mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-08-18 12:20:36 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
fdd8afc542 |
@@ -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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@@ -127,7 +127,7 @@ 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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+125
-224
@@ -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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} // 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 {
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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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@@ -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 {
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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'
|
||||
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'
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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'
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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 {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
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checkStatus()
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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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||||
@@ -440,11 +420,7 @@ pipeline {
|
||||
printTopics()
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||||
}
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||||
}
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||||
}
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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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||||
@@ -455,7 +431,7 @@ pipeline {
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stage("build px4_fmu-v5_optimized") {
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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'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -512,11 +488,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
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||||
}
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||||
@@ -527,7 +499,7 @@ pipeline {
|
||||
stage("build px4_fmu-v5_stackcheck") {
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||||
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'
|
||||
}
|
||||
}
|
||||
@@ -666,11 +633,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -681,7 +644,7 @@ pipeline {
|
||||
// stage("build modalai_fc-v1_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'
|
||||
// }
|
||||
// }
|
||||
@@ -748,7 +711,7 @@ pipeline {
|
||||
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 +885,91 @@ 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_baro_bias"'
|
||||
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" ],
|
||||
|
||||
|
||||
@@ -29,7 +29,7 @@ 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 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-clang:2021-09-08
|
||||
container: px4io/px4-dev-clang:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-armhf:2021-09-08
|
||||
container: px4io/px4-dev-armhf:2021-05-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-aarch64:2021-09-08
|
||||
container: px4io/px4-dev-aarch64:2021-05-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,7 +11,7 @@ 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
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,7 +11,7 @@ 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
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -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:
|
||||
|
||||
@@ -21,7 +21,7 @@ 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
|
||||
|
||||
@@ -66,11 +66,3 @@
|
||||
[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
|
||||
|
||||
Vendored
+1
@@ -31,6 +31,7 @@
|
||||
"esc"
|
||||
],
|
||||
"debug.toolBarLocation": "docked",
|
||||
"editor.acceptSuggestionOnEnter": "off",
|
||||
"editor.defaultFormatter": "chiehyu.vscode-astyle",
|
||||
"editor.dragAndDrop": false,
|
||||
"editor.insertSpaces": false,
|
||||
|
||||
+5
-13
@@ -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
|
||||
|
||||
@@ -481,7 +481,6 @@ 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/*
|
||||
|
||||
@@ -15,6 +15,10 @@ set +e
|
||||
#
|
||||
#------------------------------------------------------------------------------
|
||||
set R /
|
||||
#
|
||||
# Mount the procfs.
|
||||
#
|
||||
mount -t procfs /proc
|
||||
|
||||
#
|
||||
# Start CDC/ACM serial driver.
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
@@ -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.
|
||||
@@ -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
|
||||
|
||||
@@ -126,8 +126,7 @@ 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...0a5375a706
@@ -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...7fda4d311a
+1
-6
@@ -186,13 +186,8 @@ 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,
