mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-24 07:17:34 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
7ccfc91dfc |
@@ -9,10 +9,10 @@ pipeline {
|
||||
script {
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||||
def build_nodes = [:]
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def docker_images = [
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armhf: "px4io/px4-dev-armhf:2021-09-08",
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arm64: "px4io/px4-dev-aarch64:2021-09-08",
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base: "px4io/px4-dev-base-bionic:2021-09-08",
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nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
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armhf: "px4io/px4-dev-armhf:2021-05-04",
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arm64: "px4io/px4-dev-aarch64:2021-05-04",
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base: "px4io/px4-dev-base-bionic:2021-05-04",
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nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
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]
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def armhf_builds = [
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@@ -38,7 +38,6 @@ pipeline {
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"airmind_mindpx-v2_default",
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"ark_can-flow_canbootloader",
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"ark_can-flow_default",
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"atl_mantis-edu_default",
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"av_x-v1_default",
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"bitcraze_crazyflie_default",
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"bitcraze_crazyflie21_default",
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@@ -72,8 +71,8 @@ pipeline {
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"nxp_fmuk66-v3_rtps",
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"nxp_fmuk66-v3_socketcan",
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"nxp_fmurt1062-v1_default",
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"nxp_ucans32k146_canbootloader",
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"nxp_ucans32k146_default",
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"nxp_ucans32k146_canbootloader",
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"omnibus_f4sd_default",
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"px4_fmu-v2_default",
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"px4_fmu-v2_fixedwing",
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@@ -127,7 +126,7 @@ pipeline {
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// TODO: actually upload artifacts to S3
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// stage('S3 Upload') {
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// agent {
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// docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
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// docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
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// }
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// options {
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// skipDefaultCheckout()
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@@ -159,8 +158,6 @@ pipeline {
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def createBuildNode(Boolean archive, String docker_image, String target) {
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return {
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bypass_entrypoint = ''
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node {
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docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
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docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
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+188
-288
@@ -12,7 +12,7 @@ pipeline {
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stage("build cubepilot_cubeorange_test") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-09-08'
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image 'px4io/px4-dev-nuttx-focal:2021-05-04'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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@@ -63,7 +63,7 @@ pipeline {
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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checkStatus()
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quickCalibrate()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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}
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}
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stage("print topics") {
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@@ -71,11 +71,7 @@ pipeline {
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printTopics()
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}
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}
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}
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post {
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always {
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resetBoard()
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}
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}
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} // stage test
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}
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@@ -86,7 +82,7 @@ pipeline {
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stage("build cuav_x7pro_test") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-09-08'
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image 'px4io/px4-dev-nuttx-focal:2021-05-04'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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@@ -143,11 +139,7 @@ pipeline {
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printTopics()
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}
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}
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}
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post {
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always {
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resetBoard()
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}
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}
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} // stage test
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}
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@@ -158,7 +150,7 @@ pipeline {
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stage("build px4_fmu-v3_test") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-09-08'
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image 'px4io/px4-dev-nuttx-focal:2021-05-04'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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@@ -207,7 +199,8 @@ pipeline {
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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checkStatus()
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quickCalibrate()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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}
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}
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stage("print topics") {
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@@ -215,11 +208,7 @@ pipeline {
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printTopics()
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}
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}
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}
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post {
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always {
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resetBoard()
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}
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}
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} // stage test
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}
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@@ -230,7 +219,7 @@ pipeline {
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stage("build px4_fmu-v4_test") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-09-08'
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image 'px4io/px4-dev-nuttx-focal:2021-05-04'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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@@ -286,11 +275,7 @@ pipeline {
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printTopics()
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}
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}
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||||
}
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post {
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always {
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resetBoard()
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}
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||||
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||||
}
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} // stage test
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||||
}
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@@ -301,7 +286,7 @@ pipeline {
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stage("build px4_fmu-v4pro_test") {
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agent {
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docker {
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||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
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image 'px4io/px4-dev-nuttx-focal:2021-05-04'
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||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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@@ -350,7 +335,7 @@ pipeline {
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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checkStatus()
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quickCalibrate()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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||||
}
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||||
}
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||||
stage("print topics") {
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||||
@@ -358,11 +343,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
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||||
post {
|
||||
always {
|
||||
resetBoard()
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||||
}
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||||
|
||||
}
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||||
} // stage test
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||||
}
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||||
@@ -373,7 +354,7 @@ pipeline {
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stage("build px4_fmu-v5_debug") {
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agent {
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docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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||||
}
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||||
}
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||||
@@ -411,14 +392,14 @@ pipeline {
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||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
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// flash board and watch bootup
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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'
|
||||
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'
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||||
}
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||||
}
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||||
stage("tests") {
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steps {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
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||||
}
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||||
}
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||||
@@ -430,7 +411,6 @@ 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'
|
||||
}
|
||||
@@ -440,11 +420,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -455,7 +431,7 @@ pipeline {
|
||||
stage("build px4_fmu-v5_optimized") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -512,11 +488,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -527,7 +499,7 @@ pipeline {
|
||||
stage("build px4_fmu-v5_stackcheck") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -572,7 +544,7 @@ pipeline {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
}
|
||||
}
|
||||
@@ -584,7 +556,6 @@ 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'
|
||||
}
|
||||
@@ -594,11 +565,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -609,7 +576,7 @@ pipeline {
|
||||
stage("build px4_fmu-v5_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -666,89 +633,85 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
// stage("modalai_fc-v1_test") {
|
||||
// stages {
|
||||
// stage("build modalai_fc-v1_test") {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
// }
|
||||
// }
|
||||
// steps {
|
||||
// checkout scm
|
||||
// sh 'export'
|
||||
// sh 'make distclean'
|
||||
// sh 'ccache -s'
|
||||
// sh 'git fetch --tags'
|
||||
// sh 'make modalai_fc-v1_test'
|
||||
// sh 'make modalai_fc-v1_test bootloader_elf'
|
||||
// sh 'ccache -s'
|
||||
// stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
|
||||
// }
|
||||
// post {
|
||||
// always {
|
||||
// sh 'make distclean'
|
||||
// }
|
||||
// }
|
||||
// } // stage build
|
||||
// stage("hardware") {
|
||||
// agent {
|
||||
// label 'modalai_fc-v1'
|
||||
// }
|
||||
// stages {
|
||||
// stage("flash") {
|
||||
// steps {
|
||||
// sh 'export'
|
||||
// sh 'find /dev/serial'
|
||||
// unstash 'modalai_fc-v1_test'
|
||||
// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
|
||||
// // flash board and watch bootup
|
||||
// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
// }
|
||||
// }
|
||||
// stage("tests") {
|
||||
// steps {
|
||||
// runTests()
|
||||
// }
|
||||
// }
|
||||
// stage("status") {
|
||||
// steps {
|
||||
// // configure
|
||||
// resetParameters()
|
||||
// sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
// sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
// checkStatus()
|
||||
// quickCalibrate()
|
||||
// }
|
||||
// }
|
||||
// stage("print topics") {
|
||||
// steps {
|
||||
// printTopics()
|
||||
// }
|
||||
// }
|
||||
stage("modalai_fc-v1_test") {
|
||||
stages {
|
||||
stage("build modalai_fc-v1_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make modalai_fc-v1_test'
|
||||
sh 'make modalai_fc-v1_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'modalai_fc-v1'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'modalai_fc-v1_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
|
||||
// }
|
||||
// } // stage test
|
||||
// }
|
||||
// }
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("nxp_fmuk66-v3_test") {
|
||||
stages {
|
||||
stage("build nxp_fmuk66-v3_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -793,7 +756,6 @@ pipeline {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
checkStatus()
|
||||
@@ -805,11 +767,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -825,7 +783,7 @@ pipeline {
|
||||
}
|
||||
options {
|
||||
buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
|
||||
timeout(time: 180, unit: 'MINUTES')
|
||||
timeout(time: 120, unit: 'MINUTES')
|
||||
skipDefaultCheckout()
|
||||
}
|
||||
}
|
||||
@@ -842,13 +800,12 @@ void quickCalibrate() {
|
||||
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 show"'
|
||||
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 show"'
|
||||
|
||||
// run logger
|
||||
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
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
|
||||
// status commands
|
||||
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"'
|
||||
@@ -860,9 +817,8 @@ void checkStatus() {
|
||||
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" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
@@ -871,7 +827,7 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status"'
|
||||
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 show" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
|
||||
@@ -879,6 +835,7 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -r 2"'
|
||||
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'
|
||||
@@ -887,7 +844,7 @@ void checkStatus() {
|
||||
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" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
}
|
||||
|
||||
void resetParameters() {
|
||||
@@ -899,21 +856,18 @@ void resetParameters() {
|
||||
void runTests() {
|
||||
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/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' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test"'
|
||||
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
|
||||
@@ -923,24 +877,7 @@ void runTests() {
|
||||
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 "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
|
||||
|
||||
// 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() {
|
||||
@@ -948,127 +885,90 @@ void printTopics() {
|
||||
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"'
|
||||
|
||||
// these are for casually inspecting the system, output failure doesn't matter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
|
||||
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_innovation_test_ratios" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener heater_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
|
||||
}
|
||||
|
||||
void resetBoard() {
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "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'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status"'
|
||||
}
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
|
||||
{
|
||||
"name": "px4-dev-nuttx",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2021-05-04",
|
||||
|
||||
"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
|
||||
|
||||
|
||||
@@ -4,7 +4,7 @@ about: Suggest an idea for this project
|
||||
|
||||
---
|
||||
|
||||
For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
|
||||
For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).
