mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-26 15:00:06 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
3ccbe8f8b6 |
+11
-13
@@ -9,10 +9,10 @@ pipeline {
|
||||
script {
|
||||
def build_nodes = [:]
|
||||
def docker_images = [
|
||||
armhf: "px4io/px4-dev-armhf:2021-09-08",
|
||||
arm64: "px4io/px4-dev-aarch64:2021-09-08",
|
||||
base: "px4io/px4-dev-base-bionic:2021-09-08",
|
||||
nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
|
||||
armhf: "px4io/px4-dev-armhf:2021-05-04",
|
||||
arm64: "px4io/px4-dev-aarch64:2021-05-04",
|
||||
base: "px4io/px4-dev-base-bionic:2021-05-04",
|
||||
nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
|
||||
]
|
||||
|
||||
def armhf_builds = [
|
||||
@@ -38,11 +38,6 @@ 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",
|
||||
"atl_mantis-edu_default",
|
||||
"av_x-v1_default",
|
||||
"bitcraze_crazyflie_default",
|
||||
"bitcraze_crazyflie21_default",
|
||||
@@ -76,19 +71,24 @@ pipeline {
|
||||
"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_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",
|
||||
@@ -126,7 +126,7 @@ pipeline {
|
||||
// TODO: actually upload artifacts to S3
|
||||
// stage('S3 Upload') {
|
||||
// agent {
|
||||
// docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
|
||||
// docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
|
||||
// }
|
||||
// options {
|
||||
// skipDefaultCheckout()
|
||||
@@ -158,8 +158,6 @@ pipeline {
|
||||
def createBuildNode(Boolean archive, String docker_image, String target) {
|
||||
return {
|
||||
|
||||
bypass_entrypoint = ''
|
||||
|
||||
node {
|
||||
docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
|
||||
docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
|
||||
|
||||
+314
-340
File diff suppressed because it is too large
Load Diff
@@ -2,7 +2,7 @@
|
||||
// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
|
||||
{
|
||||
"name": "px4-dev-nuttx",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2021-05-04",
|
||||
|
||||
"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
|
||||
|
||||
|
||||
@@ -4,7 +4,7 @@ about: Suggest an idea for this project
|
||||
|
||||
---
|
||||
|
||||
For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
|
||||
For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).
|
||||
|
||||
**Describe problem solved by the proposed feature**
|
||||
A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
|
||||
|
||||
@@ -1,24 +0,0 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
|
||||
<linearGradient id="smooth" x2="0" y2="100%">
|
||||
<stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
|
||||
<stop offset="1" stop-opacity=".1"/>
|
||||
</linearGradient>
|
||||
|
||||
<mask id="round">
|
||||
<rect width="90" height="20" rx="3" fill="#fff"/>
|
||||
</mask>
|
||||
|
||||
<g mask="url(#round)">
|
||||
<rect width="42" height="20" fill="#555"/>
|
||||
<rect x="42" width="48" height="20" fill="#E01563"/>
|
||||
<rect width="90" height="20" fill="url(#smooth)"/>
|
||||
</g>
|
||||
|
||||
<g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
|
||||
<text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
|
||||
<text x="22" y="14">slack</text>
|
||||
<text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
|
||||
<text x="65" y="14">Join us!</text>
|
||||
</g>
|
||||
</svg>
|
||||
|
||||
|
Before Width: | Height: | Size: 894 B |
@@ -29,13 +29,34 @@ jobs:
|
||||
"parameters_metadata",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
image: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
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
|
||||
|
||||
@@ -11,11 +11,36 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-clang:2021-09-08
|
||||
container: px4io/px4-dev-clang:2021-05-04
|
||||
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
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-armhf:2021-09-08
|
||||
container: px4io/px4-dev-armhf:2021-05-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
@@ -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 "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
|
||||
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-aarch64:2021-09-08
|
||||
container: px4io/px4-dev-aarch64:2021-05-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
@@ -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 "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
|
||||
|
||||
|
||||
@@ -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
|
||||
|
||||
|
||||
@@ -11,15 +11,13 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
container: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
airmind_mindpx-v2,
|
||||
ark_can-flow,
|
||||
ark_can-gps,
|
||||
ark_can-rtk-gps,
|
||||
atl_mantis-edu,
|
||||
av_x-v1,
|
||||
bitcraze_crazyflie,
|
||||
bitcraze_crazyflie21,
|
||||
@@ -80,15 +78,13 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 50M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make all_variants_${{matrix.config}}
|
||||
run: make all_variants_${{matrix.config}}
|
||||
timeout-minutes: 45
|
||||
- name: make ${{matrix.config}} bloaty_compileunits
|
||||
run: make ${{matrix.config}} bloaty_compileunits || true
|
||||
- name: make ${{matrix.config}} bloaty_inlines
|
||||
|
||||
@@ -11,17 +11,16 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
container: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
ark_can-flow_default,
|
||||
ark_can-gps_default,
|
||||
ark_can-rtk-gps_default,
|
||||
cuav_can-gps-v1_default,
|
||||
freefly_can-rtk-gps_default,
|
||||
holybro_can-gps-v1_default,
|
||||
nxp_ucans32k146_default
|
||||
#nxp_ucans32k146_default,
|
||||
px4_fmu-v4_cannode
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -45,9 +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 "max_size = 20M" >> ~/.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
|
||||
|
||||
|
||||
@@ -23,14 +23,38 @@ jobs:
|
||||
needs: enumerate_targets
|
||||
strategy:
|
||||
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
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
|
||||
run: |
|
||||
|
||||
@@ -5,7 +5,7 @@ on: pull_request
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v2.3.1
|
||||
with:
|
||||
|
||||
@@ -5,7 +5,7 @@ on: push
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
env:
|
||||
GIT_COMMITTER_EMAIL: bot@px4.io
|
||||
GIT_COMMITTER_NAME: PX4BuildBot
|
||||
|
||||
@@ -25,7 +25,7 @@ jobs:
|
||||
#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
image: px4io/px4-dev-ros-melodic:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -49,9 +49,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
@@ -79,7 +78,6 @@ jobs:
|
||||
run: |
|
||||
export
|
||||
./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
|
||||
@@ -20,7 +20,7 @@ jobs:
|
||||
#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
image: px4io/px4-dev-ros-melodic:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -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
|
||||
|
||||
@@ -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()
|
||||
|
||||
@@ -11,7 +11,7 @@ jobs:
|
||||
|
||||
airframe:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -37,7 +37,7 @@ jobs:
|
||||
|
||||
module:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -52,7 +52,7 @@ jobs:
|
||||
|
||||
parameter:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -76,7 +76,7 @@ jobs:
|
||||
|
||||
events:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -103,7 +103,7 @@ jobs:
|
||||
|
||||
uorb_graph:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
container: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -118,7 +118,7 @@ jobs:
|
||||
|
||||
micrortps_agent:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -132,7 +132,7 @@ jobs:
|
||||
|
||||
ROS_msgs:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -145,7 +145,7 @@ jobs:
|
||||
|
||||
ROS2_bridge:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -154,4 +154,4 @@ jobs:
|
||||
- name: PX4 ROS2 bridge
|
||||
run: |
|
||||
git clone https://github.com/PX4/px4_ros_com.git
|
||||
./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
|
||||
./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml
|
||||
|
||||
@@ -21,7 +21,7 @@ jobs:
|
||||
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-09-08
|
||||
image: px4io/px4-dev-simulation-focal:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -50,9 +50,8 @@ 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
|
||||
|
||||
@@ -97,7 +96,6 @@ jobs:
|
||||
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
