mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-02 23:10:05 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Hamish Willee
|
d74af6d1f8 |
@@ -59,18 +59,14 @@ pipeline {
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"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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@@ -91,12 +86,14 @@ pipeline {
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"px4_fmu-v3_default",
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"px4_fmu-v4_default",
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"px4_fmu-v4pro_default",
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"px4_fmu-v5_ctrlalloc",
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"px4_fmu-v5_debug",
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"px4_fmu-v5_default",
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"px4_fmu-v5_rtps",
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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 +167,7 @@ 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 +184,7 @@ 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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+156
-130
@@ -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/upload_jlink_gdb.sh, 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 +69,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
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resetBoard()
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}
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}
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} // stage test
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@@ -95,14 +88,14 @@ 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/upload_jlink_gdb.sh, 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 +109,9 @@ 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 +137,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
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resetBoard()
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}
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}
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} // stage test
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@@ -170,11 +159,11 @@ 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'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
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||||
sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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||||
}
|
||||
}
|
||||
} // stage build
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||||
@@ -191,7 +180,6 @@ pipeline {
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||||
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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||||
}
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}
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stage("tests") {
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@@ -217,11 +205,8 @@ 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'
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resetBoard()
|
||||
}
|
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}
|
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} // stage test
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@@ -242,11 +227,11 @@ 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/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
|
||||
}
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post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
|
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}
|
||||
}
|
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} // stage build
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||||
@@ -263,7 +248,6 @@ pipeline {
|
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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 +272,8 @@ pipeline {
|
||||
}
|
||||
}
|
||||
post {
|
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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'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -313,11 +294,11 @@ 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/upload_jlink_gdb.sh, 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 +315,6 @@ 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 +340,8 @@ 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'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -385,11 +362,11 @@ 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/upload_jlink_gdb.sh, 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 +388,13 @@ 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 +407,7 @@ 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 +419,8 @@ 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'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -477,11 +441,11 @@ 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/upload_jlink_gdb.sh, 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 +467,6 @@ 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 +475,6 @@ 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 +485,7 @@ 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 +497,8 @@ 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'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -561,11 +519,11 @@ 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/upload_jlink_gdb.sh, 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 +540,6 @@ 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") {
|
||||
@@ -608,17 +565,81 @@ 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'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
// stage("modalai_fc-v1_test") {
|
||||
// stages {
|
||||
// stage("build modalai_fc-v1_test") {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
// args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
// }
|
||||
// }
|
||||
// steps {
|
||||
// checkout scm
|
||||
// sh 'export'
|
||||
// sh 'make distclean'
|
||||
// sh 'ccache -s'
|
||||
// sh 'git fetch --tags'
|
||||
// sh 'make modalai_fc-v1_test'
|
||||
// sh 'make modalai_fc-v1_test bootloader_elf'
|
||||
// sh 'ccache -s'
|
||||
// stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
|
||||
// }
|
||||
// post {
|
||||
// always {
|
||||
// sh 'make distclean'
|
||||
// }
|
||||
// }
|
||||
// } // stage build
|
||||
// stage("hardware") {
|
||||
// agent {
|
||||
// label 'modalai_fc-v1'
|
||||
// }
|
||||
// stages {
|
||||
// stage("flash") {
|
||||
// steps {
|
||||
// sh 'export'
|
||||
// sh 'find /dev/serial'
|
||||
// unstash 'modalai_fc-v1_test'
|
||||
// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
|
||||
// // flash board and watch bootup
|
||||
// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
// }
|
||||
// }
|
||||
// stage("tests") {
|
||||
// steps {
|
||||
// runTests()
|
||||
// }
|
||||
// }
|
||||
// stage("status") {
|
||||
// steps {
|
||||
// // configure
|
||||
// resetParameters()
|
||||
// sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
// sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
// checkStatus()
|
||||
// quickCalibrate()
|
||||
// }
|
||||
// }
|
||||
// stage("print topics") {
|
||||
// steps {
|
||||
// printTopics()
|
||||
// }
|
||||
// }
|
||||
|
||||
// }
|
||||
// } // stage test
|
||||
// }
|
||||
// }
|
||||
|
||||
stage("nxp_fmuk66-v3_test") {
|
||||
stages {
|
||||
stage("build nxp_fmuk66-v3_test") {
|
||||
@@ -633,11 +654,11 @@ 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/upload_jlink_gdb.sh, 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 +675,6 @@ 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 +700,8 @@ 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'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -710,7 +727,7 @@ 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'
|
||||
}
|
||||
@@ -743,44 +760,34 @@ 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/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
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*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
|
||||
// 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"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
|
||||
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 "perf latency"'
|
||||
@@ -792,12 +799,12 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
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 "uavcan status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
|
||||
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() {
|
||||
@@ -807,19 +814,13 @@ 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 4018 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/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --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"'
|
||||
@@ -831,32 +832,35 @@ 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() {
|
||||
@@ -963,6 +967,28 @@ 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'
|
||||
}
|
||||
|
||||
+1
-2
@@ -74,7 +74,6 @@ Checks: '*,
|
||||
-modernize-deprecated-headers,
|
||||
-modernize-loop-convert,
|
||||
-modernize-pass-by-value,
|
||||
-modernize-raw-string-literal,
|
||||
-modernize-return-braced-init-list,
|
||||
-modernize-use-auto,
|
||||
-modernize-use-bool-literals,
|
||||
@@ -82,8 +81,8 @@ Checks: '*,
|
||||
-modernize-use-equals-default,
|
||||
-modernize-use-equals-delete,
|
||||
-modernize-use-override,
|
||||
-modernize-use-trailing-return-type,
|
||||
-modernize-use-using,
|
||||
-modernize-use-trailing-return-type,
|
||||
-performance-inefficient-string-concatenation,
|
||||
-readability-avoid-const-params-in-decls,
|
||||
-readability-container-size-empty,
|
||||
|
||||
@@ -1,7 +0,0 @@
|
||||
FROM gcr.io/oss-fuzz-base/base-builder:v1
|
||||
COPY . $SRC/PX4-Autopilot
|
||||
RUN apt-get install -y libjpeg8-dev zlib1g-dev
|
||||
RUN pip3 install --upgrade pip
|
||||
RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
|
||||
WORKDIR $SRC/PX4-Autopilot
|
||||
COPY ./.clusterfuzzlite/build.sh $SRC/
|
||||
@@ -1,4 +0,0 @@
|
||||
#!/usr/bin/env bash -eu
|
||||
|
||||
PX4_FUZZ=1 make px4_sitl
|
||||
cp build/px4_sitl_default/bin/px4 $OUT/px4
|
||||
@@ -1 +0,0 @@
|
||||
language: c++
|
||||
@@ -1,34 +0,0 @@
|
||||
name: ClusterFuzzLite batch fuzzing
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 6 * * *' # UTC 6am every day.
