mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-28 19:10:04 +08:00
Compare commits
2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
f82eae800d | ||
|
Daniel Agar
|
bb96343e8d |
@@ -69,18 +69,24 @@ pipeline {
|
||||
"matek_h743-slim_default",
|
||||
"matek_h743_default",
|
||||
"modalai_fc-v1_default",
|
||||
"modalai_fc-v1_rtps",
|
||||
"modalai_fc-v2_default",
|
||||
"modalai_voxl2-io_default",
|
||||
"mro_ctrl-zero-f7_default",
|
||||
"mro_ctrl-zero-f7-oem_default",
|
||||
"mro_ctrl-zero-h7-oem_default",
|
||||
"mro_ctrl-zero-h7-oem_rtps",
|
||||
"mro_ctrl-zero-h7_default",
|
||||
"mro_ctrl-zero-h7_rtps",
|
||||
"mro_pixracerpro_default",
|
||||
"mro_pixracerpro_rtps",
|
||||
"mro_x21-777_default",
|
||||
"mro_x21_default",
|
||||
"nxp_fmuk66-e_default",
|
||||
"nxp_fmuk66-e_rtps",
|
||||
"nxp_fmuk66-e_socketcan",
|
||||
"nxp_fmuk66-v3_default",
|
||||
"nxp_fmuk66-v3_rtps",
|
||||
"nxp_fmuk66-v3_socketcan",
|
||||
"nxp_fmurt1062-v1_default",
|
||||
"nxp_ucans32k146_canbootloader",
|
||||
@@ -98,6 +104,7 @@ pipeline {
|
||||
"px4_fmu-v5_debug",
|
||||
"px4_fmu-v5_default",
|
||||
"px4_fmu-v5_lto",
|
||||
"px4_fmu-v5_rtps",
|
||||
"px4_fmu-v5_stackcheck",
|
||||
"px4_fmu-v5_uavcanv0periph",
|
||||
"px4_fmu-v5x_default",
|
||||
|
||||
@@ -920,6 +920,7 @@ void printTopics() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
|
||||
@@ -936,7 +937,7 @@ void printTopics() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener failsafe_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
|
||||
}
|
||||
|
||||
@@ -5,7 +5,7 @@ labels: feature-request
|
||||
|
||||
---
|
||||
|
||||
For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).
|
||||
For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
|
||||
|
||||
## Describe problem solved by the proposed feature
|
||||
A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
|
||||
|
||||
@@ -1,29 +1,17 @@
|
||||
<!--
|
||||
Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
|
||||
|
||||
Thank you for your contribution!
|
||||
## Describe problem solved by this pull request
|
||||
A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
|
||||
E.g. For this use case I ran into...
|
||||
|
||||
Get early feedback through
|
||||
- Dronecode Discord: https://discord.gg/dronecode
|
||||
- PX4 Discuss: http://discuss.px4.io/
|
||||
- opening a draft pr and sharing the link
|
||||
## Describe your solution
|
||||
A clear and concise description of what you have implemented.
|
||||
|
||||
-->
|
||||
## Describe possible alternatives
|
||||
A clear and concise description of alternative solutions or features you've considered.
|
||||
|
||||
### Solved Problem
|
||||
When ... I found that ...
|
||||
## Test data / coverage
|
||||
How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
|
||||
|
||||
Fixes #{Github issue ID}
|
||||
|
||||
### Solution
|
||||
- Add ... for ...
|
||||
- Refactor ...
|
||||
|
||||
### Alternatives
|
||||
We could also ...
|
||||
|
||||
### Test coverage
|
||||
- Unit/integration test: ...
|
||||
- Simulation/hardware testing logs: https://review.px4.io/
|
||||
|
||||
### Context
|
||||
Related links, screenshot before/after, video
|
||||
## Additional context
|
||||
Add any other related context or media.
|
||||
|
||||
@@ -23,6 +23,7 @@ jobs:
|
||||
"shellcheck_all",
|
||||
"NO_NINJA_BUILD=1 px4_fmu-v5_default",
|
||||
"NO_NINJA_BUILD=1 px4_sitl_default",
|
||||
"BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
|
||||
"airframe_metadata",
|
||||
"module_documentation",
|
||||
"parameters_metadata",
|
||||
|
||||
@@ -1,44 +0,0 @@
|
||||
name: Failsafe Simulator Build
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'main'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
defaults:
|
||||
run:
|
||||
shell: bash
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
check: [
|
||||
"failsafe_web",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: install emscripten
|
||||
run: |
|
||||
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
|
||||
cd _emscripten_sdk
|
||||
./emsdk install latest
|
||||
./emsdk activate latest
|
||||
- name: ${{matrix.check}}
|
||||
run: |
|
||||
. ./_emscripten_sdk/emsdk_env.sh
|
||||
make ${{matrix.check}}
|
||||
@@ -116,7 +116,7 @@ jobs:
|
||||
ls -ls *
|
||||
# TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
|
||||
|
||||
ROS2_msgs:
|
||||
micrortps_agent:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
@@ -124,8 +124,34 @@ jobs:
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: PX4 ROS2 msgs
|
||||
- name: microRTPS agent
|
||||
run: |
|
||||
make px4_sitl_rtps
|
||||
git clone https://github.com/PX4/micrortps_agent.git
|
||||
cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent
|
||||
|
||||
ROS_msgs:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: PX4 ROS msgs
|
||||
run: |
|
||||
git clone https://github.com/PX4/px4_msgs.git
|
||||
rm px4_msgs/msg/*.msg
|
||||
cp msg/*.msg px4_msgs/msg/
|
||||
python3 msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/
|
||||
|
||||
ROS2_bridge:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: PX4 ROS2 bridge
|
||||
run: |
|
||||
git clone https://github.com/PX4/px4_ros_com.git
|
||||
./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
|
||||
|
||||
+5
-2
@@ -18,6 +18,10 @@
|
||||
path = src/drivers/gps/devices
|
||||
url = https://github.com/PX4/PX4-GPSDrivers.git
|
||||
branch = main
|
||||
[submodule "src/modules/micrortps_bridge/micro-CDR"]
|
||||
path = src/modules/micrortps_bridge/micro-CDR
|
||||
url = https://github.com/PX4/Micro-CDR.git
|
||||
branch = master
|
||||
[submodule "platforms/nuttx/NuttX/nuttx"]
|
||||
path = platforms/nuttx/NuttX/nuttx
|
||||
url = https://github.com/PX4/NuttX.git
|
||||
@@ -60,5 +64,4 @@
|
||||
branch = px4
|
||||
[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
|
||||
path = src/modules/microdds_client/Micro-XRCE-DDS-Client
|
||||
url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
|
||||
branch = px4
|
||||
url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
|
||||
|
||||
Vendored
+3
-3
@@ -6,11 +6,11 @@ CONFIG:
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_nolockstep:
|
||||
short: px4_sitl_nolockstep
|
||||
px4_sitl_rtps:
|
||||
short: px4_sitl_rtps
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_nolockstep
|
||||
CONFIG: px4_sitl_rtps
|
||||
px4_sitl_asan:
|
||||
short: px4_sitl (AddressSanitizer)
|
||||
buildType: AddressSanitizer
|
||||
|
||||
@@ -829,6 +829,7 @@ RECURSIVE = YES
|
||||
# run.
|
||||
|
||||
EXCLUDE = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
|
||||
@CMAKE_SOURCE_DIR@/src/modules/micrortps_bridge/micro-CDR \
|
||||
@CMAKE_SOURCE_DIR@/src/examples \
|
||||
@CMAKE_SOURCE_DIR@/src/templates
|
||||
|
||||
|
||||
Vendored
+154
-35
@@ -13,6 +13,76 @@ pipeline {
|
||||
}
|
||||
}
|
||||
parallel {
|
||||
// stage('Catkin build on ROS workspace') {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-ros-melodic:2021-08-18'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
// }
|
||||
// }
|
||||
// steps {
|
||||
// sh 'ls -l'
|
||||
// sh '''#!/bin/bash -l
|
||||
// echo $0;
|
||||
// mkdir -p catkin_ws/src;
|
||||
// cd catkin_ws;
|
||||
// git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo
|
||||
// git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/simulation/gazebo/sitl_gazebo src/mavlink_sitl_gazebo;
|
||||
// git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
|
||||
// source /opt/ros/melodic/setup.bash;
|
||||
// export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
|
||||
// catkin init;
|
||||
// catkin build -j$(nproc) -l$(nproc);
|
||||
// '''
|
||||
// // test if the binary was correctly installed and runs using 'mavros_posix_sitl.launch'
|
||||
// sh '''#!/bin/bash -l
|
||||
// echo $0;
|
||||
// source catkin_ws/devel/setup.bash;
|
||||
// rostest px4 pub_test.launch;
|
||||
// '''
|
||||
// }
|
||||
// post {
|
||||
// always {
|
||||
// sh 'rm -rf catkin_ws'
|
||||
// }
|
||||
// failure {
|
||||
// archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
|
||||
// }
|
||||
// }
|
||||
// options {
|
||||
// checkoutToSubdirectory('catkin_ws/src/Firmware')
|
||||
// }
|
||||
// }
|
||||
|
||||
stage('Colcon build on ROS2 workspace') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros2-foxy:2021-08-18'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'ls -l'
|
||||
sh '''#!/bin/bash -l
|
||||
echo $0;
|
||||
unset ROS_DISTRO;
|
||||
mkdir -p colcon_ws/src;
|
||||
cd colcon_ws;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
|
||||
source /opt/ros/foxy/setup.sh;
|
||||
colcon build --event-handlers console_direct+ --symlink-install;
|
||||
'''
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'rm -rf colcon_ws'
|
||||
}
|
||||
}
|
||||
options {
|
||||
checkoutToSubdirectory('colcon_ws/src/Firmware')
|
||||
}
|
||||
}
|
||||
|
||||
stage('Airframe') {
|
||||
agent {
|
||||
@@ -79,7 +149,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'mkdir -p build/msg_docs; ./Tools/msg/generate_msg_docs.py -d build/msg_docs'
|
||||
sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
|
||||
dir('build') {
|
||||
archiveArtifacts(artifacts: 'msg_docs/*.md')
|
||||
stash includes: 'msg_docs/*.md', name: 'msg_documentation'
|
||||
@@ -92,36 +162,6 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('failsafe docs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh '''#!/bin/bash -l
|
||||
echo $0;
|
||||
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
|
||||
cd _emscripten_sdk;
|
||||
./emsdk install latest;
|
||||
./emsdk activate latest;
|
||||
cd ..;
|
||||
. ./_emscripten_sdk/emsdk_env.sh;
|
||||
make failsafe_web;
|
||||
cd build/px4_sitl_default_failsafe_web;
|
||||
mkdir -p failsafe_sim;
|
||||
cp index.* parameters.json failsafe_sim;
|
||||
'''
|
||||
dir('build/px4_sitl_default_failsafe_web') {
|
||||
archiveArtifacts(artifacts: 'failsafe_sim/*')
|
||||
stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('uORB graphs') {
|
||||
agent {
|
||||
docker {
|
||||
@@ -163,7 +203,6 @@ pipeline {
|
||||
unstash 'metadata_parameters'
|
||||
unstash 'metadata_module_documentation'
|
||||
unstash 'msg_documentation'
|
||||
unstash 'failsafe_sim'
|
||||
unstash 'uorb_graph'
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
|
||||
@@ -172,7 +211,6 @@ pipeline {
|
||||
sh('cp -R modules/*.md PX4-user_guide/en/modules/')
|
||||
sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
|
||||
sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
|
||||
sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
|
||||
sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
|
||||
sh('cd PX4-user_guide; git push origin main || true')
|
||||
sh('rm -rf PX4-user_guide')
|
||||
@@ -219,6 +257,37 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('microRTPS agent') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('git fetch --all --tags')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make px4_sitl_rtps')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
|
||||
sh("rm -rf micrortps_agent/src micrortps_agent/idl")
|
||||
sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
|
||||
sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
|
||||
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
|
||||
sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
|
||||
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
|
||||
sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
|
||||
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
|
||||
sh('rm -rf micrortps_agent')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'main'
|
||||
branch 'master' // should be removed, but in case there is something going on...
