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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
622c833768 |
@@ -62,8 +62,6 @@ pipeline {
|
||||
"holybro_durandal-v1_default",
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||||
"holybro_kakutef7_default",
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||||
"holybro_kakuteh7_default",
|
||||
"holybro_kakuteh7v2_default",
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||||
"holybro_kakuteh7mini_default",
|
||||
"holybro_pix32v5_default",
|
||||
"matek_gnss-m9n-f4_canbootloader",
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||||
"matek_gnss-m9n-f4_default",
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||||
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||||
Vendored
+1
-1
@@ -180,7 +180,7 @@ CONFIG:
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short: cubepilot_cubeorange
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buildType: MinSizeRel
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settings:
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CONFIG: cubepilot_cubeorange_test
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CONFIG: cubepilot_orange_test
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emlid_navio2_default:
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short: emlid_navio2
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buildType: MinSizeRel
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||||
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||||
Vendored
+9
-1
@@ -2,6 +2,7 @@
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"astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
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"astyle.c.enable": true,
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"astyle.cpp.enable": true,
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||||
"breadcrumbs.enabled": true,
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||||
"C_Cpp.autoAddFileAssociations": false,
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||||
"C_Cpp.clang_format_fallbackStyle": "none",
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||||
"C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
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@@ -19,6 +20,7 @@
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"cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
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"cmakeExplorer.parallelJobs": 1,
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"cmakeExplorer.suiteDelimiter": "-",
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"cortex-debug.enableTelemetry": false,
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||||
"cSpell.allowCompoundWords": true,
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"cSpell.diagnosticLevel": "Hint",
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"cSpell.showStatus": false,
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@@ -29,6 +31,7 @@
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],
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"debug.toolBarLocation": "docked",
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"editor.defaultFormatter": "chiehyu.vscode-astyle",
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"editor.dragAndDrop": false,
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"editor.insertSpaces": false,
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"editor.minimap.maxColumn": 120,
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"editor.minimap.renderCharacters": false,
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@@ -124,7 +127,12 @@
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"${workspaceFolder}/build": true
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},
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"search.showLineNumbers": true,
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"terminal.integrated.scrollback": 15000,
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"telemetry.enableTelemetry": false,
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"terminal.integrated.scrollback": 5000,
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"window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
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"workbench.editor.highlightModifiedTabs": true,
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"workbench.enableExperiments": false,
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"workbench.settings.enableNaturalLanguageSearch": false,
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"yaml.schemas": {
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"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
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}
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@@ -49,7 +49,7 @@ param set-default CA_AIRFRAME 4
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param set-default CA_ROTOR_COUNT 2
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param set-default CA_ROTOR0_PX 0
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param set-default CA_ROTOR0_PY 1
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param set-default CA_ROTOR0_PY 2
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX 0
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param set-default CA_ROTOR1_PY -1
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@@ -10,7 +10,7 @@ param set-default EKF2_MAG_YAWLIM 0
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param set-default FW_LND_ANG 8
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param set-default NPFG_PERIOD 12
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param set-default FW_L1_PERIOD 12
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param set-default FW_PR_P 0.9
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param set-default FW_PR_FF 0.5
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@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
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param set-default FW_LND_AIRSPD_SC 1
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param set-default FW_LND_ANG 8
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param set-default NPFG_PERIOD 12
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param set-default FW_L1_PERIOD 12
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param set-default FW_PR_P 0.9
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param set-default FW_PR_FF 0.5
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@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
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param set-default FW_LND_AIRSPD_SC 1
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param set-default FW_LND_ANG 8
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param set-default NPFG_PERIOD 12
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param set-default FW_L1_PERIOD 12
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param set-default FW_PR_P 0.9
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param set-default FW_PR_FF 0.5
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@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
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param set-default FW_LND_FL_PMAX 20
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param set-default FW_LND_FLALT 5
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param set-default NPFG_PERIOD 25
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param set-default FW_L1_PERIOD 25
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param set-default FW_PR_FF 0.40
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param set-default FW_PR_I 0.05
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@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
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param set-default FW_LND_FL_PMAX 20
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param set-default FW_LND_FLALT 5
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param set-default NPFG_PERIOD 25
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param set-default FW_L1_PERIOD 25
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param set-default FW_PR_FF 0.40
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param set-default FW_PR_I 0.05
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@@ -10,6 +10,8 @@ param set-default EKF2_MAG_YAWLIM 0
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param set-default FW_LND_ANG 8
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param set-default FW_L1_PERIOD 15
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param set-default FW_P_TC 0.5
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param set-default FW_PR_FF 0.40
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param set-default FW_PR_I 0.05
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@@ -20,7 +22,7 @@ param set-default FW_RR_FF 0.20
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param set-default FW_RR_I 0.02
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param set-default FW_RR_P 0.22
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param set-default NPFG_PERIOD 12
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param set-default FW_L1_PERIOD 12
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param set-default FW_W_EN 1
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@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
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param set-default FW_LND_FL_PMAX 20
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param set-default FW_LND_FLALT 5
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param set-default NPFG_PERIOD 25
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param set-default FW_L1_PERIOD 25
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param set-default FW_PR_FF 0.40
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param set-default FW_PR_I 0.05
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@@ -10,7 +10,7 @@ param set-default EKF2_MAG_YAWLIM 0
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param set-default FW_LND_ANG 8
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|
||||
param set-default NPFG_PERIOD 12
|
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param set-default FW_L1_PERIOD 12
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param set-default FW_PR_P 0.9
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param set-default FW_PR_FF 0.2
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||||
|
||||
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
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param set-default FW_LND_AIRSPD_SC 1
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param set-default FW_LND_ANG 8
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|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
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||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
|
||||
@@ -11,7 +11,7 @@ param set-default FW_LND_FL_PMIN 9.5
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||||
param set-default FW_LND_FL_PMAX 20
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||||
param set-default FW_LND_FLALT 5
|
||||
|
||||
param set-default NPFG_PERIOD 25
|
||||
param set-default FW_L1_PERIOD 25
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||||
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
|
||||
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
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||||
param set-default FW_LND_ANG 8
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||||
param set-default FW_THR_LND_MAX 0
|
||||
|
||||
param set-default NPFG_PERIOD 12
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||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
|
||||
|
||||
@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
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||||
param set-default PWM_MAIN_FUNC7 202
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||||
param set-default PWM_MAIN_FUNC8 203
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
|
||||
@@ -13,7 +13,7 @@ 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 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
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||||
@@ -42,7 +42,7 @@ param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
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||||
param set-default PWM_MAIN_REV 96 # invert both elevons
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_PR_I 0.2
|
||||
param set-default FW_PR_P 0.2
|
||||
param set-default FW_PSP_OFF 2
|
||||
|
||||
@@ -46,7 +46,7 @@ param set-default PWM_MAIN_FUNC7 201
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||||
param set-default PWM_MAIN_FUNC8 202
|
||||
param set-default PWM_MAIN_FUNC9 203
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
|
||||
@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
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||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
|
||||
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
|
||||
@@ -15,7 +15,7 @@ param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
@@ -54,9 +54,6 @@ param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default COM_PREARM_MODE 2
