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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-24 04:17:34 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
3fff512ec0 |
@@ -37,10 +37,8 @@ pipeline {
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def nuttx_builds_archive = [
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target: [
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"airmind_mindpx-v2_default",
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"ark_can-flow_default",
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"av_x-v1_default",
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"bitcraze_crazyflie_default",
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"bitcraze_crazyflie21_default",
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"cuav_can-gps-v1_canbootloader",
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"cuav_can-gps-v1_default",
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"cuav_nora_default",
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@@ -59,9 +57,8 @@ pipeline {
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"mro_x21-777_default",
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"mro_x21_default",
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"nxp_fmuk66-v3_default",
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"nxp_fmuk66-v3_rtps",
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"nxp_fmuk66-v3_socketcan",
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"nxp_fmuk66-e_default",
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"nxp_fmuk66-v3_rtps",
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"nxp_fmurt1062-v1_default",
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"nxp_ucans32k146_default",
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"omnibus_f4sd_default",
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@@ -71,16 +68,13 @@ pipeline {
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"px4_fmu-v2_multicopter",
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"px4_fmu-v2_rover",
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"px4_fmu-v2_test",
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"px4_fmu-v3_ctrlalloc",
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"px4_fmu-v3_default",
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"px4_fmu-v4_cannode",
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"px4_fmu-v4_ctrlalloc",
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"px4_fmu-v4_default",
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"px4_fmu-v4_optimized",
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"px4_fmu-v4pro_default",
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"px4_fmu-v5_ctrlalloc",
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"px4_fmu-v5_debug",
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"px4_fmu-v5_default",
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"px4_fmu-v5_debug",
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"px4_fmu-v5_fixedwing",
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"px4_fmu-v5_multicopter",
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"px4_fmu-v5_optimized",
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+292
-334
@@ -7,157 +7,6 @@ pipeline {
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parallel {
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stage("cubepilot_cubeorange_console") {
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stages {
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stage("build cubepilot_cubeorange_console") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2020-09-14'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make cubepilot_cubeorange_console'
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sh 'make sizes'
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sh 'ccache -s'
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stash includes: 'build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf', name: 'cubepilot_cubeorange_console'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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} // stage build
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stage("test") {
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agent {
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label 'cubepilot_cubeorange'
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}
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stages {
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stage("flash") {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'cubepilot_cubeorange_console'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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}
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}
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stage("configure") {
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steps {
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// configure
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/cubepilot_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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}
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}
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stage("status") {
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steps {
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statusFTDI()
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}
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}
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stage("tests") {
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steps {
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// run tests
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sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
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}
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}
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stage("reset") {
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steps {
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cleanupFTDI();
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}
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}
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}
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options {
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timeout(time: 90, unit: 'MINUTES')
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}
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} // stage test
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}
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}
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stage("cuav_x7pro_default") {
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stages {
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stage("build cuav_x7pro_default") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2020-09-14'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make cuav_x7pro_default'
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sh 'make sizes'
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sh 'ccache -s'
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stash includes: 'build/cuav_x7pro_default/cuav_x7pro_default.elf', name: 'cuav_x7pro_default'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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} // stage build
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stage("test") {
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agent {
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label 'cuav_x7pro'
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}
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stages {
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stage("flash") {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'cuav_x7pro_default'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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}
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}
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stage("configure") {
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steps {
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// configure
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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||||
}
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}
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stage("status") {
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steps {
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statusFTDI()
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}
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}
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stage("tests") {
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||||
steps {
|
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// run tests
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sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
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}
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}
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stage("reset") {
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steps {
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cleanupFTDI();
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}
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}
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}
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options {
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timeout(time: 90, unit: 'MINUTES')
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}
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} // stage test
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}
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}
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// stage("px4_fmu-v2_test") {
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// stages {
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// stage("build px4_fmu-v2_test") {
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@@ -194,7 +43,7 @@ pipeline {
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// sh 'find /dev/serial'
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// unstash 'px4_fmu-v2_test'
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// // flash board and watch bootup
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// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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// }
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// }
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// stage("reset") {
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@@ -246,18 +95,18 @@ pipeline {
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sh 'find /dev/serial'
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unstash 'px4_fmu-v3_default'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
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}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
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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 "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -268,7 +117,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -320,17 +169,17 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v4_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -341,7 +190,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -393,18 +242,18 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v4pro_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -415,7 +264,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -467,19 +316,19 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -490,7 +339,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -540,23 +389,23 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save" || true'
|
||||
unstash 'px4_fmu-v5_debug'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
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-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -567,7 +416,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -619,17 +468,17 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_optimized'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -640,7 +489,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -690,23 +539,23 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save" || true'
|
||||
unstash 'px4_fmu-v5_stackcheck'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -717,7 +566,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -769,33 +618,33 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'modalai_fc-v1_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-SEGGER_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
statusFTDI()
|
||||
statusSEGGER()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-SEGGER_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
cleanupSEGGER()
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -842,34 +691,34 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'holybro_durandal-v1_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set DSHOT_CONFIG 600"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_USE_IO 0"' // for dshot
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set DSHOT_CONFIG 600"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_USE_IO 0"' // for dshot
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dshot status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dshot status"'
|
||||
statusFTDI()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -921,17 +770,17 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'nxp_fmuk66-v3_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -942,7 +791,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*` || true' // allow failure due to intermittent serial console issues
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*` || true' // allow failure due to intermittent serial console issues