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
|
||||
+2
-13
@@ -29,11 +29,11 @@
|
||||
[submodule "platforms/nuttx/NuttX/nuttx"]
|
||||
path = platforms/nuttx/NuttX/nuttx
|
||||
url = https://github.com/PX4/NuttX.git
|
||||
branch = px4_firmware_nuttx-10.1.0+
|
||||
branch = px4_firmware_nuttx-10.0.0+
|
||||
[submodule "platforms/nuttx/NuttX/apps"]
|
||||
path = platforms/nuttx/NuttX/apps
|
||||
url = https://github.com/PX4/NuttX-apps.git
|
||||
branch = px4_firmware_nuttx-10.1.0+
|
||||
branch = px4_firmware_nuttx-10.0.0+
|
||||
[submodule "Tools/flightgear_bridge"]
|
||||
path = Tools/flightgear_bridge
|
||||
url = https://github.com/PX4/PX4-FlightGear-Bridge.git
|
||||
@@ -63,14 +63,3 @@
|
||||
[submodule "src/lib/events/libevents"]
|
||||
path = src/lib/events/libevents
|
||||
url = https://github.com/mavlink/libevents.git
|
||||
[submodule "Tools/simulation-ignition"]
|
||||
path = Tools/simulation-ignition
|
||||
url = https://github.com/Auterion/px4-simulation-ignition.git
|
||||
[submodule "src/lib/crypto/libtomcrypt"]
|
||||
path = src/lib/crypto/libtomcrypt
|
||||
url = https://github.com/PX4/libtomcrypt.git
|
||||
branch = px4
|
||||
[submodule "src/lib/crypto/libtommath"]
|
||||
path = src/lib/crypto/libtommath
|
||||
url = https://github.com/PX4/libtommath.git
|
||||
branch = px4
|
||||
|
||||
Vendored
-20
@@ -6,11 +6,6 @@ CONFIG:
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_rtps:
|
||||
short: px4_sitl_rtps
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_rtps
|
||||
px4_sitl_asan:
|
||||
short: px4_sitl (AddressSanitizer)
|
||||
buildType: AddressSanitizer
|
||||
@@ -101,21 +96,6 @@ CONFIG:
|
||||
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_canbootloader:
|
||||
short: ark_can-rtk-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-rtk-gps_canbootloader
|
||||
atl_mantis-edu_default:
|
||||
short: atl_mantis-edu
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: atl_mantis-edu_default
|
||||
av_x-v1_default:
|
||||
short: av_x-v1
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+1
@@ -31,6 +31,7 @@
|
||||
"esc"
|
||||
],
|
||||
"debug.toolBarLocation": "docked",
|
||||
"editor.acceptSuggestionOnEnter": "off",
|
||||
"editor.defaultFormatter": "chiehyu.vscode-astyle",
|
||||
"editor.dragAndDrop": false,
|
||||
"editor.insertSpaces": false,
|
||||
|
||||
+24
-26
@@ -143,33 +143,12 @@ set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
|
||||
include(px4_add_module)
|
||||
set(config_module_list)
|
||||
|
||||
# Find 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()
|
||||
|
||||
include(px4_config)
|
||||
include(kconfig)
|
||||
include(px4_add_board)
|
||||
include(${PX4_CONFIG_FILE})
|
||||
message(STATUS "PX4 config: ${PX4_CONFIG}")
|
||||
message(STATUS "PX4 platform: ${PX4_PLATFORM}")
|
||||
|
||||
|
||||
if(${PX4_PLATFORM} STREQUAL "posix")
|
||||
if(ENABLE_LOCKSTEP_SCHEDULER)
|
||||
add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
|
||||
@@ -304,6 +283,27 @@ if (CATKIN_DEVEL_PREFIX)
|
||||
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
|
||||
#
|
||||
@@ -443,10 +443,8 @@ endforeach()
|
||||
|
||||
add_custom_command(OUTPUT ${uorb_graph_config}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
|
||||
${graph_module_list} --src-path src/lib
|
||||
--merge-depends
|
||||
${graph_module_list}
|
||||
--exclude-path src/examples
|
||||
--exclude-path src/lib/parameters # FIXME: enable & fix
|
||||
--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
COMMENT "Generating uORB graph"
|
||||
|
||||
Vendored
+15
-37
@@ -15,7 +15,7 @@ pipeline {
|
||||
// stage('Catkin build on ROS workspace') {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-ros-melodic:2021-08-18'
|
||||
// image 'px4io/px4-dev-ros-melodic:2021-05-04'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
// }
|
||||
// }
|
||||
@@ -56,7 +56,7 @@ pipeline {
|
||||
stage('Colcon build on ROS2 workspace') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros2-foxy:2021-08-18'
|
||||
image 'px4io/px4-dev-ros2-foxy:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
@@ -85,7 +85,7 @@ pipeline {
|
||||
|
||||
stage('Airframe') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
@@ -105,7 +105,7 @@ pipeline {
|
||||
|
||||
stage('Parameter') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
@@ -125,7 +125,7 @@ pipeline {
|
||||
|
||||
stage('Module') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
@@ -143,28 +143,10 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('msg file docs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
|
||||
dir('build') {
|
||||
archiveArtifacts(artifacts: 'msg_docs/*.md')
|
||||
stash includes: 'msg_docs/*.md', name: 'msg_documentation'
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('uORB graphs') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-08-18'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -174,8 +156,8 @@ pipeline {
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make uorb_graphs'
|
||||
dir('Tools/uorb_graph') {
|
||||
archiveArtifacts(artifacts: 'graph_*.json')
|
||||
stash includes: 'graph_*.json', name: 'uorb_graph'
|
||||
archiveArtifacts(artifacts: 'graph_px4_sitl.json')
|
||||
stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
|
||||
}
|
||||
}
|
||||
post {
|
||||
@@ -194,22 +176,18 @@ pipeline {
|
||||
|
||||
stage('Userguide') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
unstash 'metadata_airframes'
|
||||
unstash 'metadata_parameters'
|
||||
unstash 'metadata_module_documentation'
|
||||
unstash 'msg_documentation'
|
||||
unstash 'uorb_graph'
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
|
||||
sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
|
||||
sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
|
||||
sh('cp -R modules/*.md px4_user_guide/en/modules/')
|
||||
sh('cp -R graph_*.json px4_user_guide/.vuepress/public/en/middleware/')
|
||||
sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
|
||||
sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
|
||||
sh('cd px4_user_guide; git push origin master || true')
|
||||
sh('rm -rf px4_user_guide')
|
||||
@@ -228,7 +206,7 @@ pipeline {
|
||||
|
||||
stage('QGroundControl') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -256,7 +234,7 @@ pipeline {
|
||||
|
||||
stage('microRTPS agent') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -286,7 +264,7 @@ pipeline {
|
||||
|
||||
stage('PX4 ROS msgs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -315,7 +293,7 @@ pipeline {
|
||||
|
||||
stage('PX4 ROS2 bridge') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -323,7 +301,7 @@ pipeline {
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
|
||||
// deploy uORB RTPS ID map
|
||||
sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
|
||||
sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
|
||||
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
|
||||
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
|
||||
// deploy uORB RTPS required tools
|
||||
@@ -358,7 +336,7 @@ pipeline {
|
||||
|
||||
stage('S3') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
|
||||
@@ -1,179 +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"
|
||||
endchoice
|
||||
|
||||
config BOARD_PLATFORM
|
||||
string
|
||||
default "nuttx" if PLATFORM_NUTTX
|
||||
default "posix" if PLATFORM_POSIX
|
||||
default "qurt" if PLATFORM_QURT
|
||||
|
||||
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
|
||||
bool "Linux OS"
|
||||
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_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_BUILD_BOOTLOADER
|
||||
bool "Enable bootloader"
|
||||
help
|
||||
flag to enable building and including the bootloader config
|
||||
|
||||
config BOARD_IO
|
||||
string "IO board name"
|
||||
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
|
||||
string "Crypto"
|
||||
help
|
||||
Crypto implementation selection
|
||||
|
||||
config BOARD_KEYSTORE
|
||||
string "Keystore"
|
||||
help
|
||||
Keystore implememntation selection
|
||||
|
||||
menu "Serial ports"
|
||||
|
||||
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_WIFI
|
||||
string "WIFI 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
|
||||
@@ -213,8 +213,8 @@ 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 '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)
|
||||
|
||||
# ADD CONFIGS HERE
|
||||
# --------------------------------------------------------------------
|
||||
@@ -232,9 +232,6 @@ $(CONFIG_TARGETS_DEFAULT):
|
||||
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)!)