|
||||
|
||||
**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 ...
|
||||
|
||||
@@ -1,24 +0,0 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
|
||||
<linearGradient id="smooth" x2="0" y2="100%">
|
||||
<stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
|
||||
<stop offset="1" stop-opacity=".1"/>
|
||||
</linearGradient>
|
||||
|
||||
<mask id="round">
|
||||
<rect width="90" height="20" rx="3" fill="#fff"/>
|
||||
</mask>
|
||||
|
||||
<g mask="url(#round)">
|
||||
<rect width="42" height="20" fill="#555"/>
|
||||
<rect x="42" width="48" height="20" fill="#E01563"/>
|
||||
<rect width="90" height="20" fill="url(#smooth)"/>
|
||||
</g>
|
||||
|
||||
<g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
|
||||
<text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
|
||||
<text x="22" y="14">slack</text>
|
||||
<text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
|
||||
<text x="65" y="14">Join us!</text>
|
||||
</g>
|
||||
</svg>
|
||||
|
||||
|
Before Width: | Height: | Size: 894 B |
@@ -11,6 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 60
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -29,7 +30,7 @@ jobs:
|
||||
"parameters_metadata",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
image: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -11,7 +11,8 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-clang:2021-09-08
|
||||
container: px4io/px4-dev-clang:2021-05-04
|
||||
timeout-minutes: 60
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -11,7 +11,8 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-armhf:2021-09-08
|
||||
container: px4io/px4-dev-armhf:2021-05-04
|
||||
timeout-minutes: 60
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,7 +11,8 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-aarch64:2021-09-08
|
||||
container: px4io/px4-dev-aarch64:2021-05-04
|
||||
timeout-minutes: 60
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,6 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: macos-10.15
|
||||
timeout-minutes: 60
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,14 +11,14 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
container: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
timeout-minutes: 60
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
airmind_mindpx-v2,
|
||||
ark_can-flow,
|
||||
ark_can-gps,
|
||||
atl_mantis-edu,
|
||||
av_x-v1,
|
||||
bitcraze_crazyflie,
|
||||
bitcraze_crazyflie21,
|
||||
|
||||
@@ -11,16 +11,16 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
container: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
timeout-minutes: 60
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
ark_can-flow_default,
|
||||
ark_can-gps_default,
|
||||
cuav_can-gps-v1_default,
|
||||
freefly_can-rtk-gps_default,
|
||||
holybro_can-gps-v1_default,
|
||||
nxp_ucans32k146_default,
|
||||
#nxp_ucans32k146_default,
|
||||
px4_fmu-v4_cannode
|
||||
]
|
||||
steps:
|
||||
|
||||
@@ -23,7 +23,7 @@ jobs:
|
||||
needs: enumerate_targets
|
||||
strategy:
|
||||
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -5,7 +5,7 @@ on: pull_request
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v2.3.1
|
||||
with:
|
||||
|
||||
@@ -5,7 +5,7 @@ on: push
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
env:
|
||||
GIT_COMMITTER_EMAIL: bot@px4.io
|
||||
GIT_COMMITTER_NAME: PX4BuildBot
|
||||
|
||||
@@ -25,7 +25,7 @@ jobs:
|
||||
#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
image: px4io/px4-dev-ros-melodic:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -20,7 +20,7 @@ jobs:
|
||||
#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
image: px4io/px4-dev-ros-melodic:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -11,7 +11,7 @@ jobs:
|
||||
|
||||
airframe:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -37,7 +37,7 @@ jobs:
|
||||
|
||||
module:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -52,7 +52,7 @@ jobs:
|
||||
|
||||
parameter:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -76,7 +76,7 @@ jobs:
|
||||
|
||||
events:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -103,7 +103,7 @@ jobs:
|
||||
|
||||
uorb_graph:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
container: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -118,7 +118,7 @@ jobs:
|
||||
|
||||
micrortps_agent:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -132,7 +132,7 @@ jobs:
|
||||
|
||||
ROS_msgs:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -145,7 +145,7 @@ jobs:
|
||||
|
||||
ROS2_bridge:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -154,4 +154,4 @@ jobs:
|
||||
- name: PX4 ROS2 bridge
|
||||
run: |
|
||||
git clone https://github.com/PX4/px4_ros_com.git
|
||||
./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
|
||||
./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml
|
||||
|
||||
@@ -11,6 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 60
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -21,7 +22,7 @@ jobs:
|
||||
- {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
|
||||
image: px4io/px4-dev-simulation-focal:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
+3
-11
@@ -29,11 +29,11 @@
|
||||
[submodule "platforms/nuttx/NuttX/nuttx"]
|
||||
path = platforms/nuttx/NuttX/nuttx
|
||||
url = https://github.com/PX4/NuttX.git
|
||||
branch = px4_firmware_nuttx-10.1.0+
|
||||
branch = px4_firmware_nuttx-10.0.0+
|
||||
[submodule "platforms/nuttx/NuttX/apps"]
|
||||
path = platforms/nuttx/NuttX/apps
|
||||
url = https://github.com/PX4/NuttX-apps.git
|
||||
branch = px4_firmware_nuttx-10.1.0+
|
||||
branch = px4_firmware_nuttx-10.0.0+
|
||||
[submodule "Tools/flightgear_bridge"]
|
||||
path = Tools/flightgear_bridge
|
||||
url = https://github.com/PX4/PX4-FlightGear-Bridge.git
|
||||
@@ -65,12 +65,4 @@
|
||||
url = https://github.com/mavlink/libevents.git
|
||||
[submodule "Tools/simulation-ignition"]
|
||||
path = Tools/simulation-ignition
|
||||
url = https://github.com/Auterion/px4-simulation-ignition.git
|
||||
[submodule "src/lib/crypto/libtomcrypt"]
|
||||
path = src/lib/crypto/libtomcrypt
|
||||
url = https://github.com/PX4/libtomcrypt.git
|
||||
branch = px4
|
||||
[submodule "src/lib/crypto/libtommath"]
|
||||
path = src/lib/crypto/libtommath
|
||||
url = https://github.com/PX4/libtommath.git
|
||||
branch = px4
|
||||
url = https://github.com/Auterion/px4-simulation-ignition.git
|
||||
Vendored
-5
@@ -96,11 +96,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-gps_canbootloader
|
||||
atl_mantis-edu_default:
|
||||
short: atl_mantis-edu
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: atl_mantis-edu_default
|
||||
av_x-v1_default:
|
||||
short: av_x-v1
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+1
@@ -31,6 +31,7 @@
|
||||
"esc"
|
||||
],
|
||||
"debug.toolBarLocation": "docked",
|
||||
"editor.acceptSuggestionOnEnter": "off",
|
||||
"editor.defaultFormatter": "chiehyu.vscode-astyle",
|
||||
"editor.dragAndDrop": false,
|
||||
"editor.insertSpaces": false,
|
||||
|
||||
+6
-16
@@ -110,22 +110,14 @@ include(px4_parse_function_args)
|
||||
#=============================================================================
|
||||
# git
|
||||
#
|
||||
find_package(Git QUIET)
|
||||
include(px4_git)
|
||||
|
||||
# sync submodules
|
||||
execute_process(
|
||||
COMMAND ${GIT_EXECUTABLE} submodule sync --recursive --quiet
|
||||
OUTPUT_VARIABLE GIT_SUBMODULE_SYNC
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
)
|
||||
|
||||
execute_process(
|
||||
COMMAND ${GIT_EXECUTABLE} describe --exclude ext/* --always --tags
|
||||
OUTPUT_VARIABLE PX4_GIT_TAG
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
)
|
||||
COMMAND git describe --exclude ext/* --always --tags
|
||||
OUTPUT_VARIABLE PX4_GIT_TAG
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
)
|
||||
message(STATUS "PX4 version: ${PX4_GIT_TAG}")
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
|
||||
@@ -451,10 +443,8 @@ endforeach()
|
||||
|
||||
add_custom_command(OUTPUT ${uorb_graph_config}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
|
||||
${graph_module_list} --src-path src/lib
|
||||
--merge-depends
|
||||
${graph_module_list}
|
||||
--exclude-path src/examples
|
||||
--exclude-path src/lib/parameters # FIXME: enable & fix
|
||||
--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
COMMENT "Generating uORB graph"
|
||||
|
||||
Vendored
+3
-25
@@ -143,24 +143,6 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('msg file docs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
|
||||
}
|
||||
steps {
|
||||
sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
|
||||
dir('build') {
|
||||
archiveArtifacts(artifacts: 'msg_docs/*.md')
|
||||
stash includes: 'msg_docs/*.md', name: 'msg_documentation'
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('uORB graphs') {
|
||||
agent {
|
||||
docker {
|
||||
@@ -174,8 +156,8 @@ pipeline {
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make uorb_graphs'
|
||||
dir('Tools/uorb_graph') {
|
||||
archiveArtifacts(artifacts: 'graph_*.json')
|
||||
stash includes: 'graph_*.json', name: 'uorb_graph'
|
||||
archiveArtifacts(artifacts: 'graph_px4_sitl.json')
|
||||
stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
|
||||
}
|
||||
}
|
||||
post {
|
||||
@@ -201,15 +183,11 @@ pipeline {
|
||||
unstash 'metadata_airframes'
|
||||
unstash 'metadata_parameters'
|
||||
unstash 'metadata_module_documentation'
|
||||
unstash 'msg_documentation'
|
||||
unstash 'uorb_graph'
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
|
||||
sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
|
||||
sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
|
||||
sh('cp -R modules/*.md px4_user_guide/en/modules/')
|
||||
sh('cp -R graph_*.json px4_user_guide/.vuepress/public/en/middleware/')
|
||||
sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
|
||||
sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
|
||||
sh('cd px4_user_guide; git push origin master || true')
|
||||
sh('rm -rf px4_user_guide')
|
||||
@@ -323,7 +301,7 @@ pipeline {
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
|
||||
// deploy uORB RTPS ID map
|
||||
sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
|
||||
sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
|
||||
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
|
||||
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
|
||||
// deploy uORB RTPS required tools
|
||||
|
||||
@@ -299,11 +299,9 @@ all_variants_%:
|
||||
$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
|
||||
|
||||
uorb_graphs:
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
|
||||
@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
|
||||
|
||||
|
||||
@@ -481,7 +479,6 @@ submodulesupdate:
|
||||
@git submodule update --quiet --init --recursive --jobs 4 || true
|
||||
@git submodule sync --recursive
|
||||
@git submodule update --init --recursive --jobs 4
|
||||
@git fetch --all --tags --recurse-submodules=yes --jobs=4
|
||||
|
||||
gazeboclean:
|
||||
@rm -rf ~/.gazebo/*
|
||||
@@ -491,7 +488,7 @@ distclean: gazeboclean
|
||||
@rm -rf "$(SRC_DIR)/build"
|
||||
@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
|
||||
|
||||
# Help / Error / Misc
|
||||
# Help / Error
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
|
||||
@@ -525,18 +522,3 @@ check_px4: $(call make_list,nuttx,"px4") \
|
||||
|
||||
check_nxp: $(call make_list,nuttx,"nxp") \
|
||||
sizes
|
||||
|
||||
ifneq ($(ROS2_WS_DIR),)
|
||||
ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
|
||||
else
|
||||
ROS2_WS_DIR := ~/colcon_ws
|
||||
endif
|
||||
|
||||
update_ros2_bridge:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
|
||||
|
||||
update_px4_ros_com:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
|
||||
|
||||
update_px4_msgs:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
|
||||
|
||||
@@ -4,7 +4,7 @@
|
||||
|
||||
[](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
|
||||
|
||||
[](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
|
||||
[](http://slack.px4.io)
|
||||
|
||||
This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
|
||||
|
||||
|
||||
@@ -120,7 +120,6 @@ add_custom_command(
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
|
||||
WORKING_DIRECTORY ${romfs_gen_root_dir}
|
||||
DEPENDS ${romfs_tar_file}
|
||||
VERBATIM
|
||||
)