|
||||
@@ -19,7 +19,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_STM32_CCMEXCLUDE is not set
|
||||
|
||||
@@ -95,6 +95,7 @@
|
||||
/* AUX PWMs
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 8
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
@@ -152,6 +153,7 @@
|
||||
#define BOARD_ADC_PERIPH_5V_OC (0)
|
||||
#define BOARD_ADC_HIPOWER_5V_OC (0)
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
@@ -15,7 +15,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_STM32_DMACAPABLE is not set
|
||||
|
||||
@@ -1,7 +1,5 @@
|
||||
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
|
||||
|
||||
add_definitions(-DCONSTRAINED_FLASH_NO_HELP="https://docs.px4.io/master/en/modules/modules_main.html")
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
TOOLCHAIN arm-none-eabi
|
||||
@@ -24,10 +22,10 @@ px4_add_board(
|
||||
#load_mon
|
||||
#sensors
|
||||
SYSTEMCMDS
|
||||
#i2cdetect
|
||||
#led_control
|
||||
i2cdetect
|
||||
led_control
|
||||
param
|
||||
#perf
|
||||
perf
|
||||
reboot
|
||||
top
|
||||
topic_listener
|
||||
|
||||
@@ -15,7 +15,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_STM32_DMACAPABLE is not set
|
||||
|
||||
@@ -7,6 +7,7 @@ px4_add_board(
|
||||
DRIVERS
|
||||
adc/board_adc
|
||||
barometer/maiertek/mpc2520
|
||||
camera_capture
|
||||
gps
|
||||
#heater
|
||||
imu/invensense/icm20602
|
||||
|
||||
@@ -20,7 +20,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
|
||||
@@ -101,6 +101,7 @@
|
||||
/* PWM
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 9
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 9
|
||||
|
||||
#define BOARD_CAPTURE_GPIO /* PD14 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN14)
|
||||
|
||||
@@ -138,6 +139,7 @@
|
||||
#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
|
||||
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
@@ -16,6 +16,7 @@ px4_add_board(
|
||||
#barometer # all available barometer drivers
|
||||
barometer/bmp280
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
|
||||
@@ -18,7 +18,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_SPI_CALLBACK is not set
|
||||
|
||||
@@ -153,6 +153,7 @@
|
||||
#define HRT_TIMER 8 /* use timer8 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
|
||||
|
||||
@@ -53,6 +53,7 @@
|
||||
#include <fcntl.h>
|
||||
#include <mqueue.h>
|
||||
|
||||
#include <drivers/drv_rc_input.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
|
||||
#include <systemlib/err.h>
|
||||
@@ -95,7 +96,7 @@ Syslink::Syslink() :
|
||||
_fd(0),
|
||||
_queue(2, sizeof(syslink_message_t)),
|
||||
_writebuffer(16, sizeof(crtp_message_t)),
|
||||
_rssi(input_rc_s::RSSI_MAX),
|
||||
_rssi(RC_INPUT_RSSI_MAX),
|
||||
_bstate(BAT_DISCHARGING)
|
||||
{
|
||||
px4_sem_init(&memory_sem, 0, 0);
|
||||
|
||||
@@ -17,7 +17,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_SPI_CALLBACK is not set
|
||||
|
||||
@@ -154,6 +154,7 @@
|
||||
#define HRT_TIMER 8 /* use timer8 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
|
||||
|
||||
@@ -15,7 +15,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_STM32_DMACAPABLE is not set
|
||||
|
||||
@@ -100,7 +100,7 @@ px4_add_board(
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
#motor_ramp
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
@@ -108,9 +108,9 @@ px4_add_board(
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
#reflect
|
||||
#sd_bench
|
||||
#serial_test
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
top
|
||||
topic_listener
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
|
||||
@@ -199,6 +199,7 @@
|
||||
/* This board provides the board_on_reset interface */
|
||||
#define BOARD_HAS_ON_RESET 1
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
|
||||
@@ -60,8 +60,6 @@
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
#include <mpu.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
@@ -129,16 +127,6 @@ __EXPORT void board_on_reset(int status)
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
// clear all existing MPU configuration from bootloader
|
||||
for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
|
||||
putreg32(region, MPU_RNR);
|
||||
putreg32(0, MPU_RBAR);
|
||||
putreg32(0, MPU_RASR);
|
||||
|
||||
// save
|
||||
putreg32(0, MPU_CTRL);
|
||||
}
|
||||
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
|
||||
@@ -101,7 +101,7 @@ px4_add_board(
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
#motor_ramp
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
@@ -109,10 +109,10 @@ px4_add_board(
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
#reflect
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
#system_time
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
|
||||
@@ -101,7 +101,7 @@ px4_add_board(
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
#motor_ramp
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
@@ -109,10 +109,10 @@ px4_add_board(
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
#reflect
|
||||
reflect
|
||||
sd_bench
|
||||
#serial_test
|
||||
#system_time
|
||||
serial_test
|
||||
system_time
