mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-27 02:40:06 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
7e224d6bb5 |
@@ -59,18 +59,14 @@ pipeline {
|
||||
"holybro_durandal-v1_default",
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"holybro_kakutef7_default",
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"holybro_pix32v5_default",
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"matek_h743-slim",
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"modalai_fc-v1_default",
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"modalai_fc-v1_rtps",
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"modalai_fc-v2_default",
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"mro_ctrl-zero-f7_default",
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"mro_ctrl-zero-f7-oem_default",
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"mro_ctrl-zero-h7_default",
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"mro_ctrl-zero-h7_rtps",
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"mro_ctrl-zero-h7-oem_default",
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"mro_ctrl-zero-h7-oem_rtps",
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"mro_pixracerpro_default",
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"mro_pixracerpro_rtps",
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"mro_x21-777_default",
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"mro_x21_default",
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"nxp_fmuk66-e_default",
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@@ -83,7 +79,6 @@ pipeline {
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"nxp_ucans32k146_canbootloader",
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"nxp_ucans32k146_default",
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"omnibus_f4sd_default",
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"raspberrypi_pico_default",
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"px4_fmu-v2_default",
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"px4_fmu-v2_fixedwing",
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"px4_fmu-v2_multicopter",
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@@ -97,6 +92,7 @@ pipeline {
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"px4_fmu-v5_stackcheck",
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"px4_fmu-v5_uavcanv0periph",
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"px4_fmu-v5_uavcanv1",
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"px4_fmu-v5x_base_phy_DP83848C",
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"px4_fmu-v5x_default",
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"px4_fmu-v6u_default",
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"px4_fmu-v6x_default",
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@@ -170,7 +166,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
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try {
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sh('export')
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checkout(scm)
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sh('make distclean; git clean -ff -x -d .')
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sh('make distclean')
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sh('git fetch --tags')
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sh('ccache -s')
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sh('make ' + target)
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@@ -187,7 +183,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
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throw (exc)
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}
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finally {
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sh('make distclean; git clean -ff -x -d .')
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sh('make distclean')
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}
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}
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}
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+97
-124
@@ -18,14 +18,14 @@ pipeline {
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}
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steps {
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checkoutSCM()
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sh 'make cubepilot_cubeorange_bootloader'
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sh 'make cubepilot_cubeorange_test'
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sh 'make cubepilot_cubeorange_test bootloader_elf'
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sh 'ccache -s'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -39,19 +39,15 @@ pipeline {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'cubepilot_cubeorange_test'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_bootloader.elf'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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resetBoard()
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}
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}
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stage("tests") {
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steps {
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// run tests
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runTests()
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// load all airframes
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// sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
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}
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}
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stage("status") {
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@@ -73,11 +69,9 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
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resetBoard()
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}
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}
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} // stage test
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@@ -95,14 +89,14 @@ pipeline {
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}
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steps {
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checkoutSCM()
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sh 'make cuav_x7pro_bootloader'
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sh 'make cuav_x7pro_test'
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sh 'make cuav_x7pro_test bootloader_elf'
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sh 'ccache -s'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -116,10 +110,9 @@ pipeline {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'cuav_x7pro_test'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_bootloader.elf'
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// flash board and watch bootup
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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'
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resetBoard()
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}
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}
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stage("tests") {
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@@ -145,11 +138,9 @@ pipeline {
|
||||
}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
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resetBoard()
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}
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}
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} // stage test
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@@ -170,11 +161,11 @@ pipeline {
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sh 'make px4_fmu-v3_test'
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sh 'make px4_fmu-v3_test bootloader_elf'
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sh 'ccache -s'
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||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
|
||||
}
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||||
post {
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||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
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||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -191,7 +182,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
|
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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||||
resetBoard()
|
||||
}
|
||||
}
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||||
stage("tests") {
|
||||
@@ -217,11 +207,9 @@ pipeline {
|
||||
}
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||||
}
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post {
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||||
failure {
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||||
sh 'cat /tmp/pyserial_spy_file.txt'
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||||
}
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always {
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||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
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resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
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@@ -242,11 +230,11 @@ pipeline {
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sh 'make px4_fmu-v4_test'
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sh 'make px4_fmu-v4_test bootloader_elf'
|
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sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -263,7 +251,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
|
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// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -288,11 +275,9 @@ pipeline {
|
||||
}
|
||||
}
|
||||
post {
|
||||
failure {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt'
|
||||
}
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -313,11 +298,11 @@ pipeline {
|
||||
sh 'make px4_fmu-v4pro_test'
|
||||
sh 'make px4_fmu-v4pro_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -334,7 +319,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -360,11 +344,9 @@ pipeline {
|
||||
}
|
||||
}
|
||||
post {
|
||||
failure {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt'
|
||||
}
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -385,11 +367,11 @@ pipeline {
|
||||
sh 'make px4_fmu-v5_debug'
|
||||
sh 'make px4_fmu-v5_debug bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -411,24 +393,13 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
// test dataman
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
}
|
||||
@@ -441,6 +412,7 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
@@ -452,11 +424,9 @@ pipeline {
|
||||
}
|
||||
}
|
||||
post {
|
||||
failure {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt'
|
||||
}
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -477,11 +447,11 @@ pipeline {
|
||||
sh 'make px4_fmu-v5_stackcheck'
|
||||
sh 'make px4_fmu-v5_stackcheck bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -503,7 +473,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -512,9 +481,6 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
|
||||
// test dataman
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -525,6 +491,7 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
@@ -536,11 +503,9 @@ pipeline {
|
||||
}
|
||||
}
|
||||
post {
|
||||
failure {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt'
|
||||
}
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -561,11 +526,11 @@ pipeline {
|
||||
sh 'make px4_fmu-v5_test'
|
||||
sh 'make px4_fmu-v5_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -582,7 +547,6 @@ pipeline {
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -608,11 +572,9 @@ pipeline {
|
||||
}
|
||||
}
|
||||
post {
|
||||
failure {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt'
|
||||
}
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -633,11 +595,11 @@ pipeline {
|
||||
sh 'make nxp_fmuk66-v3_test'
|
||||
//sh 'make nxp_fmuk66-v3_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
@@ -654,7 +616,6 @@ pipeline {
|
||||
//sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
@@ -680,11 +641,9 @@ pipeline {
|
||||
}
|
||||
}
|
||||
post {
|
||||
failure {
|
||||
sh 'cat /tmp/pyserial_spy_file.txt'
|
||||
}
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -710,7 +669,7 @@ void checkoutSCM() {
|
||||
retry(3) {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --tags'
|
||||
sh 'ccache -z'
|
||||
}
|
||||
@@ -743,37 +702,30 @@ void checkStatus() {
|
||||
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 "param show SYS*"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
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 SYS*"'
|
||||
|
||||
// run logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
|
||||
// status commands
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
|
||||
@@ -794,7 +746,7 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
// stop logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
|
||||
}
|
||||
|
||||
void resetParameters() {
|
||||
@@ -804,17 +756,13 @@ void resetParameters() {
|
||||
}
|
||||
|
||||
void runTests() {
|
||||
|
||||
// test loading a range of airframes
|
||||
sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
|
||||
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
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 "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
@@ -826,32 +774,35 @@ void runTests() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
// tests (stop modules first)
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
|
||||
// test rebooting multiple times
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
}
|
||||
|
||||
void printTopics() {
|
||||
@@ -958,6 +909,28 @@ void resetBoard() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
|
||||
// format
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
|
||||
}
|
||||
|
||||
@@ -34,7 +34,6 @@ jobs:
|
||||
holybro_durandal-v1,
|
||||
holybro_kakutef7,
|
||||
holybro_pix32v5,
|
||||
matek_h743-slim,
|
||||
modalai_fc-v1,
|
||||
modalai_fc-v2,
|
||||
mro_ctrl-zero-f7,
|
||||
@@ -49,7 +48,6 @@ jobs:
|
||||
nxp_fmurt1062-v1,
|
||||
nxp_ucans32k146,
|
||||
omnibus_f4sd,
|
||||
raspberrypi_pico,
|
||||
px4_fmu-v2,
|
||||
px4_fmu-v3,
|
||||
px4_fmu-v4,
|
||||
@@ -84,7 +82,7 @@ jobs:
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 120M" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
@@ -35,11 +35,11 @@ jobs:
|
||||
|
||||
- name: parameter & events metadata
|
||||
run: |
|
||||
make ${{matrix.target}} ver_gen events_json actuators_json
|
||||
make ${{matrix.target}} ver_gen events_json
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
|
||||
cd build/${{ matrix.target }}
|
||||
mkdir _metadata || true
|
||||
cp parameters.* events/*.xz actuators.json* _metadata
|
||||
cp parameters.* events/*.xz _metadata
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
|
||||
@@ -15,10 +15,10 @@ jobs:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {model: "iris", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska
|
||||
- {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia
|
||||
- {model: "tailsitter" , latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo" } # Florida
|
||||
- {model: "standard_vtol", latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
|
||||
- {latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo", model: "iris" } # Alaska
|
||||
- {latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
|
||||
- {latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo", model: "tailsitter" } # Florida
|
||||
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-09-08
|
||||
@@ -96,7 +96,7 @@ jobs:
|
||||
PX4_HOME_LON: ${{matrix.config.longitude}}
|
||||
PX4_HOME_ALT: ${{matrix.config.altitude}}
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
|
||||
timeout-minutes: 45
|
||||
|
||||
- name: Look at core files
|
||||
|
||||
@@ -105,4 +105,8 @@ src/lib/version/build_git_version.h
|
||||
src/modules/simulator/simulator_config.h
|
||||
src/systemcmds/topic_listener/listener_generated.cpp
|
||||
|
||||
# SITL
|
||||
dataman
|
||||
eeprom/
|
||||
|
||||
!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
|
||||
|
||||
+16
-6
@@ -1,11 +1,11 @@
|
||||
[submodule "src/modules/mavlink/mavlink"]
|
||||
path = src/modules/mavlink/mavlink
|
||||
url = https://github.com/mavlink/mavlink.git
|
||||
[submodule "mavlink/include/mavlink/v2.0"]
|
||||
path = mavlink/include/mavlink/v2.0
|
||||
url = https://github.com/mavlink/c_library_v2.git
|
||||
branch = master
|
||||
[submodule "src/drivers/uavcan/libuavcan"]
|
||||
path = src/drivers/uavcan/libuavcan
|
||||
url = https://github.com/dronecan/libuavcan.git
|
||||
branch = main
|
||||
url = https://github.com/PX4/libuavcan.git
|
||||
branch = px4
|
||||
[submodule "Tools/jMAVSim"]
|
||||
path = Tools/jMAVSim
|
||||
url = https://github.com/PX4/jMAVSim.git
|
||||
@@ -14,6 +14,10 @@
|
||||
path = Tools/sitl_gazebo
|
||||
url = https://github.com/PX4/PX4-SITL_gazebo.git
|
||||
branch = master
|
||||
[submodule "src/lib/matrix"]
|
||||
path = src/lib/matrix
|
||||
url = https://github.com/PX4/PX4-Matrix.git
|
||||
branch = master
|
||||
[submodule "src/drivers/gps/devices"]
|
||||
path = src/drivers/gps/devices
|
||||
url = https://github.com/PX4/PX4-GPSDrivers.git
|
||||
@@ -42,6 +46,12 @@
|
||||
[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
|
||||
path = src/drivers/uavcan_v1/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
|
||||
path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
|
||||
path = src/drivers/uavcannode_gps_demo/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard.git
|
||||
[submodule "src/drivers/uavcan_v1/legacy_data_types"]
|
||||
path = src/drivers/uavcan_v1/legacy_data_types
|
||||
url = https://github.com/PX4/public_regulated_data_types.git
|
||||
@@ -55,7 +65,7 @@
|
||||
url = https://github.com/mavlink/libevents.git
|
||||
[submodule "Tools/simulation-ignition"]
|
||||
path = Tools/simulation-ignition
|
||||
url = https://github.com/PX4/px4-simulation-ignition.git
|
||||
url = https://github.com/Auterion/px4-simulation-ignition.git
|
||||
[submodule "src/lib/crypto/libtomcrypt"]
|
||||
path = src/lib/crypto/libtomcrypt
|
||||
url = https://github.com/PX4/libtomcrypt.git
|
||||
|
||||
Vendored
-15
@@ -61,11 +61,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v5_default
|
||||
px4_fmu-v5_debug:
|
||||
short: px4_fmu-v5_debug
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v5_debug
|
||||
px4_fmu-v5x_default:
|
||||
short: px4_fmu-v5x
|
||||
buildType: MinSizeRel
|
||||
@@ -191,11 +186,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: holybro_durandal-v1_default
|
||||
matek_h743-slim_default:
|
||||
short: matek_h743-slim
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: matek_h743-slim_default
|
||||
modalai_fc-v1_default:
|
||||
short: modalai_fc-v1
|
||||
buildType: MinSizeRel
|
||||
@@ -231,8 +221,3 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_fmuk66-v3_default
|
||||
raspberrypi_pico_default:
|
||||
short: raspberrypi_pico
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: raspberrypi_pico_default
|
||||
|
||||
Vendored
+2
-2
@@ -14,6 +14,7 @@
|
||||
"C_Cpp.workspaceParsingPriority": "low",
|
||||
"cmake.buildBeforeRun": true,
|
||||
"cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
|
||||
"cmake.buildTask": true,
|
||||
"cmake.configureOnOpen": true,
|
||||
"cmake.ctest.parallelJobs": 1,
|
||||
"cmake.skipConfigureIfCachePresent": true,
|
||||
@@ -135,6 +136,5 @@
|
||||
"workbench.settings.enableNaturalLanguageSearch": false,
|
||||
"yaml.schemas": {
|
||||
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
|
||||
},
|
||||
"cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd" // Added for rp2040
|
||||
}
|
||||
}
|
||||
|
||||
+3
-5
@@ -40,7 +40,7 @@
|
||||
# * Common functions should be included in px_base.cmake.
|
||||
#
|
||||
# * OS/ board specific fucntions should be include in
|
||||
# px_impl_${PX4_PLATFORM}.cmake
|
||||
# px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
|
||||
#
|
||||
# Formatting
|
||||
# ---------------------------------------------------------------------------
|
||||
@@ -101,8 +101,8 @@
|
||||
|
||||
cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
|
||||
|
||||
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
|
||||
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
|
||||
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
|
||||
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
|
||||
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
|
||||
include(px4_parse_function_args)
|
||||
@@ -423,8 +423,6 @@ endforeach()
|
||||
|
||||
# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
|
||||
add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
|
||||
# metadata needs PX4_MODULE_CONFIG_FILES
|
||||
add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
|
||||
|
||||
# must be the last module before firmware
|
||||
add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
|
||||
|
||||
Vendored
+12
-12
@@ -88,7 +88,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make airframe_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -98,7 +98,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -108,7 +108,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make parameters_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -118,7 +118,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -128,7 +128,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make module_documentation'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -138,7 +138,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -156,7 +156,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -170,7 +170,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make uorb_graphs'
|
||||
dir('Tools/uorb_graph') {
|
||||
@@ -180,7 +180,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -261,7 +261,7 @@ pipeline {
|
||||
steps {
|
||||
sh('export')
|
||||
sh('git fetch --all --tags')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
sh('make px4_sitl_rtps')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
|
||||
@@ -290,7 +290,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
|
||||
// 'master' branch
|
||||
@@ -319,7 +319,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
|
||||
// deploy uORB RTPS ID map
|
||||
|
||||
@@ -63,10 +63,13 @@ menu "Toolchain"
|
||||
help
|
||||
relative path to the ROMFS root directory
|
||||
|
||||
config BOARD_BUILD_BOOTLOADER
|
||||
bool "Enable bootloader"
|
||||
help
|
||||
flag to enable building and including the bootloader config
|
||||
|
||||
config BOARD_IO
|
||||
string "IO board name"
|
||||
default "px4_io-v2_default"
|
||||
depends on DRIVERS_PX4IO
|
||||
help
|
||||
name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
|
||||
|
||||
@@ -114,9 +117,14 @@ config BOARD_ETHERNET
|
||||
flag to indicate that ethernet is enabled
|
||||
|
||||
config BOARD_CRYPTO
|
||||
bool "Crypto support"
|
||||
string "Crypto"
|
||||
help
|
||||
Enable PX4 Crypto Support. Select the implementation under drivers
|
||||
Crypto implementation selection
|
||||
|
||||
config BOARD_KEYSTORE
|
||||
string "Keystore"
|
||||
help
|
||||
Keystore implememntation selection
|
||||
|
||||
menu "Serial ports"
|
||||
|
||||
|
||||
@@ -309,24 +309,6 @@ uorb_graphs:
|
||||
@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
|
||||
|
||||
px4io_update: px4_io-v2_default cubepilot_io-v2_default
|
||||
# px4_io-v2_default
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
|
||||
# cubepilot_io-v2_default
|
||||
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
|
||||
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
|
||||
git status
|
||||
|
||||
bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
|
||||
git status
|
||||
|
||||
.PHONY: coverity_scan
|
||||
|
||||
@@ -482,9 +464,7 @@ shellcheck_all:
|
||||
@make px4_fmu-v5_default shellcheck
|
||||
|
||||
validate_module_configs:
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
|
||||
-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
|
||||
xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
|
||||
# Cleanup
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
+34
-49
@@ -143,14 +143,38 @@ add_custom_command(
|
||||
COMMENT "ROMFS: copying, generating airframes"
|
||||
)
|
||||
|
||||
if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
|
||||
set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
|
||||
endif()
|
||||
|
||||
# copy extras into ROMFS
|
||||
set(extras_dependencies)
|
||||
|
||||
# copy px4io binary if configured
|
||||
if(config_io_board)
|
||||
list(APPEND extras_dependencies
|
||||
copy_px4io_bin
|
||||
${fw_io_bin}
|
||||
)
|
||||
file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
|
||||
message(STATUS "ROMFS: Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
|
||||
endif()
|
||||
|
||||
|
||||
# board bootloader (built or included)
|
||||
if(TARGET copy_bootloader_bin)
|
||||
|
||||
if(board_bootloader_firmware)
|
||||
file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
|
||||
message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
|
||||
else()
|
||||
file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
|
||||
message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
|
||||
endif()
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
copy_bootloader_bin
|
||||
${bootloader_bin}
|
||||
)
|
||||
endif()
|
||||
|
||||
|
||||
# optional board architecture defaults
|
||||
set(board_arch_rc_file "rc.board_arch_defaults")
|
||||
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
|
||||
@@ -175,7 +199,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/
|
||||
endif()
|
||||
|
||||
|
||||
# board custom init files
|
||||
set(OPTIONAL_BOARD_RC)
|
||||
list(APPEND OPTIONAL_BOARD_RC
|
||||
rc.board_defaults
|
||||
@@ -210,59 +233,21 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
|
||||
endforeach()
|
||||
|
||||
|
||||
# board extras
|
||||
set(OPTIONAL_BOARD_EXTRAS)
|
||||
file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
|
||||
|
||||
foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
|
||||
|
||||
if(EXISTS "${board_extra_file}")
|
||||
file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
|
||||
file(RELATIVE_PATH extra_file_relative_source ${PX4_SOURCE_DIR} ${board_extra_file})
|
||||
message(STATUS "ROMFS: Adding ${extra_file_relative_source} -> /etc/extras/${extra_file_base_name}")
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/extras/${extra_file_base_name}
|
||||
${extra_file_base_name}.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${extra_file_base_name} ${romfs_gen_root_dir}/extras/${extra_file_base_name}
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${extra_file_base_name}.stamp
|
||||
DEPENDS
|
||||
${board_extra_file}
|
||||
romfs_copy.stamp
|
||||
COMMENT "ROMFS: copying ${board_extra_file}"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
${extra_file_base_name}.stamp
|
||||
)
|
||||
endif()
|
||||
|
||||
endforeach()
|
||||
|
||||
|
||||
|
||||
if(config_uavcan_peripheral_firmware)
|
||||
|
||||
include(ExternalProject)
|
||||
|
||||
foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
|
||||
# include the UAVCAN peripheral binaries in ROMFS
|
||||
# include the px4io binary in ROMFS
|
||||
message(STATUS "ROMFS: Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
|
||||
|
||||
# ExternalProject_Add() with GIT_SUBMODULES "" initializes no submodules.
|
||||
cmake_policy(SET CMP0097 NEW)
|
||||
|
||||
include(ExternalProject)
|
||||
|
||||
ExternalProject_Add(build_${uavcan_peripheral_config}
|
||||
GIT_REPOSITORY ${CMAKE_SOURCE_DIR}
|
||||
GIT_TAG ${PX4_GIT_TAG}
|
||||
GIT_SUBMODULES ""
|
||||
DOWNLOAD_NO_PROGRESS true
|
||||
SOURCE_DIR ${CMAKE_SOURCE_DIR}
|
||||
DOWNLOAD_COMMAND ""
|
||||
UPDATE_COMMAND ""
|
||||
CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
|
||||
INSTALL_COMMAND ""
|
||||
USES_TERMINAL_BUILD true
|
||||
DEPENDS git_nuttx git_nuttx_apps
|
||||
BUILD_ALWAYS 1
|
||||
)
|
||||
|
||||
|
||||
@@ -11,22 +11,40 @@
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_MC_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
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
@@ -5,6 +5,8 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
|
||||
@@ -5,6 +5,8 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
|
||||
@@ -5,66 +5,11 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 7
|
||||
|
||||
param set-default CA_ROTOR_COUNT 8
|
||||
param set-default CA_R_REV 255
|
||||
param set-default CA_ROTOR0_AX 1.0000
|
||||
param set-default CA_ROTOR0_AY -1.0000
|
||||
param set-default CA_ROTOR0_AZ 0.0000
|
||||
param set-default CA_ROTOR0_KM 0.0000
|
||||
param set-default CA_ROTOR0_PX 0.5000
|
||||
param set-default CA_ROTOR0_PY 0.3000
|
||||
param set-default CA_ROTOR0_PZ 0.2000
|
||||
param set-default CA_ROTOR1_AX 1.0000
|
||||
param set-default CA_ROTOR1_AY 1.0000
|
||||
param set-default CA_ROTOR1_AZ 0.0000
|
||||
param set-default CA_ROTOR1_KM 0.0000
|
||||
param set-default CA_ROTOR1_PX 0.5000
|
||||
param set-default CA_ROTOR1_PY -0.3000
|
||||
param set-default CA_ROTOR1_PZ 0.2000
|
||||
param set-default CA_ROTOR2_AX 1.0000
|
||||
param set-default CA_ROTOR2_AY 1.0000
|
||||
param set-default CA_ROTOR2_AZ 0.0000
|
||||
param set-default CA_ROTOR2_KM 0.0000
|
||||
param set-default CA_ROTOR2_PX -0.5000
|
||||
param set-default CA_ROTOR2_PY 0.3000
|
||||
param set-default CA_ROTOR2_PZ 0.2000
|
||||
param set-default CA_ROTOR3_AX 1.0000
|
||||
param set-default CA_ROTOR3_AY -1.0000
|
||||
param set-default CA_ROTOR3_AZ 0.0000
|
||||
param set-default CA_ROTOR3_KM 0.0000
|
||||
param set-default CA_ROTOR3_PX -0.5000
|
||||
param set-default CA_ROTOR3_PY -0.3000
|
||||
param set-default CA_ROTOR3_PZ 0.2000
|
||||
param set-default CA_ROTOR4_AZ -1.0000
|
||||
param set-default CA_ROTOR4_KM 0.0000
|
||||
param set-default CA_ROTOR4_PX 0.5000
|
||||
param set-default CA_ROTOR4_PY 0.5000
|
||||
param set-default CA_ROTOR5_AZ 1.0000
|
||||
param set-default CA_ROTOR5_KM 0.0000
|
||||
param set-default CA_ROTOR5_PX 0.5000
|
||||
param set-default CA_ROTOR5_PY -0.5000
|
||||
param set-default CA_ROTOR6_AZ 1.0000
|
||||
param set-default CA_ROTOR6_KM 0.0000
|
||||
param set-default CA_ROTOR6_PX -0.5000
|
||||
param set-default CA_ROTOR6_PY 0.5000
|
||||
param set-default CA_ROTOR7_KM 0.0000
|
||||
param set-default CA_ROTOR7_PX -0.5000
|
||||
param set-default CA_ROTOR7_PY -0.5000
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
param set-default PWM_MAIN_FUNC7 107
|
||||
param set-default PWM_MAIN_FUNC8 108
|
||||
|
||||
set MIXER skip
|
||||
|
||||
set PWM_OUT 12345678
|
||||
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -29,9 +29,12 @@ param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_CRUISE 0.25
|
||||
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
@@ -43,32 +46,5 @@ param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
#param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_CS4_TYPE 9
|
||||
param set-default CA_SV_CS5_TYPE 10
|
||||
param set-default PWM_MAIN_FUNC3 204
|
||||
param set-default PWM_MAIN_FUNC4 205
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -7,39 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 2
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
@@ -52,9 +19,12 @@ 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-default MC_ROLLRATE_P 0.3
|
||||
param set-default MC_YAW_P 1.6
|
||||
|
||||
@@ -7,48 +7,14 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 4
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 1
|
||||
param set-default CA_ROTOR0_PY 2
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -1
|
||||
param set-default CA_ROTOR1_PY -1
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 1
|
||||
param set-default CA_ROTOR2_PY -1
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -1
|
||||
param set-default CA_ROTOR3_PY 1
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_SV_CS_COUNT 2
|
||||
param set-default CA_SV_CS0_TYPE 5
|
||||
param set-default CA_SV_CS0_TRQ_P 0.5
|
||||
param set-default CA_SV_CS0_TRQ_Y -0.5
|
||||
param set-default CA_SV_CS1_TYPE 6
|
||||
param set-default CA_SV_CS1_TRQ_P 0.5
|
||||
param set-default CA_SV_CS1_TRQ_Y 0.5
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 0
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_REV 96 # invert both elevons
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_I 0.2
|
||||
param set-default FW_PR_P 0.2
|
||||
param set-default FW_PR_P 0.3
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_P 0.2
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.33
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
@@ -70,8 +36,6 @@ param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_SC 0.5
|
||||
param set-default VT_F_TRANS_DUR 1.5
|
||||
param set-default VT_F_TRANS_THR 0.7
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
@@ -7,52 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 3
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_ROTOR0_TILT 1
|
||||
param set-default CA_ROTOR1_TILT 2
|
||||
param set-default CA_ROTOR2_TILT 3
|
||||
param set-default CA_ROTOR3_TILT 4
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_TL0_CT 0
|
||||
param set-default CA_SV_TL1_CT 0
|
||||
param set-default CA_SV_TL2_CT 0
|
||||
param set-default CA_SV_TL3_CT 0
|
||||
param set-default CA_SV_TL_COUNT 4
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 204
|
||||
param set-default PWM_MAIN_FUNC6 205
|
||||
param set-default PWM_MAIN_FUNC7 206
|
||||
param set-default PWM_MAIN_FUNC8 207
|
||||
param set-default PWM_MAIN_FUNC9 201
|
||||
param set-default PWM_MAIN_FUNC10 202
|
||||
param set-default PWM_MAIN_FUNC11 203
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
@@ -65,9 +19,12 @@ 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-default MC_YAW_P 1.6
|
||||
|
||||
|
||||
@@ -28,15 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 5
|
||||
|
||||
param set-default CA_R_REV 1
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 201
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
param set-default PWM_MAIN_FUNC7 101
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
set MIXER_FILE skip
|
||||
set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
|
||||
|
||||
@@ -28,15 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 6
|
||||
|
||||
param set-default CA_R_REV 3
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 101
|
||||
param set-default PWM_MAIN_FUNC6 102
|
||||
param set-default PWM_MAIN_FUNC7 102
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
set MIXER_FILE skip
|
||||
set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
|
||||
|
||||
@@ -28,25 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 9
|
||||
|
||||
param set-default CA_ROTOR_COUNT 2
|
||||
param set-default CA_ROTOR0_AX 1
|
||||
param set-default CA_ROTOR0_AZ 0
|
||||
param set-default CA_ROTOR0_KM 0
|
||||
param set-default CA_ROTOR0_PX -2
|
||||
param set-default CA_ROTOR0_PY -1
|
||||
param set-default CA_ROTOR1_AX 1
|
||||
param set-default CA_ROTOR1_AZ 0
|
||||
param set-default CA_ROTOR1_KM 0
|
||||
param set-default CA_ROTOR1_PX -2
|
||||
param set-default CA_ROTOR1_PY 1
|
||||
param set-default CA_R_REV 3
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
set MAV_TYPE 11
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
|
||||
|
||||
@@ -11,31 +11,5 @@
|
||||
|
||||
. ${R}etc/init.d/rc.airship_defaults
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 9
|
||||
|
||||
param set-default CA_ROTOR_COUNT 3
|
||||
param set-default CA_ROTOR0_AX 1.0000
|
||||
param set-default CA_ROTOR0_AZ 0.0000
|
||||
param set-default CA_ROTOR0_KM 0.0000
|
||||
param set-default CA_ROTOR0_PY 2.0000
|
||||
param set-default CA_ROTOR1_AX 1.0000
|
||||
param set-default CA_ROTOR1_AZ 0.0000
|
||||
param set-default CA_ROTOR1_KM 0.0000
|
||||
param set-default CA_ROTOR1_PY -2.0000
|
||||
param set-default CA_ROTOR2_AY -1.0000
|
||||
param set-default CA_ROTOR2_AZ 0.0000
|
||||
param set-default CA_ROTOR2_KM 0.0000
|
||||
param set-default CA_ROTOR2_PX -10.0000
|
||||
|
||||
param set-default CA_SV_CS_COUNT 1
|
||||
param set-default CA_SV_CS0_TRQ_P 1.0000
|
||||
|
||||
param set-default CA_R_REV 7
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 201
|
||||
param set-default PWM_MAIN_FUNC4 103
|
||||
|
||||
set MIXER skip
|
||||
set MIXER cloudship
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -29,27 +29,52 @@ param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 0
|
||||
param set-default MAV_PROTO_VER 2
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 6
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default CA_ROTOR0_PX 0.0
|
||||
param set-default CA_ROTOR0_PY 1.0
|
||||
param set-default CA_ROTOR0_KM -0.05
|
||||
param set-default CA_ROTOR1_PX 0.0
|
||||
param set-default CA_ROTOR1_PY -1.0
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.866025
|
||||
param set-default CA_ROTOR2_PY -0.5
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.866025
|
||||
param set-default CA_ROTOR3_PY 0.5
|
||||
param set-default CA_ROTOR3_KM 0.05
|
||||
param set-default CA_ROTOR4_PX 0.866025
|
||||
param set-default CA_ROTOR4_PY 0.5
|
||||
param set-default CA_ROTOR4_KM 0.05
|
||||
param set-default CA_ROTOR5_PX -0.866025
|
||||
param set-default CA_ROTOR5_PY -0.5
|
||||
param set-default CA_ROTOR5_KM -0.05
|
||||
param set-default 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-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-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