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
|
||||
@@ -184,9 +184,6 @@ param set-default SDLOG_DIRS_MAX 7
|
||||
param set-default TRIG_INTERFACE 3
|
||||
|
||||
param set-default SYS_FAILURE_EN 1
|
||||
# Enable low-battery actions by default for (automated) testing. Battery sim
|
||||
# does not go below 50% by default, but failure injection can trigger failsafes.
|
||||
param set-default COM_LOW_BAT_ACT 2
|
||||
|
||||
# Adapt timeout parameters if simulation runs faster or slower than realtime.
|
||||
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
|
||||
|
||||
@@ -38,7 +38,7 @@ param set-default EKF2_GPS_P_GATE 10
|
||||
param set-default EKF2_GPS_V_GATE 10
|
||||
|
||||
param set-default FW_ARSP_MODE 1
|
||||
param set-default NPFG_PERIOD 25
|
||||
param set-default FW_L1_PERIOD 25
|
||||
param set-default FW_PR_FF 0.7
|
||||
param set-default FW_PR_I 0.18
|
||||
param set-default FW_PR_P 0.15
|
||||
|
||||
@@ -30,7 +30,7 @@ param set-default BAT1_N_CELLS 6
|
||||
param set-default FW_AIRSPD_MAX 30
|
||||
param set-default FW_AIRSPD_MIN 19
|
||||
param set-default FW_AIRSPD_TRIM 23
|
||||
param set-default FW_PN_R_SLEW_MAX 40
|
||||
param set-default FW_L1_R_SLEW_MAX 40
|
||||
param set-default FW_PSP_OFF 3
|
||||
param set-default FW_P_LIM_MAX 18
|
||||
param set-default FW_P_LIM_MIN -25
|
||||
|
||||
@@ -20,7 +20,7 @@ control_allocator start
|
||||
#
|
||||
fw_rate_control start
|
||||
fw_att_control start
|
||||
fw_path_navigation start
|
||||
fw_pos_control_l1 start
|
||||
airspeed_selector start
|
||||
|
||||
#
|
||||
|
||||
@@ -14,14 +14,9 @@ param set-default MAV_TYPE 1
|
||||
# Default parameters for fixed wing UAVs.
|
||||
#
|
||||
param set-default COM_POS_FS_DELAY 5
|
||||
|
||||
# there is a 2.5 factor applied on the _FS thresholds if for invalidation
|
||||
param set-default COM_POS_FS_EPH 50
|
||||
param set-default COM_POS_FS_EPH 15
|
||||
param set-default COM_POS_FS_EPV 30
|
||||
param set-default COM_VEL_FS_EVH 5
|
||||
|
||||
param set-default COM_POS_LOW_EPH 50
|
||||
|
||||
# Disable preflight disarm to not interfere with external launching
|
||||
param set-default COM_DISARM_PRFLT -1
|
||||
|
||||
|
||||
@@ -37,7 +37,7 @@ fi
|
||||
|
||||
fw_rate_control start vtol
|
||||
fw_att_control start vtol
|
||||
fw_path_navigation start vtol
|
||||
fw_pos_control_l1 start vtol
|
||||
fw_autotune_attitude_control start vtol
|
||||
|
||||
# Start Land Detector
|
||||
|
||||
@@ -10,11 +10,6 @@ set VEHICLE_TYPE vtol
|
||||
# MAV_TYPE_VTOL_FIXEDROTOR 22
|
||||
param set-default MAV_TYPE 22
|
||||
|
||||
# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
|
||||
param set-default COM_POS_FS_EPH 50
|
||||
|
||||
param set-default COM_POS_LOW_EPH 50
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_YAW_TMT 10
|
||||
|
||||
|
||||
+10
-11
@@ -217,17 +217,6 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
# Set Java 11 as default
|
||||
sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
|
||||
|
||||
# Install Gazebo
|
||||
if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
|
||||
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||
# Update list, since new gazebo-stable.list has been added
|
||||
sudo apt-get update -y --quiet
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
ignition-fortress \
|
||||
;
|
||||
fi
|
||||
|
||||
# Install Gazebo classic
|
||||
if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||
gazebo_version=9
|
||||
@@ -266,6 +255,16 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
echo "export SVGA_VGPU10=0" >> ~/.profile
|
||||
fi
|
||||
|
||||
# Install Gazebo
|
||||
if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
|
||||
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||
# Update list, since new gazebo-stable.list has been added
|
||||
sudo apt-get update -y --quiet
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
ignition-fortress \
|
||||
;
|
||||
fi
|
||||
fi
|
||||
|
||||
if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
|
||||
@@ -685,7 +685,6 @@
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_0</joint_name>
|
||||
<sub_topic>servo_0</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
@@ -709,7 +708,6 @@
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_1</joint_name>
|
||||
<sub_topic>servo_1</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
@@ -769,7 +767,6 @@
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_2</joint_name>
|
||||
<sub_topic>servo_2</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.0</a0>
|
||||
@@ -792,8 +789,6 @@
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>rudder_joint</joint_name>
|
||||
<sub_topic>servo_3</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_puller_joint</jointName>
|
||||
|
||||
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -31,7 +31,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -51,7 +51,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -33,7 +33,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -39,7 +39,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -38,7 +38,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -39,7 +39,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -29,7 +29,7 @@ CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -30,7 +30,7 @@ CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -31,7 +31,7 @@ CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -48,7 +48,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -48,7 +48,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -20,7 +20,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -20,7 +20,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -9,5 +9,5 @@ CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
|
||||
CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
|
||||
@@ -49,7 +49,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -55,7 +55,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -18,7 +18,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=n
|
||||
CONFIG_MODULES_ESC_BATTERY=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=n
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
|
||||
|
||||
@@ -58,7 +58,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -42,7 +42,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -30,7 +30,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -17,7 +17,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -30,7 +30,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -47,7 +47,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -44,7 +44,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -126,7 +126,6 @@ set(msg_files
|
||||
Mission.msg
|
||||
MissionResult.msg
|
||||
MountOrientation.msg
|
||||
ModeCompleted.msg
|
||||
NavigatorMissionItem.msg
|
||||
NpfgStatus.msg
|
||||
ObstacleDistance.msg
|
||||
|
||||
@@ -18,4 +18,6 @@ bool fusion_enabled # true when measurements are being fused
|
||||
bool innovation_rejected # true if the observation has been rejected
|
||||
bool fused # true if the sample was successfully fused
|
||||
|
||||
# TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
|
||||
# TOPICS estimator_aid_src_ev_vel
|
||||
# TOPICS estimator_aid_src_gnss_vel
|
||||
# TOPICS estimator_aid_src_mag
|
||||
|
||||
@@ -28,7 +28,6 @@ float32[2] terr_flow # flow innvoation (rad/sec) and innovation variance compute
|
||||
# Various
|
||||
float32 heading # heading innovation (rad) and innovation variance (rad**2)
|
||||
float32[3] mag_field # earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)
|
||||
float32[3] gravity # gravity innovation from accelerometerr vector (m/s**2)
|
||||
float32[2] drag # drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)
|
||||
float32 airspeed # airspeed innovation (m/sec) and innovation variance ((m/sec)**2)
|
||||
float32 beta # synthetic sideslip innovation (rad) and innovation variance (rad**2)
|
||||
|
||||
@@ -38,7 +38,6 @@ bool cs_wind_dead_reckoning # 30 - true if we are navigationg reliant on win
|
||||
bool cs_rng_kin_consistent # 31 - true when the range finder kinematic consistency check is passing
|
||||
bool cs_fake_pos # 32 - true when fake position measurements are being fused
|
||||
bool cs_fake_hgt # 33 - true when fake height measurements are being fused
|
||||
bool cs_gravity_vector # 34 - true when gravity vector measurements are being fused
|
||||
|
||||
# fault status
|
||||
uint32 fault_status_changes # number of filter fault status (fs) changes
|
||||
|
||||
@@ -15,7 +15,6 @@ uint32 mode_req_global_position
|
||||
uint32 mode_req_mission
|
||||
uint32 mode_req_offboard_signal
|
||||
uint32 mode_req_home_position
|
||||
uint32 mode_req_wind_and_flight_time_compliance # if set, mode cannot be entered if wind or flight time limit exceeded
|
||||
uint32 mode_req_prevent_arming # if set, cannot arm while in this mode
|
||||
uint32 mode_req_other # other requirements, not covered above (for external modes)
|
||||
|
||||
@@ -48,7 +47,6 @@ bool mission_failure # Mission failure
|
||||
bool vtol_fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
|
||||
bool wind_limit_exceeded # Wind limit exceeded
|
||||
bool flight_time_limit_exceeded # Maximum flight time exceeded
|
||||
bool local_position_accuracy_low # Local position estimate has dropped below threshold, but is currently still declared valid
|
||||
|
||||
# Failure detector
|
||||
bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS)
