workspace \
|
||||
px4io/px4-dev-ros-melodic:2021-09-08 \
|
||||
bash -c '
|
||||
git config --global --add safe.directory /workspace
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo-classic
|
||||
./test/rostest_px4_run.sh \
|
||||
mavros_posix_test_mission.test \
|
||||
mission:=MC_mission_box \
|
||||
vehicle:=iris
|
||||
'
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo-classic
|
||||
./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
|
||||
|
||||
@@ -19,26 +19,27 @@ concurrency:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
env:
|
||||
ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {test_file: "mavros_posix_tests_offboard_posctl.test", vehicle: "iris"}
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Build SITL and Run Tests (inside old ROS container)
|
||||
- name: Build PX4 and Run Tests
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
docker run --rm \
|
||||
-v "${GITHUB_WORKSPACE}:/workspace" \
|
||||
-w /workspace \
|
||||
px4io/px4-dev-ros-melodic:2021-09-08 \
|
||||
bash -c '
|
||||
git config --global --add safe.directory /workspace
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo-classic
|
||||
./test/rostest_px4_run.sh \
|
||||
mavros_posix_tests_offboard_posctl.test \
|
||||
vehicle:=iris
|
||||
'
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo-classic
|
||||
./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
|
||||
|
||||
@@ -19,28 +19,27 @@ concurrency:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
|
||||
strategy:
|
||||
matrix:
|
||||
config:
|
||||
- px4_fmu-v5_default
|
||||
config: [
|
||||
px4_fmu-v5_default,
|
||||
]
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Build PX4 and Run Test [${{ matrix.config }}]
|
||||
- name: Build PX4 and Run Test [${{ matrix.config }}]
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd "$GITHUB_WORKSPACE"
|
||||
git config --global --add safe.directory "$GITHUB_WORKSPACE"
|
||||
export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
export PX4_EXTRA_NUTTX_CONFIG="CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
|
||||
echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
|
||||
|
||||
make ${{ matrix.config }} nuttx_context
|
||||
|
||||
echo "Check that the config option is set"
|
||||
grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config
|
||||
|
||||
@@ -23,7 +23,7 @@ concurrency:
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: px4io/px4-dev-ros2-galactic:2021-09-08
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
|
||||
@@ -21,7 +21,7 @@ concurrency:
|
||||
jobs:
|
||||
build_and_test:
|
||||
name: Build and test
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
|
||||
@@ -24,7 +24,7 @@ concurrency:
|
||||
jobs:
|
||||
build:
|
||||
name: Testing PX4 ${{ matrix.config.model }}
|
||||
runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-09-08
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
|
||||
@@ -7,15 +7,10 @@ jobs:
|
||||
stale:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/stale@v10
|
||||
- uses: actions/stale@v8
|
||||
with:
|
||||
operations-per-run: 250
|
||||
days-before-stale: 90
|
||||
days-before-close: 30
|
||||
days-before-stale: 30
|
||||
days-before-close: -1
|
||||
stale-issue-label: 'stale'
|
||||
stale-pr-label: 'stale'
|
||||
remove-stale-when-updated: true
|
||||
stale-issue-message: 'This issue has been marked as stale due to 90 days of inactivity. If no further activity occurs, it will be automatically closed in 30 days. Please leave a comment, add a reaction, make an update, or remove the stale label if you’d like to keep it open.'
|
||||
close-issue-message: 'This issue has been closed due to prolonged inactivity after being marked as stale. If you believe this was closed in error or the topic is still relevant, please feel free to reopen it or create a new issue.'
|
||||
stale-pr-message: 'This PR was identified as stale and it will be closed in 30 days unless any activity is detected.'
|
||||
close-pr-message: 'This pull request has been closed after being marked as stale with no further activity. Thank you for the time and effort you put into this contribution. If you’d like to continue the discussion or update the work, please feel free to reopen it or submit a new PR.'
|
||||
|
||||
-14
@@ -89,17 +89,3 @@
|
||||
[submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
|
||||
path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
|
||||
url = https://github.com/dronecan/pydronecan
|
||||
[submodule "test/fuzztest"]
|
||||
path = test/fuzztest
|
||||
url = https://github.com/google/fuzztest.git
|
||||
branch = main
|
||||
[submodule "src/lib/tensorflow_lite_micro/tflite_micro"]
|
||||
path = src/lib/tensorflow_lite_micro/tflite_micro
|
||||
url = https://github.com/PX4/tflite-micro.git
|
||||
branch = main
|
||||
[submodule "src/drivers/ins/microstrain/mip_sdk"]
|
||||
path = src/drivers/ins/microstrain/mip_sdk
|
||||
url = https://github.com/PX4/LORD-MicroStrain_mip_sdk.git
|
||||
[submodule "src/drivers/ins/sbgecom/sbgECom"]
|
||||
path = src/drivers/ins/sbgecom/sbgECom
|
||||
url = https://github.com/PX4/sbgECom.git
|
||||
|
||||
Vendored
-55
@@ -36,11 +36,6 @@ CONFIG:
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_test
|
||||
px4_sitl_zenoh:
|
||||
short: px4_sitl_zenoh
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_test
|
||||
px4_io-v2_default:
|
||||
short: px4_io-v2
|
||||
buildType: MinSizeRel
|
||||
@@ -196,26 +191,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_cannode_canbootloader
|
||||
ark_dist_default:
|
||||
short: ark_dist_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_dist_default
|
||||
ark_dist_canbootloader:
|
||||
short: ark_dist_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_dist_canbootloader
|
||||
ark_f9p-gps_default:
|
||||
short: ark_f9p-gps_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_f9p-gps_default
|
||||
ark_f9p-gps_canbootloader:
|
||||
short: ark_f9p-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_f9p-gps_canbootloader
|
||||
ark_fmu-v6x_bootloader:
|
||||
short: ark_fmu-v6x_bootloader
|
||||
buildType: MinSizeRel
|
||||
@@ -246,16 +221,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_pi6x_default
|
||||
ark_x20-gps_default:
|
||||
short: ark_x20-gps_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_x20-gps_default
|
||||
ark_x20-gps_canbootloader:
|
||||
short: ark_x20-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_x20-gps_canbootloader
|
||||
atl_mantis-edu_default:
|
||||
short: atl_mantis-edu
|
||||
buildType: MinSizeRel
|
||||
@@ -301,16 +266,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_7-nano_default
|
||||
cuav_fmu-v6x_default:
|
||||
short: cuav_fmu-v6x
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_fmu-v6x_default
|
||||
cuav_x25_default:
|
||||
short: cuav_x25-evo
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_x25-evo_default
|
||||
cubepilot_cubeorange_test:
|
||||
short: cubepilot_cubeorange
|
||||
buildType: MinSizeRel
|
||||
@@ -456,16 +411,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-canhubk3_fmu
|
||||
nxp_mr-tropic_default:
|
||||
short: nxp_mr-tropic_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-tropic_default
|
||||
nxp_mr-tropic_bootloader:
|
||||
short: nxp_mr-tropic_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-tropic_bootloader
|
||||
nxp_tropic-community_default:
|
||||
short: nxp_tropic-community_default
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+1
-1
@@ -43,7 +43,7 @@
|
||||
"files.watcherExclude": {
|
||||
"**/build/**": true
|
||||
},
|
||||
"git.detectSubmodulesLimit": 25,
|
||||
"git.detectSubmodulesLimit": 20,
|
||||
"git.ignoreLimitWarning": true,
|
||||
"githubPullRequests.defaultMergeMethod": "squash",
|
||||
"githubPullRequests.telemetry.enabled": false,
|
||||
|
||||
+40
-27
@@ -334,33 +334,6 @@ if(NOT PX4_CHIP)
|
||||
message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# Testing - Automatic unit and integration testing with CTest
|
||||
# (Needs to be before setting the common compile flags)
|
||||
#
|
||||
|
||||
# optionally enable cmake testing (supported only on posix)
|
||||
option(CMAKE_TESTING "Configure test targets" OFF)
|
||||
if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
|
||||
set(CMAKE_TESTING ON)
|
||||
endif()
|
||||
if(CMAKE_TESTING)
|
||||
include(CTest) # sets BUILD_TESTING variable
|
||||
endif()
|
||||
|
||||
# enable test filtering to run only specific tests with the ctest -R regex functionality
|
||||
set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
|
||||
|
||||
include(px4_add_gtest)
|
||||
if(BUILD_TESTING)
|
||||
# Setting FUZZTEST_FUZZING_MODE=on enables ASAN, and is only supported with Clang
|
||||
if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
|
||||
set(FUZZTEST_FUZZING_MODE ON)
|
||||
endif()
|
||||
add_subdirectory(test)
|
||||
fuzztest_setup_fuzzing_flags()
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# build flags
|
||||
#
|
||||
@@ -413,6 +386,46 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# Testing - Automatic unit and integration testing with CTest
|
||||
#
|
||||
|
||||
# optionally enable cmake testing (supported only on posix)
|
||||
option(CMAKE_TESTING "Configure test targets" OFF)
|
||||
if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
|
||||
set(CMAKE_TESTING ON)
|
||||
endif()
|
||||
if(CMAKE_TESTING)
|
||||
include(CTest) # sets BUILD_TESTING variable
|
||||
endif()
|
||||
|
||||
# enable test filtering to run only specific tests with the ctest -R regex functionality
|
||||
set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
|
||||
|
||||
# if testing is enabled download and configure gtest
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
|
||||
include(px4_add_gtest)
|
||||
if(BUILD_TESTING)
|
||||
include(gtest)
|
||||
|
||||
# Ensure there's no -R without any filter expression since that trips newer ctest versions
|
||||
if(TESTFILTER)
|
||||
set(TESTFILTERARG "-R")
|
||||
else()
|
||||
set(TESTFILTERARG "")
|
||||
endif()
|
||||
|
||||
add_custom_target(test_results
|
||||
COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG} ${TESTFILTER}
|
||||
DEPENDS
|
||||
px4
|
||||
examples__dyn_hello
|
||||
USES_TERMINAL
|
||||
COMMENT "Running tests"
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR})
|
||||
set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# subdirectories
|
||||
#
|
||||
|
||||
@@ -73,11 +73,6 @@ menu "Toolchain"
|
||||
help
|
||||
relative path to the ROMFS root directory
|
||||
|
||||
config BOARD_ADDITIONAL_INIT
|
||||
string "Additional init file"
|
||||
help
|
||||
additional configurable init file to include in the ROMFS
|
||||
|
||||
config BOARD_IO
|
||||
string "IO board name"
|
||||
default "px4_io-v2_default"
|
||||
@@ -211,8 +206,8 @@ source "src/examples/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "platforms"
|
||||
depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
|
||||
source "platforms/Kconfig"
|
||||
depends on PLATFORM_QURT || PLATFORM_POSIX
|
||||
source "platforms/common/Kconfig"
|
||||
endmenu
|
||||
|
||||
source "src/lib/*/Kconfig"
|
||||
|
||||
+1
-1
@@ -19,7 +19,7 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
|
||||
| Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
|
||||
| Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
|
||||
| Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
|
||||
| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <roque@caltech.edu>
|
||||
| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <padr@kth.se>
|
||||
| Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>
|
||||
|
||||
|
||||
|
||||
@@ -160,6 +160,11 @@ else
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
|
||||
endif
|
||||
|
||||
# Fuzz Testing
|
||||
ifdef PX4_FUZZ
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
|
||||
endif
|
||||
|
||||
endif
|
||||
|
||||
# Pick up specific Python path if set
|
||||
@@ -325,13 +330,9 @@ bootloaders_update: \
|
||||
ark_fmu-v6x_bootloader \
|
||||
ark_fpv_bootloader \
|
||||
ark_pi6x_bootloader \
|
||||
auterion_fmu-v6s_bootloader \
|
||||
auterion_fmu-v6x_bootloader \
|
||||
cuav_nora_bootloader \
|
||||
cuav_x7pro_bootloader \
|
||||
cuav_7-nano_bootloader \
|
||||
cuav_fmu-v6x_bootloader \
|
||||
cuav_x25-evo_bootloader \
|
||||
cubepilot_cubeorange_bootloader \
|
||||
cubepilot_cubeorangeplus_bootloader \
|
||||
hkust_nxt-dual_bootloader \
|
||||
@@ -351,7 +352,6 @@ bootloaders_update: \
|
||||
mro_ctrl-zero-h7_bootloader \
|
||||
mro_ctrl-zero-h7-oem_bootloader \
|
||||
mro_pixracerpro_bootloader \
|
||||
narinfc_h7_bootloader \
|
||||
px4_fmu-v6c_bootloader \
|
||||
px4_fmu-v6u_bootloader \
|
||||
px4_fmu-v6x_bootloader \
|
||||
@@ -473,7 +473,7 @@ python_coverage:
|
||||
|
||||
# static analyzers (scan-build, clang-tidy, cppcheck)
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix
|
||||
.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
|
||||
.PHONY: cppcheck shellcheck_all validate_module_configs
|
||||
|
||||
scan-build:
|
||||
@@ -499,6 +499,10 @@ clang-tidy: px4_sitl_default-clang
|
||||
clang-tidy-fix: px4_sitl_default-clang
|
||||
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
|
||||
|
||||
# modified version of run-clang-tidy.py to return error codes and only output relevant results
|
||||
clang-tidy-quiet: px4_sitl_default-clang
|
||||
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
|
||||
|
||||
# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
|
||||
cppcheck: px4_sitl_default
|
||||
@mkdir -p "$(SRC_DIR)"/build/cppcheck
|
||||
@@ -513,7 +517,6 @@ validate_module_configs:
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
|
||||
-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
|
||||
-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
|
||||
-not -path "$(SRC_DIR)/src/modules/zenoh/dds_topics.yaml" \
|
||||
-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
|
||||
-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
|
||||
-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
|
||||
|
||||
@@ -85,32 +85,10 @@ endif()
|
||||
if(PX4_ETHERNET)
|
||||
set(added_arguments ${added_arguments} --ethernet)
|
||||
endif()
|
||||
# Check if board has an rc.board_airframes file to filter airframes
|
||||
set(board_airframes_file "${PX4_BOARD_DIR}/init/rc.board_airframes")
|
||||
set(airframes_whitelist "")
|
||||
if(EXISTS "${board_airframes_file}")
|
||||
message(STATUS "ROMFS: Using board-specific airframes list: ${board_airframes_file}")
|
||||
file(STRINGS "${board_airframes_file}" airframes_whitelist)
|
||||
# Remove comments and empty lines
|
||||
list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*#")
|
||||
list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*$")
|
||||
endif()
|
||||
|
||||
# create list of relative romfs file names
|
||||
set(romfs_copy_files_relative)
|
||||
foreach(romfs_file IN LISTS romfs_copy_files)
|
||||
string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
|
||||
|
||||
# If we have an airframes whitelist, filter airframe files
|
||||
if(airframes_whitelist AND romfs_file_rel MATCHES "^init.d/airframes/")
|
||||
# Extract just the filename
|
||||
get_filename_component(airframe_name "${romfs_file_rel}" NAME)
|
||||
# Check if it's in the whitelist
|
||||
if(NOT "${airframe_name}" IN_LIST airframes_whitelist)
|
||||
continue()
|
||||
endif()
|
||||
endif()
|
||||
|
||||
list(APPEND romfs_copy_files_relative ${romfs_file_rel})
|
||||
endforeach()
|
||||
# copy the ROMFS files by creating a tar and extracting it to the build
|
||||
@@ -224,31 +202,6 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
|
||||
|
||||
endforeach()
|
||||
|
||||
if(config_additional_init)
|
||||
if(EXISTS "${PX4_BOARD_DIR}/init/${config_additional_init}")
|
||||
file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${config_additional_init})
|
||||
message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/rc.additional_init")
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/init.d/rc.additional_init
|
||||
${config_additional_init}.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${config_additional_init} ${romfs_gen_root_dir}/init.d/rc.additional_init
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${config_additional_init}.stamp
|
||||
DEPENDS
|
||||
${PX4_BOARD_DIR}/init/${config_additional_init}
|
||||
romfs_copy.stamp
|
||||
COMMENT "ROMFS: copying ${config_additional_init}"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
${config_additional_init}.stamp
|
||||
)
|
||||
else()
|
||||
message(FATAL_ERROR "BOARD_ADDITIONAL_INIT file not found at: ${PX4_BOARD_DIR}/init/${config_additional_init}")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
|
||||
# board extras
|
||||
set(OPTIONAL_BOARD_EXTRAS)
|
||||
|
||||
@@ -56,17 +56,6 @@ then
|
||||
fi
|
||||
unset BOARD_RC_DEFAULTS
|
||||
|
||||
#
|
||||
# Optional additional init file: rc.additional_init
|
||||
#
|
||||
set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
|
||||
if [ -f $BOARD_RC_ADDITIONAL_INIT ]