|
||||
|
||||
add_custom_command(
|
||||
|
||||
@@ -15,6 +15,10 @@ set +e
|
||||
#
|
||||
#------------------------------------------------------------------------------
|
||||
set R /
|
||||
#
|
||||
# Mount the procfs.
|
||||
#
|
||||
mount -t procfs /proc
|
||||
|
||||
#
|
||||
# Start CDC/ACM serial driver.
|
||||
|
||||
@@ -34,10 +34,9 @@
|
||||
add_subdirectory(airframes)
|
||||
|
||||
px4_add_romfs_files(
|
||||
px4-rc.mavlink
|
||||
px4-rc.params
|
||||
px4-rc.rtps
|
||||
px4-rc.simulator
|
||||
px4-rc.mavlink
|
||||
rc.replay
|
||||
rcS
|
||||
)
|
||||
|
||||
@@ -8,6 +8,6 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.1
|
||||
param set-default MC_ROLLRATE_P 0.05
|
||||
param set-default MC_ROLLRATE_P 0.1
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -11,6 +11,8 @@ param set-default NAV_DLL_ACT 0
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
|
||||
@@ -11,6 +11,8 @@ param set-default NAV_DLL_ACT 0
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
|
||||
@@ -42,9 +42,15 @@ param set-default NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set FW_THR_SLEW_MAX 0.3
|
||||
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set-default RWTO_MAX_THR 0.6
|
||||
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
|
||||
@@ -42,9 +42,15 @@ param set-default NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set FW_THR_SLEW_MAX 0.3
|
||||
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set RWTO_MAX_THR 0.6
|
||||
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
#param set-default MAV_SYS_ID $((px4_instance+1))
|
||||
#param set-default IMU_INTEG_RATE 250
|
||||
#param set MAV_SYS_ID $((px4_instance+1))
|
||||
#param set IMU_INTEG_RATE 250
|
||||
|
||||
@@ -1,4 +0,0 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
|
||||
@@ -21,6 +21,8 @@ then
|
||||
fi
|
||||
|
||||
# initialize script variables
|
||||
set AUX_MODE none
|
||||
set AUX_BANK2 none
|
||||
set IO_PRESENT no
|
||||
set MAV_TYPE none
|
||||
set MIXER none
|
||||
@@ -120,6 +122,8 @@ then
|
||||
|
||||
param set SENS_BOARD_X_OFF 0.000001
|
||||
param set SENS_DPRES_OFF 0.001
|
||||
|
||||
param set SYS_RESTART_TYPE 2
|
||||
fi
|
||||
|
||||
param set-default BAT1_N_CELLS 4
|
||||
@@ -224,7 +228,8 @@ navigator start
|
||||
# Try to start the micrortps_client with UDP transport if module exists
|
||||
if px4-micrortps_client status > /dev/null 2>&1
|
||||
then
|
||||
. px4-rc.rtps
|
||||
# shellcheck disable=SC2154
|
||||
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
|
||||
fi
|
||||
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
|
||||
@@ -42,6 +42,7 @@ px4_add_romfs_files(
|
||||
rc.fw_apps
|
||||
rc.fw_defaults
|
||||
rc.interface
|
||||
rc.io
|
||||
rc.logging
|
||||
rc.mc_apps
|
||||
rc.mc_defaults
|
||||
|
||||
@@ -56,6 +56,7 @@ param set-default RTL_DESCEND_ALT 10
|
||||
param set-default RTL_RETURN_ALT 30
|
||||
|
||||
param set-default SDLOG_DIRS_MAX 7
|
||||
param set-default SYS_RESTART_TYPE 2
|
||||
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -26,5 +26,3 @@ 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 SIH_VEHICLE_TYPE 0
|
||||
|
||||
@@ -1,40 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name SIH plane AERT
|
||||
#
|
||||
# @type Simulation
|
||||
# @class Plane
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
set MIXER AERT
|
||||
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 6.0
|
||||
param set SIH_MASS 0.3
|
||||
param set SIH_IXX 0.00402
|
||||
param set SIH_IYY 0.0144
|
||||
param set SIH_IZZ 0.0177
|
||||
param set SIH_IXZ 0.00046
|
||||
param set SIH_KDV 0.2
|
||||
|
||||
param set SIH_VEHICLE_TYPE 1 # sih as fixed wing
|
||||
@@ -21,8 +21,8 @@
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
param set-default BAT1_CAPACITY 3300
|
||||
param set-default BAT1_N_CELLS 3
|
||||
param set-default BAT_CAPACITY 3300
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set-default PWM_MAIN_RATE 50
|
||||
|
||||
@@ -26,8 +26,7 @@ param set-default GPS_UBX_DYNMODEL 8
|
||||
param set-default SER_TEL2_BAUD 9600
|
||||
|
||||
param set-default SENS_BOARD_ROT 0
|
||||
set MAV_TYPE 8
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
param set MAV_TYPE 8 # MAV_TYPE_FREE_BALLOON
|
||||
|
||||
|
||||
set MIXER IO_pass
|
||||
|
||||
@@ -23,7 +23,6 @@
|
||||
# @maintainer William Peale <develop707@gmail.com>
|
||||
#
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
set VEHICLE_TYPE mc
|
||||
|
||||
@@ -6,7 +6,6 @@
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -48,6 +48,7 @@ param set-default CBRK_IO_SAFETY 22027
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
# RC configuration
|
||||
param set-default RC_MAP_MODE_SW 5
|
||||
param set-default RC_MAP_PITCH 2
|
||||
param set-default RC_MAP_ROLL 1
|
||||
param set-default RC_MAP_THROTTLE 3
|
||||
|
||||
@@ -1,207 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Advanced Technology Labs (ATL) Mantis EDU
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @output MAIN1 motor 1
|
||||
# @output MAIN2 motor 2
|
||||
# @output MAIN3 motor 3
|
||||
# @output MAIN4 motor 4
|
||||
#
|
||||
# @maintainer
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER none
|
||||
set MIXER_AUX none
|
||||
|
||||
|
||||
# Battery settings
|
||||
param set-default BAT_CRIT_THR 0.20
|
||||
param set-default BAT_EMERGEN_THR 0.05
|
||||
param set-default BAT_LOW_THR 0.25
|
||||
|
||||
param set-default BAT1_CAPACITY 2800.0
|
||||
param set-default BAT1_N_CELLS 3
|
||||
param set-default BAT1_R_INTERNAL 0.02
|
||||
param set-default BAT1_V_CHARGED 4.26
|
||||
param set-default BAT1_V_EMPTY 3.45
|
||||
|
||||
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 -1
|
||||
param set-default COM_FLTMODE2 -1
|
||||
param set-default COM_FLTMODE3 -1
|
||||
param set-default COM_FLTMODE4 2
|
||||
param set-default COM_FLTMODE5 -1
|
||||
param set-default COM_FLTMODE6 6
|
||||
param set-default COM_RC_LOSS_T 3
|
||||
param set-default COM_RC_OVERRIDE 1
|
||||
|
||||
|
||||
# ekf2
|
||||
param set-default EKF2_AID_MASK 35
|
||||
param set-default EKF2_BARO_DELAY 0
|
||||
param set-default EKF2_BARO_NOISE 2.0
|
||||
|
||||
param set-default EKF2_BCOEF_X 31.5
|
||||
param set-default EKF2_BCOEF_Y 25.5
|
||||
|
||||
param set-default EKF2_GPS_DELAY 100
|
||||
param set-default EKF2_GPS_POS_X 0.06
|
||||
param set-default EKF2_GPS_POS_Y 0.0
|
||||
param set-default EKF2_GPS_POS_Z 0.0
|
||||
param set-default EKF2_GPS_V_NOISE 0.5
|
||||
|
||||
param set-default EKF2_IMU_POS_X 0.06
|
||||
param set-default EKF2_IMU_POS_Y 0.0
|
||||
param set-default EKF2_IMU_POS_Z 0.0
|
||||
|
||||
param set-default EKF2_MAG_DELAY 0
|
||||
param set-default EKF2_MAG_NOISE 0.1
|
||||
|
||||
param set-default EKF2_MIN_RNG 0.15
|
||||
|
||||
param set-default EKF2_OF_DELAY 38
|
||||
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_PCOEF_XN -0.3
|
||||
param set-default EKF2_PCOEF_XP -0.4
|
||||
param set-default EKF2_PCOEF_YN -0.4
|
||||
param set-default EKF2_PCOEF_YP -0.4
|
||||
param set-default EKF2_PCOEF_Z 0.0
|
||||
|
||||
param set-default EKF2_RNG_A_VMAX 1.0
|
||||
param set-default EKF2_RNG_AID 0
|
||||
param set-default EKF2_RNG_DELAY 55
|
||||
param set-default EKF2_RNG_POS_X -0.035
|
||||
param set-default EKF2_RNG_POS_Y 0.0
|
||||
param set-default EKF2_RNG_POS_Z 0.033
|
||||
|
||||
param set-default EKF2_TERR_NOISE 1.0
|
||||
|
||||
|
||||
# Maximum allowed angle velocity in the landed state
|
||||
param set-default LNDMC_ROT_MAX 40.0
|
||||
|
||||
# Maximum vertical velocity allowed in the landed state
|
||||
param set-default LNDMC_Z_VEL_MAX 0.7
|
||||
|
||||
|
||||
# filtering
|
||||
param set-default IMU_DGYRO_CUTOFF 50
|
||||
param set-default IMU_GYRO_CUTOFF 65
|
||||
|
||||
|
||||
# Pitch angle & rate setting
|
||||
param set-default MC_PITCHRATE_P 0.075
|
||||
param set-default MC_PITCHRATE_I 0.1
|
||||
param set-default MC_PITCHRATE_D 0.0005
|
||||
param set-default MC_PITCHRATE_MAX 360.0
|
||||
param set-default MC_PITCH_P 8.0
|
||||
|
||||
# Roll angle & rate setting
|
||||
param set-default MC_ROLLRATE_P 0.055
|
||||
param set-default MC_ROLLRATE_I 0.1
|
||||
param set-default MC_ROLLRATE_D 0.0005
|
||||
param set-default MC_ROLLRATE_MAX 360.0
|
||||
param set-default MC_ROLL_P 8.0
|
||||
|
||||
# Yaw angle & rate setting
|
||||
param set-default MC_YAWRATE_P 0.1
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_MAX 120.0
|
||||
param set-default MC_YAW_P 2.5
|
||||
|
||||
param set-default MPC_ACC_DOWN_MAX 2.0
|
||||
param set-default MPC_ACC_HOR 3.0
|
||||
param set-default MPC_ACC_HOR_MAX 10.0
|
||||
param set-default MPC_ACC_UP_MAX 3.0
|
||||
param set-default MPC_ALT_MODE 0
|
||||
param set-default MPC_LAND_SPEED 0.5
|
||||
param set-default MPC_LAND_VEL_XY 10
|
||||
param set-default MPC_MAN_TILT_MAX 20
|
||||
param set-default MPC_YAWRAUTO_MAX 80.0
|
||||
param set-default MPC_POS_MODE 4
|
||||
param set-default MPC_THR_HOVER 0.54
|
||||
param set-default MPC_THR_MAX 0.9
|
||||
param set-default MPC_THR_MIN 0.06
|
||||
param set-default MPC_TILTMAX_AIR 30
|
||||
param set-default MPC_XY_P 1.0
|
||||
param set-default MPC_XY_VEL_D 0.005
|
||||
param set-default MPC_XY_VEL_I 0.02
|
||||
param set-default MPC_XY_VEL_P 0.15
|
||||
param set-default MPC_Z_P 2.0
|
||||
param set-default MPC_Z_VEL_D 0.0
|
||||
param set-default MPC_Z_VEL_I 0.02
|
||||
param set-default MPC_Z_VEL_MAX_DN 2.0
|
||||
param set-default MPC_Z_VEL_MAX_UP 3.0
|
||||
param set-default MPC_Z_VEL_P 0.27
|
||||
|
||||
|
||||
# gimbal configuration
|
||||
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_ROLL 2
|
||||
param set-default RC_MAP_PITCH 3
|
||||
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_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 4
|
||||
|
||||
|
||||
mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
|
||||
@@ -27,29 +27,48 @@ set PWM_OUT 1234
|
||||
|
||||
|
||||
# Attitude & rate gains
|
||||
#param set MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
#param set MC_ROLLRATE_I 0.9
|
||||
param set-default MC_ROLLRATE_D 0.0013
|
||||
|
||||
#param set MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.15
|
||||
#param set MC_PITCHRATE_I 1.1
|
||||
param set-default MC_PITCHRATE_D 0.0016
|
||||
|
||||
param set-default MC_YAW_P 2.8
|
||||
param set-default MC_YAWRATE_P 0.2
|
||||
#param set MC_YAWRATE_I 0.15
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAW_FF 0.5
|
||||
|
||||
#param set MC_ROLL_TC 0.19
|
||||
#param set MC_PITCH_TC 0.16
|
||||
|
||||
# Manual mode settings: Unleash Draco R's power :)
|
||||
#param set MPC_MAN_TILT_MAX 70
|
||||
#param set MC_PITCHRATE_MAX 1600
|
||||
#param set MC_ROLLRATE_MAX 1600
|
||||
#param set MC_YAWRATE_MAX 700
|
||||
param set-default MPC_MANTHR_MAX 0.9
|
||||
param set-default MPC_MANTHR_MIN 0.08
|
||||
#param set MPC_MAN_TILT_MAX 35
|
||||
#param set MPC_TILTMAX_AIR 20
|
||||
|
||||
# Filter settings
|
||||
param set-default IMU_DGYRO_CUTOFF 90
|
||||
param set-default IMU_GYRO_CUTOFF 100
|
||||
|
||||
# Thrust curve (avoids the need for TPA)
|
||||
#param set THR_MDL_FAC 0.25
|
||||
|
||||
# System
|
||||
param set-default PWM_MAIN_MAX 1950
|
||||
param set-default PWM_MAIN_MIN 1100
|
||||
param set-default PWM_MAIN_RATE 0
|
||||
|
||||
#param set SYS_FMU_TASK 1
|
||||
param set-default SENS_BOARD_ROT 10
|
||||
|
||||
# EKF2
|
||||
@@ -77,6 +96,7 @@ param set-default BAT1_SOURCE 0
|
||||
param set-default BAT1_N_CELLS 4
|
||||
param set-default BAT1_V_DIV 10.14
|
||||
param set-default BAT1_A_PER_V 18.18
|
||||
#param set CBRK_IO_SAFETY 22027
|
||||
param set-default COM_DISARM_LAND 2
|
||||
|
||||
# Filter settings
|
||||
@@ -86,6 +106,9 @@ param set-default IMU_DGYRO_CUTOFF 70
|
||||
# Don't try to be intelligent on RC loss: just cut the motors
|
||||
param set-default NAV_RCL_ACT 6
|
||||
|
||||
# enable to use high-rate logging for better rate tracking analysis
|
||||
# param set SDLOG_PROFILE 19
|
||||
|
||||
# TELEM1 ttyS1 - Wifi module
|
||||
param set-default MAV_0_CONFIG 101
|
||||
param set-default MAV_0_RATE 0
|
||||
|
||||
@@ -75,11 +75,23 @@ param set-default SENS_BOARD_ROT 2
|
||||
|
||||
param set-default BAT1_SOURCE 0
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
#param set COM_DISARM_LAND 3
|
||||
|
||||
# Filter settings
|
||||
param set-default IMU_GYRO_CUTOFF 90
|
||||
param set-default IMU_DGYRO_CUTOFF 100
|
||||
|
||||
# Don't try to be intelligent on RC loss: just cut the motors
|
||||
#param set NAV_RCL_ACT 6
|
||||
|
||||
# enable to use high-rate logging for better rate tracking analysis
|
||||
param set-default SDLOG_PROFILE 27
|
||||
|
||||
# TELEM1 ttyS1
|
||||
#param set MAV_0_CONFIG 101
|
||||
#param set MAV_0_MODE 2 # onboard
|
||||
#param set MAV_0_RATE 20000
|
||||
#param set SER_TEL1_BAUD 921600
|
||||
|
||||
# TELEM2 ttyS2
|
||||
#param set MAV_1_CONFIG 0
|
||||
|
||||
@@ -27,21 +27,44 @@ set PWM_OUT 1234
|
||||
|
||||
|
||||
# Attitude & rate gains
|
||||
#param set MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
#param set MC_ROLLRATE_I 0.9
|
||||
param set-default MC_ROLLRATE_D 0.0013
|
||||
|
||||
#param set MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.15
|
||||
#param set MC_PITCHRATE_I 1.1
|
||||
param set-default MC_PITCHRATE_D 0.0016
|
||||
|
||||
param set-default MC_YAW_P 2.8
|
||||
param set-default MC_YAWRATE_P 0.2
|
||||
#param set MC_YAWRATE_I 0.15
|
||||
param set-default MC_YAWRATE_D 0
|
||||
|
||||
#param set MC_ROLL_TC 0.19
|
||||
#param set MC_PITCH_TC 0.16
|
||||
|
||||
# Manual mode settings: Unleash Draco R's power :)
|
||||
#param set MPC_MAN_TILT_MAX 70
|
||||
#param set MC_PITCHRATE_MAX 1600
|
||||
#param set MC_ROLLRATE_MAX 1600
|
||||
#param set MC_YAWRATE_MAX 700
|
||||
param set-default MPC_MANTHR_MIN 0.08
|
||||
#param set MPC_MAN_TILT_MAX 35
|
||||
#param set MPC_TILTMAX_AIR 20
|
||||
|
||||
# Filter settings
|
||||
param set-default IMU_GYRO_CUTOFF 100
|
||||
|
||||
# Thrust curve (avoids the need for TPA)
|
||||
#param set THR_MDL_FAC 0.25
|
||||
|
||||
# Obsolete
|
||||
#param set PWM_MAIN_MAX 1950
|
||||
#param set PWM_MAIN_MIN 1100
|
||||
#param set PWM_MAIN_RATE 0
|
||||
|
||||
# Sensors
|
||||
param set-default SENS_BOARD_ROT 10
|
||||
# Yaw 180
|
||||
@@ -83,6 +106,7 @@ param set-default BAT1_SOURCE 0
|
||||
param set-default BAT1_N_CELLS 4
|
||||
param set-default BAT1_V_DIV 10.14
|
||||
param set-default BAT1_A_PER_V 18.18
|
||||
#param set CBRK_IO_SAFETY 22027
|
||||
param set-default COM_DISARM_LAND 2
|
||||
|
||||
# Filter settings
|
||||
@@ -91,6 +115,9 @@ param set-default IMU_GYRO_CUTOFF 90
|
||||
# Don't try to be intelligent on RC loss: just cut the motors
|
||||
param set-default NAV_RCL_ACT 6
|
||||
|
||||
# enable to use high-rate logging for better rate tracking analysis
|
||||
# param set SDLOG_PROFILE 19
|
||||
|
||||
# TELEM1 ttyS1 - Wifi module
|
||||
param set-default MAV_0_CONFIG 101
|
||||
param set-default MAV_0_RATE 0
|
||||
|
||||
@@ -38,6 +38,8 @@ param set-default MC_ACRO_R_MAX 1000
|
||||
param set-default MC_ACRO_P_MAX 1000
|
||||
param set-default MC_ACRO_Y_MAX 1000
|
||||
|
||||
# param set NAV_RCL_ACT 6 # Lockdown
|
||||
|
||||
param set-default PWM_MAIN_MIN 1075
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
param set-default PWM_MAIN_DISARM 900
|
||||
|
||||
@@ -24,6 +24,9 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
#Parameters here:
|
||||
param set LED_RGB_MAXBRT 8
|
||||
|
||||
|
||||
# Configure this as Quadrotor
|
||||
# set MAV_TYPE 14
|
||||
|
||||
@@ -189,7 +189,7 @@ param set-default CAL_ACC1_PRIO 0
|
||||
param set-default CAL_GYRO0_PRIO 255
|
||||
param set-default CAL_GYRO1_PRIO 0
|
||||
# Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)
|
||||
param set-default SDLOG_PROFILE 6
|
||||
param set SDLOG_PROFILE 6
|
||||
|
||||
# Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number.
