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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-03 01:30:04 +08:00
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1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Igor Mišić
|
76d09c8638 |
@@ -0,0 +1,230 @@
|
||||
#!/usr/bin/env groovy
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pipeline {
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agent none
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stages {
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stage('Build') {
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steps {
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script {
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def build_nodes = [:]
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def docker_images = [
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armhf: "px4io/px4-dev-armhf:2023-06-26",
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arm64: "px4io/px4-dev-aarch64:2022-08-12",
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base: "px4io/px4-dev-ros2-foxy:2022-08-12",
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nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
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]
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def armhf_builds = [
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target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
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image: docker_images.armhf,
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archive: false
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]
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def arm64_builds = [
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target: ["scumaker_pilotpi_arm64"],
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image: docker_images.arm64,
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archive: false
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]
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def base_builds = [
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target: ["px4_sitl_default"],
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image: docker_images.base,
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archive: false
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]
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def nuttx_builds_archive = [
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target: [
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||||
"3dr_ctrl-zero-h7-oem-revg_default",
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"airmind_mindpx-v2_default",
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"ark_can-flow_canbootloader",
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"ark_can-flow_default",
|
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"ark_can-gps_canbootloader",
|
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"ark_can-gps_default",
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"ark_can-rtk-gps_canbootloader",
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"ark_can-rtk-gps_default",
|
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"ark_cannode_canbootloader",
|
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"ark_cannode_default",
|
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"ark_fmu-v6x_bootloader",
|
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"ark_fmu-v6x_default",
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"ark_fpv_bootloader",
|
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"ark_fpv_default",
|
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"ark_pi6x_bootloader",
|
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"ark_pi6x_default",
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"atl_mantis-edu_default",
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"av_x-v1_default",
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"bitcraze_crazyflie21_default",
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"bitcraze_crazyflie_default",
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"cuav_7-nano_default",
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"cuav_can-gps-v1_canbootloader",
|
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"cuav_can-gps-v1_default",
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"cuav_nora_default",
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"cuav_x7pro_default",
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"cubepilot_cubeorange_default",
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"cubepilot_cubeorangeplus_default",
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"cubepilot_cubeyellow_default",
|
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"diatone_mamba-f405-mk2_default",
|
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"flywoo_gn-f405_default",
|
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"freefly_can-rtk-gps_canbootloader",
|
||||
"freefly_can-rtk-gps_default",
|
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"holybro_can-gps-v1_canbootloader",
|
||||
"holybro_can-gps-v1_default",
|
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"holybro_durandal-v1_default",
|
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"holybro_kakutef7_default",
|
||||
"holybro_kakuteh7_default",
|
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"holybro_kakuteh7mini_default",
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||||
"holybro_kakuteh7v2_default",
|
||||
"holybro_pix32v5_default",
|
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"matek_gnss-m9n-f4_canbootloader",
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"matek_gnss-m9n-f4_default",
|
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"matek_h743-mini_default",
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"matek_h743-slim_default",
|
||||
"matek_h743_default",
|
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"micoair_h743_default",
|
||||
"modalai_fc-v1_default",
|
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"modalai_fc-v2_default",
|
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"mro_ctrl-zero-classic_default",
|
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"mro_ctrl-zero-f7-oem_default",
|
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"mro_ctrl-zero-f7_default",
|
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"mro_ctrl-zero-h7-oem_default",
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"mro_ctrl-zero-h7_default",
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"mro_pixracerpro_default",
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"mro_x21-777_default",
|
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"mro_x21_default",
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"nxp_fmuk66-e_default",
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"nxp_fmuk66-e_socketcan",
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"nxp_fmuk66-v3_default",
|
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"nxp_fmuk66-v3_socketcan",
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"nxp_mr-canhubk3_default",
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"nxp_ucans32k146_canbootloader",
|
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"nxp_ucans32k146_default",
|
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"omnibus_f4sd_default",
|
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"px4_fmu-v2_default",
|
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"px4_fmu-v2_fixedwing",
|
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"px4_fmu-v2_lto",
|
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"px4_fmu-v2_multicopter",
|
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"px4_fmu-v2_rover",
|
||||
"px4_fmu-v3_default",
|
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"px4_fmu-v4_default",
|
||||
"px4_fmu-v4pro_default",
|
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"px4_fmu-v5_cyphal",
|
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"px4_fmu-v5_debug",
|
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"px4_fmu-v5_default",
|
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"px4_fmu-v5_lto",
|
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"px4_fmu-v5_rover",
|
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"px4_fmu-v5_stackcheck",
|
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"px4_fmu-v5_uavcanv0periph",
|
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"px4_fmu-v5x_default",
|
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"px4_fmu-v5x_rover",
|
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"px4_fmu-v6c_default",
|
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"px4_fmu-v6c_rover",
|
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"px4_fmu-v6u_default",
|
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"px4_fmu-v6u_rover",
|
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"px4_fmu-v6x_default",
|
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"px4_fmu-v6x_rover",
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"px4_fmu-v6xrt_bootloader",
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"px4_fmu-v6xrt_default",
|
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"px4_fmu-v6xrt_rover",
|
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"px4_io-v2_default",
|
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"raspberrypi_pico_default",
|
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"siyi_n7_default",
|
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"sky-drones_smartap-airlink_default",
|
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"spracing_h7extreme_default",
|
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"thepeach_k1_default",
|
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"thepeach_r1_default",
|
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"uvify_core_default",
|
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"x-mav_ap-h743v2_default",
|
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"zeroone_x6_bootloader",
|
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"zeroone_x6_default",
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],
|
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image: docker_images.nuttx,
|
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archive: true
|
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]
|
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|
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def docker_builds = [
|
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armhf_builds, base_builds, nuttx_builds_archive
|
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]
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|
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for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
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for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
|
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build_nodes.put(docker_builds[build_type].target[build_target],
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createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
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)
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}
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}
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parallel build_nodes
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} // script
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} // steps
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} // stage Build
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// TODO: actually upload artifacts to S3
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// stage('S3 Upload') {
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// agent {
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// docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
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// }
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// options {
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// skipDefaultCheckout()
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// }
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// when {
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// anyOf {
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// branch 'master'
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// branch 'beta'
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// branch 'stable'
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// branch 'pr-jenkins' // for testing
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// }
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// }
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// steps {
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// sh 'echo "uploading to S3"'
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// }
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// }
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} // stages
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environment {
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CCACHE_DIR = '/tmp/ccache'
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CI = true
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}
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options {
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buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
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timeout(time: 120, unit: 'MINUTES')
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}
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}
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def createBuildNode(Boolean archive, String docker_image, String target) {
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return {
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bypass_entrypoint = ''
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node {
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docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
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docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
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stage(target) {
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try {
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sh('export')
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checkout(scm)
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sh('make distclean; git clean -ff -x -d .')
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sh('git fetch --tags')
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sh('ccache -s')
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sh('make ' + target)
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sh('ccache -s')
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sh('make sizes')
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if (archive) {
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archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
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}
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sh('make ' + target + ' package')
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archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
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archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
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}
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catch (exc) {
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throw (exc)
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}
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finally {
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sh('make distclean; git clean -ff -x -d .')
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}
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}
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}
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||||
}
|
||||
}
|
||||
}
|
||||
}
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@@ -0,0 +1,904 @@
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#!/usr/bin/env groovy
|
||||
|
||||
pipeline {
|
||||
agent none
|
||||
stages {
|
||||
stage('Hardware Test') {
|
||||
|
||||
parallel {
|
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stage("cubepilot_cubeorange_test") {
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||||
stages {
|
||||
stage("build cubepilot_cubeorange_test") {
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agent {
|
||||
docker {
|
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image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
|
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}
|
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steps {
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||||
checkoutSCM()
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||||
sh 'make cubepilot_cubeorange_bootloader'
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sh 'make cubepilot_cubeorange_test'
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sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
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}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'cubepilot_cubeorange'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'cubepilot_cubeorange_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
runTests()
|
||||
|
||||
// load all airframes
|
||||
// sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("cuav_x7pro_test") {
|
||||
stages {
|
||||
stage("build cuav_x7pro_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make cuav_x7pro_bootloader'
|
||||
sh 'make cuav_x7pro_test'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'cuav_x7pro'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'cuav_x7pro_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v4_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v4_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v4_test'
|
||||
sh 'make px4_fmu-v4_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v4'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v4_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v4pro_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v4pro_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v4pro_test'
|
||||
sh 'make px4_fmu-v4pro_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v4pro'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v4pro_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_debug") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_debug") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v5_debug'
|
||||
sh 'make px4_fmu-v5_debug bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v5'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_debug'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
// test dataman
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_stackcheck") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_stackcheck") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v5_stackcheck'
|
||||
sh 'make px4_fmu-v5_stackcheck bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v5'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_stackcheck'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
|
||||
// test dataman
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make px4_fmu-v5_test'
|
||||
sh 'make px4_fmu-v5_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'px4_fmu-v5'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("nxp_fmuk66-v3_test") {
|
||||
stages {
|
||||
stage("build nxp_fmuk66-v3_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2022-08-12'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
sh 'make nxp_fmuk66-v3_test'
|
||||
//sh 'make nxp_fmuk66-v3_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'nxp_fmuk66-v3'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'nxp_fmuk66-v3_test'
|
||||
//sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
} // parallel
|
||||
} // stage Hardware Test
|
||||
} // stages
|
||||
environment {
|
||||
CCACHE_DIR = '/tmp/ccache'
|
||||
CCACHE_NOHASHDIR = 1
|
||||
CI = true
|
||||
}
|
||||
options {
|
||||
buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
|
||||
timeout(time: 180, unit: 'MINUTES')
|
||||
skipDefaultCheckout()
|
||||
}
|
||||
}
|
||||
|
||||
void checkoutSCM() {
|
||||
retry(3) {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'git fetch --tags'
|
||||
sh 'ccache -z'
|
||||
}
|
||||
}
|
||||
|
||||
void quickCalibrate() {
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
}
|
||||
|
||||
void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
|
||||
// status commands
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
}
|
||||
|
||||
void resetParameters() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param reset_all"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SDLOG_DIRS_MAX" --value "1"'
|
||||
}
|
||||
|
||||
void runTests() {
|
||||
|
||||
// test loading a range of airframes
|
||||
sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001'
|
||||
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params" || true' // expected to fail after erase
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
// tests (stop modules first)
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
|
||||
}
|
||||
|
||||
void printTopics() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
|
||||
|
||||
// these are for casually inspecting the system, output failure doesn't matter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener heater_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener failsafe_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
|
||||
}
|
||||
|
||||
void resetBoard() {
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
}
|
||||
@@ -6,6 +6,11 @@
|
||||
name: Build all targets
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
tag:
|
||||
required: true
|
||||
description: release version
|
||||
push:
|
||||
tags:
|
||||
- 'v*'
|
||||
@@ -22,7 +27,7 @@ jobs:
|
||||
group_targets:
|
||||
name: Scan for Board Targets
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
|
||||
outputs:
|
||||
matrix: ${{ steps.set-matrix.outputs.matrix }}
|
||||
timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
|
||||
@@ -31,10 +36,6 @@ jobs:
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Update python packaging to avoid canonicalize_version() error
|
||||
run: |
|
||||
pip3 install -U packaging
|
||||
|
||||
- name: Install Python Dependencies
|
||||
uses: py-actions/py-dependency-install@v4
|
||||
with:
|
||||
@@ -46,24 +47,34 @@ jobs:
|
||||
- id: set-timestamp
|
||||
run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
|
||||
|
||||
# This job is also triggered with versioned tags
|
||||
# Creating a and pushing a tag starting with "v" just as "v1.0.0"
|
||||
# will trigger this workflow and when all builds are done create a Github Release
|
||||
# then it will upload all binaries built as assets
|
||||
# Additionally, we can also trigger this step manually
|
||||
# From the Github Actions tab for this repository:
|
||||
# https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml
|
||||
# You can now click a "Run Workflow" button that will prompt you for a tag name
|
||||
# This tag name has to match an existing tag otherwise the new release will be detached
|
||||
# Note: Only developers with "write" permission to the repository can use this feature
|
||||
- id: set-tag
|
||||
if: startsWith(github.ref, 'refs/tags/v') || github.event_name == 'workflow_dispatch'
|
||||
run: echo "::set-output name=tagname::${{ github.event_name == 'workflow_dispatch' && inputs.tag || github.ref_name }}"
|
||||
|
||||
- id: set-branch
|
||||
run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
|
||||
|
||||
- name: Debug Matrix Output
|
||||
if: runner.debug == '1'
|
||||
run: |
|
||||
echo "${{ steps.set-timestamp.outputs.timestamp }}"
|
||||
echo "${{ steps.set-branch.outputs.branchname }}"
|
||||
echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
|
||||
run: echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
|
||||
|
||||
setup:
|
||||
name: Build Group [${{ matrix.group }}]
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
|
||||
needs: group_targets
|
||||
strategy:
|
||||
matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
|
||||
fail-fast: false
|
||||
container:
|
||||
image: ${{ matrix.container }}
|
||||
steps:
|
||||
@@ -112,7 +123,7 @@ jobs:
|
||||
artifacts:
|
||||
name: Upload Artifacts to S3
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
|
||||
needs: [setup, group_targets]
|
||||
if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
|
||||
steps:
|
||||
@@ -141,18 +152,22 @@ jobs:
|
||||
release:
|
||||
name: Create Release and Upload Artifacts
|
||||
# runs-on: ubuntu-latest
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
|
||||
needs: [setup, group_targets]
|
||||
if: startsWith(github.ref, 'refs/tags/v')
|
||||
if: startsWith(github.ref, 'refs/tags/v') || github.event_name == 'workflow_dispatch'
|
||||
steps:
|
||||
- name: Download Artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
path: artifacts/
|
||||
merge-multiple: true
|
||||
|
||||
- name: Arrange Binaries
|
||||
run: |
|
||||
mkdir artifacts
|
||||
cp **/**/*.px4 artifacts/
|
||||
|
||||
- name: Upload Binaries to Release
|
||||
uses: softprops/action-gh-release@v2
|
||||
with:
|
||||
name: ${{ needs.group_targets.outputs.tagname }}
|
||||
tag_name: ${{ needs.group_targets.outputs.tagname }}
|
||||
draft: true
|
||||
files: artifacts/*.px4
|
||||
|
||||
@@ -25,27 +25,28 @@ jobs:
|
||||
"NO_NINJA_BUILD=1 px4_fmu-v5_default",
|
||||
"NO_NINJA_BUILD=1 px4_sitl_default",
|
||||
"px4_sitl_allyes",
|
||||
"airframe_metadata",
|
||||
"module_documentation",
|
||||
"parameters_metadata",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Building [${{ matrix.check }}]
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
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')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: unittests
|
||||
file: coverage/lcov.info
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: ${{matrix.check}}
|
||||
run: make ${{matrix.check}}
|
||||
- name: upload coverage
|
||||
if: contains(matrix.check, 'coverage')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: unittests
|
||||
file: coverage/lcov.info
|
||||
|
||||
@@ -11,17 +11,11 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-clang:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Testing (clang-tidy-quiet)
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev-clang:2021-09-08
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make clang-tidy-quiet
|
||||
- name: make clang-tidy-quiet
|
||||
run: make clang-tidy-quiet
|
||||
|
||||
@@ -19,11 +19,13 @@ jobs:
|
||||
]
|
||||
steps:
|
||||
- name: install Python 3.10
|
||||
uses: actions/setup-python@v5
|
||||
uses: actions/setup-python@v4
|
||||
with:
|
||||
python-version: "3.10"
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: setup
|
||||
run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
|
||||
@@ -35,7 +37,7 @@ jobs:
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v4
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
|
||||
@@ -1,46 +0,0 @@
|
||||
name: Ubuntu environment build
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build_and_test:
|
||||
name: Build and Test
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
version: ['ubuntu:22.04', 'ubuntu:24.04']
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: ${{ matrix.version }}
|
||||
volumes:
|
||||
- /github/workspace:/github/workspace
|
||||
steps:
|
||||
|
||||
- name: Fix git in container
|
||||
run: |
|
||||
# we only need this because we are running the job in a container
|
||||
# when checkout pulls git it does it in a shared volume
|
||||
# and file ownership changes between steps
|
||||
# first we install git since its missing from the base image
|
||||
# then we mark the directory as safe for other instances
|
||||
# of git to use.
|
||||
apt update && apt install git -y
|
||||
git config --global --add safe.directory $(realpath .)
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Install Deps, Build, and Make Quick Check
|
||||
run: |
|
||||
# we need to install dependencies and build on the same step
|
||||
# given the stateless nature of docker images
|
||||
./Tools/setup/ubuntu.sh
|
||||
make quick_check
|
||||
@@ -1,101 +0,0 @@
|
||||
|
||||
name: Container build
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'stable'
|
||||
- 'beta'
|
||||
- 'release/**'
|
||||
tags:
|
||||
- 'v*'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
name: Build and Push Container
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-tags: true
|
||||
submodules: false
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Set PX4 Tag
|
||||
id: px4-tag
|
||||
run: |
|
||||
echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Login to Docker Hub
|
||||
uses: docker/login-action@v3
|
||||
if: github.event_name != 'pull_request'
|
||||
with:
|
||||
username: ${{ secrets.DOCKERHUB_USERNAME }}
|
||||
password: ${{ secrets.DOCKERHUB_TOKEN }}
|
||||
|
||||
- name: Login to GitHub Container Registry
|
||||
uses: docker/login-action@v3
|
||||
with:
|
||||
registry: ghcr.io
|
||||
username: ${{ github.actor }}
|
||||
password: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Extract metadata (tags, labels) for Docker
|
||||
id: meta
|
||||
uses: docker/metadata-action@v5
|
||||
with:
|
||||
images: |
|
||||
ghcr.io/PX4/px4-dev
|
||||
${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
|
||||
tags: |
|
||||
type=raw,enable=true,value=${{ steps.px4-tag.outputs.tag }},priority=1000
|
||||
|
||||
- name: Set up Docker Buildx
|
||||
uses: docker/setup-buildx-action@v3
|
||||
|
||||
- name: Build and load container image
|
||||
uses: docker/build-push-action@v6
|
||||
id: docker
|
||||
with:
|
||||
context: Tools/setup
|
||||
tags: ${{ steps.meta.outputs.tags }}
|
||||
labels: ${{ steps.meta.outputs.labels }}
|
||||
platforms: |
|
||||
linux/amd64
|
||||
load: true
|
||||
push: false
|
||||
cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
|
||||
cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
|
||||
|
||||
- name: Get Tag Name
|
||||
id: tag_name
|
||||
run: |
|
||||
echo "::set-output name=tag_name::$(echo '${{ fromJSON(steps.docker.outputs.metadata)['image.name'] }}' | sed 's/,.*$//')"
|
||||
|
||||
- name: make quick_check
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: ${{ steps.tag_name.outputs.tag_name }}
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make px4_sitl_default
|
||||
make px4_fmu-v6x_default
|
||||
|
||||
- name: Push container image
|
||||
uses: docker/build-push-action@v6
|
||||
with:
|
||||
context: Tools/setup
|
||||
tags: ${{ steps.meta.outputs.tags }}
|
||||
labels: ${{ steps.meta.outputs.labels }}
|
||||
platforms: |
|
||||
linux/amd64
|
||||
provenance: mode=max
|
||||
push: true
|
||||
cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
|
||||
cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
|
||||
@@ -1,28 +1,21 @@
|
||||
name: EKF Change Indicator
|
||||
|
||||
on:
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
on: pull_request
|
||||
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v2.3.1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: checkout newest version of branch
|
||||
run: |
|
||||
git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
|
||||
git checkout ${GITHUB_HEAD_REF}
|
||||
- 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 /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make tests TESTFILTER=EKF
|
||||
|
||||
run: 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
|
||||
|
||||
@@ -5,40 +5,25 @@ on: push
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
env:
|
||||
GIT_COMMITTER_EMAIL: bot@px4.io
|
||||
GIT_COMMITTER_NAME: PX4BuildBot
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v2.3.1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: main test
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev-base-focal:2021-09-08
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make tests TESTFILTER=EKF
|
||||
|
||||
- name: main test updates change indication files
|
||||
run: make tests TESTFILTER=EKF
|
||||
- name: Check if there exists diff and save result in variable
|
||||
id: diff-check
|
||||
run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
|
||||
run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
|
||||
working-directory: src/modules/ekf2/test/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_message: '[AUTO COMMIT] update change indication'
|
||||
commit_user_name: ${GIT_COMMITTER_NAME}
|
||||
commit_user_email: ${GIT_COMMITTER_EMAIL}
|
||||
commit_message: |
|
||||
'[AUTO COMMIT] update change indication'
|
||||
|
||||
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 }}
|
||||
- if: ${{env.CHANGE_INDICATED}}
|
||||
name: if there is a functional change, fail check
|
||||
run: exit 1
|
||||
|
||||
@@ -24,23 +24,21 @@ jobs:
|
||||
image: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- name: Install Node v20.18.0
|
||||
uses: actions/setup-node@v4
|
||||
with:
|
||||
node-version: 20.18.0
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Install empscripten
|
||||
run: |
|
||||
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
|
||||
cd _emscripten_sdk
|
||||
./emsdk install latest
|
||||
./emsdk activate latest
|
||||
|
||||
- name: Testing [${{ matrix.check }}]
|
||||
run: |
|
||||
. ./_emscripten_sdk/emsdk_env.sh
|
||||
make ${{ matrix.check }}
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: install emscripten
|
||||
run: |
|
||||
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
|
||||
cd _emscripten_sdk
|
||||
./emsdk install latest
|
||||
./emsdk activate latest
|
||||
- name: ${{matrix.check}}
|
||||
run: |
|
||||
. ./_emscripten_sdk/emsdk_env.sh
|
||||
make ${{matrix.check}}
|
||||
|
||||
@@ -1,141 +0,0 @@
|
||||
name: FLASH usage analysis
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
env:
|
||||
MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
|
||||
MIN_FLASH_NEG_DIFF_FOR_COMMENT: -50
|
||||
|
||||
jobs:
|
||||
analyze_flash:
|
||||
name: Analyzing ${{ matrix.target }}
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal
|
||||
strategy:
|
||||
matrix:
|
||||
target: [px4_fmu-v5x, px4_fmu-v6x]
|
||||
outputs:
|
||||
px4_fmu-v5x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-output }}
|
||||
px4_fmu-v5x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-summary-map }}
|
||||
px4_fmu-v6x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-output }}
|
||||
px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0
|
||||
submodules: recursive
|
||||
|
||||
- name: Git ownership workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Build Target
|
||||
run: make ${{ matrix.target }}_flash-analysis
|
||||
|
||||
- name: Store the ELF with the change
|
||||
run: cp ./build/**/*.elf ./with-change.elf
|
||||
|
||||
- name: Clean previous build
|
||||
run: |
|
||||
make clean
|
||||
make distclean
|
||||
|
||||
- name: If it's a PR checkout the base branch
|
||||
if: ${{ github.event.pull_request }}
|
||||
# As checkout creates a merge commit (merging the base branch into the PR branch), the base branch is the base for a diff of the PR changes.
