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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Compare commits
64 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
bbc9a8c9bb | ||
|
Tarik Agcayazi
|
1520805a20 | ||
|
Daniel Agar
|
39c96a8884 | ||
|
Alex Mikhalev
|
1f4960d480 | ||
|
alexklimaj
|
0c3e64a7f5 | ||
|
benjinne
|
9b7eae4043 | ||
|
Hamish Willee
|
6fbb409e43 | ||
|
alessandro
|
b46e505b0d | ||
|
Hamish Willee
|
aa94a60043 | ||
|
obicons
|
a7e920d276 | ||
|
Daniel Agar
|
31b9efdaeb | ||
|
Daniel Agar
|
f33fee99c1 | ||
|
Julian Oes
|
bb0fe9ee61 | ||
|
Julian Oes
|
2eaf677de3 | ||
|
Julian Oes
|
cd66a79747 | ||
|
Julian Oes
|
9eadabcb02 | ||
|
Julian Oes
|
d714c2faec | ||
|
Julian Oes
|
1e88939605 | ||
|
Daniel Agar
|
e05a4badf8 | ||
|
Daniel Agar
|
4189eb11f5 | ||
|
Daniel Agar
|
015849b402 | ||
|
Daniel Agar
|
f9460107d0 | ||
|
PX4 BuildBot
|
f741606c60 | ||
|
Daniel Agar
|
436a6fce38 | ||
|
PX4 BuildBot
|
997abf382d | ||
|
Benjamin Linne
|
2a0a747598 | ||
|
Benjamin Linne
|
a1bc520df8 | ||
|
Benjamin Linne
|
3261118538 | ||
|
Daniel Agar
|
54438140e1 | ||
|
Daniel Agar
|
565c644b2e | ||
|
Daniel Agar
|
695adbc037 | ||
|
Daniel Agar
|
357b322eb5 | ||
|
PX4 BuildBot
|
74e848d57e | ||
|
Daniel Agar
|
e8d98c1f8a | ||
|
Daniel Agar
|
8e8826c516 | ||
|
Daniel Agar
|
186e987efb | ||
|
Daniel Agar
|
2e390009f0 | ||
|
Julian Oes
|
8720655683 | ||
|
Silvan Fuhrer
|
8400f2c9bc | ||
|
Beat Küng
|
436258c1c5 | ||
|
Daniel Agar
|
ad934b4911 | ||
|
Daniel Agar
|
c6a0161047 | ||
|
Daniel Agar
|
bbf27d6960 | ||
|
Daniel Agar
|
43da43ddc6 | ||
|
Daniel Agar
|
fffa10ade4 | ||
|
Daniel Agar
|
825d81dd57 | ||
|
David Sidrane
|
dcfa3c97ba | ||
|
David Sidrane
|
38485a5d41 | ||
|
David Sidrane
|
961bac759a | ||
|
David Sidrane
|
2f9a57c604 | ||
|
David Sidrane
|
5c7a9204a2 | ||
|
David Sidrane
|
f63f1f3969 | ||
|
David Sidrane
|
55ed76522e | ||
|
David Sidrane
|
df201342bb | ||
|
David Sidrane
|
5e73fe588e | ||
|
Jaeyoung-Lim
|
01083cecfc | ||
|
Nidhish Raj
|
01d8c3da3d | ||
|
Daniel Agar
|
b30f3917d3 | ||
|
Daniel Agar
|
588883f663 | ||
|
David Sidrane
|
2fcdadfbd1 | ||
|
David Sidrane
|
003ef59019 | ||
|
Lorenz Meier
|
c96ca0434e | ||
|
PX4 BuildBot
|
9a02141d0d | ||
|
Lorenz Meier
|
1ec8ce58c7 |
@@ -45,7 +45,9 @@ pipeline {
|
||||
"cuav_can-gps-v1_canbootloader",
|
||||
"cuav_can-gps-v1_default",
|
||||
"cuav_nora_default",
|
||||
"cuav_nora_test",
|
||||
"cuav_x7pro_default",
|
||||
"cuav_x7pro_test",
|
||||
"cubepilot_cubeorange_console",
|
||||
"cubepilot_cubeorange_default",
|
||||
"cubepilot_cubeyellow_console",
|
||||
@@ -53,9 +55,11 @@ pipeline {
|
||||
"holybro_can-gps-v1_canbootloader",
|
||||
"holybro_can-gps-v1_default",
|
||||
"holybro_durandal-v1_default",
|
||||
"holybro_durandal-v1_test",
|
||||
"holybro_kakutef7_default",
|
||||
"holybro_pix32v5_default",
|
||||
"modalai_fc-v1_default",
|
||||
"modalai_fc-v1_rtps",
|
||||
"mro_ctrl-zero-f7_default",
|
||||
"mro_ctrl-zero-f7-oem_default",
|
||||
"mro_ctrl-zero-h7_default",
|
||||
|
||||
+76
-71
@@ -52,12 +52,12 @@ pipeline {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/cubepilot_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -84,9 +84,9 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage("cuav_x7pro_default") {
|
||||
stage("cuav_x7pro_test") {
|
||||
stages {
|
||||
stage("build cuav_x7pro_default") {
|
||||
stage("build cuav_x7pro_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
@@ -99,10 +99,10 @@ pipeline {
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make cuav_x7pro_default'
|
||||
sh 'make cuav_x7pro_test'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_default'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -119,21 +119,21 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'cuav_x7pro_default'
|
||||
unstash 'cuav_x7pro_test'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -255,13 +255,13 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -331,12 +331,13 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -406,13 +407,13 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -482,13 +483,13 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -561,13 +562,14 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -637,12 +639,13 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -715,13 +718,14 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -791,12 +795,13 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -823,9 +828,9 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage("holybro_durandal-v1_default") {
|
||||
stage("holybro_durandal-v1_test") {
|
||||
stages {
|
||||
stage("build holybro_durandal-v1_default") {
|
||||
stage("build holybro_durandal-v1_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
@@ -838,10 +843,10 @@ pipeline {
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make holybro_durandal-v1_default'
|
||||
sh 'make holybro_durandal-v1_test'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_default'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -858,24 +863,21 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'holybro_durandal-v1_default'
|
||||
unstash 'holybro_durandal-v1_test'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_test/holybro_durandal-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set DSHOT_CONFIG 600"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_USE_IO 0"' // for dshot
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -946,12 +948,13 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -1027,6 +1030,7 @@ void statusFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
|
||||
@@ -1038,6 +1042,7 @@ void statusFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_gps_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
|
||||
|
||||
@@ -26,7 +26,9 @@ jobs:
|
||||
cuav_can-gps-v1_debug,
|
||||
cuav_can-gps-v1_default,
|
||||
cuav_nora_default,
|
||||
cuav_nora_test,
|
||||
cuav_x7pro_default,
|
||||
cuav_x7pro_test,
|
||||
cubepilot_cubeorange_console,
|
||||
cubepilot_cubeorange_default,
|
||||
cubepilot_cubeyellow_console,
|
||||
@@ -36,9 +38,11 @@ jobs:
|
||||
holybro_can-gps-v1_debug,
|
||||
holybro_can-gps-v1_default,
|
||||
holybro_durandal-v1_default,
|
||||
holybro_durandal-v1_test,
|
||||
holybro_kakutef7_default,
|
||||
holybro_pix32v5_default,
|
||||
modalai_fc-v1_default,
|
||||
modalai_fc-v1_rtps,
|
||||
mro_ctrl-zero-f7-oem_default,
|
||||
mro_ctrl-zero-f7_default,
|
||||
mro_ctrl-zero-h7-oem_default,
|
||||
|
||||
@@ -28,9 +28,9 @@ jobs:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Download MAVSDK
|
||||
run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
|
||||
run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.38.0/mavsdk_0.38.0_ubuntu20.04_amd64.deb
|
||||
- name: Install MAVSDK
|
||||
run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb
|
||||
run: dpkg -i mavsdk_0.38.0_ubuntu20.04_amd64.deb
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
|
||||
Vendored
+2
-7
@@ -96,16 +96,11 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_x7pro_default
|
||||
cubepilot_cubeorange_default:
|
||||
cubepilot_cubeorange_console:
|
||||
short: cubepilot_cubeorange
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_orange_default
|
||||
cubepilot_cubeyellow_default:
|
||||
short: cubepilot_cubeyellow
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_cubeyellow_default
|
||||
CONFIG: cubepilot_orange_console
|
||||
emlid_navio2_default:
|
||||
short: emlid_navio2
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+4
-1
@@ -137,5 +137,8 @@
|
||||
"workbench.settings.enableNaturalLanguageSearch": false,
|
||||
"yaml.schemas": {
|
||||
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
|
||||
}
|
||||
},
|
||||
"python.autoComplete.extraPaths": [
|
||||
"/opt/ros/foxy/lib/python3.8/site-packages"
|
||||
]
|
||||
}
|
||||
|
||||
Vendored
+4
@@ -89,6 +89,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make airframe_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
|
||||
@@ -108,6 +109,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make parameters_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
|
||||
@@ -127,6 +129,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make module_documentation'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
archiveArtifacts(artifacts: 'modules/*.md')
|
||||
@@ -150,6 +153,7 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make uorb_graphs'
