mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-25 16:07:34 +08:00
Compare commits
2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
58006c0a93 | ||
|
Daniel Agar
|
4e6f366ead |
+12
-5
@@ -9,10 +9,10 @@ pipeline {
|
||||
script {
|
||||
def build_nodes = [:]
|
||||
def docker_images = [
|
||||
armhf: "px4io/px4-dev-armhf:2021-04-29",
|
||||
arm64: "px4io/px4-dev-aarch64:2021-04-29",
|
||||
base: "px4io/px4-dev-base-bionic:2021-04-29",
|
||||
nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
|
||||
armhf: "px4io/px4-dev-armhf:2021-02-04",
|
||||
arm64: "px4io/px4-dev-aarch64:2021-02-04",
|
||||
base: "px4io/px4-dev-base-bionic:2021-02-04",
|
||||
nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
|
||||
snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
|
||||
]
|
||||
|
||||
@@ -45,12 +45,17 @@ pipeline {
|
||||
"cuav_can-gps-v1_canbootloader",
|
||||
"cuav_can-gps-v1_default",
|
||||
"cuav_nora_default",
|
||||
"cuav_nora_test",
|
||||
"cuav_x7pro_default",
|
||||
"cuav_x7pro_test",
|
||||
"cubepilot_cubeorange_console",
|
||||
"cubepilot_cubeorange_default",
|
||||
"cubepilot_cubeyellow_console",
|
||||
"cubepilot_cubeyellow_default",
|
||||
"holybro_can-gps-v1_canbootloader",
|
||||
"holybro_can-gps-v1_default",
|
||||
"holybro_durandal-v1_default",
|
||||
"holybro_durandal-v1_test",
|
||||
"holybro_kakutef7_default",
|
||||
"holybro_pix32v5_default",
|
||||
"modalai_fc-v1_default",
|
||||
@@ -76,6 +81,7 @@ pipeline {
|
||||
"px4_fmu-v2_fixedwing",
|
||||
"px4_fmu-v2_multicopter",
|
||||
"px4_fmu-v2_rover",
|
||||
"px4_fmu-v2_test",
|
||||
"px4_fmu-v3_default",
|
||||
"px4_fmu-v4_cannode",
|
||||
"px4_fmu-v4_default",
|
||||
@@ -94,6 +100,7 @@ pipeline {
|
||||
"px4_fmu-v5x_base_phy_DP83848C",
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||||
"px4_fmu-v5x_default",
|
||||
"px4_fmu-v6u_default",
|
||||
"px4_fmu-v6u_test",
|
||||
"px4_fmu-v6x_default",
|
||||
"px4_io-v2_default",
|
||||
"spracing_h7extreme_default",
|
||||
@@ -130,7 +137,7 @@ pipeline {
|
||||
// TODO: actually upload artifacts to S3
|
||||
// stage('S3 Upload') {
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||||
// agent {
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||||
// docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
// docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
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||||
// }
|
||||
// options {
|
||||
// skipDefaultCheckout()
|
||||
|
||||
+106
-56
@@ -7,12 +7,12 @@ pipeline {
|
||||
|
||||
parallel {
|
||||
|
||||
stage("cubepilot_cubeorange_test") {
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||||
stage("cubepilot_cubeorange_console") {
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||||
stages {
|
||||
stage("build cubepilot_cubeorange_test") {
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||||
stage("build cubepilot_cubeorange_console") {
|
||||
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'
|
||||
}
|
||||
}
|
||||
@@ -22,10 +22,10 @@ pipeline {
|
||||
sh 'make distclean'
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sh 'ccache -s'
|
||||
sh 'git fetch --tags'
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sh 'make cubepilot_cubeorange_test'
|
||||
sh 'make cubepilot_cubeorange_console'
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sh 'make sizes'
|
||||
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/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_console'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -42,9 +42,9 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
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||||
unstash 'cubepilot_cubeorange_test'
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||||
unstash 'cubepilot_cubeorange_console'
|
||||
// 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'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
@@ -89,7 +89,7 @@ pipeline {
|
||||
stage("build cuav_x7pro_test") {
|
||||
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'
|
||||
}
|
||||
}
|
||||
@@ -160,12 +160,64 @@ 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'
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||||
// }
|
||||
// }
|
||||
// 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'
|
||||
}
|
||||
}
|
||||
@@ -175,10 +227,10 @@ pipeline {
|
||||
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/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -195,9 +247,9 @@ 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") {
|
||||
@@ -236,12 +288,12 @@ 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'
|
||||
}
|
||||
}
|
||||
@@ -251,10 +303,10 @@ pipeline {
|
||||
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/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -271,9 +323,9 @@ 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") {
|
||||
@@ -312,12 +364,12 @@ 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'
|
||||
}
|
||||
}
|
||||
@@ -327,10 +379,10 @@ pipeline {
|
||||
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/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -347,9 +399,9 @@ 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") {
|
||||
@@ -388,12 +440,12 @@ 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'
|
||||
}
|
||||
}
|
||||
@@ -403,10 +455,10 @@ pipeline {
|
||||
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/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -423,9 +475,9 @@ 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") {
|
||||
@@ -469,7 +521,7 @@ 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'
|
||||
}
|
||||
}
|
||||
@@ -549,7 +601,7 @@ 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'
|
||||
}
|
||||
}
|
||||
@@ -625,7 +677,7 @@ 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'
|
||||
}
|
||||
}
|
||||
@@ -700,12 +752,12 @@ 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'
|
||||
}
|
||||
}
|
||||
@@ -715,10 +767,10 @@ pipeline {
|
||||
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/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -735,9 +787,9 @@ 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") {
|
||||
@@ -781,7 +833,7 @@ pipeline {
|
||||
stage("build holybro_durandal-v1_test") {
|
||||
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'
|
||||
}
|
||||
}
|
||||
@@ -853,12 +905,12 @@ 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'
|
||||
}
|
||||
}
|
||||
@@ -868,10 +920,10 @@ pipeline {
|
||||
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/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -888,9 +940,9 @@ 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") {
|
||||
@@ -978,7 +1030,6 @@ void statusFTDI() {
|
||||
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"'
|
||||
@@ -990,7 +1041,6 @@ void statusFTDI() {
|
||||
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"'
|
||||
|
||||
@@ -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:2021-02-04",