|
||||
run: git checkout ${{ github.event.pull_request.base.ref }}
|
||||
|
||||
- name: If it's a push checkout the previous commit
|
||||
if: github.event_name == 'push'
|
||||
run: git checkout ${{ github.event.before }}
|
||||
|
||||
- name: Update submodules
|
||||
run: make submodulesupdate
|
||||
|
||||
- name: Build
|
||||
run: make ${{ matrix.target }}_flash-analysis
|
||||
|
||||
- name: Store the ELF before the change
|
||||
run: cp ./build/**/*.elf ./before-change.elf
|
||||
|
||||
- name: bloaty-action
|
||||
uses: PX4/bloaty-action@v1.0.0
|
||||
id: bloaty-step
|
||||
with:
|
||||
bloaty-file-args: ./with-change.elf -- ./before-change.elf
|
||||
bloaty-additional-args: -d sections,compileunits -s vm -n 20
|
||||
output-to-summary: true
|
||||
|
||||
- name: Generate output
|
||||
id: gen-output
|
||||
run: |
|
||||
EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
|
||||
echo "${{ matrix.target }}-bloaty-output<<$EOF" >> $GITHUB_OUTPUT
|
||||
echo "${{ steps.bloaty-step.outputs.bloaty-output-encoded }}" >> $GITHUB_OUTPUT
|
||||
echo "$EOF" >> $GITHUB_OUTPUT
|
||||
echo "${{ matrix.target }}-bloaty-summary-map<<$EOF" >> $GITHUB_OUTPUT
|
||||
echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT
|
||||
echo "$EOF" >> $GITHUB_OUTPUT
|
||||
|
||||
post_pr_comment:
|
||||
name: Publish Results
|
||||
runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
needs: [analyze_flash]
|
||||
env:
|
||||
V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}
|
||||
V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }}
|
||||
V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }}
|
||||
V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }}
|
||||
if: ${{ github.event.pull_request }}
|
||||
steps:
|
||||
- name: Find Comment
|
||||
uses: peter-evans/find-comment@v3
|
||||
id: fc
|
||||
with:
|
||||
issue-number: ${{ github.event.pull_request.number }}
|
||||
comment-author: 'github-actions[bot]'
|
||||
body-includes: FLASH Analysis
|
||||
|
||||
- name: Set Build Time
|
||||
id: bt
|
||||
run: |
|
||||
echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Create or update comment
|
||||
# This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env.
|
||||
if: |
|
||||
steps.fc.outputs.comment-id != '' ||
|
||||
env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
|
||||
env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) ||
|
||||
env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) ||
|
||||
env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT)
|
||||
uses: peter-evans/create-or-update-comment@v4
|
||||
with:
|
||||
comment-id: ${{ steps.fc.outputs.comment-id }}
|
||||
issue-number: ${{ github.event.pull_request.number }}
|
||||
body: |
|
||||
## 🔎 FLASH Analysis
|
||||
<details>
|
||||
<summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
|
||||
|
||||
```
|
||||
${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
|
||||
```
|
||||
</details>
|
||||
|
||||
<details>
|
||||
<summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
|
||||
|
||||
```
|
||||
${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
|
||||
```
|
||||
</details>
|
||||
|
||||
**Updated: _${{ steps.bt.outputs.timestamp }}_**
|
||||
edit-mode: replace
|
||||
@@ -11,26 +11,131 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
env:
|
||||
ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {vehicle: "iris", mission: "MC_mission_box"}
|
||||
- {vehicle: "rover", mission: "rover_mission_1"}
|
||||
- {vehicle: "iris", mission: "MC_mission_box", build_type: "RelWithDebInfo"}
|
||||
- {vehicle: "rover", mission: "rover_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "plane", mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "plane_catapult",mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "Coverage"}
|
||||
#- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "AddressSanitizer"}
|
||||
#- {vehicle: "tailsitter", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Build SITL and Run Tests
|
||||
uses: addnab/docker-run-action@v3
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd /workspace
|
||||
git config --global --add safe.directory /workspace
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo-classic
|
||||
./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
|
||||
path: ~/.ccache
|
||||
key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: Build PX4 and sitl_gazebo-classic
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
ccache -z
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo-classic
|
||||
ccache -s
|
||||
|
||||
- name: Core dump settings
|
||||
run: |
|
||||
ulimit -c unlimited
|
||||
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
|
||||
|
||||
- name: Run SITL tests
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
export
|
||||
./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
|
||||
- name: Upload px4 coredump
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
with:
|
||||
name: coredump
|
||||
path: px4.core
|
||||
|
||||
- name: ecl EKF analysis
|
||||
if: always()
|
||||
run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
|
||||
|
||||
- name: Upload logs to flight review
|
||||
if: always()
|
||||
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Upload px4 binary
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
with:
|
||||
name: binary
|
||||
path: build/px4_sitl_default/bin/px4
|
||||
|
||||
- name: Store PX4 log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
with:
|
||||
name: px4_log
|
||||
path: ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Store ROS log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
with:
|
||||
name: ros_log
|
||||
path: ~/.ros/**/rostest-*.log
|
||||
|
||||
# Report test coverage
|
||||
- name: Upload coverage
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
run: |
|
||||
git config --global credential.helper "" # disable the keychain credential helper
|
||||
git config --global --add credential.helper store # enable the local store credential helper
|
||||
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
|
||||
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
|
||||
mkdir -p coverage
|
||||
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
- name: Upload coverage information to Codecov
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: mavros_mission
|
||||
file: coverage/lcov.info
|
||||
|
||||
@@ -17,21 +17,120 @@ jobs:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {test_file: "mavros_posix_tests_offboard_posctl.test", vehicle: "iris"}
|
||||
- {test_file: "mavros_posix_tests_offboard_posctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
#- {test_file: "mavros_posix_tests_offboard_attctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Build PX4 and Run Tests
|
||||
uses: addnab/docker-run-action@v3
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
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}}
|
||||
path: ~/.ccache
|
||||
key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: Build PX4 and sitl_gazebo-classic
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
ccache -z
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo-classic
|
||||
ccache -s
|
||||
|
||||
- name: Core dump settings
|
||||
run: |
|
||||
ulimit -c unlimited
|
||||
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
|
||||
|
||||
- name: Run SITL tests
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
export
|
||||
./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
|
||||
- name: Upload px4 coredump
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
with:
|
||||
name: coredump
|
||||
path: px4.core
|
||||
|
||||
- name: ecl EKF analysis
|
||||
if: always()
|
||||
run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
|
||||
|
||||
- name: Upload logs to flight review
|
||||
if: always()
|
||||
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Upload px4 binary
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
with:
|
||||
name: binary
|
||||
path: build/px4_sitl_default/bin/px4
|
||||
|
||||
- name: Store PX4 log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
with:
|
||||
name: px4_log
|
||||
path: ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Store ROS log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v3
|
||||
with:
|
||||
name: ros_log
|
||||
path: ~/.ros/**/rostest-*.log
|
||||
|
||||
# Report test coverage
|
||||
- name: Upload coverage
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
run: |
|
||||
git config --global credential.helper "" # disable the keychain credential helper
|
||||
git config --global --add credential.helper store # enable the local store credential helper
|
||||
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
|
||||
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
|
||||
mkdir -p coverage
|
||||
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
- name: Upload coverage information to Codecov
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: mavros_offboard
|
||||
file: coverage/lcov.info
|
||||
|
||||
@@ -11,27 +11,22 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
px4_fmu-v5_default,
|
||||
px4_fmu-v5,
|
||||
]
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Build PX4 and Run Test [${{ matrix.config }}]
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
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
|
||||
- name: make ${{matrix.config}}
|
||||
env:
|
||||
PX4_EXTRA_NUTTX_CONFIG: "CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
|
||||
run: |
|
||||
echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
|
||||
make ${{matrix.config}} nuttx_context
|
||||
# Check that the config option is set
|
||||
grep CONFIG_NSH_LOGIN_PASSWORD build/${{matrix.config}}_default/NuttX/nuttx/.config
|
||||
|
||||
@@ -12,18 +12,14 @@ jobs:
|
||||
build:
|
||||
runs-on: ubuntu-24.04
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
- name: Install Python3
|
||||
run: sudo apt-get install python3 python3-setuptools python3-pip -y
|
||||
|
||||
- name: Install tools
|
||||
run: python3 -m pip install mypy types-requests flake8 --break-system-packages
|
||||
|
||||
- name: Check MAVSDK test scripts with mypy
|
||||
run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
|
||||
|
||||
- name: Check MAVSDK test scripts with flake8
|
||||
run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py
|
||||
|
||||
@@ -16,7 +16,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
name: Testing PX4 ${{ matrix.config.model }}
|
||||
runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-09-08
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
|
||||
Vendored
-40
@@ -131,11 +131,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-flow_canbootloader
|
||||
ark_can-flow-mr_canbootloader:
|
||||
short: ark_can-flow-mr_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-flow-mr_canbootloader
|
||||
ark_can-gps_default:
|
||||
short: ark_can-gps_default
|
||||
buildType: MinSizeRel
|
||||
@@ -171,11 +166,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_septentrio-gps_canbootloader
|
||||
ark_teseo-gps_canbootloader:
|
||||
short: ark_teseo-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_teseo-gps_canbootloader
|
||||
ark_cannode_default:
|
||||
short: ark_cannode_default
|
||||
buildType: MinSizeRel
|
||||
@@ -311,36 +301,11 @@ CONFIG:
|
||||
buildType: MiniSizeRel
|
||||
settings:
|
||||
CONFIG: matek_gnss-m9n-f4_default
|
||||
micoair_h743_bootloader:
|
||||
short: micoair_h743_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743_bootloader
|
||||
micoair_h743_default:
|
||||
short: micoair_h743
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743_default
|
||||
micoair_h743-aio_bootloader:
|
||||
short: micoair_h743-aio_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-aio_bootloader
|
||||
micoair_h743-aio_default:
|
||||
short: micoair_h743-aio
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-aio_default
|
||||
micoair_h743-v2_bootloader:
|
||||
short: micoair_h743-v2_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-v2_bootloader
|
||||
micoair_h743-v2_default:
|
||||
short: micoair_h743-v2
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: micoair_h743-v2_default
|
||||
modalai_fc-v1_default:
|
||||
short: modalai_fc-v1
|
||||
buildType: MinSizeRel
|
||||
@@ -391,11 +356,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-canhubk3_fmu
|
||||
nxp_tropic-community_default:
|
||||
short: nxp_tropic-community_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_tropic-community_default
|
||||
raspberrypi_pico_default:
|
||||
short: raspberrypi_pico
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+1
@@ -129,4 +129,5 @@
|
||||
"yaml.schemas": {
|
||||
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
|
||||
},
|
||||
"ros.distro": "humble"
|
||||
}
|
||||
|
||||
+1
-8
@@ -408,15 +408,8 @@ 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}
|
||||
COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
|
||||
DEPENDS
|
||||
px4
|
||||
examples__dyn_hello
|
||||
|
||||
Vendored
-4
@@ -231,13 +231,9 @@ pipeline {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
|
||||
// 'main' branch
|
||||
sh('rm -f px4_msgs/msg/*.msg')
|
||||
sh('rm -f px4_msgs/msg/versioned/*.msg')
|
||||
sh('rm -f px4_msgs/srv/*.srv')
|
||||
sh('rm -f px4_msgs/srv/versioned/*.srv')
|
||||
sh('cp msg/*.msg px4_msgs/msg/')
|
||||
sh('mkdir -p px4_msgs/msg/versioned && cp msg/versioned/*.msg px4_msgs/msg/versioned/')
|
||||
sh('cp srv/*.srv px4_msgs/srv/')
|
||||
sh('mkdir -p px4_msgs/srv/versioned && cp srv/versioned/*.srv px4_msgs/srv/versioned/')
|
||||
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
|
||||
sh('cd px4_msgs; git push origin main || true')
|
||||
sh('rm -rf px4_msgs')
|
||||
|
||||
@@ -343,8 +343,6 @@ bootloaders_update: \
|
||||
matek_h743-mini_bootloader \
|
||||
matek_h743-slim_bootloader \
|
||||
micoair_h743_bootloader \
|
||||
micoair_h743-aio_bootloader \
|
||||
micoair_h743-v2_bootloader \
|
||||
modalai_fc-v2_bootloader \
|
||||
mro_ctrl-zero-classic_bootloader \
|
||||
mro_ctrl-zero-h7_bootloader \
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
[](https://github.com/PX4/PX4-Autopilot/releases) [](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
|
||||
|
||||
[](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml) [](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
|
||||
[](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
|
||||
|
||||
[](https://discord.gg/dronecode)
|
||||
|
||||
@@ -104,7 +104,7 @@ These boards fully comply with Pixhawk Standard, and are maintained by the PX4-A
|
||||
|
||||
These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
|
||||
|
||||
* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/ark_v6x.html)
|
||||
* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
|
||||
* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
|
||||
* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
|
||||
* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
|
||||
|
||||
@@ -16,6 +16,10 @@ param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
# Square quadrotor X PX4 numbering
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 1
|
||||
@@ -34,6 +38,4 @@ param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set-default EKF2_GPS_DELAY 0
|
||||
|
||||
param set SIH_VEHICLE_TYPE 0
|
||||
|
||||
@@ -16,6 +16,12 @@ param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
param set-default SIH_T_MAX 6
|
||||
param set-default SIH_MASS 0.3
|
||||
param set-default SIH_IXX 0.00402
|
||||
@@ -27,22 +33,19 @@ param set-default SIH_KDV 0.2
|
||||
param set-default SIH_VEHICLE_TYPE 1 # sih as fixed wing
|
||||
param set-default RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
# SIH for now hardcodes this configuration which we need to match in the airframe files.
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TRQ_R 1
|
||||
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_P 1
|
||||
param set-default CA_SV_CS1_TYPE 3 # elevator
|
||||
param set-default CA_SV_CS1_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_Y 1
|
||||
param set-default CA_SV_CS2_TYPE 4 # rudder
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 202
|
||||
param set-default PWM_MAIN_FUNC3 203
|
||||
param set-default PWM_MAIN_FUNC4 101
|
||||
|
||||
param set-default EKF2_GPS_DELAY 0
|
||||
param set-default CA_SV_CS2_TYPE 4
|
||||
param set-default PWM_MAIN_FUNC3 201
|
||||
param set-default PWM_MAIN_FUNC4 202
|
||||
param set-default PWM_MAIN_FUNC5 203
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
|
||||
@@ -11,7 +11,6 @@
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
|
||||
|
||||
param set-default EKF2_GPS_DELAY 0
|
||||
param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
@@ -28,6 +27,10 @@ param set-default MC_PITCH_P 5
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
param set-default SIH_T_MAX 2
|
||||
param set-default SIH_Q_MAX 0.0165
|
||||
param set-default SIH_MASS 0.2
|
||||
|
||||
@@ -1,96 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name SIH Standard VTOL