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('PX4 ROS msgs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
@@ -229,16 +298,66 @@ pipeline {
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
|
||||
// 'main' branch
|
||||
sh('rm -f px4_msgs/msg/*.msg')
|
||||
sh('cp msg/*.msg px4_msgs/msg/')
|
||||
sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
|
||||
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
|
||||
sh('cd px4_msgs; git push origin main || true')
|
||||
// 'ros1' branch
|
||||
sh('cd px4_msgs; git checkout ros1')
|
||||
sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
|
||||
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
|
||||
sh('cd px4_msgs; git push origin ros1 || true')
|
||||
sh('rm -rf px4_msgs')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'main'
|
||||
branch 'master' // should be removed, but in case there is something going on...
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('PX4 ROS2 bridge') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
|
||||
// deploy uORB RTPS ID map
|
||||
sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
|
||||
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
|
||||
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
|
||||
// deploy uORB RTPS required tools
|
||||
sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
|
||||
sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
|
||||
sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
|
||||
sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
|
||||
// deploy templates
|
||||
sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
|
||||
sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
|
||||
sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
|
||||
sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
|
||||
sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
|
||||
sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
|
||||
sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
|
||||
sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
|
||||
sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
|
||||
sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
|
||||
sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
|
||||
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
|
||||
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
|
||||
sh('rm -rf px4_msgs')
|
||||
}
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'main'
|
||||
branch 'master' // should be removed, but in case there is something going on...
|
||||
branch 'pr-jenkins' // for testing
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -190,7 +190,3 @@ endmenu
|
||||
menu "examples"
|
||||
source "src/examples/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "platforms"
|
||||
source "platforms/common/Kconfig"
|
||||
endmenu
|
||||
|
||||
@@ -172,6 +172,11 @@ ifdef PYTHON_EXECUTABLE
|
||||
override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
|
||||
endif
|
||||
|
||||
# Check if the microRTPS agent is to be built
|
||||
ifdef BUILD_MICRORTPS_AGENT
|
||||
override CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
|
||||
endif
|
||||
|
||||
# Functions
|
||||
# --------------------------------------------------------------------
|
||||
# describe how to build a cmake config
|
||||
@@ -248,7 +253,7 @@ endef
|
||||
# Other targets
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
|
||||
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
|
||||
|
||||
# QGroundControl flashable NuttX firmware
|
||||
qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
|
||||
@@ -273,7 +278,15 @@ misc_qgc_extra_firmware: \
|
||||
check_airmind_mindpx-v2_default \
|
||||
sizes
|
||||
|
||||
.PHONY: sizes check quick_check uorb_graphs
|
||||
# builds with RTPS
|
||||
check_rtps: \
|
||||
check_px4_fmu-v3_rtps \
|
||||
check_px4_fmu-v4_rtps \
|
||||
check_px4_fmu-v4pro_rtps \
|
||||
check_px4_sitl_rtps \
|
||||
sizes
|
||||
|
||||
.PHONY: sizes check quick_check check_rtps uorb_graphs
|
||||
|
||||
sizes:
|
||||
@-find build -name *.elf -type f | xargs size 2> /dev/null || :
|
||||
@@ -482,9 +495,7 @@ shellcheck_all:
|
||||
|
||||
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 "$(SRC_DIR)/src/modules/microdds_client/dds_topics.yaml" \
|
||||
-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
|
||||
-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
|
||||
|
||||
# Cleanup
|
||||
@@ -550,12 +561,17 @@ check_px4: $(call make_list,nuttx,"px4") \
|
||||
check_nxp: $(call make_list,nuttx,"nxp") \
|
||||
sizes
|
||||
|
||||
.PHONY: failsafe_web run_failsafe_web_server
|
||||
failsafe_web:
|
||||
@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
|
||||
@$(MAKE) --no-print-directory px4_sitl_default failsafe_test parameters_xml \
|
||||
PX4_CMAKE_BUILD_TYPE=Release BUILD_DIR_SUFFIX=_failsafe_web \
|
||||
CMAKE_ARGS="-DCMAKE_CXX_COMPILER=em++ -DCMAKE_C_COMPILER=emcc"
|
||||
run_failsafe_web_server: failsafe_web
|
||||
@cd build/px4_sitl_default_failsafe_web && \
|
||||
python3 -m http.server
|
||||
ifneq ($(ROS2_WS_DIR),)
|
||||
ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
|
||||
else
|
||||
ROS2_WS_DIR := ~/colcon_ws
|
||||
endif
|
||||
|
||||
update_ros2_bridge:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
|
||||
|
||||
update_px4_ros_com:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
|
||||
|
||||
update_px4_msgs:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
|
||||
|
||||
@@ -4,7 +4,7 @@
|
||||
|
||||
[](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)
|
||||
|
||||
[](https://discord.gg/dronecode)
|
||||
[](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
|
||||
|
||||
This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
|
||||
|
||||
@@ -75,7 +75,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
|
||||
* [Paul Riseborough](https://github.com/priseborough)
|
||||
* Vision based navigation and Obstacle Avoidance
|
||||
* [Markus Achtelik](https://github.com/markusachtelik)
|
||||
* DDS/ROS2 Interface
|
||||
* RTPS/ROS2 Interface
|
||||
* [Nuno Marques](https://github.com/TSC21)
|
||||
|
||||
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
|
||||
|
||||
@@ -36,6 +36,7 @@ add_subdirectory(airframes)
|
||||
px4_add_romfs_files(
|
||||
px4-rc.mavlink
|
||||
px4-rc.params
|
||||
px4-rc.rtps
|
||||
px4-rc.simulator
|
||||
rc.replay
|
||||
rcS
|
||||
|
||||
@@ -14,7 +14,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_S_Y 0.3
|
||||
param set-default VT_FW_DIFTHR_SC 0.3
|
||||
param set-default MPC_MAN_Y_MAX 60
|
||||
param set-default MC_PITCH_P 5
|
||||
|
||||
|
||||
@@ -10,7 +10,6 @@
|
||||
# EKF2: Vision position and heading
|
||||
param set-default EKF2_AID_MASK 24
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
param set-default EKF2_EV_CTRL 15
|
||||
param set-default EKF2_GPS_CTRL 0
|
||||
|
||||
# LPE: Vision + baro
|
||||
|
||||
@@ -70,7 +70,7 @@ param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
param set-default NAV_ACC_RAD 5
|
||||
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_S_Y 0.5
|
||||
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
|
||||
|
||||
@@ -0,0 +1,4 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
|
||||
@@ -259,8 +259,11 @@ fi
|
||||
|
||||
navigator start
|
||||
|
||||
# Try to start the microdds_client with UDP transport if module exists
|
||||
microdds_client start -t udp -p 8888
|
||||
# Try to start the micrortps_client with UDP transport if module exists
|
||||
if px4-micrortps_client status > /dev/null 2>&1
|
||||
then
|
||||
. px4-rc.rtps
|
||||
fi
|
||||
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
then
|
||||
|
||||
@@ -22,7 +22,7 @@ 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_S_Y 0.3
|
||||
param set-default VT_FW_DIFTHR_SC 0.3
|
||||
param set-default MPC_MAN_Y_MAX 60
|
||||
param set-default MC_PITCH_P 5
|
||||
|
||||
|
||||
@@ -1,75 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Aion Robotics R1 UGV
|
||||
#
|
||||
# @url https://www.aionrobotics.com/r1
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default BAT1_N_CELLS 4
|
||||
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
param set-default EKF2_ANGERR_INIT 0.01
|
||||
param set-default EKF2_MAG_TYPE 1
|
||||
|
||||
param set-default FW_AIRSPD_MIN 0
|
||||
param set-default FW_AIRSPD_TRIM 1
|
||||
param set-default FW_AIRSPD_MAX 3
|
||||
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_L1_PERIOD 3
|
||||
param set-default GND_THR_CRUISE 0.7
|
||||
param set-default GND_THR_MAX 0.5
|
||||
|
||||
# Because this is differential drive, it can make a turn with radius 0.
|
||||
# This corresponds to a turn angle of pi radians.
|
||||
# If a special case is made for differential-drive, this will need to change.
|
||||
param set-default GND_MAX_ANG 3.142
|
||||
param set-default GND_WHEEL_BASE 0.3
|
||||
|
||||
# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
|
||||
# to support negative throttle.
|
||||
param set-default GND_THR_MIN 0
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_I 3
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
|
||||
param set-default GND_MAX_ANG 3.1415
|
||||
|
||||
param set-default RBCLW_BAUD 8
|
||||
param set-default RBCLW_COUNTS_REV 1200
|
||||
param set-default RBCLW_ADDRESS 128
|
||||
# 104 corresponds to Telem 4
|
||||
param set-default RBCLW_SER_CFG 104
|
||||
# Start this driver after setting parameters, because the driver uses some of those parameters.
|
||||
# roboclaw start /dev/ttyS3
|
||||
|
||||
# Set geometry & output configration
|
||||
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 102
|
||||
param set-default PWM_MAIN_DIS1 1500
|
||||
param set-default PWM_MAIN_DIS2 1500
|
||||
param set-default PWM_MAIN_TIM0 50
|
||||
param set-default PWM_MAIN_TIM1 50
|
||||
|
||||
@@ -118,7 +118,6 @@ px4_add_romfs_files(
|
||||
|
||||
50000_generic_ground_vehicle
|
||||
50004_nxpcup_car_dfrobot_gpx
|
||||
50003_aion_robotics_r1_rover
|
||||
|
||||
# [60000, 61000] (Unmanned) Underwater Robots
|
||||
60000_uuv_generic
|
||||
|
||||
@@ -191,10 +191,7 @@ then
|
||||
ist8308 -X -q start
|
||||
ist8310 -X -q start
|
||||
lis2mdl -X -q start
|
||||
if ! lis3mdl -X -q start
|
||||
then
|
||||
lis3mdl -X -q -a 0x1c start
|
||||
fi
|
||||
lis3mdl -X -q start
|
||||
qmc5883l -X -q start
|
||||
rm3100 -X -q start
|
||||
|
||||
|
||||
@@ -264,6 +264,23 @@ else
|
||||
. $FCONFIG
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if UAVCAN is enabled, default to it for ESCs.
|
||||
#
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
# Start core UAVCAN module.
|
||||
if ! uavcan start
|
||||
then
|
||||
tune_control play error
|
||||
fi
|
||||
else
|
||||
if param greater -s CYPHAL_ENABLE 0
|
||||
then
|
||||
cyphal start
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start IO for PWM output or RC input if enabled
|
||||
#
|
||||
@@ -510,23 +527,6 @@ else
|
||||
fi
|
||||
unset BOARD_BOOTLOADER_UPGRADE
|
||||
|
||||
#
|
||||
# Check if UAVCAN is enabled, default to it for ESCs.
|
||||
#
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
# Start core UAVCAN module.
|
||||
if ! uavcan start
|
||||
then
|
||||
tune_control play error
|
||||
fi
|
||||
else
|
||||
if param greater -s CYPHAL_ENABLE 0
|
||||
then
|
||||
cyphal start
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# End of autostart.