|
||||
|
||||
"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:2021-02-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-clang:2021-04-29
|
||||
container: px4io/px4-dev-clang:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-armhf:2021-04-29
|
||||
container: px4io/px4-dev-armhf:2021-02-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-aarch64:2021-04-29
|
||||
container: px4io/px4-dev-aarch64:2021-02-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -4,7 +4,6 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
- 'github-actions'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
@@ -12,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-nuttx-focal:2021-02-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
@@ -27,16 +26,19 @@ jobs:
|
||||
cuav_can-gps-v1_debug,
|
||||
cuav_can-gps-v1_default,
|
||||
cuav_nora_default,
|
||||
cuav_nora_test,
|
||||
cuav_x7pro_default,
|
||||
cuav_x7pro_test,
|
||||
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_durandal-v1_test,
|
||||
holybro_kakutef7_default,
|
||||
holybro_pix32v5_default,
|
||||
modalai_fc-v1_default,
|
||||
@@ -62,6 +64,7 @@ jobs:
|
||||
px4_fmu-v2_fixedwing,
|
||||
px4_fmu-v2_multicopter,
|
||||
px4_fmu-v2_rover,
|
||||
px4_fmu-v2_test,
|
||||
px4_fmu-v3_default,
|
||||
px4_fmu-v4_cannode,
|
||||
px4_fmu-v4_default,
|
||||
@@ -80,6 +83,7 @@ jobs:
|
||||
px4_fmu-v5x_base_phy_DP83848C,
|
||||
px4_fmu-v5x_default,
|
||||
px4_fmu-v6u_default,
|
||||
px4_fmu-v6u_test,
|
||||
px4_fmu-v6x_default,
|
||||
px4_io-v2_default,
|
||||
spracing_h7extreme_default,
|
||||
@@ -124,8 +128,6 @@ 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
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-nuttx-focal:2021-02-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -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 }}
|
||||
@@ -23,7 +23,7 @@ jobs:
|
||||
needs: enumerate_targets
|
||||
strategy:
|
||||
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -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:2021-02-04
|
||||
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 = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.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:2021-02-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -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:2021-02-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -11,7 +11,7 @@ jobs:
|
||||
|
||||
airframe:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -26,7 +26,7 @@ jobs:
|
||||
|
||||
module:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -41,7 +41,7 @@ jobs:
|
||||
|
||||
parameter:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -65,7 +65,7 @@ jobs:
|
||||
|
||||
uorb_graph:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-nuttx-focal:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -80,7 +80,7 @@ jobs:
|
||||
|
||||
micrortps_agent:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -94,7 +94,7 @@ jobs:
|
||||
|
||||
ROS_msgs:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -107,7 +107,7 @@ jobs:
|
||||
|
||||
ROS2_bridge:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
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:2021-02-04
|
||||
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_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.38.0/mavsdk_0.38.0_ubuntu20.04_amd64.deb
|
||||
- name: Install MAVSDK
|
||||
run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
run: dpkg -i mavsdk_0.38.0_ubuntu20.04_amd64.deb
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
|
||||
+3
-7
@@ -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
|
||||
@@ -59,11 +59,7 @@
|
||||
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
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types
|
||||
[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
|
||||
url = https://github.com/UAVCAN/libcanard
|
||||
|
||||
Vendored
+2
-2
@@ -96,11 +96,11 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_x7pro_default
|
||||
cubepilot_cubeorange_test:
|
||||
cubepilot_cubeorange_console:
|
||||
short: cubepilot_cubeorange
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_orange_test
|
||||
CONFIG: cubepilot_orange_console
|
||||
emlid_navio2_default:
|
||||
short: emlid_navio2
|
||||
buildType: MinSizeRel
|
||||
|
||||
@@ -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)
|
||||
|
||||
-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:$PATH"
|
||||
|
||||
# SITL UDP PORTS
|
||||
EXPOSE 14556/udp
|
||||
EXPOSE 14557/udp
|
||||
|
||||
# create and start as LOCAL_USER_ID
|
||||
COPY Tools/setup/entrypoint.sh /usr/local/bin/entrypoint.sh
|
||||
ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
|
||||
|
||||
CMD ["/bin/bash"]
|
||||
Vendored
+12
-12
@@ -15,7 +15,7 @@ pipeline {
|
||||
// stage('Catkin build on ROS workspace') {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-ros-melodic:2021-04-29'
|
||||
// image 'px4io/px4-dev-ros-melodic:2021-02-04'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
// }
|
||||
// }
|
||||
@@ -56,7 +56,7 @@ pipeline {
|
||||
stage('Colcon build on ROS2 workspace') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros2-foxy:2021-04-29'
|
||||
image 'px4io/px4-dev-ros2-foxy:2021-02-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
@@ -85,7 +85,7 @@ pipeline {
|
||||
|
||||
stage('Airframe') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
@@ -105,7 +105,7 @@ pipeline {
|
||||
|
||||
stage('Parameter') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
@@ -125,7 +125,7 @@ pipeline {
|
||||
|
||||
stage('Module') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
@@ -146,7 +146,7 @@ pipeline {
|
||||
stage('uORB graphs') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-02-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -176,7 +176,7 @@ pipeline {
|
||||
|
||||
stage('Userguide') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -206,7 +206,7 @@ pipeline {
|
||||
|
||||
stage('QGroundControl') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -234,7 +234,7 @@ pipeline {
|
||||
|
||||
stage('microRTPS agent') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -264,7 +264,7 @@ pipeline {
|
||||
|
||||
stage('PX4 ROS msgs') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -293,7 +293,7 @@ pipeline {
|
||||
|
||||
stage('PX4 ROS2 bridge') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -336,7 +336,7 @@ pipeline {
|
||||
|
||||
stage('S3') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
|
||||
@@ -469,7 +469,6 @@ validate_module_configs:
|
||||
|
||||
clean:
|
||||
@rm -rf "$(SRC_DIR)"/build
|
||||
@git submodule foreach git clean -df
|
||||
|
||||
submodulesclean:
|
||||
@git submodule foreach --quiet --recursive git clean -ff -x -d
|
||||
@@ -487,7 +486,7 @@ gazeboclean:
|
||||
|
||||
distclean: gazeboclean
|
||||
@git submodule deinit -f .
|
||||
