mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
d72d6ea28e |
+35
-40
@@ -9,10 +9,11 @@ pipeline {
|
||||
script {
|
||||
def build_nodes = [:]
|
||||
def docker_images = [
|
||||
armhf: "px4io/px4-dev-armhf:2022-08-12",
|
||||
arm64: "px4io/px4-dev-aarch64:2022-08-12",
|
||||
base: "px4io/px4-dev-ros2-foxy:2022-08-12",
|
||||
nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
|
||||
armhf: "px4io/px4-dev-armhf:2021-04-29",
|
||||
arm64: "px4io/px4-dev-aarch64:2021-04-29",
|
||||
base: "px4io/px4-dev-base-bionic:2021-04-29",
|
||||
nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
|
||||
snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
|
||||
]
|
||||
|
||||
def armhf_builds = [
|
||||
@@ -28,7 +29,7 @@ pipeline {
|
||||
]
|
||||
|
||||
def base_builds = [
|
||||
target: ["px4_sitl_default"],
|
||||
target: ["px4_sitl_rtps"],
|
||||
image: docker_images.base,
|
||||
archive: false
|
||||
]
|
||||
@@ -38,13 +39,6 @@ pipeline {
|
||||
"airmind_mindpx-v2_default",
|
||||
"ark_can-flow_canbootloader",
|
||||
"ark_can-flow_default",
|
||||
"ark_can-gps_canbootloader",
|
||||
"ark_can-gps_default",
|
||||
"ark_can-rtk-gps_canbootloader",
|
||||
"ark_can-rtk-gps_default",
|
||||
"ark_fmu-v6x_bootloader",
|
||||
"ark_fmu-v6x_default",
|
||||
"atl_mantis-edu_default",
|
||||
"av_x-v1_default",
|
||||
"bitcraze_crazyflie_default",
|
||||
"bitcraze_crazyflie21_default",
|
||||
@@ -54,72 +48,69 @@ pipeline {
|
||||
"cuav_x7pro_default",
|
||||
"cubepilot_cubeorange_default",
|
||||
"cubepilot_cubeyellow_default",
|
||||
"diatone_mamba-f405-mk2_default",
|
||||
"freefly_can-rtk-gps_canbootloader",
|
||||
"freefly_can-rtk-gps_default",
|
||||
"holybro_can-gps-v1_canbootloader",
|
||||
"holybro_can-gps-v1_default",
|
||||
"holybro_durandal-v1_default",
|
||||
"holybro_kakutef7_default",
|
||||
"holybro_kakuteh7_default",
|
||||
"holybro_kakuteh7v2_default",
|
||||
"holybro_kakuteh7mini_default",
|
||||
"holybro_pix32v5_default",
|
||||
"matek_gnss-m9n-f4_canbootloader",
|
||||
"matek_gnss-m9n-f4_default",
|
||||
"matek_h743-mini_default",
|
||||
"matek_h743-slim_default",
|
||||
"matek_h743_default",
|
||||
"modalai_fc-v1_default",
|
||||
"modalai_fc-v2_default",
|
||||
"modalai_voxl2-io_default",
|
||||
"modalai_fc-v1_rtps",
|
||||
"mro_ctrl-zero-f7_default",
|
||||
"mro_ctrl-zero-f7-oem_default",
|
||||
"mro_ctrl-zero-h7-oem_default",
|
||||
"mro_ctrl-zero-h7_default",
|
||||
"mro_ctrl-zero-h7-oem_default",
|
||||
"mro_pixracerpro_default",
|
||||
"mro_x21-777_default",
|
||||
"mro_x21_default",
|
||||
"nxp_fmuk66-e_default",
|
||||
"nxp_fmuk66-e_rtps",
|
||||
"nxp_fmuk66-e_socketcan",
|
||||
"nxp_fmuk66-v3_default",
|
||||
"nxp_fmuk66-v3_rtps",
|
||||
"nxp_fmuk66-v3_socketcan",
|
||||
"nxp_fmurt1062-v1_default",
|
||||
"nxp_ucans32k146_canbootloader",
|
||||
"nxp_ucans32k146_default",
|
||||
"nxp_ucans32k146_canbootloader",
|
||||
"omnibus_f4sd_default",
|
||||
"px4_fmu-v2_default",
|
||||
"px4_fmu-v2_fixedwing",
|
||||
"px4_fmu-v2_lto",
|
||||
"px4_fmu-v2_multicopter",
|
||||
"px4_fmu-v2_rover",
|
||||
"px4_fmu-v3_default",
|
||||
"px4_fmu-v4_cannode",
|
||||
"px4_fmu-v4_default",
|
||||
"px4_fmu-v4pro_default",
|
||||
"px4_fmu-v5_cyphal",
|
||||
"px4_fmu-v5_ctrlalloc",
|
||||
"px4_fmu-v5_debug",
|
||||
"px4_fmu-v5_default",
|
||||
"px4_fmu-v5_lto",
|
||||
"px4_fmu-v5_fixedwing",
|
||||
"px4_fmu-v5_multicopter",
|
||||
"px4_fmu-v5_optimized",
|
||||
"px4_fmu-v5_rover",
|
||||
"px4_fmu-v5_rtps",
|
||||
"px4_fmu-v5_stackcheck",
|
||||
"px4_fmu-v5_uavcanv0periph",
|
||||
"px4_fmu-v5_uavcanv1",
|
||||
"px4_fmu-v5x_base_phy_DP83848C",
|
||||
"px4_fmu-v5x_default",
|
||||
"px4_fmu-v6c_default",
|
||||
"px4_fmu-v6u_default",
|
||||
"px4_fmu-v6x_default",
|
||||
"px4_io-v2_default",
|
||||
"raspberrypi_pico_default",
|
||||
"sky-drones_smartap-airlink_default",
|
||||
"spracing_h7extreme_default",
|
||||
"thepeach_k1_default",
|
||||
"thepeach_r1_default",
|
||||
"uvify_core_default"
|
||||
],
|
||||
image: docker_images.nuttx,
|
||||
archive: true
|
||||
]
|
||||
|
||||
def snapdragon_builds = [
|
||||
target: ["atlflight_eagle_qurt", "atlflight_eagle_default"],
|
||||
image: docker_images.snapdragon,
|
||||
archive: false
|
||||
]
|
||||
|
||||
def docker_builds = [
|
||||
armhf_builds, base_builds, nuttx_builds_archive
|
||||
armhf_builds, base_builds, nuttx_builds_archive//, snapdragon_builds
|
||||
]
|
||||
|
||||
for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
|
||||
@@ -139,7 +130,7 @@ pipeline {
|
||||
// TODO: actually upload artifacts to S3
|
||||
// stage('S3 Upload') {
|
||||
// agent {
|
||||
// docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
|
||||
// docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
// }
|
||||
// options {
|
||||
// skipDefaultCheckout()
|
||||
@@ -164,14 +155,18 @@ pipeline {
|
||||
}
|
||||
options {
|
||||
buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
|
||||
timeout(time: 90, unit: 'MINUTES')
|
||||
timeout(time: 60, unit: 'MINUTES')
|
||||
}
|
||||
}
|
||||
|
||||
def createBuildNode(Boolean archive, String docker_image, String target) {
|
||||
return {
|
||||
|
||||
// TODO: fix the snapdragon image
|
||||
bypass_entrypoint = ''
|
||||
if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
|
||||
bypass_entrypoint = ' --entrypoint=""'
|
||||
}
|
||||
|
||||
node {
|
||||
docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
|
||||
@@ -180,7 +175,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
|
||||
try {
|
||||
sh('export')
|
||||
checkout(scm)
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
sh('git fetch --tags')
|
||||
sh('ccache -s')
|
||||
sh('make ' + target)
|
||||
@@ -197,7 +192,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
|
||||
throw (exc)
|
||||
}
|
||||
finally {
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
+744
-584
File diff suppressed because it is too large
Load Diff
+2
-12
@@ -1,17 +1,11 @@
|
||||
---
|
||||
Checks: '*,
|
||||
-*-avoid-c-arrays,
|
||||
-*-uppercase-literal-suffix,
|
||||
-*-magic-numbers,
|
||||
-altera-id-dependent-backward-branch,
|
||||
-altera-unroll-loops,
|
||||
-android*,
|
||||
-bugprone-integer-division,
|
||||
-cert-dcl50-cpp,
|
||||
-cert-env33-c,
|
||||
-cert-err34-c,
|
||||
-cert-err58-cpp,
|
||||
-cert-flp30-c,
|
||||
-cert-msc30-c,
|
||||
-cert-msc50-cpp,
|
||||
-clang-analyzer-core.CallAndMessage,
|
||||
@@ -24,7 +18,6 @@ Checks: '*,
|
||||
-clang-analyzer-deadcode.DeadStores,
|
||||
-clang-analyzer-optin.cplusplus.VirtualCall,
|
||||
-clang-analyzer-optin.performance.Padding,
|
||||
-clang-analyzer-security.FloatLoopCounter,
|
||||
-clang-analyzer-security.insecureAPI.strcpy,
|
||||
-clang-analyzer-unix.API,
|
||||
-clang-analyzer-unix.cstring.BadSizeArg,
|
||||
@@ -44,7 +37,8 @@ Checks: '*,
|
||||
-cppcoreguidelines-pro-type-union-access,
|
||||
-cppcoreguidelines-pro-type-vararg,
|
||||
-cppcoreguidelines-special-member-functions,
|
||||
-fuchsia-*,
|
||||
-fuchsia-default-arguments,
|
||||
-fuchsia-overloaded-operator,
|
||||
-google-build-using-namespace,
|
||||
-google-explicit-constructor,
|
||||
-google-global-names-in-headers,
|
||||
@@ -68,7 +62,6 @@ Checks: '*,
|
||||
-hicpp-use-equals-delete,
|
||||
-hicpp-use-override,
|
||||
-hicpp-vararg,
|
||||
-llvmlibc-*,
|
||||
-llvm-header-guard,
|
||||
-llvm-include-order,
|
||||
-llvm-namespace-comment,
|
||||
@@ -81,7 +74,6 @@ Checks: '*,
|
||||
-modernize-deprecated-headers,
|
||||
-modernize-loop-convert,
|
||||
-modernize-pass-by-value,
|
||||
-modernize-raw-string-literal,
|
||||
-modernize-return-braced-init-list,
|
||||
-modernize-use-auto,
|
||||
-modernize-use-bool-literals,
|
||||
@@ -89,9 +81,7 @@ Checks: '*,
|
||||
-modernize-use-equals-default,
|
||||
-modernize-use-equals-delete,
|
||||
-modernize-use-override,
|
||||
-modernize-use-trailing-return-type,
|
||||
-modernize-use-using,
|
||||
-modernize-use-trailing-return-type,
|
||||
-performance-inefficient-string-concatenation,
|
||||
-readability-avoid-const-params-in-decls,
|
||||
-readability-container-size-empty,
|
||||
|
||||
@@ -1,7 +0,0 @@
|
||||
FROM gcr.io/oss-fuzz-base/base-builder:v1
|
||||
COPY . $SRC/PX4-Autopilot
|
||||
RUN apt-get install -y libjpeg8-dev zlib1g-dev
|
||||
RUN pip3 install --upgrade pip
|
||||
RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
|
||||
WORKDIR $SRC/PX4-Autopilot
|
||||
COPY ./.clusterfuzzlite/build.sh $SRC/
|
||||
@@ -1,4 +0,0 @@
|
||||
#!/usr/bin/env bash -eu
|
||||
|
||||
PX4_FUZZ=1 make px4_sitl
|
||||
cp build/px4_sitl_default/bin/px4 $OUT/px4
|
||||
@@ -1 +0,0 @@
|
||||
language: c++
|
||||
@@ -2,7 +2,7 @@
|
||||
// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
|
||||
{
|
||||
"name": "px4-dev-nuttx",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2021-04-29",
|
||||
|
||||
"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
|
||||
|
||||
|
||||
+2
-1
@@ -19,8 +19,9 @@
|
||||
*.jar binary
|
||||
*.xml text eol=lf
|
||||
|
||||
# PX4 msgs, etc
|
||||
# PX4 mixers, msgs, etc
|
||||
*.bin binary
|
||||
*.mix text eol=lf
|
||||
*.msg text eol=lf
|
||||
*.config text eol=lf
|
||||
*.sdf text eol=lf
|
||||
|
||||
@@ -1,34 +1,32 @@
|
||||
---
|
||||
name: 🐛 Bug report
|
||||
name: Bug report
|
||||
about: Create a report to help us improve
|
||||
labels: bug-report
|
||||
|
||||
---
|
||||
|
||||
## Describe the bug
|
||||
**Describe the bug**
|
||||
A clear and concise description of the bug.
|
||||
|
||||
## To Reproduce
|
||||
**To Reproduce**
|
||||
Steps to reproduce the behavior:
|
||||
1. Drone switched on '...'
|
||||
2. Uploaded mission '....' (attach QGC mission file)
|
||||
3. Took off '....'
|
||||
4. See error
|
||||
|
||||
## Expected behavior
|
||||
**Expected behavior**
|
||||
A clear and concise description of what you expected to happen.
|
||||
|
||||
## Log Files and Screenshots
|
||||
**Log Files and Screenshots**
|
||||
*Always* provide a link to the flight log file:
|
||||
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
|
||||
- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
|
||||
- Share the link to the log (Copy and paste the URL of the log)
|
||||
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
|
||||
- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
|
||||
|
||||
Add screenshots to help explain your problem.
|
||||
|
||||
## Drone (please complete the following information):
|
||||
**Drone (please complete the following information):**
|
||||
- Describe the type of drone.
|
||||
- Photo of the IMU / autopilot setup if possible.
|
||||
|
||||
## Additional context
|
||||
**Additional context**
|
||||
Add any other context about the problem here.
|
||||
|
||||
@@ -1,20 +1,19 @@
|
||||
---
|
||||
name: 🚀 Feature Request
|
||||
about: Suggest an idea for this project
|
||||
labels: feature-request
|
||||
|
||||
---
|
||||
|
||||
For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).
|
||||
For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).
|
||||
|
||||
## Describe problem solved by the proposed feature
|
||||
**Describe problem solved by the proposed feature**
|
||||
A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
|
||||
|
||||
## Describe your preferred solution
|
||||
**Describe your preferred solution**
|
||||
A clear and concise description of what you want to happen.
|
||||
|
||||
## Describe possible alternatives
|
||||
**Describe possible alternatives**
|
||||
A clear and concise description of alternative solutions or features you've considered.
|
||||
|
||||
## Additional context
|
||||
**Additional context**
|
||||
Add any other context or screenshots for the feature request here.
|
||||
|
||||
@@ -1,13 +1,10 @@
|
||||
---
|
||||
name: ⛔ Support Question
|
||||
about: See http://discuss.px4.io/ for questions about using PX4.
|
||||
about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.
|
||||
|
||||
---
|
||||
|
||||
## Attention! Please read the note below
|
||||
|
||||
We use GitHub issues only to discuss PX4 bugs and new features.
|
||||
|
||||
**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
|
||||
We use GitHub issues only to discuss PX4 bugs and new features. For
|
||||
questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).
|
||||
|
||||
Thanks!
|
||||
|
||||
@@ -1,11 +1,9 @@
|
||||
---
|
||||
name: ⛔ Documentation Issue
|
||||
about: See https://github.com/PX4/px4_user_guide for documentation issues
|
||||
about: See https://github.com/PX4/Devguide for documentation issues
|
||||
|
||||
---
|
||||
|
||||
## Attention! Please read the note below
|
||||
|
||||
**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
|
||||
PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).
|
||||
|
||||
Thanks!
|
||||
|
||||
@@ -1,37 +0,0 @@
|
||||
<!--
|
||||
|
||||
Thank you for your contribution!
|
||||
|
||||
Get early feedback through
|
||||
- Dronecode Discord: https://discord.gg/dronecode
|
||||
- PX4 Discuss: http://discuss.px4.io/
|
||||
- opening a draft pr and sharing the link
|
||||
|
||||
-->
|
||||
|
||||
### Solved Problem
|
||||
When ... I found that ...
|
||||
|
||||
Fixes #{Github issue ID}
|
||||
|
||||
### Solution
|
||||
- Add ... for ...
|
||||
- Refactor ...
|
||||
|
||||
### Changelog Entry
|
||||
For release notes:
|
||||
```
|
||||
Feature/Bugfix XYZ
|
||||
New parameter: XYZ_Z
|
||||
Documentation: Need to clarfiy page ... / done, read docs.px4.io/...
|
||||
```
|
||||
|
||||
### Alternatives
|
||||
We could also ...
|
||||
|
||||
### Test coverage
|
||||
- Unit/integration test: ...
