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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
700961daf2 |
@@ -9,10 +9,10 @@ pipeline {
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script {
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def build_nodes = [:]
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def docker_images = [
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armhf: "px4io/px4-dev-armhf:2020-11-18",
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arm64: "px4io/px4-dev-aarch64:2020-11-18",
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base: "px4io/px4-dev-base-bionic:2020-11-18",
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nuttx: "px4io/px4-dev-nuttx-focal:2020-11-18",
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armhf: "px4io/px4-dev-armhf:2020-04-01",
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arm64: "px4io/px4-dev-aarch64:latest",
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base: "px4io/px4-dev-base-bionic:2020-04-01",
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nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
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snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
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]
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@@ -53,7 +53,6 @@ pipeline {
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"intel_aerofc-v1_default",
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"modalai_fc-v1_default",
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"mro_ctrl-zero-f7_default",
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"mro_pixracerpro_default",
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"mro_x21-777_default",
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"mro_x21_default",
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"nxp_fmuk66-v3_default",
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@@ -119,7 +118,7 @@ pipeline {
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// TODO: actually upload artifacts to S3
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// stage('S3 Upload') {
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// agent {
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// docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
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// docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
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// }
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// options {
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// skipDefaultCheckout()
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+116
-106
@@ -7,57 +7,73 @@ pipeline {
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parallel {
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// stage("px4_fmu-v2_test") {
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// stages {
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// stage("build px4_fmu-v2_test") {
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// agent {
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// docker {
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// image 'px4io/px4-dev-nuttx-focal:2020-09-14'
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// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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// }
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// }
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// steps {
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// sh 'export'
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// sh 'make distclean'
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// sh 'ccache -s'
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// sh 'git fetch --tags'
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// sh 'make px4_fmu-v2_test'
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// sh 'make sizes'
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// sh 'ccache -s'
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// stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
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// }
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// post {
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// always {
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// sh 'make distclean'
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// }
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// }
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// } // stage build
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// stage("test") {
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// agent {
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// label 'px4_fmu-v2'
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// }
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// stages {
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// stage("flash") {
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// steps {
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// sh 'export'
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// sh 'find /dev/serial'
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// unstash 'px4_fmu-v2_test'
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// // flash board and watch bootup
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// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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// }
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// }
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// stage("reset") {
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// steps {
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// cleanupFTDI();