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -973,111 +822,220 @@ pipeline {
|
||||
|
||||
void statusFTDI() {
|
||||
// run logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger on"'
|
||||
// status commands
|
||||
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 "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "board_adc test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener 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_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 sensors_status_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
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"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams"'
|
||||
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"'
|
||||
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"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
|
||||
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"'
|
||||
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 "px4io 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 "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "board_adc test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander check"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener adc_report"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener battery_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_selector_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_baro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_combined"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_mag"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensors_status_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener px4io_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener system_power"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_air_data"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_angular_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_angular_velocity"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_imu_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_magnetometer"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf latency"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info -d /dev/pwm_output0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info -d /dev/pwm_output1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm_out status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb top -1 -a"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
|
||||
// stop logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
|
||||
}
|
||||
|
||||
void statusSEGGER() {
|
||||
// run logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger on"'
|
||||
// status commands
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "board_adc test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander check"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "df -h"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dmesg"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener adc_report"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener battery_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_selector_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_sensor_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_baro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_combined"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_mag"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensors_status_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener px4io_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener system_power"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_air_data"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_angular_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_angular_velocity"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_imu_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_magnetometer"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status streams"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "perf latency"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "perf"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "pwm info -d /dev/pwm_output0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "pwm info -d /dev/pwm_output1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "pwm_out status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "px4io status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "sd_bench -r 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "sensors status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "uorb top -1 -a"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "free"'
|
||||
// stop logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
|
||||
}
|
||||
|
||||
void cleanupFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
|
||||
|
||||
// wipe sdcard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs /dev/mmcsd0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "umount /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mkfatfs /dev/mmcsd0"'
|
||||
|
||||
// drop any uncommited hardfaults
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "hardfault_log rearm"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "hardfault_log reset"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "hardfault_log rearm"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "hardfault_log reset"'
|
||||
|
||||
// erase mtd
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd erase"'
|
||||
|
||||
// disable buzzer and cleanup storage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param reset_all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_DIRS_MAX 1"'
|
||||
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-FTDI_*` --cmd "param reset_all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SDLOG_DIRS_MAX 1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
|
||||
|
||||
// reboot
|
||||
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-FTDI_*` --cmd "reboot" || true'
|
||||
}
|
||||
|
||||
void cleanupSEGGER() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
|
||||
|
||||
// wipe sdcard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "umount /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mkfatfs /dev/mmcsd0"'
|
||||
|
||||
// drop any uncommited hardfaults
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "hardfault_log rearm"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "hardfault_log reset"'
|
||||
|
||||
// erase mtd
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd erase"'
|
||||
|
||||
// disable buzzer and cleanup storage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param reset_all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SDLOG_DIRS_MAX 1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
|
||||
|
||||
// reboot
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true'
|
||||
}
|
||||
|
||||
@@ -17,7 +17,6 @@ jobs:
|
||||
check: [
|
||||
"check_format",
|
||||
"tests",
|
||||
"tests_coverage",
|
||||
"px4_fmu-v2_default stack_check",
|
||||
"validate_module_configs",
|
||||
"shellcheck_all",
|
||||
@@ -62,10 +61,3 @@ jobs:
|
||||
ulimit -a
|
||||
- name: ${{matrix.check}}
|
||||
run: make ${{matrix.check}}
|
||||
- name: upload coverage
|
||||
if: contains(matrix.check, 'coverage')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: unittests
|
||||
file: coverage/lcov.info
|
||||
|
||||
@@ -15,8 +15,7 @@ jobs:
|
||||
matrix:
|
||||
config: [
|
||||
px4_fmu-v5_default,
|
||||
px4_sitl
|
||||
#tests, # includes px4_sitl
|
||||
tests, # includes px4_sitl
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -16,11 +16,8 @@ jobs:
|
||||
matrix:
|
||||
config: [
|
||||
airmind_mindpx-v2_default,
|
||||
ark_can-flow_canbootloader,
|
||||
ark_can-flow_default,
|
||||
av_x-v1_default,
|
||||
bitcraze_crazyflie_default,
|
||||
bitcraze_crazyflie21_default,
|
||||
cuav_can-gps-v1_canbootloader,
|
||||
cuav_can-gps-v1_default,
|
||||
cuav_nora_default,
|
||||
@@ -38,10 +35,10 @@ jobs:
|
||||
mro_pixracerpro_default,
|
||||
mro_x21-777_default,
|
||||
mro_x21_default,
|
||||
nxp_fmuk66-e_default,
|
||||
nxp_fmuk66-v3_default,
|
||||
nxp_fmuk66-v3_rtps,
|
||||
nxp_fmuk66-e_default,
|
||||
nxp_fmuk66-v3_socketcan,
|
||||
nxp_fmuk66-v3_rtps,
|
||||
nxp_fmurt1062-v1_default,
|
||||
nxp_ucans32k146_default,
|
||||
omnibus_f4sd_default,
|
||||
@@ -51,14 +48,11 @@ jobs:
|
||||
px4_fmu-v2_multicopter,
|
||||
px4_fmu-v2_rover,
|
||||
px4_fmu-v2_test,
|
||||
px4_fmu-v3_ctrlalloc,
|
||||
px4_fmu-v3_default,
|
||||
px4_fmu-v4_cannode,
|
||||
px4_fmu-v4_ctrlalloc,
|
||||
px4_fmu-v4_default,
|
||||
px4_fmu-v4_optimized,
|
||||
px4_fmu-v4pro_default,
|
||||
px4_fmu-v5_ctrlalloc,
|
||||
px4_fmu-v5_default,
|
||||
px4_fmu-v5_fixedwing,
|
||||
px4_fmu-v5_multicopter,
|
||||
|
||||
@@ -15,7 +15,6 @@ jobs:
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
ark_can-flow_default,
|
||||
cuav_can-gps-v1_default,
|
||||
#nxp_ucans32k146_default,
|
||||
px4_fmu-v4_cannode
|
||||
|
||||
@@ -0,0 +1,69 @@
|
||||
name: Coverage
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container:
|
||||
image: px4io/px4-dev-base-focal:2020-11-18
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
tests,
|
||||
#python_coverage,
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: coverage_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: coverage_${{matrix.config}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make ${{matrix.config}}
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: "Coverage"
|
||||
run: make ${{matrix.config}}
|
||||
|
||||
# Report test coverage
|
||||
- name: Upload coverage
|
||||
run: |
|
||||
git config --global credential.helper "" # disable the keychain credential helper
|
||||
git config --global --add credential.helper store # enable the local store credential helper
|
||||
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
|
||||
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
|
||||
mkdir -p coverage
|
||||
lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
- name: Upload coverage information to Codecov
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: ${{matrix.config}}
|
||||
file: coverage/lcov.info
|
||||
@@ -17,12 +17,12 @@ jobs:
|
||||
config:
|
||||
- {vehicle: "iris", mission: "MC_mission_box", build_type: "RelWithDebInfo"}
|
||||
- {vehicle: "rover", mission: "rover_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "plane", mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "plane_catapult",mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "Coverage"}
|
||||
#- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "AddressSanitizer"}
|
||||
- {vehicle: "plane", mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
- {vehicle: "plane_catapult",mission: "FW_mission_1", build_type: "RelWithDebInfo"}
|
||||
- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "Coverage"}
|
||||
- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "AddressSanitizer"}
|
||||
#- {vehicle: "tailsitter", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2020-11-18
|
||||
|
||||
@@ -23,7 +23,7 @@ jobs:
|
||||
make airframe_metadata
|
||||
cd build/px4_sitl_default/docs
|
||||
ls -ls *
|
||||
# TODO: deploy to userguide gitbook and s3
|
||||
# TODO: deploy to devguide gitbook and s3
|
||||
|
||||
module:
|
||||
runs-on: ubuntu-latest
|
||||
@@ -38,7 +38,7 @@ jobs:
|
||||
make module_documentation
|
||||
cd build/px4_sitl_default/docs
|
||||
ls -ls *
|
||||
# TODO: deploy to userguide gitbook and s3
|
||||
# TODO: deploy to devguide gitbook and s3
|
||||
|
||||
parameter:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
@@ -101,6 +101,8 @@ msg/tmp/
|
||||
msg/topics_sources/
|
||||
platforms/posix/apps.cpp
|
||||
platforms/posix/apps.h
|
||||
src/lib/flight_tasks/FlightTasks_generated.cpp
|
||||
src/lib/flight_tasks/FlightTasks_generated.hpp
|
||||
src/lib/parameters/px4_parameters.c
|
||||
src/lib/parameters/px4_parameters.h
|
||||
src/lib/parameters/px4_parameters_public.h
|
||||
|
||||
+5
-5
@@ -4,7 +4,7 @@
|
||||
branch = master
|
||||
[submodule "src/drivers/uavcan/libuavcan"]
|
||||
path = src/drivers/uavcan/libuavcan
|
||||
url = https://github.com/PX4/libuavcan.git
|
||||
url = https://github.com/PX4/uavcan.git
|
||||
branch = px4
|
||||
[submodule "Tools/jMAVSim"]
|
||||
path = Tools/jMAVSim
|
||||
@@ -16,11 +16,11 @@
|
||||
branch = master
|
||||
[submodule "src/lib/matrix"]
|
||||
path = src/lib/matrix
|
||||
url = https://github.com/PX4/PX4-Matrix.git
|
||||
url = https://github.com/PX4/PX4-Matrix
|
||||
branch = master
|
||||
[submodule "src/lib/ecl"]
|
||||
path = src/lib/ecl
|
||||
url = https://github.com/PX4/PX4-ECL.git
|
||||
url = https://github.com/PX4/PX4-ECL
|
||||
branch = master
|
||||
[submodule "boards/atlflight/cmake_hexagon"]
|
||||
path = boards/atlflight/cmake_hexagon
|
||||
@@ -28,11 +28,11 @@
|
||||
branch = px4
|
||||
[submodule "src/drivers/gps/devices"]
|
||||
path = src/drivers/gps/devices
|
||||
url = https://github.com/PX4/PX4-GPSDrivers.git
|
||||
url = https://github.com/PX4/PX4-GPSDrivers
|
||||
branch = master
|
||||
[submodule "src/modules/micrortps_bridge/micro-CDR"]
|
||||
path = src/modules/micrortps_bridge/micro-CDR
|
||||
url = https://github.com/PX4/Micro-CDR.git
|
||||
url = https://github.com/PX4/micro-CDR.git
|
||||
branch = px4
|
||||
[submodule "platforms/nuttx/NuttX/nuttx"]
|
||||
path = platforms/nuttx/NuttX/nuttx
|
||||
|
||||
Vendored
-25
@@ -6,16 +6,6 @@ CONFIG:
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_asan:
|
||||
short: px4_sitl (AddressSanitizer)
|
||||
buildType: AddressSanitizer
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_ubsan:
|
||||
short: px4_sitl (UndefinedBehaviorSanitizer)
|
||||
buildType: UndefinedBehaviorSanitizer
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_replay:
|
||||
short: px4_sitl_replay
|
||||
buildType: RelWithDebInfo
|
||||
@@ -66,26 +56,11 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: airmind_mindpx-v2_default
|
||||
ark_can-flow_default:
|
||||
short: ark_can-flow_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-flow_default
|
||||
ark_can-flow_canbootloader:
|
||||
short: ark_can-flow_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-flow_canbootloader