|
||||
permissions: read-all
|
||||
jobs:
|
||||
BatchFuzzing:
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
sanitizer:
|
||||
- address
|
||||
- undefined
|
||||
- memory
|
||||
steps:
|
||||
- name: Build Fuzzers (${{ matrix.sanitizer }})
|
||||
id: build
|
||||
uses: google/clusterfuzzlite/actions/build_fuzzers@v1
|
||||
with:
|
||||
sanitizer: ${{ matrix.sanitizer }}
|
||||
- name: Run Fuzzers (${{ matrix.sanitizer }})
|
||||
id: run
|
||||
uses: google/clusterfuzzlite/actions/run_fuzzers@v1
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
fuzz-seconds: 1800 # 30 mins
|
||||
mode: 'batch'
|
||||
sanitizer: ${{ matrix.sanitizer }}
|
||||
# Optional but recommended: For storing certain artifacts from fuzzing.
|
||||
# See later section on "Git repo for storage".
|
||||
# storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
|
||||
# storage-repo-branch: main # Optional. Defaults to "main"
|
||||
# storage-repo-branch-coverage: gh-pages # Optional. Defaults to "gh-pages".
|
||||
@@ -13,7 +13,6 @@ jobs:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config: [
|
||||
airmind_mindpx-v2,
|
||||
@@ -33,9 +32,7 @@ jobs:
|
||||
holybro_can-gps-v1,
|
||||
holybro_durandal-v1,
|
||||
holybro_kakutef7,
|
||||
holybro_kakuteh7,
|
||||
holybro_pix32v5,
|
||||
matek_h743-slim,
|
||||
modalai_fc-v1,
|
||||
modalai_fc-v2,
|
||||
mro_ctrl-zero-f7,
|
||||
@@ -50,7 +47,6 @@ jobs:
|
||||
nxp_fmurt1062-v1,
|
||||
nxp_ucans32k146,
|
||||
omnibus_f4sd,
|
||||
raspberrypi_pico,
|
||||
px4_fmu-v2,
|
||||
px4_fmu-v3,
|
||||
px4_fmu-v4,
|
||||
@@ -85,7 +81,7 @@ 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
|
||||
|
||||
@@ -10,7 +10,6 @@ on:
|
||||
jobs:
|
||||
enumerate_targets:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
outputs:
|
||||
matrix: ${{ steps.set-matrix.outputs.matrix }}
|
||||
steps:
|
||||
@@ -35,11 +34,11 @@ 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
-25
@@ -31,11 +31,6 @@ CONFIG:
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_test
|
||||
px4_ros2_default:
|
||||
short: px4_ros2
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_ros2_default
|
||||
px4_io-v2_default:
|
||||
short: px4_io-v2
|
||||
buildType: MinSizeRel
|
||||
@@ -66,11 +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
|
||||
@@ -116,11 +106,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-rtk-gps_default
|
||||
ark_can-rtk-gps_debug:
|
||||
short: ark_can-rtk-gps_debug
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-rtk-gps_debug
|
||||
ark_can-rtk-gps_canbootloader:
|
||||
short: ark_can-rtk-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
@@ -196,11 +181,6 @@ 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
|
||||
@@ -236,8 +216,3 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_fmuk66-v3_default
|
||||
raspberrypi_pico_default:
|
||||
short: raspberrypi_pico
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: raspberrypi_pico_default
|
||||
|
||||
Vendored
+3
-6
@@ -6,7 +6,7 @@
|
||||
"C_Cpp.autoAddFileAssociations": false,
|
||||
"C_Cpp.clang_format_fallbackStyle": "none",
|
||||
"C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
|
||||
"C_Cpp.default.cppStandard": "c++17",
|
||||
"C_Cpp.default.cppStandard": "c++14",
|
||||
"C_Cpp.default.cStandard": "c11",
|
||||
"C_Cpp.formatting": "Disabled",
|
||||
"C_Cpp.intelliSenseEngine": "Default",
|
||||
@@ -14,6 +14,7 @@
|
||||
"C_Cpp.workspaceParsingPriority": "low",
|
||||
"cmake.buildBeforeRun": true,
|
||||
"cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
|
||||
"cmake.buildTask": true,
|
||||
"cmake.configureOnOpen": true,
|
||||
"cmake.ctest.parallelJobs": 1,
|
||||
"cmake.skipConfigureIfCachePresent": true,
|
||||
@@ -121,7 +122,6 @@
|
||||
"variant": "cpp",
|
||||
"vector": "cpp"
|
||||
},
|
||||
"ros.distro": "foxy",
|
||||
"search.exclude": {
|
||||
"${workspaceFolder}/build": true
|
||||
},
|
||||
@@ -136,8 +136,5 @@
|
||||
"workbench.settings.enableNaturalLanguageSearch": false,
|
||||
"yaml.schemas": {
|
||||
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
|
||||
},
|
||||
"python.autoComplete.extraPaths": [
|
||||
"/opt/ros/foxy/lib/python3.8/site-packages"
|
||||
]
|
||||
}
|
||||
}
|
||||
|
||||
+40
-175
@@ -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
|
||||
# ---------------------------------------------------------------------------
|
||||
@@ -101,10 +101,8 @@
|
||||
|
||||
cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
|
||||
|
||||
cmake_policy(SET CMP0058 NEW)
|
||||
|
||||
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 ${PX4_SOURCE_DIR}/cmake)
|
||||
include(px4_parse_function_args)
|
||||
@@ -126,6 +124,7 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
|
||||
BRIEF_DOCS "PX4 module libs"
|
||||
FULL_DOCS "List of all PX4 module libraries"
|
||||
)
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
|
||||
BRIEF_DOCS "PX4 module paths"
|
||||
FULL_DOCS "List of paths to all PX4 modules"
|
||||
@@ -134,40 +133,29 @@ define_property(GLOBAL PROPERTY PX4_SRC_FILES
|
||||
BRIEF_DOCS "src files from all PX4 modules & libs"
|
||||
FULL_DOCS "SRC files from px4_add_{module,library}"
|
||||
)
|
||||
define_property(GLOBAL PROPERTY PX4_PUBLICATIONS
|
||||
BRIEF_DOCS "PX4 publication topics"
|
||||
FULL_DOCS "List of topics published by PX4 modules"
|
||||
)
|
||||
define_property(GLOBAL PROPERTY PX4_SUBSCRIPTIONS
|
||||
BRIEF_DOCS "PX4 subscription topics"
|
||||
FULL_DOCS "List of topics subscribed by PX4 modules"
|
||||
)
|
||||
|
||||
#=============================================================================
|
||||
# configuration
|
||||
#
|
||||
|
||||
# default to px4_ros2_default if building within a ROS2 colcon environment
|
||||
if((DEFINED ENV{COLCON_PREFIX_PATH}) AND (DEFINED ENV{ROS_VERSION}))
|
||||
if("$ENV{ROS_VERSION}" MATCHES "2")
|
||||
message(STATUS "ROS_VERSION: $ENV{ROS_VERSION}")
|
||||
set(CONFIG "px4_ros2_default" CACHE STRING "desired configuration") # TODO
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(NOT CONFIG)
|
||||
set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
|
||||
endif()
|
||||
set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
|
||||
|
||||
include(px4_add_module)
|
||||
set(config_module_list)
|
||||
|
||||
# Find Python
|
||||
find_package(PythonInterp 3)
|
||||
# We have a custom error message to tell users how to install python3.
|
||||
if(NOT PYTHONINTERP_FOUND)
|
||||
message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
|
||||
" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
|
||||
" macOS: brew install python")
|
||||
# If using catkin, Python 2 is found since it points
|
||||
# to the Python libs installed with the ROS distro
|
||||
if (NOT CATKIN_DEVEL_PREFIX)
|
||||
find_package(PythonInterp 3)