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
@@ -1,7 +1,5 @@
|
||||
#!/bin/sh
|
||||
|
||||
set -e
|
||||
|
||||
# PX4 commands need the 'px4-' prefix in bash.
|
||||
# (px4-alias.sh is expected to be in the PATH)
|
||||
# shellcheck disable=SC1091
|
||||
@@ -146,8 +144,6 @@ param set-default SENS_MAG_MODE 0
|
||||
|
||||
param set-default IMU_GYRO_FFT_EN 1
|
||||
|
||||
param set-default -s MC_AT_EN 1
|
||||
|
||||
# By default log from boot until first disarm.
|
||||
param set-default SDLOG_MODE 1
|
||||
# enable default, estimator replay and vision/avoidance logging profiles
|
||||
@@ -221,7 +217,6 @@ load_mon start
|
||||
battery_simulator start
|
||||
tone_alarm start
|
||||
rc_update start
|
||||
manual_control start
|
||||
sensors start
|
||||
commander start
|
||||
navigator start
|
||||
|
||||
@@ -64,6 +64,7 @@ param set-default FW_BAT_SCALE_EN 1
|
||||
param set-default FW_THR_ALT_SCL 2.7
|
||||
param set-default FW_T_RLL2THR 20
|
||||
|
||||
param set-default LNDMC_ALT_MAX 9999
|
||||
param set-default LNDMC_XY_VEL_MAX 1
|
||||
param set-default LNDMC_Z_VEL_MAX 0.7
|
||||
|
||||
|
||||
@@ -17,21 +17,40 @@ set MIXER_AUX none
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.177
|
||||
param set-default CA_ROTOR0_PY 0.177
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.177
|
||||
param set-default CA_ROTOR1_PY -0.177
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.177
|
||||
param set-default CA_ROTOR2_PY -0.177
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.177
|
||||
param set-default CA_ROTOR3_PY 0.177
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R0_PX 0.177
|
||||
param set-default CA_MC_R0_PY 0.177
|
||||
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 -0.177
|
||||
param set-default CA_MC_R1_PY -0.177
|
||||
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 0.177
|
||||
param set-default CA_MC_R2_PY -0.177
|
||||
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 -0.177
|
||||
param set-default CA_MC_R3_PY 0.177
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
@@ -13,6 +13,9 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
|
||||
@@ -13,6 +13,9 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
|
||||
@@ -22,6 +22,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
@@ -13,33 +13,58 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 6
|
||||
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_ROTOR0_PX 0.0
|
||||
param set-default CA_ROTOR0_PY 0.275
|
||||
param set-default CA_ROTOR0_KM -0.05
|
||||
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-default CA_ROTOR1_PX 0.0
|
||||
param set-default CA_ROTOR1_PY -0.275
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_MC_R0_PX 0.0
|
||||
param set-default CA_MC_R0_PY 0.275
|
||||
param set-default CA_MC_R0_CT 6.5
|
||||
param set-default CA_MC_R0_KM -0.05
|
||||
|
||||
param set-default CA_ROTOR2_PX 0.238
|
||||
param set-default CA_ROTOR2_PY -0.1375
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_MC_R1_PX 0.0
|
||||
param set-default CA_MC_R1_PY -0.275
|
||||
param set-default CA_MC_R1_CT 6.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
|
||||
param set-default CA_ROTOR3_PX -0.238
|
||||
param set-default CA_ROTOR3_PY 0.1375
|
||||
param set-default CA_ROTOR3_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.238
|
||||
param set-default CA_MC_R2_PY -0.1375
|
||||
param set-default CA_MC_R2_CT 6.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
|
||||
param set-default CA_ROTOR4_PX 0.238
|
||||
param set-default CA_ROTOR4_PY 0.1375
|
||||
param set-default CA_ROTOR4_KM 0.05
|
||||
param set-default CA_MC_R3_PX -0.238
|
||||
param set-default CA_MC_R3_PY 0.1375
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM 0.05
|
||||
|
||||
param set-default CA_ROTOR5_PX -0.238
|
||||
param set-default CA_ROTOR5_PY -0.1375
|
||||
param set-default CA_ROTOR5_KM -0.05
|
||||
param set-default CA_MC_R4_PX 0.238
|
||||
param set-default CA_MC_R4_PY 0.1375
|
||||
param set-default CA_MC_R4_CT 6.5
|
||||
param set-default CA_MC_R4_KM 0.05
|
||||
|
||||
param set-default CA_MC_R5_PX -0.238
|
||||
param set-default CA_MC_R5_PY -0.1375
|
||||
param set-default CA_MC_R5_CT 6.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
@@ -48,14 +48,6 @@ fi
|
||||
# End Estimator Group Selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start Airship Attitude Controller.
|
||||
#
|
||||
|
||||
@@ -10,14 +10,6 @@
|
||||
#
|
||||
ekf2 start &
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start attitude controller.
|
||||
#
|
||||
|
||||
@@ -18,17 +18,8 @@ set OUTPUT_AUX_DEV /dev/pwm_output1
|
||||
set OUTPUT_EXTRA_DEV /dev/pwm_output0
|
||||
|
||||
# set these before starting the modules
|
||||
if [ $PWM_AUX_OUT != none ]
|
||||
then
|
||||
|
||||
param set PWM_AUX_OUT ${PWM_AUX_OUT}
|
||||
fi
|
||||
|
||||
|
||||
if [ $PWM_OUT != none ]
|
||||
then
|
||||
param set PWM_MAIN_OUT ${PWM_OUT}
|
||||
fi
|
||||
param set PWM_AUX_OUT ${PWM_AUX_OUT}
|
||||
param set PWM_MAIN_OUT ${PWM_OUT}
|
||||
|
||||
#
|
||||
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
|
||||
|
||||
@@ -54,6 +54,14 @@ then
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
#
|
||||
# Disable hover thrust estimator and prearming
|
||||
# These features are currently incompatible with control allocation
|
||||
#
|
||||
# TODO: fix
|
||||
#
|
||||
param set MPC_USE_HTE 0
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -65,11 +73,7 @@ mc_rate_control start
|
||||
# Start Multicopter Attitude Controller.
|
||||
#
|
||||
mc_att_control start
|
||||
|
||||
if param greater -s MC_AT_EN 0
|
||||
then
|
||||
mc_autotune_attitude_control start
|
||||
fi
|
||||
mc_autotune_attitude_control start
|
||||
|
||||
#
|
||||
# Start Multicopter Position Controller.
|
||||
|
||||
@@ -12,13 +12,6 @@ ekf2 start &
|
||||
#attitude_estimator_q start
|
||||
#local_position_estimator start
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start attitude controllers.
|
||||
|
||||
@@ -4,6 +4,19 @@
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
if ! ver hwcmp OMNIBUS_F4SD
|
||||
then
|
||||
if ! ver hwcmp BITCRAZE_CRAZYFLIE
|
||||
then
|
||||
# Configure all I2C buses to 100 KHz as they
|
||||
# are all external or slow
|
||||
# TODO: move this
|
||||
pwm_out i2c 1 100000
|
||||
pwm_out i2c 2 100000
|
||||
fi
|
||||
fi
|
||||
|
||||
###############################################################################
|
||||
# Begin Optional drivers #
|
||||
###############################################################################
|
||||
|
||||
@@ -15,14 +15,6 @@ ekf2 start &
|
||||
# End Estimator Group Selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start UUV Attitude Controller.
|
||||
#
|
||||
|
||||
@@ -15,14 +15,6 @@ ekf2 start &
|
||||
# End Estimator group selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
airspeed_selector start
|
||||
|
||||
vtol_att_control start
|
||||
@@ -32,11 +24,7 @@ mc_att_control start vtol
|
||||
flight_mode_manager start
|
||||
mc_pos_control start vtol
|
||||
mc_hover_thrust_estimator start
|
||||
|
||||
if param greater -s MC_AT_EN 0
|
||||
then
|
||||
mc_autotune_attitude_control start
|
||||
fi
|
||||
mc_autotune_attitude_control start
|
||||
|
||||
fw_att_control start vtol
|
||||
fw_pos_control_l1 start vtol
|
||||
|
||||
@@ -35,7 +35,7 @@ set MIXER_AUX none
|
||||
set MIXER_FILE none
|
||||
set MIXER_EXTRA none
|
||||
set OUTPUT_MODE none
|
||||
set PARAM_FILE ""
|
||||
set PARAM_FILE /fs/microsd/params
|
||||
set PWM_OUT none
|
||||
set PWM_MAIN_RATE p:PWM_MAIN_RATE
|
||||
set PWM_AUX_OUT none
|
||||
@@ -46,7 +46,6 @@ set EXTRA_MIXER_MODE none
|
||||
set RC_INPUT_ARGS ""
|
||||
set SDCARD_AVAILABLE no
|
||||
set SDCARD_EXT_PATH /fs/microsd/ext_autostart
|
||||
set SDCARD_FORMAT no
|
||||
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
|
||||
set STARTUP_TUNE 1
|
||||
set USE_IO no
|
||||
@@ -60,56 +59,51 @@ ver all
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
if [ -b "/dev/mmcsd0" ]