@git clean -ff -x -d -e ".cproject" -e ".idea" -e ".project" -e ".settings" -e ".vscode"
|
||||
@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
|
||||
|
||||
# Help / Error
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
@@ -17,7 +17,7 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of
|
||||
* [VTOL](https://docs.px4.io/master/en/frames_vtol/)
|
||||
* [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
|
||||
* [Rover](https://docs.px4.io/master/en/frames_rover/)
|
||||
* many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
|
||||
* many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
|
||||
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
|
||||
|
||||
|
||||
|
||||
@@ -34,9 +34,6 @@
|
||||
add_subdirectory(airframes)
|
||||
|
||||
px4_add_romfs_files(
|
||||
px4-rc.params
|
||||
px4-rc.simulator
|
||||
px4-rc.mavlink
|
||||
rc.replay
|
||||
rcS
|
||||
)
|
||||
|
||||
@@ -1,32 +0,0 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
udp_offboard_port_local=$((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 $simulator_tcp_port
|
||||
fi
|
||||
@@ -5,8 +5,7 @@
|
||||
# shellcheck disable=SC1091
|
||||
. px4-alias.sh
|
||||
|
||||
#search path for sourcing px4-rc.*
|
||||
PATH="$PATH:${R}etc/init.d-posix"
|
||||
SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
|
||||
|
||||
#
|
||||
# Main SITL startup script
|
||||
@@ -46,9 +45,9 @@ else
|
||||
# Find the matching Autostart ID (file name has the form: [0-9]+_${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: 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"
|
||||
@@ -105,6 +104,15 @@ 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=$((14030+px4_instance))
|
||||
udp_onboard_gimbal_port_local=$((13030+px4_instance))
|
||||
udp_onboard_gimbal_port_remote=$((13280+px4_instance))
|
||||
udp_gcs_port_local=$((18570+px4_instance))
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
@@ -208,14 +216,25 @@ fi
|
||||
# Simulator IMU data provided at 250 Hz
|
||||
param set IMU_INTEG_RATE 250
|
||||
|
||||
#user defined params for instances can be in PATH
|
||||
. px4-rc.params
|
||||
|
||||
dataman start
|
||||
# only start the simulator if not in replay mode, as both control the lockstep time
|
||||
if ! replay tryapplyparams
|
||||
then
|
||||
. px4-rc.simulator
|
||||
# Check if PX4_SIM_HOSTNAME environment variable is empty
|
||||
# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
|
||||
# If both are empty use localhost for simulator
|
||||
if [ -z "${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
|
||||
fi
|
||||
load_mon start
|
||||
battery_simulator start
|
||||
@@ -253,8 +272,32 @@ fi
|
||||
#
|
||||
. ${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"
|
||||
. ${R}etc/init.d-posix/rc.mavlink_override
|
||||
else
|
||||
# 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 $udp_onboard_gimbal_port_remote
|
||||
fi
|
||||
|
||||
# execute autostart post script if any
|
||||
[ -e "$autostart_file".post ] && . "$autostart_file".post
|
||||
|
||||
@@ -111,6 +111,5 @@ set MAV_TYPE 22
|
||||
set MIXER babyshark
|
||||
set MIXER_AUX pass
|
||||
|
||||
# Mark outputs for the alternate rate
|
||||
# or D-Shot
|
||||
set PWM_OUT 5678
|
||||
set PWM_AUX_OUT 1234
|
||||
|
||||
@@ -16,8 +16,6 @@ param set-default COM_POS_FS_EPV 30
|
||||
param set-default COM_POS_FS_GAIN 0
|
||||
param set-default COM_POS_FS_PROB 1
|
||||
param set-default COM_VEL_FS_EVH 5
|
||||
# Disable preflight disarm to not interfere with external launching
|
||||
param set-default COM_DISARM_PRFLT -1
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
|
||||
@@ -23,7 +23,6 @@ param set-default MPC_XY_ERR_MAX 5
|
||||
param set-default MPC_XY_VEL_MAX 4
|
||||
param set-default MPC_Z_VEL_MAX_DN 1.5
|
||||
param set-default MPC_JERK_MAX 4.5
|
||||
param set-default MPC_YAW_MODE 4
|
||||
|
||||
param set-default NAV_ACC_RAD 3
|
||||
|
||||
|
||||
@@ -59,7 +59,7 @@ if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; then
|
||||
fi
|
||||
fi
|
||||
|
||||
${DIR}/files_to_check_code_style.sh | xargs -P 8 -I % ${DIR}/check_code_style.sh %
|
||||
${DIR}/files_to_check_code_style.sh | xargs -n 1 -P 8 -I % ${DIR}/check_code_style.sh %
|
||||
|
||||
if [ $? -eq 0 ]; then
|
||||
echo "Format checks passed"
|
||||
|
||||
@@ -1,13 +0,0 @@
|
||||
custom_data_source: {
|
||||
name: "bloaty_static_ram"
|
||||
base_data_source: "sections"
|
||||
|
||||
rewrite: {
|
||||
pattern: "^\\.bss"
|
||||
replacement: "ram"
|
||||
}
|
||||
rewrite: {
|
||||
pattern: "^\\.data"
|
||||
replacement: "ram"
|
||||
}
|
||||
}
|
||||
+5
-3
@@ -2,7 +2,10 @@
|
||||
|
||||
if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
echo "guessing PX4_DOCKER_REPO based on input";
|
||||
if [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
|
||||
if [[ $@ =~ .*px4_fmu.* ]]; then
|
||||
# nuttx-px4fmu-v{1,2,3,4,5}
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-02-04"
|
||||
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
|
||||
# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
|
||||
elif [[ $@ =~ .*pilotpi.arm64 ]]; then
|
||||
@@ -27,7 +30,7 @@ fi
|
||||
|
||||
# otherwise default to nuttx
|
||||
if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
PX4_DOCKER_REPO="ghcr.io/px4/px4-dev:2021-05-06"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
|
||||
fi
|
||||
|
||||
# docker hygiene
|
||||
@@ -64,5 +67,4 @@ docker run -it --rm -w "${SRC_DIR}" \
|
||||
--publish 14556:14556/udp \
|
||||
--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
|
||||
--volume=${SRC_DIR}:${SRC_DIR}:rw \
|
||||
-v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY -h $HOSTNAME
|
||||
${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
|
||||
|
||||
+1
-1
Submodule Tools/jMAVSim updated: 2b610caab8...358b6cca40
@@ -1,4 +1,4 @@
|
||||
#! /usr/bin/env python3
|
||||
#! /usr/bin/env python
|
||||
|
||||
from __future__ import print_function
|
||||
|
||||
@@ -7,7 +7,6 @@ import os
|
||||
import math
|
||||
import matplotlib.pyplot as plt
|
||||
import numpy as np
|
||||
import scipy as sp
|
||||
|
||||
from pyulog import *
|
||||
|
||||
@@ -64,9 +63,6 @@ def resampleWithDeltaX(x,y):
|
||||
|
||||
return resampledX,resampledY
|
||||
|
||||
def median_filter(data):
|
||||
return sp.signal.medfilt(data, 31)
|
||||
|
||||
parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
|
||||
parser.add_argument('filename', metavar='file.ulg', help='ULog input file')
|
||||
parser.add_argument('--no_resample', dest='noResample', action='store_const',
|
||||
@@ -188,16 +184,12 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(gyro_0_params['TC_G0_TMIN']-gyro_0_params['TC_G0_TREF'], gyro_0_params['TC_G0_TMAX']-gyro_0_params['TC_G0_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + gyro_0_params['TC_G0_TREF']
|
||||
|
||||
sensor_gyro_0['x'] = median_filter(sensor_gyro_0['x'])
|
||||
sensor_gyro_0['y'] = median_filter(sensor_gyro_0['y'])
|
||||
sensor_gyro_0['z'] = median_filter(sensor_gyro_0['z'])
