mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-23 23:17:35 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Lorenz Meier
|
5822830450 |
+15
-20
@@ -9,15 +9,15 @@ pipeline {
|
||||
script {
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||||
def build_nodes = [:]
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def docker_images = [
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armhf: "px4io/px4-dev-armhf:2021-04-29",
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arm64: "px4io/px4-dev-aarch64:2021-04-29",
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base: "px4io/px4-dev-base-bionic:2021-04-29",
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nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
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armhf: "px4io/px4-dev-armhf:2020-11-18",
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arm64: "px4io/px4-dev-aarch64:2020-11-18",
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base: "px4io/px4-dev-base-bionic:2020-11-18",
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nuttx: "px4io/px4-dev-nuttx-focal:2020-11-18",
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snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
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]
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def armhf_builds = [
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target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
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target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
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image: docker_images.armhf,
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archive: false
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]
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@@ -37,7 +37,6 @@ pipeline {
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def nuttx_builds_archive = [
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target: [
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"airmind_mindpx-v2_default",
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"ark_can-flow_canbootloader",
|
||||
"ark_can-flow_default",
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||||
"av_x-v1_default",
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"bitcraze_crazyflie_default",
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@@ -46,39 +45,38 @@ pipeline {
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||||
"cuav_can-gps-v1_default",
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"cuav_nora_default",
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"cuav_x7pro_default",
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"cubepilot_cubeorange_console",
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"cubepilot_cubeorange_default",
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"cubepilot_cubeyellow_console",
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"cubepilot_cubeyellow_default",
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"holybro_can-gps-v1_canbootloader",
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"holybro_can-gps-v1_default",
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"holybro_durandal-v1_default",
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"holybro_kakutef7_default",
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"holybro_pix32v5_default",
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||||
"intel_aerofc-v1_default",
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"modalai_fc-v1_default",
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||||
"modalai_fc-v1_rtps",
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||||
"mro_ctrl-zero-f7_default",
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||||
"mro_ctrl-zero-f7-oem_default",
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||||
"mro_ctrl-zero-h7_default",
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||||
"mro_ctrl-zero-h7-oem_default",
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"mro_pixracerpro_default",
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||||
"mro_x21-777_default",
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||||
"mro_x21_default",
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||||
"nxp_fmuk66-e_default",
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||||
"nxp_fmuk66-e_rtps",
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||||
"nxp_fmuk66-e_socketcan",
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||||
"nxp_fmuk66-v3_default",
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||||
"nxp_fmuk66-v3_rtps",
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||||
"nxp_fmuk66-v3_socketcan",
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||||
"nxp_fmuk66-e_default",
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||||
"nxp_fmurt1062-v1_default",
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||||
"nxp_ucans32k146_default",
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"nxp_ucans32k146_canbootloader",
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"omnibus_f4sd_default",
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||||
"px4_fmu-v2_default",
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"px4_fmu-v2_fixedwing",
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||||
"px4_fmu-v2_lpe",
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"px4_fmu-v2_multicopter",
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"px4_fmu-v2_rover",
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"px4_fmu-v2_test",
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"px4_fmu-v3_ctrlalloc",
|
||||
"px4_fmu-v3_default",
|
||||
"px4_fmu-v4_cannode",
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"px4_fmu-v4_ctrlalloc",
|
||||
"px4_fmu-v4_default",
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"px4_fmu-v4_optimized",
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"px4_fmu-v4pro_default",
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"px4_fmu-v5_ctrlalloc",
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"px4_fmu-v5_debug",
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@@ -89,11 +87,8 @@ pipeline {
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"px4_fmu-v5_rover",
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"px4_fmu-v5_rtps",
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"px4_fmu-v5_stackcheck",
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||||
"px4_fmu-v5_uavcanv0periph",
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"px4_fmu-v5_uavcanv1",
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"px4_fmu-v5x_base_phy_DP83848C",
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||||
"px4_fmu-v5x_default",
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"px4_fmu-v6u_default",
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"px4_fmu-v6x_default",
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"px4_io-v2_default",
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"spracing_h7extreme_default",
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@@ -130,7 +125,7 @@ pipeline {
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// TODO: actually upload artifacts to S3
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// stage('S3 Upload') {
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// agent {
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// docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
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// docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
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// }
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// options {
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// skipDefaultCheckout()
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+173
-154
@@ -7,25 +7,24 @@ pipeline {
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parallel {
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stage("cubepilot_cubeorange_test") {
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stage("cubepilot_cubeorange_console") {
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stages {
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stage("build cubepilot_cubeorange_test") {
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stage("build cubepilot_cubeorange_console") {
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||||
agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-04-29'
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image 'px4io/px4-dev-nuttx-focal:2020-09-14'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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checkout scm
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make cubepilot_cubeorange_test'
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sh 'make cubepilot_cubeorange_console'
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sh 'make sizes'
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sh 'ccache -s'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
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stash includes: 'build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf', name: 'cubepilot_cubeorange_console'
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}
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post {
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always {
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@@ -42,9 +41,9 @@ pipeline {
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steps {
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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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unstash 'cubepilot_cubeorange_console'
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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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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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}
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||||
}
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stage("configure") {
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@@ -52,12 +51,12 @@ pipeline {
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// configure
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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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 "px4io forceupdate 14662 /etc/extras/cubepilot_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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||||
}
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||||
}
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||||
stage("status") {
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@@ -84,25 +83,24 @@ pipeline {
|
||||
}
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||||
}
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||||
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stage("cuav_x7pro_test") {
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stage("cuav_x7pro_default") {
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stages {
|
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stage("build cuav_x7pro_test") {
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stage("build cuav_x7pro_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
|
||||
}
|
||||
steps {
|
||||
checkout scm
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||||
sh 'export'
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sh 'make distclean'
|
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make cuav_x7pro_test'
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sh 'make cuav_x7pro_default'
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sh 'make sizes'
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sh 'ccache -s'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
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||||
stash includes: 'build/cuav_x7pro_default/cuav_x7pro_default.elf', name: 'cuav_x7pro_default'
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||||
}
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||||
post {
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||||
always {
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||||
@@ -119,21 +117,21 @@ pipeline {
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||||
steps {
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||||
sh 'export'
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sh 'find /dev/serial'
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unstash 'cuav_x7pro_test'
|
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unstash 'cuav_x7pro_default'
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// 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'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
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 "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -160,25 +158,76 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v3_test") {
|
||||
// stage("px4_fmu-v2_test") {
|
||||
// stages {
|
||||
// stage("build px4_fmu-v2_test") {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
// }
|
||||
// }
|
||||
// steps {
|
||||
// sh 'export'
|
||||
// sh 'make distclean'
|
||||
// sh 'ccache -s'
|
||||
// sh 'git fetch --tags'
|
||||
// sh 'make px4_fmu-v2_test'
|
||||
// sh 'make sizes'
|
||||
// sh 'ccache -s'
|
||||
// stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
|
||||
// }
|
||||
// post {
|
||||
// always {
|
||||
// sh 'make distclean'
|
||||
// }
|
||||
// }
|
||||
// } // stage build
|
||||
// stage("test") {
|
||||
// agent {
|
||||
// label 'px4_fmu-v2'
|
||||
// }
|
||||
// stages {
|
||||
// stage("flash") {
|
||||
// steps {
|
||||
// sh 'export'
|
||||
// sh 'find /dev/serial'
|
||||
// unstash 'px4_fmu-v2_test'
|
||||
// // flash board and watch bootup
|
||||
// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
// }
|
||||
// }
|
||||
// stage("reset") {
|
||||
// steps {
|
||||
// cleanupFTDI();
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// options {
|
||||
// timeout(time: 90, unit: 'MINUTES')
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
|
||||
stage("px4_fmu-v3_default") {
|
||||
stages {
|
||||
stage("build px4_fmu-v3_test") {
|
||||
stage("build px4_fmu-v3_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make px4_fmu-v3_test'
|
||||
sh 'make px4_fmu-v3_default'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
|
||||
stash includes: 'build/px4_fmu-v3_default/px4_fmu-v3_default.elf', name: 'px4_fmu-v3_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -195,21 +244,20 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v3_test'
|
||||
unstash 'px4_fmu-v3_default'
|
||||
// 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'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
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 "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -236,25 +284,24 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v4_test") {
|
||||
stage("px4_fmu-v4_default") {
|
||||
stages {
|
||||
stage("build px4_fmu-v4_test") {
|
||||
stage("build px4_fmu-v4_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make px4_fmu-v4_test'
|
||||
sh 'make px4_fmu-v4_default'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
|
||||
stash includes: 'build/px4_fmu-v4_default/px4_fmu-v4_default.elf', name: 'px4_fmu-v4_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -271,21 +318,19 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v4_test'
|
||||
unstash 'px4_fmu-v4_default'
|
||||
// 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'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
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 "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -312,25 +357,24 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v4pro_test") {
|
||||
stage("px4_fmu-v4pro_default") {
|
||||
stages {
|
||||
stage("build px4_fmu-v4pro_test") {
|
||||
stage("build px4_fmu-v4pro_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make px4_fmu-v4pro_test'
|
||||
sh 'make px4_fmu-v4pro_default'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
|
||||
stash includes: 'build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf', name: 'px4_fmu-v4pro_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -347,21 +391,20 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v4pro_test'
|
||||
unstash 'px4_fmu-v4pro_default'
|
||||
// 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'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
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 "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -388,25 +431,24 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_test") {
|
||||
stage("px4_fmu-v5_default") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_test") {
|
||||
stage("build px4_fmu-v5_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make px4_fmu-v5_test'
|
||||
sh 'make px4_fmu-v5_default'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
|
||||
stash includes: 'build/px4_fmu-v5_default/px4_fmu-v5_default.elf', name: 'px4_fmu-v5_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -423,21 +465,21 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_test'
|
||||
unstash 'px4_fmu-v5_default'
|
||||
// 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'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
|
||||
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 "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -469,12 +511,11 @@ pipeline {
|
||||
stage("build px4_fmu-v5_debug") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
@@ -482,7 +523,7 @@ pipeline {
|
||||
sh 'make px4_fmu-v5_debug'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
|
||||
stash includes: 'build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf', name: 'px4_fmu-v5_debug'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -510,14 +551,12 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
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 "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -549,12 +588,11 @@ pipeline {
|
||||
stage("build px4_fmu-v5_optimized") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
@@ -562,7 +600,7 @@ pipeline {
|
||||
sh 'make px4_fmu-v5_optimized'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_optimized'
|
||||
stash includes: 'build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf', name: 'px4_fmu-v5_optimized'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -587,13 +625,11 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