|
||||
# REBOOTWORK this needs to start after the flight control loop.
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
if [ -f "/fs/microsd/.format" ]
|
||||
then
|
||||
echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
|
||||
set SDCARD_FORMAT yes
|
||||
rm /fs/microsd/.format
|
||||
umount /fs/microsd
|
||||
set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
|
||||
date >> $PX4_INIT_TEST_FILE
|
||||
|
||||
else
|
||||
if [ -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
cat $PX4_INIT_TEST_FILE
|
||||
rm $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ ! -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
|
||||
if [ $SDCARD_AVAILABLE = no ]
|
||||
then
|
||||
set STARTUP_TUNE 14 # tune 14 = SD_INIT
|
||||
if mkfatfs -F 32 /dev/mmcsd0
|
||||
then
|
||||
echo "INFO [init] formatting /dev/mmcsd0"
|
||||
set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
|
||||
|
||||
if mkfatfs -F 32 /dev/mmcsd0
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
echo "INFO [init] card formatted"
|
||||
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
set STARTUP_TUNE 14 # tune 14 = SD_INIT
|
||||
else
|
||||
echo "ERROR [init] card mount failed"
|
||||
fi
|
||||
else
|
||||
set STARTUP_TUNE 15 # tune 15 = SD_ERROR
|
||||
echo "ERROR [init] format failed"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
then
|
||||
if hardfault_log check
|
||||
then
|
||||
if hardfault_log check
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
if hardfault_log commit
|
||||
then
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
if hardfault_log commit
|
||||
then
|
||||
hardfault_log reset
|
||||
fi
|
||||
hardfault_log reset
|
||||
fi
|
||||
fi
|
||||
|
||||
set PARAM_FILE /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -142,38 +136,8 @@ else
|
||||
param select $PARAM_FILE
|
||||
if ! param import
|
||||
then
|
||||
echo "ERROR [init] param import failed"
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
|
||||
param dump $PARAM_FILE
|
||||
|
||||
hexdump $PARAM_FILE
|
||||
|
||||
if [ -d "/fs/microsd" ]
|
||||
then
|
||||
dmesg >> /fs/microsd/param_import_fail.txt &
|
||||
|
||||
# try to make a backup copy
|
||||
cp $PARAM_FILE /fs/microsd/param_import_fail.bson &
|
||||
fi
|
||||
|
||||
# try importing from backup file
|
||||
if [ -f "/fs/microsd/parameters_backup.bson" ]
|
||||
then
|
||||
echo "[init] importing from parameter backup"
|
||||
|
||||
# dump current backup file contents for comparison
|
||||
param dump /fs/microsd/parameters_backup.bson
|
||||
|
||||
param import /fs/microsd/parameters_backup.bson
|
||||
fi
|
||||
param reset_all
|
||||
fi
|
||||
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
then
|
||||
param select-backup /fs/microsd/parameters_backup.bson
|
||||
fi
|
||||
|
||||
if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
|
||||
then
|
||||
netman update -i eth0
|
||||
@@ -221,16 +185,7 @@ else
|
||||
# Waypoint storage.
|
||||
# REBOOTWORK this needs to start in parallel.
|
||||
#
|
||||
if param compare SYS_DM_BACKEND 1
|
||||
then
|
||||
dataman start -r
|
||||
else
|
||||
if param compare SYS_DM_BACKEND 0
|
||||
then
|
||||
# dataman start default
|
||||
dataman start
|
||||
fi
|
||||
fi
|
||||
dataman start
|
||||
|
||||
#
|
||||
# Start the socket communication send_event handler.
|
||||
@@ -370,7 +325,6 @@ else
|
||||
# start before commander
|
||||
#
|
||||
rc_update start
|
||||
manual_control start
|
||||
|
||||
#
|
||||
# Sensors System (start before Commander so Preflight checks are properly run).
|
||||
@@ -463,12 +417,6 @@ else
|
||||
rc_input start $RC_INPUT_ARGS
|
||||
fi
|
||||
|
||||
# PPS capture driver (before pwm_out)
|
||||
if param greater -s PPS_CAP_ENABLE 0
|
||||
then
|
||||
pps_capture start
|
||||
fi
|
||||
|
||||
# Camera capture driver (before pwm_out)
|
||||
if param greater -s CAM_CAP_FBACK 0
|
||||
then
|
||||
@@ -558,13 +506,21 @@ else
|
||||
. ${R}etc/init.d/rc.autostart.post
|
||||
fi
|
||||
|
||||
|
||||
set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
|
||||
if [ -f $BOARD_BOOTLOADER_UPGRADE ]
|
||||
#
|
||||
# Bootloader upgrade
|
||||
#
|
||||
if param compare -s SYS_BL_UPDATE 1
|
||||
then
|
||||
sh $BOARD_BOOTLOADER_UPGRADE
|
||||
if [ -f "/etc/extras/bootloader.bin" ]
|
||||
then
|
||||
param set SYS_BL_UPDATE 0
|
||||
param save
|
||||
echo "bootloader update..."
|
||||
bl_update "/etc/extras/bootloader.bin"
|
||||
echo "bootloader update done, rebooting"
|
||||
reboot
|
||||
fi
|
||||
fi
|
||||
unset BOARD_BOOTLOADER_UPGRADE
|
||||
|
||||
#
|
||||
# End of autostart.
|
||||
@@ -598,7 +554,6 @@ unset PWM_EXTRA_RATE
|
||||
unset RC_INPUT_ARGS
|
||||
unset SDCARD_AVAILABLE
|
||||
unset SDCARD_EXT_PATH
|
||||
unset SDCARD_FORMAT
|
||||
unset SDCARD_MIXERS_PATH
|
||||
unset STARTUP_TUNE
|
||||
unset USE_IO
|
||||
|
||||
@@ -33,11 +33,15 @@
|
||||
|
||||
px4_add_romfs_files(
|
||||
autogyro_sitl.main.mix
|
||||
boat_sitl.main.mix
|
||||
delta_wing_sitl.main.mix
|
||||
package_drop.aux.mix
|
||||
plane_sitl.main.mix
|
||||
quad_x_vtol.main.mix
|
||||
rover_ackermann_sitl.main.mix
|
||||
rover_diff_sitl.main.mix
|
||||
standard_vtol_sitl.main.mix
|
||||
tiltrotor_sitl.main.mix
|
||||
uuv_x_sitl.main.mix
|
||||
vectored6dof_sitl.main.mix
|
||||
)
|
||||
|
||||
@@ -0,0 +1,15 @@
|
||||
Mixer for SITL boat
|
||||
=========================================================
|
||||
|
||||
Throttle of left propeller of boat on Output 0
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
Throttle of right propeller of boat on Output 1
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
@@ -0,0 +1,46 @@
|
||||
Mixer for SITL rover
|
||||
=========================================================
|
||||
|
||||
Output 0
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
Output 1
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 3
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 4
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 5
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 6
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 7
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 8
|
||||
---------------------------------------
|
||||
Z:
|
||||
@@ -0,0 +1,46 @@
|
||||
Mixer for SITL rover
|
||||
=========================================================
|
||||
|
||||
Output 0
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 1
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 3
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 4
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 5
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 6
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 7
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 8
|
||||
---------------------------------------
|
||||
Z:
|
||||
@@ -0,0 +1,40 @@
|
||||
# Motor 1
|
||||
M: 3
|
||||
S: 0 2 -4000 -4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 -4000 -4000 0 -4000 +4000
|
||||
# Motor 2
|
||||
M: 3
|
||||
S: 0 2 +4000 +4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 +4000 +4000 0 -4000 +4000
|
||||
# Motor 3
|
||||
M: 3
|
||||
S: 0 2 -4000 -4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 +4000 +4000 0 -4000 +4000
|
||||
# Motor 4
|
||||
M: 3
|
||||
S: 0 2 +4000 +4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 -4000 -4000 0 -4000 +4000
|
||||
# Motor 5
|
||||
M: 3
|
||||
S: 0 0 -4000 -4000 0 -4000 +4000
|
||||
S: 0 1 +4000 +4000 0 -4000 +4000
|
||||
S: 0 5 -4000 -4000 0 -4000 +4000
|
||||
# Motor 6
|
||||
M: 3
|
||||
S: 0 0 -4000 -4000 0 -4000 +4000
|
||||
S: 0 1 -4000 -4000 0 -4000 +4000
|
||||
S: 0 5 +4000 +4000 0 -4000 +4000
|
||||
# Motor 7
|
||||
M: 3
|
||||
S: 0 0 +4000 +4000 0 -4000 +4000
|
||||
S: 0 1 +4000 +4000 0 -4000 +4000
|
||||
S: 0 5 +4000 +4000 0 -4000 +4000
|
||||
# Motor 8
|
||||
M: 3
|
||||
S: 0 0 +4000 +4000 0 -4000 +4000
|
||||
S: 0 1 -4000 -4000 0 -4000 +4000
|
||||
S: 0 5 -4000 -4000 0 -4000 +4000
|
||||
@@ -7,8 +7,6 @@ from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -38,13 +36,12 @@ def print_line(line):
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
|
||||
def monitor_firmware_upload(port_url, baudrate):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
def monitor_firmware_upload(port, baudrate):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout = 180 # 3 minutes
|
||||
timeout_start = time.monotonic()
|
||||
timeout_newline = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout_newline = time.time()
|
||||
|
||||
return_code = 0
|
||||
|
||||
@@ -52,59 +49,33 @@ def monitor_firmware_upload(port_url, baudrate):
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "ERROR" in serial_line:
|
||||
return_code = -1
|
||||
|
||||
print_line(serial_line)
|
||||
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
elif "nsh>" in serial_line:
|
||||
sys.exit(return_code)
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
elif "nsh>" in serial_line:
|
||||
sys.exit(return_code)
|
||||
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
|
||||
timeout_newline = time.monotonic()
|
||||
ser.write("\n".encode("ascii"))
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if time.time() - timeout_newline > 10:
|
||||
timeout_newline = time.time()
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
monitor_firmware_upload(port_url, args.baudrate)
|
||||
monitor_firmware_upload(args.device, args.baudrate)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
+54
-88
@@ -6,9 +6,6 @@ from subprocess import call, Popen
|
||||
from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -32,140 +29,109 @@ def print_line(line):
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
print(line, end='')
|
||||
|
||||
def do_param_set_cmd(port, baudrate, param_name, param_value):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
def do_param_set_cmd(port_url, baudrate, param_name, param_value):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
ser.write("\n".encode("ascii"))
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
ser.readlines()
|
||||
|
||||
# run command
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 10 # 10 seconds
|
||||
|
||||
cmd = "param set " + param_name + " " + param_value
|
||||
|
||||
# write command (param set) and wait for command echo
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}\n'.format(cmd)
|
||||
|
||||
serial_cmd = '{0}\r\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
|
||||
ser.flush()
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if cmd in serial_line:
|
||||
break
|
||||
|
||||
if cmd in serial_line:
|
||||
print_line(serial_line)
|
||||
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
|
||||
# verify param value
|
||||
cmd = "param show " + param_name
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}\n'.format(cmd)
|
||||
serial_cmd = '{0}\r\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
param_show_response = param_name + " ["
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 3 # 3 seconds
|
||||
timeout_start = time.time()
|
||||
timeout = 2 # 2 seconds
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if param_show_response in serial_line:
|
||||
print_line(serial_line)
|
||||
current_param_value = serial_line.split(":")[-1].strip()
|
||||
|
||||
if param_show_response in serial_line:
|
||||
current_param_value = serial_line.split(":")[-1].strip()
|
||||
|
||||
if (current_param_value == param_value):
|
||||
sys.exit(0)
|
||||
else:
|
||||
sys.exit(1)
|
||||
if (current_param_value == param_value):
|
||||
sys.exit(0)
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
sys.exit(1)
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
|
||||
if len(serial_line) <= 0:
|
||||
ser.write("\r\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
ser.close()
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument("--name", "-p", dest="param_name", help="Parameter name")
|
||||
parser.add_argument("--value", "-v", dest="param_value", help="Parameter value")
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
do_param_set_cmd(port_url, args.baudrate, args.param_name, args.param_value)
|
||||
do_param_set_cmd(args.device, args.baudrate, args.param_name, args.param_value)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
@@ -1,111 +0,0 @@
|
||||
#! /usr/bin/env python3
|
||||
|
||||
import serial, time
|
||||
import subprocess
|
||||
from subprocess import call, Popen
|
||||
from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
COLOR_YELLOW = "\x1b[33m"
|
||||
COLOR_WHITE = "\x1b[37m"
|
||||
COLOR_RESET = "\x1b[0m"
|
||||
|
||||
def print_line(line):
|
||||
if "WARNING" in line:
|
||||
line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
|
||||
elif "WARN" in line:
|
||||
line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
|
||||
elif "ERROR" in line:
|
||||
line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
|
||||
elif "INFO" in line:
|
||||
line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
|
||||
|
||||
if "PASSED" in line:
|
||||
line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
|
||||
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
|
||||
def reboot(port_url, baudrate):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
|
||||
time_start = time.monotonic()
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
ser.write("reboot\n".encode("ascii"))
|
||||
time_reboot_cmd = time_start
|
||||
|
||||
timeout_reboot_cmd = 90
|
||||
timeout = 300 # 5 minutes
|
||||
|
||||
return_code = 0
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if "ERROR" in serial_line:
|
||||
return_code = -1
|
||||
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
|
||||
else:
|
||||
if time.monotonic() > time_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
|
||||
time_reboot_cmd = time.monotonic()
|
||||
print("sending reboot cmd again")
|
||||
ser.write("reboot\n".encode("ascii"))
|
||||
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
reboot(args.device, args.baudrate)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
+53
-77
@@ -7,8 +7,6 @@ from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -39,123 +37,101 @@ def print_line(line):
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
|
||||
def do_nsh_cmd(port_url, baudrate, cmd):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
def do_nsh_cmd(port, baudrate, cmd):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
ser.write("\n".encode("ascii"))
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
ser.readlines()
|
||||
|
||||
# run command
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 5 # 5 seconds
|
||||
timeout_start = time.time()
|
||||
timeout = 1 # 1 second
|
||||
|
||||
success_cmd = "cmd succeeded!"