|
||||
@@ -302,11 +299,9 @@ all_variants_%:
|
||||
$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
|
||||
|
||||
uorb_graphs:
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
|
||||
@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
|
||||
|
||||
|
||||
@@ -484,7 +479,6 @@ submodulesupdate:
|
||||
@git submodule update --quiet --init --recursive --jobs 4 || true
|
||||
@git submodule sync --recursive
|
||||
@git submodule update --init --recursive --jobs 4
|
||||
@git fetch --all --tags --recurse-submodules=yes --jobs=4
|
||||
|
||||
gazeboclean:
|
||||
@rm -rf ~/.gazebo/*
|
||||
@@ -494,7 +488,7 @@ distclean: gazeboclean
|
||||
@rm -rf "$(SRC_DIR)/build"
|
||||
@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
|
||||
|
||||
# Help / Error / Misc
|
||||
# Help / Error
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
|
||||
@@ -528,18 +522,3 @@ check_px4: $(call make_list,nuttx,"px4") \
|
||||
|
||||
check_nxp: $(call make_list,nuttx,"nxp") \
|
||||
sizes
|
||||
|
||||
ifneq ($(ROS2_WS_DIR),)
|
||||
ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
|
||||
else
|
||||
ROS2_WS_DIR := ~/colcon_ws
|
||||
endif
|
||||
|
||||
update_ros2_bridge:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
|
||||
|
||||
update_px4_ros_com:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
|
||||
|
||||
update_px4_msgs:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
|
||||
|
||||
@@ -4,7 +4,7 @@
|
||||
|
||||
[](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
|
||||
|
||||
[](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
|
||||
[](http://slack.px4.io)
|
||||
|
||||
This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
|
||||
|
||||
|
||||
@@ -120,7 +120,6 @@ add_custom_command(
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
|
||||
WORKING_DIRECTORY ${romfs_gen_root_dir}
|
||||
DEPENDS ${romfs_tar_file}
|
||||
VERBATIM
|
||||
)
|
||||
|
||||
add_custom_command(
|
||||
|
||||
@@ -15,6 +15,15 @@ set +e
|
||||
#
|
||||
#------------------------------------------------------------------------------
|
||||
set R /
|
||||
#
|
||||
# Mount the procfs.
|
||||
#
|
||||
mount -t procfs /proc
|
||||
|
||||
#
|
||||
# Start CDC/ACM serial driver.
|
||||
#
|
||||
sercon
|
||||
|
||||
#
|
||||
# Print full system version.
|
||||
|
||||
@@ -34,10 +34,9 @@
|
||||
add_subdirectory(airframes)
|
||||
|
||||
px4_add_romfs_files(
|
||||
px4-rc.mavlink
|
||||
px4-rc.params
|
||||
px4-rc.rtps
|
||||
px4-rc.simulator
|
||||
px4-rc.mavlink
|
||||
rc.replay
|
||||
rcS
|
||||
)
|
||||
|
||||
@@ -7,5 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default EKF2_RNG_AID 1
|
||||
param set-default EKF2_RNG_A_HMAX 10
|
||||
|
||||
|
||||
@@ -8,6 +8,6 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.1
|
||||
param set-default MC_ROLLRATE_P 0.05
|
||||
param set-default MC_ROLLRATE_P 0.1
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -6,10 +6,13 @@
|
||||
. ${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}
|
||||
|
||||
|
||||
@@ -6,10 +6,13 @@
|
||||
. ${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}
|
||||
|
||||
|
||||
@@ -6,6 +6,7 @@
|
||||
. ${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
|
||||
|
||||
@@ -5,6 +5,8 @@
|
||||
|
||||
. ${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
|
||||
|
||||
@@ -16,6 +18,7 @@ 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
|
||||
@@ -43,6 +46,7 @@ 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
|
||||
|
||||
|
||||
@@ -5,6 +5,9 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
@@ -16,6 +19,7 @@ param set-default FW_LND_TLALT 15
|
||||
|
||||
param set-default FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
@@ -34,12 +38,19 @@ param set-default MIS_DIST_WPS 10000
|
||||
|
||||
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
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set FW_THR_SLEW_MAX 0.3
|
||||
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set-default RWTO_MAX_THR 0.6
|
||||
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
|
||||
@@ -5,6 +5,9 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
@@ -16,6 +19,7 @@ param set-default FW_LND_TLALT 15
|
||||
|
||||
param set-default FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
@@ -34,12 +38,19 @@ param set-default MIS_DIST_WPS 10000
|
||||
|
||||
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
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set FW_THR_SLEW_MAX 0.3
|
||||
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set RWTO_MAX_THR 0.6
|
||||
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
|
||||
@@ -5,6 +5,8 @@
|
||||
|
||||
. ${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
|
||||
|
||||
@@ -33,6 +35,7 @@ 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
|
||||
|
||||
|
||||
@@ -5,6 +5,9 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
@@ -16,6 +19,7 @@ param set-default FW_LND_TLALT 15
|
||||
|
||||
param set-default FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
@@ -34,6 +38,7 @@ param set-default MIS_DIST_WPS 10000
|
||||
|
||||
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
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
|
||||
@@ -5,6 +5,8 @@
|
||||
|
||||
. ${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
|
||||
|
||||
@@ -16,6 +18,7 @@ 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
|
||||
@@ -43,6 +46,7 @@ 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
|
||||
|
||||
|
||||
@@ -10,6 +10,7 @@
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
|
||||
@@ -10,6 +10,7 @@
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
|
||||
@@ -10,6 +10,7 @@
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
|
||||
@@ -12,12 +12,21 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
|
||||
param set-default FW_AIRSPD_STALL 8
|
||||
|
||||
param set-default FW_P_RMAX_NEG 20.0
|
||||
param set-default FW_P_RMAX_POS 60.0
|
||||
param set-default FW_W_RMAX 10
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default FW_PR_IMAX 0.4
|
||||
param set-default FW_R_TC 0.4
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_I 0.1
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
param set-default FW_RR_P 0.08
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 50
|
||||
@@ -33,6 +42,7 @@ param set-default FW_ARSP_SCALE_EN 0
|
||||
|
||||
param set-default FW_AIRSPD_MAX 35
|
||||
param set-default FW_AIRSPD_MIN 7
|
||||
param set-default FW_AIRSPD_TRIM 15
|
||||
|
||||
param set-default FW_P_LIM_MAX 25
|
||||
param set-default FW_P_LIM_MIN -5
|
||||
|
||||
