mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-23 20:27:35 +08:00
Compare commits
4 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
a749c787ca | ||
|
Daniel Agar
|
e997a5f384 | ||
|
Daniel Agar
|
3f5b7d9e36 | ||
|
Daniel Agar
|
c2bc77b9b8 |
+8
-20
@@ -28,7 +28,7 @@ pipeline {
|
||||
]
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||||
|
||||
def base_builds = [
|
||||
target: ["px4_sitl_default"],
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||||
target: ["px4_sitl_rtps"],
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||||
image: docker_images.base,
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archive: false
|
||||
]
|
||||
@@ -52,31 +52,22 @@ pipeline {
|
||||
"cuav_x7pro_default",
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||||
"cubepilot_cubeorange_default",
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||||
"cubepilot_cubeyellow_default",
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||||
"diatone_mamba-f405-mk2_default",
|
||||
"freefly_can-rtk-gps_canbootloader",
|
||||
"freefly_can-rtk-gps_default",
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||||
"holybro_can-gps-v1_canbootloader",
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||||
"holybro_can-gps-v1_default",
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||||
"holybro_durandal-v1_default",
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||||
"holybro_kakutef7_default",
|
||||
"holybro_kakuteh7_default",
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||||
"holybro_pix32v5_default",
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||||
"matek_gnss-m9n-f4_canbootloader",
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||||
"matek_gnss-m9n-f4_default",
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||||
"matek_h743-mini_default",
|
||||
"matek_h743-slim_default",
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||||
"matek_h743_default",
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||||
"matek_h743-slim",
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||||
"modalai_fc-v1_default",
|
||||
"modalai_fc-v1_rtps",
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||||
"modalai_fc-v2_default",
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||||
"mro_ctrl-zero-f7_default",
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||||
"mro_ctrl-zero-f7-oem_default",
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||||
"mro_ctrl-zero-h7-oem_default",
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||||
"mro_ctrl-zero-h7-oem_rtps",
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||||
"mro_ctrl-zero-h7_default",
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||||
"mro_ctrl-zero-h7_rtps",
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||||
"mro_ctrl-zero-h7-oem_default",
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||||
"mro_pixracerpro_default",
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||||
"mro_pixracerpro_rtps",
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||||
"mro_x21-777_default",
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||||
"mro_x21_default",
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||||
"nxp_fmuk66-e_default",
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||||
@@ -89,28 +80,25 @@ pipeline {
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||||
"nxp_ucans32k146_canbootloader",
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"nxp_ucans32k146_default",
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||||
"omnibus_f4sd_default",
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"raspberrypi_pico_default",
|
||||
"px4_fmu-v2_default",
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"px4_fmu-v2_fixedwing",
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||||
"px4_fmu-v2_lto",
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||||
"px4_fmu-v2_multicopter",
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||||
"px4_fmu-v2_rover",
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||||
"px4_fmu-v3_default",
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||||
"px4_fmu-v4_default",
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"px4_fmu-v4pro_default",
|
||||
"px4_fmu-v5_cyphal",
|
||||
"px4_fmu-v5_debug",
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"px4_fmu-v5_default",
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||||
"px4_fmu-v5_lto",
|
||||
"px4_fmu-v5_rtps",
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||||
"px4_fmu-v5_stackcheck",
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||||
"px4_fmu-v5_uavcanv0periph",
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||||
"px4_fmu-v5_uavcanv1",
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||||
"px4_fmu-v5x_base_phy_DP83848C",
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||||
"px4_fmu-v5x_default",
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||||
"px4_fmu-v6c_default",
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"px4_fmu-v6u_default",
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||||
"px4_fmu-v6x_default",
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"px4_io-v2_default",
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"raspberrypi_pico_default",
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"sky-drones_smartap-airlink_default",
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"spracing_h7extreme_default",
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"uvify_core_default"
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],
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@@ -180,7 +168,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
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try {
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sh('export')
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checkout(scm)
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sh('make distclean; git clean -ff -x -d .')
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sh('make distclean')
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sh('git fetch --tags')
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sh('ccache -s')
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sh('make ' + target)
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@@ -197,7 +185,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
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throw (exc)
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}
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finally {
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sh('make distclean; git clean -ff -x -d .')
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sh('make distclean')
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}
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||||
}
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||||
}
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+101
-121
@@ -21,11 +21,11 @@ pipeline {
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sh 'make cubepilot_cubeorange_bootloader'
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sh 'make cubepilot_cubeorange_test'
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sh 'ccache -s'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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||||
}
|
||||
}
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} // stage build
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@@ -42,16 +42,12 @@ pipeline {
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
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// flash board and watch bootup
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||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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resetBoard()
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||||
}
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||||
}
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stage("tests") {
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steps {
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// run tests
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runTests()
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// load all airframes
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// sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
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}
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||||
}
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stage("status") {
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@@ -74,8 +70,8 @@ pipeline {
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||||
}
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post {
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||||
always {
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||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
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||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
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||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -96,11 +92,11 @@ pipeline {
|
||||
sh 'make cuav_x7pro_bootloader'
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||||
sh 'make cuav_x7pro_test'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
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||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
|
||||
}
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||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
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||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -117,7 +113,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
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||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -144,8 +139,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -166,11 +161,11 @@ pipeline {
|
||||
sh 'make px4_fmu-v3_test'
|
||||
sh 'make px4_fmu-v3_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -187,7 +182,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -214,8 +208,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -236,11 +230,11 @@ pipeline {
|
||||
sh 'make px4_fmu-v4_test'
|
||||
sh 'make px4_fmu-v4_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -257,7 +251,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -283,8 +276,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -305,11 +298,11 @@ pipeline {
|
||||
sh 'make px4_fmu-v4pro_test'
|
||||
sh 'make px4_fmu-v4pro_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -326,7 +319,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -353,8 +345,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -375,11 +367,11 @@ pipeline {
|
||||
sh 'make px4_fmu-v5_debug'
|
||||
sh 'make px4_fmu-v5_debug bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -401,24 +393,13 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
// test dataman
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
}
|
||||
@@ -431,6 +412,7 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
@@ -443,8 +425,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -465,11 +447,11 @@ pipeline {
|
||||
sh 'make px4_fmu-v5_stackcheck'
|
||||
sh 'make px4_fmu-v5_stackcheck bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -491,7 +473,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -500,9 +481,6 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
|
||||
// test dataman
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -513,6 +491,7 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
@@ -525,8 +504,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -547,11 +526,11 @@ pipeline {
|
||||
sh 'make px4_fmu-v5_test'
|
||||
sh 'make px4_fmu-v5_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -568,7 +547,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -595,8 +573,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -617,11 +595,11 @@ pipeline {
|
||||
sh 'make nxp_fmuk66-v3_test'
|
||||
//sh 'make nxp_fmuk66-v3_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -638,7 +616,6 @@ pipeline {
|
||||
//sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -665,8 +642,8 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -692,7 +669,7 @@ void checkoutSCM() {
|
||||
retry(3) {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --tags'
|
||||
sh 'ccache -z'
|
||||
}
|
||||
@@ -705,21 +682,18 @@ void quickCalibrate() {
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
}
|
||||
@@ -728,44 +702,34 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
|
||||
// run logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
|
||||
// status commands
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
|
||||
@@ -777,12 +741,12 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
// stop logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
|
||||
}
|
||||
|
||||
void resetParameters() {
|
||||
@@ -792,19 +756,13 @@ void resetParameters() {
|
||||
}
|
||||
|
||||
void runTests() {
|
||||
|
||||
// test loading a range of airframes
|
||||
sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'
|
||||
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
@@ -816,38 +774,41 @@ void runTests() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
// tests (stop modules first)
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
|
||||
// test rebooting multiple times
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
}
|
||||
|
||||
void printTopics() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
|
||||
|
||||
// these are for casually inspecting the system, output failure doesn't matter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
|
||||
@@ -864,15 +825,12 @@ void printTopics() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
|
||||
@@ -951,6 +909,28 @@ void resetBoard() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
|
||||
// format
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
|
||||
}
|
||||
|
||||
@@ -1,7 +0,0 @@
|
||||
FROM gcr.io/oss-fuzz-base/base-builder:v1
|
||||
COPY . $SRC/PX4-Autopilot
|
||||
RUN apt-get install -y libjpeg8-dev zlib1g-dev
|
||||
RUN pip3 install --upgrade pip
|
||||
RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
|
||||
WORKDIR $SRC/PX4-Autopilot
|
||||
COPY ./.clusterfuzzlite/build.sh $SRC/
|
||||
@@ -1,4 +0,0 @@
|
||||
#!/usr/bin/env bash -eu
|
||||
|
||||
PX4_FUZZ=1 make px4_sitl
|
||||
cp build/px4_sitl_default/bin/px4 $OUT/px4
|
||||
@@ -1 +0,0 @@
|
||||
language: c++
|
||||
@@ -1,34 +1,32 @@
|
||||
---
|
||||
name: 🐛 Bug report
|
||||
name: Bug report
|
||||
about: Create a report to help us improve
|
||||
labels: bug-report
|
||||
|
||||
---
|
||||
|
||||
## Describe the bug
|
||||
**Describe the bug**
|
||||
A clear and concise description of the bug.
|
||||
|
||||
## To Reproduce
|
||||
**To Reproduce**
|
||||
Steps to reproduce the behavior:
|
||||
1. Drone switched on '...'
|
||||
2. Uploaded mission '....' (attach QGC mission file)
|
||||
3. Took off '....'
|
||||
4. See error
|
||||
|
||||
## Expected behavior
|
||||
**Expected behavior**
|
||||
A clear and concise description of what you expected to happen.
|
||||
|
||||
## Log Files and Screenshots
|
||||
**Log Files and Screenshots**
|
||||
*Always* provide a link to the flight log file:
|
||||
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
|
||||
- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
|
||||
- Share the link to the log (Copy and paste the URL of the log)
|
||||
- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
|
||||
|
||||
Add screenshots to help explain your problem.