|
||||
#
|
||||
# @type Simulation
|
||||
# @class VTOL
|
||||
#
|
||||
# @output Motor1 MC motor front right
|
||||
# @output Motor2 MC motor back left
|
||||
# @output Motor3 MC motor front left
|
||||
# @output Motor4 MC motor back right
|
||||
# @output Motor5 Forward thrust motor
|
||||
# @output Servo1 Ailerons (single channel)
|
||||
# @output Servo2 Elevator
|
||||
# @output Servo3 Rudder
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
param set-default EKF2_GPS_DELAY 0
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default MPC_MAN_Y_MAX 60
|
||||
param set-default MC_PITCH_P 5
|
||||
|
||||
param set-default CA_AIRFRAME 2
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR0_PX 0.2
|
||||
param set-default CA_ROTOR0_PY 0.2
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.2
|
||||
param set-default CA_ROTOR1_PY -0.2
|
||||
param set-default CA_ROTOR2_PX 0.2
|
||||
param set-default CA_ROTOR2_PY -0.2
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.2
|
||||
param set-default CA_ROTOR3_PY 0.2
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_PX -0.3
|
||||
param set-default CA_ROTOR4_KM 0.05
|
||||
param set-default CA_ROTOR4_AX 1
|
||||
param set-default CA_ROTOR4_AZ 0
|
||||
|
||||
# SIH for now hardcodes this configuration which we need to match in the airframe files.
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TRQ_R 1
|
||||
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
|
||||
param set-default CA_SV_CS1_TRQ_P 1
|
||||
param set-default CA_SV_CS1_TYPE 3 # elevator
|
||||
param set-default CA_SV_CS2_TRQ_Y 1
|
||||
param set-default CA_SV_CS2_TYPE 4 # rudder
|
||||
|
||||
param set-default FW_AIRSPD_MIN 7
|
||||
param set-default FW_AIRSPD_TRIM 10
|
||||
param set-default FW_AIRSPD_MAX 12
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 201
|
||||
param set-default PWM_MAIN_FUNC6 202
|
||||
param set-default PWM_MAIN_FUNC7 203
|
||||
param set-default PWM_MAIN_FUNC8 105
|
||||
|
||||
param set-default MAV_TYPE 22
|
||||
|
||||
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
# param set-default SYS_HITL 2
|
||||
|
||||
param set-default SENS_DPRES_OFF 0.001
|
||||
|
||||
param set SIH_T_MAX 2.0
|
||||
param set SIH_Q_MAX 0.0165
|
||||
param set SIH_MASS 0.2
|
||||
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
|
||||
param set SIH_IXX 0.00354
|
||||
param set SIH_IYY 0.000625
|
||||
param set SIH_IZZ 0.00300
|
||||
param set SIH_IXZ 0
|
||||
param set SIH_KDV 0.2
|
||||
param set SIH_L_ROLL 0.2
|
||||
|
||||
# sih as standard vtol
|
||||
param set SIH_VEHICLE_TYPE 3
|
||||
@@ -1 +0,0 @@
|
||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
|
||||
@@ -24,33 +24,33 @@ param set-default FW_LND_ANG 8
|
||||
param set-default NPFG_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.5
|
||||
param set-default TRIM_PITCH -0.15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.4
|
||||
param set-default FW_RR_I 0.7
|
||||
|
||||
param set-default FW_R_RMAX 56.15
|
||||
|
||||
param set-default FW_YR_FF 0.3
|
||||
param set-default FW_YR_P 1.3
|
||||
param set-default FW_YR_I 0.7
|
||||
|
||||
param set-default FW_PSP_OFF 0
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_RR_I 0.5
|
||||
|
||||
param set-default FW_YR_FF 0.5
|
||||
param set-default FW_YR_P 0.6
|
||||
param set-default FW_YR_I 0.5
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_T_CLMB_MAX 5
|
||||
param set-default FW_T_SINK_MAX 3.5
|
||||
param set-default FW_T_SINK_MIN 3
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default FD_ESCS_EN 0
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
|
||||
@@ -75,6 +75,7 @@ param set-default MPC_Z_VEL_P_ACC 5
|
||||
param set-default MPC_Z_VEL_I_ACC 3
|
||||
param set-default MPC_LAND_ALT1 3
|
||||
param set-default MPC_LAND_ALT2 1
|
||||
param set-default MPC_POS_MODE 3
|
||||
param set-default CP_GO_NO_DATA 1
|
||||
|
||||
# Navigator Parameters
|
||||
|
||||
@@ -13,22 +13,22 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
# Rover parameters
|
||||
param set-default RD_WHEEL_TRACK 0.3
|
||||
param set-default RD_MAX_ACCEL 5
|
||||
param set-default RD_MAX_DECEL 10
|
||||
param set-default RD_MAN_YAW_SCALE 0.1
|
||||
param set-default RD_MAX_ACCEL 6
|
||||
param set-default RD_MAX_JERK 30
|
||||
param set-default RD_MAX_THR_YAW_R 1.5
|
||||
param set-default RD_YAW_RATE_P 0.25
|
||||
param set-default RD_YAW_RATE_I 0.01
|
||||
param set-default RD_MAX_THR_YAW_R 5
|
||||
param set-default RD_YAW_RATE_P 0.1
|
||||
param set-default RD_YAW_RATE_I 0
|
||||
param set-default RD_YAW_P 5
|
||||
param set-default RD_YAW_I 0.1
|
||||
param set-default RD_MAX_SPEED 2
|
||||
param set-default RD_MAX_THR_SPD 2.15
|
||||
param set-default RD_SPEED_P 0.1
|
||||
param set-default RD_SPEED_I 0.01
|
||||
param set-default RD_YAW_I 0
|
||||
param set-default RD_MAX_SPEED 5
|
||||
param set-default RD_MAX_THR_SPD 7
|
||||
param set-default RD_SPEED_P 1
|
||||
param set-default RD_SPEED_I 0
|
||||
param set-default RD_MAX_YAW_RATE 180
|
||||
param set-default RD_MISS_SPD_DEF 5
|
||||
param set-default RD_TRANS_DRV_TRN 0.349066
|
||||
param set-default RD_TRANS_TRN_DRV 0.174533
|
||||
param set-default RD_MAX_YAW_ACCEL 1000
|
||||
|
||||
# Pure pursuit parameters
|
||||
param set-default PP_LOOKAHD_MAX 30
|
||||
@@ -43,13 +43,13 @@ param set-default SENS_EN_ARSPDSIM 0
|
||||
|
||||
# Actuator mapping
|
||||
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
|
||||
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
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC2 102 # left wheel
|
||||
param set-default SIM_GZ_WH_MIN2 70
|
||||
param set-default SIM_GZ_WH_MAX2 130
|
||||
param set-default SIM_GZ_WH_MIN2 0
|
||||
param set-default SIM_GZ_WH_MAX2 200
|
||||
param set-default SIM_GZ_WH_DIS2 100
|
||||
|
||||
param set-default SIM_GZ_WH_REV 1 # reverse right wheel
|
||||
|
||||
@@ -21,6 +21,7 @@ param set-default COM_ARM_WO_GPS 1
|
||||
|
||||
# Rover parameters
|
||||
param set-default RD_WHEEL_TRACK 0.9
|
||||
param set-default RD_MAN_YAW_SCALE 0.1
|
||||
param set-default RD_YAW_RATE_I 0.1
|
||||
param set-default RD_YAW_RATE_P 5
|
||||
param set-default RD_MAX_ACCEL 1
|
||||
@@ -29,6 +30,7 @@ param set-default RD_MAX_SPEED 8
|
||||
param set-default RD_YAW_P 5
|
||||
param set-default RD_YAW_I 0.1
|
||||
param set-default RD_MAX_YAW_RATE 30
|
||||
param set-default RD_MISS_SPD_DEF 8
|
||||
param set-default RD_TRANS_DRV_TRN 0.349066
|
||||
param set-default RD_TRANS_TRN_DRV 0.174533
|
||||
|
||||
@@ -60,25 +62,19 @@ param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
|
||||
# controls in practical scenarios.
|
||||
|
||||
# Cutter deck blades clutch, PCA9685 servo channel 3, "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
|
||||
param set-default SIM_GZ_SV_FUNC1 201
|
||||
param set-default SIM_GZ_SV_MIN1 0
|
||||
param set-default SIM_GZ_SV_MAX1 1000
|
||||
param set-default SIM_GZ_SV_DIS1 500
|
||||
param set-default SIM_GZ_SV_FAIL1 500
|
||||
param set-default SIM_GZ_SV_MAXA1 90
|
||||
param set-default SIM_GZ_SV_MINA1 -90
|
||||
param set-default SIM_GZ_SV_FUNC3 203
|
||||
param set-default SIM_GZ_SV_MIN3 0
|
||||
param set-default SIM_GZ_SV_MAX3 1000
|
||||
param set-default SIM_GZ_SV_DIS3 500
|
||||
param set-default SIM_GZ_SV_FAIL3 500
|
||||
|
||||
# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
|
||||
# - on minimum when disarmed or failed:
|
||||
param set-default SIM_GZ_SV_FUNC2 202
|
||||
param set-default SIM_GZ_SV_MIN2 0
|
||||
param set-default SIM_GZ_SV_MAX2 1000
|
||||
param set-default SIM_GZ_SV_DIS2 500
|
||||
param set-default SIM_GZ_SV_FAIL2 500
|
||||
param set-default SIM_GZ_SV_MAXA2 90
|
||||
param set-default SIM_GZ_SV_MINA2 -90
|
||||
|
||||
param set-default CA_SV_CS_COUNT 2
|
||||
param set-default SIM_GZ_SV_FUNC4 204
|
||||
param set-default SIM_GZ_SV_MIN4 0
|
||||
param set-default SIM_GZ_SV_MAX4 1000
|
||||
param set-default SIM_GZ_SV_DIS4 500
|
||||
param set-default SIM_GZ_SV_FAIL4 500
|
||||
|
||||
# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:
|
||||
|
||||
|
||||
@@ -15,18 +15,16 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default RA_ACC_RAD_GAIN 2
|
||||
param set-default RA_ACC_RAD_MAX 3
|
||||
param set-default RA_LAT_ACCEL_I 0.01
|
||||
param set-default RA_LAT_ACCEL_P 0.1
|
||||
param set-default RA_MAX_ACCEL 3
|
||||
param set-default RA_MAX_DECEL 6
|
||||
param set-default RA_MAX_ACCEL 1.5
|
||||
param set-default RA_MAX_JERK 15
|
||||
param set-default RA_MAX_LAT_ACCEL 4
|
||||
param set-default RA_MAX_SPEED 3
|
||||
param set-default RA_MAX_STR_ANG 0.5236
|
||||
param set-default RA_MAX_STR_RATE 360
|
||||
param set-default RA_MAX_THR_SPEED 3.1
|
||||
param set-default RA_MISS_VEL_DEF 3
|
||||
param set-default RA_MISS_VEL_GAIN 5
|
||||
param set-default RA_MISS_VEL_MIN 1
|
||||
param set-default RA_SPEED_I 0.01
|
||||
param set-default RA_SPEED_P 0.1
|
||||
param set-default RA_SPEED_P 2
|
||||
param set-default RA_WHEEL_BASE 0.321
|
||||
|
||||
# Pure Pursuit parameters
|
||||
@@ -47,8 +45,5 @@ param set-default SIM_GZ_WH_MAX1 200
|
||||
param set-default SIM_GZ_WH_DIS1 100
|
||||
|
||||
# Steering
|
||||
param set-default SIM_GZ_SV_MAXA1 30
|
||||
param set-default SIM_GZ_SV_MINA1 -30
|
||||
param set-default CA_SV_CS_COUNT 1
|
||||
param set-default SIM_GZ_SV_FUNC1 201
|
||||
param set-default SIM_GZ_SV_REV 1
|
||||
|
||||
+2
-2
@@ -1,10 +1,10 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo x500 lidar 2d
|
||||
# @name Gazebo x500 lidar
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_2d}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar}
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/4001_gz_x500
|
||||
@@ -13,18 +13,18 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
# Rover parameters
|
||||
param set-default RM_WHEEL_TRACK 0.3
|
||||
param set-default RM_YAW_RATE_I 0.1
|
||||
param set-default RM_YAW_RATE_P 0.1
|
||||
param set-default RM_MAN_YAW_SCALE 0.1
|
||||
param set-default RM_YAW_RATE_I 0
|
||||
param set-default RM_YAW_RATE_P 0.01
|
||||
param set-default RM_MAX_ACCEL 3
|
||||
param set-default RM_MAX_DECEL 5
|
||||
param set-default RM_MAX_JERK 5
|
||||
param set-default RM_MAX_SPEED 2
|
||||
param set-default RM_MAX_THR_SPD 2.2
|
||||
param set-default RM_MAX_THR_YAW_R 1.2
|
||||
param set-default RM_MAX_SPEED 4
|
||||
param set-default RM_MAX_THR_SPD 7
|
||||
param set-default RM_MAX_THR_YAW_R 7.5
|
||||
param set-default RM_YAW_P 5
|
||||
param set-default RM_YAW_I 0.1
|
||||
param set-default RM_MAX_YAW_RATE 120
|
||||
param set-default RM_MAX_YAW_ACCEL 240
|
||||
param set-default RM_MAX_YAW_RATE 180
|
||||
param set-default RM_MISS_SPD_DEF 3
|
||||
param set-default RM_MISS_VEL_GAIN 1
|
||||
param set-default RM_SPEED_I 0.01
|
||||
param set-default RM_SPEED_P 0.1
|
||||
@@ -42,23 +42,23 @@ param set-default SENS_EN_ARSPDSIM 0
|
||||
|
||||
# Actuator mapping
|
||||
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_MIN1 0
|
||||
param set-default SIM_GZ_WH_MAX1 200
|
||||
param set-default SIM_GZ_WH_DIS1 100
|
||||
|
||||
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_MIN2 0
|
||||
param set-default SIM_GZ_WH_MAX2 200
|
||||
param set-default SIM_GZ_WH_DIS2 100
|
||||
|
||||
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_MIN3 0
|
||||
param set-default SIM_GZ_WH_MAX3 200
|
||||
param set-default SIM_GZ_WH_DIS3 100
|
||||
|
||||
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_MIN4 0
|
||||
param set-default SIM_GZ_WH_MAX4 200
|
||||
param set-default SIM_GZ_WH_DIS4 100
|
||||
|
||||
param set-default SIM_GZ_WH_REV 10
|
||||
|
||||
@@ -1,10 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo x500 lidar down
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_down}
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/4001_gz_x500
|
||||
@@ -1,10 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo x500 lidar front
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar_front}
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/4001_gz_x500
|
||||
@@ -1,97 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Quadrotor + Tailsitter
|
||||
#
|
||||
# @type VTOL Quad Tailsitter
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 0
|
||||
|
||||
|
||||
param set-default MAV_TYPE 20
|
||||
|
||||
param set-default CA_AIRFRAME 4
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.23
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.23
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.23
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.23
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_SV_CS_COUNT 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_MIN1 10
|
||||
param set-default SIM_GZ_EC_MIN2 10
|
||||
param set-default SIM_GZ_EC_MIN3 10
|
||||
param set-default SIM_GZ_EC_MIN4 10
|
||||
|
||||
param set-default SIM_GZ_EC_MAX1 1500
|
||||
param set-default SIM_GZ_EC_MAX2 1500
|
||||
param set-default SIM_GZ_EC_MAX3 1500
|
||||
param set-default SIM_GZ_EC_MAX4 1500
|
||||
|
||||
param set-default FD_FAIL_R 70
|
||||
|
||||
param set-default FW_P_TC 0.6
|
||||
|
||||
param set-default FW_PR_I 0.3
|
||||
param set-default FW_PR_P 0.5
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_I 0.1
|
||||
param set-default FW_RR_P 0.2
|
||||
param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
|
||||
param set-default FW_YR_I 0
|
||||
param set-default FW_THR_TRIM 0.35
|
||||
param set-default FW_THR_MAX 0.8
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_CLMB_MAX 6
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 3
|
||||
param set-default FW_T_SINK_MIN 1.6
|
||||
param set-default FW_AIRSPD_STALL 10
|
||||
param set-default FW_AIRSPD_MIN 14
|
||||
param set-default FW_AIRSPD_TRIM 18
|
||||
param set-default FW_AIRSPD_MAX 22
|
||||
|
||||
param set-default MC_AIRMODE 2
|
||||
param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
|
||||
param set-default MC_ROLL_P 3
|
||||
param set-default MC_PITCH_P 3
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set-default MC_PITCHRATE_P 0.3
|
||||
|
||||
param set-default VT_ARSP_TRANS 15
|
||||
param set-default VT_B_TRANS_DUR 5
|
||||
param set-default VT_FW_DIFTHR_EN 7
|
||||
param set-default VT_FW_DIFTHR_S_Y 1
|
||||
param set-default VT_F_TRANS_DUR 1.5
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
param set-default WV_EN 0
|
||||
|
||||
param set-default EKF2_FUSE_BETA 0
|
||||
@@ -1,23 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo x500 gimbal
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_gimbal}
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/4001_gz_x500
|
||||
|
||||
# Gimbal settings
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MNT_RC_IN_MODE 1
|
||||
|
||||
param set-default MNT_MAN_ROLL 1
|
||||
param set-default MNT_MAN_PITCH 2
|
||||
param set-default MNT_MAN_YAW 3
|
||||
|
||||
param set-default MNT_RANGE_ROLL 180
|
||||
param set-default MNT_RANGE_PITCH 180
|
||||
param set-default MNT_RANGE_YAW 720
|
||||
@@ -1,112 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name VTOL Tiltrotor
|
||||
#
|
||||
# @type VTOL Tiltrotor
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 0
|
||||
|
||||
param set-default MAV_TYPE 21
|
||||
|
||||
param set-default CA_AIRFRAME 3
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_ROTOR0_TILT 1
|
||||
param set-default CA_ROTOR2_TILT 2
|
||||
param set-default CA_SV_TL0_MAXA 90
|
||||
param set-default CA_SV_TL0_MINA 0
|
||||
param set-default CA_SV_TL0_TD 0
|
||||
param set-default CA_SV_TL0_CT 1
|
||||
param set-default CA_SV_TL1_MAXA 90
|
||||
param set-default CA_SV_TL1_MINA 0
|
||||
param set-default CA_SV_TL1_TD 0
|
||||
param set-default CA_SV_TL1_CT 1
|
||||
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_TL_COUNT 2
|
||||
|
||||
param set-default SIM_GZ_EC_FUNC1 101
|
||||
param set-default SIM_GZ_EC_FUNC2 102
|
||||
param set-default SIM_GZ_EC_FUNC3 103
|
||||
param set-default SIM_GZ_EC_FUNC4 104
|
||||
|
||||
param set-default SIM_GZ_EC_MIN1 10
|
||||
param set-default SIM_GZ_EC_MIN2 10
|
||||
param set-default SIM_GZ_EC_MIN3 10
|
||||
param set-default SIM_GZ_EC_MIN4 10
|
||||
|
||||
param set-default SIM_GZ_EC_MAX1 1500
|
||||
param set-default SIM_GZ_EC_MAX2 1500
|
||||
param set-default SIM_GZ_EC_MAX3 1500
|
||||
param set-default SIM_GZ_EC_MAX4 1500
|
||||
|
||||
param set-default SIM_GZ_SV_FUNC1 201
|
||||
param set-default SIM_GZ_SV_FUNC2 202
|
||||
param set-default SIM_GZ_SV_FUNC3 203
|
||||
param set-default SIM_GZ_SV_FUNC4 204
|
||||
param set-default SIM_GZ_SV_FUNC5 205
|
||||
|
||||
param set-default SIM_GZ_SV_MAXA4 90
|
||||
param set-default SIM_GZ_SV_MINA4 0
|
||||
param set-default SIM_GZ_SV_MAXA5 90
|
||||
param set-default SIM_GZ_SV_MINA5 0
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_TRIM 0.38
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default MC_AIRMODE 1
|
||||
param set-default MC_YAWRATE_P 0.4
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_FWD_THRUST_SC 0.6
|
||||
param set-default VT_TILT_TRANS 0.6
|
||||
param set-default VT_TYPE 1
|
||||
@@ -1,155 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 6DoF Spacecraft Model
|
||||
#
|
||||
# @type Freeflyer with 8 thrusters
|
||||
#
|
||||
# @maintainer Pedro Roque <padr@kth.se>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.sc_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 15
|
||||
param set-default MAV_TYPE 99
|
||||
|
||||
param set-default CA_THRUSTER_CNT 12
|
||||
param set-default CA_R_REV 0
|
||||
|
||||
# param set-default FW_ARSP_MODE 1
|
||||
|
||||
# Auto to be provided by Custom Airframe
|
||||
param set-default CA_METHOD 0
|
||||
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
|
||||
# Set proper failsafes
|
||||
param set-default COM_ACT_FAIL_ACT 0
|
||||
param set-default COM_LOW_BAT_ACT 0
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default GF_ACTION 1
|
||||
param set-default NAV_RCL_ACT 1
|
||||
param set-default COM_POSCTL_NAVL 2
|
||||
|
||||
# Set thrusters
|
||||
param set-default CA_THRUSTER0_PX -0.50
|
||||
param set-default CA_THRUSTER0_PY 0.50
|
||||
param set-default CA_THRUSTER0_PZ 0.0
|
||||
param set-default CA_THRUSTER0_CT 0.237
|
||||
param set-default CA_THRUSTER0_AX 0.0
|
||||
param set-default CA_THRUSTER0_AY -1.0
|
||||
param set-default CA_THRUSTER0_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER1_PX 0.50
|
||||
param set-default CA_THRUSTER1_PY 0.50
|
||||
param set-default CA_THRUSTER1_PZ 0.0
|
||||
param set-default CA_THRUSTER1_CT 0.237
|
||||
param set-default CA_THRUSTER1_AX 0.0
|
||||
param set-default CA_THRUSTER1_AY -1.0
|
||||
param set-default CA_THRUSTER1_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER2_PX 0.50
|
||||
param set-default CA_THRUSTER2_PY -0.50
|
||||
param set-default CA_THRUSTER2_PZ 0.0
|
||||
param set-default CA_THRUSTER2_CT 0.237
|
||||
param set-default CA_THRUSTER2_AX 0.0
|
||||
param set-default CA_THRUSTER2_AY 1.0
|
||||
param set-default CA_THRUSTER2_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER3_PX -0.50
|
||||
param set-default CA_THRUSTER3_PY -0.50
|
||||
param set-default CA_THRUSTER3_PZ 0.0
|
||||
param set-default CA_THRUSTER3_CT 0.237
|
||||
param set-default CA_THRUSTER3_AX 0.0
|
||||
param set-default CA_THRUSTER3_AY 1.0
|
||||
param set-default CA_THRUSTER3_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER4_PX -0.50
|
||||
param set-default CA_THRUSTER4_PY 0.0
|
||||
param set-default CA_THRUSTER4_PZ -0.50
|
||||
param set-default CA_THRUSTER4_CT 0.237
|
||||
param set-default CA_THRUSTER4_AX 1.0
|
||||
param set-default CA_THRUSTER4_AY 0.0
|
||||
param set-default CA_THRUSTER4_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER5_PX 0.50
|
||||
param set-default CA_THRUSTER5_PY 0.0
|
||||
param set-default CA_THRUSTER5_PZ -0.50
|
||||
param set-default CA_THRUSTER5_CT 0.237
|
||||
param set-default CA_THRUSTER5_AX -1.0
|
||||
param set-default CA_THRUSTER5_AY 0.0
|
||||
param set-default CA_THRUSTER5_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER6_PX 0.50
|
||||
param set-default CA_THRUSTER6_PY 0.0
|
||||
param set-default CA_THRUSTER6_PZ 0.50
|
||||
param set-default CA_THRUSTER6_CT 0.237
|
||||
param set-default CA_THRUSTER6_AX -1.0
|
||||
param set-default CA_THRUSTER6_AY 0.0
|
||||
param set-default CA_THRUSTER6_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER7_PX -0.50
|
||||
param set-default CA_THRUSTER7_PY 0.0
|
||||
param set-default CA_THRUSTER7_PZ 0.50
|
||||
param set-default CA_THRUSTER7_CT 0.237
|
||||
param set-default CA_THRUSTER7_AX 1.0
|
||||
param set-default CA_THRUSTER7_AY 0.0
|
||||
param set-default CA_THRUSTER7_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER8_PX 0.0
|
||||
param set-default CA_THRUSTER8_PY -0.50
|
||||
param set-default CA_THRUSTER8_PZ -0.50
|
||||
param set-default CA_THRUSTER8_CT 0.237
|
||||
param set-default CA_THRUSTER8_AX 0.0
|
||||
param set-default CA_THRUSTER8_AY 0.0
|
||||
param set-default CA_THRUSTER8_AZ 1.0
|
||||
|
||||
param set-default CA_THRUSTER9_PX 0.0
|
||||
param set-default CA_THRUSTER9_PY 0.50
|
||||
param set-default CA_THRUSTER9_PZ -0.50
|
||||
param set-default CA_THRUSTER9_CT 0.237
|
||||
param set-default CA_THRUSTER9_AX 0.0
|
||||
param set-default CA_THRUSTER9_AY 0.0
|
||||
param set-default CA_THRUSTER9_AZ 1.0
|
||||
|
||||
param set-default CA_THRUSTER10_PX 0.0
|
||||
param set-default CA_THRUSTER10_PY 0.50
|
||||
param set-default CA_THRUSTER10_PZ 0.50
|
||||
param set-default CA_THRUSTER10_CT 0.237
|
||||
param set-default CA_THRUSTER10_AX 0.0
|
||||
param set-default CA_THRUSTER10_AY 0.0
|
||||
param set-default CA_THRUSTER10_AZ -1.0
|
||||
|
||||
param set-default CA_THRUSTER11_PX 0.0
|
||||
param set-default CA_THRUSTER11_PY -0.50
|
||||
param set-default CA_THRUSTER11_PZ 0.50
|
||||
param set-default CA_THRUSTER11_CT 0.237
|
||||
param set-default CA_THRUSTER11_AX 0.0
|
||||
param set-default CA_THRUSTER11_AY 0.0
|
||||
param set-default CA_THRUSTER11_AZ -1.0
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
param set-default PWM_MAIN_FUNC7 107
|
||||
param set-default PWM_MAIN_FUNC8 108
|
||||
param set-default PWM_MAIN_FUNC9 109
|
||||
param set-default PWM_MAIN_FUNC10 110
|
||||
param set-default PWM_MAIN_FUNC11 111
|
||||
param set-default PWM_MAIN_FUNC12 112
|
||||
|
||||
# PWM Simulation
|
||||
param set PWM_SIM_PWM_MAX 10000
|
||||
param set PWM_SIM_PWM_MIN 0
|
||||
|
||||
# Controller Tunings
|
||||
param set-default SC_ROLLRATE_P 0.14
|
||||
param set-default SC_PITCHRATE_P 0.14
|
||||
param set-default SC_ROLLRATE_I 0.3
|
||||
param set-default SC_PITCHRATE_I 0.3
|
||||
param set-default SC_ROLLRATE_D 0.004
|
||||
param set-default SC_PITCHRATE_D 0.004
|
||||
@@ -1,149 +0,0 @@
|
||||
#!/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_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?