@@ -12,6 +12,7 @@
|
||||
param set-default MC_PITCHRATE_P 0.1
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCH_P 6.0
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_I 0.1
|
||||
param set-default MC_ROLL_P 6.0
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
#param set-default MAV_SYS_ID $((px4_instance+1))
|
||||
#param set-default IMU_INTEG_RATE 250
|
||||
#param set MAV_SYS_ID $((px4_instance+1))
|
||||
#param set IMU_INTEG_RATE 250
|
||||
|
||||
@@ -1,4 +0,0 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
|
||||
@@ -21,6 +21,8 @@ then
|
||||
fi
|
||||
|
||||
# initialize script variables
|
||||
set AUX_MODE none
|
||||
set AUX_BANK2 none
|
||||
set IO_PRESENT no
|
||||
set MAV_TYPE none
|
||||
set MIXER none
|
||||
@@ -120,6 +122,8 @@ then
|
||||
|
||||
param set SENS_BOARD_X_OFF 0.000001
|
||||
param set SENS_DPRES_OFF 0.001
|
||||
|
||||
param set SYS_RESTART_TYPE 2
|
||||
fi
|
||||
|
||||
param set-default BAT1_N_CELLS 4
|
||||
@@ -224,7 +228,8 @@ navigator start
|
||||
# Try to start the micrortps_client with UDP transport if module exists
|
||||
if px4-micrortps_client status > /dev/null 2>&1
|
||||
then
|
||||
. px4-rc.rtps
|
||||
# shellcheck disable=SC2154
|
||||
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
|
||||
fi
|
||||
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
|
||||
@@ -42,6 +42,7 @@ px4_add_romfs_files(
|
||||
rc.fw_apps
|
||||
rc.fw_defaults
|
||||
rc.interface
|
||||
rc.io
|
||||
rc.logging
|
||||
rc.mc_apps
|
||||
rc.mc_defaults
|
||||
|
||||
@@ -30,12 +30,17 @@ param set-default FW_L1_DAMPING 0.74
|
||||
param set-default FW_L1_PERIOD 16
|
||||
param set-default FW_LND_ANG 15
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_HHDIST 15
|
||||
param set-default FW_LND_HVIRT 13
|
||||
param set-default FW_LND_TLALT 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_PR_FF 0.35
|
||||
param set-default FW_PR_I 0.1
|
||||
param set-default FW_PR_IMAX 0.4
|
||||
param set-default FW_PR_P 0.2
|
||||
param set-default FW_RR_FF 0.6
|
||||
param set-default FW_RR_I 0.1
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
param set-default FW_RR_P 0.3
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
@@ -25,14 +25,19 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default MC_ROLL_P 6.5
|
||||
param set-default MC_ROLLRATE_P 0.1
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_ROLLRATE_D 0.0017
|
||||
param set-default MC_PITCH_P 6.5
|
||||
param set-default MC_PITCHRATE_P 0.14
|
||||
param set-default MC_PITCHRATE_I 0.1
|
||||
param set-default MC_PITCHRATE_D 0.0025
|
||||
param set-default MC_YAW_P 2.8
|
||||
param set-default MC_YAWRATE_P 0.28
|
||||
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -26,14 +26,17 @@
|
||||
|
||||
# TODO tune roll/pitch separately
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_ROLLRATE_D 0.004
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.15
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
param set-default MC_YAW_P 2.5
|
||||
param set-default MC_YAWRATE_P 0.25
|
||||
param set-default MC_YAWRATE_I 0.25
|
||||
param set-default MC_YAWRATE_D 0
|
||||
|
||||
param set-default BAT1_V_DIV 12.27559
|
||||
param set-default BAT1_A_PER_V 15.39103
|
||||
|
||||
@@ -37,6 +37,9 @@ param set-default MC_PITCHRATE_P 0.19
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
param set-default MC_YAW_P 4
|
||||
param set-default MC_YAWRATE_P 0.2
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -32,10 +32,15 @@ param set-default BAT1_V_EMPTY 3.5
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.08
|
||||
param set-default MC_ROLLRATE_I 0.02
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.13
|
||||
param set-default MC_PITCHRATE_I 0.02
|
||||
param set-default MC_PITCHRATE_D 0.005
|
||||
param set-default MC_YAW_P 2.8
|
||||
param set-default MC_YAWRATE_P 0.2
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
|
||||
param set-default MPC_XY_VEL_MAX 2
|
||||
|
||||
|
||||
@@ -18,8 +18,10 @@ param set-default BAT1_N_CELLS 3
|
||||
|
||||
param set-default COM_RC_IN_MODE 1
|
||||
|
||||
param set-default EKF2_AID_MASK 1
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_HGT_MODE 0
|
||||
param set-default EKF2_MAG_TYPE 1
|
||||
|
||||
param set-default FW_AIRSPD_MAX 25
|
||||
@@ -54,6 +56,7 @@ param set-default RTL_DESCEND_ALT 10
|
||||
param set-default RTL_RETURN_ALT 30
|
||||
|
||||
param set-default SDLOG_DIRS_MAX 7
|
||||
param set-default SYS_RESTART_TYPE 2
|
||||
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -26,5 +26,3 @@ param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default COM_PREARM_MODE 0
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set SIH_VEHICLE_TYPE 0
|
||||
|
||||
@@ -1,40 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name SIH plane AERT
|
||||
#
|
||||
# @type Simulation
|
||||
# @class Plane
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
set MIXER AERT
|
||||
set PWM_OUT 1234
|
||||
|
||||
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
param set-default SYS_HITL 2
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default COM_PREARM_MODE 0
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set SIH_T_MAX 6.0
|
||||
param set SIH_MASS 0.3
|
||||
param set SIH_IXX 0.00402
|
||||
param set SIH_IYY 0.0144
|
||||
param set SIH_IZZ 0.0177
|
||||
param set SIH_IXZ 0.00046
|
||||
param set SIH_KDV 0.2
|
||||
|
||||
param set SIH_VEHICLE_TYPE 1 # sih as fixed wing
|
||||
@@ -36,6 +36,9 @@ param set-default MC_ROLLRATE_D 0.009
|
||||
param set-default MC_ROLLRATE_MAX 180
|
||||
|
||||
param set-default MC_YAW_P 3
|
||||
param set-default MC_YAWRATE_P 0.2
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
|
||||
param set-default MPC_HOLD_MAX_XY 0.25
|
||||
param set-default MPC_THR_MIN 0.15
|
||||
|
||||
@@ -25,6 +25,7 @@
|
||||
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default VT_MOT_ID 1234
|
||||
|
||||
@@ -24,14 +24,20 @@ param set-default MAV_TYPE 19
|
||||
param set-default MC_ROLL_P 6
|
||||
param set-default MC_ROLLRATE_P 0.12
|
||||
param set-default MC_ROLLRATE_I 0.002
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
param set-default MC_ROLLRATE_FF 0
|
||||
|
||||
param set-default MC_PITCH_P 4.5
|
||||
param set-default MC_PITCHRATE_P 0.3
|
||||
param set-default MC_PITCHRATE_I 0.002
|
||||
param set-default MC_PITCHRATE_D 0.003
|
||||
param set-default MC_PITCHRATE_FF 0
|
||||
|
||||
param set-default MC_YAW_P 3.8
|
||||
param set-default MC_YAWRATE_P 0.22
|
||||
param set-default MC_YAWRATE_I 0.02
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