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 "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -625,12 +661,11 @@ pipeline {
|
||||
stage("build px4_fmu-v5_stackcheck") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
@@ -638,7 +673,7 @@ pipeline {
|
||||
sh 'make px4_fmu-v5_stackcheck'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
|
||||
stash includes: 'build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf', name: 'px4_fmu-v5_stackcheck'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -666,14 +701,12 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
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 "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -700,25 +733,24 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage("modalai_fc-v1_test") {
|
||||
stage("modalai_fc-v1_default") {
|
||||
stages {
|
||||
stage("build modalai_fc-v1_test") {
|
||||
stage("build modalai_fc-v1_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make modalai_fc-v1_test'
|
||||
sh 'make modalai_fc-v1_default'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
|
||||
stash includes: 'build/modalai_fc-v1_default/modalai_fc-v1_default.elf', name: 'modalai_fc-v1_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -735,21 +767,19 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'modalai_fc-v1_test'
|
||||
unstash 'modalai_fc-v1_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
|
||||
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 "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -776,25 +806,24 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage("holybro_durandal-v1_test") {
|
||||
stage("holybro_durandal-v1_default") {
|
||||
stages {
|
||||
stage("build holybro_durandal-v1_test") {
|
||||
stage("build holybro_durandal-v1_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make holybro_durandal-v1_test'
|
||||
sh 'make holybro_durandal-v1_default'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_test'
|
||||
stash includes: 'build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf', name: 'holybro_durandal-v1_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -811,21 +840,24 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'holybro_durandal-v1_test'
|
||||
unstash 'holybro_durandal-v1_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_test/holybro_durandal-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set DSHOT_CONFIG 600"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_USE_IO 0"' // for dshot
|
||||
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 "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
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"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -853,25 +885,24 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage("nxp_fmuk66-v3_test") {
|
||||
stage("nxp_fmuk66-v3_default") {
|
||||
stages {
|
||||
stage("build nxp_fmuk66-v3_test") {
|
||||
stage("build nxp_fmuk66-v3_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make nxp_fmuk66-v3_test'
|
||||
sh 'make nxp_fmuk66-v3_default'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
|
||||
stash includes: 'build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf', name: 'nxp_fmuk66-v3_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -888,21 +919,19 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'nxp_fmuk66-v3_test'
|
||||
unstash 'nxp_fmuk66-v3_default'
|
||||
// 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'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
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 "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -939,7 +968,6 @@ pipeline {
|
||||
options {
|
||||
buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
|
||||
timeout(time: 90, unit: 'MINUTES')
|
||||
skipDefaultCheckout()
|
||||
}
|
||||
}
|
||||
|
||||
@@ -960,43 +988,35 @@ void statusFTDI() {
|
||||
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 "dmesg"'
|
||||
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 "gyro_calibration status; param show CAL_GYRO*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_gps_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
@@ -1025,7 +1045,6 @@ void statusFTDI() {
|
||||
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"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
|
||||
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"'
|
||||
// stop logger
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
|
||||
{
|
||||
"name": "px4-dev-nuttx",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2021-04-29",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2020-11-18",
|
||||
|
||||
"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
|
||||
|
||||
|
||||
@@ -28,7 +28,7 @@ jobs:
|
||||
"parameters_metadata",
|
||||
]
|
||||
container:
|
||||
image: ghcr.io/px4/px4-dev:2021-05-06
|
||||
image: px4io/px4-dev-nuttx-focal:2020-11-18
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -52,8 +52,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
- name: check environment
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-clang:2021-04-29
|
||||
container: px4io/px4-dev-clang:2020-11-18
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -34,8 +34,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -11,10 +11,11 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-armhf:2021-04-29
|
||||
container: px4io/px4-dev-armhf:2020-11-18
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
aerotenna_ocpoc_default,
|
||||
beaglebone_blue_default,
|
||||
emlid_navio2_default,
|
||||
px4_raspberrypi_default,
|
||||
@@ -42,8 +43,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-aarch64:2021-04-29
|
||||
container: px4io/px4-dev-aarch64:2020-11-18
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
@@ -39,8 +39,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -43,8 +43,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -4,7 +4,6 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
- 'github-actions'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
@@ -12,62 +11,54 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-nuttx-focal:2020-11-18
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
airmind_mindpx-v2_default,
|
||||
ark_can-flow_canbootloader,
|
||||
ark_can-flow_debug,
|
||||
ark_can-flow_default,
|
||||
av_x-v1_default,
|
||||
bitcraze_crazyflie21_default,
|
||||
bitcraze_crazyflie_default,
|
||||
bitcraze_crazyflie21_default,
|
||||
cuav_can-gps-v1_canbootloader,
|
||||
cuav_can-gps-v1_debug,
|
||||
cuav_can-gps-v1_default,
|
||||
cuav_nora_default,
|
||||
cuav_x7pro_default,
|
||||
cubepilot_cubeorange_console,
|
||||
cubepilot_cubeorange_default,
|
||||
cubepilot_cubeorange_test,
|
||||
cubepilot_cubeyellow_console,
|
||||
cubepilot_cubeyellow_default,
|
||||
cubepilot_cubeyellow_test,
|
||||
cubepilot_io-v2_default,
|
||||
holybro_can-gps-v1_canbootloader,
|
||||
holybro_can-gps-v1_debug,
|
||||
holybro_can-gps-v1_default,
|
||||
holybro_durandal-v1_default,
|
||||
holybro_kakutef7_default,
|
||||
holybro_pix32v5_default,
|
||||
intel_aerofc-v1_default,
|
||||
modalai_fc-v1_default,
|
||||
modalai_fc-v1_rtps,
|
||||
mro_ctrl-zero-f7-oem_default,
|
||||
mro_ctrl-zero-f7_default,
|
||||
mro_ctrl-zero-h7-oem_default,
|
||||
mro_ctrl-zero-h7_default,
|
||||
mro_pixracerpro_default,
|
||||
mro_x21-777_default,
|
||||
mro_x21_default,
|
||||
nxp_fmuk66-e_default,
|
||||
nxp_fmuk66-e_rtps,
|
||||
nxp_fmuk66-e_socketcan,
|
||||
nxp_fmuk66-v3_default,
|
||||
nxp_fmuk66-v3_rtps,
|
||||
nxp_fmuk66-v3_socketcan,
|
||||
nxp_fmurt1062-v1_default,
|
||||
nxp_ucans32k146_canbootloader,
|
||||
nxp_ucans32k146_default,
|
||||
omnibus_f4sd_default,
|
||||
px4_fmu-v2_default,
|
||||
px4_fmu-v2_fixedwing,
|
||||
px4_fmu-v2_lpe,
|
||||
px4_fmu-v2_multicopter,
|
||||
px4_fmu-v2_rover,
|
||||
px4_fmu-v2_test,
|
||||
px4_fmu-v3_ctrlalloc,
|
||||
px4_fmu-v3_default,
|
||||
px4_fmu-v4_cannode,
|
||||
px4_fmu-v4_ctrlalloc,
|
||||
px4_fmu-v4_default,
|
||||
px4_fmu-v4_optimized,
|
||||
px4_fmu-v4pro_default,
|
||||
px4_fmu-v5_ctrlalloc,
|
||||
px4_fmu-v5_debug,
|
||||
px4_fmu-v5_default,
|
||||
px4_fmu-v5_fixedwing,
|
||||
px4_fmu-v5_multicopter,
|
||||
@@ -75,11 +66,8 @@ jobs:
|
||||
px4_fmu-v5_rover,
|
||||
px4_fmu-v5_rtps,
|
||||
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,
|
||||
px4_io-v2_default,
|
||||
spracing_h7extreme_default,
|
||||
@@ -107,8 +95,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
@@ -124,8 +112,6 @@ jobs:
|
||||
run: make ${{matrix.config}} bloaty_symbols || true
|
||||
- name: make ${{matrix.config}} bloaty_templates
|
||||
run: make ${{matrix.config}} bloaty_templates || true
|
||||
- name: make ${{matrix.config}} bloaty_ram
|
||||
run: make ${{matrix.config}} bloaty_ram || true
|
||||
- name: make ${{matrix.config}} bloaty_compare_master
|
||||
run: make ${{matrix.config}} bloaty_compare_master || true
|
||||
- name: ccache post-run
|
||||
|
||||
@@ -11,13 +11,12 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-nuttx-focal:2020-11-18
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
ark_can-flow_default,
|
||||
cuav_can-gps-v1_default,
|
||||
holybro_can-gps-v1_default,
|
||||
#nxp_ucans32k146_default,
|
||||
px4_fmu-v4_cannode
|
||||
]
|
||||
@@ -43,8 +42,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -1,31 +0,0 @@
|
||||
name: Build and publish Docker image
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
- 'github-actions'
|
||||
|
||||
jobs:
|
||||
docker:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Login to GitHub Container Registry
|
||||
uses: docker/login-action@v1
|
||||
with:
|
||||
registry: ghcr.io
|
||||
username: ${{ github.repository_owner }}
|
||||
password: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Build and push
|
||||
uses: docker/build-push-action@v2
|
||||
with:
|
||||
context: .
|
||||
platforms: linux/amd64
|
||||
push: true
|
||||
tags: |
|
||||
px4/px4-dev:latest
|
||||
ghcr.io/px4/px4-dev:latest
|
||||
|
||||
- name: Image digest
|
||||
run: echo ${{ steps.docker_build.outputs.digest }}
|
||||
@@ -1,77 +0,0 @@
|
||||
name: Deploy metadata for all targets
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
- 'release/*'
|
||||
- 'pr-metadata-test'
|
||||
|
||||
jobs:
|
||||
enumerate_targets:
|
||||
runs-on: ubuntu-latest
|
||||
outputs:
|
||||
matrix: ${{ steps.set-matrix.outputs.matrix }}
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
- id: set-matrix
|
||||
run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
needs: enumerate_targets
|
||||
strategy:
|
||||
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{matrix.target}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: ${{matrix.target}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make ${{matrix.target}}
|
||||
run: make ${{matrix.target}}
|
||||
- name: ccache post-run
|
||||
run: ccache -s
|
||||
|
||||
- name: parameter metadata
|
||||
run: |
|
||||
make ${{matrix.target}} ver_gen
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
|
||||
cd build/${{ matrix.target }}
|
||||
mkdir _metadata || true
|
||||
cp parameters.* _metadata
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
|
||||
|
||||
@@ -0,0 +1,131 @@
|
||||
name: MAVROS Avoidance Tests
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {test_file: "mavros_posix_test_avoidance.test", vehicle: "iris_obs_avoid", mission: "avoidance", build_type: "RelWithDebInfo"}
|
||||
- {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2020-11-18
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: Build PX4 and sitl_gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
ccache -z
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo
|
||||
ccache -s
|
||||
|
||||
- name: Core dump settings
|
||||
run: |
|
||||
ulimit -c unlimited
|
||||
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
|
||||
|
||||
- name: Run SITL tests
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
export
|
||||
./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
|
||||
- name: Upload px4 coredump
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2-preview
|
||||
with:
|
||||
name: coredump
|
||||
path: px4.core
|
||||
|
||||
# - name: ecl EKF analysis
|
||||
# if: always()
|
||||
# run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Upload logs to flight review
|
||||
if: always()
|
||||
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Upload px4 binary
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: binary
|
||||
path: build/px4_sitl_default/bin/px4
|
||||
|
||||
- name: Store PX4 log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: px4_log
|
||||
path: ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Store ROS log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: ros_log
|
||||
path: ~/.ros/**/rostest-*.log
|
||||
|
||||
# Report test coverage
|
||||
- name: Upload coverage
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
run: |
|
||||
git config --global credential.helper "" # disable the keychain credential helper
|
||||
git config --global --add credential.helper store # enable the local store credential helper
|
||||
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
|
||||
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
|
||||
mkdir -p coverage
|
||||
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
- name: Upload coverage information to Codecov
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: mavros_avoidance
|
||||
file: coverage/lcov.info
|
||||
@@ -25,7 +25,7 @@ jobs:
|
||||
#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-04-29
|
||||
image: px4io/px4-dev-ros-melodic:2020-11-18
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -49,8 +49,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -20,7 +20,7 @@ jobs:
|
||||
#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-04-29
|
||||
image: px4io/px4-dev-ros-melodic:2020-11-18
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -44,8 +44,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -4,14 +4,15 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
- 'release/*'
|
||||
- 'pr-metadata-test'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
|
||||
airframe:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -26,7 +27,7 @@ jobs:
|
||||
|
||||
module:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -41,7 +42,7 @@ jobs:
|
||||
|
||||
parameter:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -50,22 +51,13 @@ jobs:
|
||||
- name: parameter metadata
|
||||
run: |
|
||||
make parameters_metadata
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/px4_sitl_default/docs/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
|
||||
cd build/px4_sitl_default/docs
|
||||
ls -ls *
|
||||
# TODO: deploy 'parameters.md, parameters.xml to S3 px4-travis:Firmware/master/
|
||||
|
||||
uorb_graph:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-nuttx-focal:2020-11-18
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -80,7 +72,7 @@ jobs:
|
||||
|
||||
micrortps_agent:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -94,7 +86,7 @@ jobs:
|
||||
|
||||
ROS_msgs:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -107,7 +99,7 @@ jobs:
|
||||
|
||||
ROS2_bridge:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -20,7 +20,7 @@ jobs:
|
||||
- {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:2021-04-29
|
||||
image: px4io/px4-dev-simulation-focal:2020-11-18
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -28,9 +28,9 @@ jobs:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Download MAVSDK
|
||||
run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.33.1/mavsdk_0.33.1_ubuntu20.04_amd64.deb
|
||||
- name: Install MAVSDK
|
||||
run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
run: dpkg -i mavsdk_0.33.1_ubuntu20.04_amd64.deb
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
@@ -49,8 +49,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
@@ -94,7 +94,7 @@ 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
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
@@ -106,6 +106,10 @@ jobs:
|
||||
name: coredump
|
||||
path: px4.core
|
||||
|
||||
- name: Upload logs to flight review
|
||||
if: failure()
|
||||
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
|
||||
|
||||
- name: Upload px4 binary
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2-preview
|
||||
|
||||
@@ -101,6 +101,9 @@ msg/tmp/
|
||||
msg/topics_sources/
|
||||
platforms/posix/apps.cpp
|
||||
platforms/posix/apps.h
|
||||
src/lib/parameters/px4_parameters.c
|
||||
src/lib/parameters/px4_parameters.h
|
||||
src/lib/parameters/px4_parameters_public.h
|
||||
src/lib/version/build_git_version.h
|
||||
src/modules/simulator/simulator_config.h
|
||||
src/systemcmds/topic_listener/listener_generated.cpp
|
||||
|
||||
+4
-17
@@ -33,7 +33,7 @@
|
||||
[submodule "src/modules/micrortps_bridge/micro-CDR"]
|
||||
path = src/modules/micrortps_bridge/micro-CDR
|
||||
url = https://github.com/PX4/Micro-CDR.git
|
||||
branch = master
|
||||
branch = px4
|
||||
[submodule "platforms/nuttx/NuttX/nuttx"]
|
||||
path = platforms/nuttx/NuttX/nuttx
|
||||
url = https://github.com/PX4/NuttX.git
|
||||
@@ -51,19 +51,6 @@
|
||||
[submodule "Tools/jsbsim_bridge"]
|
||||
path = Tools/jsbsim_bridge
|
||||
url = https://github.com/PX4/px4-jsbsim-bridge.git
|
||||
[submodule "src/drivers/uavcan_v1/libcanard"]
|
||||
path = src/drivers/uavcan_v1/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard.git
|
||||
[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/
|
||||
branch = legacy
|
||||
[submodule "src/examples/gyro_fft/CMSIS_5"]
|
||||
path = src/examples/gyro_fft/CMSIS_5
|
||||
url = https://github.com/ARM-software/CMSIS_5.git
|
||||
|
||||
Vendored
+22
-22
@@ -6,6 +6,16 @@ CONFIG:
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_asan:
|
||||
short: px4_sitl (AddressSanitizer)
|
||||
buildType: AddressSanitizer
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_ubsan:
|
||||
short: px4_sitl (UndefinedBehaviorSanitizer)
|
||||
buildType: UndefinedBehaviorSanitizer
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_replay:
|
||||
short: px4_sitl_replay
|
||||
buildType: RelWithDebInfo
|
||||
@@ -96,31 +106,31 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_x7pro_default
|
||||
cubepilot_cubeorange_test:
|
||||
cubepilot_cubeorange_default:
|
||||
short: cubepilot_cubeorange
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_orange_test
|
||||
CONFIG: cubepilot_orange_default
|
||||
cubepilot_cubeyellow_default:
|
||||
short: cubepilot_cubeyellow
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_cubeyellow_default
|
||||
emlid_navio2_default:
