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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-09 03:50:05 +08:00
Compare commits
2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
153b683a0e | ||
|
Thomas Debrunner
|
eba9276e6f |
@@ -16,7 +16,6 @@ jobs:
|
||||
matrix:
|
||||
check: [
|
||||
"check_format",
|
||||
"check_newlines",
|
||||
"tests",
|
||||
"tests_coverage",
|
||||
"px4_fmu-v2_default stack_check",
|
||||
|
||||
@@ -54,3 +54,4 @@ jobs:
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
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||||
DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
|
||||
|
||||
|
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@@ -11,8 +11,6 @@ on:
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||||
jobs:
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build:
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runs-on: ubuntu-latest
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env:
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||||
ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
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strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
|
||||
@@ -11,8 +11,6 @@ on:
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||||
jobs:
|
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build:
|
||||
runs-on: ubuntu-latest
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||||
env:
|
||||
ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
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strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
|
||||
+1
-1
@@ -71,7 +71,7 @@
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[submodule "src/modules/zenoh/zenoh-pico"]
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path = src/modules/zenoh/zenoh-pico
|
||||
url = https://github.com/px4/zenoh-pico
|
||||
branch = dev/1.0.0-px4
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||||
branch = pr-zubf-werror-fix
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[submodule "src/lib/heatshrink/heatshrink"]
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path = src/lib/heatshrink/heatshrink
|
||||
url = https://github.com/PX4/heatshrink.git
|
||||
|
||||
Vendored
+1
-1
@@ -2,4 +2,4 @@
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{
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||||
"name": "PX4 detect"
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||||
}
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||||
]
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||||
]
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||||
@@ -185,17 +185,6 @@ menu "Serial ports"
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string "EXT2 tty port"
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endmenu
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menu "File paths"
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config BOARD_ROOT_PATH
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string "PX4 Root file path"
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default "/fs/microsd"
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config BOARD_PARAM_FILE
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string "Parameter file"
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default "/fs/mtd_params"
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endmenu
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menu "drivers"
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source "src/drivers/Kconfig"
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endmenu
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@@ -379,9 +379,9 @@ doxygen:
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@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
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@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
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|
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# Style
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# Astyle
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# --------------------------------------------------------------------
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.PHONY: check_format format check_newlines
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.PHONY: check_format format
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check_format:
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$(call colorecho,'Checking formatting with astyle')
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@@ -392,10 +392,6 @@ format:
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$(call colorecho,'Formatting with astyle')
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@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
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||||
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check_newlines:
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$(call colorecho,'Checking for missing or duplicate newlines at the end of files')
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@"$(SRC_DIR)"/Tools/astyle/check_newlines.sh
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|
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# Testing
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# --------------------------------------------------------------------
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.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
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@@ -120,7 +120,6 @@ add_custom_command(
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${romfs_gen_root_dir}/init.d/rc.serial
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${romfs_gen_root_dir}/init.d/rc.autostart
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${romfs_gen_root_dir}/init.d/rc.autostart.post
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${romfs_gen_root_dir}/init.d/rc.filepaths
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${romfs_copy_stamp}
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COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
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COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
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@@ -132,9 +131,6 @@ add_custom_command(
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--rc-dir ${romfs_gen_root_dir}/init.d
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--serial-ports ${board_serial_ports} ${added_arguments}
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--config-files ${module_config_files} #--verbose
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
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--rc-dir ${romfs_gen_root_dir}/init.d
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--params-file ${CONFIG_BOARD_PARAM_FILE}
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COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
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WORKING_DIRECTORY ${romfs_gen_root_dir}
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DEPENDS ${romfs_tar_file}
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||||
@@ -324,7 +320,6 @@ add_custom_target(romfs_gen_files_target
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DEPENDS
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${romfs_copy_stamp}
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${romfs_gen_root_dir}/init.d/rc.serial
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||||
${romfs_gen_root_dir}/init.d/rc.filepaths
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||||
romfs_extras.stamp
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)
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||||
|
||||
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||||
@@ -21,14 +21,25 @@ set R /
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#
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ver all
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# Load param file location from kconfig
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. ${R}etc/init.d/rc.filepaths
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if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
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then
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set PARAM_FILE /fs/mtd_params
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fi
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|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
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then
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set PARAM_FILE /dev/eeeprom0
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fi
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|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
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then
|
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set PARAM_FILE /mnt/qspi/params
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fi
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||||
|
||||
#
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# Load parameters.