|
||||
then
|
||||
echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
|
||||
. $BOARD_RC_ADDITIONAL_INIT
|
||||
fi
|
||||
unset BOARD_RC_ADDITIONAL_INIT
|
||||
|
||||
#
|
||||
# Start system state indicator.
|
||||
#
|
||||
|
||||
@@ -1,72 +0,0 @@
|
||||
#!/bin/sh
|
||||
# @name Rover Ackermann
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_ackermann_defaults
|
||||
|
||||
set VEHICLE_TYPE rover_ackermann
|
||||
param set-default CA_AIRFRAME 5 # Rover (Ackermann)
|
||||
param set-default CA_R_REV 1 # Motor is assumed to be reversible
|
||||
param set-default EKF2_MAG_TYPE 1 # Make sure magnetometer is fused even when not driving
|
||||
param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
|
||||
|
||||
param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 201 # Steering
|
||||
param set-default PWM_MAIN_FUNC2 101 # Throttle
|
||||
param set-default SIH_MASS 20
|
||||
param set-default SIH_IXX 0.4333
|
||||
param set-default SIH_IYY 1.6833
|
||||
param set-default SIH_IZZ 2.0833
|
||||
param set-default SIH_IXZ 0
|
||||
param set-default SIH_KDV 50
|
||||
param set-default SIH_KDW 10
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
# Ackermann Parameters
|
||||
param set-default RA_WHEEL_BASE 0.321
|
||||
param set-default RA_ACC_RAD_GAIN 2
|
||||
param set-default RA_ACC_RAD_MAX 3
|
||||
param set-default RA_MAX_STR_ANG 0.5236
|
||||
param set-default RA_STR_RATE_LIM 360
|
||||
|
||||
# Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.01
|
||||
param set-default RO_YAW_RATE_P 0.25
|
||||
param set-default RO_YAW_RATE_LIM 180
|
||||
param set-default RO_YAW_ACCEL_LIM 400
|
||||
param set-default RO_YAW_DECEL_LIM 800
|
||||
param set-default RO_YAW_RATE_CORR 1
|
||||
|
||||
# Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Velocity Control Parameters
|
||||
param set-default RO_ACCEL_LIM 3
|
||||
param set-default RO_DECEL_LIM 3
|
||||
param set-default RO_JERK_LIM 10
|
||||
param set-default RO_MAX_THR_SPEED 3.2
|
||||
param set-default RO_SPEED_LIM 3
|
||||
param set-default RO_SPEED_I 0.001
|
||||
param set-default RO_SPEED_P 0.001
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
@@ -0,0 +1,33 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Rover
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_L1_PERIOD 10
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_I 3
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 4
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2
|
||||
|
||||
param set-default CA_AIRFRAME 5
|
||||
|
||||
param set-default CA_R_REV 1
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 201
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
param set-default PWM_MAIN_FUNC7 101
|
||||
@@ -0,0 +1,12 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Aion Robotics R1 Rover
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_differential_defaults
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 101
|
||||
param set-default PWM_MAIN_FUNC6 102
|
||||
param set-default PWM_MAIN_FUNC7 102
|
||||
+20
-22
@@ -1,5 +1,5 @@
|
||||
#!/bin/sh
|
||||
# @name Generic Ackermann Rover
|
||||
# @name Rover Ackermann
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
@@ -14,32 +14,30 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
# Ackermann Parameters
|
||||
param set-default RA_WHEEL_BASE 0.5
|
||||
param set-default RA_WHEEL_BASE 0.321
|
||||
param set-default RA_ACC_RAD_GAIN 2
|
||||
param set-default RA_ACC_RAD_MAX 1.5
|
||||
param set-default RA_ACC_RAD_MAX 3
|
||||
param set-default RA_MAX_STR_ANG 0.5236
|
||||
param set-default RA_STR_RATE_LIM 360
|
||||
|
||||
# Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.01
|
||||
param set-default RO_YAW_RATE_P 0.25
|
||||
param set-default RO_YAW_RATE_LIM 130
|
||||
param set-default RO_YAW_ACCEL_LIM 800
|
||||
param set-default RO_YAW_DECEL_LIM 800
|
||||
param set-default RO_YAW_RATE_CORR 1
|
||||
param set-default RO_YAW_EXPO 0.85
|
||||
param set-default RO_YAW_SUPEXPO 0.3
|
||||
# Rover Control Parameters
|
||||
param set-default RO_ACCEL_LIM 3
|
||||
param set-default RO_DECEL_LIM 6
|
||||
param set-default RO_JERK_LIM 15
|
||||
param set-default RO_MAX_THR_SPEED 3.1
|
||||
|
||||
# Attitude Control Parameters
|
||||
# Rover Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.1
|
||||
param set-default RO_YAW_RATE_P 1
|
||||
param set-default RO_YAW_RATE_LIM 180
|
||||
param set-default RO_YAW_RATE_CORR 1
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 3
|
||||
|
||||
# Velocity Control Parameters
|
||||
param set-default RO_ACCEL_LIM 4
|
||||
param set-default RO_DECEL_LIM 6
|
||||
param set-default RO_JERK_LIM 10
|
||||
param set-default RO_MAX_THR_SPEED 3.1
|
||||
param set-default RO_SPEED_LIM 2.5
|
||||
param set-default RO_SPEED_I 0.01
|
||||
# Rover Velocity Control Parameters
|
||||
param set-default RO_SPEED_LIM 3
|
||||
param set-default RO_SPEED_I 0.1
|
||||
param set-default RO_SPEED_P 1
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
@@ -50,8 +48,8 @@ param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# Wheels
|
||||
param set-default SIM_GZ_WH_FUNC1 101
|
||||
param set-default SIM_GZ_WH_MIN1 70
|
||||
param set-default SIM_GZ_WH_MAX1 130
|
||||
param set-default SIM_GZ_WH_MIN1 0
|
||||
param set-default SIM_GZ_WH_MAX1 200
|
||||
param set-default SIM_GZ_WH_DIS1 100
|
||||
|
||||
# Steering
|
||||
+13
-20
@@ -1,5 +1,5 @@
|
||||
#!/bin/sh
|
||||
# @name Generic Mecanum Rover
|
||||
# @name Aion Robotics R1 Rover
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
@@ -7,15 +7,14 @@
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
# Mecanum Parameters
|
||||
param set-default RM_WHEEL_TRACK 0.6
|
||||
param set-default RM_YAW_STK_GAIN 0.6
|
||||
param set-default RM_WHEEL_TRACK 0.3
|
||||
|
||||
# Rover Control Parameters
|
||||
param set-default RO_ACCEL_LIM 3
|
||||
@@ -30,21 +29,15 @@ param set-default RO_YAW_RATE_LIM 120
|
||||
param set-default RO_YAW_ACCEL_LIM 240
|
||||
param set-default RO_YAW_DECEL_LIM 1000
|
||||
param set-default RO_YAW_RATE_CORR 1.75
|
||||
param set-default RO_YAW_EXPO 0.85
|
||||
param set-default RO_YAW_SUPEXPO 0.3
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Velocity Control Parameters
|
||||
param set-default RO_ACCEL_LIM 4
|
||||
param set-default RO_DECEL_LIM 6
|
||||
param set-default RO_JERK_LIM 10
|
||||
param set-default RO_MAX_THR_SPEED 3.1
|
||||
param set-default RO_SPEED_LIM 2.5
|
||||
param set-default RO_SPEED_I 0.01
|
||||
param set-default RO_SPEED_P 0.1
|
||||
param set-default RO_SPEED_RED 0.5
|
||||
# Rover Velocity Control Parameters
|
||||
param set-default RO_SPEED_LIM 2
|
||||
param set-default RO_SPEED_I 0.5
|
||||
param set-default RO_SPEED_P 1
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 0.5
|
||||
@@ -55,24 +48,24 @@ param set-default PP_LOOKAHD_MIN 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
# Actuator mapping
|
||||
param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
|
||||
param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
|
||||
param set-default SIM_GZ_WH_MIN1 70
|
||||
param set-default SIM_GZ_WH_MAX1 130
|
||||
param set-default SIM_GZ_WH_DIS1 100
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC2 103 # right wheel back
|
||||
param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
|
||||
param set-default SIM_GZ_WH_MIN2 70
|
||||
param set-default SIM_GZ_WH_MAX2 130
|
||||
param set-default SIM_GZ_WH_DIS2 100
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC3 102 # left wheel front
|
||||
param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
|
||||
param set-default SIM_GZ_WH_MIN3 70
|
||||
param set-default SIM_GZ_WH_MAX3 130
|
||||
param set-default SIM_GZ_WH_DIS3 100
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
|
||||
param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
|
||||
param set-default SIM_GZ_WH_MIN4 70
|
||||
param set-default SIM_GZ_WH_MAX4 130
|
||||
param set-default SIM_GZ_WH_DIS4 100
|
||||
|
||||
param set-default SIM_GZ_WH_REV 0
|
||||
param set-default SIM_GZ_WH_REV 10
|
||||
@@ -17,7 +17,6 @@ param set-default NAV_ACC_RAD 0.5
|
||||
param set-default RD_WHEEL_TRACK 0.6
|
||||
param set-default RD_TRANS_DRV_TRN 0.785398
|
||||
param set-default RD_TRANS_TRN_DRV 0.174533
|
||||
param set-default RD_YAW_STK_GAIN 0.6
|
||||
|
||||
# Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.01
|
||||
@@ -26,8 +25,6 @@ param set-default RO_YAW_RATE_LIM 250
|
||||
param set-default RO_YAW_ACCEL_LIM 400
|
||||
param set-default RO_YAW_DECEL_LIM 800
|
||||
param set-default RO_YAW_RATE_CORR 1
|
||||
param set-default RO_YAW_EXPO 0.85
|
||||
param set-default RO_YAW_SUPEXPO 0.3
|
||||
|
||||
# Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
@@ -1,137 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name BlueROV2 Heavy
|
||||
#
|
||||
# @type UUV
|
||||
#
|
||||
# @maintainer Pedro Roque <padr@kth.se>
|
||||
# @maintainer Nicola De Carli <ndc@kth.se>
|
||||
#
|
||||
|
||||
# Source PX4 parameters and configuration
|
||||
. ${R}/etc/init.d/rc.uuv_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=underwater}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=uuv_bluerov2_heavy}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
# Set parameters using `param` utility for SITL
|
||||
param set-default CA_AIRFRAME 7
|
||||
param set-default CA_METHOD 0
|
||||
param set-default MAV_TYPE 12
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default COM_ARM_CHK_ESCS 0 # We don't have ESCs
|
||||
param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
|
||||
|
||||
# Set proper failsafes
|
||||
param set-default COM_ACT_FAIL_ACT 0
|
||||
param set-default COM_LOW_BAT_ACT 0
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default GF_ACTION 1
|
||||
param set-default NAV_RCL_ACT 1
|
||||
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 8
|
||||
param set-default CA_R_REV 255
|
||||
|
||||
param set-default CA_ROTOR0_AX -1
|
||||
param set-default CA_ROTOR0_AY 1
|
||||
param set-default CA_ROTOR0_AZ 0
|
||||
param set-default CA_ROTOR0_KM 0
|
||||
param set-default CA_ROTOR0_PX 0.14
|
||||
param set-default CA_ROTOR0_PY 0.10
|
||||
param set-default CA_ROTOR0_PZ 0.06
|
||||
#param set-default CA_ROTOR0_PZ 0.0
|
||||
|
||||
param set-default CA_ROTOR1_AX -1
|
||||
param set-default CA_ROTOR1_AY -1
|
||||
param set-default CA_ROTOR1_AZ 0
|
||||
param set-default CA_ROTOR1_KM 0
|
||||
param set-default CA_ROTOR1_PX 0.14
|
||||
param set-default CA_ROTOR1_PY -0.10
|
||||
param set-default CA_ROTOR1_PZ 0.06
|
||||
#param set-default CA_ROTOR1_PZ 0.0
|
||||
|
||||
param set-default CA_ROTOR2_AX 1
|
||||
param set-default CA_ROTOR2_AY 1
|
||||
param set-default CA_ROTOR2_AZ 0
|
||||
param set-default CA_ROTOR2_KM 0
|
||||
param set-default CA_ROTOR2_PX -0.14
|
||||
param set-default CA_ROTOR2_PY 0.10
|
||||
param set-default CA_ROTOR2_PZ 0.06
|
||||
#param set-default CA_ROTOR2_PZ 0.0
|
||||
|
||||
param set-default CA_ROTOR3_AX 1
|
||||
param set-default CA_ROTOR3_AY -1
|
||||
param set-default CA_ROTOR3_AZ 0
|
||||
param set-default CA_ROTOR3_KM 0
|
||||
param set-default CA_ROTOR3_PX -0.14
|
||||
param set-default CA_ROTOR3_PY -0.10
|
||||
param set-default CA_ROTOR3_PZ 0.06
|
||||
|
||||
param set-default CA_ROTOR4_AX 0
|
||||
param set-default CA_ROTOR4_AY 0
|
||||
param set-default CA_ROTOR4_AZ 1
|
||||
param set-default CA_ROTOR4_KM 0
|
||||
param set-default CA_ROTOR4_PX 0.12
|
||||
param set-default CA_ROTOR4_PY 0.22
|
||||
param set-default CA_ROTOR4_PZ 0
|
||||
|
||||
param set-default CA_ROTOR5_AX 0
|
||||
param set-default CA_ROTOR5_AY 0
|
||||
param set-default CA_ROTOR5_AZ 1
|
||||
param set-default CA_ROTOR5_KM 0
|
||||
param set-default CA_ROTOR5_PX 0.12
|
||||
param set-default CA_ROTOR5_PY -0.22
|
||||
param set-default CA_ROTOR5_PZ 0
|
||||
|
||||
param set-default CA_ROTOR6_AX 0
|
||||
param set-default CA_ROTOR6_AY 0
|
||||
param set-default CA_ROTOR6_AZ 1
|
||||
param set-default CA_ROTOR6_KM 0
|
||||
param set-default CA_ROTOR6_PX -0.12
|
||||
param set-default CA_ROTOR6_PY 0.22
|
||||
param set-default CA_ROTOR6_PZ 0
|
||||
|
||||
param set-default CA_ROTOR7_AX 0
|
||||
param set-default CA_ROTOR7_AY 0
|
||||
param set-default CA_ROTOR7_AZ 1
|
||||
param set-default CA_ROTOR7_KM 0
|
||||
param set-default CA_ROTOR7_PX -0.12
|
||||
param set-default CA_ROTOR7_PY -0.22
|
||||
param set-default CA_ROTOR7_PZ 0
|
||||
|
||||
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_FUNC5 105
|
||||
param set-default SIM_GZ_EC_FUNC6 106
|