|
||||
short: emlid_navio2
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: emlid_navio2_default
|
||||
holybro_can-gps-v1_canbootloader:
|
||||
short: holybro_can-gps-v1_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: holybro_can-gps-v1_canbootloader
|
||||
holybro_can-gps-v1_default:
|
||||
short: holybro_can-gps-v1_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: holybro_can-gps-v1_default
|
||||
holybro_durandal-v1_default:
|
||||
short: holybro_durandal-v1
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: holybro_durandal-v1_default
|
||||
intel_aerofc-v1_default:
|
||||
short: intel_aerofc-v1
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: intel_aerofc-v1_default
|
||||
modalai_fc-v1_default:
|
||||
short: modalai_fc-v1
|
||||
buildType: MinSizeRel
|
||||
@@ -131,16 +141,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: mro_ctrl-zero-f7_default
|
||||
mro_pixracerpro_bootloader:
|
||||
short: mro_pixracerpro_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: mro_pixracerpro_bootloader
|
||||
mro_pixracerpro_default:
|
||||
short: mro_pixracerpro_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: mro_pixracerpro_default
|
||||
mro_x21-777_default:
|
||||
short: mro_x2.1-777
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+1
@@ -27,6 +27,7 @@
|
||||
"cSpell.showStatus": false,
|
||||
"cSpell.words": [
|
||||
"acro",
|
||||
"rattitude",
|
||||
"nuttx",
|
||||
"esc"
|
||||
],
|
||||
|
||||
+2
-10
@@ -113,7 +113,7 @@ include(px4_parse_function_args)
|
||||
include(px4_git)
|
||||
|
||||
execute_process(
|
||||
COMMAND git describe --exclude ext/* --always --tags
|
||||
COMMAND git describe --always --tags
|
||||
OUTPUT_VARIABLE PX4_GIT_TAG
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
@@ -185,8 +185,6 @@ if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage")
|
||||
set(MAX_CUSTOM_OPT_LEVEL -O0)
|
||||
elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
|
||||
set(MAX_CUSTOM_OPT_LEVEL -O1)
|
||||
elseif(CMAKE_BUILD_TYPE MATCHES "Release")
|
||||
set(MAX_CUSTOM_OPT_LEVEL -O3)
|
||||
else()
|
||||
if(px4_constrained_flash_build)
|
||||
set(MAX_CUSTOM_OPT_LEVEL -Os)
|
||||
@@ -408,6 +406,7 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)
|
||||
|
||||
add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
|
||||
add_subdirectory(platforms EXCLUDE_FROM_ALL)
|
||||
add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
|
||||
|
||||
if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
|
||||
add_subdirectory(${PX4_BOARD_DIR})
|
||||
@@ -456,10 +455,3 @@ add_custom_target(size
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
# install python requirements using configured python
|
||||
add_custom_target(install_python_requirements
|
||||
COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
-29
@@ -1,29 +0,0 @@
|
||||
#
|
||||
# PX4 development environment
|
||||
#
|
||||
|
||||
FROM ubuntu:20.04
|
||||
LABEL maintainer="Daniel Agar <daniel@agar.ca>"
|
||||
|
||||
COPY Tools/setup/ubuntu.sh /tmp/ubuntu.sh
|
||||
COPY Tools/setup/requirements.txt /tmp/requirements.txt
|
||||
RUN DEBIAN_FRONTEND=noninteractive /tmp/ubuntu.sh --no-sim-tools \
|
||||
&& apt-get -y autoremove \
|
||||
&& apt-get clean autoclean \
|
||||
&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
|
||||
|
||||
# create user with id 1001 (jenkins docker workflow default)
|
||||
RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
|
||||
|
||||
ENV CCACHE_UMASK=000
|
||||
ENV PATH="/usr/lib/ccache:$PATH"
|
||||
|
||||
# SITL UDP PORTS
|
||||
EXPOSE 14556/udp
|
||||
EXPOSE 14557/udp
|
||||
|
||||
# create and start as LOCAL_USER_ID
|
||||
COPY Tools/setup/entrypoint.sh /usr/local/bin/entrypoint.sh
|
||||
ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
|
||||
|
||||
CMD ["/bin/bash"]
|
||||
Vendored
+18
-21
@@ -15,7 +15,7 @@ pipeline {
|
||||
// stage('Catkin build on ROS workspace') {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-ros-melodic:2021-04-29'
|
||||
// image 'px4io/px4-dev-ros-melodic:2020-11-18'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
// }
|
||||
// }
|
||||
@@ -56,7 +56,7 @@ pipeline {
|
||||
stage('Colcon build on ROS2 workspace') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros2-foxy:2021-04-29'
|
||||
image 'px4io/px4-dev-ros2-foxy:2020-11-18'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
@@ -67,9 +67,11 @@ pipeline {
|
||||
unset ROS_DISTRO;
|
||||
mkdir -p colcon_ws/src;
|
||||
cd colcon_ws;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
|
||||
git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
|
||||
source /opt/ros/foxy/setup.sh;
|
||||
source /opt/ros/bouncy/setup.sh;
|
||||
source /opt/ros/melodic/setup.sh;
|
||||
colcon build --event-handlers console_direct+ --symlink-install;
|
||||
'''
|
||||
}
|
||||
@@ -85,11 +87,10 @@ pipeline {
|
||||
|
||||
stage('Airframe') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make airframe_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
|
||||
@@ -105,15 +106,14 @@ pipeline {
|
||||
|
||||
stage('Parameter') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make parameters_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
|
||||
stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
|
||||
archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
|
||||
stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
|
||||
}
|
||||
}
|
||||
post {
|
||||
@@ -125,11 +125,10 @@ pipeline {
|
||||
|
||||
stage('Module') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make module_documentation'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
archiveArtifacts(artifacts: 'modules/*.md')
|
||||
@@ -146,14 +145,13 @@ pipeline {
|
||||
stage('uORB graphs') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-11-18'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make uorb_graphs'
|
||||
dir('Tools/uorb_graph') {
|
||||
archiveArtifacts(artifacts: 'graph_px4_sitl.json')
|
||||
@@ -176,7 +174,7 @@ pipeline {
|
||||
|
||||
stage('Userguide') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -206,7 +204,7 @@ pipeline {
|
||||
|
||||
stage('QGroundControl') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -234,7 +232,7 @@ pipeline {
|
||||
|
||||
stage('microRTPS agent') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -264,7 +262,7 @@ pipeline {
|
||||
|
||||
stage('PX4 ROS msgs') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -293,7 +291,7 @@ pipeline {
|
||||
|
||||
stage('PX4 ROS2 bridge') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -336,7 +334,7 @@ pipeline {
|
||||
|
||||
stage('S3') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -346,7 +344,6 @@ pipeline {
|
||||
withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
|
||||
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
|
||||
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
|
||||
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
|
||||
}
|
||||
}
|
||||
when {
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
BSD 3-Clause License
|
||||
|
||||
Copyright (c) 2012 - 2021, PX4 Development Team
|
||||
Copyright (c) 2012 - 2020, PX4 Development Team
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
|
||||
@@ -174,8 +174,6 @@ define cmake-build
|
||||
@$(call cmake-cache-check)
|
||||
@# make sure to start from scratch when switching from GNU Make to Ninja
|
||||
@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
|
||||
@# make sure to start from scratch if ninja build file is missing
|
||||
@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
|
||||
@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
|
||||
@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
|
||||
mkdir -p $(BUILD_DIR) \
|
||||
@@ -270,6 +268,7 @@ px4fmu_firmware: \
|
||||
misc_qgc_extra_firmware: \
|
||||
check_nxp_fmuk66-v3_default \
|
||||
check_nxp_fmurt1062-v1_default \
|
||||
check_intel_aerofc-v1_default \
|
||||
check_mro_x21_default \
|
||||
check_bitcraze_crazyflie_default \
|
||||
check_bitcraze_crazyflie21_default \
|
||||
@@ -303,7 +302,8 @@ check_%:
|
||||
@echo
|
||||
|
||||
uorb_graphs:
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
|
||||
@./Tools/uorb_graph/create_from_startupscript.sh
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
|
||||
@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
|
||||
@@ -318,7 +318,7 @@ coverity_scan: px4_sitl_default
|
||||
.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
|
||||
|
||||
parameters_metadata:
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
|
||||
|
||||
airframe_metadata:
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
|
||||
@@ -469,7 +469,6 @@ validate_module_configs:
|
||||
|
||||
clean:
|
||||
@rm -rf "$(SRC_DIR)"/build
|
||||
@git submodule foreach git clean -df
|
||||
|
||||
submodulesclean:
|
||||
@git submodule foreach --quiet --recursive git clean -ff -x -d
|
||||
@@ -487,7 +486,7 @@ gazeboclean:
|
||||
|
||||
distclean: gazeboclean
|
||||
@git submodule deinit -f .
|
||||
@git clean -ff -x -d -e ".cproject" -e ".idea" -e ".project" -e ".settings" -e ".vscode"
|
||||
@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
|
||||
|
||||
# Help / Error
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
@@ -8,30 +8,26 @@
|
||||
|
||||
This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
|
||||
|
||||
PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
|
||||
|
||||
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
|
||||
* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
|
||||
* [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
|
||||
* [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
|
||||
* [VTOL](https://docs.px4.io/master/en/frames_vtol/)
|
||||
* [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
|
||||
* [Rover](https://docs.px4.io/master/en/frames_rover/)
|
||||
* many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
|
||||
* [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
|
||||
* [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
|
||||
* [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
|
||||
* many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
|
||||
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
|
||||
|
||||
|
||||
## Building a PX4 based drone, rover, boat or robot
|
||||
## PX4 Users
|
||||
|
||||
The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
|
||||
See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
|
||||
|
||||
|
||||
## Changing code and contributing
|
||||
## PX4 Developers
|
||||
|
||||
This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
|
||||
This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
|
||||
|
||||
Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
|
||||
Developers should read the [Guide for Contributions](https://dev.px4.io/master/en/contribute/).
|
||||
See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
|
||||
|
||||
|
||||
@@ -73,8 +69,10 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
|
||||
* [Paul Riseborough](https://github.com/priseborough)
|
||||
* Vision based navigation and Obstacle Avoidance
|
||||
* [Markus Achtelik](https://github.com/markusachtelik)
|
||||
* Vision based navigation
|
||||
* [Julian Kent](https://github.com/jkflying)
|
||||
* Obstacle Avoidance
|
||||
* [Martina Rivizzigno](https://github.com/mrivi)
|
||||
* RTPS/ROS2 Interface
|
||||
* [Nuno Marques](https://github.com/TSC21)
|
||||
|
||||
@@ -82,36 +80,27 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
|
||||
|
||||
## Supported Hardware
|
||||
|
||||
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
|
||||
|
||||
### Pixhawk Standard Boards
|
||||
* FMUv6X and FMUv6U (STM32H7, 2021)
|
||||
* Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
|
||||
* FMUv5 and FMUv5X (STM32F7, 2019/20)
|
||||
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
|
||||
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
|
||||
* [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
|
||||
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
|
||||
* [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
|
||||
* FMUv4 (STM32F4, 2015)
|
||||
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
|
||||
* FMUv3 (STM32F4, 2014)
|
||||
This repository contains code supporting these boards:
|
||||
* FMUv2
|
||||
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
|
||||
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
|
||||
* FMUv3
|
||||
* [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
|
||||
* [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
|
||||
* [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
|
||||
* FMUv2 (STM32F4, 2013)
|
||||
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
|
||||
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
|
||||
|
||||
### Manufacturer and Community supported
|
||||
* [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
|
||||
* [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
|
||||
* [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
|
||||
* FMUv4
|
||||
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
|
||||
* FMUv5 (ARM Cortex M7)
|
||||
* [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
|
||||
* [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
|
||||
* [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
|
||||
* [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
|
||||
* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
|
||||
* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
|
||||
* [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
|
||||
* [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
|
||||
* [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
|
||||
* [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
|
||||
* [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
|
||||
|
||||
|
||||
+4
-87
@@ -31,12 +31,11 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
message(STATUS "ROMFS: ${config_romfs_root}")
|
||||
|
||||
set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
|
||||
set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
|
||||
|
||||
file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
|
||||
message(STATUS "ROMFS: ${romfs_path_relative}")
|
||||
|
||||
set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
|
||||
set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
|
||||
|
||||
@@ -82,9 +81,6 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
|
||||
if (px4_constrained_flash_build)
|
||||
set(added_arguments --constrained-flash)
|
||||
endif()
|
||||
if(PX4_ETHERNET)
|
||||
set(added_arguments ${added_arguments} --ethernet)
|
||||
endif()
|
||||
# create list of relative romfs file names
|
||||
set(romfs_copy_files_relative)
|
||||
foreach(romfs_file IN LISTS romfs_copy_files)
|
||||
@@ -150,53 +146,15 @@ if(config_io_board)
|
||||
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()
|
||||
|
||||
if(config_build_bootloader)
|
||||
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}")
|
||||
file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
|
||||
message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
|
||||
${board_arch_rc_file}.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp
|
||||
DEPENDS
|
||||
${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}
|
||||
romfs_copy.stamp
|
||||
COMMENT "ROMFS: copying ${board_arch_rc_file}"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
${board_arch_rc_file}.stamp
|
||||
)
|
||||
endif()
|
||||
|
||||
|
||||
set(OPTIONAL_BOARD_RC)
|
||||
list(APPEND OPTIONAL_BOARD_RC
|
||||
rc.board_defaults
|
||||
@@ -208,8 +166,7 @@ list(APPEND OPTIONAL_BOARD_RC
|
||||
foreach(board_rc_file ${OPTIONAL_BOARD_RC})
|
||||
|
||||
if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
|
||||
file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
|
||||
message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")
|
||||
message(STATUS "ROMFS: Adding ${board_rc_file}")
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
@@ -230,46 +187,6 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
|
||||
|
||||
endforeach()
|
||||
|
||||
|
||||
if(config_uavcan_peripheral_firmware)
|
||||
|
||||
include(ExternalProject)
|
||||
|
||||
foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
|
||||
# include the px4io binary in ROMFS
|
||||
message(STATUS "ROMFS: Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
|
||||
ExternalProject_Add(build_${uavcan_peripheral_config}
|
||||
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
|
||||
)
|
||||
|
||||
ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
|
||||
${uavcan_peripheral_config}.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
|
||||
COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
|
||||
COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
|
||||
DEPENDS
|
||||
build_${uavcan_peripheral_config}
|
||||
COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
${uavcan_peripheral_config}.stamp
|
||||
)
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
${config_romfs_extra_dependencies}
|
||||
)
|
||||
|
||||
+20
-17
@@ -30,16 +30,21 @@ sercon
|
||||
#
|
||||
ver all
|
||||
|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
# tone_alarm and tune_control
|
||||
# is dependent.
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Set the parameter file if mtd starts successfully.
|
||||
#
|
||||
if mtd start
|
||||
then
|
||||
set PARAM_FILE /fs/mtd_params
|
||||
fi
|
||||
|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
|
||||
then
|
||||
set PARAM_FILE /dev/eeeprom0
|
||||
fi
|
||||
|
||||
#
|
||||
# Load parameters.
|
||||
#
|
||||
@@ -49,17 +54,6 @@ then
|
||||
param reset_all
|
||||
fi
|
||||
|
||||
#
|
||||
# Optional board architecture defaults: rc.board_arch_defaults
|
||||
#
|
||||
set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
|
||||
if [ -f $BOARD_ARCH_RC_DEFAULTS ]
|
||||
then
|
||||
echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
|
||||
. $BOARD_ARCH_RC_DEFAULTS
|
||||
fi
|
||||
unset BOARD_ARCH_RC_DEFAULTS
|
||||
|
||||
#
|
||||
# Optional board defaults: rc.board_defaults
|
||||
#
|
||||
@@ -76,6 +70,15 @@ unset BOARD_RC_DEFAULTS
|
||||
#
|
||||
rgbled start -X -q
|
||||
rgbled_ncp5623c start -X -q
|
||||
rgbled_pwm start
|
||||
|
||||
if param greater -s LIGHT_EN_BLINKM 0
|
||||
then
|
||||
if blinkm start -X
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# board sensors: rc.sensors
|
||||
|
||||
@@ -0,0 +1,5 @@
|
||||
px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader
|
||||
(https://github.com/PX4/Bootloader)
|
||||
based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f
|
||||
for the target px4fmuv3_bl
|
||||
|
||||
Regular → Executable
BIN
Binary file not shown.
