mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-24 06:57:38 +08:00
Compare commits
5 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Jukka Laitinen
|
aa7d0d053c | ||
|
Jukka Laitinen
|
9eb094e548 | ||
|
Jukka Laitinen
|
ec9aa8b303 | ||
|
Jukka Laitinen
|
0fdf682140 | ||
|
Jukka Laitinen
|
89d300a413 |
@@ -60,19 +60,14 @@ pipeline {
|
||||
"holybro_kakutef7_default",
|
||||
"holybro_pix32v5_default",
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||||
"matek_h743-slim",
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||||
"matek_gnss-m9n-f4_canbootloader",
|
||||
"matek_gnss-m9n-f4_default",
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||||
"modalai_fc-v1_default",
|
||||
"modalai_fc-v1_rtps",
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||||
"modalai_fc-v2_default",
|
||||
"mro_ctrl-zero-f7_default",
|
||||
"mro_ctrl-zero-f7-oem_default",
|
||||
"mro_ctrl-zero-h7_default",
|
||||
"mro_ctrl-zero-h7_rtps",
|
||||
"mro_ctrl-zero-h7-oem_default",
|
||||
"mro_ctrl-zero-h7-oem_rtps",
|
||||
"mro_pixracerpro_default",
|
||||
"mro_pixracerpro_rtps",
|
||||
"mro_x21-777_default",
|
||||
"mro_x21_default",
|
||||
"nxp_fmuk66-e_default",
|
||||
@@ -99,6 +94,7 @@ pipeline {
|
||||
"px4_fmu-v5_stackcheck",
|
||||
"px4_fmu-v5_uavcanv0periph",
|
||||
"px4_fmu-v5_uavcanv1",
|
||||
"px4_fmu-v5x_base_phy_DP83848C",
|
||||
"px4_fmu-v5x_default",
|
||||
"px4_fmu-v6u_default",
|
||||
"px4_fmu-v6x_default",
|
||||
@@ -172,7 +168,7 @@ def createBuildNode(Boolean archive, String docker_image, String 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('make distclean')
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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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||||
@@ -189,7 +185,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
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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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sh('make distclean')
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}
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}
|
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}
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||||
|
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+101
-115
@@ -18,14 +18,14 @@ pipeline {
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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 'make cubepilot_cubeorange_test bootloader_elf'
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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'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
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||||
sh 'make distclean'
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||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -39,19 +39,15 @@ pipeline {
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sh 'export'
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||||
sh 'find /dev/serial'
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unstash 'cubepilot_cubeorange_test'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
|
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_bootloader.elf'
|
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// flash board and watch bootup
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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'
|
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resetBoard()
|
||||
}
|
||||
}
|
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stage("tests") {
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steps {
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// run tests
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runTests()
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|
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// load all airframes
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// 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") {
|
||||
@@ -74,8 +70,8 @@ pipeline {
|
||||
}
|
||||
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'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -93,14 +89,14 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
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sh 'make cuav_x7pro_bootloader'
|
||||
sh 'make cuav_x7pro_test'
|
||||
sh 'make cuav_x7pro_test bootloader_elf'
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sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -114,10 +110,9 @@ pipeline {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
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unstash 'cuav_x7pro_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/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") {
|
||||
@@ -144,8 +139,8 @@ pipeline {
|
||||
}
|
||||
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'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -166,11 +161,11 @@ pipeline {
|
||||
sh 'make px4_fmu-v3_test'
|
||||
sh 'make px4_fmu-v3_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-v3_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -187,7 +182,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -214,8 +208,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -236,11 +230,11 @@ pipeline {
|
||||
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'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -257,7 +251,6 @@ pipeline {
|
||||
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") {
|
||||
@@ -283,8 +276,8 @@ pipeline {
|
||||
}
|
||||
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'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -305,11 +298,11 @@ pipeline {
|
||||
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'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -326,7 +319,6 @@ pipeline {
|
||||
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") {
|
||||
@@ -353,8 +345,8 @@ pipeline {
|
||||
}
|
||||
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'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -375,11 +367,11 @@ pipeline {
|
||||
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'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -401,24 +393,13 @@ pipeline {
|
||||
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"'
|
||||
|
||||
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 "sd_stress"'
|
||||
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'
|
||||
}
|
||||
@@ -431,6 +412,7 @@ pipeline {
|
||||
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
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
@@ -443,8 +425,8 @@ pipeline {
|
||||
}
|
||||
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'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -465,11 +447,11 @@ pipeline {
|
||||
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'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -491,7 +473,6 @@ pipeline {
|
||||
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") {
|
||||
@@ -500,9 +481,6 @@ pipeline {
|
||||
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"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -513,6 +491,7 @@ pipeline {
|
||||
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
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
@@ -525,8 +504,8 @@ pipeline {
|
||||
}
|
||||
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'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -547,11 +526,11 @@ pipeline {
|
||||
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'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -568,7 +547,6 @@ pipeline {
|
||||
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") {
|
||||
@@ -595,8 +573,8 @@ pipeline {
|
||||
}
|
||||
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'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -617,11 +595,11 @@ pipeline {
|
||||
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'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -638,7 +616,6 @@ pipeline {
|
||||
//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") {
|
||||
@@ -665,8 +642,8 @@ pipeline {
|
||||
}
|
||||
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'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -692,7 +669,7 @@ void checkoutSCM() {
|
||||
retry(3) {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --tags'
|
||||
sh 'ccache -z'
|
||||
}
|
||||
@@ -725,44 +702,34 @@ 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 "param dump"'
|
||||
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 "reboot" || true' // reboot to apply
|
||||
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 "param dump"'
|
||||
|
||||
// run logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
|
||||
// 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 "logger status" || true'
|
||||
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 "param dump"'
|
||||
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"'
|
||||
@@ -774,12 +741,12 @@ void checkStatus() {
|
||||
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 "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
|
||||
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"'
|
||||
// stop logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
|
||||
}
|
||||
|
||||
void resetParameters() {
|
||||
@@ -789,19 +756,13 @@ void resetParameters() {
|
||||
}
|
||||
|
||||
void runTests() {
|
||||
|
||||
// test loading a range of airframes
|
||||
sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
|
||||
|
||||
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 "reboot" || true' // 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"'
|
||||
@@ -813,38 +774,41 @@ void runTests() {
|
||||
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 "param dump /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 "param dump /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 "param dump /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 "param dump /fs/mtd_params"'
|
||||
|
||||
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 "tests file" || true'
|
||||
|
||||
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 "mtd rwtest"'
|
||||
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 "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
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 "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"'
|
||||
// test rebooting multiple times
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
|
||||
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 "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
}
|
||||
|
||||
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'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
|
||||
|
||||
// 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'
|
||||
@@ -861,7 +825,7 @@ void printTopics() {
|
||||
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 estimator_gps_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || 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_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
|
||||
@@ -945,6 +909,28 @@ void resetBoard() {
|
||||
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
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
|
||||
// format
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
|
||||
}
|
||||
|
||||
@@ -1,7 +0,0 @@
|
||||
FROM gcr.io/oss-fuzz-base/base-builder:v1
|
||||
COPY . $SRC/PX4-Autopilot
|
||||
RUN apt-get install -y libjpeg8-dev zlib1g-dev
|
||||
RUN pip3 install --upgrade pip
|
||||
RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
|
||||
WORKDIR $SRC/PX4-Autopilot
|
||||
COPY ./.clusterfuzzlite/build.sh $SRC/
|
||||
@@ -1,4 +0,0 @@
|
||||
#!/usr/bin/env bash -eu
|
||||
|
||||
PX4_FUZZ=1 make px4_sitl
|
||||
cp build/px4_sitl_default/bin/px4 $OUT/px4
|
||||
@@ -1 +0,0 @@
|
||||
language: c++
|
||||
@@ -1,34 +0,0 @@
|
||||
name: ClusterFuzzLite batch fuzzing
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 6 * * *' # UTC 6am every day.
|
||||
permissions: read-all
|
||||
jobs:
|
||||
BatchFuzzing:
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
sanitizer:
|
||||
- address
|
||||
- undefined
|
||||
- memory
|
||||
steps:
|
||||
- name: Build Fuzzers (${{ matrix.sanitizer }})
|
||||
id: build
|
||||
uses: google/clusterfuzzlite/actions/build_fuzzers@v1
|
||||
with:
|
||||
sanitizer: ${{ matrix.sanitizer }}
|
||||
- name: Run Fuzzers (${{ matrix.sanitizer }})
|
||||
id: run
|
||||
uses: google/clusterfuzzlite/actions/run_fuzzers@v1
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
fuzz-seconds: 1800 # 30 mins
|
||||
mode: 'batch'
|
||||
sanitizer: ${{ matrix.sanitizer }}
|
||||
# Optional but recommended: For storing certain artifacts from fuzzing.
|
||||
# See later section on "Git repo for storage".
|
||||
# storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
|
||||
# storage-repo-branch: main # Optional. Defaults to "main"
|
||||
# storage-repo-branch-coverage: gh-pages # Optional. Defaults to "gh-pages".
|
||||
@@ -33,10 +33,8 @@ jobs:
|
||||
holybro_can-gps-v1,
|
||||
holybro_durandal-v1,
|
||||
holybro_kakutef7,
|
||||
holybro_kakuteh7,
|
||||
holybro_pix32v5,
|
||||
matek_h743-slim,
|
||||
matek_gnss-m9n-f4,
|
||||
modalai_fc-v1,
|
||||
modalai_fc-v2,
|
||||
mro_ctrl-zero-f7,
|
||||
|
||||
@@ -35,11 +35,11 @@ jobs:
|
||||
|
||||
- name: parameter & events metadata
|
||||
run: |
|
||||
make ${{matrix.target}} ver_gen events_json actuators_json
|
||||
make ${{matrix.target}} ver_gen events_json
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
|
||||
cd build/${{ matrix.target }}
|
||||
mkdir _metadata || true
|
||||
cp parameters.* events/*.xz actuators.json* _metadata
|
||||
cp parameters.* events/*.xz _metadata
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
|
||||
@@ -15,10 +15,10 @@ jobs:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {model: "iris", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska
|
||||
- {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia
|
||||
- {model: "tailsitter" , latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo" } # Florida
|
||||
- {model: "standard_vtol", latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
|
||||
- {latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo", model: "iris" } # Alaska
|
||||
- {latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
|
||||
- {latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo", model: "tailsitter" } # Florida
|
||||
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-09-08
|
||||
@@ -96,7 +96,7 @@ jobs:
|
||||
PX4_HOME_LON: ${{matrix.config.longitude}}
|
||||
PX4_HOME_ALT: ${{matrix.config.altitude}}
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Look at core files
|
||||
|
||||
@@ -105,4 +105,8 @@ src/lib/version/build_git_version.h
|
||||
src/modules/simulator/simulator_config.h
|
||||
src/systemcmds/topic_listener/listener_generated.cpp
|
||||
|
||||
# SITL
|
||||
dataman
|
||||
eeprom/
|
||||
|
||||
!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
|
||||
|
||||
+12
-2
@@ -14,6 +14,10 @@
|
||||
path = Tools/sitl_gazebo
|
||||
url = https://github.com/PX4/PX4-SITL_gazebo.git
|
||||
branch = master
|
||||
[submodule "src/lib/matrix"]
|
||||
path = src/lib/matrix
|
||||
url = https://github.com/PX4/PX4-Matrix.git
|
||||
branch = master
|
||||
[submodule "src/drivers/gps/devices"]
|
||||
path = src/drivers/gps/devices
|
||||
url = https://github.com/PX4/PX4-GPSDrivers.git
|
||||
@@ -24,8 +28,8 @@
|
||||
branch = master
|
||||
[submodule "platforms/nuttx/NuttX/nuttx"]
|
||||
path = platforms/nuttx/NuttX/nuttx
|
||||
url = https://github.com/JacobCrabill/incubator-nuttx.git
|
||||
branch = dev-h7-socketcan
|
||||
url = https://github.com/PX4/NuttX.git
|
||||
branch = px4_firmware_nuttx-10.1.0+
|
||||
[submodule "platforms/nuttx/NuttX/apps"]
|
||||
path = platforms/nuttx/NuttX/apps
|
||||
url = https://github.com/PX4/NuttX-apps.git
|
||||
@@ -42,6 +46,12 @@
|
||||
[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
|
||||
path = src/drivers/uavcan_v1/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
|
||||
path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
|
||||
path = src/drivers/uavcannode_gps_demo/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard.git
|
||||
[submodule "src/drivers/uavcan_v1/legacy_data_types"]
|
||||
path = src/drivers/uavcan_v1/legacy_data_types
|
||||
url = https://github.com/PX4/public_regulated_data_types.git
|
||||
|
||||
Vendored
-15
@@ -61,11 +61,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v5_default
|
||||
px4_fmu-v5_debug:
|
||||
short: px4_fmu-v5_debug
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v5_debug
|
||||
px4_fmu-v5x_default:
|
||||
short: px4_fmu-v5x
|
||||
buildType: MinSizeRel
|
||||
@@ -196,16 +191,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: matek_h743-slim_default
|
||||
matek_gnss-m9n-f4_canbootloader:
|
||||
short: matek_gnss-m9n-f4_canbootloader
|
||||
buildType: MiniSizeRel
|
||||
settings:
|
||||
CONFIG: matek_m9nf4can_canbootloader
|
||||
matek_gnss-m9n-f4_default:
|
||||
short: matek_gnss-m9n-f4_default
|
||||
buildType: MiniSizeRel
|
||||
settings:
|
||||
CONFIG: matek_gnss-m9n-f4_default
|
||||
modalai_fc-v1_default:
|
||||
short: modalai_fc-v1
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+1
@@ -14,6 +14,7 @@
|
||||
"C_Cpp.workspaceParsingPriority": "low",
|
||||
"cmake.buildBeforeRun": true,
|
||||
"cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
|
||||
"cmake.buildTask": true,
|
||||
"cmake.configureOnOpen": true,
|
||||
"cmake.ctest.parallelJobs": 1,
|
||||
"cmake.skipConfigureIfCachePresent": true,
|
||||
|
||||
+3
-11
@@ -40,7 +40,7 @@
|
||||
# * Common functions should be included in px_base.cmake.
|
||||
#
|
||||
# * OS/ board specific fucntions should be include in
|
||||
# px_impl_${PX4_PLATFORM}.cmake
|
||||
# px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
|
||||
#
|
||||
# Formatting
|
||||
# ---------------------------------------------------------------------------
|
||||
@@ -101,8 +101,8 @@
|
||||
|
||||
cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
|
||||
|
||||
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
|
||||
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
|
||||
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
|
||||
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
|
||||
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
|
||||
include(px4_parse_function_args)
|
||||
@@ -125,11 +125,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
|
||||
FULL_DOCS "List of all PX4 module libraries"
|
||||
)
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
|
||||
BRIEF_DOCS "PX4 kernel side module libs"
|
||||
FULL_DOCS "List of all PX4 kernel module libraries"
|
||||
)
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
|
||||
BRIEF_DOCS "PX4 module paths"
|
||||
FULL_DOCS "List of paths to all PX4 modules"
|
||||
@@ -147,7 +142,6 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
|
||||
|
||||
include(px4_add_module)
|
||||
set(config_module_list)
|
||||
set(config_kernel_list)
|
||||
|
||||
# Find Python
|
||||
# If using catkin, Python 2 is found since it points
|
||||
@@ -429,8 +423,6 @@ endforeach()
|
||||
|
||||
# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
|
||||
add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
|
||||
# metadata needs PX4_MODULE_CONFIG_FILES
|
||||
add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
|
||||
|
||||
# must be the last module before firmware
|
||||
add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
|
||||
|
||||
Vendored
+12
-12
@@ -88,7 +88,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make airframe_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -98,7 +98,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -108,7 +108,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make parameters_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -118,7 +118,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -128,7 +128,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make module_documentation'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -138,7 +138,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -156,7 +156,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -170,7 +170,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make uorb_graphs'
|
||||
dir('Tools/uorb_graph') {
|
||||
@@ -180,7 +180,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -261,7 +261,7 @@ pipeline {
|
||||
steps {
|
||||
sh('export')
|
||||
sh('git fetch --all --tags')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
sh('make px4_sitl_rtps')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
|
||||
@@ -290,7 +290,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
|
||||
// 'master' branch
|
||||
@@ -319,7 +319,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
|
||||
// deploy uORB RTPS ID map
|
||||
|
||||
@@ -63,10 +63,13 @@ menu "Toolchain"
|
||||
help
|
||||
relative path to the ROMFS root directory
|
||||
|
||||
config BOARD_BUILD_BOOTLOADER
|
||||
bool "Enable bootloader"
|
||||
help
|
||||
flag to enable building and including the bootloader config
|
||||
|
||||
config BOARD_IO
|
||||
string "IO board name"
|
||||
default "px4_io-v2_default"
|
||||
depends on DRIVERS_PX4IO
|
||||
help
|
||||
name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
|
||||
|
||||
@@ -114,14 +117,14 @@ config BOARD_ETHERNET
|
||||
flag to indicate that ethernet is enabled
|
||||
|
||||
config BOARD_CRYPTO
|
||||
bool "Crypto support"
|
||||
string "Crypto"
|
||||
help
|
||||
Enable PX4 Crypto Support. Select the implementation under drivers
|
||||
Crypto implementation selection
|
||||
|
||||
config BOARD_PROTECTED
|
||||
bool "Memory protection"
|
||||
config BOARD_KEYSTORE
|
||||
string "Keystore"
|
||||
help
|
||||
Enable memory protection via MPU/MMU
|
||||
Keystore implememntation selection
|
||||
|
||||
menu "Serial ports"
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
BSD 3-Clause License
|
||||
|
||||
Copyright (c) 2012 - 2022, PX4 Development Team
|
||||
Copyright (c) 2012 - 2021, PX4 Development Team
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
|
||||
@@ -158,11 +158,6 @@ else
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
|
||||
endif
|
||||
|
||||
# Fuzz Testing
|
||||
ifdef PX4_FUZZ
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
|
||||
endif
|
||||
|
||||
endif
|
||||
|
||||
# Pick up specific Python path if set
|
||||
@@ -314,24 +309,6 @@ uorb_graphs:
|
||||
@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
|
||||
|
||||
px4io_update: px4_io-v2_default cubepilot_io-v2_default
|
||||
# px4_io-v2_default
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
|
||||
# cubepilot_io-v2_default
|
||||
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
|
||||
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
|
||||
git status
|
||||
|
||||
bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
|
||||
git status
|
||||
|
||||
.PHONY: coverity_scan
|
||||
|
||||
@@ -487,9 +464,7 @@ shellcheck_all:
|
||||
@make px4_fmu-v5_default shellcheck
|
||||
|
||||
validate_module_configs:
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
|
||||
-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
|
||||
xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
|
||||
# Cleanup
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
+34
-49
@@ -143,14 +143,38 @@ add_custom_command(
|
||||
COMMENT "ROMFS: copying, generating airframes"
|
||||
)
|
||||
|
||||
if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
|
||||
set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
|
||||
endif()
|
||||
|
||||
# copy extras into ROMFS
|
||||
set(extras_dependencies)
|
||||
|
||||
# copy px4io binary if configured
|
||||
if(config_io_board)
|
||||
list(APPEND extras_dependencies
|
||||
copy_px4io_bin
|
||||
${fw_io_bin}
|
||||
)
|
||||
file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
|
||||
message(STATUS "ROMFS: Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
|
||||
endif()
|
||||
|
||||
|
||||
# board bootloader (built or included)
|
||||
if(TARGET copy_bootloader_bin)
|
||||
|
||||
if(board_bootloader_firmware)
|
||||
file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
|
||||
message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
|
||||
else()
|
||||
file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
|
||||
message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
|
||||
endif()
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
copy_bootloader_bin
|
||||
${bootloader_bin}
|
||||
)
|
||||
endif()
|
||||
|
||||
|
||||
# optional board architecture defaults
|
||||
set(board_arch_rc_file "rc.board_arch_defaults")
|
||||
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
|
||||
@@ -175,7 +199,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/
|
||||
endif()
|
||||
|
||||
|
||||
# board custom init files
|
||||
set(OPTIONAL_BOARD_RC)
|
||||
list(APPEND OPTIONAL_BOARD_RC
|
||||
rc.board_defaults
|
||||
@@ -210,59 +233,21 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
|
||||
endforeach()
|
||||
|
||||
|
||||
# board extras
|
||||
set(OPTIONAL_BOARD_EXTRAS)
|
||||
file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
|
||||
|
||||
foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
|
||||
|
||||
if(EXISTS "${board_extra_file}")
|
||||
file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
|
||||
file(RELATIVE_PATH extra_file_relative_source ${PX4_SOURCE_DIR} ${board_extra_file})
|
||||
message(STATUS "ROMFS: Adding ${extra_file_relative_source} -> /etc/extras/${extra_file_base_name}")
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/extras/${extra_file_base_name}
|
||||
${extra_file_base_name}.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${extra_file_base_name} ${romfs_gen_root_dir}/extras/${extra_file_base_name}
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${extra_file_base_name}.stamp
|
||||
DEPENDS
|
||||
${board_extra_file}
|
||||
romfs_copy.stamp
|
||||
COMMENT "ROMFS: copying ${board_extra_file}"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
${extra_file_base_name}.stamp
|
||||
)
|
||||
endif()
|
||||
|
||||
endforeach()
|
||||
|
||||
|
||||
|
||||
if(config_uavcan_peripheral_firmware)
|
||||
|
||||
include(ExternalProject)
|
||||
|
||||
foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
|
||||
# include the UAVCAN peripheral binaries in ROMFS
|
||||
# include the px4io binary in ROMFS
|
||||
message(STATUS "ROMFS: Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
|
||||
|
||||
# ExternalProject_Add() with GIT_SUBMODULES "" initializes no submodules.
|
||||
cmake_policy(SET CMP0097 NEW)
|
||||
|
||||
include(ExternalProject)
|
||||
|
||||
ExternalProject_Add(build_${uavcan_peripheral_config}
|
||||
GIT_REPOSITORY ${CMAKE_SOURCE_DIR}
|
||||
GIT_TAG ${PX4_GIT_TAG}
|
||||
GIT_SUBMODULES ""
|
||||
DOWNLOAD_NO_PROGRESS true
|
||||
SOURCE_DIR ${CMAKE_SOURCE_DIR}
|
||||
DOWNLOAD_COMMAND ""
|
||||
UPDATE_COMMAND ""
|
||||
CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
|
||||
INSTALL_COMMAND ""
|
||||
USES_TERMINAL_BUILD true
|
||||
DEPENDS git_nuttx git_nuttx_apps
|
||||
BUILD_ALWAYS 1
|
||||
)
|
||||
|
||||
|
||||
@@ -11,22 +11,40 @@
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_MC_R0_PX 0.1515
|
||||
param set-default CA_MC_R0_PY 0.245
|
||||
param set-default CA_MC_R0_CT 6.5
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.1515
|
||||
param set-default CA_MC_R1_PY -0.1875
|
||||
param set-default CA_MC_R1_CT 6.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.1515
|
||||
param set-default CA_MC_R2_PY -0.245
|
||||
param set-default CA_MC_R2_CT 6.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.1515
|
||||
param set-default CA_MC_R3_PY 0.1875
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
@@ -5,6 +5,8 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
|
||||
@@ -5,6 +5,8 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
|
||||
@@ -5,66 +5,11 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 7
|
||||
|
||||
param set-default CA_ROTOR_COUNT 8
|
||||
param set-default CA_R_REV 255
|
||||
param set-default CA_ROTOR0_AX 1.0000
|
||||
param set-default CA_ROTOR0_AY -1.0000
|
||||
param set-default CA_ROTOR0_AZ 0.0000
|
||||
param set-default CA_ROTOR0_KM 0.0000
|
||||
param set-default CA_ROTOR0_PX 0.5000
|
||||
param set-default CA_ROTOR0_PY 0.3000
|
||||
param set-default CA_ROTOR0_PZ 0.2000
|
||||
param set-default CA_ROTOR1_AX 1.0000
|
||||
param set-default CA_ROTOR1_AY 1.0000
|
||||
param set-default CA_ROTOR1_AZ 0.0000
|
||||
param set-default CA_ROTOR1_KM 0.0000
|
||||
param set-default CA_ROTOR1_PX 0.5000
|
||||
param set-default CA_ROTOR1_PY -0.3000
|
||||
param set-default CA_ROTOR1_PZ 0.2000
|
||||
param set-default CA_ROTOR2_AX 1.0000
|
||||
param set-default CA_ROTOR2_AY 1.0000
|
||||
param set-default CA_ROTOR2_AZ 0.0000
|
||||
param set-default CA_ROTOR2_KM 0.0000
|
||||
param set-default CA_ROTOR2_PX -0.5000
|
||||
param set-default CA_ROTOR2_PY 0.3000
|
||||
param set-default CA_ROTOR2_PZ 0.2000
|
||||
param set-default CA_ROTOR3_AX 1.0000
|
||||
param set-default CA_ROTOR3_AY -1.0000
|
||||
param set-default CA_ROTOR3_AZ 0.0000
|
||||
param set-default CA_ROTOR3_KM 0.0000
|
||||
param set-default CA_ROTOR3_PX -0.5000
|
||||
param set-default CA_ROTOR3_PY -0.3000
|
||||
param set-default CA_ROTOR3_PZ 0.2000
|
||||
param set-default CA_ROTOR4_AZ -1.0000
|
||||
param set-default CA_ROTOR4_KM 0.0000
|
||||
param set-default CA_ROTOR4_PX 0.5000
|
||||
param set-default CA_ROTOR4_PY 0.5000
|
||||
param set-default CA_ROTOR5_AZ 1.0000
|
||||
param set-default CA_ROTOR5_KM 0.0000
|
||||
param set-default CA_ROTOR5_PX 0.5000
|
||||
param set-default CA_ROTOR5_PY -0.5000
|
||||
param set-default CA_ROTOR6_AZ 1.0000
|
||||
param set-default CA_ROTOR6_KM 0.0000
|
||||
param set-default CA_ROTOR6_PX -0.5000
|
||||
param set-default CA_ROTOR6_PY 0.5000
|
||||
param set-default CA_ROTOR7_KM 0.0000
|
||||
param set-default CA_ROTOR7_PX -0.5000
|
||||
param set-default CA_ROTOR7_PY -0.5000
|
||||
|
||||
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
|
||||
|
||||
set MIXER skip
|
||||
|
||||
set PWM_OUT 12345678
|
||||
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -29,9 +29,12 @@ param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_CRUISE 0.25
|
||||
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
@@ -43,32 +46,5 @@ param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
#param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_CS4_TYPE 9
|
||||
param set-default CA_SV_CS5_TYPE 10
|
||||
param set-default PWM_MAIN_FUNC3 204
|
||||
param set-default PWM_MAIN_FUNC4 205
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -44,8 +44,6 @@ param set-default MIS_TAKEOFF_ALT 30
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default FW_USE_NPFG 1
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
|
||||
@@ -7,42 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 2
|
||||
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_AX 1.0
|
||||
param set-default CA_ROTOR4_AZ 0.0
|
||||
param set-default CA_ROTOR4_PX 0.2
|
||||
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
@@ -55,9 +19,12 @@ param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.25
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set-default MC_YAW_P 1.6
|
||||
|
||||
@@ -7,48 +7,14 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 4
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 1
|
||||
param set-default CA_ROTOR0_PY 2
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -1
|
||||
param set-default CA_ROTOR1_PY -1
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
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 2
|
||||
param set-default CA_SV_CS0_TYPE 5
|
||||
param set-default CA_SV_CS0_TRQ_P 0.5
|
||||
param set-default CA_SV_CS0_TRQ_Y -0.5
|
||||
param set-default CA_SV_CS1_TYPE 6
|
||||
param set-default CA_SV_CS1_TRQ_P 0.5
|
||||
param set-default CA_SV_CS1_TRQ_Y 0.5
|
||||
|
||||
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 0
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_REV 96 # invert both elevons
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_I 0.2
|
||||
param set-default FW_PR_P 0.2
|
||||
param set-default FW_PR_P 0.3
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_P 0.2
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.33
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
@@ -70,8 +36,6 @@ param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_SC 0.5
|
||||
param set-default VT_F_TRANS_DUR 1.5
|
||||
param set-default VT_F_TRANS_THR 0.7
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
@@ -7,52 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
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_ROTOR1_TILT 2
|
||||
param set-default CA_ROTOR2_TILT 3
|
||||
param set-default CA_ROTOR3_TILT 4
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_TL0_CT 0
|
||||
param set-default CA_SV_TL1_CT 0
|
||||
param set-default CA_SV_TL2_CT 0
|
||||
param set-default CA_SV_TL3_CT 0
|
||||
param set-default CA_SV_TL_COUNT 4
|
||||
|
||||
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 204
|
||||
param set-default PWM_MAIN_FUNC6 205
|
||||
param set-default PWM_MAIN_FUNC7 206
|
||||
param set-default PWM_MAIN_FUNC8 207
|
||||
param set-default PWM_MAIN_FUNC9 201
|
||||
param set-default PWM_MAIN_FUNC10 202
|
||||
param set-default PWM_MAIN_FUNC11 203
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
@@ -65,9 +19,12 @@ param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.38
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set-default MC_YAW_P 1.6
|
||||
|
||||
|
||||
@@ -28,15 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 5
|
||||
|
||||
param set-default CA_R_REV 1
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 201
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
param set-default PWM_MAIN_FUNC7 101
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
set MIXER_FILE skip
|
||||
set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
|
||||
|
||||
@@ -28,15 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 6
|
||||
|
||||
param set-default CA_R_REV 3
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 101
|
||||
param set-default PWM_MAIN_FUNC6 102
|
||||
param set-default PWM_MAIN_FUNC7 102
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
set MIXER_FILE skip
|
||||
set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
|
||||
|
||||
@@ -28,25 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 9
|
||||
|
||||
param set-default CA_ROTOR_COUNT 2
|
||||
param set-default CA_ROTOR0_AX 1
|
||||
param set-default CA_ROTOR0_AZ 0
|
||||
param set-default CA_ROTOR0_KM 0
|
||||
param set-default CA_ROTOR0_PX -2
|
||||
param set-default CA_ROTOR0_PY -1
|
||||
param set-default CA_ROTOR1_AX 1
|
||||
param set-default CA_ROTOR1_AZ 0
|
||||
param set-default CA_ROTOR1_KM 0
|
||||
param set-default CA_ROTOR1_PX -2
|
||||
param set-default CA_ROTOR1_PY 1
|
||||
param set-default CA_R_REV 3
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
set MAV_TYPE 11
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
|
||||
|
||||
@@ -11,31 +11,5 @@
|
||||
|
||||
. ${R}etc/init.d/rc.airship_defaults
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 9
|
||||
|
||||
param set-default CA_ROTOR_COUNT 3
|
||||
param set-default CA_ROTOR0_AX 1.0000
|
||||
param set-default CA_ROTOR0_AZ 0.0000
|
||||
param set-default CA_ROTOR0_KM 0.0000
|
||||
param set-default CA_ROTOR0_PY 2.0000
|
||||
param set-default CA_ROTOR1_AX 1.0000
|
||||
param set-default CA_ROTOR1_AZ 0.0000
|
||||
param set-default CA_ROTOR1_KM 0.0000
|
||||
param set-default CA_ROTOR1_PY -2.0000
|
||||
param set-default CA_ROTOR2_AY -1.0000
|
||||
param set-default CA_ROTOR2_AZ 0.0000
|
||||
param set-default CA_ROTOR2_KM 0.0000
|
||||
param set-default CA_ROTOR2_PX -10.0000
|
||||
|
||||
param set-default CA_SV_CS_COUNT 1
|
||||
param set-default CA_SV_CS0_TRQ_P 1.0000
|
||||
|
||||
param set-default CA_R_REV 7
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 201
|
||||
param set-default PWM_MAIN_FUNC4 103
|
||||
|
||||
set MIXER skip
|
||||
set MIXER cloudship
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -29,27 +29,52 @@ param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 0
|
||||
param set-default MAV_PROTO_VER 2
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 6
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default CA_ROTOR0_PX 0.0
|
||||
param set-default CA_ROTOR0_PY 1.0
|
||||
param set-default CA_ROTOR0_KM -0.05
|
||||
param set-default CA_ROTOR1_PX 0.0
|
||||
param set-default CA_ROTOR1_PY -1.0
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.866025
|
||||
param set-default CA_ROTOR2_PY -0.5
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.866025
|
||||
param set-default CA_ROTOR3_PY 0.5
|
||||
param set-default CA_ROTOR3_KM 0.05
|
||||
param set-default CA_ROTOR4_PX 0.866025
|
||||
param set-default CA_ROTOR4_PY 0.5
|
||||
param set-default CA_ROTOR4_KM 0.05
|
||||
param set-default CA_ROTOR5_PX -0.866025
|
||||
param set-default CA_ROTOR5_PY -0.5
|
||||
param set-default CA_ROTOR5_KM -0.05
|
||||
param set-default VM_MASS 2.66
|
||||
param set-default VM_INERTIA_XX 0.06
|
||||
param set-default VM_INERTIA_YY 0.06
|
||||
param set-default VM_INERTIA_ZZ 0.10
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT4_MIN 0.0
|
||||
param set-default CA_ACT5_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
param set-default CA_ACT4_MAX 1.0
|
||||
param set-default CA_ACT5_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R0_PX 0.0
|
||||
param set-default CA_MC_R0_PY 1.0
|
||||
param set-default CA_MC_R0_CT 9.5
|
||||
param set-default CA_MC_R0_KM -0.05
|
||||
param set-default CA_MC_R1_PX 0.0
|
||||
param set-default CA_MC_R1_PY -1.0
|
||||
param set-default CA_MC_R1_CT 9.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.866025
|
||||
param set-default CA_MC_R2_PY -0.5
|
||||
param set-default CA_MC_R2_CT 9.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.866025
|
||||
param set-default CA_MC_R3_PY 0.5
|
||||
param set-default CA_MC_R3_CT 9.5
|
||||
param set-default CA_MC_R3_KM 0.05
|
||||
param set-default CA_MC_R4_PX 0.866025
|
||||
param set-default CA_MC_R4_PY 0.5
|
||||
param set-default CA_MC_R4_CT 9.5
|
||||
param set-default CA_MC_R4_KM 0.05
|
||||
param set-default CA_MC_R5_PX -0.866025
|
||||
param set-default CA_MC_R5_PY -0.5
|
||||
param set-default CA_MC_R5_CT 9.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
@@ -10,7 +10,7 @@ fi
|
||||
|
||||
if [ ! -f replay_params.txt ]; then
|
||||
echo "Creating $(pwd)/replay_params.txt"
|
||||
ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
|
||||
ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
|
||||
fi
|
||||
|
||||
publisher_rules_file="orb_publisher.rules"