|
||||
- Simulation/hardware testing logs: https://review.px4.io/
|
||||
|
||||
### Context
|
||||
Related links, screenshot before/after, video
|
||||
@@ -1,24 +0,0 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
|
||||
<linearGradient id="smooth" x2="0" y2="100%">
|
||||
<stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
|
||||
<stop offset="1" stop-opacity=".1"/>
|
||||
</linearGradient>
|
||||
|
||||
<mask id="round">
|
||||
<rect width="90" height="20" rx="3" fill="#fff"/>
|
||||
</mask>
|
||||
|
||||
<g mask="url(#round)">
|
||||
<rect width="42" height="20" fill="#555"/>
|
||||
<rect x="42" width="48" height="20" fill="#E01563"/>
|
||||
<rect width="90" height="20" fill="url(#smooth)"/>
|
||||
</g>
|
||||
|
||||
<g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
|
||||
<text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
|
||||
<text x="22" y="14">slack</text>
|
||||
<text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
|
||||
<text x="65" y="14">Join us!</text>
|
||||
</g>
|
||||
</svg>
|
||||
|
||||
|
Before Width: | Height: | Size: 894 B |
@@ -1,34 +0,0 @@
|
||||
name: ClusterFuzzLite batch fuzzing
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 6 * * *' # UTC 6am every day.
|
||||
permissions: read-all
|
||||
jobs:
|
||||
BatchFuzzing:
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
sanitizer:
|
||||
- address
|
||||
- undefined
|
||||
- memory
|
||||
steps:
|
||||
- name: Build Fuzzers (${{ matrix.sanitizer }})
|
||||
id: build
|
||||
uses: google/clusterfuzzlite/actions/build_fuzzers@v1
|
||||
with:
|
||||
sanitizer: ${{ matrix.sanitizer }}
|
||||
- name: Run Fuzzers (${{ matrix.sanitizer }})
|
||||
id: run
|
||||
uses: google/clusterfuzzlite/actions/run_fuzzers@v1
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
fuzz-seconds: 1800 # 30 mins
|
||||
mode: 'batch'
|
||||
sanitizer: ${{ matrix.sanitizer }}
|
||||
# Optional but recommended: For storing certain artifacts from fuzzing.
|
||||
# See later section on "Git repo for storage".
|
||||
# storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
|
||||
# storage-repo-branch: main # Optional. Defaults to "main"
|
||||
# storage-repo-branch-coverage: gh-pages # Optional. Defaults to "gh-pages".
|
||||
@@ -3,7 +3,7 @@ name: Checks
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
@@ -28,13 +28,34 @@ jobs:
|
||||
"parameters_metadata",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
image: ghcr.io/px4/px4-dev:2021-05-06
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: tests_${{matrix.ubuntu_release}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: tests_${{matrix.ubuntu_release}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
|
||||
@@ -3,7 +3,7 @@ name: Clang Tidy
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
@@ -11,11 +11,36 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-clang:2021-09-08
|
||||
container: px4io/px4-dev-clang:2021-04-29
|
||||
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: clang-tidy-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: clang-tidy-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make clang-tidy-quiet
|
||||
run: make clang-tidy-quiet
|
||||
run: |
|
||||
ccache -z
|
||||
make clang-tidy-quiet
|
||||
ccache -s
|
||||
|
||||
@@ -3,7 +3,7 @@ name: Linux Targets
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-armhf:2021-09-08
|
||||
container: px4io/px4-dev-armhf:2021-04-29
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
@@ -42,9 +42,8 @@ jobs:
|
||||
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 "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@ name: Linux ARM64 Targets
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-aarch64:2021-09-08
|
||||
container: px4io/px4-dev-aarch64:2021-04-29
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
@@ -39,9 +39,8 @@ jobs:
|
||||
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 "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@ name: MacOS build
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
@@ -43,9 +43,8 @@ jobs:
|
||||
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 = 40M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -3,7 +3,8 @@ name: Nuttx Targets
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'master'
|
||||
- 'github-actions'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
@@ -11,66 +12,78 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config: [
|
||||
airmind_mindpx-v2,
|
||||
ark_can-flow,
|
||||
ark_can-gps,
|
||||
ark_can-rtk-gps,
|
||||
ark_cannode,
|
||||
ark_fmu-v6x,
|
||||
atl_mantis-edu,
|
||||
av_x-v1,
|
||||
bitcraze_crazyflie,
|
||||
bitcraze_crazyflie21,
|
||||
cuav_can-gps-v1,
|
||||
cuav_nora,
|
||||
cuav_x7pro,
|
||||
cubepilot_cubeorange,
|
||||
cubepilot_cubeorangeplus,
|
||||
cubepilot_cubeyellow,
|
||||
diatone_mamba-f405-mk2,
|
||||
freefly_can-rtk-gps,
|
||||
holybro_can-gps-v1,
|
||||
holybro_durandal-v1,
|
||||
holybro_kakutef7,
|
||||
holybro_kakuteh7,
|
||||
holybro_pix32v5,
|
||||
matek_gnss-m9n-f4,
|
||||
matek_h743,
|
||||
matek_h743-mini,
|
||||
matek_h743-slim,
|
||||
modalai_fc-v1,
|
||||
modalai_fc-v2,
|
||||
mro_ctrl-zero-f7,
|
||||
mro_ctrl-zero-f7-oem,
|
||||
mro_ctrl-zero-h7,
|
||||
mro_ctrl-zero-h7-oem,
|
||||
mro_pixracerpro,
|
||||
mro_x21,
|
||||
mro_x21-777,
|
||||
nxp_fmuk66-e,
|
||||
nxp_fmuk66-v3,
|
||||
nxp_fmurt1062-v1,
|
||||
nxp_mr-canhubk3,
|
||||
nxp_ucans32k146,
|
||||
omnibus_f4sd,
|
||||
px4_fmu-v2,
|
||||
px4_fmu-v3,
|
||||
px4_fmu-v4,
|
||||
px4_fmu-v4pro,
|
||||
px4_fmu-v5,
|
||||
px4_fmu-v5x,
|
||||
px4_fmu-v6c,
|
||||
px4_fmu-v6u,
|
||||
px4_fmu-v6x,
|
||||
raspberrypi_pico,
|
||||
sky-drones_smartap-airlink,
|
||||
spracing_h7extreme,
|
||||
uvify_core
|
||||
airmind_mindpx-v2_default,
|
||||
ark_can-flow_canbootloader,
|
||||
ark_can-flow_debug,
|
||||
ark_can-flow_default,
|
||||
av_x-v1_default,
|
||||
bitcraze_crazyflie21_default,
|
||||
bitcraze_crazyflie_default,
|
||||
cuav_can-gps-v1_canbootloader,
|
||||
cuav_can-gps-v1_debug,
|
||||
cuav_can-gps-v1_default,
|
||||
cuav_nora_default,
|
||||
cuav_x7pro_default,
|
||||
cubepilot_cubeorange_default,
|
||||
cubepilot_cubeorange_test,
|
||||
cubepilot_cubeyellow_default,
|
||||
cubepilot_cubeyellow_test,
|
||||
cubepilot_io-v2_default,
|
||||
holybro_can-gps-v1_canbootloader,
|
||||
holybro_can-gps-v1_debug,
|
||||
holybro_can-gps-v1_default,
|
||||
holybro_durandal-v1_default,
|
||||
holybro_kakutef7_default,
|
||||
holybro_pix32v5_default,
|
||||
modalai_fc-v1_default,
|
||||
modalai_fc-v1_rtps,
|
||||
mro_ctrl-zero-f7-oem_default,
|
||||
mro_ctrl-zero-f7_default,
|
||||
mro_ctrl-zero-h7-oem_default,
|
||||
mro_ctrl-zero-h7_default,
|
||||
mro_pixracerpro_default,
|
||||
mro_x21-777_default,
|
||||
mro_x21_default,
|
||||
nxp_fmuk66-e_default,
|
||||
nxp_fmuk66-e_rtps,
|
||||
nxp_fmuk66-e_socketcan,
|
||||
nxp_fmuk66-v3_default,
|
||||
nxp_fmuk66-v3_rtps,
|
||||
nxp_fmuk66-v3_socketcan,
|
||||
nxp_fmurt1062-v1_default,
|
||||
nxp_ucans32k146_canbootloader,
|
||||
nxp_ucans32k146_default,
|
||||
omnibus_f4sd_default,
|
||||
px4_fmu-v2_default,
|
||||
px4_fmu-v2_fixedwing,
|
||||
px4_fmu-v2_multicopter,
|
||||
px4_fmu-v2_rover,
|
||||
px4_fmu-v3_default,
|
||||
px4_fmu-v4_cannode,
|
||||
px4_fmu-v4_default,
|
||||
px4_fmu-v4pro_default,
|
||||
px4_fmu-v5_ctrlalloc,
|
||||
px4_fmu-v5_debug,
|
||||
px4_fmu-v5_default,
|
||||
px4_fmu-v5_fixedwing,
|
||||
px4_fmu-v5_multicopter,
|
||||
px4_fmu-v5_optimized,
|
||||
px4_fmu-v5_rover,
|
||||
px4_fmu-v5_rtps,
|
||||
px4_fmu-v5_stackcheck,
|
||||
px4_fmu-v5_uavcanv0periph,
|
||||
px4_fmu-v5_uavcanv1,
|
||||
px4_fmu-v5x_base_phy_DP83848C,
|
||||
px4_fmu-v5x_default,
|
||||
px4_fmu-v6u_default,
|
||||
px4_fmu-v6x_default,
|
||||
px4_io-v2_default,
|
||||
spracing_h7extreme_default,
|
||||
uvify_core_default
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -94,15 +107,13 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 120M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make all_variants_${{matrix.config}}
|
||||
run: make all_variants_${{matrix.config}}
|
||||
timeout-minutes: 45
|
||||
- name: make ${{matrix.config}}
|
||||
run: make ${{matrix.config}}
|
||||
- name: make ${{matrix.config}} bloaty_compileunits
|
||||
run: make ${{matrix.config}} bloaty_compileunits || true
|
||||
- name: make ${{matrix.config}} bloaty_inlines
|
||||
@@ -121,9 +132,7 @@ jobs:
|
||||
run: ccache -s
|
||||
|
||||
- name: Upload px4 package
|
||||
uses: actions/upload-artifact@v2
|
||||
uses: actions/upload-artifact@v1
|
||||
with:
|
||||
name: px4_package_${{matrix.config}}
|
||||
path: |
|
||||
build/**/*.px4
|
||||
build/**/*.bin
|
||||
path: build/${{matrix.config}}/${{matrix.config}}.px4
|
||||
|
||||
@@ -0,0 +1,61 @@
|
||||
name: NuttX UAVCAN firmware
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
ark_can-flow_default,
|
||||
cuav_can-gps-v1_default,
|
||||
holybro_can-gps-v1_default,
|
||||
#nxp_ucans32k146_default,
|
||||
px4_fmu-v4_cannode
|
||||
]
|
||||
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: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: ${{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 = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make ${{matrix.config}}
|
||||
run: make ${{matrix.config}}
|
||||
|
||||
- name: ccache post-run
|
||||
run: ccache -s
|
||||
|
||||
- name: Upload px4 package
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: px4_cannode_${{matrix.config}}
|
||||
path: build/${{matrix.config}}/*.uavcan.bin
|
||||
@@ -0,0 +1,31 @@
|
||||
name: Build and publish Docker image
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
- 'github-actions'
|
||||
|
||||
jobs:
|
||||
docker:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Login to GitHub Container Registry
|
||||
uses: docker/login-action@v1
|
||||
with:
|
||||
registry: ghcr.io
|
||||
username: ${{ github.repository_owner }}
|
||||
password: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Build and push
|
||||
uses: docker/build-push-action@v2
|
||||
with:
|
||||
context: .