@@ -34,9 +34,6 @@
|
||||
add_subdirectory(airframes)
|
||||
|
||||
px4_add_romfs_files(
|
||||
px4-rc.params
|
||||
px4-rc.simulator
|
||||
px4-rc.mavlink
|
||||
rc.replay
|
||||
rcS
|
||||
)
|
||||
|
||||
@@ -10,39 +10,43 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set 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 VM_MASS 1.5
|
||||
param set VM_INERTIA_XX 0.03
|
||||
param set VM_INERTIA_YY 0.03
|
||||
param set 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 CA_AIRFRAME 0
|
||||
param set CA_METHOD 1
|
||||
param set CA_ACT0_MIN 0.0
|
||||
param set CA_ACT1_MIN 0.0
|
||||
param set CA_ACT2_MIN 0.0
|
||||
param set CA_ACT3_MIN 0.0
|
||||
param set CA_ACT0_MAX 1.0
|
||||
param set CA_ACT1_MAX 1.0
|
||||
param set CA_ACT2_MAX 1.0
|
||||
param set CA_ACT3_MAX 1.0
|
||||
|
||||
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 CA_MC_R0_PX 0.1515
|
||||
param set CA_MC_R0_PY 0.245
|
||||
param set CA_MC_R0_CT 6.5
|
||||
param set CA_MC_R0_KM 0.05
|
||||
param set CA_MC_R1_PX -0.1515
|
||||
param set CA_MC_R1_PY -0.1875
|
||||
param set CA_MC_R1_CT 6.5
|
||||
param set CA_MC_R1_KM 0.05
|
||||
param set CA_MC_R2_PX 0.1515
|
||||
param set CA_MC_R2_PY -0.245
|
||||
param set CA_MC_R2_CT 6.5
|
||||
param set CA_MC_R2_KM -0.05
|
||||
param set CA_MC_R3_PX -0.1515
|
||||
param set CA_MC_R3_PY 0.1875
|
||||
param set CA_MC_R3_CT 6.5
|
||||
param set CA_MC_R3_KM -0.05
|
||||
|
||||
fi
|
||||
|
||||
set MIXER direct
|
||||
|
||||
@@ -1,12 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (foggy_lidar)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default EKF2_RNG_AID 1
|
||||
param set-default EKF2_RNG_A_HMAX 10
|
||||
|
||||
@@ -8,12 +8,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
# EKF2: Multi GPS blending (as the model has 2 GPS's)
|
||||
param set-default SENS_GPS_MASK 7
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MNT_DO_STAB 2
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Multi GPS blending (as the model has 2 GPS's)
|
||||
param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
|
||||
fi
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -7,14 +7,16 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default EKF2_EVP_NOISE 0.05
|
||||
param set-default EKF2_EVA_NOISE 0.05
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2
|
||||
param set EKF2_AID_MASK 2
|
||||
param set EKF2_EVP_NOISE 0.05
|
||||
param set EKF2_EVA_NOISE 0.05
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
# LPE: Flow-only mode
|
||||
param set LPE_FUSION 242
|
||||
param set LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set MPC_ALT_MODE 2
|
||||
fi
|
||||
|
||||
@@ -7,9 +7,12 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# enable fusion of landing target velocity
|
||||
param set-default LTEST_MODE 1
|
||||
param set-default PLD_HACC_RAD 0.1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# enable fusion of landing target velocity
|
||||
param set LTEST_MODE 1
|
||||
param set PLD_HACC_RAD 0.1
|
||||
fi
|
||||
|
||||
# Start up Landing Target Estimator module
|
||||
landing_target_estimator start
|
||||
|
||||
@@ -7,5 +7,7 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default LPE_FUSION 242
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set LPE_FUSION 242
|
||||
fi
|
||||
|
||||
@@ -7,13 +7,15 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2: Vision position and heading
|
||||
param set-default EKF2_AID_MASK 24
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Vision position and heading
|
||||
param set EKF2_AID_MASK 24
|
||||
param set EKF2_EV_DELAY 5
|
||||
|
||||
# LPE: Vision + baro
|
||||
param set-default LPE_FUSION 132
|
||||
|
||||
# AEQ: External heading set to use vision input
|
||||
param set-default ATT_EXT_HDG_M 1
|
||||
# LPE: Vision + baro
|
||||
param set LPE_FUSION 132
|
||||
|
||||
# AEQ: External heading set to use vision input
|
||||
param set ATT_EXT_HDG_M 1
|
||||
fi
|
||||
|
||||
@@ -7,7 +7,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.1
|
||||
param set-default MC_ROLLRATE_P 0.1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_ROLLRATE_P 0.1
|
||||
fi
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -7,6 +7,8 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default COM_OBS_AVOID 1
|
||||
param set-default MPC_XY_CRUISE 5.0
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set COM_OBS_AVOID 1
|
||||
param set MPC_XY_CRUISE 5.0
|
||||
fi
|
||||
|
||||
@@ -1,2 +1,2 @@
|
||||
# shellcheck disable=SC2154
|
||||
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
|
||||
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK
|
||||
|
||||
@@ -7,12 +7,15 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default SENS_FLOW_ROT 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2
|
||||
param set EKF2_AID_MASK 2
|
||||
param set SENS_FLOW_ROT 0
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
# LPE: Flow-only mode
|
||||
param set LPE_FUSION 242
|
||||
param set LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
param set MPC_ALT_MODE 2
|
||||
fi
|
||||
|
||||
@@ -7,6 +7,9 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2: Vision velocity and heading
|
||||
param set-default EKF2_AID_MASK 272
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Vision velocity and heading
|
||||
param set EKF2_AID_MASK 272
|
||||
param set EKF2_EV_DELAY 5
|
||||
fi
|
||||
|
||||
@@ -7,5 +7,8 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2: Multi GPS blending
|
||||
param set-default SENS_GPS_MASK 7
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Multi GPS blending
|
||||
param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
|
||||
fi
|
||||
|
||||
@@ -5,13 +5,16 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set-default NAV_DLL_ACT 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
fi
|
||||
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
@@ -5,13 +5,16 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set-default NAV_DLL_ACT 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
fi
|
||||
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
@@ -5,11 +5,15 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set-default NAV_DLL_ACT 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
fi
|
||||
|
||||
set PWM_OUT 12345678
|
||||
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
|
||||
|
||||
@@ -5,50 +5,54 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
param set EKF2_MAG_ACCLIM 0
|
||||
param set EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set FW_LND_AIRSPD_SC 1
|
||||
param set FW_LND_ANG 8
|
||||
param set FW_THR_LND_MAX 0
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set FW_MAN_P_MAX 30
|
||||
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.2
|
||||
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 FW_PR_I 0.4
|
||||
param set FW_PR_P 0.9
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
|
||||
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 FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set 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 FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set RWTO_TKOFF 1
|
||||
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,8 +5,10 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
# Camera trigger interface is MAVLink
|
||||
param set-default TRIG_INTERFACE 3
|
||||
|
||||
# Distance trigger mode enabled
|
||||
param set-default TRIG_MODE 4
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# Camera trigger interface is MAVLink
|
||||
param set TRIG_INTERFACE 3
|
||||
# Distance trigger mode enabled
|
||||
param set TRIG_MODE 4
|
||||
fi
|
||||
|
||||
@@ -5,5 +5,8 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
param set-default RWTO_TKOFF 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set RWTO_TKOFF 0
|
||||
|
||||
fi
|
||||
|
||||
@@ -5,5 +5,8 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
param set-default FW_LND_USETER 1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_LND_USETER 1
|
||||
|
||||
fi
|
||||
|
||||
@@ -5,55 +5,54 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
#param set EKF2_MAG_ACCLIM 0
|
||||
#param set EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_LND_HHDIST 30
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_TLALT 15
|
||||
param set FW_LND_AIRSPD_SC 1.1
|
||||
param set FW_LND_ANG 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_LND_HHDIST 30
|
||||
param set FW_LND_FL_PMIN 9.5
|
||||
param set FW_LND_FL_PMAX 20
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_TLALT 15
|
||||
|
||||
param set-default FW_L1_PERIOD 25
|
||||
param set FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
param set FW_P_TC 0.4
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
|
||||
param set-default FW_R_TC 0.45
|
||||
param set-default FW_RR_FF 0.40
|
||||
param set-default FW_RR_I 0.132
|
||||
param set-default FW_RR_P 0.085
|
||||
param set FW_R_TC 0.45
|
||||
param set FW_RR_FF 0.40
|
||||
param set FW_RR_I 0.132
|
||||
param set FW_RR_P 0.085
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 20
|
||||
param set MIS_DIST_1WP 2500
|
||||
param set MIS_DIST_WPS 10000
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set FW_THR_SLEW_MAX 0.3
|
||||
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set-default RWTO_MAX_THR 0.6
|
||||
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
param set RWTO_TKOFF 1
|
||||
#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_MAX_PITCH 20
|
||||
param set RWTO_MAX_ROLL 10
|
||||
#param set RWTO_MAX_THR 0.6 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_PSP 8
|
||||
param set RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,54 +5,54 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
#param set EKF2_MAG_ACCLIM 0
|
||||
#param set EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_LND_HHDIST 30
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_TLALT 15
|
||||
param set FW_LND_AIRSPD_SC 1.1
|
||||
param set FW_LND_ANG 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_LND_HHDIST 30
|
||||
param set FW_LND_FL_PMIN 9.5
|
||||
param set FW_LND_FL_PMAX 20
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_TLALT 15
|
||||
|
||||
param set-default FW_L1_PERIOD 25
|
||||
param set FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
param set FW_P_TC 0.4
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
|
||||
param set-default FW_R_TC 0.45
|
||||
param set-default FW_RR_FF 0.40
|
||||
param set-default FW_RR_I 0.132
|
||||
param set-default FW_RR_P 0.085
|
||||
param set FW_R_TC 0.45
|
||||
param set FW_RR_FF 0.40
|
||||
param set FW_RR_I 0.132
|
||||
param set FW_RR_P 0.085
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 20
|
||||
param set MIS_DIST_1WP 2500
|
||||
param set MIS_DIST_WPS 10000
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set RWTO_TKOFF 1
|
||||
#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_MAX_PITCH 20
|
||||
param set RWTO_MAX_ROLL 10
|
||||
#param set RWTO_MAX_THR 0.6 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_PSP 8
|
||||
param set RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set FW_THR_SLEW_MAX 0.3
|
||||
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set RWTO_MAX_THR 0.6
|
||||
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,39 +5,43 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
param set EKF2_MAG_ACCLIM 0
|
||||
param set EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set FW_LND_AIRSPD_SC 1
|
||||
param set FW_LND_ANG 8
|
||||
param set FW_THR_LND_MAX 0
|
||||
|
||||
param set-default FW_L1_PERIOD 15
|
||||
param set FW_L1_PERIOD 15
|
||||
|
||||
param set-default FW_P_TC 0.5
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
param set FW_P_TC 0.5
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
|
||||
param set-default FW_R_TC 0.7
|
||||
param set-default FW_RR_FF 0.20
|
||||
param set-default FW_RR_I 0.02
|
||||
param set-default FW_RR_P 0.22
|
||||
param set FW_R_TC 0.7
|
||||
param set FW_RR_FF 0.20
|
||||
param set FW_RR_I 0.02
|
||||
param set FW_RR_P 0.22
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set RWTO_TKOFF 1
|
||||
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,46 +5,52 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
#param set EKF2_MAG_ACCLIM 0
|
||||
#param set EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_LND_HHDIST 30
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_TLALT 15
|
||||
param set FW_LND_AIRSPD_SC 1.1
|
||||
param set FW_LND_ANG 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_LND_HHDIST 30
|
||||
param set FW_LND_FL_PMIN 9.5
|
||||
param set FW_LND_FL_PMAX 20
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_TLALT 15
|
||||
|
||||
param set-default FW_L1_PERIOD 25
|
||||
param set FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
param set FW_P_TC 0.4
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
|
||||
param set-default FW_R_TC 0.45
|
||||
param set-default FW_RR_FF 0.40
|
||||
param set-default FW_RR_I 0.132
|
||||
param set-default FW_RR_P 0.085
|
||||
param set FW_R_TC 0.45
|
||||
param set FW_RR_FF 0.40
|
||||
param set FW_RR_I 0.132
|
||||
param set FW_RR_P 0.085
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 20
|
||||
param set MIS_DIST_1WP 2500
|
||||
param set MIS_DIST_WPS 10000
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
param set RWTO_TKOFF 1
|
||||
param set RWTO_MAX_PITCH 20
|
||||
param set RWTO_MAX_ROLL 10
|
||||
param set RWTO_PSP 8
|
||||
param set RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -7,46 +7,50 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
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_FF 0.1
|
||||
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
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_L1_PERIOD 12
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PR_I 0.4
|
||||
param set FW_PR_P 0.9
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.25
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set-default MC_YAW_P 1.6
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
param set MC_YAW_P 1.6
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_TYPE 2
|
||||
param set VT_FWD_THRUST_EN 4
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_B_TRANS_DUR 8
|
||||
param set VT_TYPE 2
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
|
||||
@@ -7,40 +7,44 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
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 0.3
|
||||
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 0.3
|
||||
param set-default FW_THR_CRUISE 0.33
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
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
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_L1_PERIOD 12
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_PR_I 0.2
|
||||
param set FW_PR_P 0.3
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.33
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_F_TRANS_DUR 1.5
|
||||
param set-default VT_F_TRANS_THR 0.7
|
||||
param set-default VT_TYPE 0
|
||||
param set VT_F_TRANS_DUR 1.5
|
||||
param set VT_F_TRANS_THR 0.7
|
||||
param set VT_TYPE 0
|
||||
|
||||
param set-default WV_EN 0
|
||||
param set WV_EN 0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 20
|
||||
|
||||
|
||||
@@ -7,44 +7,48 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
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_FF 0.1
|
||||
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
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_L1_PERIOD 12
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PR_I 0.4
|
||||
param set FW_PR_P 0.9