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#
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param select $PARAM_FILE
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if ! param load
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then
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param reset_all
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|
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@@ -29,3 +29,4 @@ param set-default PWM_MAIN_FUNC1 101
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param set-default PWM_MAIN_FUNC2 102
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param set-default PWM_MAIN_FUNC3 103
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param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
|
||||
@@ -30,3 +30,4 @@ param set-default PWM_MAIN_FUNC3 103
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param set-default PWM_MAIN_FUNC4 104
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||||
|
||||
param set-default EKF2_RNG_A_HMAX 10
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||||
|
||||
|
||||
@@ -94,3 +94,4 @@ param set-default CA_METHOD 0
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# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
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param set-default FD_FAIL_R 0
|
||||
|
||||
|
||||
@@ -12,3 +12,4 @@ param set-default PWM_MAIN_FUNC1 101
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param set-default PWM_MAIN_FUNC2 102
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||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
|
||||
@@ -30,3 +30,4 @@ param set-default PWM_MAIN_FUNC3 103
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param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
param set-default LPE_FUSION 242
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|
||||
|
||||
@@ -18,3 +18,4 @@ param set-default LPE_FUSION 132
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|
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# AEQ: External heading set to use vision input
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param set-default ATT_EXT_HDG_M 1
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||||
|
||||
|
||||
@@ -41,3 +41,4 @@ param set-default PWM_MAIN_FUNC1 101
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||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
|
||||
@@ -61,3 +61,4 @@ param set-default PWM_MAIN_FUNC5 105
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||||
param set-default PWM_MAIN_FUNC6 106
|
||||
param set-default PWM_MAIN_FUNC7 107
|
||||
param set-default PWM_MAIN_FUNC8 108
|
||||
|
||||
|
||||
@@ -68,3 +68,5 @@ param set-default PWM_MAIN_FUNC7 202
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||||
param set-default PWM_MAIN_FUNC8 203
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||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
|
||||
|
||||
|
||||
@@ -39,6 +39,7 @@ 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
|
||||
|
||||
@@ -41,6 +41,7 @@ param set-default FW_T_SINK_MIN 2.2
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||||
|
||||
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
|
||||
@@ -70,3 +71,4 @@ 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
|
||||
|
||||
|
||||
@@ -55,3 +55,4 @@ 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
|
||||
|
||||
|
||||
@@ -54,3 +54,4 @@ 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
|
||||
|
||||
|
||||
@@ -55,3 +55,4 @@ 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
|
||||
|
||||
|
||||
@@ -62,3 +62,4 @@ 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
|
||||
|
||||
|
||||
@@ -39,6 +39,7 @@ 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
|
||||
|
||||
@@ -23,6 +23,7 @@ param set-default FW_RR_P 0.085
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
|
||||
@@ -78,3 +78,4 @@ param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_FWD_THRUST_SC 1
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_TYPE 2
|
||||
|
||||
|
||||
@@ -75,3 +75,4 @@ param set-default VT_F_TRANS_DUR 1.5
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
param set-default WV_EN 0
|
||||
|
||||
|
||||
@@ -88,3 +88,4 @@ param set-default PWM_MAIN_FUNC11 422
|
||||
param set-default RC_MAP_AUX1 8
|
||||
param set-default RC_MAP_AUX2 9
|
||||
param set-default RC_MAP_AUX3 10
|
||||
|
||||
|
||||
@@ -39,6 +39,7 @@ 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
|
||||
|
||||
@@ -31,3 +31,4 @@ param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 201
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
param set-default PWM_MAIN_FUNC7 101
|
||||
|
||||
|
||||
@@ -38,3 +38,4 @@ param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 201
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
param set-default PWM_MAIN_FUNC7 101
|
||||
|
||||
|
||||
@@ -41,3 +41,4 @@ param set-default CA_R_REV 3
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
|
||||
@@ -64,3 +64,4 @@ param set-default PWM_MAIN_FUNC4 203
|
||||
param set-default PWM_MAIN_FUNC5 407
|
||||
param set-default PWM_MAIN_FUNC6 408
|
||||
param set-default PWM_MAIN_FUNC7 409
|
||||
|
||||
|
||||
@@ -69,3 +69,4 @@ param set-default PWM_MAIN_FUNC4 203
|
||||
param set-default PWM_MAIN_FUNC5 407
|
||||
param set-default PWM_MAIN_FUNC6 408
|
||||
param set-default PWM_MAIN_FUNC7 409
|
||||
|
||||
|
||||
@@ -36,3 +36,4 @@ param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 201
|
||||
param set-default PWM_MAIN_FUNC4 103
|
||||
|
||||
|
||||
@@ -6,36 +6,16 @@
|
||||
. ${R}etc/init.d/rc.rover_differential_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
# Rover parameters
|
||||
param set-default RD_WHEEL_TRACK 0.3
|
||||
param set-default RD_MAN_YAW_SCALE 0.1
|
||||
param set-default RD_YAW_RATE_I 0.1
|
||||
param set-default RD_YAW_RATE_P 5
|
||||
param set-default RD_MAX_ACCEL 6
|
||||
param set-default RD_MAX_JERK 30
|
||||
param set-default RD_MAX_SPEED 7
|
||||
param set-default RD_HEADING_P 5
|
||||
param set-default RD_HEADING_I 0.1
|
||||
param set-default RD_MAX_YAW_RATE 180
|
||||
param set-default RD_MISS_SPD_DEF 7
|
||||
param set-default RD_TRANS_DRV_TRN 0.349066
|
||||
param set-default RD_TRANS_TRN_DRV 0.174533
|
||||
|
||||
# Pure pursuit parameters
|
||||
param set-default PP_LOOKAHD_MAX 30
|
||||
param set-default PP_LOOKAHD_MIN 2
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
|
||||
# Simulated sensors
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 0
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
# Actuator mapping
|
||||
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
|
||||
|
||||
@@ -20,9 +20,9 @@ param set-default SENS_EN_ARSPDSIM 1
|
||||
param set-default COM_ARM_WO_GPS 1
|
||||
|
||||
# Set Differential Drive Kinematics Library parameters:
|
||||
param set RD_WHEEL_BASE 0.9
|
||||
param set RD_WHEEL_RADIUS 0.22
|
||||
param set RD_WHEEL_SPEED 10.0 # Maximum wheel speed rad/s, approx 8 km/h
|
||||
param set RDD_WHEEL_BASE 0.9
|
||||
param set RDD_WHEEL_RADIUS 0.22
|
||||
param set RDD_WHEEL_SPEED 10.0 # Maximum wheel speed rad/s, approx 8 km/h
|
||||
|
||||
# Actuator mapping - set SITL motors/servos output parameters:
|
||||
|
||||
@@ -41,9 +41,9 @@ param set-default SIM_GZ_WH_FUNC2 102 # left wheel
|
||||
|
||||
param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
|
||||
|
||||
# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation.