|
||||
platforms: linux/amd64
|
||||
push: true
|
||||
tags: |
|
||||
px4/px4-dev:latest
|
||||
ghcr.io/px4/px4-dev:latest
|
||||
|
||||
- name: Image digest
|
||||
run: echo ${{ steps.docker_build.outputs.digest }}
|
||||
@@ -3,14 +3,13 @@ name: Deploy metadata for all targets
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'master'
|
||||
- 'release/*'
|
||||
- 'pr-metadata-test'
|
||||
|
||||
jobs:
|
||||
enumerate_targets:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
outputs:
|
||||
matrix: ${{ steps.set-matrix.outputs.matrix }}
|
||||
steps:
|
||||
@@ -24,22 +23,46 @@ jobs:
|
||||
needs: enumerate_targets
|
||||
strategy:
|
||||
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-04-29
|
||||
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: ${{matrix.target}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: ${{matrix.target}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make ${{matrix.target}}
|
||||
run: make ${{matrix.target}}
|
||||
- name: ccache post-run
|
||||
run: ccache -s
|
||||
|
||||
- name: parameter & events metadata
|
||||
- name: parameter metadata
|
||||
run: |
|
||||
make ${{matrix.target}} ver_gen events_json actuators_json
|
||||
make ${{matrix.target}} ver_gen
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
|
||||
cd build/${{ matrix.target }}
|
||||
mkdir _metadata || true
|
||||
cp parameters.* events/*.xz actuators.json* _metadata
|
||||
cp parameters.* _metadata
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
|
||||
@@ -1,21 +0,0 @@
|
||||
name: EKF Change Indicator
|
||||
|
||||
on: pull_request
|
||||
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v2.3.1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- name: checkout newest version of branch
|
||||
run: |
|
||||
git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
|
||||
git checkout ${GITHUB_HEAD_REF}
|
||||
- name: main test
|
||||
run: make tests TESTFILTER=EKF
|
||||
- name: Check if there is a functional change
|
||||
run: git diff --exit-code
|
||||
working-directory: src/modules/ekf2/test/change_indication
|
||||
@@ -1,29 +0,0 @@
|
||||
name: EKF Update Change Indicator
|
||||
|
||||
on: push
|
||||
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
env:
|
||||
GIT_COMMITTER_EMAIL: bot@px4.io
|
||||
GIT_COMMITTER_NAME: PX4BuildBot
|
||||
steps:
|
||||
- uses: actions/checkout@v2.3.1
|
||||
with:
|
||||
fetch-depth: 0
|
||||
- name: main test updates change indication files
|
||||
run: make tests TESTFILTER=EKF
|
||||
- name: Check if there exists diff and save result in variable
|
||||
run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
|
||||
working-directory: src/modules/ekf2/test/change_indication
|
||||
- name: auto-commit any changes to change indication
|
||||
uses: stefanzweifel/git-auto-commit-action@v4
|
||||
with:
|
||||
commit_message: '[AUTO COMMIT] update change indication'
|
||||
commit_user_name: ${GIT_COMMITTER_NAME}
|
||||
commit_user_email: ${GIT_COMMITTER_EMAIL}
|
||||
- if: ${{env.CHANGE_INDICATED}}
|
||||
name: if there is a functional change, fail check
|
||||
run: exit 1
|
||||
@@ -1,44 +0,0 @@
|
||||
name: Failsafe Simulator Build
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
defaults:
|
||||
run:
|
||||
shell: bash
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
check: [
|
||||
"failsafe_web",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: install emscripten
|
||||
run: |
|
||||
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
|
||||
cd _emscripten_sdk
|
||||
./emsdk install latest
|
||||
./emsdk activate latest
|
||||
- name: ${{matrix.check}}
|
||||
run: |
|
||||
. ./_emscripten_sdk/emsdk_env.sh
|
||||
make ${{matrix.check}}
|
||||
@@ -3,7 +3,7 @@ name: MAVROS Mission Tests
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
@@ -25,7 +25,7 @@ jobs:
|
||||
#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
image: px4io/px4-dev-ros-melodic:2021-04-29
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -49,9 +49,8 @@ jobs:
|
||||
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 "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
@@ -59,13 +58,13 @@ jobs:
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: Build PX4 and sitl_gazebo-classic
|
||||
- name: Build PX4 and sitl_gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
ccache -z
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo-classic
|
||||
make px4_sitl_default sitl_gazebo
|
||||
ccache -s
|
||||
|
||||
- name: Core dump settings
|
||||
@@ -79,7 +78,6 @@ jobs:
|
||||
run: |
|
||||
export
|
||||
./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
|
||||
@@ -3,7 +3,7 @@ name: MAVROS Offboard Tests
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
@@ -20,7 +20,7 @@ jobs:
|
||||
#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
image: px4io/px4-dev-ros-melodic:2021-04-29
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -44,9 +44,8 @@ jobs:
|
||||
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 "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
@@ -54,13 +53,13 @@ jobs:
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: Build PX4 and sitl_gazebo-classic
|
||||
- name: Build PX4 and sitl_gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
ccache -z
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo-classic
|
||||
make px4_sitl_default sitl_gazebo
|
||||
ccache -s
|
||||
|
||||
- name: Core dump settings
|
||||
@@ -74,7 +73,6 @@ jobs:
|
||||
run: |
|
||||
export
|
||||
./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
|
||||
@@ -3,7 +3,7 @@ name: Metadata
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'master'
|
||||
- 'release/*'
|
||||
- 'pr-metadata-test'
|
||||
|
||||
@@ -11,7 +11,7 @@ jobs:
|
||||
|
||||
airframe:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -20,24 +20,13 @@ jobs:
|
||||
- name: airframe metadata
|
||||
run: |
|
||||
make airframe_metadata
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
|
||||
cd build/px4_sitl_default/docs
|
||||
# TODO: deploy to userguide gitbook
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/px4_sitl_default/docs/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
|
||||
ls -ls *
|
||||
# TODO: deploy to userguide gitbook and s3
|
||||
|
||||
module:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -52,7 +41,7 @@ jobs:
|
||||
|
||||
parameter:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -74,36 +63,9 @@ jobs:
|
||||
SOURCE_DIR: 'build/px4_sitl_default/docs/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
|
||||
|
||||
events:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: events metadata
|
||||
run: |
|
||||
make extract_events
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
|
||||
cd build/px4_sitl_default
|
||||
mkdir _events_full || true
|
||||
cp events/all_events_full.json.xz _events_full/all_events.json.xz
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
|
||||
|
||||
uorb_graph:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -116,16 +78,42 @@ jobs:
|
||||
ls -ls *
|
||||
# TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
|
||||
|
||||
ROS2_msgs:
|
||||
micrortps_agent:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: PX4 ROS2 msgs
|
||||
- name: microRTPS agent
|
||||
run: |
|
||||
make px4_sitl_rtps
|
||||
git clone https://github.com/PX4/micrortps_agent.git
|
||||
cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
|
||||
|
||||
ROS_msgs:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: PX4 ROS msgs
|
||||
run: |
|
||||
git clone https://github.com/PX4/px4_msgs.git
|
||||
rm px4_msgs/msg/*.msg
|
||||
cp msg/*.msg px4_msgs/msg/
|
||||
python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
|
||||
|
||||
ROS2_bridge:
|
||||
runs-on: ubuntu-latest
|
||||
container: ghcr.io/px4/px4-dev:2021-05-06
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: PX4 ROS2 bridge
|
||||
run: |
|
||||
git clone https://github.com/PX4/px4_ros_com.git
|
||||
./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml
|
||||
|
||||
@@ -3,7 +3,7 @@ name: Python CI Checks
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
@@ -18,7 +18,7 @@ jobs:
|
||||
- name: Install Python3
|
||||
run: sudo apt-get install python3 python3-setuptools python3-pip -y
|
||||
- name: Install tools
|
||||
run: pip3 install --user mypy types-requests flake8
|
||||
run: pip3 install --user mypy flake8
|
||||
- name: Check MAVSDK test scripts with mypy
|
||||
run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
|
||||
- name: Check MAVSDK test scripts with flake8
|
||||
|
||||
@@ -3,7 +3,7 @@ name: SITL Tests
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
@@ -15,13 +15,12 @@ jobs:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {model: "iris", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska
|
||||
# - {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia
|
||||
- {model: "tailsitter" , latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo" } # Florida
|
||||
- {model: "standard_vtol", latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
|
||||
|
||||
- {latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo", model: "iris" } # Alaska
|
||||
- {latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
|
||||
- {latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo", model: "tailsitter" } # Florida
|
||||
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-09-08
|
||||
image: px4io/px4-dev-simulation-focal:2021-04-29
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -29,9 +28,9 @@ jobs:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Download MAVSDK
|
||||
run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
- name: Install MAVSDK
|
||||
run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
@@ -50,9 +49,8 @@ jobs:
|
||||
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 "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
@@ -74,14 +72,14 @@ jobs:
|
||||
- name: Build SITL Gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: make px4_sitl_default sitl_gazebo-classic
|
||||
- name: ccache post-run sitl_gazebo-classic
|
||||
run: make px4_sitl_default sitl_gazebo
|
||||
- name: ccache post-run sitl_gazebo
|
||||
run: ccache -s
|
||||
- name: Build MAVSDK tests
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
DONT_RUN: 1
|
||||
run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
|
||||
run: make px4_sitl_default gazebo mavsdk_tests
|
||||
- name: ccache post-run mavsdk_tests
|
||||
run: ccache -s
|
||||
|
||||
@@ -96,8 +94,7 @@ jobs:
|
||||
PX4_HOME_LON: ${{matrix.config.longitude}}
|
||||
PX4_HOME_ALT: ${{matrix.config.altitude}}
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
|
||||
timeout-minutes: 45
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
|
||||
@@ -1,20 +0,0 @@
|
||||
name: 'Close stale issues and PRs'
|
||||
on:
|
||||
schedule:
|
||||
- cron: '30 1 * * *'
|
||||
|
||||
jobs:
|
||||
stale:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/stale@v4.1.1
|
||||
with:
|
||||
stale-issue-message: 'This issue is stale because it has been open 30 days with no activity. Remove stale label or comment or this will be closed in 5 days.'
|
||||
stale-pr-message: 'This PR is stale because it has been open 45 days with no activity. Remove stale label or comment or this will be closed in 10 days.'
|
||||
close-issue-message: 'This issue was closed because it has been stalled for 5 days with no activity.'
|
||||
close-pr-message: 'This PR was closed because it has been stalled for 10 days with no activity.'
|
||||
days-before-issue-stale: 30
|
||||
days-before-pr-stale: 45
|
||||
days-before-issue-close: 5
|
||||
days-before-pr-close: 10
|
||||
debug-only: true
|
||||
+4
-4
@@ -93,6 +93,7 @@ rules.ninja
|
||||
/googletest-*/
|
||||
/logs
|
||||
/mavsdk_tests
|
||||
/test_mixer_multirotor
|
||||
/unit-*
|
||||
/uORB/
|
||||
DartConfiguration.tcl
|
||||
@@ -104,7 +105,6 @@ src/lib/version/build_git_version.h
|
||||
src/modules/simulator/simulator_config.h
|
||||
src/systemcmds/topic_listener/listener_generated.cpp
|
||||
|
||||
!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
|
||||
|
||||
# colcon
|
||||
log/
|
||||
# SITL
|
||||
dataman
|
||||
eeprom/
|
||||
|
||||
+52
-47
@@ -1,64 +1,69 @@
|
||||
[submodule "src/modules/mavlink/mavlink"]
|
||||
path = src/modules/mavlink/mavlink
|
||||
url = https://github.com/mavlink/mavlink.git
|
||||
[submodule "mavlink/include/mavlink/v2.0"]
|
||||
path = mavlink/include/mavlink/v2.0
|
||||
url = https://github.com/mavlink/c_library_v2.git
|
||||
branch = master
|
||||
[submodule "src/drivers/uavcan/libuavcan"]
|
||||
path = src/drivers/uavcan/libuavcan
|
||||
url = https://github.com/dronecan/libuavcan.git
|
||||
branch = main
|
||||
[submodule "Tools/simulation/jmavsim/jMAVSim"]
|
||||
path = Tools/simulation/jmavsim/jMAVSim
|
||||
url = https://github.com/PX4/libuavcan.git
|
||||
branch = px4
|
||||
[submodule "Tools/jMAVSim"]
|
||||
path = Tools/jMAVSim
|
||||
url = https://github.com/PX4/jMAVSim.git
|
||||
branch = main
|
||||
[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
|
||||
path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
|
||||
url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
|
||||
branch = main
|
||||
branch = master
|
||||
[submodule "Tools/sitl_gazebo"]
|
||||
path = Tools/sitl_gazebo
|
||||
url = https://github.com/PX4/PX4-SITL_gazebo.git
|
||||
branch = master
|
||||
[submodule "src/lib/matrix"]
|
||||
path = src/lib/matrix
|
||||
url = https://github.com/PX4/PX4-Matrix.git
|
||||
branch = master
|
||||
[submodule "src/lib/ecl"]
|
||||
path = src/lib/ecl
|
||||
url = https://github.com/PX4/PX4-ECL.git
|
||||
branch = master
|
||||
[submodule "boards/atlflight/cmake_hexagon"]
|
||||
path = boards/atlflight/cmake_hexagon
|
||||
url = https://github.com/PX4/cmake_hexagon.git
|
||||
branch = px4
|
||||
[submodule "src/drivers/gps/devices"]
|
||||
path = src/drivers/gps/devices
|
||||
url = https://github.com/PX4/PX4-GPSDrivers.git
|
||||
branch = main
|
||||
branch = master
|
||||
[submodule "src/modules/micrortps_bridge/micro-CDR"]
|
||||
path = src/modules/micrortps_bridge/micro-CDR
|
||||
url = https://github.com/PX4/Micro-CDR.git
|
||||
branch = master
|
||||
[submodule "platforms/nuttx/NuttX/nuttx"]
|
||||
path = platforms/nuttx/NuttX/nuttx
|
||||
url = https://github.com/PX4/NuttX.git
|
||||
branch = px4_firmware_nuttx-10.3.0+
|
||||
branch = px4_firmware_nuttx-10.0.0+
|
||||
[submodule "platforms/nuttx/NuttX/apps"]
|
||||
path = platforms/nuttx/NuttX/apps
|
||||
url = https://github.com/PX4/NuttX-apps.git
|
||||
branch = px4_firmware_nuttx-10.3.0+
|
||||
branch = px4_firmware_nuttx-10.0.0+
|
||||
[submodule "platforms/qurt/dspal"]
|
||||
path = platforms/qurt/dspal
|
||||
url = https://github.com/ATLFlight/dspal.git
|
||||
[submodule "Tools/flightgear_bridge"]
|
||||
path = Tools/simulation/flightgear/flightgear_bridge
|
||||
path = Tools/flightgear_bridge
|
||||
url = https://github.com/PX4/PX4-FlightGear-Bridge.git
|
||||
[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]
|
||||
path = Tools/simulation/jsbsim/jsbsim_bridge
|
||||
[submodule "Tools/jsbsim_bridge"]
|
||||
path = Tools/jsbsim_bridge
|
||||
url = https://github.com/PX4/px4-jsbsim-bridge.git
|
||||
[submodule "src/drivers/cyphal/libcanard"]
|
||||
path = src/drivers/cyphal/libcanard
|
||||
url = https://github.com/opencyphal/libcanard.git
|
||||
[submodule "src/drivers/cyphal/public_regulated_data_types"]
|
||||
path = src/drivers/cyphal/public_regulated_data_types
|
||||
url = https://github.com/opencyphal/public_regulated_data_types.git
|
||||
[submodule "src/drivers/cyphal/legacy_data_types"]
|
||||
path = src/drivers/cyphal/legacy_data_types
|
||||
url = https://github.com/PX4/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcan_v1/libcanard"]
|
||||
path = src/drivers/uavcan_v1/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard.git
|
||||
[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
|
||||
path = src/drivers/uavcan_v1/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
|
||||
path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
|
||||
path = src/drivers/uavcannode_gps_demo/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard.git
|
||||
[submodule "src/drivers/uavcan_v1/legacy_data_types"]
|
||||
path = src/drivers/uavcan_v1/legacy_data_types
|
||||
url = https://github.com/px4/public_regulated_data_types/
|
||||
branch = legacy
|
||||
[submodule "src/lib/crypto/monocypher"]
|
||||
path = src/lib/crypto/monocypher
|
||||
url = https://github.com/PX4/Monocypher.git
|
||||
branch = px4
|
||||
[submodule "src/lib/events/libevents"]
|
||||
path = src/lib/events/libevents
|
||||
url = https://github.com/mavlink/libevents.git
|
||||
branch = main
|
||||
[submodule "src/lib/crypto/libtomcrypt"]
|
||||
path = src/lib/crypto/libtomcrypt
|
||||
url = https://github.com/PX4/libtomcrypt.git
|
||||
branch = px4
|
||||
[submodule "src/lib/crypto/libtommath"]
|
||||
path = src/lib/crypto/libtommath
|
||||
url = https://github.com/PX4/libtommath.git
|
||||
branch = px4
|
||||
[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
|
||||
path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
|
||||
url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
|
||||
branch = px4
|
||||
|
||||
+1
-1
@@ -11,7 +11,7 @@ matrix:
|
||||
dist: xenial
|
||||
# In order to stay under the coverity rate limit, we only run this weekly
|
||||
# and not on push which is configured in travis-ci settings.
|
||||
if: branch = main
|
||||
if: branch = master
|
||||
|
||||
before_install:
|
||||
- echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
|
||||
|
||||
@@ -4,11 +4,8 @@ compile_commands.json
|
||||
|
||||
# generated by cmake
|
||||
launch.json
|
||||
c_cpp_properties.json
|
||||
|
||||
# C/C++ extension does some local caching in this folder
|
||||
ipch/
|
||||
|
||||
browse.vc.db*
|
||||
|
||||
*.log
|
||||
|
||||
Vendored
+16
@@ -0,0 +1,16 @@
|
||||
{
|
||||
"configurations": [
|
||||
{
|
||||
"name": "PX4",
|
||||
"includePath": [
|
||||
"${workspaceFolder}/**"
|
||||
],
|
||||
"defines": [],
|
||||
"macFrameworkPath": [],
|
||||
"configurationProvider": "ms-vscode.cmake-tools",
|
||||
"cppStandard": "c++14",
|
||||
"cStandard": "c11"
|
||||
}
|
||||
],
|
||||
"version": 4
|
||||
}
|
||||
Vendored
+2
-132
@@ -2,25 +2,10 @@ CONFIG:
|
||||
default: px4_sitl_default
|
||||
choices:
|
||||
px4_sitl_default:
|
||||
short: px4_sitl_default
|
||||
short: px4_sitl
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_nolockstep:
|
||||
short: px4_sitl_nolockstep
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_nolockstep
|
||||
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
|
||||
@@ -61,26 +46,11 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v5_default
|
||||
px4_fmu-v5_debug:
|
||||
short: px4_fmu-v5_debug
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v5_debug
|
||||
px4_fmu-v5x_default:
|
||||
short: px4_fmu-v5x
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v5x_default
|
||||
px4_fmu-v6x_default:
|
||||
short: px4_fmu-v6x
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v6x_default
|
||||
px4_fmu-v6x_bootloader:
|
||||
short: px4_fmu-v6x_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v6x_bootloader
|
||||
airmind_mindpx-v2_default:
|
||||
short: airmind_mindpx-v2
|
||||
buildType: MinSizeRel
|
||||
@@ -96,56 +66,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-flow_canbootloader
|
||||
ark_can-gps_default:
|
||||
short: ark_can-gps_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-gps_default
|
||||
ark_can-gps_canbootloader:
|
||||
short: ark_can-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-gps_canbootloader
|
||||
ark_can-rtk-gps_default:
|
||||
short: ark_can-rtk-gps_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-rtk-gps_default
|
||||
ark_can-rtk-gps_debug:
|
||||
short: ark_can-rtk-gps_debug
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-rtk-gps_debug
|
||||
ark_can-rtk-gps_canbootloader:
|
||||
short: ark_can-rtk-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-rtk-gps_canbootloader
|
||||
ark_cannode_default:
|
||||
short: ark_cannode_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_cannode_default
|
||||
ark_cannode_canbootloader:
|
||||
short: ark_cannode_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_cannode_canbootloader
|
||||
ark_fmu-v6x_bootloader:
|
||||
short: ark_fmu-v6x_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_fmu-v6x_bootloader
|
||||
ark_fmu-v6x_default:
|
||||
short: ark_fmu-v6x_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_fmu-v6x_default
|
||||
atl_mantis-edu_default:
|
||||
short: atl_mantis-edu
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: atl_mantis-edu_default
|
||||
av_x-v1_default:
|
||||
short: av_x-v1
|
||||
buildType: MinSizeRel
|
||||
@@ -180,22 +100,12 @@ CONFIG:
|
||||
short: cubepilot_cubeorange
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_cubeorange_test
|
||||
CONFIG: cubepilot_orange_test
|
||||
emlid_navio2_default:
|
||||
short: emlid_navio2
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: emlid_navio2_default
|
||||
freefly_can-rtk-gps_default:
|
||||
short: freefly_can-rtk-gps_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: freefly_can-rtk-gps_default
|
||||
freefly_can-rtk-gps_canbootloader:
|
||||
short: freefly_can-rtk-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: freefly_can-rtk-gps_canbootloader
|
||||
holybro_can-gps-v1_canbootloader:
|
||||
short: holybro_can-gps-v1_canbootloader
|
||||
buildType: MinSizeRel
|
||||
@@ -211,36 +121,11 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: holybro_durandal-v1_default
|
||||
matek_h743-slim_default:
|
||||
short: matek_h743-slim
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: matek_h743-slim_default
|
||||
matek_gnss-m9n-f4_canbootloader:
|
||||
short: matek_gnss-m9n-f4_canbootloader
|
||||
buildType: MiniSizeRel
|
||||
settings:
|
||||
CONFIG: matek_m9nf4can_canbootloader
|
||||
matek_gnss-m9n-f4_default:
|
||||
short: matek_gnss-m9n-f4_default
|
||||
buildType: MiniSizeRel
|
||||
settings:
|
||||
CONFIG: matek_gnss-m9n-f4_default
|
||||
modalai_fc-v1_default:
|
||||
short: modalai_fc-v1
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: modalai_fc-v1_default
|
||||
modalai_fc-v2_default:
|
||||
short: modalai_fc-v2
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: modalai_fc-v2_default
|
||||
modalai_voxl2-io_default:
|
||||
short: modalai_voxl2-io
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: modalai_voxl2-io_default
|
||||
mro_ctrl-zero-f7_default:
|
||||
short: mro_ctrl-zero-f7
|
||||
buildType: MinSizeRel
|
||||
@@ -266,18 +151,3 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_fmuk66-v3_default
|
||||
nxp_mr-canhubk3_default:
|
||||
short: nxp_mr-canhubk3_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-canhubk3_default
|
||||
nxp_mr-canhubk3_fmu:
|
||||
short: nxp_mr-canhubk3_fmu
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-canhubk3_fmu
|
||||
raspberrypi_pico_default:
|
||||
short: raspberrypi_pico
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: raspberrypi_pico_default
|
||||
|
||||
Vendored
+14
-4
@@ -2,6 +2,7 @@
|
||||
"astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
|
||||
"astyle.c.enable": true,
|
||||
"astyle.cpp.enable": true,
|
||||
"breadcrumbs.enabled": true,
|
||||
"C_Cpp.autoAddFileAssociations": false,
|
||||
"C_Cpp.clang_format_fallbackStyle": "none",
|
||||
"C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
|
||||
@@ -13,12 +14,14 @@
|
||||
"C_Cpp.workspaceParsingPriority": "low",
|
||||
"cmake.buildBeforeRun": true,
|
||||
"cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
|
||||
"cmake.buildTask": true,
|
||||
"cmake.configureOnOpen": true,
|
||||
"cmake.ctest.parallelJobs": 1,
|
||||
"cmake.skipConfigureIfCachePresent": true,
|
||||
"cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
|
||||
"cmakeExplorer.parallelJobs": 1,
|
||||
"cmakeExplorer.suiteDelimiter": "-",
|
||||
"cortex-debug.enableTelemetry": false,
|
||||
"cSpell.allowCompoundWords": true,
|
||||
"cSpell.diagnosticLevel": "Hint",
|
||||
"cSpell.showStatus": false,
|
||||
@@ -28,7 +31,9 @@
|
||||
"esc"
|
||||
],
|
||||
"debug.toolBarLocation": "docked",
|
||||
"editor.acceptSuggestionOnEnter": "off",
|
||||
"editor.defaultFormatter": "chiehyu.vscode-astyle",
|
||||
"editor.dragAndDrop": false,
|
||||
"editor.insertSpaces": false,
|
||||
"editor.minimap.maxColumn": 120,
|
||||
"editor.minimap.renderCharacters": false,
|
||||
@@ -116,15 +121,20 @@
|
||||
"utility": "cpp",
|
||||
"valarray": "cpp",
|
||||
"variant": "cpp",
|
||||
"vector": "cpp",
|
||||
"Jenkinsfile*": "groovy",
|
||||
"*.sdf": "xml"
|
||||
"vector": "cpp"
|
||||
},
|
||||
"search.exclude": {
|
||||
"${workspaceFolder}/build": true
|
||||
},
|
||||
"search.showLineNumbers": true,
|
||||
"terminal.integrated.scrollback": 15000,
|
||||
"telemetry.enableTelemetry": false,
|
||||
"terminal.integrated.copyOnSelection": true,
|
||||
"terminal.integrated.rightClickBehavior": "paste",
|
||||
"terminal.integrated.scrollback": 5000,
|
||||
"window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
|
||||
"workbench.editor.highlightModifiedTabs": true,
|
||||
"workbench.enableExperiments": false,
|
||||
"workbench.settings.enableNaturalLanguageSearch": false,
|
||||
"yaml.schemas": {
|
||||
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
|
||||
}
|
||||
|
||||
Vendored
+158
-95
@@ -50,64 +50,41 @@
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "jmavsim kill",
|
||||
"label": "jmavsim build",
|
||||
"type": "shell",
|
||||
"command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}') || true",
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
"command": "ant create_run_jar copy_res",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}/Tools/jMAVSim"
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"dependsOn":["px4_sitl_cleanup"]
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic build",
|
||||
"type": "shell",
|
||||
"command": "make px4_sitl_default sitl_gazebo-classic",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
"presentation": {
|
||||
"presentation":{
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
},
|
||||
"problemMatcher": [],
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic start",
|
||||
"label": "jmavsim",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo-classic build",
|
||||
"dependsOn": "jmavsim build",
|
||||
"command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}",
|
||||
"cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world",
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
@@ -128,28 +105,57 @@
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic",
|
||||
"label": "jmavsim kill",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo-classic start",
|
||||
"command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
|
||||
"presentation": {
|
||||
"echo": false,
|
||||
"reveal": "never",
|
||||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": []
|
||||
},
|
||||
{
|
||||
"label": "gazebo build",
|
||||
"type": "shell",
|
||||
"command": "make px4_sitl_default sitl_gazebo",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"presentation":{
|
||||
"echo": true,
|
||||
"reveal": "always",
|
||||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "gazebo start",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo build",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
|
||||
"isBackground": false,
|
||||
"command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
@@ -172,75 +178,109 @@
|
||||
{
|
||||
"label": "gazebo",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo start",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}",
|
||||
"env": {
|
||||
"IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gz sim -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "always",
|
||||
"revealProblems": "onProblem",
|
||||
"focus": true,
|
||||
"panel": "dedicated",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": false
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"dependsOn":["gazebo kill"]
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic kill",
|
||||
"type": "shell",
|
||||
"command": "pkill -9 -f gzserver || true",
|
||||
"command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
|
||||
"isBackground": false,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"dependsOn":["px4_sitl_cleanup"]
|
||||
"problemMatcher": [
|
||||
{
|
||||
"pattern": [
|
||||
{
|
||||
"regexp": ".",
|
||||
"file": 1,
|
||||
"location": 2,
|
||||
"message": 3
|
||||
}
|
||||
],
|
||||
"background": {
|
||||
"activeOnStart": true,
|
||||
"beginsPattern": ".",
|
||||
"endsPattern": ".",
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "gazebo client",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo build",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gzclient --verbose",
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"focus": false,
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
"pattern": [
|
||||
{
|
||||
"regexp": ".",
|
||||
"file": 1,
|
||||
"location": 2,
|
||||
"message": 3
|
||||
}
|
||||
],
|
||||
"background": {
|
||||
"activeOnStart": true,
|
||||
"beginsPattern": ".",
|
||||
"endsPattern": ".",
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "gazebo kill",
|
||||
"type": "shell",
|
||||
"command": "pkill -9 -f 'gz sim' || true",
|
||||
"command": "killall gzserver",
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"reveal": "silent",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"dependsOn":["px4_sitl_cleanup"]
|
||||
},
|
||||
|
||||
{
|
||||
"label": "px4_sitl_cleanup",
|
||||
"type": "shell",
|
||||
"command": "rm -rfv /tmp/px4* || true",
|
||||
"command": "rm -rfv /tmp/px4*",
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"reveal": "silent",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"dependsOn":["px4_kill"]
|
||||
@@ -248,16 +288,14 @@
|
||||
{
|
||||
"label": "px4_kill",
|
||||
"type": "shell",
|
||||
"command": "pkill -9 px4 || true",
|
||||
"command": "killall px4 || true",
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"revealProblems": "onProblem",
|
||||
"reveal": "silent",
|
||||
"focus": false,
|
||||
"panel": "dedicated",
|
||||
"panel": "shared",
|
||||
"showReuseMessage": false,
|
||||
"clear": false,
|
||||
"close": true
|
||||
"clear": false
|
||||
},
|
||||
"problemMatcher": []
|
||||
},
|
||||
@@ -299,12 +337,37 @@
|
||||
"inputs": [
|
||||
{
|
||||
"type": "pickString",
|
||||
"id": "gzWorld",
|
||||
"description": "gz world",
|
||||
"id": "vehicleModel",
|
||||
"description": "gazebo model",
|
||||
"options": [
|
||||
"default"
|
||||
"iris",
|
||||
"typhoon_h480",
|
||||
"plane",
|
||||
"plane_catapult",
|
||||
"plane_lidar",
|
||||
"standard_vtol",
|
||||
"tailsitter",
|
||||
"tiltrotor",
|
||||
"r1_rover",
|
||||
"boat"
|
||||
],
|
||||
"default": "default"
|
||||
"default": "iris"
|
||||
},
|
||||
{
|
||||
"type": "pickString",
|
||||
"id": "gazeboWorld",
|
||||
"description": "gazebo world",
|
||||
"options": [
|
||||
"baylands",
|
||||
"empty",
|
||||
"ksql_airport",
|
||||
"mcmillan_airfield",
|
||||
"sonoma_raceway",
|
||||
"warehouse",
|
||||
"windy",
|
||||
"yosemite"
|
||||
],
|
||||
"default": "empty"
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
+71
-95
@@ -1,6 +1,6 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
|
||||
# Copyright (c) 2017 - 2019 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
@@ -40,7 +40,7 @@
|
||||
# * Common functions should be included in px_base.cmake.
|
||||
#
|
||||
# * OS/ board specific fucntions should be include in
|
||||
# px_impl_${PX4_PLATFORM}.cmake
|
||||
# px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
|
||||
#
|
||||
# Formatting
|
||||
# ---------------------------------------------------------------------------
|
||||
@@ -99,10 +99,10 @@
|
||||
#
|
||||
#=============================================================================
|
||||
|
||||
cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
|
||||
cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
|
||||
|
||||
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
|
||||
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
|
||||
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
|
||||
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
|
||||
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
|
||||
include(px4_parse_function_args)
|
||||
@@ -118,76 +118,33 @@ execute_process(
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
)
|
||||
|
||||
# git describe to X.Y.Z version
|
||||
string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
|
||||
|
||||
# major version
|
||||
list(GET VERSION_LIST 0 PX4_VERSION_MAJOR)
|
||||
string(REPLACE "v" "" PX4_VERSION_MAJOR ${PX4_VERSION_MAJOR})
|
||||
# minor version
|
||||
list(GET VERSION_LIST 1 PX4_VERSION_MINOR)
|
||||
# patch version
|
||||
list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
|
||||
string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
|
||||
list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
|
||||
|
||||
message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
|
||||
message(STATUS "PX4 version: ${PX4_GIT_TAG}")
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
|
||||
BRIEF_DOCS "PX4 module libs"
|
||||
FULL_DOCS "List of all PX4 module libraries"
|
||||
)
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
|
||||
BRIEF_DOCS "PX4 kernel side module libs"
|
||||
FULL_DOCS "List of all PX4 kernel module libraries"
|
||||
)
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
|
||||
BRIEF_DOCS "PX4 module paths"
|
||||
FULL_DOCS "List of paths to all PX4 modules"
|
||||
)
|
||||
define_property(GLOBAL PROPERTY PX4_SRC_FILES
|
||||
BRIEF_DOCS "src files from all PX4 modules & libs"
|
||||
FULL_DOCS "SRC files from px4_add_{module,library}"
|
||||
)
|
||||
|
||||
#=============================================================================
|
||||
# configuration
|
||||
#
|
||||
|
||||
set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
|
||||
|
||||
include(px4_add_module)
|
||||
set(config_module_list)
|
||||
set(config_kernel_list)
|
||||
|
||||
# Find Python
|
||||
find_package(PythonInterp 3)
|
||||
# We have a custom error message to tell users how to install python3.
|
||||
if(NOT PYTHONINTERP_FOUND)
|
||||
message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
|
||||
" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
|
||||
" macOS: brew install python")
|
||||
endif()
|
||||
|
||||
option(PYTHON_COVERAGE "Python code coverage" OFF)
|
||||
if(PYTHON_COVERAGE)
|
||||
message(STATUS "python coverage enabled")
|
||||
set(PYTHON_EXECUTABLE coverage run -p)
|
||||
endif()
|
||||
|
||||
include(px4_config)
|
||||
include(kconfig)
|
||||
include(px4_add_board)
|
||||
include(${PX4_CONFIG_FILE})
|
||||
message(STATUS "PX4 config: ${PX4_CONFIG}")
|
||||
message(STATUS "PX4 platform: ${PX4_PLATFORM}")
|
||||
|
||||
if($ENV{CLION_IDE})
|
||||
# CLion automatically executes some compiler commands after configuring the
|
||||
# project. This would fail on NuttX, as visibility.h tries to (indirectly)
|
||||
# include nuttx/config.h, which at that point does not exist yet
|
||||
add_definitions(-DPX4_DISABLE_GCC_POISON)
|
||||
endif()
|
||||
|
||||
if(${PX4_PLATFORM} STREQUAL "posix")
|
||||
if(ENABLE_LOCKSTEP_SCHEDULER)
|
||||
add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
|
||||
@@ -213,11 +170,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
|
||||
include(init)
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# project definition
|
||||
#
|
||||
project(px4 CXX C ASM)
|
||||
|
||||
# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
|
||||
if(NOT CMAKE_BUILD_TYPE)
|
||||
if(${PX4_PLATFORM} STREQUAL "nuttx")
|
||||
@@ -246,13 +198,10 @@ endif()
|
||||
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
|
||||
message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
|
||||
|
||||
# Check if LTO option and check if toolchain supports it
|
||||
if(LTO)
|
||||
include(CheckIPOSupported)
|
||||
check_ipo_supported()
|
||||
message(AUTHOR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production")
|
||||
set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
|
||||
endif()
|
||||
#=============================================================================
|
||||
# project definition
|
||||
#
|
||||
project(px4 CXX C ASM)
|
||||
|
||||
set(package-contact "px4users@googlegroups.com")
|
||||
|
||||
@@ -262,9 +211,15 @@ set(CMAKE_C_STANDARD 11)
|
||||
set(CMAKE_C_STANDARD_REQUIRED ON)
|
||||
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
|
||||
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
|
||||
# For the catkin build process, unset build of dynamically-linked binaries
|
||||
# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
|
||||
if (NOT CATKIN_DEVEL_PREFIX)
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
|
||||
else()
|
||||
SET(BUILD_SHARED_LIBS OFF)
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
|
||||
@@ -296,10 +251,7 @@ if(${PX4_PLATFORM} STREQUAL "posix")
|
||||
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
||||
set(CMAKE_ENABLE_EXPORTS ON)
|
||||
|
||||
if(CMAKE_BUILD_TYPE MATCHES "Coverage")
|
||||
include(coverage)
|
||||
endif()
|
||||
|
||||
include(coverage)
|
||||
include(sanitizers)
|
||||
|
||||
# Define GNU standard installation directories
|
||||
@@ -312,6 +264,42 @@ endif()
|
||||
|
||||
include(ccache)
|
||||
|
||||
#=============================================================================
|
||||
# find programs and packages
|
||||
#
|
||||
|
||||
# see if catkin was invoked to build this
|
||||
if (CATKIN_DEVEL_PREFIX)
|
||||
message(STATUS "catkin ENABLED")
|
||||
find_package(catkin REQUIRED)
|
||||
if (catkin_FOUND)
|
||||
catkin_package()
|
||||
else()
|
||||
message(FATAL_ERROR "catkin not found")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# Python
|
||||
# If using catkin, Python 2 is found since it points
|
||||
# to the Python libs installed with the ROS distro
|
||||
if (NOT CATKIN_DEVEL_PREFIX)
|
||||
find_package(PythonInterp 3)