|
||||
@@ -28,13 +28,19 @@ param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.19
|
||||
param set-default MC_ROLLRATE_I 0.002
|
||||
param set-default MC_ROLLRATE_D 0.005
|
||||
param set-default MC_ROLLRATE_FF 0
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.14
|
||||
param set-default MC_PITCHRATE_I 0.002
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
param set-default MC_PITCHRATE_FF 0
|
||||
param set-default MC_YAW_P 4
|
||||
param set-default MC_YAWRATE_P 0.22
|
||||
param set-default MC_YAWRATE_I 0.02
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_FW_MOT_OFFID 34
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
|
||||
@@ -15,10 +15,12 @@
|
||||
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_ELEV_MC_LOCK 1
|
||||
set MAV_TYPE 20
|
||||
|
||||
set MIXER quad_x_vtol
|
||||
|
||||
@@ -24,9 +24,11 @@
|
||||
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_ELEV_MC_LOCK 1
|
||||
set MAV_TYPE 20
|
||||
|
||||
set MIXER quad_+_vtol
|
||||
|
||||
@@ -26,24 +26,35 @@
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default MC_ROLL_P 6
|
||||
param set-default MC_ROLLRATE_P 0.17
|
||||
param set-default MC_ROLLRATE_I 0.002
|
||||
param set-default MC_ROLLRATE_D 0.004
|
||||
param set-default MC_ROLLRATE_FF 0
|
||||
param set-default MC_PITCH_P 6
|
||||
param set-default MC_PITCHRATE_P 0.19
|
||||
param set-default MC_PITCHRATE_I 0.002
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
param set-default MC_PITCHRATE_FF 0
|
||||
param set-default MC_YAW_P 2.8
|
||||
param set-default MC_YAWRATE_P 0.22
|
||||
param set-default MC_YAWRATE_I 0.02
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
param set-default MC_YAWRATE_MAX 40
|
||||
|
||||
param set-default MPC_YAWRAUTO_MAX 40
|
||||
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.02
|
||||
param set-default FW_PR_IMAX 0.4
|
||||
param set-default FW_PR_P 0.08
|
||||
param set-default FW_RR_FF 0.6
|
||||
param set-default FW_RR_I 0.01
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
param set-default FW_RR_P 0.05
|
||||
param set-default FW_THR_CRUISE 0.75
|
||||
|
||||
param set-default VT_ARSP_BLEND 6
|
||||
|
||||
@@ -22,11 +22,21 @@
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default MC_ROLL_P 6.5
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_I 0.01
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
param set-default MC_ROLLRATE_FF 0
|
||||
param set-default MC_PITCH_P 6.5
|
||||
param set-default MC_PITCHRATE_P 0.15
|
||||
param set-default MC_PITCHRATE_I 0.01
|
||||
param set-default MC_PITCHRATE_D 0.003
|
||||
param set-default MC_PITCHRATE_FF 0
|
||||
param set-default MC_YAW_P 3.5
|
||||
|
||||
|
||||
param set-default MC_YAWRATE_P 0.2
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
param set-default MC_YAWRATE_MAX 50
|
||||
|
||||
param set-default MPC_XY_P 0.8
|
||||
@@ -35,6 +45,7 @@ param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_YAWRAUTO_MAX 20
|
||||
|
||||
param set-default PWM_AUX_DIS3 950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
|
||||
@@ -15,17 +15,26 @@
|
||||
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_I 0.002
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
param set-default MC_ROLLRATE_FF 0
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.12
|
||||
param set-default MC_PITCHRATE_I 0.002
|
||||
param set-default MC_PITCHRATE_D 0.003
|
||||
param set-default MC_PITCHRATE_FF 0
|
||||
param set-default MC_YAW_P 2.8
|
||||
param set-default MC_YAWRATE_P 0.22
|
||||
param set-default MC_YAWRATE_I 0.02
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
param set-default MC_YAWRATE_MAX 40
|
||||
|
||||
param set-default MPC_YAWRAUTO_MAX 40
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
|
||||
@@ -15,32 +15,44 @@
|
||||
|
||||
|
||||
param set-default FW_THR_CRUISE 65
|
||||
param set-default FW_PR_P 0.08
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_RR_P 0.05
|
||||
param set-default FW_RR_FF 0.6
|
||||
|
||||
param set-default MIS_YAW_TMT 10
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_I 0.1
|
||||
param set-default MC_ROLLRATE_D 0.004
|
||||
param set-default MC_ROLLRATE_FF 0
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.15
|
||||
param set-default MC_PITCHRATE_I 0.1
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
param set-default MC_PITCHRATE_FF 0
|
||||
param set-default MC_YAW_P 3.5
|
||||
param set-default MC_YAWRATE_P 0.6
|
||||
param set-default MC_YAWRATE_I 0.04
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
param set-default MC_YAWRATE_MAX 40
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_Z_VEL_MAX_DN 1.5
|
||||
param set-default MPC_TKO_SPEED 1.5
|
||||
param set-default MPC_LAND_SPEED 0.8
|
||||
param set-default MPC_YAWRAUTO_MAX 40
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set-default PWM_AUX_REV1 1
|
||||
param set-default PWM_AUX_REV2 1
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_ARSP_TRANS 15
|
||||
param set-default VT_ARSP_BLEND 8
|
||||
param set-default VT_B_TRANS_DUR 4
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_MOT_ID 1234
|
||||
|
||||
@@ -68,8 +68,10 @@ param set-default PWM_AUX_REV4 1
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_ARSP_TRANS 15
|
||||
param set-default VT_B_TRANS_DUR 4
|
||||
param set-default VT_F_TRANS_THR 0.6
|
||||
param set-default VT_IDLE_PWM_MC 1180
|
||||
param set-default VT_MOT_ID 1234
|
||||
|
||||
@@ -20,6 +20,7 @@ param set-default PWM_AUX_MIN 1000
|
||||
param set-default PWM_AUX_RATE 50
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 13
|
||||
|
||||
@@ -32,14 +32,22 @@ param set-default FW_MAN_R_MAX 50
|
||||
param set-default FW_ACRO_X_MAX 270
|
||||
param set-default FW_ACRO_Y_MAX 270
|
||||
param set-default FW_ACRO_Z_MAX 180
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_P 0.08
|
||||
param set-default FW_PSP_OFF 5
|
||||
param set-default FW_P_LIM_MAX 30
|
||||
param set-default FW_P_LIM_MIN -30
|
||||
param set-default FW_P_RMAX_NEG 60
|
||||
param set-default FW_P_RMAX_POS 60
|
||||
param set-default FW_RR_FF 0.33
|
||||
param set-default FW_RR_P 0.11
|
||||
param set-default FW_YR_FF 0.3
|
||||
param set-default FW_YR_P 0.05
|
||||
|
||||
param set-default MC_PITCHRATE_D 0.003
|
||||
param set-default MC_PITCHRATE_P 0.15
|
||||
param set-default MC_PITCH_P 6
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLL_P 6
|
||||
param set-default MC_YAWRATE_MAX 120
|
||||
@@ -49,6 +57,9 @@ param set-default MC_YAW_P 2.5
|
||||
param set-default MC_YAWRATE_P 0.3
|
||||