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// }
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// }
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// }
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// options {
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// timeout(time: 90, unit: 'MINUTES')
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// }
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// }
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// }
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// }
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stage("px4_fmu-v2_test") {
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stages {
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stage("build px4_fmu-v2_test") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2020-09-14'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make px4_fmu-v2_test'
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sh 'make sizes'
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sh 'ccache -s'
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stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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} // stage build
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stage("test") {
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agent {
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label 'px4_fmu-v2'
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}
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stages {
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stage("flash") {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'px4_fmu-v2_test'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf'
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sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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}
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}
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stage("configure") {
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steps {
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// configure
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 0"' // no airframe
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
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}
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}
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stage("status") {
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steps {
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statusFTDI()
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}
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}
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stage("reset") {
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steps {
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cleanupFTDI();
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}
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}
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}
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options {
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timeout(time: 90, unit: 'MINUTES')
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}
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}
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}
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}
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stage("px4_fmu-v3_default") {
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stages {
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@@ -95,18 +111,18 @@ pipeline {
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sh 'find /dev/serial'
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unstash 'px4_fmu-v3_default'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf'
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sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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}
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}
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stage("configure") {
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steps {
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// configure
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
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}
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}
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stage("status") {
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@@ -169,17 +185,17 @@ pipeline {
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sh 'find /dev/serial'
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unstash 'px4_fmu-v4_default'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf'
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sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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}
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}
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stage("configure") {
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steps {
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// configure
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
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}
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}
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stage("status") {
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@@ -242,18 +258,18 @@ pipeline {
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sh 'find /dev/serial'
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unstash 'px4_fmu-v4pro_default'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf'