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.38
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
|
||||
param set-default MC_YAW_P 1.6
|
||||
param set MC_YAW_P 1.6
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_TILT_TRANS 0.6
|
||||
param set-default VT_TYPE 1
|
||||
param set VT_B_TRANS_DUR 8
|
||||
param set VT_FWD_THRUST_EN 4
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_TILT_TRANS 0.6
|
||||
param set VT_TYPE 1
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 21
|
||||
|
||||
|
||||
@@ -1,58 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Standard VTOL
|
||||
#
|
||||
# @type Standard VTOL
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
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_FF 0.1
|
||||
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
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_TYPE 2
|
||||
|
||||
param set-default RC_MAP_AUX1 8
|
||||
param set-default RC_MAP_AUX2 9
|
||||
param set-default RC_MAP_AUX3 10
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
|
||||
set MIXER custom
|
||||
@@ -1 +0,0 @@
|
||||
mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix
|
||||
@@ -5,28 +5,32 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_L1_PERIOD 10
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_I 3
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 4
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 0.001
|
||||
param set GND_SPEED_I 3
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 4
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_IDLE 0
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 2.0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
|
||||
@@ -6,27 +6,32 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 3
|
||||
param set-default GND_SPEED_I 0.001
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 4
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 3
|
||||
param set GND_SPEED_I 0.001
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 4
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_IDLE 0
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 2.0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
|
||||
@@ -10,28 +10,33 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 3
|
||||
param set-default GND_SPEED_I 0.001
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 15
|
||||
param set-default GND_SPEED_MAX 25
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 3
|
||||
param set GND_SPEED_I 0.001
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 15
|
||||
param set GND_SPEED_MAX 25
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_IDLE 0
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 3.0
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 3.0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
|
||||
@@ -5,28 +5,32 @@
|
||||
|
||||
. ${R}etc/init.d/rc.boat_defaults
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_L1_PERIOD 100
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_I 8
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 2
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 1
|
||||
param set-default GND_THR_CRUISE 0.85
|
||||
param set-default GND_THR_MAX 1
|
||||
param set-default GND_THR_MIN 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 0.001
|
||||
param set GND_SPEED_I 3
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 4
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_IDLE 0
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 2.0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 11
|
||||
|
||||
|
||||
@@ -12,47 +12,53 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
param set-default ASPD_STALL 10.0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
param set ASPD_STALL 10.0
|
||||
|
||||
param set-default FW_P_RMAX_NEG 20.0
|
||||
param set-default FW_P_RMAX_POS 60.0
|
||||
param set-default FW_W_RMAX 10
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_P_RMAX_NEG 20.0
|
||||
param set FW_P_RMAX_POS 60.0
|
||||
param set FW_W_RMAX 10
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default FW_PR_IMAX 0.4
|
||||
param set-default FW_R_TC 0.4
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_I 0.1
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
param set-default FW_RR_P 0.08
|
||||
param set FW_PR_IMAX 0.4
|
||||
param set FW_R_TC 0.4
|
||||
param set FW_RR_FF 0.5
|
||||
param set FW_RR_I 0.1
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.08
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 50
|
||||
param set-default MIS_TAKEOFF_ALT 3
|
||||
param set MIS_LTRMIN_ALT 50
|
||||
param set MIS_TAKEOFF_ALT 3
|
||||
|
||||
param set-default NAV_ACC_RAD 20
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 100
|
||||
param set NAV_ACC_RAD 20
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 100
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set RWTO_TKOFF 1
|
||||
param set MAV_BROADCAST 1
|
||||
|
||||
param set-default FW_ARSP_SCALE_EN 0
|
||||
param set FW_ARSP_SCALE_EN 0
|
||||
|
||||
param set-default FW_AIRSPD_MAX 35
|
||||
param set-default FW_AIRSPD_MIN 7
|
||||
param set-default FW_AIRSPD_TRIM 15
|
||||
param set FW_AIRSPD_MAX 35
|
||||
param set FW_AIRSPD_MIN 7
|
||||
param set FW_AIRSPD_TRIM 15
|
||||
|
||||
param set-default FW_P_LIM_MAX 25
|
||||
param set-default FW_P_LIM_MIN -5
|
||||
param set-default FW_R_LIM 30
|
||||
param set FW_P_LIM_MAX 25
|
||||
param set FW_P_LIM_MIN -5
|
||||
param set FW_R_LIM 30
|
||||
|
||||
param set-default FW_MAN_P_MAX 30.0
|
||||
param set-default FW_MAN_R_MAX 30.0
|
||||
param set FW_MAN_P_MAX 30.0
|
||||
param set FW_MAN_R_MAX 30.0
|
||||
|
||||
param set FW_THR_CRUISE 0.8
|
||||
param set FW_THR_IDLE 0
|
||||
param set COM_DISARM_PRFLT 0
|
||||
|
||||
fi
|
||||
|
||||
param set-default FW_THR_CRUISE 0.8
|
||||
param set-default FW_THR_IDLE 0
|
||||
param set-default COM_DISARM_PRFLT 0
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -9,21 +9,25 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.1
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCH_P 6.0
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_I 0.1
|
||||
param set-default MC_ROLL_P 6.0
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCH_P 6.0
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLLRATE_I 0.1
|
||||
param set MC_ROLL_P 6.0
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set RTL_DESCEND_ALT 10
|
||||
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_DO_STAB 2
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 4
|
||||
param set MNT_DO_STAB 2
|
||||
param set MAV_PROTO_VER 2
|
||||
fi
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
|
||||
@@ -7,24 +7,26 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.0800
|
||||
param set-default MC_PITCHRATE_I 0.0400
|
||||
param set-default MC_PITCHRATE_D 0.0010
|
||||
param set-default MC_PITCH_P 9.0
|
||||
param set-default MC_ROLLRATE_P 0.0800
|
||||
param set-default MC_ROLLRATE_I 0.0400
|
||||
param set-default MC_ROLLRATE_D 0.0010
|
||||
param set-default MC_ROLL_P 9.0
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCHRATE_P 0.1000
|
||||
param set MC_PITCHRATE_I 0.0400
|
||||
param set MC_PITCHRATE_D 0.0010
|
||||
param set MC_PITCH_P 9.0
|
||||
param set MC_ROLLRATE_P 0.1000
|
||||
param set MC_ROLLRATE_I 0.0400
|
||||
param set MC_ROLLRATE_D 0.0010
|
||||
param set MC_ROLL_P 9.0
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set RTL_DESCEND_ALT 10
|
||||
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MAV_PROTO_VER 2
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 0
|
||||
param set MAV_PROTO_VER 2
|
||||
fi
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
|
||||
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
|
||||
|
||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
|
||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
|
||||
|
||||
# shellcheck disable=SC2154
|
||||
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
|
||||
|
||||
@@ -8,63 +8,66 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set-default RTL_LAND_DELAY 0
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_LAND_DELAY 0
|
||||
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 0
|
||||
param set-default MAV_PROTO_VER 2
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 0
|
||||
param set MAV_PROTO_VER 2
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
param set MPC_USE_HTE 0
|
||||
|
||||
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 VM_MASS 2.66
|
||||
param set VM_INERTIA_XX 0.06
|
||||
param set VM_INERTIA_YY 0.06
|
||||
param set 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 CA_AIRFRAME 0
|
||||
param set CA_METHOD 1
|
||||
param set CA_ACT0_MIN 0.0
|
||||
param set CA_ACT1_MIN 0.0
|
||||
param set CA_ACT2_MIN 0.0
|
||||
param set CA_ACT3_MIN 0.0
|
||||
param set CA_ACT4_MIN 0.0
|
||||
param set CA_ACT5_MIN 0.0
|
||||
param set CA_ACT0_MAX 1.0
|
||||
param set CA_ACT1_MAX 1.0
|
||||
param set CA_ACT2_MAX 1.0
|
||||
param set CA_ACT3_MAX 1.0
|
||||
param set CA_ACT4_MAX 1.0
|
||||
param set 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 CA_MC_R0_PX 0.0
|
||||
param set CA_MC_R0_PY 1.0
|
||||
param set CA_MC_R0_CT 9.5
|
||||
param set CA_MC_R0_KM -0.05
|
||||
param set CA_MC_R1_PX 0.0
|
||||
param set CA_MC_R1_PY -1.0
|
||||
param set CA_MC_R1_CT 9.5
|
||||
param set CA_MC_R1_KM 0.05
|
||||
param set CA_MC_R2_PX 0.866025
|
||||
param set CA_MC_R2_PY -0.5
|
||||
param set CA_MC_R2_CT 9.5
|
||||
param set CA_MC_R2_KM -0.05
|
||||
param set CA_MC_R3_PX -0.866025
|
||||
param set CA_MC_R3_PY 0.5
|
||||
param set CA_MC_R3_CT 9.5
|
||||
param set CA_MC_R3_KM 0.05
|
||||
param set CA_MC_R4_PX 0.866025
|
||||
param set CA_MC_R4_PY 0.5
|
||||
param set CA_MC_R4_CT 9.5
|
||||
param set CA_MC_R4_KM 0.05
|
||||
param set CA_MC_R5_PX -0.866025
|
||||
param set CA_MC_R5_PY -0.5
|
||||
param set CA_MC_R5_CT 9.5
|
||||
param set CA_MC_R5_KM -0.05
|
||||
fi
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
|
||||
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
|
||||
|
||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
|
||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
|
||||
|
||||
# shellcheck disable=SC2154
|
||||
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
|
||||
|
||||
@@ -34,7 +34,6 @@
|
||||
px4_add_romfs_files(
|
||||
10016_iris
|
||||
10017_iris_ctrlalloc
|
||||
10018_iris_foggy_lidar
|
||||
10020_if750a
|
||||
10030_px4vision
|
||||
1010_iris_opt_flow
|
||||
@@ -65,8 +64,6 @@ px4_add_romfs_files(
|
||||
1040_standard_vtol
|
||||
1041_tailsitter
|
||||
1042_tiltrotor
|
||||
1043_standard_vtol_drop
|
||||
1043_standard_vtol_drop.post
|
||||
1060_rover
|
||||
1061_r1_rover
|
||||
1062_tf-r1
|
||||
|
||||
@@ -1,32 +0,0 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
udp_offboard_port_local=$((14580+px4_instance))
|
||||
udp_offboard_port_remote=$((14540+px4_instance))
|
||||
[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
|
||||
udp_onboard_payload_port_local=$((14280+px4_instance))
|
||||
udp_onboard_payload_port_remote=$((14030+px4_instance))
|
||||
udp_onboard_gimbal_port_local=$((13030+px4_instance))
|
||||
udp_onboard_gimbal_port_remote=$((13280+px4_instance))
|
||||
udp_gcs_port_local=$((18570+px4_instance))
|
||||
|
||||
# GCS link
|
||||
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
|
||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
|
||||
mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
|
||||
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
|
||||
|
||||
# API/Offboard link
|
||||
mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
|
||||
|
||||
# Onboard link to camera
|
||||
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
|
||||
|
||||
# Onboard link to gimbal
|
||||
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
|
||||
@@ -1,5 +0,0 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
#param set MAV_SYS_ID $((px4_instance+1))
|
||||
#param set IMU_INTEG_RATE 250
|
||||
@@ -1,20 +0,0 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
simulator_tcp_port=$((4560+px4_instance))
|
||||
|
||||
# Check if PX4_SIM_HOSTNAME environment variable is empty
|
||||
# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
|
||||
# If both are empty use localhost for simulator
|
||||
if [ -z "${PX4_SIM_HOSTNAME}" ]; then
|
||||
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
|
||||
echo "PX4 SIM HOST: localhost"
|
||||
simulator start -c $simulator_tcp_port
|
||||
else
|
||||
echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
|
||||
simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
|
||||
fi
|
||||
else
|
||||
echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
|
||||
simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
|
||||
fi
|
||||
@@ -20,6 +20,7 @@ module: replay
|
||||
ignore_others: false
|
||||
EOF
|
||||
|
||||
uorb start
|
||||
param set SDLOG_DIRS_MAX 7
|
||||
|
||||
# apply all params before ekf starts, as some params cannot be changed after startup
|
||||
|
||||
@@ -5,8 +5,7 @@
|
||||
# shellcheck disable=SC1091
|
||||
. px4-alias.sh
|
||||
|
||||
#search path for sourcing px4-rc.*
|
||||
PATH="$PATH:${R}etc/init.d-posix"
|
||||
SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
|
||||
|
||||
#
|
||||
# Main SITL startup script
|
||||
@@ -22,7 +21,6 @@ fi
|
||||
|
||||
# initialize script variables
|
||||
set AUX_MODE none
|
||||
set AUX_BANK2 none
|
||||
set IO_PRESENT no
|
||||
set MAV_TYPE none
|
||||
set MIXER none
|
||||
@@ -46,15 +44,17 @@ else
|
||||
# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
|
||||
# TODO: unify with rc.autostart generation
|
||||
# shellcheck disable=SC2012
|
||||
REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
|
||||
REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
|
||||
if [ -z "$REQUESTED_AUTOSTART" ]; then
|
||||
echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
|
||||
echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
|
||||
exit 1
|
||||
else
|
||||
echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
|
||||
echo "INFO [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
|
||||
fi
|
||||
fi
|
||||
|
||||
uorb start
|
||||
|
||||
# Load parameters
|
||||
set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
|
||||
param select $PARAM_FILE
|
||||
@@ -63,12 +63,12 @@ if [ -f $PARAM_FILE ]
|
||||
then
|
||||
if param load
|
||||
then
|
||||
echo "[param] Loaded: $PARAM_FILE"
|
||||
echo "INFO [init] Loaded: $PARAM_FILE"
|
||||
else
|
||||
echo "[param] FAILED loading $PARAM_FILE"
|
||||
echo "ERROR [init] FAILED loading $PARAM_FILE"
|
||||
fi
|
||||
else
|
||||
echo "[param] parameter file not found, creating $PARAM_FILE"
|
||||
echo "INFO [init] parameter file not found, creating $PARAM_FILE"
|
||||
fi
|
||||
|
||||
# exit early when the minimal shell is requested
|
||||
@@ -99,62 +99,67 @@ then
|
||||
set AUTOCNF yes
|
||||
|
||||
# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
|
||||
param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
|
||||
param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
|
||||
fi
|
||||
|
||||
# multi-instance setup
|
||||
# shellcheck disable=SC2154
|
||||
param set MAV_SYS_ID $((px4_instance+1))
|
||||
simulator_tcp_port=$((4560+px4_instance))
|
||||
udp_offboard_port_local=$((14580+px4_instance))
|
||||
udp_offboard_port_remote=$((14540+px4_instance))
|
||||
[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
|
||||
udp_onboard_payload_port_local=$((14280+px4_instance))
|
||||
udp_onboard_payload_port_remote=$((14030+px4_instance))
|
||||
udp_gcs_port_local=$((18570+px4_instance))
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set SYS_AUTOSTART $REQUESTED_AUTOSTART