||||
param set-default SIM_GZ_EC_FUNC7 107
|
||||
param set-default SIM_GZ_EC_FUNC8 108
|
||||
|
||||
param set-default SIM_GZ_EC_MIN1 1100
|
||||
param set-default SIM_GZ_EC_MIN2 1100
|
||||
param set-default SIM_GZ_EC_MIN3 1100
|
||||
param set-default SIM_GZ_EC_MIN4 1100
|
||||
param set-default SIM_GZ_EC_MIN5 1100
|
||||
param set-default SIM_GZ_EC_MIN6 1100
|
||||
param set-default SIM_GZ_EC_MIN7 1100
|
||||
param set-default SIM_GZ_EC_MIN8 1100
|
||||
|
||||
param set-default SIM_GZ_EC_MAX1 1900
|
||||
param set-default SIM_GZ_EC_MAX2 1900
|
||||
param set-default SIM_GZ_EC_MAX3 1900
|
||||
param set-default SIM_GZ_EC_MAX4 1900
|
||||
param set-default SIM_GZ_EC_MAX5 1900
|
||||
param set-default SIM_GZ_EC_MAX6 1900
|
||||
param set-default SIM_GZ_EC_MAX7 1900
|
||||
param set-default SIM_GZ_EC_MAX8 1900
|
||||
@@ -26,6 +26,7 @@ param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MAV_PROTO_VER 2
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 6
|
||||
|
||||
@@ -1,155 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name KTH-ATMOS
|
||||
#
|
||||
# @type Free-Flyer
|
||||
# @class Spacecraft
|
||||
#
|
||||
# @output Motor1 back left thruster, +x thrust
|
||||
# @output Motor2 front left thruster, -x thrust
|
||||
# @output Motor3 back right thruster, +x thrust
|
||||
# @output Motor4 front right thruster, -x thrust
|
||||
# @output Motor5 front left thruster, +y thrust
|
||||
# @output Motor6 front right thruster, -y thrust
|
||||
# @output Motor7 back left thruster, +y thrust
|
||||
# @output Motor8 back right thruster, -y thrust
|
||||
#
|
||||
# @maintainer discower-io
|
||||
# @url https://atmos.discower.io
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.sc_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default COM_ARM_CHK_ESCS 0 # We don't have ESCs
|
||||
param set-default FD_ESCS_EN 0
|
||||
|
||||
param set-default CA_AIRFRAME 14
|
||||
param set-default MAV_TYPE 45
|
||||
|
||||
param set-default CA_ROTOR_COUNT 8
|
||||
param set-default CA_R_REV 0
|
||||
|
||||
# Auto to be provided by Custom Airframe
|
||||
param set-default CA_METHOD 0
|
||||
|
||||
# Set proper failsafes
|
||||
param set-default COM_ACT_FAIL_ACT 0
|
||||
param set-default COM_LOW_BAT_ACT 0
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default GF_ACTION 1
|
||||
param set-default NAV_RCL_ACT 1
|
||||
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
|
||||
param set-default CA_ROTOR0_PX -0.12
|
||||
param set-default CA_ROTOR0_PY -0.12
|
||||
param set-default CA_ROTOR0_PZ 0.0
|
||||
param set-default CA_ROTOR0_CT 1.4
|
||||
param set-default CA_ROTOR0_AX 1.0
|
||||
param set-default CA_ROTOR0_AY 0.0
|
||||
param set-default CA_ROTOR0_AZ 0.0
|
||||
|
||||
param set-default CA_ROTOR1_PX 0.12
|
||||
param set-default CA_ROTOR1_PY -0.12
|
||||
param set-default CA_ROTOR1_PZ 0.0
|
||||
param set-default CA_ROTOR1_CT 1.4
|
||||
param set-default CA_ROTOR1_AX -1.0
|
||||
param set-default CA_ROTOR1_AY 0.0
|
||||
param set-default CA_ROTOR1_AZ 0.0
|
||||
|
||||
param set-default CA_ROTOR2_PX -0.12
|
||||
param set-default CA_ROTOR2_PY 0.12
|
||||
param set-default CA_ROTOR2_PZ 0.0
|
||||
param set-default CA_ROTOR2_CT 1.4
|
||||
param set-default CA_ROTOR2_AX 1.0
|
||||
param set-default CA_ROTOR2_AY 0.0
|
||||
param set-default CA_ROTOR2_AZ 0.0
|
||||
|
||||
param set-default CA_ROTOR3_PX 0.12
|
||||
param set-default CA_ROTOR3_PY 0.12
|
||||
param set-default CA_ROTOR3_PZ 0.0
|
||||
param set-default CA_ROTOR3_CT 1.4
|
||||
param set-default CA_ROTOR3_AX -1.0
|
||||
param set-default CA_ROTOR3_AY 0.0
|
||||
param set-default CA_ROTOR3_AZ 0.0
|
||||
|
||||
param set-default CA_ROTOR4_PX 0.12
|
||||
param set-default CA_ROTOR4_PY -0.12
|
||||
param set-default CA_ROTOR4_PZ 0.0
|
||||
param set-default CA_ROTOR4_CT 1.4
|
||||
param set-default CA_ROTOR4_AX 0.0
|
||||
param set-default CA_ROTOR4_AY 1.0
|
||||
param set-default CA_ROTOR4_AZ 0.0
|
||||
|
||||
param set-default CA_ROTOR5_PX 0.12
|
||||
param set-default CA_ROTOR5_PY 0.12
|
||||
param set-default CA_ROTOR5_PZ 0.0
|
||||
param set-default CA_ROTOR5_CT 1.4
|
||||
param set-default CA_ROTOR5_AX 0.0
|
||||
param set-default CA_ROTOR5_AY -1.0
|
||||
param set-default CA_ROTOR5_AZ 0.0
|
||||
|
||||
param set-default CA_ROTOR6_PX -0.12
|
||||
param set-default CA_ROTOR6_PY -0.12
|
||||
param set-default CA_ROTOR6_PZ 0.0
|
||||
param set-default CA_ROTOR6_CT 1.4
|
||||
param set-default CA_ROTOR6_AX 0.0
|
||||
param set-default CA_ROTOR6_AY 1.0
|
||||
param set-default CA_ROTOR6_AZ 0.0
|
||||
|
||||
param set-default CA_ROTOR7_PX -0.12
|
||||
param set-default CA_ROTOR7_PY 0.12
|
||||
param set-default CA_ROTOR7_PZ 0.0
|
||||
param set-default CA_ROTOR7_CT 1.4
|
||||
param set-default CA_ROTOR7_AX 0.0
|
||||
param set-default CA_ROTOR7_AY -1.0
|
||||
param set-default CA_ROTOR7_AZ 0.0
|
||||
|
||||
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_FUNC5 105
|
||||
param set-default SIM_GZ_EC_FUNC6 106
|
||||
param set-default SIM_GZ_EC_FUNC7 107
|
||||
param set-default SIM_GZ_EC_FUNC8 108
|
||||
|
||||
param set-default SIM_GZ_EC_MIN1 0
|
||||
param set-default SIM_GZ_EC_MIN2 0
|
||||
param set-default SIM_GZ_EC_MIN3 0
|
||||
param set-default SIM_GZ_EC_MIN4 0
|
||||
param set-default SIM_GZ_EC_MIN5 0
|
||||
param set-default SIM_GZ_EC_MIN6 0
|
||||
param set-default SIM_GZ_EC_MIN7 0
|
||||
param set-default SIM_GZ_EC_MIN8 0
|
||||
|
||||
param set-default SIM_GZ_EC_MAX1 10000
|
||||
param set-default SIM_GZ_EC_MAX2 10000
|
||||
param set-default SIM_GZ_EC_MAX3 10000
|
||||
param set-default SIM_GZ_EC_MAX4 10000
|
||||
param set-default SIM_GZ_EC_MAX5 10000
|
||||
param set-default SIM_GZ_EC_MAX6 10000
|
||||
param set-default SIM_GZ_EC_MAX7 10000
|
||||
param set-default SIM_GZ_EC_MAX8 10000
|
||||
|
||||
# Controller Tunings
|
||||
param set SC_YAWRATE_P 3.335
|
||||
param set SC_YAWRATE_I 0.87
|
||||
param set SC_YAWRATE_D 0.15
|
||||
param set SC_YR_INT_LIM 0.2
|
||||
param set SC_YAW_P 3.0
|
||||
|
||||
param set SPC_POS_P 0.20
|
||||
param set SPC_VEL_P 6.55
|
||||
param set SPC_VEL_I 0.0
|
||||
param set SPC_VEL_D 0.0
|
||||
param set SPC_VEL_MAX 12.0
|
||||
@@ -0,0 +1,147 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DoF Spacecraft Model
|
||||
#
|
||||
# @type 2D Freeflyer with 8 thrusters - Planar motion
|
||||
#
|
||||
# @maintainer Pedro Roque <padr@kth.se>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.sc_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default COM_ARM_CHK_ESCS 0 # We don't have ESCs
|
||||
param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
|
||||
|
||||
param set-default CA_AIRFRAME 14
|
||||
param set-default MAV_TYPE 45
|
||||
|
||||
param set-default CA_THRUSTER_CNT 8
|
||||
param set-default CA_R_REV 0
|
||||
|
||||
# param set-default FW_ARSP_MODE 1
|
||||
|
||||
# Auto to be provided by Custom Airframe
|
||||
param set-default CA_METHOD 0 # 0 is PseudoInverse, 3 is Metric
|
||||
|
||||
# Set proper failsafes
|
||||
param set-default COM_ACT_FAIL_ACT 0
|
||||
param set-default COM_LOW_BAT_ACT 0
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default GF_ACTION 1
|
||||
param set-default NAV_RCL_ACT 1
|
||||
param set-default COM_POSCTL_NAVL 2
|
||||
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
|
||||
param set-default CA_THRUSTER0_PX -0.12
|
||||
param set-default CA_THRUSTER0_PY -0.12
|
||||
param set-default CA_THRUSTER0_PZ 0.0
|
||||
param set-default CA_THRUSTER0_CT 1.4
|
||||
param set-default CA_THRUSTER0_AX 1.0
|
||||
param set-default CA_THRUSTER0_AY 0.0
|
||||
param set-default CA_THRUSTER0_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER1_PX 0.12
|
||||
param set-default CA_THRUSTER1_PY -0.12
|
||||
param set-default CA_THRUSTER1_PZ 0.0
|
||||
param set-default CA_THRUSTER1_CT 1.4
|
||||
param set-default CA_THRUSTER1_AX -1.0
|
||||
param set-default CA_THRUSTER1_AY 0.0
|
||||
param set-default CA_THRUSTER1_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER2_PX -0.12
|
||||
param set-default CA_THRUSTER2_PY 0.12
|
||||
param set-default CA_THRUSTER2_PZ 0.0
|
||||
param set-default CA_THRUSTER2_CT 1.4
|
||||
param set-default CA_THRUSTER2_AX 1.0
|
||||
param set-default CA_THRUSTER2_AY 0.0
|
||||
param set-default CA_THRUSTER2_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER3_PX 0.12
|
||||
param set-default CA_THRUSTER3_PY 0.12
|
||||
param set-default CA_THRUSTER3_PZ 0.0
|
||||
param set-default CA_THRUSTER3_CT 1.4
|
||||
param set-default CA_THRUSTER3_AX -1.0
|
||||
param set-default CA_THRUSTER3_AY 0.0
|
||||
param set-default CA_THRUSTER3_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER4_PX 0.12
|
||||
param set-default CA_THRUSTER4_PY -0.12
|
||||
param set-default CA_THRUSTER4_PZ 0.0
|
||||
param set-default CA_THRUSTER4_CT 1.4
|
||||
param set-default CA_THRUSTER4_AX 0.0
|
||||
param set-default CA_THRUSTER4_AY 1.0
|
||||
param set-default CA_THRUSTER4_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER5_PX 0.12
|
||||
param set-default CA_THRUSTER5_PY 0.12
|
||||
param set-default CA_THRUSTER5_PZ 0.0
|
||||
param set-default CA_THRUSTER5_CT 1.4
|
||||
param set-default CA_THRUSTER5_AX 0.0
|
||||
param set-default CA_THRUSTER5_AY -1.0
|
||||
param set-default CA_THRUSTER5_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER6_PX -0.12
|
||||
param set-default CA_THRUSTER6_PY -0.12
|
||||
param set-default CA_THRUSTER6_PZ 0.0
|
||||
param set-default CA_THRUSTER6_CT 1.4
|
||||
param set-default CA_THRUSTER6_AX 0.0
|
||||
param set-default CA_THRUSTER6_AY 1.0
|
||||
param set-default CA_THRUSTER6_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER7_PX -0.12
|
||||
param set-default CA_THRUSTER7_PY 0.12
|
||||
param set-default CA_THRUSTER7_PZ 0.0
|
||||
param set-default CA_THRUSTER7_CT 1.4
|
||||
param set-default CA_THRUSTER7_AX 0.0
|
||||
param set-default CA_THRUSTER7_AY -1.0
|
||||
param set-default CA_THRUSTER7_AZ 0.0
|
||||
|
||||
param set-default SIM_GZ_TH_FUNC1 101
|
||||
param set-default SIM_GZ_TH_FUNC2 102
|
||||
param set-default SIM_GZ_TH_FUNC3 103
|
||||
param set-default SIM_GZ_TH_FUNC4 104
|
||||
param set-default SIM_GZ_TH_FUNC5 105
|
||||
param set-default SIM_GZ_TH_FUNC6 106
|
||||
param set-default SIM_GZ_TH_FUNC7 107
|
||||
param set-default SIM_GZ_TH_FUNC8 108
|
||||
|
||||
param set-default SIM_GZ_TH_MIN1 0
|
||||
param set-default SIM_GZ_TH_MIN2 0
|
||||
param set-default SIM_GZ_TH_MIN3 0
|
||||
param set-default SIM_GZ_TH_MIN4 0
|
||||
param set-default SIM_GZ_TH_MIN5 0
|
||||
param set-default SIM_GZ_TH_MIN6 0
|
||||
param set-default SIM_GZ_TH_MIN7 0
|
||||
param set-default SIM_GZ_TH_MIN8 0
|
||||
|
||||
param set-default SIM_GZ_TH_MAX1 10000
|
||||
param set-default SIM_GZ_TH_MAX2 10000
|
||||
param set-default SIM_GZ_TH_MAX3 10000
|
||||
param set-default SIM_GZ_TH_MAX4 10000
|
||||
param set-default SIM_GZ_TH_MAX5 10000
|
||||
param set-default SIM_GZ_TH_MAX6 10000
|
||||
param set-default SIM_GZ_TH_MAX7 10000
|
||||
param set-default SIM_GZ_TH_MAX8 10000
|
||||
|
||||
# Controller Tunings
|
||||
param set SC_YAWRATE_P 3.335
|
||||
param set SC_YAWRATE_I 0.87
|
||||
param set SC_YAWRATE_D 0.15
|
||||
param set SC_YR_INT_LIM 0.2
|
||||
param set SC_YAW_P 3.0
|
||||
|
||||
param set SPC_POS_P 0.20
|
||||
param set SPC_VEL_P 6.55
|
||||
param set SPC_VEL_I 0.0
|
||||
param set SPC_VEL_D 0.0
|
||||
param set SPC_VEL_MAX 12.0
|
||||
@@ -62,6 +62,8 @@ px4_add_romfs_files(
|
||||
1043_gazebo-classic_standard_vtol_drop
|
||||
1044_gazebo-classic_plane_lidar
|
||||
1045_gazebo-classic_quadtailsitter
|
||||
1060_gazebo-classic_rover
|
||||
1061_gazebo-classic_r1_rover
|
||||
1062_flightgear_tf-r1
|
||||
1070_gazebo-classic_boat
|
||||
|
||||
@@ -80,8 +82,10 @@ px4_add_romfs_files(
|
||||
4009_gz_r1_rover
|
||||
4010_gz_x500_mono_cam
|
||||
4011_gz_lawnmower
|
||||
4012_gz_rover_ackermann
|
||||
4013_gz_x500_lidar_2d
|
||||
4014_gz_x500_mono_cam_down
|
||||
4015_gz_r1_rover_mecanum
|
||||
4016_gz_x500_lidar_down
|
||||
4017_gz_x500_lidar_front
|
||||
4018_gz_quadtailsitter
|
||||
@@ -106,18 +110,13 @@ px4_add_romfs_files(
|
||||
10042_sihsim_xvert
|
||||
10043_sihsim_standard_vtol
|
||||
10044_sihsim_hex
|
||||
10045_sihsim_rover_ackermann
|
||||
|
||||
17001_flightgear_tf-g1
|
||||
17002_flightgear_tf-g2
|
||||
|
||||
50000_gz_rover_differential
|
||||
51000_gz_rover_ackermann
|
||||
52000_gz_rover_mecanum
|
||||
|
||||
60002_gz_uuv_bluerov2_heavy
|
||||
|
||||
70000_gz_atmos
|
||||
71002_gz_spacecraft_2d
|
||||
|
||||
# [22000, 22999] Reserve for custom models
|
||||
)