param set-default MPC_LAND_SPEED 1.2
|
||||
param set-default MPC_TKO_SPEED 2.5
|
||||
param set-default MPC_Z_VEL_MAX_UP 3
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default SENS_BOARD_ROT 8
|
||||
|
||||
@@ -58,8 +69,11 @@ param set-default VT_F_TR_OL_TM 4
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_SC 0.17
|
||||
param set-default VT_FW_MOT_OFFID 3
|
||||
param set-default VT_FW_PERM_STAB 0
|
||||
param set-default VT_IDLE_PWM_MC 1200
|
||||
param set-default VT_MOT_ID 123
|
||||
param set-default VT_TILT_FW 1
|
||||
param set-default VT_TILT_MC 0
|
||||
param set-default VT_TILT_TRANS 0.45
|
||||
param set-default VT_TRANS_MIN_TM 1.2
|
||||
param set-default VT_TRANS_P2_DUR 1.3
|
||||
|
||||
@@ -69,13 +69,23 @@ param set-default LNDMC_ALT_MAX 9999
|
||||
param set-default LNDMC_XY_VEL_MAX 1
|
||||
param set-default LNDMC_Z_VEL_MAX 0.7
|
||||
|
||||
param set-default MC_ROLL_P 6.5
|
||||
param set-default MC_ROLLRATE_P 0.16
|
||||
param set-default MC_ROLLRATE_I 0.01
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
param set-default MC_ROLLRATE_FF 0
|
||||
param set-default MC_ROLLRATE_MAX 80
|
||||
param set-default MC_PITCH_P 6.5
|
||||
param set-default MC_PITCHRATE_P 0.15
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCHRATE_D 0.003
|
||||
param set-default MC_PITCHRATE_FF 0
|
||||
param set-default MC_PITCHRATE_MAX 80
|
||||
param set-default MC_YAW_P 3.5
|
||||
|
||||
param set-default MC_YAWRATE_P 0.2
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
param set-default MC_YAWRATE_MAX 20
|
||||
param set-default MC_AIRMODE 1
|
||||
|
||||
@@ -99,6 +109,7 @@ param set-default MPC_TILTMAX_AIR 25
|
||||
param set-default MPC_TILTMAX_LND 25
|
||||
param set-default MPC_YAWRAUTO_MAX 20
|
||||
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default NAV_LOITER_RAD 100
|
||||
|
||||
param set-default PWM_AUX_DISARM 950
|
||||
@@ -108,6 +119,7 @@ param set-default PWM_MAIN_DIS6 1500
|
||||
param set-default PWM_MAIN_DIS7 900
|
||||
param set-default PWM_MAIN_DIS8 900
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default SENS_BOARD_ROT 18
|
||||
|
||||
@@ -121,11 +133,13 @@ param set-default VT_TYPE 2
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_F_TRANS_THR 1
|
||||
param set-default VT_PITCH_MIN 8
|
||||
param set-default VT_DWN_PITCH_MAX 8
|
||||
param set-default VT_FW_QC_P 55
|
||||
param set-default VT_FW_QC_R 55
|
||||
param set-default VT_TRANS_MIN_TM 15
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_WV_LND_EN 1
|
||||
param set-default VT_WV_LTR_EN 1
|
||||
param set-default VT_FWD_THRUST_SC 4
|
||||
param set-default VT_F_TRANS_DUR 1
|
||||
param set-default VT_IDLE_PWM_MC 1025
|
||||
|
||||
@@ -29,11 +29,14 @@ param set-default FW_AIRSPD_MAX 30
|
||||
param set-default FW_AIRSPD_MIN 19
|
||||
param set-default FW_AIRSPD_TRIM 23
|
||||
param set-default FW_L1_R_SLEW_MAX 40
|
||||
param set-default FW_LND_EARLYCFG 1
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_I 0.1
|
||||
param set-default FW_PSP_OFF 3
|
||||
param set-default FW_P_LIM_MAX 18
|
||||
param set-default FW_P_LIM_MIN -25
|
||||
param set-default FW_RLL_TO_YAW_FF 0.1
|
||||
param set-default FW_RR_I 0.1
|
||||
param set-default FW_RR_P 0.08
|
||||
param set-default FW_R_LIM 45
|
||||
param set-default FW_R_RMAX 50
|
||||
@@ -43,15 +46,22 @@ param set-default FW_THR_SLEW_MAX 0.6
|
||||
param set-default FW_T_HRATE_FF 0
|
||||
param set-default FW_T_SINK_MAX 15
|
||||
param set-default FW_T_SINK_MIN 3
|
||||
param set-default FW_YR_I 0.1
|
||||
param set-default FW_YR_P 0.15
|
||||
|
||||
param set-default IMU_GYRO_CUTOFF 40
|
||||
|
||||
param set-default IMU_DGYRO_CUTOFF 15
|
||||
param set-default MC_PITCHRATE_I 0.2
|
||||
param set-default MC_PITCHRATE_MAX 60
|
||||
param set-default MC_ROLLRATE_I 0.2
|
||||
param set-default MC_ROLLRATE_MAX 60
|
||||
param set-default MC_YAWRATE_I 0.15
|
||||
param set-default MC_YAWRATE_MAX 40
|
||||
param set-default MC_YAWRATE_P 0.3
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default MPC_ACC_DOWN_MAX 2
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_ACC_UP_MAX 3
|
||||
|
||||
@@ -27,6 +27,7 @@
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_IDLE_PWM_MC 1100
|
||||
param set-default VT_TYPE 1
|
||||
|
||||
@@ -27,6 +27,7 @@
|
||||
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default VT_MOT_ID 12345678
|
||||
|
||||
@@ -20,19 +20,28 @@
|
||||
set MIXER coax
|
||||
|
||||
|
||||
param set-default MC_ROLL_P 6.5
|
||||
param set-default MC_ROLLRATE_P 0.17
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_ROLLRATE_D 0.005
|
||||
param set-default MC_ROLLRATE_FF 0
|
||||
param set-default MC_PITCH_P 6.5
|
||||
param set-default MC_PITCHRATE_P 0.17
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCHRATE_D 0.005
|
||||
param set-default MC_PITCHRATE_FF 0
|
||||
param set-default MC_YAW_P 2
|
||||
param set-default MC_YAWRATE_P 0.1
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set-default PWM_MAIN_DISARM 900
|
||||
param set-default PWM_MAIN_MIN 1075
|
||||
param set-default PWM_MAIN_MAX 1950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default RTL_RETURN_ALT 30
|
||||
|
||||
@@ -36,6 +36,7 @@ param set-default MC_ROLLRATE_P 0
|
||||
param set-default MC_ROLLRATE_I 0
|
||||
param set-default MC_ROLLRATE_D 0
|
||||
param set-default MC_ROLLRATE_FF 0.15
|
||||
param set-default MC_PITCH_P 6.5
|
||||
param set-default MC_PITCHRATE_P 0
|
||||
param set-default MC_PITCHRATE_I 0
|
||||
param set-default MC_PITCHRATE_D 0
|
||||
@@ -43,6 +44,7 @@ param set-default MC_PITCHRATE_FF 0.15
|
||||
param set-default MC_YAW_P 3
|
||||
param set-default MC_YAWRATE_P 0.1
|
||||
param set-default MC_YAWRATE_I 0
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_ROLLRATE_MAX 720
|
||||
param set-default MC_PITCHRATE_MAX 720
|
||||
param set-default MC_YAWRATE_MAX 400
|
||||
|
||||
@@ -21,8 +21,8 @@
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
param set-default BAT1_CAPACITY 3300
|
||||
param set-default BAT1_N_CELLS 3
|
||||
param set-default BAT_CAPACITY 3300
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set-default PWM_MAIN_RATE 50
|
||||
|
||||
@@ -25,8 +25,8 @@ param set-default MAV_0_CONFIG 102
|
||||
param set-default GPS_UBX_DYNMODEL 8
|
||||
param set-default SER_TEL2_BAUD 9600
|
||||
|
||||
set MAV_TYPE 8
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
param set-default SENS_BOARD_ROT 0
|
||||
param set MAV_TYPE 8 # MAV_TYPE_FREE_BALLOON
|
||||
|
||||
|
||||
set MIXER IO_pass
|
||||
|
||||