|
||||
|
||||
@@ -1,14 +0,0 @@
|
||||
# Mode completion result, published by an active mode.
|
||||
# Note that this is not always published (e.g. when a user switches modes or on
|
||||
# failsafe activation)
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
|
||||
uint8 RESULT_SUCCESS = 0
|
||||
# [1-99]: reserved
|
||||
uint8 RESULT_FAILURE_OTHER = 100 # Mode failed (generic error)
|
||||
|
||||
uint8 result # One of RESULT_*
|
||||
|
||||
uint8 nav_state # Source mode
|
||||
|
||||
@@ -71,7 +71,7 @@ __END_DECLS
|
||||
* Messages that should never be filtered or compiled out
|
||||
****************************************************************************/
|
||||
#define PX4_INFO(FMT, ...) qurt_log(_PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
|
||||
#define PX4_INFO_RAW(FMT, ...) qurt_log_raw(FMT, ##__VA_ARGS__)
|
||||
#define PX4_INFO_RAW(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
|
||||
|
||||
#if defined(TRACE_BUILD)
|
||||
/****************************************************************************
|
||||
|
||||
@@ -141,12 +141,8 @@ typedef struct {
|
||||
// The navigation system needs to execute regularly but has no realtime needs
|
||||
#define SCHED_PRIORITY_NAVIGATION (SCHED_PRIORITY_DEFAULT + 5)
|
||||
// SCHED_PRIORITY_DEFAULT
|
||||
|
||||
#define SCHED_PRIORITY_LOG_WRITER (SCHED_PRIORITY_DEFAULT - 10)
|
||||
#define SCHED_PRIORITY_PARAMS (SCHED_PRIORITY_DEFAULT - 15)
|
||||
|
||||
#define SCHED_PRIORITY_LOG_WRITER (SCHED_PRIORITY_DEFAULT - 40)
|
||||
|
||||
|
||||
// SCHED_PRIORITY_IDLE
|
||||
|
||||
typedef int (*px4_main_t)(int argc, char *argv[]);
|
||||
|
||||
@@ -308,7 +308,7 @@ int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd)
|
||||
|
||||
instances[i] = new mtd_instance_s;
|
||||
|
||||
if (instances[i] == nullptr) {
|
||||
if (instances == nullptr) {
|
||||
memoryout:
|
||||
PX4_ERR("failed to allocate memory!");
|
||||
return rv;
|
||||
@@ -444,39 +444,41 @@ __EXPORT int px4_mtd_query(const char *sub, const char *val, const char **get)
|
||||
{
|
||||
int rv = -ENODEV;
|
||||
|
||||
static const char *keys[] = PX4_MFT_MTD_STR_TYPES;
|
||||
static const px4_mtd_types_t types[] = PX4_MFT_MTD_TYPES;
|
||||
int key = 0;
|
||||
if (instances != nullptr) {
|
||||
|
||||
for (unsigned int k = 0; k < arraySize(keys); k++) {
|
||||
if (!strcmp(keys[k], sub)) {
|
||||
key = types[k];
|
||||
break;
|
||||
static const char *keys[] = PX4_MFT_MTD_STR_TYPES;
|
||||
static const px4_mtd_types_t types[] = PX4_MFT_MTD_TYPES;
|
||||
int key = 0;
|
||||
|
||||
for (unsigned int k = 0; k < arraySize(keys); k++) {
|
||||
if (!strcmp(keys[k], sub)) {
|
||||
key = types[k];
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
rv = -EINVAL;
|
||||
rv = -EINVAL;
|
||||
|
||||
if (key != 0) {
|
||||
rv = -ENOENT;
|
||||
if (key != 0) {
|
||||
rv = -ENOENT;
|
||||
|
||||
for (int i = 0; i < num_instances; i++) {
|
||||
for (unsigned n = 0; n < instances[i]->n_partitions_current; n++) {
|
||||
if (instances[i]->partition_types[n] == key) {
|
||||
if (get != nullptr && val == nullptr) {
|
||||
*get = instances[i]->partition_names[n];
|
||||
return 0;
|
||||
}
|
||||
for (int i = 0; i < num_instances; i++) {
|
||||
for (unsigned n = 0; n < instances[i]->n_partitions_current; n++) {
|
||||
if (instances[i]->partition_types[n] == key) {
|
||||
if (get != nullptr && val == nullptr) {
|
||||
*get = instances[i]->partition_names[n];
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (val != nullptr && strcmp(instances[i]->partition_names[n], val) == 0) {
|
||||
return 0;
|
||||
if (val != nullptr && strcmp(instances[i]->partition_names[n], val) == 0) {
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
return rv;
|
||||
}
|
||||
|
||||
@@ -32,7 +32,6 @@
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(../stm32_common/io_pins io_pins)
|
||||
add_subdirectory(../stm32_common/spi spi)
|
||||
add_subdirectory(../stm32_common/hrt hrt)
|
||||
add_subdirectory(../stm32_common/board_critmon board_critmon)
|
||||
add_subdirectory(../stm32_common/board_reset board_reset)
|
||||
|
||||
@@ -57,14 +57,4 @@ static __inline void qurt_log(int level, const char *file, int line,
|
||||
qurt_log_to_apps(level, buf);
|
||||
}
|
||||
|
||||
static __inline void qurt_log_raw(const char *format, ...)