|
||||
# We have a custom error message to tell users how to install python3.
|
||||
if (NOT PYTHONINTERP_FOUND)
|
||||
message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
|
||||
" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
|
||||
" macOS: brew install python")
|
||||
endif()
|
||||
else()
|
||||
find_package(PythonInterp REQUIRED)
|
||||
endif()
|
||||
|
||||
option(PYTHON_COVERAGE "Python code coverage" OFF)
|
||||
if(PYTHON_COVERAGE)
|
||||
message(STATUS "python coverage enabled")
|
||||
set(PYTHON_EXECUTABLE coverage run -p)
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# get chip and chip manufacturer
|
||||
#
|
||||
@@ -402,6 +390,7 @@ if(BUILD_TESTING)
|
||||
DEPENDS
|
||||
px4
|
||||
examples__dyn_hello
|
||||
test_mixer_multirotor
|
||||
USES_TERMINAL
|
||||
COMMENT "Running tests"
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR})
|
||||
@@ -413,7 +402,6 @@ endif()
|
||||
# subdirectories
|
||||
#
|
||||
add_library(parameters_interface INTERFACE)
|
||||
add_library(kernel_parameters_interface INTERFACE)
|
||||
|
||||
include(px4_add_library)
|
||||
add_subdirectory(src/lib EXCLUDE_FROM_ALL)
|
||||
@@ -429,20 +417,9 @@ foreach(module ${config_module_list})
|
||||
add_subdirectory(src/${module})
|
||||
endforeach()
|
||||
|
||||
# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
|
||||
add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
|
||||
# metadata needs PX4_MODULE_CONFIG_FILES
|
||||
add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
|
||||
|
||||
# must be the last module before firmware
|
||||
add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
|
||||
|
||||
if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
|
||||
target_link_libraries(parameters_interface INTERFACE usr_parameters)
|
||||
target_link_libraries(kernel_parameters_interface INTERFACE parameters)
|
||||
else()
|
||||
target_link_libraries(parameters_interface INTERFACE parameters)
|
||||
endif()
|
||||
target_link_libraries(parameters_interface INTERFACE parameters)
|
||||
|
||||
# firmware added last to generate the builtin for included modules
|
||||
add_subdirectory(platforms/${PX4_PLATFORM})
|
||||
@@ -459,10 +436,8 @@ endforeach()
|
||||
|
||||
add_custom_command(OUTPUT ${uorb_graph_config}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
|
||||
${graph_module_list} --src-path src/lib
|
||||
--merge-depends
|
||||
${graph_module_list}
|
||||
--exclude-path src/examples
|
||||
--exclude-path src/lib/parameters # FIXME: enable & fix
|
||||
--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
COMMENT "Generating uORB graph"
|
||||
@@ -470,20 +445,21 @@ add_custom_command(OUTPUT ${uorb_graph_config}
|
||||
add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
|
||||
|
||||
|
||||
include(bloaty)
|
||||
|
||||
|
||||
include(doxygen)
|
||||
include(metadata)
|
||||
include(package)
|
||||
|
||||
# print size
|
||||
add_custom_target(size
|
||||
COMMAND size $<TARGET_FILE:px4>
|
||||
DEPENDS px4
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
# install python requirements using configured python
|
||||
add_custom_target(install_python_requirements
|
||||
COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
|
||||
include(finalize)
|
||||
endif()
|
||||
|
||||
+2
-2
@@ -8,7 +8,7 @@ First [fork and clone](https://help.github.com/articles/fork-a-repo) the project
|
||||
|
||||
### Create a feature branch
|
||||
|
||||
*Always* branch off main for new features.
|
||||
*Always* branch off master for new features.
|
||||
|
||||
```
|
||||
git checkout -b mydescriptivebranchname
|
||||
@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname
|
||||
|
||||
### Edit and build the code
|
||||
|
||||
The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.
|
||||
The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
|
||||
|
||||
### Commit your changes
|
||||
|
||||
|
||||
+29
@@ -0,0 +1,29 @@
|
||||
#
|
||||
# PX4 development environment
|
||||
#
|
||||
|
||||
FROM ubuntu:20.04
|
||||
LABEL maintainer="Daniel Agar <daniel@agar.ca>"
|
||||
|
||||
COPY Tools/setup/ubuntu.sh /tmp/ubuntu.sh
|
||||
COPY Tools/setup/requirements.txt /tmp/requirements.txt
|
||||
RUN DEBIAN_FRONTEND=noninteractive /tmp/ubuntu.sh --no-sim-tools \
|
||||
&& apt-get -y autoremove \
|
||||
&& apt-get clean autoclean \
|
||||
&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
|
||||
|
||||
# create user with id 1001 (jenkins docker workflow default)
|
||||
RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
|
||||
|
||||
ENV CCACHE_UMASK=000
|
||||
ENV PATH="/usr/lib/ccache:$PATH"
|
||||
|
||||
# SITL UDP PORTS
|
||||
EXPOSE 14556/udp
|
||||
EXPOSE 14557/udp
|
||||
|
||||
# create and start as LOCAL_USER_ID
|
||||
COPY Tools/setup/entrypoint.sh /usr/local/bin/entrypoint.sh
|
||||
ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
|
||||
|
||||
CMD ["/bin/bash"]
|
||||
@@ -829,6 +829,7 @@ RECURSIVE = YES
|
||||
# run.
|
||||
|
||||
EXCLUDE = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
|
||||
@CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
|
||||
@CMAKE_SOURCE_DIR@/src/examples \
|
||||
@CMAKE_SOURCE_DIR@/src/templates
|
||||
|
||||
|
||||
Vendored
+186
-96
@@ -7,19 +7,88 @@ pipeline {
|
||||
stage('Analysis') {
|
||||
when {
|
||||
anyOf {
|
||||
branch 'main'
|
||||
branch 'master' // should be removed, but in case there is something going on...
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
parallel {
|
||||
// stage('Catkin build on ROS workspace') {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-ros-melodic:2021-04-29'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
// }
|
||||
// }
|
||||
// steps {
|
||||
// sh 'ls -l'
|
||||
// sh '''#!/bin/bash -l
|
||||
// echo $0;
|
||||
// mkdir -p catkin_ws/src;
|
||||
// cd catkin_ws;
|
||||
// git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
|
||||
// git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
|
||||
// git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
|
||||
// source /opt/ros/melodic/setup.bash;
|
||||
// export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
|
||||
// catkin init;
|
||||
// catkin build -j$(nproc) -l$(nproc);
|
||||
// '''
|
||||
// // test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
|
||||
// sh '''#!/bin/bash -l
|
||||
// echo $0;
|
||||
// source catkin_ws/devel/setup.bash;
|
||||
// rostest px4 pub_test.launch;
|
||||
// '''
|
||||
// }
|
||||
// post {
|
||||
// always {
|
||||
// sh 'rm -rf catkin_ws'
|
||||
// }
|
||||
// failure {
|
||||
// archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
|
||||
// }
|
||||
// }
|
||||
// options {
|
||||
// checkoutToSubdirectory('catkin_ws/src/Firmware')
|
||||
// }
|
||||
// }
|
||||
|
||||
stage('Colcon build on ROS2 workspace') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros2-foxy:2021-04-29'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'ls -l'
|
||||
sh '''#!/bin/bash -l
|
||||
echo $0;
|
||||
unset ROS_DISTRO;
|
||||
mkdir -p colcon_ws/src;
|
||||
cd colcon_ws;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
|
||||
source /opt/ros/foxy/setup.sh;
|
||||
colcon build --event-handlers console_direct+ --symlink-install;
|
||||
'''
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'rm -rf colcon_ws'
|
||||
}
|
||||
}
|
||||
options {
|
||||
checkoutToSubdirectory('colcon_ws/src/Firmware')
|
||||
}
|
||||
}
|
||||
|
||||
stage('Airframe') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make airframe_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -29,17 +98,17 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('Parameter') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make parameters_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -49,17 +118,17 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('Module') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make module_documentation'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -69,55 +138,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('msg file docs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
|
||||
dir('build') {
|
||||
archiveArtifacts(artifacts: 'msg_docs/*.md')
|
||||
stash includes: 'msg_docs/*.md', name: 'msg_documentation'
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('failsafe docs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh '''#!/bin/bash -l
|
||||
echo $0;
|
||||
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
|
||||
cd _emscripten_sdk;
|
||||
./emsdk install latest;
|
||||
./emsdk activate latest;
|
||||
cd ..;
|
||||
. ./_emscripten_sdk/emsdk_env.sh;
|
||||
make failsafe_web;
|
||||
cd build/px4_sitl_default_failsafe_web;
|
||||
mkdir -p failsafe_sim;
|
||||
cp index.* parameters.json failsafe_sim;
|
||||
'''
|
||||
dir('build/px4_sitl_default_failsafe_web') {
|
||||
archiveArtifacts(artifacts: 'failsafe_sim/*')
|
||||
stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -125,23 +146,23 @@ pipeline {
|
||||
stage('uORB graphs') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-08-18'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make uorb_graphs'
|
||||
dir('Tools/uorb_graph') {
|
||||
archiveArtifacts(artifacts: 'graph_*.json')
|
||||
stash includes: 'graph_*.json', name: 'uorb_graph'
|
||||
archiveArtifacts(artifacts: 'graph_px4_sitl.json')
|
||||
stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -155,33 +176,26 @@ pipeline {
|
||||
|
||||
stage('Userguide') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
unstash 'metadata_airframes'
|
||||
unstash 'metadata_parameters'
|
||||
unstash 'metadata_module_documentation'
|
||||
unstash 'msg_documentation'
|
||||
unstash 'failsafe_sim'
|
||||
unstash 'uorb_graph'
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
|
||||
sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
|
||||
sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
|
||||
sh('cp -R modules/*.md PX4-user_guide/en/modules/')
|
||||
sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
|
||||
sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
|
||||
sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
|
||||
sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
|
||||
sh('cd PX4-user_guide; git push origin main || true')
|
||||
sh('rm -rf PX4-user_guide')
|
||||
sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
|
||||
sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
|
||||
sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
|
||||
sh('cp -R modules/*.md px4_user_guide/en/modules/')
|
||||
sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
|
||||
sh('cd px4_user_guide; git push origin master || true')
|
||||
sh('rm -rf px4_user_guide')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'main'
|
||||
branch 'master' // should be removed, but in case there is something going on...
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
@@ -192,7 +206,7 @@ pipeline {
|
||||
|
||||
stage('QGroundControl') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -209,8 +223,7 @@ pipeline {
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'main'
|
||||
branch 'master' // should be removed, but in case there is something going on...
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
@@ -219,33 +232,111 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('PX4 ROS msgs') {
|
||||
stage('microRTPS agent') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('git fetch --all --tags')
|
||||
sh('make distclean')
|
||||
sh('make px4_sitl_rtps')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
|
||||
sh("rm -rf micrortps_agent/src micrortps_agent/idl")
|
||||
sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
|
||||
sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
|
||||
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
|
||||
sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
|
||||
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
|
||||
sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
|
||||
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
|
||||
sh('rm -rf micrortps_agent')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('PX4 ROS msgs') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
|
||||
// 'main' branch
|
||||
sh('rm -f px4_msgs/msg/*.msg')
|
||||
sh('cp msg/*.msg px4_msgs/msg/')
|
||||
// 'master' branch
|
||||
sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
|
||||
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
|
||||
sh('cd px4_msgs; git push origin main || true')
|
||||
sh('cd px4_msgs; git push origin master || true')
|
||||
// 'ros1' branch
|
||||
sh('cd px4_msgs; git checkout ros1')
|
||||
sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
|
||||
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
|
||||
sh('cd px4_msgs; git push origin ros1 || true')
|
||||
sh('rm -rf px4_msgs')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'main'
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('PX4 ROS2 bridge') {
|
||||
agent {
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
|
||||
// deploy uORB RTPS ID map
|
||||
sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
|
||||
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
|
||||
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
|
||||
// deploy uORB RTPS required tools
|
||||
sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
|
||||
sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
|
||||
sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
|
||||
sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
|
||||
// deploy templates
|
||||
sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
|
||||
sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
|
||||
sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
|
||||
sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
|
||||
sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
|
||||
sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
|
||||
sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
|
||||
sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
|
||||
sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
|
||||
sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
|
||||
sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
|
||||
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
|
||||
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
|
||||
sh('rm -rf px4_msgs')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('S3') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'ghcr.io/px4/px4-dev:2021-05-06' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -260,8 +351,7 @@ pipeline {
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'main'
|
||||
branch 'master' // should be removed, but in case there is something going on...
|
||||
branch 'master'
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
@@ -284,7 +374,7 @@ pipeline {
|
||||
GIT_COMMITTER_NAME = "PX4BuildBot"
|
||||
}
|
||||
options {
|
||||
buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
|
||||
timeout(time: 90, unit: 'MINUTES')
|
||||
buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
|
||||
timeout(time: 60, unit: 'MINUTES')
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,207 +0,0 @@
|
||||
# PX4 Firmware Configuration
|
||||
|
||||
|
||||
mainmenu "PX4 Firmware Configuration"
|
||||
|
||||
comment "Vendor: $(VENDOR)"
|
||||
comment "Model: $(MODEL)"
|
||||
comment "Label: $(LABEL)"
|
||||
|
||||
menu "Toolchain"
|
||||
choice
|
||||
prompt "Platform"
|
||||
default PLATFORM_NUTTX
|
||||
config PLATFORM_NUTTX
|
||||
bool "nuttx"
|
||||
config PLATFORM_POSIX
|
||||
bool "posix"
|
||||
config PLATFORM_QURT
|
||||
bool "qurt"
|
||||
config PLATFORM_ROS2
|
||||
bool "ros2"
|
||||
endchoice
|
||||
|
||||
config BOARD_PLATFORM
|
||||
string
|
||||
default "nuttx" if PLATFORM_NUTTX
|
||||
default "posix" if PLATFORM_POSIX
|
||||
default "qurt" if PLATFORM_QURT
|
||||
default "ros2" if PLATFORM_ROS2
|
||||
|
||||
config BOARD_LOCKSTEP
|
||||
bool "Force enable lockstep"
|
||||
depends on PLATFORM_POSIX
|
||||
help
|
||||
forces lockstep behaviour, despite REPLAY env variable
|
||||
|
||||
config BOARD_NOLOCKSTEP
|
||||
bool "Force disable lockstep"
|
||||
depends on PLATFORM_POSIX
|
||||
help
|
||||
forces nolockstep behaviour, despite REPLAY env variable
|
||||
|
||||
config BOARD_LINUX_TARGET
|
||||
bool "Linux OS Target"
|
||||
depends on PLATFORM_POSIX
|
||||
help
|
||||
Board Platform is running the Linux operating system
|
||||
|
||||
config BOARD_TOOLCHAIN
|
||||
string "Toolchain"
|
||||
default ""
|
||||
|
||||
config BOARD_ARCHITECTURE
|
||||
string "Architecture"
|
||||
default ""
|
||||
|
||||
config BOARD_LTO
|
||||
bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
|
||||
default n
|
||||
help
|
||||
Enables LTO flag in linker
|
||||
Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later
|
||||
|
||||
config BOARD_FULL_OPTIMIZATION
|
||||
bool "Full optmization (O3)"
|
||||
default n
|
||||
help
|
||||
Enables Cmake Release for -O3 optimization
|
||||
|
||||
config BOARD_ROMFSROOT
|
||||
string "ROMFSROOT"
|
||||
default "px4fmu_common"
|
||||
help
|
||||
relative path to the ROMFS root directory
|
||||
|
||||
config BOARD_ROOTFSDIR
|
||||
string "Root directory"
|
||||
depends on PLATFORM_POSIX
|
||||
default "."
|
||||
help
|
||||
Configure the root directory in the file system for PX4 files
|
||||
|
||||
config BOARD_IO
|
||||
string "IO board name"
|
||||
default "px4_io-v2_default"
|
||||
depends on DRIVERS_PX4IO
|
||||
help
|
||||
name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
|
||||
|
||||
config BOARD_CONSTRAINED_FLASH
|
||||
bool "Contrained flash"
|
||||
help
|
||||
flag to enable constrained flash options (eg limit init script status text)
|
||||
|
||||
config BOARD_NO_HELP
|
||||
bool "No help"
|
||||
help
|
||||
optional condition flag to disable help text on constrained flash systems
|
||||
|
||||
config BOARD_CONSTRAINED_MEMORY
|
||||
bool "Contrained memory"
|
||||
help
|
||||
flag to enable constrained memory options (eg limit maximum number of uORB publications)
|
||||
|
||||
config BOARD_EXTERNAL_METADATA
|
||||
bool "External metadata"
|
||||
help
|
||||
flag to exclude metadata to reduce flash
|
||||
|
||||
config BOARD_LINKER_PREFIX
|
||||
string "linker prefix"
|
||||
help
|
||||
optional to prefix on the Linker script.