|
||||
@@ -21,7 +21,6 @@ ignore_others: false
|
||||
EOF
|
||||
|
||||
param set SDLOG_DIRS_MAX 7
|
||||
param set SDLOG_PROFILE 3
|
||||
|
||||
# apply all params before ekf starts, as some params cannot be changed after startup
|
||||
replay tryapplyparams
|
||||
|
||||
@@ -1,7 +1,5 @@
|
||||
#!/bin/sh
|
||||
|
||||
set -e
|
||||
|
||||
# PX4 commands need the 'px4-' prefix in bash.
|
||||
# (px4-alias.sh is expected to be in the PATH)
|
||||
# shellcheck disable=SC1091
|
||||
@@ -234,7 +232,7 @@ fi
|
||||
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
then
|
||||
gimbal start
|
||||
vmount start
|
||||
fi
|
||||
|
||||
if param greater -s TRIG_MODE 0
|
||||
|
||||
@@ -39,26 +39,6 @@ param set-default FW_RR_P 0.3
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
param set-default CA_SV_CS_COUNT 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 1.0
|
||||
param set-default CA_SV_CS1_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS2_TYPE 4
|
||||
param set-default CA_SV_CS3_TYPE 10
|
||||
|
||||
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
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
# disable some checks to allow to fly
|
||||
|
||||
@@ -35,6 +35,6 @@ param set-default MC_YAWRATE_P 0.25
|
||||
param set-default MC_YAWRATE_I 0.25
|
||||
|
||||
param set-default BAT1_V_DIV 12.27559
|
||||
param set-default BAT1_A_PER_V 15.391030303103
|
||||
param set-default BAT1_A_PER_V 15.39103
|
||||
|
||||
set MIXER quad_w
|
||||
|
||||
@@ -15,23 +15,6 @@ set MIXER quad_x
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.15
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.15
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.15
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
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
|
||||
|
||||
# disable some checks to allow to fly
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
|
||||
@@ -61,37 +61,6 @@ param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_TYPE 2
|
||||
|
||||
param set-default CA_AIRFRAME 2
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.15
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.15
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.15
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_AX 1.0
|
||||
param set-default CA_ROTOR4_AZ 0.0
|
||||
param set-default CA_ROTOR4_PX 0.2
|
||||
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
|
||||
param set-default 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 105
|
||||
param set-default HIL_ACT_FUNC6 201
|
||||
param set-default HIL_ACT_FUNC7 202
|
||||
param set-default HIL_ACT_FUNC8 203
|
||||
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
|
||||
@@ -15,25 +15,6 @@
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.15
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.15
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.15
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
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
|
||||
|
||||
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
param set SYS_HITL 2
|
||||
|
||||
|
||||
@@ -15,28 +15,6 @@
|
||||
set MIXER AERT
|
||||
set PWM_OUT 1234
|
||||
|
||||
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
|
||||
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 1.0
|
||||
param set-default CA_SV_CS1_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS2_TYPE 4
|
||||
param set-default CA_SV_CS3_TYPE 10
|
||||
|
||||
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
|
||||
|
||||
@@ -60,4 +38,3 @@ param set SIH_IXZ 0.00046
|
||||
param set SIH_KDV 0.2
|
||||
|
||||
param set SIH_VEHICLE_TYPE 1 # sih as fixed wing
|
||||
param set RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
|
||||
|
||||
@@ -1,81 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name SIH Tailsitter Duo
|
||||
#
|
||||
# @type Simulation
|
||||
# @class VTOL
|
||||
#
|
||||
# @output MAIN1 motor right
|
||||
# @output MAIN2 motor left
|
||||
# @output MAIN5 elevon right
|
||||
# @output MAIN6 elevon left
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_MOT_COUNT 2
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_SC 0.3
|
||||
param set-default MPC_MAN_Y_MAX 60
|
||||
param set-default MC_PITCH_P 5
|
||||
|
||||
param set-default CA_AIRFRAME 4
|
||||
param set-default CA_ROTOR_COUNT 2
|
||||
param set-default CA_ROTOR0_KM -0.05
|
||||
param set-default CA_ROTOR0_PY 0.2
|
||||
param set-default CA_ROTOR1_KM -0.05
|
||||
param set-default CA_ROTOR1_PY -0.2
|
||||
param set-default CA_SV_CS_COUNT 2
|
||||
param set-default CA_SV_CS0_TRQ_P 0.3
|
||||
param set-default CA_SV_CS0_TRQ_Y 0.3
|
||||
param set-default CA_SV_CS0_TYPE 5
|
||||
param set-default CA_SV_CS1_TRQ_P 0.3
|
||||
param set-default CA_SV_CS1_TRQ_Y -0.3
|
||||
param set-default CA_SV_CS1_TYPE 6
|
||||
|
||||
param set-default HIL_ACT_FUNC1 101
|
||||
param set-default HIL_ACT_FUNC2 102
|
||||
param set-default HIL_ACT_FUNC5 202
|
||||
param set-default HIL_ACT_FUNC6 201
|
||||
param set-default HIL_ACT_REV 32
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
set MAV_TYPE 19
|
||||
set MIXER vtol_tailsitter_duo_sat
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
# 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:
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default COM_PREARM_MODE 0
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
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 0.0
|
||||
param set SIH_KDV 0.2
|
||||
param set SIH_L_ROLL 0.145
|
||||
|
||||
# sih as tailsitter
|
||||
param set SIH_VEHICLE_TYPE 2
|
||||
@@ -24,30 +24,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 2
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.15
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.15
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.15
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_AX 1.0
|
||||
param set-default CA_ROTOR4_AZ 0.0
|
||||
param set-default CA_ROTOR4_PX 0.2
|
||||
param set-default CA_SV_CS_COUNT 4
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
|
||||
|
||||
@@ -13,25 +13,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
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 0.15
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.15
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.15
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_SV_CS_COUNT 2
|
||||
param set-default CA_SV_CS0_TRQ_P 0.5
|
||||
param set-default CA_SV_CS0_TRQ_Y 0.5
|
||||
param set-default CA_SV_CS0_TYPE 5
|
||||
param set-default CA_SV_CS1_TRQ_P 0.5
|
||||
param set-default CA_SV_CS1_TRQ_Y -0.5
|
||||
param set-default CA_SV_CS1_TYPE 6
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
|
||||
|
||||
@@ -64,6 +64,7 @@ param set-default FW_BAT_SCALE_EN 1
|
||||
param set-default FW_THR_ALT_SCL 2.7
|
||||
param set-default FW_T_RLL2THR 20
|
||||
|
||||
param set-default LNDMC_ALT_MAX 9999
|
||||
param set-default LNDMC_XY_VEL_MAX 1
|
||||
param set-default LNDMC_Z_VEL_MAX 0.7
|
||||
|
||||
|
||||
@@ -31,32 +31,6 @@ param set-default VT_IDLE_PWM_MC 1100
|
||||
param set-default VT_TYPE 1
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 24
|
||||
|
||||
param set-default CA_AIRFRAME 3
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.15
|
||||
param set-default CA_ROTOR0_TILT 1
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.15
|
||||
param set-default CA_ROTOR1_TILT 2
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.15
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR2_TILT 3
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR3_TILT 4
|
||||
param set-default CA_SV_CS_COUNT 4
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_TL_COUNT 4
|
||||
|
||||
set MAV_TYPE 21
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -23,20 +23,6 @@ param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_MOT_COUNT 2
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
param set-default CA_AIRFRAME 4
|
||||
param set-default CA_ROTOR_COUNT 2
|
||||
param set-default CA_ROTOR0_KM -0.05
|
||||
param set-default CA_ROTOR0_PY 0.2
|
||||
param set-default CA_ROTOR1_KM -0.05
|
||||
param set-default CA_ROTOR1_PY -0.2
|
||||
param set-default CA_SV_CS_COUNT 2
|
||||
param set-default CA_SV_CS0_TRQ_P 0.5
|
||||
param set-default CA_SV_CS0_TRQ_Y 0.5
|
||||
param set-default CA_SV_CS0_TYPE 5
|
||||
param set-default CA_SV_CS1_TRQ_P 0.5
|
||||
param set-default CA_SV_CS1_TRQ_Y -0.5
|
||||
param set-default CA_SV_CS1_TYPE 6
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
set MAV_TYPE 19
|
||||
set MIXER vtol_tailsitter_duo
|
||||
|
||||
@@ -23,18 +23,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
param set-default CA_SV_CS_COUNT 4
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set-default PWM_MAIN_RATE 50
|
||||
|
||||
|
||||
@@ -21,16 +21,3 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.15
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.15
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.15
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
|
||||
@@ -0,0 +1,58 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name S500 with control allocation
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Silvan Fuhrer
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R0_PX 0.177
|
||||
param set-default CA_MC_R0_PY 0.177
|
||||
param set-default CA_MC_R0_CT 6.5
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.177
|
||||
param set-default CA_MC_R1_PY -0.177
|
||||
param set-default CA_MC_R1_CT 6.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.177
|
||||
param set-default CA_MC_R2_PY -0.177
|
||||
param set-default CA_MC_R2_CT 6.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.177
|
||||
param set-default CA_MC_R3_PY 0.177
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
@@ -1,23 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Holybro X500 V2
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Farhang Naderi <farhang.nba@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default IMU_GYRO_CUTOFF 30
