mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-20 23:30:35 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
f23740a3c5 |
@@ -170,7 +170,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
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try {
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sh('export')
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checkout(scm)
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sh('make distclean; git clean -ff -x -d .')
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sh('make distclean')
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sh('git fetch --tags')
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sh('ccache -s')
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sh('make ' + target)
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@@ -187,7 +187,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
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throw (exc)
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}
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finally {
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sh('make distclean; git clean -ff -x -d .')
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sh('make distclean')
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}
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}
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}
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+72
-58
@@ -25,7 +25,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -73,11 +73,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
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}
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}
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} // stage test
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@@ -102,7 +99,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -145,11 +142,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
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}
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}
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} // stage test
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@@ -174,7 +168,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -217,11 +211,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
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}
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}
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} // stage test
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@@ -246,7 +237,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -288,11 +279,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
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}
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}
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} // stage test
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@@ -317,7 +305,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -360,11 +348,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
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}
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}
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} // stage test
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@@ -389,7 +374,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -422,7 +407,7 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
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// test dataman
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@@ -441,6 +426,7 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
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checkStatus()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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}
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@@ -452,11 +438,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
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}
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}
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} // stage test
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@@ -481,7 +464,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -525,6 +508,7 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
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checkStatus()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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}
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@@ -536,11 +520,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
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}
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}
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} // stage test
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@@ -565,7 +546,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -608,11 +589,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
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}
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}
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} // stage test
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@@ -637,7 +615,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -680,11 +658,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
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}
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}
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} // stage test
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@@ -710,7 +685,7 @@ void checkoutSCM() {
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retry(3) {
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checkout scm
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sh 'export'
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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sh 'git fetch --tags'
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sh 'ccache -z'
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}
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@@ -747,33 +722,26 @@ void checkStatus() {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
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// run logger
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
|
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// status commands
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
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||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
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||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
|
||||
@@ -794,7 +762,7 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
// stop logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
|
||||
}
|
||||
|
||||
void resetParameters() {
|
||||
@@ -851,7 +819,24 @@ void runTests() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
|
||||
|
||||
// test rebooting multiple times
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/microsd/parameters_backup.bson" || true'
|
||||
}
|
||||
|
||||
void printTopics() {
|
||||
@@ -951,6 +936,10 @@ void printTopics() {
|
||||
}
|
||||
|
||||
void resetBoard() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
@@ -960,4 +949,29 @@ void resetBoard() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
|
||||
// format
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
|
||||
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
}
|
||||
|
||||
Vendored
+12
-12
@@ -88,7 +88,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make airframe_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -98,7 +98,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -108,7 +108,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make parameters_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -118,7 +118,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -128,7 +128,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make module_documentation'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -138,7 +138,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -156,7 +156,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -170,7 +170,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make uorb_graphs'
|
||||
dir('Tools/uorb_graph') {
|
||||
@@ -180,7 +180,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -261,7 +261,7 @@ pipeline {
|
||||
steps {
|
||||
sh('export')
|
||||
sh('git fetch --all --tags')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
sh('make px4_sitl_rtps')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
|
||||
@@ -290,7 +290,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
|
||||
// 'master' branch
|
||||
@@ -319,7 +319,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
|
||||
// deploy uORB RTPS ID map
|
||||
|
||||
@@ -482,9 +482,7 @@ shellcheck_all:
|
||||
@make px4_fmu-v5_default shellcheck
|
||||
|
||||
validate_module_configs:
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
|
||||
-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
|
||||
xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
|
||||
# Cleanup
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
@@ -14,19 +14,19 @@ param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_MC_R_COUNT 4
|
||||
param set-default CA_MC_R0_PX 0.1515
|
||||
param set-default CA_MC_R0_PY 0.245
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.1515
|
||||
param set-default CA_MC_R1_PY -0.1875
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.1515
|
||||
param set-default CA_MC_R2_PY -0.245
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.1515
|
||||
param set-default CA_MC_R3_PY 0.1875
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
@@ -8,63 +8,6 @@
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 7
|
||||
|
||||
param set-default CA_ROTOR_COUNT 8
|
||||
param set-default CA_R_REV 255
|
||||
param set-default CA_ROTOR0_AX 1.0000
|
||||
param set-default CA_ROTOR0_AY -1.0000
|
||||
param set-default CA_ROTOR0_AZ 0.0000
|
||||
param set-default CA_ROTOR0_KM 0.0000
|
||||
param set-default CA_ROTOR0_PX 0.5000
|
||||
param set-default CA_ROTOR0_PY 0.3000
|
||||
param set-default CA_ROTOR0_PZ 0.2000
|
||||
param set-default CA_ROTOR1_AX 1.0000
|
||||
param set-default CA_ROTOR1_AY 1.0000
|
||||
param set-default CA_ROTOR1_AZ 0.0000
|
||||
param set-default CA_ROTOR1_KM 0.0000
|
||||
param set-default CA_ROTOR1_PX 0.5000
|
||||
param set-default CA_ROTOR1_PY -0.3000
|
||||
param set-default CA_ROTOR1_PZ 0.2000
|
||||
param set-default CA_ROTOR2_AX 1.0000
|
||||
param set-default CA_ROTOR2_AY 1.0000
|
||||
param set-default CA_ROTOR2_AZ 0.0000
|
||||
param set-default CA_ROTOR2_KM 0.0000
|
||||
param set-default CA_ROTOR2_PX -0.5000
|
||||
param set-default CA_ROTOR2_PY 0.3000
|
||||
param set-default CA_ROTOR2_PZ 0.2000
|
||||
param set-default CA_ROTOR3_AX 1.0000
|
||||
param set-default CA_ROTOR3_AY -1.0000
|
||||
param set-default CA_ROTOR3_AZ 0.0000
|
||||
param set-default CA_ROTOR3_KM 0.0000
|
||||
param set-default CA_ROTOR3_PX -0.5000
|
||||
param set-default CA_ROTOR3_PY -0.3000
|
||||
param set-default CA_ROTOR3_PZ 0.2000
|
||||
param set-default CA_ROTOR4_AZ -1.0000
|
||||
param set-default CA_ROTOR4_KM 0.0000
|
||||
param set-default CA_ROTOR4_PX 0.5000
|
||||
param set-default CA_ROTOR4_PY 0.5000
|
||||
param set-default CA_ROTOR5_AZ 1.0000
|
||||
param set-default CA_ROTOR5_KM 0.0000
|
||||
param set-default CA_ROTOR5_PX 0.5000
|
||||
param set-default CA_ROTOR5_PY -0.5000
|
||||
param set-default CA_ROTOR6_AZ 1.0000
|
||||
param set-default CA_ROTOR6_KM 0.0000
|