|
||||
|
||||
config BOARD_COMPILE_DEFINITIONS
|
||||
string "add custom compile definitions"
|
||||
help
|
||||
add custom compile defitions to this specific target
|
||||
endmenu #Toolchain
|
||||
|
||||
config BOARD_TESTING
|
||||
bool "Testing"
|
||||
select SYSTEMCMDS_TESTS
|
||||
help
|
||||
flag to enable automatic inclusion of PX4 testing modules
|
||||
|
||||
|
||||
config BOARD_ETHERNET
|
||||
bool "Ethernet"
|
||||
help
|
||||
flag to indicate that ethernet is enabled
|
||||
|
||||
config BOARD_CRYPTO
|
||||
bool "Crypto support"
|
||||
help
|
||||
Enable PX4 Crypto Support. Select the implementation under drivers
|
||||
|
||||
config BOARD_PROTECTED
|
||||
bool "Memory protection"
|
||||
help
|
||||
Enable memory protection via MPU/MMU
|
||||
|
||||
menu "Serial ports"
|
||||
|
||||
config BOARD_SERIAL_URT6
|
||||
string "URT6 tty port"
|
||||
|
||||
config BOARD_SERIAL_GPS1
|
||||
string "GPS1 tty port"
|
||||
|
||||
config BOARD_SERIAL_GPS2
|
||||
string "GPS2 tty port"
|
||||
|
||||
config BOARD_SERIAL_GPS3
|
||||
string "GPS3 tty port"
|
||||
|
||||
config BOARD_SERIAL_GPS4
|
||||
string "GPS4 tty port"
|
||||
|
||||
config BOARD_SERIAL_GPS5
|
||||
string "GPS5 tty port"
|
||||
|
||||
config BOARD_SERIAL_TEL1
|
||||
string "TEL1 tty port"
|
||||
|
||||
config BOARD_SERIAL_TEL2
|
||||
string "TEL2 tty port"
|
||||
|
||||
config BOARD_SERIAL_TEL3
|
||||
string "TEL3 tty port"
|
||||
|
||||
config BOARD_SERIAL_TEL4
|
||||
string "TEL4 tty port"
|
||||
|
||||
config BOARD_SERIAL_TEL5
|
||||
string "TEL5 tty port"
|
||||
|
||||
config BOARD_SERIAL_RC
|
||||
string "RC tty port"
|
||||
|
||||
config BOARD_SERIAL_WIFI
|
||||
string "WIFI tty port"
|
||||
|
||||
config BOARD_SERIAL_EXT2
|
||||
string "EXT2 tty port"
|
||||
endmenu
|
||||
|
||||
menu "drivers"
|
||||
source "src/drivers/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "modules"
|
||||
source "src/modules/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "systemcmds"
|
||||
source "src/systemcmds/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "examples"
|
||||
source "src/examples/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "platforms"
|
||||
depends on PLATFORM_QURT || PLATFORM_POSIX
|
||||
source "platforms/common/Kconfig"
|
||||
endmenu
|
||||
@@ -1,6 +1,6 @@
|
||||
BSD 3-Clause License
|
||||
|
||||
Copyright (c) 2012 - 2023, PX4 Development Team
|
||||
Copyright (c) 2012 - 2021, PX4 Development Team
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
|
||||
@@ -63,7 +63,7 @@ all: px4_sitl_default
|
||||
space := $(subst ,, )
|
||||
|
||||
define make_list
|
||||
$(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
|
||||
$(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
|
||||
endef
|
||||
|
||||
# Parsing
|
||||
@@ -129,54 +129,46 @@ else
|
||||
BUILD_DIR_SUFFIX :=
|
||||
endif
|
||||
|
||||
CMAKE_ARGS ?=
|
||||
|
||||
# additional config parameters passed to cmake
|
||||
ifdef EXTERNAL_MODULES_LOCATION
|
||||
override CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
|
||||
CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
|
||||
endif
|
||||
|
||||
ifdef PX4_CMAKE_BUILD_TYPE
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
|
||||
else
|
||||
|
||||
# Address Sanitizer
|
||||
ifdef PX4_ASAN
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
|
||||
endif
|
||||
|
||||
# Memory Sanitizer
|
||||
ifdef PX4_MSAN
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
|
||||
endif
|
||||
|
||||
# Thread Sanitizer
|
||||
ifdef PX4_TSAN
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
|
||||
endif
|
||||
|
||||
# Undefined Behavior Sanitizer
|
||||
ifdef PX4_UBSAN
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
|
||||
endif
|
||||
|
||||
# Fuzz Testing
|
||||
ifdef PX4_FUZZ
|
||||
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
|
||||
endif
|
||||
|
||||
endif
|
||||
|
||||
# Pick up specific Python path if set
|
||||
ifdef PYTHON_EXECUTABLE
|
||||
override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
|
||||
CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
|
||||
endif
|
||||
|
||||
# Functions
|
||||
# --------------------------------------------------------------------
|
||||
# describe how to build a cmake config
|
||||
define cmake-build
|
||||
$(eval override CMAKE_ARGS += -DCONFIG=$(1))
|
||||
@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
|
||||
@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
|
||||
@$(call cmake-cache-check)
|
||||
@@ -215,8 +207,8 @@ define colorecho
|
||||
+@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
|
||||
endef
|
||||
|
||||
# Get a list of all config targets boards/*/*.px4board
|
||||
ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.px4board' -print | sed -e 's|boards\/||' | sed -e 's|\.px4board||' | sed -e 's|\/|_|g' | sort)
|
||||
# Get a list of all config targets boards/*/*.cmake
|
||||
ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)
|
||||
|
||||
# ADD CONFIGS HERE
|
||||
# --------------------------------------------------------------------
|
||||
@@ -224,19 +216,20 @@ ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.px4bo
|
||||
|
||||
# All targets.
|
||||
$(ALL_CONFIG_TARGETS):
|
||||
@$(call cmake-build,$@$(BUILD_DIR_SUFFIX))
|
||||
@$(eval PX4_CONFIG = $@)
|
||||
@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
|
||||
@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
|
||||
|
||||
# Filter for only default targets to allow omiting the "_default" postfix
|
||||
CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
|
||||
$(CONFIG_TARGETS_DEFAULT):
|
||||
@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
|
||||
@$(eval PX4_CONFIG = $@_default)
|
||||
@$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
|
||||
@$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
|
||||
|
||||
all_config_targets: $(ALL_CONFIG_TARGETS)
|
||||
all_default_targets: $(CONFIG_TARGETS_DEFAULT)
|
||||
|
||||
updateconfig:
|
||||
@./Tools/kconfig/updateconfig.py
|
||||
|
||||
# board reorganization deprecation warnings (2018-11-22)
|
||||
define deprecation_warning
|
||||
$(warning $(1) has been deprecated and will be removed, please use $(2)!)
|
||||
@@ -245,10 +238,20 @@ endef
|
||||
# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
|
||||
.PHONY: all px4_sitl_default all_config_targets all_default_targets
|
||||
|
||||
# Multi- config targets.
|
||||
eagle_default: atlflight_eagle_default atlflight_eagle_qurt
|
||||
eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
|
||||
|
||||
excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt
|
||||
excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
|
||||
|
||||
.PHONY: eagle_default eagle_rtps
|
||||
.PHONY: excelsior_default excelsior_rtps
|
||||
|
||||
# Other targets
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
|
||||
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
|
||||
|
||||
# QGroundControl flashable NuttX firmware
|
||||
qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
|
||||
@@ -271,9 +274,18 @@ misc_qgc_extra_firmware: \
|
||||
check_bitcraze_crazyflie_default \
|
||||
check_bitcraze_crazyflie21_default \
|
||||
check_airmind_mindpx-v2_default \
|
||||
check_px4_fmu-v2_lpe \
|
||||
sizes
|
||||
|
||||
.PHONY: sizes check quick_check uorb_graphs
|
||||
# builds with RTPS
|
||||
check_rtps: \
|
||||
check_px4_fmu-v3_rtps \
|
||||
check_px4_fmu-v4_rtps \
|
||||
check_px4_fmu-v4pro_rtps \
|
||||
check_px4_sitl_rtps \
|
||||
sizes
|
||||
|
||||
.PHONY: sizes check quick_check check_rtps uorb_graphs
|
||||
|
||||
sizes:
|
||||
@-find build -name *.elf -type f | xargs size 2> /dev/null || :
|
||||
@@ -290,42 +302,12 @@ check_%:
|
||||
@$(MAKE) --no-print-directory $(subst check_,,$@)
|
||||
@echo
|
||||
|
||||
all_variants_%:
|
||||
@echo 'Building all $(subst all_variants_,,$@) variants:' $(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS))
|
||||
@echo
|
||||
$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
|
||||
|
||||
uorb_graphs:
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
|
||||
@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
|
||||
|
||||
px4io_update:
|
||||
@$(MAKE) --no-print-directory px4_io-v2_default
|
||||
@$(MAKE) --no-print-directory cubepilot_io-v2_default
|
||||
# px4_io-v2_default
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/ark/fmu-v6x/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
|
||||
# cubepilot_io-v2_default
|
||||
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
|
||||
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
|
||||
git status
|
||||
|
||||
bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
|
||||
git status
|
||||
|
||||
.PHONY: coverity_scan
|
||||
|
||||
@@ -333,21 +315,18 @@ coverity_scan: px4_sitl_default
|
||||
|
||||
# Documentation
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
|
||||
.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
|
||||
|
||||
parameters_metadata:
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
|
||||
|
||||
airframe_metadata:
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes ver_gen
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
|
||||
|
||||
module_documentation:
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
|
||||
|
||||
extract_events:
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
|
||||
|
||||
px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
|
||||
px4_metadata: parameters_metadata airframe_metadata module_documentation
|
||||
|
||||
doxygen:
|
||||
@mkdir -p "$(SRC_DIR)"/build/doxygen
|
||||
@@ -374,7 +353,8 @@ format:
|
||||
.PHONY: rostest python_coverage
|
||||
|
||||
tests:
|
||||
$(eval override CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
|
||||
$(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
|
||||
$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
|
||||
$(eval ARGS += test_results)
|
||||
$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
|
||||
$(eval UBSAN_OPTIONS += color=always)
|
||||
@@ -388,17 +368,17 @@ tests_coverage:
|
||||
|
||||
|
||||
rostest: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
|
||||
tests_integration: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
|
||||
@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
|
||||
|
||||
tests_integration_coverage:
|
||||
@$(MAKE) clean
|
||||
@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
|
||||
@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
|
||||
@mkdir -p coverage
|
||||
@@ -408,13 +388,13 @@ tests_mission: rostest
|
||||
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
|
||||
|
||||
rostest_run: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
|
||||
|
||||
tests_mission_coverage:
|
||||
@$(MAKE) clean
|
||||
@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
|
||||
@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
|
||||
|
||||
@@ -481,39 +461,35 @@ shellcheck_all:
|
||||
@make px4_fmu-v5_default shellcheck
|
||||
|
||||
validate_module_configs:
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
|
||||
-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
|
||||
-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
|
||||
-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
|
||||
-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
|
||||
xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
|
||||
# Cleanup
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: clean submodulesclean submodulesupdate distclean
|
||||
.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
|
||||
|
||||
clean:
|
||||
@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
|
||||
@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source
|
||||
@rm -rf "$(SRC_DIR)"/build
|
||||
@git submodule foreach git clean -df
|
||||
|
||||
submodulesclean:
|
||||
@git submodule foreach --quiet --recursive git clean -ff -x -d
|
||||
@git submodule update --quiet --init --recursive --force || true
|
||||
@git submodule sync --recursive
|
||||
@git submodule update --init --recursive --force --jobs 4
|
||||
@git submodule update --init --recursive --force
|
||||
|
||||
submodulesupdate:
|
||||
@git submodule update --quiet --init --recursive --jobs 4 || true
|
||||
@git submodule update --quiet --init --recursive || true
|
||||
@git submodule sync --recursive
|
||||
@git submodule update --init --recursive --jobs 4
|
||||
@git fetch --all --tags --recurse-submodules=yes --jobs=4
|
||||
@git submodule update --init --recursive
|
||||
|
||||
distclean:
|
||||
@git submodule deinit --force $(SRC_DIR)
|
||||
@rm -rf "$(SRC_DIR)/build"
|
||||
@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
|
||||
gazeboclean:
|
||||
@rm -rf ~/.gazebo/*
|
||||
|
||||
# Help / Error / Misc
|
||||
distclean: gazeboclean
|
||||
@git submodule deinit -f .
|
||||
@git clean -ff -x -d -e ".cproject" -e ".idea" -e ".project" -e ".settings" -e ".vscode"
|
||||
|
||||
# Help / Error
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
|
||||
@@ -527,7 +503,7 @@ help:
|
||||
@echo "Where <target> is one of:"
|
||||
@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
|
||||
awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
|
||||
egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
|
||||
egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
|
||||
@echo
|
||||
@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
|
||||
@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
|
||||
@@ -547,21 +523,3 @@ check_px4: $(call make_list,nuttx,"px4") \
|
||||
|
||||
check_nxp: $(call make_list,nuttx,"nxp") \
|
||||
sizes
|
||||
|
||||
# helpers for running olddefconfig (nuttx) and px4_savedefconfig on all boards
|
||||
.PHONY: all_oldconfig all_px4_savedefconfig
|
||||
all_oldconfig:
|
||||
@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ oldconfig; done
|
||||
|
||||
all_px4_savedefconfig:
|
||||
@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ px4_savedefconfig; done
|
||||
|
||||
.PHONY: failsafe_web run_failsafe_web_server
|
||||
failsafe_web:
|
||||
@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
|
||||
@$(MAKE) --no-print-directory px4_sitl_default failsafe_test parameters_xml \
|
||||
PX4_CMAKE_BUILD_TYPE=Release BUILD_DIR_SUFFIX=_failsafe_web \
|
||||
CMAKE_ARGS="-DCMAKE_CXX_COMPILER=em++ -DCMAKE_C_COMPILER=emcc"
|
||||
run_failsafe_web_server: failsafe_web
|
||||
@cd build/px4_sitl_default_failsafe_web && \
|
||||
python3 -m http.server
|
||||
|
||||
@@ -0,0 +1,17 @@
|
||||
Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
|
||||
|
||||
**Describe problem solved by this pull request**
|
||||
A clear and concise description of the problem this proposed change will solve.
|
||||
E.g. For this use case I ran into...
|
||||
|
||||
**Describe your solution**
|
||||
A clear and concise description of what you have implemented.
|
||||
|
||||
**Describe possible alternatives**
|
||||
A clear and concise description of alternative solutions or features you've considered.
|
||||
|
||||
**Test data / coverage**
|
||||
How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
|
||||
|
||||
**Additional context**
|
||||
Add any other related context or media.
|
||||
@@ -4,135 +4,119 @@
|
||||
|
||||
[](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
|
||||
|
||||
[](https://discord.gg/dronecode)
|
||||
[](http://slack.px4.io)
|
||||
|
||||
This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
|
||||
This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
|
||||
|
||||
PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
|
||||
PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
|
||||
|
||||
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
|
||||
* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
|
||||
* [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
|
||||
* [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
|
||||
* [VTOL](https://docs.px4.io/main/en/frames_vtol/)
|
||||
* [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
|
||||
* [Rover](https://docs.px4.io/main/en/frames_rover/)
|
||||
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
|
||||
* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
|
||||
* [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
|
||||
* [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
|
||||
* [VTOL](https://docs.px4.io/master/en/frames_vtol/)
|
||||
* [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
|
||||
* [Rover](https://docs.px4.io/master/en/frames_rover/)
|
||||
* many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
|
||||
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
|
||||
|
||||
|
||||
## Building a PX4 based drone, rover, boat or robot
|
||||
|
||||
The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
|
||||
See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
|
||||
The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
|
||||
See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
|
||||
|
||||
|
||||
## Changing code and contributing
|
||||
|
||||
This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
|
||||
This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
|
||||
|
||||
Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
|
||||
See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
|
||||
Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
|
||||
See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
|
||||
|
||||
|
||||
### Weekly Dev Call
|
||||
|
||||
The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
|
||||
The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/contribute/#dev_call).
|
||||
|
||||
> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
|
||||
|
||||
|
||||
## Maintenance Team
|
||||
|
||||
Note: This is the source of truth for the active maintainers of PX4 ecosystem.