|
||||
{
|
||||
char buf[256];
|
||||
va_list args;
|
||||
va_start(args, format);
|
||||
vsnprintf(buf, sizeof(buf), format, args);
|
||||
va_end(args);
|
||||
qurt_log_to_apps(1, buf);
|
||||
}
|
||||
|
||||
__END_DECLS
|
||||
|
||||
@@ -29,7 +29,7 @@ flight_mode_manager start
|
||||
mc_pos_control start vtol
|
||||
mc_att_control start vtol
|
||||
mc_rate_control start vtol
|
||||
fw_path_navigation start vtol
|
||||
fw_pos_control_l1 start vtol
|
||||
fw_att_control start vtol
|
||||
airspeed_selector start
|
||||
|
||||
@@ -59,7 +59,7 @@ flight_mode_manager status
|
||||
mc_pos_control status
|
||||
mc_att_control status
|
||||
mc_rate_control status
|
||||
fw_path_navigation status
|
||||
fw_pos_control_l1 status
|
||||
fw_att_control status
|
||||
airspeed_selector status
|
||||
dataman status
|
||||
@@ -74,7 +74,7 @@ mc_att_control stop
|
||||
fw_att_control stop
|
||||
flight_mode_manager stop
|
||||
mc_pos_control stop
|
||||
fw_path_navigation stop
|
||||
fw_pos_control_l1 stop
|
||||
navigator stop
|
||||
commander stop
|
||||
land_detector stop
|
||||
|
||||
@@ -56,7 +56,7 @@ ekf2 start
|
||||
land_detector start fixedwing
|
||||
|
||||
fw_att_control start
|
||||
fw_path_navigation start
|
||||
fw_pos_control_l1 start
|
||||
|
||||
mavlink start -n SoftAp -x -u 14556 -r 1000000 -p
|
||||
# -n name of wifi interface: SoftAp, wlan or your custom interface,
|
||||
|
||||
@@ -63,7 +63,7 @@ airspeed_selector start
|
||||
land_detector start fixedwing
|
||||
flight_mode_manager start
|
||||
fw_att_control start
|
||||
fw_path_navigation start
|
||||
fw_pos_control_l1 start
|
||||
|
||||
mavlink start -x -u 14556 -r 1000000 -p
|
||||
|
||||
|
||||
@@ -41,7 +41,7 @@ navigator start
|
||||
ekf2 start
|
||||
land_detector start fixedwing
|
||||
fw_att_control start
|
||||
fw_path_navigation start
|
||||
fw_pos_control_l1 start
|
||||
|
||||
mavlink start -x -u 14556 -r 1000000 -p
|
||||
|
||||
|
||||
@@ -111,11 +111,11 @@
|
||||
#define DRV_DIFF_PRESS_DEVTYPE_SDP32 0x4B
|
||||
#define DRV_DIFF_PRESS_DEVTYPE_SDP33 0x4C
|
||||
|
||||
#define DRV_BARO_DEVTYPE_LPS33HW 0x4C
|
||||
#define DRV_BARO_DEVTYPE_TCBP001TA 0x4D
|
||||
#define DRV_BARO_DEVTYPE_MS5837 0x4E
|
||||
#define DRV_BARO_DEVTYPE_SPL06 0x4F
|
||||
|
||||
#define DRV_BARO_DEVTYPE_LPS33HW 0x50
|
||||
#define DRV_BARO_DEVTYPE_MPL3115A2 0x51
|
||||
#define DRV_ACC_DEVTYPE_FXOS8701C 0x52
|
||||
|
||||
|
||||
@@ -47,19 +47,9 @@
|
||||
// Static variables
|
||||
px4::AppState QShell::appState;
|
||||
uint32_t QShell::_current_sequence{0};
|
||||
uORB::Subscription *QShell::_qshell_retval_sub{nullptr};
|
||||
|
||||
|
||||
int QShell::main(std::vector<std::string> argList)
|
||||
{
|
||||
if (_qshell_retval_sub == nullptr) {
|
||||
_qshell_retval_sub = new uORB::Subscription(ORB_ID(qshell_retval));
|
||||
|
||||
if (_qshell_retval_sub == nullptr) {
|
||||
PX4_ERR("Couldn't initialilze Qshell response subscription");
|
||||
}
|
||||
}
|
||||
|
||||
int ret = _send_cmd(argList);
|
||||
|
||||
if (ret != 0) {
|
||||
@@ -119,7 +109,7 @@ int QShell::_wait_for_retval()
|
||||
memset(&retval, 0, sizeof(qshell_retval_s));
|
||||
|
||||
while (hrt_elapsed_time(&time_started_us) < QSHELL_RESPONSE_WAIT_TIME_US) {
|
||||
if (_qshell_retval_sub->update(&retval)) {
|
||||
if (_qshell_retval_sub.update(&retval)) {
|
||||
if (retval.return_sequence != _current_sequence) {
|
||||
PX4_WARN("Ignoring return value with wrong sequence");
|
||||
|
||||
|
||||
@@ -58,7 +58,7 @@ private:
|
||||
|
||||
uORB::Publication<qshell_req_s> _qshell_req_pub{ORB_ID(qshell_req)};
|
||||
|
||||
static uORB::Subscription *_qshell_retval_sub;
|
||||
uORB::Subscription _qshell_retval_sub{ORB_ID(qshell_retval)};
|
||||
|
||||
static uint32_t _current_sequence;
|
||||
};
|
||||
|
||||
@@ -1254,9 +1254,11 @@ UavcanNode::get_next_dirty_node_id(uint8_t base)
|
||||
*/
|
||||
static void print_usage()
|
||||
{
|
||||
PX4_INFO("usage: \n"
|
||||
"\tuavcan {start|status|stop|shrink|update}\n"
|
||||
"\t param [set|get|list|save] <node-id> <name> <value>|reset <node-id>");
|
||||
PX4_INFO_RAW("usage: \n"
|
||||
"\tuavcan {start|status|stop|shrink|update}\n"
|
||||
"\t param [set|get|list|save] <node-id> <name> <value>|reset <node-id>"
|
||||
"\t reset <node-id>"
|
||||
);
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int uavcan_main(int argc, char *argv[])
|
||||
@@ -1317,6 +1319,17 @@ extern "C" __EXPORT int uavcan_main(int argc, char *argv[])
|
||||
::exit(0);
|
||||
}
|
||||
|
||||
if (!std::strcmp(argv[1], "reset")) {
|
||||
int node_arg = 2;
|
||||
|
||||
if (argc < node_arg + 1) {
|
||||
errx(1, "Node id required");
|
||||
}
|
||||
|
||||
int nodeid = atoi(argv[node_arg]);
|
||||
return inst->reset_node(nodeid);
|
||||
}
|
||||
|
||||
/*
|
||||
* Parameter setting commands
|
||||
*
|
||||
@@ -1326,9 +1339,9 @@ extern "C" __EXPORT int uavcan_main(int argc, char *argv[])
|
||||
* uavcan param set <node> <name> <value>
|
||||
*
|
||||
*/
|
||||
int node_arg = !std::strcmp(argv[1], "reset") ? 2 : 3;
|
||||
if (!std::strcmp(argv[1], "param")) {
|
||||
int node_arg = 3;
|
||||
|
||||
if (!std::strcmp(argv[1], "param") || node_arg == 2) {
|
||||
if (argc < node_arg + 1) {
|
||||
errx(1, "Node id required");
|
||||
}
|
||||
@@ -1339,11 +1352,7 @@ extern "C" __EXPORT int uavcan_main(int argc, char *argv[])
|
||||
errx(1, "Invalid Node id");
|
||||
}
|
||||
|
||||
if (node_arg == 2) {
|
||||
|
||||
return inst->reset_node(nodeid);
|
||||
|
||||
} else if (!std::strcmp(argv[2], "list")) {
|
||||
if (!std::strcmp(argv[2], "list")) {
|
||||
|
||||
return inst->list_params(nodeid);
|
||||
|
||||
|
||||
+233
-9
@@ -47,9 +47,8 @@
|
||||
using matrix::Vector2d;
|
||||
using matrix::Vector2f;
|
||||
|
||||
void NPFG::guideToPath(const matrix::Vector2f &curr_pos_local, const Vector2f &ground_vel, const Vector2f &wind_vel,
|
||||
const Vector2f &unit_path_tangent,
|
||||
const Vector2f &position_on_path, const float path_curvature)
|
||||
void NPFG::guideToPath(const Vector2f &ground_vel, const Vector2f &wind_vel, const Vector2f &unit_path_tangent,
|
||||
const float signed_track_error, const float path_curvature)
|