||||
param set-default CA_ROTOR6_PX -0.5000
|
||||
param set-default CA_ROTOR6_PY 0.5000
|
||||
param set-default CA_ROTOR7_KM 0.0000
|
||||
param set-default CA_ROTOR7_PX -0.5000
|
||||
param set-default CA_ROTOR7_PY -0.5000
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
param set-default PWM_MAIN_FUNC7 107
|
||||
param set-default PWM_MAIN_FUNC8 108
|
||||
|
||||
set MIXER skip
|
||||
|
||||
set PWM_OUT 12345678
|
||||
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -43,32 +43,5 @@ param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
#param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_CS4_TYPE 9
|
||||
param set-default CA_SV_CS5_TYPE 10
|
||||
param set-default PWM_MAIN_FUNC3 204
|
||||
param set-default PWM_MAIN_FUNC4 205
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -7,39 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 2
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
|
||||
@@ -7,48 +7,14 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 4
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 1
|
||||
param set-default CA_ROTOR0_PY 2
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -1
|
||||
param set-default CA_ROTOR1_PY -1
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 1
|
||||
param set-default CA_ROTOR2_PY -1
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -1
|
||||
param set-default CA_ROTOR3_PY 1
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_SV_CS_COUNT 2
|
||||
param set-default CA_SV_CS0_TYPE 5
|
||||
param set-default CA_SV_CS0_TRQ_P 0.5
|
||||
param set-default CA_SV_CS0_TRQ_Y -0.5
|
||||
param set-default CA_SV_CS1_TYPE 6
|
||||
param set-default CA_SV_CS1_TRQ_P 0.5
|
||||
param set-default CA_SV_CS1_TRQ_Y 0.5
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 0
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_REV 96 # invert both elevons
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_I 0.2
|
||||
param set-default FW_PR_P 0.2
|
||||
param set-default FW_PR_P 0.3
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_P 0.2
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.33
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
@@ -70,8 +36,6 @@ param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_SC 0.5
|
||||
param set-default VT_F_TRANS_DUR 1.5
|
||||
param set-default VT_F_TRANS_THR 0.7
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
@@ -7,52 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 3
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_ROTOR0_TILT 1
|
||||
param set-default CA_ROTOR1_TILT 2
|
||||
param set-default CA_ROTOR2_TILT 3
|
||||
param set-default CA_ROTOR3_TILT 4
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_TL0_CT 0
|
||||
param set-default CA_SV_TL1_CT 0
|
||||
param set-default CA_SV_TL2_CT 0
|
||||
param set-default CA_SV_TL3_CT 0
|
||||
param set-default CA_SV_TL_COUNT 4
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 204
|
||||
param set-default PWM_MAIN_FUNC6 205
|
||||
param set-default PWM_MAIN_FUNC7 206
|
||||
param set-default PWM_MAIN_FUNC8 207
|
||||
param set-default PWM_MAIN_FUNC9 201
|
||||
param set-default PWM_MAIN_FUNC10 202
|
||||
param set-default PWM_MAIN_FUNC11 203
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
|
||||
@@ -28,15 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 5
|
||||
|
||||
param set-default CA_R_REV 1
|
||||
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
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
set MIXER_FILE skip
|
||||
set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
|
||||
|
||||
@@ -28,15 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 6
|
||||
|
||||
param set-default CA_R_REV 3
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 101
|
||||
param set-default PWM_MAIN_FUNC6 102
|
||||
param set-default PWM_MAIN_FUNC7 102
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
set MIXER_FILE skip
|
||||
set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
|
||||
|
||||
@@ -28,25 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 9
|
||||
|
||||
param set-default CA_ROTOR_COUNT 2
|
||||
param set-default CA_ROTOR0_AX 1
|
||||
param set-default CA_ROTOR0_AZ 0
|
||||
param set-default CA_ROTOR0_KM 0
|
||||
param set-default CA_ROTOR0_PX -2
|
||||
param set-default CA_ROTOR0_PY -1
|
||||
param set-default CA_ROTOR1_AX 1
|
||||
param set-default CA_ROTOR1_AZ 0
|
||||
param set-default CA_ROTOR1_KM 0
|
||||
param set-default CA_ROTOR1_PX -2
|
||||
param set-default CA_ROTOR1_PY 1
|
||||
param set-default CA_R_REV 3
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
set MAV_TYPE 11
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
|
||||
|
||||
@@ -11,31 +11,5 @@
|
||||
|
||||
. ${R}etc/init.d/rc.airship_defaults
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 9
|
||||
|
||||
param set-default CA_ROTOR_COUNT 3
|
||||
param set-default CA_ROTOR0_AX 1.0000
|
||||
param set-default CA_ROTOR0_AZ 0.0000
|
||||
param set-default CA_ROTOR0_KM 0.0000
|
||||
param set-default CA_ROTOR0_PY 2.0000
|
||||
param set-default CA_ROTOR1_AX 1.0000
|
||||
param set-default CA_ROTOR1_AZ 0.0000
|
||||
param set-default CA_ROTOR1_KM 0.0000
|
||||
param set-default CA_ROTOR1_PY -2.0000
|
||||
param set-default CA_ROTOR2_AY -1.0000
|
||||
param set-default CA_ROTOR2_AZ 0.0000
|
||||
param set-default CA_ROTOR2_KM 0.0000
|
||||
param set-default CA_ROTOR2_PX -10.0000
|
||||
|
||||
param set-default CA_SV_CS_COUNT 1
|
||||
param set-default CA_SV_CS0_TRQ_P 1.0000
|
||||
|
||||
param set-default CA_R_REV 7
|
||||
|
||||
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
|
||||
|
||||
set MIXER skip
|
||||
set MIXER cloudship
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -30,26 +30,26 @@ param set-default MNT_MODE_IN 0
|
||||
param set-default MAV_PROTO_VER 2
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 6
|
||||
param set-default CA_MC_R_COUNT 6
|
||||
|
||||
param set-default CA_ROTOR0_PX 0.0
|
||||
param set-default CA_ROTOR0_PY 1.0
|
||||
param set-default CA_ROTOR0_KM -0.05
|
||||
param set-default CA_ROTOR1_PX 0.0
|
||||
param set-default CA_ROTOR1_PY -1.0
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.866025
|
||||
param set-default CA_ROTOR2_PY -0.5
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.866025
|
||||
param set-default CA_ROTOR3_PY 0.5
|
||||
param set-default CA_ROTOR3_KM 0.05
|
||||
param set-default CA_ROTOR4_PX 0.866025
|
||||
param set-default CA_ROTOR4_PY 0.5
|
||||
param set-default CA_ROTOR4_KM 0.05
|
||||
param set-default CA_ROTOR5_PX -0.866025
|
||||
param set-default CA_ROTOR5_PY -0.5
|
||||
param set-default CA_ROTOR5_KM -0.05
|
||||
param set-default CA_MC_R0_PX 0.0
|
||||
param set-default CA_MC_R0_PY 1.0
|
||||
param set-default CA_MC_R0_KM -0.05
|
||||
param set-default CA_MC_R1_PX 0.0
|
||||
param set-default CA_MC_R1_PY -1.0
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.866025
|
||||
param set-default CA_MC_R2_PY -0.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.866025
|
||||
param set-default CA_MC_R3_PY 0.5
|
||||
param set-default CA_MC_R3_KM 0.05
|
||||
param set-default CA_MC_R4_PX 0.866025
|
||||
param set-default CA_MC_R4_PY 0.5
|
||||
param set-default CA_MC_R4_KM 0.05
|
||||
param set-default CA_MC_R5_PX -0.866025
|
||||
param set-default CA_MC_R5_PY -0.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
@@ -19,19 +19,19 @@ param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.177
|
||||
param set-default CA_ROTOR0_PY 0.177
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.177
|
||||
param set-default CA_ROTOR1_PY -0.177
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.177
|
||||
param set-default CA_ROTOR2_PY -0.177
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.177
|
||||
param set-default CA_ROTOR3_PY 0.177
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_MC_R_COUNT 4
|
||||
param set-default CA_MC_R0_PX 0.177
|
||||
param set-default CA_MC_R0_PY 0.177
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.177
|
||||
param set-default CA_MC_R1_PY -0.177
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.177
|
||||
param set-default CA_MC_R2_PY -0.177
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.177
|
||||
param set-default CA_MC_R3_PY 0.177
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
@@ -15,31 +15,31 @@
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 6
|
||||
param set-default CA_MC_R_COUNT 6
|
||||
|
||||
param set-default CA_ROTOR0_PX 0.0
|
||||
param set-default CA_ROTOR0_PY 0.275
|
||||
param set-default CA_ROTOR0_KM -0.05
|
||||
param set-default CA_MC_R0_PX 0.0
|
||||
param set-default CA_MC_R0_PY 0.275
|
||||
param set-default CA_MC_R0_KM -0.05
|
||||
|
||||
param set-default CA_ROTOR1_PX 0.0
|
||||
param set-default CA_ROTOR1_PY -0.275
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_MC_R1_PX 0.0
|
||||
param set-default CA_MC_R1_PY -0.275
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
|
||||
param set-default CA_ROTOR2_PX 0.238
|
||||
param set-default CA_ROTOR2_PY -0.1375
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_MC_R2_PX 0.238
|
||||
param set-default CA_MC_R2_PY -0.1375
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
|
||||
param set-default CA_ROTOR3_PX -0.238
|
||||
param set-default CA_ROTOR3_PY 0.1375
|
||||
param set-default CA_ROTOR3_KM 0.05
|
||||
param set-default CA_MC_R3_PX -0.238
|
||||
param set-default CA_MC_R3_PY 0.1375
|
||||
param set-default CA_MC_R3_KM 0.05
|
||||
|
||||
param set-default CA_ROTOR4_PX 0.238
|
||||
param set-default CA_ROTOR4_PY 0.1375
|
||||
param set-default CA_ROTOR4_KM 0.05
|
||||
param set-default CA_MC_R4_PX 0.238
|
||||
param set-default CA_MC_R4_PY 0.1375
|
||||
param set-default CA_MC_R4_KM 0.05
|
||||
|
||||
param set-default CA_ROTOR5_PX -0.238
|
||||
param set-default CA_ROTOR5_PY -0.1375
|
||||
param set-default CA_ROTOR5_KM -0.05
|
||||
param set-default CA_MC_R5_PX -0.238
|
||||
param set-default CA_MC_R5_PY -0.1375
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
@@ -48,14 +48,6 @@ fi
|
||||
# End Estimator Group Selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start Airship Attitude Controller.
|
||||
#
|
||||
|
||||
@@ -10,14 +10,6 @@
|
||||
#
|
||||
ekf2 start &
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start attitude controller.
|
||||
#
|
||||
|
||||
@@ -12,13 +12,6 @@ ekf2 start &
|
||||
#attitude_estimator_q start
|
||||
#local_position_estimator start
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start attitude controllers.
|
||||
|
||||
@@ -4,6 +4,19 @@
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
if ! ver hwcmp OMNIBUS_F4SD
|
||||
then
|
||||
if ! ver hwcmp BITCRAZE_CRAZYFLIE
|
||||
then
|
||||
# Configure all I2C buses to 100 KHz as they
|
||||
# are all external or slow
|
||||
# TODO: move this
|
||||
pwm_out i2c 1 100000
|
||||
pwm_out i2c 2 100000
|
||||
fi
|
||||
fi
|
||||
|
||||
###############################################################################
|
||||
# Begin Optional drivers #
|
||||
###############################################################################
|
||||
|
||||
@@ -15,14 +15,6 @@ ekf2 start &
|
||||
# End Estimator Group Selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start UUV Attitude Controller.
|
||||
#
|
||||
|
||||
@@ -15,14 +15,6 @@ ekf2 start &
|
||||
# End Estimator group selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
airspeed_selector start
|
||||
|
||||
vtol_att_control start
|
||||
|
||||
@@ -72,7 +72,28 @@ then
|
||||
umount /fs/microsd
|
||||
|
||||
else
|
||||
set SDCARD_AVAILABLE yes
|
||||
# very basic I/O test
|
||||