|
||||
|
||||
@@ -173,6 +173,7 @@ param set-default COM_RC_IN_MODE 1
|
||||
param set-default EKF2_REQ_GPS_H 0.5
|
||||
|
||||
param set-default IMU_GYRO_FFT_EN 1
|
||||
param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
|
||||
|
||||
param set-default -s MC_AT_EN 1
|
||||
|
||||
@@ -189,9 +190,6 @@ param set-default SYS_FAILURE_EN 1
|
||||
# does not go below 50% by default, but failure injection can trigger failsafes.
|
||||
param set-default COM_LOW_BAT_ACT 3
|
||||
|
||||
# set default IP to localhost
|
||||
param set-default UXRCE_DDS_AG_IP 2130706433 # 127.0.0.1
|
||||
|
||||
|
||||
# Adapt timeout parameters if simulation runs faster or slower than realtime.
|
||||
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
|
||||
@@ -321,12 +319,7 @@ then
|
||||
uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
|
||||
fi
|
||||
|
||||
uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns
|
||||
|
||||
if param greater -s ZENOH_ENABLE 0
|
||||
then
|
||||
zenoh start
|
||||
fi
|
||||
uxrce_dds_client start -t udp -h 127.0.0.1 -p $uxrce_dds_port $uxrce_dds_ns
|
||||
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
then
|
||||
@@ -349,7 +342,11 @@ then
|
||||
gyro_calibration start
|
||||
fi
|
||||
|
||||
payload_deliverer start
|
||||
# Payload deliverer module if gripper is enabled
|
||||
if param compare -s PD_GRIPPER_EN 1
|
||||
then
|
||||
payload_deliverer start
|
||||
fi
|
||||
|
||||
if param compare -s ICE_EN 1
|
||||
then
|
||||
|
||||
@@ -69,6 +69,15 @@ if(CONFIG_MODULES_MC_RATE_CONTROL)
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_ROVER_POS_CONTROL)
|
||||
px4_add_romfs_files(
|
||||
rc.rover_apps
|
||||
rc.rover_defaults
|
||||
|
||||
rc.boat_defaults # hack
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
|
||||
px4_add_romfs_files(
|
||||
rc.rover_differential_apps
|
||||
|
||||
@@ -1,65 +0,0 @@
|
||||
#!/bin/sh
|
||||
# @name SIH Rover Ackermann
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_ackermann_defaults
|
||||
|
||||
set VEHICLE_TYPE rover_ackermann
|
||||
param set-default CA_AIRFRAME 5 # Rover (Ackermann)
|
||||
param set-default CA_R_REV 1 # Motor is assumed to be reversible
|
||||
param set-default EKF2_MAG_TYPE 1 # Make sure magnetometer is fused even when not driving
|
||||
param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
|
||||
param set-default SIH_VEHICLE_TYPE 5 # sih as rover ackermann
|
||||
param set-default SYS_HITL 2 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
|
||||
param set-default HIL_ACT_FUNC1 201 # Steering
|
||||
param set-default HIL_ACT_FUNC2 101 # Throttle
|
||||
param set-default SIH_MASS 20
|
||||
param set-default SIH_IXX 0.4333
|
||||
param set-default SIH_IYY 1.6833
|
||||
param set-default SIH_IZZ 2.0833
|
||||
param set-default SIH_IXZ 0
|
||||
param set-default SIH_KDV 50
|
||||
param set-default SIH_KDW 10
|
||||
|
||||
# Ackermann Parameters
|
||||
param set-default RA_WHEEL_BASE 0.321
|
||||
param set-default RA_ACC_RAD_GAIN 2
|
||||
param set-default RA_ACC_RAD_MAX 3
|
||||
param set-default RA_MAX_STR_ANG 0.5236
|
||||
param set-default RA_STR_RATE_LIM 360
|
||||
|
||||
# Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.01
|
||||
param set-default RO_YAW_RATE_P 0.25
|
||||
param set-default RO_YAW_RATE_LIM 180
|
||||
param set-default RO_YAW_ACCEL_LIM 400
|
||||
param set-default RO_YAW_DECEL_LIM 800
|
||||
param set-default RO_YAW_RATE_CORR 1
|
||||
|
||||
# Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Velocity Control Parameters
|
||||
param set-default RO_ACCEL_LIM 3
|
||||
param set-default RO_DECEL_LIM 3
|
||||
param set-default RO_JERK_LIM 10
|
||||
param set-default RO_MAX_THR_SPEED 3.2
|
||||
param set-default RO_SPEED_LIM 3
|
||||
param set-default RO_SPEED_I 0.001
|
||||
param set-default RO_SPEED_P 0.001
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
@@ -7,10 +7,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board auterion_fmu-v6s exclude
|
||||
# @board ark_fmu-v6x exclude
|
||||
# @board auterion_fmu-v6x exclude
|
||||
# @board px4_fmu-v6x exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
# @maintainer Iain Galloway <iain.galloway@nxp.com>
|
||||
|
||||
@@ -7,7 +7,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board auterion_fmu-v6x exclude
|
||||
# @board px4_fmu-v6x exclude
|
||||
#
|
||||
|
||||
|
||||
@@ -13,11 +13,6 @@
|
||||
# @board px4_fmu-v4pro exclude
|
||||
# @board px4_fmu-v5 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board auterion_fmu-v6s exclude
|
||||
# @board ark_fmu-v6x exclude
|
||||
# @board auterion_fmu-v6x exclude
|
||||
# @board px4_fmu-v6x exclude
|
||||
# @board px4_fmu-v6xrt exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
|
||||
@@ -47,6 +47,3 @@ param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -1
|
||||
param set-default CA_ROTOR3_PY 1
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default MPC_Z_VEL_MAX_UP 3.0
|
||||
param set-default MPC_Z_VEL_MAX_DN 3.0
|
||||
|
||||
@@ -10,7 +10,6 @@
|
||||
# @board cuav_x7pro exclude
|
||||
# @board px4_fmu-v4pro exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board auterion_fmu-v6x exclude
|
||||
# @board px4_fmu-v6x exclude
|
||||
#
|
||||
|
||||
|
||||
@@ -12,7 +12,6 @@
|
||||
# @board px4_fmu-v4pro exclude
|
||||
# @board px4_fmu-v5 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board auterion_fmu-v6x exclude
|
||||
# @board px4_fmu-v6x exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board cuav_x7pro exclude
|
||||
|
||||
@@ -10,7 +10,6 @@
|
||||
# @board px4_fmu-v4pro exclude
|
||||
# @board px4_fmu-v5 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board auterion_fmu-v6x exclude
|
||||
# @board px4_fmu-v6x exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board cuav_x7pro exclude
|
||||
|
||||
@@ -14,7 +14,6 @@
|
||||
# @board px4_fmu-v4pro exclude
|
||||
# @board px4_fmu-v5 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board auterion_fmu-v6x exclude
|
||||
# @board px4_fmu-v6x exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board diatone_mamba-f405-mk2 exclude
|
||||
|
||||
@@ -13,7 +13,6 @@
|
||||
# @board px4_fmu-v4pro exclude
|
||||
# @board px4_fmu-v5 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board auterion_fmu-v6x exclude
|
||||
# @board px4_fmu-v6x exclude
|
||||
# @board diatone_mamba-f405-mk2 exclude
|
||||
#
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# @name Aion Robotics R1 UGV
|
||||
#
|
||||
# @url https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1.html
|
||||
# @url https://www.aionrobotics.com/r1
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
@@ -1,31 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name NXP B3RB Rover Ackermann
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_ackermann_defaults
|
||||
|
||||
param set-default BAT1_N_CELLS 3
|
||||
|
||||
# Set geometry & output configration
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 101
|
||||
param set-default PWM_MAIN_FUNC3 101
|
||||
param set-default PWM_MAIN_DIS1 1500
|
||||
param set-default PWM_MAIN_DIS2 0
|
||||
param set-default PWM_MAIN_DIS3 1500
|
||||
param set-default PWM_MAIN_MIN1 1000
|
||||
param set-default PWM_MAIN_MIN2 2500
|
||||
param set-default PWM_MAIN_MIN3 0
|
||||
param set-default PWM_MAIN_MAX1 2000
|
||||
param set-default PWM_MAIN_MAX2 2500
|
||||
param set-default PWM_MAIN_MAX3 50
|
||||
param set-default PWM_MAIN_TIM0 400
|
||||
param set-default PWM_MAIN_TIM1 400
|
||||
param set-default PWM_MAIN_TIM2 20000
|
||||
@@ -0,0 +1,49 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Generic Ground Vehicle (Deprecated)
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @output Motor1 throttle
|
||||
# @output Servo1 steering
|
||||
#
|
||||
# @maintainer
|
||||
#
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default BAT1_N_CELLS 2
|
||||
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_MAG_TYPE 1
|
||||
|
||||
param set-default FW_AIRSPD_MAX 3
|
||||
param set-default FW_AIRSPD_MIN 0
|
||||
param set-default FW_AIRSPD_TRIM 1
|
||||
|
||||
# Settings for a typical wheelbase 0f 0.3m
|
||||
param set-default GND_L1_DIST 1
|
||||
param set-default GND_L1_PERIOD 5
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_I 3
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
param set-default CA_AIRFRAME 5
|
||||
|
||||
param set-default CA_R_REV 1
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 201
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
param set-default PWM_MAIN_FUNC7 101
|
||||
@@ -0,0 +1,64 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name NXP Cup car: DF Robot GPX (Deprecated)
|
||||
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
# @output Motor1 Speed of left wheels
|
||||
# @output Servo1 Steering servo
|
||||
#
|
||||
# @maintainer Katrin Moritz
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default BAT1_N_CELLS 2
|
||||
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
param set-default EKF2_MAG_TYPE 1
|
||||
|
||||
param set-default FW_AIRSPD_MIN 0
|
||||
param set-default FW_AIRSPD_TRIM 1
|
||||
param set-default FW_AIRSPD_MAX 3
|
||||
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
|
||||
# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
|
||||
param set-default GND_MAX_ANG 1.042
|
||||
param set-default GND_WHEEL_BASE 0.17
|
||||
|
||||
# TODO: Set to -1, to allow reversing. This will require many changes in the codebase
|