|
||||
|
||||
# fit X axis
|
||||
if noResample:
|
||||
coef_gyro_0_x = np.polyfit(temp_rel, sensor_gyro_0['x'], 3)
|
||||
coef_gyro_0_x = np.polyfit(temp_rel,sensor_gyro_0['x'],3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['x'])
|
||||
coef_gyro_0_x = np.polyfit(temp, sens, 3)
|
||||
temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['x'])
|
||||
coef_gyro_0_x = np.polyfit(temp, sens ,3)
|
||||
|
||||
gyro_0_params['TC_G0_X3_0'] = coef_gyro_0_x[0]
|
||||
gyro_0_params['TC_G0_X2_0'] = coef_gyro_0_x[1]
|
||||
@@ -208,10 +200,10 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
|
||||
|
||||
# fit Y axis
|
||||
if noResample:
|
||||
coef_gyro_0_y = np.polyfit(temp_rel, sensor_gyro_0['y'], 3)
|
||||
coef_gyro_0_y = np.polyfit(temp_rel,sensor_gyro_0['y'],3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['y'])
|
||||
coef_gyro_0_y = np.polyfit(temp, sens, 3)
|
||||
coef_gyro_0_y = np.polyfit(temp, sens ,3)
|
||||
|
||||
gyro_0_params['TC_G0_X3_1'] = coef_gyro_0_y[0]
|
||||
gyro_0_params['TC_G0_X2_1'] = coef_gyro_0_y[1]
|
||||
@@ -222,9 +214,9 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
|
||||
|
||||
# fit Z axis
|
||||
if noResample:
|
||||
coef_gyro_0_z = np.polyfit(temp_rel, sensor_gyro_0['z'],3)
|
||||
coef_gyro_0_z = np.polyfit(temp_rel,sensor_gyro_0['z'],3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['z'])
|
||||
temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['z'])
|
||||
coef_gyro_0_z = np.polyfit(temp, sens ,3)
|
||||
|
||||
gyro_0_params['TC_G0_X3_2'] = coef_gyro_0_z[0]
|
||||
@@ -300,10 +292,6 @@ if num_gyros >= 2 and not math.isnan(sensor_gyro_1['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(gyro_1_params['TC_G1_TMIN']-gyro_1_params['TC_G1_TREF'], gyro_1_params['TC_G1_TMAX']-gyro_1_params['TC_G1_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + gyro_1_params['TC_G1_TREF']
|
||||
|
||||
sensor_gyro_1['x'] = median_filter(sensor_gyro_1['x'])
|
||||
sensor_gyro_1['y'] = median_filter(sensor_gyro_1['y'])
|
||||
sensor_gyro_1['z'] = median_filter(sensor_gyro_1['z'])
|
||||
|
||||
# fit X axis
|
||||
if noResample:
|
||||
coef_gyro_1_x = np.polyfit(temp_rel,sensor_gyro_1['x'],3)
|
||||
@@ -412,10 +400,6 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(gyro_2_params['TC_G2_TMIN']-gyro_2_params['TC_G2_TREF'], gyro_2_params['TC_G2_TMAX']-gyro_2_params['TC_G2_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + gyro_2_params['TC_G2_TREF']
|
||||
|
||||
sensor_gyro_2['x'] = median_filter(sensor_gyro_2['x'])
|
||||
sensor_gyro_2['y'] = median_filter(sensor_gyro_2['y'])
|
||||
sensor_gyro_2['z'] = median_filter(sensor_gyro_2['z'])
|
||||
|
||||
# fit X axis
|
||||
if noResample:
|
||||
coef_gyro_2_x = np.polyfit(temp_rel,sensor_gyro_2['x'],3)
|
||||
@@ -432,10 +416,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
|
||||
|
||||
# fit Y axis
|
||||
if noResample:
|
||||
coef_gyro_2_y = np.polyfit(temp_rel, sensor_gyro_2['y'], 3)
|
||||
coef_gyro_2_y = np.polyfit(temp_rel,sensor_gyro_2['y'],3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_2['y'])
|
||||
coef_gyro_2_y = np.polyfit(temp, sens, 3)
|
||||
temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['y'])
|
||||
coef_gyro_2_y = np.polyfit(temp, sens ,3)
|
||||
|
||||
gyro_2_params['TC_G2_X3_1'] = coef_gyro_2_y[0]
|
||||
gyro_2_params['TC_G2_X2_1'] = coef_gyro_2_y[1]
|
||||
@@ -446,10 +430,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
|
||||
|
||||
# fit Z axis
|
||||
if noResample:
|
||||
coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'], 3)
|
||||
coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'],3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['z'])
|
||||
coef_gyro_2_z = np.polyfit(temp, sens, 3)
|
||||
coef_gyro_2_z = np.polyfit(temp, sens ,3)
|
||||
|
||||
gyro_2_params['TC_G2_X3_2'] = coef_gyro_2_z[0]
|
||||
gyro_2_params['TC_G2_X2_2'] = coef_gyro_2_z[1]
|
||||
@@ -524,12 +508,8 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(gyro_3_params['TC_G3_TMIN']-gyro_3_params['TC_G3_TREF'], gyro_3_params['TC_G3_TMAX']-gyro_3_params['TC_G3_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + gyro_3_params['TC_G3_TREF']
|
||||
|
||||
sensor_gyro_3['x'] = median_filter(sensor_gyro_3['x'])
|
||||
sensor_gyro_3['y'] = median_filter(sensor_gyro_3['y'])
|
||||
sensor_gyro_3['z'] = median_filter(sensor_gyro_3['z'])
|
||||
|
||||
# fit X axis
|
||||
coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'], 3)
|
||||
coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'],3)
|
||||
gyro_3_params['TC_G3_X3_0'] = coef_gyro_3_x[0]
|
||||
gyro_3_params['TC_G3_X2_0'] = coef_gyro_3_x[1]
|
||||
gyro_3_params['TC_G3_X1_0'] = coef_gyro_3_x[2]
|
||||
@@ -538,7 +518,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
|
||||
gyro_3_x_resample = fit_coef_gyro_3_x(temp_rel_resample)
|
||||
|
||||
# fit Y axis
|
||||
coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'], 3)
|
||||
coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'],3)
|
||||
gyro_3_params['TC_G3_X3_1'] = coef_gyro_3_y[0]
|
||||
gyro_3_params['TC_G3_X2_1'] = coef_gyro_3_y[1]
|
||||
gyro_3_params['TC_G3_X1_1'] = coef_gyro_3_y[2]
|
||||
@@ -547,7 +527,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
|
||||
gyro_3_y_resample = fit_coef_gyro_3_y(temp_rel_resample)
|
||||
|
||||
# fit Z axis
|
||||
coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'], 3)
|
||||
coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'],3)
|
||||
gyro_3_params['TC_G3_X3_2'] = coef_gyro_3_z[0]
|
||||
gyro_3_params['TC_G3_X2_2'] = coef_gyro_3_z[1]
|
||||
gyro_3_params['TC_G3_X1_2'] = coef_gyro_3_z[2]
|
||||
@@ -560,8 +540,8 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
|
||||
|
||||
# draw plots
|
||||
plt.subplot(3,1,1)
|
||||
plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'], 'b')
|
||||
plt.plot(temp_resample,gyro_3_x_resample, 'r')
|
||||
plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'],'b')
|
||||
plt.plot(temp_resample,gyro_3_x_resample,'r')
|
||||
plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_3_params['TC_G3_ID']))
|
||||
plt.ylabel('X bias (rad/s)')
|
||||
plt.xlabel('temperature (degC)')
|
||||
@@ -621,17 +601,13 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(accel_0_params['TC_A0_TMIN']-accel_0_params['TC_A0_TREF'], accel_0_params['TC_A0_TMAX']-accel_0_params['TC_A0_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + accel_0_params['TC_A0_TREF']
|
||||
|
||||
sensor_accel_0['x'] = median_filter(sensor_accel_0['x'])
|
||||
sensor_accel_0['y'] = median_filter(sensor_accel_0['y'])
|
||||
sensor_accel_0['z'] = median_filter(sensor_accel_0['z'])
|
||||
|
||||
# fit X axis
|
||||
correction_x = sensor_accel_0['x'] - np.median(sensor_accel_0['x'])
|
||||
if noResample:
|
||||
coef_accel_0_x = np.polyfit(temp_rel,correction_x, 3)
|
||||
coef_accel_0_x = np.polyfit(temp_rel,correction_x,3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel,correction_x)