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.14
|
||||
param set-default MC_PITCHRATE_P 0.14
|
||||
param set-default MC_ROLLRATE_I 0.3
|
||||
param set-default MC_PITCHRATE_I 0.3
|
||||
param set-default MC_ROLLRATE_D 0.004
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
@@ -16,10 +16,8 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
# We set the mixer and ESC manually.
|
||||
set MIXER skip
|
||||
set MIXER_AUX skip
|
||||
set MIXER_FILE ""
|
||||
set MIXER none
|
||||
set MIXER_AUX none
|
||||
|
||||
# Battery settings
|
||||
param set-default BAT_CRIT_THR 0.20
|
||||
@@ -35,18 +33,17 @@ param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
param set-default COM_DISARM_LAND 0.1
|
||||
param set-default COM_DISARM_PRFLT 3
|
||||
param set-default COM_DL_LOSS_T 10
|
||||
param set-default COM_FLTMODE1 2
|
||||
param set-default COM_FLTMODE1 -1
|
||||
param set-default COM_FLTMODE2 -1
|
||||
param set-default COM_FLTMODE3 -1
|
||||
param set-default COM_FLTMODE4 -1
|
||||
param set-default COM_FLTMODE4 2
|
||||
param set-default COM_FLTMODE5 -1
|
||||
param set-default COM_FLTMODE6 1
|
||||
param set-default COM_FLTMODE6 6
|
||||
param set-default COM_RC_LOSS_T 3
|
||||
|
||||
|
||||
# ekf2
|
||||
param set-default EKF2_AID_MASK 33
|
||||
param set-default EKF2_AID_MASK 35
|
||||
param set-default EKF2_BARO_DELAY 0
|
||||
param set-default EKF2_BARO_NOISE 2.0
|
||||
|
||||
@@ -71,9 +68,6 @@ param set-default EKF2_OF_GATE 2.0
|
||||
param set-default EKF2_OF_POS_X -0.035
|
||||
param set-default EKF2_OF_POS_Y 0.0
|
||||
param set-default EKF2_OF_POS_Z 0.033
|
||||
param set-default EKF2_OF_MIN_RNG 0.01
|
||||
param set-default EKF2_OF_A_HMAX 7.0
|
||||
param set-default EKF2_OF_QMIN 30
|
||||
|
||||
param set-default EKF2_PCOEF_XN -0.3
|
||||
param set-default EKF2_PCOEF_XP -0.4
|
||||
@@ -147,33 +141,58 @@ param set-default MPC_Z_VEL_P 0.27
|
||||
|
||||
|
||||
# gimbal configuration
|
||||
param set-default MNT_MODE_IN 0
|
||||
param set-default MNT_MODE_OUT 1
|
||||
param set-default MNT_MAN_PITCH 2
|
||||
param set-default MNT_RC_IN_MODE 1
|
||||
param set-default MNT_RATE_PITCH 30
|
||||
param set-default MNT_MODE_IN 1
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MNT_MAN_PITCH 1
|
||||
|
||||
|
||||
# RC
|
||||
param set-default RC_CHAN_CNT 12
|
||||
|
||||
param set-default RC_MAP_THROTTLE 1
|
||||
param set-default RC_MAP_YAW 2
|
||||
param set-default RC_MAP_ROLL 2
|
||||
param set-default RC_MAP_PITCH 3
|
||||
param set-default RC_MAP_ROLL 4
|
||||
param set-default RC_MAP_AUX2 5
|
||||
param set-default RC_MAP_AUX3 10
|
||||
param set-default RC_MAP_AUX4 8
|
||||
param set-default RC_MAP_FLTMODE 6
|
||||
param set-default RC_MAP_RETURN_SW 7
|
||||
param set-default RC_MAP_YAW 4
|
||||
param set-default RC_MAP_FLTMODE 5
|
||||
param set-default RC_MAP_AUX1 7
|
||||
|
||||
param set-default RC1_TRIM 1000
|
||||
param set-default RC1_DZ 10
|
||||
param set-default RC1_MAX 3413
|
||||
param set-default RC1_MIN 683
|
||||
param set-default RC1_REV 1
|
||||
param set-default RC1_TRIM 683
|
||||
param set-default RC2_DZ 10
|
||||
param set-default RC2_MAX 3413
|
||||
param set-default RC2_MIN 683
|
||||
param set-default RC2_REV -1
|
||||
param set-default RC2_TRIM 2048
|
||||
param set-default RC3_DZ 10
|
||||
param set-default RC3_MAX 3413
|
||||
param set-default RC3_MIN 683
|
||||
param set-default RC3_REV 1
|
||||
param set-default RC3_TRIM 2048
|
||||
param set-default RC4_DZ 10
|
||||
param set-default RC4_MAX 3413
|
||||
param set-default RC4_MIN 683
|
||||
param set-default RC4_REV -1
|
||||
param set-default RC4_TRIM 2048
|
||||
param set-default RC5_DZ 10
|
||||
param set-default RC5_MAX 3414
|
||||
param set-default RC5_MIN 2048
|
||||
param set-default RC5_REV 1
|
||||
param set-default RC5_TRIM 2048
|
||||
param set-default RC7_DZ 10
|
||||
param set-default RC7_MAX 3413
|
||||
param set-default RC7_MIN 683
|
||||
param set-default RC7_REV 1
|
||||
param set-default RC7_TRIM 2048
|
||||
|
||||
|
||||
# optical flow
|
||||
param set-default SENS_FLOW_MAXR 7.4
|
||||
param set-default SENS_FLOW_MINHGT 0.15
|
||||
param set-default SENS_FLOW_MAXHGT 5.0
|
||||
param set-default SENS_FLOW_ROT 0
|
||||
param set-default SENS_FLOW_ROT 4
|
||||
|
||||
# ignore the SD card errors and use normal startup sound
|
||||
set STARTUP_TUNE "1"
|
||||
|
||||
mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
|
||||
|
||||
@@ -13,6 +13,9 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
|
||||
@@ -13,6 +13,9 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
|
||||
@@ -22,6 +22,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
@@ -23,23 +23,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default CA_ROTOR_COUNT 6
|
||||
param set-default CA_ROTOR0_PX 0.0
|
||||
param set-default CA_ROTOR0_PY 0.5
|
||||
param set-default CA_ROTOR0_KM -0.05
|
||||
param set-default CA_ROTOR1_PX 0.0
|
||||
param set-default CA_ROTOR1_PY -0.5
|
||||
param set-default CA_ROTOR2_PX 0.43
|
||||
param set-default CA_ROTOR2_PY -0.25
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.43
|
||||
param set-default CA_ROTOR3_PY 0.25
|
||||
param set-default CA_ROTOR4_PX 0.43
|
||||
param set-default CA_ROTOR4_PY 0.25
|
||||
param set-default CA_ROTOR5_PX -0.43
|
||||
param set-default CA_ROTOR5_PY -0.25
|
||||
param set-default CA_ROTOR5_KM -0.05
|
||||
|
||||
set MIXER hexa_x
|
||||
|
||||
# Need to set all 8 channels
|
||||
|
||||
@@ -0,0 +1,77 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Hex X with control allocation
|
||||
#
|
||||
# @type Hexarotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Silvan Fuhrer
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT4_MIN 0.0
|
||||
param set-default CA_ACT5_MIN 0.0
|
||||
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
param set-default CA_ACT4_MAX 1.0
|
||||
param set-default CA_ACT5_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R0_PX 0.0
|
||||
param set-default CA_MC_R0_PY 0.275
|
||||
param set-default CA_MC_R0_CT 6.5
|
||||
param set-default CA_MC_R0_KM -0.05
|
||||
|
||||
param set-default CA_MC_R1_PX 0.0
|
||||
param set-default CA_MC_R1_PY -0.275
|
||||
param set-default CA_MC_R1_CT 6.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
|
||||
param set-default CA_MC_R2_PX 0.238
|
||||
param set-default CA_MC_R2_PY -0.1375
|
||||
param set-default CA_MC_R2_CT 6.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
|
||||
param set-default CA_MC_R3_PX -0.238
|
||||
param set-default CA_MC_R3_PY 0.1375
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM 0.05
|
||||
|
||||
param set-default CA_MC_R4_PX 0.238
|
||||
param set-default CA_MC_R4_PY 0.1375
|
||||
param set-default CA_MC_R4_CT 6.5
|
||||
param set-default CA_MC_R4_KM 0.05
|
||||
|
||||
param set-default CA_MC_R5_PX -0.238
|
||||
param set-default CA_MC_R5_PY -0.1375
|
||||
param set-default CA_MC_R5_CT 6.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
@@ -23,23 +23,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default CA_ROTOR_COUNT 6
|
||||
param set-default CA_ROTOR0_PX 0.5
|
||||
param set-default CA_ROTOR0_PY 0.0
|
||||
param set-default CA_ROTOR0_KM -0.05
|
||||
param set-default CA_ROTOR1_PX -0.5
|
||||
param set-default CA_ROTOR1_PY 0.0
|
||||
param set-default CA_ROTOR2_PX -0.25
|
||||
param set-default CA_ROTOR2_PY -0.43
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX 0.25
|
||||
param set-default CA_ROTOR3_PY 0.43
|
||||
param set-default CA_ROTOR4_PX 0.25
|
||||
param set-default CA_ROTOR4_PY -0.43
|
||||
param set-default CA_ROTOR5_PX -0.25
|
||||
param set-default CA_ROTOR5_PY 0.43
|
||||
param set-default CA_ROTOR5_KM -0.05
|
||||
|
||||
set MIXER hexa_+
|
||||
|
||||
# Need to set all 8 channels
|
||||
|
||||
@@ -25,28 +25,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default CA_ROTOR_COUNT 8
|
||||
param set-default CA_ROTOR0_KM -0.05
|
||||
param set-default CA_ROTOR0_PX 0.46
|
||||
param set-default CA_ROTOR0_PY 0.19
|
||||
param set-default CA_ROTOR1_KM -0.05
|
||||
param set-default CA_ROTOR1_PX -0.46
|
||||
param set-default CA_ROTOR1_PY -0.19
|
||||
param set-default CA_ROTOR2_PX 0.19
|
||||
param set-default CA_ROTOR2_PY 0.46
|
||||
param set-default CA_ROTOR3_PX -0.46
|
||||
param set-default CA_ROTOR3_PY 0.19
|
||||
param set-default CA_ROTOR4_PX 0.46
|
||||
param set-default CA_ROTOR4_PY -0.19
|
||||
param set-default CA_ROTOR5_PX -0.19
|
||||
param set-default CA_ROTOR5_PY -0.46
|
||||
param set-default CA_ROTOR6_KM -0.05
|
||||
param set-default CA_ROTOR6_PX 0.19
|
||||
param set-default CA_ROTOR6_PY -0.46
|
||||
param set-default CA_ROTOR7_KM -0.05
|
||||
param set-default CA_ROTOR7_PX -0.19
|
||||
param set-default CA_ROTOR7_PY 0.46
|
||||
|
||||
set MIXER octo_x
|
||||
|
||||
set PWM_OUT 12345678
|
||||
|
||||
@@ -40,7 +40,6 @@ px4_add_romfs_files(
|
||||
1002_standard_vtol.hil
|
||||
1100_rc_quad_x_sih.hil
|
||||
1101_rc_plane_sih.hil
|
||||
1102_tailsitter_duo_sih.hil
|
||||
|
||||
# [2000, 2999] Standard planes"
|
||||
2100_standard_plane
|
||||
@@ -72,7 +71,7 @@ px4_add_romfs_files(
|
||||
4015_holybro_s500
|
||||
4016_holybro_px4vision
|
||||
4017_nxp_hovergames
|
||||
4019_x500_v2
|
||||
4018_s500_ctrlalloc
|
||||
4030_3dr_solo
|
||||
4031_3dr_quad
|
||||
4040_reaper
|
||||
@@ -99,6 +98,7 @@ px4_add_romfs_files(
|
||||
# [6000, 6999] Hexarotor x"
|
||||
6001_hexa_x
|
||||
6002_draco_r
|
||||
6003_hexa_x_ctrlalloc
|
||||
|
||||
# [7000, 7999] Hexarotor +"
|
||||
7001_hexa_+
|
||||
|
||||
@@ -48,14 +48,6 @@ fi
|
||||
# End Estimator Group Selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start Airship Attitude Controller.
|
||||
#
|
||||
|
||||
@@ -10,14 +10,6 @@
|
||||
#
|
||||
ekf2 start &
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start attitude controller.
|
||||
#
|
||||
|
||||
@@ -18,17 +18,8 @@ set OUTPUT_AUX_DEV /dev/pwm_output1
|
||||
set OUTPUT_EXTRA_DEV /dev/pwm_output0
|
||||
|
||||
# set these before starting the modules
|
||||
if [ $PWM_AUX_OUT != none ]
|
||||
then
|
||||
|
||||
param set PWM_AUX_OUT ${PWM_AUX_OUT}
|
||||
fi
|
||||
|
||||
|
||||
if [ $PWM_OUT != none ]
|
||||
then
|
||||
param set PWM_MAIN_OUT ${PWM_OUT}
|
||||
fi
|
||||
param set PWM_AUX_OUT ${PWM_AUX_OUT}
|
||||
param set PWM_MAIN_OUT ${PWM_OUT}
|
||||
|
||||
#
|
||||
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
|
||||
@@ -45,7 +36,7 @@ fi
|
||||
#
|
||||
# Set the default output mode if none was set.
|
||||
#
|
||||
if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
|
||||
if [ $OUTPUT_MODE = none ]
|
||||
then
|
||||
if [ $USE_IO = yes ]
|
||||
then
|
||||
@@ -72,7 +63,7 @@ fi
|
||||
#
|
||||
# If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
|
||||
#
|
||||
if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
|
||||
if [ $OUTPUT_MODE != none ]
|
||||
then
|
||||
|
||||
if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
|
||||
|
||||
@@ -54,6 +54,14 @@ then
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
#
|
||||
# Disable hover thrust estimator and prearming
|
||||
# These features are currently incompatible with control allocation
|
||||
#
|
||||
# TODO: fix
|
||||
#
|
||||
param set MPC_USE_HTE 0
|
||||
fi
|
||||
|
||||
#
|
||||
|
||||
@@ -7,10 +7,7 @@
|
||||
|
||||
set VEHICLE_TYPE mc
|
||||
|
||||
if param compare IMU_GYRO_RATEMAX 400
|
||||
then
|
||||
param set-default IMU_GYRO_RATEMAX 800
|
||||
fi
|
||||
param set-default IMU_GYRO_RATEMAX 800
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
|
||||
@@ -12,13 +12,6 @@ ekf2 start &
|
||||
#attitude_estimator_q start
|
||||
#local_position_estimator start
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start attitude controllers.
|
||||
|
||||
@@ -4,6 +4,19 @@
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
if ! ver hwcmp OMNIBUS_F4SD
|
||||
then
|
||||
if ! ver hwcmp BITCRAZE_CRAZYFLIE
|
||||
then
|
||||
# Configure all I2C buses to 100 KHz as they
|
||||
# are all external or slow
|
||||
# TODO: move this
|
||||
pwm_out i2c 1 100000
|
||||
pwm_out i2c 2 100000
|
||||
fi
|
||||
fi
|
||||
|
||||
###############################################################################
|
||||
# Begin Optional drivers #
|
||||
###############################################################################
|
||||
@@ -130,13 +143,6 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
# SHT3x temperature and hygrometer sensor, external I2C
|
||||
if param compare -s SENS_EN_SHT3X 1
|
||||
then
|
||||
sht3x start -X
|
||||
sht3x start -X -a 0x45
|
||||
fi
|
||||
|
||||
# TE MS4525 differential pressure sensor external I2C
|
||||
if param compare -s SENS_EN_MS4525 1
|
||||
then
|
||||
@@ -149,19 +155,6 @@ then
|
||||
ms5525_airspeed start -X
|
||||
fi
|
||||
|
||||
# IR-LOCK sensor external I2C
|
||||
if param compare -s SENS_EN_IRLOCK 1
|
||||
then
|
||||
irlock start -X
|
||||
fi
|
||||
|
||||
# PCF8583 counter (RPM sensor)
|
||||
if param compare -s SENS_EN_PCF8583 1
|
||||
then
|
||||
pcf8583 start -X
|
||||
pcf8583 start -X -a 0x51
|
||||
fi
|
||||
|
||||
# probe for optional external I2C devices
|
||||
if param compare SENS_EXT_I2C_PRB 1
|
||||
then
|
||||
|
||||
@@ -15,14 +15,6 @@ ekf2 start &
|
||||
# End Estimator Group Selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start UUV Attitude Controller.
|
||||
#
|
||||
|
||||
@@ -15,14 +15,6 @@ ekf2 start &
|
||||
# End Estimator group selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
airspeed_selector start
|
||||
|
||||
vtol_att_control start
|
||||
|
||||
@@ -35,7 +35,7 @@ set MIXER_AUX none
|
||||
set MIXER_FILE none
|
||||
set MIXER_EXTRA none
|
||||
set OUTPUT_MODE none
|
||||
set PARAM_FILE ""
|
||||
set PARAM_FILE /fs/microsd/params
|
||||
set PWM_OUT none
|
||||
set PWM_MAIN_RATE p:PWM_MAIN_RATE
|
||||
set PWM_AUX_OUT none
|
||||
@@ -46,7 +46,6 @@ set EXTRA_MIXER_MODE none
|
||||
set RC_INPUT_ARGS ""
|
||||
set SDCARD_AVAILABLE no
|
||||
set SDCARD_EXT_PATH /fs/microsd/ext_autostart
|
||||
set SDCARD_FORMAT no
|
||||
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
|
||||
set STARTUP_TUNE 1
|
||||
set USE_IO no
|
||||
@@ -60,56 +59,51 @@ ver all
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
if [ -b "/dev/mmcsd0" ]
|
||||
# REBOOTWORK this needs to start after the flight control loop.
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
if [ -f "/fs/microsd/.format" ]
|
||||
then
|
||||
echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
|
||||
set SDCARD_FORMAT yes
|
||||
rm /fs/microsd/.format
|
||||
umount /fs/microsd
|
||||
set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
|
||||
date >> $PX4_INIT_TEST_FILE
|
||||
|
||||
else
|
||||
if [ -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
cat $PX4_INIT_TEST_FILE
|
||||
rm $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ ! -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
|
||||
if [ $SDCARD_AVAILABLE = no ]
|
||||
then
|
||||
set STARTUP_TUNE 14 # tune 14 = SD_INIT
|
||||
if mkfatfs -F 32 /dev/mmcsd0
|
||||
then
|
||||
echo "INFO [init] formatting /dev/mmcsd0"
|
||||
set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
|
||||
|
||||
if mkfatfs -F 32 /dev/mmcsd0
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
echo "INFO [init] card formatted"
|
||||
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
set STARTUP_TUNE 14 # tune 14 = SD_INIT
|
||||
else
|
||||
echo "ERROR [init] card mount failed"
|
||||
fi
|
||||
else
|
||||
set STARTUP_TUNE 15 # tune 15 = SD_ERROR
|
||||
echo "ERROR [init] format failed"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
then
|
||||
if hardfault_log check
|
||||
then
|
||||
if hardfault_log check
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
if hardfault_log commit
|
||||
then
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
if hardfault_log commit
|
||||
then
|
||||
hardfault_log reset
|
||||
fi
|
||||
hardfault_log reset
|
||||
fi
|
||||
fi
|
||||
|
||||
set PARAM_FILE /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -142,36 +136,8 @@ else
|
||||
param select $PARAM_FILE
|
||||
if ! param import
|
||||
then
|
||||
echo "ERROR [init] param import failed"
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
|
||||
param dump $PARAM_FILE
|
||||
|
||||
if [ -d "/fs/microsd" ]
|
||||
then
|
||||
dmesg >> /fs/microsd/param_import_fail.txt &
|
||||
|
||||
# try to make a backup copy
|
||||
cp $PARAM_FILE /fs/microsd/param_import_fail.bson &
|
||||
fi
|
||||
|
||||
# try importing from backup file
|
||||
if [ -f "/fs/microsd/parameters_backup.bson" ]
|
||||
then
|
||||
echo "[init] importing from parameter backup"