|
||||
|
||||
param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
|
||||
param set BAT_N_CELLS 4
|
||||
|
||||
param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_MAG0_ID 197388
|
||||
param set CAL_MAG1_ID 197644
|
||||
|
||||
param set CBRK_AIRSPD_CHK 0
|
||||
param set CBRK_SUPPLY_CHK 894281
|
||||
|
||||
# Don't require RC calibration and configuration
|
||||
param set COM_RC_IN_MODE 1
|
||||
|
||||
# Speedup SITL startup
|
||||
param set EKF2_REQ_GPS_H 0.5
|
||||
|
||||
# Multi-EKF
|
||||
param set EKF2_MULTI_IMU 3
|
||||
param set SENS_IMU_MODE 0
|
||||
param set EKF2_MULTI_MAG 2
|
||||
param set SENS_MAG_MODE 0
|
||||
|
||||
# By default log from boot until first disarm.
|
||||
param set SDLOG_MODE 1
|
||||
# enable default, estimator replay and vision/avoidance logging profiles
|
||||
param set SDLOG_PROFILE 131
|
||||
param set SDLOG_DIRS_MAX 7
|
||||
param set SENS_BOARD_ROT 0
|
||||
param set SENS_BOARD_X_OFF 0.000001
|
||||
param set SENS_DPRES_OFF 0.001
|
||||
|
||||
param set SYS_RESTART_TYPE 2
|
||||
|
||||
param set TRIG_INTERFACE 3
|
||||
fi
|
||||
|
||||
param set-default BAT_N_CELLS 4
|
||||
param set COM_CPU_MAX -1 # disable check, no CPU load reported on posix yet
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 0
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
# disable check, no CPU load reported on posix yet
|
||||
param set-default COM_CPU_MAX -1
|
||||
|
||||
# Don't require RC calibration and configuration
|
||||
param set-default COM_RC_IN_MODE 1
|
||||
|
||||
# Speedup SITL startup
|
||||
param set-default EKF2_REQ_GPS_H 0.5
|
||||
|
||||
# Multi-EKF
|
||||
param set-default EKF2_MULTI_IMU 3
|
||||
param set-default SENS_IMU_MODE 0
|
||||
param set-default EKF2_MULTI_MAG 2
|
||||
param set-default SENS_MAG_MODE 0
|
||||
|
||||
param set-default IMU_GYRO_FFT_EN 1
|
||||
|
||||
# By default log from boot until first disarm.
|
||||
param set-default SDLOG_MODE 1
|
||||
# enable default, estimator replay and vision/avoidance logging profiles
|
||||
param set-default SDLOG_PROFILE 131
|
||||
param set-default SDLOG_DIRS_MAX 7
|
||||
|
||||
param set-default TRIG_INTERFACE 3
|
||||
# Simulator IMU data provided at 250 Hz
|
||||
param set IMU_INTEG_RATE 250
|
||||
|
||||
# Adapt timeout parameters if simulation runs faster or slower than realtime.
|
||||
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
|
||||
@@ -169,10 +174,6 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
|
||||
COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
|
||||
echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
|
||||
param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
|
||||
|
||||
COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
|
||||
echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
|
||||
param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
|
||||
fi
|
||||
|
||||
# Autostart ID
|
||||
@@ -191,7 +192,7 @@ do
|
||||
esac
|
||||
done
|
||||
if [ ! -e "$autostart_file" ]; then
|
||||
echo "Error: no autostart file found ($autostart_file)"
|
||||
echo "ERROR [init] no autostart file found ($autostart_file)"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
@@ -205,17 +206,11 @@ then
|
||||
param set SYS_AUTOCONFIG 0
|
||||
fi
|
||||
|
||||
# Simulator IMU data provided at 250 Hz
|
||||
param set IMU_INTEG_RATE 250
|
||||
|
||||
#user defined params for instances can be in PATH
|
||||
. px4-rc.params
|
||||
|
||||
dataman start
|
||||
# only start the simulator if not in replay mode, as both control the lockstep time
|
||||
if ! replay tryapplyparams
|
||||
then
|
||||
. px4-rc.simulator
|
||||
simulator start -c $simulator_tcp_port
|
||||
fi
|
||||
load_mon start
|
||||
battery_simulator start
|
||||
@@ -237,25 +232,36 @@ then
|
||||
camera_feedback start
|
||||
fi
|
||||
|
||||
if param compare -s IMU_GYRO_FFT_EN 1
|
||||
then
|
||||
gyro_fft start
|
||||
fi
|
||||
|
||||
if param compare -s IMU_GYRO_CAL_EN 1
|
||||
then
|
||||
gyro_calibration start
|
||||
fi
|
||||
|
||||
# Configure vehicle type specific parameters.
|
||||
# Note: rc.vehicle_setup is the entry point for rc.interface,
|
||||
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
|
||||
#
|
||||
. ${R}etc/init.d/rc.vehicle_setup
|
||||
|
||||
#user defined mavlink streams for instances can be in PATH
|
||||
. px4-rc.mavlink
|
||||
if [ -e etc/init.d-posix/rc.mavlink_override ]
|
||||
then
|
||||
echo "Running non-default mavlink config rc.mavlink_override"
|
||||
sh etc/init.d-posix/rc.mavlink_override
|
||||
else
|
||||
# GCS link
|
||||
mavlink start -x -u $udp_gcs_port_local -r 4000000
|
||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
|
||||
mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
|
||||
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
|
||||
|
||||
# API/Offboard link
|
||||
mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
|
||||
|
||||
# Onboard link to camera
|
||||
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
|
||||
|
||||
fi
|
||||
# execute autostart post script if any
|
||||
[ -e "$autostart_file".post ] && . "$autostart_file".post
|
||||
|
||||
|
||||
@@ -17,43 +17,35 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set BAT_N_CELLS 3
|
||||
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set-default FW_AIRSPD_MAX 20
|
||||
param set-default FW_AIRSPD_MIN 12
|
||||
param set-default FW_AIRSPD_TRIM 14
|
||||
param set-default FW_R_TC 0.3
|
||||
param set-default FW_P_TC 0.3
|
||||
param set-default FW_L1_DAMPING 0.74
|
||||
param set-default FW_L1_PERIOD 16
|
||||
param set-default FW_LND_ANG 15
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_HHDIST 15
|
||||
param set-default FW_LND_HVIRT 13
|
||||
param set-default FW_LND_TLALT 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_PR_FF 0.35
|
||||
param set-default FW_PR_I 0.1
|
||||
param set-default FW_PR_IMAX 0.4
|
||||
param set-default FW_PR_P 0.2
|
||||
param set-default FW_RR_FF 0.6
|
||||
param set-default FW_RR_I 0.1
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
param set-default FW_RR_P 0.3
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set FW_AIRSPD_MAX 20
|
||||
param set FW_AIRSPD_MIN 12
|
||||
param set FW_AIRSPD_TRIM 14
|
||||
param set FW_R_TC 0.3
|
||||
param set FW_P_TC 0.3
|
||||
param set FW_L1_DAMPING 0.74
|
||||
param set FW_L1_PERIOD 16
|
||||
param set FW_LND_ANG 15
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_HHDIST 15
|
||||
param set FW_LND_HVIRT 13
|
||||
param set FW_LND_TLALT 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_PR_FF 0.35
|
||||
param set FW_PR_I 0.1
|
||||
param set FW_PR_IMAX 0.4
|
||||
param set FW_PR_P 0.2
|
||||
param set FW_RR_FF 0.6
|
||||
param set FW_RR_I 0.1
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.3
|
||||
|
||||
param set RWTO_TKOFF 1
|
||||
fi
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
# disable some checks to allow to fly
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default COM_PREARM_MODE 0
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
set MIXER AERT
|
||||
|
||||
@@ -20,24 +20,28 @@
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_ROLL_P 6.5
|
||||
param set MC_ROLLRATE_P 0.1
|
||||
param set MC_ROLLRATE_I 0.05
|
||||
param set MC_ROLLRATE_D 0.0017
|
||||
param set MC_PITCH_P 6.5
|
||||
param set MC_PITCHRATE_P 0.14
|
||||
param set MC_PITCHRATE_I 0.1
|
||||
param set MC_PITCHRATE_D 0.0025
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.28
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
fi
|
||||
|
||||
param set-default MC_ROLL_P 6.5
|
||||
param set-default MC_ROLLRATE_P 0.1
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_ROLLRATE_D 0.0017
|
||||
param set-default MC_PITCH_P 6.5
|
||||
param set-default MC_PITCHRATE_P 0.14
|
||||
param set-default MC_PITCHRATE_I 0.1
|
||||
param set-default MC_PITCHRATE_D 0.0025
|
||||
param set-default MC_YAW_P 2.8
|
||||
param set-default MC_YAWRATE_P 0.28
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -18,28 +18,32 @@
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# TODO tune roll/pitch separately
|
||||
param set MC_ROLL_P 7
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLLRATE_I 0.05
|
||||
param set MC_ROLLRATE_D 0.004
|
||||
param set MC_PITCH_P 7
|
||||
param set MC_PITCHRATE_P 0.15
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_YAW_P 2.5
|
||||
param set MC_YAWRATE_P 0.25
|
||||
param set MC_YAWRATE_I 0.25
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
# TODO tune roll/pitch separately
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_ROLLRATE_D 0.004
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.15
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
param set-default MC_YAW_P 2.5
|
||||
param set-default MC_YAWRATE_P 0.25
|
||||
param set-default MC_YAWRATE_I 0.25
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set BAT_V_DIV 12.27559
|
||||
param set BAT_A_PER_V 15.39103
|
||||
fi
|
||||
|
||||
param set-default BAT_V_DIV 12.27559
|
||||
param set-default BAT_A_PER_V 15.39103
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -20,26 +20,30 @@
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set BAT_N_CELLS 4
|
||||
|
||||
param set-default BAT_N_CELLS 4
|
||||
param set MC_ROLL_P 7
|
||||
param set MC_ROLLRATE_P 0.13
|
||||
param set MC_ROLLRATE_I 0.05
|
||||
param set MC_ROLLRATE_D 0.004
|
||||
param set MC_PITCH_P 7
|
||||
param set MC_PITCHRATE_P 0.19
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_YAW_P 4
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
fi
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.13
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_ROLLRATE_D 0.004
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.19
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
param set-default MC_YAW_P 4
|
||||
param set-default MC_YAWRATE_P 0.2
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -20,31 +20,35 @@
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set BAT_N_CELLS 6
|
||||
param set BAT_V_EMPTY 3.5
|
||||
|
||||
param set-default BAT_N_CELLS 6
|
||||
param set-default BAT_V_EMPTY 3.5
|
||||
param set MC_ROLL_P 7
|
||||
param set MC_ROLLRATE_P 0.08
|
||||
param set MC_ROLLRATE_I 0.02
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_PITCH_P 7
|
||||
param set MC_PITCHRATE_P 0.13
|
||||
param set MC_PITCHRATE_I 0.02
|
||||
param set MC_PITCHRATE_D 0.005
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.08
|
||||
param set-default MC_ROLLRATE_I 0.02
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.13
|
||||
param set-default MC_PITCHRATE_I 0.02
|
||||
param set-default MC_PITCHRATE_D 0.005
|
||||
param set-default MC_YAW_P 2.8
|
||||
param set-default MC_YAWRATE_P 0.2
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set MPC_XY_VEL_MAX 2
|
||||
|
||||
param set-default MPC_XY_VEL_MAX 2
|
||||
param set PWM_MAIN_MIN 1080
|
||||
fi
|
||||
|
||||
param set-default PWM_MAIN_MIN 1080
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -14,12 +14,3 @@ set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
# disable some checks to allow to fly
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default COM_PREARM_MODE 0
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
@@ -8,73 +8,66 @@
|
||||
# @maintainer Roman Bapst <roman@auterion.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set BAT_N_CELLS 3
|
||||
|
||||
param set-default BAT_N_CELLS 3
|
||||
param set COM_RC_IN_MODE 1
|
||||
|
||||
param set-default COM_RC_IN_MODE 1
|
||||
param set EKF2_AID_MASK 1
|
||||
param set EKF2_ANGERR_INIT 0.01
|
||||
param set EKF2_GBIAS_INIT 0.01
|
||||
param set EKF2_HGT_MODE 0
|
||||
param set EKF2_MAG_TYPE 1
|
||||
|
||||
param set-default EKF2_AID_MASK 1
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_HGT_MODE 0
|
||||
param set-default EKF2_MAG_TYPE 1
|
||||
param set FW_AIRSPD_MAX 25
|
||||
param set FW_AIRSPD_MIN 14
|
||||
param set FW_AIRSPD_TRIM 16
|
||||
|
||||
param set-default FW_AIRSPD_MAX 25
|
||||
param set-default FW_AIRSPD_MIN 14
|
||||
param set-default FW_AIRSPD_TRIM 16
|
||||
param set MC_PITCH_P 6
|
||||
param set MC_PITCHRATE_P 0.2
|
||||
param set MC_ROLL_P 6
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
param set MIS_LTRMIN_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
param set MIS_YAW_TMT 10
|
||||
|
||||
param set-default MC_PITCH_P 6
|
||||
param set-default MC_PITCHRATE_P 0.2
|
||||
param set-default MC_ROLL_P 6
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set-default MIS_LTRMIN_ALT 10