|
||||
dir('Tools/uorb_graph') {
|
||||
archiveArtifacts(artifacts: 'graph_px4_sitl.json')
|
||||
|
||||
@@ -303,7 +303,7 @@ check_%:
|
||||
@echo
|
||||
|
||||
uorb_graphs:
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
|
||||
@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
|
||||
|
||||
@@ -17,7 +17,7 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of
|
||||
* [VTOL](https://docs.px4.io/master/en/frames_vtol/)
|
||||
* [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
|
||||
* [Rover](https://docs.px4.io/master/en/frames_rover/)
|
||||
* many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
|
||||
* many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
|
||||
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
|
||||
|
||||
|
||||
@@ -85,23 +85,24 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
|
||||
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
|
||||
|
||||
### Pixhawk Standard Boards
|
||||
* FMUv2
|
||||
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
|
||||
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
|
||||
* FMUv3
|
||||
* FMUv6X and FMUv6U (STM32H7, 2021)
|
||||
* Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
|
||||
* FMUv5 and FMUv5X (STM32F7, 2019/20)
|
||||
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
|
||||
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
|
||||
* [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
|
||||
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
|
||||
* [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
|
||||
* FMUv4 (STM32F4, 2015)
|
||||
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
|
||||
* FMUv3 (STM32F4, 2014)
|
||||
* [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
|
||||
* [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
|
||||
* [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
|
||||
* FMUv4 (STM32F4)
|
||||
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
|
||||
* FMUv5 (STM32F7)
|
||||
* [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
|
||||
* [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
|
||||
* [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
|
||||
* [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
|
||||
* FMUv6X and FMUv6U (STM32H7)
|
||||
* Various vendors will provide FMUv6X and FMUv6U based designs Q2/2021
|
||||
* FMUv2 (STM32F4, 2013)
|
||||
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
|
||||
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
|
||||
|
||||
### Manufacturer and Community supported
|
||||
* [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
|
||||
|
||||
@@ -10,43 +10,39 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MPC_USE_HTE 0
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set VM_MASS 1.5
|
||||
param set VM_INERTIA_XX 0.03
|
||||
param set VM_INERTIA_YY 0.03
|
||||
param set VM_INERTIA_ZZ 0.05
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set CA_AIRFRAME 0
|
||||
param set CA_METHOD 1
|
||||
param set CA_ACT0_MIN 0.0
|
||||
param set CA_ACT1_MIN 0.0
|
||||
param set CA_ACT2_MIN 0.0
|
||||
param set CA_ACT3_MIN 0.0
|
||||
param set CA_ACT0_MAX 1.0
|
||||
param set CA_ACT1_MAX 1.0
|
||||
param set CA_ACT2_MAX 1.0
|
||||
param set CA_ACT3_MAX 1.0
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
|
||||
param set CA_MC_R0_PX 0.1515
|
||||
param set CA_MC_R0_PY 0.245
|
||||
param set CA_MC_R0_CT 6.5
|
||||
param set CA_MC_R0_KM 0.05
|
||||
param set CA_MC_R1_PX -0.1515
|
||||
param set CA_MC_R1_PY -0.1875
|
||||
param set CA_MC_R1_CT 6.5
|
||||
param set CA_MC_R1_KM 0.05
|
||||
param set CA_MC_R2_PX 0.1515
|
||||
param set CA_MC_R2_PY -0.245
|
||||
param set CA_MC_R2_CT 6.5
|
||||
param set CA_MC_R2_KM -0.05
|
||||
param set CA_MC_R3_PX -0.1515
|
||||
param set CA_MC_R3_PY 0.1875
|
||||
param set CA_MC_R3_CT 6.5
|
||||
param set CA_MC_R3_KM -0.05
|
||||
|
||||
fi
|
||||
param set-default CA_MC_R0_PX 0.1515
|
||||
param set-default CA_MC_R0_PY 0.245
|
||||
param set-default CA_MC_R0_CT 6.5
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.1515
|
||||
param set-default CA_MC_R1_PY -0.1875
|
||||
param set-default CA_MC_R1_CT 6.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.1515
|
||||
param set-default CA_MC_R2_PY -0.245
|
||||
param set-default CA_MC_R2_CT 6.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.1515
|
||||
param set-default CA_MC_R3_PY 0.1875
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
set MIXER direct
|
||||
|
||||
@@ -7,8 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_RNG_AID 1
|
||||
param set EKF2_RNG_A_HMAX 10
|
||||
fi
|
||||
param set-default EKF2_RNG_AID 1
|
||||
param set-default EKF2_RNG_A_HMAX 10
|
||||
|
||||
|
||||
@@ -8,15 +8,12 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Multi GPS blending (as the model has 2 GPS's)
|
||||
param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 4
|
||||
param set MNT_MODE_OUT 2
|
||||
param set MNT_DO_STAB 2
|
||||
fi
|
||||
# EKF2: Multi GPS blending (as the model has 2 GPS's)
|
||||
param set-default SENS_GPS_MASK 7
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MNT_DO_STAB 2
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -7,16 +7,14 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2
|
||||
param set EKF2_AID_MASK 2
|
||||
param set EKF2_EVP_NOISE 0.05
|
||||
param set EKF2_EVA_NOISE 0.05
|
||||
# EKF2
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default EKF2_EVP_NOISE 0.05
|
||||
param set-default EKF2_EVA_NOISE 0.05
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set LPE_FUSION 242
|
||||
param set LPE_FAKE_ORIGIN 1
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
|
||||
param set MPC_ALT_MODE 2
|
||||
fi
|
||||
|
||||
@@ -7,12 +7,9 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# enable fusion of landing target velocity
|
||||
param set LTEST_MODE 1
|
||||
param set PLD_HACC_RAD 0.1
|
||||
fi
|
||||
# enable fusion of landing target velocity
|
||||
param set-default LTEST_MODE 1
|
||||
param set-default PLD_HACC_RAD 0.1
|
||||
|
||||
# Start up Landing Target Estimator module
|
||||
landing_target_estimator start
|
||||
|
||||
@@ -7,7 +7,5 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set LPE_FUSION 242
|
||||
fi
|
||||
param set-default LPE_FUSION 242
|
||||
|
||||
|
||||
@@ -7,15 +7,13 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Vision position and heading
|
||||
param set EKF2_AID_MASK 24
|
||||
param set EKF2_EV_DELAY 5
|
||||
# EKF2: Vision position and heading
|
||||
param set-default EKF2_AID_MASK 24
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
|
||||
# LPE: Vision + baro
|
||||
param set LPE_FUSION 132
|
||||
# LPE: Vision + baro
|
||||
param set-default LPE_FUSION 132
|
||||
|
||||
# AEQ: External heading set to use vision input
|
||||
param set-default ATT_EXT_HDG_M 1
|
||||
|
||||
# AEQ: External heading set to use vision input
|
||||
param set ATT_EXT_HDG_M 1
|
||||
fi
|
||||
|
||||
@@ -7,10 +7,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_ROLLRATE_P 0.1
|
||||
fi
|
||||
param set-default MC_PITCHRATE_P 0.1
|
||||
param set-default MC_ROLLRATE_P 0.1
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -7,8 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set COM_OBS_AVOID 1
|
||||
param set MPC_XY_CRUISE 5.0
|
||||
fi
|
||||
param set-default COM_OBS_AVOID 1
|
||||
param set-default MPC_XY_CRUISE 5.0
|
||||
|
||||
|
||||
@@ -7,15 +7,12 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2
|
||||
param set EKF2_AID_MASK 2
|
||||
param set SENS_FLOW_ROT 0
|
||||
# EKF2
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default SENS_FLOW_ROT 0
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set LPE_FUSION 242
|
||||
param set LPE_FAKE_ORIGIN 1
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set MPC_ALT_MODE 2
|
||||
fi
|
||||
param set-default MPC_ALT_MODE 2
|
||||
|
||||
@@ -7,9 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Vision velocity and heading
|
||||
param set EKF2_AID_MASK 272
|
||||
param set EKF2_EV_DELAY 5
|
||||
fi
|
||||
# EKF2: Vision velocity and heading
|
||||
param set-default EKF2_AID_MASK 272
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
|
||||
@@ -7,8 +7,5 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Multi GPS blending
|
||||