|
||||
|
||||
# dump current backup file contents for comparison
|
||||
param dump /fs/microsd/parameters_backup.bson
|
||||
|
||||
param import /fs/microsd/parameters_backup.bson
|
||||
fi
|
||||
param reset_all
|
||||
fi
|
||||
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
then
|
||||
param select-backup /fs/microsd/parameters_backup.bson
|
||||
fi
|
||||
|
||||
if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
|
||||
then
|
||||
netman update -i eth0
|
||||
@@ -219,16 +185,7 @@ else
|
||||
# Waypoint storage.
|
||||
# REBOOTWORK this needs to start in parallel.
|
||||
#
|
||||
if param compare SYS_DM_BACKEND 1
|
||||
then
|
||||
dataman start -r
|
||||
else
|
||||
if param compare SYS_DM_BACKEND 0
|
||||
then
|
||||
# dataman start default
|
||||
dataman start
|
||||
fi
|
||||
fi
|
||||
dataman start
|
||||
|
||||
#
|
||||
# Start the socket communication send_event handler.
|
||||
@@ -291,9 +248,15 @@ else
|
||||
# Start core UAVCAN module.
|
||||
if uavcan start
|
||||
then
|
||||
if param greater UAVCAN_ENABLE 2
|
||||
if param greater UAVCAN_ENABLE 1
|
||||
then
|
||||
set OUTPUT_MODE uavcan_esc
|
||||
# Start UAVCAN firmware update server and dynamic node ID allocation server.
|
||||
uavcan start fw
|
||||
|
||||
if param greater UAVCAN_ENABLE 2
|
||||
then
|
||||
set OUTPUT_MODE uavcan_esc
|
||||
fi
|
||||
fi
|
||||
else
|
||||
tune_control play error
|
||||
@@ -409,6 +372,17 @@ else
|
||||
commander start
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Play the startup tune (if not disabled or there is an error)
|
||||
#
|
||||
param compare CBRK_BUZZER 782090
|
||||
if [ $? != 0 -o $STARTUP_TUNE != 1 ]
|
||||
then
|
||||
tune_control play -t $STARTUP_TUNE
|
||||
fi
|
||||
|
||||
|
||||
# Pre-takeoff continuous magnetometer calibration
|
||||
if param compare -s MBE_ENABLE 1
|
||||
then
|
||||
@@ -427,7 +401,7 @@ else
|
||||
set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
|
||||
if [ -f $BOARD_RC_MAVLINK ]
|
||||
then
|
||||
echo "Board mavlink: ${BOARD_RC_MAVLINK}"
|
||||
echo "Board extras: ${BOARD_RC_MAVLINK}"
|
||||
. $BOARD_RC_MAVLINK
|
||||
fi
|
||||
unset BOARD_RC_MAVLINK
|
||||
@@ -444,12 +418,6 @@ else
|
||||
rc_input start $RC_INPUT_ARGS
|
||||
fi
|
||||
|
||||
# PPS capture driver (before pwm_out)
|
||||
if param greater -s PPS_CAP_ENABLE 0
|
||||
then
|
||||
pps_capture start
|
||||
fi
|
||||
|
||||
# Camera capture driver (before pwm_out)
|
||||
if param greater -s CAM_CAP_FBACK 0
|
||||
then
|
||||
@@ -466,15 +434,6 @@ else
|
||||
#
|
||||
. ${R}etc/init.d/rc.vehicle_setup
|
||||
|
||||
#
|
||||
# Play the startup tune (if not disabled or there is an error)
|
||||
#
|
||||
param compare CBRK_BUZZER 782090
|
||||
if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]
|
||||
then
|
||||
tune_control play -t $STARTUP_TUNE
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the navigator.
|
||||
#
|
||||
@@ -486,11 +445,11 @@ else
|
||||
. ${R}etc/init.d/rc.thermal_cal
|
||||
|
||||
#
|
||||
# Start gimbal to control mounts such as gimbals, disabled by default.
|
||||
# Start vmount to control mounts such as gimbals, disabled by default.
|
||||
#
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
then
|
||||
gimbal start
|
||||
vmount start
|
||||
fi
|
||||
|
||||
# Check for flow sensor
|
||||
@@ -548,13 +507,21 @@ else
|
||||
. ${R}etc/init.d/rc.autostart.post
|
||||
fi
|
||||
|
||||
|
||||
set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
|
||||
if [ -f $BOARD_BOOTLOADER_UPGRADE ]
|
||||
#
|
||||
# Bootloader upgrade
|
||||
#
|
||||
if param compare -s SYS_BL_UPDATE 1
|
||||
then
|
||||
sh $BOARD_BOOTLOADER_UPGRADE
|
||||
if [ -f "/etc/extras/bootloader.bin" ]
|
||||
then
|
||||
param set SYS_BL_UPDATE 0
|
||||
param save
|
||||
echo "bootloader update..."
|
||||
bl_update "/etc/extras/bootloader.bin"
|
||||
echo "bootloader update done, rebooting"
|
||||
reboot
|
||||
fi
|
||||
fi
|
||||
unset BOARD_BOOTLOADER_UPGRADE
|
||||
|
||||
#
|
||||
# End of autostart.
|
||||
@@ -588,7 +555,6 @@ unset PWM_EXTRA_RATE
|
||||
unset RC_INPUT_ARGS
|
||||
unset SDCARD_AVAILABLE
|
||||
unset SDCARD_EXT_PATH
|
||||
unset SDCARD_FORMAT
|
||||
unset SDCARD_MIXERS_PATH
|
||||
unset STARTUP_TUNE
|
||||
unset USE_IO
|
||||
|
||||
@@ -33,11 +33,15 @@
|
||||
|
||||
px4_add_romfs_files(
|
||||
autogyro_sitl.main.mix
|
||||
boat_sitl.main.mix
|
||||
delta_wing_sitl.main.mix
|
||||
package_drop.aux.mix
|
||||
plane_sitl.main.mix
|
||||
quad_x_vtol.main.mix
|
||||
rover_ackermann_sitl.main.mix
|
||||
rover_diff_sitl.main.mix
|
||||
standard_vtol_sitl.main.mix
|
||||
tiltrotor_sitl.main.mix
|
||||
uuv_x_sitl.main.mix
|
||||
vectored6dof_sitl.main.mix
|
||||
)
|
||||
|
||||
@@ -0,0 +1,15 @@
|
||||
Mixer for SITL boat
|
||||
=========================================================
|
||||
|
||||
Throttle of left propeller of boat on Output 0
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
Throttle of right propeller of boat on Output 1
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
@@ -0,0 +1,46 @@
|
||||
Mixer for SITL rover
|
||||
=========================================================
|
||||
|
||||
Output 0
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
Output 1
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 3
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 4
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 5
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 6
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 7
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 8
|
||||
---------------------------------------
|
||||
Z:
|
||||
@@ -0,0 +1,46 @@
|
||||
Mixer for SITL rover
|
||||
=========================================================
|
||||
|
||||
Output 0
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 1
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 3
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 4
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 5
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 6
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 7
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 8
|
||||
---------------------------------------
|
||||
Z:
|
||||
@@ -0,0 +1,40 @@
|
||||
# Motor 1
|
||||
M: 3
|
||||
S: 0 2 -4000 -4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 -4000 -4000 0 -4000 +4000
|
||||
# Motor 2
|
||||
M: 3
|
||||
S: 0 2 +4000 +4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 +4000 +4000 0 -4000 +4000
|
||||
# Motor 3
|
||||
M: 3
|
||||
S: 0 2 -4000 -4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 +4000 +4000 0 -4000 +4000
|
||||
# Motor 4
|
||||
M: 3
|
||||
S: 0 2 +4000 +4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 -4000 -4000 0 -4000 +4000
|
||||
# Motor 5
|
||||
M: 3
|
||||
S: 0 0 -4000 -4000 0 -4000 +4000
|
||||
S: 0 1 +4000 +4000 0 -4000 +4000
|
||||
S: 0 5 -4000 -4000 0 -4000 +4000
|
||||
# Motor 6
|
||||
M: 3
|
||||
S: 0 0 -4000 -4000 0 -4000 +4000
|
||||
S: 0 1 -4000 -4000 0 -4000 +4000
|
||||
S: 0 5 +4000 +4000 0 -4000 +4000
|
||||
# Motor 7
|
||||
M: 3
|
||||
S: 0 0 +4000 +4000 0 -4000 +4000
|
||||
S: 0 1 +4000 +4000 0 -4000 +4000
|
||||
S: 0 5 +4000 +4000 0 -4000 +4000
|
||||
# Motor 8
|
||||
M: 3
|
||||
S: 0 0 +4000 +4000 0 -4000 +4000
|
||||
S: 0 1 -4000 -4000 0 -4000 +4000
|
||||
S: 0 5 -4000 -4000 0 -4000 +4000
|
||||
@@ -90,5 +90,4 @@ px4_add_romfs_files(
|
||||
vtol_convergence.main.mix
|
||||
vtol_delta.aux.mix
|
||||
vtol_tailsitter_duo.main.mix
|
||||
vtol_tailsitter_duo_sat.main.mix
|
||||
)
|
||||
|
||||
@@ -1,39 +0,0 @@
|
||||
Tailsitter duo mixer
|
||||
============================
|
||||
|
||||
This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
|
||||
has two motors in total, one attached to each wing. It also has two elevons which
|
||||
are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
|
||||
on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
|
||||
elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
|
||||
at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
|
||||
|
||||
Motor mixer
|
||||
------------
|
||||
Channel 1 connects to the right (starboard) motor.
|
||||
Channel 2 connects to the left (port) motor.
|
||||
|
||||
R: 2-
|
||||
|
||||
Zero mixer (2x)
|
||||
---------------
|
||||
Channels 3,4 are unused.
|
||||
|
||||
Z:
|
||||
|
||||
Z:
|
||||
|
||||
Elevons mixer
|
||||
--------------
|
||||
Channel 5 connects to the right (starboard) elevon.
|
||||
Channel 6 connects to the left (port) elevon.
|
||||
Here we saturate the elevons before their full range
|
||||
to avoid roll-pitch-yaw coupling during faster maneuvers
|
||||
|
||||
M: 2
|
||||
S: 1 0 10000 10000 0 -6000 6000
|
||||
S: 1 1 10000 10000 0 -6000 6000
|
||||
|
||||
M: 2
|
||||
S: 1 0 10000 10000 0 -6000 6000
|
||||
S: 1 1 -10000 -10000 0 -6000 6000
|
||||
@@ -7,8 +7,6 @@ from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -38,13 +36,12 @@ def print_line(line):
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
|
||||
def monitor_firmware_upload(port_url, baudrate):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
def monitor_firmware_upload(port, baudrate):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout = 180 # 3 minutes
|
||||
timeout_start = time.monotonic()
|
||||
timeout_newline = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout_newline = time.time()
|
||||
|
||||
return_code = 0
|
||||
|
||||
@@ -52,59 +49,33 @@ def monitor_firmware_upload(port_url, baudrate):
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "ERROR" in serial_line:
|
||||
return_code = -1
|
||||
|
||||
print_line(serial_line)
|
||||
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
elif "nsh>" in serial_line:
|
||||
sys.exit(return_code)
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
elif "nsh>" in serial_line:
|
||||
sys.exit(return_code)
|
||||
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
|
||||
timeout_newline = time.monotonic()
|
||||
ser.write("\n".encode("ascii"))
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if time.time() - timeout_newline > 10:
|
||||
timeout_newline = time.time()
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
monitor_firmware_upload(port_url, args.baudrate)
|
||||
monitor_firmware_upload(args.device, args.baudrate)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
+54
-88
@@ -6,9 +6,6 @@ from subprocess import call, Popen
|
||||
from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -32,140 +29,109 @@ def print_line(line):
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
print(line, end='')
|
||||
|
||||
def do_param_set_cmd(port, baudrate, param_name, param_value):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
def do_param_set_cmd(port_url, baudrate, param_name, param_value):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
ser.write("\n".encode("ascii"))
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
ser.readlines()
|
||||
|
||||
# run command
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 10 # 10 seconds
|
||||
|
||||
cmd = "param set " + param_name + " " + param_value
|
||||
|
||||
# write command (param set) and wait for command echo
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}\n'.format(cmd)
|
||||
|
||||
serial_cmd = '{0}\r\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
|
||||
ser.flush()
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if cmd in serial_line:
|
||||
break
|
||||
|
||||
if cmd in serial_line:
|
||||
print_line(serial_line)
|
||||
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
|
||||
# verify param value
|
||||
cmd = "param show " + param_name
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}\n'.format(cmd)
|
||||
serial_cmd = '{0}\r\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
param_show_response = param_name + " ["
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 3 # 3 seconds
|
||||
timeout_start = time.time()
|
||||
timeout = 2 # 2 seconds
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if param_show_response in serial_line:
|
||||
print_line(serial_line)
|
||||
current_param_value = serial_line.split(":")[-1].strip()
|
||||
|
||||
if param_show_response in serial_line:
|
||||
current_param_value = serial_line.split(":")[-1].strip()
|
||||
|
||||
if (current_param_value == param_value):
|
||||
sys.exit(0)
|
||||
else:
|
||||
sys.exit(1)
|
||||
if (current_param_value == param_value):
|
||||
sys.exit(0)
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
sys.exit(1)
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
|
||||
if len(serial_line) <= 0:
|
||||
ser.write("\r\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
ser.close()
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument("--name", "-p", dest="param_name", help="Parameter name")
|
||||
parser.add_argument("--value", "-v", dest="param_value", help="Parameter value")
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
do_param_set_cmd(port_url, args.baudrate, args.param_name, args.param_value)
|
||||
do_param_set_cmd(args.device, args.baudrate, args.param_name, args.param_value)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
@@ -1,111 +0,0 @@
|
||||
#! /usr/bin/env python3
|
||||
|
||||
import serial, time
|
||||
import subprocess
|
||||
from subprocess import call, Popen
|
||||
from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
COLOR_YELLOW = "\x1b[33m"
|
||||
COLOR_WHITE = "\x1b[37m"
|
||||
COLOR_RESET = "\x1b[0m"
|
||||
|
||||
def print_line(line):
|
||||
if "WARNING" in line:
|
||||
line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
|
||||
elif "WARN" in line:
|
||||
line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
|
||||
elif "ERROR" in line:
|
||||
line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
|
||||
elif "INFO" in line:
|
||||
line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
|
||||
|
||||
if "PASSED" in line:
|
||||
line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
|
||||
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
|
||||
def reboot(port_url, baudrate):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
|
||||
time_start = time.monotonic()
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
ser.write("reboot\n".encode("ascii"))
|
||||
time_reboot_cmd = time_start
|
||||
|
||||
timeout_reboot_cmd = 90
|
||||
timeout = 300 # 5 minutes
|
||||
|
||||
return_code = 0
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if "ERROR" in serial_line:
|
||||
return_code = -1
|
||||
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
|
||||
else:
|
||||
if time.monotonic() > time_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
|
||||
time_reboot_cmd = time.monotonic()
|
||||
print("sending reboot cmd again")
|
||||
ser.write("reboot\n".encode("ascii"))
|
||||
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
reboot(args.device, args.baudrate)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
+53
-77
@@ -7,8 +7,6 @@ from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -39,123 +37,101 @@ def print_line(line):
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
|
||||
def do_nsh_cmd(port_url, baudrate, cmd):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
def do_nsh_cmd(port, baudrate, cmd):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
ser.write("\n".encode("ascii"))
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
ser.readlines()
|
||||
|
||||
# run command
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 5 # 5 seconds
|
||||
timeout_start = time.time()
|
||||
timeout = 1 # 1 second
|
||||
|
||||
success_cmd = "cmd succeeded!"