|
||||
# We have a custom error message to tell users how to install python3.
|
||||
if (NOT PYTHONINTERP_FOUND)
|
||||
message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
|
||||
" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
|
||||
" macOS: brew install python")
|
||||
endif()
|
||||
else()
|
||||
find_package(PythonInterp REQUIRED)
|
||||
endif()
|
||||
|
||||
option(PYTHON_COVERAGE "Python code coverage" OFF)
|
||||
@@ -203,6 +191,10 @@ set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
|
||||
include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
|
||||
|
||||
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
|
||||
include(init)
|
||||
endif()
|
||||
|
||||
# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
|
||||
if(NOT CMAKE_BUILD_TYPE)
|
||||
if(${PX4_PLATFORM} STREQUAL "nuttx")
|
||||
@@ -238,7 +230,7 @@ project(px4 CXX C ASM)
|
||||
|
||||
set(package-contact "px4users@googlegroups.com")
|
||||
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
set(CMAKE_C_STANDARD 11)
|
||||
set(CMAKE_C_STANDARD_REQUIRED ON)
|
||||
@@ -254,10 +246,6 @@ else()
|
||||
SET(BUILD_SHARED_LIBS OFF)
|
||||
endif()
|
||||
|
||||
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
|
||||
include(init)
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
|
||||
# gold linker - use if available (posix only for now)
|
||||
@@ -327,13 +315,6 @@ if(NOT PX4_CHIP)
|
||||
message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# board cmake init (optional)
|
||||
#
|
||||
if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
|
||||
include(${PX4_BOARD_DIR}/cmake/init.cmake)
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# build flags
|
||||
#
|
||||
@@ -341,6 +322,13 @@ include(px4_add_common_flags)
|
||||
px4_add_common_flags()
|
||||
px4_os_add_flags()
|
||||
|
||||
#=============================================================================
|
||||
# board cmake init (optional)
|
||||
#
|
||||
if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
|
||||
include(${PX4_BOARD_DIR}/cmake/init.cmake)
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# message, and airframe generation
|
||||
#
|
||||
@@ -422,13 +410,8 @@ add_library(parameters_interface INTERFACE)
|
||||
include(px4_add_library)
|
||||
add_subdirectory(src/lib EXCLUDE_FROM_ALL)
|
||||
|
||||
add_subdirectory(platforms/${PX4_PLATFORM}/src/px4 EXCLUDE_FROM_ALL)
|
||||
|
||||
if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
|
||||
add_subdirectory(platforms/common/work_queue EXCLUDE_FROM_ALL)
|
||||
else()
|
||||
add_subdirectory(platforms EXCLUDE_FROM_ALL)
|
||||
endif()
|
||||
add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
|
||||
add_subdirectory(platforms EXCLUDE_FROM_ALL)
|
||||
|
||||
if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
|
||||
add_subdirectory(${PX4_BOARD_DIR})
|
||||
@@ -440,8 +423,6 @@ endforeach()
|
||||
|
||||
# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
|
||||
add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
|
||||
# metadata needs PX4_MODULE_CONFIG_FILES
|
||||
add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
|
||||
|
||||
# must be the last module before firmware
|
||||
add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
|
||||
@@ -450,126 +431,6 @@ target_link_libraries(parameters_interface INTERFACE parameters)
|
||||
# firmware added last to generate the builtin for included modules
|
||||
add_subdirectory(platforms/${PX4_PLATFORM})
|
||||
|
||||
|
||||
set(PX4_ORB_TOPIC_COUNT 0)
|
||||
|
||||
if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
|
||||
|
||||
configure_file(${CMAKE_SOURCE_DIR}/build/px4_fmu-v5x_default/uORBTopics.cpp ${CMAKE_BINARY_DIR}/uORBTopics.cpp COPYONLY)
|
||||
configure_file(${CMAKE_SOURCE_DIR}/build/px4_fmu-v5x_default/uORBTopics.hpp ${CMAKE_BINARY_DIR}/uORBTopics.hpp COPYONLY)
|
||||
|
||||
set(PX4_ORB_TOPIC_COUNT 1)
|
||||
|
||||
else()
|
||||
|
||||
get_property(publications GLOBAL PROPERTY PX4_PUBLICATIONS)
|
||||
get_property(subscriptions GLOBAL PROPERTY PX4_SUBSCRIPTIONS)
|
||||
|
||||
# TODO: for now combine subsriptions and publications for complete topic list
|
||||
list(APPEND publications ${subscriptions})
|
||||
|
||||
list(SORT publications)
|
||||
list(REMOVE_DUPLICATES publications)
|
||||
|
||||
set(pub_all_topics)
|
||||
set(PX4_MSG_TYPE_ID)
|
||||
set(PX4_MSG_TOPIC_ID)
|
||||
set(PX4_MSG_TOPIC_ID_STRING)
|
||||
set(PX4_MSG_TOPIC_ORB_ID)
|
||||
|
||||
set(PX4_ORB_DECLARE_STR)
|
||||
set(PX4_ORB_DEFINE_STR)
|
||||
set(PX4_ORB_HEADER_INCLUDE_STR)
|
||||
|
||||
|
||||
foreach(pub ${publications})
|
||||
#message(STATUS "pub: ${pub}")
|
||||
string(REPLACE " /" ";" pub ${pub})
|
||||
|
||||
list(GET pub 0 pub_type)
|
||||
list(GET pub 1 pub_topic)
|
||||
|
||||
string(REPLACE "::" ";" pub_type_split ${pub_type})
|
||||
list(GET pub_type_split 2 pub_type_simple_lower)
|
||||
|
||||
# Pascal case to snake case (PubType -> pub_type)
|
||||
string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" pub_type_simple_lower "${pub_type_simple_lower}")
|
||||
string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" pub_type_simple_lower "${pub_type_simple_lower}")
|
||||
string(TOLOWER "${pub_type_simple_lower}" pub_type_simple_lower)
|
||||
|
||||
#message(STATUS "pub: Type: ${pub_type}, Topic: ${pub_topic} (${pub_type_simple_lower})")
|
||||
|
||||
|
||||
|
||||
|
||||
# pub_type to include path (eg px4::msg::VehicleStatus => px4/msg/vehicle_status.hpp)
|
||||
# temporary create px4/msg/vehicle_status.hpp which simply includes <uORB/topics/vehicle_status.h>
|
||||
|
||||
|
||||
|
||||
|
||||
list(APPEND pub_all_topics ${pub_topic})
|
||||
|
||||
list(APPEND PX4_MSG_TYPE_ID ${pub_type})
|
||||
|
||||
#list(APPEND PX4_MSG_TOPIC_ID ${pub_topic})
|
||||
set(PX4_MSG_TOPIC_ID "${PX4_MSG_TOPIC_ID}\t${pub_topic},\n")
|
||||
#set(PX4_MSG_TOPIC_ID_STRING "${PX4_MSG_TOPIC_ID_STRING}\t"case ORB_ID::${pub_topic}: return \"${pub_topic}\";"\n")
|
||||
set(PX4_MSG_TOPIC_ORB_ID "${PX4_MSG_TOPIC_ORB_ID}\tORB_ID(${pub_topic}),\n")
|
||||
|
||||
list(APPEND PX4_MSG_TOPIC_ID_STRING
|
||||
"case ORB_ID::${pub_topic}: return \"${pub_topic}\";\n"
|
||||
)
|
||||
|
||||
# PX4_MSG_TYPE_ID
|
||||
# PX4_MSG_TOPIC_ID
|
||||
|
||||
# .h ORB_DECLARE(actuator_controls_0);
|
||||
# .c ORB_DEFINE(actuator_controls_0, struct actuator_controls_s, 48, __orb_actuator_controls_fields, static_cast<uint8_t>(ORB_ID::actuator_controls_0));
|
||||
|
||||
|
||||
set(PX4_ORB_DECLARE_STR
|
||||
"${PX4_ORB_DECLARE_STR}ORB_DECLARE(${pub_topic});\n")
|
||||
|
||||
# ORB_DEFINE(actuator_armed, struct actuator_armed_s, 16, __orb_actuator_armed_fields, static_cast<uint8_t>(ORB_ID::actuator_armed));
|
||||
set(PX4_ORB_DEFINE_STR
|
||||