param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
|
||||
fi
|
||||
# EKF2: Multi GPS blending
|
||||
param set-default SENS_GPS_MASK 7
|
||||
|
||||
@@ -5,16 +5,13 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set NAV_DLL_ACT 0
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set-default NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
fi
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
@@ -5,16 +5,13 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set NAV_DLL_ACT 0
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set-default NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
fi
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
@@ -5,15 +5,11 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set NAV_DLL_ACT 0
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set-default NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
fi
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
set PWM_OUT 12345678
|
||||
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
|
||||
|
||||
@@ -5,54 +5,50 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
param set EKF2_MAG_ACCLIM 0
|
||||
param set EKF2_MAG_YAWLIM 0
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set FW_LND_AIRSPD_SC 1
|
||||
param set FW_LND_ANG 8
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
|
||||
param set FW_L1_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
|
||||
param set FW_PR_I 0.4
|
||||
param set FW_PR_P 0.9
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_THR_CRUISE 0.25
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_CRUISE 0.25
|
||||
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set FW_W_EN 1
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 30
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
|
||||
param set RWTO_TKOFF 1
|
||||
|
||||
fi
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,10 +5,8 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# Camera trigger interface is MAVLink
|
||||
param set TRIG_INTERFACE 3
|
||||
# Distance trigger mode enabled
|
||||
param set TRIG_MODE 4
|
||||
fi
|
||||
# Camera trigger interface is MAVLink
|
||||
param set-default TRIG_INTERFACE 3
|
||||
|
||||
# Distance trigger mode enabled
|
||||
param set-default TRIG_MODE 4
|
||||
|
||||
@@ -5,8 +5,5 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set RWTO_TKOFF 0
|
||||
param set-default RWTO_TKOFF 0
|
||||
|
||||
fi
|
||||
|
||||
@@ -5,8 +5,5 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_LND_USETER 1
|
||||
param set-default FW_LND_USETER 1
|
||||
|
||||
fi
|
||||
|
||||
@@ -5,54 +5,55 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
#param set EKF2_MAG_ACCLIM 0
|
||||
#param set EKF2_MAG_YAWLIM 0
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
|
||||
param set FW_LND_AIRSPD_SC 1.1
|
||||
param set FW_LND_ANG 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_LND_HHDIST 30
|
||||
param set FW_LND_FL_PMIN 9.5
|
||||
param set FW_LND_FL_PMAX 20
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_TLALT 15
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_LND_HHDIST 30
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_TLALT 15
|
||||
|
||||
param set FW_L1_PERIOD 25
|
||||
param set-default FW_L1_PERIOD 25
|
||||
|
||||
param set FW_P_TC 0.4
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
|
||||
param set FW_R_TC 0.45
|
||||
param set FW_RR_FF 0.40
|
||||
param set FW_RR_I 0.132
|
||||
param set FW_RR_P 0.085
|
||||
param set-default FW_R_TC 0.45
|
||||
param set-default FW_RR_FF 0.40
|
||||
param set-default FW_RR_I 0.132
|
||||
param set-default FW_RR_P 0.085
|
||||
|
||||
param set FW_W_EN 1
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 20
|
||||
param set MIS_DIST_1WP 2500
|
||||
param set MIS_DIST_WPS 10000
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
|
||||
param set RWTO_TKOFF 1
|
||||
#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_MAX_PITCH 20
|
||||
param set RWTO_MAX_ROLL 10
|
||||
#param set RWTO_MAX_THR 0.6 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_PSP 8
|
||||
param set RWTO_AIRSPD_SCL 1.8
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set FW_THR_SLEW_MAX 0.3
|
||||
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set-default RWTO_MAX_THR 0.6
|
||||
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,54 +5,54 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
#param set EKF2_MAG_ACCLIM 0
|
||||
#param set EKF2_MAG_YAWLIM 0
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
|
||||
param set FW_LND_AIRSPD_SC 1.1
|
||||
param set FW_LND_ANG 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_LND_HHDIST 30
|
||||
param set FW_LND_FL_PMIN 9.5
|
||||
param set FW_LND_FL_PMAX 20
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_TLALT 15
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_LND_HHDIST 30
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_TLALT 15
|
||||
|
||||
param set FW_L1_PERIOD 25
|
||||
param set-default FW_L1_PERIOD 25
|
||||
|
||||
param set FW_P_TC 0.4
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
|
||||
param set FW_R_TC 0.45
|
||||
param set FW_RR_FF 0.40
|
||||
param set FW_RR_I 0.132
|
||||
param set FW_RR_P 0.085
|
||||
param set-default FW_R_TC 0.45
|
||||
param set-default FW_RR_FF 0.40
|
||||
param set-default FW_RR_I 0.132
|
||||
param set-default FW_RR_P 0.085
|
||||
|
||||
param set FW_W_EN 1
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 20
|
||||
param set MIS_DIST_1WP 2500
|
||||
param set MIS_DIST_WPS 10000
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
|
||||
param set RWTO_TKOFF 1
|
||||
#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_MAX_PITCH 20
|
||||
param set RWTO_MAX_ROLL 10
|
||||
#param set RWTO_MAX_THR 0.6 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_PSP 8
|
||||
param set RWTO_AIRSPD_SCL 1.8
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
fi
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set FW_THR_SLEW_MAX 0.3
|
||||
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set RWTO_MAX_THR 0.6
|
||||
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,43 +5,39 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
param set EKF2_MAG_ACCLIM 0
|
||||
param set EKF2_MAG_YAWLIM 0
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set FW_LND_AIRSPD_SC 1
|
||||
param set FW_LND_ANG 8
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
|
||||
param set FW_L1_PERIOD 15
|
||||
param set-default FW_L1_PERIOD 15
|
||||
|
||||
param set FW_P_TC 0.5
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
param set-default FW_P_TC 0.5
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
|
||||
param set FW_R_TC 0.7
|
||||
param set FW_RR_FF 0.20
|
||||
param set FW_RR_I 0.02
|
||||
param set FW_RR_P 0.22
|
||||
param set-default FW_R_TC 0.7
|
||||
param set-default FW_RR_FF 0.20
|
||||
param set-default FW_RR_I 0.02
|
||||
param set-default FW_RR_P 0.22
|
||||
|
||||
param set FW_L1_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set FW_W_EN 1
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 30
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
|
||||
param set RWTO_TKOFF 1
|
||||
|
||||
fi
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,52 +5,46 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
#param set EKF2_MAG_ACCLIM 0
|
||||
#param set EKF2_MAG_YAWLIM 0
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
|
||||
param set FW_LND_AIRSPD_SC 1.1
|
||||
param set FW_LND_ANG 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_LND_HHDIST 30
|
||||
param set FW_LND_FL_PMIN 9.5
|
||||
param set FW_LND_FL_PMAX 20
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_TLALT 15
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_LND_HHDIST 30
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_TLALT 15
|
||||
|
||||
param set FW_L1_PERIOD 25
|
||||
param set-default FW_L1_PERIOD 25
|
||||
|
||||
param set FW_P_TC 0.4
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
|
||||
param set FW_R_TC 0.45
|
||||
param set FW_RR_FF 0.40
|
||||
param set FW_RR_I 0.132
|
||||
param set FW_RR_P 0.085
|
||||
param set-default FW_R_TC 0.45
|
||||
param set-default FW_RR_FF 0.40
|
||||
param set-default FW_RR_I 0.132
|
||||
param set-default FW_RR_P 0.085
|
||||
|
||||
param set FW_W_EN 1
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 20
|
||||