|
||||
|
||||
param set-default CA_AIRFRAME 14
|
||||
param set-default MAV_TYPE 99
|
||||
|
||||
param set-default CA_THRUSTER_CNT 8
|
||||
param set-default CA_R_REV 0
|
||||
|
||||
# param set-default FW_ARSP_MODE 1
|
||||
|
||||
# Auto to be provided by Custom Airframe
|
||||
param set-default CA_METHOD 0 # 0 is PseudoInverse, 3 is Metric
|
||||
|
||||
# Set proper failsafes
|
||||
param set-default COM_ACT_FAIL_ACT 0
|
||||
param set-default COM_LOW_BAT_ACT 0
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default GF_ACTION 1
|
||||
param set-default NAV_RCL_ACT 1
|
||||
param set-default COM_POSCTL_NAVL 2
|
||||
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
|
||||
param set-default CA_THRUSTER0_PX -0.12
|
||||
param set-default CA_THRUSTER0_PY -0.12
|
||||
param set-default CA_THRUSTER0_PZ 0.0
|
||||
param set-default CA_THRUSTER0_CT 1.4
|
||||
param set-default CA_THRUSTER0_AX 1.0
|
||||
param set-default CA_THRUSTER0_AY 0.0
|
||||
param set-default CA_THRUSTER0_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER1_PX 0.12
|
||||
param set-default CA_THRUSTER1_PY -0.12
|
||||
param set-default CA_THRUSTER1_PZ 0.0
|
||||
param set-default CA_THRUSTER1_CT 1.4
|
||||
param set-default CA_THRUSTER1_AX -1.0
|
||||
param set-default CA_THRUSTER1_AY 0.0
|
||||
param set-default CA_THRUSTER1_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER2_PX -0.12
|
||||
param set-default CA_THRUSTER2_PY 0.12
|
||||
param set-default CA_THRUSTER2_PZ 0.0
|
||||
param set-default CA_THRUSTER2_CT 1.4
|
||||
param set-default CA_THRUSTER2_AX 1.0
|
||||
param set-default CA_THRUSTER2_AY 0.0
|
||||
param set-default CA_THRUSTER2_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER3_PX 0.12
|
||||
param set-default CA_THRUSTER3_PY 0.12
|
||||
param set-default CA_THRUSTER3_PZ 0.0
|
||||
param set-default CA_THRUSTER3_CT 1.4
|
||||
param set-default CA_THRUSTER3_AX -1.0
|
||||
param set-default CA_THRUSTER3_AY 0.0
|
||||
param set-default CA_THRUSTER3_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER4_PX 0.12
|
||||
param set-default CA_THRUSTER4_PY -0.12
|
||||
param set-default CA_THRUSTER4_PZ 0.0
|
||||
param set-default CA_THRUSTER4_CT 1.4
|
||||
param set-default CA_THRUSTER4_AX 0.0
|
||||
param set-default CA_THRUSTER4_AY 1.0
|
||||
param set-default CA_THRUSTER4_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER5_PX 0.12
|
||||
param set-default CA_THRUSTER5_PY 0.12
|
||||
param set-default CA_THRUSTER5_PZ 0.0
|
||||
param set-default CA_THRUSTER5_CT 1.4
|
||||
param set-default CA_THRUSTER5_AX 0.0
|
||||
param set-default CA_THRUSTER5_AY -1.0
|
||||
param set-default CA_THRUSTER5_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER6_PX -0.12
|
||||
param set-default CA_THRUSTER6_PY -0.12
|
||||
param set-default CA_THRUSTER6_PZ 0.0
|
||||
param set-default CA_THRUSTER6_CT 1.4
|
||||
param set-default CA_THRUSTER6_AX 0.0
|
||||
param set-default CA_THRUSTER6_AY 1.0
|
||||
param set-default CA_THRUSTER6_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER7_PX -0.12
|
||||
param set-default CA_THRUSTER7_PY 0.12
|
||||
param set-default CA_THRUSTER7_PZ 0.0
|
||||
param set-default CA_THRUSTER7_CT 1.4
|
||||
param set-default CA_THRUSTER7_AX 0.0
|
||||
param set-default CA_THRUSTER7_AY -1.0
|
||||
param set-default CA_THRUSTER7_AZ 0.0
|
||||
|
||||
param set-default SIM_GZ_TH_FUNC1 101
|
||||
param set-default SIM_GZ_TH_FUNC2 102
|
||||
param set-default SIM_GZ_TH_FUNC3 103
|
||||
param set-default SIM_GZ_TH_FUNC4 104
|
||||
param set-default SIM_GZ_TH_FUNC5 105
|
||||
param set-default SIM_GZ_TH_FUNC6 106
|
||||
param set-default SIM_GZ_TH_FUNC7 107
|
||||
param set-default SIM_GZ_TH_FUNC8 108
|
||||
|
||||
param set-default SIM_GZ_TH_MIN1 0
|
||||
param set-default SIM_GZ_TH_MIN2 0
|
||||
param set-default SIM_GZ_TH_MIN3 0
|
||||
param set-default SIM_GZ_TH_MIN4 0
|
||||
param set-default SIM_GZ_TH_MIN5 0
|
||||
param set-default SIM_GZ_TH_MIN6 0
|
||||
param set-default SIM_GZ_TH_MIN7 0
|
||||
param set-default SIM_GZ_TH_MIN8 0
|
||||
|
||||
param set-default SIM_GZ_TH_MAX1 10000
|
||||
param set-default SIM_GZ_TH_MAX2 10000
|
||||
param set-default SIM_GZ_TH_MAX3 10000
|
||||
param set-default SIM_GZ_TH_MAX4 10000
|
||||
param set-default SIM_GZ_TH_MAX5 10000
|
||||
param set-default SIM_GZ_TH_MAX6 10000
|
||||
param set-default SIM_GZ_TH_MAX7 10000
|
||||
param set-default SIM_GZ_TH_MAX8 10000
|
||||
|
||||
# Controller Tunings
|
||||
param set SC_YAWRATE_P 3.335
|
||||
param set SC_YAWRATE_I 0.87
|
||||
param set SC_YAWRATE_D 0.15
|
||||
param set SC_YR_INT_LIM 0.2
|
||||
param set SC_YAW_P 3.0
|
||||
|
||||
param set SPC_POS_P 0.20
|
||||
param set SPC_VEL_P 6.55
|
||||
param set SPC_VEL_I 0.0
|
||||
param set SPC_VEL_D 0.0
|
||||
param set SPC_VEL_MAX 12.0
|
||||
@@ -49,7 +49,6 @@ px4_add_romfs_files(
|
||||
1022_gazebo-classic_uuv_bluerov2_heavy
|
||||
1030_gazebo-classic_plane
|
||||
1031_gazebo-classic_plane_cam
|
||||
1031_gazebo-classic_plane_cam.post
|
||||
1032_gazebo-classic_plane_catapult
|
||||
1033_jsbsim_rascal
|
||||
1034_flightgear_rascal-electric
|
||||
@@ -85,14 +84,9 @@ px4_add_romfs_files(
|
||||
4010_gz_x500_mono_cam
|
||||
4011_gz_lawnmower
|
||||
4012_gz_rover_ackermann
|
||||
4013_gz_x500_lidar_2d
|
||||
4013_gz_x500_lidar
|
||||
4014_gz_x500_mono_cam_down
|
||||
4015_gz_r1_rover_mecanum
|
||||
4016_gz_x500_lidar_down
|
||||
4017_gz_x500_lidar_front
|
||||
4018_gz_quadtailsitter
|
||||
4019_gz_x500_gimbal
|
||||
4020_gz_tiltrotor
|
||||
|
||||
6011_gazebo-classic_typhoon_h480
|
||||
6011_gazebo-classic_typhoon_h480.post
|
||||
@@ -109,13 +103,9 @@ px4_add_romfs_files(
|
||||
10040_sihsim_quadx
|
||||
10041_sihsim_airplane
|
||||
10042_sihsim_xvert
|
||||
10043_sihsim_standard_vtol
|
||||
|
||||
17001_flightgear_tf-g1
|
||||
17002_flightgear_tf-g2
|
||||
|
||||
71001_gazebo-classic_spacecraft_dart
|
||||
71002_gz_spacecraft_2d
|
||||
|
||||
# [22000, 22999] Reserve for custom models
|
||||
)
|
||||
|
||||
@@ -4,9 +4,6 @@
|
||||
# Simulator IMU data provided at 250 Hz
|
||||
param set-default IMU_INTEG_RATE 250
|
||||
|
||||
# For simulation, allow registering modes while armed for developer convenience
|
||||
param set-default COM_MODE_ARM_CHK 1
|
||||
|
||||
if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
|
||||
|
||||
echo "INFO [init] SIH simulator"
|
||||
@@ -36,10 +33,6 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
|
||||
then
|
||||
sensor_mag_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_AGPSIM 1
|
||||
then
|
||||
sensor_agp_sim start
|
||||
fi
|
||||
|
||||
else
|
||||
echo "ERROR [init] simulator_sih failed to start"
|
||||
@@ -160,10 +153,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
|
||||
then
|
||||
sensor_airspeed_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_AGPSIM 1
|
||||
then
|
||||
sensor_agp_sim start
|
||||
fi
|
||||
|
||||
elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
|
||||
|
||||
|
||||
@@ -153,6 +153,8 @@ fi
|
||||
|
||||
param set-default BAT1_N_CELLS 4
|
||||
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
# disable check, no CPU load reported on posix yet
|
||||
param set-default COM_CPU_MAX -1
|
||||
param set-default COM_RAM_MAX -1
|
||||
@@ -188,11 +190,11 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
|
||||
echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
|
||||
param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
|
||||
|
||||
COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 1.0" | bc)
|
||||
COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
|
||||
echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
|
||||
param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
|
||||
|
||||
COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 1.0" | bc)
|
||||
COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
|
||||
echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
|
||||
param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
|
||||
|
||||
@@ -245,8 +247,6 @@ then
|
||||
battery_simulator start
|
||||
fi
|
||||
|
||||
system_power_simulator start
|
||||
|
||||
tone_alarm start
|
||||
rc_update start
|
||||
manual_control start
|
||||
|
||||
@@ -92,13 +92,6 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_SPACECRAFT)
|
||||
px4_add_romfs_files(
|
||||
rc.sc_apps
|
||||
rc.sc_defaults
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_ROVER_MECANUM)
|
||||
px4_add_romfs_files(
|
||||
rc.rover_mecanum_apps
|
||||
|
||||
@@ -5,15 +5,6 @@
|
||||
# @type Standard VTOL
|
||||
# @class VTOL
|
||||
#
|
||||
# @output Motor1 MC motor front right
|
||||
# @output Motor2 MC motor back left
|
||||
# @output Motor3 MC motor front left
|
||||
# @output Motor4 MC motor back right
|
||||
# @output Motor5 Forward thrust motor
|
||||
# @output Servo1 Aileron
|
||||
# @output Servo2 Elevator
|
||||
# @output Servo3 Rudder
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@auterion.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
@@ -12,25 +12,28 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
# SIH for now hardcodes this configuration which we need to match in the airframe files.
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TRQ_R 1
|
||||
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
|
||||
param set-default CA_SV_CS_COUNT 4
|
||||
param set-default CA_SV_CS0_TRQ_R 0.5
|
||||
param set-default CA_SV_CS0_TYPE 2
|
||||
param set-default CA_SV_CS1_TRQ_P 1
|
||||
param set-default CA_SV_CS1_TYPE 3 # elevator
|
||||
param set-default CA_SV_CS1_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_Y 1
|
||||
param set-default CA_SV_CS2_TYPE 4 # rudder
|
||||
param set-default CA_SV_CS2_TYPE 4
|
||||
param set-default CA_SV_CS3_TYPE 10
|
||||
|
||||
param set HIL_ACT_FUNC1 201
|
||||
param set HIL_ACT_FUNC2 202
|
||||
param set HIL_ACT_FUNC3 203
|
||||
param set HIL_ACT_FUNC4 101
|
||||
param set-default HIL_ACT_REV 2
|
||||
param set-default HIL_ACT_FUNC1 201
|
||||
param set-default HIL_ACT_FUNC2 202
|
||||
param set-default HIL_ACT_FUNC3 203
|
||||
param set-default HIL_ACT_FUNC4 101
|
||||
param set-default HIL_ACT_FUNC5 204
|
||||
param set-default HIL_ACT_FUNC6 400
|
||||
|
||||
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
param set-default SYS_HITL 2
|
||||
|
||||
@@ -1,92 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name SIH Standard VTOL QuadPlane