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sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
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}
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}
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stage("configure") {
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steps {
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// configure
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
|
||||
}
|
||||
}
|
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stage("status") {
|
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@@ -316,19 +332,19 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
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unstash 'px4_fmu-v5_default'
|
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// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf'
|
||||
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -389,23 +405,21 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save" || true'
|
||||
unstash 'px4_fmu-v5_debug'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf'
|
||||
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -468,17 +482,17 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_optimized'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf'
|
||||
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -539,12 +553,10 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save" || true'
|
||||
unstash 'px4_fmu-v5_stackcheck'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf'
|
||||
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
@@ -555,7 +567,7 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -618,17 +630,17 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'modalai_fc-v1_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-SEGGER_*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf'
|
||||
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-SEGGER_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot"' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -691,22 +703,22 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'holybro_durandal-v1_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf'
|
||||
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set DSHOT_CONFIG 600"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_USE_IO 0"' // for dshot
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_USE_IO 0"' // for dshot
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -770,17 +782,17 @@ pipeline {
|
||||
sh 'find /dev/serial'
|
||||
unstash 'nxp_fmuk66-v3_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf'
|
||||
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -791,7 +803,7 @@ pipeline {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*` || true' // allow failure due to intermittent serial console issues
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
@@ -845,7 +857,6 @@ void statusFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_selector_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
|
||||
@@ -876,6 +887,7 @@ void statusFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
|
||||
@@ -924,7 +936,6 @@ void statusSEGGER() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_selector_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_sensor_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_fifo"'
|
||||
@@ -955,6 +966,7 @@ void statusSEGGER() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status streams"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
|
||||
@@ -979,13 +991,12 @@ void statusSEGGER() {
|
||||
}
|
||||
|
||||
void cleanupFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
|
||||
|
||||
// wipe sdcard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "umount /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mkfatfs /dev/mmcsd0"'
|
||||
|
||||
@@ -1006,17 +1017,16 @@ void cleanupFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
|
||||
|
||||
// reboot
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'
|
||||
}
|
||||
|
||||
void cleanupSEGGER() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
|
||||
|
||||
// wipe sdcard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "umount /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mkfatfs /dev/mmcsd0"'
|
||||
|
||||
@@ -1037,5 +1047,5 @@ void cleanupSEGGER() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
|
||||
|
||||
// reboot
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot"'
|
||||
}
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
|
||||
{
|
||||
"name": "px4-dev-nuttx",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2020-11-18",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2020-09-14",
|
||||
|
||||
"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
|
||||
|
||||
|
||||
@@ -26,9 +26,7 @@ jobs:
|
||||
"module_documentation",
|
||||
"parameters_metadata",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal:2020-11-18
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
container: px4io/px4-dev-nuttx-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -55,9 +53,6 @@ jobs:
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
|
||||
- name: ${{matrix.check}}
|
||||
run: make ${{matrix.check}}
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-clang:2020-11-18
|
||||
container: px4io/px4-dev-clang:2020-08-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-armhf:2020-11-18
|
||||
container: px4io/px4-dev-armhf:2020-08-14
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-aarch64:2020-11-18
|
||||
container: px4io/px4-dev-aarch64:latest
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -15,7 +15,8 @@ jobs:
|
||||
matrix:
|
||||
config: [
|
||||
px4_fmu-v5_default,
|
||||
tests, # includes px4_sitl
|
||||
px4_sitl_default,
|
||||
#tests, # includes px4_sitl
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -23,7 +24,7 @@ jobs:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: setup