set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
|
||||
date >> $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ $? -eq 0 -a -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
cat $PX4_INIT_TEST_FILE
|
||||
rm $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ $? -eq 0 -a ! -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
fi
|
||||
fi
|
||||
unset PX4_INIT_TEST_FILE
|
||||
|
||||
if [ $SDCARD_AVAILABLE = no ]
|
||||
then
|
||||
echo "ERROR [init] card I/O failure, formatting"
|
||||
set SDCARD_FORMAT yes
|
||||
umount /fs/microsd
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -158,11 +179,6 @@ else
|
||||
# try importing from backup file
|
||||
if [ -f "/fs/microsd/parameters_backup.bson" ]
|
||||
then
|
||||
echo "[init] importing from parameter backup"
|
||||
|
||||
# dump current backup file contents for comparison
|
||||
param dump /fs/microsd/parameters_backup.bson
|
||||
|
||||
param import /fs/microsd/parameters_backup.bson
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -33,11 +33,15 @@
|
||||
|
||||
px4_add_romfs_files(
|
||||
autogyro_sitl.main.mix
|
||||
boat_sitl.main.mix
|
||||
delta_wing_sitl.main.mix
|
||||
package_drop.aux.mix
|
||||
plane_sitl.main.mix
|
||||
quad_x_vtol.main.mix
|
||||
rover_ackermann_sitl.main.mix
|
||||
rover_diff_sitl.main.mix
|
||||
standard_vtol_sitl.main.mix
|
||||
tiltrotor_sitl.main.mix
|
||||
uuv_x_sitl.main.mix
|
||||
vectored6dof_sitl.main.mix
|
||||
)
|
||||
|
||||
@@ -0,0 +1,15 @@
|
||||
Mixer for SITL boat
|
||||
=========================================================
|
||||
|
||||
Throttle of left propeller of boat on Output 0
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
Throttle of right propeller of boat on Output 1
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
@@ -0,0 +1,46 @@
|
||||
Mixer for SITL rover
|
||||
=========================================================
|
||||
|
||||
Output 0
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
Output 1
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 3
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 4
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 5
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 6
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 7
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 8
|
||||
---------------------------------------
|
||||
Z:
|
||||
@@ -0,0 +1,46 @@
|
||||
Mixer for SITL rover
|
||||
=========================================================
|
||||
|
||||
Output 0
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 1
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 3
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 4
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 5
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 6
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 7
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 8
|
||||
---------------------------------------
|
||||
Z:
|
||||
@@ -0,0 +1,40 @@
|
||||
# Motor 1
|
||||
M: 3
|
||||
S: 0 2 -4000 -4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 -4000 -4000 0 -4000 +4000
|
||||
# Motor 2
|
||||
M: 3
|
||||
S: 0 2 +4000 +4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 +4000 +4000 0 -4000 +4000
|
||||
# Motor 3
|
||||
M: 3
|
||||
S: 0 2 -4000 -4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 +4000 +4000 0 -4000 +4000
|
||||
# Motor 4
|
||||
M: 3
|
||||
S: 0 2 +4000 +4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 -4000 -4000 0 -4000 +4000
|
||||
# Motor 5
|
||||
M: 3
|
||||
S: 0 0 -4000 -4000 0 -4000 +4000
|
||||
S: 0 1 +4000 +4000 0 -4000 +4000
|
||||
S: 0 5 -4000 -4000 0 -4000 +4000
|
||||
# Motor 6
|
||||
M: 3
|
||||
S: 0 0 -4000 -4000 0 -4000 +4000
|
||||
S: 0 1 -4000 -4000 0 -4000 +4000
|
||||
S: 0 5 +4000 +4000 0 -4000 +4000
|
||||
# Motor 7
|
||||
M: 3
|
||||
S: 0 0 +4000 +4000 0 -4000 +4000
|
||||
S: 0 1 +4000 +4000 0 -4000 +4000
|
||||
S: 0 5 +4000 +4000 0 -4000 +4000
|
||||
# Motor 8
|
||||
M: 3
|
||||
S: 0 0 +4000 +4000 0 -4000 +4000
|
||||
S: 0 1 -4000 -4000 0 -4000 +4000
|
||||
S: 0 5 -4000 -4000 0 -4000 +4000
|
||||
@@ -7,8 +7,6 @@ from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -38,9 +36,8 @@ def print_line(line):
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
|
||||
def monitor_firmware_upload(port_url, baudrate):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
def monitor_firmware_upload(port, baudrate):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout = 180 # 3 minutes
|
||||
timeout_start = time.monotonic()
|
||||
@@ -52,59 +49,33 @@ def monitor_firmware_upload(port_url, baudrate):
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "ERROR" in serial_line:
|
||||
return_code = -1
|
||||
|
||||
print_line(serial_line)
|
||||
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
elif "nsh>" in serial_line:
|
||||
sys.exit(return_code)
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
elif "nsh>" in serial_line:
|
||||
sys.exit(return_code)
|
||||
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
|
||||
timeout_newline = time.monotonic()
|
||||
ser.write("\n".encode("ascii"))
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if time.monotonic() - timeout_newline > 10:
|
||||
timeout_newline = time.monotonic()
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
monitor_firmware_upload(port_url, args.baudrate)
|
||||
monitor_firmware_upload(args.device, args.baudrate)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
+51
-83
@@ -6,9 +6,6 @@ from subprocess import call, Popen
|
||||
from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -32,38 +29,33 @@ def print_line(line):
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
print(line, end='')
|
||||
|
||||
|
||||
def do_param_set_cmd(port_url, baudrate, param_name, param_value):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
def do_param_set_cmd(port, baudrate, param_name, param_value):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
ser.write("\n".encode("ascii"))
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
ser.readlines()
|
||||
|
||||
# run command
|
||||
timeout_start = time.monotonic()
|
||||
@@ -73,32 +65,28 @@ def do_param_set_cmd(port_url, baudrate, param_name, param_value):
|
||||
|
||||
# write command (param set) and wait for command echo
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}\n'.format(cmd)
|
||||
|
||||
serial_cmd = '{0}\r\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
|
||||
ser.flush()
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if cmd in serial_line:
|
||||
break
|
||||
|
||||
if cmd in serial_line:
|
||||
print_line(serial_line)
|
||||
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
|
||||
# verify param value
|
||||
cmd = "param show " + param_name
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}\n'.format(cmd)
|
||||
serial_cmd = '{0}\r\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
param_show_response = param_name + " ["
|
||||
|
||||
@@ -108,64 +96,44 @@ def do_param_set_cmd(port_url, baudrate, param_name, param_value):
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if param_show_response in serial_line:
|
||||
print_line(serial_line)
|
||||
current_param_value = serial_line.split(":")[-1].strip()
|
||||
|
||||
if param_show_response in serial_line:
|
||||
current_param_value = serial_line.split(":")[-1].strip()
|
||||
|
||||
if (current_param_value == param_value):
|
||||
sys.exit(0)
|
||||
else:
|
||||
sys.exit(1)
|
||||
if (current_param_value == param_value):
|
||||
sys.exit(0)
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
sys.exit(1)
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
if len(serial_line) <= 0:
|
||||
ser.write("\r\n".encode("ascii"))
|
||||
ser.flush()
|
||||
time.sleep(0.2)
|
||||
|
||||
ser.close()
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument("--name", "-p", dest="param_name", help="Parameter name")
|
||||
parser.add_argument("--value", "-v", dest="param_value", help="Parameter value")
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
do_param_set_cmd(port_url, args.baudrate, args.param_name, args.param_value)
|
||||
do_param_set_cmd(args.device, args.baudrate, args.param_name, args.param_value)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
+20
-44
@@ -7,8 +7,6 @@ from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -38,15 +36,15 @@ def print_line(line):
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
def reboot(port, baudrate):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
def reboot(port_url, baudrate):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
# clear
|
||||
ser.readlines()
|
||||
|
||||
time_start = time.monotonic()
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
ser.write("reboot\n".encode("ascii"))
|
||||
ser.write("\nreboot\n".encode("ascii"))
|
||||
ser.flush()
|
||||
time_reboot_cmd = time_start
|
||||
|
||||
timeout_reboot_cmd = 90
|
||||
@@ -55,53 +53,31 @@ def reboot(port_url, baudrate):
|
||||
return_code = 0
|
||||
|
||||
while True:
|
||||
if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
|
||||
time_reboot_cmd = time.monotonic()
|
||||
print("sending reboot cmd again")
|
||||
ser.write("reboot\n".encode("ascii"))
|
||||
ser.flush()
|
||||
time.sleep(0.2)
|
||||
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if "ERROR" in serial_line:
|
||||
return_code = -1
|
||||
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
print_line(serial_line)
|
||||
|
||||
else:
|
||||
if time.monotonic() > time_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
|
||||
time_reboot_cmd = time.monotonic()
|
||||
print("sending reboot cmd again")
|
||||
ser.write("reboot\n".encode("ascii"))
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
|
||||
if time.monotonic() > time_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
|
||||
+50
-72
@@ -7,8 +7,6 @@ from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -39,59 +37,59 @@ def print_line(line):
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
|
||||
def do_nsh_cmd(port_url, baudrate, cmd):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
def do_nsh_cmd(port, baudrate, cmd):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
ser.write("\n".encode("ascii"))
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
ser.readlines()
|
||||
|
||||
# run command
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 5 # 5 seconds
|
||||
timeout = 1 # 1 second
|
||||
|
||||
success_cmd = "cmd succeeded!"
|
||||
|
||||
# wait for command echo
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}; echo "{1}"; echo "{2}";\n'.format(cmd, success_cmd, success_cmd)
|
||||
serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
|
||||
ser.flush()
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if cmd in serial_line:
|
||||
break
|
||||
elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
|
||||
print_line(serial_line)
|
||||
# we missed the echo, but command ran and succeeded
|
||||
sys.exit(0)
|
||||
else:
|
||||
print_line(serial_line)
|
||||
if cmd in serial_line:
|
||||
break
|
||||
elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
|
||||
print_line(serial_line)
|
||||
# we missed the echo, but command ran and succeeded
|
||||
sys.exit(0)
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if (len(serial_line) <= 0) and (time.monotonic() > timeout_start + timeout):
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
@@ -102,60 +100,40 @@ def do_nsh_cmd(port_url, baudrate, cmd):
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if success_cmd in serial_line:
|
||||
sys.exit(return_code)
|
||||
else:
|
||||
if success_cmd in serial_line:
|
||||