|
||||
#
|
||||
# @type Simulation
|
||||
# @class VTOL
|
||||
#
|
||||
# @output Motor1 MC motor front right
|
||||
# @output Motor2 MC motor back left
|
||||
# @output Motor3 MC motor front left
|
||||
# @output Motor4 MC motor back right
|
||||
# @output Motor5 Forward thrust motor
|
||||
# @output Servo1 Ailerons (single channel)
|
||||
# @output Servo2 Elevator
|
||||
# @output Servo3 Rudder
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default MPC_MAN_Y_MAX 60
|
||||
param set-default MC_PITCH_P 5
|
||||
|
||||
param set-default CA_AIRFRAME 2
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR0_PX 0.2
|
||||
param set-default CA_ROTOR0_PY 0.2
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.2
|
||||
param set-default CA_ROTOR1_PY -0.2
|
||||
param set-default CA_ROTOR2_PX 0.2
|
||||
param set-default CA_ROTOR2_PY -0.2
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.2
|
||||
param set-default CA_ROTOR3_PY 0.2
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_PX -0.3
|
||||
param set-default CA_ROTOR4_KM 0.05
|
||||
param set-default CA_ROTOR4_AX 1
|
||||
param set-default CA_ROTOR4_AZ 0
|
||||
|
||||
# SIH for now hardcodes this configuration which we need to match in the airframe files.
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TRQ_R 1
|
||||
param set-default CA_SV_CS0_TYPE 15 # single channel aileron
|
||||
param set-default CA_SV_CS1_TRQ_P 1
|
||||
param set-default CA_SV_CS1_TYPE 3 # elevator
|
||||
param set-default CA_SV_CS2_TRQ_Y 1
|
||||
param set-default CA_SV_CS2_TYPE 4 # rudder
|
||||
|
||||
param set-default FW_AIRSPD_MIN 7
|
||||
param set-default FW_AIRSPD_TRIM 10
|
||||
param set-default FW_AIRSPD_MAX 12
|
||||
|
||||
param set-default HIL_ACT_FUNC1 101
|
||||
param set-default HIL_ACT_FUNC2 102
|
||||
param set-default HIL_ACT_FUNC3 103
|
||||
param set-default HIL_ACT_FUNC4 104
|
||||
param set-default HIL_ACT_FUNC5 201
|
||||
param set-default HIL_ACT_FUNC6 202
|
||||
param set-default HIL_ACT_FUNC7 203
|
||||
param set-default HIL_ACT_FUNC8 105
|
||||
|
||||
param set-default MAV_TYPE 22
|
||||
|
||||
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
param set-default SYS_HITL 2
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
param set-default SENS_DPRES_OFF 0.001
|
||||
|
||||
param set SIH_T_MAX 2.0
|
||||
param set SIH_Q_MAX 0.0165
|
||||
param set SIH_MASS 0.2
|
||||
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
|
||||
param set SIH_IXX 0.00354
|
||||
param set SIH_IYY 0.000625
|
||||
param set SIH_IZZ 0.00300
|
||||
param set SIH_IXZ 0
|
||||
param set SIH_KDV 0.2
|
||||
param set SIH_L_ROLL 0.2
|
||||
|
||||
# sih as standard vtol
|
||||
param set SIH_VEHICLE_TYPE 3
|
||||
@@ -21,6 +21,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default MAV_TYPE 14
|
||||
|
||||
param set-default CA_ROTOR_COUNT 8
|
||||
|
||||
@@ -0,0 +1,131 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Vertical Technologies DeltaQuad
|
||||
#
|
||||
# @type Standard VTOL
|
||||
# @class VTOL
|
||||
#
|
||||
# @maintainer Sander Smeets <sander@droneslab.com>
|
||||
#
|
||||
# @output Motor1 motor 1
|
||||
# @output Motor2 motor 2
|
||||
# @output Motor3 motor 3
|
||||
# @output Motor4 motor 4
|
||||
# @output Servo1 Right elevon
|
||||
# @output Servo2 Left elevon
|
||||
# @output Servo3 Pusher motor
|
||||
# @output Servo4 Pusher reverse channel
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default MAV_TYPE 22
|
||||
|
||||
param set-default BAT1_CAPACITY 23000
|
||||
param set-default BAT1_N_CELLS 4
|
||||
param set-default BAT1_R_INTERNAL 0.0025
|
||||
|
||||
param set-default SYS_HAS_NUM_ASPD 0
|
||||
|
||||
param set-default EKF2_GPS_POS_X -0.12
|
||||
param set-default EKF2_IMU_POS_X -0.12
|
||||
|
||||
param set-default FW_USE_AIRSPD 0
|
||||
param set-default NPFG_PERIOD 25
|
||||
param set-default FW_PR_FF 0.7
|
||||
param set-default FW_PR_I 0.18
|
||||
param set-default FW_PR_P 0.15
|
||||
param set-default FW_P_TC 0.5
|
||||
param set-default FW_PSP_OFF 5
|
||||
param set-default FW_R_LIM 35
|
||||
param set-default FW_RR_FF 0.9
|
||||
param set-default FW_RR_I 0.08
|
||||
param set-default FW_RR_P 0.18
|
||||
param set-default FW_T_CLMB_MAX 3
|
||||
param set-default FW_T_SINK_MAX 3
|
||||
param set-default FW_T_SINK_MIN 1
|
||||
param set-default FW_THR_TRIM 0.70
|
||||
param set-default FW_THR_SLEW_MAX 1
|
||||
param set-default FW_P_LIM_MAX 15
|
||||
param set-default FW_P_LIM_MIN -25
|
||||
param set-default FW_P_RMAX_NEG 45
|
||||
param set-default FW_P_RMAX_POS 45
|
||||
param set-default FW_R_RMAX 50
|
||||
param set-default FW_THR_MIN 0.55
|
||||
param set-default FW_BAT_SCALE_EN 1
|
||||
param set-default FW_T_RLL2THR 20
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.16
|
||||
param set-default MC_ROLLRATE_I 0.01
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
|
||||
param set-default MC_YAWRATE_MAX 20
|
||||
param set-default MC_AIRMODE 1
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 15
|
||||
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_MAX 5
|
||||
param set-default MPC_LAND_SPEED 1.2
|
||||
param set-default MPC_TILTMAX_LND 35
|
||||
param set-default MPC_Z_VEL_MAX_UP 1.5
|
||||
param set-default MPC_TKO_RAMP_T 0.8
|
||||
param set-default MPC_TILTMAX_AIR 25
|
||||
param set-default MPC_TILTMAX_LND 25
|
||||
param set-default MPC_YAWRAUTO_MAX 20
|
||||
|
||||
param set-default NAV_LOITER_RAD 100
|
||||
|
||||
param set-default PWM_MAIN_DIS5 1500
|
||||
param set-default PWM_MAIN_DIS6 1500
|
||||
param set-default PWM_MAIN_DIS7 900
|
||||
param set-default PWM_MAIN_DIS8 900
|
||||
|
||||
|
||||
param set-default SENS_BOARD_ROT 18
|
||||
|
||||
# TELEM2 config
|
||||
param set-default MAV_1_CONFIG 102
|
||||
param set-default MAV_1_RATE 5000
|
||||
param set-default MAV_1_FORWARD 1
|
||||
param set-default SER_TEL2_BAUD 57600
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default VT_PITCH_MIN 8
|
||||
param set-default VT_FW_QC_P 55
|
||||
param set-default VT_FW_QC_R 55
|
||||
param set-default VT_TRANS_MIN_TM 15
|
||||
param set-default VT_FWD_THRUST_SC 4
|
||||
param set-default VT_TRANS_TIMEOUT 22
|
||||
|
||||
param set-default COM_RC_OVERRIDE 0
|
||||
|
||||
param set-default CA_AIRFRAME 2
|
||||
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_AX 1
|
||||
param set-default CA_ROTOR4_AZ 0
|
||||
param set-default CA_ROTOR4_PX 0.2
|
||||
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_P 1
|
||||
@@ -0,0 +1,121 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name BabyShark VTOL
|
||||
#
|
||||
# @type Standard VTOL
|
||||
# @class VTOL
|
||||
#
|
||||
# @maintainer Silvan Fuhrer <silvan@auterion.com>
|
||||
#
|
||||
# @output Motor1 motor 1
|
||||
# @output Motor2 motor 2
|
||||
# @output Motor3 motor 3
|
||||
# @output Motor4 motor 4
|
||||
# @output Motor5 Pusher motor
|
||||
# @output Servo1 Ailerons
|
||||
# @output Servo2 A-tail left
|
||||
# @output Servo3 A-tail right
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default MAV_TYPE 22
|
||||
|
||||
param set-default BAT1_N_CELLS 6
|
||||
|
||||
param set-default FW_AIRSPD_MAX 30
|
||||
param set-default FW_AIRSPD_MIN 19
|
||||
param set-default FW_AIRSPD_TRIM 23
|
||||
param set-default FW_PN_R_SLEW_MAX 40
|
||||
param set-default FW_PSP_OFF 3
|
||||
param set-default FW_P_LIM_MAX 18
|
||||
param set-default FW_P_LIM_MIN -25
|
||||
param set-default FW_RLL_TO_YAW_FF 0.1
|
||||
param set-default FW_RR_P 0.08
|
||||
param set-default FW_R_LIM 45
|
||||
param set-default FW_R_RMAX 50
|
||||
param set-default FW_THR_TRIM 0.65
|
||||
param set-default FW_THR_MIN 0.3
|
||||
param set-default FW_THR_SLEW_MAX 0.6
|
||||
param set-default FW_T_SINK_MAX 15
|
||||
param set-default FW_T_SINK_MIN 3
|
||||
param set-default FW_YR_P 0.15
|
||||
|
||||
param set-default IMU_DGYRO_CUTOFF 15
|
||||
param set-default MC_PITCHRATE_MAX 60
|
||||
param set-default MC_ROLLRATE_MAX 60
|
||||
param set-default MC_YAWRATE_I 0.15
|
||||
param set-default MC_YAWRATE_MAX 40
|
||||
param set-default MC_YAWRATE_P 0.3
|
||||
|
||||
param set-default MC_AIRMODE 1
|
||||
param set-default MPC_LAND_SPEED 1
|
||||
param set-default MPC_MAN_TILT_MAX 25
|
||||
param set-default MPC_MAN_Y_MAX 40
|
||||
param set-default MPC_THR_HOVER 0.45
|
||||
param set-default MPC_TILTMAX_AIR 25
|
||||
param set-default MPC_YAWRAUTO_MAX 40
|
||||
param set-default MPC_Z_VEL_MAX_UP 2
|
||||
|
||||
param set-default NAV_ACC_RAD 3
|
||||
|
||||
param set-default PWM_MAIN_DIS3 1000
|
||||
param set-default PWM_MAIN_MIN3 1120
|
||||
|
||||
param set-default SENS_BOARD_ROT 4
|
||||
|
||||
param set-default VT_ARSP_BLEND 10
|
||||
param set-default VT_ARSP_TRANS 21
|
||||
param set-default VT_B_DEC_MSS 1.5
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_FWD_THRUST_SC 1.2
|
||||
param set-default VT_F_TR_OL_TM 8
|
||||
param set-default VT_TRANS_MIN_TM 4
|
||||
param set-default VT_TYPE 2
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 2
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR4_AX 1
|
||||
param set-default CA_ROTOR4_AZ 0
|
||||
|
||||
# Square quadrotor X PX4 numbering
|
||||
param set-default CA_ROTOR0_PX 1
|
||||
param set-default CA_ROTOR0_PY 1
|
||||
param set-default CA_ROTOR1_PX -1
|
||||
param set-default CA_ROTOR1_PY -1
|
||||
param set-default CA_ROTOR2_PX 1
|
||||
param set-default CA_ROTOR2_PY -1
|
||||
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 CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TYPE 15
|
||||
param set-default CA_SV_CS0_TRQ_R 1
|
||||
param set-default CA_SV_CS1_TRQ_P 0.5
|
||||
param set-default CA_SV_CS1_TRQ_R 0
|
||||
param set-default CA_SV_CS1_TRQ_Y -0.5
|
||||
param set-default CA_SV_CS1_TYPE 13
|
||||
param set-default CA_SV_CS2_TRQ_P 0.5
|
||||
param set-default CA_SV_CS2_TRQ_Y 0.5
|
||||
param set-default CA_SV_CS2_TYPE 14
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 202
|
||||
param set-default PWM_MAIN_FUNC3 105
|
||||
param set-default PWM_MAIN_FUNC4 203
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 102
|
||||
param set-default PWM_MAIN_FUNC7 103
|
||||
param set-default PWM_MAIN_FUNC8 104
|
||||
|
||||
param set-default PWM_MAIN_TIM0 50
|
||||
param set-default PWM_MAIN_DIS1 1500
|
||||
param set-default PWM_MAIN_DIS2 1500
|
||||
param set-default PWM_MAIN_DIS4 1500
|
||||
@@ -11,6 +11,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.heli_defaults
|
||||
|
||||
|
||||
# Disable PID gains for initial setup. These should be enabled after setting the FF gain.
|
||||
# P is expected to be lower than FF.
|
||||
param set-default MC_ROLLRATE_P 0
|
||||
|
||||
@@ -22,6 +22,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
param set-default BAT1_CAPACITY 2500
|
||||
param set-default BAT1_N_CELLS 3
|
||||
|
||||
@@ -40,6 +41,7 @@ param set-default FW_P_LIM_MAX 25
|
||||
param set-default FW_P_LIM_MIN -5
|
||||
param set-default FW_P_RMAX_NEG 20
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
|
||||
@@ -20,6 +20,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
param set-default BAT1_CAPACITY 3300
|
||||
param set-default BAT1_N_CELLS 3
|
||||
|
||||
|
||||
@@ -19,6 +19,7 @@ param set-default NAV_ACC_RAD 2
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set-default RTL_RETURN_ALT 30
|
||||
|
||||
|
||||
param set-default CA_ROTOR_COUNT 12
|
||||
# Bottom motors
|
||||
param set-default CA_ROTOR0_PX 0
|
||||
|
||||
@@ -67,6 +67,7 @@ param set-default MPC_Z_VEL_P_ACC 5
|
||||
param set-default MPC_Z_VEL_I_ACC 3
|
||||
param set-default MPC_LAND_ALT1 3
|
||||
param set-default MPC_LAND_ALT2 1
|
||||
param set-default MPC_POS_MODE 3
|
||||
param set-default CP_GO_NO_DATA 1
|
||||
|
||||
# Navigator Parameters
|
||||
|
||||
@@ -68,6 +68,7 @@ param set-default MPC_Z_VEL_P_ACC 5
|
||||
param set-default MPC_Z_VEL_I_ACC 3
|
||||
param set-default MPC_LAND_ALT1 3
|
||||
param set-default MPC_LAND_ALT2 1
|
||||
param set-default MPC_POS_MODE 3
|
||||
param set-default CP_GO_NO_DATA 1
|
||||
|
||||
# Navigator Parameters
|
||||
|
||||
@@ -21,6 +21,7 @@ param set-default MC_PITCHRATE_P 0.08
|
||||
param set-default MC_PITCHRATE_D 0.001
|
||||
param set-default MC_YAW_P 4
|
||||
|
||||
|
||||
param set-default MC_ROLLRATE_MAX 1600
|
||||
param set-default MC_PITCHRATE_MAX 1600
|
||||
param set-default MC_YAWRATE_MAX 1000
|
||||
|
||||
@@ -38,6 +38,7 @@ param set-default COM_FLTMODE5 -1
|
||||
param set-default COM_FLTMODE6 1
|
||||
param set-default COM_RC_LOSS_T 3
|
||||
|
||||
|
||||
# ekf2
|
||||
param set-default EKF2_BARO_NOISE 2
|
||||
|
||||
@@ -78,16 +79,19 @@ param set-default EKF2_RNG_POS_Z 0.033
|
||||
|
||||
param set-default EKF2_TERR_NOISE 1
|
||||
|
||||
|
||||
# Maximum allowed angle velocity in the landed state
|
||||
param set-default LNDMC_ROT_MAX 40
|
||||
|
||||
# Maximum vertical velocity allowed in the landed state
|
||||
param set-default LNDMC_Z_VEL_MAX 0.7
|
||||
|
||||
|
||||
# filtering
|
||||
param set-default IMU_DGYRO_CUTOFF 50
|
||||
param set-default IMU_GYRO_CUTOFF 65
|
||||
|
||||
|
||||
# Pitch angle & rate setting
|
||||
param set-default MC_PITCHRATE_P 0.075
|
||||
param set-default MC_PITCHRATE_I 0.1
|
||||
@@ -144,6 +148,7 @@ param set-default RC_MAP_RETURN_SW 7
|
||||
|
||||
param set-default RC1_TRIM 1000
|
||||
|
||||
|
||||
# optical flow
|
||||
param set-default SENS_FLOW_MAXR 7.4
|
||||
param set-default SENS_FLOW_MINHGT 0.15
|
||||
|
||||
@@ -30,6 +30,7 @@ param set-default IMU_DGYRO_CUTOFF 90
|
||||
param set-default IMU_GYRO_CUTOFF 100
|
||||
|
||||
# System
|
||||
|
||||
param set-default SENS_BOARD_ROT 10
|
||||
|
||||
# EKF2
|
||||
|
||||
@@ -18,6 +18,7 @@
|
||||
#
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default SYS_HAS_MAG 0
|
||||
param set-default EKF2_OF_CTRL 1
|
||||
param set-default EKF2_GPS_CTRL 0
|
||||
@@ -84,5 +85,6 @@ param set-default PWM_MAIN_MAX3 255
|
||||
|
||||
param set-default SENS_FLOW_MINRNG 0.05
|
||||
|
||||
|
||||
syslink start
|
||||
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
|
||||
|
||||
@@ -23,22 +23,22 @@ param set-default RBCLW_REV 1 # reverse right wheels
|
||||
|
||||
# Rover parameters
|
||||
param set-default RD_WHEEL_TRACK 0.3
|
||||
param set-default RD_MAX_ACCEL 3
|
||||
param set-default RD_MAX_DECEL 4
|
||||
param set-default RD_MAX_JERK 5
|
||||
param set-default RD_MAX_SPEED 1.6
|
||||
param set-default RD_MAX_THR_SPD 1.9
|
||||
param set-default RD_MAX_THR_YAW_R 0.7
|
||||
param set-default RD_MAX_YAW_ACCEL 600
|
||||
param set-default RD_MAX_YAW_RATE 250
|
||||
param set-default RD_SPEED_P 0.1
|
||||
param set-default RD_SPEED_I 0.01
|
||||
param set-default RD_TRANS_DRV_TRN 0.785398
|
||||
param set-default RD_TRANS_TRN_DRV 0.139626
|
||||
param set-default RD_YAW_P 5
|
||||
param set-default RD_YAW_I 0.1
|
||||
param set-default RD_MAN_YAW_SCALE 1
|
||||
param set-default RD_MAX_ACCEL 5
|
||||
param set-default RD_MAX_JERK 10
|
||||
param set-default RD_MAX_THR_YAW_R 4
|
||||
param set-default RD_YAW_RATE_P 0.1
|
||||
param set-default RD_YAW_RATE_I 0.01
|
||||
param set-default RD_YAW_RATE_I 0
|
||||
param set-default RD_YAW_P 5
|
||||
param set-default RD_YAW_I 0
|
||||
param set-default RD_MAX_SPEED 1.8
|
||||
param set-default RD_MAX_THR_SPD 2
|
||||
param set-default RD_SPEED_P 0.5
|
||||
param set-default RD_SPEED_I 0.1
|
||||
param set-default RD_MAX_YAW_RATE 300
|
||||
param set-default RD_MISS_SPD_DEF 1.8
|
||||
param set-default RD_TRANS_DRV_TRN 0.349066
|
||||
param set-default RD_TRANS_TRN_DRV 0.174533
|
||||
|
||||
# Pure pursuit parameters
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
|
||||
@@ -19,18 +19,16 @@ param set-default BAT1_N_CELLS 3
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default RA_ACC_RAD_GAIN 2
|
||||
param set-default RA_ACC_RAD_MAX 3
|
||||
param set-default RA_LAT_ACCEL_I 0.01
|
||||
param set-default RA_LAT_ACCEL_P 0.1
|
||||
param set-default RA_MAX_ACCEL 1.5
|
||||
param set-default RA_MAX_DECEL 10
|
||||
param set-default RA_MAX_JERK 20
|
||||
param set-default RA_MAX_LAT_ACCEL 3
|
||||
param set-default RA_MAX_SPEED 2.5
|
||||
param set-default RA_MAX_ACCEL 0.5
|
||||
param set-default RA_MAX_JERK 10
|
||||
param set-default RA_MAX_SPEED 2.7
|
||||
param set-default RA_MAX_STR_ANG 0.5236
|
||||
param set-default RA_MAX_STR_RATE 270
|
||||
param set-default RA_MAX_THR_SPEED 2.8
|
||||
param set-default RA_SPEED_I 0.01
|
||||
param set-default RA_SPEED_P 0.1
|
||||
param set-default RA_MISS_VEL_DEF 2.7
|
||||
param set-default RA_MISS_VEL_GAIN 3.5
|
||||
param set-default RA_MISS_VEL_MIN 1
|
||||
param set-default RA_SPEED_I 0.1
|
||||
param set-default RA_SPEED_P 0.5
|
||||
param set-default RA_WHEEL_BASE 0.321
|
||||
|
||||
# Pure pursuit parameters
|
||||
|
||||
@@ -15,6 +15,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
|
||||
param set-default BAT1_N_CELLS 2
|
||||
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
|
||||
@@ -22,6 +22,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
|
||||
param set-default MAV_1_CONFIG 102
|
||||
|
||||
param set-default BAT1_A_PER_V 37.8798
|
||||
|
||||
@@ -1,150 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name KTH Space Robot
|
||||
#
|
||||
# @type Space Robot
|
||||
# @class 2D Space Robot
|
||||
#
|
||||
# @maintainer DISCOWER
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.sc_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 14
|
||||
param set-default MAV_TYPE 99
|
||||
|
||||
param set-default CA_THRUSTER_CNT 8
|
||||
param set-default CA_R_REV 0
|
||||
|
||||
# Auto to be provided by Custom Airframe
|
||||
param set-default CA_METHOD 0
|
||||
|
||||
# Set proper failsafes
|
||||
param set-default COM_ACT_FAIL_ACT 0
|
||||
param set-default COM_LOW_BAT_ACT 0
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default GF_ACTION 1
|
||||
param set-default NAV_RCL_ACT 1
|
||||
param set-default COM_POSCTL_NAVL 2
|
||||
|
||||
# Set Mocap Vision frame
|
||||
param set EKF2_EV_CTRL 15
|
||||
param set EKF2_HGT_REF 3
|
||||
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
|
||||
param set-default CA_THRUSTER0_PX -0.12
|
||||
param set-default CA_THRUSTER0_PY -0.12
|
||||
param set-default CA_THRUSTER0_PZ 0.0
|
||||
param set-default CA_THRUSTER0_CT 1.4
|
||||
param set-default CA_THRUSTER0_AX 1.0
|
||||
param set-default CA_THRUSTER0_AY 0.0
|
||||
param set-default CA_THRUSTER0_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER1_PX 0.12
|
||||
param set-default CA_THRUSTER1_PY -0.12
|
||||
param set-default CA_THRUSTER1_PZ 0.0
|
||||
param set-default CA_THRUSTER1_CT 1.4
|
||||
param set-default CA_THRUSTER1_AX -1.0
|
||||
param set-default CA_THRUSTER1_AY 0.0
|
||||
param set-default CA_THRUSTER1_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER2_PX -0.12
|
||||
param set-default CA_THRUSTER2_PY 0.12
|
||||
param set-default CA_THRUSTER2_PZ 0.0
|
||||
param set-default CA_THRUSTER2_CT 1.4
|
||||
param set-default CA_THRUSTER2_AX 1.0
|
||||
param set-default CA_THRUSTER2_AY 0.0
|
||||
param set-default CA_THRUSTER2_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER3_PX 0.12
|
||||
param set-default CA_THRUSTER3_PY 0.12
|
||||
param set-default CA_THRUSTER3_PZ 0.0
|
||||
param set-default CA_THRUSTER3_CT 1.4
|
||||
param set-default CA_THRUSTER3_AX -1.0
|
||||
param set-default CA_THRUSTER3_AY 0.0
|
||||
param set-default CA_THRUSTER3_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER4_PX 0.12
|
||||
param set-default CA_THRUSTER4_PY -0.12
|
||||
param set-default CA_THRUSTER4_PZ 0.0
|
||||
param set-default CA_THRUSTER4_CT 1.4
|
||||
param set-default CA_THRUSTER4_AX 0.0
|
||||
param set-default CA_THRUSTER4_AY 1.0
|
||||
param set-default CA_THRUSTER4_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER5_PX 0.12
|
||||
param set-default CA_THRUSTER5_PY 0.12
|
||||
param set-default CA_THRUSTER5_PZ 0.0
|
||||
param set-default CA_THRUSTER5_CT 1.4
|
||||
param set-default CA_THRUSTER5_AX 0.0
|
||||
param set-default CA_THRUSTER5_AY -1.0
|
||||
param set-default CA_THRUSTER5_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER6_PX -0.12
|
||||
param set-default CA_THRUSTER6_PY -0.12
|
||||
param set-default CA_THRUSTER6_PZ 0.0
|
||||
param set-default CA_THRUSTER6_CT 1.4
|
||||
param set-default CA_THRUSTER6_AX 0.0
|
||||
param set-default CA_THRUSTER6_AY 1.0
|
||||
param set-default CA_THRUSTER6_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER7_PX -0.12
|
||||
param set-default CA_THRUSTER7_PY 0.12
|
||||
param set-default CA_THRUSTER7_PZ 0.0
|
||||
param set-default CA_THRUSTER7_CT 1.4
|
||||
param set-default CA_THRUSTER7_AX 0.0
|
||||
param set-default CA_THRUSTER7_AY -1.0
|
||||
param set-default CA_THRUSTER7_AZ 0.0
|
||||
|
||||
|
||||
param set-default PWM_AUX_TIM0 10
|
||||
param set-default PWM_AUX_TIM1 10
|
||||
param set-default PWM_AUX_TIM2 10
|
||||
|
||||
param set-default PWM_AUX_FUNC1 101
|
||||
param set-default PWM_AUX_FUNC2 102
|
||||
param set-default PWM_AUX_FUNC3 103
|
||||
param set-default PWM_AUX_FUNC4 104
|
||||
param set-default PWM_AUX_FUNC5 105
|
||||
param set-default PWM_AUX_FUNC6 106
|
||||
param set-default PWM_AUX_FUNC7 107
|
||||
param set-default PWM_AUX_FUNC8 108
|
||||
|
||||
param set-default PWM_AUX_DIS1 0
|
||||
param set-default PWM_AUX_DIS2 0
|
||||
param set-default PWM_AUX_DIS3 0
|
||||
param set-default PWM_AUX_DIS4 0
|
||||
param set-default PWM_AUX_DIS5 0
|
||||
param set-default PWM_AUX_DIS6 0
|
||||
param set-default PWM_AUX_DIS7 0
|
||||
param set-default PWM_AUX_DIS8 0
|
||||
|
||||
param set-default PWM_AUX_MIN1 0
|
||||
param set-default PWM_AUX_MIN2 0
|
||||
param set-default PWM_AUX_MIN3 0
|
||||
param set-default PWM_AUX_MIN4 0
|
||||
param set-default PWM_AUX_MIN5 0
|
||||
param set-default PWM_AUX_MIN6 0
|
||||
param set-default PWM_AUX_MIN7 0
|
||||
param set-default PWM_AUX_MIN8 0
|
||||
|
||||
# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
|
||||
param set-default PWM_AUX_MAX1 10000
|
||||
param set-default PWM_AUX_MAX2 10000
|
||||
param set-default PWM_AUX_MAX3 10000
|
||||
param set-default PWM_AUX_MAX4 10000
|
||||
param set-default PWM_AUX_MAX5 10000
|
||||
param set-default PWM_AUX_MAX6 10000
|
||||
param set-default PWM_AUX_MAX7 10000
|
||||
param set-default PWM_AUX_MAX8 10000
|
||||
|
||||
# Controller Tunings
|
||||
param set-default SC_ROLLRATE_P 0.14
|
||||
param set-default SC_PITCHRATE_P 0.14
|
||||
param set-default SC_ROLLRATE_I 0.3
|
||||
param set-default SC_PITCHRATE_I 0.3
|
||||
param set-default SC_ROLLRATE_D 0.004
|
||||
param set-default SC_PITCHRATE_D 0.004
|
||||
@@ -48,7 +48,6 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
|
||||
1100_rc_quad_x_sih.hil
|
||||
1101_rc_plane_sih.hil
|
||||
1102_tailsitter_duo_sih.hil
|
||||
1103_standard_vtol_sih.hil
|
||||
)
|
||||
endif()
|
||||
|
||||
@@ -130,6 +129,8 @@ if(CONFIG_MODULES_VTOL_ATT_CONTROL)
|
||||
# [13000, 13999] VTOL
|
||||
13000_generic_vtol_standard
|
||||
13100_generic_vtol_tiltrotor
|
||||
13013_deltaquad
|
||||
13014_vtol_babyshark
|
||||
13030_generic_vtol_quad_tiltrotor
|
||||
13200_generic_vtol_tailsitter
|
||||
)