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -15,8 +15,6 @@ param set-default BAT2_A_PER_V 24
|
||||
# Enable IMU thermal control
|
||||
param set-default SENS_EN_THERMAL 1
|
||||
|
||||
param set-default SENS_TEMP_ID 6946850
|
||||
|
||||
# Set Camera trigger pins to 13/14
|
||||
param set-default TRIG_PINS_EX 12288
|
||||
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
|
||||
@@ -199,6 +199,7 @@
|
||||
/* This board provides the board_on_reset interface */
|
||||
#define BOARD_HAS_ON_RESET 1
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
|
||||
@@ -60,8 +60,6 @@
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
#include <mpu.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
@@ -129,16 +127,6 @@ __EXPORT void board_on_reset(int status)
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
// clear all existing MPU configuration from bootloader
|
||||
for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
|
||||
putreg32(region, MPU_RNR);
|
||||
putreg32(0, MPU_RBAR);
|
||||
putreg32(0, MPU_RASR);
|
||||
|
||||
// save
|
||||
putreg32(0, MPU_CTRL);
|
||||
}
|
||||
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
|
||||
@@ -102,7 +102,7 @@ px4_add_board(
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
#motor_ramp
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
@@ -110,10 +110,10 @@ px4_add_board(
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
#reflect
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
#system_time
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
|
||||
@@ -12,7 +12,7 @@ px4_add_board(
|
||||
TEL2:/dev/ttyS1
|
||||
GPS1:/dev/ttyS2
|
||||
# PX4IO:/dev/ttyS3
|
||||
# TEL3:/dev/ttyS4 # connected to ADS-B receiver
|
||||
TEL3:/dev/ttyS4
|
||||
GPS2:/dev/ttyS5
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
|
||||
@@ -12,6 +12,4 @@ param set-default BAT2_A_PER_V 17
|
||||
# Disable IMU thermal control
|
||||
param set-default SENS_EN_THERMAL 0
|
||||
|
||||
param set-default -s SENS_TEMP_ID 2621474
|
||||
|
||||
set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
|
||||
|
||||
@@ -5,9 +5,3 @@
|
||||
|
||||
# Start MAVLink on the USB port
|
||||
mavlink start -d /dev/ttyACM0
|
||||
|
||||
# Start ADS-B receiver mavlink connection if console not present
|
||||
if [ ! -e /dev/console ]
|
||||
then
|
||||
mavlink start -d /dev/ttyS4 -b 57600 -m minimal
|
||||
fi
|
||||
|
||||
@@ -20,7 +20,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
@@ -72,7 +71,6 @@ CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
@@ -85,6 +83,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
@@ -71,7 +70,6 @@ CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
@@ -84,6 +82,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
|
||||
@@ -62,7 +62,7 @@
|
||||
#define GPIO_nLED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
|
||||
|
||||
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
||||
#define BOARD_ARMED_LED LED_AMBER
|
||||
#define BOARD_ARMED_STATE_LED LED_AMBER
|
||||
|
||||
/* ADC channels */
|
||||
#define PX4_ADC_GPIO \
|
||||
@@ -148,6 +148,7 @@
|
||||
|
||||
#define BOARD_HAS_STATIC_MANIFEST 1
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
|
||||
|
||||
|
||||
@@ -60,8 +60,6 @@
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
#include <mpu.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
@@ -120,16 +118,6 @@ __EXPORT void board_on_reset(int status)
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
// clear all existing MPU configuration from bootloader
|
||||
for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
|
||||
putreg32(region, MPU_RNR);
|
||||
putreg32(0, MPU_RBAR);
|
||||
putreg32(0, MPU_RASR);
|
||||
|
||||
// save
|
||||
putreg32(0, MPU_CTRL);
|
||||
}
|
||||
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
|
||||
@@ -44,9 +44,9 @@ px4_add_board(
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
#roboclaw
|
||||
roboclaw
|
||||
rpm
|
||||
#smart_battery/batmon
|
||||
smart_battery/batmon
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
@@ -99,7 +99,7 @@ px4_add_board(
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
#motor_ramp
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
@@ -107,10 +107,10 @@ px4_add_board(
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
#reflect
|
||||
reflect
|
||||
sd_bench
|
||||
#serial_test
|
||||
#system_time
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
|
||||
@@ -21,7 +21,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
|
||||
@@ -20,7 +20,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
|
||||
@@ -62,7 +62,7 @@
|
||||
#define GPIO_nLED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
|
||||
|
||||
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
||||
#define BOARD_ARMED_LED LED_AMBER
|
||||
#define BOARD_ARMED_STATE_LED LED_AMBER
|
||||
|
||||
/* ADC channels */
|
||||
#define PX4_ADC_GPIO \
|
||||
@@ -143,6 +143,7 @@
|
||||
|
||||
#define BOARD_HAS_STATIC_MANIFEST 1
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
|
||||
|
||||
|
||||
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Reference in New Issue
Block a user