|
||||
|
||||
# wait for command echo
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}; echo "{1}"; echo "{2}";\n'.format(cmd, success_cmd, success_cmd)
|
||||
serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
|
||||
ser.flush()
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if cmd in serial_line:
|
||||
break
|
||||
elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
|
||||
print_line(serial_line)
|
||||
# we missed the echo, but command ran and succeeded
|
||||
sys.exit(0)
|
||||
else:
|
||||
print_line(serial_line)
|
||||
if cmd in serial_line:
|
||||
break
|
||||
elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
|
||||
print_line(serial_line)
|
||||
# we missed the echo, but command ran and succeeded
|
||||
sys.exit(0)
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 240 # 4 minutes
|
||||
timeout_start = time.time()
|
||||
timeout = 180 # 3 minutes
|
||||
|
||||
return_code = 0
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if success_cmd in serial_line:
|
||||
sys.exit(return_code)
|
||||
else:
|
||||
if success_cmd in serial_line:
|
||||
sys.exit(return_code)
|
||||
break
|
||||
else:
|
||||
if len(serial_line) > 0:
|
||||
if "ERROR " in serial_line:
|
||||
return_code = -1
|
||||
|
||||
print_line(serial_line)
|
||||
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
|
||||
if len(serial_line) <= 0:
|
||||
ser.write("\r\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
ser.close()
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
do_nsh_cmd(port_url, args.baudrate, args.cmd)
|
||||
do_nsh_cmd(args.device, args.baudrate, args.cmd)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
+52
-81
@@ -9,9 +9,6 @@ import unittest
|
||||
import os
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
import warnings
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -41,36 +38,33 @@ def print_line(line):
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
def do_test(port, baudrate, test_name):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
def do_test(port_url, baudrate, test_name):
|
||||
|
||||
# ignore pyserial spy:// resource warnings
|
||||
warnings.filterwarnings(action="ignore", message="unclosed", category=ResourceWarning)
|
||||
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
return False
|
||||
|
||||
ser.write("\n".encode("ascii"))
|
||||
if len(serial_line) > 0:
|
||||
print(serial_line, end='')
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
return False
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
ser.readlines()
|
||||
|
||||
success = False
|
||||
|
||||
# run test cmd
|
||||
print('\n|======================================================================')
|
||||
@@ -78,28 +72,30 @@ def do_test(port_url, baudrate, test_name):
|
||||
print("| Running:", cmd)
|
||||
print('|======================================================================')
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout = 2 # 2 seconds
|
||||
|
||||
# wait for command echo
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
|
||||
ser.flush()
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if cmd in serial_line:
|
||||
break
|
||||
if cmd in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
|
||||
|
||||
# print results, wait for final result (PASSED or FAILED)
|
||||
timeout = 300 # 5 minutes
|
||||
timeout_start = time.monotonic()
|
||||
timeout_start = time.time()
|
||||
timeout_newline = timeout_start
|
||||
|
||||
while True:
|
||||
@@ -108,26 +104,27 @@ def do_test(port_url, baudrate, test_name):
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if test_name + " PASSED" in serial_line:
|
||||
ser.close()
|
||||
return True
|
||||
elif test_name + " FAILED" in serial_line:
|
||||
ser.close()
|
||||
return False
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
|
||||
ser.close()
|
||||
return False
|
||||
if test_name + " PASSED" in serial_line:
|
||||
success = True
|
||||
break
|
||||
elif test_name + " FAILED" in serial_line:
|
||||
success = False
|
||||
break
|
||||
|
||||
# newline every 30 seconds if still running
|
||||
if time.monotonic() - timeout_newline > 30:
|
||||
ser.write("\n".encode("ascii"))
|
||||
timeout_newline = time.monotonic()
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
|
||||
success = False
|
||||
break
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if time.time() - timeout_newline > 10:
|
||||
ser.write("\n".encode("ascii"))
|
||||
timeout_newline = time.time()
|
||||
|
||||
ser.close()
|
||||
return False
|
||||
|
||||
return success
|
||||
|
||||
class TestHardwareMethods(unittest.TestCase):
|
||||
TEST_DEVICE = 0
|
||||
@@ -145,8 +142,9 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_bson(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
|
||||
|
||||
def test_dataman(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
|
||||
# TODO: review
|
||||
# def test_dataman(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
|
||||
|
||||
# def test_file(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file"))
|
||||
@@ -209,39 +207,12 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
TestHardwareMethods.TEST_DEVICE = port_url
|
||||
TestHardwareMethods.TEST_DEVICE = args.device
|
||||
TestHardwareMethods.TEST_BAUDRATE = args.baudrate
|
||||
|
||||
unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])
|
||||
|
||||
@@ -1,47 +0,0 @@
|
||||
#! /bin/bash
|
||||
|
||||
# exit when any command fails
|
||||
set -e
|
||||
|
||||
DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
|
||||
|
||||
SERIAL_DEVICE=$1
|
||||
|
||||
if [ ! -e "${SERIAL_DEVICE}" ]
|
||||
then
|
||||
echo "Invalid serial device ${SERIAL_DEVICE}"
|
||||
exit -1
|
||||
fi
|
||||
|
||||
# all airframes (from ROMFS/px4fmu_common/init.d/airframes/)
|
||||
# $(find . -regex '.*/[0-9].*' -exec basename {} \; | cut -d "_" -f 1)
|
||||
ALL_AIRFRAMES=${@:2}
|
||||
echo "airframes: ${ALL_AIRFRAMES}"
|
||||
|
||||
for airframe in $ALL_AIRFRAMES
|
||||
do
|
||||
echo
|
||||
echo "##########################################################################################"
|
||||
echo " Airframe: $airframe"
|
||||
echo "##########################################################################################"
|
||||
echo
|
||||
|
||||
${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART --value $airframe
|
||||
${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER --value 782097
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'
|
||||
|
||||
${DIR}/reboot.py --device ${SERIAL_DEVICE}
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/param_import_fail.bson' || true
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'
|
||||
|
||||
done
|
||||
@@ -17,10 +17,10 @@ exec find boards msg src platforms test \
|
||||
-path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
|
||||
-path src/lib/crypto/monocypher -prune -o \
|
||||
-path src/lib/events/libevents -prune -o \
|
||||
-path src/lib/matrix -prune -o \
|
||||
-path src/lib/parameters/uthash -prune -o \
|
||||
-path src/modules/ekf2/EKF -prune -o \
|
||||
-path src/modules/gyro_fft/CMSIS_5 -prune -o \
|
||||
-path src/modules/mavlink/mavlink -prune -o \
|
||||
-path src/modules/micrortps_bridge/micro-CDR -prune -o \
|
||||
-path src/modules/micrortps_bridge/microRTPS_client -prune -o \
|
||||
-path test/mavsdk_tests/catch2 -prune -o \
|
||||
|
||||
@@ -9,7 +9,6 @@ if [[ -f $1"/.git" || -d $1"/.git" ]]; then
|
||||
if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
|
||||
git submodule --quiet sync --recursive -- $1
|
||||
git submodule --quiet update --init --recursive --jobs=8 -- $1 || true
|
||||
git submodule --quiet sync --recursive -- $1
|
||||
git submodule --quiet update --init --recursive --jobs=8 -- $1
|
||||
exit 0
|
||||
fi
|
||||
@@ -52,7 +51,6 @@ if [[ -f $1"/.git" || -d $1"/.git" ]]; then
|
||||
else
|
||||
git submodule --quiet sync --recursive --quiet -- $1
|
||||
git submodule --quiet update --init --recursive -- $1 || true
|
||||
git submodule --quiet sync --recursive --quiet -- $1
|
||||
git submodule --quiet update --init --recursive -- $1
|
||||
fi
|
||||
|
||||
|
||||
+1
-1
@@ -19,7 +19,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
|
||||
elif [[ $@ =~ .*tests* ]]; then
|
||||
# run all tests with simulation
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-02-04"
|
||||
fi
|
||||
else
|
||||
echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
|
||||
|
||||
+1
-1
Submodule Tools/flightgear_bridge updated: ea9b6cb5b9...7c2c623da9
@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
|
||||
world=${WORLD:=empty}
|
||||
target=${TARGET:=px4_sitl_default}
|
||||
vehicle_model=${VEHICLE_MODEL:="iris"}
|
||||
export PX4_SIM_MODEL=${vehicle_model}
|
||||
export PX4_SIM_MODEL=${vehicle_model}${LABEL}
|
||||
|
||||
echo ${SCRIPT}
|
||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
||||
@@ -126,7 +126,7 @@ else
|
||||
|
||||
m=0
|
||||
while [ $m -lt ${target_number} ]; do
|
||||
export PX4_SIM_MODEL=${target_vehicle}
|
||||
export PX4_SIM_MODEL=${target_vehicle}${LABEL}
|
||||
spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
|
||||
m=$(($m + 1))
|
||||
n=$(($n + 1))
|
||||
|
||||
@@ -41,9 +41,7 @@ def process_target(px4board_file, target_name):
|
||||
platform = None
|
||||
toolchain = None
|
||||
|
||||
if px4board_file.endswith("default.px4board") or \
|
||||
px4board_file.endswith("recovery.px4board") or \
|
||||
px4board_file.endswith("bootloader.px4board"):
|
||||
if px4board_file.endswith("default.px4board"):
|
||||
kconf.load_config(px4board_file, replace=True)
|
||||
else: # Merge config with default.px4board
|
||||
default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
|
||||
|
||||
+1
-1
Submodule Tools/jMAVSim updated: 66b764ada5...b23dc53d55
+1
-1
Submodule Tools/jsbsim_bridge updated: 68de2cc63d...e070c50d59
@@ -92,7 +92,6 @@ pca9685,CONFIG_DRIVERS_PCA9685=y
|
||||
pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
|
||||
pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
|
||||
protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
|
||||
pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
|
||||
pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
|
||||
|
||||
@@ -1,496 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
""" Script to generate actuators.json metadata from module.yaml config file(s)
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import lzma #to create .xz file
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
|
||||
from output_groups_from_timer_config import get_timer_groups, get_output_groups
|
||||
|
||||
try:
|
||||
import yaml
|
||||
except ImportError as e:
|
||||
print("Failed to import yaml: " + str(e))
|
||||
print("")
|
||||
print("You may need to install it using:")
|
||||
print(" pip3 install --user pyyaml")
|
||||
print("")
|
||||
sys.exit(1)
|
||||
|
||||
parser = argparse.ArgumentParser(description='Generate actuators.json from module.yaml file(s)')
|
||||
|
||||
parser.add_argument('--config-files', type=str, nargs='*', default=[],
|
||||
help='YAML module config file(s)')
|
||||
parser.add_argument('--output-file', type=str, action='store',
|
||||
help='JSON output file', required=True)
|
||||
parser.add_argument('--compress', action='store_true', help='Add a compressed output file')
|
||||
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
|
||||
help='Verbose Output')
|
||||
parser.add_argument('--timer-config', type=str, action='store',
|
||||
help='board-specific timer_config.cpp file')
|
||||
parser.add_argument('--board', type=str, action='store',
|
||||
help='board name, e.g. ')
|
||||
parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
|
||||
help='Indicate that the board as an IO for extra PWM',
|
||||
default=False)
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
compress = args.compress
|
||||
verbose = args.verbose
|
||||
output_file = args.output_file
|
||||
timer_config_file = args.timer_config
|
||||
board_with_io = args.board_with_io
|
||||
board = args.board
|
||||
|
||||
root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
|
||||
output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
|
||||
|
||||
def save_compressed(filename):
|
||||
#create lzma compressed version
|
||||
xz_filename=filename+'.xz'
|
||||
with lzma.open(xz_filename, 'wt', preset=9) as f:
|
||||
with open(filename, 'r') as content_file:
|
||||
f.write(content_file.read())
|
||||
|
||||
def load_yaml_file(file_name):
|
||||
with open(file_name, 'r') as stream:
|
||||
try:
|
||||
return yaml.safe_load(stream)
|
||||
except yaml.YAMLError as exc:
|
||||
print(exc)
|
||||
raise
|
||||
|
||||
# functions
|
||||
output_functions_yaml = load_yaml_file(output_functions_file)
|
||||
output_functions = output_functions_yaml['functions']
|
||||
functions = {}
|
||||
|
||||
def add_function(functions, index, name, function_obj=None):
|
||||
functions[index] = {
|
||||
"label": name
|
||||
}
|
||||
if function_obj is not None:
|
||||
if function_obj.get('exclude_from_actuator_testing', False):
|
||||
functions[index]['exclude-from-actuator-testing'] = True
|
||||
if 'note' in function_obj:
|
||||
functions[index]['note'] = function_obj['note']
|
||||
|
||||
for group_key in output_functions:
|
||||
group = output_functions[group_key]
|
||||
for function_name in group:
|
||||
function_name_label = function_name.replace('_', ' ')
|
||||
if isinstance(group[function_name], int):
|
||||
add_function(functions, group[function_name], function_name_label)
|
||||
elif not 'count' in group[function_name]:
|
||||
add_function(functions, group[function_name]['start'], function_name_label, group[function_name])
|
||||
else:
|
||||
start = group[function_name]['start']
|
||||
count = group[function_name]['count']
|
||||
for i in range(count):
|
||||
add_function(functions, start+i, function_name_label+' '+str(i+1), group[function_name])
|
||||
|
||||
# outputs
|
||||
outputs = []
|
||||
|
||||
def process_module_name(module_name):
|
||||
if module_name == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM AUX'
|
||||
return 'PWM MAIN'
|
||||
if '${' in module_name:
|
||||
raise Exception('unhandled variable in {:}'.format(module_name))
|
||||
return module_name
|
||||
|
||||
def process_param_prefix(param_prefix):
|
||||
if param_prefix == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM_AUX'
|
||||
return 'PWM_MAIN'
|
||||
if '${' in param_prefix:
|
||||
raise Exception('unhandled variable in {:}'.format(param_prefix))
|
||||
return param_prefix
|
||||
|
||||
def process_channel_label(module_name, channel_label, no_prefix):
|
||||
if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
|
||||
return 'CAP'
|
||||
if channel_label == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'AUX'
|
||||
return 'MAIN'
|
||||
if '${' in channel_label:
|
||||
raise Exception('unhandled variable in {:}'.format(channel_label))
|
||||
if no_prefix: return channel_label
|
||||
return channel_label
|
||||
|
||||
def get_actuator_output(yaml_config, output_functions, timer_config_file, verbose):
|
||||
""" parse the actuator_output section from the yaml config file
|
||||
"""
|
||||
if not 'actuator_output' in yaml_config:
|
||||
return None
|
||||
|
||||
|
||||
actuator_output_yaml = yaml_config['actuator_output']
|
||||
output_groups = actuator_output_yaml['output_groups']
|
||||
module_name = process_module_name(yaml_config['module_name'])
|
||||
group_idx = 0
|
||||
|
||||
if verbose: print('processing module: {}'.format(module_name))
|
||||
|
||||
actuator_output = {
|
||||
'label': module_name
|
||||
}
|
||||
if 'show_subgroups_if' in actuator_output_yaml:
|
||||
actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
|
||||
add_reverse_range_param = actuator_output_yaml.get('add_reverse_range_param', False)
|
||||
|
||||
# config parameters
|
||||
def get_config_params(param_list):
|
||||
""" convert config parameter list (per group or per subgroup) """
|
||||
parameters = []
|
||||
for config_param in param_list:
|
||||
if verbose:
|
||||
print('config param: {}'.format(config_param))
|
||||
param = {
|
||||
'name': config_param['param'],
|
||||
}
|
||||
if 'label' in config_param:
|
||||
param['label'] = config_param['label']
|
||||
if 'function' in config_param:
|
||||
param['function'] = config_param['function']
|
||||
parameters.append(param)
|
||||
return parameters
|
||||
|
||||
parameters = get_config_params(actuator_output_yaml.get('config_parameters', []))
|
||||
if len(parameters) > 0:
|
||||
actuator_output['parameters'] = parameters
|
||||
|
||||
subgroups = []
|
||||
|
||||
while group_idx < len(output_groups):
|
||||
group = output_groups[group_idx]
|
||||
group_idx += 1
|
||||
|
||||
if verbose: print("processing group: {:}".format(group))