|
||||
#
|
||||
|
||||
@@ -8,6 +8,7 @@ if [ $# -gt 0 ]; then
|
||||
fi
|
||||
|
||||
exec find boards msg src platforms test \
|
||||
-path msg/templates/urtps -prune -o \
|
||||
-path platforms/nuttx/NuttX -prune -o \
|
||||
-path platforms/qurt/dspal -prune -o \
|
||||
-path src/drivers/uavcan/libuavcan -prune -o \
|
||||
@@ -20,6 +21,8 @@ exec find boards msg src platforms test \
|
||||
-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 \
|
||||
-path src/lib/crypto/monocypher -prune -o \
|
||||
-path src/lib/crypto/libtomcrypt -prune -o \
|
||||
|
||||
Executable
+15
@@ -0,0 +1,15 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
SCRIPT_DIR=$0
|
||||
if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
|
||||
SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
|
||||
fi
|
||||
|
||||
PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
|
||||
|
||||
if [ -d $PX4_DIR/build/*_rtps ]; then
|
||||
cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
|
||||
cmake -Bbuild
|
||||
cmake --build build -j$(nproc --all)
|
||||
fi
|
||||
@@ -32,16 +32,16 @@ def extract_timer(line):
|
||||
# Try format: initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
|
||||
search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
|
||||
if search:
|
||||
return search.group(1), 'generic'
|
||||
return search.group(1)
|
||||
|
||||
# nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
|
||||
search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
|
||||
if search:
|
||||
return search.group(1), 'imxrt'
|
||||
return search.group(1)
|
||||
|
||||
return None, 'unknown'
|
||||
return None
|
||||
|
||||
def extract_timer_from_channel(line, num_channels_already_found):
|
||||
def extract_timer_from_channel(line):
|
||||
# Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
|
||||
search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
|
||||
if search:
|
||||
@@ -50,8 +50,7 @@ def extract_timer_from_channel(line, num_channels_already_found):
|
||||
# nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
|
||||
search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
|
||||
if search:
|
||||
# imxrt uses a 1:1 timer group to channel association
|
||||
return str(num_channels_already_found)
|
||||
return search.group(1)
|
||||
|
||||
return None
|
||||
|
||||
@@ -73,14 +72,7 @@ def get_timer_groups(timer_config_file, verbose=False):
|
||||
line = line.strip()
|
||||
if len(line) == 0 or line.startswith('//'):
|
||||
continue
|
||||
timer, timer_type = extract_timer(line)
|
||||
|
||||
if timer_type == 'imxrt':
|
||||
if verbose: print('imxrt timer found')
|
||||
max_num_channels = 16 # Just add a fixed number of timers
|
||||
timers = [str(i) for i in range(max_num_channels)]
|
||||
dshot_support = {str(i): False for i in range(max_num_channels)}
|
||||
break
|
||||
timer = extract_timer(line)
|
||||
|
||||
if timer:
|
||||
if verbose: print('found timer def: {:}'.format(timer))
|
||||
@@ -109,7 +101,7 @@ def get_timer_groups(timer_config_file, verbose=False):
|
||||
continue
|
||||
|
||||
if verbose: print('--'+line+'--')
|
||||
timer = extract_timer_from_channel(line, len(channel_timers))
|
||||
timer = extract_timer_from_channel(line)
|
||||
|
||||
if timer:
|
||||
if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
|
||||
|
||||
@@ -1,253 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
#############################################################################
|
||||
#
|
||||
# Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
#############################################################################
|
||||
|
||||
"""
|
||||
px_generate_uorb_topic_files.py
|
||||
Generates c/cpp header/source files for uorb topics from .msg
|
||||
message files
|
||||
"""
|
||||
|
||||
import os
|
||||
import argparse
|
||||
import re
|
||||
import sys
|
||||
|
||||
try:
|
||||
import em
|
||||
except ImportError as e:
|
||||
print("Failed to import em: " + str(e))
|
||||
print("")
|
||||
print("You may need to install it using:")
|
||||
print(" pip3 install --user empy")
|
||||
print("")
|
||||
sys.exit(1)
|
||||
|
||||
try:
|
||||
import genmsg.template_tools
|
||||
except ImportError as e:
|
||||
print("Failed to import genmsg: " + str(e))
|
||||
print("")
|
||||
print("You may need to install it using:")
|
||||
print(" pip3 install --user pyros-genmsg")
|
||||
print("")
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
|
||||
__copyright__ = "Copyright (C) 2013-2022 PX4 Development Team."
|
||||
__license__ = "BSD"
|
||||
__email__ = "thomasgubler@gmail.com"
|
||||
|
||||
|
||||
TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
|
||||
TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
|
||||
OUTPUT_FILE_EXT = ['.h', '.cpp']
|
||||
INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
|
||||
PACKAGE = 'px4'
|
||||
TOPICS_TOKEN = '# TOPICS '
|
||||
|
||||
|
||||
def get_topics(filename):
|
||||
"""
|
||||
Get TOPICS names from a "# TOPICS" line
|
||||
"""
|
||||
ofile = open(filename, 'r')
|
||||
text = ofile.read()
|
||||
result = []
|
||||
for each_line in text.split('\n'):
|
||||
if each_line.startswith(TOPICS_TOKEN):
|
||||
topic_names_str = each_line.strip()
|
||||
topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
|
||||
topic_names_list = topic_names_str.split(" ")
|
||||
for topic in topic_names_list:
|
||||
# topic name PascalCase (file name) to snake_case (topic name)
|
||||
topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', topic).lower()
|
||||
result.append(topic_name)
|
||||
ofile.close()
|
||||
|
||||
if len(result) == 0:
|
||||
# topic name PascalCase (file name) to snake_case (topic name)
|
||||
file_base_name = os.path.basename(filename).replace(".msg", "")
|
||||
topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
|
||||
result.append(topic_name)
|
||||
|
||||
return result
|
||||
|
||||
|
||||
def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
|
||||
"""
|
||||
Converts a single .msg file to an uorb header/source file
|
||||
"""
|
||||
msg_context = genmsg.msg_loader.MsgContext.create_default()
|
||||
full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename))
|
||||
|
||||
file_base_name = os.path.basename(filename).replace(".msg", "")
|
||||
|
||||
full_type_name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
|
||||
|
||||
spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
|
||||
|
||||
field_name_and_type = {}
|
||||
for field in spec.parsed_fields():
|
||||
field_name_and_type.update({field.name: field.type})
|
||||
|
||||
# assert if the timestamp field exists
|
||||
try:
|
||||
assert 'timestamp' in field_name_and_type
|
||||
except AssertionError:
|
||||
print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
|
||||
spec.short_name + " msg definition!")
|
||||
exit(1)
|
||||
|
||||
# assert if the timestamp field is of type uint64
|
||||
try:
|
||||
assert field_name_and_type.get('timestamp') == 'uint64'
|
||||
except AssertionError:
|
||||
print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
|
||||
" msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
|
||||
exit(1)
|
||||
|
||||
topics = get_topics(filename)
|
||||
|
||||
if includepath:
|
||||
search_path = genmsg.command_line.includepath_to_dict(includepath)
|
||||
else:
|
||||
search_path = {}
|
||||
|
||||
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
|
||||
|
||||
em_globals = {
|
||||
"name_snake_case": full_type_name_snake,
|
||||
"file_name_in": filename,
|
||||
"search_path": search_path,
|
||||
"msg_context": msg_context,
|
||||
"spec": spec,
|
||||
"topics": topics,
|
||||
}
|
||||
|
||||
# Make sure output directory exists:
|
||||
if not os.path.isdir(outputdir):
|
||||
os.makedirs(outputdir)
|
||||
|
||||
template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
|
||||
output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
|
||||
|
||||
return generate_by_template(output_file, template_file, em_globals)
|
||||
|
||||
|
||||
def generate_by_template(output_file, template_file, em_globals):
|
||||
"""
|
||||
Invokes empy intepreter to geneate output_file by the
|
||||
given template_file and predefined em_globals dict
|
||||
"""
|
||||
# check if folder exists:
|
||||
folder_name = os.path.dirname(output_file)
|
||||
if not os.path.exists(folder_name):
|
||||
os.makedirs(folder_name)
|
||||
|
||||
ofile = open(output_file, 'w')
|
||||
# todo, reuse interpreter
|
||||
interpreter = em.Interpreter(output=ofile, globals=em_globals, options={
|
||||
em.RAW_OPT: True, em.BUFFERED_OPT: True})
|
||||
try:
|
||||
interpreter.file(open(template_file))
|
||||
except OSError as e:
|
||||
ofile.close()
|
||||
os.remove(output_file)
|
||||
raise
|
||||
interpreter.shutdown()
|
||||
ofile.close()
|
||||
return True
|
||||
|
||||
|
||||
def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
|
||||
# generate cpp file with topics list
|
||||
filenames = []
|
||||
for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
|
||||
filenames.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower())
|
||||
|
||||
topics = []
|
||||
for msg_filename in files:
|
||||
topics.extend(get_topics(msg_filename))
|
||||
|
||||
tl_globals = {"msgs": filenames, "topics": topics}
|
||||
tl_template_file = os.path.join(templatedir, template_filename)
|
||||
tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
|
||||
|
||||
generate_by_template(tl_out_file, tl_template_file, tl_globals)
|
||||
|
||||
|
||||
def append_to_include_path(path_to_append, curr_include, package):
|
||||
for p in path_to_append:
|
||||
curr_include.append('%s:%s' % (package, p))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
|
||||
parser.add_argument('--headers', help='Generate header files', action='store_true')
|
||||
parser.add_argument('--sources', help='Generate source files', action='store_true')
|
||||
parser.add_argument('-f', dest='file',
|
||||
help="files to convert (use only without -d)",
|
||||
nargs="+")
|
||||
parser.add_argument('-i', dest="include_paths",
|
||||
help='Additional Include Paths', nargs="*",
|
||||
default=None)
|
||||
parser.add_argument('-e', dest='templatedir',
|
||||
help='directory with template files',)
|
||||
parser.add_argument('-k', dest='package', default=PACKAGE,
|
||||
help='package name')
|
||||
parser.add_argument('-o', dest='outputdir',
|
||||
help='output directory for header files')
|
||||
parser.add_argument('-p', dest='prefix', default='',
|
||||
help='string added as prefix to the output file '
|
||||
' name when converting directories')
|
||||
args = parser.parse_args()
|
||||
|
||||
if args.include_paths:
|
||||
append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
|
||||
|
||||
if args.headers:
|
||||
generate_idx = 0
|
||||
elif args.sources:
|
||||
generate_idx = 1
|
||||
else:
|
||||
print('Error: either --headers or --sources must be specified')
|
||||
exit(-1)
|
||||
if args.file is not None:
|
||||
for f in args.file:
|
||||
generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
|
||||
|
||||