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
param set-default MIS_YAW_TMT 10
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_THR_MIN 0.1
|
||||
param set MPC_TKO_SPEED 1
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_D_ACC 0.1
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set MPC_Z_VEL_P_ACC 12
|
||||
param set MPC_Z_VEL_I_ACC 3
|
||||
param set MPC_Z_VEL_MAX_DN 1.5
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_THR_MIN 0.1
|
||||
param set-default MPC_TKO_SPEED 1
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_Z_VEL_P_ACC 12
|
||||
param set-default MPC_Z_VEL_I_ACC 3
|
||||
param set-default MPC_Z_VEL_MAX_DN 1.5
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_RETURN_ALT 30
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set-default RTL_RETURN_ALT 30
|
||||
|
||||
param set-default SDLOG_DIRS_MAX 7
|
||||
param set-default SYS_RESTART_TYPE 2
|
||||
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_TYPE 2
|
||||
param set SDLOG_DIRS_MAX 7
|
||||
param set SYS_RESTART_TYPE 2
|
||||
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_TYPE 2
|
||||
fi
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
# disable some checks to allow to fly
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default COM_PREARM_MODE 0
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER standard_vtol_hitl
|
||||
|
||||
@@ -18,6 +18,7 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
|
||||
@@ -7,8 +7,6 @@
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -17,12 +15,3 @@ set PWM_OUT 1234
|
||||
|
||||
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
param set 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
|
||||
|
||||
@@ -16,6 +16,7 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
|
||||
@@ -17,34 +17,38 @@
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCH_P 4
|
||||
param set MC_PITCHRATE_P 0.24
|
||||
param set MC_PITCHRATE_I 0.09
|
||||
param set MC_PITCHRATE_D 0.013
|
||||
param set MC_PITCHRATE_MAX 180
|
||||
|
||||
param set-default MC_PITCH_P 4
|
||||
param set-default MC_PITCHRATE_P 0.24
|
||||
param set-default MC_PITCHRATE_I 0.09
|
||||
param set-default MC_PITCHRATE_D 0.013
|
||||
param set-default MC_PITCHRATE_MAX 180
|
||||
param set MC_ROLL_P 4
|
||||
param set MC_ROLLRATE_P 0.16
|
||||
param set MC_ROLLRATE_I 0.07
|
||||
param set MC_ROLLRATE_D 0.009
|
||||
param set MC_ROLLRATE_MAX 180
|
||||
|
||||
param set-default MC_ROLL_P 4
|
||||
param set-default MC_ROLLRATE_P 0.16
|
||||
param set-default MC_ROLLRATE_I 0.07
|
||||
param set-default MC_ROLLRATE_D 0.009
|
||||
param set-default MC_ROLLRATE_MAX 180
|
||||
param set MC_YAW_P 3
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
param set-default MC_YAW_P 3
|
||||
param set-default MC_YAWRATE_P 0.2
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set MPC_HOLD_MAX_XY 0.25
|
||||
param set MPC_THR_MIN 0.15
|
||||
param set MPC_Z_VEL_MAX_DN 2
|
||||
|
||||
param set-default MPC_HOLD_MAX_XY 0.25
|
||||
param set-default MPC_THR_MIN 0.15
|
||||
param set-default MPC_Z_VEL_MAX_DN 2
|
||||
param set BAT_N_CELLS 4
|
||||
fi
|
||||
|
||||
param set-default BAT_N_CELLS 4
|
||||
set MIXER octo_cox_w
|
||||
|
||||
set PWM_OUT 12345678
|
||||
|
||||
@@ -18,18 +18,22 @@
|
||||
# @output AUX5 Throttle
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_DIS5 950
|
||||
param set PWM_MAIN_RATE 400
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_TYPE 2
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
fi
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -13,36 +13,40 @@
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MAV_TYPE 19
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
param set MC_ROLL_P 6
|
||||
param set MC_ROLLRATE_P 0.12
|
||||
param set MC_ROLLRATE_I 0.002
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_ROLLRATE_FF 0
|
||||
|
||||
param set-default MC_ROLL_P 6
|
||||
param set-default MC_ROLLRATE_P 0.12
|
||||
param set-default MC_ROLLRATE_I 0.002
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
param set-default MC_ROLLRATE_FF 0
|
||||
param set MC_PITCH_P 4.5
|
||||
param set MC_PITCHRATE_P 0.3
|
||||
param set MC_PITCHRATE_I 0.002
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_PITCHRATE_FF 0
|
||||
|
||||
param set-default MC_PITCH_P 4.5
|
||||
param set-default MC_PITCHRATE_P 0.3
|
||||
param set-default MC_PITCHRATE_I 0.002
|
||||
param set-default MC_PITCHRATE_D 0.003
|
||||
param set-default MC_PITCHRATE_FF 0
|
||||
param set MC_YAW_P 3.8
|
||||
param set MC_YAWRATE_P 0.22
|
||||
param set MC_YAWRATE_I 0.02
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_FF 0
|
||||
|
||||
param set-default MC_YAW_P 3.8
|
||||
param set-default MC_YAWRATE_P 0.22
|
||||
param set-default MC_YAWRATE_I 0.02
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_ELEV_MC_LOCK 0
|
||||
param set VT_MOT_ID 12
|
||||
param set VT_TYPE 0
|
||||
fi
|
||||
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_MOT_ID 12
|
||||
param set-default VT_TYPE 0
|
||||
set MAV_TYPE 19
|
||||
|
||||
set MIXER vtol_tailsitter_duo
|
||||
|
||||
@@ -18,39 +18,43 @@
|
||||
# @output AUX4 Gear
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_ROLL_P 7
|
||||
param set MC_ROLLRATE_P 0.19
|
||||
param set MC_ROLLRATE_I 0.002
|
||||
param set MC_ROLLRATE_D 0.005
|
||||
param set MC_ROLLRATE_FF 0
|
||||
param set MC_PITCH_P 7
|
||||
param set MC_PITCHRATE_P 0.14
|
||||
param set MC_PITCHRATE_I 0.002
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_PITCHRATE_FF 0
|
||||
param set MC_YAW_P 4
|
||||
param set MC_YAWRATE_P 0.22
|
||||
param set MC_YAWRATE_I 0.02
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_FF 0
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.19
|
||||
param set-default MC_ROLLRATE_I 0.002
|
||||
param set-default MC_ROLLRATE_D 0.005
|
||||
param set-default MC_ROLLRATE_FF 0
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.14
|
||||
param set-default MC_PITCHRATE_I 0.002
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
param set-default MC_PITCHRATE_FF 0
|
||||
param set-default MC_YAW_P 4
|
||||
param set-default MC_YAWRATE_P 0.22
|
||||
param set-default MC_YAWRATE_I 0.02
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
param set PWM_MAIN_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_FW_MOT_OFFID 34
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_MOT_ID 123456
|
||||
param set VT_FW_MOT_OFFID 56
|
||||
param set VT_TILT_MC 0.08
|
||||
param set VT_TILT_TRANS 0.5
|
||||
param set VT_TILT_FW 0.9
|
||||
param set VT_ELEV_MC_LOCK 0
|
||||
param set VT_TYPE 1
|
||||
fi
|
||||
|
||||
param set-default VT_FW_MOT_OFFID 34
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_MOT_ID 123456
|
||||
param set-default VT_FW_MOT_OFFID 56
|
||||
param set-default VT_TILT_MC 0.08
|
||||
param set-default VT_TILT_TRANS 0.5
|
||||
param set-default VT_TILT_FW 0.9
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 1
|
||||
set MAV_TYPE 21
|
||||
|
||||
set MIXER firefly6
|
||||
|
||||
@@ -8,19 +8,23 @@
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_MAIN_MAX 2000
|
||||
param set PWM_MAIN_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 0
|
||||
param set VT_ELEV_MC_LOCK 1
|
||||
fi
|
||||
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_ELEV_MC_LOCK 1
|
||||
set MAV_TYPE 20
|
||||
|
||||
set MIXER quad_x_vtol
|
||||
|
||||
@@ -17,18 +17,22 @@
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_MAIN_MAX 2000
|
||||
param set PWM_MAIN_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 0
|
||||
param set VT_ELEV_MC_LOCK 1
|
||||
fi
|
||||
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_ELEV_MC_LOCK 1
|
||||
set MAV_TYPE 20
|
||||
|
||||
set MIXER quad_+_vtol
|
||||
|
||||
@@ -18,52 +18,56 @@
|
||||
# @output AUX5 Throttle
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_DIS5 950
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set PWM_MAIN_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set MC_ROLL_P 6
|
||||
param set MC_ROLLRATE_P 0.17
|
||||
param set MC_ROLLRATE_I 0.002
|
||||
param set MC_ROLLRATE_D 0.004
|
||||
param set MC_ROLLRATE_FF 0
|
||||
param set MC_PITCH_P 6
|
||||
param set MC_PITCHRATE_P 0.19
|
||||
param set MC_PITCHRATE_I 0.002
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_PITCHRATE_FF 0
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.22
|
||||
param set MC_YAWRATE_I 0.02
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_FF 0
|
||||
param set MC_YAWRATE_MAX 40
|
||||
|
||||
param set-default MC_ROLL_P 6
|
||||
param set-default MC_ROLLRATE_P 0.17
|
||||
param set-default MC_ROLLRATE_I 0.002
|
||||
param set-default MC_ROLLRATE_D 0.004
|
||||
param set-default MC_ROLLRATE_FF 0
|
||||
param set-default MC_PITCH_P 6
|
||||
param set-default MC_PITCHRATE_P 0.19
|
||||
param set-default MC_PITCHRATE_I 0.002
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
param set-default MC_PITCHRATE_FF 0
|
||||
param set-default MC_YAW_P 2.8
|
||||
param set-default MC_YAWRATE_P 0.22
|
||||
param set-default MC_YAWRATE_I 0.02
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
param set-default MC_YAWRATE_MAX 40
|
||||
param set MPC_YAWRAUTO_MAX 40
|
||||
|
||||
param set-default MPC_YAWRAUTO_MAX 40
|
||||
param set FW_PR_FF 0.5
|
||||
param set FW_PR_I 0.02
|
||||
param set FW_PR_IMAX 0.4
|
||||
param set FW_PR_P 0.08
|
||||
param set FW_RR_FF 0.6
|
||||
param set FW_RR_I 0.01
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.05
|
||||
param set FW_THR_CRUISE 0.75
|
||||
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.02
|
||||
param set-default FW_PR_IMAX 0.4
|
||||
param set-default FW_PR_P 0.08
|
||||
param set-default FW_RR_FF 0.6
|
||||
param set-default FW_RR_I 0.01
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
param set-default FW_RR_P 0.05
|
||||
param set-default FW_THR_CRUISE 0.75
|
||||
param set VT_ARSP_BLEND 6
|
||||
param set VT_ARSP_TRANS 12
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 2
|
||||
fi
|
||||
|
||||
param set-default VT_ARSP_BLEND 6
|
||||
param set-default VT_ARSP_TRANS 12
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -16,42 +16,46 @@
|
||||
# @output AUX3 Motor
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_ROLL_P 6.5
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLLRATE_I 0.01
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_ROLLRATE_FF 0
|
||||
param set MC_PITCH_P 6.5
|
||||
param set MC_PITCHRATE_P 0.15
|
||||
param set MC_PITCHRATE_I 0.01
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_PITCHRATE_FF 0
|
||||
param set MC_YAW_P 3.5
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_FF 0
|
||||
param set MC_YAWRATE_MAX 50
|
||||
|
||||
param set-default MC_ROLL_P 6.5
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_I 0.01
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
param set-default MC_ROLLRATE_FF 0
|
||||
param set-default MC_PITCH_P 6.5
|
||||
param set-default MC_PITCHRATE_P 0.15
|
||||
param set-default MC_PITCHRATE_I 0.01
|
||||
param set-default MC_PITCHRATE_D 0.003
|
||||
param set-default MC_PITCHRATE_FF 0
|
||||
param set-default MC_YAW_P 3.5
|
||||
param set-default MC_YAWRATE_P 0.2
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
param set-default MC_YAWRATE_MAX 50
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P_ACC 2
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_YAWRAUTO_MAX 20
|
||||
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 2
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_YAWRAUTO_MAX 20
|
||||
param set PWM_AUX_DIS3 950
|
||||
param set PWM_MAIN_RATE 400
|
||||
|
||||
param set-default PWM_AUX_DIS3 950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 2
|
||||
fi
|
||||
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -8,39 +8,43 @@
|
||||
# @maintainer Sander Smeets <sander@droneslab.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_ROLL_P 7
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLLRATE_I 0.002
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_ROLLRATE_FF 0
|
||||
param set MC_PITCH_P 7
|
||||
param set MC_PITCHRATE_P 0.12
|
||||
param set MC_PITCHRATE_I 0.002
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_PITCHRATE_FF 0
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.22
|
||||
param set MC_YAWRATE_I 0.02
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_FF 0
|
||||
param set MC_YAWRATE_MAX 40
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_I 0.002
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
param set-default MC_ROLLRATE_FF 0