|
||||
param set TEL_FRSKY_CONFIG 500
|
||||
|
||||
@@ -24,6 +24,7 @@ param set-default SYS_HAS_MAG 0
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default EKF2_MAG_TYPE 5
|
||||
|
||||
param set-default BAT_N_CELLS 1
|
||||
param set-default BAT1_N_CELLS 1
|
||||
param set-default BAT1_SOURCE 1
|
||||
|
||||
@@ -53,6 +54,8 @@ param set-default MPC_Z_VEL_P_ACC 8
|
||||
param set-default MPC_Z_VEL_I_ACC 6
|
||||
param set-default MPC_HOLD_MAX_XY 0.1
|
||||
param set-default MPC_MAX_FLOW_HGT 3
|
||||
#param set IMU_GYRO_NF_FREQ 10
|
||||
#param set IMU_GYRO_NF_BW 20
|
||||
|
||||
param set-default NAV_RCL_ACT 3
|
||||
|
||||
|
||||
@@ -72,6 +72,7 @@ param set-default GND_MAX_ANG 3.1415
|
||||
param set-default RBCLW_BAUD 8
|
||||
param set-default RBCLW_COUNTS_REV 1200
|
||||
param set-default RBCLW_ADDRESS 128
|
||||
# param set SER_TEL4_BAUD 115200
|
||||
# 104 corresponds to Telem 4
|
||||
param set-default RBCLW_SER_CFG 104
|
||||
# Start this driver after setting parameters, because the driver uses some of those parameters.
|
||||
|
||||
@@ -20,7 +20,6 @@
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -20,6 +20,7 @@ param set-default NAV_DLL_ACT 0
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
|
||||
@@ -20,6 +20,7 @@ param set-default NAV_DLL_ACT 0
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
|
||||
@@ -39,7 +39,6 @@ px4_add_romfs_files(
|
||||
1001_rc_quad_x.hil
|
||||
1002_standard_vtol.hil
|
||||
1100_rc_quad_x_sih.hil
|
||||
1101_rc_plane_sih.hil
|
||||
|
||||
# [2000, 2999] Standard planes"
|
||||
2100_standard_plane
|
||||
@@ -81,7 +80,6 @@ px4_add_romfs_files(
|
||||
4052_holybro_qav250
|
||||
4053_holybro_kopis2
|
||||
4060_dji_matrice_100
|
||||
4061_atl_mantis_edu
|
||||
4071_ifo
|
||||
4072_draco
|
||||
4073_ifo-s
|
||||
|
||||
@@ -17,10 +17,6 @@ set OUTPUT_DEV none
|
||||
set OUTPUT_AUX_DEV /dev/pwm_output1
|
||||
set OUTPUT_EXTRA_DEV /dev/pwm_output0
|
||||
|
||||
# set these before starting the modules
|
||||
param set PWM_AUX_OUT ${PWM_AUX_OUT}
|
||||
param set PWM_MAIN_OUT ${PWM_OUT}
|
||||
|
||||
#
|
||||
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
|
||||
# mixer to mount (override the airframe-specific MIXER_AUX setting).
|
||||
@@ -33,6 +29,12 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
# USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
|
||||
if [ $USE_IO = no -a $AUX_BANK2 = none ]
|
||||
then
|
||||
set AUX_MODE none
|
||||
fi
|
||||
|
||||
#
|
||||
# Set the default output mode if none was set.
|
||||
#
|
||||
@@ -74,6 +76,15 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = $OUTPUT_CMD ]
|
||||
then
|
||||
if ! $OUTPUT_CMD mode_$FMU_MODE
|
||||
then
|
||||
echo "$OUTPUT_CMD start failed"
|
||||
tune_control play error
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = uavcan_esc ]
|
||||
then
|
||||
if param compare UAVCAN_ENABLE 0
|
||||
@@ -82,24 +93,19 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = io ]
|
||||
then
|
||||
. ${R}etc/init.d/rc.io
|
||||
fi
|
||||
|
||||
#
|
||||
# Start IO for PWM output or RC input if needed.
|
||||
# Start IO for RC input if needed.
|
||||
#
|
||||
if [ $IO_PRESENT = yes ]
|
||||
then
|
||||
if ! px4io start
|
||||
if [ $OUTPUT_MODE != io ]
|
||||
then
|
||||
echo "PX4IO start failed"
|
||||
tune_control play -t 18 # PROG_PX4IO_ERR
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
|
||||
then
|
||||
if ! $OUTPUT_CMD start
|
||||
then
|
||||
echo "$OUTPUT_CMD start failed"
|
||||
tune_control play error
|
||||
. ${R}etc/init.d/rc.io
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
@@ -155,7 +161,7 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $MIXER_AUX != none ]
|
||||
if [ $MIXER_AUX != none -a $AUX_MODE != none ]
|
||||
then
|
||||
#
|
||||
# Load aux mixer.
|
||||
@@ -173,26 +179,34 @@ then
|
||||
|
||||
if [ $MIXER_AUX_FILE != none ]
|
||||
then
|
||||
# Append aux mixer to main device.
|
||||
if param greater SYS_HITL 0
|
||||
# Start the output module
|
||||
if $OUTPUT_CMD mode_${AUX_MODE}
|
||||
then
|
||||
if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
|
||||
# Append aux mixer to main device.
|
||||
if param greater SYS_HITL 0
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}"
|
||||
if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
|
||||
then
|
||||
if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
|
||||
if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
|
||||
if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
|
||||
fi
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
|
||||
echo "INFO [init] setting PWM_AUX_OUT none"
|
||||
set PWM_AUX_OUT none
|
||||
fi
|
||||
else
|
||||
echo "INFO [init] setting PWM_AUX_OUT none"
|
||||
echo "ERROR: Could not start: pwm_out mode_pwm"
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
set PWM_AUX_OUT none
|
||||
fi
|
||||
|
||||
@@ -212,6 +226,38 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
param set PWM_AUX_OUT ${PWM_AUX_OUT}
|
||||
|
||||
if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
|
||||
then
|
||||
#
|
||||
# Load aux mixer.
|
||||
#
|
||||
if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
|
||||
then
|
||||
set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
|
||||
else
|
||||
|
||||
if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
|
||||
then
|
||||
set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
|
||||
fi
|
||||
fi
|
||||
|
||||
if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
|
||||
|
||||
# Set PWM_AUX output frequency.
|
||||
if [ $PWM_AUX_RATE != none ]
|
||||
then
|
||||
pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
|
||||
then
|
||||
if [ $PWM_OUT != none ]
|
||||
@@ -224,6 +270,8 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
param set PWM_MAIN_OUT ${PWM_OUT}
|
||||
|
||||
if [ $EXTRA_MIXER_MODE != none ]
|
||||
then
|
||||
|
||||
|
||||
@@ -0,0 +1,23 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# PX4IO interface init script.
|
||||
#
|
||||
|
||||
# If $OUTPUT_MODE indicated Hardware-int-the-loop simulation, px4io should not publish actuator_outputs,
|
||||
# instead, pwm_out_sim will publish that uORB
|
||||
if [ $OUTPUT_MODE = hil ]
|
||||
then
|
||||
set HIL_ARG $OUTPUT_MODE
|
||||
fi
|
||||
|
||||
if [ $IO_PRESENT = yes ]
|
||||
then
|
||||
if px4io start $HIL_ARG
|
||||
then
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
px4io recovery
|
||||
else
|
||||
echo "PX4IO start failed"