||||
# to support negative throttle.
|
||||
param set-default GND_THR_MIN 0
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_I 3
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
param set-default CA_AIRFRAME 5
|
||||
|
||||
param set-default CA_R_REV 1
|
||||
param set-default PWM_MAIN_FUNC2 201
|
||||
param set-default PWM_MAIN_FUNC3 101
|
||||
param set-default PWM_MAIN_FUNC4 101
|
||||
|
||||
# Provide ESC a constant 1500 us pulse to idle
|
||||
param set-default PWM_MAIN_DIS2 1500
|
||||
param set-default PWM_MAIN_DIS3 1485
|
||||
param set-default PWM_MAIN_DIS4 1485
|
||||
param set-default PWM_MAIN_FAIL3 1485
|
||||
param set-default PWM_MAIN_FAIL4 1485
|
||||
param set-default PWM_MAIN_MIN3 970
|
||||
param set-default PWM_MAIN_MIN4 970
|
||||
@@ -22,7 +22,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
# param set-default MAV_1_CONFIG 102
|
||||
param set-default MAV_1_CONFIG 102
|
||||
|
||||
param set-default BAT1_A_PER_V 37.8798
|
||||
param set-default BAT1_CAPACITY 18000
|
||||
@@ -30,92 +30,53 @@ param set-default BAT1_V_DIV 11
|
||||
param set-default BAT1_N_CELLS 4
|
||||
param set-default BAT_V_OFFS_CURR 0.33
|
||||
|
||||
# Set parameters using `param` utility for SITL
|
||||
param set-default CA_AIRFRAME 7
|
||||
param set-default CA_METHOD 0
|
||||
param set-default MAV_TYPE 12
|
||||
|
||||
# Board rotation: set to direct replacement of RPi with PX4
|
||||
# with forward facing vehicle forward
|
||||
param set-default SENS_BOARD_ROT 16
|
||||
|
||||
# Set proper failsafes
|
||||
param set-default COM_ACT_FAIL_ACT 0
|
||||
param set-default COM_LOW_BAT_ACT 0
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default GF_ACTION 1
|
||||
param set-default NAV_RCL_ACT 1
|
||||
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 8
|
||||
param set-default CA_R_REV 255
|
||||
|
||||
param set-default CA_ROTOR0_AX 1
|
||||
param set-default CA_ROTOR0_AY -1
|
||||
param set-default CA_ROTOR0_AZ 0
|
||||
param set-default CA_ROTOR0_KM 0
|
||||
param set-default CA_ROTOR0_PX 0.14
|
||||
param set-default CA_ROTOR0_PY 0.10
|
||||
param set-default CA_ROTOR0_PZ 0.06
|
||||
|
||||
param set-default CA_ROTOR0_PX 0.5
|
||||
param set-default CA_ROTOR0_PY 0.3
|
||||
param set-default CA_ROTOR0_PZ 0.2
|
||||
param set-default CA_ROTOR1_AX 1
|
||||
param set-default CA_ROTOR1_AY 1
|
||||
param set-default CA_ROTOR1_AZ 0
|
||||
param set-default CA_ROTOR1_KM 0
|
||||
param set-default CA_ROTOR1_PX 0.14
|
||||
param set-default CA_ROTOR1_PY -0.10
|
||||
param set-default CA_ROTOR1_PZ 0.06
|
||||
|
||||
param set-default CA_ROTOR1_PX 0.5
|
||||
param set-default CA_ROTOR1_PY -0.3
|
||||
param set-default CA_ROTOR1_PZ 0.2
|
||||
param set-default CA_ROTOR2_AX 1
|
||||
param set-default CA_ROTOR2_AY 1
|
||||
param set-default CA_ROTOR2_AZ 0
|
||||
param set-default CA_ROTOR2_KM 0
|
||||
param set-default CA_ROTOR2_PX -0.14
|
||||
param set-default CA_ROTOR2_PY 0.10
|
||||
param set-default CA_ROTOR2_PZ 0.06
|
||||
|
||||
param set-default CA_ROTOR2_PX -0.5
|
||||
param set-default CA_ROTOR2_PY 0.3
|
||||
param set-default CA_ROTOR2_PZ 0.2
|
||||
param set-default CA_ROTOR3_AX 1
|
||||
param set-default CA_ROTOR3_AY -1
|
||||
param set-default CA_ROTOR3_AZ 0
|
||||
param set-default CA_ROTOR3_KM 0
|
||||
param set-default CA_ROTOR3_PX -0.14
|
||||
param set-default CA_ROTOR3_PY -0.10
|
||||
param set-default CA_ROTOR3_PZ 0.06
|
||||
|
||||
param set-default CA_ROTOR4_AX 0
|
||||
param set-default CA_ROTOR4_AY 0
|
||||
param set-default CA_ROTOR3_PX -0.5
|
||||
param set-default CA_ROTOR3_PY -0.3
|
||||
param set-default CA_ROTOR3_PZ 0.2
|
||||
param set-default CA_ROTOR4_AZ -1
|
||||
param set-default CA_ROTOR4_KM 0
|
||||
param set-default CA_ROTOR4_PX 0.12
|
||||
param set-default CA_ROTOR4_PY 0.22
|
||||
param set-default CA_ROTOR4_PZ 0
|
||||
|
||||
param set-default CA_ROTOR5_AX 0
|
||||
param set-default CA_ROTOR5_AY 0
|
||||
param set-default CA_ROTOR4_PX 0.5
|
||||
param set-default CA_ROTOR4_PY 0.5
|
||||
param set-default CA_ROTOR5_AZ 1
|
||||
param set-default CA_ROTOR5_KM 0
|
||||
param set-default CA_ROTOR5_PX 0.12
|
||||
param set-default CA_ROTOR5_PY -0.22
|
||||
param set-default CA_ROTOR5_PZ 0
|
||||
|
||||
param set-default CA_ROTOR6_AX 0
|
||||
param set-default CA_ROTOR6_AY 0
|
||||
param set-default CA_ROTOR5_PX 0.5
|
||||
param set-default CA_ROTOR5_PY -0.5
|
||||
param set-default CA_ROTOR6_AZ 1
|
||||
param set-default CA_ROTOR6_KM 0
|
||||
param set-default CA_ROTOR6_PX -0.12
|
||||
param set-default CA_ROTOR6_PY 0.22
|
||||
param set-default CA_ROTOR6_PZ 0
|
||||
|
||||
param set-default CA_ROTOR7_AX 0
|
||||
param set-default CA_ROTOR7_AY 0
|
||||
param set-default CA_ROTOR7_AZ -1
|
||||
param set-default CA_ROTOR6_PX -0.5
|
||||
param set-default CA_ROTOR6_PY 0.5
|
||||
param set-default CA_ROTOR7_KM 0
|
||||
param set-default CA_ROTOR7_PX -0.12
|
||||
param set-default CA_ROTOR7_PY -0.22
|
||||
param set-default CA_ROTOR7_PZ 0
|
||||
param set-default CA_ROTOR7_PX -0.5
|
||||
param set-default CA_ROTOR7_PY -0.5
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
@@ -125,30 +86,3 @@ param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
param set-default PWM_MAIN_FUNC7 107
|
||||
param set-default PWM_MAIN_FUNC8 108
|
||||
|
||||
param set-default PWM_MAIN_MIN1 1100
|
||||
param set-default PWM_MAIN_MIN2 1100
|
||||
param set-default PWM_MAIN_MIN3 1100
|
||||
param set-default PWM_MAIN_MIN4 1100
|
||||
param set-default PWM_MAIN_MIN5 1100
|
||||
param set-default PWM_MAIN_MIN6 1100
|
||||
param set-default PWM_MAIN_MIN7 1100
|
||||
param set-default PWM_MAIN_MIN8 1100
|
||||
|
||||
param set-default PWM_MAIN_MAX1 1900
|
||||
param set-default PWM_MAIN_MAX2 1900
|
||||
param set-default PWM_MAIN_MAX3 1900
|
||||
param set-default PWM_MAIN_MAX4 1900
|
||||
param set-default PWM_MAIN_MAX5 1900
|
||||
param set-default PWM_MAIN_MAX6 1900
|
||||
param set-default PWM_MAIN_MAX7 1900
|
||||
param set-default PWM_MAIN_MAX8 1900
|
||||
|
||||
param set-default PWM_MAIN_DIS1 1500
|
||||
param set-default PWM_MAIN_DIS2 1500
|
||||
param set-default PWM_MAIN_DIS3 1500
|
||||
param set-default PWM_MAIN_DIS4 1500
|
||||
param set-default PWM_MAIN_DIS5 1500
|
||||
param set-default PWM_MAIN_DIS6 1500
|
||||
param set-default PWM_MAIN_DIS7 1500
|
||||
param set-default PWM_MAIN_DIS8 1500
|
||||
|
||||
@@ -1,159 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name KTH-ATMOS
|
||||
#
|
||||
# @type Free-Flyer
|
||||
# @class Spacecraft
|
||||
#
|
||||
# @output Motor1 back left thruster, +x thrust
|
||||
# @output Motor2 front left thruster, -x thrust
|
||||
# @output Motor3 back right thruster, +x thrust
|
||||
# @output Motor4 front right thruster, -x thrust
|
||||
# @output Motor5 front left thruster, +y thrust
|
||||
# @output Motor6 front right thruster, -y thrust
|
||||
# @output Motor7 back left thruster, +y thrust
|
||||
# @output Motor8 back right thruster, -y thrust
|
||||
#
|
||||
# @maintainer DISCOWER
|
||||
# @url https://atmos.discower.io
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.sc_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 14
|
||||
param set-default MAV_TYPE 45
|
||||
|
||||
param set-default CA_ROTOR_COUNT 8
|
||||
param set-default CA_R_REV 0
|
||||
|
||||
# Auto to be provided by Custom Airframe
|
||||
param set-default CA_METHOD 0
|
||||
|
||||
# Set proper failsafes
|
||||
param set-default COM_ACT_FAIL_ACT 0
|
||||
param set-default COM_LOW_BAT_ACT 0
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default GF_ACTION 1
|
||||
param set-default NAV_RCL_ACT 1
|
||||
|
||||
# Set Mocap Vision frame
|
||||
param set EKF2_EV_CTRL 15
|
||||
param set EKF2_HGT_REF 3
|
||||
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
|
||||
param set-default CA_ROTOR0_PX -0.12
|
||||
param set-default CA_ROTOR0_PY -0.12
|
||||
param set-default CA_ROTOR0_PZ 0.0
|
||||
param set-default CA_ROTOR0_CT 1.4
|
||||
param set-default CA_ROTOR0_AX 1.0
|
||||
param set-default CA_ROTOR0_AY 0.0
|
||||
param set-default CA_ROTOR0_AZ 0.0
|
||||
|
||||
param set-default CA_ROTOR1_PX 0.12
|
||||
param set-default CA_ROTOR1_PY -0.12
|
||||
param set-default CA_ROTOR1_PZ 0.0
|
||||
param set-default CA_ROTOR1_CT 1.4
|
||||
param set-default CA_ROTOR1_AX -1.0
|
||||
param set-default CA_ROTOR1_AY 0.0
|
||||
param set-default CA_ROTOR1_AZ 0.0
|
||||
|
||||
param set-default CA_ROTOR2_PX -0.12
|
||||
param set-default CA_ROTOR2_PY 0.12
|
||||
param set-default CA_ROTOR2_PZ 0.0
|
||||
param set-default CA_ROTOR2_CT 1.4
|
||||
param set-default CA_ROTOR2_AX 1.0
|
||||
param set-default CA_ROTOR2_AY 0.0
|
||||
param set-default CA_ROTOR2_AZ 0.0
|
||||
|
||||
param set-default CA_ROTOR3_PX 0.12
|
||||
param set-default CA_ROTOR3_PY 0.12
|
||||
param set-default CA_ROTOR3_PZ 0.0
|
||||
param set-default CA_ROTOR3_CT 1.4
|
||||
param set-default CA_ROTOR3_AX -1.0
|
||||
param set-default CA_ROTOR3_AY 0.0
|
||||
param set-default CA_ROTOR3_AZ 0.0
|
||||
|
||||
param set-default CA_ROTOR4_PX 0.12
|
||||
param set-default CA_ROTOR4_PY -0.12
|
||||
param set-default CA_ROTOR4_PZ 0.0
|
||||
param set-default CA_ROTOR4_CT 1.4
|
||||
param set-default CA_ROTOR4_AX 0.0
|
||||
param set-default CA_ROTOR4_AY 1.0
|
||||
param set-default CA_ROTOR4_AZ 0.0
|
||||
|
||||
param set-default CA_ROTOR5_PX 0.12
|
||||
param set-default CA_ROTOR5_PY 0.12
|
||||
param set-default CA_ROTOR5_PZ 0.0