|
||||
|
||||
@@ -13,6 +13,8 @@ param set-default MAV_TYPE 1
|
||||
#
|
||||
# Default parameters for fixed wing UAVs.
|
||||
#
|
||||
param set-default COM_POS_FS_DELAY 5
|
||||
|
||||
# there is a 2.5 factor applied on the _FS thresholds if for invalidation
|
||||
param set-default COM_POS_FS_EPH 50
|
||||
param set-default COM_VEL_FS_EVH 3
|
||||
@@ -24,6 +26,7 @@ param set-default COM_DISARM_PRFLT -1
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
param set-default EKF2_GPS_CHECK 21
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_REQ_EPH 10
|
||||
param set-default EKF2_REQ_EPV 10
|
||||
|
||||
@@ -12,7 +12,6 @@ param set-default MAV_TYPE 4
|
||||
|
||||
param set-default COM_PREARM_MODE 2
|
||||
param set-default COM_SPOOLUP_TIME 10
|
||||
param set-default COM_DISARM_PRFLT 60
|
||||
|
||||
# No need for minimum collective pitch (or airmode) to keep torque authority
|
||||
param set-default MPC_MANTHR_MIN 0
|
||||
|
||||
@@ -21,6 +21,3 @@ param set-default RTL_RETURN_ALT 30
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
|
||||
param set-default GPS_UBX_DYNMODEL 6
|
||||
|
||||
# lower RNG_FOG since MC are expected to fly closer over obstacles
|
||||
param set-default EKF2_RNG_FOG 1.0
|
||||
|
||||
@@ -1,36 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Standard apps for sr. Attitude/Position estimator, Attitude/Position control.
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
# Start Spacecraft App
|
||||
spacecraft start
|
||||
|
||||
# Estimator Group Selection
|
||||
# ekf2 start &
|
||||
|
||||
# Start MicroDDS Client
|
||||
# uxrce_dds_client start -t udp -h 192.168.0.1 -n spacebot2
|
||||
# uxrce_dds_client start -t udp -p 8888
|
||||
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
# sc_control_allocator start
|
||||
|
||||
#
|
||||
# Start Spacecraft Rate Controller.
|
||||
#
|
||||
# sc_rate_control start
|
||||
|
||||
#
|
||||
# Start Spacecraft Attitude Controller.
|
||||
#
|
||||
# sc_att_control start
|
||||
|
||||
#
|
||||
# Start Spacecraft Position Controller.
|
||||
#
|
||||
# sc_pos_control start
|
||||
@@ -1,27 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
set VEHICLE_TYPE sc
|
||||
|
||||
# MAV_TYPE_QUADROTOR 2
|
||||
#param set-default MAV_TYPE 12
|
||||
|
||||
# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
|
||||
param set-default UXRCE_DDS_AG_IP -1062731775
|
||||
|
||||
# Disable preflight disarm to not interfere with external launching
|
||||
param set-default COM_DISARM_PRFLT -1
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
param set-default COM_ARM_HFLT_CHK 0
|
||||
|
||||
#Missing params
|
||||
param set-default CP_DIST -1.0
|
||||
|
||||
# Default to MoCap fusion
|
||||
param set-default ATT_EXT_HDG_M 2
|
||||
param set-default EKF2_EV_CTRL 15
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
param set-default EKF2_GPS_CTRL 0
|
||||
param set-default EKF2_HGT_REF 3
|
||||
@@ -211,13 +211,6 @@ then
|
||||
spl06 -X -a 0x77 start
|
||||
fi
|
||||
|
||||
# SPA06 sensor external I2C
|
||||
if param compare -s SENS_EN_SPA06 1
|
||||
then
|
||||
spa06 -X start
|
||||
spa06 -X -a 0x77 start
|
||||
fi
|
||||
|
||||
# PCF8583 counter (RPM sensor)
|
||||
if param compare -s SENS_EN_PCF8583 1
|
||||
then
|
||||
|
||||
@@ -302,75 +302,6 @@ else
|
||||
. $FCONFIG
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Sensors System (start before Commander so Preflight checks are properly run).
|
||||
#
|
||||
if param greater SYS_HITL 0
|
||||
then
|
||||
sensors start -h
|
||||
|
||||
# disable GPS
|
||||
param set GPS_1_CONFIG 0
|
||||
|
||||
# start the simulator in hardware if needed
|
||||
if param compare SYS_HITL 2
|
||||
then
|
||||
simulator_sih start
|
||||
sensor_baro_sim start
|
||||
sensor_mag_sim start
|
||||
sensor_gps_sim start
|
||||
sensor_agp_sim start
|
||||
fi
|
||||
|
||||
else
|
||||
#
|
||||
# board sensors: rc.sensors
|
||||
#
|
||||
set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
|
||||
if [ -f $BOARD_RC_SENSORS ]
|
||||
then
|
||||
echo "Board sensors: ${BOARD_RC_SENSORS}"
|
||||
. $BOARD_RC_SENSORS
|
||||
fi
|
||||
unset BOARD_RC_SENSORS
|
||||
|
||||
. ${R}etc/init.d/rc.sensors
|
||||
|
||||
if param compare -s BAT1_SOURCE 2
|
||||
then
|
||||
esc_battery start
|
||||
fi
|
||||
|
||||
if ! param compare BAT1_SOURCE 1
|
||||
then
|
||||
battery_status start
|
||||
fi
|
||||
|
||||
sensors start
|
||||
fi
|
||||
|
||||
#
|
||||
# state estimator selection
|
||||
#
|
||||
if param compare -s EKF2_EN 1
|
||||
then
|
||||
ekf2 start &
|
||||
fi
|
||||
|
||||
if param compare -s LPE_EN 1
|
||||
then
|
||||
local_position_estimator start
|
||||
fi
|
||||
|
||||
if param compare -s ATT_EN 1
|
||||
then
|
||||
attitude_estimator_q start
|
||||
fi
|
||||
|
||||
#
|
||||
# px4io
|
||||
#
|
||||
if px4io supported
|
||||
then
|
||||
# Check if PX4IO present and update firmware if needed.
|
||||
@@ -423,11 +354,6 @@ else
|
||||
then
|
||||
pps_capture start
|
||||
fi
|
||||
# RPM capture driver
|
||||
if param greater -s RPM_CAP_ENABLE 0
|
||||
then
|
||||
rpm_capture start
|
||||
fi
|
||||
# Camera capture driver
|
||||
if param greater -s CAM_CAP_FBACK 0
|
||||
then
|
||||
@@ -438,24 +364,78 @@ else
|
||||
fi
|
||||
|
||||
#
|
||||
# Commander
|
||||
# Sensors System (start before Commander so Preflight checks are properly run).
|
||||
# Commander needs to be this early for in-air-restarts.
|
||||
#
|
||||
if param greater SYS_HITL 0
|
||||
then
|
||||
commander start -h
|
||||
|
||||
if ! pwm_out_sim start -m hil
|
||||
then
|
||||
tune_control play error
|
||||
fi
|
||||
|
||||
sensors start -h
|
||||
commander start -h
|
||||
# disable GPS
|
||||
param set GPS_1_CONFIG 0
|
||||
|
||||
# start the simulator in hardware if needed
|
||||
if param compare SYS_HITL 2
|
||||
then
|
||||
simulator_sih start
|
||||
sensor_baro_sim start
|
||||
sensor_mag_sim start
|
||||
sensor_gps_sim start
|
||||
fi
|
||||
|
||||
else
|
||||
#
|
||||
# board sensors: rc.sensors
|
||||
#
|
||||
set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
|
||||
if [ -f $BOARD_RC_SENSORS ]
|
||||
then
|
||||
echo "Board sensors: ${BOARD_RC_SENSORS}"
|
||||
. $BOARD_RC_SENSORS
|
||||
fi
|
||||
unset BOARD_RC_SENSORS
|
||||
|
||||
. ${R}etc/init.d/rc.sensors
|
||||
|
||||
if param compare -s BAT1_SOURCE 2
|
||||
then
|
||||
esc_battery start
|
||||
fi
|
||||
|
||||
if ! param compare BAT1_SOURCE 1
|
||||
then
|
||||
battery_status start
|
||||
fi
|
||||
|
||||
sensors start
|
||||
commander start
|
||||
|
||||
dshot start
|
||||
pwm_out start
|
||||
fi
|
||||
|
||||
#
|
||||
# state estimator selection
|
||||
if param compare -s EKF2_EN 1
|
||||
then
|
||||
ekf2 start &
|
||||
fi
|
||||
|
||||
if param compare -s LPE_EN 1
|
||||
then
|
||||
local_position_estimator start
|
||||
fi
|
||||
|
||||
if param compare -s ATT_EN 1
|
||||
then
|
||||
attitude_estimator_q start
|
||||
fi
|
||||
|
||||
#
|
||||
# Configure vehicle type specific parameters.
|
||||
# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
|
||||
|
||||
@@ -43,7 +43,7 @@ fi
|
||||
|
||||
# install git pre-commit hook
|
||||
HOOK_FILE="$DIR/../../.git/hooks/pre-commit"
|
||||
if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ] && [ $- == *i* ]; then
|
||||
if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; 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]"
|
||||
|
||||
@@ -32,5 +32,4 @@ exec find boards msg src platforms test \
|
||||
-path src/lib/cdrstream/rosidl -prune -o \
|
||||
-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 \
|
||||
\( -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) -print \) | grep $PATTERN
|
||||
|
||||
@@ -25,16 +25,10 @@ parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
|
||||
help='Pretty output instead of a single line')
|
||||
parser.add_argument('-g', '--groups', dest='group', action='store_true',
|
||||
help='Groups targets')
|
||||
parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of board names to use instead of all')
|
||||
|
||||
args = parser.parse_args()
|
||||
verbose = args.verbose
|
||||
|
||||
board_filter = []
|
||||
if args.filter:
|
||||
for board in args.filter.split(','):
|
||||
board_filter.append(board)
|
||||
|
||||
build_configs = []
|
||||
grouped_targets = {}
|
||||
excluded_boards = ['modalai_voxl2', 'px4_ros2'] # TODO: fix and enable
|
||||
@@ -73,7 +67,7 @@ def process_target(px4board_file, target_name):
|
||||
px4board_file.endswith("bootloader.px4board"):
|
||||
kconf.load_config(px4board_file, replace=True)
|
||||
else: # Merge config with default.px4board
|
||||
default_kconfig = re.sub(r'[a-zA-Z\d_-]+\.px4board', 'default.px4board', px4board_file)
|
||||
default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
|
||||
kconf.load_config(default_kconfig, replace=True)
|
||||
kconf.load_config(px4board_file, replace=False)
|
||||
|
||||
@@ -147,10 +141,6 @@ for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
|
||||
label = files.name[:-9]
|
||||
target_name = manufacturer.name + '_' + board.name + '_' + label
|
||||
|
||||
if board_filter and not board_name in board_filter:
|
||||
if verbose: print(f'excluding board {board_name} ({target_name})')
|
||||
continue
|
||||
|
||||
if board_name in excluded_boards:
|
||||
if verbose: print(f'excluding board {board_name} ({target_name})')
|
||||
continue
|
||||
@@ -199,6 +189,8 @@ if (args.group):
|
||||
# nuttx-0
|
||||
# nuttx-1
|
||||
final_groups = []
|
||||
temp_group = []
|
||||
group_number = {}
|
||||
last_man = ''
|
||||
last_arch = ''
|
||||
SPLIT_LIMIT = 10
|
||||
@@ -207,80 +199,88 @@ if (args.group):
|
||||
print(f'=:Architectures: [{grouped_targets.keys()}]')
|
||||
for arch in grouped_targets:
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}]')
|
||||
temp_group = []
|
||||
print(f'=:Processing: [{arch}] Last: [{last_arch}]')
|
||||
|
||||
if(last_arch == ''):
|
||||
last_arch = arch
|
||||
if(arch not in group_number):
|
||||
group_number[arch] = 0
|
||||
|
||||
if(last_arch != arch and len(temp_group) > 0):
|
||||
|
||||
group_name = last_arch + "-" + str(group_number[last_arch])
|
||||
group_number[last_arch] += 1
|
||||
targets = comma_targets(temp_group)
|
||||
if(verbose):
|
||||
print(f'=:Orphan: [{arch}][{last_arch}][{targets}]')
|
||||
final_groups.append({
|
||||
"container": grouped_targets[last_arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": last_arch,
|
||||
"group": group_name,
|
||||
"len": len(temp_group)
|
||||
})
|
||||
last_arch = arch
|
||||
temp_group = []
|
||||
|
||||
for man in grouped_targets[arch]['manufacturers']:
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][{man}]')
|
||||
man_len = len(grouped_targets[arch]['manufacturers'][man])
|
||||
if(man_len > LOWER_LIMIT and man_len < (SPLIT_LIMIT + 1)):
|
||||
# Manufacturers can have their own group
|
||||
for tar in grouped_targets[arch]['manufacturers'][man]:
|
||||
man_len = len(grouped_targets[arch]['manufacturers'][man])
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers can have their own group')
|
||||
group_name = arch + "-" + man
|
||||
targets = comma_targets(grouped_targets[arch]['manufacturers'][man])
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": arch,
|
||||
"group": group_name,
|
||||
"len": len(grouped_targets[arch]['manufacturers'][man])
|
||||
})
|
||||
elif(man_len >= (SPLIT_LIMIT + 1)):
|
||||
# Split big man groups into subgroups
|
||||
# example: Pixhawk
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers has multiple own groups')
|
||||
chunk_limit = SPLIT_LIMIT
|
||||
chunk_counter = 0
|
||||
for chunk in chunks(grouped_targets[arch]['manufacturers'][man], chunk_limit):
|
||||
group_name = arch + "-" + man + "-" + str(chunk_counter)
|
||||
targets = comma_targets(chunk)
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": arch,
|
||||
"group": group_name,
|
||||
"len": len(chunk),
|
||||
})
|
||||
chunk_counter += 1
|
||||
else:
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers too small group with others')
|
||||
temp_group.extend(grouped_targets[arch]['manufacturers'][man])
|
||||
print(f'=:Processing: [{arch}][{man}][{man_len}][{tar}]')
|
||||
if(last_man != man):
|
||||
# if(verbose):
|
||||
# print(f'=:Processing: [{arch}][{man}][{tar}][{man_len}]')
|
||||
if(man_len > LOWER_LIMIT and man_len < (SPLIT_LIMIT + 1)):
|
||||
# Manufacturers can have their own group
|
||||
if(verbose):
|
||||
print(f'=:Processing: ==Manufacturers can have their own group')
|
||||
print(f'=:Processing: Limits[{LOWER_LIMIT}][{SPLIT_LIMIT}]')
|
||||
group_name = arch + "-" + man
|
||||
targets = comma_targets(grouped_targets[arch]['manufacturers'][man])
|
||||
last_man = man
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": arch,
|
||||
"group": group_name,
|
||||
"len": len(grouped_targets[arch]['manufacturers'][man])
|
||||
})
|
||||
elif(man_len >= (SPLIT_LIMIT + 1)):
|
||||
# Split big man groups into subgroups
|
||||
# example: Pixhawk
|
||||
chunk_limit = SPLIT_LIMIT
|
||||
chunk_counter = 0
|
||||
for chunk in chunks(grouped_targets[arch]['manufacturers'][man], chunk_limit):
|
||||
group_name = arch + "-" + man + "-" + str(chunk_counter)
|
||||
targets = comma_targets(chunk)
|
||||
last_man = man
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": arch,
|
||||
"group": group_name,
|
||||
"len": len(chunk),
|
||||
})
|
||||
chunk_counter += 1
|
||||
else:
|
||||
temp_group.append(tar)
|
||||
|
||||
temp_len = len(temp_group)
|
||||
chunk_counter = 0
|
||||
if(temp_len > 0 and temp_len < (SPLIT_LIMIT + 1)):
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][orphan][{temp_len}]==Leftover arch can have their own group')
|
||||
group_name = arch + "-" + str(chunk_counter)
|
||||
targets = comma_targets(temp_group)
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": arch,
|
||||
"group": group_name,