"${PX4_ORB_DEFINE_STR}ORB_DEFINE(${pub_topic}, ${pub_type}, px4_embedded::${pub_type_simple_lower}_s::SIZE_NO_PADDING, px4_embedded::${pub_type_simple_lower}_s::FIELDS, static_cast<uint8_t>(ORB_ID::${pub_topic}));\n")
|
||||
|
||||
set(PX4_ORB_HEADER_INCLUDE_STR
|
||||
"${PX4_ORB_HEADER_INCLUDE_STR}#include <uORB/topics/${pub_type_simple_lower}.h>\n")
|
||||
|
||||
math(EXPR PX4_ORB_TOPIC_COUNT "${PX4_ORB_TOPIC_COUNT}+1")
|
||||
|
||||
endforeach()
|
||||
list(REMOVE_DUPLICATES PX4_MSG_TYPE_ID)
|
||||
#list(REMOVE_DUPLICATES PX4_MSG_TOPIC_ID)
|
||||
|
||||
#message(STATUS "PX4_MSG_TYPE_ID: ${PX4_MSG_TYPE_ID}")
|
||||
#message(STATUS "PX4_MSG_TOPIC_ID: ${PX4_MSG_TOPIC_ID}")
|
||||
|
||||
if(PX4_ORB_TOPIC_COUNT GREATER 0)
|
||||
configure_file(uORBTopics.cpp.in ${CMAKE_BINARY_DIR}/uORBTopics.cpp)
|
||||
configure_file(uORBTopics.hpp.in ${CMAKE_BINARY_DIR}/uORBTopics.hpp)
|
||||
endif()
|
||||
|
||||
# .hpp enum ORB_ID
|
||||
# .cpp struct orb_metadat ORB_ID() array
|
||||
|
||||
foreach(f ${msg_files})
|
||||
#message(STATUS "MSG: ${f}")
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
if(PX4_ORB_TOPIC_COUNT GREATER 0)
|
||||
add_library(uorb_msgs ${uorb_headers} ${CMAKE_BINARY_DIR}/uORBTopics.cpp ${CMAKE_BINARY_DIR}/uORBTopics.hpp)
|
||||
add_dependencies(uorb_msgs prebuild_targets uorb_headers)
|
||||
endif()
|
||||
|
||||
if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
|
||||
ament_target_dependencies(uorb_msgs rclcpp std_msgs)
|
||||
rosidl_target_interfaces(uorb_msgs ${PROJECT_NAME} "rosidl_typesupport_cpp")
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# uORB graph generation: add a custom target 'uorb_graph'
|
||||
#
|
||||
@@ -597,13 +458,17 @@ include(doxygen)
|
||||
include(metadata)
|
||||
include(package)
|
||||
|
||||
# print size
|
||||
add_custom_target(size
|
||||
COMMAND size $<TARGET_FILE:px4>
|
||||
DEPENDS px4
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
# install python requirements using configured python
|
||||
add_custom_target(install_python_requirements
|
||||
COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
|
||||
include(finalize)
|
||||
endif()
|
||||
|
||||
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
|
||||
|
||||
@@ -17,8 +17,6 @@ menu "Toolchain"
|
||||
bool "posix"
|
||||
config PLATFORM_QURT
|
||||
bool "qurt"
|
||||
config PLATFORM_ROS2
|
||||
bool "ros2"
|
||||
endchoice
|
||||
|
||||
config BOARD_PLATFORM
|
||||
@@ -26,7 +24,6 @@ menu "Toolchain"
|
||||
default "nuttx" if PLATFORM_NUTTX
|
||||
default "posix" if PLATFORM_POSIX
|
||||
default "qurt" if PLATFORM_QURT
|
||||
default "ros2" if PLATFORM_ROS2
|
||||
|
||||
config BOARD_LOCKSTEP
|
||||
bool "Force enable lockstep"
|
||||
@@ -66,10 +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)
|
||||
|
||||
@@ -117,15 +117,17 @@ 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"
|
||||
|
||||
config BOARD_SERIAL_URT6
|
||||
string "URT6 tty port"
|
||||
|
||||
config BOARD_SERIAL_GPS1
|
||||
string "GPS1 tty port"
|
||||
|
||||
@@ -156,14 +158,8 @@ menu "Serial ports"
|
||||
config BOARD_SERIAL_TEL5
|
||||
string "TEL5 tty port"
|
||||
|
||||
config BOARD_SERIAL_RC
|
||||
string "RC tty port"
|
||||
|
||||
config BOARD_SERIAL_WIFI
|
||||
string "WIFI tty port"
|
||||
|
||||
config BOARD_SERIAL_PPB
|
||||
string "PPB (Pixhawk Payload Bus) tty port"
|
||||
endmenu
|
||||
|
||||
menu "drivers"
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
BSD 3-Clause License
|
||||
|
||||
Copyright (c) 2012 - 2022, PX4 Development Team
|
||||
Copyright (c) 2012 - 2021, PX4 Development Team
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
|
||||
@@ -158,11 +158,6 @@ else
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
|
||||
endif
|
||||
|
||||
# Fuzz Testing
|
||||
ifdef PX4_FUZZ
|
||||
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
|
||||
endif
|
||||
|
||||
endif
|
||||
|
||||
# Pick up specific Python path if set
|
||||
@@ -314,24 +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
|
||||
|
||||
@@ -479,7 +456,7 @@ clang-tidy-quiet: px4_sitl_default-clang
|
||||
# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
|
||||
cppcheck: px4_sitl_default
|
||||
@mkdir -p "$(SRC_DIR)"/build/cppcheck
|
||||
@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++17 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
|
||||
@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++14 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
|
||||
@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
|
||||
|
||||
shellcheck_all:
|
||||
@@ -487,9 +464,7 @@ shellcheck_all:
|
||||
@make px4_fmu-v5_default shellcheck
|
||||
|
||||
validate_module_configs:
|
||||
@find "$(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 "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(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
|
||||
)
|
||||
|
||||
|
||||
@@ -8,30 +8,41 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
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
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
set MIXER direct
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -7,3 +7,4 @@
|
||||
|
||||
param set-default FW_THR_CRUISE 0.0
|
||||
param set-default RWTO_TKOFF 0
|
||||
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -6,8 +6,7 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.0800
|
||||
param set-default MC_PITCHRATE_I 0.0400
|
||||
@@ -29,36 +28,54 @@ param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 0
|
||||
param set-default MAV_PROTO_VER 2
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
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_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_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_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 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 CA_MC_R0_PX 0.0
|
||||
param set-default CA_MC_R0_PY 1.0
|
||||
param set-default CA_MC_R0_CT 9.5
|
||||
param set-default CA_MC_R0_KM -0.05
|
||||
param set-default CA_MC_R1_PX 0.0
|
||||
param set-default CA_MC_R1_PY -1.0
|
||||
param set-default CA_MC_R1_CT 9.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.866025
|
||||
param set-default CA_MC_R2_PY -0.5
|
||||
param set-default CA_MC_R2_CT 9.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.866025
|
||||
param set-default CA_MC_R3_PY 0.5
|
||||
param set-default CA_MC_R3_CT 9.5
|
||||
param set-default CA_MC_R3_KM 0.05
|
||||
param set-default CA_MC_R4_PX 0.866025
|
||||
param set-default CA_MC_R4_PY 0.5
|
||||
param set-default CA_MC_R4_CT 9.5
|
||||
param set-default CA_MC_R4_KM 0.05
|
||||
param set-default CA_MC_R5_PX -0.866025
|
||||
param set-default CA_MC_R5_PY -0.5
|
||||
param set-default CA_MC_R5_CT 9.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
# set MIXER hexa_x
|
||||
set MIXER direct
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -55,4 +55,5 @@ px4_add_romfs_files(