|
||||
av_x-v1_default:
|
||||
short: av_x-v1
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: av_x-v1_default
|
||||
bitcraze_crazyflie_default:
|
||||
short: bitcraze_crazyflie
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: bitcraze_crazyflie_default
|
||||
cuav_can-gps-v1_default:
|
||||
short: cuav_can-gps-v1_default
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+1
@@ -128,6 +128,7 @@
|
||||
"${workspaceFolder}/build": true
|
||||
},
|
||||
"search.showLineNumbers": true,
|
||||
"search.smartCase": true,
|
||||
"telemetry.enableTelemetry": false,
|
||||
"terminal.integrated.copyOnSelection": true,
|
||||
"terminal.integrated.rightClickBehavior": "paste",
|
||||
|
||||
Vendored
+30
@@ -172,6 +172,36 @@ pipeline {
|
||||
|
||||
parallel {
|
||||
|
||||
stage('Devguide') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
unstash 'metadata_airframes'
|
||||
unstash 'metadata_parameters'
|
||||
unstash 'metadata_module_documentation'
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/Devguide.git')
|
||||
sh('cp airframes.md Devguide/en/airframes/airframe_reference.md')
|
||||
sh('cp parameters.md Devguide/en/advanced/parameter_reference.md')
|
||||
sh('cp -R modules/*.md Devguide/en/middleware/')
|
||||
sh('cd Devguide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
|
||||
sh('cd Devguide; git push origin master || true')
|
||||
sh('rm -rf Devguide')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
options {
|
||||
skipDefaultCheckout()
|
||||
}
|
||||
}
|
||||
|
||||
stage('Userguide') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
|
||||
@@ -271,7 +271,6 @@ misc_qgc_extra_firmware: \
|
||||
check_intel_aerofc-v1_default \
|
||||
check_mro_x21_default \
|
||||
check_bitcraze_crazyflie_default \
|
||||
check_bitcraze_crazyflie21_default \
|
||||
check_airmind_mindpx-v2_default \
|
||||
check_px4_fmu-v2_lpe \
|
||||
sizes
|
||||
@@ -362,10 +361,8 @@ tests:
|
||||
|
||||
tests_coverage:
|
||||
@$(MAKE) clean
|
||||
@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@mkdir -p coverage
|
||||
@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
|
||||
@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"
|
||||
|
||||
rostest: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
|
||||
@@ -108,4 +108,4 @@ Additional information about supported hardware can be found in [PX4 user Guide
|
||||
|
||||
## Project Roadmap
|
||||
|
||||
A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
|
||||
A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
|
||||
|
||||
@@ -1,52 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Julian Oes <julian@oes.ch>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MPC_USE_HTE 0
|
||||
|
||||
param set VM_MASS 1.5
|
||||
param set VM_INERTIA_XX 0.03
|
||||
param set VM_INERTIA_YY 0.03
|
||||
param set VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set CA_AIRFRAME 0
|
||||
param set CA_METHOD 1
|
||||
param set CA_ACT0_MIN 0.0
|
||||
param set CA_ACT1_MIN 0.0
|
||||
param set CA_ACT2_MIN 0.0
|
||||
param set CA_ACT3_MIN 0.0
|
||||
param set CA_ACT0_MAX 1.0
|
||||
param set CA_ACT1_MAX 1.0
|
||||
param set CA_ACT2_MAX 1.0
|
||||
param set CA_ACT3_MAX 1.0
|
||||
|
||||
param set CA_MC_R0_PX 0.1515
|
||||
param set CA_MC_R0_PY 0.245
|
||||
param set CA_MC_R0_CT 6.5
|
||||
param set CA_MC_R0_KM 0.05
|
||||
param set CA_MC_R1_PX -0.1515
|
||||
param set CA_MC_R1_PY -0.1875
|
||||
param set CA_MC_R1_CT 6.5
|
||||
param set CA_MC_R1_KM 0.05
|
||||
param set CA_MC_R2_PX 0.1515
|
||||
param set CA_MC_R2_PY -0.245
|
||||
param set CA_MC_R2_CT 6.5
|
||||
param set CA_MC_R2_KM -0.05
|
||||
param set CA_MC_R3_PX -0.1515
|
||||
param set CA_MC_R3_PY 0.1875
|
||||
param set CA_MC_R3_CT 6.5
|
||||
param set CA_MC_R3_KM -0.05
|
||||
|
||||
fi
|
||||
|
||||
set MIXER direct
|
||||
@@ -21,6 +21,7 @@ then
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_LAND_DELAY 0
|
||||
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
|
||||
@@ -21,6 +21,7 @@ then
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_LAND_DELAY 0
|
||||
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
|
||||
@@ -1,75 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Typhoon H480 SITL
|
||||
#
|
||||
# @type Hexarotor x
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_LAND_DELAY 0
|
||||
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 0
|
||||
param set MAV_PROTO_VER 2
|
||||
|
||||
param set MPC_USE_HTE 0
|
||||
|
||||
param set VM_MASS 2.66
|
||||
param set VM_INERTIA_XX 0.06
|
||||
param set VM_INERTIA_YY 0.06
|
||||
param set VM_INERTIA_ZZ 0.10
|
||||
|
||||
param set CA_AIRFRAME 0
|
||||
param set CA_METHOD 1
|
||||
param set CA_ACT0_MIN 0.0
|
||||
param set CA_ACT1_MIN 0.0
|
||||
param set CA_ACT2_MIN 0.0
|
||||
param set CA_ACT3_MIN 0.0
|
||||
param set CA_ACT4_MIN 0.0
|
||||
param set CA_ACT5_MIN 0.0
|
||||
param set CA_ACT0_MAX 1.0
|
||||
param set CA_ACT1_MAX 1.0
|
||||
param set CA_ACT2_MAX 1.0
|
||||
param set CA_ACT3_MAX 1.0
|
||||
param set CA_ACT4_MAX 1.0
|
||||
param set CA_ACT5_MAX 1.0
|
||||
|
||||
param set CA_MC_R0_PX 0.0
|
||||
param set CA_MC_R0_PY 1.0
|
||||
param set CA_MC_R0_CT 9.5
|
||||
param set CA_MC_R0_KM -0.05
|
||||
param set CA_MC_R1_PX 0.0
|
||||
param set CA_MC_R1_PY -1.0
|
||||
param set CA_MC_R1_CT 9.5
|
||||
param set CA_MC_R1_KM 0.05
|
||||
param set CA_MC_R2_PX 0.866025
|
||||
param set CA_MC_R2_PY -0.5
|
||||
param set CA_MC_R2_CT 9.5
|
||||
param set CA_MC_R2_KM -0.05
|
||||
param set CA_MC_R3_PX -0.866025
|
||||
param set CA_MC_R3_PY 0.5
|
||||
param set CA_MC_R3_CT 9.5
|
||||
param set CA_MC_R3_KM 0.05
|
||||
param set CA_MC_R4_PX 0.866025
|
||||
param set CA_MC_R4_PY 0.5
|
||||
param set CA_MC_R4_CT 9.5
|
||||
param set CA_MC_R4_KM 0.05
|
||||
param set CA_MC_R5_PX -0.866025
|
||||
param set CA_MC_R5_PY -0.5
|
||||
param set CA_MC_R5_CT 9.5
|
||||
param set CA_MC_R5_KM -0.05
|
||||
fi
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
# set MIXER hexa_x
|
||||
set MIXER direct
|
||||
@@ -1,10 +0,0 @@
|
||||
|
||||
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
|
||||
|
||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
|
||||
|
||||
# shellcheck disable=SC2154
|
||||
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
|
||||
# shellcheck disable=SC2154
|
||||
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
|
||||
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
|
||||
@@ -33,7 +33,6 @@
|
||||
|
||||
px4_add_romfs_files(
|
||||
10016_iris
|
||||
10017_iris_ctrlalloc
|
||||
10020_if750a
|
||||
10030_px4vision
|
||||
1010_iris_opt_flow
|
||||
@@ -74,6 +73,4 @@ px4_add_romfs_files(
|
||||
2507_cloudship
|
||||
6011_typhoon_h480
|
||||
6011_typhoon_h480.post
|
||||
6012_typhoon_ctrlalloc
|
||||
6012_typhoon_ctrlalloc.post
|
||||
)
|
||||
|
||||
@@ -27,7 +27,6 @@ set MIXER none
|
||||
set MIXER_AUX none
|
||||
set MIXER_FILE none
|
||||
set OUTPUT_MODE sim
|
||||
set EXTRA_MIXER_MODE none
|
||||
set PWM_OUT none
|
||||
set SDCARD_MIXERS_PATH etc/mixers
|
||||
set USE_IO no
|
||||
@@ -46,10 +45,10 @@ else
|
||||
# shellcheck disable=SC2012
|
||||
REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
|
||||
if [ -z "$REQUESTED_AUTOSTART" ]; then
|
||||
echo "ERROR [init] Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
|
||||
echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
|
||||
exit 1
|
||||
else
|
||||
echo "INFO [init] found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
|
||||
echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -63,12 +62,12 @@ if [ -f $PARAM_FILE ]
|
||||
then
|
||||
if param load
|
||||
then
|
||||
echo "INFO [init] Loaded: $PARAM_FILE"
|
||||
echo "[param] Loaded: $PARAM_FILE"
|
||||
else
|
||||
echo "ERROR [init] FAILED loading $PARAM_FILE"
|
||||
echo "[param] FAILED loading $PARAM_FILE"
|
||||
fi
|
||||
else
|
||||
echo "INFO [init] parameter file not found, creating $PARAM_FILE"
|
||||
echo "[param] parameter file not found, creating $PARAM_FILE"
|
||||
fi
|
||||
|
||||
# exit early when the minimal shell is requested
|
||||
@@ -192,7 +191,7 @@ do
|
||||
esac
|
||||
done
|
||||
if [ ! -e "$autostart_file" ]; then
|
||||
echo "ERROR [init] no autostart file found ($autostart_file)"
|
||||
echo "Error: no autostart file found ($autostart_file)"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
@@ -238,30 +237,24 @@ fi
|
||||
#
|
||||
. ${R}etc/init.d/rc.vehicle_setup
|
||||
|
||||
if [ -e etc/init.d-posix/rc.mavlink_override ]
|
||||
then
|
||||
echo "Running non-default mavlink config rc.mavlink_override"
|
||||
sh etc/init.d-posix/rc.mavlink_override
|
||||
else
|
||||
# GCS link
|
||||
mavlink start -x -u $udp_gcs_port_local -r 4000000
|
||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
|
||||
mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
|
||||
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
|
||||
# GCS link
|
||||
mavlink start -x -u $udp_gcs_port_local -r 4000000
|
||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
|
||||
mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
|
||||
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
|
||||
|
||||
# API/Offboard link
|
||||
mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
|
||||
# API/Offboard link
|
||||
mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
|
||||
|
||||
# Onboard link to camera
|
||||
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
|
||||
# Onboard link to camera
|
||||
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
|
||||
|
||||
fi
|
||||
# execute autostart post script if any
|
||||
[ -e "$autostart_file".post ] && . "$autostart_file".post
|
||||
|
||||
|
||||
@@ -36,8 +36,6 @@ add_subdirectory(airframes)
|
||||
px4_add_romfs_files(
|
||||
rc.airship_apps
|
||||
rc.airship_defaults
|
||||
rc.balloon_apps
|
||||
rc.balloon_defaults
|
||||
rc.boat_defaults
|
||||
rc.fw_apps
|
||||
rc.fw_defaults
|
||||
@@ -56,5 +54,4 @@ px4_add_romfs_files(
|
||||
rc.vehicle_setup
|
||||
rc.vtol_apps
|
||||
rc.vtol_defaults
|
||||
rc.ctrlalloc
|
||||
)
|
||||
|
||||
@@ -46,7 +46,7 @@ then
|
||||
|
||||
param set MPC_XY_VEL_MAX 2
|
||||
|
||||
param set PWM_MAIN_MIN 1080
|
||||
param set PWM_MIN 1080
|
||||
fi
|
||||
|
||||
set MIXER quad_w
|
||||
|
||||
@@ -55,6 +55,7 @@ then
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_LAND_DELAY 0
|
||||
param set RTL_RETURN_ALT 30
|
||||
|
||||
param set SDLOG_DIRS_MAX 7
|
||||
|
||||
@@ -27,7 +27,7 @@
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_DIS5 950
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_TYPE 2
|
||||
param set VT_MOT_ID 1234
|
||||
|
||||
@@ -42,7 +42,7 @@ then
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MC_YAWRATE_FF 0
|
||||
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_FW_MOT_OFFID 34
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
|
||||
@@ -16,8 +16,8 @@
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_MAIN_MAX 2000
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
|
||||
@@ -25,8 +25,8 @@
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_MAIN_MAX 2000
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_IDLE_PWM_MC 1080
|
||||
param set VT_TYPE 0
|
||||
|
||||
@@ -28,7 +28,7 @@ if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_DIS5 950
|
||||
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set MC_ROLL_P 6
|
||||
param set MC_ROLLRATE_P 0.17
|
||||
|
||||
@@ -47,7 +47,7 @@ then
|
||||
param set MPC_YAWRAUTO_MAX 20
|
||||
|
||||
param set PWM_AUX_DIS3 950
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
|
||||
@@ -36,7 +36,7 @@ then
|
||||
param set MPC_YAWRAUTO_MAX 40
|
||||
|
||||
param set PWM_AUX_DIS5 950
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_MOT_ID 1234
|
||||
|
||||
@@ -50,7 +50,7 @@ then
|
||||
param set PWM_AUX_DIS5 950
|
||||
param set PWM_AUX_REV1 1
|
||||
param set PWM_AUX_REV2 1
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_ARSP_TRANS 15
|
||||
param set VT_ARSP_BLEND 8
|
||||
|
||||
@@ -70,7 +70,7 @@ then
|
||||
|
||||
param set PWM_AUX_DIS5 950
|
||||
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_ARSP_TRANS 15
|
||||
param set VT_B_TRANS_DUR 4
|
||||
|
||||
@@ -21,8 +21,8 @@ then
|
||||
param set PWM_AUX_MIN 1000
|
||||
param set PWM_AUX_RATE 50
|
||||
|
||||
param set PWM_MAIN_MAX 2000
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 13
|
||||
|
||||
@@ -61,7 +61,7 @@ then
|
||||
param set MPC_TKO_SPEED 2.5
|
||||
param set MPC_Z_VEL_MAX_UP 3
|
||||
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set SENS_BOARD_ROT 8
|
||||
|
||||
|
||||
@@ -122,7 +122,7 @@ then
|
||||
param set PWM_MAIN_DIS7 900
|
||||
param set PWM_MAIN_DIS8 900
|
||||
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set SENS_BOARD_ROT 18
|
||||
|
||||
|
||||
@@ -90,7 +90,7 @@ then
|
||||
|
||||
param set PWM_MAIN_DIS3 1000
|
||||
param set PWM_MAIN_MIN3 1120
|
||||
param set PWM_MAIN_MIN 950
|
||||
param set PWM_MIN 950
|
||||
|
||||
param set SENS_BOARD_ROT 4
|
||||
|
||||
|
||||
@@ -29,7 +29,7 @@
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_DIS5 950
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set VT_TYPE 2
|
||||
param set VT_MOT_ID 12345678
|
||||
|
||||
@@ -41,10 +41,10 @@ then
|
||||
param set NAV_ACC_RAD 2
|
||||
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_MAIN_DISARM 900
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_DISARMED 900
|
||||
param set PWM_MIN 1075
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set RTL_RETURN_ALT 30
|
||||
param set RTL_DESCEND_ALT 10
|
||||
|
||||
@@ -56,5 +56,5 @@ then
|
||||
param set MPC_THR_MIN 0.06
|
||||
param set MPC_MANTHR_MIN 0.06
|
||||
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MIN 1075
|
||||
fi
|
||||
|
||||
@@ -32,7 +32,7 @@ then
|
||||
param set BAT_N_CELLS 3
|
||||
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_MAIN_RATE 50
|
||||
param set PWM_RATE 50
|
||||
|
||||
param set SENS_BOARD_ROT 8
|
||||
|
||||
|
||||
@@ -27,7 +27,7 @@ then
|
||||
param set BAT_N_CELLS 3
|
||||
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_MAIN_RATE 50
|
||||
param set PWM_RATE 50
|
||||
|
||||
param set SENS_BOARD_ROT 4
|
||||
|
||||
|
||||
@@ -1,37 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name ThunderFly balloon TF-B1