||||
{
|
||||
const float ground_speed = ground_vel.norm();
|
||||
|
||||
@@ -58,9 +57,6 @@ void NPFG::guideToPath(const matrix::Vector2f &curr_pos_local, const Vector2f &g
|
||||
|
||||
const float wind_speed = wind_vel.norm();
|
||||
|
||||
const Vector2f path_pos_to_vehicle{curr_pos_local - position_on_path};
|
||||
const float signed_track_error = unit_path_tangent.cross(path_pos_to_vehicle);
|
||||
|
||||
// on-track wind triangle projections
|
||||
const float wind_cross_upt = wind_vel.cross(unit_path_tangent);
|
||||
const float wind_dot_upt = wind_vel.dot(unit_path_tangent);
|
||||
@@ -119,10 +115,62 @@ void NPFG::guideToPath(const matrix::Vector2f &curr_pos_local, const Vector2f &g
|
||||
// ramped in as the vehicle approaches the track and is further smoothly
|
||||
// zeroed out as the bearing becomes infeasible.
|
||||
lateral_accel_ = lateral_accel + feas_combined * track_proximity_ * lateral_accel_ff_;
|
||||
|
||||
updateRollSetpoint();
|
||||
} // guideToPath
|
||||
|
||||
void NPFG::guideToPoint(const Vector2f &ground_vel, const Vector2f &wind_vel, const Vector2f &bearing_vec,
|
||||
const float track_error)
|
||||
{
|
||||
bearing_vec_ = bearing_vec; // for status output
|
||||
|
||||
const float ground_speed = ground_vel.norm();
|
||||
|
||||
const Vector2f air_vel = ground_vel - wind_vel;
|
||||
const float airspeed = air_vel.norm();
|
||||
|
||||
const float wind_speed = wind_vel.norm();
|
||||
|
||||
// wind triangle projections
|
||||
const float wind_cross_bearing = wind_vel.cross(bearing_vec);
|
||||
const float wind_dot_bearing = wind_vel.dot(bearing_vec);
|
||||
|
||||
// continuous representation of the bearing feasibility
|
||||
feas_ = bearingFeasibility(wind_cross_bearing, wind_dot_bearing, airspeed, wind_speed);
|
||||
feas_on_track_ = feas_; // no distinction in point following - set only for recording
|
||||
|
||||
// update control parameters considering upper and lower stability bounds (if enabled)
|
||||
// must be called before trackErrorBound() as it updates time_const_
|
||||
// NOTE: track error input as 0 for the period adaptation as track proximity will
|
||||
// only ramp in 1) curvature based lower bounding, of which there is none
|
||||
// for a point, and 2) period upper bounds, which for zero curvature is
|
||||
// infinite, and thus disregarded in this case.
|
||||
adapted_period_ = adaptPeriod(ground_speed, airspeed, wind_speed, 0.0f, 0.0f,
|
||||
wind_vel, bearing_vec, feas_);
|
||||
p_gain_ = pGain(adapted_period_, damping_);
|
||||
time_const_ = timeConst(adapted_period_, damping_);
|
||||
|
||||
// track error bound is dynamic depending on ground speed
|
||||
track_error_bound_ = trackErrorBound(ground_speed, time_const_);
|
||||
const float normalized_track_error = normalizedTrackError(track_error, track_error_bound_);
|
||||
|
||||
// look ahead angle based solely on track proximity
|
||||
const float look_ahead_ang = lookAheadAngle(normalized_track_error);
|
||||
|
||||
track_proximity_ = trackProximity(look_ahead_ang);
|
||||
|
||||
min_ground_speed_ref_ = minGroundSpeed(normalized_track_error, feas_);
|
||||
|
||||
// reference air velocity with directional feedforward effect for following
|
||||
// curvature in wind and magnitude incrementation depending on minimum ground
|
||||
// speed violations and/or high wind conditions in general
|
||||
air_vel_ref_ = refAirVelocity(wind_vel, bearing_vec, wind_cross_bearing,
|
||||
wind_dot_bearing, wind_speed, min_ground_speed_ref_);
|
||||
airspeed_ref_ = air_vel_ref_.norm();
|
||||
|
||||
// lateral acceleration demand based on heading error
|
||||
lateral_accel_ff_ = 0.0f;
|
||||
lateral_accel_ = lateralAccel(air_vel, air_vel_ref_, airspeed);
|
||||
} // guideToPoint
|
||||
|
||||
float NPFG::adaptPeriod(const float ground_speed, const float airspeed, const float wind_speed,
|
||||
const float track_error, const float path_curvature, const Vector2f &wind_vel,
|
||||
const Vector2f &unit_path_tangent, const float feas_on_track) const
|
||||
@@ -261,7 +309,7 @@ float NPFG::timeConst(const float period, const float damping) const
|
||||
|
||||
float NPFG::lookAheadAngle(const float normalized_track_error) const
|
||||
{
|
||||
return M_PI_2_F * (normalized_track_error - 1.0f) * (normalized_track_error - 1.0f);
|
||||
return M_PI_F * 0.5f * (normalized_track_error - 1.0f) * (normalized_track_error - 1.0f);
|
||||
} // lookAheadAngle
|
||||
|
||||
Vector2f NPFG::bearingVec(const Vector2f &unit_path_tangent, const float look_ahead_ang,
|
||||
@@ -466,6 +514,182 @@ float NPFG::lateralAccel(const Vector2f &air_vel, const Vector2f &air_vel_ref, c
|
||||
}
|
||||
} // lateralAccel
|
||||
|
||||
/*******************************************************************************
|
||||
* PX4 NAVIGATION INTERFACE FUNCTIONS (provide similar functionality to ECL_L1_Pos_Controller)
|
||||
*/
|
||||
|
||||
void NPFG::navigateWaypoints(const Vector2f &waypoint_A, const Vector2f &waypoint_B,
|
||||
const Vector2f &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel)
|
||||
{
|
||||
// similar to logic found in ECL_L1_Pos_Controller method of same name
|
||||
// BUT no arbitrary max approach angle, approach entirely determined by generated
|
||||
// bearing vectors
|
||||
|
||||
path_type_loiter_ = false;
|
||||
|
||||
Vector2f vector_A_to_B = waypoint_B - waypoint_A;
|
||||
Vector2f vector_A_to_vehicle = vehicle_pos - waypoint_A;
|
||||
|
||||
if (vector_A_to_B.norm() < NPFG_EPSILON) {
|
||||
// the waypoints are on top of each other and should be considered as a
|
||||
// single waypoint, fly directly to it
|
||||
unit_path_tangent_ = -vector_A_to_vehicle.normalized();
|
||||
signed_track_error_ = vector_A_to_vehicle.norm();
|
||||
closest_point_on_path_ = waypoint_A;
|
||||
guideToPoint(ground_vel, wind_vel, unit_path_tangent_, signed_track_error_);
|
||||
|
||||
} else if (vector_A_to_B.dot(vector_A_to_vehicle) < 0.0f) {
|
||||
// we are in front of waypoint A, fly directly to it until the bearing generated
|
||||
// to the line segement between A and B is shallower than that from the
|
||||
// bearing to the first waypoint (A).