# Generate topics list header and source file
|
||||
if os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
|
||||
generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)
|
||||
@@ -51,9 +51,9 @@ div.frame_variant td, div.frame_variant th {
|
||||
text-align : left;
|
||||
}
|
||||
</style>\n\n"""
|
||||
|
||||
|
||||
type_set = set()
|
||||
|
||||
|
||||
if len(image_path) > 0 and image_path[-1] != '/':
|
||||
image_path = image_path + '/'
|
||||
|
||||
@@ -62,7 +62,7 @@ div.frame_variant td, div.frame_variant th {
|
||||
result += '## %s\n\n' % group.GetClass()
|
||||
type_set.add(group.GetClass())
|
||||
|
||||
result += '### %s\n\n' % group.GetType()
|
||||
result += '### %s\n\n' % group.GetName()
|
||||
|
||||
# Display an image of the frame
|
||||
image_name = group.GetImageName()
|
||||
@@ -73,11 +73,11 @@ div.frame_variant td, div.frame_variant th {
|
||||
# check if all outputs are equal for the group: if so, show them
|
||||
# only once
|
||||
all_outputs = {}
|
||||
num_configs = len(group.GetAirframes())
|
||||
for airframe in group.GetAirframes():
|
||||
if not self.IsExcluded(airframe, board):
|
||||
for output_name in airframe.GetOutputCodes():
|
||||
value = airframe.GetOutputValue(output_name)
|
||||
num_configs = len(group.GetParams())
|
||||
for param in group.GetParams():
|
||||
if not self.IsExcluded(param, board):
|
||||
for output_name in param.GetOutputCodes():
|
||||
value = param.GetOutputValue(output_name)
|
||||
key_value_pair = (output_name, value)
|
||||
if key_value_pair not in all_outputs:
|
||||
all_outputs[key_value_pair] = 0
|
||||
@@ -104,17 +104,18 @@ div.frame_variant td, div.frame_variant th {
|
||||
result += ' </thead>\n'
|
||||
result += '<tbody>\n'
|
||||
|
||||
for airframe in group.GetAirframes():
|
||||
if not self.IsExcluded(airframe, board):
|
||||
name = airframe.GetName()
|
||||
airframe_id = airframe.GetId()
|
||||
for param in group.GetParams():
|
||||
if not self.IsExcluded(param, board):
|
||||
#print("generating: {0} {1}".format(param.GetName(), excluded))
|
||||
name = param.GetName()
|
||||
airframe_id = param.GetId()
|
||||
airframe_id_entry = '<p><code>SYS_AUTOSTART</code> = %s</p>' % (airframe_id)
|
||||
maintainer = airframe.GetMaintainer()
|
||||
maintainer = param.GetMaintainer()
|
||||
maintainer_entry = ''
|
||||
if maintainer != '':
|
||||
maintainer_entry = 'Maintainer: %s' % (html.escape(maintainer))
|
||||
url = airframe.GetFieldValue('url')
|
||||
name_anchor='%s_%s_%s' % (group.GetClass(),group.GetType(),name)
|
||||
url = param.GetFieldValue('url')
|
||||
name_anchor='%s_%s_%s' % (group.GetClass(),group.GetName(),name)
|
||||
name_anchor=name_anchor.replace(' ','_').lower()
|
||||
name_anchor=name_anchor.replace('"','_').lower()
|
||||
name_anchor='id="%s"' % name_anchor
|
||||
@@ -123,8 +124,8 @@ div.frame_variant td, div.frame_variant th {
|
||||
name_entry = '<a href="%s">%s</a>' % (url, name)
|
||||
outputs = '<ul>'
|
||||
has_outputs = False
|
||||
for output_name in airframe.GetOutputCodes():
|
||||
value = airframe.GetOutputValue(output_name)
|
||||
for output_name in param.GetOutputCodes():
|
||||
value = param.GetOutputValue(output_name)
|
||||
valstrs = value.split(";")
|
||||
key_value_pair = (output_name, value)
|
||||
if all_outputs[key_value_pair] < num_configs:
|
||||
@@ -151,9 +152,9 @@ div.frame_variant td, div.frame_variant th {
|
||||
|
||||
self.output = result
|
||||
|
||||
def IsExcluded(self, airframe, board):
|
||||
for code in airframe.GetArchCodes():
|
||||
if "CONFIG_ARCH_BOARD_{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
|
||||
def IsExcluded(self, param, board):
|
||||
for code in param.GetArchCodes():
|
||||
if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
|
||||
return True
|
||||
return False
|
||||
|
||||
|
||||
+10
-13
@@ -3,9 +3,6 @@ import codecs
|
||||
import os
|
||||
|
||||
class RCOutput():
|
||||
"""
|
||||
Generates RC scripts for the airframes
|
||||
"""
|
||||
def __init__(self, groups, board, post_start=False):
|
||||
|
||||
result = ( "#\n"
|
||||
@@ -37,33 +34,33 @@ class RCOutput():
|
||||
result += "set AIRFRAME none\n"
|
||||
result += "\n"
|
||||
for group in groups:
|
||||
result += "# GROUP: %s\n\n" % group.GetType()
|
||||
for airframe in group.GetAirframes():
|
||||
result += "# GROUP: %s\n\n" % group.GetName()
|
||||
for param in group.GetParams():
|
||||
excluded = False
|
||||
for code in airframe.GetArchCodes():
|
||||
if "{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
|
||||
for code in param.GetArchCodes():
|
||||
if "{0}".format(code) == board and param.GetArchValue(code) == "exclude":
|
||||
excluded = True
|
||||
if excluded:
|
||||
continue
|
||||
|
||||
if post_start:
|
||||
# Path to post-start sript
|
||||
path = airframe.GetPostPath()
|
||||
path = param.GetPostPath()
|
||||
else:
|
||||
# Path to start script
|
||||
path = airframe.GetPath()
|
||||
path = param.GetPath()
|
||||
|
||||
if not path:
|
||||
continue
|
||||
|
||||
path = os.path.split(path)[1]
|
||||
|
||||
id_val = airframe.GetId()
|
||||
name = airframe.GetFieldValue("short_desc")
|
||||
long_desc = airframe.GetFieldValue("long_desc")
|
||||
id_val = param.GetId()
|
||||
name = param.GetFieldValue("short_desc")
|
||||
long_desc = param.GetFieldValue("long_desc")
|
||||
|
||||
result += "#\n"
|
||||
result += "# %s\n" % airframe.GetName()
|
||||
result += "# %s\n" % param.GetName()
|
||||
result += "if param compare SYS_AUTOSTART %s\n" % id_val
|
||||
result += "then\n"
|
||||
result += "\tset AIRFRAME %s\n" % path
|
||||
|
||||
@@ -2,38 +2,31 @@ import sys
|
||||
import re
|
||||
import os
|
||||
|
||||
class AirframeGroup(object):
|
||||
class ParameterGroup(object):
|
||||
"""
|
||||
Airframe group
|
||||
|
||||
type: specific vehicle type (e.g. VTOL Tiltrotor, VTOL Quadrotor, etc.)
|
||||
class: vehicle class (e.g. Multicopter, Fixed Wing, etc.)
|
||||
Single parameter group
|
||||
"""
|
||||
def __init__(self, type, af_class):
|
||||
self.type = type
|
||||
def __init__(self, name, af_class):
|
||||
self.name = name
|
||||
self.af_class = af_class
|
||||
self.airframes = []
|
||||
self.params = []
|
||||
|
||||
|
||||
def AddAirframe(self, airframe):
|
||||
def AddParameter(self, param):
|
||||
"""
|
||||
Add airframe to the airframe group
|
||||
Add parameter to the group
|
||||
"""
|
||||
self.airframes.append(airframe)
|
||||
self.params.append(param)
|
||||
|
||||
def GetType(self):
|
||||
def GetName(self):
|
||||
"""
|
||||
Get airframe group's vehicle type
|
||||
|
||||
e.g. VTOL Tiltrotor, VTOL Quadrotor, etc.
|
||||
Get parameter group name
|
||||
"""
|
||||
return self.type
|
||||
return self.name
|
||||
|
||||
def GetClass(self):
|
||||
"""
|
||||
Get airframe group's vehicle class
|
||||
|
||||
e.g. Multicopter, Fixed Wing, etc.
|
||||
Get parameter group vehicle type.
|
||||
"""
|
||||
return self.af_class
|
||||
|
||||
@@ -41,84 +34,86 @@ class AirframeGroup(object):
|
||||
"""
|
||||
Get parameter group image base name (w/o extension)
|
||||
"""
|
||||
if (self.type == "Standard Plane"):
|
||||
if (self.name == "Standard Plane"):
|
||||
return "Plane"
|
||||
elif (self.type == "Flying Wing"):
|
||||
elif (self.name == "Flying Wing"):
|
||||
return "FlyingWing"
|
||||
elif (self.type == "Quadrotor x"):
|
||||
elif (self.name == "Quadrotor x"):
|
||||
return "QuadRotorX"
|
||||
elif (self.type == "Quadrotor +"):
|
||||
elif (self.name == "Quadrotor +"):
|
||||
return "QuadRotorPlus"
|
||||
elif (self.type == "Hexarotor x"):
|
||||
elif (self.name == "Hexarotor x"):
|
||||
return "HexaRotorX"
|
||||
elif (self.type == "Hexarotor +"):
|
||||
elif (self.name == "Hexarotor +"):
|
||||
return "HexaRotorPlus"
|
||||
elif (self.type == "Octorotor +"):
|
||||
elif (self.name == "Octorotor +"):
|
||||
return "OctoRotorPlus"
|
||||
elif (self.type == "Octorotor x"):
|
||||
elif (self.name == "Octorotor x"):
|
||||
return "OctoRotorX"
|
||||
elif (self.type == "Octorotor Coaxial"):
|
||||
elif (self.name == "Octorotor Coaxial"):
|
||||
return "OctoRotorXCoaxial"
|
||||
elif (self.type == "Octo Coax Wide"):
|
||||
elif (self.name == "Octo Coax Wide"):
|
||||
return "OctoRotorXCoaxial"
|
||||
elif (self.type == "Quadrotor Wide"):
|
||||
elif (self.name == "Quadrotor Wide"):
|
||||
return "QuadRotorWide"
|
||||
elif (self.type == "Quadrotor H"):
|
||||
elif (self.name == "Quadrotor H"):
|
||||
return "QuadRotorH"
|
||||
elif (self.type == "Dodecarotor cox"):
|
||||
elif (self.name == "Dodecarotor cox"):
|
||||
return "DodecaRotorXCoaxial"
|
||||
elif (self.type == "Simulation"):
|
||||
elif (self.name == "Simulation"):
|
||||
return "AirframeSimulation"
|
||||
elif (self.type == "Plane A-Tail"):
|
||||
elif (self.name == "Plane A-Tail"):
|
||||
return "PlaneATail"
|
||||
elif (self.type == "Plane V-Tail"):
|
||||
elif (self.name == "Plane V-Tail"):
|
||||
return "PlaneVTail"
|
||||
elif (self.type == "VTOL Duo Tailsitter"):
|
||||
elif (self.name == "VTOL Duo Tailsitter"):
|
||||
return "VTOLDuoRotorTailSitter"
|
||||
elif (self.type == "Standard VTOL"):
|
||||
elif (self.name == "Standard VTOL"):
|
||||
return "VTOLPlane"
|
||||
elif (self.type == "VTOL Quad Tailsitter"):
|
||||
elif (self.name == "VTOL Quad Tailsitter"):
|
||||
return "VTOLQuadRotorTailSitter"
|
||||
elif (self.type == "VTOL Tiltrotor"):
|
||||
elif (self.name == "VTOL Tiltrotor"):
|
||||
return "VTOLTiltRotor"
|
||||
elif (self.type == "VTOL Octoplane"):
|
||||
elif (self.name == "VTOL Octoplane"):
|
||||
return "VTOLPlaneOcto"
|
||||
elif (self.type == "Coaxial Helicopter"):
|
||||
elif (self.name == "Coaxial Helicopter"):
|
||||
return "HelicopterCoaxial"
|
||||
elif (self.type == "Helicopter"):
|
||||
elif (self.name == "Helicopter"):
|
||||
return "Helicopter"
|
||||
elif (self.type == "Hexarotor Coaxial"):
|
||||
elif (self.name == "Hexarotor Coaxial"):
|
||||
return "Y6B"
|
||||
elif (self.type == "Y6A"):
|
||||
elif (self.name == "Y6A"):
|
||||
return "Y6A"
|
||||
elif (self.type == "Tricopter Y-"):
|
||||
elif (self.name == "Tricopter Y-"):
|
||||
return "YMinus"
|
||||
elif (self.type == "Tricopter Y+"):
|
||||
elif (self.name == "Tricopter Y+"):
|
||||
return "YPlus"
|
||||
elif (self.type == "Autogyro"):
|
||||
elif (self.name == "Autogyro"):
|
||||
return "Autogyro"
|
||||
elif (self.type == "Airship"):
|
||||
elif (self.name == "Airship"):
|
||||
return "Airship"
|
||||
elif (self.type == "Rover"):
|
||||
elif (self.name == "Rover"):
|
||||
return "Rover"
|
||||
elif (self.type == "Boat"):
|
||||
elif (self.name == "Boat"):
|
||||
return "Boat"
|
||||
elif (self.type == "Balloon"):
|
||||
elif (self.name == "Balloon"):
|
||||
return "Balloon"
|
||||
elif (self.type == "Vectored 6 DOF UUV"):
|
||||
elif (self.name == "Vectored 6 DOF UUV"):
|
||||
return "Vectored6DofUUV"
|
||||
return "AirframeUnknown"
|
||||
|
||||
def GetAirframes(self):
|
||||
def GetParams(self):
|
||||
"""
|
||||
Returns the parsed list of airframes objects. Note that returned
|
||||
object is not a copy. Modifications affect state of the parser.