|
||||
|
||||
## Drone (please complete the following information):
|
||||
**Drone (please complete the following information):**
|
||||
- Describe the type of drone.
|
||||
- Photo of the IMU / autopilot setup if possible.
|
||||
|
||||
## Additional context
|
||||
**Additional context**
|
||||
Add any other context about the problem here.
|
||||
|
||||
@@ -1,20 +1,19 @@
|
||||
---
|
||||
name: 🚀 Feature Request
|
||||
about: Suggest an idea for this project
|
||||
labels: feature-request
|
||||
|
||||
---
|
||||
|
||||
For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
|
||||
|
||||
## Describe problem solved by the proposed feature
|
||||
**Describe problem solved by the proposed feature**
|
||||
A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
|
||||
|
||||
## Describe your preferred solution
|
||||
**Describe your preferred solution**
|
||||
A clear and concise description of what you want to happen.
|
||||
|
||||
## Describe possible alternatives
|
||||
**Describe possible alternatives**
|
||||
A clear and concise description of alternative solutions or features you've considered.
|
||||
|
||||
## Additional context
|
||||
**Additional context**
|
||||
Add any other context or screenshots for the feature request here.
|
||||
|
||||
@@ -1,13 +1,10 @@
|
||||
---
|
||||
name: ⛔ Support Question
|
||||
about: See http://discuss.px4.io/ for questions about using PX4.
|
||||
about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.
|
||||
|
||||
---
|
||||
|
||||
## Attention! Please read the note below
|
||||
|
||||
We use GitHub issues only to discuss PX4 bugs and new features.
|
||||
|
||||
**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
|
||||
We use GitHub issues only to discuss PX4 bugs and new features. For
|
||||
questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).
|
||||
|
||||
Thanks!
|
||||
|
||||
@@ -1,11 +1,9 @@
|
||||
---
|
||||
name: ⛔ Documentation Issue
|
||||
about: See https://github.com/PX4/px4_user_guide for documentation issues
|
||||
about: See https://github.com/PX4/Devguide for documentation issues
|
||||
|
||||
---
|
||||
|
||||
## Attention! Please read the note below
|
||||
|
||||
**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
|
||||
PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).
|
||||
|
||||
Thanks!
|
||||
|
||||
@@ -1,34 +0,0 @@
|
||||
name: ClusterFuzzLite batch fuzzing
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 6 * * *' # UTC 6am every day.
|
||||
permissions: read-all
|
||||
jobs:
|
||||
BatchFuzzing:
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
sanitizer:
|
||||
- address
|
||||
- undefined
|
||||
- memory
|
||||
steps:
|
||||
- name: Build Fuzzers (${{ matrix.sanitizer }})
|
||||
id: build
|
||||
uses: google/clusterfuzzlite/actions/build_fuzzers@v1
|
||||
with:
|
||||
sanitizer: ${{ matrix.sanitizer }}
|
||||
- name: Run Fuzzers (${{ matrix.sanitizer }})
|
||||
id: run
|
||||
uses: google/clusterfuzzlite/actions/run_fuzzers@v1
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
fuzz-seconds: 1800 # 30 mins
|
||||
mode: 'batch'
|
||||
sanitizer: ${{ matrix.sanitizer }}
|
||||
# Optional but recommended: For storing certain artifacts from fuzzing.
|
||||
# See later section on "Git repo for storage".
|
||||
# storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
|
||||
# storage-repo-branch: main # Optional. Defaults to "main"
|
||||
# storage-repo-branch-coverage: gh-pages # Optional. Defaults to "gh-pages".
|
||||
@@ -20,7 +20,6 @@ jobs:
|
||||
ark_can-flow,
|
||||
ark_can-gps,
|
||||
ark_can-rtk-gps,
|
||||
ark_cannode,
|
||||
atl_mantis-edu,
|
||||
av_x-v1,
|
||||
bitcraze_crazyflie,
|
||||
@@ -30,16 +29,11 @@ jobs:
|
||||
cuav_x7pro,
|
||||
cubepilot_cubeorange,
|
||||
cubepilot_cubeyellow,
|
||||
diatone_mamba-f405-mk2,
|
||||
freefly_can-rtk-gps,
|
||||
holybro_can-gps-v1,
|
||||
holybro_durandal-v1,
|
||||
holybro_kakutef7,
|
||||
holybro_kakuteh7,
|
||||
holybro_pix32v5,
|
||||
matek_gnss-m9n-f4,
|
||||
matek_h743,
|
||||
matek_h743-mini,
|
||||
matek_h743-slim,
|
||||
modalai_fc-v1,
|
||||
modalai_fc-v2,
|
||||
@@ -55,17 +49,15 @@ jobs:
|
||||
nxp_fmurt1062-v1,
|
||||
nxp_ucans32k146,
|
||||
omnibus_f4sd,
|
||||
raspberrypi_pico,
|
||||
px4_fmu-v2,
|
||||
px4_fmu-v3,
|
||||
px4_fmu-v4,
|
||||
px4_fmu-v4pro,
|
||||
px4_fmu-v5,
|
||||
px4_fmu-v5x,
|
||||
px4_fmu-v6c,
|
||||
px4_fmu-v6u,
|
||||
px4_fmu-v6x,
|
||||
raspberrypi_pico,
|
||||
sky-drones_smartap-airlink,
|
||||
spracing_h7extreme,
|
||||
uvify_core
|
||||
]
|
||||
|
||||
@@ -35,11 +35,11 @@ jobs:
|
||||
|
||||
- name: parameter & events metadata
|
||||
run: |
|
||||
make ${{matrix.target}} ver_gen events_json actuators_json
|
||||
make ${{matrix.target}} ver_gen events_json
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
|
||||
cd build/${{ matrix.target }}
|
||||
mkdir _metadata || true
|
||||
cp parameters.* events/*.xz actuators.json* _metadata
|
||||
cp parameters.* events/*.xz _metadata
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
|
||||
@@ -15,10 +15,10 @@ jobs:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {model: "iris", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska
|
||||
- {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia
|
||||
- {model: "tailsitter" , latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo" } # Florida
|
||||
- {model: "standard_vtol", latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
|
||||
- {latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo", model: "iris" } # Alaska
|
||||
- {latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
|
||||
- {latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo", model: "tailsitter" } # Florida
|
||||
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-09-08
|
||||
@@ -29,9 +29,9 @@ jobs:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Download MAVSDK
|
||||
run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
- name: Install MAVSDK
|
||||
run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
@@ -96,7 +96,7 @@ jobs:
|
||||
PX4_HOME_LON: ${{matrix.config.longitude}}
|
||||
PX4_HOME_ALT: ${{matrix.config.altitude}}
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Look at core files
|
||||
|
||||
@@ -105,4 +105,8 @@ src/lib/version/build_git_version.h
|
||||
src/modules/simulator/simulator_config.h
|
||||
src/systemcmds/topic_listener/listener_generated.cpp
|
||||
|
||||
# SITL
|
||||
dataman
|
||||
eeprom/
|
||||
|
||||
!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
|
||||
|
||||
+14
-11
@@ -36,14 +36,20 @@
|
||||
[submodule "Tools/jsbsim_bridge"]
|
||||
path = Tools/jsbsim_bridge
|
||||
url = https://github.com/PX4/px4-jsbsim-bridge.git
|
||||
[submodule "src/drivers/cyphal/libcanard"]
|
||||
path = src/drivers/cyphal/libcanard
|
||||
url = https://github.com/opencyphal/libcanard.git
|
||||
[submodule "src/drivers/cyphal/public_regulated_data_types"]
|
||||
path = src/drivers/cyphal/public_regulated_data_types
|
||||
url = https://github.com/opencyphal/public_regulated_data_types.git
|
||||
[submodule "src/drivers/cyphal/legacy_data_types"]
|
||||
path = src/drivers/cyphal/legacy_data_types
|
||||
[submodule "src/drivers/uavcan_v1/libcanard"]
|
||||
path = src/drivers/uavcan_v1/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard.git
|
||||
[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
|
||||
path = src/drivers/uavcan_v1/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
|
||||
path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
|
||||
path = src/drivers/uavcannode_gps_demo/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard.git
|
||||
[submodule "src/drivers/uavcan_v1/legacy_data_types"]
|
||||
path = src/drivers/uavcan_v1/legacy_data_types
|
||||
url = https://github.com/PX4/public_regulated_data_types.git
|
||||
branch = legacy
|
||||
[submodule "src/lib/crypto/monocypher"]
|
||||
@@ -64,6 +70,3 @@
|
||||
path = src/lib/crypto/libtommath
|
||||
url = https://github.com/PX4/libtommath.git
|
||||
branch = px4
|
||||
[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
|
||||
path = src/modules/microdds_client/Micro-XRCE-DDS-Client
|
||||
url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
|
||||
|
||||
@@ -9,5 +9,3 @@ launch.json
|
||||
ipch/
|
||||
|
||||
browse.vc.db*
|
||||
|
||||
*.log
|
||||
|
||||
Vendored
-25
@@ -61,11 +61,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v5_default
|
||||
px4_fmu-v5_debug:
|
||||
short: px4_fmu-v5_debug
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v5_debug
|
||||
px4_fmu-v5x_default:
|
||||
short: px4_fmu-v5x
|
||||
buildType: MinSizeRel
|
||||
@@ -121,16 +116,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-rtk-gps_canbootloader
|
||||
ark_cannode_default:
|
||||
short: ark_cannode_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_cannode_default
|
||||
ark_cannode_canbootloader:
|
||||
short: ark_cannode_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_cannode_canbootloader
|
||||
atl_mantis-edu_default:
|
||||
short: atl_mantis-edu
|
||||
buildType: MinSizeRel
|
||||
@@ -206,16 +191,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: matek_h743-slim_default
|
||||
matek_gnss-m9n-f4_canbootloader:
|
||||
short: matek_gnss-m9n-f4_canbootloader
|
||||
buildType: MiniSizeRel
|
||||
settings:
|
||||
CONFIG: matek_m9nf4can_canbootloader
|
||||
matek_gnss-m9n-f4_default:
|
||||
short: matek_gnss-m9n-f4_default
|
||||
buildType: MiniSizeRel
|
||||
settings:
|
||||
CONFIG: matek_gnss-m9n-f4_default