|
||||
run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
|
||||
run: ./Tools/setup/macos.sh
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2020-11-18
|
||||
container: px4io/px4-dev-nuttx-focal:2020-09-14
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
@@ -32,7 +32,6 @@ jobs:
|
||||
intel_aerofc-v1_default,
|
||||
modalai_fc-v1_default,
|
||||
mro_ctrl-zero-f7_default,
|
||||
mro_pixracerpro_default,
|
||||
mro_x21-777_default,
|
||||
mro_x21_default,
|
||||
nxp_fmuk66-v3_default,
|
||||
|
||||
@@ -11,9 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container:
|
||||
image: px4io/px4-dev-base-focal:2020-11-18
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -19,7 +19,7 @@ jobs:
|
||||
- {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2020-11-18
|
||||
image: px4io/px4-dev-ros-melodic:2020-08-14
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -49,9 +49,7 @@ jobs:
|
||||
ccache -z
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
run: export
|
||||
- name: Build PX4 and sitl_gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
|
||||
@@ -25,7 +25,7 @@ jobs:
|
||||
- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2020-11-18
|
||||
image: px4io/px4-dev-ros-melodic:2020-08-14
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -55,9 +55,7 @@ jobs:
|
||||
ccache -z
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
run: export
|
||||
- name: Build PX4 and sitl_gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
|
||||
@@ -20,7 +20,7 @@ jobs:
|
||||
#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2020-11-18
|
||||
image: px4io/px4-dev-ros-melodic:2020-08-14
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -50,9 +50,7 @@ jobs:
|
||||
ccache -z
|
||||
|
||||
- name: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
run: export
|
||||
- name: Build PX4 and sitl_gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
|
||||
@@ -12,7 +12,7 @@ jobs:
|
||||
|
||||
airframe:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -27,7 +27,7 @@ jobs:
|
||||
|
||||
module:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -42,7 +42,7 @@ jobs:
|
||||
|
||||
parameter:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -57,7 +57,7 @@ jobs:
|
||||
|
||||
uorb_graph:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2020-11-18
|
||||
container: px4io/px4-dev-nuttx-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -72,7 +72,7 @@ jobs:
|
||||
|
||||
micrortps_agent:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -86,7 +86,7 @@ jobs:
|
||||
|
||||
ROS_msgs:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -99,7 +99,7 @@ jobs:
|
||||
|
||||
ROS2_bridge:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2020-11-18
|
||||
container: px4io/px4-dev-base-focal:2020-09-14
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -20,7 +20,7 @@ jobs:
|
||||
- {latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo", model: "tailsitter" } # Florida
|
||||
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2020-11-18
|
||||
image: px4io/px4-dev-simulation-focal:2020-08-14
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -60,9 +60,7 @@ jobs:
|
||||
PX4_HOME_LON: ${{matrix.config.longitude}}
|
||||
PX4_HOME_ALT: ${{matrix.config.altitude}}
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
run: export
|
||||
- name: Build PX4
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
|
||||
Vendored
+13
-13
@@ -15,7 +15,7 @@ pipeline {
|
||||
// stage('Catkin build on ROS workspace') {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-ros-melodic:2020-11-18'
|
||||
// image 'px4io/px4-dev-ros-melodic:2020-08-20'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
// }
|
||||
// }
|
||||
@@ -56,7 +56,7 @@ pipeline {
|
||||
stage('Colcon build on ROS2 workspace') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros2-foxy:2020-11-18'
|
||||
image 'px4io/px4-dev-ros2-foxy:2020-08-20'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
@@ -87,7 +87,7 @@ pipeline {
|
||||
|
||||
stage('Airframe') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
@@ -106,7 +106,7 @@ pipeline {
|
||||
|
||||
stage('Parameter') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
@@ -125,7 +125,7 @@ pipeline {
|
||||
|
||||
stage('Module') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
@@ -145,7 +145,7 @@ pipeline {
|
||||
stage('uORB graphs') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-11-18'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -174,7 +174,7 @@ pipeline {
|
||||
|
||||
stage('Devguide') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -204,7 +204,7 @@ pipeline {
|
||||
|
||||
stage('Userguide') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -234,7 +234,7 @@ pipeline {
|
||||
|
||||
stage('QGroundControl') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -262,7 +262,7 @@ pipeline {
|
||||
|
||||
stage('microRTPS agent') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -292,7 +292,7 @@ pipeline {
|
||||
|
||||
stage('PX4 ROS msgs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -321,7 +321,7 @@ pipeline {
|
||||
|
||||
stage('PX4 ROS2 bridge') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -364,7 +364,7 @@ pipeline {
|
||||
|
||||
stage('S3') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
|
||||
@@ -1,20 +1,20 @@
|
||||
# PX4 Drone Autopilot
|
||||
|
||||
[](https://github.com/PX4/PX4-Autopilot/releases) [](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)
|
||||
[](https://github.com/PX4/Firmware/releases) [](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)
|
||||
|
||||
[](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://github.com/PX4/Firmware/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [](https://github.com/PX4/Firmware/actions?query=workflow%3A%22SITL+Tests%22)
|
||||
|
||||