|
||||
Returns the parsed list of parameters. Every parameter is a Parameter
|
||||
object. Note that returned object is not a copy. Modifications affect
|
||||
state of the parser.
|
||||
"""
|
||||
return sorted(self.airframes, key=lambda x: x.GetId())
|
||||
|
||||
class Airframe(object):
|
||||
return sorted(self.params, key=lambda x: x.GetId())
|
||||
|
||||
class Parameter(object):
|
||||
"""
|
||||
Single Airframe definition
|
||||
Single parameter
|
||||
"""
|
||||
|
||||
# Define sorting order of the fields
|
||||
@@ -293,7 +288,7 @@ class SourceParser(object):
|
||||
}
|
||||
|
||||
def __init__(self):
|
||||
self.airframe_groups = {}
|
||||
self.param_groups = {}
|
||||
|
||||
def GetSupportedExtensions(self):
|
||||
"""
|
||||
@@ -352,10 +347,10 @@ class SourceParser(object):
|
||||
tag, desc = m.group(1, 2)
|
||||
if (tag == "output"):
|
||||
key, text = desc.split(' ', 1)
|
||||
outputs[key] = text
|
||||
outputs[key] = text;
|
||||
elif (tag == "board"):
|
||||
key, text = desc.split(' ', 1)
|
||||
archs[key] = text
|
||||
archs[key] = text;
|
||||
else:
|
||||
tags[tag] = desc
|
||||
current_tag = tag
|
||||
@@ -432,7 +427,7 @@ class SourceParser(object):
|
||||
post_path = None
|
||||
|
||||
# We already know this is an airframe config, so add it
|
||||
airframe = Airframe(path, post_path, airframe_name, airframe_type, airframe_class, airframe_id, maintainer)
|
||||
param = Parameter(path, post_path, airframe_name, airframe_type, airframe_class, airframe_id, maintainer)
|
||||
|
||||
# Done with file, store
|
||||
for tag in tags:
|
||||
@@ -445,24 +440,24 @@ class SourceParser(object):
|
||||
if tag == "name":
|
||||
airframe_name = tags[tag]
|
||||
else:
|
||||
airframe.SetField(tag, tags[tag])
|
||||
param.SetField(tag, tags[tag])
|
||||
|
||||
# Store outputs
|
||||
for output in outputs:
|
||||
airframe.SetOutput(output, outputs[output])
|
||||
param.SetOutput(output, outputs[output])
|
||||
|
||||
# Store outputs
|
||||
for arch in archs:
|
||||
airframe.SetArch(arch, archs[arch])
|
||||
param.SetArch(arch, archs[arch])
|
||||
|
||||
# Store the parameter
|
||||
|
||||
# Create a class-specific airframe group. This is needed to catch cases where an airframe type might cross classes (e.g. simulation)
|
||||
class_group_identifier=airframe_type + airframe_class
|
||||
if class_group_identifier not in self.airframe_groups:
|
||||
#self.airframe_groups[airframe_type] = ParameterGroup(airframe_type) #HW TEST REMOVE
|
||||
self.airframe_groups[class_group_identifier] = AirframeGroup(airframe_type, airframe_class)
|
||||
self.airframe_groups[class_group_identifier].AddAirframe(airframe)
|
||||
class_group_identifier=airframe_type+airframe_class
|
||||
if class_group_identifier not in self.param_groups:
|
||||
#self.param_groups[airframe_type] = ParameterGroup(airframe_type) #HW TEST REMOVE
|
||||
self.param_groups[class_group_identifier] = ParameterGroup(airframe_type, airframe_class)
|
||||
self.param_groups[class_group_identifier].AddParameter(param)
|
||||
|
||||
return True
|
||||
|
||||
@@ -478,8 +473,8 @@ class SourceParser(object):
|
||||
Validates the airframe meta data.
|
||||
"""
|
||||
seenParamNames = []
|
||||
for group in self.GetAirframeGroups():
|
||||
for param in group.GetAirframes():
|
||||
for group in self.GetParamGroups():
|
||||
for param in group.GetParams():
|
||||
name = param.GetName()
|
||||
board = param.GetFieldValue("board")
|
||||
# Check for duplicates
|
||||
@@ -492,27 +487,27 @@ class SourceParser(object):
|
||||
|
||||
return True
|
||||
|
||||
def GetAirframeGroups(self):
|
||||
def GetParamGroups(self):
|
||||
"""
|
||||
Returns the parsed list of Airframe groups. Every Airframe is an Airframe
|
||||
Returns the parsed list of parameters. Every parameter is a Parameter
|
||||
object. Note that returned object is not a copy. Modifications affect
|
||||
state of the parser.
|
||||
"""
|
||||
groups = self.airframe_groups.values()
|
||||
groups = sorted(groups, key=lambda x: x.GetType())
|
||||
groups = self.param_groups.values()
|
||||
groups = sorted(groups, key=lambda x: x.GetName())
|
||||
groups = sorted(groups, key=lambda x: x.GetClass())
|
||||
groups = sorted(groups, key=lambda x: self.priority.get(x.GetType(), 0), reverse=True)
|
||||
groups = sorted(groups, key=lambda x: self.priority.get(x.GetName(), 0), reverse=True)
|
||||
|
||||
#Rename duplicate groups to include the class (creating unique headings in page TOC)
|
||||
duplicate_test=set()
|
||||
duplicate_set=set()
|
||||
for group in groups:
|
||||
if group.GetType() in duplicate_test:
|
||||
duplicate_set.add(group.GetType())
|
||||
if group.GetName() in duplicate_test:
|
||||
duplicate_set.add(group.GetName())
|
||||
else:
|
||||
duplicate_test.add(group.GetType() )
|
||||
duplicate_test.add(group.GetName() )
|
||||
for group in groups:
|
||||
if group.GetType() in duplicate_set:
|
||||
group.name=group.GetType()+' (%s)' % group.GetClass()
|
||||
if group.GetName() in duplicate_set:
|
||||
group.name=group.GetName()+' (%s)' % group.GetClass()
|
||||
|
||||
return groups
|
||||
|
||||
@@ -28,28 +28,28 @@ class XMLOutput():
|
||||
xml_version.text = "1"
|
||||
for group in groups:
|
||||
xml_group = ET.SubElement(xml_parameters, "airframe_group")
|
||||
xml_group.attrib["name"] = group.GetType()
|
||||
xml_group.attrib["name"] = group.GetName()
|
||||
xml_group.attrib["image"] = group.GetImageName()
|
||||
for airframe in group.GetAirframes():
|
||||
for param in group.GetParams():
|
||||
|
||||
# check if there is an exclude tag for this airframe
|
||||
excluded = False
|
||||
for code in airframe.GetArchCodes():
|
||||
if "CONFIG_ARCH_BOARD_{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
|
||||
for code in param.GetArchCodes():
|
||||
if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
|
||||
excluded = True
|
||||
|
||||
if not excluded:
|
||||
#print("generating: {0} {1}".format(airframe.GetName(), excluded))
|
||||
#print("generating: {0} {1}".format(param.GetName(), excluded))
|
||||
xml_param = ET.SubElement(xml_group, "airframe")
|
||||
xml_param.attrib["name"] = airframe.GetName()
|
||||
xml_param.attrib["id"] = airframe.GetId()
|
||||
xml_param.attrib["maintainer"] = airframe.GetMaintainer()
|
||||
for code in airframe.GetFieldCodes():
|
||||
value = airframe.GetFieldValue(code)
|
||||
xml_param.attrib["name"] = param.GetName()
|
||||
xml_param.attrib["id"] = param.GetId()
|
||||
xml_param.attrib["maintainer"] = param.GetMaintainer()
|
||||
for code in param.GetFieldCodes():
|
||||
value = param.GetFieldValue(code)
|
||||
xml_field = ET.SubElement(xml_param, code)
|
||||
xml_field.text = value
|
||||
for code in airframe.GetOutputCodes():
|
||||
value = airframe.GetOutputValue(code)
|
||||
for code in param.GetOutputCodes():
|
||||
value = param.GetOutputValue(code)
|
||||
valstrs = value.split(";")
|
||||
xml_field = ET.SubElement(xml_param, "output")
|
||||
xml_field.attrib["name"] = code
|
||||
|
||||
@@ -211,11 +211,6 @@ class SourceParser(object):
|
||||
|
||||
ignore_event = False
|
||||
|
||||
def parse_message(s):
|
||||
assert s[0] == '"', "Argument must be a string literal: {:}".format(s)
|
||||
# unescape \x, to treat the string the same as the C++ compiler
|
||||
return s[1:-1].encode("utf-8").decode('unicode_escape')
|
||||
|
||||
# extract function arguments
|
||||
args_split = self._parse_arguments(args)
|
||||
if call == "events::send" or call == "send":
|
||||
@@ -233,7 +228,8 @@ class SourceParser(object):
|
||||
else:
|
||||
raise Exception("Could not extract event ID from {:}".format(args_split[0]))
|
||||
event.name = event_name
|
||||
event.message = parse_message(args_split[2])
|
||||
# unescape \x, to treat the string the same as the C++ compiler
|
||||
event.message = args_split[2][1:-1].encode("utf-8").decode('unicode_escape')
|
||||
elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
|
||||
assert len(args_split) == num_args + 5, \
|
||||
"Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
|
||||
@@ -243,7 +239,7 @@ class SourceParser(object):
|
||||
else:
|
||||
raise Exception("Could not extract event ID from {:}".format(args_split[2]))
|
||||
event.name = event_name
|
||||
event.message = parse_message(args_split[4])
|
||||
event.message = args_split[4][1:-1]
|
||||
if 'health' in call:
|
||||
event.group = "health"
|
||||
else:
|
||||
|
||||
@@ -35,11 +35,12 @@
|
||||
#
|
||||
# PX4 airframe config processor (main executable file)
|
||||
#
|
||||
# This tool scans the PX4 ROMFS directory for declarations of airframes
|
||||
# This tool scans the PX4 ROMFS code for declarations of airframes
|
||||
#
|
||||
# Currently supported formats are:
|
||||
# * XML for the parametric UI generator
|
||||
# * Markdown for the PX4 dev guide (https://github.com/PX4/Devguide)
|
||||
#
|
||||
# Currently supported output formats are:
|
||||
# * XML for the parametric UI generator (Used in QGC)
|
||||
# * Markdown for the PX4 User guide (https://github.com/PX4/PX4-user_guide)
|
||||
#
|
||||
|
||||
from __future__ import print_function
|
||||
@@ -103,31 +104,31 @@ def main():
|
||||
# We can't validate yet
|
||||
# if not parser.Validate():
|
||||
# sys.exit(1)
|
||||
airframe_groups = parser.GetAirframeGroups()
|
||||
param_groups = parser.GetParamGroups()
|
||||
|
||||
# Output to XML file
|
||||
if args.xml:
|
||||
if args.verbose: print("Creating XML file " + args.xml)
|
||||
out = xmlout.XMLOutput(airframe_groups, args.board)
|
||||
out = xmlout.XMLOutput(param_groups, args.board)
|
||||
out.Save(args.xml)
|
||||
|
||||
# Output to markdown file
|
||||
if args.markdown:
|
||||
if args.verbose: print("Creating markdown file " + args.markdown)
|
||||
out = markdownout.MarkdownTablesOutput(airframe_groups, args.board, args.image_path)
|
||||
out = markdownout.MarkdownTablesOutput(param_groups, args.board, args.image_path)
|
||||
out.Save(args.markdown)
|
||||
|
||||
# Output to start scripts
|
||||
if args.start_script:
|
||||
# Airframe start script
|
||||
if args.verbose: print("Creating start script " + args.start_script)
|
||||
out = rcout.RCOutput(airframe_groups, args.board)
|
||||
out = rcout.RCOutput(param_groups, args.board)
|
||||
out.Save(args.start_script)
|
||||
|
||||
# Airframe post-start script
|
||||
post_start_script = args.start_script + '.post'
|
||||
if args.verbose: print("Creating post-start script " + post_start_script)
|
||||
out_post = rcout.RCOutput(airframe_groups, args.board, post_start=True)
|
||||
out_post = rcout.RCOutput(param_groups, args.board, post_start=True)
|
||||
out_post.Save(post_start_script)
|
||||
|
||||
if (args.verbose): print("All done!")