param set MIS_DIST_1WP 2500
|
||||
param set MIS_DIST_WPS 10000
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
|
||||
param set RWTO_TKOFF 1
|
||||
param set RWTO_MAX_PITCH 20
|
||||
param set RWTO_MAX_ROLL 10
|
||||
param set RWTO_PSP 8
|
||||
param set RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
fi
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -7,50 +7,46 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_L1_PERIOD 12
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PR_I 0.4
|
||||
param set FW_PR_P 0.9
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.25
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.25
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
param set MC_YAW_P 1.6
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set-default MC_YAW_P 1.6
|
||||
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_D_ACC 0.1
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
|
||||
param set VT_FWD_THRUST_EN 4
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_B_TRANS_DUR 8
|
||||
param set VT_TYPE 2
|
||||
|
||||
fi
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_TYPE 2
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
|
||||
@@ -7,44 +7,40 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_L1_PERIOD 12
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_PR_I 0.2
|
||||
param set FW_PR_P 0.3
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.33
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
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 0.3
|
||||
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 0.3
|
||||
param set-default FW_THR_CRUISE 0.33
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_D_ACC 0.1
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
|
||||
param set VT_F_TRANS_DUR 1.5
|
||||
param set VT_F_TRANS_THR 0.7
|
||||
param set VT_TYPE 0
|
||||
param set-default VT_F_TRANS_DUR 1.5
|
||||
param set-default VT_F_TRANS_THR 0.7
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
param set WV_EN 0
|
||||
|
||||
fi
|
||||
param set-default WV_EN 0
|
||||
|
||||
set MAV_TYPE 20
|
||||
|
||||
|
||||
@@ -7,48 +7,44 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_L1_PERIOD 12
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PR_I 0.4
|
||||
param set FW_PR_P 0.9
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.38
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.38
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set MC_YAW_P 1.6
|
||||
param set-default MC_YAW_P 1.6
|
||||
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_D_ACC 0.1
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
|
||||
param set VT_B_TRANS_DUR 8
|
||||
param set VT_FWD_THRUST_EN 4
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_TILT_TRANS 0.6
|
||||
param set VT_TYPE 1
|
||||
|
||||
fi
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_TILT_TRANS 0.6
|
||||
param set-default VT_TYPE 1
|
||||
|
||||
set MAV_TYPE 21
|
||||
|
||||
|
||||
@@ -7,53 +7,50 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_L1_PERIOD 12
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PR_I 0.4
|
||||
param set FW_PR_P 0.9
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.25
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.25
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
param set MC_YAW_P 1.6
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set-default MC_YAW_P 1.6
|
||||
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_D_ACC 0.1
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
|
||||
param set VT_FWD_THRUST_EN 4
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_B_TRANS_DUR 8
|
||||
param set VT_TYPE 2
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_TYPE 2
|
||||
|
||||
param set RC_MAP_AUX1 8
|
||||
param set RC_MAP_AUX2 9
|
||||
param set RC_MAP_AUX3 10
|
||||
fi
|
||||
param set-default RC_MAP_AUX1 8
|
||||
param set-default RC_MAP_AUX2 9
|
||||
param set-default RC_MAP_AUX3 10
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
|
||||
@@ -5,32 +5,28 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_L1_PERIOD 10
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 0.001
|
||||
param set GND_SPEED_I 3
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 4
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_L1_PERIOD 10
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_I 3
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 4
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 2.0
|
||||
|
||||
fi
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
|
||||
@@ -6,31 +6,27 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 3
|
||||
param set GND_SPEED_I 0.001
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 4
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 3
|
||||
param set-default GND_SPEED_I 0.001
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 4
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 2.0
|
||||
|
||||
fi
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
|
||||
@@ -10,32 +10,28 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 3
|
||||
param set GND_SPEED_I 0.001
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 15
|
||||
param set GND_SPEED_MAX 25
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 3
|
||||
param set-default GND_SPEED_I 0.001
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 15
|
||||
param set-default GND_SPEED_MAX 25
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 3.0
|
||||
|
||||
fi
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 3.0
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
|
||||
@@ -5,32 +5,28 @@
|
||||
|
||||
. ${R}etc/init.d/rc.boat_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_L1_PERIOD 100
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 0.001
|
||||
param set GND_SPEED_I 8
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 2
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 1
|
||||
param set GND_THR_CRUISE 0.85
|
||||
param set GND_THR_MAX 1
|
||||
param set GND_THR_MIN 0
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_L1_PERIOD 100
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_I 8
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 2
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 1
|
||||
param set-default GND_THR_CRUISE 0.85
|
||||
param set-default GND_THR_MAX 1
|
||||
param set-default GND_THR_MIN 0
|
||||
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 2.0
|
||||
|
||||
fi
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
set MAV_TYPE 11
|
||||
|
||||
|
||||
@@ -12,52 +12,47 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
param set ASPD_STALL 10.0
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
param set-default ASPD_STALL 10.0
|
||||
|
||||
param set FW_P_RMAX_NEG 20.0
|
||||
param set FW_P_RMAX_POS 60.0
|
||||
param set FW_W_RMAX 10
|
||||
param set FW_W_EN 1
|
||||
param set-default FW_P_RMAX_NEG 20.0
|
||||
param set-default FW_P_RMAX_POS 60.0
|
||||
param set-default FW_W_RMAX 10
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set FW_PR_IMAX 0.4
|
||||
param set FW_R_TC 0.4
|
||||
param set FW_RR_FF 0.5
|
||||
param set FW_RR_I 0.1
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.08
|
||||
param set-default FW_PR_IMAX 0.4
|
||||
param set-default FW_R_TC 0.4
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_I 0.1
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
param set-default FW_RR_P 0.08
|
||||
|
||||
param set MIS_LTRMIN_ALT 50
|
||||
param set MIS_TAKEOFF_ALT 3
|
||||
param set-default MIS_LTRMIN_ALT 50
|
||||
param set-default MIS_TAKEOFF_ALT 3
|
||||
|
||||
param set NAV_ACC_RAD 20
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 100
|
||||
param set-default NAV_ACC_RAD 20
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 100
|
||||
|
||||
param set RWTO_TKOFF 1
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set FW_ARSP_SCALE_EN 0
|
||||
param set-default FW_ARSP_SCALE_EN 0
|
||||
|
||||
param set FW_AIRSPD_MAX 35
|
||||
param set FW_AIRSPD_MIN 7
|
||||
param set FW_AIRSPD_TRIM 15
|
||||
param set-default FW_AIRSPD_MAX 35
|
||||
param set-default FW_AIRSPD_MIN 7
|
||||
param set-default FW_AIRSPD_TRIM 15
|
||||
|
||||
param set FW_P_LIM_MAX 25
|
||||
param set FW_P_LIM_MIN -5
|
||||
param set FW_R_LIM 30
|
||||
param set-default FW_P_LIM_MAX 25