|
||||
|
||||
// guidance to the line through A and B
|
||||
unit_path_tangent_ = vector_A_to_B.normalized();
|
||||
signed_track_error_ = unit_path_tangent_.cross(vector_A_to_vehicle);
|
||||
closest_point_on_path_ = waypoint_A + vector_A_to_vehicle.dot(unit_path_tangent_) * unit_path_tangent_;
|
||||
guideToPath(ground_vel, wind_vel, unit_path_tangent_, signed_track_error_, 0.0f);
|
||||
|
||||
const Vector2f bearing_vec_to_point = -vector_A_to_vehicle.normalized();
|
||||
|
||||
if (unit_path_tangent_.dot(bearing_vec_) < unit_path_tangent_.dot(bearing_vec_to_point)) {
|
||||
// we are in front of the first waypoint and the bearing to the point is
|
||||
// shallower than that to the line. reset path params to fly directly to
|
||||
// the first waypoint.
|
||||
|
||||
// TODO: probably better to blend these instead of hard switching (could
|
||||
// affect the adaptive tuning if we switch between these cases with wind
|
||||
// gusts)
|
||||
|
||||
unit_path_tangent_ = bearing_vec_to_point;
|
||||
signed_track_error_ = vector_A_to_vehicle.norm();
|
||||
closest_point_on_path_ = waypoint_A;
|
||||
guideToPoint(ground_vel, wind_vel, bearing_vec_to_point, signed_track_error_);
|
||||
}
|
||||
|
||||
} else {
|
||||
// track the line segment between A and B
|
||||
unit_path_tangent_ = vector_A_to_B.normalized();
|
||||
signed_track_error_ = unit_path_tangent_.cross(vector_A_to_vehicle);
|
||||
closest_point_on_path_ = waypoint_A + vector_A_to_vehicle.dot(unit_path_tangent_) * unit_path_tangent_;
|
||||
guideToPath(ground_vel, wind_vel, unit_path_tangent_, signed_track_error_, 0.0f);
|
||||
}
|
||||
|
||||
updateRollSetpoint();
|
||||
} // navigateWaypoints
|
||||
|
||||
void NPFG::navigateLoiter(const Vector2f &loiter_center, const Vector2f &vehicle_pos,
|
||||
float radius, bool loiter_direction_counter_clockwise, const Vector2f &ground_vel, const Vector2f &wind_vel)
|
||||
{
|
||||
path_type_loiter_ = true;
|
||||
|
||||
radius = math::max(radius, MIN_RADIUS);
|
||||
|
||||
const float loiter_direction_multiplier = loiter_direction_counter_clockwise ? -1.f : 1.f;
|
||||
|
||||
Vector2f vector_center_to_vehicle = vehicle_pos - loiter_center;
|
||||
const float dist_to_center = vector_center_to_vehicle.norm();
|
||||
|
||||
// find the direction from the circle center to the closest point on its perimeter
|
||||
// from the vehicle position
|
||||
Vector2f unit_vec_center_to_closest_pt;
|
||||
|
||||
if (dist_to_center < 0.1f) {
|
||||
// the logic breaks down at the circle center, employ some mitigation strategies
|
||||
// until we exit this region
|
||||
if (ground_vel.norm() < 0.1f) {
|
||||
// arbitrarily set the point in the northern top of the circle
|
||||
unit_vec_center_to_closest_pt = Vector2f{1.0f, 0.0f};
|
||||
|
||||
} else {
|
||||
// set the point in the direction we are moving
|
||||
unit_vec_center_to_closest_pt = ground_vel.normalized();
|
||||
}
|
||||
|
||||
} else {
|
||||
// set the point in the direction of the aircraft
|
||||
unit_vec_center_to_closest_pt = vector_center_to_vehicle.normalized();
|
||||
}
|
||||
|
||||
// 90 deg clockwise rotation * loiter direction
|
||||
unit_path_tangent_ = loiter_direction_multiplier * Vector2f{-unit_vec_center_to_closest_pt(1), unit_vec_center_to_closest_pt(0)};
|
||||
|
||||
// positive in direction of path normal
|
||||
signed_track_error_ = -loiter_direction_multiplier * (dist_to_center - radius);
|
||||
|
||||
closest_point_on_path_ = unit_vec_center_to_closest_pt * radius + loiter_center;
|
||||
|
||||
float path_curvature = loiter_direction_multiplier / radius;
|
||||
|
||||
guideToPath(ground_vel, wind_vel, unit_path_tangent_, signed_track_error_, path_curvature);
|
||||
|
||||
updateRollSetpoint();
|
||||
} // navigateLoiter
|
||||
|
||||
|
||||
void NPFG::navigatePathTangent(const matrix::Vector2f &vehicle_pos, const matrix::Vector2f &position_setpoint,
|
||||
const matrix::Vector2f &tangent_setpoint,
|
||||
const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel, const float &curvature)
|
||||
{
|
||||
path_type_loiter_ = false;
|
||||
|
||||
// set unit tangent directly
|
||||
unit_path_tangent_ = tangent_setpoint.normalized();
|
||||
|
||||
// closest point to vehicle
|
||||
matrix::Vector2f error_vector = vehicle_pos - position_setpoint;
|
||||
closest_point_on_path_ = position_setpoint;
|
||||
signed_track_error_ = unit_path_tangent_.cross(error_vector);
|
||||
|
||||
guideToPath(ground_vel, wind_vel, unit_path_tangent_, signed_track_error_, curvature);
|
||||
|
||||
updateRollSetpoint();
|
||||
} // navigatePathTangent
|
||||
|
||||
void NPFG::navigateHeading(float heading_ref, const Vector2f &ground_vel, const Vector2f &wind_vel)
|
||||
{
|
||||
path_type_loiter_ = false;
|
||||
|
||||
Vector2f air_vel = ground_vel - wind_vel;
|
||||
unit_path_tangent_ = Vector2f{cosf(heading_ref), sinf(heading_ref)};
|
||||
signed_track_error_ = 0.0f;
|
||||
|
||||
closest_point_on_path_.setNaN();
|
||||
|
||||
// use the guidance law to regulate heading error - ignoring wind or inertial position
|
||||
guideToPath(air_vel, Vector2f{0.0f, 0.0f}, unit_path_tangent_, signed_track_error_, 0.0f);
|
||||
|
||||
updateRollSetpoint();
|
||||
} // navigateHeading
|
||||
|
||||
void NPFG::navigateBearing(float bearing, const Vector2f &ground_vel, const Vector2f &wind_vel)
|
||||
{
|
||||
path_type_loiter_ = false;
|
||||
|
||||
unit_path_tangent_ = Vector2f{cosf(bearing), sinf(bearing)};