sys.exit(return_code)
|
||||
break
|
||||
else:
|
||||
if len(serial_line) > 0:
|
||||
if "ERROR " in serial_line:
|
||||
return_code = -1
|
||||
|
||||
print_line(serial_line)
|
||||
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
|
||||
if (len(serial_line) <= 0) and (time.monotonic() > timeout_start + timeout):
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
if len(serial_line) <= 0:
|
||||
ser.write("\r\n".encode("ascii"))
|
||||
ser.flush()
|
||||
time.sleep(0.2)
|
||||
|
||||
ser.close()
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
do_nsh_cmd(port_url, args.baudrate, args.cmd)
|
||||
do_nsh_cmd(args.device, args.baudrate, args.cmd)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
+46
-75
@@ -9,9 +9,6 @@ import unittest
|
||||
import os
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
import warnings
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -41,36 +38,33 @@ def print_line(line):
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
|
||||
def do_test(port_url, baudrate, test_name):
|
||||
|
||||
# ignore pyserial spy:// resource warnings
|
||||
warnings.filterwarnings(action="ignore", message="unclosed", category=ResourceWarning)
|
||||
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
def do_test(port, baudrate, test_name):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
return False
|
||||
|
||||
ser.write("\n".encode("ascii"))
|
||||
if len(serial_line) > 0:
|
||||
print(serial_line, end='')
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
return False
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
ser.readlines()
|
||||
|
||||
success = False
|
||||
|
||||
# run test cmd
|
||||
print('\n|======================================================================')
|
||||
@@ -85,17 +79,20 @@ def do_test(port_url, baudrate, test_name):
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
|
||||
ser.flush()
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if cmd in serial_line:
|
||||
break
|
||||
if cmd in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
|
||||
|
||||
# print results, wait for final result (PASSED or FAILED)
|
||||
timeout = 300 # 5 minutes
|
||||
@@ -108,26 +105,27 @@ def do_test(port_url, baudrate, test_name):
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if test_name + " PASSED" in serial_line:
|
||||
ser.close()
|
||||
return True
|
||||
elif test_name + " FAILED" in serial_line:
|
||||
ser.close()
|
||||
return False
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
|
||||
ser.close()
|
||||
return False
|
||||
if test_name + " PASSED" in serial_line:
|
||||
success = True
|
||||
break
|
||||
elif test_name + " FAILED" in serial_line:
|
||||
success = False
|
||||
break
|
||||
|
||||
# newline every 30 seconds if still running
|
||||
if time.monotonic() - timeout_newline > 30:
|
||||
ser.write("\n".encode("ascii"))
|
||||
timeout_newline = time.monotonic()
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
|
||||
success = False
|
||||
break
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
|
||||
ser.write("\n".encode("ascii"))
|
||||
timeout_newline = time.monotonic()
|
||||
|
||||
ser.close()
|
||||
return False
|
||||
|
||||
return success
|
||||
|
||||
class TestHardwareMethods(unittest.TestCase):
|
||||
TEST_DEVICE = 0
|
||||
@@ -209,39 +207,12 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
TestHardwareMethods.TEST_DEVICE = port_url
|
||||
TestHardwareMethods.TEST_DEVICE = args.device
|
||||
TestHardwareMethods.TEST_BAUDRATE = args.baudrate
|
||||
|
||||
unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])
|
||||
|
||||
@@ -29,16 +29,10 @@ do
|
||||
${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART --value $airframe
|
||||
${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER --value 782097
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'
|
||||
|
||||
${DIR}/reboot.py --device ${SERIAL_DEVICE}
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/param_import_fail.bson' || true
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
|
||||
|
||||
|
||||
+1
-1
@@ -19,7 +19,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
|
||||
elif [[ $@ =~ .*tests* ]]; then
|
||||
# run all tests with simulation
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-02-04"
|
||||
fi
|
||||
else
|
||||
echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
|
||||
|
||||
+1
-1
Submodule Tools/jMAVSim updated: 66b764ada5...b23dc53d55
@@ -130,8 +130,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
|
||||
return None
|
||||
|
||||
|
||||
actuator_output_yaml = yaml_config['actuator_output']
|
||||
output_groups = actuator_output_yaml['output_groups']
|
||||
output_groups = yaml_config['actuator_output']['output_groups']
|
||||
module_name = process_module_name(yaml_config['module_name'])
|
||||
group_idx = 0
|
||||
|
||||
@@ -140,9 +139,8 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
|
||||
actuator_output = {
|
||||
'label': module_name
|
||||
}
|
||||
if 'show_subgroups_if' in actuator_output_yaml:
|
||||
actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
|
||||
add_reverse_range_param = actuator_output_yaml.get('add_reverse_range_param', False)
|
||||
if 'show_subgroups_if' in yaml_config['actuator_output']:
|
||||
actuator_output['show-subgroups-if'] = yaml_config['actuator_output']['show_subgroups_if']
|
||||
|
||||
# config parameters
|
||||
def get_config_params(param_list):
|
||||
@@ -161,7 +159,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
|
||||
parameters.append(param)
|
||||
return parameters
|
||||
|
||||
parameters = get_config_params(actuator_output_yaml.get('config_parameters', []))
|
||||
parameters = get_config_params(yaml_config['actuator_output'].get('config_parameters', []))
|
||||
if len(parameters) > 0:
|
||||
actuator_output['parameters'] = parameters
|
||||
|
||||
@@ -256,16 +254,6 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
|
||||
if show_if: param['show-if'] = show_if
|
||||
per_channel_params.append(param)
|
||||
|
||||
|
||||
if add_reverse_range_param:
|
||||
param = {
|
||||
'label': 'Rev Range\n(for Servos)',
|
||||
'name': param_prefix+'_REV',
|
||||
'index-offset': -1,
|
||||
'show-as': 'bitset',
|
||||
}
|
||||
per_channel_params.append(param)
|
||||
|
||||
# TODO: support non-standard per-channel parameters
|
||||
|
||||
subgroup['per-channel-parameters'] = per_channel_params
|
||||
@@ -358,39 +346,33 @@ def get_mixers(yaml_config, output_functions, verbose):
|
||||
|
||||
if 'count' in actuator_conf: # possibly dynamic size
|
||||
actuator['count'] = actuator_conf['count']
|
||||
per_item_params = actuator_conf.get('per_item_parameters', {})
|
||||
per_item_params = actuator_conf['per_item_parameters']
|
||||
params = []
|
||||
if 'standard' in per_item_params:
|
||||
standard_params = per_item_params['standard']
|
||||
index_offset = standard_params.get('index_offset', 0)
|
||||
if 'position' in standard_params:
|
||||
params.extend([
|
||||
{
|
||||
'label': 'Position X',
|
||||
'function': 'posx',
|
||||
'name': standard_params['position'][0],
|
||||
'index-offset': index_offset,
|
||||
},
|
||||
{
|
||||
'label': 'Position Y',
|
||||
'function': 'posy',
|
||||
'name': standard_params['position'][1],
|
||||
'index-offset': index_offset,
|
||||
},
|
||||
{
|
||||
'label': 'Position Z',
|
||||
'function': 'posz',
|
||||
'name': standard_params['position'][2],
|
||||
'advanced': True,
|
||||
'index-offset': index_offset,
|
||||
},
|
||||
])
|
||||
if 'extra' in per_item_params:
|
||||
for extra_param in per_item_params['extra']:
|
||||
params.append({k.replace('_','-'): v for k, v in extra_param.items()})
|
||||
actuator['per-item-parameters'] = params
|
||||
if 'item_label_prefix' in actuator_conf:
|
||||
actuator['item-label-prefix'] = actuator_conf['item_label_prefix']
|
||||
else: # fixed size
|
||||
labels = []
|
||||
pos_x = []
|
||||
@@ -435,18 +417,10 @@ def get_mixers(yaml_config, output_functions, verbose):
|
||||
|
||||
if verbose:
|
||||
print('Mixer configs: {}'.format(config))
|
||||
|
||||
rules = []
|
||||
for rule in yaml_config['mixer'].get('rules', []):
|
||||
rules.append({k.replace('_','-'): v for k, v in rule.items()})
|
||||
|
||||
if verbose:
|
||||
print('Mixer rules: {}'.format(rules))
|
||||
|
||||
mixers = {
|
||||
'actuator-types': actuator_types,
|
||||
'config': config,
|
||||
'rules': rules,
|
||||
}
|
||||
return mixers
|
||||
|
||||
|
||||
@@ -110,15 +110,8 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
param_type = 'INT32'
|
||||
for key in param['values']:
|
||||
tags += '\n * @value {:} {:}'.format(key, param['values'][key])
|
||||
elif param['type'] == 'bitmask':
|
||||
param_type = 'INT32'
|
||||
for key in param['bit']:
|
||||
tags += '\n * @bit {:} {:}'.format(key, param['bit'][key])
|
||||
max_val = max(key for key in param['bit'])
|
||||
tags += '\n * @min 0'
|
||||
tags += '\n * @max {:}'.format((1<<(max_val+1)) - 1)
|
||||
elif param['type'] == 'boolean':
|
||||
param_type = 'INT32'
|
||||
param_type = 'BOOL'
|
||||
tags += '\n * @boolean'
|
||||
elif param['type'] == 'int32':
|
||||
param_type = 'INT32'
|
||||
@@ -127,7 +120,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
else:
|
||||
raise Exception("unknown param type {:}".format(param['type']))
|
||||
|
||||
for tag in ['decimal', 'increment', 'category', 'volatile',
|
||||
for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
|
||||
'min', 'max', 'unit', 'reboot_required']:
|
||||
if tag in param:
|
||||
tags += '\n * @{:} {:}'.format(tag, param[tag])
|
||||
@@ -143,9 +136,6 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
else:
|
||||
default_value = param['default']
|
||||
|
||||
if type(default_value) == bool:
|
||||
default_value = int(default_value)
|
||||
|
||||
# output the existing C-style format
|
||||
ret += '''
|
||||
/**
|
||||
@@ -178,9 +168,6 @@ def get_actuator_output_params(yaml_config, output_functions,
|
||||
all_params = {}
|
||||
group_idx = 0
|
||||
|
||||
add_reverse_range_param = yaml_config['actuator_output'].get('add_reverse_range_param', False)
|
||||
all_param_prefixes = {}
|
||||
|
||||
def add_local_param(param_name, param_def):
|
||||
nonlocal all_params
|
||||
# add as a list, as there can be multiple entries with the same param_name
|
||||
@@ -262,11 +249,6 @@ def get_actuator_output_params(yaml_config, output_functions,
|
||||
for i in range(count):
|
||||
output_function_values[start+i] = function_name_label+' '+str(i+1)
|
||||
|
||||
if param_prefix not in all_param_prefixes:
|
||||
all_param_prefixes[param_prefix] = []
|
||||
all_param_prefixes[param_prefix].append((instance_start,
|
||||
instance_start_label, num_channels, channel_label))
|
||||
|
||||
# function param
|
||||
param = {
|
||||
'description': {
|
||||
@@ -346,30 +328,6 @@ When set to -1 (default), the value depends on the function (see {:}).
|
||||
}
|
||||
add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
|
||||
|
||||
if add_reverse_range_param:
|
||||
for param_prefix in all_param_prefixes:
|
||||
groups = all_param_prefixes[param_prefix]
|
||||
# collect the bits
|
||||
channel_bits = {}
|
||||
for instance_start, instance_start_label, num_instances, label in groups:
|
||||
for instance in range(instance_start, instance_start+num_instances):
|
||||
instance_label = instance - instance_start + instance_start_label
|
||||
channel_bits[instance-1] = label + ' ' + str(instance_label)
|
||||
|
||||
param = {
|
||||
'description': {
|
||||
'short': 'Reverse Output Range for '+module_name,
|
||||
'long':
|
||||
'''Allows to reverse the output range for each channel.
|
||||
Note: this is only useful for servos.