|
||||
# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate
|
||||
# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator
|
||||
# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation.
|
||||
# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate
|
||||
# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator
|
||||
# controls in practical scenarios.
|
||||
|
||||
# Cutter deck blades clutch, PCA9685 servo channel 3, "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
|
||||
|
||||
@@ -1,49 +0,0 @@
|
||||
#!/bin/sh
|
||||
# @name Rover Ackermann
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_ackermann_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
# Rover parameters
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default RA_ACC_RAD_GAIN 2
|
||||
param set-default RA_ACC_RAD_MAX 3
|
||||
param set-default RA_MAX_ACCEL 1.5
|
||||
param set-default RA_MAX_JERK 15
|
||||
param set-default RA_MAX_SPEED 3
|
||||
param set-default RA_MAX_STR_ANG 0.5236
|
||||
param set-default RA_MAX_STR_RATE 360
|
||||
param set-default RA_MISS_VEL_DEF 3
|
||||
param set-default RA_MISS_VEL_GAIN 5
|
||||
param set-default RA_MISS_VEL_MIN 1
|
||||
param set-default RA_SPEED_I 0.01
|
||||
param set-default RA_SPEED_P 2
|
||||
param set-default RA_WHEEL_BASE 0.321
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# Simulated sensors
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 0
|
||||
|
||||
# Wheels
|
||||
param set-default SIM_GZ_WH_FUNC1 101
|
||||
param set-default SIM_GZ_WH_MIN1 0
|
||||
param set-default SIM_GZ_WH_MAX1 200
|
||||
param set-default SIM_GZ_WH_DIS1 100
|
||||
|
||||
# Steering
|
||||
param set-default SIM_GZ_SV_FUNC1 201
|
||||
param set-default SIM_GZ_SV_REV 1
|
||||
@@ -1,10 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo x500 lidar
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_lidar}
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/4001_gz_x500
|
||||
@@ -63,3 +63,4 @@ param set-default PWM_MAIN_FUNC9 422
|
||||
# Landing gear
|
||||
param set-default PWM_MAIN_FUNC10 400
|
||||
param set-default PWM_MAIN_FUNC11 400
|
||||
|
||||
|
||||
@@ -119,3 +119,4 @@ param set-default CA_METHOD 0
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
|
||||
|
||||
@@ -83,8 +83,6 @@ px4_add_romfs_files(
|
||||
4009_gz_r1_rover
|
||||
4010_gz_x500_mono_cam
|
||||
4011_gz_lawnmower
|
||||
4012_gz_rover_ackermann
|
||||
4013_gz_x500_lidar
|
||||
|
||||
6011_gazebo-classic_typhoon_h480
|
||||
6011_gazebo-classic_typhoon_h480.post
|
||||
|
||||
@@ -15,9 +15,6 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
|
||||
if [ -n "${PX4_HOME_LON}" ]; then
|
||||
param set SIH_LOC_LON0 ${PX4_HOME_LON}
|
||||
fi
|
||||
if [ -n "${PX4_HOME_ALT}" ]; then
|
||||
param set SIH_LOC_H0 ${PX4_HOME_ALT}
|
||||
fi
|
||||
|
||||
if simulator_sih start; then
|
||||
|
||||
|
||||
@@ -157,7 +157,6 @@ param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
# disable check, no CPU load reported on posix yet
|
||||
param set-default COM_CPU_MAX -1
|
||||
param set-default COM_RAM_MAX -1
|
||||
|
||||
# Don't require RC calibration and configuration
|
||||
param set-default COM_RC_IN_MODE 1
|
||||
|
||||
@@ -44,7 +44,6 @@ px4_add_romfs_files(
|
||||
# TODO
|
||||
rc.balloon_apps
|
||||
rc.balloon_defaults
|
||||
rc.sysinit
|
||||
)
|
||||
|
||||
if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
|
||||
@@ -78,7 +77,7 @@ if(CONFIG_MODULES_ROVER_POS_CONTROL)
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
|
||||
if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
|
||||
px4_add_romfs_files(
|
||||
rc.rover_differential_apps
|
||||
rc.rover_differential_defaults
|
||||
|
||||
@@ -44,3 +44,4 @@ param set-default CA_ROTOR4_KM -0.05
|
||||
param set-default CA_ROTOR5_PX 0.25
|
||||
param set-default CA_ROTOR5_PY -0.433
|
||||
param set-default CA_ROTOR5_PZ 0.05
|
||||
|
||||
|
||||
@@ -119,3 +119,5 @@ param set-default PWM_MAIN_TIM0 50
|
||||
param set-default PWM_MAIN_DIS1 1500
|
||||