|
||||
modalai_fc-v1_default:
|
||||
short: modalai_fc-v1
|
||||
buildType: MinSizeRel
|
||||
|
||||
+1
-24
@@ -99,7 +99,7 @@
|
||||
#
|
||||
#=============================================================================
|
||||
|
||||
cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
|
||||
cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
|
||||
|
||||
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
|
||||
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
|
||||
@@ -125,11 +125,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
|
||||
FULL_DOCS "List of all PX4 module libraries"
|
||||
)
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
|
||||
BRIEF_DOCS "PX4 kernel side module libs"
|
||||
FULL_DOCS "List of all PX4 kernel module libraries"
|
||||
)
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
|
||||
BRIEF_DOCS "PX4 module paths"
|
||||
FULL_DOCS "List of paths to all PX4 modules"
|
||||
@@ -147,7 +142,6 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
|
||||
|
||||
include(px4_add_module)
|
||||
set(config_module_list)
|
||||
set(config_kernel_list)
|
||||
|
||||
# Find Python
|
||||
# If using catkin, Python 2 is found since it points
|
||||
@@ -234,14 +228,6 @@ message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
|
||||
#
|
||||
project(px4 CXX C ASM)
|
||||
|
||||
# Check if LTO option and check if toolchain supports it
|
||||
if(LTO)
|
||||
include(CheckIPOSupported)
|
||||
check_ipo_supported()
|
||||
message(AUTHOR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production")
|
||||
set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
|
||||
endif()
|
||||
|
||||
set(package-contact "px4users@googlegroups.com")
|
||||
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
@@ -420,7 +406,6 @@ endif()
|
||||
# subdirectories
|
||||
#
|
||||
add_library(parameters_interface INTERFACE)
|
||||
add_library(kernel_parameters_interface INTERFACE)
|
||||
|
||||
include(px4_add_library)
|
||||
add_subdirectory(src/lib EXCLUDE_FROM_ALL)
|
||||
@@ -438,18 +423,10 @@ endforeach()
|
||||
|
||||
# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
|
||||
add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
|
||||
# metadata needs PX4_MODULE_CONFIG_FILES
|
||||
add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
|
||||
|
||||
# must be the last module before firmware
|
||||
add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
|
||||
|
||||
if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
|
||||
target_link_libraries(parameters_interface INTERFACE usr_parameters)
|
||||
target_link_libraries(kernel_parameters_interface INTERFACE parameters)
|
||||
else()
|
||||
target_link_libraries(parameters_interface INTERFACE parameters)
|
||||
endif()
|
||||
|
||||
# firmware added last to generate the builtin for included modules
|
||||
add_subdirectory(platforms/${PX4_PLATFORM})
|
||||
|
||||
Vendored
+12
-12
@@ -88,7 +88,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make airframe_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -98,7 +98,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -108,7 +108,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make parameters_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -118,7 +118,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -128,7 +128,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make module_documentation'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -138,7 +138,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -156,7 +156,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -170,7 +170,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make uorb_graphs'
|
||||
dir('Tools/uorb_graph') {
|
||||
@@ -180,7 +180,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -261,7 +261,7 @@ pipeline {
|
||||
steps {
|
||||
sh('export')
|
||||
sh('git fetch --all --tags')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
sh('make px4_sitl_rtps')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
|
||||
@@ -290,7 +290,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
|
||||
// 'master' branch
|
||||
@@ -319,7 +319,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
|
||||
// deploy uORB RTPS ID map
|
||||
|
||||
@@ -51,13 +51,6 @@ menu "Toolchain"
|
||||
string "Architecture"
|
||||
default ""
|
||||
|
||||
config BOARD_LTO
|
||||
bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
|
||||
default n
|
||||
help
|
||||
Enables LTO flag in linker
|
||||
Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later
|
||||
|
||||
config BOARD_FULL_OPTIMIZATION
|
||||
bool "Full optmization (O3)"
|
||||
default n
|
||||
@@ -121,14 +114,14 @@ config BOARD_ETHERNET
|
||||
flag to indicate that ethernet is enabled
|
||||
|
||||
config BOARD_CRYPTO
|
||||
bool "Crypto support"
|
||||
string "Crypto"
|
||||
help
|
||||
Enable PX4 Crypto Support. Select the implementation under drivers
|
||||
Crypto implementation selection
|
||||
|
||||
config BOARD_PROTECTED
|
||||
bool "Memory protection"
|
||||
config BOARD_KEYSTORE
|
||||
string "Keystore"
|
||||
help
|
||||
Enable memory protection via MPU/MMU
|
||||
Keystore implememntation selection
|
||||
|
||||
menu "Serial ports"
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
BSD 3-Clause License
|
||||
|
||||
Copyright (c) 2012 - 2022, PX4 Development Team
|
||||
Copyright (c) 2012 - 2021, PX4 Development Team
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
|
||||
@@ -158,11 +158,6 @@ else
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
|
||||
endif
|
||||
|
||||
# Fuzz Testing
|
||||
ifdef PX4_FUZZ
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
|
||||
endif
|
||||
|
||||
endif
|
||||
|
||||
# Pick up specific Python path if set
|
||||
@@ -325,13 +320,12 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
|
||||
# cubepilot_io-v2_default
|
||||
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
|
||||
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
|
||||
git status
|
||||
|
||||
bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
|
||||
bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
|
||||
git status
|
||||
|
||||
.PHONY: coverity_scan
|
||||
@@ -488,9 +482,7 @@ shellcheck_all:
|
||||
@make px4_fmu-v5_default shellcheck
|
||||
|
||||
validate_module_configs:
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
|
||||
-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
|
||||
xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
|
||||
# Cleanup
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
@@ -1,17 +1,17 @@
|
||||
Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
|
||||
|
||||
## Describe problem solved by this pull request
|
||||
A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
|
||||
**Describe problem solved by this pull request**
|
||||
A clear and concise description of the problem this proposed change will solve.
|
||||
E.g. For this use case I ran into...
|
||||
|
||||
## Describe your solution
|
||||
**Describe your solution**
|
||||
A clear and concise description of what you have implemented.
|
||||
|
||||
## Describe possible alternatives
|
||||
**Describe possible alternatives**
|
||||
A clear and concise description of alternative solutions or features you've considered.
|
||||
|
||||
## Test data / coverage
|
||||
**Test data / coverage**
|
||||
How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
|
||||
|
||||
## Additional context
|
||||
**Additional context**
|
||||
Add any other related context or media.
|
||||
@@ -32,4 +32,3 @@
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(init.d)
|
||||
add_subdirectory(mixers)
|
||||
|
||||
@@ -33,5 +33,4 @@
|
||||
|
||||
px4_add_romfs_files(
|
||||
rcS
|
||||
rc.output_defaults
|
||||
)
|
||||
|
||||
@@ -1,32 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# UGV default parameters.
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
#
|
||||
# Enable servo output on pins 3 and 4 (steering and thrust)
|
||||
# but also include 1+2 as they form together one output group
|
||||
# and need to be set together.
|
||||
#
|
||||
set PWM_OUT 12
|
||||
|
||||
#
|
||||
# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
|
||||
# may damage analog servos.
|
||||
#
|
||||
set PWM_MAIN_RATE 50
|
||||
|
||||
#
|
||||
# This is the gimbal pass mixer.
|
||||
#
|
||||
set MIXER_AUX pass
|
||||
set PWM_AUX_OUT 12
|
||||
|
||||
param set-default PWM_MAIN_DISARM 1500
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
param set-default PWM_MAIN_MIN 1000
|
||||
|
||||
# Set mixer
|
||||
set MIXER IO_pass_ucan
|
||||
@@ -65,8 +65,8 @@ unset BOARD_RC_DEFAULTS
|
||||
#
|
||||
# Start system state indicator.
|
||||
#
|
||||
#rgbled start -X -q
|
||||
#rgbled_ncp5623c start -X -q
|
||||
rgbled start -X -q
|
||||
rgbled_ncp5623c start -X -q
|
||||
|
||||
#
|
||||
# board sensors: rc.sensors
|
||||
@@ -86,10 +86,10 @@ unset BOARD_RC_SENSORS
|
||||
. ${R}etc/init.d/rc.serial
|
||||
|
||||
# Check for flow sensor
|
||||
#if param compare SENS_EN_PX4FLOW 1
|
||||
#then
|
||||
# px4flow start -X &
|
||||
#fi
|
||||
if param compare SENS_EN_PX4FLOW 1
|
||||
then
|
||||
px4flow start -X
|
||||
fi
|
||||
|
||||
#uavcannode start
|
||||
uavcannode start
|
||||
unset R
|
||||
|
||||
@@ -1,12 +0,0 @@
|
||||
Passthrough mixer for PX4IO
|
||||
============================
|
||||
|
||||
This file defines passthrough mixers suitable for testing.
|
||||
|
||||
Channel group 0, channels 0-7 are passed directly through to the outputs.