|
||||
'''.format(channel_label),
|
||||
},
|
||||
'type': 'bitmask',
|
||||
'default': 0,
|
||||
'bit': channel_bits
|
||||
}
|
||||
add_local_param(param_prefix+'_REV', param)
|
||||
|
||||
if verbose: print('adding actuator params: {:}'.format(all_params))
|
||||
return all_params
|
||||
|
||||
|
||||
@@ -72,27 +72,38 @@ div.frame_variant td, div.frame_variant th {
|
||||
|
||||
# check if all outputs are equal for the group: if so, show them
|
||||
# only once
|
||||
all_outputs = {}
|
||||
num_configs = len(group.GetParams())
|
||||
outputs_prev = ['', ''] # split into MAINx and others (AUXx)
|
||||
outputs_match = [True, True]
|
||||
for param in group.GetParams():
|
||||
if not self.IsExcluded(param, board):
|
||||
outputs_current = ['', '']
|
||||
for output_name in param.GetOutputCodes():
|
||||
value = param.GetOutputValue(output_name)
|
||||
key_value_pair = (output_name, value)
|
||||
if key_value_pair not in all_outputs:
|
||||
all_outputs[key_value_pair] = 0
|
||||
all_outputs[key_value_pair] += 1
|
||||
has_common_outputs = any(all_outputs[k] == num_configs for k in all_outputs)
|
||||
if output_name.lower().startswith('main'):
|
||||
idx = 0
|
||||
else:
|
||||
idx = 1
|
||||
outputs_current[idx] += '<li><b>%s</b>: %s</li>' % (output_name, value)
|
||||
for i in range(2):
|
||||
if len(outputs_current[i]) != 0:
|
||||
if outputs_prev[i] == '':
|
||||
outputs_prev[i] = outputs_current[i]
|
||||
elif outputs_current[i] != outputs_prev[i]:
|
||||
outputs_match[i] = False
|
||||
|
||||
if has_common_outputs:
|
||||
outputs_common = ''.join(['<li><b>{:}</b>: {:}</li>'.format(k[0], k[1]) \
|
||||
for k in all_outputs if all_outputs[k] == num_configs])
|
||||
for i in range(2):
|
||||
if len(outputs_prev[i]) == 0:
|
||||
outputs_match[i] = False
|
||||
if not outputs_match[i]:
|
||||
outputs_prev[i] = ''
|
||||
|
||||
if outputs_match[0] or outputs_match[1]:
|
||||
result += '<table>\n'
|
||||
result += ' <thead>\n'
|
||||
result += ' <tr><th>Common Outputs</th></tr>\n'
|
||||
result += ' </thead>\n'
|
||||
result += ' <tbody>\n'
|
||||
result += '<tr>\n <td><ul>%s</ul></td>\n</tr>\n' % (outputs_common)
|
||||
result += '<tr>\n <td><ul>%s%s</ul></td>\n</tr>\n' % (outputs_prev[0], outputs_prev[1])
|
||||
result += '</tbody></table>\n'
|
||||
|
||||
result += '</div>\n\n'
|
||||
@@ -127,8 +138,11 @@ div.frame_variant td, div.frame_variant th {
|
||||
for output_name in param.GetOutputCodes():
|
||||
value = param.GetOutputValue(output_name)
|
||||
valstrs = value.split(";")
|
||||
key_value_pair = (output_name, value)
|
||||
if all_outputs[key_value_pair] < num_configs:
|
||||
if output_name.lower().startswith('main'):
|
||||
idx = 0
|
||||
else:
|
||||
idx = 1
|
||||
if not outputs_match[idx]:
|
||||
outputs += '<li><b>%s</b>: %s</li>' % (output_name, value)
|
||||
has_outputs = True
|
||||
|
||||
|
||||
@@ -35,6 +35,8 @@ CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_MFT=y
|
||||
CONFIG_SYSTEMCMDS_MIXER=y
|
||||
CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
|
||||
CONFIG_SYSTEMCMDS_MOTOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_MTD=y
|
||||
CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
@@ -46,5 +48,6 @@ CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
|
||||
@@ -19,6 +19,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
@@ -33,17 +34,21 @@ CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_MIXER=y
|
||||
CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
|
||||
CONFIG_SYSTEMCMDS_MOTOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_MTD=y
|
||||
CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_PWM=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_REFLECT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
|
||||
@@ -5,7 +5,7 @@
|
||||
board_adc start
|
||||
|
||||
# SPI1
|
||||
if ! icm20689 -s -b 1 -R 2 -q start
|
||||
if ! icm20689 -s -b 1 -R 2 start
|
||||
then
|
||||
adis16470 -s -b 1 -R 2 start
|
||||
fi
|
||||
|
||||
@@ -9,8 +9,10 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_BMP280=y
|
||||
CONFIG_DRIVERS_DSHOT=y
|
||||
CONFIG_DRIVERS_GPS=n
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
|
||||
CONFIG_DRIVERS_OSD=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
@@ -19,10 +21,10 @@ CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
@@ -31,9 +33,11 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=n
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_MIXER=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
|
||||
@@ -39,7 +39,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_ESC_BATTERY=y
|
||||
@@ -63,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -73,8 +73,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VMOUNT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_ESC_CALIB=y
|
||||
|
||||
@@ -6,4 +6,5 @@
|
||||
param set-default BAT1_V_DIV 10.1
|
||||
param set-default BAT1_A_PER_V 24
|
||||
|
||||
|
||||
safety_button start
|
||||
|
||||
@@ -30,7 +30,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x1024
|
||||
CONFIG_CDCACM_PRODUCTID=0x1023
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 BL mRo ControlZeroH7 OEM"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
|
||||
@@ -222,35 +222,34 @@
|
||||
|
||||
|
||||
/* UART/USART */
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
|
||||
#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */
|
||||
#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
|
||||
#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */
|
||||
#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */
|
||||
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
|
||||
#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */
|
||||
#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
|
||||
#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
|
||||
#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */
|
||||
|
||||
#define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */
|
||||
#define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */
|
||||
#define GPIO_UART4_RX GPIO_UART4_RX_1 /* PA1 */
|
||||
#define GPIO_UART4_TX GPIO_UART4_TX_1 /* PA0 */
|
||||
|
||||
#define GPIO_USART6_TX 0 /* USART6 is RX-only */
|
||||
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
|
||||
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
|
||||
#define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */
|
||||
|
||||
#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
|
||||
#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */
|
||||
#define GPIO_UART7_RX GPIO_UART7_RX_1 /* PE7 */
|
||||
#define GPIO_UART7_TX GPIO_UART7_TX_1 /* PE8 */
|
||||
|
||||
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
|
||||
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
|
||||
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
|
||||
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
|
||||
|
||||
|
||||
/* CAN */
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
|
||||
|
||||
#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */
|
||||
#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
|
||||
#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */
|
||||
#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */
|
||||
|
||||
|
||||
/* SPI */
|
||||
|
||||
@@ -199,6 +199,7 @@ SECTIONS
|
||||
} > AXI_SRAM
|
||||
|
||||
/* Emit the the D3 power domain section for locating BDMA data */
|
||||
|
||||
.sram4_reserve (NOLOAD) :
|
||||
{
|
||||
*(.sram4)
|
||||
|
||||
@@ -77,6 +77,7 @@
|
||||
|
||||
/* CAN Silence: Silent mode control */
|
||||
#define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
|
||||
#define GPIO_CAN2_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
|
||||
|
||||
/* PWM */
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
@@ -168,6 +169,7 @@
|
||||
GPIO_CAN2_TX, \
|
||||
GPIO_CAN2_RX, \
|
||||
GPIO_CAN1_SILENT_S0, \
|
||||
GPIO_CAN2_SILENT_S0, \
|
||||
GPIO_nPOWER_IN_A, \
|
||||
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
|
||||
GPIO_TONE_ALARM_IDLE, \
|
||||
|
||||
@@ -40,7 +40,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_ESC_BATTERY=y
|
||||
@@ -64,6 +63,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -74,8 +74,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VMOUNT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_ESC_CALIB=y
|
||||
|
||||
@@ -221,32 +221,32 @@
|
||||
|
||||
|
||||
/* UART/USART */
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
|
||||
#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */
|
||||
#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
|
||||
#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */
|
||||
#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */
|
||||
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
|
||||
#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */
|
||||
#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
|
||||
#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
|
||||
#define GPIO_USART3_CTS GPIO_USART3_CTS_NSS_2 /* PD11 */
|
||||
|
||||
#define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */
|
||||
#define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */
|
||||
#define GPIO_UART4_RX GPIO_UART4_RX_1 /* PA1 */
|
||||
#define GPIO_UART4_TX GPIO_UART4_TX_1 /* PA0 */
|
||||
|
||||
#define GPIO_USART6_TX 0 /* USART6 is RX-only */
|
||||
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
|
||||
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
|
||||
#define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */
|
||||
|
||||
#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
|
||||
#define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */
|
||||
#define GPIO_UART7_RX GPIO_UART7_RX_1 /* PE7 */
|
||||
#define GPIO_UART7_TX GPIO_UART7_TX_1 /* PE8 */
|
||||
|
||||
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
|
||||
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
|
||||
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
|
||||
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
|
||||
|
||||
|
||||
/* CAN */
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
|
||||
|
||||
|
||||
/* SPI */
|
||||
@@ -262,7 +262,7 @@
|
||||
|
||||
#define GPIO_SPI5_SCK ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7 */
|
||||
#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */
|
||||
#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */
|
||||
#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_1 /* PF9 */
|
||||
|
||||
|
||||
/* I2C */
|
||||
|
||||
@@ -29,6 +29,7 @@ CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
CONFIG_MODULES_MAVLINK=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
@@ -37,5 +38,13 @@ CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_MIXER=y
|
||||
CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_PWM=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
|
||||
@@ -1,4 +1,7 @@
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
@@ -8,7 +11,9 @@ CONFIG_DRIVERS_BATT_SMBUS=y
|
||||
CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=y
|
||||
CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
|
||||
@@ -1,7 +1,5 @@
|
||||
CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
|
||||
CONFIG_DRIVERS_GPS=n
|
||||
CONFIG_DRIVERS_IMU_L3GD20=n
|
||||
CONFIG_DRIVERS_IMU_LSM303D=n
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_EKF2=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
|
||||
@@ -5,11 +5,19 @@
|
||||
|
||||
board_adc start
|
||||
|
||||
# We know there are sketchy boards out there
|
||||
# as chinese companies produce Pixracers without
|
||||
# fully understanding the critical parts of the
|
||||
# schematic and BOM, leading to sensor brownouts
|
||||
# on boot. Original Pixracers following the
|
||||
# open hardware design do not require this.
|
||||
pwm_out sensor_reset 50
|
||||
|
||||
# Internal SPI
|
||||
ms5611 -s start
|
||||
|
||||
# hmc5883 internal SPI bus is rotated 90 deg yaw
|
||||
if ! hmc5883 -T -s -R 2 -q start
|
||||
if ! hmc5883 -T -s -R 2 start
|
||||
then
|
||||
# lis3mdl internal SPI bus is rotated 90 deg yaw
|
||||
lis3mdl -s start
|
||||
|
||||
@@ -4,7 +4,7 @@
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
rgbled start -I
|
||||
rgbled_ncp5623c start -I -q
|
||||
rgbled_ncp5623c start -I
|
||||
|
||||
board_adc start
|
||||
|
||||
|
||||
@@ -38,6 +38,7 @@ CONFIG_ARMV7M_DCACHE=y
|
||||
CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_STACKCHECK=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