|
||||
rc.vehicle_setup
|
||||
rc.vtol_apps
|
||||
rc.vtol_defaults
|
||||
rc.ctrlalloc
|
||||
)
|
||||
|
||||
@@ -35,6 +35,6 @@ param set-default MC_YAWRATE_P 0.25
|
||||
param set-default MC_YAWRATE_I 0.25
|
||||
|
||||
param set-default BAT1_V_DIV 12.27559
|
||||
param set-default BAT1_A_PER_V 15.391030303103
|
||||
param set-default BAT1_A_PER_V 15.39103
|
||||
|
||||
set MIXER quad_w
|
||||
|
||||
@@ -9,7 +9,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -15,8 +15,6 @@
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
|
||||
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
param set SYS_HITL 2
|
||||
|
||||
|
||||
@@ -15,8 +15,6 @@
|
||||
set MIXER AERT
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
|
||||
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
param set-default SYS_HITL 2
|
||||
|
||||
@@ -40,4 +38,3 @@ param set SIH_IXZ 0.00046
|
||||
param set SIH_KDV 0.2
|
||||
|
||||
param set SIH_VEHICLE_TYPE 1 # sih as fixed wing
|
||||
param set RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
|
||||
|
||||
@@ -1,61 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name SIH Tailsitter Duo
|
||||
#
|
||||
# @type Simulation
|
||||
# @class VTOL
|
||||
#
|
||||
# @output MAIN1 motor right
|
||||
# @output MAIN2 motor left
|
||||
# @output MAIN5 elevon right
|
||||
# @output MAIN6 elevon left
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_MOT_COUNT 2
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_SC 0.3
|
||||
param set-default MPC_MAN_Y_MAX 60
|
||||
param set-default MC_PITCH_P 5
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
set MAV_TYPE 19
|
||||
set MIXER vtol_tailsitter_duo_sat
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
param set-default SYS_HITL 2
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default COM_PREARM_MODE 0
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set SIH_T_MAX 2.0
|
||||
param set SIH_Q_MAX 0.0165
|
||||
param set SIH_MASS 0.2
|
||||
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
|
||||
param set SIH_IXX 0.00354
|
||||
param set SIH_IYY 0.000625
|
||||
param set SIH_IZZ 0.00300
|
||||
param set SIH_IXZ 0.0
|
||||
param set SIH_KDV 0.2
|
||||
param set SIH_L_ROLL 0.145
|
||||
|
||||
# sih as tailsitter
|
||||
param set SIH_VEHICLE_TYPE 2
|
||||
@@ -19,7 +19,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -14,7 +14,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -17,7 +17,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -9,7 +9,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -9,7 +9,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -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
|
||||
|
||||
|
||||
@@ -18,7 +18,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -22,7 +22,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -21,7 +21,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -14,7 +14,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -84,8 +84,6 @@ param set-default MPC_Z_VEL_P_ACC 5
|
||||
param set-default MPC_Z_VEL_I_ACC 3
|
||||
param set-default MPC_LAND_ALT1 3
|
||||
param set-default MPC_LAND_ALT2 1
|
||||
param set-default MPC_POS_MODE 3
|
||||
param set-default CP_GO_NO_DATA 1
|
||||
|
||||
# Navigator Parameters
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
@@ -11,29 +11,45 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
set MIXER none
|
||||
|
||||
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 0.177
|
||||
param set-default CA_ROTOR0_PY 0.177
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.177
|
||||
param set-default CA_ROTOR1_PY -0.177
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.177
|
||||
param set-default CA_ROTOR2_PY -0.177
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.177
|
||||
param set-default CA_ROTOR3_PY 0.177
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_MC_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
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
set MIXER direct
|
||||
|
||||
set MIXER_AUX direct_aux
|
||||
|
||||
@@ -1,23 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Holybro X500 V2
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Farhang Naderi <farhang.nba@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default IMU_GYRO_CUTOFF 30
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.14
|
||||
param set-default MC_PITCHRATE_P 0.14
|
||||
param set-default MC_ROLLRATE_I 0.3
|
||||
param set-default MC_PITCHRATE_I 0.3
|
||||
param set-default MC_ROLLRATE_D 0.004
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
@@ -16,10 +16,8 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
# We set the mixer and ESC manually.
|
||||
set MIXER skip
|
||||
set MIXER_AUX skip
|
||||
set MIXER_FILE ""
|
||||
set MIXER none
|
||||
set MIXER_AUX none
|
||||
|
||||
# Battery settings
|
||||
param set-default BAT_CRIT_THR 0.20
|
||||
@@ -35,13 +33,12 @@ param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
param set-default COM_DISARM_LAND 0.1
|
||||
param set-default COM_DISARM_PRFLT 3
|
||||
param set-default COM_DL_LOSS_T 10
|
||||
param set-default COM_FLTMODE1 2
|
||||
param set-default COM_FLTMODE1 -1
|
||||
param set-default COM_FLTMODE2 -1
|
||||
param set-default COM_FLTMODE3 -1
|
||||
param set-default COM_FLTMODE4 -1
|
||||
param set-default COM_FLTMODE4 2
|
||||
param set-default COM_FLTMODE5 -1
|
||||
param set-default COM_FLTMODE6 1
|
||||
param set-default COM_FLTMODE6 6
|
||||
param set-default COM_RC_LOSS_T 3
|
||||
|
||||
|
||||
@@ -71,9 +68,6 @@ param set-default EKF2_OF_GATE 2.0
|
||||
param set-default EKF2_OF_POS_X -0.035
|
||||
param set-default EKF2_OF_POS_Y 0.0
|
||||
param set-default EKF2_OF_POS_Z 0.033
|
||||
param set-default EKF2_OF_MIN_RNG 0.01
|
||||
param set-default EKF2_OF_A_HMAX 7.0
|
||||
param set-default EKF2_OF_QMIN 30
|
||||
|
||||
param set-default EKF2_PCOEF_XN -0.3
|
||||
param set-default EKF2_PCOEF_XP -0.4
|
||||
@@ -148,30 +142,57 @@ param set-default MPC_Z_VEL_P 0.27
|
||||
|
||||
# gimbal configuration
|
||||
param set-default MNT_MODE_IN 1
|
||||
param set-default MNT_MODE_OUT 1
|
||||
param set-default MNT_MAN_PITCH 2
|
||||
param set-default MNT_RC_IN_MODE 1
|
||||
param set-default MNT_RATE_PITCH 30
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MNT_MAN_PITCH 1
|
||||
|
||||
|
||||
# RC
|
||||
param set-default RC_CHAN_CNT 12
|
||||
|
||||
param set-default RC_MAP_THROTTLE 1
|
||||
param set-default RC_MAP_YAW 2
|
||||
param set-default RC_MAP_ROLL 2
|
||||
param set-default RC_MAP_PITCH 3
|
||||
param set-default RC_MAP_ROLL 4
|
||||
param set-default RC_MAP_AUX2 5
|
||||
param set-default RC_MAP_AUX3 10
|
||||
param set-default RC_MAP_AUX4 8
|
||||
param set-default RC_MAP_FLTMODE 6
|
||||
param set-default RC1_TRIM 1000
|