|
||||
|
||||
M: 1
|
||||
S: 0 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 0 1 10000 10000 0 -10000 10000
|
||||
@@ -11,22 +11,40 @@
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_MC_R0_PX 0.1515
|
||||
param set-default CA_MC_R0_PY 0.245
|
||||
param set-default CA_MC_R0_CT 6.5
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.1515
|
||||
param set-default CA_MC_R1_PY -0.1875
|
||||
param set-default CA_MC_R1_CT 6.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.1515
|
||||
param set-default CA_MC_R2_PY -0.245
|
||||
param set-default CA_MC_R2_CT 6.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.1515
|
||||
param set-default CA_MC_R3_PY 0.1875
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
@@ -10,7 +10,6 @@
|
||||
# enable fusion of landing target velocity
|
||||
param set-default LTEST_MODE 1
|
||||
param set-default PLD_HACC_RAD 0.1
|
||||
param set-default RTL_PLD_MD 2
|
||||
|
||||
# Start up Landing Target Estimator module
|
||||
landing_target_estimator start
|
||||
|
||||
@@ -5,8 +5,13 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,8 +5,13 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,65 +5,11 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 7
|
||||
|
||||
param set-default CA_ROTOR_COUNT 8
|
||||
param set-default CA_R_REV 255
|
||||
param set-default CA_ROTOR0_AX 1.0000
|
||||
param set-default CA_ROTOR0_AY -1.0000
|
||||
param set-default CA_ROTOR0_AZ 0.0000
|
||||
param set-default CA_ROTOR0_KM 0.0000
|
||||
param set-default CA_ROTOR0_PX 0.5000
|
||||
param set-default CA_ROTOR0_PY 0.3000
|
||||
param set-default CA_ROTOR0_PZ 0.2000
|
||||
param set-default CA_ROTOR1_AX 1.0000
|
||||
param set-default CA_ROTOR1_AY 1.0000
|
||||
param set-default CA_ROTOR1_AZ 0.0000
|
||||
param set-default CA_ROTOR1_KM 0.0000
|
||||
param set-default CA_ROTOR1_PX 0.5000
|
||||
param set-default CA_ROTOR1_PY -0.3000
|
||||
param set-default CA_ROTOR1_PZ 0.2000
|
||||
param set-default CA_ROTOR2_AX 1.0000
|
||||
param set-default CA_ROTOR2_AY 1.0000
|
||||
param set-default CA_ROTOR2_AZ 0.0000
|
||||
param set-default CA_ROTOR2_KM 0.0000
|
||||
param set-default CA_ROTOR2_PX -0.5000
|
||||
param set-default CA_ROTOR2_PY 0.3000
|
||||
param set-default CA_ROTOR2_PZ 0.2000
|
||||
param set-default CA_ROTOR3_AX 1.0000
|
||||
param set-default CA_ROTOR3_AY -1.0000
|
||||
param set-default CA_ROTOR3_AZ 0.0000
|
||||
param set-default CA_ROTOR3_KM 0.0000
|
||||
param set-default CA_ROTOR3_PX -0.5000
|
||||
param set-default CA_ROTOR3_PY -0.3000
|
||||
param set-default CA_ROTOR3_PZ 0.2000
|
||||
param set-default CA_ROTOR4_AZ -1.0000
|
||||
param set-default CA_ROTOR4_KM 0.0000
|
||||
param set-default CA_ROTOR4_PX 0.5000
|
||||
param set-default CA_ROTOR4_PY 0.5000
|
||||
param set-default CA_ROTOR5_AZ 1.0000
|
||||
param set-default CA_ROTOR5_KM 0.0000
|
||||
param set-default CA_ROTOR5_PX 0.5000
|
||||
param set-default CA_ROTOR5_PY -0.5000
|
||||
param set-default CA_ROTOR6_AZ 1.0000
|
||||
param set-default CA_ROTOR6_KM 0.0000
|
||||
param set-default CA_ROTOR6_PX -0.5000
|
||||
param set-default CA_ROTOR6_PY 0.5000
|
||||
param set-default CA_ROTOR7_KM 0.0000
|
||||
param set-default CA_ROTOR7_PX -0.5000
|
||||
param set-default CA_ROTOR7_PY -0.5000
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
param set-default PWM_MAIN_FUNC7 107
|
||||
param set-default PWM_MAIN_FUNC8 108
|
||||
|
||||
set MIXER skip
|
||||
set PWM_OUT 12345678
|
||||
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -25,15 +25,16 @@ param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_CRUISE 0.25
|
||||
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
@@ -45,32 +46,5 @@ param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
#param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_CS4_TYPE 9
|
||||
param set-default CA_SV_CS5_TYPE 10
|
||||
param set-default PWM_MAIN_FUNC3 204
|
||||
param set-default PWM_MAIN_FUNC4 205
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -44,8 +44,6 @@ param set-default MIS_TAKEOFF_ALT 30
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default FW_USE_NPFG 1
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
|
||||
@@ -7,47 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
# TODO: Enable motor failure detection when the
|
||||
# VTOL no longer reports 0A for all ESCs in SITL
|
||||
param set-default FD_ACT_EN 0
|
||||
param set-default FD_ACT_MOT_TOUT 500
|
||||
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 2
|
||||
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_AX 1.0
|
||||
param set-default CA_ROTOR4_AZ 0.0
|
||||
param set-default CA_ROTOR4_PX 0.2
|
||||
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
@@ -60,9 +19,12 @@ param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.25
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set-default MC_YAW_P 1.6
|
||||
@@ -76,6 +38,7 @@ param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
@@ -84,5 +47,7 @@ param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_TYPE 2
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -7,50 +7,14 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default MAV_TYPE 20
|
||||
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 4
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 1
|
||||
param set-default CA_ROTOR0_PY 2
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -1
|
||||
param set-default CA_ROTOR1_PY -1
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 1
|
||||
param set-default CA_ROTOR2_PY -1
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -1
|
||||
param set-default CA_ROTOR3_PY 1
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_SV_CS_COUNT 2
|
||||
param set-default CA_SV_CS0_TYPE 5
|
||||
param set-default CA_SV_CS0_TRQ_P 0.5
|
||||
param set-default CA_SV_CS0_TRQ_Y -0.5
|
||||
param set-default CA_SV_CS1_TYPE 6
|
||||
param set-default CA_SV_CS1_TRQ_P 0.5
|
||||
param set-default CA_SV_CS1_TRQ_Y 0.5
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 0
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_REV 96 # invert both elevons
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_I 0.2
|
||||
param set-default FW_PR_P 0.2
|
||||
param set-default FW_PR_P 0.3
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_P 0.2
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.33
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
@@ -70,14 +34,15 @@ param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_SC 0.5
|
||||
param set-default VT_F_TRANS_DUR 1.5
|
||||
param set-default VT_F_TRANS_THR 0.7
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
param set-default WV_EN 0
|
||||
|
||||
set MAV_TYPE 20
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -7,52 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default MAV_TYPE 21
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 3
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_ROTOR0_TILT 1
|
||||
param set-default CA_ROTOR2_TILT 3
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_TL0_CT 0
|
||||
param set-default CA_SV_TL1_CT 0
|
||||
param set-default CA_SV_TL2_CT 0
|
||||
param set-default CA_SV_TL3_CT 0
|
||||
param set-default CA_SV_TL_COUNT 4
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 204
|
||||
param set-default PWM_MAIN_FUNC6 205
|
||||
param set-default PWM_MAIN_FUNC7 206
|
||||
param set-default PWM_MAIN_FUNC8 207
|
||||
param set-default PWM_MAIN_FUNC9 201
|
||||
param set-default PWM_MAIN_FUNC10 202
|
||||
param set-default PWM_MAIN_FUNC11 203
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
@@ -65,9 +19,12 @@ param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.38
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set-default MC_YAW_P 1.6
|
||||
|
||||
@@ -80,6 +37,7 @@ param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
@@ -87,5 +45,7 @@ param set-default VT_MOT_ID 1234
|
||||
param set-default VT_TILT_TRANS 0.6
|
||||
param set-default VT_TYPE 1
|
||||
|
||||
set MAV_TYPE 21
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -38,6 +38,7 @@ param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
@@ -50,5 +51,7 @@ param set-default RC_MAP_AUX1 8
|
||||
param set-default RC_MAP_AUX2 9
|
||||
param set-default RC_MAP_AUX3 10
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -28,13 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 5
|
||||
set MAV_TYPE 10
|
||||
|
||||
param set-default CA_R_REV 1
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 201
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
param set-default PWM_MAIN_FUNC7 101
|
||||
|
||||
set MIXER_FILE skip
|
||||
set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
|
||||
|
||||
@@ -28,13 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 6
|
||||
set MAV_TYPE 10
|
||||
|
||||
param set-default CA_R_REV 3
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 101
|
||||
param set-default PWM_MAIN_FUNC6 102
|
||||
param set-default PWM_MAIN_FUNC7 102
|
||||
|
||||
set MIXER_FILE skip
|
||||
set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
|
||||
|
||||
@@ -10,8 +10,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default MAV_TYPE 10
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 3
|
||||
@@ -35,4 +33,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 3.0
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
|
||||
|
||||
@@ -28,23 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 9
|
||||
set MAV_TYPE 11
|
||||
|