|
||||
|
||||
+14
-32
@@ -582,35 +582,7 @@ class uploader(object):
|
||||
self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
|
||||
|
||||
# upload the firmware
|
||||
def upload(self, fw_list, force=False, boot_delay=None, boot_check=False):
|
||||
# select correct binary
|
||||
found_suitable_firmware = False
|
||||
for file in fw_list:
|
||||
fw = firmware(file)
|
||||
if self.board_type == fw.property('board_id'):
|
||||
if len(fw_list) > 1: print("using firmware binary {}".format(file))
|
||||
found_suitable_firmware = True
|
||||
break
|
||||
|
||||
if not found_suitable_firmware:
|
||||
msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
|
||||
self.board_type, fw.property('board_id'))
|
||||
print("WARNING: %s" % msg)
|
||||
if force:
|
||||
if len(fw_list) > 1:
|
||||
raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
|
||||
print("FORCED WRITE, FLASHING ANYWAY!")
|
||||
else:
|
||||
raise FirmwareNotSuitableException(msg)
|
||||
|
||||
percent = fw.property('image_size') / fw.property('image_maxsize')
|
||||
binary_size = float(fw.property('image_size'))
|
||||
binary_max_size = float(fw.property('image_maxsize'))
|
||||
percent = (binary_size / binary_max_size) * 100
|
||||
|
||||
print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
|
||||
print()
|
||||
|
||||
def upload(self, fw, force=False, boot_delay=None):
|
||||
# Make sure we are doing the right thing
|
||||
start = _time()
|
||||
if self.board_type != fw.property('board_id'):
|
||||
@@ -792,7 +764,7 @@ def main():
|
||||
parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
|
||||
parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
|
||||
parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
|
||||
parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
|
||||
parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
|
||||
args = parser.parse_args()
|
||||
|
||||
if args.use_protocol_splitter_format:
|
||||
@@ -804,7 +776,17 @@ def main():
|
||||
print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
|
||||
print("==========================================================================================================")
|
||||
|
||||
print("Waiting for bootloader...")
|
||||
# Load the firmware file
|
||||
fw = firmware(args.firmware)
|
||||
|
||||
percent = fw.property('image_size') / fw.property('image_maxsize')
|
||||
binary_size = float(fw.property('image_size'))
|
||||
binary_max_size = float(fw.property('image_maxsize'))
|
||||
percent = (binary_size / binary_max_size) * 100
|
||||
|
||||
print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%), waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
|
||||
print()
|
||||
|
||||
# tell any GCS that might be connected to the autopilot to give up
|
||||
# control of the serial port
|
||||
|
||||
@@ -907,7 +889,7 @@ def main():
|
||||
|
||||
try:
|
||||
# ok, we have a bootloader, try flashing it
|
||||
up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay)
|
||||
up.upload(fw, force=args.force, boot_delay=args.boot_delay)
|
||||
|
||||
# if we made this far without raising exceptions, the upload was successful
|
||||
successful = True
|
||||
|
||||
+3
-1
@@ -9,6 +9,8 @@
|
||||
## - jMAVSim simulator (omit with arg: --no-sim-tools)
|
||||
## - Gazebo simulator (not by default, use --gazebo)
|
||||
##
|
||||
## Not Installs:
|
||||
## - FastRTPS and FastCDR
|
||||
|
||||
INSTALL_NUTTX="true"
|
||||
INSTALL_SIM="true"
|
||||
@@ -120,7 +122,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
echo
|
||||
echo "Installing PX4 simulation dependencies"
|
||||
|
||||
# java (jmavsim)
|
||||
# java (jmavsim or fastrtps)
|
||||
sudo pacman -S --noconfirm --needed \
|
||||
ant \
|
||||
jdk-openjdk \
|
||||
|
||||
@@ -10,6 +10,8 @@ set -e
|
||||
## - NuttX toolchain (omit with arg: --no-nuttx)
|
||||
## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
|
||||
##
|
||||
## Not Installs:
|
||||
## - FastRTPS and FastCDR
|
||||
|
||||
INSTALL_NUTTX="true"
|
||||
INSTALL_SIM="true"
|
||||
@@ -214,7 +216,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
else
|
||||
java_version=14
|
||||
fi
|
||||
# Java (jmavsim)
|
||||
# Java (jmavsim or fastrtps)
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
ant \
|
||||
openjdk-$java_version-jre \
|
||||
|
||||
Submodule Tools/simulation/gazebo/sitl_gazebo updated: b38e701ec4...e804327595
Executable
+135
@@ -0,0 +1,135 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
agent_template_files_updated=0
|
||||
code_generator_files_updated=0
|
||||
|
||||
# parse help argument
|
||||
if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
|
||||
echo -e "Usage: update_px4_ros2_bridge.bash [options...] \t This script allows to update px4_ros_com and px4_msgs in a specified directory." >&2
|
||||
echo
|
||||
echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
|
||||
echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
|
||||
echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
|
||||
echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
|
||||
echo
|
||||
exit 0
|
||||
fi
|
||||
|
||||
# parse the arguments
|
||||
while [ $# -gt 0 ]; do
|
||||
if [[ $1 == *"--"* ]]; then
|
||||
v="${1/--/}"
|
||||
if [ ! -z $2 ]; then
|
||||
declare $v="$2"
|
||||
else
|
||||
declare $v=1
|
||||
fi
|
||||
fi
|
||||
shift
|
||||
done
|
||||
|
||||
# get script directory
|
||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
||||
|
||||
# get PX4-Autopilot directory
|
||||
PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
|
||||
|
||||
function compare_and_update () {
|
||||
cmp -s "$1" "$2"
|
||||
if [ $? -eq 1 ]; then
|
||||
cp "$1" "$2"
|
||||
return 0
|
||||
fi
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
# update microRTPS agent code generators / helpers
|
||||
function update_agent_code {
|
||||
declare -a templates=( \
|
||||
"microRTPS_agent.cpp.em" \
|
||||
"microRTPS_timesync.cpp.em" \
|
||||
"microRTPS_timesync.h.em" \
|
||||
"microRTPS_transport.cpp" \
|
||||
"microRTPS_transport.h" \
|
||||
"Publisher.cpp.em" \
|
||||
"Publisher.h.em" \
|
||||
"Subscriber.cpp.em" \
|
||||
"Subscriber.h.em" \
|
||||
"RtpsTopics.cpp.em" \
|
||||
"RtpsTopics.h.em" \
|
||||
)
|
||||
|
||||
for file in ${templates[@]}; do
|
||||
compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
|
||||
&& echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
|
||||
done
|
||||
if [ $agent_template_files_updated -eq 0 ]; then
|
||||
echo -e "--\t\t- No template files updated"
|
||||
elif [ $agent_template_files_updated -eq 1 ]; then
|
||||
echo -e "--\t\t - 1 template file updated"
|
||||
else
|
||||
echo -e "--\t\t - $agent_template_files_updated template files updated"
|
||||
fi
|
||||
}
|
||||
|
||||
# update microRTPS agent code templates
|
||||
function update_agent_templates {
|
||||
declare -a code_generators=( \
|
||||
"uorb_rtps_classifier.py" \
|
||||
"generate_microRTPS_bridge.py" \
|
||||
"px_generate_uorb_topic_files.py" \
|
||||
)
|
||||
for file in ${code_generators[@]}; do
|
||||
compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
|
||||
&& echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
|
||||
done
|
||||
if [ $code_generator_files_updated -eq 0 ]; then
|
||||
echo -e "--\t\t- No code generators / helpers files updated"
|
||||
elif [ $code_generator_files_updated -eq 1 ]; then
|
||||
echo -e "--\t\t - 1 code generator / helper file updated"
|
||||
else
|
||||
echo -e "--\t\t - $code_generator_files_updated code generator / helper files updated"
|
||||
fi
|
||||
}
|
||||
|
||||
# update px4_ros_com files
|
||||
function update_px4_ros_com {
|
||||
python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
|
||||
echo -e "--------------- \033[1mmicroRTPS agent code generation and templates update\033[0m ----------------"
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
update_agent_code
|
||||
update_agent_templates
|
||||
return 0
|
||||
}
|
||||
|
||||
# function to update px4_msgs
|
||||
function update_px4_msgs {
|
||||
find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
|
||||
python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
|
||||
}
|
||||
|
||||
# decisor
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
if [ -d "${ws_dir}" ]; then
|
||||
ws_dir=$(cd "$ws_dir" && pwd)
|
||||
if [ ! -z ${all} ]; then
|
||||
update_px4_ros_com
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
update_px4_msgs
|
||||
elif [ ! -z ${px4_ros_com} ]; then
|
||||
update_px4_ros_com
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
elif [ ! -z ${px4_msgs} ]; then
|
||||
update_px4_msgs
|
||||
fi
|
||||
echo -e "-------------------------------- \033[0;32mUpdate successful!\033[0m ---------------------------------"
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
exit 0
|
||||
else
|
||||
echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
|
||||
echo -e "---------------------------------- \033[0;31mUpdate failed!\033[0m -----------------------------------"
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
exit $ERRCODE
|
||||
fi
|
||||
@@ -71,8 +71,8 @@ static const px4_mtd_entry_t base_eeprom = {
|
||||
.npart = 2,
|
||||
.partd = {
|
||||
{
|
||||
.type = MTD_MFT_VER,
|
||||
.path = "/fs/mtd_mft_ver",
|
||||
.type = MTD_MFT,
|
||||
.path = "/fs/mtd_mft",
|
||||
.nblocks = 248
|
||||
},
|
||||
{
|
||||
@@ -86,17 +86,12 @@ static const px4_mtd_entry_t base_eeprom = {
|
||||
|
||||
static const px4_mtd_entry_t imu_eeprom = {
|
||||
.device = &i2c4,
|
||||
.npart = 3,
|
||||
.npart = 2,
|
||||
.partd = {
|
||||
{
|
||||
.type = MTD_CALDATA,
|
||||
.path = "/fs/mtd_caldata",
|
||||
.nblocks = 240
|
||||
},
|
||||
{
|
||||
.type = MTD_MFT_REV,
|
||||
.path = "/fs/mtd_mft_rev",
|
||||
.nblocks = 8
|
||||
.nblocks = 248
|
||||
},
|
||||
{
|
||||
.type = MTD_ID,
|
||||
|
||||
@@ -48,7 +48,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
|
||||
@@ -85,17 +85,8 @@
|
||||
#define GPIO_NRF_TXEN (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTA|GPIO_PIN4)
|
||||
|
||||
|
||||
/*
|
||||
* I2C busses
|
||||
*/
|
||||
#define PX4_I2C_BUS_ONBOARD_HZ 400000
|
||||
#define PX4_I2C_BUS_EXPANSION_HZ 400000
|
||||
|
||||
#define PX4_I2C_BUS_MTD 1
|
||||
|
||||
#define BOARD_NUMBER_I2C_BUSES 3
|
||||
#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 100000, PX4_I2C_BUS_EXPANSION_HZ}
|
||||
|
||||
|
||||
/* Devices on the onboard bus.