|
||||
coef_accel_0_x = np.polyfit(temp, sens, 3)
|
||||
coef_accel_0_x = np.polyfit(temp, sens ,3)
|
||||
|
||||
accel_0_params['TC_A0_X3_0'] = coef_accel_0_x[0]
|
||||
accel_0_params['TC_A0_X2_0'] = coef_accel_0_x[1]
|
||||
@@ -641,12 +617,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
|
||||
correction_x_resample = fit_coef_accel_0_x(temp_rel_resample)
|
||||
|
||||
# fit Y axis
|
||||
correction_y = sensor_accel_0['y'] - np.median(sensor_accel_0['y'])
|
||||
correction_y = sensor_accel_0['y']-np.median(sensor_accel_0['y'])
|
||||
if noResample:
|
||||
coef_accel_0_y = np.polyfit(temp_rel, correction_y, 3)
|
||||
coef_accel_0_y = np.polyfit(temp_rel,correction_y,3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel,correction_y)
|
||||
coef_accel_0_y = np.polyfit(temp, sens, 3)
|
||||
coef_accel_0_y = np.polyfit(temp, sens ,3)
|
||||
|
||||
accel_0_params['TC_A0_X3_1'] = coef_accel_0_y[0]
|
||||
accel_0_params['TC_A0_X2_1'] = coef_accel_0_y[1]
|
||||
@@ -656,12 +632,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
|
||||
correction_y_resample = fit_coef_accel_0_y(temp_rel_resample)
|
||||
|
||||
# fit Z axis
|
||||
correction_z = sensor_accel_0['z'] - np.median(sensor_accel_0['z'])
|
||||
correction_z = sensor_accel_0['z']-np.median(sensor_accel_0['z'])
|
||||
if noResample:
|
||||
coef_accel_0_z = np.polyfit(temp_rel,correction_z, 3)
|
||||
coef_accel_0_z = np.polyfit(temp_rel,correction_z,3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel,correction_z)
|
||||
coef_accel_0_z = np.polyfit(temp, sens, 3)
|
||||
coef_accel_0_z = np.polyfit(temp, sens ,3)
|
||||
|
||||
accel_0_params['TC_A0_X3_2'] = coef_accel_0_z[0]
|
||||
accel_0_params['TC_A0_X2_2'] = coef_accel_0_z[1]
|
||||
@@ -736,17 +712,13 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(accel_1_params['TC_A1_TMIN']-accel_1_params['TC_A1_TREF'], accel_1_params['TC_A1_TMAX']-accel_1_params['TC_A1_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + accel_1_params['TC_A1_TREF']
|
||||
|
||||
sensor_accel_1['x'] = median_filter(sensor_accel_1['x'])
|
||||
sensor_accel_1['y'] = median_filter(sensor_accel_1['y'])
|
||||
sensor_accel_1['z'] = median_filter(sensor_accel_1['z'])
|
||||
|
||||
# fit X axis
|
||||
correction_x = sensor_accel_1['x'] - np.median(sensor_accel_1['x'])
|
||||
correction_x = sensor_accel_1['x']-np.median(sensor_accel_1['x'])
|
||||
if noResample:
|
||||
coef_accel_1_x = np.polyfit(temp_rel, correction_x, 3)
|
||||
coef_accel_1_x = np.polyfit(temp_rel,correction_x,3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel, correction_x)
|
||||
coef_accel_1_x = np.polyfit(temp, sens, 3)
|
||||
temp, sens = resampleWithDeltaX(temp_rel,correction_x)
|
||||
coef_accel_1_x = np.polyfit(temp, sens ,3)
|
||||
|
||||
accel_1_params['TC_A1_X3_0'] = coef_accel_1_x[0]
|
||||
accel_1_params['TC_A1_X2_0'] = coef_accel_1_x[1]
|
||||
@@ -756,7 +728,7 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
|
||||
correction_x_resample = fit_coef_accel_1_x(temp_rel_resample)
|
||||
|
||||
# fit Y axis
|
||||
correction_y = sensor_accel_1['y'] - np.median(sensor_accel_1['y'])
|
||||
correction_y = sensor_accel_1['y']-np.median(sensor_accel_1['y'])
|
||||
if noResample:
|
||||
coef_accel_1_y = np.polyfit(temp_rel,correction_y,3)
|
||||
else:
|
||||
@@ -771,12 +743,12 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
|
||||
correction_y_resample = fit_coef_accel_1_y(temp_rel_resample)
|
||||
|
||||
# fit Z axis
|
||||
correction_z = sensor_accel_1['z'] - np.median(sensor_accel_1['z'])
|
||||
correction_z = (sensor_accel_1['z'])-np.median(sensor_accel_1['z'])
|
||||
if noResample:
|
||||
coef_accel_1_z = np.polyfit(temp_rel,correction_z, 3)
|
||||
coef_accel_1_z = np.polyfit(temp_rel,correction_z,3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel,correction_z)
|
||||
coef_accel_1_z = np.polyfit(temp, sens, 3)
|
||||
coef_accel_1_z = np.polyfit(temp, sens ,3)
|
||||
|
||||
accel_1_params['TC_A1_X3_2'] = coef_accel_1_z[0]
|
||||
accel_1_params['TC_A1_X2_2'] = coef_accel_1_z[1]
|
||||
@@ -852,17 +824,13 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(accel_2_params['TC_A2_TMIN']-accel_2_params['TC_A2_TREF'], accel_2_params['TC_A2_TMAX']-accel_2_params['TC_A2_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + accel_2_params['TC_A2_TREF']
|
||||
|
||||
sensor_accel_2['x'] = median_filter(sensor_accel_2['x'])
|
||||
sensor_accel_2['y'] = median_filter(sensor_accel_2['y'])
|
||||
sensor_accel_2['z'] = median_filter(sensor_accel_2['z'])
|
||||
|
||||
# fit X axis
|
||||
correction_x = sensor_accel_2['x'] - np.median(sensor_accel_2['x'])
|
||||
correction_x = sensor_accel_2['x']-np.median(sensor_accel_2['x'])
|
||||
if noResample:
|
||||
coef_accel_2_x = np.polyfit(temp_rel,correction_x, 3)
|
||||
coef_accel_2_x = np.polyfit(temp_rel,correction_x,3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel, correction_x)
|
||||
coef_accel_2_x = np.polyfit(temp, sens, 3)
|
||||
temp, sens = resampleWithDeltaX(temp_rel,correction_x)
|
||||
coef_accel_2_x = np.polyfit(temp, sens ,3)
|
||||
|
||||
accel_2_params['TC_A2_X3_0'] = coef_accel_2_x[0]
|
||||
accel_2_params['TC_A2_X2_0'] = coef_accel_2_x[1]
|
||||
@@ -872,7 +840,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
|
||||
correction_x_resample = fit_coef_accel_2_x(temp_rel_resample)
|
||||
|
||||
# fit Y axis
|
||||
correction_y = sensor_accel_2['y'] - np.median(sensor_accel_2['y'])
|
||||
correction_y = sensor_accel_2['y']-np.median(sensor_accel_2['y'])
|
||||
if noResample:
|
||||
coef_accel_2_y = np.polyfit(temp_rel,correction_y,3)
|
||||
else:
|
||||
@@ -887,7 +855,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
|
||||
correction_y_resample = fit_coef_accel_2_y(temp_rel_resample)
|
||||
|
||||
# fit Z axis
|
||||
correction_z = sensor_accel_2['z'] - np.median(sensor_accel_2['z'])
|
||||
correction_z = sensor_accel_2['z']-np.median(sensor_accel_2['z'])
|
||||
if noResample:
|
||||
coef_accel_2_z = np.polyfit(temp_rel,correction_z,3)
|
||||
else:
|
||||
@@ -967,13 +935,9 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(accel_3_params['TC_A3_TMIN']-accel_3_params['TC_A3_TREF'], accel_3_params['TC_A3_TMAX']-accel_3_params['TC_A3_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + accel_3_params['TC_A3_TREF']
|
||||
|
||||
sensor_accel_3['x'] = median_filter(sensor_accel_3['x'])
|
||||
sensor_accel_3['y'] = median_filter(sensor_accel_3['y'])
|
||||
sensor_accel_3['z'] = median_filter(sensor_accel_3['z'])
|
||||
|
||||
# fit X axis
|
||||
correction_x = sensor_accel_3['x'] - np.median(sensor_accel_3['x'])
|
||||
coef_accel_3_x = np.polyfit(temp_rel, correction_x, 3)
|
||||
correction_x = sensor_accel_3['x']-np.median(sensor_accel_3['x'])
|
||||
coef_accel_3_x = np.polyfit(temp_rel,correction_x,3)
|
||||
accel_3_params['TC_A3_X3_0'] = coef_accel_3_x[0]
|
||||
accel_3_params['TC_A3_X2_0'] = coef_accel_3_x[1]
|
||||