param set-default PWM_MAIN_DIS2 1500
|
||||
param set-default PWM_MAIN_DIS4 1500
|
||||
|
||||
|
||||
|
||||
@@ -32,3 +32,4 @@ param set-default CA_SV_TL0_MAXA 45
|
||||
param set-default CA_SV_TL0_MINA -45
|
||||
param set-default CA_SV_TL0_TD 90
|
||||
param set-default CA_SV_TL_COUNT 1
|
||||
|
||||
|
||||
@@ -24,3 +24,5 @@ param set-default MC_PITCHRATE_D 0
|
||||
param set-default MC_PITCHRATE_FF 0.1
|
||||
|
||||
param set-default CA_AIRFRAME 10
|
||||
|
||||
|
||||
|
||||
@@ -23,3 +23,4 @@ param set-default MAV_0_MODE 1
|
||||
param set-default MAV_0_CONFIG 102
|
||||
param set-default GPS_UBX_DYNMODEL 8
|
||||
param set-default SER_TEL2_BAUD 9600
|
||||
|
||||
|
||||
@@ -72,3 +72,5 @@ param set-default PWM_MAIN_DIS5 1000
|
||||
param set-default PWM_MAIN_DIS6 1500
|
||||
param set-default PWM_MAIN_DIS7 1500
|
||||
param set-default PWM_MAIN_DIS8 1500
|
||||
|
||||
|
||||
|
||||
@@ -66,3 +66,4 @@ param set-default CA_ROTOR11_PX -0.344
|
||||
param set-default CA_ROTOR11_PY -0.25
|
||||
param set-default CA_ROTOR11_PZ -0.05
|
||||
param set-default CA_ROTOR11_KM -0.05
|
||||
|
||||
|
||||
@@ -38,3 +38,4 @@ param set-default CA_SV_CS_COUNT 1
|
||||
param set-default CA_SV_CS0_TRQ_P 1
|
||||
|
||||
param set-default CA_R_REV 7
|
||||
|
||||
|
||||
@@ -6,7 +6,6 @@
|
||||
# @class Copter
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
# @maintainer Iain Galloway <iain.galloway@nxp.com>
|
||||
|
||||
@@ -7,10 +7,6 @@
|
||||
#
|
||||
# @maintainer
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board cuav_x7pro exclude
|
||||
# @board px4_fmu-v4pro exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board px4_fmu-v6x exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
@@ -40,6 +36,7 @@ param set-default COM_RC_LOSS_T 3
|
||||
|
||||
|
||||
# ekf2
|
||||
param set-default EKF2_TERR_MASK 1
|
||||
param set-default EKF2_BARO_NOISE 2
|
||||
|
||||
param set-default EKF2_BCOEF_X 31.5
|
||||
|
||||
@@ -12,7 +12,6 @@
|
||||
# @board px4_fmu-v4pro exclude
|
||||
# @board px4_fmu-v5 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board px4_fmu-v6x exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board cuav_x7pro exclude
|
||||
#
|
||||
|
||||
@@ -10,7 +10,6 @@
|
||||
# @board px4_fmu-v4pro exclude
|
||||
# @board px4_fmu-v5 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board px4_fmu-v6x exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board cuav_x7pro exclude
|
||||
#
|
||||
|
||||
@@ -8,7 +8,6 @@
|
||||
# @maintainer Oleg Kalachev <okalachev@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board px4_fmu-v4pro exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
|
||||
@@ -25,6 +25,7 @@
|
||||
param set-default BAT1_CAPACITY 4000
|
||||
param set-default BAT1_N_CELLS 6
|
||||
param set-default BAT1_V_EMPTY 3.3
|
||||
param set-default BAT1_V_LOAD_DROP 0.5
|
||||
param set-default BAT_AVRG_CURRENT 13
|
||||
|
||||
# Square quadrotor X PX4 numbering
|
||||
@@ -68,9 +69,6 @@ param set-default MPC_THR_MIN 0.025
|
||||
param set-default MPC_VEL_MANUAL 5.0
|
||||
param set-default MPC_XY_VEL_MAX 8.0
|
||||
|
||||
param set-default RC_CRSF_PRT_CFG 300
|
||||
param set-default RC_CRSF_TEL_EN 1
|
||||
|
||||
param set-default RTL_RETURN_ALT 15
|
||||
|
||||
param set-default SENS_FLOW_MINHGT 0.0
|
||||
|
||||
@@ -13,7 +13,6 @@
|
||||
# @board px4_fmu-v4pro exclude
|
||||
# @board px4_fmu-v5 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board px4_fmu-v6x exclude
|
||||
# @board diatone_mamba-f405-mk2 exclude
|
||||
#
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
+3
-1
@@ -1,6 +1,6 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Generic Ground Vehicle (Deprecated)
|
||||
# @name Generic Ground Vehicle (Ackermann)
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
@@ -48,3 +48,5 @@ param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 201
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
param set-default PWM_MAIN_FUNC7 101
|
||||
|
||||
|
||||