|
||||
#
|
||||
# @type Balloon
|
||||
# @class Balloon
|
||||
#
|
||||
#
|
||||
# @url https://github.com/ThunderFly-aerospace/TF-B1/
|
||||
# @maintainer ThunderFly s.r.o.
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.balloon_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set COM_PREARM_MODE 2 # always in prearm state
|
||||
param set CBRK_IO_SAFETY 22027
|
||||
param set SDLOG_PROFILE 17
|
||||
param set SDLOG_MODE 2
|
||||
param set MAV_0_MODE 1
|
||||
param set MAV_0_CONFIG 102
|
||||
param set GPS_UBX_DYNMODEL 8
|
||||
param set SER_TEL2_BAUD 9600
|
||||
|
||||
param set SENS_BOARD_ROT 0
|
||||
param set MAV_TYPE 8 # MAV_TYPE_FREE_BALLOON
|
||||
|
||||
fi
|
||||
|
||||
|
||||
set MIXER IO_pass
|
||||
set MIXER_AUX pass
|
||||
@@ -27,7 +27,7 @@
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_MAIN_RATE 50
|
||||
param set PWM_RATE 50
|
||||
fi
|
||||
|
||||
set MIXER AETRFG
|
||||
|
||||
@@ -43,7 +43,7 @@ then
|
||||
param set FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER AAERTWF
|
||||
|
||||
@@ -43,7 +43,7 @@ then
|
||||
param set FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER AAVVTWFF
|
||||
|
||||
@@ -44,7 +44,7 @@ then
|
||||
param set FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
# The Mini Talon does not have a wheel and
|
||||
|
||||
@@ -37,11 +37,12 @@ then
|
||||
param set PWM_AUX_MIN 1075
|
||||
param set PWM_AUX_MAX 1950
|
||||
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_MIN 1075
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_LAND_DELAY 0
|
||||
param set RTL_RETURN_ALT 30
|
||||
fi
|
||||
|
||||
|
||||
@@ -44,7 +44,7 @@ then
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.04
|
||||
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER fw_generic_wing
|
||||
|
||||
@@ -45,7 +45,7 @@ then
|
||||
param set FW_R_LIM 50
|
||||
param set FW_R_RMAX 50
|
||||
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
|
||||
# Bottom of bay and nominal zero-pitch attitude differ
|
||||
# the payload bay is pitched up about 7 degrees
|
||||
|
||||
@@ -44,7 +44,7 @@ then
|
||||
param set FW_RR_FF 0.6
|
||||
param set FW_RR_P 0.04
|
||||
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
# Configure this as plane.
|
||||
|
||||
@@ -45,7 +45,7 @@ then
|
||||
param set FW_R_RMAX 50
|
||||
param set FW_R_TC 0.3
|
||||
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
|
||||
# Bottom of bay and nominal zero-pitch attitude differ
|
||||
# the payload bay is pitched up about 7 degrees
|
||||
|
||||
@@ -85,7 +85,7 @@ then
|
||||
# Roll Integrator Anti-Windup
|
||||
param set FW_RR_IMAX 0.2
|
||||
|
||||
param set PWM_MAIN_DISARM 1000
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER fw_generic_wing.main.mix
|
||||
|
||||
@@ -61,8 +61,8 @@ then
|
||||
|
||||
param set PWM_MAIN_REV1 1
|
||||
param set PWM_MAIN_REV2 1
|
||||
param set PWM_MAIN_MIN 900
|
||||
param set PWM_MAIN_MAX 2100
|
||||
param set PWM_MIN 900
|
||||
param set PWM_MAX 2100
|
||||
fi
|
||||
|
||||
set MIXER caipi
|
||||
|
||||
@@ -34,5 +34,5 @@ then
|
||||
param set MPC_THR_MIN 0.06
|
||||
param set MPC_MANTHR_MIN 0.06
|
||||
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MIN 1075
|
||||
fi
|
||||
|
||||
@@ -37,5 +37,5 @@ then
|
||||
param set MC_YAWRATE_D 0
|
||||
param set MPC_THR_MIN 0.06
|
||||
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MIN 1075
|
||||
fi
|
||||
|
||||
@@ -29,5 +29,5 @@ then
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set PWM_MAIN_MIN 1230
|
||||
param set PWM_MIN 1230
|
||||
fi
|
||||
|
||||
@@ -29,5 +29,5 @@ then
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set PWM_MAIN_MIN 1230
|
||||
param set PWM_MIN 1230
|
||||
fi
|
||||
|
||||
@@ -104,14 +104,15 @@ then
|
||||
param set NAV_ACC_RAD 2
|
||||
|
||||
# PWM and RC Parameters
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_MIN 1075
|
||||
|
||||
# use oneshot motor output protocol
|
||||
param set PWM_MAIN_RATE 0
|
||||
param set PWM_RATE 0
|
||||
|
||||
# RTL Parameters
|
||||
param set RTL_DESCEND_ALT 5
|
||||
param set RTL_LAND_DELAY 0
|
||||
param set RTL_RETURN_ALT 5
|
||||
param set RTL_CONE_ANG 45
|
||||
|
||||
|
||||
@@ -1,57 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name S500 with control allocation
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Silvan Fuhrer
|
||||
#
|
||||
|
||||
. ${R}etcinit.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MPC_USE_HTE 0
|
||||
|
||||
param set VM_MASS 1.5
|
||||
param set VM_INERTIA_XX 0.03
|
||||
param set VM_INERTIA_YY 0.03
|
||||
param set VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set CA_AIRFRAME 0
|
||||
param set CA_METHOD 1
|
||||
param set CA_ACT0_MIN 0.0
|
||||
param set CA_ACT1_MIN 0.0
|
||||
param set CA_ACT2_MIN 0.0
|
||||
param set CA_ACT3_MIN 0.0
|
||||
param set CA_ACT0_MAX 1.0
|
||||
param set CA_ACT1_MAX 1.0
|
||||
param set CA_ACT2_MAX 1.0
|
||||
param set CA_ACT3_MAX 1.0
|
||||
|
||||
param set CA_MC_R0_PX 0.177
|
||||
param set CA_MC_R0_PY 0.177
|
||||
param set CA_MC_R0_CT 6.5
|
||||
param set CA_MC_R0_KM 0.05
|
||||
param set CA_MC_R1_PX -0.177
|
||||
param set CA_MC_R1_PY -0.177
|
||||
param set CA_MC_R1_CT 6.5
|
||||
param set CA_MC_R1_KM 0.05
|
||||
param set CA_MC_R2_PX 0.177
|
||||
param set CA_MC_R2_PY -0.177
|
||||
param set CA_MC_R2_CT 6.5
|
||||
param set CA_MC_R2_KM -0.05
|
||||
param set CA_MC_R3_PX -0.177
|
||||
param set CA_MC_R3_PY 0.177
|
||||
param set CA_MC_R3_CT 6.5
|
||||
param set CA_MC_R3_KM -0.05
|
||||
|
||||
fi
|
||||
|
||||
set MIXER direct
|
||||
set PWM_OUT 1234
|
||||
|
||||
set MIXER_AUX direct_aux
|
||||
set PWM_AUX_OUT 1234
|
||||
@@ -37,5 +37,5 @@ then
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
param set PWM_MAIN_MIN 1200
|
||||
param set PWM_MIN 1200
|
||||
fi
|
||||
|
||||
@@ -37,9 +37,9 @@ then
|
||||
|
||||
param set PWM_AUX_DISARMED 950
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_MAIN_MIN 1100
|
||||
param set PWM_MAIN_MAX 1900
|
||||
param set PWM_MAIN_RATE 50
|
||||
param set PWM_MIN 1100
|
||||
param set PWM_MAX 1900
|
||||
param set PWM_RATE 50
|
||||
|
||||
param set RTL_RETURN_ALT 30
|
||||
param set RTL_DESCEND_ALT 10
|
||||
|
||||
@@ -41,9 +41,9 @@ then
|
||||
# use thrust curve factor (instead of TPA)
|
||||
param set THR_MDL_FAC 0.3
|
||||
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MIN 1075
|
||||
# enable one-shot
|
||||
param set PWM_MAIN_RATE 0
|
||||
param set PWM_RATE 0
|
||||
|
||||
# enable high-rate logging profile (helps with tuning)
|
||||
param set SDLOG_PROFILE 19
|
||||
|
||||
@@ -55,5 +55,5 @@ then
|
||||
param set MPC_THR_MIN 0.06
|
||||
param set MPC_MANTHR_MIN 0.06
|
||||
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MIN 1075
|
||||
fi
|
||||
|
||||
@@ -50,10 +50,10 @@ then
|
||||
param set MPC_THR_MIN 0.05
|
||||
param set MPC_Z_VEL_I_ACC 1.7
|
||||
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_MIN 1050