|
||||
|
||||
signed_track_error_ = 0.0f;
|
||||
|
||||
// no track error or path curvature to consider, just regulate ground velocity
|
||||
// to bearing vector
|
||||
guideToPath(ground_vel, wind_vel, unit_path_tangent_, signed_track_error_, 0.0f);
|
||||
|
||||
updateRollSetpoint();
|
||||
} // navigateBearing
|
||||
|
||||
void NPFG::navigateLevelFlight(const float heading)
|
||||
{
|
||||
path_type_loiter_ = false;
|
||||
|
||||
airspeed_ref_ = airspeed_nom_;
|
||||
lateral_accel_ = 0.0f;
|
||||
feas_ = 1.0f;
|
||||
bearing_vec_ = Vector2f{cosf(heading), sinf(heading)};
|
||||
unit_path_tangent_ = bearing_vec_;
|
||||
signed_track_error_ = 0.0f;
|
||||
|
||||
updateRollSetpoint();
|
||||
} // navigateLevelFlight
|
||||
|
||||
float NPFG::switchDistance(float wp_radius) const
|
||||
{
|
||||
return math::min(wp_radius, track_error_bound_ * switch_distance_multiplier_);
|
||||
|
||||
+137
-16
@@ -71,22 +71,6 @@ class NPFG
|
||||
{
|
||||
|
||||
public:
|
||||
/*
|
||||
* Computes the lateral acceleration and airspeed references necessary to track
|
||||
* a path in wind (including excess wind conditions).
|
||||
*
|
||||
* @param[in] curr_pos_local Current horizontal vehicle position in local coordinates [m]
|
||||
* @param[in] ground_vel Vehicle ground velocity vector [m/s]
|
||||
* @param[in] wind_vel Wind velocity vector [m/s]
|
||||
* @param[in] unit_path_tangent Unit vector tangent to path at closest point
|
||||
* in direction of path
|
||||
* @param[in] position_on_path Horizontal point on the path to track described in local coordinates [m]
|
||||
* @param[in] path_curvature Path curvature at closest point on track [m^-1]
|
||||
*/
|
||||
void guideToPath(const matrix::Vector2f &curr_pos_local, const matrix::Vector2f &ground_vel,
|
||||
const matrix::Vector2f &wind_vel,
|
||||
const matrix::Vector2f &unit_path_tangent, const matrix::Vector2f &position_on_path,
|
||||
const float path_curvature);
|
||||
|
||||
/*
|
||||
* Set the nominal controller period [s].
|
||||
@@ -196,6 +180,8 @@ public:
|
||||
*/
|
||||
float getHeadingRef() const { return atan2f(air_vel_ref_(1), air_vel_ref_(0)); }
|
||||
|
||||
matrix::Vector2f getClosestPoint() const { return closest_point_on_path_;}
|
||||
|
||||
/*
|
||||
* @return Bearing angle [rad]
|
||||
*/
|
||||
@@ -227,6 +213,91 @@ public:
|
||||
*/
|
||||
float getMinGroundSpeedRef() const { return min_ground_speed_ref_; }
|
||||
|
||||
/*******************************************************************************
|
||||
* PX4 NAVIGATION INTERFACE FUNCTIONS (provide similar functionality to ECL_L1_Pos_Controller)
|
||||
*/
|
||||
|
||||
/*
|
||||
* Waypoint handling logic following closely to the ECL_L1_Pos_Controller
|
||||
* method of the same name. Takes two waypoints and determines the relevant
|
||||
* parameters for evaluating the NPFG guidance law, then updates control setpoints.
|
||||
*
|
||||
* @param[in] waypoint_A Waypoint A (segment start) position in WGS84 coordinates
|
||||
* (lat,lon) [deg]
|
||||
* @param[in] waypoint_B Waypoint B (segment end) position in WGS84 coordinates
|
||||
* (lat,lon) [deg]
|
||||
* @param[in] vehicle_pos Vehicle position in WGS84 coordinates (lat,lon) [deg]
|
||||
* @param[in] ground_vel Vehicle ground velocity vector [m/s]
|
||||
* @param[in] wind_vel Wind velocity vector [m/s]
|
||||
*/
|
||||
void navigateWaypoints(const matrix::Vector2f &waypoint_A, const matrix::Vector2f &waypoint_B,
|
||||
const matrix::Vector2f &vehicle_pos, const matrix::Vector2f &ground_vel,
|
||||
const matrix::Vector2f &wind_vel);
|
||||
|
||||
/*
|
||||
* Loitering (unlimited) logic. Takes loiter center, radius, and direction and
|
||||
* determines the relevant parameters for evaluating the NPFG guidance law,
|
||||
* then updates control setpoints.
|
||||
*
|
||||
* @param[in] loiter_center The position of the center of the loiter circle [m]
|
||||
* @param[in] vehicle_pos Vehicle position in WGS84 coordinates (lat,lon) [deg]
|
||||
* @param[in] radius Loiter radius [m]
|
||||
* @param[in] loiter_direction_counter_clockwise Specifies loiter direction
|
||||
* @param[in] ground_vel Vehicle ground velocity vector [m/s]
|
||||
* @param[in] wind_vel Wind velocity vector [m/s]
|
||||
*/
|
||||
void navigateLoiter(const matrix::Vector2f &loiter_center, const matrix::Vector2f &vehicle_pos,
|
||||
float radius, bool loiter_direction_counter_clockwise, const matrix::Vector2f &ground_vel,
|
||||
const matrix::Vector2f &wind_vel);
|
||||
|
||||
/*
|
||||
* Path following logic. Takes poisiton, path tangent, curvature and
|
||||
* then updates control setpoints to follow a path setpoint.
|
||||
*
|
||||
* @param[in] vehicle_pos vehicle_pos Vehicle position in WGS84 coordinates (lat,lon) [deg]
|
||||
* @param[in] position_setpoint closest point on a path in WGS84 coordinates (lat,lon) [deg]
|
||||
* @param[in] tangent_setpoint unit tangent vector of the path [m]
|
||||
* @param[in] ground_vel Vehicle ground velocity vector [m/s]
|
||||
* @param[in] wind_vel Wind velocity vector [m/s]
|
||||
* @param[in] curvature of the path setpoint [1/m]
|
||||
*/
|
||||
void navigatePathTangent(const matrix::Vector2f &vehicle_pos, const matrix::Vector2f &position_setpoint,
|
||||
const matrix::Vector2f &tangent_setpoint,
|
||||
const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel, const float &curvature);
|
||||
|
||||
/*
|
||||
* Navigate on a fixed heading.