@@ -1,12 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Generic Rover Differential
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_differential_defaults
|
||||
+3
@@ -15,6 +15,9 @@
|
||||
|
||||
param set-default BAT1_N_CELLS 4
|
||||
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
|
||||
# Set geometry & output configration
|
||||
param set-default RBCLW_ADDRESS 128
|
||||
param set-default RBCLW_FUNC1 101
|
||||
+1
-1
@@ -1,6 +1,6 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name NXP Cup car: DF Robot GPX (Deprecated)
|
||||
# @name NXP Cup car: DF Robot GPX
|
||||
|
||||
#
|
||||
# @type Rover
|
||||
+1
-1
@@ -1,6 +1,6 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Generic Rover Ackermann
|
||||
# @name Generic ackermann rover
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
@@ -1,37 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Axial SCX10 2 Trail Honcho
|
||||
#
|
||||
# @url https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_ackermann_defaults
|
||||
|
||||
param set-default BAT1_N_CELLS 3
|
||||
|
||||
# Rover parameters
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default RA_ACC_RAD_GAIN 2
|
||||
param set-default RA_ACC_RAD_MAX 3
|
||||
param set-default RA_MAX_ACCEL 0.5
|
||||
param set-default RA_MAX_JERK 10
|
||||
param set-default RA_MAX_SPEED 2.7
|
||||
param set-default RA_MAX_STR_ANG 0.5236
|
||||
param set-default RA_MAX_STR_RATE 270
|
||||
param set-default RA_MISS_VEL_DEF 2.7
|
||||
param set-default RA_MISS_VEL_GAIN 3.5
|
||||
param set-default RA_MISS_VEL_MIN 1
|
||||
param set-default RA_SPEED_I 0.1
|
||||
param set-default RA_SPEED_P 0.5
|
||||
param set-default RA_WHEEL_BASE 0.321
|
||||
|
||||
# Pure pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1.5
|
||||
@@ -42,3 +42,4 @@ param set-default CA_ROTOR3_KM 0
|
||||
param set-default CA_ROTOR3_PX 0
|
||||
param set-default CA_ROTOR3_PY -0.3
|
||||
param set-default CA_ROTOR3_PZ 0.3
|
||||
|
||||
|
||||
@@ -31,3 +31,5 @@ param set-default CA_ROTOR4_PY 0.25
|
||||
param set-default CA_ROTOR5_PX -0.43
|
||||
param set-default CA_ROTOR5_PY -0.25
|
||||
param set-default CA_ROTOR5_KM -0.05
|
||||
|
||||
|
||||
|
||||
@@ -123,3 +123,4 @@ param set-default PWM_MAIN_FUNC6 106
|
||||
param set-default PWM_MAIN_TIM0 -1
|
||||
param set-default PWM_MAIN_TIM1 -1
|
||||
param set-default PWM_MAIN_TIM2 -1
|
||||
|
||||
|
||||
@@ -31,3 +31,5 @@ param set-default CA_ROTOR4_PY -0.43
|
||||
param set-default CA_ROTOR5_PX -0.25
|
||||
param set-default CA_ROTOR5_PY 0.43
|
||||
param set-default CA_ROTOR5_KM -0.05
|
||||
|
||||
|
||||
|
||||
@@ -36,3 +36,5 @@ param set-default CA_ROTOR6_PY -0.46
|
||||
param set-default CA_ROTOR7_KM -0.05
|
||||
param set-default CA_ROTOR7_PX -0.19
|
||||
param set-default CA_ROTOR7_PY 0.46
|
||||
|
||||
|
||||
|
||||
@@ -36,3 +36,4 @@ param set-default CA_ROTOR6_PY -0.5
|
||||
param set-default CA_ROTOR7_KM -0.05
|
||||
param set-default CA_ROTOR7_PX 0
|
||||
param set-default CA_ROTOR7_PY 0.5
|
||||
|
||||
|
||||
@@ -136,27 +136,22 @@ if(CONFIG_MODULES_VTOL_ATT_CONTROL)
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
|
||||
if(CONFIG_MODULES_ROVER_POS_CONTROL)
|
||||
px4_add_romfs_files(
|
||||
# [50000, 50999] Differential rovers
|
||||
50000_generic_rover_differential
|
||||
50001_aion_robotics_r1_rover
|
||||
50000_generic_ground_vehicle
|
||||
50004_nxpcup_car_dfrobot_gpx
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
|
||||
px4_add_romfs_files(
|
||||
50003_aion_robotics_r1_rover
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_ROVER_ACKERMANN)
|
||||
px4_add_romfs_files(
|
||||
# [51000, 51999] Ackermann rovers
|
||||
51000_generic_rover_ackermann
|
||||
51001_axial_scx10_2_trail_honcho
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_MODULES_ROVER_POS_CONTROL)
|
||||
px4_add_romfs_files(
|
||||
# [59000, 59999] Rover position control (deprecated)
|
||||
59000_generic_ground_vehicle
|
||||
59001_nxpcup_car_dfrobot_gpx
|
||||
50010_ackermann_rover_generic
|
||||
)
|
||||
endif()