|
||||
param set-default FW_P_LIM_MIN -5
|
||||
param set-default FW_R_LIM 30
|
||||
|
||||
param set FW_MAN_P_MAX 30.0
|
||||
param set FW_MAN_R_MAX 30.0
|
||||
|
||||
param set FW_THR_CRUISE 0.8
|
||||
param set FW_THR_IDLE 0
|
||||
param set COM_DISARM_PRFLT 0
|
||||
|
||||
fi
|
||||
param set-default FW_MAN_P_MAX 30.0
|
||||
param set-default FW_MAN_R_MAX 30.0
|
||||
|
||||
param set-default FW_THR_CRUISE 0.8
|
||||
param set-default FW_THR_IDLE 0
|
||||
param set-default COM_DISARM_PRFLT 0
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -9,24 +9,21 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCH_P 6.0
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLLRATE_I 0.1
|
||||
param set MC_ROLL_P 6.0
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set-default MC_PITCHRATE_P 0.1
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCH_P 6.0
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_I 0.1
|
||||
param set-default MC_ROLL_P 6.0
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 4
|
||||
param set MNT_DO_STAB 2
|
||||
fi
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_DO_STAB 2
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
|
||||
@@ -7,27 +7,24 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCHRATE_P 0.0800
|
||||
param set MC_PITCHRATE_I 0.0400
|
||||
param set MC_PITCHRATE_D 0.0010
|
||||
param set MC_PITCH_P 9.0
|
||||
param set MC_ROLLRATE_P 0.0800
|
||||
param set MC_ROLLRATE_I 0.0400
|
||||
param set MC_ROLLRATE_D 0.0010
|
||||
param set MC_ROLL_P 9.0
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set-default MC_PITCHRATE_P 0.0800
|
||||
param set-default MC_PITCHRATE_I 0.0400
|
||||
param set-default MC_PITCHRATE_D 0.0010
|
||||
param set-default MC_PITCH_P 9.0
|
||||
param set-default MC_ROLLRATE_P 0.0800
|
||||
param set-default MC_ROLLRATE_I 0.0400
|
||||
param set-default MC_ROLLRATE_D 0.0010
|
||||
param set-default MC_ROLL_P 9.0
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 4
|
||||
param set MNT_MODE_OUT 2
|
||||
param set MAV_PROTO_VER 2
|
||||
fi
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MAV_PROTO_VER 2
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
|
||||
@@ -8,66 +8,63 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_LAND_DELAY 0
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set-default RTL_LAND_DELAY 0
|
||||
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 0
|
||||
param set MAV_PROTO_VER 2
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 0
|
||||
param set-default MAV_PROTO_VER 2
|
||||
|
||||
param set MPC_USE_HTE 0
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set VM_MASS 2.66
|
||||
param set VM_INERTIA_XX 0.06
|
||||
param set VM_INERTIA_YY 0.06
|
||||
param set VM_INERTIA_ZZ 0.10
|
||||
param set-default VM_MASS 2.66
|
||||
param set-default VM_INERTIA_XX 0.06
|
||||
param set-default VM_INERTIA_YY 0.06
|
||||
param set-default VM_INERTIA_ZZ 0.10
|
||||
|
||||
param set CA_AIRFRAME 0
|
||||
param set CA_METHOD 1
|
||||
param set CA_ACT0_MIN 0.0
|
||||
param set CA_ACT1_MIN 0.0
|
||||
param set CA_ACT2_MIN 0.0
|
||||
param set CA_ACT3_MIN 0.0
|
||||
param set CA_ACT4_MIN 0.0
|
||||
param set CA_ACT5_MIN 0.0
|
||||
param set CA_ACT0_MAX 1.0
|
||||
param set CA_ACT1_MAX 1.0
|
||||
param set CA_ACT2_MAX 1.0
|
||||
param set CA_ACT3_MAX 1.0
|
||||
param set CA_ACT4_MAX 1.0
|
||||
param set CA_ACT5_MAX 1.0
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT4_MIN 0.0
|
||||
param set-default CA_ACT5_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
param set-default CA_ACT4_MAX 1.0
|
||||
param set-default CA_ACT5_MAX 1.0
|
||||
|
||||
param set CA_MC_R0_PX 0.0
|
||||
param set CA_MC_R0_PY 1.0
|
||||
param set CA_MC_R0_CT 9.5
|
||||
param set CA_MC_R0_KM -0.05
|
||||
param set CA_MC_R1_PX 0.0
|
||||
param set CA_MC_R1_PY -1.0
|
||||
param set CA_MC_R1_CT 9.5
|
||||
param set CA_MC_R1_KM 0.05
|
||||
param set CA_MC_R2_PX 0.866025
|
||||
param set CA_MC_R2_PY -0.5
|
||||
param set CA_MC_R2_CT 9.5
|
||||
param set CA_MC_R2_KM -0.05
|
||||
param set CA_MC_R3_PX -0.866025
|
||||
param set CA_MC_R3_PY 0.5
|
||||
param set CA_MC_R3_CT 9.5
|
||||
param set CA_MC_R3_KM 0.05
|
||||
param set CA_MC_R4_PX 0.866025
|
||||
param set CA_MC_R4_PY 0.5
|
||||
param set CA_MC_R4_CT 9.5
|
||||
param set CA_MC_R4_KM 0.05
|
||||
param set CA_MC_R5_PX -0.866025
|
||||
param set CA_MC_R5_PY -0.5
|
||||
param set CA_MC_R5_CT 9.5
|
||||
param set CA_MC_R5_KM -0.05
|
||||
fi
|
||||
param set-default CA_MC_R0_PX 0.0
|
||||
param set-default CA_MC_R0_PY 1.0
|
||||
param set-default CA_MC_R0_CT 9.5
|
||||
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_CT 9.5
|
||||
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_CT 9.5
|
||||
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_CT 9.5
|
||||
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_CT 9.5
|
||||
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_CT 9.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
|
||||
@@ -14,7 +14,7 @@
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_AUX_DISARMED 1000
|
||||
param set-default PWM_AUX_DISARM 1000
|
||||
param set-default PWM_AUX_MAX 2000
|
||||
param set-default PWM_AUX_MIN 1000
|
||||
param set-default PWM_AUX_RATE 50
|
||||
|
||||
@@ -112,7 +112,7 @@ param set-default MPC_YAWRAUTO_MAX 20
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default NAV_LOITER_RAD 100
|
||||
|
||||
param set-default PWM_AUX_DISARMED 950
|
||||
param set-default PWM_AUX_DISARM 950
|
||||
|
||||
param set-default PWM_MAIN_DIS5 1500
|
||||
param set-default PWM_MAIN_DIS6 1500
|
||||
|
||||
@@ -31,7 +31,7 @@ set VEHICLE_TYPE mc
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
param set-default PWM_AUX_RATE 400
|
||||
param set-default PWM_AUX_DISARMED 900
|
||||
param set-default PWM_AUX_DISARM 900
|
||||
param set-default PWM_AUX_MIN 1075
|
||||
param set-default PWM_AUX_MAX 1950
|
||||
|
||||
|
||||
@@ -33,7 +33,7 @@ param set-default MC_YAW_P 4
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
param set-default PWM_AUX_DISARMED 950
|
||||
param set-default PWM_AUX_DISARM 950
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set-default PWM_MAIN_MIN 1100
|
||||
param set-default PWM_MAIN_MAX 1900
|
||||
|
||||
@@ -108,11 +108,18 @@ then
|
||||
vl53l1x start -X
|
||||
fi
|
||||
|
||||
# ADIS16448 spi external IMU
|
||||
if param compare -s SENS_EN_ADIS164X 1
|
||||
then
|
||||
adis16448 -S start
|
||||
fi
|
||||
|
||||
# probe for optional external I2C devices
|
||||
if param compare SENS_EXT_I2C_PRB 1
|
||||
then
|
||||
icm20948_i2c_passthrough -X -q start
|
||||
|
||||
# compasses
|
||||
ak09916 -X -R 6 -q start # external AK09916 (Here2) is rotated 270 degrees yaw
|
||||
hmc5883 -T -X -q start
|
||||
ist8308 -X -q start
|
||||
ist8310 -X -q start
|
||||
@@ -121,6 +128,9 @@ then
|
||||
qmc5883l -X -q start
|
||||
rm3100 -X -q start
|
||||
|
||||
# start last (wait for possible icm20948 passthrough mode)
|
||||
ak09916 -X -q start
|
||||
|
||||
# differential pressure sensors
|
||||
if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
|
||||
then
|
||||
|
||||
@@ -254,6 +254,34 @@ else
|
||||
param set SYS_AUTOCONFIG 0
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if UAVCAN is enabled, default to it for ESCs.
|
||||
#
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
# Start core UAVCAN module.
|
||||
if uavcan start
|
||||
then
|
||||
if param greater UAVCAN_ENABLE 1
|
||||
then
|
||||
# Start UAVCAN firmware update server and dynamic node ID allocation server.
|
||||
uavcan start fw
|
||||
tune_control play -t 1
|
||||
if param greater UAVCAN_ENABLE 2
|
||||
then
|
||||
set OUTPUT_MODE uavcan_esc
|
||||
fi
|
||||
fi
|
||||
else
|
||||
tune_control play error
|
||||
fi
|
||||
else
|
||||
if param greater -s UAVCAN_V1_ENABLE 0
|
||||
then
|
||||
uavcan_v1 start
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if PX4IO present and update firmware if needed.
|
||||
# Assumption IOFW set to firmware file and IO_PRESENT = no
|
||||
@@ -285,6 +313,8 @@ else
|
||||
else
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
fi
|
||||
else
|
||||
tune_control stop
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
@@ -396,34 +426,6 @@ else
|
||||
camera_feedback start
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if UAVCAN is enabled, default to it for ESCs.