|
||||
@@ -4,8 +4,8 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=n
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=n
|
||||
CONFIG_DRIVERS_HEATER=n
|
||||
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI055=n
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=n
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_OSD=n
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
# board specific MAVLink startup script.
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1 V5X80 V5X81
|
||||
if ver hwtypecmp V5Xa0 V5X91 V5Xa1
|
||||
then
|
||||
# Start MAVLink on the UART connected to the mission computer
|
||||
mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
|
||||
|
||||
@@ -7,6 +7,9 @@
|
||||
# IFO
|
||||
if param compare SYS_AUTOSTART 4071
|
||||
then
|
||||
# Change rate to 400 Khz for fast barometer
|
||||
#pwm_out i2c 1 400000
|
||||
|
||||
# IFO has only external i2c barometer.
|
||||
# It does not start EKF2 in the beginning which is strange behaviour. but 3 seconds hack.
|
||||
# We intentionally put this initialization to here for delayed initialization.
|
||||
|
||||
@@ -44,7 +44,6 @@ set(msg_files
|
||||
actuator_motors.msg
|
||||
actuator_outputs.msg
|
||||
actuator_servos.msg
|
||||
actuator_servos_trim.msg
|
||||
actuator_test.msg
|
||||
adc_report.msg
|
||||
airspeed.msg
|
||||
@@ -145,7 +144,6 @@ set(msg_files
|
||||
sensor_gyro.msg
|
||||
sensor_gyro_fft.msg
|
||||
sensor_gyro_fifo.msg
|
||||
sensor_hygrometer.msg
|
||||
sensor_mag.msg
|
||||
sensor_preflight_mag.msg
|
||||
sensor_selection.msg
|
||||
|
||||
@@ -2,8 +2,6 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
|
||||
|
||||
uint16 reversible_flags # bitset which motors are configured to be reversible
|
||||
|
||||
uint8 NUM_CONTROLS = 8
|
||||
float32[8] control # range: [-1, 1], where 1 means maximum positive thrust,
|
||||
# -1 maximum negative (if not supported by the output, <0 maps to NaN),
|
||||
|
||||
@@ -1,5 +0,0 @@
|
||||
# Servo trims, added as offset to servo outputs
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 NUM_CONTROLS = 8
|
||||
float32[8] trim # range: [-1, 1]
|
||||
@@ -7,7 +7,6 @@ uint8 GF_ACTION_TERMINATE = 4 # flight termination
|
||||
uint8 GF_ACTION_LAND = 5 # switch to AUTO|LAND
|
||||
|
||||
bool geofence_violated # true if the geofence is violated
|
||||
bool geofence_too_close_on_ground # true if vehicle close than GF_MINDIST_GND while landed or disarmed
|
||||
uint8 geofence_action # action to take when geofence is violated
|
||||
|
||||
bool home_required # true if the geofence requires a valid home position
|
||||
|
||||
@@ -1,8 +0,0 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample
|
||||
|
||||
uint32 device_id # unique device ID for the sensor that does not change between power cycles
|
||||
|
||||
float32 temperature # Temperature provided by sensor (Celcius)
|
||||
|
||||
float32 humidity # Humidity provided by sensor
|
||||
@@ -88,7 +88,6 @@ bool high_latency_data_link_lost # Set to true if the high latency data link
|
||||
bool engine_failure # Set to true if an engine failure is detected
|
||||
bool mission_failure # Set to true if mission could not continue/finish
|
||||
bool geofence_violated
|
||||
bool geofence_too_close_on_ground # the vehicle is too close to a geofence boundary while being on the ground
|
||||
|
||||
uint8 failure_detector_status # Bitmask containing FailureDetector status [0, 0, 0, 0, 0, FAILURE_ALT, FAILURE_PITCH, FAILURE_ROLL]
|
||||
|
||||
|
||||
@@ -696,14 +696,7 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
|
||||
}
|
||||
|
||||
if (!started && !cli.quiet_start) {
|
||||
static constexpr char no_instance_started[] {"no instance started (no device on bus?)"};
|
||||
|
||||
if (iterator.external()) {
|
||||
PX4_WARN("%s: %s", px4_get_taskname(), no_instance_started);
|
||||
|
||||
} else {
|
||||
PX4_ERR("%s: %s", px4_get_taskname(), no_instance_started);
|
||||
}
|
||||
PX4_WARN("%s: no instance started (no device on bus?)", px4_get_taskname());
|
||||
|
||||
#if defined(CONFIG_I2C)
|
||||
|
||||
|
||||
@@ -80,14 +80,6 @@ public:
|
||||
}
|
||||
}
|
||||
|
||||
void reset()
|
||||
{
|
||||
// set bits to false
|
||||
for (auto &d : _data) {
|
||||
d.store(0);
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
static constexpr uint8_t BITS_PER_ELEMENT = 32;
|
||||
static constexpr size_t ARRAY_SIZE = ((N % BITS_PER_ELEMENT) == 0) ? (N / BITS_PER_ELEMENT) :
|
||||
|
||||
@@ -261,7 +261,7 @@ private:
|
||||
int32_t _val;
|
||||
};
|
||||
|
||||
//external version
|
||||
// external version
|
||||
template<px4::params p>
|
||||
class Param<int32_t &, p>
|
||||
{
|
||||
@@ -318,7 +318,7 @@ class Param<bool, p>
|
||||
{
|
||||
public:
|
||||
// static type-check
|
||||
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
|
||||
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_BOOL, "parameter type must be bool");
|
||||
|
||||
Param()
|
||||
{
|
||||
@@ -331,18 +331,10 @@ public:
|
||||
const bool &reference() const { return _val; }
|
||||
|
||||
/// Store the parameter value to the parameter storage (@see param_set())
|
||||
bool commit() const
|
||||
{
|
||||
int32_t value_int = (int32_t)_val;
|
||||
return param_set(handle(), &value_int) == 0;
|
||||
}
|
||||
bool commit() const { return param_set(handle(), &_val) == 0; }
|
||||
|
||||
/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
|
||||
bool commit_no_notification() const
|
||||
{
|
||||
int32_t value_int = (int32_t)_val;
|
||||
return param_set_no_notification(handle(), &value_int) == 0;
|
||||
}
|
||||
bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
|
||||
|
||||
/// Set and commit a new value. Returns true if the value changed.
|
||||
bool commit_no_notification(bool val)
|
||||
@@ -364,38 +356,83 @@ public:
|
||||
update();
|
||||
}
|
||||
|
||||
bool update()
|
||||
{
|
||||
int32_t value_int;
|
||||
int ret = param_get(handle(), &value_int);
|
||||
|
||||
if (ret == 0) {
|
||||
_val = value_int != 0;
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
bool update() { return param_get(handle(), &_val) == 0; }
|
||||
|
||||
param_t handle() const { return param_handle(p); }
|
||||
private:
|
||||
bool _val;
|
||||
};
|
||||
|
||||
// external version
|
||||
template<px4::params p>
|
||||
class Param<bool &, p>
|
||||
{
|
||||
public:
|
||||
// static type-check
|
||||
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_BOOL, "parameter type must be bool");
|
||||
|
||||
Param(bool &external_val)
|
||||
: _val(external_val)
|
||||
{
|
||||
param_set_used(handle());
|
||||
update();
|
||||
}
|
||||
|
||||
bool get() const { return _val; }
|
||||
|
||||
const bool &reference() const { return _val; }
|
||||
|
||||
/// Store the parameter value to the parameter storage (@see param_set())
|
||||
bool commit() const { return param_set(handle(), &_val) == 0; }
|
||||
|
||||
/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
|
||||
bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
|
||||
|
||||
/// Set and commit a new value. Returns true if the value changed.
|
||||
bool commit_no_notification(bool val)
|
||||
{
|
||||
if (val != _val) {
|
||||
set(val);
|
||||
commit_no_notification();
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
void set(bool val) { _val = val; }
|
||||
|
||||
void reset()
|
||||
{
|
||||
param_reset_no_notification(handle());
|
||||
update();
|
||||
}
|
||||
|
||||
bool update() { return param_get(handle(), &_val) == 0; }
|
||||
|
||||
param_t handle() const { return param_handle(p); }
|
||||
private:
|
||||
bool &_val;
|
||||
};
|
||||
|
||||
template <px4::params p>
|
||||
using ParamFloat = Param<float, p>;
|
||||
using ParamBool = Param<bool, p>;
|
||||
|
||||
template <px4::params p>
|
||||
using ParamInt = Param<int32_t, p>;
|
||||
|
||||
template <px4::params p>
|
||||
using ParamExtFloat = Param<float &, p>;
|
||||
using ParamFloat = Param<float, p>;
|
||||
|
||||
|
||||
template <px4::params p>
|
||||
using ParamExtBool = Param<bool &, p>;
|
||||
|
||||
template <px4::params p>
|
||||
using ParamExtInt = Param<int32_t &, p>;
|
||||
|
||||
template <px4::params p>
|
||||
using ParamBool = Param<bool, p>;
|
||||
using ParamExtFloat = Param<float &, p>;
|
||||
|
||||
} /* namespace do_not_explicitly_use_this_namespace */
|
||||
|
||||
|
||||
@@ -48,7 +48,7 @@ struct wq_config_t {
|
||||
|
||||
namespace wq_configurations
|
||||
{
|
||||
static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 3150, 0}; // PX4 inner loop highest priority
|
||||
static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 3000, 0}; // PX4 inner loop highest priority
|
||||
|
||||
static constexpr wq_config_t SPI0{"wq:SPI0", 2336, -1};
|
||||
static constexpr wq_config_t SPI1{"wq:SPI1", 2336, -2};
|
||||
|
||||
@@ -38,9 +38,7 @@ namespace px4
|
||||
|
||||
ScheduledWorkItem::~ScheduledWorkItem()
|
||||
{
|
||||
if (_call.arg != nullptr) {
|
||||
ScheduleClear();
|
||||
}
|
||||
ScheduleClear();
|
||||
}
|
||||
|
||||
void ScheduledWorkItem::schedule_trampoline(void *arg)