@@ -25,6 +25,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_AIRSPD_MIN 10
|
||||
param set-default FW_AIRSPD_TRIM 15
|
||||
param set-default FW_AIRSPD_MAX 20
|
||||
|
||||
param set-default FW_MAN_P_MAX 55
|
||||
param set-default FW_MAN_R_MAX 55
|
||||
param set-default FW_R_LIM 55
|
||||
|
||||
@@ -25,6 +25,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_AIRSPD_MIN 10
|
||||
param set-default FW_AIRSPD_TRIM 15
|
||||
param set-default FW_AIRSPD_MAX 20
|
||||
|
||||
param set-default FW_MAN_P_MAX 55
|
||||
param set-default FW_MAN_R_MAX 55
|
||||
param set-default FW_R_LIM 55
|
||||
|
||||
@@ -26,6 +26,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_AIRSPD_MIN 10
|
||||
param set-default FW_AIRSPD_TRIM 15
|
||||
param set-default FW_AIRSPD_MAX 20
|
||||
|
||||
param set-default FW_MAN_P_MAX 55
|
||||
param set-default FW_MAN_R_MAX 55
|
||||
param set-default FW_R_LIM 55
|
||||
|
||||
@@ -23,7 +23,6 @@
|
||||
# @maintainer William Peale <develop707@gmail.com>
|
||||
#
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
set VEHICLE_TYPE mc
|
||||
@@ -36,6 +35,8 @@ param set-default PWM_AUX_DISARM 900
|
||||
param set-default PWM_AUX_MIN 1075
|
||||
param set-default PWM_AUX_MAX 1950
|
||||
|
||||
param set-default PWM_MAIN_MIN 1075
|
||||
param set-default PWM_MAIN_MAX 1950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
|
||||
@@ -22,6 +22,7 @@
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_AIRSPD_MAX 15
|
||||
param set-default FW_AIRSPD_MIN 10
|
||||
param set-default FW_AIRSPD_TRIM 13
|
||||
param set-default FW_R_TC 0.3
|
||||
param set-default FW_P_TC 0.3
|
||||
@@ -29,11 +30,15 @@ param set-default FW_L1_DAMPING 0.74
|
||||
param set-default FW_L1_PERIOD 16
|
||||
param set-default FW_LND_ANG 15
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_HHDIST 15
|
||||
param set-default FW_LND_HVIRT 13
|
||||
param set-default FW_LND_TLALT 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_PR_FF 0.35
|
||||
param set-default FW_PR_IMAX 0.4
|
||||
param set-default FW_PR_P 0.08
|
||||
param set-default FW_RR_FF 0.6
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
param set-default FW_RR_P 0.04
|
||||
|
||||
param set-default PWM_MAIN_DISARM 1000
|
||||
|
||||
@@ -24,15 +24,20 @@
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_AIRSPD_MIN 13
|
||||
param set-default FW_AIRSPD_TRIM 15
|
||||
param set-default FW_AIRSPD_MAX 25
|
||||
param set-default FW_R_TC 0.3
|
||||
param set-default FW_P_TC 0.3
|
||||
param set-default FW_L1_DAMPING 0.75
|
||||
param set-default FW_L1_PERIOD 15
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_IMAX 0.2
|
||||
param set-default FW_PR_P 0.03
|
||||
param set-default FW_P_LIM_MAX 50
|
||||
param set-default FW_P_LIM_MIN -50
|
||||
param set-default FW_P_ROLLFF 1
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
param set-default FW_RR_P 0.08
|
||||
param set-default FW_R_LIM 50
|
||||
param set-default FW_R_RMAX 50
|
||||
|
||||
@@ -30,6 +30,7 @@ param set-default FW_L1_DAMPING 0.74
|
||||
param set-default FW_L1_PERIOD 16
|
||||
param set-default FW_LND_ANG 15
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_HHDIST 15
|
||||
param set-default FW_LND_HVIRT 13
|
||||
param set-default FW_LND_TLALT 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
|
||||
@@ -25,6 +25,7 @@
|
||||
|
||||
param set-default BAT1_N_CELLS 2
|
||||
param set-default FW_AIRSPD_MAX 15
|
||||
param set-default FW_AIRSPD_MIN 10
|
||||
param set-default FW_AIRSPD_TRIM 13
|
||||
param set-default FW_R_TC 0.3
|
||||
param set-default FW_P_TC 0.3
|
||||
@@ -32,6 +33,7 @@ param set-default FW_L1_DAMPING 0.74
|
||||
param set-default FW_L1_PERIOD 16
|
||||
param set-default FW_LND_ANG 15
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_HHDIST 15
|
||||
param set-default FW_LND_HVIRT 13
|
||||
param set-default FW_LND_TLALT 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
|
||||
@@ -23,6 +23,7 @@
|
||||
|
||||
param set-default FW_AIRSPD_MAX 30
|
||||
param set-default FW_AIRSPD_MIN 13
|
||||
param set-default FW_AIRSPD_TRIM 15
|
||||
|
||||
param set-default NAV_LOITER_RAD 150
|
||||
|
||||
|
||||
@@ -27,11 +27,17 @@ param set-default FW_AIRSPD_MIN 15
|
||||
param set-default FW_AIRSPD_TRIM 20
|
||||
param set-default FW_AIRSPD_MAX 27
|
||||
param set-default FW_ATT_TC 0.3
|
||||
param set-default FW_L1_DAMPING 0.75
|
||||
param set-default FW_L1_PERIOD 20
|
||||
param set-default FW_PR_FF 0.35
|
||||
param set-default FW_PR_IMAX 0.2
|
||||
param set-default FW_PR_P 0.05
|
||||
param set-default FW_P_LIM_MAX 45
|
||||
param set-default FW_P_LIM_MIN -45
|
||||
param set-default FW_P_ROLLFF 1
|
||||
param set-default FW_P_TC 0.3
|
||||
param set-default FW_RR_FF 0.3
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
param set-default FW_RR_P 0.03
|
||||
param set-default FW_R_LIM 40
|
||||
param set-default FW_R_RMAX 50
|
||||
|
||||
@@ -26,15 +26,38 @@
|
||||
####################################
|
||||
# Airspeed
|
||||
####################################
|
||||
param set-default FW_AIRSPD_MIN 15 # = 29 knots
|
||||
param set-default FW_AIRSPD_TRIM 20 # = 39 knots
|
||||
param set-default FW_AIRSPD_MAX 27 # = 52 knots
|
||||
|
||||
####################################
|
||||
# The Main L1 Controller
|
||||
####################################
|
||||
param set-default FW_L1_PERIOD 20 #units of meters
|
||||
|
||||
# Damping factor for L1 control (def = 0.75)
|
||||
param set-default FW_L1_DAMPING 0.75
|
||||
|
||||
####################################
|
||||
# Pitch
|
||||
####################################
|
||||
|
||||
# Basic limits (def = +/- 45 deg)
|
||||
param set-default FW_P_LIM_MAX 45
|
||||
param set-default FW_P_LIM_MIN -45
|
||||
|
||||
# Time Constant (def = 0.4s)
|
||||
param set-default FW_P_TC 0.4
|
||||
|
||||
# Pitch rate feed forward (def = 0.5 %/rad/sec)
|
||||
param set-default FW_PR_FF 0.35
|
||||
|
||||
# Pitch rate integrator limit (def = 0.4)
|
||||
param set-default FW_PR_IMAX 0.4
|
||||
|
||||
# Pitch rate proportional gain (def = 0.08 %/rad/sec)
|
||||
param set-default FW_PR_P 0.08
|
||||
|
||||
####################################
|
||||
# Roll
|
||||
####################################
|
||||
@@ -45,8 +68,21 @@ param set-default FW_R_LIM 40
|
||||
# Roll rate upper limit (def = 70 deg/s)
|
||||
param set-default FW_R_RMAX 50
|
||||
|
||||
# Roll Time Constant (def = 0.4 s)
|
||||
param set-default FW_R_TC 0.4
|
||||
|
||||
# Roll rate feed forward (def = 0.5 %/rad/sec)
|
||||
param set-default FW_RR_FF 0.5
|
||||
|
||||
# Roll rate proportional Gain (def = 0.05 %/rad/sec)
|