|
||||
tune_control play -t 18 # PROG_PX4IO_ERR
|
||||
fi
|
||||
fi
|
||||
@@ -127,34 +127,6 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
# Eagle Tree airspeed sensor external I2C
|
||||
if param compare -s SENS_EN_ETSASPD 1
|
||||
then
|
||||
ets_airspeed start -X
|
||||
fi
|
||||
|
||||
# Sensirion SDP3X differential pressure sensor external I2C
|
||||
if param compare -s SENS_EN_SDP3X 1
|
||||
then
|
||||
if ! sdp3x_airspeed start -X
|
||||
then
|
||||
# try another common address
|
||||
sdp3x_airspeed start -X -a 0x22
|
||||
fi
|
||||
fi
|
||||
|
||||
# TE MS4525 differential pressure sensor external I2C
|
||||
if param compare -s SENS_EN_MS4525 1
|
||||
then
|
||||
ms4525_airspeed start -X
|
||||
fi
|
||||
|
||||
# TE MS5525 differential pressure sensor external I2C
|
||||
if param compare -s SENS_EN_MS5525 1
|
||||
then
|
||||
ms5525_airspeed start -X
|
||||
fi
|
||||
|
||||
# probe for optional external I2C devices
|
||||
if param compare SENS_EXT_I2C_PRB 1
|
||||
then
|
||||
@@ -171,6 +143,30 @@ then
|
||||
|
||||
# start last (wait for possible icm20948 passthrough mode)
|
||||
ak09916 -X -q start
|
||||
|
||||
# differential pressure sensors
|
||||
if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
|
||||
then
|
||||
# Always try to start the airspeed sensors
|
||||
# even if their usage might be disabled
|
||||
sdp3x_airspeed start -X -q
|
||||
sdp3x_airspeed start -X -a 0x22 -q
|
||||
|
||||
# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
|
||||
# detected as MS5525 because the chip manufacturer was so
|
||||
# clever to assign the same I2C address and skip a WHO_AM_I
|
||||
# register.
|
||||
if [ $BOARD_FMUV3 = 21 ]
|
||||
then
|
||||
ms5525_airspeed start -X -b 2 -q
|
||||
else
|
||||
ms5525_airspeed start -X -q
|
||||
fi
|
||||
|
||||
ms4525_airspeed start -X -q
|
||||
|
||||
ets_airspeed start -X -q
|
||||
fi
|
||||
fi
|
||||
|
||||
###############################################################################
|
||||
|
||||
@@ -13,8 +13,6 @@ param set-default MIS_YAW_TMT 10
|
||||
param set-default EKF2_ARSP_THR 10
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
|
||||
param set-default HTE_VXY_THR 2.0
|
||||
|
||||
param set-default MIS_DIST_WPS 5000
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
|
||||
@@ -22,8 +22,10 @@ set +e
|
||||
#
|
||||
set R /
|
||||
set AUTOCNF no
|
||||
set AUX_MODE pwm
|
||||
set FCONFIG /fs/microsd/etc/config.txt
|
||||
set FEXTRAS /fs/microsd/etc/extras.txt
|
||||
set FMU_MODE pwm
|
||||
set FRC /fs/microsd/etc/rc.txt
|
||||
set IOFW "/etc/extras/px4_io-v2_default.bin"
|
||||
set IO_PRESENT no
|
||||
@@ -49,6 +51,11 @@ set STARTUP_TUNE 1
|
||||
set USE_IO no
|
||||
set VEHICLE_TYPE none
|
||||
|
||||
#
|
||||
# Mount the procfs.
|
||||
#
|
||||
mount -t procfs /proc
|
||||
|
||||
#
|
||||
# Start CDC/ACM serial driver.
|
||||
#
|
||||
@@ -62,43 +69,8 @@ ver all
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
set SDCARD_AVAILABLE no
|
||||
# REBOOTWORK this needs to start after the flight control loop.
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
|
||||
date >> $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
cat $PX4_INIT_TEST_FILE
|
||||
rm $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ ! -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $SDCARD_AVAILABLE = no ]
|
||||
then
|
||||
set STARTUP_TUNE 14 # tune 14 = SD_INIT
|
||||
if mkfatfs -F 32 /dev/mmcsd0
|
||||
then
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
echo "INFO [init] card formatted"
|
||||
|
||||
else
|
||||
set STARTUP_TUNE 15 # tune 15 = SD_ERROR
|
||||
echo "ERROR [init] format failed"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
then
|
||||
if hardfault_log check
|
||||
then
|
||||
@@ -109,8 +81,20 @@ then
|
||||
hardfault_log reset
|
||||
fi
|
||||
fi
|
||||
else
|
||||
# tune SD_INIT
|
||||
set STARTUP_TUNE 14 # tune 14 = SD_INIT
|
||||
if mkfatfs /dev/mmcsd0
|
||||
then
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
echo "INFO [init] card formatted"
|
||||
else
|
||||
set STARTUP_TUNE 15 # tune 15 = SD_ERROR
|
||||
echo "ERROR [init] format failed"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
unset SDCARD_AVAILABLE
|
||||
|
||||
#
|
||||
# Look for an init script on the microSD card.
|
||||
@@ -144,7 +128,7 @@ else
|
||||
then
|
||||
param reset_all
|
||||
fi
|
||||
if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
|
||||
if ver hwtypecmp V5X00 V5X90 V5Xa0
|
||||
then
|
||||
netman update -i eth0
|
||||
fi
|
||||
@@ -374,9 +358,52 @@ else
|
||||
commander start
|
||||
fi
|
||||
|
||||
# Sensors on the PWM interface bank.
|
||||
if param compare -s SENS_EN_LL40LS 1
|
||||
then
|
||||
# Clear pins 5 and 6.
|
||||
set FMU_MODE pwm4
|
||||
set AUX_MODE pwm4
|
||||
fi
|
||||
|
||||
|
||||
# Check if ATS is enabled
|
||||
if param compare FD_EXT_ATS_EN 1
|
||||
then
|
||||
# Clear pins 5 and 6.
|
||||
set FMU_MODE pwm4
|
||||
set AUX_MODE pwm4
|
||||
fi
|
||||
|
||||
if param greater -s TRIG_MODE 0
|
||||
then
|
||||
if param compare TRIG_PINS_EX 0
|
||||
then
|
||||
# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
|
||||
if param compare TRIG_PINS 56
|
||||
then
|
||||
# clear pins 5 and 6
|
||||
set FMU_MODE pwm4
|
||||
set AUX_MODE pwm4
|
||||
else
|
||||
if param compare TRIG_PINS 78
|
||||
then
|
||||
# clear pins 7 and 8
|
||||
set FMU_MODE pwm6
|
||||
set AUX_MODE pwm6
|
||||
else
|
||||
set FMU_MODE none
|
||||
set AUX_MODE none
|
||||
fi
|
||||
fi
|
||||
else
|
||||
if param compare TRIG_PINS_EX 12288
|
||||
then
|
||||
set FMU_MODE pwm12
|
||||
set AUX_MODE pwm12
|
||||
fi
|
||||
fi
|
||||
|
||||
camera_trigger start
|
||||
camera_feedback start
|
||||
fi
|
||||
@@ -404,7 +431,14 @@ else
|
||||
rc_input start $RC_INPUT_ARGS
|
||||
fi
|
||||
|
||||
# Camera capture driver (before pwm_out)
|
||||
#
|
||||
# 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
|
||||
|
||||
# Camera capture driver
|
||||
if param greater -s CAM_CAP_FBACK 0
|
||||
then
|
||||
if camera_capture start
|
||||
@@ -413,13 +447,6 @@ else
|
||||
fi
|
||||
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
|
||||
|
||||
#
|
||||
# Start the navigator.
|
||||
#
|
||||
@@ -519,8 +546,10 @@ fi
|
||||
#
|
||||
unset R
|
||||
unset AUTOCNF
|
||||
unset AUX_MODE
|
||||
unset FCONFIG
|
||||
unset FEXTRAS
|
||||
unset FMU_MODE
|
||||
unset FRC
|
||||
unset IO_PRESENT
|
||||
unset IOFW
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
Aileron/rudder/elevator/throttle mixer for PX4FMU
|
||||
==================================================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
TF-G2 autogyro mixer
|
||||
==================================================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
Viper Delta-wing mixer
|
||||
=================================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
Designed for Viper.
|
||||
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
# CruiseAder Claire Main Multirotor mixer for PX4FMU
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
#
|
||||
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
Delta-wing mixer for PX4FMU
|
||||
===========================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
# Direct mixer
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
A: 0
|
||||
A: 1
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
# Octo coaxial with wide arms
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
R: 8cw
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
Delta-wing VTOL mixer
|
||||
=====================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing VTOL aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
Tailsitter duo mixer
|
||||
============================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
|
||||
has two motors in total, one attached to each wing. It also has two elevons which
|
||||
|
||||
@@ -70,6 +70,14 @@ then
|
||||
set io_file /etc/extras/px4_io-v2_default.bin
|
||||
fi
|
||||
|
||||
if px4io start
|
||||
then
|
||||
echo "PX4IO OK"
|
||||
else
|
||||
set unit_test_failure 1
|
||||
set unit_test_failure_list "${unit_test_failure_list} px4io_start"
|
||||
fi
|
||||
|
||||
if px4io checkcrc $io_file
|
||||
then
|
||||
echo "PX4IO CRC OK"
|
||||
@@ -96,15 +104,6 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
if px4io start
|
||||
then
|
||||
echo "PX4IO OK"
|
||||
else
|
||||
set unit_test_failure 1
|
||||
set unit_test_failure_list "${unit_test_failure_list} px4io_start"
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# The presence of this file suggests we're running a mount stress test
|
||||
#
|
||||
|
||||
@@ -30,11 +30,8 @@ def print_line(line):
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
|
||||
def monitor_firmware_upload(port, baudrate):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
@@ -43,21 +40,16 @@ def monitor_firmware_upload(port, baudrate):
|
||||
timeout_start = time.time()
|
||||
timeout_newline = time.time()
|
||||
|
||||
return_code = 0
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "ERROR" in serial_line:
|
||||
return_code = -1
|
||||
|
||||
print_line(serial_line)
|
||||
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
sys.exit(0)
|
||||
elif "nsh>" in serial_line:
|
||||
sys.exit(return_code)
|
||||
sys.exit(0)
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
|
||||
@@ -35,7 +35,7 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
timeout = 10 # 10 seconds
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
|
||||
@@ -30,18 +30,14 @@ def print_line(line):
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
|
||||
def do_nsh_cmd(port, baudrate, cmd):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
timeout = 10 # 10 seconds
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
@@ -70,7 +66,7 @@ def do_nsh_cmd(port, baudrate, cmd):
|
||||
success_cmd = "cmd succeeded!"
|
||||
|
||||
# wait for command echo
|
||||
serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
|
||||
serial_cmd = '{0}; echo "{1}"\r\n'.format(cmd, success_cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
ser.flush()
|
||||
while True:
|
||||
@@ -94,19 +90,13 @@ def do_nsh_cmd(port, baudrate, cmd):
|
||||
timeout_start = time.time()
|
||||
timeout = 180 # 3 minutes
|
||||
|
||||
return_code = 0
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if success_cmd in serial_line:
|
||||
sys.exit(return_code)
|
||||
break
|
||||
else:
|
||||
if len(serial_line) > 0:
|
||||
if "ERROR " in serial_line:
|
||||
return_code = -1
|
||||
|
||||
print_line(serial_line)
|
||||
|
||||
if "nsh>" in serial_line:
|
||||
|
||||
@@ -32,17 +32,14 @@ def print_line(line):
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
|
||||
def do_test(port, baudrate, test_name):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
timeout = 10 # 10 seconds
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
@@ -142,6 +139,9 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_bson(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
|
||||
|
||||
def test_conv(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "conv"))
|
||||
|
||||
def test_dataman(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
|
||||
|
||||
|
||||
@@ -24,7 +24,4 @@ exec find boards msg src platforms test \
|
||||
-path src/modules/micrortps_bridge/micro-CDR -prune -o \
|
||||
-path src/modules/micrortps_bridge/microRTPS_client -prune -o \
|
||||
-path test/mavsdk_tests/catch2 -prune -o \
|
||||
-path src/lib/crypto/monocypher -prune -o \
|
||||
-path src/lib/crypto/libtomcrypt -prune -o \
|
||||
-path src/lib/crypto/libtommath -prune -o \
|
||||
-type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
|
||||
|
||||
Executable
+85
@@ -0,0 +1,85 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
function check_git_submodule {
|
||||
|
||||
# The .git exists in a submodule if init and update have been done.
|
||||
if [[ -f $1"/.git" || -d $1"/.git" ]]; then
|
||||
|
||||
# always update within CI environment or configuring withing VSCode CMake where you can't interact
|
||||
if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
|
||||
git submodule --quiet sync --recursive -- $1
|
||||
git submodule --quiet update --init --recursive --jobs=8 -- $1 || true
|
||||
git submodule --quiet update --init --recursive --jobs=8 -- $1
|
||||
exit 0
|
||||
fi
|
||||
|
||||
SUBMODULE_STATUS=$(git submodule summary "$1")
|
||||
STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1")
|
||||
if ! [[ -z "$STATUSRETVAL" ]]; then
|
||||
echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
|
||||
echo ""
|
||||
echo -e "Different commits:"
|
||||
echo -e "$SUBMODULE_STATUS"
|
||||
echo ""
|
||||
echo ""
|
||||
echo -e " *******************************************************************************"
|
||||
echo -e " * \033[31mIF YOU DID NOT CHANGE THIS FILE (OR YOU DON'T KNOW WHAT A SUBMODULE IS):\033[0m *"
|
||||
echo -e " * \033[31mHit 'u' and <ENTER> to update ALL submodules and resolve this.\033[0m *"
|
||||
echo -e " * (performs \033[94mgit submodule sync --recursive\033[0m *"
|
||||
echo -e " * and \033[94mgit submodule update --init --recursive\033[0m ) *"
|
||||
echo -e " *******************************************************************************"
|
||||
echo ""
|
||||
echo ""
|
||||
echo -e " Only for EXPERTS:"
|
||||
echo -e " $1 submodule is not in the recommended version."
|
||||
echo -e " Hit 'y' and <ENTER> to continue the build with this version. Hit <ENTER> to resolve manually."
|
||||
echo -e " Use \033[94mgit add $1 && git commit -m 'Updated $1'\033[0m to choose this version (careful!)"
|
||||
echo ""
|
||||
read user_cmd
|
||||
if [ "$user_cmd" == "y" ]; then
|
||||
echo "Continuing build with manually overridden submodule.."