||||
param set-default RC_MAP_YAW 4
|
||||
param set-default RC_MAP_FLTMODE 5
|
||||
param set-default RC_MAP_AUX1 7
|
||||
|
||||
param set-default RC1_DZ 10
|
||||
param set-default RC1_MAX 3413
|
||||
param set-default RC1_MIN 683
|
||||
param set-default RC1_REV 1
|
||||
param set-default RC1_TRIM 683
|
||||
param set-default RC2_DZ 10
|
||||
param set-default RC2_MAX 3413
|
||||
param set-default RC2_MIN 683
|
||||
param set-default RC2_REV -1
|
||||
param set-default RC2_TRIM 2048
|
||||
param set-default RC3_DZ 10
|
||||
param set-default RC3_MAX 3413
|
||||
param set-default RC3_MIN 683
|
||||
param set-default RC3_REV 1
|
||||
param set-default RC3_TRIM 2048
|
||||
param set-default RC4_DZ 10
|
||||
param set-default RC4_MAX 3413
|
||||
param set-default RC4_MIN 683
|
||||
param set-default RC4_REV -1
|
||||
param set-default RC4_TRIM 2048
|
||||
param set-default RC5_DZ 10
|
||||
param set-default RC5_MAX 3414
|
||||
param set-default RC5_MIN 2048
|
||||
param set-default RC5_REV 1
|
||||
param set-default RC5_TRIM 2048
|
||||
param set-default RC7_DZ 10
|
||||
param set-default RC7_MAX 3413
|
||||
param set-default RC7_MIN 683
|
||||
param set-default RC7_REV 1
|
||||
param set-default RC7_TRIM 2048
|
||||
|
||||
|
||||
# optical flow
|
||||
param set-default SENS_FLOW_MAXR 7.4
|
||||
param set-default SENS_FLOW_MINHGT 0.15
|
||||
param set-default SENS_FLOW_MAXHGT 5.0
|
||||
param set-default SENS_FLOW_ROT 0
|
||||
param set-default SENS_FLOW_ROT 4
|
||||
|
||||
# ignore the SD card errors and use normal startup sound
|
||||
set STARTUP_TUNE "1"
|
||||
|
||||
mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
|
||||
|
||||
@@ -77,3 +77,4 @@ param set-default IMU_DGYRO_CUTOFF 100
|
||||
|
||||
# enable to use high-rate logging for better rate tracking analysis
|
||||
param set-default SDLOG_PROFILE 27
|
||||
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -11,42 +11,63 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
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 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 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
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
set MIXER direct
|
||||
set PWM_OUT 123456
|
||||
|
||||
set MIXER_AUX direct_aux
|
||||
set PWM_AUX_OUT 123456
|
||||
|
||||
@@ -40,7 +40,6 @@ px4_add_romfs_files(
|
||||
1002_standard_vtol.hil
|
||||
1100_rc_quad_x_sih.hil
|
||||
1101_rc_plane_sih.hil
|
||||
1102_tailsitter_duo_sih.hil
|
||||
|
||||
# [2000, 2999] Standard planes"
|
||||
2100_standard_plane
|
||||
@@ -73,7 +72,6 @@ px4_add_romfs_files(
|
||||
4016_holybro_px4vision
|
||||
4017_nxp_hovergames
|
||||
4018_s500_ctrlalloc
|
||||
4019_x500_v2
|
||||
4030_3dr_solo
|
||||
4031_3dr_quad
|
||||
4040_reaper
|
||||
|
||||
@@ -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.
|
||||
#
|
||||
|
||||
@@ -1,12 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# External airframe startup script (on SD card)
|
||||
#
|
||||
set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers
|
||||
|
||||
if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
|
||||
then
|
||||
. ${SDCARD_EXT_PATH}/rc.autostart
|
||||
else
|
||||
echo "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
|
||||
fi
|
||||
@@ -0,0 +1,26 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Standard apps for new control allocation and controllers
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
#
|
||||
# Start angular velocity controller
|
||||
#
|
||||
# angular_velocity_controller start
|
||||
# mc_rate_control stop
|
||||
|
||||
#
|
||||
# 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
|
||||
param set COM_PREARM_MODE 0
|
||||
@@ -10,26 +10,12 @@
|
||||
#
|
||||
ekf2 start &
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start attitude controller.
|
||||
#
|
||||
fw_att_control start
|
||||
fw_pos_control_l1 start
|
||||
airspeed_selector start
|
||||
|
||||
#
|
||||
# Start attitude control auto-tuner
|
||||
#
|
||||
fw_autotune_attitude_control start
|
||||
|
||||
#
|
||||
# Start Land Detector.
|
||||
#
|
||||
|
||||
@@ -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
|
||||
@@ -45,7 +36,7 @@ fi
|
||||
#
|
||||
# Set the default output mode if none was set.
|
||||
#
|
||||
if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
|
||||
if [ $OUTPUT_MODE = none ]
|
||||
then
|
||||
if [ $USE_IO = yes ]
|
||||
then
|
||||
@@ -72,7 +63,7 @@ fi
|
||||
#
|
||||
# If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
|
||||
#
|
||||
if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
|
||||
if [ $OUTPUT_MODE != none ]
|
||||
then
|
||||
|
||||
if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
|
||||
@@ -105,16 +96,10 @@ then
|
||||
|
||||
if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
|
||||
then
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
if ! $OUTPUT_CMD start
|
||||
then
|
||||
pwm_out start
|
||||
dshot start
|
||||
else
|
||||
if ! $OUTPUT_CMD start
|
||||
then
|
||||
echo "$OUTPUT_CMD start failed"
|
||||
tune_control play error
|
||||
fi
|
||||
echo "$OUTPUT_CMD start failed"
|
||||
tune_control play error
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
@@ -229,10 +214,10 @@ fi
|
||||
|
||||
if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
|
||||
then
|
||||
if [ $PWM_OUT != none -a $PWM_MAIN_RATE != none ]
|
||||
if [ $PWM_OUT != none ]
|
||||
then
|
||||
# Set PWM output frequency.
|
||||
if ! param compare SYS_CTRL_ALLOC 1
|
||||
if [ $PWM_MAIN_RATE != none ]
|
||||
then
|
||||
pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
|
||||
fi
|
||||
|
||||
@@ -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 Multicopter Rate Controller.
|
||||
#
|
||||
@@ -65,11 +57,7 @@ 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.
|
||||
|
||||
@@ -7,10 +7,7 @@
|
||||
|
||||
set VEHICLE_TYPE mc
|
||||
|
||||
if param compare IMU_GYRO_RATEMAX 400
|
||||
then
|
||||
param set-default IMU_GYRO_RATEMAX 800
|
||||
fi
|
||||
param set-default IMU_GYRO_RATEMAX 800
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
|
||||
@@ -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
|
||||
@@ -33,14 +25,8 @@ 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
|
||||
|
||||
fw_att_control start vtol
|
||||
fw_pos_control_l1 start vtol
|
||||
fw_autotune_attitude_control start vtol
|
||||
|
||||
# Start Land Detector
|
||||
# Multicopter for now until we have something for VTOL
|
||||
|
||||
+65
-115
@@ -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
|
||||
@@ -44,9 +44,6 @@ set PWM_EXTRA_OUT none
|
||||
set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
|
||||
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
|
||||
@@ -60,57 +57,55 @@ ver all
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
if [ -b "/dev/mmcsd0" ]