|
||||
|
||||
|
||||
@@ -1,7 +1,10 @@
|
||||
#!/bin/sh
|
||||
# Standard apps for an ackermann rover.
|
||||
# Standard apps for a ackermann drive rover.
|
||||
|
||||
# Start rover ackermann module.
|
||||
# Start the attitude and position estimator.
|
||||
ekf2 start &
|
||||
|
||||
# Start rover ackermann drive controller.
|
||||
rover_ackermann start
|
||||
|
||||
# Start Land Detector.
|
||||
|
||||
@@ -2,10 +2,12 @@
|
||||
# Ackermann rover parameters.
|
||||
|
||||
set VEHICLE_TYPE rover_ackermann
|
||||
param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
|
||||
param set-default CA_AIRFRAME 5 # Rover (Ackermann)
|
||||
param set-default CA_R_REV 1 # Motor is assumed to be reversible
|
||||
param set-default EKF2_MAG_TYPE 1 # Make sure magnetometer is fused even when not flying
|
||||
param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
|
||||
param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
|
||||
param set-default CA_AIRFRAME 5 # Rover (Ackermann)
|
||||
param set-default CA_R_REV 1 # Motor is assumed to be reversible
|
||||
param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
|
||||
param set-default NAV_RCL_ACT 6 # Disarm on manual control loss
|
||||
param set-default COM_FAIL_ACT_T 1 # Delay before failsafe after rc loss
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
#!/bin/sh
|
||||
# Standard apps for a differential rover.
|
||||
# Standard apps for a differential drive rover.
|
||||
|
||||
# Start rover differential module.
|
||||
rover_differential start
|
||||
# Start rover differential drive controller.
|
||||
differential_drive start
|
||||
|
||||
# Start Land Detector.
|
||||
land_detector start rover
|
||||
|
||||
@@ -2,10 +2,10 @@
|
||||
# Differential rover parameters.
|
||||
|
||||
set VEHICLE_TYPE rover_differential
|
||||
param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
|
||||
param set-default CA_AIRFRAME 6 # Rover (Differential)
|
||||
param set-default CA_R_REV 3 # Right and left motors reversible
|
||||
param set-default EKF2_MAG_TYPE 1 # Make sure magnetometer is fused even when not flying
|
||||
param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
|
||||
param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
|
||||
|
||||
param set-default CA_AIRFRAME 6 # Rover (Differential)
|
||||
param set-default CA_R_REV 3 # Right and left motors reversible
|
||||
|
||||
param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
|
||||
|
||||
@@ -1,4 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Standard system init script
|
||||
#
|
||||
@@ -120,8 +120,14 @@ then
|
||||
. $FRC
|
||||
else
|
||||
|
||||
# Load param file location from kconfig
|
||||
. ${R}etc/init.d/rc.filepaths
|
||||
#
|
||||
# Set the parameter file the board supports params on
|
||||
# MTD device.
|
||||
#
|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
|
||||
then
|
||||
set PARAM_FILE /fs/mtd_params
|
||||
fi
|
||||
|
||||
# Check if /fs/mtd_params is a valid BSON file
|
||||
if ! bsondump docsize /fs/mtd_caldata
|
||||
@@ -211,31 +217,25 @@ else
|
||||
fi
|
||||
unset BOARD_RC_DEFAULTS
|
||||
|
||||
# Load airframe configuration based on SYS_AUTOSTART parameter
|
||||
#
|
||||
# Set parameters and env variables for selected SYS_AUTOSTART.
|
||||
#
|
||||
set AUTOSTART_PATH etc/init.d/rc.autostart
|
||||
if ! param compare SYS_AUTOSTART 0
|
||||
then
|
||||
# rc.autostart directly run the right airframe script which sets the VEHICLE_TYPE
|
||||
# Look for airframe in ROMFS
|
||||
. ${R}etc/init.d/rc.autostart
|
||||
|
||||
if [ ${VEHICLE_TYPE} == none ]
|
||||
if param greater SYS_AUTOSTART 1000000
|
||||
then
|
||||
# Look for airframe on SD card
|
||||
# Use external startup file
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
then
|
||||
. ${R}etc/init.d/rc.autostart_ext
|
||||
set AUTOSTART_PATH etc/init.d/rc.autostart_ext
|
||||
else
|
||||
echo "ERROR [init] SD card not mounted - can't load external airframe"
|
||||
echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ ${VEHICLE_TYPE} == none ]
|
||||
then
|
||||
echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
|
||||
param set SYS_AUTOSTART 0
|
||||
tune_control play error
|
||||
fi
|
||||
. ${R}$AUTOSTART_PATH
|
||||
fi
|
||||
unset AUTOSTART_PATH
|
||||
|
||||
# Check parameter version and reset upon airframe configuration version mismatch.
|
||||
# Reboot required because "param reset_all" would reset all "param set" lines from airframe.
|
||||
|
||||
@@ -45,7 +45,7 @@ function [ center, radii, evecs, v ] = ellipsoid_fit( X, flag, equals )
|
||||
% * center - ellispoid center coordinates [xc; yc; zc]
|
||||
% * ax - ellipsoid radii [a; b; c]
|
||||
% * evecs - ellipsoid radii directions as columns of the 3x3 matrix
|
||||
% * v - the 9 parameters describing the ellipsoid algebraically:
|
||||
% * v - the 9 parameters describing the ellipsoid algebraically:
|
||||
% Ax^2 + By^2 + Cz^2 + 2Dxy + 2Exz + 2Fyz + 2Gx + 2Hy + 2Iz = 1
|
||||
%
|
||||
% Author:
|
||||
@@ -59,7 +59,7 @@ end
|
||||
if flag == 2 && nargin == 2
|
||||
equals = 'xy';
|
||||
end
|
||||
|
||||
|
||||
if size( X, 2 ) ~= 3
|
||||
error( 'Input data must have three columns!' );
|
||||
else
|
||||
@@ -69,7 +69,7 @@ else
|
||||
end
|
||||
|
||||
% need nine or more data points
|
||||
if length( x ) < 9 && flag == 0
|
||||
if length( x ) < 9 && flag == 0
|
||||
error( 'Must have at least 9 points to fit a unique ellipsoid' );
|
||||
end
|
||||
if length( x ) < 6 && flag == 1
|
||||
@@ -91,7 +91,7 @@ if flag == 0
|
||||
2 * x .* z, ...