|
||||
* Project: Founder
|
||||
* [Lorenz Meier](https://github.com/LorenzMeier)
|
||||
* Architecture
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
|
||||
* [Ramon Roche](https://github.com/mrpollo)
|
||||
* Communication Architecture
|
||||
* [Beat Kueng](https://github.com/bkueng)
|
||||
* [Julian Oes](https://github.com/JulianOes)
|
||||
* UI in QGroundControl
|
||||
* [Gus Grubba](https://github.com/dogmaphobic)
|
||||
* [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
|
||||
* [Mathieu Bresciani](https://github.com/bresch)
|
||||
* [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
|
||||
* [Matthias Grob](https://github.com/MaEtUgR)
|
||||
* [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
|
||||
* [Roman Bapst](https://github.com/RomanBapst)
|
||||
* [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
|
||||
* [Roman Bapst](https://github.com/RomanBapst)
|
||||
* OS / NuttX
|
||||
* [David Sidrane](https://github.com/davids5)
|
||||
* Driver Architecture
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* Commander Architecture
|
||||
* [Julian Oes](https://github.com/julianoes)
|
||||
* [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
|
||||
* [Paul Riseborough](https://github.com/priseborough)
|
||||
* Vision based navigation and Obstacle Avoidance
|
||||
* [Markus Achtelik](https://github.com/markusachtelik)
|
||||
* RTPS/ROS2 Interface
|
||||
* [Nuno Marques](https://github.com/TSC21)
|
||||
|
||||
| Sector | Maintainer |
|
||||
|---|---|
|
||||
| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
|
||||
| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
|
||||
| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
|
||||
| OS/NuttX | [David Sidrane](https://github.com/davids5) |
|
||||
| Drivers | [Daniel Agar](https://github.com/dagar) |
|
||||
| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
|
||||
| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
|
||||
| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
|
||||
| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
|
||||
|
||||
| Vehicle Type | Maintainer |
|
||||
|---|---|
|
||||
| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
|
||||
| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
|
||||
| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
|
||||
| Boat | x |
|
||||
| Rover | x |
|
||||
|
||||
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
|
||||
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
|
||||
|
||||
## Supported Hardware
|
||||
|
||||
Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
|
||||
|
||||
For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
|
||||
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
|
||||
|
||||
### Pixhawk Standard Boards
|
||||
* FMUv6X and FMUv6U (STM32H7, 2021)
|
||||
* Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
|
||||
* FMUv5 and FMUv5X (STM32F7, 2019/20)
|
||||
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
|
||||
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
|
||||
* [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
|
||||
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
|
||||
* [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
|
||||
* FMUv4 (STM32F4, 2015)
|
||||
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
|
||||
* FMUv3 (STM32F4, 2014)
|
||||
* [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
|
||||
* [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
|
||||
* [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
|
||||
* FMUv2 (STM32F4, 2013)
|
||||
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
|
||||
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
|
||||
|
||||
These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
|
||||
### Manufacturer and Community supported
|
||||
* [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
|
||||
* [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
|
||||
* [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
|
||||
* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
|
||||
* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
|
||||
* [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
|
||||
* [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
|
||||
* [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
|
||||
* [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
|
||||
|
||||
* FMUv6X and FMUv6C
|
||||
* [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
|
||||
* [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
|
||||
* [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
|
||||
* [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
|
||||
* FMUv5 and FMUv5X (STM32F7, 2019/20)
|
||||
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
|
||||
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
|
||||
* [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
|
||||
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
|
||||
* [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode)
|
||||
* FMUv4 (STM32F4, 2015)
|
||||
* [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
|
||||
* FMUv3 (STM32F4, 2014)
|
||||
* [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
|
||||
* [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
|
||||
* [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
|
||||
* FMUv2 (STM32F4, 2013)
|
||||
* [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
|
||||
|
||||
### Manufacturer supported
|
||||
|
||||
These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
|
||||
|
||||
* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
|
||||
* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
|
||||
* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
|
||||
* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
|
||||
* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
|
||||
* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
|
||||
* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
|
||||
* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
|
||||
|
||||
### Community supported
|
||||
|
||||
These boards don't fully comply industry standards, and thus is solely maintained by the PX4 publc community members.
|
||||
|
||||
### Experimental
|
||||
|
||||
These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
|
||||
|
||||
* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
|
||||
* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
|
||||
Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).
|
||||
|
||||
## Project Roadmap
|
||||
|
||||
**Note: Outdated**
|
||||
|
||||
A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
|
||||
|
||||
## Project Governance
|
||||
|
||||
The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
|
||||
|
||||
<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://mavlink.io/assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
|
||||
<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="https://mavlink.io/assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
|
||||
<div style="padding:10px"> </div>
|
||||
|
||||
+47
-71
@@ -112,17 +112,21 @@ add_custom_command(
|
||||
${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
|
||||
${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
|
||||
)
|
||||
set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
|
||||
add_custom_command(
|
||||
OUTPUT ${romfs_extract_stamp}
|
||||
COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
|
||||
WORKING_DIRECTORY ${romfs_gen_root_dir}
|
||||
DEPENDS ${romfs_tar_file}
|
||||
)
|
||||
|
||||
|
||||
set(romfs_copy_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_copy.stamp)
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/init.d/rc.serial
|
||||
${romfs_gen_root_dir}/init.d/rc.autostart
|
||||
${romfs_gen_root_dir}/init.d/rc.autostart.post
|
||||
${romfs_copy_stamp}
|
||||
COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
|
||||
COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
|
||||
romfs_copy.stamp
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
|
||||
--airframes-path ${romfs_gen_root_dir}/init.d
|
||||
--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
|
||||
@@ -131,15 +135,44 @@ add_custom_command(
|
||||
--rc-dir ${romfs_gen_root_dir}/init.d
|
||||
--serial-ports ${board_serial_ports} ${added_arguments}
|
||||
--config-files ${module_config_files} #--verbose
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
|
||||
WORKING_DIRECTORY ${romfs_gen_root_dir}
|
||||
DEPENDS ${romfs_tar_file}
|
||||
COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
|
||||
DEPENDS
|
||||
${romfs_extract_stamp}
|
||||
COMMENT "ROMFS: copying, generating airframes"
|
||||
)
|
||||
|
||||
# copy extras into ROMFS
|
||||
set(extras_dependencies)
|
||||
|
||||
# copy px4io binary if configured
|
||||
if(config_io_board)
|
||||
list(APPEND extras_dependencies
|
||||
copy_px4io_bin
|
||||
${fw_io_bin}
|
||||
)
|
||||
file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
|
||||
message(STATUS "ROMFS: Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
|
||||
endif()
|
||||
|
||||
|
||||
# board bootloader (built or included)
|
||||
if(TARGET copy_bootloader_bin)
|
||||
|
||||
if(board_bootloader_firmware)
|
||||
file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
|
||||
message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
|
||||
else()
|
||||
file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
|
||||
message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
|
||||
endif()
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
copy_bootloader_bin
|
||||
${bootloader_bin}
|
||||
)
|
||||
endif()
|
||||
|
||||
|
||||
# optional board architecture defaults
|
||||
set(board_arch_rc_file "rc.board_arch_defaults")
|
||||
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
|
||||
@@ -164,7 +197,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/
|
||||
endif()
|
||||
|
||||
|
||||
# board custom init files
|
||||
set(OPTIONAL_BOARD_RC)
|
||||
list(APPEND OPTIONAL_BOARD_RC
|
||||
rc.board_defaults
|
||||
@@ -199,77 +231,21 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
|
||||
endforeach()
|
||||
|
||||
|
||||
# board extras
|
||||
set(OPTIONAL_BOARD_EXTRAS)
|
||||
file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
|
||||
|
||||
# bootloader (optional)
|
||||
# - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
|
||||
# - otherwise remove bootloader binary from extras in final ROMFS
|
||||
foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
|
||||
file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
|
||||
if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
|
||||
if(CONFIG_SYSTEMCMDS_BL_UPDATE)
|
||||
# generate rc.board_bootloader_upgrade
|
||||
set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
|
||||
else()
|
||||
# remove bootloader from extras
|
||||
list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
|
||||
endif()
|
||||
|
||||
endif()
|
||||
endforeach()
|
||||
|
||||
foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
|
||||
|
||||
if(EXISTS "${board_extra_file}")
|
||||
file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
|
||||
file(RELATIVE_PATH extra_file_relative_source ${PX4_SOURCE_DIR} ${board_extra_file})
|
||||
message(STATUS "ROMFS: Adding ${extra_file_relative_source} -> /etc/extras/${extra_file_base_name}")
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/extras/${extra_file_base_name}
|
||||
${extra_file_base_name}.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${extra_file_base_name} ${romfs_gen_root_dir}/extras/${extra_file_base_name}
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${extra_file_base_name}.stamp
|
||||
DEPENDS
|
||||
${board_extra_file}
|
||||
romfs_copy.stamp
|
||||
COMMENT "ROMFS: copying ${board_extra_file}"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
${extra_file_base_name}.stamp
|
||||
)
|
||||
endif()
|
||||
|
||||
endforeach()
|
||||
|
||||
|
||||
|
||||
if(config_uavcan_peripheral_firmware)
|
||||
|
||||
include(ExternalProject)
|
||||
|
||||
foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
|
||||
# include the UAVCAN peripheral binaries in ROMFS
|
||||
# include the px4io binary in ROMFS
|
||||
message(STATUS "ROMFS: Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
|
||||
|
||||
# ExternalProject_Add() with GIT_SUBMODULES "" initializes no submodules.
|
||||
cmake_policy(SET CMP0097 NEW)
|
||||
|
||||
include(ExternalProject)
|
||||
|
||||
ExternalProject_Add(build_${uavcan_peripheral_config}
|
||||
GIT_REPOSITORY ${CMAKE_SOURCE_DIR}
|
||||
GIT_TAG ${PX4_GIT_TAG}
|
||||
GIT_SUBMODULES ""
|
||||
DOWNLOAD_NO_PROGRESS true
|
||||
SOURCE_DIR ${CMAKE_SOURCE_DIR}
|
||||
DOWNLOAD_COMMAND ""
|
||||
UPDATE_COMMAND ""
|
||||
CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
|
||||
INSTALL_COMMAND ""
|
||||
USES_TERMINAL_BUILD true
|
||||
DEPENDS git_nuttx git_nuttx_apps
|
||||
BUILD_ALWAYS 1
|
||||
)
|
||||
|
||||
@@ -318,7 +294,7 @@ add_custom_command(OUTPUT romfs_extras.stamp
|
||||
|
||||
add_custom_target(romfs_gen_files_target
|
||||
DEPENDS
|
||||
${romfs_copy_stamp}
|
||||
${romfs_extract_stamp}
|
||||
${romfs_gen_root_dir}/init.d/rc.serial
|
||||
romfs_extras.stamp
|
||||
)
|
||||
|
||||
+11
-25
@@ -15,6 +15,15 @@ set +e
|
||||
#
|
||||
#------------------------------------------------------------------------------
|
||||
set R /
|
||||
#
|
||||
# Mount the procfs.
|
||||
#
|
||||
mount -t procfs /proc
|
||||
|
||||
#
|
||||
# Start CDC/ACM serial driver.
|
||||
#
|
||||
sercon
|
||||
|
||||
#
|
||||
# Print full system version.
|
||||
@@ -31,11 +40,6 @@ then
|
||||
set PARAM_FILE /dev/eeeprom0
|
||||
fi
|
||||
|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
|
||||
then
|
||||
set PARAM_FILE /mnt/qspi/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Load parameters.
|
||||
#
|
||||
@@ -91,28 +95,10 @@ unset BOARD_RC_SENSORS
|
||||
. ${R}etc/init.d/rc.serial
|
||||
|
||||
# Check for flow sensor
|
||||
if param compare -s SENS_EN_PX4FLOW 1
|
||||
if param compare SENS_EN_PX4FLOW 1
|
||||
then
|
||||
px4flow start -X &
|
||||
px4flow start -X
|
||||
fi
|
||||
|
||||
if param compare -s IMU_GYRO_CAL_EN 1
|
||||
then
|
||||
gyro_calibration start
|
||||
fi
|
||||
|
||||
|
||||
if param compare -s MBE_ENABLE 1
|
||||
then
|
||||
# conservative mag bias estimation
|
||||
param set-default MBE_LEARN_GAIN 5
|
||||
param set-default IMU_GYRO_CUTOFF 20
|
||||
mag_bias_estimator start
|
||||
fi
|
||||
|
||||
param set-default SENS_MAG_RATE 100
|
||||
|
||||
sensors start
|
||||
|
||||
uavcannode start
|
||||
unset R
|
||||
|
||||
@@ -32,7 +32,9 @@
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(init.d)
|
||||
add_subdirectory(mixers)
|
||||
# TODO: make this configurable from the board config, or better combine
|
||||
if("${PX4_BOARD}" MATCHES "sitl")
|
||||
add_subdirectory(mixers-sitl)
|
||||
add_subdirectory(init.d-posix)
|
||||
endif()
|
||||
|
||||
@@ -34,9 +34,9 @@
|
||||
add_subdirectory(airframes)
|
||||
|
||||
px4_add_romfs_files(
|
||||
px4-rc.mavlink
|
||||
px4-rc.params
|
||||
px4-rc.simulator
|
||||
px4-rc.mavlink
|
||||
rc.replay
|
||||
rcS
|
||||
)
|
||||
|
||||
@@ -1,32 +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
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
@@ -0,0 +1,12 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Julian Oes <julian@oes.ch>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_w
|
||||
@@ -1,30 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Generic Iris Quadrotor SITL
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
@@ -0,0 +1,48 @@
|
||||
#!/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
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R0_PX 0.1515
|
||||
param set-default CA_MC_R0_PY 0.245
|
||||
param set-default CA_MC_R0_CT 6.5
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.1515
|
||||
param set-default CA_MC_R1_PY -0.1875
|
||||
param set-default CA_MC_R1_CT 6.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.1515
|
||||
param set-default CA_MC_R2_PY -0.245
|
||||
param set-default CA_MC_R2_CT 6.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.1515
|
||||
param set-default CA_MC_R3_PY 0.1875
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
set MIXER direct
|
||||
@@ -1,32 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL jMAVSim
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Julian Oes <julian@oes.ch>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (foggy_lidar)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set-default EKF2_RNG_A_HMAX 10
|
||||
|
||||
@@ -0,0 +1,12 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (foggy_lidar)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default EKF2_RNG_AID 1
|
||||
param set-default EKF2_RNG_A_HMAX 10
|
||||
|
||||
@@ -1,97 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 6DoF Omnicopter SITL
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Jaeyoung Lim <jalim@ethz.ch>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 8
|
||||
param set-default CA_R_REV 255
|
||||
|
||||
param set-default CA_ROTOR0_PX 0.14435
|
||||
param set-default CA_ROTOR0_PY -0.14435
|
||||
param set-default CA_ROTOR0_PZ -0.14435
|
||||
param set-default CA_ROTOR0_KM 0.05 # CCW
|
||||
param set-default CA_ROTOR0_AX -0.788675
|
||||
param set-default CA_ROTOR0_AY -0.211325
|
||||
param set-default CA_ROTOR0_AZ -0.57735
|
||||
|
||||
param set-default CA_ROTOR1_PX -0.14435
|
||||
param set-default CA_ROTOR1_PY -0.14435
|
||||
param set-default CA_ROTOR1_PZ -0.14435
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR1_AX 0.211325
|
||||
param set-default CA_ROTOR1_AY -0.788675
|
||||
param set-default CA_ROTOR1_AZ 0.57735
|
||||
|
||||
param set-default CA_ROTOR2_PX 0.14435
|
||||
param set-default CA_ROTOR2_PY 0.14435
|
||||
param set-default CA_ROTOR2_PZ -0.14435
|
||||
param set-default CA_ROTOR2_KM 0.05
|
||||
param set-default CA_ROTOR2_AX -0.211325
|
||||
param set-default CA_ROTOR2_AY 0.788675
|
||||
param set-default CA_ROTOR2_AZ 0.57735
|
||||
|
||||
param set-default CA_ROTOR3_PX -0.14435
|
||||
param set-default CA_ROTOR3_PY 0.14435
|
||||
param set-default CA_ROTOR3_PZ -0.14435
|
||||
param set-default CA_ROTOR3_KM 0.05
|
||||
param set-default CA_ROTOR3_AX 0.788675
|
||||
param set-default CA_ROTOR3_AY 0.211325
|
||||
param set-default CA_ROTOR3_AZ -0.57735
|
||||
|
||||
param set-default CA_ROTOR4_PX 0.14435
|
||||
param set-default CA_ROTOR4_PY -0.14435
|
||||
param set-default CA_ROTOR4_PZ 0.14435
|
||||
param set-default CA_ROTOR4_KM 0.05
|
||||
param set-default CA_ROTOR4_AX 0.788675
|
||||
param set-default CA_ROTOR4_AY 0.211325
|
||||
param set-default CA_ROTOR4_AZ -0.57735
|
||||
|
||||
param set-default CA_ROTOR5_PX -0.14435
|
||||
param set-default CA_ROTOR5_PY -0.14435
|
||||
param set-default CA_ROTOR5_PZ 0.14435
|
||||
param set-default CA_ROTOR5_KM 0.05
|
||||
param set-default CA_ROTOR5_AX -0.211325
|
||||
param set-default CA_ROTOR5_AY 0.788675
|
||||
param set-default CA_ROTOR5_AZ 0.57735
|
||||
|
||||
param set-default CA_ROTOR6_PX 0.14435
|
||||
param set-default CA_ROTOR6_PY 0.14435
|
||||
param set-default CA_ROTOR6_PZ 0.14435
|
||||
param set-default CA_ROTOR6_KM 0.05
|
||||
param set-default CA_ROTOR6_AX 0.211325
|
||||
param set-default CA_ROTOR6_AY -0.788675
|
||||
param set-default CA_ROTOR6_AZ 0.57735
|
||||
|
||||
param set-default CA_ROTOR7_PX -0.14435
|
||||
param set-default CA_ROTOR7_PY 0.14435
|
||||
param set-default CA_ROTOR7_PZ 0.14435
|
||||
param set-default CA_ROTOR7_KM 0.05
|
||||
param set-default CA_ROTOR7_AX -0.788675
|
||||
param set-default CA_ROTOR7_AY -0.211325
|
||||
param set-default CA_ROTOR7_AZ -0.57735
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
param set-default PWM_MAIN_FUNC7 107
|
||||
param set-default PWM_MAIN_FUNC8 108
|
||||
|
||||
# disable MC desaturation which improves attitude tracking
|
||||
param set-default CA_METHOD 0
|
||||
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
|
||||
@@ -0,0 +1,19 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name IF750A SITL