|
||||
"len": temp_len
|
||||
})
|
||||
elif(temp_len >= (SPLIT_LIMIT + 1)):
|
||||
# Split big man groups into subgroups
|
||||
# example: Pixhawk
|
||||
if(verbose):
|
||||
print(f'=:Processing: [{arch}][orphan][{temp_len}]==Leftover arch can has multpile group')
|
||||
chunk_limit = SPLIT_LIMIT
|
||||
chunk_counter = 0
|
||||
for chunk in chunks(temp_group, chunk_limit):
|
||||
group_name = arch + "-" + str(chunk_counter)
|
||||
targets = comma_targets(chunk)
|
||||
if(len(temp_group) > (LOWER_LIMIT - 1)):
|
||||
group_name = arch + "-" + str(group_number[arch])
|
||||
last_arch = arch
|
||||
group_number[arch] += 1
|
||||
targets = comma_targets(temp_group)
|
||||
final_groups.append({
|
||||
"container": grouped_targets[arch]['container'],
|
||||
"targets": targets,
|
||||
"arch": arch,
|
||||
"group": group_name,
|
||||
"len": len(chunk),
|
||||
"len": len(temp_group)
|
||||
})
|
||||
chunk_counter += 1
|
||||
temp_group = []
|
||||
if(verbose):
|
||||
import pprint
|
||||
print("================")
|
||||
|
||||
+19
-48
@@ -1,91 +1,62 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import sys
|
||||
|
||||
try:
|
||||
from Crypto.Cipher import ChaCha20
|
||||
except ImportError as e:
|
||||
print("Failed to import crypto: " + str(e))
|
||||
print("")
|
||||
print("You may need to install it using:")
|
||||
print(" pip3 install --user pycryptodome")
|
||||
print("")
|
||||
sys.exit(1)
|
||||
|
||||
from Crypto.PublicKey import RSA
|
||||
from Crypto.Cipher import PKCS1_OAEP
|
||||
from Crypto.Cipher import ChaCha20
|
||||
from Crypto.Hash import SHA256
|
||||
from pathlib import Path
|
||||
import binascii
|
||||
import argparse
|
||||
|
||||
#from pathlib import Path
|
||||
import sys
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
parser = argparse.ArgumentParser(description="""CLI tool to decrypt an ulog file\n""")
|
||||
parser.add_argument("ulog_file", help=".ulge/.ulgc, encrypted log file", nargs='?', default=None)
|
||||
parser.add_argument("ulog_key", help=".ulgk, legacy encrypted key (give empty string '' to ignore for .ulge)", nargs='?', default=None)
|
||||
parser.add_argument("ulog_file", help=".ulog file", nargs='?', default=None)
|
||||
parser.add_argument("ulog_key", help=".ulogk, encrypted key", nargs='?', default=None)
|
||||
parser.add_argument("rsa_key", help=".pem format key for decrypting the ulog key", nargs='?', default=None)
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
# Check all arguments are given
|
||||
if not args.rsa_key:
|
||||
print('Need all arguments, the encrypted ulog file, key file (or empty string if not needed) and the key decryption key (.pem)')
|
||||
sys.exit(1)
|
||||
# Only generate a key pair, don't sign
|
||||
if not args.ulog_file or not args.ulog_key or not args.rsa_key:
|
||||
print('Need all arguments, the encrypted ulog file, the key and the key decryption key')
|
||||
sys.exit(1);
|
||||
|
||||
# Read the private RSA key to decrypt the cahcha key
|
||||
with open(args.rsa_key, 'rb') as f:
|
||||
r = RSA.importKey(f.read(), passphrase='')
|
||||
|
||||
if args.ulog_key == "":
|
||||
key_data_filename = args.ulog_file
|
||||
magic = "ULogEnc"
|
||||
else:
|
||||
key_data_filename = args.ulog_key
|
||||
magic = "ULogKey"
|
||||
|
||||
with open(key_data_filename, 'rb') as f:
|
||||
# Read the encrypted xchacha key and the nonce
|
||||
# Read the encrypted xchacha key and the nonce
|
||||
with open(args.ulog_key, 'rb') as f:
|
||||
ulog_key_header = f.read(22)
|
||||
|
||||
# Parse the header
|
||||
try:
|
||||
# magic
|
||||
if not ulog_key_header.startswith(bytearray(magic.encode())):
|
||||
print("Incorrect header magic")
|
||||
if not ulog_key_header.startswith(bytearray("ULogKey".encode())):
|
||||
raise Exception()
|
||||
# version
|
||||
if ulog_key_header[7] != 1:
|
||||
print("Unsupported header version")
|
||||
raise Exception()
|
||||
# expected key exchange algorithm (RSA_OAEP)
|
||||
if ulog_key_header[16] != 4:
|
||||
print("Unsupported key algorithm")
|
||||
raise Exception()
|
||||
key_size = ulog_key_header[19] << 8 | ulog_key_header[18]
|
||||
nonce_size = ulog_key_header[21] << 8 | ulog_key_header[20]
|
||||
key_size = ulog_key_header[19] << 8 | ulog_key_header[18];
|
||||
nonce_size = ulog_key_header[21] << 8 | ulog_key_header[20];
|
||||
ulog_key_cipher = f.read(key_size)
|
||||
nonce = f.read(nonce_size)
|
||||
except:
|
||||
print("Keydata format error")
|
||||
sys.exit(1)
|
||||
|
||||
if magic == "ULogEnc":
|
||||
data_offset = 22 + key_size + nonce_size
|
||||
else:
|
||||
data_offset = 0
|
||||
print("Keyfile format error")
|
||||
sys.exit(1);
|
||||
|
||||
# Decrypt the xchacha key
|
||||
cipher_rsa = PKCS1_OAEP.new(r,SHA256)
|
||||
ulog_key = cipher_rsa.decrypt(ulog_key_cipher)
|
||||
#print(binascii.hexlify(ulog_key))
|
||||
|
||||
# Read and decrypt the ulog data
|
||||
# Read and decrypt the .ulgc
|
||||
cipher = ChaCha20.new(key=ulog_key, nonce=nonce)
|
||||
|
||||
outfilename = Path(args.ulog_file).stem + ".ulog"
|
||||
with open(args.ulog_file, 'rb') as f:
|
||||
if data_offset > 0:
|
||||
f.seek(data_offset)
|
||||
with open(outfilename, 'wb') as out:
|
||||
with open(args.ulog_file.rstrip(args.ulog_file[-1]), 'wb') as out:
|
||||
out.write(cipher.decrypt(f.read()))
|
||||
|
||||
@@ -40,7 +40,6 @@ exception_list = [
|
||||
'DRIVERS_DISTANCE_SENSOR_SRF05', # Requires hardcoded GPIO_ULTRASOUND
|
||||
'DRIVERS_PPS_CAPTURE', # Requires PPS GPIO config
|
||||
'DRIVERS_PWM_INPUT', # Requires PWM config
|
||||
'DRIVERS_RPM_CAPTURE', # Requires PPS GPIO config
|
||||
'DRIVERS_TEST_PPM', # PIN config not portable
|
||||
'DRIVERS_TATTU_CAN', # Broken needs fixing
|
||||
'MODULES_REPLAY', # Fails on NuttX targets maybe force POSIX dependency?
|
||||
@@ -53,7 +52,6 @@ exception_list = [
|
||||
'SYSTEMCMDS_I2C_LAUNCHER', # undefined reference to `system',
|
||||
'MODULES_MUORB_APPS', # Weird QURT/Posix package doesn't work on x86 px4 sitl
|
||||
'MODULES_SIMULATION_SIMULATOR_SIH', # Causes compile errors
|
||||
'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
|
||||
]
|
||||
|
||||
exception_list_sitl = [
|
||||
@@ -74,7 +72,6 @@ exception_list_sitl = [
|
||||
'SYSTEMCMDS_I2CDETECT', # Not supported in SITL
|
||||
'SYSTEMCMDS_DMESG', # Not supported in SITL
|
||||
'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL
|
||||
'MODULES_SPACECRAFT', # Clashes with Control Allocation (mom's spaghetti code)
|
||||
]
|
||||
|
||||
def main():
|
||||
|
||||
@@ -11,22 +11,9 @@ import sys
|
||||
|
||||
def get_msgs_list(msgdir):
|
||||
"""
|
||||
Makes a list of relative paths of .msg files in the given directory
|
||||
and its subdirectories.
|
||||
|
||||
Parameters:
|
||||
msgdir (str): The directory to search for .msg files.
|
||||
|
||||
Returns:
|
||||
list: A list of relative paths to .msg files.
|
||||
Makes list of msg files in the given directory
|
||||
"""
|
||||
msgs = []
|
||||
for root, _, files in os.walk(msgdir):
|
||||
for fn in files:
|
||||
if fn.endswith(".msg"):
|
||||
relative_path = os.path.relpath(os.path.join(root, fn), msgdir)
|
||||
msgs.append(relative_path)
|
||||
return msgs
|
||||
return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
@@ -42,11 +29,10 @@ if __name__ == "__main__":
|
||||
msg_files = get_msgs_list(msg_path)
|
||||
msg_files.sort()
|
||||
|
||||
versioned_msgs_list = ''
|
||||
unversioned_msgs_list = ''
|
||||
filelist_in_markdown=''
|
||||
|
||||
for msg_file in msg_files:
|
||||
msg_name = os.path.splitext(os.path.basename(msg_file))[0]
|
||||
msg_name = os.path.splitext(msg_file)[0]
|
||||
output_file = os.path.join(output_dir, msg_name+'.md')
|
||||
msg_filename = os.path.join(msg_path, msg_file)
|
||||
print("{:} -> {:}".format(msg_filename, output_file))
|
||||
@@ -95,17 +81,10 @@ if __name__ == "__main__":
|
||||
with open(output_file, 'w') as content_file:
|
||||
content_file.write(markdown_output)
|
||||
|
||||
# Categorize as versioned or unversioned
|
||||
if "versioned" in msg_file:
|
||||
versioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
|
||||
if summary_description:
|
||||
versioned_msgs_list += " — %s" % summary_description
|
||||
versioned_msgs_list += "\n"
|
||||
else:
|
||||
unversioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
|
||||
if summary_description:
|
||||
unversioned_msgs_list += " — %s" % summary_description
|
||||
unversioned_msgs_list += "\n"
|
||||
index_markdown_file_link='- [%s](%s.md)' % (msg_name,msg_name)
|
||||
if summary_description:
|
||||
index_markdown_file_link+=" — %s" % summary_description
|
||||
filelist_in_markdown+=index_markdown_file_link+"\n"
|
||||
|
||||
# Write out the index.md file
|
||||
index_text="""# uORB Message Reference
|
||||
@@ -115,20 +94,10 @@ This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Too
|
||||
:::
|
||||
|
||||
This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)).
|
||||
|
||||
[Versioned messages](../middleware/uorb.md#message-versioning) track changes to their definitions, with each modification resulting in a version increment.
|
||||
These messages are most likely shared through the PX4-ROS 2 Bridge.
|
||||
|
||||
Graphs showing how these are used [can be found here](../middleware/uorb_graph.md).
|
||||
|
||||
## Versioned Messages
|
||||
|
||||
%s
|
||||
|
||||
## Unversioned Messages
|
||||
|
||||
%s
|
||||
""" % (versioned_msgs_list, unversioned_msgs_list)
|
||||
""" % (filelist_in_markdown)
|
||||
index_file = os.path.join(output_dir, 'index.md')
|
||||
with open(index_file, 'w') as content_file:
|
||||
content_file.write(index_text)
|
||||
|
||||
@@ -137,7 +137,7 @@ div.frame_variant td, div.frame_variant th {
|
||||
#print(output_name,value, attribstrs[0].strip(),attribstrs[1].strip())
|
||||
outputs += '</ul>'
|
||||
if has_outputs:
|
||||
outputs_entry = '<br><b>Specific Outputs:</b>' + outputs
|
||||
outputs_entry = '<p><b>Specific Outputs:</b>' + outputs + '</p>'
|
||||
else:
|
||||
outputs_entry = ''
|
||||
|
||||
|
||||
@@ -189,7 +189,7 @@ class uploader:
|
||||
GET_CHIP = b'\x2c' # rev5+ , get chip version
|
||||
SET_BOOT_DELAY = b'\x2d' # rev5+ , set boot delay
|
||||
GET_CHIP_DES = b'\x2e' # rev5+ , get chip description in ASCII
|
||||
GET_VERSION = b'\x2f' # rev5+ , get bootloader version in ASCII
|
||||
GET_VERSION = b'\x2f' # rev5+ , get chip description in ASCII
|
||||
CHIP_FULL_ERASE = b'\x40' # full erase of flash, rev6+
|
||||
MAX_DES_LENGTH = 20
|
||||
|
||||
@@ -201,6 +201,7 @@ class uploader:
|
||||
INFO_BOARD_ID = b'\x02' # board type
|
||||
INFO_BOARD_REV = b'\x03' # board revision
|
||||
INFO_FLASH_SIZE = b'\x04' # max firmware size in bytes
|
||||
BL_VERSION = b'\x07' # get bootloader version, e.g. major.minor.patch.githash (up to 20 chars)
|
||||
|
||||
PROG_MULTI_MAX = 252 # protocol max is 255, must be multiple of 4
|
||||
READ_MULTI_MAX = 252 # protocol max is 255
|
||||
|
||||
@@ -1,31 +0,0 @@
|
||||
# PX4 base development environment
|
||||
FROM ubuntu:24.04
|
||||
LABEL maintainer="Daniel Agar <daniel@agar.ca>, Ramon Roche <mrpollo@gmail.com>"
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
ENV LANG=C.UTF-8
|
||||
ENV LC_ALL=C.UTF-8
|
||||
ENV DISPLAY=:99
|
||||
ENV TERM=xterm
|
||||
ENV TZ=UTC
|
||||
|
||||
# SITL UDP PORTS
|
||||
EXPOSE 14556/udp
|
||||
EXPOSE 14557/udp
|
||||
|
||||
COPY docker-entrypoint.sh /usr/local/bin/docker-entrypoint.sh
|
||||
|
||||
# Install PX4 Requirements
|
||||
COPY requirements.txt /tmp/requirements.txt
|
||||
COPY ubuntu.sh /tmp/ubuntu.sh
|
||||
RUN touch /.dockerenv
|
||||
RUN bash /tmp/ubuntu.sh --no-sim-tools
|
||||
|
||||
RUN git config --global --add safe.directory '*'
|
||||
|
||||
# create user with id 1001 (jenkins docker workflow default)
|
||||
RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
|
||||
|
||||
ENTRYPOINT ["/usr/local/bin/docker-entrypoint.sh"]
|
||||
|
||||
CMD ["/bin/bash"]
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/bin/bash
|
||||
|
||||
echo "[docker-entrypoint.sh] Starting entrypoint"
|
||||
# Start virtual X server in the background
|
||||
# - DISPLAY default is :99, set in dockerfile
|
||||
# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
|
||||
# running Xvfb and attach their screen
|
||||
if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
|
||||
echo "[docker-entrypoint.sh] Starting Xvfb"
|
||||
Xvfb :99 -screen 0 1600x1200x24+32 &
|
||||
fi
|
||||
|
||||
# Check if the ROS_DISTRO is passed and use it
|
||||
# to source the ROS environment
|
||||
if [ -n "${ROS_DISTRO}" ]; then
|
||||
echo "[docker-entrypoint.sh] ROS: ${ROS_DISTRO}"
|
||||
source "/opt/ros/$ROS_DISTRO/setup.bash"
|
||||
fi
|
||||
|
||||
echo "[docker-entrypoint.sh] Working Directory: ${pwd}"
|
||||
|
||||
# Use the LOCAL_USER_ID if passed in at runtime
|
||||
if [ -n "${LOCAL_USER_ID}" ]; then
|
||||
echo "[docker-entrypoint.sh] Starting with: $LOCAL_USER_ID:user"
|
||||
# modify existing user's id
|
||||
usermod -u $LOCAL_USER_ID user
|
||||
|
||||
# run as user
|
||||
# exec gosu user "$@"
|
||||
exec "$@"
|
||||
else
|
||||
exec "$@"
|
||||
fi
|
||||
@@ -1,7 +1,7 @@
|
||||
argcomplete
|
||||
cerberus
|
||||
coverage
|
||||
empy>=3.3,<4
|
||||
empy==3.3.4
|
||||
future
|
||||
jinja2>=2.8
|
||||
jsonschema
|
||||
|
||||
+112
-41
@@ -2,7 +2,7 @@
|
||||
|
||||
set -e
|
||||
|
||||
## Bash script to setup PX4 development environment on Ubuntu LTS (24.04, 22.04).
|
||||
## Bash script to setup PX4 development environment on Ubuntu LTS (22.04, 20.04, 18.04).
|
||||
## Can also be used in docker.
|
||||
##
|
||||
## Installs:
|
||||
@@ -33,9 +33,7 @@ if [ -f /.dockerenv ]; then
|
||||
apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
|
||||
ca-certificates \
|
||||
gnupg \
|
||||
gosu \
|
||||
lsb-release \
|
||||
software-properties-common \
|
||||
lsb-core \
|
||||
sudo \
|
||||
wget \
|
||||
;