|
||||
set SDCARD_AVAILABLE no
|
||||
# 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
|
||||
# Error tune.
|
||||
set STARTUP_TUNE 2
|
||||
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
|
||||
unset SDCARD_AVAILABLE
|
||||
|
||||
#
|
||||
# Look for an init script on the microSD card.
|
||||
@@ -142,36 +137,8 @@ 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
|
||||
|
||||
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
|
||||
@@ -215,20 +182,20 @@ else
|
||||
#
|
||||
tone_alarm start
|
||||
|
||||
#
|
||||
# Play the startup tune (if not disabled or there is an error)
|
||||
#
|
||||
param compare CBRK_BUZZER 782090
|
||||
if [ $? != 0 -o $STARTUP_TUNE != 1 ]
|
||||
then
|
||||
tune_control play -t $STARTUP_TUNE
|
||||
fi
|
||||
|
||||
#
|
||||
# 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.
|
||||
@@ -249,22 +216,10 @@ else
|
||||
#
|
||||
# Set parameters and env variables for selected AUTOSTART.
|
||||
#
|
||||
set AUTOSTART_PATH etc/init.d/rc.autostart
|
||||
if ! param compare SYS_AUTOSTART 0
|
||||
then
|
||||
if param greater SYS_AUTOSTART 1000000
|
||||
then
|
||||
# Use external startup file
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
then
|
||||
set AUTOSTART_PATH etc/init.d/rc.autostart_ext
|
||||
else
|
||||
echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
|
||||
fi
|
||||
fi
|
||||
. ${R}$AUTOSTART_PATH
|
||||
. ${R}etc/init.d/rc.autostart
|
||||
fi
|
||||
unset AUTOSTART_PATH
|
||||
|
||||
#
|
||||
# Override parameters from user configuration file.
|
||||
@@ -291,9 +246,15 @@ else
|
||||
# Start core UAVCAN module.
|
||||
if uavcan start
|
||||
then
|
||||
if param greater UAVCAN_ENABLE 2
|
||||
if param greater UAVCAN_ENABLE 1
|
||||
then
|
||||
set OUTPUT_MODE uavcan_esc
|
||||
# Start UAVCAN firmware update server and dynamic node ID allocation server.
|
||||
uavcan start fw
|
||||
tune_control play -t 1
|
||||
if param greater UAVCAN_ENABLE 2
|
||||
then
|
||||
set OUTPUT_MODE uavcan_esc
|
||||
fi
|
||||
fi
|
||||
else
|
||||
tune_control play error
|
||||
@@ -354,7 +315,7 @@ else
|
||||
if [ $USE_IO = yes -a $IO_PRESENT = no ]
|
||||
then
|
||||
echo "PX4IO not found"
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
tune_control play error
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -362,7 +323,6 @@ else
|
||||
# start before commander
|
||||
#
|
||||
rc_update start
|
||||
manual_control start
|
||||
|
||||
#
|
||||
# Sensors System (start before Commander so Preflight checks are properly run).
|
||||
@@ -427,7 +387,7 @@ else
|
||||
set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
|
||||
if [ -f $BOARD_RC_MAVLINK ]
|
||||
then
|
||||
echo "Board mavlink: ${BOARD_RC_MAVLINK}"
|
||||
echo "Board extras: ${BOARD_RC_MAVLINK}"
|
||||
. $BOARD_RC_MAVLINK
|
||||
fi
|
||||
unset BOARD_RC_MAVLINK
|
||||
@@ -444,12 +404,6 @@ 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
|
||||
@@ -466,15 +420,6 @@ else
|
||||
#
|
||||
. ${R}etc/init.d/rc.vehicle_setup
|
||||
|
||||
#
|
||||
# Play the startup tune (if not disabled or there is an error)
|
||||
#
|
||||
param compare CBRK_BUZZER 782090
|
||||
if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]
|
||||
then
|
||||
tune_control play -t $STARTUP_TUNE
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the navigator.
|
||||
#
|
||||
@@ -548,13 +493,21 @@ 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.
|
||||
@@ -586,9 +539,6 @@ unset PWM_OUT
|
||||
unset PWM_EXTRA_OUT
|
||||
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 +33,16 @@
|
||||
|
||||
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
|
||||
tiltrotor_sitl_direct.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 +1,14 @@
|
||||
Mixer for quad tiltrotor (x motor configuration)
|
||||
================================================
|
||||
|
||||
A: 0
|
||||
A: 1
|
||||
A: 2
|
||||
A: 3
|
||||
A: 4
|
||||
A: 5
|
||||
A: 6
|
||||
A: 7
|
||||
A: 8
|
||||
A: 9
|
||||
A: 10
|
||||
@@ -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
|
||||
@@ -46,6 +46,7 @@ px4_add_romfs_files(
|
||||
coax.main.mix
|
||||
delta.main.mix
|
||||
deltaquad.main.mix
|
||||
direct.main.mix
|
||||
dodeca_bottom_cox.aux.mix
|
||||
dodeca_top_cox.main.mix
|
||||
firefly6.aux.mix
|
||||
@@ -90,5 +91,4 @@ px4_add_romfs_files(
|
||||
vtol_convergence.main.mix
|
||||
vtol_delta.aux.mix
|
||||
vtol_tailsitter_duo.main.mix
|
||||
vtol_tailsitter_duo_sat.main.mix
|
||||
)
|
||||
|
||||
@@ -0,0 +1,11 @@
|
||||
# Direct mixer
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
A: 0
|
||||
A: 1
|
||||
A: 2
|
||||
A: 3
|
||||
A: 4
|
||||
A: 5
|
||||
A: 6
|
||||
A: 7
|
||||
@@ -1,39 +0,0 @@
|
||||
Tailsitter duo mixer
|
||||
============================
|
||||
|
||||
This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
|
||||
has two motors in total, one attached to each wing. It also has two elevons which
|
||||
are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
|
||||
on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
|
||||
elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
|
||||
at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
|
||||
|
||||
Motor mixer
|
||||
------------
|
||||
Channel 1 connects to the right (starboard) motor.
|
||||
Channel 2 connects to the left (port) motor.
|
||||
|
||||
R: 2-
|
||||
|
||||
Zero mixer (2x)
|
||||
---------------
|
||||
Channels 3,4 are unused.
|
||||
|
||||
Z:
|
||||
|
||||
Z:
|
||||
|
||||
Elevons mixer
|
||||
--------------
|
||||
Channel 5 connects to the right (starboard) elevon.
|
||||
Channel 6 connects to the left (port) elevon.
|
||||
Here we saturate the elevons before their full range
|
||||
to avoid roll-pitch-yaw coupling during faster maneuvers
|
||||
|
||||
M: 2
|
||||
S: 1 0 10000 10000 0 -6000 6000
|
||||
S: 1 1 10000 10000 0 -6000 6000
|
||||
|
||||
M: 2
|
||||
S: 1 0 10000 10000 0 -6000 6000
|
||||
S: 1 1 -10000 -10000 0 -6000 6000
|
||||
@@ -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'])
|
||||
|
||||
@@ -1,63 +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
|
||||
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
|
||||
|
||||
# enable all mavlink instances
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_0_CONFIG 101' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_1_CONFIG 102' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_2_CONFIG 103' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_3_CONFIG 104' || true
|
||||
|
||||
# enable all GPS
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 201' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 202' || true
|
||||
|
||||
${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 status'
|
||||
${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 'ps'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
|
||||
|
||||
done
|
||||
@@ -8,16 +8,18 @@ if [ -f "$FILE" ]; then
|
||||
if [ -n "$CHECK_FAILED" ]; then
|
||||
${DIR}/fix_code_style.sh --quiet < $FILE > $FILE.pretty
|
||||
|
||||
echo -e 'Formatting issue found in' $FILE
|
||||
echo
|
||||
git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty | grep -vE -e "^.{,4}diff.*\.pretty.{,3}$" -e "^.{,4}--- a/.*$" -e "^.{,4}\+\+\+ b/.*$" -e "^.{,5}@@ .* @@.*$" -e "^.{,4}index .{10}\.\."