|
||||
#
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
# Start core UAVCAN module.
|
||||
if uavcan start
|
||||
then
|
||||
if param greater UAVCAN_ENABLE 1
|
||||
then
|
||||
# Start UAVCAN firmware update server and dynamic node ID allocation server.
|
||||
uavcan start fw
|
||||
tune_control play -t 1
|
||||
if param greater UAVCAN_ENABLE 2
|
||||
then
|
||||
set OUTPUT_MODE uavcan_esc
|
||||
fi
|
||||
fi
|
||||
else
|
||||
tune_control play error
|
||||
fi
|
||||
fi
|
||||
|
||||
if param greater -s UAVCAN_V1_ENABLE 0
|
||||
then
|
||||
uavcan_v1 start
|
||||
fi
|
||||
|
||||
#
|
||||
# Optional board mavlink streams: rc.board_mavlink
|
||||
#
|
||||
|
||||
@@ -190,7 +190,6 @@ if rc_serial_output_dir is None and serial_params_output_file is None:
|
||||
serial_commands = []
|
||||
ethernet_configuration = []
|
||||
additional_params = ""
|
||||
additional_ethernet_params = ""
|
||||
|
||||
if ethernet_supported:
|
||||
ethernet_configuration.append({
|
||||
@@ -211,7 +210,7 @@ def parse_yaml_serial_config(yaml_config):
|
||||
ret.append(serial_config)
|
||||
return ret
|
||||
|
||||
def parse_yaml_parameters_config(yaml_config):
|
||||
def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
""" parse the parameters section from the yaml config file """
|
||||
if 'parameters' not in yaml_config:
|
||||
return ''
|
||||
@@ -224,79 +223,7 @@ def parse_yaml_parameters_config(yaml_config):
|
||||
param_group = parameters_section.get('group', None)
|
||||
for param_name in definitions:
|
||||
param = definitions[param_name]
|
||||
if 'ethernet' in param:
|
||||
continue
|
||||
num_instances = param.get('num_instances', 1)
|
||||
instance_start = param.get('instance_start', 0) # offset
|
||||
|
||||
# get the type and extract all tags
|
||||
tags = '@group {:}'.format(param_group)
|
||||
if param['type'] == 'enum':
|
||||
param_type = 'INT32'
|
||||
for key in param['values']:
|
||||
tags += '\n * @value {:} {:}'.format(key, param['values'][key])
|
||||
elif param['type'] == 'boolean':
|
||||
param_type = 'INT32'
|
||||
tags += '\n * @boolean'
|
||||
elif param['type'] == 'int32':
|
||||
param_type = 'INT32'
|
||||
elif param['type'] == 'float':
|
||||
param_type = 'FLOAT'
|
||||
else:
|
||||
raise Exception("unknown param type {:}".format(param['type']))
|
||||
|
||||
for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
|
||||
'min', 'max', 'unit', 'reboot_required']:
|
||||
if tag in param:
|
||||
tags += '\n * @{:} {:}'.format(tag, param[tag])
|
||||
|
||||
for i in range(num_instances):
|
||||
# default value
|
||||
default_value = 0
|
||||
if 'default' in param:
|
||||
# default can be a list of num_instances or a single value
|
||||
if type(param['default']) == list:
|
||||
assert len(param['default']) == num_instances
|
||||
default_value = param['default'][i]
|
||||
else:
|
||||
default_value = param['default']
|
||||
|
||||
if type(default_value) == bool:
|
||||
default_value = int(default_value)
|
||||
|
||||
# output the existing C-style format
|
||||
ret += '''
|
||||
/**
|
||||
* {short_descr}
|
||||
*
|
||||
* {long_descr}
|
||||
*
|
||||
* {tags}
|
||||
*/
|
||||
PARAM_DEFINE_{param_type}({name}, {default_value});
|
||||
'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
|
||||
long_descr=param['description']['long'].replace("\n", "\n * "),
|
||||
tags=tags,
|
||||
param_type=param_type,
|
||||
name=param_name,
|
||||
default_value=default_value,
|
||||
).replace('${i}', str(i+instance_start))
|
||||
return ret
|
||||
|
||||
def parse_yaml_ethernet_parameters_config(yaml_config):
|
||||
""" parse the parameters section from the yaml config file """
|
||||
if 'parameters' not in yaml_config:
|
||||
return ''
|
||||
parameters_section_list = yaml_config['parameters']
|
||||
for parameters_section in parameters_section_list:
|
||||
if 'definitions' not in parameters_section:
|
||||
return ''
|
||||
definitions = parameters_section['definitions']
|
||||
ret = ''
|
||||
param_group = parameters_section.get('group', None)
|
||||
for param_name in definitions:
|
||||
param = definitions[param_name]
|
||||
if 'ethernet' not in param:
|
||||
if param.get('requires_ethernet', False) and not ethernet_supported:
|
||||
continue
|
||||
num_instances = param.get('num_instances', 1)
|
||||
instance_start = param.get('instance_start', 0) # offset
|
||||
@@ -362,9 +289,8 @@ for yaml_file in args.config_files:
|
||||
serial_commands.extend(parse_yaml_serial_config(yaml_config))
|
||||
|
||||
# TODO: additional params should be parsed in a separate script
|
||||
additional_params += parse_yaml_parameters_config(yaml_config)
|
||||
if ethernet_supported:
|
||||
additional_ethernet_params += parse_yaml_ethernet_parameters_config(yaml_config)
|
||||
additional_params += parse_yaml_parameters_config(
|
||||
yaml_config, ethernet_supported)
|
||||
|
||||
except yaml.YAMLError as exc:
|
||||
print(exc)
|
||||
@@ -429,7 +355,7 @@ for serial_command in serial_commands:
|
||||
'default_port': default_port,
|
||||
'param_group': port_config['group'],
|
||||
'description_extended': port_config.get('description_extended', ''),
|
||||
'ethernet_config': serial_command.get('ethernet', 'none')
|
||||
'supports_networking': serial_command.get('supports_networking', False)
|
||||
})
|
||||
|
||||
if verbose:
|
||||
@@ -473,6 +399,5 @@ if serial_params_output_file is not None:
|
||||
fid.write(template.render(serial_devices=serial_devices,
|
||||
ethernet_configuration=ethernet_configuration,
|
||||
commands=commands, serial_ports=serial_ports,
|
||||
additional_definitions=additional_params,
|
||||
additional_ethernet_definitions=additional_ethernet_params))
|
||||
additional_definitions=additional_params))
|
||||
|
||||
|
||||
@@ -17,9 +17,9 @@ if param compare "$PRT" {{ serial_device.index }}; then
|
||||
fi
|
||||
|
||||
{% endfor %}
|
||||
|
||||
{% for config in ethernet_configuration -%}
|
||||
if param compare "$PRT" {{ config.index }}; then
|
||||
set SERIAL_DEV ethernet
|
||||
fi
|
||||
|
||||
{% endfor %}
|
||||
|
||||
@@ -58,10 +58,11 @@ PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_BAUD, {{ serial_device.default_ba
|
||||
{%- for serial_device in serial_devices %}
|
||||
* @value {{ serial_device.index }} {{ serial_device.label }}
|
||||
{%- endfor %}
|
||||
{%- if command.ethernet_config != "none" %}
|
||||
{%- if command.supports_networking %}
|
||||
{%- for config in ethernet_configuration %}
|
||||
* @value {{ config.index }} {{ config.label }}
|
||||
{%- endfor %}{% endif %}
|
||||
{%- endfor %}
|
||||
{%- endif %}
|
||||
* @group {{ command.param_group }}
|
||||
* @reboot_required true
|
||||
*/
|
||||
@@ -72,5 +73,3 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }});
|
||||
|
||||
{{ additional_definitions }}
|
||||
|
||||
{{ additional_ethernet_definitions }}
|
||||
|
||||
|
||||
+1
-1
Submodule Tools/sitl_gazebo updated: 3e5fed04d8...5761bd66cd
@@ -27,6 +27,7 @@ px4_add_board(
|
||||
gps
|
||||
#heater
|
||||
#imu # all available imu drivers
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/l3gd20
|
||||
imu/lsm303d
|
||||
imu/invensense/mpu6000
|
||||
|
||||
@@ -30,6 +30,7 @@ px4_add_board(
|
||||
#imu # all available imu drivers
|
||||
imu/adis16477
|
||||
imu/adis16497
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
magnetometer # all available magnetometer drivers
|
||||
|
||||
@@ -26,6 +26,7 @@ px4_add_board(
|
||||
gps
|
||||
#imu # all available imu drivers
|
||||
imu/analog_devices/adis16448
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/mpu9250
|
||||
linux_pwm_out
|
||||
#magnetometer # all available magnetometer drivers
|
||||
|
||||
@@ -8,7 +8,6 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
BUILD_BOOTLOADER
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
UAVCAN_TIMER_OVERRIDE 2
|
||||
SERIAL_PORTS
|
||||
@@ -35,6 +34,7 @@ px4_add_board(
|
||||
imu/bosch/bmi088
|
||||
imu/invensense/icm20649
|
||||
imu/invensense/icm20689
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
lights/rgbled_pwm
|
||||
@@ -52,7 +52,6 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -114,7 +113,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -3,6 +3,9 @@
|
||||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
# Enables the 2nd bank of mixers
|
||||
set AUX_BANK2 yes
|
||||
|
||||
param set-default BAT_V_DIV 18
|
||||
param set-default BAT1_V_DIV 18
|
||||
param set-default BAT2_V_DIV 18
|
||||
|
||||
@@ -250,25 +250,27 @@
|
||||
#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */
|
||||
|
||||
/* SPI */
|
||||
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_3 /* PG11 */
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */
|
||||
#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
|
||||
|
||||
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_6 /* PI1 */
|
||||
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */
|
||||
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */
|
||||
#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */
|
||||
|
||||
#define GPIO_SPI4_SCK GPIO_SPI4_SCK_2 /* PE2 */
|
||||
#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */
|
||||
#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */
|
||||
#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1 */
|
||||
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */
|
||||
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */
|
||||
|
||||
#define GPIO_SPI5_SCK 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_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2 */
|
||||
#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */
|
||||
#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */
|
||||
|
||||
#define GPIO_SPI6_SCK GPIO_SPI6_SCK_1 /* PG13 */