|
||||
|
||||
# wait for command echo
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}; echo "{1}"; echo "{2}";\n'.format(cmd, success_cmd, success_cmd)
|
||||
serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
|
||||
ser.flush()
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if cmd in serial_line:
|
||||
break
|
||||
elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
|
||||
print_line(serial_line)
|
||||
# we missed the echo, but command ran and succeeded
|
||||
sys.exit(0)
|
||||
else:
|
||||
print_line(serial_line)
|
||||
if cmd in serial_line:
|
||||
break
|
||||
elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
|
||||
print_line(serial_line)
|
||||
# we missed the echo, but command ran and succeeded
|
||||
sys.exit(0)
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 240 # 4 minutes
|
||||
timeout_start = time.time()
|
||||
timeout = 180 # 3 minutes
|
||||
|
||||
return_code = 0
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if success_cmd in serial_line:
|
||||
sys.exit(return_code)
|
||||
else:
|
||||
if success_cmd in serial_line:
|
||||
sys.exit(return_code)
|
||||
break
|
||||
else:
|
||||
if len(serial_line) > 0:
|
||||
if "ERROR " in serial_line:
|
||||
return_code = -1
|
||||
|
||||
print_line(serial_line)
|
||||
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
|
||||
if len(serial_line) <= 0:
|
||||
ser.write("\r\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
ser.close()
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
do_nsh_cmd(port_url, args.baudrate, args.cmd)
|
||||
do_nsh_cmd(args.device, args.baudrate, args.cmd)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
+52
-81
@@ -9,9 +9,6 @@ import unittest
|
||||
import os
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
import warnings
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -41,36 +38,33 @@ def print_line(line):
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
def do_test(port, baudrate, test_name):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
def do_test(port_url, baudrate, test_name):
|
||||
|
||||
# ignore pyserial spy:// resource warnings
|
||||
warnings.filterwarnings(action="ignore", message="unclosed", category=ResourceWarning)
|
||||
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
return False
|
||||
|
||||
ser.write("\n".encode("ascii"))
|
||||
if len(serial_line) > 0:
|
||||
print(serial_line, end='')
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
return False
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
ser.readlines()
|
||||
|
||||
success = False
|
||||
|
||||
# run test cmd
|
||||
print('\n|======================================================================')
|
||||
@@ -78,28 +72,30 @@ def do_test(port_url, baudrate, test_name):
|
||||
print("| Running:", cmd)
|
||||
print('|======================================================================')
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 2 # 2 seconds
|
||||
|
||||
# wait for command echo
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
|
||||
ser.flush()
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if cmd in serial_line:
|
||||
break
|
||||
if cmd in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
|
||||
|
||||
# print results, wait for final result (PASSED or FAILED)
|
||||
timeout = 300 # 5 minutes
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout_newline = timeout_start
|
||||
|
||||
while True:
|
||||
@@ -108,26 +104,27 @@ def do_test(port_url, baudrate, test_name):
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if test_name + " PASSED" in serial_line:
|
||||
ser.close()
|
||||
return True
|
||||
elif test_name + " FAILED" in serial_line:
|
||||
ser.close()
|
||||
return False
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
|
||||
ser.close()
|
||||
return False
|
||||
if test_name + " PASSED" in serial_line:
|
||||
success = True
|
||||
break
|
||||
elif test_name + " FAILED" in serial_line:
|
||||
success = False
|
||||
break
|
||||
|
||||
# newline every 30 seconds if still running
|
||||
if time.monotonic() - timeout_newline > 30:
|
||||
ser.write("\n".encode("ascii"))
|
||||
timeout_newline = time.monotonic()
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
|
||||
success = False
|
||||
break
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if time.time() - timeout_newline > 10:
|
||||
ser.write("\n".encode("ascii"))
|
||||
timeout_newline = time.time()
|
||||
|
||||
ser.close()
|
||||
return False
|
||||
|
||||
return success
|
||||
|
||||
class TestHardwareMethods(unittest.TestCase):
|
||||
TEST_DEVICE = 0
|
||||
@@ -145,8 +142,9 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_bson(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
|
||||
|
||||
def test_dataman(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
|
||||
# TODO: review
|
||||
# def test_dataman(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
|
||||
|
||||
# def test_file(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file"))
|
||||
@@ -209,39 +207,12 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
TestHardwareMethods.TEST_DEVICE = port_url
|
||||
TestHardwareMethods.TEST_DEVICE = args.device
|
||||
TestHardwareMethods.TEST_BAUDRATE = args.baudrate
|
||||
|
||||
unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])
|
||||
|
||||
@@ -1,62 +0,0 @@
|
||||
#! /bin/bash
|
||||
|
||||
# exit when any command fails
|
||||
set -e
|
||||
|
||||
DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
|
||||
|
||||
SERIAL_DEVICE=$1
|
||||
|
||||
if [ ! -e "${SERIAL_DEVICE}" ]
|
||||
then
|
||||
echo "Invalid serial device ${SERIAL_DEVICE}"
|
||||
exit -1
|
||||
fi
|
||||
|
||||
# all airframes (from ROMFS/px4fmu_common/init.d/airframes/)
|
||||
# $(find . -regex '.*/[0-9].*' -exec basename {} \; | cut -d "_" -f 1)
|
||||
ALL_AIRFRAMES=${@:2}
|
||||
echo "airframes: ${ALL_AIRFRAMES}"
|
||||
|
||||
for airframe in $ALL_AIRFRAMES
|
||||
do
|
||||
echo
|
||||
echo
|
||||
echo
|
||||
echo "########################################################################################################################"
|
||||
echo " Airframe: $airframe"
|
||||
echo "########################################################################################################################"
|
||||
echo
|
||||
|
||||
${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART --value $airframe
|
||||
${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER --value 782097
|
||||
|
||||
# enable all mavlink instances
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_0_CONFIG 101' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_1_CONFIG 102' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_2_CONFIG 103' || true
|
||||
|
||||
# enable all GPS
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 201' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 202' || true
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'
|
||||
|
||||
${DIR}/reboot.py --device ${SERIAL_DEVICE}
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
|
||||
|
||||
done
|
||||
@@ -17,6 +17,7 @@ exec find boards msg src platforms test \
|
||||
-path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
|
||||
-path src/lib/crypto/monocypher -prune -o \
|
||||
-path src/lib/events/libevents -prune -o \
|
||||
-path src/lib/matrix -prune -o \
|
||||
-path src/lib/parameters/uthash -prune -o \
|
||||
-path src/modules/ekf2/EKF -prune -o \
|
||||
-path src/modules/gyro_fft/CMSIS_5 -prune -o \
|
||||
|
||||
+1
-1
@@ -19,7 +19,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
|
||||
elif [[ $@ =~ .*tests* ]]; then
|
||||
# run all tests with simulation
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-02-04"
|
||||
fi
|
||||
else
|
||||
echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
|
||||
|
||||
+1
-1
Submodule Tools/flightgear_bridge updated: f47ce7b5fb...ea9b6cb5b9
@@ -39,7 +39,7 @@ function spawn_model() {
|
||||
|
||||
echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
|
||||
|
||||
gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.83
|
||||
gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.0
|
||||
|
||||
popd &>/dev/null
|
||||
|
||||
@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
|
||||
world=${WORLD:=empty}
|
||||
target=${TARGET:=px4_sitl_default}
|
||||
vehicle_model=${VEHICLE_MODEL:="iris"}
|
||||
export PX4_SIM_MODEL=${vehicle_model}
|
||||
export PX4_SIM_MODEL=${vehicle_model}${LABEL}
|
||||
|
||||
echo ${SCRIPT}
|
||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
||||
@@ -126,7 +126,7 @@ else
|
||||
|
||||
m=0
|
||||
while [ $m -lt ${target_number} ]; do
|
||||
export PX4_SIM_MODEL=${target_vehicle}
|
||||
export PX4_SIM_MODEL=${target_vehicle}${LABEL}
|
||||
spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
|
||||
m=$(($m + 1))
|
||||
n=$(($n + 1))
|
||||
|
||||
@@ -41,9 +41,7 @@ def process_target(px4board_file, target_name):
|
||||
platform = None
|
||||
toolchain = None
|
||||
|
||||
if px4board_file.endswith("default.px4board") or \
|
||||
px4board_file.endswith("recovery.px4board") or \
|
||||
px4board_file.endswith("bootloader.px4board"):
|
||||
if px4board_file.endswith("default.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)
|
||||
|
||||
+1
-1
Submodule Tools/jMAVSim updated: 66b764ada5...b23dc53d55
@@ -10,7 +10,7 @@ extra_args=
|
||||
baudrate=921600
|
||||
device=
|
||||
ip="127.0.0.1"
|
||||
while getopts ":b:d:p:qsr:f:i:loat" opt; do
|
||||
while getopts ":b:d:p:qsr:f:i:loa" opt; do
|
||||
case $opt in
|
||||
b)
|
||||
baudrate=$OPTARG
|
||||
@@ -40,10 +40,7 @@ while getopts ":b:d:p:qsr:f:i:loat" opt; do
|
||||
extra_args="$extra_args -disponly"
|
||||
;;
|
||||
a)
|
||||
extra_args="$extra_args -fw" # aircraft model
|
||||
;;
|
||||
t)
|
||||
extra_args="$extra_args -ts" # tailsitter model
|
||||
extra_args="$extra_args -fw" # aircraft
|
||||
;;
|
||||
\?)
|
||||
echo "Invalid option: -$OPTARG" >&2
|
||||
|
||||
@@ -92,7 +92,6 @@ pca9685,CONFIG_DRIVERS_PCA9685=y
|
||||
pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
|
||||
pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
|
||||
protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
|
||||
pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
|
||||
pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
|
||||
@@ -150,12 +149,13 @@ simulator,CONFIG_MODULES_SIMULATOR=y
|
||||
temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
gimbal,CONFIG_MODULES_GIMBAL=y
|
||||
vmount,CONFIG_MODULES_VMOUNT=y
|
||||
vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
dmesg,CONFIG_SYSTEMCMDS_DMESG=y
|
||||
dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
dyn,CONFIG_SYSTEMCMDS_DYN=y
|
||||
esc_calib,CONFIG_SYSTEMCMDS_ESC_CALIB=y
|
||||
failure,CONFIG_SYSTEMCMDS_FAILURE=y
|
||||
gpio,CONFIG_SYSTEMCMDS_GPIO=y
|
||||
hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
@@ -164,6 +164,7 @@ led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
mft,CONFIG_SYSTEMCMDS_MFT=y
|
||||
microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
|
||||
mixer,CONFIG_SYSTEMCMDS_MIXER=y
|
||||
motor_ramp,CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
|
||||
motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
|
||||
mtd,CONFIG_SYSTEMCMDS_MTD=y
|
||||
netman,CONFIG_SYSTEMCMDS_NETMAN=y
|
||||
|
||||
@@ -1,496 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
""" Script to generate actuators.json metadata from module.yaml config file(s)
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import lzma #to create .xz file
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
|
||||
from output_groups_from_timer_config import get_timer_groups, get_output_groups
|
||||
|
||||
try:
|
||||
import yaml
|
||||
except ImportError as e:
|
||||
print("Failed to import yaml: " + str(e))
|
||||
print("")
|
||||
print("You may need to install it using:")
|
||||
print(" pip3 install --user pyyaml")
|
||||
print("")
|
||||
sys.exit(1)
|
||||
|
||||
parser = argparse.ArgumentParser(description='Generate actuators.json from module.yaml file(s)')
|
||||
|
||||
parser.add_argument('--config-files', type=str, nargs='*', default=[],
|
||||
help='YAML module config file(s)')
|
||||
parser.add_argument('--output-file', type=str, action='store',
|
||||
help='JSON output file', required=True)
|
||||
parser.add_argument('--compress', action='store_true', help='Add a compressed output file')
|
||||
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
|
||||
help='Verbose Output')
|
||||
parser.add_argument('--timer-config', type=str, action='store',
|
||||
help='board-specific timer_config.cpp file')
|
||||
parser.add_argument('--board', type=str, action='store',
|
||||
help='board name, e.g. ')
|
||||
parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
|
||||
help='Indicate that the board as an IO for extra PWM',
|
||||
default=False)
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
compress = args.compress
|
||||
verbose = args.verbose
|
||||
output_file = args.output_file
|
||||
timer_config_file = args.timer_config
|
||||
board_with_io = args.board_with_io
|
||||
board = args.board
|
||||
|
||||
root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
|
||||
output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
|
||||
|
||||
def save_compressed(filename):
|
||||
#create lzma compressed version
|
||||
xz_filename=filename+'.xz'
|
||||
with lzma.open(xz_filename, 'wt', preset=9) as f:
|
||||
with open(filename, 'r') as content_file:
|
||||
f.write(content_file.read())
|
||||
|
||||
def load_yaml_file(file_name):
|
||||
with open(file_name, 'r') as stream:
|
||||
try:
|
||||
return yaml.safe_load(stream)
|
||||
except yaml.YAMLError as exc:
|
||||
print(exc)
|
||||
raise
|
||||
|
||||
# functions
|
||||
output_functions_yaml = load_yaml_file(output_functions_file)
|
||||
output_functions = output_functions_yaml['functions']
|
||||
functions = {}
|
||||
|
||||
def add_function(functions, index, name, function_obj=None):
|
||||
functions[index] = {
|
||||
"label": name
|
||||
}
|
||||
if function_obj is not None:
|
||||
if function_obj.get('exclude_from_actuator_testing', False):
|
||||
functions[index]['exclude-from-actuator-testing'] = True
|
||||
if 'note' in function_obj:
|
||||
functions[index]['note'] = function_obj['note']
|
||||
|
||||
for group_key in output_functions:
|
||||
group = output_functions[group_key]
|
||||
for function_name in group:
|
||||
function_name_label = function_name.replace('_', ' ')
|
||||
if isinstance(group[function_name], int):
|
||||
add_function(functions, group[function_name], function_name_label)
|
||||
elif not 'count' in group[function_name]:
|
||||
add_function(functions, group[function_name]['start'], function_name_label, group[function_name])
|
||||
else:
|
||||
start = group[function_name]['start']
|
||||
count = group[function_name]['count']
|
||||
for i in range(count):
|
||||
add_function(functions, start+i, function_name_label+' '+str(i+1), group[function_name])
|
||||
|
||||
# outputs
|
||||
outputs = []
|
||||
|
||||
def process_module_name(module_name):
|
||||
if module_name == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM AUX'
|
||||
return 'PWM MAIN'
|
||||
if '${' in module_name:
|
||||
raise Exception('unhandled variable in {:}'.format(module_name))
|
||||
return module_name
|
||||
|
||||
def process_param_prefix(param_prefix):
|
||||
if param_prefix == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM_AUX'
|
||||
return 'PWM_MAIN'
|
||||
if '${' in param_prefix:
|
||||
raise Exception('unhandled variable in {:}'.format(param_prefix))
|
||||
return param_prefix
|
||||
|
||||
def process_channel_label(module_name, channel_label, no_prefix):
|
||||
if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
|
||||
return 'CAP'
|
||||
if channel_label == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'AUX'
|
||||
return 'MAIN'
|
||||
if '${' in channel_label:
|
||||
raise Exception('unhandled variable in {:}'.format(channel_label))
|
||||
if no_prefix: return channel_label
|
||||
return channel_label
|
||||
|
||||
def get_actuator_output(yaml_config, output_functions, timer_config_file, verbose):
|
||||
""" parse the actuator_output section from the yaml config file
|
||||
"""
|
||||
if not 'actuator_output' in yaml_config:
|
||||
return None
|
||||
|
||||
|
||||
actuator_output_yaml = yaml_config['actuator_output']
|
||||
output_groups = actuator_output_yaml['output_groups']
|
||||
module_name = process_module_name(yaml_config['module_name'])
|
||||
group_idx = 0
|
||||
|
||||
if verbose: print('processing module: {}'.format(module_name))
|
||||
|
||||
actuator_output = {
|
||||
'label': module_name
|
||||
}
|
||||
if 'show_subgroups_if' in actuator_output_yaml:
|
||||
actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
|
||||
|
||||
# config parameters
|
||||
def get_config_params(param_list):
|
||||
""" convert config parameter list (per group or per subgroup) """
|
||||
parameters = []
|
||||
for config_param in param_list:
|
||||
if verbose:
|
||||
print('config param: {}'.format(config_param))
|
||||
param = {
|
||||
'name': config_param['param'],
|
||||
}
|
||||
if 'label' in config_param:
|
||||
param['label'] = config_param['label']
|
||||
if 'function' in config_param:
|
||||
param['function'] = config_param['function']
|
||||
parameters.append(param)
|
||||
return parameters
|
||||
|
||||
parameters = get_config_params(actuator_output_yaml.get('config_parameters', []))
|
||||
if len(parameters) > 0:
|
||||
actuator_output['parameters'] = parameters
|
||||
|
||||
subgroups = []
|
||||
|
||||
while group_idx < len(output_groups):
|
||||
group = output_groups[group_idx]
|
||||
group_idx += 1
|
||||
|
||||
if verbose: print("processing group: {:}".format(group))