||||
param set-default CA_ROTOR_COUNT 2
|
||||
param set-default CA_ROTOR0_AX 1
|
||||
param set-default CA_ROTOR0_AZ 0
|
||||
param set-default CA_ROTOR0_KM 0
|
||||
param set-default CA_ROTOR0_PX -2
|
||||
param set-default CA_ROTOR0_PY -1
|
||||
param set-default CA_ROTOR1_AX 1
|
||||
param set-default CA_ROTOR1_AZ 0
|
||||
param set-default CA_ROTOR1_KM 0
|
||||
param set-default CA_ROTOR1_PX -2
|
||||
param set-default CA_ROTOR1_PY 1
|
||||
param set-default CA_R_REV 3
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
|
||||
|
||||
@@ -11,31 +11,5 @@
|
||||
|
||||
. ${R}etc/init.d/rc.airship_defaults
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 9
|
||||
|
||||
param set-default CA_ROTOR_COUNT 3
|
||||
param set-default CA_ROTOR0_AX 1.0000
|
||||
param set-default CA_ROTOR0_AZ 0.0000
|
||||
param set-default CA_ROTOR0_KM 0.0000
|
||||
param set-default CA_ROTOR0_PY 2.0000
|
||||
param set-default CA_ROTOR1_AX 1.0000
|
||||
param set-default CA_ROTOR1_AZ 0.0000
|
||||
param set-default CA_ROTOR1_KM 0.0000
|
||||
param set-default CA_ROTOR1_PY -2.0000
|
||||
param set-default CA_ROTOR2_AY -1.0000
|
||||
param set-default CA_ROTOR2_AZ 0.0000
|
||||
param set-default CA_ROTOR2_KM 0.0000
|
||||
param set-default CA_ROTOR2_PX -10.0000
|
||||
|
||||
param set-default CA_SV_CS_COUNT 1
|
||||
param set-default CA_SV_CS0_TRQ_P 1.0000
|
||||
|
||||
param set-default CA_R_REV 7
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 201
|
||||
param set-default PWM_MAIN_FUNC4 103
|
||||
|
||||
set MIXER skip
|
||||
set MIXER cloudship
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -9,8 +9,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MAV_TYPE 13
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.1
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCH_P 6.0
|
||||
@@ -26,4 +24,6 @@ param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_DO_STAB 2
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
set MIXER hexa_x
|
||||
|
||||
@@ -7,8 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MAV_TYPE 13
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.0800
|
||||
param set-default MC_PITCHRATE_I 0.0400
|
||||
param set-default MC_PITCHRATE_D 0.0010
|
||||
@@ -28,4 +26,6 @@ param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MAV_PROTO_VER 2
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
set MIXER hexa_x
|
||||
|
||||
@@ -7,8 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MAV_TYPE 13
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.0800
|
||||
@@ -31,27 +29,52 @@ param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 0
|
||||
param set-default MAV_PROTO_VER 2
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 6
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default CA_ROTOR0_PX 0.0
|
||||
param set-default CA_ROTOR0_PY 1.0
|
||||
param set-default CA_ROTOR0_KM -0.05
|
||||
param set-default CA_ROTOR1_PX 0.0
|
||||
param set-default CA_ROTOR1_PY -1.0
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.866025
|
||||
param set-default CA_ROTOR2_PY -0.5
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.866025
|
||||
param set-default CA_ROTOR3_PY 0.5
|
||||
param set-default CA_ROTOR3_KM 0.05
|
||||
param set-default CA_ROTOR4_PX 0.866025
|
||||
param set-default CA_ROTOR4_PY 0.5
|
||||
param set-default CA_ROTOR4_KM 0.05
|
||||
param set-default CA_ROTOR5_PX -0.866025
|
||||
param set-default CA_ROTOR5_PY -0.5
|
||||
param set-default CA_ROTOR5_KM -0.05
|
||||
param set-default VM_MASS 2.66
|
||||
param set-default VM_INERTIA_XX 0.06
|
||||
param set-default VM_INERTIA_YY 0.06
|
||||
param set-default VM_INERTIA_ZZ 0.10
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT4_MIN 0.0
|
||||
param set-default CA_ACT5_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
param set-default CA_ACT4_MAX 1.0
|
||||
param set-default CA_ACT5_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R0_PX 0.0
|
||||
param set-default CA_MC_R0_PY 1.0
|
||||
param set-default CA_MC_R0_CT 9.5
|
||||
param set-default CA_MC_R0_KM -0.05
|
||||
param set-default CA_MC_R1_PX 0.0
|
||||
param set-default CA_MC_R1_PY -1.0
|
||||
param set-default CA_MC_R1_CT 9.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.866025
|
||||
param set-default CA_MC_R2_PY -0.5
|
||||
param set-default CA_MC_R2_CT 9.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.866025
|
||||
param set-default CA_MC_R3_PY 0.5
|
||||
param set-default CA_MC_R3_CT 9.5
|
||||
param set-default CA_MC_R3_KM 0.05
|
||||
param set-default CA_MC_R4_PX 0.866025
|
||||
param set-default CA_MC_R4_PY 0.5
|
||||
param set-default CA_MC_R4_CT 9.5
|
||||
param set-default CA_MC_R4_KM 0.05
|
||||
param set-default CA_MC_R5_PX -0.866025
|
||||
param set-default CA_MC_R5_PY -0.5
|
||||
param set-default CA_MC_R5_CT 9.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
@@ -60,5 +83,7 @@ param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
|
||||
@@ -1,4 +1,6 @@
|
||||
|
||||
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
|
||||
|
||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
|
||||
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
@@ -10,7 +10,7 @@ fi
|
||||
|
||||
if [ ! -f replay_params.txt ]; then
|
||||
echo "Creating $(pwd)/replay_params.txt"
|
||||
ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
|
||||
ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
|
||||
fi
|
||||
|
||||
publisher_rules_file="orb_publisher.rules"
|
||||
@@ -21,7 +21,6 @@ ignore_others: false
|
||||
EOF
|
||||
|
||||
param set SDLOG_DIRS_MAX 7
|
||||
param set SDLOG_PROFILE 3
|
||||
|
||||
# apply all params before ekf starts, as some params cannot be changed after startup
|
||||
replay tryapplyparams
|
||||
|
||||
@@ -1,7 +1,5 @@
|
||||
#!/bin/sh
|
||||
|
||||
set -e
|
||||
|
||||
# PX4 commands need the 'px4-' prefix in bash.
|
||||
# (px4-alias.sh is expected to be in the PATH)
|
||||
# shellcheck disable=SC1091
|
||||
@@ -24,6 +22,7 @@ fi
|
||||
|
||||
# initialize script variables
|
||||
set IO_PRESENT no
|
||||
set MAV_TYPE none
|
||||
set MIXER none
|
||||
set MIXER_AUX none
|
||||
set MIXER_FILE none
|
||||
@@ -95,9 +94,10 @@ fi
|
||||
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
|
||||
param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
|
||||
set AUTOCNF yes
|
||||
|
||||
# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
|
||||
param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
|
||||
fi
|
||||
|
||||
# multi-instance setup
|
||||
@@ -195,6 +195,14 @@ fi
|
||||
|
||||
. "$autostart_file"
|
||||
|
||||
#
|
||||
# If autoconfig parameter was set, reset it and save parameters.
|
||||
#
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set SYS_AUTOCONFIG 0
|
||||
fi
|
||||
|
||||
# Simulator IMU data provided at 250 Hz
|
||||
param set IMU_INTEG_RATE 250
|
||||
|
||||
@@ -214,13 +222,6 @@ rc_update start
|
||||
manual_control start
|
||||
sensors start
|
||||
commander start
|
||||
|
||||
# Configure vehicle type specific parameters.
|
||||
# Note: rc.vehicle_setup is the entry point for rc.interface,
|
||||
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
|
||||
#
|
||||
. ${R}etc/init.d/rc.vehicle_setup
|
||||
|
||||
navigator start
|
||||
|
||||
# Try to start the micrortps_client with UDP transport if module exists
|
||||
@@ -231,7 +232,7 @@ fi
|
||||
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
then
|
||||
gimbal start
|
||||
vmount start
|
||||
fi
|
||||
|
||||
if param greater -s TRIG_MODE 0
|
||||
@@ -250,6 +251,12 @@ then
|
||||
gyro_calibration start
|
||||
fi
|
||||
|
||||
# Configure vehicle type specific parameters.
|
||||
# Note: rc.vehicle_setup is the entry point for rc.interface,
|
||||
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
|
||||
#
|
||||
. ${R}etc/init.d/rc.vehicle_setup
|
||||
|
||||
#user defined mavlink streams for instances can be in PATH
|
||||
. px4-rc.mavlink
|
||||
|
||||
|
||||
@@ -55,5 +55,4 @@ px4_add_romfs_files(
|
||||
rc.vehicle_setup
|
||||
rc.vtol_apps
|
||||
rc.vtol_defaults
|
||||
rc.output_defaults
|
||||
)
|
||||
|
||||
@@ -39,30 +39,8 @@ param set-default FW_RR_P 0.3
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
param set-default CA_SV_CS_COUNT 4
|
||||
param set-default CA_SV_CS0_TRQ_R 0.5
|
||||
param set-default CA_SV_CS0_TYPE 2
|
||||
param set-default CA_SV_CS1_TRQ_P 1.0
|
||||
param set-default CA_SV_CS1_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS2_TYPE 4
|
||||
param set-default CA_SV_CS3_TYPE 10
|
||||
|
||||
param set-default HIL_ACT_REV 2
|
||||
param set-default HIL_ACT_FUNC1 201
|
||||
param set-default HIL_ACT_FUNC2 202
|
||||
param set-default HIL_ACT_FUNC3 203
|
||||
param set-default HIL_ACT_FUNC4 101
|
||||
param set-default HIL_ACT_FUNC5 204
|
||||
param set-default HIL_ACT_FUNC6 400
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
|
||||
# disable some checks to allow to fly
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
|
||||
@@ -35,6 +35,6 @@ param set-default MC_YAWRATE_P 0.25
|
||||
param set-default MC_YAWRATE_I 0.25
|
||||
|
||||
param set-default BAT1_V_DIV 12.27559
|
||||
param set-default BAT1_A_PER_V 15.391030303103
|
||||
param set-default BAT1_A_PER_V 15.39103
|
||||
|
||||
set MIXER quad_w
|
||||
|
||||
@@ -0,0 +1,39 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Steadidrone QU4D
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
# @class Copter
|
||||
#
|
||||
# @output MAIN1 motor 1
|
||||