[](http://slack.px4.io)
|
||||
|
||||
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/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
|
||||
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/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
|
||||
|
||||
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
|
||||
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
|
||||
* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
|
||||
* [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
|
||||
* [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
|
||||
* [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
|
||||
* many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
|
||||
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
|
||||
* Releases: [Downloads](https://github.com/PX4/Firmware/releases)
|
||||
|
||||
|
||||
## PX4 Users
|
||||
@@ -44,20 +44,20 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
|
||||
* [Lorenz Meier](https://github.com/LorenzMeier)
|
||||
* Architecture
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
|
||||
* [Dev Call](https://github.com/PX4/Firmware/labels/devcall)
|
||||
* [Ramon Roche](https://github.com/mrpollo)
|
||||
* Communication Architecture
|
||||
* [Beat Kueng](https://github.com/bkueng)
|
||||
* [Julian Oes](https://github.com/JulianOes)
|
||||
* UI in QGroundControl
|
||||
* [Gus Grubba](https://github.com/dogmaphobic)
|
||||
* [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
|
||||
* [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
|
||||
* [Mathieu Bresciani](https://github.com/bresch)
|
||||
* [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
|
||||
* [Multicopter Software Architecture](https://github.com/PX4/Firmware/labels/multicopter)
|
||||
* [Matthias Grob](https://github.com/MaEtUgR)
|
||||
* [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
|
||||
* [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
|
||||
* [Roman Bapst](https://github.com/RomanBapst)
|
||||
* [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
|
||||
* [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
|
||||
* [Roman Bapst](https://github.com/RomanBapst)
|
||||
* OS / NuttX
|
||||
* [David Sidrane](https://github.com/davids5)
|
||||
@@ -65,9 +65,9 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* Commander Architecture
|
||||
* [Julian Oes](https://github.com/julianoes)
|
||||
* [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
|
||||
* [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan)
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
|
||||
* [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
|
||||
* [Paul Riseborough](https://github.com/priseborough)
|
||||
* Vision based navigation
|
||||
* [Julian Kent](https://github.com/jkflying)
|
||||
@@ -76,7 +76,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
|
||||
* 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).
|
||||
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
|
||||
|
||||
## Supported Hardware
|
||||
|
||||
|
||||
@@ -72,7 +72,7 @@ rgbled start -X -q
|
||||
rgbled_ncp5623c start -X -q
|
||||
rgbled_pwm start
|
||||
|
||||
if param greater -s LIGHT_EN_BLINKM 0
|
||||
if param greater LIGHT_EN_BLINKM 0
|
||||
then
|
||||
if blinkm start -X
|
||||
then
|
||||
|
||||
@@ -9,33 +9,40 @@
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_ARSP_MODE 1
|
||||
param set FW_AIRSPD_MAX 25
|
||||
param set FW_AIRSPD_MIN 14
|
||||
param set FW_AIRSPD_TRIM 16
|
||||
param set FW_L1_PERIOD 12
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PR_I 0.4
|
||||
param set FW_PR_P 0.9
|
||||
param set FW_PSP_OFF 3
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
|
||||
param set MC_YAW_P 1.6
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
|
||||
param set MIS_LTRMIN_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
param set MIS_YAW_TMT 10
|
||||
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_THR_MIN 0.1
|
||||
param set MPC_TKO_SPEED 1
|
||||
param set MPC_XY_P 0.15
|
||||
param set MPC_XY_VEL_D_ACC 0.1
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 1
|
||||
param set MPC_Z_VEL_MAX_DN 1.5
|
||||
param set MPC_Z_VEL_P_ACC 16
|
||||
|
||||
param set NAV_LOITER_RAD 100
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set VT_B_TRANS_DUR 8
|
||||
param set VT_ELEV_MC_LOCK 0
|
||||
param set VT_FWD_THRUST_EN 4
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_F_TRANS_DUR 5.0
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_FWD_THRUST_SC 1.1
|
||||
param set VT_TILT_FW 1
|
||||
param set VT_TILT_TRANS 0.6
|
||||
param set VT_ELEV_MC_LOCK 0
|
||||
param set VT_TYPE 1
|
||||
param set VT_B_TRANS_DUR 8
|
||||
|
||||
fi
|
||||
|
||||
|
||||
@@ -22,6 +22,7 @@ fi
|
||||
# initialize script variables
|
||||
set AUX_MODE none
|
||||
set IO_PRESENT no
|
||||
set LOG_FILE bootlog.txt
|
||||
set MAV_TYPE none
|
||||
set MIXER none
|
||||
set MIXER_AUX none
|
||||
@@ -52,6 +53,10 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
# clear bootlog
|
||||
[ -f $LOG_FILE ] && rm $LOG_FILE
|
||||
|
||||
|
||||
uorb start
|
||||
|
||||
# Load parameters
|
||||
@@ -220,7 +225,7 @@ commander start
|
||||
navigator start
|
||||
|
||||
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
if ! param compare -s MNT_MODE_IN -1
|
||||
then
|
||||
vmount start
|
||||
fi
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -17,7 +17,6 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -7,10 +7,6 @@
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@auterion.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
@@ -16,7 +16,6 @@
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -17,10 +17,6 @@
|
||||
# @output AUX4 Rudder
|
||||
# @output AUX5 Throttle
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
@@ -12,10 +12,6 @@
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