|
||||
2 * y .* z, ...
|
||||
2 * x, ...
|
||||
2 * y, ...
|
||||
2 * y, ...
|
||||
2 * z ]; % ndatapoints x 9 ellipsoid parameters
|
||||
elseif flag == 1
|
||||
% fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Gx + 2Hy + 2Iz = 1
|
||||
@@ -99,7 +99,7 @@ elseif flag == 1
|
||||
y .* y, ...
|
||||
z .* z, ...
|
||||
2 * x, ...
|
||||
2 * y, ...
|
||||
2 * y, ...
|
||||
2 * z ]; % ndatapoints x 6 ellipsoid parameters
|
||||
elseif flag == 2
|
||||
% fit ellipsoid in the form Ax^2 + By^2 + Cz^2 + 2Gx + 2Hy + 2Iz = 1,
|
||||
@@ -127,7 +127,7 @@ else
|
||||
% fit sphere in the form A(x^2 + y^2 + z^2) + 2Gx + 2Hy + 2Iz = 1
|
||||
D = [ x .* x + y .* y + z .* z, ...
|
||||
2 * x, ...
|
||||
2 * y, ...
|
||||
2 * y, ...
|
||||
2 * z ]; % ndatapoints x 4 sphere parameters
|
||||
end
|
||||
|
||||
@@ -170,3 +170,5 @@ else
|
||||
radii = ( sqrt( gam ./ v( 1:3 ) ) )';
|
||||
evecs = eye( 3 );
|
||||
end
|
||||
|
||||
|
||||
|
||||
@@ -1,19 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
return_value=0
|
||||
|
||||
# Check if there are files checked in that don't end in a newline (POSIX requirement)
|
||||
git grep --cached -Il '' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
|
||||
|
||||
if [ $? -ne 0 ]; then
|
||||
return_value=1
|
||||
fi
|
||||
|
||||
# Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks)
|
||||
git grep --cached -Il '' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
|
||||
|
||||
if [ $? -ne 0 ]; then
|
||||
return_value=1
|
||||
fi
|
||||
|
||||
exit $return_value
|
||||
@@ -18,8 +18,7 @@ exec find boards msg src platforms test \
|
||||
-path src/lib/events/libevents -prune -o \
|
||||
-path src/lib/parameters/uthash -prune -o \
|
||||
-path src/lib/wind_estimator/python/generated -prune -o \
|
||||
-path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \
|
||||
-path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
|
||||
-path src/modules/ekf2/EKF -prune -o \
|
||||
-path src/modules/gyro_fft/CMSIS_5 -prune -o \
|
||||
-path src/modules/mavlink/mavlink -prune -o \
|
||||
-path test/mavsdk_tests/catch2 -prune -o \
|
||||
|
||||
@@ -170,3 +170,4 @@ if(__name__ == "__main__"):
|
||||
fs.write(f.read())
|
||||
except:
|
||||
pass
|
||||
|
||||
|
||||
@@ -139,3 +139,7 @@ def find_checks_that_apply(
|
||||
innov_fail_checks.append('ofy')
|
||||
|
||||
return sensor_checks, innov_fail_checks
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -54,7 +54,7 @@ def calculate_sensor_metrics(
|
||||
# calculates peak, mean, percentage above 0.5 std, and percentage above std metrics for
|
||||
# estimator status variables
|
||||
for signal, result_id in [('hgt_test_ratio', 'hgt'),
|
||||
('hdg_test_ratio', 'mag'),
|
||||
('mag_test_ratio', 'mag'),
|
||||
('vel_test_ratio', 'vel'),
|
||||
('pos_test_ratio', 'pos'),
|
||||
('tas_test_ratio', 'tas'),
|
||||
|
||||
@@ -84,4 +84,4 @@ def main() -> None:
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
main()
|
||||
@@ -160,7 +160,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
|
||||
|
||||
# plot normalised innovation test levels
|
||||
# define variables to plot
|
||||
variables = [['hdg_test_ratio'], ['vel_test_ratio', 'pos_test_ratio'], ['hgt_test_ratio']]
|
||||
variables = [['mag_test_ratio'], ['vel_test_ratio', 'pos_test_ratio'], ['hgt_test_ratio']]
|
||||
y_labels = ['mag', 'vel, pos', 'hgt']
|
||||
legend = [['mag'], ['vel', 'pos'], ['hgt']]
|
||||
if np.amax(estimator_status['hagl_test_ratio']) > 0.0: # plot hagl test ratio, if applicable
|
||||
@@ -223,7 +223,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
|
||||
data_plot.save()
|
||||
data_plot.close()
|
||||
|
||||
# plot innovation flags summary
|
||||
# plot innovation_check_flags summary
|
||||
data_plot = CheckFlagsPlot(
|
||||
status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
|
||||
'reject_hagl'],
|
||||
|
||||
@@ -1,61 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
""" Script to generate Serial rc.filepaths for the ROMFS startup script """
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
|
||||
try:
|
||||
from jinja2 import Environment, FileSystemLoader
|
||||
except ImportError as e:
|
||||
print("Failed to import jinja2: " + str(e))
|
||||
print("")