|
||||
param set-default CA_ROTOR5_CT 1.4
|
||||
param set-default CA_ROTOR5_AX 0.0
|
||||
param set-default CA_ROTOR5_AY -1.0
|
||||
param set-default CA_ROTOR5_AZ 0.0
|
||||
|
||||
param set-default CA_ROTOR6_PX -0.12
|
||||
param set-default CA_ROTOR6_PY -0.12
|
||||
param set-default CA_ROTOR6_PZ 0.0
|
||||
param set-default CA_ROTOR6_CT 1.4
|
||||
param set-default CA_ROTOR6_AX 0.0
|
||||
param set-default CA_ROTOR6_AY 1.0
|
||||
param set-default CA_ROTOR6_AZ 0.0
|
||||
|
||||
param set-default CA_ROTOR7_PX -0.12
|
||||
param set-default CA_ROTOR7_PY 0.12
|
||||
param set-default CA_ROTOR7_PZ 0.0
|
||||
param set-default CA_ROTOR7_CT 1.4
|
||||
param set-default CA_ROTOR7_AX 0.0
|
||||
param set-default CA_ROTOR7_AY -1.0
|
||||
param set-default CA_ROTOR7_AZ 0.0
|
||||
|
||||
|
||||
param set-default PWM_AUX_TIM0 10
|
||||
param set-default PWM_AUX_TIM1 10
|
||||
param set-default PWM_AUX_TIM2 10
|
||||
|
||||
param set-default PWM_AUX_FUNC1 101
|
||||
param set-default PWM_AUX_FUNC2 102
|
||||
param set-default PWM_AUX_FUNC3 103
|
||||
param set-default PWM_AUX_FUNC4 104
|
||||
param set-default PWM_AUX_FUNC5 105
|
||||
param set-default PWM_AUX_FUNC6 106
|
||||
param set-default PWM_AUX_FUNC7 107
|
||||
param set-default PWM_AUX_FUNC8 108
|
||||
|
||||
param set-default PWM_AUX_DIS1 0
|
||||
param set-default PWM_AUX_DIS2 0
|
||||
param set-default PWM_AUX_DIS3 0
|
||||
param set-default PWM_AUX_DIS4 0
|
||||
param set-default PWM_AUX_DIS5 0
|
||||
param set-default PWM_AUX_DIS6 0
|
||||
param set-default PWM_AUX_DIS7 0
|
||||
param set-default PWM_AUX_DIS8 0
|
||||
|
||||
param set-default PWM_AUX_MIN1 0
|
||||
param set-default PWM_AUX_MIN2 0
|
||||
param set-default PWM_AUX_MIN3 0
|
||||
param set-default PWM_AUX_MIN4 0
|
||||
param set-default PWM_AUX_MIN5 0
|
||||
param set-default PWM_AUX_MIN6 0
|
||||
param set-default PWM_AUX_MIN7 0
|
||||
param set-default PWM_AUX_MIN8 0
|
||||
|
||||
# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
|
||||
param set-default PWM_AUX_MAX1 10000
|
||||
param set-default PWM_AUX_MAX2 10000
|
||||
param set-default PWM_AUX_MAX3 10000
|
||||
param set-default PWM_AUX_MAX4 10000
|
||||
param set-default PWM_AUX_MAX5 10000
|
||||
param set-default PWM_AUX_MAX6 10000
|
||||
param set-default PWM_AUX_MAX7 10000
|
||||
param set-default PWM_AUX_MAX8 10000
|
||||
|
||||
# Controller Tunings
|
||||
param set-default SC_ROLLRATE_P 0.14
|
||||
param set-default SC_PITCHRATE_P 0.14
|
||||
param set-default SC_ROLLRATE_I 0.3
|
||||
param set-default SC_PITCHRATE_I 0.3
|
||||
param set-default SC_ROLLRATE_D 0.004
|
||||
param set-default SC_PITCHRATE_D 0.00
|
||||
@@ -0,0 +1,150 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name KTH Space Robot
|
||||
#
|
||||
# @type Space Robot
|
||||
# @class 2D Space Robot
|
||||
#
|
||||
# @maintainer DISCOWER
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.sc_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 14
|
||||
param set-default MAV_TYPE 45
|
||||
|
||||
param set-default CA_THRUSTER_CNT 8
|
||||
param set-default CA_R_REV 0
|
||||
|
||||
# Auto to be provided by Custom Airframe
|
||||
param set-default CA_METHOD 0
|
||||
|
||||
# Set proper failsafes
|
||||
param set-default COM_ACT_FAIL_ACT 0
|
||||
param set-default COM_LOW_BAT_ACT 0
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default GF_ACTION 1
|
||||
param set-default NAV_RCL_ACT 1
|
||||
param set-default COM_POSCTL_NAVL 2
|
||||
|
||||
# Set Mocap Vision frame
|
||||
param set EKF2_EV_CTRL 15
|
||||
param set EKF2_HGT_REF 3
|
||||
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
|
||||
param set-default CA_THRUSTER0_PX -0.12
|
||||
param set-default CA_THRUSTER0_PY -0.12
|
||||
param set-default CA_THRUSTER0_PZ 0.0
|
||||
param set-default CA_THRUSTER0_CT 1.4
|
||||
param set-default CA_THRUSTER0_AX 1.0
|
||||
param set-default CA_THRUSTER0_AY 0.0
|
||||
param set-default CA_THRUSTER0_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER1_PX 0.12
|
||||
param set-default CA_THRUSTER1_PY -0.12
|
||||
param set-default CA_THRUSTER1_PZ 0.0
|
||||
param set-default CA_THRUSTER1_CT 1.4
|
||||
param set-default CA_THRUSTER1_AX -1.0
|
||||
param set-default CA_THRUSTER1_AY 0.0
|
||||
param set-default CA_THRUSTER1_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER2_PX -0.12
|
||||
param set-default CA_THRUSTER2_PY 0.12
|
||||
param set-default CA_THRUSTER2_PZ 0.0
|
||||
param set-default CA_THRUSTER2_CT 1.4
|
||||
param set-default CA_THRUSTER2_AX 1.0
|
||||
param set-default CA_THRUSTER2_AY 0.0
|
||||
param set-default CA_THRUSTER2_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER3_PX 0.12
|
||||
param set-default CA_THRUSTER3_PY 0.12
|
||||
param set-default CA_THRUSTER3_PZ 0.0
|
||||
param set-default CA_THRUSTER3_CT 1.4
|
||||
param set-default CA_THRUSTER3_AX -1.0
|
||||
param set-default CA_THRUSTER3_AY 0.0
|
||||
param set-default CA_THRUSTER3_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER4_PX 0.12
|
||||
param set-default CA_THRUSTER4_PY -0.12
|
||||
param set-default CA_THRUSTER4_PZ 0.0
|
||||
param set-default CA_THRUSTER4_CT 1.4
|
||||
param set-default CA_THRUSTER4_AX 0.0
|
||||
param set-default CA_THRUSTER4_AY 1.0
|
||||
param set-default CA_THRUSTER4_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER5_PX 0.12
|
||||
param set-default CA_THRUSTER5_PY 0.12
|
||||
param set-default CA_THRUSTER5_PZ 0.0
|
||||
param set-default CA_THRUSTER5_CT 1.4
|
||||
param set-default CA_THRUSTER5_AX 0.0
|
||||
param set-default CA_THRUSTER5_AY -1.0
|
||||
param set-default CA_THRUSTER5_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER6_PX -0.12
|
||||
param set-default CA_THRUSTER6_PY -0.12
|
||||
param set-default CA_THRUSTER6_PZ 0.0
|
||||
param set-default CA_THRUSTER6_CT 1.4
|
||||
param set-default CA_THRUSTER6_AX 0.0
|
||||
param set-default CA_THRUSTER6_AY 1.0
|
||||
param set-default CA_THRUSTER6_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER7_PX -0.12
|
||||
param set-default CA_THRUSTER7_PY 0.12
|
||||
param set-default CA_THRUSTER7_PZ 0.0
|
||||
param set-default CA_THRUSTER7_CT 1.4
|
||||
param set-default CA_THRUSTER7_AX 0.0
|
||||
param set-default CA_THRUSTER7_AY -1.0
|
||||
param set-default CA_THRUSTER7_AZ 0.0
|
||||
|
||||
|
||||
param set-default PWM_AUX_TIM0 10
|
||||
param set-default PWM_AUX_TIM1 10
|
||||
param set-default PWM_AUX_TIM2 10
|
||||
|
||||
param set-default PWM_AUX_FUNC1 101
|
||||
param set-default PWM_AUX_FUNC2 102
|
||||
param set-default PWM_AUX_FUNC3 103
|
||||
param set-default PWM_AUX_FUNC4 104
|
||||
param set-default PWM_AUX_FUNC5 105
|
||||
param set-default PWM_AUX_FUNC6 106
|
||||
param set-default PWM_AUX_FUNC7 107
|
||||
param set-default PWM_AUX_FUNC8 108
|
||||
|
||||
param set-default PWM_AUX_DIS1 0
|
||||
param set-default PWM_AUX_DIS2 0
|
||||
param set-default PWM_AUX_DIS3 0
|
||||
param set-default PWM_AUX_DIS4 0
|
||||
param set-default PWM_AUX_DIS5 0
|
||||
param set-default PWM_AUX_DIS6 0
|
||||
param set-default PWM_AUX_DIS7 0
|
||||
param set-default PWM_AUX_DIS8 0
|
||||
|
||||
param set-default PWM_AUX_MIN1 0
|
||||
param set-default PWM_AUX_MIN2 0
|
||||
param set-default PWM_AUX_MIN3 0
|
||||
param set-default PWM_AUX_MIN4 0
|
||||
param set-default PWM_AUX_MIN5 0
|
||||
param set-default PWM_AUX_MIN6 0
|
||||
param set-default PWM_AUX_MIN7 0
|
||||
param set-default PWM_AUX_MIN8 0
|
||||
|
||||
# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
|
||||
param set-default PWM_AUX_MAX1 10000
|
||||
param set-default PWM_AUX_MAX2 10000
|
||||
param set-default PWM_AUX_MAX3 10000
|
||||
param set-default PWM_AUX_MAX4 10000
|
||||
param set-default PWM_AUX_MAX5 10000
|
||||
param set-default PWM_AUX_MAX6 10000
|
||||
param set-default PWM_AUX_MAX7 10000
|
||||
param set-default PWM_AUX_MAX8 10000
|
||||
|
||||
# Controller Tunings
|
||||
param set-default SC_ROLLRATE_P 0.14
|
||||
param set-default SC_PITCHRATE_P 0.14
|
||||
param set-default SC_ROLLRATE_I 0.3
|
||||
param set-default SC_PITCHRATE_I 0.3
|
||||
param set-default SC_ROLLRATE_D 0.004
|
||||
param set-default SC_PITCHRATE_D 0.004
|
||||
@@ -50,11 +50,6 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
|
||||
1102_tailsitter_duo_sih.hil
|
||||
1103_standard_vtol_sih.hil
|
||||
)
|
||||
if(CONFIG_MODULES_ROVER_ACKERMANN)
|
||||
px4_add_romfs_files(
|
||||
1104_standard_ackermann_sih.hil
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_MC_RATE_CONTROL)
|
||||
@@ -153,7 +148,6 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
|
||||
# [51000, 51999] Ackermann rovers
|
||||
51000_generic_rover_ackermann
|
||||
51001_axial_scx10_2_trail_honcho
|
||||
51002_nxp_b3rb
|
||||
)
|
||||
endif()
|
||||
|
||||
@@ -164,6 +158,14 @@ if(CONFIG_MODULES_ROVER_MECANUM)
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_ROVER_POS_CONTROL)
|
||||
px4_add_romfs_files(
|
||||
# [59000, 59999] Rover position control (deprecated)
|
||||
59000_generic_ground_vehicle
|
||||
59001_nxpcup_car_dfrobot_gpx
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_UUV_ATT_CONTROL)
|
||||
px4_add_romfs_files(
|
||||
# [60000, 61000] (Unmanned) Underwater Robots
|
||||
@@ -172,10 +174,3 @@ if(CONFIG_MODULES_UUV_ATT_CONTROL)
|
||||
60002_uuv_bluerov2_heavy
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_SPACECRAFT)
|
||||
px4_add_romfs_files(
|
||||
# [70000, 70999] Spacecraft
|
||||
70000_atmos
|
||||
)
|
||||
endif()