|
||||
elif [ "$user_cmd" == "u" ]; then
|
||||
git submodule sync --recursive -- $1
|
||||
git submodule update --init --recursive -- $1 || true
|
||||
git submodule update --init --recursive --force -- $1
|
||||
echo "Submodule fixed, continuing build.."
|
||||
else
|
||||
echo "Build aborted."
|
||||
exit 1
|
||||
fi
|
||||
fi
|
||||
else
|
||||
git submodule --quiet sync --recursive --quiet -- $1
|
||||
git submodule --quiet update --init --recursive -- $1 || true
|
||||
git submodule --quiet update --init --recursive -- $1
|
||||
fi
|
||||
|
||||
}
|
||||
|
||||
# If called with a path then respect $GIT_SUBMODULES_ARE_EVIL but do normal processing
|
||||
if [ "$#" != "0" ]; then
|
||||
# called with a path then process only that path but respect $GIT_SUBMODULES_ARE_EVIL
|
||||
[ -n "$GIT_SUBMODULES_ARE_EVIL" ] && {
|
||||
# GIT_SUBMODULES_ARE_EVIL is set, meaning user doesn't want submodules updated
|
||||
exit 0
|
||||
}
|
||||
|
||||
check_git_submodule $1
|
||||
|
||||
else
|
||||
|
||||
[ -n "$GIT_SUBMODULES_ARE_EVIL" ] && {
|
||||
# GIT_SUBMODULES_ARE_EVIL is set, meaning user doesn't want submodules updated
|
||||
echo "GIT_SUBMODULES_ARE_EVIL is defined - Skipping All submodule checking!"
|
||||
exit 0
|
||||
}
|
||||
|
||||
submodules=$(git submodule status | awk '{ print $2 }')
|
||||
for i in $submodules;
|
||||
do
|
||||
check_git_submodule $i
|
||||
done
|
||||
|
||||
fi
|
||||
|
||||
exit 0
|
||||
@@ -1,62 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
from Crypto.PublicKey import RSA
|
||||
from Crypto.Cipher import PKCS1_OAEP
|
||||
from Crypto.Cipher import ChaCha20
|
||||
from Crypto.Hash import SHA256
|
||||
import binascii
|
||||
import argparse
|
||||
#from pathlib import Path
|
||||
import sys
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
parser = argparse.ArgumentParser(description="""CLI tool to decrypt an ulog file\n""")
|
||||
parser.add_argument("ulog_file", help=".ulog file", nargs='?', default=None)
|
||||
parser.add_argument("ulog_key", help=".ulogk, encrypted key", nargs='?', default=None)
|
||||
parser.add_argument("rsa_key", help=".pem format key for decrypting the ulog key", nargs='?', default=None)
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
# Only generate a key pair, don't sign
|
||||
if not args.ulog_file or not args.ulog_key or not args.rsa_key:
|
||||
print('Need all arguments, the encrypted ulog file, the key and the key decryption key')
|
||||
sys.exit(1);
|
||||
|
||||
# Read the private RSA key to decrypt the cahcha key
|
||||
with open(args.rsa_key, 'rb') as f:
|
||||
r = RSA.importKey(f.read(), passphrase='')
|
||||
|
||||
# Read the encrypted xchacha key and the nonce
|
||||
with open(args.ulog_key, 'rb') as f:
|
||||
ulog_key_header = f.read(22)
|
||||
|
||||
# Parse the header
|
||||
try:
|
||||
# magic
|
||||
if not ulog_key_header.startswith(bytearray("ULogKey".encode())):
|
||||
raise Exception()
|
||||
# version
|
||||
if ulog_key_header[7] != 1:
|
||||
raise Exception()
|
||||
# expected key exchange algorithm (RSA_OAEP)
|
||||
if ulog_key_header[16] != 4:
|
||||
raise Exception()
|
||||
key_size = ulog_key_header[19] << 8 | ulog_key_header[18];
|
||||
nonce_size = ulog_key_header[21] << 8 | ulog_key_header[20];
|
||||
ulog_key_cipher = f.read(key_size)
|
||||
nonce = f.read(nonce_size)
|
||||
except:
|
||||
print("Keyfile format error")
|
||||
sys.exit(1);
|
||||
|
||||
# Decrypt the xchacha key
|
||||
cipher_rsa = PKCS1_OAEP.new(r,SHA256)
|
||||
ulog_key = cipher_rsa.decrypt(ulog_key_cipher)
|
||||
#print(binascii.hexlify(ulog_key))
|
||||
|
||||
# Read and decrypt the .ulgc
|
||||
cipher = ChaCha20.new(key=ulog_key, nonce=nonce)
|
||||
with open(args.ulog_file, 'rb') as f:
|
||||
with open(args.ulog_file.rstrip(args.ulog_file[-1]), 'wb') as out:
|
||||
out.write(cipher.decrypt(f.read()))
|
||||
+4
-4
@@ -4,16 +4,16 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
echo "guessing PX4_DOCKER_REPO based on input";
|
||||
if [[ $@ =~ .*px4_fmu.* ]]; then
|
||||
# nuttx-px4fmu-v{1,2,3,4,5}
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
|
||||
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
|
||||
# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
|
||||
elif [[ $@ =~ .*pilotpi.arm64 ]]; then
|
||||
# scumaker_pilotpi_arm64
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
|
||||
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
|
||||
# posix_rpi_cross, posix_bebop_default
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
|
||||
elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
|
||||
# clang tools
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
|
||||
@@ -27,7 +27,7 @@ fi
|
||||
|
||||
# otherwise default to nuttx
|
||||
if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
|
||||
fi
|
||||
|
||||
# docker hygiene
|
||||
|
||||
@@ -86,15 +86,8 @@ sleep 1
|
||||
|
||||
source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
|
||||
|
||||
# To use gazebo_ros ROS2 plugins
|
||||
if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
|
||||
ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
|
||||
else
|
||||
ros_args=""
|
||||
fi
|
||||
|
||||
echo "Starting gazebo"
|
||||
gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
|
||||
gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose &
|
||||
sleep 5
|
||||
|
||||
n=0
|
||||
@@ -126,8 +119,7 @@ else
|
||||
|
||||
m=0
|
||||
while [ $m -lt ${target_number} ]; do
|
||||
export PX4_SIM_MODEL=${target_vehicle}${LABEL}
|
||||
spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
|
||||
spawn_model ${target_vehicle} $n $target_x $target_y
|
||||
m=$(($m + 1))
|
||||
n=$(($n + 1))
|
||||
done
|
||||
|
||||
+1
-1
Submodule Tools/jMAVSim updated: 0a5a8c6d9d...0a816d8100
@@ -10,7 +10,7 @@ extra_args=
|
||||
baudrate=921600
|
||||
device=
|
||||
ip="127.0.0.1"
|
||||
while getopts ":b:d:p:qsr:f:i:loa" opt; do
|
||||
while getopts ":b:d:p:qsr:f:i:lo" opt; do
|
||||
case $opt in
|
||||
b)
|
||||
baudrate=$OPTARG
|
||||
@@ -39,9 +39,6 @@ while getopts ":b:d:p:qsr:f:i:loa" opt; do
|
||||
o)
|
||||
extra_args="$extra_args -disponly"
|
||||
;;
|
||||
a)
|
||||
extra_args="$extra_args -fw" # aircraft
|
||||
;;
|
||||
\?)
|
||||
echo "Invalid option: -$OPTARG" >&2
|
||||
exit 1
|
||||
|
||||
@@ -13,7 +13,6 @@ import datetime
|
||||
from timeit import default_timer as timer
|
||||
os.environ['MAVLINK20'] = '1' # The commands require mavlink 2
|
||||
from argparse import ArgumentParser
|
||||
import signal
|
||||
|
||||
try:
|
||||
from pymavlink import mavutil
|
||||
@@ -25,8 +24,6 @@ except ImportError as e:
|
||||
print("")
|
||||
sys.exit(1)
|
||||
|
||||
class LoggingCompleted(Exception):
|
||||
pass
|
||||
|
||||
class MavlinkLogStreaming():
|
||||
'''Streams log data via MAVLink.
|
||||
@@ -52,7 +49,6 @@ class MavlinkLogStreaming():
|
||||
self.logging_started = False
|
||||
self.num_dropouts = 0
|
||||
self.target_component = 1
|
||||
self.got_sig_int = False
|
||||
|
||||
def debug(self, s, level=1):
|
||||
'''write some debug text'''
|
||||
@@ -71,24 +67,13 @@ class MavlinkLogStreaming():
|
||||
mavutil.mavlink.MAV_CMD_LOGGING_STOP, 0,
|
||||
0, 0, 0, 0, 0, 0, 0)
|
||||
|
||||
def _int_handler(self, sig, frame):
|
||||
self.got_sig_int = True
|
||||
|
||||
def read_messages(self):
|
||||
''' main loop reading messages '''
|
||||
measure_time_start = timer()
|
||||
measured_data = 0
|
||||
|
||||
next_heartbeat_time = timer()
|
||||
old_handler = signal.signal(signal.SIGINT, self._int_handler)
|
||||
|
||||
while True:
|
||||
if self.got_sig_int:
|
||||
signal.signal(signal.SIGINT, old_handler)
|
||||
self.got_sig_int = False
|
||||
print('\nStopping log...')
|
||||
self.stop_log()
|
||||
# Continue reading until we get an ACK
|
||||
|
||||
# handle heartbeat sending
|
||||
heartbeat_time = timer()
|
||||
@@ -135,9 +120,6 @@ class MavlinkLogStreaming():
|
||||
print('Logging started. Waiting for Header...')
|
||||
else:
|
||||
raise Exception('Logging start failed', m.result)
|
||||
elif m.command == mavutil.mavlink.MAV_CMD_LOGGING_STOP and \
|
||||
m.result == mavutil.mavlink.MAV_RESULT_ACCEPTED:
|
||||
raise LoggingCompleted()
|
||||
return None, 0, 0
|
||||
|
||||
# m is either 'LOGGING_DATA_ACKED' or 'LOGGING_DATA':
|
||||
@@ -155,8 +137,7 @@ class MavlinkLogStreaming():
|
||||
|
||||
if m.get_type() == 'LOGGING_DATA':
|
||||
if not self.got_header_section:
|
||||
print('Header received in {:0.2f}s (size: {:.1f} KB)'.format(
|
||||
timer()-self.start_time, self.file.tell()/1024))
|
||||
print('Header received in {:0.2f}s'.format(timer()-self.start_time))
|
||||
self.logging_started = True
|
||||
self.got_header_section = True
|
||||
self.last_sequence = m.sequence
|
||||
@@ -275,10 +256,14 @@ def main():
|
||||
print('Starting log...')
|
||||
mav_log_streaming.start_log()
|
||||
mav_log_streaming.read_messages()
|
||||
|
||||
print('Stopping log')
|
||||
mav_log_streaming.stop_log()
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print('Aborting')
|
||||
except LoggingCompleted:
|
||||
print('Done')
|
||||
print('Stopping log')
|
||||
mav_log_streaming.stop_log()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
|
||||
@@ -18,37 +18,32 @@ The motors in **green** rotate clockwise, the ones in **blue** counterclockwise.
|
||||
If present, PWM AUX channels are commonly labelled **AUX OUT**.
|
||||
|
||||
<style>
|
||||
div.frame_common table, div.frame_common table {
|
||||
table {
|
||||
display: table;
|
||||
table-layout: fixed;
|
||||
margin-bottom: 5px;
|
||||
}
|
||||
|
||||
div.frame_common table {
|
||||
table.common {
|
||||
float: right;
|
||||
width: 70%;
|
||||
}
|
||||
|
||||
div.frame_common img {
|
||||
max-height: 180px;
|
||||
width: 29%;
|
||||
padding-top: 10px;
|
||||
}
|
||||
|
||||
div.frame_variant table {
|
||||
table.airframes {
|
||||
width: 100%;
|
||||
}
|
||||
|
||||
div.frame_variant th:nth-child(1) {
|
||||
table.airframes th:nth-child(1) {
|
||||
width: 30%;
|
||||
}
|
||||
|
||||
div.frame_variant tr > * {
|
||||
tr > * {
|
||||
vertical-align : top;
|
||||
}
|
||||
|
||||
div.frame_variant td, div.frame_variant th {
|
||||
td, th {
|
||||
text-align : left;
|
||||
}
|
||||
img {
|
||||
max-height: 180px;
|
||||
width: 29%;
|
||||
padding-top: 10px;
|
||||
}
|
||||
</style>\n\n"""
|
||||
|
||||
@@ -66,7 +61,7 @@ div.frame_variant td, div.frame_variant th {
|
||||
|
||||
# Display an image of the frame
|
||||
image_name = group.GetImageName()
|
||||
result += '<div class="frame_common">\n'
|
||||
result += '<div>\n'
|
||||
image_name = image_path + image_name
|
||||
result += '<img src="%s.svg"/>\n' % (image_name)
|
||||
|
||||
@@ -98,7 +93,7 @@ div.frame_variant td, div.frame_variant th {
|
||||
outputs_prev[i] = ''
|
||||
|
||||
if outputs_match[0] or outputs_match[1]:
|
||||
result += '<table>\n'
|
||||
result += '<table class="common">\n'
|
||||
result += ' <thead>\n'
|
||||
result += ' <tr><th>Common Outputs</th></tr>\n'
|
||||
result += ' </thead>\n'
|
||||
@@ -108,8 +103,7 @@ div.frame_variant td, div.frame_variant th {
|
||||
|
||||
result += '</div>\n\n'
|
||||
|
||||
result += '<div class="frame_variant">\n'
|
||||
result += '<table>\n'
|
||||
result += '<table class="generic">\n'
|
||||
result += ' <thead>\n'
|
||||
result += ' <tr><th>Name</th><th></th></tr>\n'
|
||||
result += ' </thead>\n'
|
||||
@@ -162,7 +156,7 @@ div.frame_variant td, div.frame_variant th {
|
||||
|
||||
|
||||
#Close the table.