# @output MAIN2 motor 2
|
||||
# @output MAIN3 motor 3
|
||||
# @output MAIN4 motor 4
|
||||
# @output MAIN5 feed-through of RC AUX1 channel
|
||||
# @output MAIN6 feed-through of RC AUX2 channel
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
# @output AUX4 feed-through of RC FLAPS channel
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default BAT1_N_CELLS 4
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.13
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_ROLLRATE_D 0.004
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.19
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
param set-default MC_YAW_P 4
|
||||
set MIXER quad_w
|
||||
@@ -15,25 +15,6 @@ set MIXER quad_x
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.15
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.15
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.15
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default HIL_ACT_FUNC1 101
|
||||
param set-default HIL_ACT_FUNC2 102
|
||||
param set-default HIL_ACT_FUNC3 103
|
||||
param set-default HIL_ACT_FUNC4 104
|
||||
|
||||
# disable some checks to allow to fly
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
|
||||
@@ -49,6 +49,7 @@ param set-default MPC_Z_VEL_MAX_DN 1.5
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set-default RTL_RETURN_ALT 30
|
||||
@@ -60,42 +61,9 @@ param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_TYPE 2
|
||||
|
||||
param set-default CA_AIRFRAME 2
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.15
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.15
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.15
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_AX 1.0
|
||||
param set-default CA_ROTOR4_AZ 0.0
|
||||
param set-default CA_ROTOR4_PX 0.2
|
||||
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
|
||||
param set-default HIL_ACT_FUNC1 101
|
||||
param set-default HIL_ACT_FUNC2 102
|
||||
param set-default HIL_ACT_FUNC3 103
|
||||
param set-default HIL_ACT_FUNC4 104
|
||||
param set-default HIL_ACT_FUNC5 105
|
||||
param set-default HIL_ACT_FUNC6 201
|
||||
param set-default HIL_ACT_FUNC7 202
|
||||
param set-default HIL_ACT_FUNC8 203
|
||||
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
|
||||
# disable some checks to allow to fly
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
@@ -105,7 +73,7 @@ param set-default CBRK_SUPPLY_CHK 894281
|
||||
param set-default COM_PREARM_MODE 0
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default MAV_TYPE 22
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER standard_vtol_hitl
|
||||
|
||||
|
||||
@@ -15,25 +15,6 @@
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.15
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.15
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.15
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default HIL_ACT_FUNC1 101
|
||||
param set-default HIL_ACT_FUNC2 102
|
||||
param set-default HIL_ACT_FUNC3 103
|
||||
param set-default HIL_ACT_FUNC4 104
|
||||
|
||||
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
param set SYS_HITL 2
|
||||
|
||||
|
||||
@@ -15,28 +15,6 @@
|
||||
set MIXER AERT
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
param set-default CA_SV_CS_COUNT 4
|
||||
param set-default CA_SV_CS0_TRQ_R 0.5
|
||||
param set-default CA_SV_CS0_TYPE 2
|
||||
param set-default CA_SV_CS1_TRQ_P 1.0
|
||||
param set-default CA_SV_CS1_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS2_TYPE 4
|
||||
param set-default CA_SV_CS3_TYPE 10
|
||||
|
||||
param set-default HIL_ACT_REV 2
|
||||
param set-default HIL_ACT_FUNC1 201
|
||||
param set-default HIL_ACT_FUNC2 202
|
||||
param set-default HIL_ACT_FUNC3 203
|
||||
param set-default HIL_ACT_FUNC4 101
|
||||
param set-default HIL_ACT_FUNC5 204
|
||||
param set-default HIL_ACT_FUNC6 400
|
||||
|
||||
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
param set-default SYS_HITL 2
|
||||
|
||||
@@ -60,4 +38,3 @@ param set SIH_IXZ 0.00046
|
||||
param set SIH_KDV 0.2
|
||||
|
||||
param set SIH_VEHICLE_TYPE 1 # sih as fixed wing
|
||||
param set RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
|
||||
|
||||
@@ -1,81 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name SIH Tailsitter Duo
|
||||
#
|
||||
# @type Simulation
|
||||
# @class VTOL
|
||||
#
|
||||
# @output MAIN1 motor right
|
||||
# @output MAIN2 motor left
|
||||
# @output MAIN5 elevon right
|
||||
# @output MAIN6 elevon left
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_MOT_COUNT 2
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_SC 0.3
|
||||
param set-default MPC_MAN_Y_MAX 60
|
||||
param set-default MC_PITCH_P 5
|
||||
|
||||
param set-default CA_AIRFRAME 4
|
||||
param set-default CA_ROTOR_COUNT 2
|
||||
param set-default CA_ROTOR0_KM -0.05
|
||||
param set-default CA_ROTOR0_PY 0.2
|
||||
param set-default CA_ROTOR1_KM -0.05
|
||||
param set-default CA_ROTOR1_PY -0.2
|
||||
param set-default CA_SV_CS_COUNT 2
|
||||
param set-default CA_SV_CS0_TRQ_P 0.3
|
||||
param set-default CA_SV_CS0_TRQ_Y 0.3
|
||||
param set-default CA_SV_CS0_TYPE 5
|
||||
param set-default CA_SV_CS1_TRQ_P 0.3
|
||||
param set-default CA_SV_CS1_TRQ_Y -0.3
|
||||
param set-default CA_SV_CS1_TYPE 6
|
||||
|
||||
param set-default HIL_ACT_FUNC1 101
|
||||
param set-default HIL_ACT_FUNC2 102
|
||||
param set-default HIL_ACT_FUNC5 202
|
||||
param set-default HIL_ACT_FUNC6 201
|
||||
param set-default HIL_ACT_REV 32
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
|
||||
set MIXER vtol_tailsitter_duo_sat
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
param set-default SYS_HITL 2
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default COM_PREARM_MODE 0
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set SIH_T_MAX 2.0
|
||||
param set SIH_Q_MAX 0.0165
|
||||
param set SIH_MASS 0.2
|
||||
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
|
||||
param set SIH_IXX 0.00354
|
||||
param set SIH_IYY 0.000625
|
||||
param set SIH_IZZ 0.00300
|
||||
param set SIH_IXZ 0.0
|
||||
param set SIH_KDV 0.2
|
||||
param set SIH_L_ROLL 0.145
|
||||
|
||||
# sih as tailsitter
|
||||
param set SIH_VEHICLE_TYPE 2
|
||||
@@ -0,0 +1,48 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Steadidrone MAVRIK
|
||||
#
|
||||
# @type Octo Coax Wide
|
||||
# @class Copter
|
||||
#
|
||||
# @output MAIN1 motor 1
|
||||
# @output MAIN2 motor 2
|
||||
# @output MAIN3 motor 3
|
||||
# @output MAIN4 motor 4
|
||||
# @output MAIN5 motor 5
|
||||
# @output MAIN6 motor 6
|
||||
# @output MAIN7 motor 7
|
||||
# @output MAIN8 motor 8
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default MC_PITCH_P 4
|
||||
param set-default MC_PITCHRATE_P 0.24
|
||||
param set-default MC_PITCHRATE_I 0.09
|
||||
param set-default MC_PITCHRATE_D 0.013
|
||||
param set-default MC_PITCHRATE_MAX 180
|
||||
|
||||
param set-default MC_ROLL_P 4
|
||||
param set-default MC_ROLLRATE_P 0.16
|
||||
param set-default MC_ROLLRATE_I 0.07
|
||||
param set-default MC_ROLLRATE_D 0.009
|
||||
param set-default MC_ROLLRATE_MAX 180
|
||||
|
||||
param set-default MC_YAW_P 3
|
||||
|
||||
param set-default MPC_HOLD_MAX_XY 0.25
|
||||
param set-default MPC_THR_MIN 0.15
|
||||
param set-default MPC_Z_VEL_MAX_DN 2
|
||||
|
||||
param set-default BAT1_N_CELLS 4
|
||||
|
||||
set MIXER octo_cox_w
|
||||
|
||||
set PWM_OUT 12345678
|
||||
@@ -24,38 +24,13 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 2
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.15
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.15
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.15
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_AX 1.0
|
||||
param set-default CA_ROTOR4_AZ 0.0
|
||||
param set-default CA_ROTOR4_PX 0.2
|
||||
param set-default CA_SV_CS_COUNT 4
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
|
||||
param set-default MAV_TYPE 22
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
set MIXER_AUX vtol_AAERT
|
||||
|
||||
@@ -19,6 +19,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
|
||||
param set-default MC_ROLL_P 6
|
||||
@@ -37,6 +38,7 @@ param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_MOT_ID 12
|
||||
param set-default VT_TYPE 0
|
||||
set MAV_TYPE 19
|
||||
|
||||
set MIXER vtol_tailsitter_duo
|
||||
|
||||
|
||||
@@ -23,7 +23,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default MAV_TYPE 21
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.19
|
||||
@@ -46,6 +45,7 @@ param set-default VT_TILT_TRANS 0.5
|
||||
param set-default VT_TILT_FW 0.9
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 1
|
||||
set MAV_TYPE 21
|
||||
|
||||
set MIXER firefly6
|
||||
set MIXER_AUX firefly6
|
||||
|
||||
@@ -13,33 +13,13 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default MAV_TYPE 20
|
||||
|
||||
param set-default CA_AIRFRAME 4
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.15
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.15
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.15
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_SV_CS_COUNT 2
|
||||
param set-default CA_SV_CS0_TRQ_P 0.5
|
||||
param set-default CA_SV_CS0_TRQ_Y 0.5
|
||||
param set-default CA_SV_CS0_TYPE 5
|
||||
param set-default CA_SV_CS1_TRQ_P 0.5
|
||||
param set-default CA_SV_CS1_TRQ_Y -0.5
|
||||
param set-default CA_SV_CS1_TYPE 6
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 0
|
||||
set MAV_TYPE 20
|
||||
|
||||
set MIXER quad_x_vtol
|
||||
|
||||