|
||||
|
||||
@@ -103,7 +103,7 @@ file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_D
|
||||
|
||||
# only in the cygwin environment: convert absolute linker script path to mixed windows (C:/...)
|
||||
# because even relative linker script paths are different for linux, mac and windows
|
||||
CYGPATH(NUTTX_CONFIG_DIR NUTTX_CONFIG_DIR_CYG)
|
||||
CYGPATH(PX4_BINARY_DIR PX4_BINARY_DIR_CYG)
|
||||
|
||||
target_link_libraries(nuttx_arch
|
||||
INTERFACE
|
||||
@@ -125,7 +125,7 @@ target_link_libraries(px4 PRIVATE
|
||||
|
||||
-fno-exceptions
|
||||
-fno-rtti
|
||||
-Wl,--script=${NUTTX_CONFIG_DIR_CYG}/scripts/${SCRIPT_PREFIX}script.ld
|
||||
-Wl,--script=${NUTTX_CONFIG_DIR}/scripts/${SCRIPT_PREFIX}script.ld
|
||||
-Wl,-Map=${PX4_CONFIG}.map
|
||||
-Wl,--warn-common
|
||||
-Wl,--gc-sections
|
||||
|
||||
Submodule platforms/nuttx/NuttX/nuttx updated: 0a5f0d0b6c...378032a44b
@@ -82,7 +82,7 @@ function(px4_os_add_flags)
|
||||
-ffixed-r10
|
||||
-finstrument-functions
|
||||
# instrumenting PX4 Matrix and Param methods is too burdensome
|
||||
-finstrument-functions-exclude-file-list=matrix/Matrix.hpp,px4_platform_common/param.h,modules__ekf2_unity.cpp
|
||||
-finstrument-functions-exclude-file-list=matrix/Matrix.hpp,px4_platform_common/param.h
|
||||
)
|
||||
endif()
|
||||
|
||||
|
||||
@@ -39,7 +39,7 @@
|
||||
* @boolean
|
||||
* @group Sensors
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_BATT, 0);
|
||||
PARAM_DEFINE_BOOL(SENS_EN_BATT, 0);
|
||||
|
||||
/**
|
||||
* Capacity/current multiplier for high-current capable SMBUS battery
|
||||
|
||||
@@ -70,13 +70,13 @@ CameraCapture::CameraCapture() :
|
||||
|
||||
// get the capture channel from function configuration params
|
||||
param_t p_ctrl_alloc = param_find("SYS_CTRL_ALLOC");
|
||||
int32_t ctrl_alloc = 0;
|
||||
bool ctrl_alloc = false;
|
||||
|
||||
if (p_ctrl_alloc != PARAM_INVALID) {
|
||||
param_get(p_ctrl_alloc, &ctrl_alloc);
|
||||
}
|
||||
|
||||
if (ctrl_alloc == 1) {
|
||||
if (ctrl_alloc) {
|
||||
_capture_channel = -1;
|
||||
|
||||
for (unsigned i = 0; i < 16 && _capture_channel == -1; ++i) {
|
||||
|
||||
@@ -59,7 +59,7 @@ PARAM_DEFINE_FLOAT(CAM_CAP_DELAY, 0.0f);
|
||||
* @group Camera Control
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_INT32(CAM_CAP_FBACK, 0);
|
||||
PARAM_DEFINE_BOOL(CAM_CAP_FBACK, 0);
|
||||
|
||||
/**
|
||||
* Camera capture timestamping mode
|
||||
@@ -84,4 +84,4 @@ PARAM_DEFINE_INT32(CAM_CAP_MODE, 0);
|
||||
* @group Camera Control
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_INT32(CAM_CAP_EDGE, 0);
|
||||
PARAM_DEFINE_INT32(CAM_CAP_EDGE, 0);
|
||||
|
||||
@@ -43,14 +43,13 @@ void CameraInterface::get_pins()
|
||||
}
|
||||
|
||||
param_t p_ctrl_alloc = param_find("SYS_CTRL_ALLOC");
|
||||
int32_t ctrl_alloc = 0;
|
||||
bool ctrl_alloc = false;
|
||||
|
||||
if (p_ctrl_alloc != PARAM_INVALID) {
|
||||
param_get(p_ctrl_alloc, &ctrl_alloc);
|
||||
}
|
||||
|
||||
if (ctrl_alloc == 1) {
|
||||
|
||||
if (ctrl_alloc) {
|
||||
unsigned pin_index = 0;
|
||||
|
||||
for (unsigned i = 0; i < 16 && pin_index < arraySize(_pins); ++i) {
|
||||
|
||||
@@ -38,4 +38,4 @@
|
||||
* @group Sensors
|
||||
* @boolean
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_ETSASPD, 0);
|
||||
PARAM_DEFINE_BOOL(SENS_EN_ETSASPD, 0);
|
||||
|
||||
@@ -38,4 +38,4 @@
|
||||
* @group Sensors
|
||||
* @boolean
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_MS4525, 0);
|
||||
PARAM_DEFINE_BOOL(SENS_EN_MS4525, 0);
|
||||
|
||||
@@ -37,5 +37,5 @@
|
||||
* @reboot_required true
|
||||
* @group Sensors
|
||||
* @boolean
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_MS5525, 0);
|
||||
**/
|
||||
PARAM_DEFINE_BOOL(SENS_EN_MS5525, 0);
|
||||
|
||||
@@ -37,5 +37,5 @@
|
||||
* @reboot_required true
|
||||
* @group Sensors
|
||||
* @boolean
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_SDP3X, 0);
|
||||
**/
|
||||
PARAM_DEFINE_BOOL(SENS_EN_SDP3X, 0);
|
||||
|
||||
@@ -157,7 +157,7 @@ private:
|
||||
perf_counter_t _sample_perf{perf_alloc(PC_COUNT, "mb12xx_sample_perf")};
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamInt<px4::params::SENS_EN_MB12XX>) _p_sensor_enabled,
|
||||
(ParamBool<px4::params::SENS_EN_MB12XX>) _p_sensor_enabled,
|
||||
(ParamInt<px4::params::SENS_MB12_0_ROT>) _p_sensor0_rot,
|
||||
(ParamInt<px4::params::SENS_MB12_1_ROT>) _p_sensor1_rot,
|
||||
(ParamInt<px4::params::SENS_MB12_2_ROT>) _p_sensor2_rot,
|
||||
|
||||
@@ -39,7 +39,7 @@
|
||||
* @boolean
|
||||
* @group Sensors
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0);
|
||||
PARAM_DEFINE_BOOL(SENS_EN_MB12XX, 0);
|
||||
|
||||
/**
|
||||
* MaxBotix MB12XX Sensor 0 Rotation
|
||||
@@ -291,4 +291,4 @@ PARAM_DEFINE_INT32(SENS_MB12_10_ROT, 0);
|
||||
* @value 6 Yaw 270°
|
||||
* @value 7 Yaw 315°
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_MB12_11_ROT, 0);
|
||||
PARAM_DEFINE_INT32(SENS_MB12_11_ROT, 0);
|
||||
|
||||
@@ -39,4 +39,4 @@
|
||||
* @boolean
|
||||
* @group Sensors
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_PGA460, 0);
|
||||
PARAM_DEFINE_BOOL(SENS_EN_PGA460, 0);
|
||||
|
||||
@@ -38,4 +38,4 @@
|
||||
* @group Sensors
|
||||
* @boolean
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_SR05, 0);
|
||||
PARAM_DEFINE_BOOL(SENS_EN_SR05, 0);
|
||||
|
||||
@@ -39,4 +39,4 @@
|
||||
* @boolean
|
||||
* @group Sensors
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_VL53L1X, 0);
|
||||
PARAM_DEFINE_BOOL(SENS_EN_VL53L1X, 0);
|
||||
|
||||
@@ -444,8 +444,6 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
|
||||
} else {
|
||||
int telemetry_index = 0;
|
||||
|
||||
const uint32_t reversible_outputs = _mixing_output.reversibleOutputs();
|
||||
|
||||
for (int i = 0; i < (int)num_outputs; i++) {
|
||||
|
||||
uint16_t output = outputs[i];
|
||||
@@ -454,7 +452,7 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
|
||||
// This is in terms of DShot values, code below is in terms of actuator_output
|
||||
// Direction 1) 48 is the slowest, 1047 is the fastest.
|
||||
// Direction 2) 1049 is the slowest, 2047 is the fastest.
|
||||
if (_param_dshot_3d_enable.get() || (reversible_outputs & (1u << i))) {
|
||||
if (_param_dshot_3d_enable.get()) {
|
||||
if (output >= _param_dshot_3d_dead_l.get() && output <= _param_dshot_3d_dead_h.get()) {
|
||||
output = DSHOT_DISARM_VALUE;
|
||||
|
||||
|
||||
@@ -268,7 +268,7 @@ void LinuxPWMOut::update_params()
|
||||
// PWM_MAIN_REVx
|
||||
{
|
||||
sprintf(str, "%s_REV%u", prefix, i + 1);
|
||||
int32_t pwm_rev = 0;
|
||||
bool pwm_rev = false;
|
||||
|
||||
if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
|
||||
uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
module_name: PWM Output
|
||||
actuator_output:
|
||||
add_reverse_range_param: true
|
||||
output_groups:
|
||||
- param_prefix: PWM_MAIN
|
||||
channel_label: 'Channel'
|
||||
|
||||
@@ -39,4 +39,4 @@
|
||||
* @boolean
|
||||
* @group Sensors
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_PAW3902, 0);
|
||||
PARAM_DEFINE_BOOL(SENS_EN_PAW3902, 0);
|
||||
|
||||
@@ -39,4 +39,4 @@
|
||||
* @boolean
|
||||
* @group Sensors
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_PMW3901, 0);
|
||||
PARAM_DEFINE_BOOL(SENS_EN_PMW3901, 0);
|
||||
|
||||
@@ -39,4 +39,4 @@
|
||||
* @boolean
|
||||
* @group Sensors
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_PX4FLOW, 0);
|
||||
PARAM_DEFINE_BOOL(SENS_EN_PX4FLOW, 0);
|
||||
|
||||
@@ -314,7 +314,7 @@ void PCA9685Wrapper::updatePWMParams()
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
|
||||
int32_t pval = 0;
|
||||
bool pval = false;
|
||||
param_get(param_h, &pval);
|
||||
reverse_pwm_mask &= (0xfffe << i); // clear this bit
|
||||
reverse_pwm_mask |= (((uint16_t)(pval != 0)) << i); // set to new val
|
||||
|
||||
@@ -40,7 +40,7 @@
|
||||
* @boolean
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_INA226, 0);
|
||||
PARAM_DEFINE_BOOL(SENS_EN_INA226, 0);
|
||||
|
||||
/**
|
||||
* INA226 Power Monitor Config
|
||||
|
||||
@@ -40,7 +40,7 @@
|
||||
* @boolean
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_INA228, 0);
|
||||
PARAM_DEFINE_BOOL(SENS_EN_INA228, 0);
|
||||
|
||||
/**
|
||||
* INA228 Power Monitor Config
|
||||
|
||||
@@ -40,7 +40,7 @@
|
||||
* @boolean
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_INA238, 0);
|
||||
PARAM_DEFINE_BOOL(SENS_EN_INA238, 0);
|
||||
|
||||
/**
|
||||
* INA238 Power Monitor Max Current
|
||||
|
||||
@@ -58,6 +58,8 @@
|
||||
#include <cstring>
|
||||
|
||||
|
||||
static constexpr uint64_t reader_timeout_us = 1000000;
|
||||
|
||||
class Mavlink2Dev;
|
||||
class RtpsDev;
|
||||
class ReadBuffer;
|
||||
@@ -118,7 +120,6 @@ perf_counter_t mavlink_messages_parsed_count;
|
||||
perf_counter_t mavlink_bytes_parsed_count;
|
||||
perf_counter_t rtps_messages_parsed_count;
|
||||
perf_counter_t rtps_bytes_parsed_count;
|
||||
perf_counter_t buffer_drops;
|
||||
|
||||
class ReadBuffer
|
||||
{
|
||||
@@ -133,8 +134,6 @@ public:
|
||||
uint8_t buffer[1024] = {};
|
||||
size_t buf_size = 0;
|
||||
|
||||
static const size_t BUFFER_THRESHOLD = sizeof(buffer) * 0.8;
|
||||
|
||||
// We keep track of the first Mavlink and Rtps packet in the buffer.
|
||||
// If start and end are equal there is no packet.
|
||||
size_t start_mavlink = 0;
|
||||
@@ -147,30 +146,18 @@ public:
|
||||
size_t bytes_received = 0;
|
||||
size_t bytes_lost = 0;
|
||||
size_t header_bytes_received = 0;
|
||||
|
||||
// To keep track of readers.
|
||||
hrt_abstime last_mavlink_read = 0;
|
||||
hrt_abstime last_rtps_read = 0;
|
||||
};
|
||||
|
||||
int ReadBuffer::read(int fd)
|
||||
{
|
||||
if (buf_size > BUFFER_THRESHOLD) {
|
||||
// Drop the buffer if it's too full. This is not expected to happen, but it might, if one of the readers
|
||||
// is too slow. In that case it's best to make space for new data, otherwise the faster reader might
|
||||
// busy-loop w/o getting new data.