|
||||
result += '</tbody>\n</table>\n</div>\n\n'
|
||||
result += '</tbody></table>\n\n'
|
||||
|
||||
self.output = result
|
||||
|
||||
|
||||
@@ -221,8 +221,7 @@ class SourceParser(object):
|
||||
else:
|
||||
raise Exception("Could not extract event ID from {:}".format(args_split[0]))
|
||||
event.name = event_name
|
||||
# unescape \x, to treat the string the same as the C++ compiler
|
||||
event.message = args_split[2][1:-1].encode("utf-8").decode('unicode_escape')
|
||||
event.message = args_split[2][1:-1]
|
||||
elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
|
||||
assert len(args_split) == num_args + 5, \
|
||||
"Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
|
||||
|
||||
+8
-37
@@ -682,28 +682,7 @@ class uploader(object):
|
||||
|
||||
return True
|
||||
|
||||
def send_protocol_splitter_format(self, data):
|
||||
# Header Structure:
|
||||
# bits: 1 2 3 4 5 6 7 8
|
||||
# header[0] - | Magic | (='S')
|
||||
# header[1] - |T| LenH | (T - 0: mavlink; 1: rtps)
|
||||
# header[2] - | LenL |
|
||||
# header[3] - | Checksum |
|
||||
|
||||
MAGIC = 83
|
||||
|
||||
len_bytes = len(data).to_bytes(2, "big")
|
||||
LEN_H = len_bytes[0] & 127
|
||||
LEN_L = len_bytes[1] & 255
|
||||
CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
|
||||
|
||||
header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
|
||||
header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
|
||||
|
||||
self.__send(header_bytes)
|
||||
self.__send(data)
|
||||
|
||||
def send_reboot(self, use_protocol_splitter_format=False):
|
||||
def send_reboot(self):
|
||||
if (not self.__next_baud_flightstack()):
|
||||
return False
|
||||
|
||||
@@ -714,19 +693,15 @@ class uploader(object):
|
||||
print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
|
||||
|
||||
try:
|
||||
send_fct = self.__send
|
||||
if use_protocol_splitter_format:
|
||||
send_fct = self.send_protocol_splitter_format
|
||||
|
||||
# try MAVLINK command first
|
||||
self.port.flush()
|
||||
send_fct(uploader.MAVLINK_REBOOT_ID1)
|
||||
send_fct(uploader.MAVLINK_REBOOT_ID0)
|
||||
self.__send(uploader.MAVLINK_REBOOT_ID1)
|
||||
self.__send(uploader.MAVLINK_REBOOT_ID0)
|
||||
# then try reboot via NSH
|
||||
send_fct(uploader.NSH_INIT)
|
||||
send_fct(uploader.NSH_REBOOT_BL)
|
||||
send_fct(uploader.NSH_INIT)
|
||||
send_fct(uploader.NSH_REBOOT)
|
||||
self.__send(uploader.NSH_INIT)
|
||||
self.__send(uploader.NSH_REBOOT_BL)
|
||||
self.__send(uploader.NSH_INIT)
|
||||
self.__send(uploader.NSH_REBOOT)
|
||||
self.port.flush()
|
||||
self.port.baudrate = self.baudrate_bootloader
|
||||
except Exception:
|
||||
@@ -751,13 +726,9 @@ def main():
|
||||
parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
|
||||
parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
|
||||
parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
|
||||
parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
|
||||
parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
|
||||
args = parser.parse_args()
|
||||
|
||||
if args.use_protocol_splitter_format:
|
||||
print("Using protocol splitter format to reboot pixhawk!")
|
||||
|
||||
# warn people about ModemManager which interferes badly with Pixhawk
|
||||
if os.path.exists("/usr/sbin/ModemManager"):
|
||||
print("==========================================================================================================")
|
||||
@@ -859,7 +830,7 @@ def main():
|
||||
|
||||
except Exception:
|
||||
|
||||
if not up.send_reboot(args.use_protocol_splitter_format):
|
||||
if not up.send_reboot():
|
||||
break
|
||||
|
||||
# wait for the reboot, without we might run into Serial I/O Error 5
|
||||
|
||||
@@ -138,12 +138,6 @@ serial_ports = {
|
||||
"default_baudrate": 1, # set default to an unusable value to detect that this serial port has not been configured
|
||||
},
|
||||
|
||||
# Pixhawk Payload Bus
|
||||
"PPB": {
|
||||
"label": "Pixhawk Payload Bus",
|
||||
"index": 401,
|
||||
"default_baudrate": 57600,
|
||||
},
|
||||
|
||||
}
|
||||
|
||||
|
||||
Executable → Regular
@@ -1,7 +1,5 @@
|
||||
#! /usr/bin/env bash
|
||||
|
||||
set -e
|
||||
|
||||
## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
|
||||
## Can also be used in docker.
|
||||
##
|
||||
@@ -195,7 +193,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
java_version=11
|
||||
gazebo_version=9
|
||||
elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||
java_version=13
|
||||
java_version=14
|
||||
gazebo_version=11
|
||||
else
|
||||
java_version=14
|
||||
|
||||
Submodule Tools/simulation-ignition updated: e78ad94a4f...794a8dc505
+1
-1
Submodule Tools/sitl_gazebo updated: d8366bf238...b6be00542b
+2
-14
@@ -56,13 +56,6 @@ else
|
||||
follow_mode=""
|
||||
fi
|
||||
|
||||
# To use gazebo_ros ROS2 plugins
|
||||
if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
|
||||
ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
|
||||
else
|
||||
ros_args=""
|
||||
fi
|
||||
|
||||
if [ "$program" == "jmavsim" ]; then
|
||||
jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
|
||||
if [ -n "$jmavsim_pid" ]; then
|
||||
@@ -140,7 +133,7 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
|
||||
world_path="$PX4_SITL_WORLD"
|
||||
fi
|
||||
fi
|
||||
gzserver $verbose $world_path $ros_args &
|
||||
gzserver $verbose $world_path &
|
||||
SIM_PID=$!
|
||||
|
||||
# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
|
||||
@@ -186,13 +179,8 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
|
||||
fi
|
||||
elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
|
||||
echo "Ignition Gazebo"
|
||||
if [[ -n "$HEADLESS" ]]; then
|
||||
ignition_headless="-s"
|
||||
else
|
||||
ignition_headless=""
|
||||
fi
|
||||
source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
|
||||
ign gazebo ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
|
||||
ign gazebo -r "${src_path}/Tools/simulation-ignition/worlds/ignition.world"&
|
||||
elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
|
||||
echo "FG setup"
|
||||
cd "${src_path}/Tools/flightgear_bridge/"
|
||||
|
||||
@@ -1,27 +0,0 @@
|
||||
-----BEGIN RSA PRIVATE KEY-----
|
||||
MIIEowIBAAKCAQEAz6O47E+sN+Yb+h6zkukagzYtJ6ZKq344b5N6H2CDg6z9LmG/
|
||||
GRAfOeNstsz1hXyyOCcUQ9f+vKHofTN0k+fWKy95h1mwY5Vc509gRsmpD96pNp4+
|
||||
NLp3GFDjawOTqsfyLQ7zKwU0YKT3qeI3o20n2KNxnGuyXt0SK3Ph2530wwzWBR2s
|
||||
pNxpKvV8MCR7K4AbeuxodxKXKrLl0v9BHfUGpLZHpfoFfvChuK3eXK4si06tr6xt
|
||||
RmLh6f6hxcn0SNKAK+WpPsH8mN4DqayGt7UZ5XVqY4M/J3pe+PFtstI2ocDSX5Oc
|
||||
kOg+yonXytDH6I9Lt2CSXjZDcCM2+7WlBprAywIDAQABAoIBAGZE1nUV/NX/cXIt
|
||||
IvdN9q//xBfOUOLMpVFXSwQfTkdRsdXhcPUQOsERYd9bbeZUd5cusE2GGkKgYFki
|
||||
Od4LhzH4DRx8MWOrEnofX2UeODXHzoJHSI5B9Ry14n034shv+Lj2rxBWXOjo987l
|
||||
y8+jmMecIP4REWal7igWyHyZ/Q7/5UCCCH5HaA4jgMhMdrD3zdxrlPhrW/egjfKF
|
||||
Q+444qG5HzUqh7tOBxvf9Yu9FujHC9NxKDNXZZ3WBpwVQIVPCxexb4b8FBZ4syCH
|
||||
iPbSgyw91CVfMvpWCYqDe7ubw4QDLHzDIiyKFtvHmIOgPo74y8fi1YYZ+3dy5mpa
|
||||
UNdC11kCgYEA3whbNd71AVcSykRZ23AxDcjtUoiFXlpzSFes0QBGrmi2WTc04r8d
|
||||
5Zr1E8oohc/zPJnUnCh93BAAu+HJsg4wKCqOWu5qR3NWcFp4/4voG9hsg1hgWD8Z
|
||||
6fMMjoZRezSxadyeeaDStnfSkYyE2J8DPpkK5mjFG9IbrylGfApzDf0CgYEA7lTi
|
||||
j2NQ+HNMlp/oOtsRZHkQtHYutv5SltG4E4DlwDHyA2ZLR2xB+D2ce5VdPQvfHu8F
|
||||
ioMquDLeJbOPeikwko+RmpbmCsODjLueZHBmGwAfkuE0A5TZUwTi+W6iYbrXLK6E
|
||||
TgNMaS4AGeBbioo6cdnMnYp9jdm63zvefet6oGcCgYAwr4BJmCvfaQR/BsCeuDTd
|
||||
D3lOxOJoIFJ9/jWJQggr1kvH2dc/j/yUvGi3My/5VdWA6wuQMv6WZR/j43vF1HcK
|
||||
rY95pgWpJzI9QGKdVgsK2QmG+mm9mbisaxPYoNV0kaIQu8oUPtkAX9OlVglByCRL
|
||||
K9lHRqOQWSMV72qldRp8eQKBgHVCJkXN42SZtbDV8/ghGCmKtwFStCEsd43kmOBf
|
||||
pqos6JlrltYJGVv9VCQplLoYQSqDBwLjDf2aaVm7QngkE9XH9SdN3tik4PA4zvEz
|
||||
q8jVArPNQT4R2erSmKmIGTRkLMG7CzUmwk1taHdSvzcmUyL4uYc5QBSubxat6gWh
|
||||
+a85AoGBAKgfnjjVoAWWvqEDLpfGPmE8lW+RaS7i5ff6QsSBx7uTEnHq6RNHuVnN
|
||||
et4pR87yIENeG8jMBiDCj8AGDtUNt9Ps9vWCPrf9HSOYoBUk+gZagU/9N+RBpuCM
|
||||
egoxtxIHM7HI+XIer+ZnZpVpgr+EoCaL7avx6k/susLQb7tqSBt1
|
||||
-----END RSA PRIVATE KEY-----
|
||||
@@ -1,38 +0,0 @@
|
||||
|
||||
0x30, 0x82, 0x1, 0x22, 0x30, 0xd, 0x6, 0x9,
|
||||
0x2a, 0x86, 0x48, 0x86, 0xf7, 0xd, 0x1, 0x1,
|
||||
0x1, 0x5, 0x0, 0x3, 0x82, 0x1, 0xf, 0x0,
|
||||
0x30, 0x82, 0x1, 0xa, 0x2, 0x82, 0x1, 0x1,
|
||||
0x0, 0xcf, 0xa3, 0xb8, 0xec, 0x4f, 0xac, 0x37,
|
||||
0xe6, 0x1b, 0xfa, 0x1e, 0xb3, 0x92, 0xe9, 0x1a,
|
||||
0x83, 0x36, 0x2d, 0x27, 0xa6, 0x4a, 0xab, 0x7e,
|
||||
0x38, 0x6f, 0x93, 0x7a, 0x1f, 0x60, 0x83, 0x83,
|
||||
0xac, 0xfd, 0x2e, 0x61, 0xbf, 0x19, 0x10, 0x1f,
|
||||
0x39, 0xe3, 0x6c, 0xb6, 0xcc, 0xf5, 0x85, 0x7c,
|
||||
0xb2, 0x38, 0x27, 0x14, 0x43, 0xd7, 0xfe, 0xbc,
|
||||
0xa1, 0xe8, 0x7d, 0x33, 0x74, 0x93, 0xe7, 0xd6,
|
||||
0x2b, 0x2f, 0x79, 0x87, 0x59, 0xb0, 0x63, 0x95,
|
||||
0x5c, 0xe7, 0x4f, 0x60, 0x46, 0xc9, 0xa9, 0xf,
|
||||
0xde, 0xa9, 0x36, 0x9e, 0x3e, 0x34, 0xba, 0x77,
|
||||
0x18, 0x50, 0xe3, 0x6b, 0x3, 0x93, 0xaa, 0xc7,
|
||||
0xf2, 0x2d, 0xe, 0xf3, 0x2b, 0x5, 0x34, 0x60,
|
||||
0xa4, 0xf7, 0xa9, 0xe2, 0x37, 0xa3, 0x6d, 0x27,
|
||||
0xd8, 0xa3, 0x71, 0x9c, 0x6b, 0xb2, 0x5e, 0xdd,
|
||||
0x12, 0x2b, 0x73, 0xe1, 0xdb, 0x9d, 0xf4, 0xc3,
|
||||
0xc, 0xd6, 0x5, 0x1d, 0xac, 0xa4, 0xdc, 0x69,
|
||||
0x2a, 0xf5, 0x7c, 0x30, 0x24, 0x7b, 0x2b, 0x80,
|
||||
0x1b, 0x7a, 0xec, 0x68, 0x77, 0x12, 0x97, 0x2a,
|
||||
0xb2, 0xe5, 0xd2, 0xff, 0x41, 0x1d, 0xf5, 0x6,