|
||||
|
||||
# Check for generator and generate additional data.
|
||||
if 'generator' in group:
|
||||
if group['generator'] == 'pwm':
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
no_prefix = not group.get('channel_label_module_name_prefix', True)
|
||||
channel_labels = [process_channel_label(module_name, label, no_prefix)
|
||||
for label in group['channel_labels']]
|
||||
standard_params = group.get('standard_params', [])
|
||||
extra_function_groups = group.get('extra_function_groups', [])
|
||||
pwm_timer_param = group.get('pwm_timer_param', None)
|
||||
if 'timer_config_file' in group:
|
||||
timer_config_file = os.path.join(root_dir, group['timer_config_file'])
|
||||
if timer_config_file is None:
|
||||
raise Exception('trying to generate pwm outputs, but --timer-config not set')
|
||||
timer_groups = get_timer_groups(timer_config_file, verbose)
|
||||
timer_output_groups, timer_params = get_output_groups(timer_groups,
|
||||
param_prefix, channel_labels,
|
||||
standard_params, extra_function_groups, pwm_timer_param,
|
||||
verbose=verbose)
|
||||
output_groups.extend(timer_output_groups)
|
||||
else:
|
||||
raise Exception('unknown generator {:}'.format(group['generator']))
|
||||
continue
|
||||
|
||||
subgroup = {}
|
||||
|
||||
# supported actions
|
||||
if 'supported_actions' in group:
|
||||
actions = {}
|
||||
for action_name in group['supported_actions']:
|
||||
action = group['supported_actions'][action_name]
|
||||
action_name = action_name.replace('_', '-')
|
||||
actions[action_name] = {}
|
||||
if 'supported_if' in action:
|
||||
actions[action_name]['supported-if'] = action['supported_if']
|
||||
if 'actuator_types' in action:
|
||||
actions[action_name]['actuator-types'] = action['actuator_types']
|
||||
subgroup['supported-actions'] = actions
|
||||
|
||||
# channels
|
||||
num_channels = group['num_channels']
|
||||
no_prefix = not group.get('channel_label_module_name_prefix', True)
|
||||
channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
|
||||
instance_start = group.get('instance_start', 1)
|
||||
instance_start_label = group.get('instance_start_label', instance_start)
|
||||
channels = []
|
||||
for channel in range(num_channels):
|
||||
channels.append({
|
||||
'label': channel_label + ' ' +str(channel+instance_start_label),
|
||||
'param-index': channel+instance_start
|
||||
})
|
||||
subgroup['channels'] = channels
|
||||
|
||||
if 'group_label' in group:
|
||||
subgroup['label'] = group['group_label']
|
||||
|
||||
|
||||
# per-channel-params
|
||||
per_channel_params = []
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
standard_params = group.get('standard_params', {})
|
||||
standard_params_array = [
|
||||
( 'function', 'Function', 'FUNC', False ),
|
||||
( 'disarmed', 'Disarmed', 'DIS', False ),
|
||||
( 'min', 'Minimum', 'MIN', False ),
|
||||
( 'max', 'Maximum', 'MAX', False ),
|
||||
( 'failsafe', 'Failsafe', 'FAIL', True ),
|
||||
]
|
||||
for key, label, param_suffix, advanced in standard_params_array:
|
||||
show_if = None
|
||||
if key in standard_params and 'show_if' in standard_params[key]:
|
||||
show_if = standard_params[key]['show_if']
|
||||
|
||||
if key in standard_params or key == 'function':
|
||||
param = {
|
||||
'label': label,
|
||||
'name': param_prefix+'_'+param_suffix+'${i}',
|
||||
'function': key,
|
||||
}
|
||||
if advanced: param['advanced'] = True
|
||||
if show_if: param['show-if'] = show_if
|
||||
per_channel_params.append(param)
|
||||
|
||||
|
||||
if add_reverse_range_param:
|
||||
param = {
|
||||
'label': 'Rev Range\n(for Servos)',
|
||||
'name': param_prefix+'_REV',
|
||||
'index-offset': -1,
|
||||
'show-as': 'bitset',
|
||||
}
|
||||
per_channel_params.append(param)
|
||||
|
||||
# TODO: support non-standard per-channel parameters
|
||||
|
||||
subgroup['per-channel-parameters'] = per_channel_params
|
||||
|
||||
# group config params
|
||||
parameters = get_config_params(group.get('config_parameters', []))
|
||||
if len(parameters) > 0:
|
||||
subgroup['parameters'] = parameters
|
||||
|
||||
subgroups.append(subgroup)
|
||||
|
||||
actuator_output['subgroups'] = subgroups
|
||||
return actuator_output
|
||||
|
||||
# Mixers
|
||||
mixers = None
|
||||
def get_mixers(yaml_config, output_functions, verbose):
|
||||
if not 'mixer' in yaml_config:
|
||||
return None
|
||||
|
||||
actuator_types = {}
|
||||
for actuator_type_key in yaml_config['mixer']['actuator_types']:
|
||||
actuator_type_conf = yaml_config['mixer']['actuator_types'][actuator_type_key]
|
||||
actuator_type = { }
|
||||
if actuator_type_key != 'DEFAULT':
|
||||
actuator_type['label-index-offset'] = 1 # always 1
|
||||
if 'functions' in actuator_type_conf:
|
||||
function_name = actuator_type_conf['functions']
|
||||
# we expect the function to be in 'common' (this is not a requirement, just simplicity)
|
||||
output_function = output_functions['common'][function_name]
|
||||
actuator_type['function-min'] = output_function['start']
|
||||
actuator_type['function-max'] = output_function['start'] + output_function['count'] - 1
|
||||
|
||||
values = actuator_type_conf['actuator_testing_values']
|
||||
actuator_type['values'] = {
|
||||
'min': values['min'],
|
||||
'max': values['max'],
|
||||
}
|
||||
if values.get('default_is_nan', False):
|
||||
actuator_type['values']['default-is-nan'] = True
|
||||
else:
|
||||
actuator_type['values']['default'] = values['default']
|
||||
if values.get('reversible', False):
|
||||
actuator_type['values']['reversible'] = True
|
||||
|
||||
# per item params
|
||||
per_item_params = []
|
||||
for per_item_param in actuator_type_conf.get('per_item_parameters', []):
|
||||
per_item_params.append({k.replace('_','-'): v for k, v in per_item_param.items()})
|
||||
if len(per_item_params) > 0:
|
||||
actuator_type['per-item-parameters'] = per_item_params
|
||||
|
||||
actuator_types[actuator_type_key] = actuator_type
|
||||
|
||||
if verbose:
|
||||
print('Actuator types: {}'.format(actuator_types))
|
||||
|
||||
config = []
|
||||
yaml_mixer_config = yaml_config['mixer']['config']
|
||||
select_param = yaml_mixer_config['param']
|
||||
types = yaml_mixer_config['types']
|
||||
for type_index in types:
|
||||
current_type = types[type_index]
|
||||
option = select_param + '==' + str(type_index)
|
||||
mixer_config = {
|
||||
'option': option,
|
||||
}
|
||||
if 'type' in current_type:
|
||||
mixer_config['type'] = current_type['type']
|
||||
actuators = []
|
||||
for actuator_conf in current_type['actuators']:
|
||||
actuator = {
|
||||
'actuator-type': actuator_conf['actuator_type'],
|
||||
'required': True, # for now always set as required
|
||||
}
|
||||
# sanity check that actuator type exists
|
||||
if actuator_conf['actuator_type'] not in actuator_types:
|
||||
raise Exception('actuator type "{}" does not exist (valid: {})'.format(actuator_conf['actuator_type'], actuator_types.keys()))
|
||||
|
||||
if 'group_label' in actuator_conf:
|
||||
actuator['group-label'] = actuator_conf['group_label']
|
||||
else:
|
||||
# infer from actuator type
|
||||
if actuator_conf['actuator_type'] == 'motor':
|
||||
actuator['group-label'] = 'Motors'
|
||||
elif actuator_conf['actuator_type'] == 'servo':
|
||||
actuator['group-label'] = 'Servos'
|
||||
else:
|
||||
raise Exception('Missing group label for actuator type "{}"'.format(actuator_conf['actuator_type']))
|
||||
|
||||
if 'count' in actuator_conf: # possibly dynamic size
|
||||
actuator['count'] = actuator_conf['count']
|
||||
per_item_params = actuator_conf.get('per_item_parameters', {})
|
||||
params = []
|
||||
if 'standard' in per_item_params:
|
||||
standard_params = per_item_params['standard']
|
||||
index_offset = standard_params.get('index_offset', 0)
|
||||
if 'position' in standard_params:
|
||||
params.extend([
|
||||
{
|
||||
'label': 'Position X',
|
||||
'function': 'posx',
|
||||
'name': standard_params['position'][0],
|
||||
'index-offset': index_offset,
|
||||
},
|
||||
{
|
||||
'label': 'Position Y',
|
||||
'function': 'posy',
|
||||
'name': standard_params['position'][1],
|
||||
'index-offset': index_offset,
|
||||
},
|
||||
{
|
||||
'label': 'Position Z',
|
||||
'function': 'posz',
|
||||
'name': standard_params['position'][2],
|
||||
'advanced': True,
|
||||
'index-offset': index_offset,
|
||||
},
|
||||
])
|
||||
if 'extra' in per_item_params:
|
||||
for extra_param in per_item_params['extra']:
|
||||
params.append({k.replace('_','-'): v for k, v in extra_param.items()})
|
||||
actuator['per-item-parameters'] = params
|
||||
if 'item_label_prefix' in actuator_conf:
|
||||
actuator['item-label-prefix'] = actuator_conf['item_label_prefix']
|
||||
else: # fixed size
|
||||
labels = []
|
||||
pos_x = []
|
||||
pos_y = []
|
||||
pos_z = []
|
||||
for instance in actuator_conf['instances']:
|
||||
labels.append(instance['name'])
|
||||
pos_x.append(instance['position'][0])
|
||||
pos_y.append(instance['position'][1])
|
||||
pos_z.append(instance['position'][2])
|
||||
actuator['count'] = len(labels)
|
||||
actuator['item-label-prefix'] = labels
|
||||
actuator['per-item-parameters'] = [
|
||||
{
|
||||
'label': 'Position X',
|
||||
'function': 'posx',
|
||||
'value': pos_x,
|
||||
},
|
||||
{
|
||||
'label': 'Position Y',
|
||||
'function': 'posy',
|
||||
'value': pos_y,
|
||||
},
|
||||
{
|
||||
'label': 'Position Z',
|
||||
'function': 'posz',
|
||||
'value': pos_z,
|
||||
'advanced': True,
|
||||
},
|
||||
]
|
||||
|
||||
# actuator parameters
|
||||
parameters = []
|
||||
for param in actuator_conf.get('parameters', []):
|
||||
parameters.append({k.replace('_','-'): v for k, v in param.items()})
|
||||
actuator['parameters'] = parameters
|
||||
|
||||
actuators.append(actuator)
|
||||
|
||||
mixer_config['actuators'] = actuators
|
||||
config.append(mixer_config)
|
||||
|
||||
if verbose:
|
||||
print('Mixer configs: {}'.format(config))
|
||||
|
||||
rules = []
|
||||
for rule in yaml_config['mixer'].get('rules', []):
|
||||
rules.append({k.replace('_','-'): v for k, v in rule.items()})
|
||||
|
||||
if verbose:
|
||||
print('Mixer rules: {}'.format(rules))
|
||||
|
||||
mixers = {
|
||||
'actuator-types': actuator_types,
|
||||
'config': config,
|
||||
'rules': rules,
|
||||
}
|
||||
return mixers
|
||||
|
||||
|
||||
for yaml_file in args.config_files:
|
||||
yaml_config = load_yaml_file(yaml_file)
|
||||
|
||||
try:
|
||||
actuator_output = get_actuator_output(yaml_config,
|
||||
output_functions, timer_config_file, verbose)
|
||||
if actuator_output:
|
||||
outputs.append(actuator_output)
|
||||
|
||||
parsed_mixers = get_mixers(yaml_config, output_functions, verbose)
|
||||
if parsed_mixers is not None:
|
||||
if mixers is not None:
|
||||
# only expected to be configured in one module
|
||||
raise Exception('multiple "mixer" sections in module config files')
|
||||
mixers = parsed_mixers
|
||||
except Exception as e:
|
||||
print('Exception while parsing {:}:'.format(yaml_file))
|
||||
raise e
|
||||
|
||||
if mixers is None:
|
||||
if len(outputs) > 0:
|
||||
raise Exception('Missing "mixer" section in yaml configs (CONFIG_MODULES_CONTROL_ALLOCATOR not added to the build?)')