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_MIN 1050
|
||||
|
||||
param set PWM_MAIN_RATE 0
|
||||
param set PWM_RATE 0
|
||||
param set THR_MDL_FAC 0.3
|
||||
fi
|
||||
|
||||
|
||||
@@ -33,5 +33,5 @@ then
|
||||
param set MC_YAWRATE_I 0
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
param set PWM_MAIN_MIN 1200
|
||||
param set PWM_MIN 1200
|
||||
fi
|
||||
|
||||
@@ -65,9 +65,9 @@ then
|
||||
#param set THR_MDL_FAC 0.25
|
||||
|
||||
# System
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_MIN 1100
|
||||
param set PWM_MAIN_RATE 0
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_MIN 1100
|
||||
param set PWM_RATE 0
|
||||
|
||||
#param set SYS_FMU_TASK 1
|
||||
param set SENS_BOARD_ROT 10
|
||||
|
||||
@@ -67,11 +67,11 @@ then
|
||||
param set THR_MDL_FAC 0.3
|
||||
|
||||
# System
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_MIN 1180
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_MIN 1180
|
||||
|
||||
# enable one-shot
|
||||
param set PWM_MAIN_RATE 0
|
||||
param set PWM_RATE 0
|
||||
|
||||
param set SENS_BOARD_ROT 2
|
||||
|
||||
|
||||
@@ -61,9 +61,9 @@ then
|
||||
#param set THR_MDL_FAC 0.25
|
||||
|
||||
# Obsolete
|
||||
#param set PWM_MAIN_MAX 1950
|
||||
#param set PWM_MAIN_MIN 1100
|
||||
#param set PWM_MAIN_RATE 0
|
||||
#param set PWM_MAX 1950
|
||||
#param set PWM_MIN 1100
|
||||
#param set PWM_RATE 0
|
||||
|
||||
# Sensors
|
||||
param set SENS_BOARD_ROT 10
|
||||
|
||||
@@ -21,6 +21,8 @@ if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set CBRK_IO_SAFETY 22027
|
||||
|
||||
param set FAILSAFE 100
|
||||
|
||||
param set MC_ROLL_P 2.2
|
||||
param set MC_ROLLRATE_P 0.06
|
||||
param set MC_ROLLRATE_I 0.2
|
||||
@@ -42,7 +44,7 @@ then
|
||||
|
||||
# param set NAV_RCL_ACT 6 # Lockdown
|
||||
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_MAIN_DISARM 900
|
||||
param set PWM_MIN 1075
|
||||
param set PWM_RATE 400
|
||||
param set PWM_DISARMED 900
|
||||
fi
|
||||
|
||||
@@ -38,7 +38,7 @@ then
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0
|
||||
|
||||
param set PWM_MAIN_DISARM 0
|
||||
param set PWM_MAIN_MIN 500
|
||||
param set PWM_MAIN_MAX 2200
|
||||
param set PWM_DISARMED 0
|
||||
param set PWM_MIN 500
|
||||
param set PWM_MAX 2200
|
||||
fi
|
||||
|
||||
@@ -171,11 +171,11 @@ then
|
||||
param set NAV_RCL_ACT 1
|
||||
|
||||
# pwm control
|
||||
param set PWM_MAIN_DISARM 900
|
||||
param set PWM_MAIN_MAX 1850
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_DISARMED 900
|
||||
param set PWM_MAX 1850
|
||||
param set PWM_MIN 1075
|
||||
# Oneshot125
|
||||
param set PWM_MAIN_RATE 0
|
||||
param set PWM_RATE 0
|
||||
|
||||
# rtl
|
||||
param set RTL_DESCEND_ALT 5
|
||||
|
||||
@@ -60,12 +60,12 @@ then
|
||||
|
||||
param set NAV_RCL_ACT 3
|
||||
|
||||
param set PWM_MAIN_DISARM 0
|
||||
param set PWM_MAIN_MIN 0
|
||||
param set PWM_MAIN_MAX 255
|
||||
param set PWM_DISARMED 0
|
||||
param set PWM_MIN 0
|
||||
param set PWM_MAX 255
|
||||
|
||||
# Run the motors at 328.125 kHz (recommended)
|
||||
param set PWM_MAIN_RATE 3921
|
||||
param set PWM_RATE 3921
|
||||
|
||||
param set SDLOG_PROFILE 1
|
||||
|
||||
@@ -73,9 +73,9 @@ then
|
||||
|
||||
fi
|
||||
|
||||
set PWM_MAIN_DISARM none
|
||||
set PWM_MAIN_MAX none
|
||||
set PWM_MAIN_MIN none
|
||||
set PWM_DISARMED none
|
||||
set PWM_MAX none
|
||||
set PWM_MIN none
|
||||
|
||||
syslink start
|
||||
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
|
||||
|
||||
@@ -1,81 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Crazyflie 2.1
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Dennis Shtatov <densht@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board px4_fmu-v3 exclude
|
||||
# @board px4_fmu-v4 exclude
|
||||
# @board px4_fmu-v4pro exclude
|
||||
# @board px4_fmu-v5 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
#
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x_cw
|
||||
set PWM_OUT 1234
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set SYS_MC_EST_GROUP 3
|
||||
param set SYS_HAS_MAG 0
|
||||
|
||||
param set BAT_N_CELLS 1
|
||||
param set BAT1_N_CELLS 1
|
||||
param set BAT1_SOURCE 1
|
||||
|
||||
param set CBRK_SUPPLY_CHK 894281
|
||||
param set CBRK_USB_CHK 197848
|
||||
param set COM_RC_IN_MODE 1
|
||||
|
||||
param set IMU_GYRO_CUTOFF 100
|
||||
param set IMU_ACCEL_CUTOFF 30
|
||||
|
||||
param set MC_AIRMODE 1
|
||||
param set IMU_DGYRO_CUTOFF 70
|
||||
param set MC_PITCHRATE_D 0.002
|
||||
param set MC_PITCHRATE_I 0.2
|
||||
param set MC_PITCHRATE_P 0.07
|
||||
param set MC_PITCH_P 6.5
|
||||
param set MC_ROLLRATE_D 0.002
|
||||
param set MC_ROLLRATE_I 0.2
|
||||
param set MC_ROLLRATE_P 0.07
|
||||
param set MC_ROLL_P 6.5
|
||||
param set MC_YAW_P 3
|
||||
|
||||
param set MPC_THR_HOVER 0.7
|
||||
param set MPC_THR_MAX 1
|
||||
param set MPC_Z_P 1.5
|
||||
param set MPC_Z_VEL_P_ACC 8
|
||||
param set MPC_Z_VEL_I_ACC 6
|
||||
param set MPC_HOLD_MAX_XY 0.1
|
||||
param set MPC_MAX_FLOW_HGT 3
|
||||
#param set IMU_GYRO_NF_FREQ 10
|
||||
#param set IMU_GYRO_NF_BW 20
|
||||
|
||||
param set NAV_RCL_ACT 3
|
||||
|
||||
param set PWM_MAIN_DISARM 0
|
||||
param set PWM_MAIN_MIN 0
|
||||
param set PWM_MAIN_MAX 255
|
||||
|
||||
# Run the motors at 328.125 kHz (recommended)
|
||||
param set PWM_MAIN_RATE 3921
|
||||
|
||||
param set SDLOG_PROFILE 1
|
||||
|
||||
param set SENS_FLOW_MINRNG 0.05
|
||||
|
||||
|
||||
fi
|
||||
|
||||
set PWM_MAIN_DISARM none
|
||||
set PWM_MAIN_MAX none
|
||||
set PWM_MAIN_MIN none
|
||||
|
||||
syslink start
|
||||
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
|
||||
@@ -50,9 +50,9 @@ then
|
||||
param set NAV_ACC_RAD 0.5
|
||||
|
||||
# Provide ESC a constant 1500 us pulse
|
||||
param set PWM_MAIN_DISARM 1500
|
||||
param set PWM_MAIN_MAX 2000
|
||||
param set PWM_MAIN_MIN 1000
|
||||
param set PWM_DISARMED 1500
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_MIN 1000
|
||||
fi
|
||||
|
||||
# Configure this as rover
|
||||
|
||||
@@ -0,0 +1,42 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Axial Racing AX10
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
# @output MAIN1 pass-through of control group 0, channel 0
|
||||
# @output MAIN2 pass-through of control group 0, channel 1
|
||||
# @output MAIN3 pass-through of control group 0, channel 2
|
||||
# @output MAIN4 pass-through of control group 0, channel 3
|
||||
# @output MAIN5 pass-through of control group 0, channel 4
|
||||
# @output MAIN6 pass-through of control group 0, channel 5
|
||||
# @output MAIN7 pass-through of control group 0, channel 6
|
||||
# @output MAIN8 pass-through of control group 0, channel 7
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
#
|
||||
# This section can be enabled once tuning parameters for this particular
|
||||
# rover model are known. It allows to configure default gains via the GUI.
|
||||
#
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# PWM default value for "disarmed" mode.