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.12
|
||||
param set-default MC_PITCHRATE_I 0.002
|
||||
param set-default MC_PITCHRATE_D 0.003
|
||||
param set-default MC_PITCHRATE_FF 0
|
||||
param set-default MC_YAW_P 2.8
|
||||
param set-default MC_YAWRATE_P 0.22
|
||||
param set-default MC_YAWRATE_I 0.02
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
param set-default MC_YAWRATE_MAX 40
|
||||
param set MPC_YAWRAUTO_MAX 40
|
||||
|
||||
param set-default MPC_YAWRAUTO_MAX 40
|
||||
param set PWM_AUX_DIS5 950
|
||||
param set PWM_MAIN_RATE 400
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 2
|
||||
fi
|
||||
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -8,56 +8,60 @@
|
||||
# @maintainer Sander Smeets <sander@droneslab.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_THR_CRUISE 65
|
||||
param set FW_PR_P 0.08
|
||||
param set FW_PR_FF 0.5
|
||||
param set FW_RR_P 0.05
|
||||
param set FW_RR_FF 0.6
|
||||
|
||||
param set-default FW_THR_CRUISE 65
|
||||
param set-default FW_PR_P 0.08
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_RR_P 0.05
|
||||
param set-default FW_RR_FF 0.6
|
||||
param set MIS_YAW_TMT 10
|
||||
|
||||
param set-default MIS_YAW_TMT 10
|
||||
param set MC_ROLL_P 7
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLLRATE_I 0.1
|
||||
param set MC_ROLLRATE_D 0.004
|
||||
param set MC_ROLLRATE_FF 0
|
||||
param set MC_PITCH_P 7
|
||||
param set MC_PITCHRATE_P 0.15
|
||||
param set MC_PITCHRATE_I 0.1
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_PITCHRATE_FF 0
|
||||
param set MC_YAW_P 3.5
|
||||
param set MC_YAWRATE_P 0.6
|
||||
param set MC_YAWRATE_I 0.04
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_FF 0
|
||||
param set MC_YAWRATE_MAX 40
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_I 0.1
|
||||
param set-default MC_ROLLRATE_D 0.004
|
||||
param set-default MC_ROLLRATE_FF 0
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.15
|
||||
param set-default MC_PITCHRATE_I 0.1
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
param set-default MC_PITCHRATE_FF 0
|
||||
param set-default MC_YAW_P 3.5
|
||||
param set-default MC_YAWRATE_P 0.6
|
||||
param set-default MC_YAWRATE_I 0.04
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
param set-default MC_YAWRATE_MAX 40
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_Z_VEL_MAX_DN 1.5
|
||||
param set MPC_TKO_SPEED 1.5
|
||||
param set MPC_LAND_SPEED 0.8
|
||||
param set MPC_YAWRAUTO_MAX 40
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_Z_VEL_MAX_DN 1.5
|
||||
param set-default MPC_TKO_SPEED 1.5
|
||||
param set-default MPC_LAND_SPEED 0.8
|
||||
param set-default MPC_YAWRAUTO_MAX 40
|
||||
param set PWM_AUX_DIS5 950
|
||||
param set PWM_AUX_REV1 1
|
||||
param set PWM_AUX_REV2 1
|
||||
param set PWM_MAIN_RATE 400
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set-default PWM_AUX_REV1 1
|
||||
param set-default PWM_AUX_REV2 1
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_ARSP_TRANS 15
|
||||
param set VT_ARSP_BLEND 8
|
||||
param set VT_B_TRANS_DUR 4
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_TYPE 2
|
||||
fi
|
||||
|
||||
param set-default VT_ARSP_TRANS 15
|
||||
param set-default VT_ARSP_BLEND 8
|
||||
param set-default VT_B_TRANS_DUR 4
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -8,77 +8,81 @@
|
||||
# @maintainer Andreas Antener <andreas@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MAX 22
|
||||
param set FW_AIRSPD_MIN 14
|
||||
param set FW_AIRSPD_TRIM 16
|
||||
param set FW_L1_PERIOD 25
|
||||
param set FW_PR_P 0.060
|
||||
param set FW_P_RMAX_NEG 40
|
||||
param set FW_P_RMAX_POS 40
|
||||
param set FW_RR_FF 0.4
|
||||
param set FW_RR_P 0.04
|
||||
param set FW_R_RMAX 40
|
||||
|
||||
param set-default FW_AIRSPD_MAX 22
|
||||
param set-default FW_AIRSPD_MIN 14
|
||||
param set-default FW_AIRSPD_TRIM 16
|
||||
param set-default FW_L1_PERIOD 25
|
||||
param set-default FW_PR_P 0.060
|
||||
param set-default FW_P_RMAX_NEG 40
|
||||
param set-default FW_P_RMAX_POS 40
|
||||
param set-default FW_RR_FF 0.4
|
||||
param set-default FW_RR_P 0.04
|
||||
param set-default FW_R_RMAX 40
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_PITCHRATE_I 0
|
||||
param set MC_PITCHRATE_MAX 60
|
||||
param set MC_PITCHRATE_P 0.21
|
||||
param set MC_PITCH_P 4
|
||||
param set MC_ROLLRATE_D 0.004
|
||||
param set MC_ROLLRATE_I 0.002
|
||||
param set MC_ROLLRATE_MAX 60
|
||||
param set MC_ROLLRATE_P 0.24
|
||||
param set MC_ROLL_P 4
|
||||
param set MC_YAWRATE_I 0.02
|
||||
param set MC_YAWRATE_MAX 40
|
||||
param set MC_YAWRATE_P 0.18
|
||||
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
param set-default MC_PITCHRATE_I 0
|
||||
param set-default MC_PITCHRATE_MAX 60
|
||||
param set-default MC_PITCHRATE_P 0.21
|
||||
param set-default MC_PITCH_P 4
|
||||
param set-default MC_ROLLRATE_D 0.004
|
||||
param set-default MC_ROLLRATE_I 0.002
|
||||
param set-default MC_ROLLRATE_MAX 60
|
||||
param set-default MC_ROLLRATE_P 0.24
|
||||
param set-default MC_ROLL_P 4
|
||||
param set-default MC_YAWRATE_I 0.02
|
||||
param set-default MC_YAWRATE_MAX 40
|
||||
param set-default MC_YAWRATE_P 0.18
|
||||
param set MIS_TAKEOFF_ALT 2.5
|
||||
param set MIS_YAW_TMT 20
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 2.5
|
||||
param set-default MIS_YAW_TMT 20
|
||||
param set MPC_ACC_HOR_MAX 1
|
||||
param set MPC_HOLD_MAX_XY 0.5
|
||||
param set MPC_HOLD_MAX_Z 0.5
|
||||
param set MPC_LAND_SPEED 1
|
||||
param set MPC_MANTHR_MIN 0.05
|
||||
param set MPC_MAN_Y_MAX 120
|
||||
param set MPC_THR_MIN 0.07
|
||||
param set MPC_TILTMAX_AIR 35
|
||||
param set MPC_TILTMAX_LND 20
|
||||
param set MPC_TKO_SPEED 1
|
||||
param set MPC_XY_P 0.3
|
||||
param set MPC_XY_VEL_MAX 3
|
||||
param set MPC_XY_VEL_P_ACC 1
|
||||
param set MPC_Z_P 0.5
|
||||
param set MPC_Z_VEL_P_ACC 2
|
||||
param set MPC_YAWRAUTO_MAX 40
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 1
|
||||
param set-default MPC_HOLD_MAX_XY 0.5
|
||||
param set-default MPC_HOLD_MAX_Z 0.5
|
||||
param set-default MPC_LAND_SPEED 1
|
||||
param set-default MPC_MANTHR_MIN 0.05
|
||||
param set-default MPC_MAN_Y_MAX 120
|
||||
param set-default MPC_THR_MIN 0.07
|
||||
param set-default MPC_TILTMAX_AIR 35
|
||||
param set-default MPC_TILTMAX_LND 20
|
||||
param set-default MPC_TKO_SPEED 1
|
||||
param set-default MPC_XY_P 0.3
|
||||
param set-default MPC_XY_VEL_MAX 3
|
||||
param set-default MPC_XY_VEL_P_ACC 1
|
||||
param set-default MPC_Z_P 0.5
|
||||
param set-default MPC_Z_VEL_P_ACC 2
|
||||
param set-default MPC_YAWRAUTO_MAX 40
|
||||
param set NAV_ACC_RAD 3
|
||||
|
||||
param set-default NAV_ACC_RAD 3
|
||||
param set PWM_AUX_REV1 1
|
||||
param set PWM_AUX_REV2 1
|
||||
param set PWM_AUX_REV3 1
|
||||
param set PWM_AUX_REV4 1
|
||||
|
||||
param set-default PWM_AUX_REV1 1
|
||||
param set-default PWM_AUX_REV2 1
|
||||
param set-default PWM_AUX_REV3 1
|
||||
param set-default PWM_AUX_REV4 1
|
||||
param set PWM_AUX_DIS5 950
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set PWM_MAIN_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_ARSP_TRANS 15
|
||||
param set VT_B_TRANS_DUR 4
|
||||
param set VT_F_TRANS_THR 0.6
|
||||
param set VT_IDLE_PWM_MC 1180
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_TRANS_MIN_TM 5
|
||||
param set VT_TRANS_TIMEOUT 30
|
||||
param set VT_TYPE 2
|
||||
|
||||
param set-default VT_ARSP_TRANS 15
|
||||
param set-default VT_B_TRANS_DUR 4
|
||||
param set-default VT_F_TRANS_THR 0.6
|
||||
param set-default VT_IDLE_PWM_MC 1180
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_TRANS_MIN_TM 5
|
||||
param set-default VT_TRANS_TIMEOUT 30
|
||||
param set-default VT_TYPE 2
|
||||
fi
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
|
||||
@@ -8,28 +8,32 @@
|
||||
# @maintainer Samay Siga <samay_s@icloud.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_DISARMED 1000
|
||||
param set PWM_AUX_MAX 2000
|
||||
param set PWM_AUX_MIN 1000
|
||||
param set PWM_AUX_RATE 50
|
||||
|
||||
param set-default PWM_AUX_DISARM 1000
|
||||
param set-default PWM_AUX_MAX 2000
|
||||
param set-default PWM_AUX_MIN 1000
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set PWM_MAIN_MAX 2000
|
||||
param set PWM_MAIN_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 13
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TILT_FW 0.9
|
||||
param set VT_TILT_MC 0.08
|
||||
param set VT_TILT_TRANS 0.5
|
||||
param set VT_ELEV_MC_LOCK 0
|
||||
param set VT_TYPE 1
|
||||
fi
|
||||
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 13
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TILT_FW 0.9
|
||||
param set-default VT_TILT_MC 0.08
|
||||
param set-default VT_TILT_TRANS 0.5
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 1
|
||||
set MAV_TYPE 21
|
||||
|
||||
set MIXER claire
|
||||
|
||||
@@ -17,68 +17,72 @@
|
||||
# @output MAIN8 Elevon left
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set FW_ARSP_MODE 1
|
||||
|
||||
param set-default FW_ARSP_MODE 1
|
||||
param set FW_L1_PERIOD 17
|
||||
param set FW_MAN_R_MAX 50
|
||||
param set FW_ACRO_X_MAX 270
|
||||
param set FW_ACRO_Y_MAX 270
|
||||
param set FW_ACRO_Z_MAX 180
|
||||
param set FW_PR_FF 0.5
|
||||
param set FW_PR_P 0.08
|
||||
param set FW_PSP_OFF 5
|
||||
param set FW_P_LIM_MAX 30
|
||||
param set FW_P_LIM_MIN -30
|
||||
param set FW_P_RMAX_NEG 60
|
||||
param set FW_P_RMAX_POS 60
|
||||
param set FW_RR_FF 0.33
|
||||
param set FW_RR_P 0.11
|
||||
param set FW_YR_FF 0.3
|
||||
param set FW_YR_P 0.05
|
||||
|
||||
param set-default FW_L1_PERIOD 17
|
||||
param set-default FW_MAN_R_MAX 50
|
||||
param set-default FW_ACRO_X_MAX 270
|
||||
param set-default FW_ACRO_Y_MAX 270
|
||||
param set-default FW_ACRO_Z_MAX 180
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_P 0.08
|
||||
param set-default FW_PSP_OFF 5
|
||||
param set-default FW_P_LIM_MAX 30
|
||||
param set-default FW_P_LIM_MIN -30
|
||||
param set-default FW_P_RMAX_NEG 60
|
||||
param set-default FW_P_RMAX_POS 60
|
||||
param set-default FW_RR_FF 0.33
|
||||
param set-default FW_RR_P 0.11
|
||||
param set-default FW_YR_FF 0.3
|
||||
param set-default FW_YR_P 0.05
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_PITCHRATE_P 0.15
|
||||
param set MC_PITCH_P 6
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLL_P 6
|
||||
param set MC_YAWRATE_MAX 120
|
||||
param set MC_YAWRATE_P 0.27
|
||||
param set MC_YAW_P 2.5
|
||||
|
||||
param set-default MC_PITCHRATE_D 0.003
|
||||
param set-default MC_PITCHRATE_P 0.15
|
||||
param set-default MC_PITCH_P 6
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLL_P 6
|
||||
param set-default MC_YAWRATE_MAX 120
|
||||
param set-default MC_YAWRATE_P 0.27
|
||||
param set-default MC_YAW_P 2.5
|
||||
param set MC_YAWRATE_P 0.3
|
||||
param set MPC_LAND_SPEED 1.2
|
||||
param set MPC_TKO_SPEED 2.5
|
||||
param set MPC_Z_VEL_MAX_UP 3
|
||||
|
||||
param set-default MC_YAWRATE_P 0.3
|
||||
param set-default MPC_LAND_SPEED 1.2
|
||||
param set-default MPC_TKO_SPEED 2.5
|
||||
param set-default MPC_Z_VEL_MAX_UP 3
|
||||
param set PWM_MAIN_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set SENS_BOARD_ROT 8
|
||||
|
||||
param set-default SENS_BOARD_ROT 8
|
||||
param set VT_B_TRANS_DUR 1
|
||||
param set VT_F_TRANS_DUR 1.2
|
||||
param set VT_F_TR_OL_TM 4
|
||||
param set VT_FW_DIFTHR_EN 1
|
||||
param set VT_FW_DIFTHR_SC 0.17
|
||||
param set VT_FW_MOT_OFFID 3
|
||||
param set VT_FW_PERM_STAB 0
|
||||
param set VT_IDLE_PWM_MC 1200
|
||||
param set VT_MOT_ID 123
|
||||
param set VT_TILT_FW 1
|
||||
param set VT_TILT_MC 0
|
||||
param set VT_TILT_TRANS 0.45
|
||||
param set VT_TRANS_MIN_TM 1.2
|
||||
param set VT_TRANS_P2_DUR 1.3
|
||||
param set VT_ELEV_MC_LOCK 0
|
||||
param set VT_TYPE 1
|
||||
fi
|
||||
|
||||
param set-default VT_B_TRANS_DUR 1
|
||||
param set-default VT_F_TRANS_DUR 1.2
|
||||
param set-default VT_F_TR_OL_TM 4
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_SC 0.17
|
||||
param set-default VT_FW_MOT_OFFID 3
|
||||
param set-default VT_FW_PERM_STAB 0
|
||||
param set-default VT_IDLE_PWM_MC 1200
|
||||
param set-default VT_MOT_ID 123
|
||||
param set-default VT_TILT_FW 1
|
||||
param set-default VT_TILT_MC 0
|
||||
param set-default VT_TILT_TRANS 0.45
|
||||
param set-default VT_TRANS_MIN_TM 1.2
|
||||
param set-default VT_TRANS_P2_DUR 1.3
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 1
|
||||
set MAV_TYPE 21
|
||||
|
||||
set MIXER vtol_convergence
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user