accel_3_params['TC_A3_X1_0'] = coef_accel_3_x[2]
|
||||
@@ -982,8 +946,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
|
||||
correction_x_resample = fit_coef_accel_3_x(temp_rel_resample)
|
||||
|
||||
# fit Y axis
|
||||
correction_y = sensor_accel_3['y'] - np.median(sensor_accel_3['y'])
|
||||
coef_accel_3_y = np.polyfit(temp_rel, correction_y, 3)
|
||||
correction_y = sensor_accel_3['y']-np.median(sensor_accel_3['y'])
|
||||
coef_accel_3_y = np.polyfit(temp_rel,correction_y,3)
|
||||
accel_3_params['TC_A3_X3_1'] = coef_accel_3_y[0]
|
||||
accel_3_params['TC_A3_X2_1'] = coef_accel_3_y[1]
|
||||
accel_3_params['TC_A3_X1_1'] = coef_accel_3_y[2]
|
||||
@@ -992,8 +956,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
|
||||
correction_y_resample = fit_coef_accel_3_y(temp_rel_resample)
|
||||
|
||||
# fit Z axis
|
||||
correction_z = sensor_accel_3['z'] - np.median(sensor_accel_3['z'])
|
||||
coef_accel_3_z = np.polyfit(temp_rel, correction_z, 3)
|
||||
correction_z = sensor_accel_3['z']-np.median(sensor_accel_3['z'])
|
||||
coef_accel_3_z = np.polyfit(temp_rel,correction_z,3)
|
||||
accel_3_params['TC_A3_X3_2'] = coef_accel_3_z[0]
|
||||
accel_3_params['TC_A3_X2_2'] = coef_accel_3_z[1]
|
||||
accel_3_params['TC_A3_X1_2'] = coef_accel_3_z[2]
|
||||
@@ -1060,10 +1024,8 @@ temp_rel = sensor_baro_0['temperature'] - baro_0_params['TC_B0_TREF']
|
||||
temp_rel_resample = np.linspace(baro_0_params['TC_B0_TMIN']-baro_0_params['TC_B0_TREF'], baro_0_params['TC_B0_TMAX']-baro_0_params['TC_B0_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + baro_0_params['TC_B0_TREF']
|
||||
|
||||
sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
|
||||
|
||||
# fit data
|
||||
median_pressure = np.median(sensor_baro_0['pressure'])
|
||||
median_pressure = np.median(sensor_baro_0['pressure']);
|
||||
if noResample:
|
||||
coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
|
||||
else:
|
||||
@@ -1119,10 +1081,8 @@ if num_baros >= 2:
|
||||
temp_rel_resample = np.linspace(baro_1_params['TC_B1_TMIN']-baro_1_params['TC_B1_TREF'], baro_1_params['TC_B1_TMAX']-baro_1_params['TC_B1_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + baro_1_params['TC_B1_TREF']
|
||||
|
||||
sensor_baro_1['pressure'] = median_filter(sensor_baro_1['pressure'])
|
||||
|
||||
# fit data
|
||||
median_pressure = np.median(sensor_baro_1['pressure'])
|
||||
median_pressure = np.median(sensor_baro_1['pressure']);
|
||||
if noResample:
|
||||
coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
|
||||
else:
|
||||
@@ -1179,10 +1139,8 @@ if num_baros >= 3:
|
||||
temp_rel_resample = np.linspace(baro_2_params['TC_B2_TMIN']-baro_2_params['TC_B2_TREF'], baro_2_params['TC_B2_TMAX']-baro_2_params['TC_B2_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + baro_2_params['TC_B2_TREF']
|
||||
|
||||
sensor_baro_2['pressure'] = median_filter(sensor_baro_2['pressure'])
|
||||
|
||||
# fit data
|
||||
median_pressure = np.median(sensor_baro_2['pressure'])
|
||||
median_pressure = np.median(sensor_baro_2['pressure']);
|
||||
if noResample:
|
||||
coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
|
||||
else:
|
||||
@@ -1239,8 +1197,6 @@ if num_baros >= 4:
|
||||
temp_rel_resample = np.linspace(baro_3_params['TC_B3_TMIN']-baro_3_params['TC_B3_TREF'], baro_3_params['TC_B3_TMAX']-baro_3_params['TC_B3_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + baro_3_params['TC_B3_TREF']
|
||||
|
||||
sensor_baro_3['pressure'] = median_filter(sensor_baro_3['pressure'])
|
||||
|
||||
# fit data
|
||||
median_pressure = np.median(sensor_baro_3['pressure'])
|
||||
coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa
|
||||
|
||||
@@ -98,8 +98,6 @@ class ParameterGroup(object):
|
||||
return "Boat"
|
||||
elif (self.name == "Balloon"):
|
||||
return "Balloon"
|
||||
elif (self.name == "Vectored 6 DOF UUV"):
|
||||
return "Vectored6DofUUV"
|
||||
return "AirframeUnknown"
|
||||
|
||||
def GetParams(self):
|
||||
|
||||
@@ -1,11 +0,0 @@
|
||||
.PHONY: docker_build docker_push all
|
||||
|
||||
DATE := $(shell date +%Y-%m-%d)
|
||||
|
||||
docker_build:
|
||||
docker build -f Dockerfile -t px4-dev:${DATE} .
|
||||
|
||||
docker_push: build
|
||||
docker push px4io/px4-dev:${DATE}
|
||||
|
||||
all: docker_build
|
||||
Executable → Regular
+2
-1
@@ -155,7 +155,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
# fix VMWare 3D graphics acceleration for gazebo
|
||||
exportline="export SVGA_VGPU10=0"
|
||||
|
||||
if !grep -Fxq "$exportline" $HOME/.profile; then
|
||||
if grep -Fxq "$exportline" $HOME/.profile; then
|
||||
else
|
||||
echo $exportline >> $HOME/.profile;
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -1,27 +0,0 @@
|
||||
#!/bin/bash
|
||||
|
||||
# Start virtual X server in the background
|
||||
# - DISPLAY default is :99, set in dockerfile
|
||||
# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
|
||||
# running Xvfb and attach their screen
|
||||
if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
|
||||
echo "Starting Xvfb"
|
||||
Xvfb :99 -screen 0 1600x1200x24+32 &
|
||||
fi
|
||||
|
||||
# Check if the ROS_DISTRO is passed and use it
|
||||
# to source the ROS environment
|
||||
if [ -n "${ROS_DISTRO}" ]; then
|
||||
source "/opt/ros/$ROS_DISTRO/setup.bash"
|
||||
fi
|
||||
|
||||
# Use the LOCAL_USER_ID if passed in at runtime
|
||||
if [ -n "${LOCAL_USER_ID}" ]; then
|
||||
echo "Starting with UID : $LOCAL_USER_ID"
|
||||
# modify existing user's id
|
||||
usermod -u $LOCAL_USER_ID user
|
||||
# run as user
|
||||
exec gosu user "$@"
|
||||
else
|
||||
exec "$@"
|
||||
fi
|
||||
@@ -45,7 +45,7 @@ fi
|
||||
|
||||
# Python dependencies
|
||||
echo "Installing PX4 Python3 dependencies"
|
||||
python3 -m pip install --user -r ${DIR}/requirements.txt
|
||||
pip3 install --user -r ${DIR}/requirements.txt
|
||||
|
||||
# Optional, but recommended additional simulation tools:
|
||||
if [[ $INSTALL_SIM == "--sim-tools" ]]; then
|
||||
|
||||
@@ -1,26 +1,24 @@
|
||||
argcomplete
|
||||
argparse
|
||||
argparse>=1.2
|
||||
cerberus
|
||||
coverage
|
||||
empy>=3.3
|
||||
jinja2>=2.8
|
||||
jsonschema
|
||||
kconfiglib
|
||||
matplotlib>=3.0.*
|
||||
numpy>=1.13
|
||||
nunavut>=1.1.0
|
||||
nunavut
|
||||
packaging
|
||||
pandas>=0.21
|
||||
pkgconfig
|
||||
psutil
|
||||
pygments
|
||||
wheel>=0.31.1
|
||||
pymavlink
|
||||
pyros-genmsg
|
||||
pyserial>=3.0
|
||||
pyulog>=0.5.0
|
||||
pyyaml
|
||||
requests
|
||||
serial
|
||||
setuptools>=39.2.0
|
||||
six>=1.12.0
|
||||
toml>=0.9
|
||||
wheel>=0.31.1
|
||||
|
||||
+34
-31
@@ -31,9 +31,10 @@ done
|
||||
# detect if running in docker
|
||||
if [ -f /.dockerenv ]; then
|
||||
echo "Running within docker, installing initial dependencies";
|
||||
apt-get -qq update && DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
|
||||
apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
|
||||
ca-certificates \
|
||||
gosu \
|
||||
gnupg \
|
||||
lsb-core \
|
||||
sudo \
|
||||
wget \
|
||||
;