|
||||
|
||||
@@ -13,6 +13,7 @@ control_allocator start
|
||||
#
|
||||
# Start attitude controller.
|
||||
#
|
||||
fw_dyn_soar_control start
|
||||
fw_rate_control start
|
||||
fw_att_control start
|
||||
fw_mode_manager start
|
||||
|
||||
@@ -8,9 +8,6 @@
|
||||
# End Setup for board specific configurations. #
|
||||
###############################################################################
|
||||
|
||||
#
|
||||
# Set SD logging mode
|
||||
#
|
||||
if param compare SDLOG_MODE 1
|
||||
then
|
||||
set LOGGER_ARGS "${LOGGER_ARGS} -e"
|
||||
@@ -31,28 +28,8 @@ then
|
||||
set LOGGER_ARGS "${LOGGER_ARGS} -a"
|
||||
fi
|
||||
|
||||
#
|
||||
# Set logging backend
|
||||
#
|
||||
if param compare SDLOG_BACKEND 1
|
||||
then
|
||||
set LOGGER_ARGS "${LOGGER_ARGS} -m file"
|
||||
fi
|
||||
|
||||
if param compare SDLOG_BACKEND 2
|
||||
then
|
||||
set LOGGER_ARGS "${LOGGER_ARGS} -m mavlink"
|
||||
fi
|
||||
|
||||
if param compare SDLOG_BACKEND 3
|
||||
then
|
||||
set LOGGER_ARGS "${LOGGER_ARGS} -m all"
|
||||
fi
|
||||
|
||||
#
|
||||
# Start logger if any logging backend is enabled
|
||||
#
|
||||
if ! param compare SDLOG_BACKEND 0
|
||||
if ! param compare SDLOG_MODE -1
|
||||
then
|
||||
logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
|
||||
fi
|
||||
|
||||
@@ -36,8 +36,3 @@ mc_pos_control start
|
||||
# Start Multicopter Land Detector.
|
||||
#
|
||||
land_detector start multicopter
|
||||
|
||||
if param compare -s MC_NN_EN 1
|
||||
then
|
||||
mc_nn_control start
|
||||
fi
|
||||
|
||||
@@ -0,0 +1,21 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Standard apps for unmanned ground vehicles (UGV).
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
#
|
||||
# Start attitude controllers.
|
||||
#
|
||||
rover_pos_control start
|
||||
|
||||
#
|
||||
# Start Land Detector.
|
||||
#
|
||||
land_detector start rover
|
||||
@@ -0,0 +1,19 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# UGV default parameters.
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
set VEHICLE_TYPE rover
|
||||
|
||||
# MAV_TYPE_GROUND_ROVER 10
|
||||
param set-default MAV_TYPE 10
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
|
||||
# Temporary.
|
||||
param set-default NAV_FW_ALT_RAD 1000
|
||||
@@ -5,6 +5,32 @@
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
control_allocator start
|
||||
|
||||
# Start Spacecraft App
|
||||
spacecraft start
|
||||
|
||||
# Estimator Group Selection
|
||||
# ekf2 start &
|
||||
|
||||
# Start MicroDDS Client
|
||||
# uxrce_dds_client start -t udp -h 192.168.0.1 -n spacebot2
|
||||
# uxrce_dds_client start -t udp -p 8888
|
||||
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
# sc_control_allocator start
|
||||
|
||||
#
|
||||
# Start Spacecraft Rate Controller.
|
||||
#
|
||||
# sc_rate_control start
|
||||
|
||||
#
|
||||
# Start Spacecraft Attitude Controller.
|
||||
#
|
||||
# sc_att_control start
|
||||
|
||||
#
|
||||
# Start Spacecraft Position Controller.
|
||||
#
|
||||
# sc_pos_control start
|
||||
|
||||
@@ -236,8 +236,6 @@ then
|
||||
qmc5883l -X -q start
|
||||
qmc5883p -X -q start
|
||||
rm3100 -X -q start
|
||||
bmm350 -X -q start
|
||||
iis2mdc -X -q start
|
||||
|
||||
# start last (wait for possible icm20948 passthrough mode)
|
||||
ak09916 -X -q start
|
||||
|
||||
@@ -16,6 +16,6 @@ control_allocator start
|
||||
uuv_att_control start
|
||||
|
||||
#
|
||||
# Start UUV Position Controller.
|
||||
# Start UUV Land Detector.
|
||||
#
|
||||
uuv_pos_control start
|
||||
land_detector start rover
|
||||
|
||||
@@ -9,21 +9,3 @@ set VEHICLE_TYPE uuv
|
||||
|
||||
# MAV_TYPE_SUBMARINE 12
|
||||
param set-default MAV_TYPE 12
|
||||
|
||||
# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
|
||||
param set-default UXRCE_DDS_AG_IP -1062731775
|
||||
|
||||
# Disable preflight disarm to not interfere with external launching
|
||||
param set-default COM_DISARM_PRFLT -1
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
param set-default COM_ARM_HFLT_CHK 0
|
||||
|
||||
#Missing params
|
||||
param set-default CP_DIST -1.0
|
||||
|
||||
# Default to MoCap fusion
|
||||
param set-default ATT_EXT_HDG_M 2
|
||||
param set-default EKF2_EV_CTRL 15
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
param set-default EKF2_GPS_CTRL 0
|
||||
param set-default EKF2_HGT_REF 3
|
||||
|
||||
@@ -69,7 +69,7 @@ then
|
||||
fi
|
||||
|
||||
#
|
||||
# Spacecraft setup.
|
||||
# Spapcecraft setup.
|
||||
#
|
||||
if [ $VEHICLE_TYPE = spacecraft ]
|
||||
then
|
||||
|
||||
@@ -217,37 +217,30 @@ else
|
||||
fi
|
||||
unset BOARD_RC_DEFAULTS
|
||||
|
||||
#
|
||||
# Optional additional init file: rc.additional_init
|
||||
#
|
||||
set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
|
||||
if [ -f $BOARD_RC_ADDITIONAL_INIT ]
|
||||
# Load airframe configuration based on SYS_AUTOSTART parameter
|
||||
if ! param compare SYS_AUTOSTART 0
|
||||
then
|
||||
echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
|
||||
. $BOARD_RC_ADDITIONAL_INIT
|
||||
fi
|
||||
unset BOARD_RC_ADDITIONAL_INIT
|
||||
# rc.autostart directly run the right airframe script which sets the VEHICLE_TYPE
|
||||
# Look for airframe in ROMFS
|
||||
. ${R}etc/init.d/rc.autostart
|
||||
|
||||
# Load airframe configuration based on SYS_AUTOSTART parameter if successful VEHICLE_TYPE gets set
|
||||
# Run autogenerated ROMFS airframe script
|
||||
. ${R}etc/init.d/rc.autostart
|
||||
|
||||
if [ ${VEHICLE_TYPE} = none ]
|
||||
then
|
||||
# Run external airframe script on SD card
|
||||
if [ $STORAGE_AVAILABLE = yes ]
|
||||
if [ ${VEHICLE_TYPE} = none ]
|
||||
then
|
||||
. ${R}etc/init.d/rc.autostart_ext
|
||||
else
|
||||
echo "ERROR [init] SD not mounted, skipping external airframe"
|
||||
# Use external startup file
|
||||
if [ $STORAGE_AVAILABLE = yes ]
|
||||
then
|
||||
. ${R}etc/init.d/rc.autostart_ext
|
||||
else
|
||||
echo "ERROR [init] SD card not mounted - can't load external airframe"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ ${VEHICLE_TYPE} = none ]
|
||||
then
|
||||
echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
|
||||
param set SYS_AUTOSTART 0
|
||||
tune_control play error
|
||||
if [ ${VEHICLE_TYPE} = none ]