|
||||
perf_count(buffer_drops);
|
||||
|
||||
PX4_DEBUG("Buffer full, dropping: %zu %zu %zu %zu", start_mavlink, end_mavlink, start_rtps, end_rtps);
|
||||
|
||||
// Drop only as much as we have to
|
||||
size_t num_remove = math::max(start_mavlink, start_rtps);
|
||||
|
||||
if (num_remove == 0) {
|
||||
num_remove = buf_size;
|
||||
}
|
||||
|
||||
remove(0, num_remove);
|
||||
start_mavlink -= math::min(num_remove, start_mavlink);
|
||||
end_mavlink -= math::min(num_remove, end_mavlink);
|
||||
start_rtps -= math::min(num_remove, start_rtps);
|
||||
end_rtps -= math::min(num_remove, end_rtps);
|
||||
if (sizeof(buffer) == buf_size) {
|
||||
// This happens if one consumer does not read the data, or not fast enough.
|
||||
// TODO: add a mechanism to thrown away data if a user is no longer reading.
|
||||
PX4_DEBUG("Buffer full: %zu %zu %zu %zu", start_mavlink, end_mavlink, start_rtps, end_rtps);
|
||||
}
|
||||
|
||||
int bytes_available = 0;
|
||||
@@ -277,6 +264,7 @@ protected:
|
||||
|
||||
int try_to_copy_data(char *buffer, size_t buflen, MessageType message_type);
|
||||
void scan_for_packets();
|
||||
void check_for_timeouts();
|
||||
void cleanup();
|
||||
|
||||
void lock(enum Operation op)
|
||||
@@ -554,6 +542,23 @@ void DevCommon::scan_for_packets()
|
||||
}
|
||||
|
||||
|
||||
void DevCommon::check_for_timeouts()
|
||||
{
|
||||
// If a reader has timed out, mark its data as read.
|
||||
|
||||
if (hrt_elapsed_time(&_read_buffer->last_mavlink_read) > reader_timeout_us) {
|
||||
if (_read_buffer->start_mavlink < _read_buffer->end_mavlink) {
|
||||
_read_buffer->start_mavlink = _read_buffer->end_mavlink;
|
||||
}
|
||||
}
|
||||
|
||||
if (hrt_elapsed_time(&_read_buffer->last_rtps_read) > reader_timeout_us) {
|
||||
if (_read_buffer->start_rtps < _read_buffer->end_rtps) {
|
||||
_read_buffer->start_rtps = _read_buffer->end_rtps;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void DevCommon::cleanup()
|
||||
{
|
||||
const bool mavlink_available = (_read_buffer->start_mavlink < _read_buffer->end_mavlink);
|
||||
@@ -603,11 +608,14 @@ Mavlink2Dev::Mavlink2Dev(ReadBuffer *read_buffer)
|
||||
|
||||
ssize_t Mavlink2Dev::read(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
_read_buffer->last_mavlink_read = hrt_absolute_time();
|
||||
|
||||
lock(Read);
|
||||
|
||||
// The cleanup needs to be right after a scan, so we don't clean up
|
||||
// something that we haven't found yet.
|
||||
scan_for_packets();
|
||||
check_for_timeouts();
|
||||
cleanup();
|
||||
|
||||
// If we have already a packet ready in the current buffer, we don't have
|
||||
@@ -622,7 +630,7 @@ ssize_t Mavlink2Dev::read(struct file *filp, char *buffer, size_t buflen)
|
||||
// Otherwise, we have to do a read.
|
||||
ret = _read_buffer->read(_fd);
|
||||
|
||||
if (ret <= 0) {
|
||||
if (ret < 0) {
|
||||
unlock(Read);
|
||||
return ret;
|
||||
}
|
||||
@@ -685,9 +693,12 @@ RtpsDev::RtpsDev(ReadBuffer *read_buffer)
|
||||
|
||||
ssize_t RtpsDev::read(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
_read_buffer->last_rtps_read = hrt_absolute_time();
|
||||
|
||||
lock(Read);
|
||||
|
||||
scan_for_packets();
|
||||
check_for_timeouts();
|
||||
cleanup();
|
||||
|
||||
// If we have already a packet ready in the current buffer, we don't have to read.
|
||||
@@ -701,7 +712,7 @@ ssize_t RtpsDev::read(struct file *filp, char *buffer, size_t buflen)
|
||||
// Otherwise, we have to do a read.
|
||||
ret = _read_buffer->read(_fd);
|
||||
|
||||
if (ret <= 0) {
|
||||
if (ret < 0) {
|
||||
unlock(Read);
|
||||
return ret;
|
||||
}
|
||||
@@ -767,11 +778,10 @@ int protocol_splitter_main(int argc, char *argv[])
|
||||
bytes_received_count = perf_alloc(PC_COUNT, "protocol_splitter: bytes received");
|
||||
bytes_lost_count = perf_alloc(PC_COUNT, "protocol_splitter: bytes unused/lost");
|
||||
header_bytes_received_count = perf_alloc(PC_COUNT, "protocol_splitter: header bytes received");
|
||||
mavlink_messages_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: MAVLink msgs parsed");
|
||||
mavlink_bytes_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: MAVLink msgs bytes parsed");
|
||||
rtps_messages_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: RTPS msgs parsed");
|
||||
rtps_bytes_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: RTPS msgs bytes parsed");
|
||||
buffer_drops = perf_alloc(PC_COUNT, "protocol_splitter: buffer drops");
|
||||
mavlink_messages_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: MAVLink messages parsed");
|
||||
mavlink_bytes_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: MAVLink messages bytes parsed");
|
||||
rtps_messages_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: RTPS messages parsed");
|
||||
rtps_bytes_parsed_count = perf_alloc(PC_COUNT, "protocol_splitter: RTPS messages bytes parsed");
|
||||
|
||||
strncpy(objects->device_name, argv[2], sizeof(objects->device_name));
|
||||
sem_init(&objects->r_lock, 1, 1);
|
||||
@@ -814,7 +824,6 @@ int protocol_splitter_main(int argc, char *argv[])
|
||||
perf_free(mavlink_bytes_parsed_count);
|
||||
perf_free(rtps_messages_parsed_count);
|
||||
perf_free(rtps_bytes_parsed_count);
|
||||
perf_free(buffer_drops);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -222,6 +222,11 @@ int PWMOut::set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_
|
||||
return OK;
|
||||
}
|
||||
|
||||
int PWMOut::set_i2c_bus_clock(unsigned bus, unsigned clock_hz)
|
||||
{
|
||||
return device::I2C::set_bus_clock(bus, clock_hz);
|
||||
}
|
||||
|
||||
void PWMOut::update_current_rate()
|
||||
{
|
||||
/*
|
||||
@@ -650,7 +655,7 @@ void PWMOut::update_params()
|
||||
// PWM_MAIN_REVx
|
||||
{
|
||||
sprintf(str, "%s_REV%u", prefix, i + 1);
|
||||
int32_t pwm_rev = 0;
|
||||
bool pwm_rev = false;
|
||||
|
||||
if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
|
||||
uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
|
||||
@@ -690,7 +695,7 @@ void PWMOut::update_params()
|
||||
_num_disarmed_set = num_disarmed_set;
|
||||
}
|
||||
|
||||
int PWMOut::ioctl(device::file_t *filp, int cmd, unsigned long arg)
|
||||
int PWMOut::ioctl(file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret = pwm_ioctl(filp, cmd, arg);
|
||||
|
||||
@@ -702,7 +707,7 @@ int PWMOut::ioctl(device::file_t *filp, int cmd, unsigned long arg)
|
||||
return ret;
|
||||
}
|
||||
|
||||
int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
|
||||
int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
@@ -1089,6 +1094,34 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
|
||||
return ret;
|
||||
}
|
||||
|
||||
void PWMOut::sensor_reset(int ms)
|
||||
{
|
||||
if (ms < 1) {
|
||||
ms = 1;
|
||||
}
|
||||
|
||||
board_spi_reset(ms, 0xffff);
|
||||
}
|
||||
|
||||
void PWMOut::peripheral_reset(int ms)
|
||||
{
|
||||
if (ms < 1) {
|
||||
ms = 10;
|
||||
}
|
||||
|
||||
board_peripheral_reset(ms);
|
||||
}
|
||||
|
||||
namespace
|
||||
{
|
||||
|
||||
int fmu_new_i2c_speed(unsigned bus, unsigned clock_hz)
|
||||
{
|
||||
return PWMOut::set_i2c_bus_clock(bus, clock_hz);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
int PWMOut::test(const char *dev)
|
||||
{
|
||||
int fd;
|
||||
@@ -1234,6 +1267,50 @@ int PWMOut::custom_command(int argc, char *argv[])
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
/* does not operate on a FMU instance */
|
||||
if (!strcmp(verb, "i2c")) {
|
||||
if (argc > 2) {
|
||||
int bus = strtol(argv[1], 0, 0);
|
||||
int clock_hz = strtol(argv[2], 0, 0);
|
||||
int ret = fmu_new_i2c_speed(bus, clock_hz);
|
||||
|
||||
if (ret) {
|
||||
PX4_ERR("setting I2C clock failed");
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
return print_usage("not enough arguments");
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "sensor_reset")) {
|
||||
if (argc > 1) {
|
||||
int reset_time = strtol(argv[1], nullptr, 0);
|
||||
sensor_reset(reset_time);
|
||||
|
||||
} else {
|
||||
sensor_reset(0);
|
||||
PX4_INFO("reset default time");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "peripheral_reset")) {
|
||||
if (argc > 2) {
|
||||
int reset_time = strtol(argv[2], 0, 0);
|
||||
peripheral_reset(reset_time);
|
||||
|
||||
} else {
|
||||
peripheral_reset(0);
|
||||
PX4_INFO("reset default time");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
/* start pwm_out if not running */
|
||||
if (!is_running()) {
|
||||
|
||||
@@ -1317,6 +1394,15 @@ By default the module runs on a work queue with a callback on the uORB actuator_
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("pwm_out", "driver");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("sensor_reset", "Do a sensor reset (SPI bus)");
|
||||
PRINT_MODULE_USAGE_ARG("<ms>", "Delay time in ms between reset and re-enabling", true);
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("peripheral_reset", "Reset board peripherals");
|
||||
PRINT_MODULE_USAGE_ARG("<ms>", "Delay time in ms between reset and re-enabling", true);
|
||||
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("i2c", "Configure I2C clock rate");
|
||||
PRINT_MODULE_USAGE_ARG("<bus_id> <rate>", "Specify the bus id (>=0) and rate in Hz", false);
|
||||
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test outputs");
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user