|
||||
# This centers the steering and throttle, which means
|
||||
# no motion for a rover.
|
||||
param set PWM_DISARMED 1500
|
||||
|
||||
# PWM range.
|
||||
param set PWM_MIN 1200
|
||||
param set PWM_MAX 1800
|
||||
fi
|
||||
|
||||
set MIXER IO_pass
|
||||
@@ -0,0 +1,69 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Traxxas stampede vxl 2wd
|
||||
#
|
||||
# @url https://traxxas.com/products/models/electric/stampede-vxl-tsm
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
# @output MAIN2 steering
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @maintainer Marco Zorzi
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set BAT_N_CELLS 7
|
||||
|
||||
param set EKF2_GBIAS_INIT 0.01
|
||||
param set EKF2_ANGERR_INIT 0.01
|
||||
param set EKF2_MAG_TYPE 1
|
||||
|
||||
param set FW_AIRSPD_MIN 0
|
||||
param set FW_AIRSPD_TRIM 1
|
||||
param set FW_AIRSPD_MAX 3
|
||||
|
||||
param set GND_WR_P 2
|
||||
param set GND_WR_I 0.9674
|
||||
param set GND_WR_IMAX 0.1
|
||||
param set GND_WR_D 1.2
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_L1_DIST 10
|
||||
param set GND_THR_IDLE 0
|
||||
param set GND_THR_CRUISE 0
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_I 3
|
||||
param set GND_SPEED_D 0.001
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_THR_SC 1
|
||||
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
|
||||
param set NAV_ACC_RAD 0.5
|
||||
|
||||
# Provide ESC a constant 1500 us pulse
|
||||
param set PWM_DISARMED 1500
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_MIN 1000
|
||||
fi
|
||||
|
||||
# Configure this as rover
|
||||
set MAV_TYPE 10
|
||||
|
||||
# Set mixer
|
||||
set MIXER stampede
|
||||
|
||||
set PWM_MAIN_REV2 1
|
||||
@@ -62,11 +62,11 @@ then
|
||||
|
||||
# Provide ESC a constant 1500 us pulse, which corresponds to
|
||||
# idle on the Roboclaw motor controller on the Aion R1
|
||||
param set PWM_MAIN_DISARM 1500
|
||||
param set PWM_DISARMED 1500
|
||||
param set PWM_MAIN_DIS0 1500
|
||||
param set PWM_MAIN_DIS1 1500
|
||||
param set PWM_MAIN_MAX 2000
|
||||
param set PWM_MAIN_MIN 1000
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_MIN 1000
|
||||
|
||||
# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
@@ -56,13 +56,13 @@ then
|
||||
param set NAV_ACC_RAD 0.5
|
||||
|
||||
# Provide ESC a constant 1500 us pulse to idle
|
||||
param set PWM_MAIN_DISARM 1500
|
||||
param set PWM_DISARMED 1500
|
||||
param set PWM_MAIN_DIS3 1485
|
||||
param set PWM_MAIN_DIS4 1485
|
||||
param set PWM_MAIN_FAIL3 1485
|
||||
param set PWM_MAIN_FAIL4 1485
|
||||
param set PWM_MAIN_MAX 2000
|
||||
param set PWM_MAIN_MIN 1000
|
||||
param set PWM_MAX 2000
|
||||
param set PWM_MIN 1000
|
||||
param set PWM_MAIN_MIN3 970
|
||||
param set PWM_MAIN_MIN4 970
|
||||
|
||||
|
||||
@@ -83,8 +83,8 @@ then
|
||||
param set THR_MDL_FAC 0.25
|
||||
|
||||
# System
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_MIN 1100
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_MIN 1100
|
||||
param set PWM_MAIN_DIS5 980
|
||||
param set PWM_MAIN_DIS6 980
|
||||
|
||||
@@ -115,7 +115,7 @@ then
|
||||
param set COM_DISARM_LAND 3
|
||||
|
||||
# PWM ONESHOT
|
||||
param set PWM_MAIN_RATE 0
|
||||
param set PWM_RATE 0
|
||||
|
||||
# Battery
|
||||
param set BAT_SOURCE 0
|
||||
|
||||
@@ -1,75 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Hex X with control allocation
|
||||
#
|
||||
# @type Hexarotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Silvan Fuhrer
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MPC_USE_HTE 0
|
||||
|
||||
param set VM_MASS 1.5
|
||||
param set VM_INERTIA_XX 0.03
|
||||
param set VM_INERTIA_YY 0.03
|
||||
param set VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set CA_AIRFRAME 0
|
||||
param set CA_METHOD 1
|
||||
param set CA_ACT0_MIN 0.0
|
||||
param set CA_ACT1_MIN 0.0
|
||||
param set CA_ACT2_MIN 0.0
|
||||
param set CA_ACT3_MIN 0.0
|
||||
param set CA_ACT4_MIN 0.0
|
||||
param set CA_ACT5_MIN 0.0
|
||||
|
||||
param set CA_ACT0_MAX 1.0
|
||||
param set CA_ACT1_MAX 1.0
|
||||
param set CA_ACT2_MAX 1.0
|
||||
param set CA_ACT3_MAX 1.0
|
||||
param set CA_ACT4_MAX 1.0
|
||||
param set CA_ACT5_MAX 1.0
|
||||
|
||||
param set CA_MC_R0_PX 0.0
|
||||
param set CA_MC_R0_PY 0.275
|
||||
param set CA_MC_R0_CT 6.5
|
||||
param set CA_MC_R0_KM -0.05
|
||||
|
||||
param set CA_MC_R1_PX 0.0
|
||||
param set CA_MC_R1_PY -0.275
|
||||
param set CA_MC_R1_CT 6.5
|
||||
param set CA_MC_R1_KM 0.05
|
||||
|
||||
param set CA_MC_R2_PX 0.238
|
||||
param set CA_MC_R2_PY -0.1375
|
||||
param set CA_MC_R2_CT 6.5
|
||||
param set CA_MC_R2_KM -0.05
|
||||
|
||||
param set CA_MC_R3_PX -0.238
|
||||
param set CA_MC_R3_PY 0.1375
|
||||
param set CA_MC_R3_CT 6.5
|
||||
param set CA_MC_R3_KM 0.05
|
||||
|
||||
param set CA_MC_R4_PX 0.238
|
||||
param set CA_MC_R4_PY 0.1375
|
||||
param set CA_MC_R4_CT 6.5
|
||||
param set CA_MC_R4_KM 0.05
|
||||
|
||||
param set CA_MC_R5_PX -0.238
|
||||
param set CA_MC_R5_PY -0.1375
|
||||
param set CA_MC_R5_CT 6.5
|
||||
param set CA_MC_R5_KM -0.05
|
||||
|
||||
fi
|
||||
|
||||
set MIXER direct
|
||||
set PWM_OUT 123456
|
||||
|
||||
set MIXER_AUX direct_aux
|
||||
set PWM_AUX_OUT 123456
|
||||
@@ -70,7 +70,6 @@ px4_add_romfs_files(
|
||||
4015_holybro_s500
|
||||
4016_holybro_px4vision
|
||||
4017_nxp_hovergames
|
||||
4018_s500_ctrlalloc
|
||||
4020_hk_micro_pcb
|
||||
4030_3dr_solo
|
||||
4031_3dr_quad
|
||||
@@ -91,7 +90,6 @@ px4_add_romfs_files(
|
||||
4250_teal
|
||||
4500_clover4
|
||||
4900_crazyflie
|
||||
4901_crazyflie21
|
||||
|
||||
# [5000, 5999] Quadrotor +"
|
||||
5001_quad_+
|
||||
@@ -99,7 +97,6 @@ px4_add_romfs_files(
|
||||
# [6000, 6999] Hexarotor x"
|
||||
6001_hexa_x
|
||||
6002_draco_r
|
||||
6003_hexa_x_ctrlalloc
|
||||
|
||||
# [7000, 7999] Hexarotor +"
|
||||
7001_hexa_+
|
||||
@@ -153,12 +150,11 @@ px4_add_romfs_files(
|
||||
17002_TF-AutoG2
|
||||
17003_TF-G2
|
||||
|
||||
# [18000, 18999] High-altitude balloons
|
||||
18001_TF-B1
|
||||
|
||||
24001_dodeca_cox
|
||||
|
||||
50000_generic_ground_vehicle
|
||||
50001_axialracing_ax10
|
||||
50002_traxxas_stampede_2wd
|
||||
50003_aion_robotics_r1_rover
|
||||
50004_nxpcup_car_dfrobot_gpx
|
||||
|
||||
|
||||
@@ -1,42 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Standard apps for balloons
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
#
|
||||
# Start the attitude and position estimator.
|
||||
#
|
||||
|
||||
if param compare SYS_MC_EST_GROUP 1
|
||||
then
|
||||
#
|
||||
# Try to start LPE. If it fails, start EKF2 as a default.
|
||||
# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
|
||||
#
|
||||
if attitude_estimator_q start
|
||||
then
|
||||
echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
|
||||
local_position_estimator start
|
||||
else
|
||||
echo "ERROR [init] Estimator LPE not available. Using EKF2"
|
||||
param set SYS_MC_EST_GROUP 2
|
||||
param save
|
||||
reboot
|
||||
fi
|
||||
else
|
||||
#
|
||||
# Q estimator (attitude estimation only)
|
||||
#
|
||||
if param compare SYS_MC_EST_GROUP 3
|
||||
then
|
||||
attitude_estimator_q start
|
||||
else
|
||||
#
|
||||
# EKF2
|
||||
#
|
||||
param set SYS_MC_EST_GROUP 2
|
||||
ekf2 start &
|
||||
fi
|
||||
fi
|
||||
@@ -1,20 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Balloon default parameters
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
set VEHICLE_TYPE fw
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
#
|
||||
# Default parameters for balloon UAVs.
|
||||
#
|
||||
#
|
||||
# FW takeoff acceleration can easily exceed ublox GPS 2G default.
|
||||
#
|
||||
param set GPS_UBX_DYNMODEL 8
|
||||
param set SYS_MC_EST_GROUP 1
|
||||
fi
|
||||
@@ -33,7 +33,7 @@ set PWM_OUT 1234
|
||||
# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
|
||||
# may damage analog servos.
|
||||
#
|
||||
set PWM_MAIN_RATE 50
|
||||
set PWM_RATE 50
|
||||
|
||||
#
|
||||
# This is the gimbal pass mixer.
|
||||
|
||||
@@ -1,26 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Standard apps for new control allocation and controllers