|
||||
else:
|
||||
# set a minimal default
|
||||
mixers = {
|
||||
'actuator-types': { 'DEFAULT': { 'values': { 'min': 0, 'max': 1 } } },
|
||||
'config': [],
|
||||
}
|
||||
|
||||
actuators = {
|
||||
'version': 1,
|
||||
'show-ui-if': 'SYS_CTRL_ALLOC==1',
|
||||
'outputs_v1': outputs,
|
||||
'functions_v1': functions,
|
||||
'mixer_v1': mixers,
|
||||
}
|
||||
|
||||
with open(output_file, 'w') as outfile:
|
||||
indent = 2 if verbose else None
|
||||
json.dump(actuators, outfile, indent=indent)
|
||||
|
||||
if compress:
|
||||
save_compressed(output_file)
|
||||
@@ -1,12 +1,11 @@
|
||||
#!/usr/bin/env python3
|
||||
""" Script to generate params from module.yaml config file(s)
|
||||
""" Script to params from module.yaml config file(s)
|
||||
Note: serial params are handled in Tools/serial/generate_config.py
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
from copy import deepcopy
|
||||
|
||||
from output_groups_from_timer_config import get_timer_groups, get_output_groups
|
||||
|
||||
@@ -50,15 +49,10 @@ board = args.board
|
||||
root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
|
||||
output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
|
||||
|
||||
def process_module_name(module_name):
|
||||
if module_name == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM AUX'
|
||||
return 'PWM MAIN'
|
||||
if '${' in module_name:
|
||||
raise Exception('unhandled variable in {:}'.format(module_name))
|
||||
return module_name
|
||||
|
||||
def process_param_prefix(param_prefix):
|
||||
if param_prefix == '${PWM_MAIN_OR_HIL}':
|
||||
if board == 'px4_sitl': return 'PWM_MAIN'
|
||||
return 'HIL_ACT'
|
||||
if param_prefix == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM_AUX'
|
||||
return 'PWM_MAIN'
|
||||
@@ -66,16 +60,16 @@ def process_param_prefix(param_prefix):
|
||||
raise Exception('unhandled variable in {:}'.format(param_prefix))
|
||||
return param_prefix
|
||||
|
||||
def process_channel_label(module_name, channel_label, no_prefix):
|
||||
if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
|
||||
return 'PWM Capture'
|
||||
def process_channel_label(channel_label):
|
||||
if channel_label == '${PWM_MAIN_OR_HIL}':
|
||||
if board == 'px4_sitl': return 'PWM Sim'
|
||||
return 'HIL actuator'
|
||||
if channel_label == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM Aux'
|
||||
return 'PWM Main'
|
||||
if '${' in channel_label:
|
||||
raise Exception('unhandled variable in {:}'.format(channel_label))
|
||||
if no_prefix: return channel_label
|
||||
return module_name + ' ' + channel_label
|
||||
return channel_label
|
||||
|
||||
|
||||
def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
@@ -110,13 +104,6 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
param_type = 'INT32'
|
||||
for key in param['values']:
|
||||
tags += '\n * @value {:} {:}'.format(key, param['values'][key])
|
||||
elif param['type'] == 'bitmask':
|
||||
param_type = 'INT32'
|
||||
for key in param['bit']:
|
||||
tags += '\n * @bit {:} {:}'.format(key, param['bit'][key])
|
||||
max_val = max(key for key in param['bit'])
|
||||
tags += '\n * @min 0'
|
||||
tags += '\n * @max {:}'.format((1<<(max_val+1)) - 1)
|
||||
elif param['type'] == 'boolean':
|
||||
param_type = 'INT32'
|
||||
tags += '\n * @boolean'
|
||||
@@ -127,7 +114,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
else:
|
||||
raise Exception("unknown param type {:}".format(param['type']))
|
||||
|
||||
for tag in ['decimal', 'increment', 'category', 'volatile',
|
||||
for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
|
||||
'min', 'max', 'unit', 'reboot_required']:
|
||||
if tag in param:
|
||||
tags += '\n * @{:} {:}'.format(tag, param[tag])
|
||||
@@ -157,7 +144,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
*/
|
||||
PARAM_DEFINE_{param_type}({name}, {default_value});
|
||||
'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
|
||||
long_descr=param['description'].get('long', "").replace("\n", "\n * "),
|
||||
long_descr=param['description']['long'].replace("\n", "\n * "),
|
||||
tags=tags,
|
||||
param_type=param_type,
|
||||
name=param_name.replace('${i}', str(i+instance_start)),
|
||||
@@ -174,13 +161,9 @@ def get_actuator_output_params(yaml_config, output_functions,
|
||||
if not 'actuator_output' in yaml_config:
|
||||
return {}
|
||||
output_groups = yaml_config['actuator_output']['output_groups']
|
||||
module_name = process_module_name(yaml_config['module_name'])
|
||||
all_params = {}
|
||||
group_idx = 0
|
||||
|
||||
add_reverse_range_param = yaml_config['actuator_output'].get('add_reverse_range_param', False)
|
||||
all_param_prefixes = {}
|
||||
|
||||
def add_local_param(param_name, param_def):
|
||||
nonlocal all_params
|
||||
# add as a list, as there can be multiple entries with the same param_name
|
||||
@@ -199,9 +182,7 @@ def get_actuator_output_params(yaml_config, output_functions,
|
||||
if 'generator' in group:
|
||||
if group['generator'] == 'pwm':
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
no_prefix = not group.get('channel_label_module_name_prefix', True)
|
||||
channel_labels = [process_channel_label(module_name, label, no_prefix)
|
||||
for label in group['channel_labels']]
|
||||
channel_labels = [process_channel_label(label) for label in group['channel_labels']]
|
||||
standard_params = group.get('standard_params', [])
|
||||
extra_function_groups = group.get('extra_function_groups', [])
|
||||
pwm_timer_param = group.get('pwm_timer_param', None)
|
||||
@@ -216,29 +197,13 @@ def get_actuator_output_params(yaml_config, output_functions,
|
||||
verbose=verbose)
|
||||
all_params.update(timer_params)
|
||||
output_groups.extend(timer_output_groups)
|
||||
|
||||
# In case of a board w/o IO and >8 PWM channels, pwm_out splits
|
||||
# into 2 instances (if SYS_CTRL_ALLOC==0) and we need to add the
|
||||
# PWM_AUX min/max/disarmed params as well.
|
||||
num_channels = len(timer_groups['types'])
|
||||
if not board_with_io and num_channels > 8:
|
||||
output_groups.append(
|
||||
{
|
||||
'param_prefix': 'PWM_AUX',
|
||||
'channel_label': 'PWM AUX',
|
||||
'instance_start': 1,
|
||||
'num_channels': num_channels - 8,
|
||||
'standard_params': deepcopy(timer_output_groups[0]['standard_params'])
|
||||
})
|
||||
|
||||
else:
|
||||
raise Exception('unknown generator {:}'.format(group['generator']))
|
||||
continue
|
||||
|
||||
num_channels = group['num_channels']
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
no_prefix = not group.get('channel_label_module_name_prefix', True)
|
||||
channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
|
||||
channel_label = process_channel_label(group['channel_label'])
|
||||
standard_params = group.get('standard_params', {})
|
||||
instance_start = group.get('instance_start', 1)
|
||||
instance_start_label = group.get('instance_start_label', instance_start)
|
||||
@@ -254,19 +219,12 @@ def get_actuator_output_params(yaml_config, output_functions,
|
||||
function_name_label = function_name.replace('_', ' ')
|
||||
if isinstance(group[function_name], int):
|
||||
output_function_values[group[function_name]] = function_name_label
|
||||
elif not 'count' in group[function_name]:
|
||||
output_function_values[group[function_name]['start']] = function_name_label
|
||||
else:
|
||||
start = group[function_name]['start']
|
||||
count = group[function_name]['count']
|
||||
for i in range(count):
|
||||
output_function_values[start+i] = function_name_label+' '+str(i+1)
|
||||
|
||||
if param_prefix not in all_param_prefixes:
|
||||
all_param_prefixes[param_prefix] = []
|
||||
all_param_prefixes[param_prefix].append((instance_start,
|
||||
instance_start_label, num_channels, channel_label))
|
||||
|
||||
# function param
|
||||
param = {
|
||||
'description': {
|
||||
@@ -346,30 +304,6 @@ When set to -1 (default), the value depends on the function (see {:}).
|
||||
}
|
||||
add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
|
||||
|
||||
if add_reverse_range_param:
|
||||
for param_prefix in all_param_prefixes:
|
||||
groups = all_param_prefixes[param_prefix]
|
||||
# collect the bits
|
||||
channel_bits = {}
|
||||
for instance_start, instance_start_label, num_instances, label in groups:
|
||||
for instance in range(instance_start, instance_start+num_instances):
|
||||
instance_label = instance - instance_start + instance_start_label
|
||||
channel_bits[instance-1] = label + ' ' + str(instance_label)
|
||||
|
||||
param = {
|
||||
'description': {
|
||||
'short': 'Reverse Output Range for '+module_name,
|
||||
'long':
|
||||
'''Allows to reverse the output range for each channel.
|
||||
Note: this is only useful for servos.
|
||||
'''.format(channel_label),
|
||||
},
|
||||
'type': 'bitmask',
|
||||
'default': 0,
|
||||
'bit': channel_bits
|
||||
}
|
||||
add_local_param(param_prefix+'_REV', param)
|
||||
|
||||
if verbose: print('adding actuator params: {:}'.format(all_params))
|
||||
return all_params
|
||||
|
||||
|
||||
@@ -151,9 +151,6 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
|
||||
|
||||
channel_label = channel_labels[channel_type_idx]
|
||||
channel_type_instance = instance_start_label[channel_type_idx]
|
||||
group_label = channel_label + ' ' + str(channel_type_instance)
|
||||
if group_count > 1:
|
||||
group_label += '-' + str(channel_type_instance+group_count-1)
|
||||
group = {
|
||||
'param_prefix': param_prefix,
|
||||
'channel_label': channel_label,
|
||||
@@ -162,39 +159,16 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
|
||||
'extra_function_groups': deepcopy(extra_function_groups),
|
||||
'num_channels': group_count,
|
||||
'standard_params': deepcopy(standard_params),
|
||||
'group_label': group_label,
|
||||
'channel_label_module_name_prefix': False,
|
||||
}
|
||||
output_groups.append(group)
|
||||
|
||||
if pwm_timer_param is not None:
|
||||
timer_channels_label = channel_label + ' ' + str(channel_type_instance)
|
||||
if group_count > 1:
|
||||
timer_channels_label += '-' + str(channel_type_instance+group_count-1)
|
||||
pwm_timer_param_cp = deepcopy(pwm_timer_param)
|
||||
timer_param_name = param_prefix+'_TIM'+str(timer_index)
|
||||
|
||||
group['config_parameters'] = [
|
||||
{
|
||||
'param': timer_param_name,
|
||||
'function': 'primary',
|
||||
}
|
||||
]
|
||||
|
||||
if dshot_support:
|
||||
# don't show pwm limit params when dshot enabled
|
||||
|
||||
for standard_param in group['standard_params']:
|
||||
group['standard_params'][standard_param]['show_if'] = timer_param_name + '>=-1'
|
||||
|
||||
# indicate support for changing motor spin direction
|
||||
group['supported_actions'] = {
|
||||
'set_spin_direction1': {
|
||||
'supported_if': timer_param_name + '<-1',
|
||||
'actuator_types': ['motor']
|
||||
},
|
||||
'set_spin_direction2': {
|
||||
'supported_if': timer_param_name + '<-1',
|
||||
'actuator_types': ['motor']
|
||||
},
|
||||
}
|
||||
else:
|
||||
if not dshot_support:
|
||||
# remove dshot entries if no dshot support
|
||||
values = pwm_timer_param_cp['values']
|
||||
for key in list(values.keys()):
|
||||
@@ -204,9 +178,8 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
|
||||
for descr_type in ['short', 'long']:
|
||||
descr = pwm_timer_param_cp['description'][descr_type]
|
||||
pwm_timer_param_cp['description'][descr_type] = \
|
||||
descr.replace('${label}', group_label)
|
||||
timer_params[timer_param_name] = pwm_timer_param_cp
|
||||
output_groups.append(group)
|
||||
descr.replace('${label}', timer_channels_label)
|
||||
timer_params[param_prefix+'_TIM'+str(timer_index)] = pwm_timer_param_cp
|
||||
instance_start += group_count
|
||||
instance_start_label[channel_type_idx] += group_count
|
||||
return (output_groups, timer_params)
|
||||
|
||||
@@ -72,27 +72,38 @@ div.frame_variant td, div.frame_variant th {
|
||||
|
||||
# check if all outputs are equal for the group: if so, show them
|
||||
# only once
|
||||
all_outputs = {}
|
||||
num_configs = len(group.GetParams())
|
||||
outputs_prev = ['', ''] # split into MAINx and others (AUXx)
|
||||
outputs_match = [True, True]
|
||||
for param in group.GetParams():
|
||||
if not self.IsExcluded(param, board):
|
||||
outputs_current = ['', '']
|
||||
for output_name in param.GetOutputCodes():
|
||||
value = param.GetOutputValue(output_name)
|
||||
key_value_pair = (output_name, value)
|
||||
if key_value_pair not in all_outputs:
|
||||
all_outputs[key_value_pair] = 0
|
||||
all_outputs[key_value_pair] += 1
|
||||
has_common_outputs = any(all_outputs[k] == num_configs for k in all_outputs)
|
||||
if output_name.lower().startswith('main'):
|
||||
idx = 0
|
||||
else:
|
||||
idx = 1
|
||||
outputs_current[idx] += '<li><b>%s</b>: %s</li>' % (output_name, value)
|
||||
for i in range(2):
|
||||
if len(outputs_current[i]) != 0:
|
||||
if outputs_prev[i] == '':
|
||||
outputs_prev[i] = outputs_current[i]
|
||||
elif outputs_current[i] != outputs_prev[i]:
|
||||
outputs_match[i] = False
|
||||
|
||||
if has_common_outputs:
|
||||
outputs_common = ''.join(['<li><b>{:}</b>: {:}</li>'.format(k[0], k[1]) \
|
||||
for k in all_outputs if all_outputs[k] == num_configs])
|
||||
for i in range(2):
|
||||
if len(outputs_prev[i]) == 0:
|
||||
outputs_match[i] = False
|
||||
if not outputs_match[i]:
|
||||
outputs_prev[i] = ''
|
||||
|
||||
if outputs_match[0] or outputs_match[1]:
|
||||
result += '<table>\n'
|
||||
result += ' <thead>\n'
|
||||
result += ' <tr><th>Common Outputs</th></tr>\n'
|
||||
result += ' </thead>\n'
|
||||
result += ' <tbody>\n'
|
||||
result += '<tr>\n <td><ul>%s</ul></td>\n</tr>\n' % (outputs_common)
|
||||
result += '<tr>\n <td><ul>%s%s</ul></td>\n</tr>\n' % (outputs_prev[0], outputs_prev[1])