|
||||
|
||||
# Check for generator and generate additional data.
|
||||
if 'generator' in group:
|
||||
if group['generator'] == 'pwm':
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
no_prefix = not group.get('channel_label_module_name_prefix', True)
|
||||
channel_labels = [process_channel_label(module_name, label, no_prefix)
|
||||
for label in group['channel_labels']]
|
||||
standard_params = group.get('standard_params', [])
|
||||
extra_function_groups = group.get('extra_function_groups', [])
|
||||
pwm_timer_param = group.get('pwm_timer_param', None)
|
||||
if 'timer_config_file' in group:
|
||||
timer_config_file = os.path.join(root_dir, group['timer_config_file'])
|
||||
if timer_config_file is None:
|
||||
raise Exception('trying to generate pwm outputs, but --timer-config not set')
|
||||
timer_groups = get_timer_groups(timer_config_file, verbose)
|
||||
timer_output_groups, timer_params = get_output_groups(timer_groups,
|
||||
param_prefix, channel_labels,
|
||||
standard_params, extra_function_groups, pwm_timer_param,
|
||||
verbose=verbose)
|
||||
output_groups.extend(timer_output_groups)
|
||||
else:
|
||||
raise Exception('unknown generator {:}'.format(group['generator']))
|
||||
continue
|
||||
|
||||
subgroup = {}
|
||||
|
||||
# supported actions
|
||||
if 'supported_actions' in group:
|
||||
actions = {}
|
||||
for action_name in group['supported_actions']:
|
||||
action = group['supported_actions'][action_name]
|
||||
action_name = action_name.replace('_', '-')
|
||||
actions[action_name] = {}
|
||||
if 'supported_if' in action:
|
||||
actions[action_name]['supported-if'] = action['supported_if']
|
||||
if 'actuator_types' in action:
|
||||
actions[action_name]['actuator-types'] = action['actuator_types']
|
||||
subgroup['supported-actions'] = actions
|
||||
|
||||
# channels
|
||||
num_channels = group['num_channels']
|
||||
no_prefix = not group.get('channel_label_module_name_prefix', True)
|
||||
channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
|
||||
instance_start = group.get('instance_start', 1)
|
||||
instance_start_label = group.get('instance_start_label', instance_start)
|
||||
channels = []
|
||||
for channel in range(num_channels):
|
||||
channels.append({
|
||||
'label': channel_label + ' ' +str(channel+instance_start_label),
|
||||
'param-index': channel+instance_start
|
||||
})
|
||||
subgroup['channels'] = channels
|
||||
|
||||
if 'group_label' in group:
|
||||
subgroup['label'] = group['group_label']
|
||||
|
||||
|
||||
# per-channel-params
|
||||
per_channel_params = []
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
standard_params = group.get('standard_params', {})
|
||||
standard_params_array = [
|
||||
( 'function', 'Function', 'FUNC', False ),
|
||||
( 'disarmed', 'Disarmed', 'DIS', False ),
|
||||
( 'min', 'Minimum', 'MIN', False ),
|
||||
( 'max', 'Maximum', 'MAX', False ),
|
||||
( 'failsafe', 'Failsafe', 'FAIL', True ),
|
||||
]
|
||||
for key, label, param_suffix, advanced in standard_params_array:
|
||||
show_if = None
|
||||
if key in standard_params and 'show_if' in standard_params[key]:
|
||||
show_if = standard_params[key]['show_if']
|
||||
|
||||
if key in standard_params or key == 'function':
|
||||
param = {
|
||||
'label': label,
|
||||
'name': param_prefix+'_'+param_suffix+'${i}',
|
||||
'function': key,
|
||||
}
|
||||
if advanced: param['advanced'] = True
|
||||
if show_if: param['show-if'] = show_if
|
||||
per_channel_params.append(param)
|
||||
|
||||
|
||||
param = {
|
||||
'label': 'Rev Range\n(for Servos)',
|
||||
'name': param_prefix+'_REV',
|
||||
'index-offset': -1,
|
||||
'show-as': 'bitset',
|
||||
}
|
||||
per_channel_params.append(param)
|
||||
|
||||
# TODO: support non-standard per-channel parameters
|
||||
|
||||
subgroup['per-channel-parameters'] = per_channel_params
|
||||
|
||||
# group config params
|
||||
parameters = get_config_params(group.get('config_parameters', []))
|
||||
if len(parameters) > 0:
|
||||
subgroup['parameters'] = parameters
|
||||
|
||||
subgroups.append(subgroup)
|
||||
|
||||
actuator_output['subgroups'] = subgroups
|
||||
return actuator_output
|
||||
|
||||
# Mixers
|
||||
mixers = None
|
||||
def get_mixers(yaml_config, output_functions, verbose):
|
||||
if not 'mixer' in yaml_config:
|
||||
return None
|
||||
|
||||
actuator_types = {}
|
||||
for actuator_type_key in yaml_config['mixer']['actuator_types']:
|
||||
actuator_type_conf = yaml_config['mixer']['actuator_types'][actuator_type_key]
|
||||
actuator_type = { }
|
||||
if actuator_type_key != 'DEFAULT':
|
||||
actuator_type['label-index-offset'] = 1 # always 1
|
||||
if 'functions' in actuator_type_conf:
|
||||
function_name = actuator_type_conf['functions']
|
||||
# we expect the function to be in 'common' (this is not a requirement, just simplicity)
|
||||
output_function = output_functions['common'][function_name]
|
||||
actuator_type['function-min'] = output_function['start']
|
||||
actuator_type['function-max'] = output_function['start'] + output_function['count'] - 1
|
||||
|
||||
values = actuator_type_conf['actuator_testing_values']
|
||||
actuator_type['values'] = {
|
||||
'min': values['min'],
|
||||
'max': values['max'],
|
||||
}
|
||||
if values.get('default_is_nan', False):
|
||||
actuator_type['values']['default-is-nan'] = True
|
||||
else:
|
||||
actuator_type['values']['default'] = values['default']
|
||||
if values.get('reversible', False):
|
||||
actuator_type['values']['reversible'] = True
|
||||
|
||||
# per item params
|
||||
per_item_params = []
|
||||
for per_item_param in actuator_type_conf.get('per_item_parameters', []):
|
||||
per_item_params.append({k.replace('_','-'): v for k, v in per_item_param.items()})
|
||||
if len(per_item_params) > 0:
|
||||
actuator_type['per-item-parameters'] = per_item_params
|
||||
|
||||
actuator_types[actuator_type_key] = actuator_type
|
||||
|
||||
if verbose:
|
||||
print('Actuator types: {}'.format(actuator_types))
|
||||
|
||||
config = []
|
||||
yaml_mixer_config = yaml_config['mixer']['config']
|
||||
select_param = yaml_mixer_config['param']
|
||||
types = yaml_mixer_config['types']
|
||||
for type_index in types:
|
||||
current_type = types[type_index]
|
||||
option = select_param + '==' + str(type_index)
|
||||
mixer_config = {
|
||||
'option': option,
|
||||
'help-url': 'https://docs.px4.io/master/en/config/actuators.html',
|
||||
}
|
||||
for optional in ['type', 'title']:
|
||||
if optional in current_type:
|
||||
mixer_config[optional] = current_type[optional]
|
||||
actuators = []
|
||||
for actuator_conf in current_type['actuators']:
|
||||
actuator = {
|
||||
'actuator-type': actuator_conf['actuator_type'],
|
||||
'required': True, # for now always set as required
|
||||
}
|
||||
# sanity check that actuator type exists
|
||||
if actuator_conf['actuator_type'] not in actuator_types:
|
||||
raise Exception('actuator type "{}" does not exist (valid: {})'.format(actuator_conf['actuator_type'], actuator_types.keys()))
|
||||
|
||||
if 'group_label' in actuator_conf:
|
||||
actuator['group-label'] = actuator_conf['group_label']
|
||||
else:
|
||||
# infer from actuator type
|
||||
if actuator_conf['actuator_type'] == 'motor':
|
||||
actuator['group-label'] = 'Motors'
|
||||
elif actuator_conf['actuator_type'] == 'servo':
|
||||
actuator['group-label'] = 'Servos'
|
||||
else:
|
||||
raise Exception('Missing group label for actuator type "{}"'.format(actuator_conf['actuator_type']))
|
||||
|
||||
if 'count' in actuator_conf: # possibly dynamic size
|
||||
actuator['count'] = actuator_conf['count']
|
||||
per_item_params = actuator_conf.get('per_item_parameters', {})
|
||||
params = []
|
||||
if 'standard' in per_item_params:
|
||||
standard_params = per_item_params['standard']
|
||||
index_offset = standard_params.get('index_offset', 0)
|
||||
if 'position' in standard_params:
|
||||
params.extend([
|
||||
{
|
||||
'label': 'Position X',
|
||||
'function': 'posx',
|
||||
'name': standard_params['position'][0],
|
||||
'index-offset': index_offset,
|
||||
},
|
||||
{
|
||||
'label': 'Position Y',
|
||||
'function': 'posy',
|
||||
'name': standard_params['position'][1],
|
||||
'index-offset': index_offset,
|
||||
},
|
||||
{
|
||||
'label': 'Position Z',
|
||||
'function': 'posz',
|
||||
'name': standard_params['position'][2],
|
||||
'advanced': True,
|
||||
'index-offset': index_offset,
|
||||
},
|
||||
])
|
||||
if 'extra' in per_item_params:
|
||||
for extra_param in per_item_params['extra']:
|
||||
params.append({k.replace('_','-'): v for k, v in extra_param.items()})
|
||||
actuator['per-item-parameters'] = params
|
||||
if 'item_label_prefix' in actuator_conf:
|
||||
actuator['item-label-prefix'] = actuator_conf['item_label_prefix']
|
||||
else: # fixed size
|
||||
labels = []
|
||||
pos_x = []
|
||||
pos_y = []
|
||||
pos_z = []
|
||||
for instance in actuator_conf['instances']:
|
||||
labels.append(instance['name'])
|
||||
pos_x.append(instance['position'][0])
|
||||
pos_y.append(instance['position'][1])
|
||||
pos_z.append(instance['position'][2])
|
||||
actuator['count'] = len(labels)
|
||||
actuator['item-label-prefix'] = labels
|
||||
actuator['per-item-parameters'] = [
|
||||
{
|
||||
'label': 'Position X',
|
||||
'function': 'posx',
|
||||
'value': pos_x,
|
||||
},
|
||||
{
|
||||
'label': 'Position Y',
|
||||
'function': 'posy',
|
||||
'value': pos_y,
|
||||
},
|
||||
{
|
||||
'label': 'Position Z',
|
||||
'function': 'posz',
|
||||
'value': pos_z,
|
||||
'advanced': True,
|
||||
},
|
||||
]
|
||||
|
||||
# actuator parameters
|
||||
parameters = []
|
||||
for param in actuator_conf.get('parameters', []):
|
||||
parameters.append({k.replace('_','-'): v for k, v in param.items()})
|
||||
actuator['parameters'] = parameters
|
||||
|
||||
actuators.append(actuator)
|
||||
|
||||
mixer_config['actuators'] = actuators
|
||||
config.append(mixer_config)
|
||||
|
||||
if verbose:
|
||||
print('Mixer configs: {}'.format(config))
|
||||
|
||||
rules = []
|
||||
for rule in yaml_config['mixer'].get('rules', []):
|
||||
rules.append({k.replace('_','-'): v for k, v in rule.items()})
|
||||
|
||||
if verbose:
|
||||
print('Mixer rules: {}'.format(rules))
|
||||
|
||||
mixers = {
|
||||
'actuator-types': actuator_types,
|
||||
'config': config,
|
||||
'rules': rules,
|
||||
}
|
||||
return mixers
|
||||
|
||||
|
||||
for yaml_file in args.config_files:
|
||||
yaml_config = load_yaml_file(yaml_file)
|
||||
|
||||
try:
|
||||
actuator_output = get_actuator_output(yaml_config,
|
||||
output_functions, timer_config_file, verbose)
|
||||
if actuator_output:
|
||||
outputs.append(actuator_output)
|
||||
|
||||
parsed_mixers = get_mixers(yaml_config, output_functions, verbose)
|
||||
if parsed_mixers is not None:
|
||||
if mixers is not None:
|
||||
# only expected to be configured in one module
|
||||
raise Exception('multiple "mixer" sections in module config files')
|
||||
mixers = parsed_mixers
|
||||
except Exception as e:
|
||||
print('Exception while parsing {:}:'.format(yaml_file))
|
||||
raise e
|
||||
|
||||
if mixers is None:
|
||||
if len(outputs) > 0:
|
||||
raise Exception('Missing "mixer" section in yaml configs (CONFIG_MODULES_CONTROL_ALLOCATOR not added to the build?)')
|
||||
else:
|
||||
# set a minimal default
|
||||
mixers = {
|
||||
'actuator-types': { 'DEFAULT': { 'values': { 'min': 0, 'max': 1 } } },
|
||||
'config': [],
|
||||
}
|
||||
|
||||
actuators = {
|
||||
'version': 1,
|
||||
'show-ui-if': 'SYS_CTRL_ALLOC==1',
|
||||
'outputs_v1': outputs,
|
||||
'functions_v1': functions,
|
||||
'mixer_v1': mixers,
|
||||
}
|
||||
|
||||
with open(output_file, 'w') as outfile:
|
||||
indent = 2 if verbose else None
|
||||
json.dump(actuators, outfile, indent=indent)
|
||||
|
||||
if compress:
|
||||
save_compressed(output_file)
|
||||
@@ -1,12 +1,11 @@
|
||||
#!/usr/bin/env python3
|
||||
""" Script to generate params from module.yaml config file(s)
|
||||
""" Script to params from module.yaml config file(s)
|
||||
Note: serial params are handled in Tools/serial/generate_config.py
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
from copy import deepcopy
|
||||
|
||||
from output_groups_from_timer_config import get_timer_groups, get_output_groups
|
||||
|
||||
@@ -50,15 +49,10 @@ board = args.board
|
||||
root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
|
||||
output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
|
||||
|
||||
def process_module_name(module_name):
|
||||
if module_name == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM AUX'
|
||||
return 'PWM MAIN'
|
||||
if '${' in module_name:
|
||||
raise Exception('unhandled variable in {:}'.format(module_name))
|
||||
return module_name
|
||||
|
||||
def process_param_prefix(param_prefix):
|
||||
if param_prefix == '${PWM_MAIN_OR_HIL}':
|
||||
if board == 'px4_sitl': return 'PWM_MAIN'
|
||||
return 'HIL_ACT'
|
||||
if param_prefix == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM_AUX'
|
||||
return 'PWM_MAIN'
|
||||
@@ -66,16 +60,16 @@ def process_param_prefix(param_prefix):
|
||||
raise Exception('unhandled variable in {:}'.format(param_prefix))
|
||||
return param_prefix
|
||||
|
||||
def process_channel_label(module_name, channel_label, no_prefix):
|
||||
if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
|
||||
return 'PWM Capture'
|
||||
def process_channel_label(channel_label):
|
||||
if channel_label == '${PWM_MAIN_OR_HIL}':
|
||||
if board == 'px4_sitl': return 'PWM Sim'
|
||||
return 'HIL actuator'
|
||||
if channel_label == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM Aux'
|
||||
return 'PWM Main'
|
||||
if '${' in channel_label:
|
||||
raise Exception('unhandled variable in {:}'.format(channel_label))
|
||||
if no_prefix: return channel_label
|
||||
return module_name + ' ' + channel_label
|
||||
return channel_label
|
||||
|
||||
|
||||
def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
@@ -110,13 +104,6 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
param_type = 'INT32'
|
||||
for key in param['values']:
|
||||
tags += '\n * @value {:} {:}'.format(key, param['values'][key])
|
||||
elif param['type'] == 'bitmask':
|
||||
param_type = 'INT32'
|
||||
for key in param['bit']:
|
||||
tags += '\n * @bit {:} {:}'.format(key, param['bit'][key])
|
||||
max_val = max(key for key in param['bit'])
|
||||
tags += '\n * @min 0'
|
||||
tags += '\n * @max {:}'.format((1<<(max_val+1)) - 1)
|
||||
elif param['type'] == 'boolean':
|
||||
param_type = 'INT32'
|
||||
tags += '\n * @boolean'
|
||||
@@ -127,7 +114,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
else:
|
||||
raise Exception("unknown param type {:}".format(param['type']))
|
||||
|
||||
for tag in ['decimal', 'increment', 'category', 'volatile',
|
||||
for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
|
||||
'min', 'max', 'unit', 'reboot_required']:
|
||||
if tag in param:
|
||||
tags += '\n * @{:} {:}'.format(tag, param[tag])
|
||||
@@ -157,7 +144,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
*/
|
||||
PARAM_DEFINE_{param_type}({name}, {default_value});
|
||||
'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
|
||||
long_descr=param['description'].get('long', "").replace("\n", "\n * "),
|
||||
long_descr=param['description']['long'].replace("\n", "\n * "),
|
||||
tags=tags,
|
||||
param_type=param_type,
|
||||
name=param_name.replace('${i}', str(i+instance_start)),
|
||||
@@ -174,12 +161,9 @@ def get_actuator_output_params(yaml_config, output_functions,
|
||||
if not 'actuator_output' in yaml_config:
|
||||
return {}
|
||||
output_groups = yaml_config['actuator_output']['output_groups']
|
||||
module_name = process_module_name(yaml_config['module_name'])
|
||||
all_params = {}
|
||||
group_idx = 0
|
||||
|
||||
all_param_prefixes = {}
|
||||
|
||||
def add_local_param(param_name, param_def):
|
||||
nonlocal all_params
|
||||
# add as a list, as there can be multiple entries with the same param_name
|
||||
@@ -198,9 +182,7 @@ def get_actuator_output_params(yaml_config, output_functions,
|
||||
if 'generator' in group:
|
||||
if group['generator'] == 'pwm':
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
no_prefix = not group.get('channel_label_module_name_prefix', True)
|
||||
channel_labels = [process_channel_label(module_name, label, no_prefix)
|
||||
for label in group['channel_labels']]
|
||||
channel_labels = [process_channel_label(label) for label in group['channel_labels']]
|
||||
standard_params = group.get('standard_params', [])
|
||||
extra_function_groups = group.get('extra_function_groups', [])
|
||||
pwm_timer_param = group.get('pwm_timer_param', None)
|
||||
@@ -215,29 +197,13 @@ def get_actuator_output_params(yaml_config, output_functions,
|
||||
verbose=verbose)
|
||||
all_params.update(timer_params)
|
||||
output_groups.extend(timer_output_groups)