@@ -7,10 +7,6 @@
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -29,4 +25,4 @@ set MAV_TYPE 20
|
||||
|
||||
set MIXER quad_x_vtol
|
||||
|
||||
set PWM_OUT 1234
|
||||
set PWM_OUT 1234
|
||||
@@ -17,7 +17,6 @@
|
||||
# @output AUX4 Rudder
|
||||
# @output AUX5 Throttle
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -15,7 +15,6 @@
|
||||
# @output AUX2 Left elevon
|
||||
# @output AUX3 Motor
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -7,7 +7,6 @@
|
||||
#
|
||||
# @maintainer Sander Smeets <sander@droneslab.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -7,7 +7,6 @@
|
||||
#
|
||||
# @maintainer Sander Smeets <sander@droneslab.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -7,7 +7,6 @@
|
||||
#
|
||||
# @maintainer Andreas Antener <andreas@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -16,7 +16,6 @@
|
||||
# @output MAIN7 Elevon right
|
||||
# @output MAIN8 Elevon left
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -16,10 +16,6 @@
|
||||
# @output MAIN7 Pusher motor
|
||||
# @output MAIN8 Pusher reverse channel
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
@@ -12,7 +12,6 @@
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -17,7 +17,6 @@
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -15,7 +15,6 @@
|
||||
#
|
||||
# @maintainer Julian Oes <julian@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# @name Wing Wing (aka Z-84) Flying Wing
|
||||
#
|
||||
# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
|
||||
# @url https://docs.px4.io/master/en/framebuild_plane/wing_wing_z84.html
|
||||
#
|
||||
# @type Flying Wing
|
||||
# @class Plane
|
||||
@@ -17,7 +17,6 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -14,7 +14,6 @@
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
|
||||
@@ -17,7 +17,6 @@
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
|
||||
@@ -7,7 +7,6 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
|
||||
@@ -7,7 +7,6 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Spedix S250AQ
|
||||
# @url https://docs.px4.io/master/en/frames_multicopter/spedix_s250_pixracer.html
|
||||
# @url https://docs.px4.io/master/en/framebuild_multicopter/spedix_s250_pixracer.html
|
||||
#
|
||||
# @type Quadrotor asymmetric
|
||||
# @class Copter
|
||||
|
||||
@@ -98,6 +98,7 @@ then
|
||||
param set BAT_V_DIV 10.14
|
||||
param set BAT_A_PER_V 18.18
|
||||
#param set CBRK_IO_SAFETY 22027
|
||||
param set COM_ARM_EKF_AB 0.005
|
||||
param set COM_DISARM_LAND 2
|
||||
|
||||
# Filter settings
|
||||
|
||||
@@ -77,6 +77,7 @@ then
|
||||
|
||||
param set BAT_SOURCE 0
|
||||
param set CBRK_IO_SAFETY 22027
|
||||
#param set COM_ARM_EKF_AB 0.005
|
||||
#param set COM_DISARM_LAND 3
|
||||
|
||||
# Filter settings
|
||||
|
||||
@@ -107,6 +107,7 @@ then
|
||||
param set BAT_V_DIV 10.14
|
||||
param set BAT_A_PER_V 18.18
|
||||
#param set CBRK_IO_SAFETY 22027
|
||||
param set COM_ARM_EKF_AB 0.005
|
||||
param set COM_DISARM_LAND 2
|
||||
|
||||
# Filter settings
|
||||
|
||||
@@ -49,6 +49,7 @@ then
|
||||
# sensor calibration
|
||||
param set CAL_MAG_SIDES 63
|
||||
param set SENS_BOARD_ROT 0
|
||||
param set COM_ARM_EKF_AB 0.0032
|
||||
|
||||
# circuit breakers
|
||||
param set CBRK_IO_SAFETY 22027
|
||||
|
||||
@@ -5,6 +5,8 @@
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
# @output MAIN2 steering
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
|
||||
@@ -18,7 +18,7 @@ set OUTPUT_DEV none
|
||||
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
|
||||
# mixer to mount (override the airframe-specific MIXER_AUX setting).
|
||||
#
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
if ! param compare -s MNT_MODE_IN -1
|
||||
then
|
||||
if param compare -s MNT_MODE_OUT 0
|
||||
then
|
||||
@@ -43,13 +43,13 @@ then
|
||||
if [ $IO_PRESENT = yes ]
|
||||
then
|
||||
set OUTPUT_MODE io
|
||||
if param greater -s DSHOT_CONFIG 0
|
||||
if param greater DSHOT_CONFIG 0
|
||||
then
|
||||
set OUTPUT_CMD dshot
|
||||
fi
|
||||
fi
|
||||
else
|
||||
if param greater -s DSHOT_CONFIG 0
|
||||
if param greater DSHOT_CONFIG 0
|
||||
then
|
||||
set OUTPUT_MODE dshot
|
||||
set OUTPUT_CMD dshot
|
||||
@@ -93,7 +93,7 @@ then
|
||||
then
|
||||
if ! $OUTPUT_CMD mode_$FMU_MODE
|
||||
then
|
||||
echo "$OUTPUT_CMD start failed"
|
||||
echo "$OUTPUT_CMD start failed" >> $LOG_FILE
|
||||
tune_control play error
|
||||
fi
|
||||
fi
|
||||
@@ -172,6 +172,7 @@ then
|
||||
echo "INFO [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}"
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}" >> $LOG_FILE
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
fi
|
||||
|
||||
@@ -179,6 +180,7 @@ else
|
||||
if [ $MIXER != skip ]
|
||||
then
|
||||
echo "ERROR [init] Mixer undefined"
|
||||
echo "ERROR [init] Mixer undefined" >> $LOG_FILE
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
fi
|
||||
fi
|
||||
@@ -211,6 +213,7 @@ then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}"
|
||||
echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE
|
||||
fi
|
||||
fi
|
||||
if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
|
||||
@@ -220,13 +223,14 @@ then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE
|
||||
fi
|
||||
else
|
||||
set PWM_AUX_OUT none
|
||||
set FAILSAFE_AUX none
|
||||
fi
|
||||
else
|
||||
echo "ERROR: Could not start: pwm_out mode_pwm"
|
||||
echo "ERROR: Could not start: pwm_out mode_pwm" >> $LOG_FILE
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
set PWM_AUX_OUT none
|
||||
set FAILSAFE_AUX none
|
||||
|
||||
@@ -17,7 +17,7 @@ then
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
px4io recovery
|
||||
else
|
||||
echo "PX4IO start failed"
|
||||
echo "PX4IO start failed" >> $LOG_FILE
|
||||
tune_control play -t 18 # PROG_PX4IO_ERR
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -62,7 +62,6 @@ mc_att_control start