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
#
|
||||
# Start angular velocity controller
|
||||
#
|
||||
angular_velocity_controller start
|
||||
mc_rate_control stop
|
||||
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
#
|
||||
# Disable hover thrust estimator and prearming
|
||||
# These features are currently incompatible with control allocation
|
||||
#
|
||||
# TODO: fix
|
||||
#
|
||||
param set MPC_USE_HTE 0
|
||||
param set COM_PREARM_MODE 0
|
||||
@@ -41,11 +41,10 @@ then
|
||||
#
|
||||
param set NAV_ACC_RAD 10
|
||||
|
||||
param set MIS_DIST_WPS 5000
|
||||
param set MIS_LTRMIN_ALT 25
|
||||
param set MIS_TAKEOFF_ALT 25
|
||||
|
||||
param set PWM_MAIN_RATE 50
|
||||
param set PWM_RATE 50
|
||||
|
||||
#
|
||||
# FW takeoff acceleration can easily exceed ublox GPS 2G default.
|
||||
|
||||
@@ -11,11 +11,8 @@
|
||||
|
||||
set OUTPUT_CMD pwm_out
|
||||
set MIXER_AUX_FILE none
|
||||
set MIXER_EXTRA_FILE none
|
||||
|
||||
set OUTPUT_DEV none
|
||||
set OUTPUT_AUX_DEV /dev/pwm_output1
|
||||
set OUTPUT_EXTRA_DEV /dev/pwm_output0
|
||||
set OUTPUT_DEV none
|
||||
|
||||
#
|
||||
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
|
||||
@@ -226,11 +223,13 @@ then
|
||||
fi
|
||||
else
|
||||
set PWM_AUX_OUT none
|
||||
set FAILSAFE_AUX none
|
||||
fi
|
||||
else
|
||||
echo "ERROR: Could not start: pwm_out mode_pwm"
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
set PWM_AUX_OUT none
|
||||
set FAILSAFE_AUX none
|
||||
fi
|
||||
|
||||
# for DShot do not configure pwm values
|
||||
@@ -244,7 +243,74 @@ then
|
||||
then
|
||||
pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
|
||||
# Set disarmed, min and max PWM_AUX values.
|
||||
if [ $PWM_AUX_DISARMED != none ]
|
||||
then
|
||||
pwm disarmed -c ${PWM_AUX_OUT} -p ${PWM_AUX_DISARMED} -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
if [ $PWM_AUX_MIN != none ]
|
||||
then
|
||||
pwm min -c ${PWM_AUX_OUT} -p ${PWM_AUX_MIN} -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
if [ $PWM_AUX_MAX != none ]
|
||||
then
|
||||
pwm max -c ${PWM_AUX_OUT} -p ${PWM_AUX_MAX} -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Per channel disarmed settings.
|
||||
#
|
||||
pwm disarmed -c 1 -p p:PWM_AUX_DIS1 -d ${OUTPUT_AUX_DEV}
|
||||
pwm disarmed -c 2 -p p:PWM_AUX_DIS2 -d ${OUTPUT_AUX_DEV}
|
||||
pwm disarmed -c 3 -p p:PWM_AUX_DIS3 -d ${OUTPUT_AUX_DEV}
|
||||
pwm disarmed -c 4 -p p:PWM_AUX_DIS4 -d ${OUTPUT_AUX_DEV}
|
||||
pwm disarmed -c 5 -p p:PWM_AUX_DIS5 -d ${OUTPUT_AUX_DEV}
|
||||
pwm disarmed -c 6 -p p:PWM_AUX_DIS6 -d ${OUTPUT_AUX_DEV}
|
||||
pwm disarmed -c 7 -p p:PWM_AUX_DIS7 -d ${OUTPUT_AUX_DEV}
|
||||
pwm disarmed -c 8 -p p:PWM_AUX_DIS8 -d ${OUTPUT_AUX_DEV}
|
||||
|
||||
#
|
||||
# Per channel min settings.
|
||||
#
|
||||
pwm min -c 1 -p p:PWM_AUX_MIN1 -d ${OUTPUT_AUX_DEV}
|
||||
pwm min -c 2 -p p:PWM_AUX_MIN2 -d ${OUTPUT_AUX_DEV}
|
||||
pwm min -c 3 -p p:PWM_AUX_MIN3 -d ${OUTPUT_AUX_DEV}
|
||||
pwm min -c 4 -p p:PWM_AUX_MIN4 -d ${OUTPUT_AUX_DEV}
|
||||
pwm min -c 5 -p p:PWM_AUX_MIN5 -d ${OUTPUT_AUX_DEV}
|
||||
pwm min -c 6 -p p:PWM_AUX_MIN6 -d ${OUTPUT_AUX_DEV}
|
||||
pwm min -c 7 -p p:PWM_AUX_MIN7 -d ${OUTPUT_AUX_DEV}
|
||||
pwm min -c 8 -p p:PWM_AUX_MIN8 -d ${OUTPUT_AUX_DEV}
|
||||
|
||||
#
|
||||
# Per channel max settings.
|
||||
#
|
||||
pwm max -c 1 -p p:PWM_AUX_MAX1 -d ${OUTPUT_AUX_DEV}
|
||||
pwm max -c 2 -p p:PWM_AUX_MAX2 -d ${OUTPUT_AUX_DEV}
|
||||
pwm max -c 3 -p p:PWM_AUX_MAX3 -d ${OUTPUT_AUX_DEV}
|
||||
pwm max -c 4 -p p:PWM_AUX_MAX4 -d ${OUTPUT_AUX_DEV}
|
||||
pwm max -c 5 -p p:PWM_AUX_MAX5 -d ${OUTPUT_AUX_DEV}
|
||||
pwm max -c 6 -p p:PWM_AUX_MAX6 -d ${OUTPUT_AUX_DEV}
|
||||
pwm max -c 7 -p p:PWM_AUX_MAX7 -d ${OUTPUT_AUX_DEV}
|
||||
pwm max -c 8 -p p:PWM_AUX_MAX8 -d ${OUTPUT_AUX_DEV}
|
||||
|
||||
if [ $FAILSAFE_AUX != none ]
|
||||
then
|
||||
pwm failsafe -c ${PWM_AUX_OUT} -p ${FAILSAFE} -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
|
||||
#
|
||||
# Per channel failsafe settings.
|
||||
#
|
||||
pwm failsafe -c 1 -p p:PWM_AUX_FAIL1 -d ${OUTPUT_AUX_DEV}
|
||||
pwm failsafe -c 2 -p p:PWM_AUX_FAIL2 -d ${OUTPUT_AUX_DEV}
|
||||
pwm failsafe -c 3 -p p:PWM_AUX_FAIL3 -d ${OUTPUT_AUX_DEV}
|
||||
pwm failsafe -c 4 -p p:PWM_AUX_FAIL4 -d ${OUTPUT_AUX_DEV}
|
||||
pwm failsafe -c 5 -p p:PWM_AUX_FAIL5 -d ${OUTPUT_AUX_DEV}
|
||||
pwm failsafe -c 6 -p p:PWM_AUX_FAIL6 -d ${OUTPUT_AUX_DEV}
|
||||
pwm failsafe -c 7 -p p:PWM_AUX_FAIL7 -d ${OUTPUT_AUX_DEV}
|
||||
pwm failsafe -c 8 -p p:PWM_AUX_FAIL8 -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
@@ -254,53 +320,81 @@ then
|
||||
if [ $PWM_OUT != none ]
|
||||
then
|
||||
# Set PWM output frequency.
|
||||
if [ $PWM_MAIN_RATE != none ]
|
||||
if [ $PWM_RATE != none ]
|
||||
then
|
||||
pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
|
||||
pwm rate -c ${PWM_OUT} -r ${PWM_RATE}
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $EXTRA_MIXER_MODE != none ]
|
||||
then
|
||||
|
||||
if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix ]
|
||||
then
|
||||
# Use the mixer file from the SD-card if it exists.
|
||||
set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix
|
||||
else
|
||||
# Try out the old convention, for backward compatibility.
|
||||
if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix ]
|
||||
# Set disarmed, min and max PWM values.
|
||||
if [ $PWM_DISARMED != none ]
|
||||
then
|
||||
set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix
|
||||
else
|
||||
set MIXER_EXTRA_FILE /etc/mixers/${MIXER_EXTRA}.aux.mix
|
||||
pwm disarmed -c ${PWM_OUT} -p ${PWM_DISARMED}
|
||||
fi
|
||||
if [ $PWM_MIN != none ]
|
||||
then
|
||||
pwm min -c ${PWM_OUT} -p ${PWM_MIN}
|
||||
fi
|
||||
if [ $PWM_MAX != none ]
|
||||
then
|
||||
pwm max -c ${PWM_OUT} -p ${PWM_MAX}
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Per channel disarmed settings.
|
||||
#
|
||||
pwm disarmed -c 1 -p p:PWM_MAIN_DIS1
|
||||
pwm disarmed -c 2 -p p:PWM_MAIN_DIS2
|
||||
pwm disarmed -c 3 -p p:PWM_MAIN_DIS3
|
||||
pwm disarmed -c 4 -p p:PWM_MAIN_DIS4
|
||||
pwm disarmed -c 5 -p p:PWM_MAIN_DIS5
|
||||
pwm disarmed -c 6 -p p:PWM_MAIN_DIS6
|
||||
pwm disarmed -c 7 -p p:PWM_MAIN_DIS7
|
||||
pwm disarmed -c 8 -p p:PWM_MAIN_DIS8
|
||||
|
||||
if mixer load ${OUTPUT_EXTRA_DEV} ${MIXER_EXTRA_FILE}
|
||||
#
|
||||
# Per channel min settings.
|
||||
#
|
||||
pwm min -c 1 -p p:PWM_MAIN_MIN1
|
||||
pwm min -c 2 -p p:PWM_MAIN_MIN2
|
||||
pwm min -c 3 -p p:PWM_MAIN_MIN3
|
||||
pwm min -c 4 -p p:PWM_MAIN_MIN4
|
||||
pwm min -c 5 -p p:PWM_MAIN_MIN5
|
||||
pwm min -c 6 -p p:PWM_MAIN_MIN6
|
||||
pwm min -c 7 -p p:PWM_MAIN_MIN7
|
||||
pwm min -c 8 -p p:PWM_MAIN_MIN8
|
||||
|
||||
#
|
||||
# Per channel max settings.
|
||||
#
|
||||
pwm max -c 1 -p p:PWM_MAIN_MAX1
|
||||
pwm max -c 2 -p p:PWM_MAIN_MAX2
|
||||
pwm max -c 3 -p p:PWM_MAIN_MAX3
|
||||
pwm max -c 4 -p p:PWM_MAIN_MAX4
|
||||
pwm max -c 5 -p p:PWM_MAIN_MAX5
|
||||
pwm max -c 6 -p p:PWM_MAIN_MAX6
|
||||
pwm max -c 7 -p p:PWM_MAIN_MAX7
|
||||
pwm max -c 8 -p p:PWM_MAIN_MAX8
|
||||
|
||||
if [ $FAILSAFE != none ]
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_EXTRA_FILE} on ${OUTPUT_EXTRA_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_EXTRA_FILE}"
|
||||
tune_control play -t 20
|
||||
pwm failsafe -c ${PWM_OUT} -p ${FAILSAFE} -d ${OUTPUT_DEV}
|
||||
fi
|
||||
|
||||
if [ $PWM_EXTRA_OUT != none ]