|
||||
git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty
|
||||
rm -f $FILE.pretty
|
||||
echo
|
||||
|
||||
if [[ $PX4_ASTYLE_FIX -eq 1 ]]; then
|
||||
${DIR}/fix_code_style.sh $FILE
|
||||
else
|
||||
echo 'to fix automatically run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
|
||||
# Make sure this file is not staged for comitting
|
||||
git reset $FILE
|
||||
# Provide instructions
|
||||
echo $FILE 'bad formatting, please run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
|
||||
exit 1
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -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 \
|
||||
|
||||
@@ -54,9 +54,12 @@ if [ $? -ne 0 ]; then
|
||||
fi
|
||||
|
||||
# Check for code style, only in changed files
|
||||
bash -c "comm -12 <(./Tools/astyle/files_to_check_code_style.sh | sort) <(git diff --cached --name-only --diff-filter=ACM) | xargs -P 8 -I % ./Tools/astyle/check_code_style.sh %"
|
||||
if [ $? -ne 0 ]
|
||||
then
|
||||
echo "Pre-commit style error: Bad formatting according to astyle rules"
|
||||
exit 1
|
||||
fi
|
||||
for i in `git diff --cached --name-only --diff-filter=ACM`
|
||||
do
|
||||
./Tools/astyle/files_to_check_code_style.sh $i | xargs -n 1 -P 8 -I % ./Tools/astyle/check_code_style.sh %
|
||||
if [ $? -ne 0 ]
|
||||
then
|
||||
echo "Pre-commit style error: Bad formatting according to astyle rules"
|
||||
exit 1
|
||||
fi
|
||||
done
|
||||
|
||||
@@ -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
|
||||
|
||||
|
||||
@@ -17,3 +17,4 @@ def save_compressed(filename):
|
||||
f.write(content_file.read())
|
||||
|
||||
save_compressed(filename)
|
||||
|
||||
|
||||
+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))
|
||||
|
||||
@@ -6,14 +6,6 @@ import os
|
||||
import sys
|
||||
import json
|
||||
import re
|
||||
from kconfiglib import Kconfig
|
||||
|
||||
kconf = Kconfig()
|
||||
|
||||
# Supress warning output
|
||||
kconf.warn_assign_undef = False
|
||||
kconf.warn_assign_override = False
|
||||
kconf.warn_assign_redun = False
|
||||
|
||||
source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')
|
||||
|
||||
@@ -36,45 +28,42 @@ excluded_labels = [
|
||||
'uavcanv1' # TODO: fix and enable
|
||||
]
|
||||
|
||||
def process_target(px4board_file, target_name):
|
||||
def process_target(cmake_file, target_name):
|
||||
ret = None
|
||||
is_board_def = False
|
||||
platform = None
|
||||
toolchain = None
|
||||
for line in open(cmake_file, 'r'):
|
||||
if 'px4_add_board' in line:
|
||||
is_board_def = True
|
||||
if not is_board_def:
|
||||
continue
|
||||
|
||||
if px4board_file.endswith("default.px4board") or \
|
||||
px4board_file.endswith("recovery.px4board") or \
|
||||
px4board_file.endswith("bootloader.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)
|
||||
kconf.load_config(default_kconfig, replace=True)
|
||||
kconf.load_config(px4board_file, replace=False)
|
||||
re_platform = re.search('PLATFORM\s+([^\s]+)', line)
|
||||
if re_platform: platform = re_platform.group(1)
|
||||
|
||||
if "BOARD_TOOLCHAIN" in kconf.syms:
|
||||
toolchain = kconf.syms["BOARD_TOOLCHAIN"].str_value
|
||||
re_toolchain = re.search('TOOLCHAIN\s+([^\s]+)', line)
|
||||
if re_toolchain: toolchain = re_toolchain.group(1)
|
||||
|
||||
if "BOARD_PLATFORM" in kconf.syms:
|
||||
platform = kconf.syms["BOARD_PLATFORM"].str_value
|
||||
if is_board_def:
|
||||
assert platform, f"PLATFORM not found in {cmake_file}"
|
||||
|
||||
assert platform, f"PLATFORM not found in {px4board_file}"
|
||||
|
||||
if platform not in excluded_platforms:
|
||||
# get the container based on the platform and toolchain
|
||||
container = platform
|
||||
if platform == 'posix':
|
||||
container = 'base-focal'
|
||||
if toolchain:
|
||||
if toolchain.startswith('aarch64'):
|
||||
container = 'aarch64'
|
||||
elif toolchain == 'arm-linux-gnueabihf':
|
||||
container = 'armhf'
|
||||
else:
|
||||
if verbose: print(f'possibly unmatched toolchain: {toolchain}')
|
||||
elif platform == 'nuttx':
|
||||
container = 'nuttx-focal'
|
||||
|
||||
ret = {'target': target_name, 'container': container}
|
||||
if platform not in excluded_platforms:
|
||||
# get the container based on the platform and toolchain
|
||||
container = platform
|
||||
if platform == 'posix':
|
||||
container = 'base-focal'
|
||||
if toolchain:
|
||||
if toolchain.startswith('aarch64'):
|
||||
container = 'aarch64'
|
||||
elif toolchain == 'arm-linux-gnueabihf':
|
||||
container = 'armhf'
|
||||
else:
|
||||
if verbose: print(f'possibly unmatched toolchain: {toolchain}')
|
||||
elif platform == 'nuttx':
|
||||
container = 'nuttx-focal'
|
||||
|
||||
ret = {'target': target_name, 'container': container}
|
||||
return ret
|
||||
|
||||
for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
|
||||
@@ -88,8 +77,8 @@ for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
|
||||
if not board.is_dir():
|
||||
continue
|
||||
for files in os.scandir(board.path):
|
||||
if files.is_file() and files.name.endswith('.px4board'):
|
||||
label = files.name[:-9]
|
||||
if files.is_file() and files.name.endswith('.cmake'):
|
||||
label = files.name[:-6]
|
||||
target_name = manufacturer.name + '_' + board.name + '_' + label
|
||||
if label in excluded_labels:
|
||||
if verbose: print(f'excluding label {label} ({target_name})')
|
||||
|
||||
+1
-1
Submodule Tools/jMAVSim updated: 66b764ada5...0a5a8c6d9d
@@ -10,7 +10,7 @@ extra_args=
|
||||
baudrate=921600
|
||||
device=
|
||||
ip="127.0.0.1"
|
||||
while getopts ":b:d:p:qsr:f:i:loat" opt; do
|
||||
while getopts ":b:d:p:qsr:f:i:loa" opt; do
|
||||
case $opt in
|
||||
b)
|
||||
baudrate=$OPTARG
|
||||
@@ -40,10 +40,7 @@ while getopts ":b:d:p:qsr:f:i:loat" opt; do
|
||||
extra_args="$extra_args -disponly"
|
||||
;;
|
||||
a)
|
||||
extra_args="$extra_args -fw" # aircraft model
|
||||
;;
|
||||
t)
|
||||
extra_args="$extra_args -ts" # tailsitter model
|
||||
extra_args="$extra_args -fw" # aircraft
|
||||
;;
|
||||
\?)
|
||||
echo "Invalid option: -$OPTARG" >&2
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user