|
||||
@@ -7,8 +7,8 @@
|
||||
#
|
||||
# @output MAIN1 motor 1
|
||||
# @output MAIN2 motor 2
|
||||
# @output MAIN3 motor 3
|
||||
# @output MAIN4 motor 4
|
||||
# @output MAIN3 motor 4
|
||||
# @output MAIN4 motor 5
|
||||
# @output MAIN5 elevon left
|
||||
# @output MAIN6 elevon right
|
||||
# @output MAIN7 canard surface
|
||||
@@ -22,13 +22,13 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default MAV_TYPE 20
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
set MAV_TYPE 20
|
||||
|
||||
set MIXER quad_+_vtol
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -52,6 +52,7 @@ param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
set MIXER_AUX vtol_AAERT
|
||||
|
||||
@@ -41,6 +41,7 @@ param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
set MIXER_AUX vtol_delta
|
||||
|
||||
@@ -33,6 +33,7 @@ param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
set MIXER_AUX vtol_AAVVT
|
||||
|
||||
@@ -46,6 +46,7 @@ param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
set MIXER_AUX vtol_AAERT
|
||||
|
||||
@@ -77,6 +77,8 @@ param set-default VT_TRANS_MIN_TM 5
|
||||
param set-default VT_TRANS_TIMEOUT 30
|
||||
param set-default VT_TYPE 2
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
set MIXER_AUX vtol_AAERT
|
||||
|
||||
|
||||
@@ -0,0 +1,36 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name CruiseAder Claire
|
||||
#
|
||||
# @type VTOL Tiltrotor
|
||||
# @class VTOL
|
||||
#
|
||||
# @maintainer Samay Siga <samay_s@icloud.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default PWM_AUX_DISARM 1000
|
||||
param set-default PWM_AUX_MAX 2000
|
||||
param set-default PWM_AUX_MIN 1000
|
||||
param set-default PWM_AUX_RATE 50
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 13
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TILT_FW 0.9
|
||||
param set-default VT_TILT_MC 0.08
|
||||
param set-default VT_TILT_TRANS 0.5
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 1
|
||||
set MAV_TYPE 21
|
||||
|
||||
set MIXER claire
|
||||
set MIXER_AUX claire
|
||||
|
||||
set PWM_OUT 1234
|
||||
@@ -22,8 +22,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default MAV_TYPE 21
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default FW_ARSP_MODE 1
|
||||
@@ -66,12 +64,8 @@ param set-default VT_TRANS_MIN_TM 1.2
|
||||
param set-default VT_TRANS_P2_DUR 1.3
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 1
|
||||
set MAV_TYPE 21
|
||||
|
||||
set MIXER vtol_convergence
|
||||
|
||||
if ! ver hwcmp MATEK_H743
|
||||
then
|
||||
set PWM_OUT 1234
|
||||
else
|
||||
set PWM_OUT 3456
|
||||
fi
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -22,8 +22,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default MAV_TYPE 22
|
||||
|
||||
param set-default BAT1_CAPACITY 23000
|
||||
param set-default BAT1_N_CELLS 4
|
||||
param set-default BAT1_R_INTERNAL 0.0025
|
||||
@@ -66,6 +64,7 @@ param set-default FW_BAT_SCALE_EN 1
|
||||
param set-default FW_THR_ALT_SCL 2.7
|
||||
param set-default FW_T_RLL2THR 20
|
||||
|
||||
param set-default LNDMC_ALT_MAX 9999
|
||||
param set-default LNDMC_XY_VEL_MAX 1
|
||||
param set-default LNDMC_Z_VEL_MAX 0.7
|
||||
|
||||
@@ -131,10 +130,12 @@ param set-default VT_F_TRANS_DUR 1
|
||||
param set-default VT_IDLE_PWM_MC 1025
|
||||
param set-default VT_B_REV_OUT 0.5
|
||||
param set-default VT_B_TRANS_THR 0.7
|
||||
param set-default VT_FW_PERM_STAB 1
|
||||
param set-default VT_TRANS_TIMEOUT 22
|
||||
param set-default VT_F_TRANS_RAMP 4
|
||||
|
||||
param set-default COM_RC_OVERRIDE 0
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER deltaquad
|
||||
set MIXER_AUX pass
|
||||
|
||||
@@ -23,8 +23,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default MAV_TYPE 22
|
||||
|
||||
param set-default BAT1_N_CELLS 6
|
||||
|
||||
param set-default FW_AIRSPD_MAX 30
|
||||
@@ -96,6 +94,8 @@ param set-default VT_PSHER_RMP_DT 2
|
||||
param set-default VT_TRANS_MIN_TM 4
|
||||
param set-default VT_TYPE 2
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER babyshark
|
||||
set MIXER_AUX pass
|
||||
|
||||
|
||||
@@ -27,37 +27,11 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default MAV_TYPE 21
|
||||
|
||||
param set-default VT_IDLE_PWM_MC 1100
|
||||
param set-default VT_TYPE 1
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 24
|
||||
|
||||
param set-default CA_AIRFRAME 3
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.15
|
||||
param set-default CA_ROTOR0_TILT 1
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.15
|
||||
param set-default CA_ROTOR1_TILT 2
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.15
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR2_TILT 3
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR3_TILT 4
|
||||
param set-default CA_SV_CS_COUNT 4
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_TL_COUNT 4
|
||||
set MAV_TYPE 21
|
||||
|
||||
set MIXER quad_x
|
||||
set MIXER_AUX vtol_TTTTAAER
|
||||
|
||||
@@ -31,6 +31,7 @@ param set-default PWM_AUX_DIS5 950
|
||||
param set-default VT_TYPE 2
|
||||
param set-default VT_MOT_ID 12345678
|
||||
param set-default VT_FW_MOT_OFFID 12345678
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER octo_cox
|
||||
set MIXER_AUX vtol_AAERT
|
||||
|
||||
@@ -19,26 +19,12 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_MOT_COUNT 2
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
param set-default CA_AIRFRAME 4
|
||||
param set-default CA_ROTOR_COUNT 2
|
||||
param set-default CA_ROTOR0_KM -0.05
|
||||
param set-default CA_ROTOR0_PY 0.2
|
||||
param set-default CA_ROTOR1_KM -0.05
|
||||
param set-default CA_ROTOR1_PY -0.2
|
||||
param set-default CA_SV_CS_COUNT 2
|
||||
param set-default CA_SV_CS0_TRQ_P 0.5
|
||||
param set-default CA_SV_CS0_TRQ_Y 0.5
|
||||
param set-default CA_SV_CS0_TYPE 5
|
||||
param set-default CA_SV_CS1_TRQ_P 0.5
|
||||
param set-default CA_SV_CS1_TRQ_Y -0.5
|
||||
param set-default CA_SV_CS1_TYPE 6
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
set MAV_TYPE 19
|
||||
set MIXER vtol_tailsitter_duo
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -18,7 +18,4 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
# MAV_TYPE_TRICOPTER 15
|
||||
param set-default MAV_TYPE 15
|
||||
|
||||
set MIXER tri_y_yaw+
|
||||
|
||||
@@ -18,7 +18,4 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
# MAV_TYPE_TRICOPTER 15
|
||||
param set-default MAV_TYPE 15
|
||||
|
||||
set MIXER tri_y_yaw-
|
||||
|
||||
@@ -17,9 +17,7 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
# MAV_TYPE_COAXIAL 3
|
||||
param set-default MAV_TYPE 3
|
||||
set MIXER coax
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.17
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
@@ -38,9 +36,6 @@ param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default RTL_RETURN_ALT 30
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
|
||||
set MIXER coax
|
||||
|
||||
# This is the gimbal pass mixer
|
||||
set MIXER_AUX pass
|
||||
|
||||
|
||||
@@ -20,7 +20,7 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
# Configure as helicopter (number 4 defined in commander_helper.cpp)
|
||||
param set-default MAV_TYPE 4
|
||||
set MAV_TYPE 4
|
||||
|
||||
set MIXER blade130
|
||||
|
||||
|
||||
@@ -41,6 +41,5 @@ param set-default FW_R_LIM 40
|
||||
param set-default FW_P_LIM_MAX 25
|
||||
param set-default FW_P_LIM_MIN -5
|
||||
param set-default FW_P_RMAX_NEG 20
|
||||
|
||||
set MIXER TF-G2
|
||||
set MIXER_AUX pass
|
||||
|
||||
@@ -24,5 +24,8 @@ param set-default MAV_0_CONFIG 102
|
||||
param set-default GPS_UBX_DYNMODEL 8
|
||||
param set-default SER_TEL2_BAUD 9600
|
||||
|
||||
set MAV_TYPE 8
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
set MIXER IO_pass
|
||||
set MIXER_AUX pass
|
||||
|
||||
@@ -23,18 +23,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
param set-default CA_SV_CS_COUNT 4
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set-default PWM_MAIN_RATE 50
|
||||
|
||||
|
||||
@@ -1,21 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Generic Output
|
||||
#
|
||||
# @maintainer
|
||||
#
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.output_defaults
|
||||
|
||||
|
||||
# Provide ESC a constant 1500 us pulse
|
||||
param set-default PWM_MAIN_DISARM 1500
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
param set-default PWM_MAIN_MIN 1000
|
||||
|
||||
# Set mixer
|
||||
set MIXER IO_pass
|
||||
|
||||
set PWM_OUT 12
|
||||
@@ -26,7 +26,7 @@
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
set VEHICLE_TYPE mc
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
@@ -39,7 +39,6 @@ param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set-default RTL_RETURN_ALT 30
|
||||
|
||||
set MIXER dodeca_top_cox
|
||||
set MIXER_AUX dodeca_bottom_cox
|
||||
|
||||
|
||||
@@ -0,0 +1,45 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name IO Camflyer
|
||||
#
|
||||
# @type Flying Wing
|
||||
# @class Plane
|
||||
#
|
||||
# @output MAIN1 left aileron
|
||||
# @output MAIN2 right aileron
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_AIRSPD_MAX 15
|
||||
param set-default FW_AIRSPD_TRIM 13
|
||||
param set-default FW_R_TC 0.3
|
||||
param set-default FW_P_TC 0.3
|
||||
param set-default FW_L1_DAMPING 0.74
|
||||
param set-default FW_L1_PERIOD 16
|
||||
param set-default FW_LND_ANG 15
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_HVIRT 13
|
||||
param set-default FW_LND_TLALT 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_PR_FF 0.35