|
||||
*
|
||||
* This only holds a certain (air mass relative) direction and does not perform
|
||||
* cross track correction. Helpful for semi-autonomous modes. Introduced
|
||||
* by in ECL_L1_Pos_Controller, augmented for use with NPFG here.
|
||||
*
|
||||
* @param[in] heading_ref Reference heading angle [rad]
|
||||
* @param[in] ground_vel Vehicle ground velocity vector [m/s]
|
||||
* @param[in] wind_vel Wind velocity vector [m/s]
|
||||
*/
|
||||
void navigateHeading(float heading_ref, const matrix::Vector2f &ground_vel,
|
||||
const matrix::Vector2f &wind_vel);
|
||||
|
||||
/*
|
||||
* Navigate on a fixed bearing.
|
||||
*
|
||||
* This only holds a certain (ground relative) direction and does not perform
|
||||
* cross track correction. Helpful for semi-autonomous modes. Similar to navigateHeading.
|
||||
*
|
||||
* @param[in] bearing Bearing angle [rad]
|
||||
* @param[in] ground_vel Vehicle ground velocity vector [m/s]
|
||||
* @param[in] wind_vel Wind velocity vector [m/s]
|
||||
*/
|
||||
void navigateBearing(float bearing, const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel);
|
||||
|
||||
/*
|
||||
* Keep the wings level.
|
||||
*
|
||||
* @param[in] heading Heading angle [rad]
|
||||
*/
|
||||
void navigateLevelFlight(const float heading);
|
||||
|
||||
/*
|
||||
* [Copied directly from ECL_L1_Pos_Controller]
|
||||
*
|
||||
@@ -260,6 +331,25 @@ public:
|
||||
*/
|
||||
float switchDistance(float wp_radius) const;
|
||||
|
||||
/*
|
||||
* The path bearing
|
||||
*
|
||||
* @return bearing angle (-pi..pi, in NED frame) [rad]
|
||||
*/
|
||||
float targetBearing() const { return atan2f(unit_path_tangent_(1), unit_path_tangent_(0)); }
|
||||
|
||||
/*
|
||||
* [Copied directly from ECL_L1_Pos_Controller]
|
||||
*
|
||||
* Returns true if the loiter waypoint has been reached
|
||||
*/
|
||||
bool reachedLoiterTarget() { return circleMode(); }
|
||||
|
||||
/*
|
||||
* Returns true if following a circle (loiter)
|
||||
*/
|
||||
bool circleMode() { return path_type_loiter_ && track_proximity_ > NPFG_EPSILON; }
|
||||
|
||||
/*
|
||||
* [Copied directly from ECL_L1_Pos_Controller]
|
||||
*
|
||||
@@ -331,8 +421,10 @@ private:
|
||||
float track_proximity_{0.0f}; // value in [0,1] indicating proximity to track, 0 = at track error boundary or beyond, 1 = on track
|
||||
|
||||
// path following states
|
||||
matrix::Vector2f unit_path_tangent_{matrix::Vector2f{1.0f, 0.0f}}; // unit path tangent vector
|
||||
float signed_track_error_{0.0f}; // signed track error [m]
|
||||
matrix::Vector2f bearing_vec_{matrix::Vector2f{1.0f, 0.0f}}; // bearing unit vector
|
||||
matrix::Vector2f closest_point_on_path_{matrix::Vector2f{NAN, NAN}}; // instantaneous position setpoint [m]
|
||||
|
||||
/*
|
||||
* guidance outputs
|
||||
@@ -351,6 +443,35 @@ private:
|
||||
float roll_lim_rad_{math::radians(30.0f)}; // maximum roll angle [rad]
|
||||
float roll_setpoint_{0.0f}; // current roll angle setpoint [rad]
|
||||
float roll_slew_rate_{0.0f}; // roll angle setpoint slew rate limit [rad/s]
|
||||
bool path_type_loiter_{false}; // true if the guidance law is tracking a loiter circle
|
||||
|
||||
/*
|
||||
* Computes the lateral acceleration and airspeed references necessary to track
|
||||
* a path in wind (including excess wind conditions).
|
||||
*
|
||||
* @param[in] ground_vel Vehicle ground velocity vector [m/s]
|
||||
* @param[in] wind_vel Wind velocity vector [m/s]
|
||||
* @param[in] unit_path_tangent Unit vector tangent to path at closest point
|
||||
* in direction of path
|
||||
* @param[in] signed_track_error Signed error to track at closest point (sign
|
||||
* determined by path normal direction) [m]
|
||||
* @param[in] path_curvature Path curvature at closest point on track [m^-1]
|
||||
*/
|
||||
void guideToPath(const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel,
|
||||
const matrix::Vector2f &unit_path_tangent, const float signed_track_error,
|
||||
const float path_curvature);
|
||||
|
||||
/*
|
||||
* Computes the lateral acceleration and airspeed references necessary to track
|
||||
* a point in wind (including excess wind conditions).
|
||||
*
|
||||
* @param[in] ground_vel Vehicle ground velocity vector [m/s]
|
||||
* @param[in] wind_vel Wind velocity vector [m/s]
|
||||
* @param[in] bearing_vec Unit vector from vehicle to the target point
|
||||
* @param[in] track_error Distance from vehicle to the target point [m]
|
||||
*/
|
||||
void guideToPoint(const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel,
|
||||
const matrix::Vector2f &bearing_vec, const float track_error);
|
||||
|
||||
/*
|
||||
* Adapts the controller period considering user defined inputs, current flight
|
||||
|
||||
@@ -211,25 +211,4 @@ bool param_modify_on_import(bson_node_t node)
|
||||
}
|
||||
|
||||
return false;
|
||||
|
||||
//2023-02-08: translate L1 parameters after removing l1 control
|
||||
{
|
||||
if (strcmp("RWTO_L1_PERIOD", node->name) == 0) {
|
||||
strcpy(node->name, "RWTO_NPFG_PERIOD");
|
||||
PX4_INFO("copying %s -> %s", "RWTO_L1_PERIOD", "RWTO_NPFG_PERIOD");
|
||||
return true;
|
||||
}
|
||||
|
||||
if (strcmp("FW_L1_R_SLEW_MAX", node->name) == 0) {
|
||||
strcpy(node->name, "FW_PN_R_SLEW_MAX");
|
||||
PX4_INFO("copying %s -> %s", "FW_L1_R_SLEW_MAX", "FW_PN_R_SLEW_MAX");
|
||||
return true;
|
||||
}
|
||||
|
||||
if (strcmp("FW_L1_PERIOD", node->name) == 0) {
|
||||
strcpy(node->name, "NPFG_PERIOD");
|
||||
PX4_INFO("copying %s -> %s", "FW_L1_PERIOD", "NPFG_PERIOD");
|
||||
return true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user