|
||||
# InspiredFlight 750 Auterion edition. Gazebo Only.
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
# EKF2: Multi GPS blending (as the model has 2 GPS's)
|
||||
param set-default SENS_GPS_MASK 7
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MNT_DO_STAB 2
|
||||
|
||||
set MIXER quad_x
|
||||
@@ -1,15 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name PX4Vision SITL
|
||||
# Holybro px4vision. Gazebo Only.
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/airframes/4016_holybro_px4vision
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
@@ -0,0 +1,11 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name PX4Vision SITL
|
||||
# Holybro px4vision. Gazebo Only.
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/airframes/4016_holybro_px4vision
|
||||
|
||||
set MIXER quad_x
|
||||
@@ -1,44 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name QuadrotorX SITL for SIH
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.15
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.15
|
||||
param set-default CA_ROTOR1_PY -0.15
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.15
|
||||
param set-default CA_ROTOR2_PY -0.15
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.15
|
||||
param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set SIH_VEHICLE_TYPE 0
|
||||
@@ -1,55 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL for SIH
|
||||
#
|
||||
# @type Plane
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set-default SIH_T_MAX 6.0
|
||||
param set-default SIH_MASS 0.3
|
||||
param set-default SIH_IXX 0.00402
|
||||
param set-default SIH_IYY 0.0144
|
||||
param set-default SIH_IZZ 0.0177
|
||||
param set-default SIH_IXZ 0.00046
|
||||
param set-default SIH_KDV 0.2
|
||||
|
||||
param set-default SIH_VEHICLE_TYPE 1 # sih as fixed wing
|
||||
param set-default RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_P 1.0
|
||||
param set-default CA_SV_CS1_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS2_TYPE 4
|
||||
param set-default PWM_MAIN_FUNC3 201
|
||||
param set-default PWM_MAIN_FUNC4 202
|
||||
param set-default PWM_MAIN_FUNC5 203
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
@@ -1,73 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name SIH Tailsitter Duo
|
||||
#
|
||||
# @type VTOL
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
|
||||
|
||||
param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
param set-default VT_B_TRANS_DUR 5
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_S_Y 0.3
|
||||
param set-default MPC_MAN_Y_MAX 60
|
||||
param set-default MC_PITCH_P 5
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set-default SIH_T_MAX 2.0
|
||||
param set-default SIH_Q_MAX 0.0165
|
||||
param set-default SIH_MASS 0.2
|
||||
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
|
||||
param set-default SIH_IXX 0.00354
|
||||
param set-default SIH_IYY 0.000625
|
||||
param set-default SIH_IZZ 0.00300
|
||||
param set-default SIH_IXZ 0.0
|
||||
param set-default SIH_KDV 0.2
|
||||
param set-default SIH_L_ROLL 0.145
|
||||
|
||||
# sih as tailsitter
|
||||
param set-default SIH_VEHICLE_TYPE 2
|
||||
|
||||
param set-default CA_AIRFRAME 4
|
||||
|
||||
param set-default CA_ROTOR_COUNT 2
|
||||
param set-default CA_ROTOR0_PX 0
|
||||
param set-default CA_ROTOR0_PY 1
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX 0
|
||||
param set-default CA_ROTOR1_PY -1
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
|
||||
param set-default CA_SV_CS_COUNT 2
|
||||
param set-default CA_SV_CS0_TYPE 5
|
||||
param set-default CA_SV_CS0_TRQ_P 0.5
|
||||
param set-default CA_SV_CS0_TRQ_Y -0.5
|
||||
param set-default CA_SV_CS1_TYPE 6
|
||||
param set-default CA_SV_CS1_TRQ_P 0.5
|
||||
param set-default CA_SV_CS1_TRQ_Y 0.5
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC5 201
|
||||
param set-default PWM_MAIN_FUNC6 202
|
||||
@@ -1,47 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Optical Flow)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
# EKF2
|
||||
param set-default EKF2_GPS_CTRL 0
|
||||
param set-default EKF2_EVP_NOISE 0.05
|
||||
param set-default EKF2_EVA_NOISE 0.05
|
||||
param set-default EKF2_OF_CTRL 1
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
|
||||
param set-default SENS_FLOW_ROT 6
|
||||
param set-default SENS_FLOW_MINHGT 0.7
|
||||
param set-default SENS_FLOW_MAXHGT 3.0
|
||||
param set-default SENS_FLOW_MAXR 2.5
|
||||
@@ -0,0 +1,20 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Optical Flow)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default EKF2_EVP_NOISE 0.05
|
||||
param set-default EKF2_EVA_NOISE 0.05
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
|
||||
@@ -1,38 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (irlock)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
# enable fusion of landing target velocity
|
||||
param set-default LTEST_MODE 1
|
||||
param set-default PLD_HACC_RAD 0.1
|
||||
param set-default RTL_PLD_MD 2
|
||||
|
||||
# Start up Landing Target Estimator module
|
||||
landing_target_estimator start
|
||||
@@ -0,0 +1,15 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (irlock)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# enable fusion of landing target velocity
|
||||
param set-default LTEST_MODE 1
|
||||
param set-default PLD_HACC_RAD 0.1
|
||||
|
||||
# Start up Landing Target Estimator module
|
||||
landing_target_estimator start
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (rplidar)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set-default LPE_FUSION 242
|
||||
|
||||
@@ -0,0 +1,11 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (rplidar)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default LPE_FUSION 242
|
||||
|
||||
@@ -1,21 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Vision)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris
|
||||
|
||||
# EKF2: Vision position and heading, no GPS
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
param set-default EKF2_EV_CTRL 15
|
||||
param set-default EKF2_HGT_REF 3
|
||||
param set-default EKF2_GPS_CTRL 0
|
||||
|
||||
# LPE: Vision + baro
|
||||
param set-default LPE_FUSION 132
|
||||
|
||||
# AEQ: External heading set to use vision input
|
||||
param set-default ATT_EXT_HDG_M 1
|
||||
|
||||
@@ -0,0 +1,19 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Vision)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2: Vision position and heading
|
||||
param set-default EKF2_AID_MASK 24
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
|
||||
# LPE: Vision + baro
|
||||
param set-default LPE_FUSION 132
|
||||
|
||||
# AEQ: External heading set to use vision input
|
||||
param set-default ATT_EXT_HDG_M 1
|
||||
|
||||
@@ -0,0 +1,13 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Solo
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.1
|
||||
param set-default MC_ROLLRATE_P 0.1
|
||||
|
||||
set MIXER quad_x
|
||||
@@ -1,32 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set-default COM_OBS_AVOID 1
|
||||
@@ -0,0 +1,12 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default COM_OBS_AVOID 1
|
||||
param set-default MPC_XY_CRUISE 5.0
|
||||
|
||||
@@ -0,0 +1,8 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (RTPS)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
@@ -0,0 +1,4 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
|
||||
@@ -1,40 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Optical Flow)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
# EKF2
|
||||
param set-default EKF2_GPS_CTRL 0
|
||||
param set-default EKF2_OF_CTRL 1
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
@@ -0,0 +1,18 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Optical Flow)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default SENS_FLOW_ROT 0
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
@@ -0,0 +1,12 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Vision Velocity)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2: Vision velocity and heading
|
||||
param set-default EKF2_AID_MASK 272
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Dual GPS)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
# EKF2: Multi GPS blending
|
||||
param set-default SENS_GPS_MASK 7
|
||||
@@ -0,0 +1,11 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (Dual GPS)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2: Multi GPS blending
|
||||
param set-default SENS_GPS_MASK 7
|
||||
@@ -0,0 +1,20 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name UUV
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set-default NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
|
||||
set MIXER custom
|
||||
@@ -1,44 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Hippocampus UUV
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 7
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_R_REV 255
|
||||
param set-default CA_ROTOR0_AX 1.0000
|
||||
param set-default CA_ROTOR0_AY 0.0000
|
||||
param set-default CA_ROTOR0_AZ 0.0000
|
||||
param set-default CA_ROTOR0_KM 0.0000
|
||||
param set-default CA_ROTOR0_PX 0.0000
|
||||
param set-default CA_ROTOR0_PY -0.3000
|
||||
param set-default CA_ROTOR0_PZ -0.3000
|
||||
param set-default CA_ROTOR1_AX 1.0000
|
||||
param set-default CA_ROTOR1_AY 0.0000
|
||||
param set-default CA_ROTOR1_AZ 0.0000
|
||||
param set-default CA_ROTOR1_KM 0.0000
|
||||
param set-default CA_ROTOR1_PX 0.0000
|
||||
param set-default CA_ROTOR1_PY 0.3000
|
||||
param set-default CA_ROTOR1_PZ -0.3000
|
||||
param set-default CA_ROTOR2_AX 1.0000
|
||||
param set-default CA_ROTOR2_AY 0.0000
|
||||
param set-default CA_ROTOR2_AZ 0.0000
|
||||
param set-default CA_ROTOR2_KM 0.0000
|
||||
param set-default CA_ROTOR2_PX 0.0000
|
||||
param set-default CA_ROTOR2_PY 0.3000
|
||||
param set-default CA_ROTOR2_PZ 0.3000
|
||||
param set-default CA_ROTOR3_AX 1.0000
|
||||
param set-default CA_ROTOR3_AY 0.0000
|
||||
param set-default CA_ROTOR3_AZ 0.0000
|
||||
param set-default CA_ROTOR3_KM 0.0000
|
||||
param set-default CA_ROTOR3_PX 0.0000
|
||||
param set-default CA_ROTOR3_PY -0.3000
|
||||
param set-default CA_ROTOR3_PZ 0.3000
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
@@ -0,0 +1,20 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Hippocampus UUV
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set-default NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
|
||||
set MIXER custom
|
||||
@@ -1,64 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name BlueROV2 Heavy Configuration
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 7
|
||||
|
||||
param set-default CA_ROTOR_COUNT 8
|
||||
param set-default CA_R_REV 255
|
||||
param set-default CA_ROTOR0_AX 1.0000
|
||||
param set-default CA_ROTOR0_AY -1.0000
|
||||
param set-default CA_ROTOR0_AZ 0.0000
|
||||
param set-default CA_ROTOR0_KM 0.0000
|
||||
param set-default CA_ROTOR0_PX 0.5000
|
||||
param set-default CA_ROTOR0_PY 0.3000
|
||||
param set-default CA_ROTOR0_PZ 0.2000
|
||||
param set-default CA_ROTOR1_AX 1.0000
|
||||
param set-default CA_ROTOR1_AY 1.0000
|
||||
param set-default CA_ROTOR1_AZ 0.0000
|
||||
param set-default CA_ROTOR1_KM 0.0000
|
||||
param set-default CA_ROTOR1_PX 0.5000
|
||||
param set-default CA_ROTOR1_PY -0.3000
|
||||
param set-default CA_ROTOR1_PZ 0.2000
|
||||
param set-default CA_ROTOR2_AX 1.0000
|
||||
param set-default CA_ROTOR2_AY 1.0000
|
||||
param set-default CA_ROTOR2_AZ 0.0000
|
||||
param set-default CA_ROTOR2_KM 0.0000
|
||||
param set-default CA_ROTOR2_PX -0.5000
|
||||
param set-default CA_ROTOR2_PY 0.3000
|
||||
param set-default CA_ROTOR2_PZ 0.2000
|
||||
param set-default CA_ROTOR3_AX 1.0000
|
||||
param set-default CA_ROTOR3_AY -1.0000
|
||||
param set-default CA_ROTOR3_AZ 0.0000
|
||||
param set-default CA_ROTOR3_KM 0.0000
|
||||
param set-default CA_ROTOR3_PX -0.5000
|
||||
param set-default CA_ROTOR3_PY -0.3000
|
||||
param set-default CA_ROTOR3_PZ 0.2000
|
||||
param set-default CA_ROTOR4_AZ -1.0000
|
||||
param set-default CA_ROTOR4_KM 0.0000
|
||||
param set-default CA_ROTOR4_PX 0.5000
|
||||
param set-default CA_ROTOR4_PY 0.5000
|
||||
param set-default CA_ROTOR5_AZ 1.0000
|
||||
param set-default CA_ROTOR5_KM 0.0000
|
||||
param set-default CA_ROTOR5_PX 0.5000
|
||||
param set-default CA_ROTOR5_PY -0.5000
|
||||
param set-default CA_ROTOR6_AZ 1.0000
|
||||
param set-default CA_ROTOR6_KM 0.0000
|
||||
param set-default CA_ROTOR6_PX -0.5000
|
||||
param set-default CA_ROTOR6_PY 0.5000
|
||||
param set-default CA_ROTOR7_KM 0.0000
|
||||
param set-default CA_ROTOR7_PX -0.5000
|
||||
param set-default CA_ROTOR7_PY -0.5000
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
param set-default PWM_MAIN_FUNC7 107
|
||||
param set-default PWM_MAIN_FUNC8 108
|
||||
|
||||
@@ -0,0 +1,16 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name BlueROV2 Heavy Configuration
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set-default NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
set PWM_OUT 12345678
|
||||
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
|
||||
set MIXER custom
|
||||
@@ -1,72 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.5
|
||||
param set-default TRIM_PITCH -0.15
|
||||
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_RR_I 0.5
|
||||
|
||||
param set-default FW_YR_FF 0.5
|
||||
param set-default FW_YR_P 0.6
|
||||
param set-default FW_YR_I 0.5
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_CS4_TYPE 9
|
||||
param set-default CA_SV_CS5_TYPE 10
|
||||
param set-default PWM_MAIN_FUNC3 204
|
||||
param set-default PWM_MAIN_FUNC4 205
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
|
||||
|
||||
@@ -0,0 +1,54 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_CRUISE 0.25
|
||||
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
@@ -1,79 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL with camera
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.5
|
||||
param set-default TRIM_PITCH -0.15
|
||||
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_RR_I 0.5
|
||||
|
||||
param set-default FW_YR_FF 0.5
|
||||
param set-default FW_YR_P 0.6
|
||||
param set-default FW_YR_I 0.5
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_CS4_TYPE 9
|
||||
param set-default CA_SV_CS5_TYPE 10
|
||||
param set-default PWM_MAIN_FUNC3 204
|
||||
param set-default PWM_MAIN_FUNC4 205
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
|
||||
# Camera trigger interface is MAVLink
|
||||
param set-default TRIG_INTERFACE 3
|
||||
|
||||
# Distance trigger mode enabled
|
||||
param set-default TRIG_MODE 4
|
||||
@@ -0,0 +1,12 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL with camera
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
# Camera trigger interface is MAVLink
|
||||
param set-default TRIG_INTERFACE 3
|
||||
|
||||
# Distance trigger mode enabled
|
||||
param set-default TRIG_MODE 4
|
||||
@@ -1,73 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL with catapult
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_LAUN_DETCN_ON 1
|
||||
param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.5
|
||||
param set-default TRIM_PITCH -0.15
|
||||
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_RR_I 0.5
|
||||
|
||||
param set-default FW_YR_FF 0.5
|
||||
param set-default FW_YR_P 0.6
|
||||
param set-default FW_YR_I 0.5
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_CS4_TYPE 9
|
||||
param set-default CA_SV_CS5_TYPE 10
|
||||
param set-default PWM_MAIN_FUNC3 204
|
||||
param set-default PWM_MAIN_FUNC4 205
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user