|
||||
then
|
||||
echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
|
||||
param set SYS_AUTOSTART 0
|
||||
tune_control play error
|
||||
fi
|
||||
fi
|
||||
|
||||
# Check parameter version and reset upon airframe configuration version mismatch.
|
||||
@@ -575,7 +568,11 @@ else
|
||||
px4flow start -X &
|
||||
fi
|
||||
|
||||
payload_deliverer start
|
||||
# Payload deliverer module if gripper is enabled
|
||||
if param compare -s PD_GRIPPER_EN 1
|
||||
then
|
||||
payload_deliverer start
|
||||
fi
|
||||
|
||||
if param compare -s ICE_EN 1
|
||||
then
|
||||
|
||||
@@ -15,4 +15,4 @@ ignore-exclude-errors-x
|
||||
lineend=linux
|
||||
exclude=EASTL
|
||||
add-brackets
|
||||
max-code-length=140
|
||||
max-code-length=120
|
||||
|
||||
@@ -43,7 +43,7 @@ fi
|
||||
|
||||
# install git pre-commit hook
|
||||
HOOK_FILE="$DIR/../../.git/hooks/pre-commit"
|
||||
if [[ ! -f "$HOOK_FILE" && "$CI" != "true" && $- == *i* ]]; then
|
||||
if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ] && [ $- == *i* ]; then
|
||||
echo ""
|
||||
echo -e "\033[31mNinja tip: add a git pre-commit hook to automatically check code style\033[0m"
|
||||
echo -e "Would you like to install one now? (\033[94mcp ./Tools/astyle/pre-commit .git/hooks/pre-commit\033[0m): [y/\033[1mN\033[0m]"
|
||||
|
||||
@@ -11,8 +11,6 @@ exec find boards msg src platforms test \
|
||||
-path msg/translation_node -prune -o \
|
||||
-path platforms/nuttx/NuttX -prune -o \
|
||||
-path platforms/qurt/dspal -prune -o \
|
||||
-path src/drivers/ins/ilabs -prune -o \
|
||||
-path src/drivers/ins/microstrain/mip_sdk -prune -o \
|
||||
-path src/drivers/ins/vectornav/libvnc -prune -o \
|
||||
-path src/drivers/uavcan/libdronecan -prune -o \
|
||||
-path src/drivers/uavcan/libuavcan -prune -o \
|
||||
@@ -26,7 +24,6 @@ exec find boards msg src platforms test \
|
||||
-path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
|
||||
-path src/modules/gyro_fft/CMSIS_5 -prune -o \
|
||||
-path src/modules/mavlink/mavlink -prune -o \
|
||||
-path test/fuzztest -prune -o \
|
||||
-path test/mavsdk_tests/catch2 -prune -o \
|
||||
-path src/lib/crypto/monocypher -prune -o \
|
||||
-path src/lib/crypto/libtomcrypt -prune -o \
|
||||
@@ -38,6 +35,4 @@ exec find boards msg src platforms test \
|
||||
-path src/modules/zenoh/zenoh-pico -prune -o \
|
||||
-path boards/modalai/voxl2/libfc-sensor-api -prune -o \
|
||||
-path src/drivers/actuators/vertiq_io/iq-module-communication-cpp -prune -o \
|
||||
-path src/lib/tensorflow_lite_micro/tflite_micro -prune -o \
|
||||
-path src/drivers/ins/sbgecom/sbgECom -prune -o \
|
||||
\( -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) -print \) | grep $PATTERN
|
||||
|
||||
@@ -7,7 +7,6 @@ fi
|
||||
|
||||
ssh_port=22
|
||||
ssh_user=root
|
||||
ssh_opts="-o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no"
|
||||
|
||||
while getopts ":f:c:d:p:u:r" opt; do
|
||||
case ${opt} in
|
||||
@@ -68,7 +67,7 @@ target_file_name="update-dev.tar"
|
||||
if [ "$revert" == true ]; then
|
||||
# revert to the release version which was originally deployed
|
||||
cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
|
||||
ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"
|
||||
ssh -t -p $ssh_port $ssh_user@$device "$cmd"
|
||||
else
|
||||
# create custom update-dev.tar
|
||||
tmp_dir="$(mktemp -d)"
|
||||
@@ -106,11 +105,11 @@ else
|
||||
$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path
|
||||
|
||||
# send it to the target to start flashing
|
||||
scp $ssh_opts -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
|
||||
scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
|
||||
popd &>/dev/null
|
||||
rm -rf "$tmp_dir"
|
||||
fi
|
||||
|
||||
# grab status output for flashing progress
|
||||
cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
|
||||
ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"
|
||||
ssh -t -p $ssh_port $ssh_user@$device "$cmd"
|
||||
|
||||
+1
-1
@@ -1,4 +1,4 @@
|
||||
#!/usr/bin/env python3
|
||||
#!/usr/bin/env python
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
|
||||
@@ -38,7 +38,7 @@ if args.filter:
|
||||
default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
|
||||
build_configs = []
|
||||
grouped_targets = {}
|
||||
excluded_boards = ['modalai_voxl2', 'px4_ros2', 'espressif_esp32'] # TODO: fix and enable
|
||||
excluded_boards = ['modalai_voxl2', 'px4_ros2'] # TODO: fix and enable
|
||||
excluded_manufacturers = ['atlflight']
|
||||
excluded_platforms = ['qurt']
|
||||
excluded_labels = [
|
||||
|
||||
@@ -1,19 +0,0 @@
|
||||
#!/bin/bash
|
||||
# This script runs the fuzz tests from a given binary for a certain amount of time
|
||||
set -e
|
||||
|
||||
if [[ "$1" == "--help" || "$1" == "-h" || -z "$1" ]]; then
|
||||
echo "Usage: $0 <binary> [<duration>]"
|
||||
echo "duration can be for example 5m or 5h"
|
||||
exit 0
|
||||
fi
|
||||
|
||||
binary="$1"
|
||||
duration="$2"
|
||||
[[ -z "$duration" ]] && duration="1m"
|
||||
|
||||
# Iterate over all available fuzz tests in the binary
|
||||
for t in $("$binary" --fuzz=__non_existent__ 2>&1 | sed '1,/^Valid tests:$/d' | tr -d ' '); do
|
||||
echo "Running $t"
|
||||
"$binary" --fuzz="$t" --fuzz_for="$duration"
|
||||
done
|
||||
+1
-1
@@ -1,4 +1,4 @@
|
||||
#!/usr/bin/env python3
|
||||
#!/usr/bin/env python
|
||||
|
||||
import argparse
|
||||
import lzma
|
||||
|
||||
+3
-3
@@ -1,4 +1,4 @@
|
||||
#!/usr/bin/env python3
|
||||
#!/usr/bin/env python
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2013-2014 PX4 Development Team. All rights reserved.
|
||||
@@ -34,7 +34,7 @@
|
||||
|
||||
"""Fetch files via nsh console
|
||||
|
||||
Usage: python3 fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
|
||||
Usage: python fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
|
||||
\t-l\tList files
|
||||
\t-f\tOverwrite existing files
|
||||
\t-d\tSerial device
|
||||
@@ -134,7 +134,7 @@ def _get_files_in_dir(ser, path, path_out, force, timeout):
|
||||
_get_file(ser, path_fn, path_fn_out, force, timeout)
|
||||
|
||||
def _usage():
|
||||
print("""Usage: python3 fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
|
||||
print("""Usage: python fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
|
||||
\t-l\tList files
|
||||
\t-f\tOverwrite existing files
|
||||
\t-d\tSerial device
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
#!/usr/bin/env python3
|
||||
#!/usr/bin/env python
|
||||
#######################################################################################
|
||||
#
|
||||
# DeltaTag: enhanced geo-referencing survey images
|
||||
@@ -15,8 +15,8 @@
|
||||
# Note: DeltaTag does not make copies, it writes the Exif information directly to the images
|
||||
#
|
||||
# Install: pip install pyulog piexif Pillow numpy
|
||||
# Run: python3 geotag_images_ulog.py [logfile] [image dir] (optional offset)
|
||||
# eg: python3 geotag_images_ulog.py mylog.ulg ./images
|
||||
# Run: python geotag_images_ulog.py [logfile] [image dir] (optional offset)
|
||||
# eg: python geotag_images_ulog.py mylog.ulg ./images
|
||||
#
|
||||
# Parameters
|
||||
# logfile: a ulog formatted logfile containing camera_capture events (survey missions)
|
||||
@@ -39,8 +39,8 @@ from fractions import Fraction
|
||||
|
||||
|
||||
if(len(sys.argv)) < 3:
|
||||
print("Usage: python3 geotag_images_ulog.py [logfile] [image dir]")
|
||||
print("Example: python3 geotag_images_ulog.py mylog.ulg ./images")
|
||||
print("Usage: python geotag_images_ulog.py [logfile] [image dir]")
|
||||
print("Example: python geotag_images_ulog.py mylog.ulg ./images")
|
||||
print(len(sys.argv))
|
||||
sys.exit()
|
||||
|
||||
|
||||
@@ -101,6 +101,7 @@ def main(kconfig_file, config1, config2):
|
||||
# load_config() and write_config() returns a message to print.
|
||||
print(kconf.load_config(config1, replace=False))
|
||||
print(kconf.load_config(config2, replace=False))
|
||||
|
||||
# Modification for PX4 unset all symbols (INT,HEX etc) from 2nd config
|
||||
|
||||
f = open(config2, 'r')
|
||||
@@ -112,16 +113,13 @@ def main(kconfig_file, config1, config2):
|
||||
#pprint.pprint(line)
|
||||
if match is not None:
|
||||
sym_name = match.group(1)
|
||||
try:
|
||||
kconf.syms[sym_name].unset_value()
|
||||
kconf.syms[sym_name].unset_value()
|
||||
|
||||
if kconf.syms[sym_name].type is BOOL:
|
||||
for default, cond in kconf.syms[sym_name].orig_defaults:
|
||||
if(cond.str_value == 'y'):
|
||||
# Default is y, our diff is unset thus we've set it to no
|
||||
kconf.syms[sym_name].set_value(0)
|
||||
except KeyError:
|
||||
pass
|
||||
if kconf.syms[sym_name].type is BOOL:
|
||||
for default, cond in kconf.syms[sym_name].orig_defaults:
|
||||
if(cond.str_value == 'y'):
|
||||
# Default is y, our diff is unset thus we've set it to no
|
||||
kconf.syms[sym_name].set_value(0)
|
||||
|
||||
f.close()
|
||||
|
||||
|
||||
@@ -41,7 +41,6 @@ import glob
|
||||
import kconfiglib
|
||||
import tempfile
|
||||
import sys
|
||||
from pathlib import Path
|
||||
|
||||
import diffconfig
|
||||
import merge_config
|
||||
@@ -53,14 +52,6 @@ for name in glob.glob(px4_dir + '/boards/*/*/default.px4board'):
|
||||
kconf.load_config(name)
|
||||
print(kconf.write_min_config(name))
|
||||
|
||||
board_path = Path(name)
|
||||
defconfig_path = board_path.parent / "nuttx-config" / "nsh" / "defconfig"
|
||||
|
||||
if os.path.exists(defconfig_path):
|
||||
# Merge NuttX with default config
|
||||
kconf = merge_config.main(px4_dir + "/Kconfig", name, defconfig_path)
|
||||
print(kconf.write_min_config(name))
|
||||
|
||||
for name in glob.glob(px4_dir + '/boards/*/*/bootloader.px4board'):
|
||||
kconf = kconfiglib.Kconfig()
|
||||
kconf.load_config(name)
|
||||
|
||||
@@ -191,7 +191,7 @@ def main():
|
||||
cur_history_index = len(command_history)
|
||||
mav_serialport.write(cur_line+'\n')
|
||||
cur_line = ''
|
||||
elif ord(ch) == 8: # backspace
|
||||
elif ord(ch) == 127: # backslash
|
||||
if len(cur_line) > 0:
|
||||
erase_last_n_chars(1)
|
||||
cur_line = cur_line[:-1]
|
||||
|
||||
@@ -238,7 +238,6 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
|
||||
( 'disarmed', 'Disarmed', 'DIS', False ),
|
||||
( 'min', 'Minimum', 'MIN', False ),
|
||||
( 'max', 'Maximum', 'MAX', False ),
|
||||
( 'center', 'Center\n(for Servos)', 'CENT', False ),
|
||||
( 'failsafe', 'Failsafe', 'FAIL', True ),
|
||||
]
|
||||
for key, label, param_suffix, advanced in standard_params_array:
|
||||
|
||||
@@ -284,9 +284,6 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
|
||||
'''
|
||||
minimum_description = \
|
||||
'''Minimum output value (when not disarmed).
|
||||
'''
|
||||
center_description = \
|
||||
'''Servo Center output value (when not disarmed).
|
||||
'''
|
||||
maximum_description = \
|
||||
'''Maxmimum output value (when not disarmed).
|
||||
@@ -299,7 +296,6 @@ When set to -1 (default), the value depends on the function (see {:}).
|
||||
standard_params_array = [
|
||||
( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
|
||||
( 'min', 'Minimum', 'MIN', minimum_description ),
|
||||
( 'center', 'Center', 'CENT', center_description ),
|
||||
( 'max', 'Maximum', 'MAX', maximum_description ),
|
||||
( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
|
||||
]
|
||||
@@ -316,10 +312,6 @@ When set to -1 (default), the value depends on the function (see {:}).
|
||||
standard_params[key]['default'] = -1
|
||||
standard_params[key]['min'] = -1
|
||||
|
||||
if key == 'center':
|
||||
standard_params[key]['default'] = -1
|
||||
standard_params[key]['min'] = -1
|
||||
|
||||
param = {
|
||||
'description': {
|
||||
'short': channel_label+' ${i} '+label+' Value',
|
||||
|
||||
@@ -49,14 +49,14 @@ for field in spec.parsed_fields():
|
||||
(package, name) = genmsg.names.package_resource_name(field.base_type)
|
||||
package = package or spec.package # convert '' to package
|
||||
|
||||
print('typedef px4_msgs_msg_%s px4_msgs_msg_px4_msgs__msg__%s;' % (name,name))
|
||||
print('typedef px4_msg_%s px4_msg_px4__msg__%s;' % (name,name))
|
||||
}@
|
||||
|
||||
|
||||
|
||||
typedef struct @uorb_struct px4_msgs_msg_@(file_base_name);
|
||||
typedef struct @uorb_struct px4_msg_@(file_base_name);
|
||||
|
||||
extern const struct dds_cdrstream_desc px4_msgs_msg_@(file_base_name)_cdrstream_desc;
|
||||
extern const struct dds_cdrstream_desc px4_msg_@(file_base_name)_cdrstream_desc;
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
#!/usr/bin/env python3
|
||||
#!/usr/bin/env python
|
||||
|
||||
import glob
|
||||
import zipfile
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
#!/usr/bin/env python3
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
############################################################################
|
||||
@@ -55,7 +55,7 @@ Usage:
|
||||
The script needs a list of files as an input. To quickly find and feed all the file
|
||||
that it needs to inspect, one can simply pipe the result of a ripgrep -l command as follows:
|
||||
|
||||
rg -l '\.[gs]et\(|px4::params::' -tcpp | python3 parameter_update.py
|
||||
rg -l '\.[gs]et\(|px4::params::' -tcpp | python parameter_update.py
|
||||
"""
|
||||
|
||||
import re
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user