|
||||
0xa4, 0xb6, 0x47, 0xa5, 0xfa, 0x5, 0x7e, 0xf0,
|
||||
0xa1, 0xb8, 0xad, 0xde, 0x5c, 0xae, 0x2c, 0x8b,
|
||||
0x4e, 0xad, 0xaf, 0xac, 0x6d, 0x46, 0x62, 0xe1,
|
||||
0xe9, 0xfe, 0xa1, 0xc5, 0xc9, 0xf4, 0x48, 0xd2,
|
||||
0x80, 0x2b, 0xe5, 0xa9, 0x3e, 0xc1, 0xfc, 0x98,
|
||||
0xde, 0x3, 0xa9, 0xac, 0x86, 0xb7, 0xb5, 0x19,
|
||||
0xe5, 0x75, 0x6a, 0x63, 0x83, 0x3f, 0x27, 0x7a,
|
||||
0x5e, 0xf8, 0xf1, 0x6d, 0xb2, 0xd2, 0x36, 0xa1,
|
||||
0xc0, 0xd2, 0x5f, 0x93, 0x9c, 0x90, 0xe8, 0x3e,
|
||||
0xca, 0x89, 0xd7, 0xca, 0xd0, 0xc7, 0xe8, 0x8f,
|
||||
0x4b, 0xb7, 0x60, 0x92, 0x5e, 0x36, 0x43, 0x70,
|
||||
0x23, 0x36, 0xfb, 0xb5, 0xa5, 0x6, 0x9a, 0xc0,
|
||||
0xcb, 0x2, 0x3, 0x1, 0x0, 0x1,
|
||||
@@ -23,7 +23,7 @@ parser.add_argument('-e', '--exclude-path', action='append',
|
||||
help='Excluded path(s), can be specified multiple times',
|
||||
default=[])
|
||||
parser.add_argument('--merge-depends', action='store_true',
|
||||
help='Merge library topics in the modules that depend on them.')
|
||||
help='Merge library topics inte the modules that depend on them.')
|
||||
parser.add_argument('-v','--verbosity', action='count',
|
||||
help='increase output verbosity; primarily for debugging; repeat for more detail',
|
||||
default=0)
|
||||
@@ -422,7 +422,6 @@ class Graph(object):
|
||||
found_module_def = False
|
||||
found_module_depends = False
|
||||
found_library_def = False
|
||||
scope_added = False
|
||||
for line in datafile:
|
||||
if 'px4_add_module' in line: # must contain 'px4_add_module'
|
||||
found_module_def = True
|
||||
@@ -433,7 +432,6 @@ class Graph(object):
|
||||
library_name = tokens[1].split()[0].strip().rstrip(')')
|
||||
library_scope = LibraryScope(library_name)
|
||||
self._current_scope.append(library_scope)
|
||||
scope_added = True
|
||||
self._found_libraries[library_name] = library_scope
|
||||
if self._in_scope():
|
||||
log.debug(' >> found library: ' + library_name)
|
||||
@@ -445,18 +443,16 @@ class Graph(object):
|
||||
elif found_module_depends:
|
||||
# two tabs is a *sketchy* heuristic -- spacing isn't guaranteed by cmake;
|
||||
# ... but the hard-tabs *is* specified by PX4 coding standards, so it's likely to be consistent
|
||||
if line.startswith('\t\t') and not line.strip().startswith('#'):
|
||||
if line.startswith('\t\t'):
|
||||
depends = [dep.strip() for dep in line.split()]
|
||||
for name in depends:
|
||||
log.debug(' >> {:}: found module dep: {:}'
|
||||
.format(self._current_scope[-1].name, name))
|
||||
self._current_scope[-1].add_dependency(name)
|
||||
if kwargs['merge_depends']:
|
||||
if (0 < len(self._scope_whitelist)) and self._current_scope[-1].name in self._scope_whitelist:
|
||||
# if we whitelist a module with dependencies, whitelist the dependencies, too
|
||||
self._scope_whitelist.add(name)
|
||||
|
||||
elif line.strip() != "":
|
||||
else:
|
||||
found_module_depends = False ## done with the 'DEPENDS' section.
|
||||
|
||||
words = line.split()
|
||||
@@ -465,21 +461,17 @@ class Graph(object):
|
||||
module_name = words[1]
|
||||
module_scope = ModuleScope(module_name)
|
||||
self._current_scope.append(module_scope)
|
||||
scope_added = True
|
||||
self._found_modules[module_name] = module_scope
|
||||
if self._in_scope():
|
||||
log.debug(' >> Found module name: ' + module_scope.name)
|
||||
|
||||
return scope_added
|
||||
return (found_library_def or found_module_def)
|
||||
|
||||
|
||||
def _process_source_file(self, file_name):
|
||||
""" extract information from a single source file """
|
||||
|
||||
current_scope = self._get_current_scope()
|
||||
log.debug( " >> {:}extracting topics from file: {:}"
|
||||
.format(current_scope.name+": " if current_scope is not None else "",
|
||||
file_name))
|
||||
log.debug( " >> extracting topics from file: " + file_name )
|
||||
|
||||
with codecs.open(file_name, 'r', 'utf-8') as f:
|
||||
try:
|
||||
@@ -489,6 +481,7 @@ class Graph(object):
|
||||
return
|
||||
|
||||
|
||||
current_scope = self._get_current_scope()
|
||||
if current_scope:
|
||||
if current_scope.name in self._scope_blacklist:
|
||||
return
|
||||
@@ -680,7 +673,7 @@ class OutputJSON(object):
|
||||
node['color'] = topic_colors[topic]
|
||||
# url is opened when double-clicking on the node
|
||||
# TODO: does not work for multi-topics
|
||||
node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic+'.msg'
|
||||
node['url'] = 'https://github.com/PX4/Firmware/blob/master/msg/'+topic+'.msg'
|
||||
nodes.append(node)
|
||||
|
||||
data['nodes'] = nodes
|
||||
|
||||
@@ -1,135 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
agent_template_files_updated=0
|
||||
code_generator_files_updated=0
|
||||
|
||||
# parse help argument
|
||||
if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
|
||||
echo -e "Usage: update_px4_ros2_bridge.bash [options...] \t This script allows to update px4_ros_com and px4_msgs in a specified directory." >&2
|
||||
echo
|
||||
echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
|
||||
echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
|
||||
echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
|
||||
echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
|
||||
echo
|
||||
exit 0
|
||||
fi
|
||||
|
||||
# parse the arguments
|
||||
while [ $# -gt 0 ]; do
|
||||
if [[ $1 == *"--"* ]]; then
|
||||
v="${1/--/}"
|
||||
if [ ! -z $2 ]; then
|
||||
declare $v="$2"
|
||||
else
|
||||
declare $v=1
|
||||
fi
|
||||
fi
|
||||
shift
|
||||
done
|
||||
|
||||
# get script directory
|
||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
||||
|
||||
# get PX4-Autopilot directory
|
||||
PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
|
||||
|
||||
function compare_and_update () {
|
||||
cmp -s "$1" "$2"
|
||||
if [ $? -eq 1 ]; then
|
||||
cp "$1" "$2"
|
||||
return 0
|
||||
fi
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
# update microRTPS agent code generators / helpers
|
||||
function update_agent_code {
|
||||
declare -a templates=( \
|
||||
"microRTPS_agent.cpp.em" \
|
||||
"microRTPS_timesync.cpp.em" \
|
||||
"microRTPS_timesync.h.em" \
|
||||
"microRTPS_transport.cpp" \
|
||||
"microRTPS_transport.h" \
|
||||
"Publisher.cpp.em" \
|
||||
"Publisher.h.em" \
|
||||
"Subscriber.cpp.em" \
|
||||
"Subscriber.h.em" \
|
||||
"RtpsTopics.cpp.em" \
|
||||
"RtpsTopics.h.em" \
|
||||
)
|
||||
|
||||
for file in ${templates[@]}; do
|
||||
compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
|
||||
&& echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
|
||||
done
|
||||
if [ $agent_template_files_updated -eq 0 ]; then
|
||||
echo -e "--\t\t- No template files updated"
|
||||
elif [ $agent_template_files_updated -eq 1 ]; then
|
||||
echo -e "--\t\t - 1 template file updated"
|
||||
else
|
||||
echo -e "--\t\t - $agent_template_files_updated template files updated"
|
||||
fi
|
||||
}
|
||||
|
||||
# update microRTPS agent code templates
|
||||
function update_agent_templates {
|
||||
declare -a code_generators=( \
|
||||
"uorb_rtps_classifier.py" \
|
||||
"generate_microRTPS_bridge.py" \
|
||||
"px_generate_uorb_topic_files.py" \
|
||||
)
|
||||
for file in ${code_generators[@]}; do
|
||||
compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
|
||||
&& echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
|
||||
done
|
||||
if [ $code_generator_files_updated -eq 0 ]; then
|
||||
echo -e "--\t\t- No code generators / helpers files updated"
|
||||
elif [ $code_generator_files_updated -eq 1 ]; then
|
||||
echo -e "--\t\t - 1 code generator / helper file updated"
|
||||
else
|
||||
echo -e "--\t\t - $code_generator_files_updated code generator / helper files updated"
|
||||
fi
|
||||
}
|
||||
|
||||
# update px4_ros_com files
|
||||
function update_px4_ros_com {
|
||||
python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
|
||||
echo -e "--------------- \033[1mmicroRTPS agent code generation and templates update\033[0m ----------------"
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
update_agent_code
|
||||
update_agent_templates
|
||||
return 0
|
||||
}
|
||||
|
||||
# function to update px4_msgs
|
||||
function update_px4_msgs {
|
||||
find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
|
||||
python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
|
||||
}
|
||||
|
||||
# decisor
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
if [ -d "${ws_dir}" ]; then
|
||||
ws_dir=$(cd "$ws_dir" && pwd)
|
||||
if [ ! -z ${all} ]; then
|
||||
update_px4_ros_com
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
update_px4_msgs
|
||||
elif [ ! -z ${px4_ros_com} ]; then
|
||||
update_px4_ros_com
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
elif [ ! -z ${px4_msgs} ]; then
|
||||
update_px4_msgs
|
||||
fi
|
||||
echo -e "-------------------------------- \033[0;32mUpdate successful!\033[0m ---------------------------------"
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
exit 0
|
||||
else
|
||||
echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
|
||||
echo -e "---------------------------------- \033[0;31mUpdate failed!\033[0m -----------------------------------"
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
exit $ERRCODE
|
||||
fi
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user