|
||||
*
|
||||
|
||||
@@ -86,17 +86,8 @@
|
||||
|
||||
#define GPIO_I2C4_DRDY1_BMP388 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
|
||||
|
||||
/*
|
||||
* I2C busses
|
||||
*/
|
||||
#define PX4_I2C_BUS_ONBOARD_HZ 400000
|
||||
#define PX4_I2C_BUS_EXPANSION_HZ 400000
|
||||
|
||||
#define PX4_I2C_BUS_MTD 1
|
||||
|
||||
#define BOARD_NUMBER_I2C_BUSES 3
|
||||
#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 400000, PX4_I2C_BUS_EXPANSION_HZ}
|
||||
|
||||
|
||||
/* Devices on the onboard bus.
|
||||
*
|
||||
|
||||
@@ -34,6 +34,6 @@
|
||||
#include <px4_arch/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusExternal(1),
|
||||
initI2CBusInternal(3),
|
||||
initI2CBusExternal(1, 400'000),
|
||||
initI2CBusInternal(3, 400'000),
|
||||
};
|
||||
|
||||
@@ -34,6 +34,7 @@ CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
@@ -52,6 +53,7 @@ CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
@@ -61,7 +63,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
|
||||
@@ -15,6 +15,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
|
||||
CONFIG_DRIVERS_OSD=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
|
||||
@@ -50,7 +50,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
|
||||
@@ -29,7 +29,6 @@ CONFIG_MODULES_MAVLINK=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
|
||||
@@ -56,7 +56,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
|
||||
@@ -53,7 +53,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
|
||||
@@ -52,7 +52,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
|
||||
@@ -53,7 +53,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
|
||||
@@ -66,7 +66,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
@@ -36,6 +36,7 @@ CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
@@ -53,6 +54,7 @@ CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
@@ -62,7 +64,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
|
||||
@@ -25,10 +25,10 @@ The full instructions are available here:
|
||||
- Clone the repo (Don't forget to update and initialize all submodules)
|
||||
- In the top level directory
|
||||
```
|
||||
px4$ boards/modalai/voxl2/scripts/run-docker.sh
|
||||
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/clean.sh
|
||||
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-apps.sh
|
||||
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-slpi.sh
|
||||
px4$ boards/modalai/voxl2/run-docker.sh
|
||||
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/clean.sh
|
||||
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/build-posix.sh
|
||||
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/build-qurt.sh
|
||||
root@9373fa1401b8:/usr/local/workspace# exit
|
||||
```
|
||||
|
||||
@@ -37,7 +37,7 @@ root@9373fa1401b8:/usr/local/workspace# exit
|
||||
Once the DSP and Linux images have been built they can be installed on a VOXL 2
|
||||
board using ADB. There is a script to do this.
|
||||
```
|
||||
px4$ boards/modalai/voxl2/scripts/install-voxl.sh
|
||||
px4$ boards/modalai/voxl2/install-voxl.sh
|
||||
```
|
||||
|
||||
## Running PX4 on VOXL 2
|
||||
@@ -66,17 +66,10 @@ INFO [px4] Startup script returned successfully
|
||||
pxh>
|
||||
```
|
||||
|
||||
## Notes
|
||||
|
||||
You cannot cleanly shutdown PX4 with the shutdown command on VOXL 2. You have
|
||||
to power cycle the board and restart everything.
|
||||
|
||||
## Tips
|
||||
|
||||
Start with a VOXL 2 that only has the system image installed, not the SDK
|
||||
|
||||
Run the command ```voxl-px4 -s``` on target to run the self-test
|
||||
|
||||
In order to see DSP specific debug messages the mini-dm tool in the Hexagon SDK
|
||||
can be used:
|
||||
```
|
||||
|
||||
@@ -1,11 +1,12 @@
|
||||
#!/bin/bash
|
||||
|
||||
echo "*** Starting apps processor build ***"
|
||||
echo "*** Starting posix build ***"
|
||||
|
||||
source /home/build-env.sh
|
||||
|
||||
make modalai_voxl2
|
||||
make modalai_voxl2_default
|
||||
|
||||
cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
|
||||
|
||||
echo "*** End of apps processor build ***"
|
||||
|
||||
echo "*** End of posix build ***"
|
||||
Executable
+11
@@ -0,0 +1,11 @@
|
||||
#!/bin/bash
|
||||
|
||||
echo "*** Starting qurt build ***"
|
||||
|
||||
source /home/build-env.sh
|
||||
|
||||
make modalai_voxl2_qurt
|
||||
|
||||
cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
|
||||
|
||||
echo "*** End of qurt build ***"
|
||||
@@ -1,7 +0,0 @@
|
||||
|
||||
# libfc_sensor.so is provided in the Docker build environment
|
||||
target_link_libraries(px4 PRIVATE
|
||||
/home/libfc_sensor.so
|
||||
px4_layer
|
||||
${module_libraries}
|
||||
)
|
||||
+22
-5
@@ -1,6 +1,6 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
|
||||
# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
@@ -30,8 +30,25 @@
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
#
|
||||
# Overview:
|
||||
# Voxl2 PX4 is built in 2 parts, the part that runs on the
|
||||
# application (apps) processor, and the library that is loaded on the DSP.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_library(drivers_board
|
||||
board_config.h
|
||||
init.c
|
||||
)
|
||||
include(px4_git)
|
||||
|
||||
list(APPEND CMAKE_MODULE_PATH
|
||||
"${PX4_SOURCE_DIR}/platforms/posix/cmake"
|
||||
)
|
||||
|
||||
# set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
|
||||
|
||||
add_definitions(-DORB_COMMUNICATOR)
|
||||
|
||||
set(CONFIG_PARAM_SERVER "1")
|
||||
|
||||
add_definitions( -D__PX4_LINUX )
|
||||
|
||||
include(CMakeParseArguments)
|
||||
@@ -0,0 +1,43 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
|
||||
#
|
||||
############################################################################
|
||||
#
|
||||
# This cmake config builds for QURT which is the operating system running on
|
||||
# the DSP side of VOXL 2
|
||||
#
|
||||
# Required environment variables:
|
||||
# HEXAGON_TOOLS_ROOT
|
||||
# HEXAGON_SDK_ROOT
|
||||
#
|
||||
############################################################################
|
||||
|
||||
if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
|
||||
message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
|
||||
else()
|
||||
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
|
||||
endif()
|
||||
|
||||
if ("$ENV{HEXAGON_TOOLS_ROOT}" STREQUAL "")
|
||||
message(FATAL_ERROR "Environment variable HEXAGON_TOOLS_ROOT must be set")
|
||||
else()
|
||||
set(HEXAGON_TOOLS_ROOT $ENV{HEXAGON_TOOLS_ROOT})
|
||||
endif()
|
||||
|
||||
include(px4_git)
|
||||
|
||||
list(APPEND CMAKE_MODULE_PATH
|
||||
"${PX4_SOURCE_DIR}/platforms/qurt/cmake"
|
||||
)
|
||||
|
||||
include(Toolchain-qurt)
|
||||
include(qurt_reqs)
|
||||
|
||||
include_directories(${HEXAGON_SDK_INCLUDES})
|
||||
|
||||
add_definitions(-DORB_COMMUNICATOR)
|
||||
|
||||
set(CONFIG_PARAM_CLIENT "1")
|
||||
|
||||
set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
|
||||
@@ -2,6 +2,3 @@ CONFIG_PLATFORM_POSIX=y
|
||||
CONFIG_BOARD_LINUX=y
|
||||
CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
|
||||
CONFIG_MODULES_MUORB_APPS=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_ORB_COMMUNICATOR=y
|
||||
|
||||
@@ -1,19 +1,19 @@
|
||||
#!/bin/bash
|
||||
|
||||
# Push slpi image to voxl2
|
||||
adb push build/modalai_voxl2-slpi_default/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
|
||||
# Push qurt image to voxl2
|
||||
adb push build/modalai_voxl2_qurt/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
|
||||
|
||||
# Push apps processor image to voxl2
|
||||
# Push posix image to voxl2
|
||||
adb push build/modalai_voxl2_default/bin/px4 /usr/bin
|
||||
|
||||
# Push scripts to voxl2
|
||||
adb push build/modalai_voxl2_default/bin/px4-alias.sh /usr/bin
|
||||
adb push boards/modalai/voxl2/target/voxl-px4 /usr/bin
|
||||
adb push boards/modalai/voxl2/voxl-px4 /usr/bin
|
||||
adb shell chmod a+x /usr/bin/px4-alias.sh
|
||||
adb shell chmod a+x /usr/bin/voxl-px4
|
||||
|
||||
# Push configuration file
|
||||
adb shell mkdir -p /etc/modalai
|
||||
adb push boards/modalai/voxl2/target/voxl-px4.config /etc/modalai
|
||||
adb push boards/modalai/voxl2/voxl-px4.config /etc/modalai
|
||||
|
||||
adb shell sync
|
||||
@@ -1,5 +1,3 @@
|
||||
CONFIG_PLATFORM_QURT=y
|
||||
CONFIG_BOARD_TOOLCHAIN="qurt"
|
||||
CONFIG_MODULES_MUORB_SLPI=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_ORB_COMMUNICATOR=y
|
||||
@@ -1,11 +0,0 @@
|
||||
#!/bin/bash
|
||||
|
||||
echo "*** Starting qurt slpi build ***"
|
||||
|
||||
source /home/build-env.sh
|
||||
|
||||
make modalai_voxl2-slpi
|
||||
|
||||
cat build/modalai_voxl2-slpi_default/src/lib/version/build_git_version.h
|
||||
|
||||
echo "*** End of qurt slpi build ***"
|
||||
@@ -42,8 +42,10 @@
|
||||
#define BOARD_HAS_NO_RESET
|
||||
#define BOARD_HAS_NO_BOOTLOADER
|
||||
|
||||
// Define this as empty since there are no I2C buses
|
||||
#define BOARD_I2C_BUS_CLOCK_INIT
|
||||
/*
|
||||
* I2C buses
|
||||
*/
|
||||
#define PX4_NUMBER_I2C_BUSES 3
|
||||
|
||||
#include <system_config.h>
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
||||
@@ -62,7 +62,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
|
||||
@@ -62,7 +62,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
@@ -63,7 +63,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
@@ -62,7 +62,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
@@ -41,7 +41,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_ESC_BATTERY=y
|
||||
@@ -50,7 +49,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
@@ -66,7 +64,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -77,6 +75,7 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
|
||||
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
@@ -68,7 +68,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
@@ -45,7 +45,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
|
||||
@@ -236,7 +236,6 @@
|
||||
*/
|
||||
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
#define BOARD_NUM_IO_TIMERS 8
|
||||
|
||||
// Input Capture not supported on MVP
|
||||
|
||||
|
||||
@@ -76,14 +76,9 @@
|
||||
#define rENBL REG(IMXRT_TMR_ENBL_OFFSET)
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOPWM(PWM::FlexPWM2, PWM::Submodule0),
|
||||
initIOPWM(PWM::FlexPWM2, PWM::Submodule1),
|
||||
initIOPWM(PWM::FlexPWM2, PWM::Submodule2),
|
||||
initIOPWM(PWM::FlexPWM2, PWM::Submodule3),
|
||||
initIOPWM(PWM::FlexPWM3, PWM::Submodule2),
|
||||
initIOPWM(PWM::FlexPWM3, PWM::Submodule0),
|
||||
initIOPWM(PWM::FlexPWM4, PWM::Submodule2),
|
||||
initIOPWM(PWM::FlexPWM4, PWM::Submodule0),
|
||||
initIOPWM(PWM::FlexPWM2),
|
||||
initIOPWM(PWM::FlexPWM3),
|
||||
initIOPWM(PWM::FlexPWM4),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
|
||||
@@ -99,14 +99,14 @@ __BEGIN_DECLS
|
||||
|
||||
/* Timer I/O PWM and capture
|
||||
*
|
||||
* 2 PWM outputs are configured.