|
||||
param set-default FW_RR_FF 0.6
|
||||
param set-default FW_RR_P 0.04
|
||||
|
||||
param set-default PWM_MAIN_DISARM 1000
|
||||
|
||||
|
||||
set MIXER fw_generic_wing
|
||||
|
||||
# Provide ESC a constant 1000 us pulse while disarmed
|
||||
set PWM_OUT 4
|
||||
@@ -41,6 +41,9 @@ param set-default FW_RR_P 0.04
|
||||
|
||||
param set-default PWM_MAIN_DISARM 1000
|
||||
|
||||
# Configure this as plane.
|
||||
set MAV_TYPE 1
|
||||
|
||||
# Set mixer.
|
||||
set MIXER fw_generic_wing
|
||||
|
||||
|
||||
@@ -0,0 +1,29 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name FX-79 Buffalo Flying Wing
|
||||
#
|
||||
# @type Flying Wing
|
||||
# @class Plane
|
||||
#
|
||||
# @output MAIN1 right aileron
|
||||
# @output MAIN2 left aileron
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_AIRSPD_MAX 30
|
||||
param set-default FW_AIRSPD_MIN 13
|
||||
|
||||
param set-default NAV_LOITER_RAD 150
|
||||
|
||||
set MIXER fw_generic_wing
|
||||
@@ -0,0 +1,23 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Viper
|
||||
#
|
||||
# @type Flying Wing
|
||||
# @class Plane
|
||||
# @output MAIN1 left aileron
|
||||
# @output MAIN2 right aileron
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
set MIXER Viper
|
||||
@@ -0,0 +1,53 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Modified Parrot Disco
|
||||
#
|
||||
# @url
|
||||
#
|
||||
# @type Flying Wing
|
||||
# @class Plane
|
||||
#
|
||||
# @output MAIN1 left aileron
|
||||
# @output MAIN2 right aileron
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Jan Liphardt <JTLiphardt@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
####################################
|
||||
# Airspeed
|
||||
####################################
|
||||
param set-default FW_AIRSPD_MAX 27 # = 52 knots
|
||||
|
||||
####################################
|
||||
# Pitch
|
||||
####################################
|
||||
|
||||
# Pitch rate feed forward (def = 0.5 %/rad/sec)
|
||||
param set-default FW_PR_FF 0.35
|
||||
|
||||
####################################
|
||||
# Roll
|
||||
####################################
|
||||
|
||||
# Basic limits (def = 50 deg)
|
||||
param set-default FW_R_LIM 40
|
||||
|
||||
# Roll rate upper limit (def = 70 deg/s)
|
||||
param set-default FW_R_RMAX 50
|
||||
|
||||
param set-default PWM_MAIN_DISARM 1000
|
||||
|
||||
set MIXER fw_generic_wing.main.mix
|
||||
|
||||
# Provide ESC a constant 1000 us pulse
|
||||
set PWM_OUT 4
|
||||
@@ -21,16 +21,3 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.15
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.15
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.15
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
|
||||
@@ -0,0 +1,21 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name DJI F330 w/ DJI ESCs
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
|
||||
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set-default PWM_MAIN_MIN 1230
|
||||
@@ -0,0 +1,20 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name DJI F450 w/ DJI ESCs
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_YAWRATE_P 0.3
|
||||
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set-default PWM_MAIN_MIN 1230
|
||||
@@ -0,0 +1,58 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name S500 with control allocation
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Silvan Fuhrer
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R0_PX 0.177
|
||||
param set-default CA_MC_R0_PY 0.177
|
||||
param set-default CA_MC_R0_CT 6.5
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.177
|
||||
param set-default CA_MC_R1_PY -0.177
|
||||
param set-default CA_MC_R1_CT 6.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.177
|
||||
param set-default CA_MC_R2_PY -0.177
|
||||
param set-default CA_MC_R2_CT 6.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.177
|
||||
param set-default CA_MC_R3_PY 0.177
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
@@ -1,23 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Holybro X500 V2
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Farhang Naderi <farhang.nba@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default IMU_GYRO_CUTOFF 30
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.14
|
||||
param set-default MC_PITCHRATE_P 0.14
|
||||
param set-default MC_ROLLRATE_I 0.3
|
||||
param set-default MC_PITCHRATE_I 0.3
|
||||
param set-default MC_ROLLRATE_D 0.004
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
@@ -24,6 +24,8 @@
|
||||
|
||||
set MIXER quad_s250aq
|
||||
|
||||
set MAV_TYPE 2
|
||||
|
||||
param set-default ATT_BIAS_MAX 0
|
||||
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
@@ -0,0 +1,27 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name DJI Matrice 100
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer James Goppert <james.goppert@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default BAT1_N_CELLS 6
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.05
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_ROLLRATE_D 0.001
|
||||
param set-default MC_PITCHRATE_P 0.05
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCHRATE_D 0.001
|
||||
|
||||
param set-default MC_YAWRATE_I 0
|
||||
|
||||
param set-default PWM_MAIN_MIN 1200
|
||||
@@ -16,10 +16,8 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
# We set the mixer and ESC manually.
|
||||
set MIXER skip
|
||||
set MIXER_AUX skip
|
||||
set MIXER_FILE ""
|
||||
set MIXER none
|
||||
set MIXER_AUX none
|
||||
|
||||
# Battery settings
|
||||
param set-default BAT_CRIT_THR 0.20
|
||||
@@ -35,18 +33,17 @@ param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
param set-default COM_DISARM_LAND 0.1
|
||||
param set-default COM_DISARM_PRFLT 3
|
||||
param set-default COM_DL_LOSS_T 10
|
||||
param set-default COM_FLTMODE1 2
|
||||
param set-default COM_FLTMODE1 -1
|
||||
param set-default COM_FLTMODE2 -1
|
||||
param set-default COM_FLTMODE3 -1
|
||||
param set-default COM_FLTMODE4 -1
|
||||
param set-default COM_FLTMODE4 2
|
||||
param set-default COM_FLTMODE5 -1
|
||||
param set-default COM_FLTMODE6 1
|
||||
param set-default COM_FLTMODE6 6
|
||||
param set-default COM_RC_LOSS_T 3
|
||||
|
||||
|
||||
# ekf2
|
||||
param set-default EKF2_AID_MASK 33
|
||||
param set-default EKF2_AID_MASK 35
|
||||
param set-default EKF2_BARO_DELAY 0
|
||||
param set-default EKF2_BARO_NOISE 2.0
|
||||
|
||||
@@ -71,9 +68,6 @@ param set-default EKF2_OF_GATE 2.0
|
||||
param set-default EKF2_OF_POS_X -0.035
|
||||
param set-default EKF2_OF_POS_Y 0.0
|
||||
param set-default EKF2_OF_POS_Z 0.033
|
||||
param set-default EKF2_OF_MIN_RNG 0.01
|
||||
param set-default EKF2_OF_A_HMAX 7.0
|
||||
param set-default EKF2_OF_QMIN 30
|
||||
|
||||
param set-default EKF2_PCOEF_XN -0.3
|
||||
param set-default EKF2_PCOEF_XP -0.4
|
||||
@@ -147,33 +141,58 @@ param set-default MPC_Z_VEL_P 0.27
|
||||
|
||||
|
||||
# gimbal configuration
|
||||
param set-default MNT_MODE_IN 0
|
||||
param set-default MNT_MODE_OUT 1
|
||||
param set-default MNT_MAN_PITCH 2
|
||||
param set-default MNT_RC_IN_MODE 1
|
||||
param set-default MNT_RATE_PITCH 30
|
||||
param set-default MNT_MODE_IN 1
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MNT_MAN_PITCH 1
|
||||
|
||||
|
||||
# RC
|
||||
param set-default RC_CHAN_CNT 12
|
||||
|
||||
param set-default RC_MAP_THROTTLE 1
|
||||
param set-default RC_MAP_YAW 2
|
||||
param set-default RC_MAP_ROLL 2
|
||||
param set-default RC_MAP_PITCH 3
|
||||
param set-default RC_MAP_ROLL 4
|
||||
param set-default RC_MAP_AUX2 5
|
||||
param set-default RC_MAP_AUX3 10
|
||||
param set-default RC_MAP_AUX4 8
|
||||
param set-default RC_MAP_FLTMODE 6
|
||||
param set-default RC_MAP_RETURN_SW 7
|
||||
param set-default RC_MAP_YAW 4
|
||||
param set-default RC_MAP_FLTMODE 5
|
||||
param set-default RC_MAP_AUX1 7
|
||||
|
||||
param set-default RC1_TRIM 1000
|
||||
param set-default RC1_DZ 10
|
||||
param set-default RC1_MAX 3413
|
||||
param set-default RC1_MIN 683
|
||||
param set-default RC1_REV 1
|
||||
param set-default RC1_TRIM 683
|
||||
param set-default RC2_DZ 10
|
||||
param set-default RC2_MAX 3413
|
||||
param set-default RC2_MIN 683
|
||||
param set-default RC2_REV -1
|
||||
param set-default RC2_TRIM 2048
|
||||
param set-default RC3_DZ 10
|
||||
param set-default RC3_MAX 3413
|
||||
param set-default RC3_MIN 683
|
||||
param set-default RC3_REV 1
|
||||
param set-default RC3_TRIM 2048
|
||||
param set-default RC4_DZ 10
|
||||
param set-default RC4_MAX 3413
|
||||
param set-default RC4_MIN 683
|
||||
param set-default RC4_REV -1
|
||||
param set-default RC4_TRIM 2048
|
||||
param set-default RC5_DZ 10
|
||||
param set-default RC5_MAX 3414
|
||||
param set-default RC5_MIN 2048
|
||||
param set-default RC5_REV 1
|
||||
param set-default RC5_TRIM 2048
|
||||
param set-default RC7_DZ 10
|
||||
param set-default RC7_MAX 3413
|
||||
param set-default RC7_MIN 683
|
||||
param set-default RC7_REV 1
|
||||
param set-default RC7_TRIM 2048
|
||||
|
||||
|
||||
# optical flow
|
||||
param set-default SENS_FLOW_MAXR 7.4
|
||||
param set-default SENS_FLOW_MINHGT 0.15
|
||||
param set-default SENS_FLOW_MAXHGT 5.0
|
||||
param set-default SENS_FLOW_ROT 0
|
||||
param set-default SENS_FLOW_ROT 4
|
||||
|
||||
# ignore the SD card errors and use normal startup sound
|
||||
set STARTUP_TUNE "1"
|
||||
|
||||
mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
|
||||
|
||||
@@ -21,7 +21,10 @@
|
||||
# @board cuav_x7pro exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
set VEHICLE_TYPE mc
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
# Attitude & rate gains
|
||||
param set-default MC_ROLLRATE_D 0.0013
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user