|
||||
result += '</tbody></table>\n'
|
||||
|
||||
result += '</div>\n\n'
|
||||
@@ -127,8 +138,11 @@ div.frame_variant td, div.frame_variant th {
|
||||
for output_name in param.GetOutputCodes():
|
||||
value = param.GetOutputValue(output_name)
|
||||
valstrs = value.split(";")
|
||||
key_value_pair = (output_name, value)
|
||||
if all_outputs[key_value_pair] < num_configs:
|
||||
if output_name.lower().startswith('main'):
|
||||
idx = 0
|
||||
else:
|
||||
idx = 1
|
||||
if not outputs_match[idx]:
|
||||
outputs += '<li><b>%s</b>: %s</li>' % (output_name, value)
|
||||
has_outputs = True
|
||||
|
||||
|
||||
@@ -74,7 +74,6 @@ class RCOutput():
|
||||
result += "\n"
|
||||
result += "if [ ${AIRFRAME} != none ]\n"
|
||||
result += "then\n"
|
||||
result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
|
||||
result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
|
||||
if not post_start:
|
||||
result += "else\n"
|
||||
|
||||
@@ -137,8 +137,8 @@ class ModuleDocumentation(object):
|
||||
"\"board-specific bus (default=all) (external SPI: n-th bus (default=1))\"", 'true'])
|
||||
|
||||
if self._is_bool_true(args[1]):
|
||||
self._handle_usage_param_int(['\'c\'', '-1', '0', '31',
|
||||
"\"chip-select pin (for internal SPI) or index (for external SPI)\"", 'true'])
|
||||
self._handle_usage_param_int(['\'c\'', '1', '1', '10',
|
||||
"\"chip-select index (for external SPI)\"", 'true'])
|
||||
self._handle_usage_param_int(['\'m\'', '-1', '0', '3', "\"SPI mode\"", 'true'])
|
||||
|
||||
self._handle_usage_param_int(['\'f\'', '-1', '0', '1000000', "\"bus frequency in kHz\"", 'true'])
|
||||
|
||||
@@ -3,11 +3,9 @@ argparse>=1.2
|
||||
cerberus
|
||||
coverage
|
||||
empy>=3.3
|
||||
future
|
||||
jinja2>=2.8
|
||||
jsonschema
|
||||
kconfiglib
|
||||
lxml
|
||||
matplotlib>=3.0.*
|
||||
numpy>=1.13
|
||||
nunavut>=1.1.0
|
||||
|
||||
@@ -86,8 +86,6 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
|
||||
gdb \
|
||||
git \
|
||||
lcov \
|
||||
libxml2-dev \
|
||||
libxml2-utils \
|
||||
make \
|
||||
ninja-build \
|
||||
python3 \
|
||||
@@ -136,13 +134,13 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
genromfs \
|
||||
gettext \
|
||||
gperf \
|
||||
kconfig-frontends \
|
||||
libelf-dev \
|
||||
libexpat-dev \
|
||||
libgmp-dev \
|
||||
libisl-dev \
|
||||
libmpc-dev \
|
||||
libmpfr-dev \
|
||||
libncurses5 \
|
||||
libncurses5-dev \
|
||||
libncursesw5-dev \
|
||||
libtool \
|
||||
@@ -153,12 +151,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
util-linux \
|
||||
vim-common \
|
||||
;
|
||||
if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
kconfig-frontends \
|
||||
;
|
||||
fi
|
||||
|
||||
|
||||
if [ -n "$USER" ]; then
|
||||
# add user to dialout group (serial port access)
|
||||
|
||||
Submodule Tools/simulation-ignition updated: 483193d9b8...e78ad94a4f
+1
-1
Submodule Tools/sitl_gazebo updated: 27298574ce...d8366bf238
@@ -5,7 +5,6 @@ https://json-schema.org/"""
|
||||
import argparse
|
||||
import sys
|
||||
import json
|
||||
import os
|
||||
|
||||
try:
|
||||
from jsonschema import validate
|
||||
@@ -22,8 +21,6 @@ parser = argparse.ArgumentParser(description='Validate JSON file(s) against a sc
|
||||
parser.add_argument('json_file', nargs='+', help='JSON config file(s)')
|
||||
parser.add_argument('--schema-file', type=str, action='store',
|
||||
help='JSON schema file', required=True)
|
||||
parser.add_argument('--skip-if-no-schema', dest='skip_if_no_schema', action='store_true',
|
||||
help='Skip test if schema file does not exist')
|
||||
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
|
||||
help='Verbose Output')
|
||||
|
||||
@@ -32,9 +29,6 @@ schema_file = args.schema_file
|
||||
json_files = args.json_file
|
||||
verbose = args.verbose
|
||||
|
||||
if args.skip_if_no_schema and not os.path.isfile(schema_file):
|
||||
sys.exit(0)
|
||||
|
||||
# load the schema
|
||||
with open(schema_file, 'r') as stream:
|
||||
schema = json.load(stream)
|
||||
|
||||
@@ -58,14 +58,12 @@ CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
CONFIG_MODULES_MAVLINK=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -77,7 +75,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VMOUNT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_ESC_CALIB=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -25,7 +25,7 @@
|
||||
# CONFIG_STM32_CCMEXCLUDE is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/airmind/mindpx-v2/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
@@ -42,7 +42,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0030
|
||||
CONFIG_CDCACM_PRODUCTSTR="MindPX FMU v2.x"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
@@ -93,6 +92,7 @@ CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
@@ -114,6 +114,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -239,6 +239,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
if (!spi4) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
|
||||
board_autoled_on(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default SPI4 to 10MHz and de-assert the known chip selects. */
|
||||
@@ -254,6 +255,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
if (!spi1) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
|
||||
board_autoled_on(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default SPI1 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
|
||||
@@ -277,7 +279,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
|
||||
|
||||
if (!sdio) {
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n",
|
||||
CONFIG_NSH_MMCSDSLOTNO);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SDIO interface to the MMC/SD driver */
|
||||
@@ -285,6 +289,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (ret != OK) {
|
||||
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
#
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
@@ -40,6 +40,13 @@ CONFIG_FS_PROCFS_MAX_TASKS=0
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_NAME_MAX=0
|
||||
CONFIG_NUNGET_CHARS=0
|
||||
CONFIG_NXFONTS_DISABLE_16BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_1BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_24BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_2BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_32BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_4BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_8BPP=y
|
||||
CONFIG_PREALLOC_TIMERS=0
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=262144
|
||||
|
||||
@@ -124,6 +124,10 @@
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_2
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_2
|
||||
|
||||
/* I2C */
|
||||
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1
|
||||
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1
|
||||
|
||||
/* SPI */
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
|
||||
|
||||
@@ -21,7 +21,7 @@
|
||||
# CONFIG_STM32_DMACAPABLE is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
@@ -57,6 +57,8 @@ CONFIG_GRAN=y
|
||||
CONFIG_GRAN_INTR=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
@@ -70,6 +72,7 @@ CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
@@ -91,6 +94,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
@@ -123,6 +127,7 @@ CONFIG_STM32_DMA1=y
|
||||
CONFIG_STM32_DMA2=y
|
||||
CONFIG_STM32_FLASH_PREFETCH=y
|
||||
CONFIG_STM32_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32_I2C1=y
|
||||
CONFIG_STM32_JTAG_SW_ENABLE=y
|
||||
CONFIG_STM32_PWR=y
|
||||
CONFIG_STM32_RTC=y
|
||||
|
||||
@@ -49,6 +49,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
|
||||
else()
|
||||
add_library(drivers_board
|
||||
can.c
|
||||
i2c.cpp
|
||||
init.c
|
||||
led.c
|
||||
spi.cpp
|
||||
|
||||
@@ -35,5 +35,4 @@
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusExternal(1),
|
||||
initI2CBusInternal(2),
|
||||
};
|
||||
@@ -146,6 +146,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
#endif // FLASH_BASED_PARAMS
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
#
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-gps/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
@@ -40,6 +40,13 @@ CONFIG_FS_PROCFS_MAX_TASKS=0
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_NAME_MAX=0
|
||||
CONFIG_NUNGET_CHARS=0
|
||||
CONFIG_NXFONTS_DISABLE_16BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_1BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_24BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_2BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_32BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_4BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_8BPP=y
|
||||
CONFIG_PREALLOC_TIMERS=0
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=262144
|
||||
|
||||
@@ -21,7 +21,7 @@
|
||||
# CONFIG_STM32_DMACAPABLE is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-gps/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
@@ -72,6 +72,7 @@ CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
@@ -93,6 +94,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -151,6 +151,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
#endif // FLASH_BASED_PARAMS
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
#
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-rtk-gps/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
@@ -40,6 +40,13 @@ CONFIG_FS_PROCFS_MAX_TASKS=0
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_NAME_MAX=0
|
||||
CONFIG_NUNGET_CHARS=0
|
||||
CONFIG_NXFONTS_DISABLE_16BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_1BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_24BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_2BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_32BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_4BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_8BPP=y
|
||||
CONFIG_PREALLOC_TIMERS=0
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=262144
|
||||
|
||||
@@ -21,7 +21,7 @@
|
||||
# CONFIG_STM32_DMACAPABLE is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-rtk-gps/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
@@ -72,6 +72,7 @@ CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
@@ -93,6 +94,7 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
|
||||
@@ -157,6 +157,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
#endif // FLASH_BASED_PARAMS
|
||||
|
||||
@@ -17,21 +17,18 @@ CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
CONFIG_MODULES_MAVLINK=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_SIH=y
|
||||
CONFIG_MODULES_VMOUNT=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -25,7 +25,7 @@
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/atl/mantis-edu/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32f7"
|
||||
@@ -39,7 +39,6 @@ CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=22114
|
||||
@@ -47,7 +46,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0061
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 ATL Mantis-EDU"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
@@ -99,6 +97,7 @@ CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
@@ -121,11 +120,10 @@ CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_READLINE_CMD_HISTORY=y
|
||||
CONFIG_READLINE_TABCOMPLETION=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
|
||||
@@ -240,6 +240,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (ret != OK) {
|
||||
led_on(LED_RED);
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
|
||||
@@ -55,14 +55,12 @@ CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
CONFIG_MODULES_MAVLINK=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -74,7 +72,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VMOUNT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_ESC_CALIB=y
|
||||
|
||||
@@ -37,7 +37,7 @@
|
||||
# CONFIG_NSH_DISABLE_XD is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/av/x-v1/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32f7"
|
||||
@@ -51,7 +51,6 @@ CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=22114
|
||||
@@ -79,7 +78,6 @@ CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
@@ -93,6 +91,7 @@ CONFIG_IOB_NBUFFERS=24
|
||||
CONFIG_IOB_THROTTLE=0
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
@@ -124,6 +123,7 @@ CONFIG_NET_UDP=y
|
||||
CONFIG_NET_UDP_CHECKSUMS=y
|
||||
CONFIG_NET_UDP_WRITE_BUFFERS=y
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
@@ -146,8 +146,6 @@ CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_READLINE_CMD_HISTORY=y
|
||||
CONFIG_READLINE_TABCOMPLETION=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
|
||||
@@ -175,6 +175,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
if (ret != OK) {
|
||||
syslog(LOG_ERR, "[boot] SDIO init failed\n");
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
|
||||
@@ -14,7 +14,6 @@ CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
|
||||
CONFIG_DRIVERS_LINUX_PWM_OUT=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
|
||||
CONFIG_DRIVERS_PWM_OUT_SIM=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
@@ -24,7 +23,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_ESC_BATTERY=y
|
||||
@@ -41,7 +39,6 @@ CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
CONFIG_MODULES_MAVLINK=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
|
||||
@@ -48,16 +48,11 @@
|
||||
|
||||
|
||||
// I2C
|
||||
#define CONFIG_I2C 1
|
||||
#define PX4_NUMBER_I2C_BUSES 2
|
||||
|
||||
#define PX4_I2C_OBDEV_MPU9250 0x68
|
||||
|
||||
|
||||
// SPI
|
||||
#define CONFIG_SPI 1
|
||||
|
||||
|
||||
// ADC channels:
|
||||
#define ADC_CHANNELS (1 << 5)
|
||||
#define BOARD_ADC_POS_REF_V (1.8f)
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user