|
||||
#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */
|
||||
#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */
|
||||
#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_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
|
||||
#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */
|
||||
#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */
|
||||
|
||||
/* I2C */
|
||||
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */
|
||||
|
||||
@@ -88,6 +88,7 @@ CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
|
||||
CONFIG_MM_REGIONS=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
@@ -162,8 +163,6 @@ CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_DTCMEXCLUDE=y
|
||||
CONFIG_STM32H7_DTCM_PROCFS=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C2=y
|
||||
|
||||
@@ -199,11 +199,13 @@ SECTIONS
|
||||
|
||||
/* Emit the the D3 power domain section for locating BDMA data */
|
||||
|
||||
.sram4 (NOLOAD) :
|
||||
.sram4_reserve (NOLOAD) :
|
||||
{
|
||||
*(.sram4)
|
||||
. = ALIGN(4);
|
||||
_sram4_heap_start = ABSOLUTE(.);
|
||||
} > SRAM4
|
||||
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
|
||||
@@ -0,0 +1,139 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR cuav
|
||||
MODEL nora
|
||||
LABEL test
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
BUILD_BOOTLOADER
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
UAVCAN_TIMER_OVERRIDE 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
TEL1:/dev/ttyS1
|
||||
GPS2:/dev/ttyS2
|
||||
TEL2:/dev/ttyS3
|
||||
# CONSOLE: /dev/ttyS4
|
||||
# RC: /dev/ttyS5
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
heater
|
||||
#imu # all available imu drivers
|
||||
imu/analog_devices/adis16448
|
||||
imu/bosch/bmi088
|
||||
imu/invensense/icm20649
|
||||
imu/invensense/icm20689
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
#irlock
|
||||
lights # all available light drivers
|
||||
lights/rgbled_pwm
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
osd
|
||||
pca9685
|
||||
pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
rc_input
|
||||
#roboclaw
|
||||
#rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
battery_status
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
#rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
#uuv_att_control
|
||||
#uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
)
|
||||
@@ -8,7 +8,6 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
BUILD_BOOTLOADER
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
UAVCAN_TIMER_OVERRIDE 2
|
||||
SERIAL_PORTS
|
||||
@@ -31,10 +30,12 @@ px4_add_board(
|
||||
gps
|
||||
heater
|
||||
#imu # all available imu drivers
|
||||
imu/analog_devices/adis16448
|
||||
imu/analog_devices/adis16470
|
||||
imu/bosch/bmi088
|
||||
imu/invensense/icm20649
|
||||
imu/invensense/icm20689
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
lights/rgbled_pwm
|
||||
@@ -52,7 +53,6 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -114,7 +114,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -17,7 +17,5 @@ param set-default BAT2_A_PER_V 24
|
||||
# Enable IMU thermal control
|
||||
param set-default SENS_EN_THERMAL 1
|
||||
|
||||
param set-default IMU_GYRO_FFT_EN 1
|
||||
|
||||
rgbled_pwm start
|
||||
safety_button start
|
||||
|
||||
@@ -88,6 +88,7 @@ CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
|
||||
CONFIG_MM_REGIONS=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
@@ -162,8 +163,6 @@ CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_DTCMEXCLUDE=y
|
||||
CONFIG_STM32H7_DTCM_PROCFS=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C2=y
|
||||
|
||||
@@ -199,11 +199,13 @@ SECTIONS
|
||||
|
||||
/* Emit the the D3 power domain section for locating BDMA data */
|
||||
|
||||
.sram4 (NOLOAD) :
|
||||
.sram4_reserve (NOLOAD) :
|
||||
{
|
||||
*(.sram4)
|
||||
. = ALIGN(4);
|
||||
_sram4_heap_start = ABSOLUTE(.);
|
||||
} > SRAM4
|
||||
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
|
||||
@@ -0,0 +1,140 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR cuav
|
||||
MODEL x7pro
|
||||
LABEL test
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
BUILD_BOOTLOADER
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
UAVCAN_TIMER_OVERRIDE 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
TEL1:/dev/ttyS1
|
||||
GPS2:/dev/ttyS2
|
||||
TEL2:/dev/ttyS3
|
||||
# CONSOLE: /dev/ttyS4
|
||||
# RC: /dev/ttyS5
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
heater
|
||||
#imu # all available imu drivers
|
||||
imu/analog_devices/adis16448
|
||||
imu/analog_devices/adis16470
|
||||
imu/bosch/bmi088
|
||||
imu/invensense/icm20649
|
||||
imu/invensense/icm20689
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
#irlock
|
||||
lights # all available light drivers
|
||||
lights/rgbled_pwm
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
osd
|
||||
pca9685
|
||||
pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
rc_input
|
||||
#roboclaw
|
||||
#rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
battery_status
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
#rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
#uuv_att_control
|
||||
#uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
)
|
||||
@@ -43,6 +43,7 @@ px4_add_board(
|
||||
#pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
|
||||
@@ -44,6 +44,7 @@ px4_add_board(
|
||||
pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
|
||||
@@ -13,5 +13,3 @@ icm20948 -s -b 4 -R 10 -M start
|
||||
ms5611 -s -b 1 start
|
||||
icm20649 -s -b 1 start
|
||||
|
||||
# standard Here/Here2 connected to GPS1
|
||||
ak09916 -X -b 1 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
|
||||
|
||||
@@ -53,13 +53,11 @@ CONFIG_CDCACM_VENDORSTR="CubePilot"
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_MEMFAULT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
@@ -90,6 +88,7 @@ CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
|
||||
CONFIG_MM_REGIONS=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
@@ -163,8 +162,6 @@ CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_DTCMEXCLUDE=y
|
||||
CONFIG_STM32H7_DTCM_PROCFS=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C2=y
|
||||
@@ -235,3 +232,4 @@ CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=2944
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
CONFIG_WATCHDOG=y
|
||||
|
||||
@@ -54,13 +54,11 @@ CONFIG_CDCACM_VENDORSTR="CubePilot"
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_MEMFAULT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
@@ -91,6 +89,7 @@ CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
|
||||
CONFIG_MM_REGIONS=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
@@ -164,8 +163,6 @@ CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_DTCMEXCLUDE=y
|
||||
CONFIG_STM32H7_DTCM_PROCFS=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C2=y
|
||||
@@ -236,3 +233,4 @@ CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=2944
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
CONFIG_WATCHDOG=y
|
||||
|
||||
@@ -198,6 +198,15 @@ SECTIONS
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > AXI_SRAM
|
||||
|
||||
/* Emit the the D3 power domain section for locating BDMA data */
|
||||
|
||||
.sram4_reserve (NOLOAD) :
|
||||
{
|
||||
*(.sram4)
|
||||
. = ALIGN(4);
|
||||
_sram4_heap_start = ABSOLUTE(.);
|
||||
} > SRAM4
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
|
||||
@@ -115,6 +115,11 @@
|
||||
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
|
||||
#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2
|
||||
|
||||
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
|
||||
#define PWMIN_TIMER 4
|
||||
#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2
|
||||
#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2
|
||||
|
||||
/* USB
|
||||
* OTG FS: PA9 OTG_FS_VBUS VBUS sensing
|
||||
*/
|
||||
|
||||
@@ -13,5 +13,3 @@ icm20948 -s -b 4 -R 10 -M start
|
||||
ms5611 -s -b 1 start
|
||||
icm20649 -s -b 1 start
|
||||
|
||||
# standard Here/Here2 connected to GPS1
|
||||
ak09916 -X -b 1 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
|
||||
|
||||
@@ -24,6 +24,7 @@ px4_add_board(
|
||||
gps
|
||||
#imu # all available imu drivers
|
||||
imu/analog_devices/adis16448
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/mpu9250
|
||||
imu/st/lsm9ds1
|
||||
linux_pwm_out
|
||||
|
||||
@@ -9,7 +9,6 @@ px4_add_board(
|
||||
ROMFSROOT px4fmu_common
|
||||
BUILD_BOOTLOADER
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
@@ -33,7 +32,8 @@ px4_add_board(
|
||||
imu/analog_devices/adis16448
|
||||
imu/bosch/bmi088
|
||||
imu/invensense/icm20689
|
||||
irlock
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
#irlock
|
||||
lights # all available light drivers
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
@@ -48,9 +48,8 @@ px4_add_board(
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
# uavcan - No H7 or FD can support in UAVCAN yet
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
@@ -83,8 +82,8 @@ px4_add_board(
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
uuv_att_control
|
||||
uuv_pos_control
|
||||
#uuv_att_control
|
||||
#uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
@@ -110,7 +109,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -120,15 +119,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
)
|
||||
|
||||
@@ -250,6 +250,12 @@
|
||||
|
||||
#define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2
|
||||
|
||||
/* FDCAN 1 2 clock source */
|
||||
|
||||
#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */
|
||||
|
||||
#define STM32_FDCANCLK STM32_HSE_FREQUENCY
|
||||
|
||||
/* FLASH wait states
|
||||