|
||||
then
|
||||
# Set PWM output frequency.
|
||||
if [ $PWM_EXTRA_RATE != none ]
|
||||
then
|
||||
pwm rate -c ${PWM_EXTRA_OUT} -r ${PWM_EXTRA_RATE}
|
||||
fi
|
||||
fi
|
||||
#
|
||||
# Per channel failsafe settings.
|
||||
#
|
||||
pwm failsafe -c 1 -p p:PWM_MAIN_FAIL1
|
||||
pwm failsafe -c 2 -p p:PWM_MAIN_FAIL2
|
||||
pwm failsafe -c 3 -p p:PWM_MAIN_FAIL3
|
||||
pwm failsafe -c 4 -p p:PWM_MAIN_FAIL4
|
||||
pwm failsafe -c 5 -p p:PWM_MAIN_FAIL5
|
||||
pwm failsafe -c 6 -p p:PWM_MAIN_FAIL6
|
||||
pwm failsafe -c 7 -p p:PWM_MAIN_FAIL7
|
||||
pwm failsafe -c 8 -p p:PWM_MAIN_FAIL8
|
||||
fi
|
||||
|
||||
unset OUTPUT_CMD
|
||||
unset MIXER_AUX_FILE
|
||||
unset MIXER_EXTRA_FILE
|
||||
|
||||
unset OUTPUT_DEV
|
||||
unset OUTPUT_AUX_DEV
|
||||
unset OUTPUT_EXTRA_DEV
|
||||
unset OUTPUT_DEV
|
||||
|
||||
@@ -13,10 +13,11 @@ then
|
||||
|
||||
param set RTL_RETURN_ALT 30
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_LAND_DELAY 0
|
||||
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_MIN 1075
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_MIN 1075
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set GPS_UBX_DYNMODEL 6
|
||||
fi
|
||||
|
||||
@@ -33,7 +33,7 @@ set PWM_OUT 1234
|
||||
# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
|
||||
# may damage analog servos.
|
||||
#
|
||||
set PWM_MAIN_RATE 50
|
||||
set PWM_RATE 50
|
||||
|
||||
#
|
||||
# This is the gimbal pass mixer.
|
||||
|
||||
@@ -9,9 +9,9 @@ set VEHICLE_TYPE uuv
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set PWM_MAIN_MAX 1950
|
||||
param set PWM_MAIN_MIN 1050
|
||||
param set PWM_MAIN_DISARM 1500
|
||||
param set PWM_MAX 1950
|
||||
param set PWM_MIN 1050
|
||||
param set PWM_DISARMED 1500
|
||||
|
||||
fi
|
||||
|
||||
@@ -19,11 +19,13 @@ fi
|
||||
# PWM Hz - 50 Hz is the normal rate in RC cars, boats etc,
|
||||
# higher rates may damage analog servos.
|
||||
#
|
||||
set PWM_MAIN_RATE 50
|
||||
set PWM_RATE 50
|
||||
|
||||
#
|
||||
# Enable servo output on pins 1-4
|
||||
set PWM_OUT 1234
|
||||
set PWM_DISARMED 1500
|
||||
|
||||
|
||||
#
|
||||
# This is the gimbal pass mixer.
|
||||
|
||||
@@ -21,7 +21,7 @@ vtol_att_control start
|
||||
|
||||
mc_rate_control start vtol
|
||||
mc_att_control start vtol
|
||||
flight_mode_manager start
|
||||
flight_mode_manager start vtol
|
||||
mc_pos_control start vtol
|
||||
mc_hover_thrust_estimator start
|
||||
|
||||
|
||||
@@ -18,8 +18,6 @@ then
|
||||
param set EKF2_ARSP_THR 10
|
||||
param set EKF2_FUSE_BETA 1
|
||||
|
||||
param set MIS_DIST_WPS 5000
|
||||
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_TKO_SPEED 1
|
||||
param set MPC_VEL_MANUAL 3
|
||||
@@ -31,8 +29,9 @@ then
|
||||
param set NAV_ACC_RAD 3
|
||||
|
||||
param set PWM_AUX_RATE 50
|
||||
param set PWM_MAIN_RATE 400
|
||||
param set PWM_RATE 400
|
||||
|
||||
param set RTL_LAND_DELAY 0
|
||||
param set RTL_TYPE 1
|
||||
|
||||
param set WV_EN 1
|
||||
|
||||
@@ -24,6 +24,8 @@ set R /
|
||||
set AUTOCNF no
|
||||
set AUX_MODE pwm
|
||||
set DATAMAN_OPT ""
|
||||
set FAILSAFE none
|
||||
set FAILSAFE_AUX none
|
||||
set FCONFIG /fs/microsd/etc/config.txt
|
||||
set FEXTRAS /fs/microsd/etc/extras.txt
|
||||
set FMU_MODE pwm
|
||||
@@ -36,18 +38,20 @@ set MAV_TYPE none
|
||||
set MIXER none
|
||||
set MIXER_AUX none
|
||||
set MIXER_FILE none
|
||||
set MIXER_EXTRA none
|
||||
set MK_MODE none
|
||||
set MKBLCTRL_ARG ""
|
||||
set OUTPUT_MODE none
|
||||
set PARAM_FILE /fs/microsd/params
|
||||
set PWM_OUT none
|
||||
set PWM_MAIN_RATE p:PWM_MAIN_RATE
|
||||
set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
|
||||
set PWM_AUX_MAX p:PWM_AUX_MAX
|
||||
set PWM_AUX_MIN p:PWM_AUX_MIN
|
||||
set PWM_AUX_OUT none
|
||||
set PWM_AUX_RATE p:PWM_AUX_RATE
|
||||
set PWM_EXTRA_OUT none
|
||||
set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
|
||||
set EXTRA_MIXER_MODE none
|
||||
set PWM_DISARMED p:PWM_DISARMED
|
||||
set PWM_MAX p:PWM_MAX
|
||||
set PWM_MIN p:PWM_MIN
|
||||
set PWM_OUT none
|
||||
set PWM_RATE p:PWM_RATE
|
||||
set RC_INPUT_ARGS ""
|
||||
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
|
||||
set STARTUP_TUNE 1
|
||||
@@ -171,10 +175,6 @@ else
|
||||
then
|
||||
param reset_all
|
||||
fi
|
||||
if ver hwtypecmp V5X00 V5X90 V5Xa0
|
||||
then
|
||||
netman update -i eth0
|
||||
fi
|
||||
|
||||
#
|
||||
# Set AUTOCNF flag to use it in AUTOSTART scripts.
|
||||
@@ -433,7 +433,7 @@ else
|
||||
then
|
||||
# Start UAVCAN firmware update server and dynamic node ID allocation server.
|
||||
uavcan start fw
|
||||
tune_control play -t 1
|
||||
|
||||
if param greater UAVCAN_ENABLE 2
|
||||
then
|
||||
set OUTPUT_MODE uavcan_esc
|
||||
@@ -572,6 +572,8 @@ unset R
|
||||
unset AUTOCNF
|
||||
unset AUX_MODE
|
||||
unset DATAMAN_OPT
|
||||
unset FAILSAFE
|
||||
unset FAILSAFE_AUX
|
||||
unset FCONFIG
|
||||
unset FEXTRAS
|
||||
unset FMU_MODE
|
||||
@@ -589,12 +591,16 @@ unset MKBLCTRL_ARG
|
||||
unset OUTPUT_MODE
|
||||
unset PARAM_DEFAULTS_VER
|
||||
unset PARAM_FILE
|
||||
unset PWM_AUX_DISARMED
|
||||
unset PWM_AUX_MAX
|
||||
unset PWM_AUX_MIN
|
||||
unset PWM_AUX_OUT
|
||||
unset PWM_AUX_RATE
|
||||
unset PWM_MAIN_RATE
|
||||
unset PWM_DISARMED
|
||||
unset PWM_MAX
|
||||
unset PWM_MIN
|
||||
unset PWM_OUT
|
||||
unset PWM_EXTRA_OUT
|
||||
unset PWM_EXTRA_RATE
|
||||
unset PWM_RATE
|
||||
unset RC_INPUT_ARGS
|
||||
unset SDCARD_MIXERS_PATH
|
||||
unset STARTUP_TUNE
|
||||
|
||||
@@ -43,5 +43,4 @@ px4_add_romfs_files(
|
||||
tiltrotor_sitl.main.mix
|
||||
uuv_x_sitl.main.mix
|
||||
vectored6dof_sitl.main.mix
|
||||
tiltrotor_sitl_direct.main.mix
|
||||
)
|
||||
|
||||
@@ -1,14 +0,0 @@
|
||||
Mixer for quad tiltrotor (x motor configuration)
|
||||
================================================
|
||||
|
||||
A: 0
|
||||
A: 1
|
||||
A: 2
|
||||
A: 3
|
||||
A: 4
|
||||
A: 5
|
||||
A: 6
|
||||
A: 7
|
||||
A: 8
|
||||
A: 9
|
||||
A: 10
|
||||
@@ -47,7 +47,6 @@ px4_add_romfs_files(
|
||||
coax.main.mix
|
||||
delta.main.mix
|
||||
deltaquad.main.mix
|
||||
direct.main.mix
|
||||
dodeca_bottom_cox.aux.mix
|
||||
dodeca_top_cox.main.mix
|
||||
firefly6.aux.mix
|
||||
@@ -78,6 +77,7 @@ px4_add_romfs_files(
|
||||
quad_x_vtol.main.mix
|
||||
rover_diff_and_servo.main.mix
|
||||
rover_generic.main.mix
|
||||
stampede.main.mix
|
||||
standard_vtol_hitl.main.mix
|
||||
TF-AutoG2.main.mix
|
||||
tilt_quad.aux.mix
|
||||
|
||||
@@ -1,10 +0,0 @@
|
||||
# Direct mixer
|
||||
|
||||
A: 0
|
||||
A: 1
|
||||
A: 2
|
||||
A: 3
|
||||
A: 4
|
||||
A: 5
|
||||
A: 6
|
||||
A: 7
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user