|
||||
* ?? PWM outputs are configured.
|
||||
* ?? Timer inputs are configured.
|
||||
*
|
||||
* Pins:
|
||||
* Defined in board.h
|
||||
*/
|
||||
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 2
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 1
|
||||
|
||||
|
||||
#define BOARD_HAS_LED_PWM 1
|
||||
|
||||
@@ -105,13 +105,11 @@
|
||||
#define rPWMLOAD(t) REG(t,S32K1XX_FTM_PWMLOAD_OFFSET)
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::FTM1),
|
||||
initIOTimer(Timer::FTM2),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
|
||||
initIOTimerChannel(io_timers, {Timer::FTM1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin1}),
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
@@ -156,26 +154,17 @@ void ucans32k_timer_initialize(void)
|
||||
regval |= FTM_SC_CLKS_FTM;
|
||||
_REG(S32K1XX_FTM0_SC) = regval;
|
||||
|
||||
regval = _REG(S32K1XX_FTM1_SC);
|
||||
regval &= ~(FTM_SC_CLKS_MASK);
|
||||
regval |= FTM_SC_CLKS_FTM;
|
||||
_REG(S32K1XX_FTM1_SC) = regval;
|
||||
|
||||
regval = _REG(S32K1XX_FTM2_SC);
|
||||
regval &= ~(FTM_SC_CLKS_MASK);
|
||||
regval |= FTM_SC_CLKS_FTM;
|
||||
_REG(S32K1XX_FTM2_SC) = regval;
|
||||
|
||||
/* Enabled System Clock Gating Control for FTM0, FTM1 and FTM2 */
|
||||
/* Enabled System Clock Gating Control for FTM0, and FTM2 */
|
||||
|
||||
regval = _REG(S32K1XX_PCC_FTM0);
|
||||
regval |= PCC_CGC;
|
||||
_REG(S32K1XX_PCC_FTM0) = regval;
|
||||
|
||||
regval = _REG(S32K1XX_PCC_FTM1);
|
||||
regval |= PCC_CGC;
|
||||
_REG(S32K1XX_PCC_FTM1) = regval;
|
||||
|
||||
regval = _REG(S32K1XX_PCC_FTM2);
|
||||
regval |= PCC_CGC;
|
||||
_REG(S32K1XX_PCC_FTM2) = regval;
|
||||
|
||||
@@ -29,7 +29,6 @@ CONFIG_MODULES_MAVLINK=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
|
||||
@@ -43,7 +43,7 @@
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusExternal(1),
|
||||
initI2CBusInternal(2),
|
||||
initI2CBusInternal(2, 100'000),
|
||||
};
|
||||
|
||||
|
||||
|
||||
@@ -43,7 +43,7 @@
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusExternal(1),
|
||||
initI2CBusInternal(2),
|
||||
initI2CBusInternal(2, 100'000),
|
||||
};
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
@@ -34,6 +34,6 @@
|
||||
#include <px4_arch/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusInternal(1),
|
||||
initI2CBusInternal(1, 100'000),
|
||||
initI2CBusExternal(2),
|
||||
};
|
||||
|
||||
@@ -1,7 +1,5 @@
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_BOARD_CRYPTO=y
|
||||
CONFIG_DRIVERS_STUB_KEYSTORE=y
|
||||
CONFIG_DRIVERS_SW_CRYPTO=y
|
||||
CONFIG_DRIVERS_STUB_KEYSTORE=y
|
||||
CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
|
||||
CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
|
||||
|
||||
@@ -73,7 +73,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
|
||||
@@ -4,13 +4,9 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
|
||||
CONFIG_COMMON_DISTANCE_SENSOR=n
|
||||
CONFIG_COMMON_OPTICAL_FLOW=n
|
||||
CONFIG_COMMON_TELEMETRY=n
|
||||
CONFIG_DRIVERS_CAMERA_CAPTURE=n
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_PWM_INPUT=n
|
||||
CONFIG_DRIVERS_OSD=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=n
|
||||
CONFIG_DRIVERS_RPM=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_EXAMPLES_FAKE_GPS=n
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
@@ -21,8 +17,8 @@ CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=n
|
||||
CONFIG_MODULES_GYRO_FFT=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=n
|
||||
CONFIG_MODULES_SIH=n
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
|
||||
CONFIG_MODULES_UUV_ATT_CONTROL=n
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=n
|
||||
@@ -34,6 +30,7 @@ CONFIG_SYSTEMCMDS_DUMPFILE=n
|
||||
CONFIG_SYSTEMCMDS_GPIO=n
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=n
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=n
|
||||
CONFIG_SYSTEMCMDS_MOTOR_TEST=n
|
||||
CONFIG_SYSTEMCMDS_MTD=n
|
||||
CONFIG_SYSTEMCMDS_NSHTERM=n
|
||||
CONFIG_SYSTEMCMDS_REFLECT=n
|
||||
|
||||
@@ -0,0 +1,3 @@
|
||||
CONFIG_DRIVERS_HEATER=n
|
||||
CONFIG_DRIVERS_OSD=n
|
||||
CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
@@ -1,43 +1,43 @@
|
||||
# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
|
||||
CONFIG_COMMON_BAROMETERS=n
|
||||
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
|
||||
CONFIG_COMMON_DISTANCE_SENSOR=n
|
||||
CONFIG_COMMON_HYGROMETERS=n
|
||||
CONFIG_COMMON_TELEMETRY=n
|
||||
CONFIG_DRIVERS_ADC_ADS1115=n
|
||||
CONFIG_DRIVERS_BATT_SMBUS=n
|
||||
CONFIG_DRIVERS_CAMERA_CAPTURE=n
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=n
|
||||
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
|
||||
CONFIG_COMMON_DISTANCE_SENSOR=n
|
||||
CONFIG_DRIVERS_HEATER=n
|
||||
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=n
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_OSD=n
|
||||
CONFIG_DRIVERS_PCA9685=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=n
|
||||
CONFIG_DRIVERS_PWM_INPUT=n
|
||||
CONFIG_DRIVERS_PWM_OUT_SIM=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=n
|
||||
CONFIG_DRIVERS_RPM=n
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_EXAMPLES_FAKE_GPS=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=n
|
||||
CONFIG_MODULES_ESC_BATTERY=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_GIMBAL=n
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=n
|
||||
CONFIG_MODULES_GYRO_FFT=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=n
|
||||
CONFIG_MODULES_SIH=n
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
|
||||
CONFIG_MODULES_UUV_ATT_CONTROL=n
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=n
|
||||
CONFIG_SYSTEMCMDS_MOTOR_TEST=n
|
||||
CONFIG_SYSTEMCMDS_REFLECT=n
|
||||
CONFIG_SYSTEMCMDS_SERIAL_TEST=n
|
||||
CONFIG_BOARD_CONSTRAINED_FLASH=y
|
||||
CONFIG_BOARD_TESTING=y
|
||||
CONFIG_DRIVERS_BAROMETER_MS5611=y
|
||||
|
||||
@@ -4,8 +4,8 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
|
||||
CONFIG_COMMON_HYGROMETERS=n
|
||||
CONFIG_COMMON_TELEMETRY=n
|
||||
CONFIG_DRIVERS_ADC_ADS1115=n
|
||||
CONFIG_DRIVERS_GPS=n
|
||||
CONFIG_DRIVERS_HEATER=n
|
||||
CONFIG_DRIVERS_GPS=n
|
||||
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
@@ -14,14 +14,15 @@ CONFIG_DRIVERS_PCA9685=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_PWM_INPUT=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=n
|
||||
CONFIG_DRIVERS_RPM=n
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
|
||||
CONFIG_EXAMPLES_FAKE_GPS=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
CONFIG_MODULES_ESC_BATTERY=n
|
||||
CONFIG_MODULES_GYRO_FFT=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=n
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=n
|
||||
CONFIG_MODULES_SIH=n
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
|
||||
CONFIG_MODULES_UUV_ATT_CONTROL=n
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=n
|
||||
|
||||
@@ -9,8 +9,7 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_PPB="/dev/ttyS3"
|
||||
CONFIG_DRIVERS_ADC_ADS1115=y
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_BMP388=y
|
||||
CONFIG_DRIVERS_BAROMETER_MS5611=y
|
||||
CONFIG_COMMON_BAROMETERS=y
|
||||
CONFIG_DRIVERS_BATT_SMBUS=y
|
||||
CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=y
|
||||
@@ -31,9 +30,12 @@ CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_COMMON_OSD=y
|
||||
CONFIG_DRIVERS_PCA9685=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_COMMON_RC=y
|
||||
@@ -74,7 +76,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_PAYLOAD_DELIVERER=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
@@ -86,7 +87,9 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BOARDCTL=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
@@ -101,6 +104,7 @@ CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_REFLECT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=y
|
||||
CONFIG_SYSTEMCMDS_SERIAL_TEST=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
@@ -109,3 +113,4 @@ CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
CONFIG_EXAMPLES_FAKE_GPS=y
|
||||
|
||||
@@ -0,0 +1,15 @@
|
||||
CONFIG_COMMON_BAROMETERS=n
|
||||
CONFIG_COMMON_TELEMETRY=n
|
||||
CONFIG_DRIVERS_OSD=n
|
||||
CONFIG_EXAMPLES_FAKE_GPS=n
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=n
|
||||
CONFIG_SYSTEMCMDS_GPIO=n
|
||||
CONFIG_SYSTEMCMDS_MOTOR_TEST=n
|
||||
CONFIG_SYSTEMCMDS_REFLECT=n
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=n
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=n
|
||||
CONFIG_SYSTEMCMDS_SERIAL_TEST=n
|
||||
CONFIG_DRIVERS_BAROMETER_BMP388=y
|
||||
CONFIG_DRIVERS_BAROMETER_MS5611=y
|
||||
CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user