|
||||
@@ -55,7 +53,23 @@ fi
|
||||
# check ubuntu version
|
||||
# otherwise warn and point to docker?
|
||||
UBUNTU_RELEASE="`lsb_release -rs`"
|
||||
echo "Ubuntu ${UBUNTU_RELEASE}"
|
||||
|
||||
if [[ "${UBUNTU_RELEASE}" == "14.04" ]]; then
|
||||
echo "Ubuntu 14.04 is no longer supported"
|
||||
exit 1
|
||||
elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
|
||||
echo "Ubuntu 16.04 is no longer supported"
|
||||
exit 1
|
||||
elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||
echo "Ubuntu 18.04"
|
||||
elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||
echo "Ubuntu 20.04"
|
||||
elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
echo "Ubuntu 22.04"
|
||||
elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
|
||||
echo "Linux Mint 21.3"
|
||||
fi
|
||||
|
||||
|
||||
echo
|
||||
echo "Installing PX4 general dependencies"
|
||||
@@ -64,7 +78,6 @@ sudo apt-get update -y --quiet
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
astyle \
|
||||
build-essential \
|
||||
ccache \
|
||||
cmake \
|
||||
cppcheck \
|
||||
file \
|
||||
@@ -73,7 +86,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
|
||||
gdb \
|
||||
git \
|
||||
lcov \
|
||||
libssl-dev \
|
||||
libfuse2 \
|
||||
libxml2-dev \
|
||||
libxml2-utils \
|
||||
make \
|
||||
@@ -92,17 +105,12 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
|
||||
# Python3 dependencies
|
||||
echo
|
||||
echo "Installing PX4 Python3 dependencies"
|
||||
PYTHON_VERSION=$(python3 --version 2>&1 | awk '{print $2}')
|
||||
REQUIRED_VERSION="3.11"
|
||||
if [[ "$(printf '%s\n' "$REQUIRED_VERSION" "$PYTHON_VERSION" | sort -V | head -n1)" == "$REQUIRED_VERSION" ]]; then
|
||||
python3 -m pip install --break-system-packages -r ${DIR}/requirements.txt
|
||||
if [ -n "$VIRTUAL_ENV" ]; then
|
||||
# virtual environments don't allow --user option
|
||||
python -m pip install -r ${DIR}/requirements.txt
|
||||
else
|
||||
if [ -n "$VIRTUAL_ENV" ]; then
|
||||
# virtual environments don't allow --user option
|
||||
python -m pip install -r ${DIR}/requirements.txt
|
||||
else
|
||||
python3 -m pip install --user -r ${DIR}/requirements.txt
|
||||
fi
|
||||
# older versions of Ubuntu require --user option
|
||||
python3 -m pip install --user -r ${DIR}/requirements.txt
|
||||
fi
|
||||
|
||||
# NuttX toolchain (arm-none-eabi-gcc)
|
||||
@@ -118,26 +126,21 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
build-essential \
|
||||
flex \
|
||||
g++-multilib \
|
||||
gcc-arm-none-eabi \
|
||||
gcc-multilib \
|
||||
gdb-multiarch \
|
||||
genromfs \
|
||||
gettext \
|
||||
gperf \
|
||||
kconfig-frontends \
|
||||
libelf-dev \
|
||||
libexpat-dev \
|
||||
libgmp-dev \
|
||||
libisl-dev \
|
||||
libmpc-dev \
|
||||
libmpfr-dev \
|
||||
libncurses-dev \
|
||||
libncurses6 \
|
||||
libncursesw6 \
|
||||
libnewlib-arm-none-eabi \
|
||||
libstdc++-arm-none-eabi-newlib \
|
||||
libncurses5 \
|
||||
libncurses5-dev \
|
||||
libncursesw5-dev \
|
||||
libtool \
|
||||
libunwind-dev \
|
||||
pkg-config \
|
||||
screen \
|
||||
texinfo \
|
||||
@@ -145,11 +148,46 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
util-linux \
|
||||
vim-common \
|
||||
;
|
||||
if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" || "${UBUNTU_RELEASE}" == "21.3" ]]; then
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
kconfig-frontends \
|
||||
;
|
||||
fi
|
||||
|
||||
|
||||
if [ -n "$USER" ]; then
|
||||
# add user to dialout group (serial port access)
|
||||
sudo usermod -aG dialout $USER
|
||||
fi
|
||||
|
||||
# arm-none-eabi-gcc
|
||||
NUTTX_GCC_VERSION="9-2020-q2-update"
|
||||
NUTTX_GCC_VERSION_SHORT="9-2020q2"
|
||||
|
||||
source $HOME/.profile # load changed path for the case the script is reran before relogin
|
||||
if [ $(which arm-none-eabi-gcc) ]; then
|
||||
GCC_VER_STR=$(arm-none-eabi-gcc --version)
|
||||
GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}" || true)
|
||||
fi
|
||||
|
||||
if [[ "$GCC_FOUND_VER" == "1" ]]; then
|
||||
echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
|
||||
|
||||
else
|
||||
echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
|
||||
wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
|
||||
sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
|
||||
|
||||
# add arm-none-eabi-gcc to user's PATH
|
||||
exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
|
||||
|
||||
if grep -Fxq "$exportline" $HOME/.profile; then
|
||||
echo "${NUTTX_GCC_VERSION} path already set.";
|
||||
else
|
||||
echo $exportline >> $HOME/.profile;
|
||||
source $HOME/.profile; # Allows to directly build NuttX targets in the same terminal
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
# Simulation tools
|
||||
@@ -163,8 +201,51 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
bc \
|
||||
;
|
||||
|
||||
if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||
java_version=11
|
||||
elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||
java_version=13
|
||||
elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
java_version=11
|
||||
elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
|
||||
java_version=11
|
||||
else
|
||||
java_version=14
|
||||
fi
|
||||
# Java (jmavsim)
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
ant \
|
||||
openjdk-$java_version-jre \
|
||||
openjdk-$java_version-jdk \
|
||||
libvecmath-java \
|
||||
;
|
||||
|
||||
# Set Java 11 as default
|
||||
sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
|
||||
|
||||
# Gazebo / Gazebo classic installation
|
||||
if [[ "${UBUNTU_RELEASE}" == "18.04" || "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||
if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
echo "Gazebo (Harmonic) will be installed"
|
||||
echo "Earlier versions will be removed"
|
||||
# Add Gazebo binary repository
|
||||
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
|
||||
sudo apt-get update -y --quiet
|
||||
|
||||
# Install Gazebo
|
||||
gazebo_packages="gz-harmonic"
|
||||
elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
|
||||
echo "Gazebo (Garden) will be installed"
|
||||
echo "Earlier versions will be removed"
|
||||
# Add Gazebo binary repository
|
||||
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
|
||||
|
||||
sudo apt-get update -y --quiet
|
||||
|
||||
# Install Gazebo
|
||||
gazebo_packages="gz-garden"
|
||||
else
|
||||
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
|
||||
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||
# Update list, since new gazebo-stable.list has been added
|
||||
@@ -179,21 +260,6 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
gazebo_classic_version=11
|
||||
gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
|
||||
fi
|
||||
else
|
||||
# Expects Ubuntu 22.04 > by default
|
||||
echo "Gazebo (Harmonic) will be installed"
|
||||
echo "Earlier versions will be removed"
|
||||
# Add Gazebo binary repository
|
||||
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
|
||||
sudo apt-get update -y --quiet
|
||||
|
||||
# Install Gazebo
|
||||
gazebo_packages="gz-harmonic libunwind-dev"
|
||||
|
||||
if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
|
||||
gazebo_packages="$gazebo_packages cppzmq-dev"
|
||||
fi
|
||||
fi
|
||||
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
@@ -219,3 +285,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
fi
|
||||
|
||||
fi
|
||||
|
||||
if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
echo
|
||||
echo "Relogin or reboot computer before attempting to build NuttX targets"
|
||||
fi
|
||||
|
||||
Submodule Tools/simulation/gazebo-classic/sitl_gazebo-classic updated: fbd8e9e6bb...c0e0751341
+1
-1
Submodule Tools/simulation/gz updated: db4af69088...536305adee
@@ -1,181 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2024 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Serial firmware uploader for the Teensy
|
||||
|
||||
import sys
|
||||
import argparse
|
||||
import time
|
||||
import sys
|
||||
import usb.core
|
||||
import subprocess
|
||||
|
||||
from sys import platform as _platform
|
||||
from pymavlink import mavutil
|
||||
|
||||
try:
|
||||
import serial
|
||||
except ImportError as e:
|
||||
print("Failed to import serial: " + str(e))
|
||||
print("")
|
||||
print("You may need to install it using:")
|
||||
print(" pip3 install --user pyserial")
|
||||
print("")
|
||||
sys.exit(1)
|
||||
|
||||
# Define time to use time.time() by default
|
||||
def _time():
|
||||
return time.time()
|
||||
|
||||
class uploader(object):
|
||||
|
||||
def __init__(self, portname):
|
||||
self.mavlink = mavutil.mavlink_connection(portname)
|
||||
|
||||
def send_reboot(self):
|
||||
try:
|
||||
self.mavlink.wait_heartbeat()
|
||||
self.mavlink.reboot_autopilot(True)
|
||||
except:
|
||||
pass
|
||||
return True
|
||||
|
||||
TEENSY_BL_VENDORID = 0x16c0
|
||||
TEENSY_BL_PRODUCTID = 0x0478
|
||||
|
||||
def main():
|
||||
# Parse commandline arguments
|
||||
parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
|
||||
parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
|
||||
parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
|
||||
parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
|
||||
parser.add_argument('--vendor-id', type=lambda x: int(x,0), default=None, help='PX4 USB vendorid')
|
||||
parser.add_argument('--product-id', type=lambda x: int(x,0), default=None, help='PX4 USB productid')
|
||||
parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
|
||||
args = parser.parse_args()
|
||||
|
||||
found_bootloader = False
|
||||
|
||||
# find USB devices
|
||||
dev = usb.core.find(idVendor=TEENSY_BL_VENDORID, idProduct=TEENSY_BL_PRODUCTID)
|
||||
# loop through devices, printing vendor and product ids in decimal and hex
|
||||
if dev is not None:
|
||||
print("Found teensy bootloader")
|
||||
found_bootloader = True
|
||||
else:
|
||||
dev = usb.core.find(idVendor=args.vendor_id, idProduct=args.product_id)
|
||||
if dev is None:
|
||||
print("No PX4 Device found try to press the button program push button")
|
||||
print("Attempting to reboot into Teensy bootloader...", end="", flush=True)
|
||||
|
||||
try:
|
||||
while True:
|
||||
portlist = []
|
||||
patterns = args.port.split(",")
|
||||
# on unix-like platforms use glob to support wildcard ports. This allows
|
||||
# the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
|
||||
# causing modem hangups etc
|
||||
if "linux" in _platform or "darwin" in _platform or "cygwin" in _platform:
|
||||
import glob
|
||||
for pattern in patterns:
|
||||
portlist += glob.glob(pattern)
|
||||
else:
|
||||
portlist = patterns
|
||||
|
||||
for port in portlist:
|
||||
try:
|
||||
if "linux" in _platform:
|
||||
# Linux, don't open Mac OS and Win ports
|
||||
if "COM" not in port and "tty.usb" not in port:
|
||||
up = uploader(port)
|
||||
elif "darwin" in _platform:
|
||||
# OS X, don't open Windows and Linux ports
|
||||
if "COM" not in port and "ACM" not in port:
|
||||
up = uploader(port)
|
||||
elif "cygwin" in _platform:
|
||||
# Cygwin, don't open native Windows COM and Linux ports
|
||||
if "COM" not in port and "ACM" not in port:
|
||||
up = uploader(port)
|
||||
elif "win" in _platform:
|
||||
# Windows, don't open POSIX ports
|
||||
if "/" not in port:
|
||||
up = uploader(port)
|
||||
except Exception:
|
||||
# open failed, rate-limit our attempts
|
||||
time.sleep(0.05)
|
||||
|
||||
# and loop to the next port
|
||||
continue
|
||||
|
||||
while True:
|
||||
up.send_reboot()
|
||||
|
||||
# wait for the reboot, without we might run into Serial I/O Error 5
|
||||
time.sleep(0.25)
|
||||
|
||||
# wait for the close, without we might run into Serial I/O Error 6
|
||||
time.sleep(0.3)
|
||||
|
||||
dev = usb.core.find(idVendor=TEENSY_BL_VENDORID, idProduct=TEENSY_BL_PRODUCTID)
|
||||
# loop through devices, printing vendor and product ids in decimal and hex
|
||||
if dev is not None:
|
||||
print("")
|
||||
print("Found teensy bootloader")
|
||||
found_bootloader = True
|
||||
break
|
||||
|
||||
print('.', end="", flush=True)
|
||||
|
||||
if not found_bootloader:
|
||||
# Go to the next port
|
||||
continue
|
||||
|
||||
if(found_bootloader):
|
||||
while True:
|
||||
result = subprocess.Popen("teensy_loader_cli -v --mcu=TEENSY41 " + args.firmware[0], shell=True)
|
||||
text = result.communicate()[0]
|
||||
if(result.returncode == 0):
|
||||
sys.exit(0)
|
||||
|
||||
# Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
|
||||
time.sleep(0.05)
|
||||
|
||||
# CTRL+C aborts the upload/spin-lock by interrupt mechanics
|
||||
except KeyboardInterrupt:
|
||||
print("\n Upload aborted by user.")
|
||||
sys.exit(0)
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
Executable
+29
@@ -0,0 +1,29 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
EXEDIR=`pwd`
|
||||
BASEDIR=$(dirname $0)
|
||||
|
||||
SYSTYPE=`uname -s`
|
||||
|
||||
#
|
||||
# Serial port defaults.
|
||||
#
|
||||
# XXX The uploader should be smarter than this.
|
||||
#
|
||||
if [ $SYSTYPE = "Darwin" ]; then
|
||||
SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
|
||||
fi
|
||||
|
||||
if [ $SYSTYPE = "Linux" ]; then
|
||||
SERIAL_PORTS="/dev/serial/by-id/*_PX4_*,/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/usb-The_Autopilot*,/dev/serial/by-id/usb-Bitcraze*,/dev/serial/by-id/pci-Bitcraze*,/dev/serial/by-id/usb-Gumstix*,/dev/serial/by-id/usb-UVify*,/dev/serial/by-id/usb-ArduPilot*,/dev/serial/by-id/usb-ARK*,"
|
||||
fi
|
||||
|
||||
if [[ $SYSTYPE = *"CYGWIN"* ]]; then
|
||||
SERIAL_PORTS="/dev/ttyS*"
|
||||
fi
|
||||
|
||||
if [ $SYSTYPE = "" ]; then
|
||||
SERIAL_PORTS="COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
|
||||
fi
|
||||
|
||||
python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1
|
||||
@@ -1,5 +0,0 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m4"
|
||||
CONFIG_BOARD_ROMFSROOT=""
|
||||
CONFIG_BOARD_CONSTRAINED_MEMORY=y
|
||||
CONFIG_DRIVERS_BOOTLOADERS=y
|
||||
@@ -1,13 +0,0 @@
|
||||
{
|
||||
"board_id": 88,
|
||||
"magic": "PX4FWv1",
|
||||
"description": "Firmware for the ARK Flow MR board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "ARKFLOWMR",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 2080768,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -1,20 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board sensors init
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
param set-default IMU_GYRO_RATEMAX 1000
|
||||
param set-default SENS_FLOW_RATE 150
|
||||
param set-default SENS_IMU_CLPNOTI 0
|
||||
|
||||
param set-default SENS_AFBR_S_RATE 25
|
||||
param set-default SENS_AFBR_L_RATE 10
|
||||
param set-default SENS_AFBR_THRESH 8
|
||||
param set-default SENS_AFBR_HYSTER 2
|
||||
|
||||
# Internal SPI
|
||||
paa3905 -s start -Y 180
|
||||
|
||||
iim42653 -R 0 -s start
|
||||
|
||||
afbrs50 start
|
||||
@@ -1,57 +0,0 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow-mr/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
CONFIG_ARCH_CHIP_STM32=y
|
||||
CONFIG_ARCH_CHIP_STM32F412CE=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=4096
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BINFMT_DISABLE=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DISABLE_MOUNTPOINT=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FDCLONE_DISABLE=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=4096
|
||||
CONFIG_INIT_STACKSIZE=4096
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_NAME_MAX=0
|
||||
CONFIG_NUNGET_CHARS=0
|
||||
CONFIG_PREALLOC_TIMERS=0
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_DISABLE_BUFFERING=y
|
||||
CONFIG_STM32_FLASH_CONFIG_G=y
|
||||
CONFIG_STM32_NOEXT_VECTORS=y
|
||||
CONFIG_STM32_TIM8=y
|
||||
CONFIG_TASK_NAME_SIZE=0
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
@@ -1,136 +0,0 @@
|
||||
/************************************************************************************
|
||||
* configs/px4fmu/include/board.h
|
||||
* include/arch/board/board.h
|
||||
*
|
||||
* Copyright (C) 2009 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************************************/
|
||||
#include "board_dma_map.h"
|
||||
|
||||
#ifndef __ARCH_BOARD_BOARD_H
|
||||
#define __ARCH_BOARD_BOARD_H
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
#endif
|
||||
|
||||
#include <stm32.h>
|
||||
|
||||
/* HSI - 8 MHz RC factory-trimmed
|
||||
* LSI - 32 KHz RC
|
||||
* HSE - 8 MHz Crystal
|
||||
* LSE - not installed
|
||||
*/
|
||||
#define STM32_BOARD_USEHSE 1
|
||||
#define STM32_BOARD_XTAL 8000000
|
||||
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
|
||||
|
||||
#define STM32_HSI_FREQUENCY 16000000ul
|
||||
#define STM32_LSI_FREQUENCY 32000
|
||||
|
||||
/* Main PLL Configuration */
|
||||
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
|
||||
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(384)
|
||||
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_4
|
||||
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(8)
|
||||
#define STM32_PLLCFG_PLLR RCC_PLLCFG_PLLR(2)
|
||||
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
|
||||
|
||||
#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
|
||||
#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
|
||||
#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
|
||||
|
||||
#define STM32_SYSCLK_FREQUENCY 96000000ul
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK (96MHz) */
|
||||
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
|
||||
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* Same as above, to satisfy compiler */
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
|
||||
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK (96MHz) */
|
||||
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK /* PCLK2 = HCLK */
|
||||
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY)
|
||||
|
||||
/* Timers driven from APB2 will be PCLK2 since no prescale division */
|
||||
#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM9_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM10_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM11_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
|
||||
#define BOARD_TIM2_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM3_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM4_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM5_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM6_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM7_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM8_FREQUENCY (2 * STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
/* UARTs */
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_1
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_1
|
||||
|
||||
/* CAN */
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_1
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_1
|
||||
|
||||
/* SPI */
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
|
||||
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
|
||||
|
||||
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */
|
||||
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */
|
||||
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_1 /* PB10 */
|
||||
|
||||
#endif /* __ARCH_BOARD_BOARD_H */
|
||||
@@ -1,44 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
// DMA1 Channel/Stream Selections
|
||||
//--------------------------------------------//---------------------------//----------------
|
||||
#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX // DMA1, Stream 3, Channel 0
|
||||
#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX // DMA1, Stream 4, Channel 0
|
||||
|
||||
// DMA2 Channel/Stream Selections
|
||||
//--------------------------------------------//---------------------------//----------------
|
||||
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2 // DMA2, Stream 2, Channel 3
|
||||
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2 // DMA2, Stream 5, Channel 3
|
||||
@@ -1,149 +0,0 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_CAT is not set
|
||||
# CONFIG_NSH_DISABLE_CD is not set
|
||||
# CONFIG_NSH_DISABLE_CP is not set
|
||||
# CONFIG_NSH_DISABLE_DATE is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_ECHO is not set
|
||||
# CONFIG_NSH_DISABLE_ENV is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXPORT is not set
|
||||
# CONFIG_NSH_DISABLE_FREE is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_HELP is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_KILL is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_LS is not set
|
||||
# CONFIG_NSH_DISABLE_MKDIR is not set
|
||||
# CONFIG_NSH_DISABLE_MOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_MV is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
|
||||
# CONFIG_NSH_DISABLE_PWD is not set
|
||||
# CONFIG_NSH_DISABLE_RM is not set
|
||||
# CONFIG_NSH_DISABLE_RMDIR is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_SET is not set
|
||||
# CONFIG_NSH_DISABLE_SLEEP is not set
|
||||
# CONFIG_NSH_DISABLE_SOURCE is not set
|
||||
# CONFIG_NSH_DISABLE_TEST is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_NSH_DISABLE_UMOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_UNSET is not set
|
||||
# CONFIG_NSH_DISABLE_USLEEP is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow-mr/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
CONFIG_ARCH_CHIP_STM32=y
|
||||
CONFIG_ARCH_CHIP_STM32F412CE=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=768
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_FS_CROMFS=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
CONFIG_GRAN_INTR=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_INIT_STACKSIZE=2624
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_QUOTE=y
|
||||
CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_READLINE_CMD_HISTORY=y
|
||||
CONFIG_READLINE_TABCOMPLETION=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=254
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=3000
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_SIG_SIGWORK=4
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_BUFFER_SIZE=32
|
||||
CONFIG_STM32_ADC1=y
|
||||
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
|
||||
CONFIG_STM32_DMA1=y
|
||||
CONFIG_STM32_DMA2=y
|
||||
CONFIG_STM32_FLASH_CONFIG_G=y
|
||||
CONFIG_STM32_FLASH_PREFETCH=y
|
||||
CONFIG_STM32_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32_JTAG_SW_ENABLE=y
|
||||
CONFIG_STM32_PWR=y
|
||||
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
|
||||
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32_SPI1=y
|
||||
CONFIG_STM32_SPI1_DMA=y
|
||||
CONFIG_STM32_SPI1_DMA_BUFFER=2048
|
||||
CONFIG_STM32_SPI2=y
|
||||
CONFIG_STM32_SPI2_DMA=y
|
||||
CONFIG_STM32_SPI2_DMA_BUFFER=2048
|
||||
CONFIG_STM32_TIM8=y
|
||||
CONFIG_STM32_USART2=y
|
||||
CONFIG_STM32_USART_BREAKS=y
|
||||
CONFIG_STM32_WWDG=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_SERIAL_CONSOLE=y
|
||||
CONFIG_USART2_TXBUFSIZE=1100
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
@@ -1,134 +0,0 @@
|
||||
/****************************************************************************
|
||||
* nuttx-config/scripts/canbootloader_script.ld
|
||||
*
|
||||
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
|
||||
* 256Kb of SRAM. SRAM is split up into three blocks:
|
||||
*
|
||||
* 1) 112Kb of SRAM beginning at address 0x2000:0000
|
||||
* 2) 16Kb of SRAM beginning at address 0x2001:c000
|
||||
* 3) 64Kb of SRAM beginning at address 0x2002:0000
|
||||
* 4) 64Kb of TCM SRAM beginning at address 0x1000:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The first 0x10000 of flash is reserved for the bootloader.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x08000000, LENGTH = 32K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -1,146 +0,0 @@
|
||||
/****************************************************************************
|
||||
* scripts/ld.script
|
||||
*
|
||||
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
|
||||
* 256Kb of SRAM. SRAM is split up into three blocks:
|
||||
*
|
||||
* 1) 112Kb of SRAM beginning at address 0x2000:0000
|
||||
* 2) 16Kb of SRAM beginning at address 0x2001:c000
|
||||
* 3) 64Kb of SRAM beginning at address 0x2002:0000
|
||||
* 4) 64Kb of TCM SRAM beginning at address 0x1000:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The first 0x10000 of flash is reserved for the bootloader.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x08010000, LENGTH = 928K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
EXTERN(_bootdelay_signature)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = ALIGN(8);
|
||||
/*
|
||||
* This section positions the app_descriptor_t used
|
||||
* by the make_can_boot_descriptor.py tool to set
|
||||
* the application image's descriptor so that the
|
||||
* uavcan bootloader has the ability to validate the
|
||||
* image crc, size etc
|
||||
*/
|
||||
KEEP(*(.app_descriptor))
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user