|
||||
@@ -52,7 +53,7 @@ fi
|
||||
|
||||
# check ubuntu version
|
||||
# otherwise warn and point to docker?
|
||||
UBUNTU_RELEASE=$(cat /etc/os-release | grep VERSION_ID | cut -d "\"" -f 2)
|
||||
UBUNTU_RELEASE="`lsb_release -rs`"
|
||||
|
||||
if [[ "${UBUNTU_RELEASE}" == "14.04" ]]; then
|
||||
echo "Ubuntu 14.04 is no longer supported"
|
||||
@@ -62,18 +63,16 @@ elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
|
||||
exit 1
|
||||
elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||
echo "Ubuntu 18.04"
|
||||
|
||||
elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||
echo "Ubuntu 20.04"
|
||||
|
||||
fi
|
||||
|
||||
|
||||
echo
|
||||
echo "Installing PX4 general dependencies"
|
||||
|
||||
sudo apt-get -qq update
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
|
||||
sudo apt-get update -y --quiet
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
astyle \
|
||||
build-essential \
|
||||
ccache \
|
||||
@@ -94,23 +93,20 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends instal
|
||||
python3-wheel \
|
||||
rsync \
|
||||
shellcheck \
|
||||
unzip \
|
||||
zip \
|
||||
;
|
||||
|
||||
if [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
|
||||
echo "Installing Ubuntu 16.04 PX4-compatible ccache version"
|
||||
wget -q -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
|
||||
wget -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
|
||||
sudo dpkg -i /tmp/ccache_3.4.1-1_amd64.deb
|
||||
fi
|
||||
|
||||
# Python3 dependencies
|
||||
echo
|
||||
echo "Installing PX4 Python3 dependencies"
|
||||
if [ -f /.dockerenv ]; then
|
||||
# system wide for docker
|
||||
python3 -m pip install -r ${DIR}/requirements.txt
|
||||
else
|
||||
python3 -m pip install --user --quiet -r ${DIR}/requirements.txt
|
||||
fi
|
||||
python3 -m pip install --user -r ${DIR}/requirements.txt
|
||||
|
||||
# NuttX toolchain (arm-none-eabi-gcc)
|
||||
if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
@@ -118,11 +114,17 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
echo
|
||||
echo "Installing NuttX dependencies"
|
||||
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
|
||||
g++-multilib \
|
||||
gcc-multilib \
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
autoconf \
|
||||
automake \
|
||||
bison \
|
||||
bzip2 \
|
||||
file \
|
||||
flex \
|
||||
gdb-multiarch \
|
||||
genromfs \
|
||||
gperf \
|
||||
libncurses-dev \
|
||||
libtool \
|
||||
pkg-config \
|
||||
screen \
|
||||
vim-common \
|
||||
@@ -148,7 +150,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
|
||||
else
|
||||
echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
|
||||
wget -q -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
|
||||
wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
|
||||
sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
|
||||
|
||||
# add arm-none-eabi-gcc to user's PATH
|
||||
@@ -169,36 +171,37 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
echo "Installing PX4 simulation dependencies"
|
||||
|
||||
# General simulation dependencies
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
bc \
|
||||
;
|
||||
|
||||
if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||
java_version=11
|
||||
gazebo_version=9
|
||||
MAVSDK_VERSION=0.39.0
|
||||
wget -q "https://github.com/mavlink/MAVSDK/releases/download/v${MAVSDK_VERSION}/mavsdk_{MAVSDK_VERSION})_ubuntu18.04_amd64.deb" -O /tmp/mavsdk.deb && sudo dpkg -i /tmp/mavsdk.deb
|
||||
elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||
java_version=14
|
||||
gazebo_version=11
|
||||
MAVSDK_VERSION=0.39.0
|
||||
wget -q "https://github.com/mavlink/MAVSDK/releases/download/v{MAVSDK_VERSION}/mavsdk_{MAVSDK_VERSION}_ubuntu20.04_amd64.deb" -O /tmp/mavsdk.deb && sudo dpkg -i /tmp/mavsdk.deb
|
||||
else
|
||||
java_version=14
|
||||
gazebo_version=11
|
||||
fi
|
||||
|
||||
# Java (jmavsim or fastrtps)
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
ant \
|
||||
default-jre-headless \
|
||||
default-jdk-headless \
|
||||
openjdk-$java_version-jre \
|
||||
openjdk-$java_version-jdk \
|
||||
libvecmath-java \
|
||||
;
|
||||
|
||||
# Set Java 11 as default
|
||||
sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
|
||||
|
||||
# Gazebo
|
||||
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
|
||||
wget -q http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||
# Update list, since new gazebo-stable.list has been added
|
||||
sudo apt-get update -qq
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -q -y --no-install-recommends install \
|
||||
sudo apt-get update -y --quiet
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
dmidecode \
|
||||
gazebo$gazebo_version \
|
||||
gstreamer1.0-plugins-bad \
|
||||
|
||||
+1
-1
Submodule Tools/sitl_gazebo updated: 4c27fc7dd6...5761bd66cd
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
@@ -47,6 +48,7 @@ px4_add_board(
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -108,6 +110,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -117,15 +120,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -39,6 +39,7 @@ px4_add_board(
|
||||
VENDOR atlflight
|
||||
MODEL eagle
|
||||
LABEL default
|
||||
#TESTING
|
||||
TOOLCHAIN arm-linux-gnueabihf
|
||||
ROMFSROOT px4fmu_common
|
||||
DRIVERS
|
||||
@@ -107,6 +108,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
shutdown
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
#top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -49,7 +49,7 @@ px4_add_board(
|
||||
imu/invensense/mpu9250
|
||||
#magnetometer/hmc5883
|
||||
qshell/qurt
|
||||
snapdragon_spektrum_rc
|
||||
spektrum_rc
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
|
||||
@@ -39,6 +39,7 @@ px4_add_board(
|
||||
VENDOR atlflight
|
||||
MODEL excelsior
|
||||
LABEL default
|
||||
#TESTING
|
||||
TOOLCHAIN arm-oemllib32-linux-gnueabi
|
||||
DRIVERS
|
||||
#barometer # all available barometer drivers
|
||||
@@ -105,6 +106,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
shutdown
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
#top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -49,7 +49,7 @@ px4_add_board(
|
||||
imu/invensense/mpu9250
|
||||
magnetometer/hmc5883
|
||||
qshell/qurt
|
||||
snapdragon_spektrum_rc
|
||||
spektrum_rc
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
|
||||
@@ -7,6 +7,7 @@ px4_add_board(
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
ETHERNET
|
||||
SERIAL_PORTS
|
||||
@@ -46,6 +47,7 @@ px4_add_board(
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
#tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -106,6 +108,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -114,15 +117,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -90,7 +90,7 @@ static int configure_switch(void);
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
|
||||
@@ -113,6 +113,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -116,7 +116,6 @@ CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_OTG_ID_GPIO_DISABLE=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
|
||||
@@ -106,7 +106,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
|
||||
@@ -114,6 +114,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -116,7 +116,6 @@ CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_OTG_ID_GPIO_DISABLE=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
|
||||
@@ -106,7 +106,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
|
||||
@@ -3,7 +3,7 @@ px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR cubepilot
|
||||
MODEL cubeorange
|
||||
LABEL test
|
||||
LABEL console
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
@@ -43,7 +43,6 @@ px4_add_board(
|
||||
#pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
@@ -9,6 +9,7 @@ px4_add_board(
|
||||
ROMFSROOT px4fmu_common
|
||||
BUILD_BOOTLOADER
|
||||
IO cubepilot_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
TEL1:/dev/ttyS0
|
||||
@@ -43,13 +44,13 @@ px4_add_board(
|
||||
pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
#test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -111,6 +112,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
#serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -115,11 +115,6 @@
|
||||
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
|
||||
#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2
|
||||
|
||||
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
|
||||
#define PWMIN_TIMER 4
|
||||
#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2
|
||||
#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2
|
||||
|
||||
/* USB
|
||||
* OTG FS: PA9 OTG_FS_VBUS VBUS sensing
|
||||
*/
|
||||
|
||||
@@ -97,7 +97,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
|
||||
@@ -3,7 +3,7 @@ px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR cubepilot
|
||||
MODEL cubeyellow
|
||||
LABEL test
|
||||
LABEL console
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO cubepilot_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
TEL1:/dev/ttyS0
|
||||
@@ -48,6 +49,7 @@ px4_add_board(
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
#test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -109,6 +111,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
#serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -97,7 +97,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
|
||||
@@ -109,6 +109,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -117,7 +117,6 @@ CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_OTG_ID_GPIO_DISABLE=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
|
||||
@@ -138,7 +138,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
|
||||
@@ -6,7 +6,6 @@ px4_add_board(
|
||||
LABEL default
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
EXTERNAL_METADATA
|
||||
ROMFSROOT px4fmu_common
|
||||
SERIAL_PORTS
|
||||
TEL1:/dev/ttyS0 # UART1
|
||||
|
||||
@@ -120,7 +120,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
@@ -52,6 +53,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -113,6 +115,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -122,15 +125,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -116,7 +116,6 @@ CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_OTG_ID_GPIO_DISABLE=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
|
||||
@@ -139,7 +139,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
|
||||
@@ -1,139 +0,0 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR holybro
|
||||
MODEL pix32v5
|
||||
LABEL test
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
TEL1:/dev/ttyS1
|
||||
TEL2:/dev/ttyS2
|
||||
TEL3:/dev/ttyS4
|
||||
TEL4:/dev/ttyS3
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
#heater
|
||||
#imu # all available imu drivers
|
||||
imu/analog_devices/adis16448
|
||||
imu/bosch/bmi055
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20689
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
lights/rgbled_pwm
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
osd
|
||||
pca9685
|
||||
pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
rc_input
|
||||
roboclaw
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
battery_status
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
uuv_att_control
|
||||
uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
@@ -7,6 +7,7 @@ px4_add_board(
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0 # UART1 / J10
|
||||
@@ -46,6 +47,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
#tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -106,6 +108,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -115,15 +118,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -18,10 +18,88 @@
|
||||
# Common settings across Flight Core configurations
|
||||
#
|
||||
|
||||
# Disable safety switch by default (pull high to 3.3V to enable)
|
||||
# V106 - J13 pin 5
|
||||
# V110 - J1011 pin 5
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
#
|
||||
# Stand Alone configuration
|
||||
#
|
||||
if ver hwtypecmp V106
|
||||
then
|
||||
echo "Configuring Flight Core - V106"