|
||||
|
||||
# In case of a board w/o IO and >8 PWM channels, pwm_out splits
|
||||
# into 2 instances (if SYS_CTRL_ALLOC==0) and we need to add the
|
||||
# PWM_AUX min/max/disarmed params as well.
|
||||
num_channels = len(timer_groups['types'])
|
||||
if not board_with_io and num_channels > 8:
|
||||
output_groups.append(
|
||||
{
|
||||
'param_prefix': 'PWM_AUX',
|
||||
'channel_label': 'PWM AUX',
|
||||
'instance_start': 1,
|
||||
'num_channels': num_channels - 8,
|
||||
'standard_params': deepcopy(timer_output_groups[0]['standard_params'])
|
||||
})
|
||||
|
||||
else:
|
||||
raise Exception('unknown generator {:}'.format(group['generator']))
|
||||
continue
|
||||
|
||||
num_channels = group['num_channels']
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
no_prefix = not group.get('channel_label_module_name_prefix', True)
|
||||
channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
|
||||
channel_label = process_channel_label(group['channel_label'])
|
||||
standard_params = group.get('standard_params', {})
|
||||
instance_start = group.get('instance_start', 1)
|
||||
instance_start_label = group.get('instance_start_label', instance_start)
|
||||
@@ -253,19 +219,12 @@ def get_actuator_output_params(yaml_config, output_functions,
|
||||
function_name_label = function_name.replace('_', ' ')
|
||||
if isinstance(group[function_name], int):
|
||||
output_function_values[group[function_name]] = function_name_label
|
||||
elif not 'count' in group[function_name]:
|
||||
output_function_values[group[function_name]['start']] = function_name_label
|
||||
else:
|
||||
start = group[function_name]['start']
|
||||
count = group[function_name]['count']
|
||||
for i in range(count):
|
||||
output_function_values[start+i] = function_name_label+' '+str(i+1)
|
||||
|
||||
if param_prefix not in all_param_prefixes:
|
||||
all_param_prefixes[param_prefix] = []
|
||||
all_param_prefixes[param_prefix].append((instance_start,
|
||||
instance_start_label, num_channels, channel_label))
|
||||
|
||||
# function param
|
||||
param = {
|
||||
'description': {
|
||||
@@ -298,9 +257,13 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
|
||||
'''
|
||||
minimum_description = \
|
||||
'''Minimum output value (when not disarmed).
|
||||
|
||||
The output range can be reversed by setting Min > Max.
|
||||
'''
|
||||
maximum_description = \
|
||||
'''Maxmimum output value (when not disarmed).
|
||||
|
||||
The output range can be reversed by setting Min > Max.
|
||||
'''
|
||||
failsafe_description = \
|
||||
'''This is the output value that is set when in failsafe mode.
|
||||
@@ -341,30 +304,6 @@ When set to -1 (default), the value depends on the function (see {:}).
|
||||
}
|
||||
add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
|
||||
|
||||
# add reverse range param
|
||||
for param_prefix in all_param_prefixes:
|
||||
groups = all_param_prefixes[param_prefix]
|
||||
# collect the bits
|
||||
channel_bits = {}
|
||||
for instance_start, instance_start_label, num_instances, label in groups:
|
||||
for instance in range(instance_start, instance_start+num_instances):
|
||||
instance_label = instance - instance_start + instance_start_label
|
||||
channel_bits[instance-1] = label + ' ' + str(instance_label)
|
||||
|
||||
param = {
|
||||
'description': {
|
||||
'short': 'Reverse Output Range for '+module_name,
|
||||
'long':
|
||||
'''Allows to reverse the output range for each channel.
|
||||
Note: this is only useful for servos.
|
||||
'''.format(channel_label),
|
||||
},
|
||||
'type': 'bitmask',
|
||||
'default': 0,
|
||||
'bit': channel_bits
|
||||
}
|
||||
add_local_param(param_prefix+'_REV', param)
|
||||
|
||||
if verbose: print('adding actuator params: {:}'.format(all_params))
|
||||
return all_params
|
||||
|
||||
|
||||
@@ -151,9 +151,6 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
|
||||
|
||||
channel_label = channel_labels[channel_type_idx]
|
||||
channel_type_instance = instance_start_label[channel_type_idx]
|
||||
group_label = channel_label + ' ' + str(channel_type_instance)
|
||||
if group_count > 1:
|
||||
group_label += '-' + str(channel_type_instance+group_count-1)
|
||||
group = {
|
||||
'param_prefix': param_prefix,
|
||||
'channel_label': channel_label,
|
||||
@@ -162,39 +159,16 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
|
||||
'extra_function_groups': deepcopy(extra_function_groups),
|
||||
'num_channels': group_count,
|
||||
'standard_params': deepcopy(standard_params),
|
||||
'group_label': group_label,
|
||||
'channel_label_module_name_prefix': False,
|
||||
}
|
||||
output_groups.append(group)
|
||||
|
||||
if pwm_timer_param is not None:
|
||||
timer_channels_label = channel_label + ' ' + str(channel_type_instance)
|
||||
if group_count > 1:
|
||||
timer_channels_label += '-' + str(channel_type_instance+group_count-1)
|
||||
pwm_timer_param_cp = deepcopy(pwm_timer_param)
|
||||
timer_param_name = param_prefix+'_TIM'+str(timer_index)
|
||||
|
||||
group['config_parameters'] = [
|
||||
{
|
||||
'param': timer_param_name,
|
||||
'function': 'primary',
|
||||
}
|
||||
]
|
||||
|
||||
if dshot_support:
|
||||
# don't show pwm limit params when dshot enabled
|
||||
|
||||
for standard_param in group['standard_params']:
|
||||
group['standard_params'][standard_param]['show_if'] = timer_param_name + '>=-1'
|
||||
|
||||
# indicate support for changing motor spin direction
|
||||
group['supported_actions'] = {
|
||||
'set_spin_direction1': {
|
||||
'supported_if': timer_param_name + '<-1',
|
||||
'actuator_types': ['motor']
|
||||
},
|
||||
'set_spin_direction2': {
|
||||
'supported_if': timer_param_name + '<-1',
|
||||
'actuator_types': ['motor']
|
||||
},
|
||||
}
|
||||
else:
|
||||
if not dshot_support:
|
||||
# remove dshot entries if no dshot support
|
||||
values = pwm_timer_param_cp['values']
|
||||
for key in list(values.keys()):
|
||||
@@ -204,9 +178,8 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
|
||||
for descr_type in ['short', 'long']:
|
||||
descr = pwm_timer_param_cp['description'][descr_type]
|
||||
pwm_timer_param_cp['description'][descr_type] = \
|
||||
descr.replace('${label}', group_label)
|
||||
timer_params[timer_param_name] = pwm_timer_param_cp
|
||||
output_groups.append(group)
|
||||
descr.replace('${label}', timer_channels_label)
|
||||
timer_params[param_prefix+'_TIM'+str(timer_index)] = pwm_timer_param_cp
|
||||
instance_start += group_count
|
||||
instance_start_label[channel_type_idx] += group_count
|
||||
return (output_groups, timer_params)
|
||||
|
||||
@@ -7,8 +7,7 @@ import os
|
||||
import math
|
||||
import matplotlib.pyplot as plt
|
||||
import numpy as np
|
||||
|
||||
from scipy.signal import medfilt
|
||||
import scipy as sp
|
||||
|
||||
from pyulog import *
|
||||
|
||||
@@ -66,7 +65,7 @@ def resampleWithDeltaX(x,y):
|
||||
return resampledX,resampledY
|
||||
|
||||
def median_filter(data):
|
||||
return medfilt(data, 31)
|
||||
return sp.signal.medfilt(data, 31)
|
||||
|
||||
parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
|
||||
parser.add_argument('filename', metavar='file.ulg', help='ULog input file')
|
||||
|
||||
@@ -72,27 +72,38 @@ div.frame_variant td, div.frame_variant th {
|
||||
|
||||
# check if all outputs are equal for the group: if so, show them
|
||||
# only once
|
||||
all_outputs = {}
|
||||
num_configs = len(group.GetParams())
|
||||
outputs_prev = ['', ''] # split into MAINx and others (AUXx)
|
||||
outputs_match = [True, True]
|
||||
for param in group.GetParams():
|
||||
if not self.IsExcluded(param, board):
|
||||
outputs_current = ['', '']
|
||||
for output_name in param.GetOutputCodes():
|
||||
value = param.GetOutputValue(output_name)
|
||||
key_value_pair = (output_name, value)
|
||||
if key_value_pair not in all_outputs:
|
||||
all_outputs[key_value_pair] = 0
|
||||
all_outputs[key_value_pair] += 1
|
||||
has_common_outputs = any(all_outputs[k] == num_configs for k in all_outputs)
|
||||
if output_name.lower().startswith('main'):
|
||||
idx = 0
|
||||
else:
|
||||
idx = 1
|
||||
outputs_current[idx] += '<li><b>%s</b>: %s</li>' % (output_name, value)
|
||||
for i in range(2):
|
||||
if len(outputs_current[i]) != 0:
|
||||
if outputs_prev[i] == '':
|
||||
outputs_prev[i] = outputs_current[i]
|
||||
elif outputs_current[i] != outputs_prev[i]:
|
||||
outputs_match[i] = False
|
||||
|
||||
if has_common_outputs:
|
||||
outputs_common = ''.join(['<li><b>{:}</b>: {:}</li>'.format(k[0], k[1]) \
|
||||
for k in all_outputs if all_outputs[k] == num_configs])
|
||||
for i in range(2):
|
||||
if len(outputs_prev[i]) == 0:
|
||||
outputs_match[i] = False
|
||||
if not outputs_match[i]:
|
||||
outputs_prev[i] = ''
|
||||
|
||||
if outputs_match[0] or outputs_match[1]:
|
||||
result += '<table>\n'
|
||||
result += ' <thead>\n'
|
||||
result += ' <tr><th>Common Outputs</th></tr>\n'
|
||||
result += ' </thead>\n'
|
||||
result += ' <tbody>\n'
|
||||
result += '<tr>\n <td><ul>%s</ul></td>\n</tr>\n' % (outputs_common)
|
||||
result += '<tr>\n <td><ul>%s%s</ul></td>\n</tr>\n' % (outputs_prev[0], outputs_prev[1])
|
||||
result += '</tbody></table>\n'
|
||||
|
||||
result += '</div>\n\n'
|
||||
@@ -127,8 +138,11 @@ div.frame_variant td, div.frame_variant th {
|
||||
for output_name in param.GetOutputCodes():
|
||||
value = param.GetOutputValue(output_name)
|
||||
valstrs = value.split(";")
|
||||
key_value_pair = (output_name, value)
|
||||
if all_outputs[key_value_pair] < num_configs:
|
||||
if output_name.lower().startswith('main'):
|
||||
idx = 0
|
||||
else:
|
||||
idx = 1
|
||||
if not outputs_match[idx]:
|
||||
outputs += '<li><b>%s</b>: %s</li>' % (output_name, value)
|
||||
has_outputs = True
|
||||
|
||||
|
||||
@@ -74,7 +74,6 @@ class RCOutput():
|
||||
result += "\n"
|
||||
result += "if [ ${AIRFRAME} != none ]\n"
|
||||
result += "then\n"
|
||||
result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
|
||||
result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
|
||||
if not post_start:
|
||||
result += "else\n"
|
||||
|
||||
@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
|
||||
valid_categories = ['driver', 'estimator', 'controller', 'system',
|
||||
'communication', 'command', 'template', 'simulation', 'autotune']
|
||||
valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
|
||||
'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']
|
||||
'magnetometer', 'baro', 'optical_flow']
|
||||
|
||||
max_line_length = 80 # wrap lines that are longer than this
|
||||
|
||||
@@ -137,8 +137,8 @@ class ModuleDocumentation(object):
|
||||
"\"board-specific bus (default=all) (external SPI: n-th bus (default=1))\"", 'true'])
|
||||
|
||||
if self._is_bool_true(args[1]):
|
||||
self._handle_usage_param_int(['\'c\'', '-1', '0', '31',
|
||||
"\"chip-select pin (for internal SPI) or index (for external SPI)\"", 'true'])
|
||||
self._handle_usage_param_int(['\'c\'', '1', '1', '10',
|
||||
"\"chip-select index (for external SPI)\"", 'true'])
|
||||
self._handle_usage_param_int(['\'m\'', '-1', '0', '3', "\"SPI mode\"", 'true'])
|
||||
|
||||
self._handle_usage_param_int(['\'f\'', '-1', '0', '1000000', "\"bus frequency in kHz\"", 'true'])
|
||||
|
||||
@@ -268,14 +268,10 @@ for serial_command in serial_commands:
|
||||
default_port_str = port_config['default'][i]
|
||||
else:
|
||||
default_port_str = port_config['default']
|
||||
|
||||
if default_port_str != "":
|
||||
if default_port_str not in serial_ports:
|
||||
raise Exception("Default Port {:} not found for {:}".format(default_port_str, serial_command['label']))
|
||||
|
||||
if default_port_str in dict(board_ports).keys():
|
||||
default_port = serial_ports[default_port_str]['index']
|
||||
|
||||
default_port = serial_ports[default_port_str]['index']
|
||||
|
||||
commands.append({
|
||||
'command': serial_command['command'],
|
||||
|
||||
@@ -48,6 +48,7 @@ echo "Installing PX4 general dependencies"
|
||||
sudo pacman -Sy --noconfirm --needed \
|
||||
astyle \
|
||||
base-devel \
|
||||
ccache \
|
||||
clang \
|
||||
cmake \
|
||||
cppcheck \
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user