|
||||
print("You may need to install it using:")
|
||||
print(" pip3 install --user jinja2")
|
||||
print("")
|
||||
sys.exit(1)
|
||||
|
||||
try:
|
||||
import yaml
|
||||
except ImportError as e:
|
||||
print("Failed to import yaml: " + str(e))
|
||||
print("")
|
||||
print("You may need to install it using:")
|
||||
print(" pip3 install --user pyyaml")
|
||||
print("")
|
||||
sys.exit(1)
|
||||
|
||||
parser = argparse.ArgumentParser(description='Generate PX4 ROMFS filepaths')
|
||||
|
||||
parser.add_argument('--config-files', type=str, nargs='*', default=[],
|
||||
help='YAML module config file(s)')
|
||||
parser.add_argument('--constrained-flash', action='store_true',
|
||||
help='Reduce verbosity in ROMFS scripts to reduce flash size')
|
||||
parser.add_argument('--rc-dir', type=str, action='store',
|
||||
help='ROMFS output directory', default=None)
|
||||
parser.add_argument('--params-file', type=str, action='store',
|
||||
help='Parameter output file', default=None)
|
||||
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
|
||||
help='Verbose Output')
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
verbose = args.verbose
|
||||
constrained_flash = args.constrained_flash
|
||||
rc_filepaths_output_dir = args.rc_dir
|
||||
rc_filepaths_template = 'rc.filepaths.jinja'
|
||||
|
||||
|
||||
jinja_env = Environment(loader=FileSystemLoader(
|
||||
os.path.dirname(os.path.realpath(__file__))))
|
||||
|
||||
# generate the ROMFS script using a jinja template
|
||||
if rc_filepaths_output_dir is not None:
|
||||
rc_filepath_output_file = os.path.join(rc_filepaths_output_dir, "rc.filepaths")
|
||||
|
||||
if verbose: print("Generating {:}".format(rc_filepath_output_file))
|
||||
template = jinja_env.get_template(rc_filepaths_template)
|
||||
with open(rc_filepath_output_file, 'w') as fid:
|
||||
fid.write(template.render(constrained_flash=constrained_flash, params_file=args.params_file))
|
||||
else:
|
||||
raise Exception("--rc-dir needs to be specified")
|
||||
@@ -1,6 +0,0 @@
|
||||
{# jinja template to generate the serial autostart script. #}
|
||||
|
||||
# serial autostart script generated with generate_serial_config.py
|
||||
|
||||
|
||||
set PARAM_FILE {{ params_file }}
|
||||
@@ -243,3 +243,4 @@ def main():
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
|
||||
|
||||
@@ -282,3 +282,4 @@ def main():
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
|
||||
|
||||
@@ -107,4 +107,4 @@ plt.show()
|
||||
##plt.plot(airspeed_corrected,(airspeed_corrected-airspeed_raw)/airspeed_corrected)
|
||||
##plt.xlabel('airspeed [m/s]')
|
||||
##plt.ylabel('relative error [-]')
|
||||
##plt.show()
|
||||
##plt.show()
|
||||
@@ -47,4 +47,4 @@ for field in spec.parsed_fields():
|
||||
"main_orb_id": @( all_topics.index(name_snake_case) if name_snake_case in all_topics else -1 ),
|
||||
"dependencies": @( json.dumps(list(set(dependencies))) ),
|
||||
"name": "@( spec.full_name )"
|
||||
}
|
||||
}
|
||||
@@ -1 +1 @@
|
||||
__all__ = ["srcscanner", "srcparser", "xmlout", "rcout"]
|
||||
__all__ = ["srcscanner", "srcparser", "xmlout", "rcout"]
|
||||
@@ -79,6 +79,12 @@ class RCOutput():
|
||||
result += "then\n"
|
||||
result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
|
||||
result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
|
||||
if not post_start:
|
||||
result += "else\n"
|
||||
result += "\techo \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
|
||||
# Reset the configuration
|
||||
result += "\tparam set SYS_AUTOSTART 0\n"
|
||||
result += "\ttone_alarm ${TUNE_ERR}\n"
|
||||
result += "fi\n"
|
||||
result += "unset AIRFRAME"
|
||||
self.output = result
|
||||
|
||||
@@ -330,3 +330,4 @@ if serial_params_output_file is not None:
|
||||
fid.write(template.render(serial_devices=serial_devices,
|
||||
ethernet_configuration=ethernet_configuration,
|
||||
commands=commands, serial_ports=serial_ports))
|
||||
|
||||
|
||||
@@ -30,3 +30,4 @@ unset PRT
|
||||
unset PRT_F
|
||||
unset BAUD_PARAM
|
||||
unset MAV_ARGS
|
||||
|
||||
|
||||
@@ -70,3 +70,4 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }});
|
||||
|
||||
{% endfor -%}
|
||||
{% endif %}
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user