||||
param set-default FW_RR_P 0.05
|
||||
|
||||
# Roll Integrator Anti-Windup
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
|
||||
param set-default PWM_MAIN_DISARM 1000
|
||||
|
||||
|
||||
set MIXER fw_generic_wing.main.mix
|
||||
|
||||
# Provide ESC a constant 1000 us pulse
|
||||
|
||||
@@ -25,18 +25,24 @@
|
||||
param set-default FW_AIRSPD_MAX 25
|
||||
param set-default FW_AIRSPD_MIN 12.5
|
||||
param set-default FW_AIRSPD_TRIM 16.5
|
||||
param set-default FW_L1_DAMPING 0.75
|
||||
param set-default FW_L1_PERIOD 15
|
||||
param set-default FW_LND_ANG 15
|
||||
param set-default FW_LND_FLALT 8
|
||||
param set-default FW_LND_HHDIST 15
|
||||
param set-default FW_LND_HVIRT 13
|
||||
param set-default FW_LND_TLALT 10
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_P_LIM_MAX 20
|
||||
param set-default FW_P_LIM_MIN -30
|
||||
param set-default FW_R_LIM 45
|
||||
param set-default FW_R_TC 0.4
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.45
|
||||
param set-default FW_PR_IMAX 0.4
|
||||
param set-default FW_PR_P 0.005
|
||||
param set-default FW_RR_FF 0.45
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
param set-default FW_RR_P 0.013
|
||||
param set-default FW_P_RMAX_NEG 70
|
||||
param set-default FW_P_RMAX_POS 70
|
||||
|
||||
@@ -20,9 +20,15 @@ set PWM_OUT 1234
|
||||
param set-default MC_ROLL_P 8
|
||||
param set-default MC_ROLLRATE_P 0.08
|
||||
param set-default MC_ROLLRATE_I 0.16
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
param set-default MC_PITCH_P 8
|
||||
param set-default MC_PITCHRATE_P 0.1
|
||||
param set-default MC_PITCHRATE_I 0.2
|
||||
param set-default MC_PITCHRATE_D 0.003
|
||||
param set-default MC_YAW_P 2.8
|
||||
param set-default MC_YAWRATE_P 0.15
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
|
||||
param set-default MPC_THR_MIN 0.06
|
||||
param set-default MPC_MANTHR_MIN 0.06
|
||||
|
||||
@@ -33,6 +33,7 @@ param set-default MC_PITCHRATE_D 0.004
|
||||
param set-default MC_YAW_P 4
|
||||
param set-default MC_YAWRATE_P 0.3
|
||||
param set-default MC_YAWRATE_I 0.2
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MPC_THR_MIN 0.06
|
||||
|
||||
param set-default PWM_MAIN_MIN 1075
|
||||
|
||||
@@ -6,7 +6,6 @@
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
@@ -15,10 +14,17 @@ set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.15
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
|
||||
param set-default MC_PITCHRATE_D 0.003
|
||||
param set-default MC_YAW_P 2.8
|
||||
param set-default MC_YAWRATE_P 0.2
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set-default PWM_MAIN_MIN 1230
|
||||
|
||||
@@ -14,10 +14,17 @@ set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.15
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCHRATE_D 0.003
|
||||
param set-default MC_YAW_P 2.8
|
||||
param set-default MC_YAWRATE_P 0.3
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set-default PWM_MAIN_MIN 1230
|
||||
|
||||
@@ -21,3 +21,5 @@ param set-default MC_ROLLRATE_P 0.18
|
||||
param set-default MC_PITCHRATE_P 0.18
|
||||
param set-default MC_ROLLRATE_I 0.15
|
||||
param set-default MC_PITCHRATE_I 0.15
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
param set-default MC_PITCHRATE_D 0.003
|
||||
|
||||
@@ -18,6 +18,7 @@ set PWM_OUT 1234
|
||||
|
||||
|
||||
param set-default IMU_GYRO_CUTOFF 30
|
||||
param set-default IMU_DGYRO_CUTOFF 30
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.14
|
||||
param set-default MC_PITCHRATE_P 0.14
|
||||
|
||||
@@ -33,6 +33,7 @@ param set-default EKF2_AID_MASK 35
|
||||
param set-default EKF2_IMU_POS_X 0.02
|
||||
param set-default EKF2_GPS_POS_X 0.055
|
||||
param set-default EKF2_GPS_POS_Z -0.15
|
||||
param set-default EKF2_HGT_MODE 0
|
||||
param set-default EKF2_MIN_RNG 0.03
|
||||
param set-default EKF2_OF_POS_X 0.055
|
||||
param set-default EKF2_OF_POS_Y 0.02
|
||||
@@ -40,6 +41,7 @@ param set-default EKF2_OF_POS_Z 0.065
|
||||
param set-default EKF2_REQ_HDRIFT 0.3
|
||||
param set-default EKF2_REQ_SACC 1
|
||||
param set-default EKF2_REQ_VDRIFT 0.3
|
||||
param set-default EKF2_RNG_AID 1
|
||||
param set-default EKF2_RNG_A_HMAX 8
|
||||
param set-default EKF2_RNG_A_VMAX 2
|
||||
param set-default EKF2_RNG_POS_X 0.055
|
||||
@@ -64,8 +66,15 @@ param set-default MC_ACRO_R_MAX 200
|
||||
param set-default MC_ACRO_SUPEXPO 0
|
||||
param set-default MC_ACRO_SUPEXPOY 0
|
||||
param set-default MC_ACRO_Y_MAX 150
|
||||
param set-default IMU_DGYRO_CUTOFF 30
|
||||
param set-default MC_PITCHRATE_D 0.0015
|
||||
param set-default MC_PITCHRATE_I 0.2
|
||||
param set-default MC_PITCHRATE_K 1
|
||||
param set-default MC_PITCHRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_D 0.0015
|
||||
param set-default MC_ROLLRATE_I 0.2
|
||||
param set-default MC_ROLLRATE_K 1
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_YAWRATE_P 0.3
|
||||
|
||||
# Position Control Tuning
|
||||
@@ -77,6 +86,7 @@ param set-default MPC_MANTHR_MIN 0
|
||||
param set-default MPC_MAN_Y_MAX 120
|
||||
param set-default MPC_TILTMAX_AIR 45
|
||||
param set-default MPC_THR_HOVER 0.3
|
||||
param set-default MPC_THR_MIN 0.12
|
||||
param set-default MPC_TKO_SPEED 1
|
||||
param set-default MPC_VEL_MANUAL 5
|
||||
param set-default MPC_XY_CRUISE 5
|
||||
@@ -92,17 +102,23 @@ param set-default MPC_LAND_ALT2 1
|
||||
# Navigator Parameters
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
# PWM and RC Parameters
|
||||
param set-default PWM_MAIN_MAX 1950
|
||||
param set-default PWM_MAIN_MIN 1075
|
||||
|
||||
# use oneshot motor output protocol
|
||||
param set-default PWM_MAIN_RATE 0
|
||||
|
||||
# RTL Parameters
|
||||
param set-default RTL_DESCEND_ALT 5
|
||||
param set-default RTL_RETURN_ALT 5
|
||||
param set-default RTL_CONE_ANG 45
|
||||
|
||||
# Logging Parameters
|
||||
param set-default SDLOG_PROFILE 131
|
||||
|
||||
# Sensors Parameters
|
||||
param set-default SENS_BOARD_ROT 0
|
||||
param set-default SENS_CM8JL65_CFG 104
|
||||
param set-default SENS_FLOW_MAXHGT 25
|
||||
param set-default SENS_FLOW_MINHGT 0.5
|
||||
|
||||
@@ -21,10 +21,13 @@
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set-default IMU_GYRO_CUTOFF 40
|
||||
param set-default IMU_DGYRO_CUTOFF 20
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.18
|
||||
param set-default MC_ROLLRATE_I 0.15
|
||||
param set-default MC_ROLLRATE_D 0.003
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.18
|
||||
param set-default MC_PITCHRATE_I 0.15
|
||||
param set-default MC_PITCHRATE_D 0.003
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user