|
||||
# Start Multicopter Position Controller.
|
||||
#
|
||||
mc_hover_thrust_estimator start
|
||||
flight_mode_manager start
|
||||
mc_pos_control start
|
||||
|
||||
#
|
||||
|
||||
@@ -102,12 +102,6 @@ then
|
||||
paw3902 -S start
|
||||
fi
|
||||
|
||||
# vl53l1x i2c distance sensor
|
||||
if param compare -s SENS_EN_VL53L1X 1
|
||||
then
|
||||
vl53l1x start -X
|
||||
fi
|
||||
|
||||
# probe for optional external I2C devices
|
||||
if param compare SENS_EXT_I2C_PRB 1
|
||||
then
|
||||
|
||||
@@ -7,17 +7,17 @@
|
||||
|
||||
set TEMP_COMP_START ""
|
||||
|
||||
if param compare -s TC_A_ENABLE 1
|
||||
if param compare TC_A_ENABLE 1
|
||||
then
|
||||
set TEMP_COMP_START "true"
|
||||
fi
|
||||
|
||||
if param compare -s TC_B_ENABLE 1
|
||||
if param compare TC_B_ENABLE 1
|
||||
then
|
||||
set TEMP_COMP_START "true"
|
||||
fi
|
||||
|
||||
if param compare -s TC_G_ENABLE 1
|
||||
if param compare TC_G_ENABLE 1
|
||||
then
|
||||
set TEMP_COMP_START "true"
|
||||
fi
|
||||
|
||||
@@ -21,7 +21,6 @@ vtol_att_control start
|
||||
|
||||
mc_rate_control start vtol
|
||||
mc_att_control start vtol
|
||||
flight_mode_manager start vtol
|
||||
mc_pos_control start vtol
|
||||
mc_hover_thrust_estimator start
|
||||
|
||||
|
||||
@@ -15,10 +15,8 @@ then
|
||||
param set MIS_TAKEOFF_ALT 20
|
||||
param set MIS_YAW_TMT 10
|
||||
|
||||
param set EKF2_ARSP_THR 10
|
||||
param set EKF2_FUSE_BETA 1
|
||||
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_LAND_SPEED 0.7
|
||||
param set MPC_TKO_SPEED 1
|
||||
param set MPC_VEL_MANUAL 3
|
||||
param set MPC_XY_CRUISE 3
|
||||
|
||||
@@ -32,6 +32,7 @@ set FMU_MODE pwm
|
||||
set FRC /fs/microsd/etc/rc.txt
|
||||
set IOFW "/etc/extras/px4_io-v2_default.bin"
|
||||
set IO_PRESENT no
|
||||
set LOG_FILE /fs/microsd/bootlog.txt
|
||||
set LOGGER_ARGS ""
|
||||
set LOGGER_BUF 14
|
||||
set MAV_TYPE none
|
||||
@@ -139,7 +140,10 @@ else
|
||||
else
|
||||
set STARTUP_TUNE 15 # tune 15 = SD_ERROR
|
||||
echo "ERROR [init] format failed"