*
|
||||
* ------------ ---------- -----------
|
||||
|
||||
@@ -89,6 +89,7 @@ CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
|
||||
CONFIG_MM_REGIONS=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
@@ -161,8 +162,6 @@ CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_DTCMEXCLUDE=y
|
||||
CONFIG_STM32H7_DTCM_PROCFS=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C2=y
|
||||
|
||||
@@ -199,8 +199,11 @@ SECTIONS
|
||||
|
||||
/* Emit the the D3 power domain section for locating BDMA data */
|
||||
|
||||
.sram4 (NOLOAD) :
|
||||
.sram4_reserve (NOLOAD) :
|
||||
{
|
||||
*(.sram4)
|
||||
. = ALIGN(4);
|
||||
_sram4_heap_start = ABSOLUTE(.);
|
||||
} > sram4
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
|
||||
@@ -0,0 +1,135 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR holybro
|
||||
MODEL durandal-v1
|
||||
LABEL test
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
BUILD_BOOTLOADER
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
TEL1:/dev/ttyS1
|
||||
TEL2:/dev/ttyS2
|
||||
TEL3:/dev/ttyS4
|
||||
TEL4:/dev/ttyS3
|
||||
DRIVERS
|
||||
#adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
heater
|
||||
#imu # all available imu drivers
|
||||
#imu/analog_devices/adis16448
|
||||
imu/bosch/bmi088
|
||||
imu/invensense/icm20689
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
#irlock
|
||||
lights # all available light drivers
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
#osd
|
||||
#pca9685
|
||||
#pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
#roboclaw
|
||||
#rpm
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
#attitude_estimator_q
|
||||
battery_status
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
#esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
#local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
#rover_pos_control
|
||||
sensors
|
||||
#sih
|
||||
#temperature_compensation
|
||||
#uuv_att_control
|
||||
#uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
#reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
)
|
||||
@@ -33,6 +33,7 @@ px4_add_board(
|
||||
imu/bosch/bmi055
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20689
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
lights/rgbled_pwm
|
||||
|
||||
@@ -27,6 +27,7 @@ px4_add_board(
|
||||
gps
|
||||
imu/bosch/bmi088
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/icm42688p
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
|
||||
@@ -0,0 +1,132 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR modalai
|
||||
MODEL fc-v1
|
||||
LABEL rtps
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0 # UART1 / J10
|
||||
TEL1:/dev/ttyS6 # UART7 / J5
|
||||
TEL2:/dev/ttyS4 # UART5 / J1
|
||||
TEL3:/dev/ttyS1 # USART2 / J4
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
imu/bosch/bmi088
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/icm42688p
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
osd
|
||||
pca9685
|
||||
pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
power_monitor/voxlpm
|
||||
#protocol_splitter
|
||||
#pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
rc_input
|
||||
roboclaw
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
#tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
uuv_att_control
|
||||
uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
@@ -184,6 +184,7 @@
|
||||
/* RC Serial port */
|
||||
|
||||
#define RC_SERIAL_PORT "/dev/ttyS5"
|
||||
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
|
||||
|
||||
/* Safety Switch: Enable the FMU to control it as there is no px4io in ModalAI FC-v1 */
|
||||
#define GPIO_SAFETY_SWITCH_IN /* PF3 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTF|GPIO_PIN3)
|
||||
|
||||
@@ -90,7 +90,7 @@ CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
|
||||
CONFIG_MM_REGIONS=3
|
||||
CONFIG_MM_REGIONS=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
@@ -165,8 +165,6 @@ CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_DTCMEXCLUDE=y
|
||||
CONFIG_STM32H7_DTCM_PROCFS=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C3=y
|
||||
@@ -219,8 +217,8 @@ CONFIG_UART7_RXBUFSIZE=600
|
||||
CONFIG_UART7_TXBUFSIZE=1500
|
||||
CONFIG_UART8_BAUD=57600
|
||||
CONFIG_UART8_RXBUFSIZE=600
|
||||
CONFIG_UART8_TXBUFSIZE=1500
|
||||
CONFIG_UART8_SERIAL_CONSOLE=y
|
||||
CONFIG_UART8_TXBUFSIZE=1500
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_IFLOWCONTROL=y
|
||||
CONFIG_USART2_OFLOWCONTROL=y
|
||||
|
||||
@@ -199,8 +199,12 @@ SECTIONS
|
||||
} > AXI_SRAM
|
||||
|
||||
/* Emit the the D3 power domain section for locating BDMA data */
|
||||
.sram4 (NOLOAD) :
|
||||
|
||||
.sram4_reserve (NOLOAD) :
|
||||
{
|
||||
*(.sram4)
|
||||
. = ALIGN(4);
|
||||
_sram4_heap_start = ABSOLUTE(.);
|
||||
} > SRAM4
|
||||
|
||||
|
||||
|
||||
@@ -90,6 +90,7 @@ CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
|
||||
CONFIG_MM_REGIONS=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
@@ -163,8 +164,6 @@ CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_DTCMEXCLUDE=y
|
||||
CONFIG_STM32H7_DTCM_PROCFS=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO=y
|
||||
@@ -215,8 +214,8 @@ CONFIG_UART7_RXBUFSIZE=600
|
||||
CONFIG_UART7_TXBUFSIZE=1500
|
||||
CONFIG_UART8_BAUD=57600
|
||||
CONFIG_UART8_RXBUFSIZE=600
|
||||
CONFIG_UART8_TXBUFSIZE=1500
|
||||
CONFIG_UART8_SERIAL_CONSOLE=y
|
||||
CONFIG_UART8_TXBUFSIZE=1500
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_IFLOWCONTROL=y
|
||||
CONFIG_USART2_OFLOWCONTROL=y
|
||||
|
||||
@@ -199,8 +199,11 @@ SECTIONS
|
||||
} > AXI_SRAM
|
||||
|
||||
/* Emit the the D3 power domain section for locating BDMA data */
|
||||
.sram4 (NOLOAD) :
|
||||
.sram4_reserve (NOLOAD) :
|
||||
{
|
||||
*(.sram4)
|
||||
. = ALIGN(4);
|
||||
_sram4_heap_start = ABSOLUTE(.);
|
||||
} > SRAM4
|
||||
|
||||
|
||||
|
||||
@@ -53,13 +53,11 @@ CONFIG_CDCACM_VENDORSTR="mRo"
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_MEMFAULT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
@@ -90,6 +88,7 @@ CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
|
||||
CONFIG_MM_REGIONS=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
@@ -164,8 +163,6 @@ CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_DTCMEXCLUDE=y
|
||||
CONFIG_STM32H7_DTCM_PROCFS=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO=y
|
||||
@@ -238,3 +235,4 @@ CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=2944
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
CONFIG_WATCHDOG=y
|
||||
|
||||
@@ -196,11 +196,6 @@ SECTIONS
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > AXI_SRAM
|
||||
|
||||
/* Emit the the D3 power domain section for locating BDMA data */
|
||||
.sram4 (NOLOAD) :
|
||||
{
|
||||
} > SRAM4
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
@@ -214,13 +209,4 @@ SECTIONS
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
|
||||
.ramfunc : {
|
||||
_sramfuncs = .;
|
||||
*(.ramfunc .ramfunc.*)
|
||||
. = ALIGN(4);
|
||||
_eramfuncs = .;
|
||||
} > ITCM_RAM AT > FLASH
|
||||
|
||||
_framfuncs = LOADADDR(.ramfunc);
|
||||
}
|
||||
|
||||
@@ -167,6 +167,7 @@ SECTIONS
|
||||
_einit = ABSOLUTE(.);
|
||||
} > FLASH
|
||||
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > FLASH
|
||||
@@ -197,8 +198,12 @@ SECTIONS
|
||||
} > AXI_SRAM
|
||||
|
||||
/* Emit the the D3 power domain section for locating BDMA data */
|
||||
.sram4 (NOLOAD) :
|
||||
|
||||
.sram4_reserve (NOLOAD) :
|
||||
{
|
||||
*(.sram4)
|
||||
. = ALIGN(4);
|
||||
_sram4_heap_start = ABSOLUTE(.);
|
||||
} > SRAM4
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
@@ -214,13 +219,4 @@ SECTIONS
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
|
||||
.ramfunc : {
|
||||
_sramfuncs = .;
|
||||
*(.ramfunc .ramfunc.*)
|
||||
. = ALIGN(4);
|
||||
_eramfuncs = .;
|
||||
} > ITCM_RAM AT > FLASH
|
||||
|
||||
_framfuncs = LOADADDR(.ramfunc);
|
||||
}
|
||||
|
||||
@@ -32,6 +32,7 @@ px4_add_board(
|
||||
#imu # all available imu drivers
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20608g
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/mpu9250
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
@@ -121,15 +122,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
)
|
||||
|
||||
@@ -33,6 +33,7 @@ px4_add_board(
|
||||
#imu # all available imu drivers
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20608g
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/mpu9250
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
@@ -122,15 +123,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
)
|
||||
|
||||
@@ -28,6 +28,7 @@ px4_add_board(
|
||||
gps
|
||||
#imu # all available imu drivers
|
||||
imu/bosch/bmi088
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/icm42688p
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
|
||||
@@ -28,6 +28,7 @@ px4_add_board(
|
||||
gps
|
||||
#imu # all available imu drivers
|
||||
imu/bosch/bmi088
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/icm42688p
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
|
||||
@@ -28,6 +28,7 @@ px4_add_board(
|
||||
gps
|
||||
#imu # all available imu drivers
|
||||
imu/bosch/bmi088
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/icm42688p
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
|
||||
@@ -29,6 +29,7 @@ px4_add_board(
|
||||
#imu # all available imu drivers
|
||||
imu/fxas21002c
|
||||
imu/fxos8701cq
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
lights/rgbled_pwm
|
||||
|
||||
@@ -29,6 +29,7 @@ px4_add_board(
|
||||
#imu # all available imu drivers
|
||||
imu/fxas21002c
|
||||
imu/fxos8701cq
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
lights/rgbled_pwm
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user