|
||||
|
||||
#
|
||||
# In Flight Core, J1 can be setup to be used as a serial port for TELEM2
|
||||
# and connected to VOXL via cables. We'll configure this out of the box.
|
||||
# The user can later change this if they want, as these are configurable
|
||||
# and not necessarily required to be used with VOXL.
|
||||
#
|
||||
if [ $AUTOCNF = no ]
|
||||
then
|
||||
if param compare MAV_1_CONFIG 0
|
||||
then
|
||||
echo "V106 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
|
||||
# TELEM2
|
||||
param set-default MAV_1_CONFIG 102
|
||||
# Onboard
|
||||
param set-default MAV_1_MODE 2
|
||||
# VIO data
|
||||
param set-default SER_TEL2_BAUD 921600
|
||||
fi
|
||||
fi
|
||||
|
||||
# User is setting defaults, so let's do it!
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
echo "V106 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
|
||||
# TELEM2
|
||||
param set-default MAV_1_CONFIG 102
|
||||
# Onboard
|
||||
param set-default MAV_1_MODE 2
|
||||
# VIO data
|
||||
param set-default SER_TEL2_BAUD 921600
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# VOXL-Flight configuration
|
||||
#
|
||||
if ver hwtypecmp V110
|
||||
then
|
||||
echo "Configuring VOXL-Flight - V110"
|
||||
|
||||
#
|
||||
# TELEM2 port is physically routed in the PCB, thus not configurable.
|
||||
# The following will detect a fresh install, or if the user has changed the setting and
|
||||
# revert to the VOXL-Flight defaults. This does allow the user to change the mode and
|
||||
# baud rates and mode if they choose to do so, although VOXL is expecting what is set below
|
||||
#
|
||||
if [ $AUTOCNF = no ]
|
||||
then
|
||||
if ! param compare MAV_1_CONFIG 102
|
||||
then
|
||||
echo "V110 - Default configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
|
||||
# TELEM2
|
||||
param set-default MAV_1_CONFIG 102
|
||||
# Onboard
|
||||
param set-default MAV_1_MODE 2
|
||||
param set-default SER_TEL2_BAUD 921600
|
||||
fi
|
||||
fi
|
||||
|
||||
# User is setting defaults, so let's do it!
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
echo "V110 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
|
||||
# TELEM2
|
||||
param set-default MAV_1_CONFIG 102
|
||||
# Onboard
|
||||
param set-default MAV_1_MODE 2
|
||||
param set-default SER_TEL2_BAUD 921600
|
||||
fi
|
||||
fi
|
||||
|
||||
# TELEM2
|
||||
param set-default MAV_1_CONFIG 102
|
||||
param set-default MAV_1_MODE 2
|
||||
param set-default SER_TEL2_BAUD 921600
|
||||
|
||||
safety_button start
|
||||
|
||||
@@ -115,7 +115,6 @@ CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_OTG_ID_GPIO_DISABLE=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
|
||||
@@ -7,6 +7,7 @@ px4_add_board(
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0 # UART1 / J10
|
||||
@@ -46,6 +47,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
#tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -106,6 +108,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -115,15 +118,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -137,7 +137,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
|
||||
@@ -1,132 +0,0 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR modalai
|
||||
MODEL fc-v1
|
||||
LABEL test
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0 # UART1 / J10
|
||||
TEL1:/dev/ttyS6 # UART7 / J5
|
||||
TEL2:/dev/ttyS4 # UART5 / J1
|
||||
TEL3:/dev/ttyS1 # USART2 / J4
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
imu/bosch/bmi088
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/icm42688p
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
osd
|
||||
pca9685
|
||||
pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
power_monitor/voxlpm
|
||||
#protocol_splitter
|
||||
#pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
rc_input
|
||||
roboclaw
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
#tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
uuv_att_control
|
||||
uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
@@ -7,6 +7,7 @@ px4_add_board(
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
TEL1:/dev/ttyS0
|
||||
@@ -49,6 +50,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -110,6 +112,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -119,15 +122,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -128,7 +128,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
|
||||
@@ -7,6 +7,7 @@ px4_add_board(
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
TEL1:/dev/ttyS0
|
||||
@@ -49,6 +50,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -110,6 +112,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -119,15 +122,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -128,7 +128,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
|
||||
@@ -108,6 +108,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -100,7 +100,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
|
||||
@@ -108,6 +108,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -100,7 +100,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
|
||||
@@ -109,6 +109,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -119,7 +119,7 @@
|
||||
|
||||
/* RC Serial port */
|
||||
#define RC_SERIAL_PORT "/dev/ttyS4"
|
||||
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
|
||||
#define RC_SERIAL_SINGLEWIRE
|
||||
|
||||
#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
|
||||
|
||||
|
||||
@@ -100,7 +100,7 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
# IO DEBUG:/dev/ttyS0
|
||||
@@ -49,6 +50,7 @@ px4_add_board(
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -110,6 +112,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -9,6 +9,7 @@ px4_add_board(
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
# IO DEBUG:/dev/ttyS0
|
||||
@@ -50,6 +51,7 @@ px4_add_board(
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -111,6 +113,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
@@ -46,6 +47,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
#test_ppm # NOT Portable YET
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -106,6 +108,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -115,15 +118,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -26,7 +26,6 @@ CONFIG_BOARD_LOOPSPERMSEC=15175
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CAN_CONNS=1
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_BULKIN_REQLEN=96
|
||||
CONFIG_CDCACM_PRODUCTID=0x001c
|
||||
@@ -124,7 +123,6 @@ CONFIG_NETUTILS_TELNETD=y
|
||||
CONFIG_NET_BROADCAST=y
|
||||
CONFIG_NET_CAN=y
|
||||
CONFIG_NET_CAN_NOTIFIER=y
|
||||
CONFIG_NET_CAN_RAW_FILTER_MAX=0
|
||||
CONFIG_NET_CAN_RAW_TX_DEADLINE=y
|
||||
CONFIG_NET_CAN_SOCK_OPTS=y
|
||||
CONFIG_NET_ICMP=y
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
@@ -46,6 +47,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
#test_ppm # NOT Portable YET
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -116,15 +118,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
@@ -46,6 +47,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
#test_ppm # NOT Portable YET
|
||||
tone_alarm
|
||||
#uavcannode_v1
|
||||
MODULES
|
||||
@@ -116,15 +118,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -339,7 +339,7 @@ __END_DECLS
|
||||
#define LED_TIM3_CH4OUT /* PTC8 RGB_B */ PIN_FTM3_CH4_1
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 2048
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
/* This board provides the board_on_reset interface */
|
||||
|
||||
|
||||
@@ -117,7 +117,7 @@ __END_DECLS
|
||||
void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < 6; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user