|
||||
set LOG_FILE /dev/null
|
||||
fi
|
||||
else
|
||||
set LOG_FILE /dev/null
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -153,10 +157,9 @@ then
|
||||
else
|
||||
|
||||
#
|
||||
# Set the parameter file the board supports params on
|
||||
# MTD device.
|
||||
# Set the parameter file if mtd starts successfully.
|
||||
#
|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
|
||||
if mtd start
|
||||
then
|
||||
set PARAM_FILE /fs/mtd_params
|
||||
fi
|
||||
@@ -164,10 +167,13 @@ else
|
||||
#
|
||||
# Load parameters.
|
||||
#
|
||||
# if the board has a storage for (factory) calibration data
|
||||
if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
|
||||
# if MTD has a secondary storage it is used for (factory) calibration data
|
||||
if mtd has-secondary
|
||||
then
|
||||
param load /fs/mtd_caldata
|
||||
if mtd start -i 1 /fs/mtd_caldata
|
||||
then
|
||||
param load /fs/mtd_caldata
|
||||
fi
|
||||
fi
|
||||
|
||||
param select $PARAM_FILE
|
||||
@@ -238,7 +244,7 @@ else
|
||||
rgbled start -X -q
|
||||
rgbled_ncp5623c start -X -q
|
||||
|
||||
if param greater -s LIGHT_EN_BLINKM 0
|
||||
if param greater LIGHT_EN_BLINKM 0
|
||||
then
|
||||
if blinkm start -X
|
||||
then
|
||||
@@ -271,6 +277,57 @@ else
|
||||
param set SYS_AUTOCONFIG 0
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if PX4IO present and update firmware if needed.
|
||||
# Assumption IOFW set to firmware file and IO_PRESENT = no
|
||||
#
|
||||
|
||||
if [ -f $IOFW ]
|
||||
then
|
||||
# Check for the mini using build with px4io fw file
|
||||
# but not a px4IO
|
||||
if ver hwtypecmp V540 V560
|
||||
then
|
||||
param set SYS_USE_IO 0
|
||||
else
|
||||
if px4io checkcrc ${IOFW}
|
||||
then
|
||||
set IO_PRESENT yes
|
||||
else
|
||||
# tune Program PX4IO
|
||||
tune_control play -t 16 # tune 16 = PROG_PX4IO
|
||||
|
||||
if px4io start
|
||||
then
|
||||
# Try to safety px4 io so motor outputs don't go crazy.
|
||||
if ! px4io safety_on
|
||||
then
|
||||
# px4io did not respond to the safety command.
|
||||
px4io stop
|
||||
fi
|
||||
fi
|
||||
|
||||
if px4io forceupdate 14662 ${IOFW}
|
||||
then
|
||||
usleep 10000
|
||||
tune_control stop
|
||||
if px4io checkcrc ${IOFW}
|
||||
then
|
||||
echo "PX4IO CRC OK after updating" >> $LOG_FILE
|
||||
tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
|
||||
set IO_PRESENT yes
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $IO_PRESENT = no ]
|
||||
then
|
||||
echo "PX4IO update failed" >> $LOG_FILE
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Set USE_IO flag.
|
||||
#
|
||||
@@ -279,54 +336,10 @@ else
|
||||
set USE_IO yes
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if PX4IO present and update firmware if needed.
|
||||
# Assumption IOFW set to firmware file and IO_PRESENT = no
|
||||
#
|
||||
|
||||
if [ -f $IOFW -a $USE_IO = yes ]
|
||||
if [ $USE_IO = yes -a $IO_PRESENT = no ]
|
||||
then
|
||||
if px4io checkcrc ${IOFW}
|
||||
then
|
||||
set IO_PRESENT yes
|
||||
else
|
||||
# tune Program PX4IO
|
||||
tune_control play -t 16 # tune 16 = PROG_PX4IO
|
||||
|
||||
if px4io start
|
||||
then
|
||||
# Try to safety px4 io so motor outputs don't go crazy.
|
||||
if ! px4io safety_on
|
||||
then
|
||||
# px4io did not respond to the safety command.
|
||||
px4io stop
|
||||
fi
|
||||
fi
|
||||
|
||||
if px4io forceupdate 14662 ${IOFW}
|
||||
then
|
||||
usleep 10000
|
||||
tune_control stop
|
||||
if px4io checkcrc ${IOFW}
|
||||
then
|
||||
echo "PX4IO CRC OK after updating"
|
||||
tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
|
||||
set IO_PRESENT yes
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $IO_PRESENT = no ]
|
||||
then
|
||||
echo "PX4IO update failed"
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $USE_IO = yes -a $IO_PRESENT = no ]
|
||||
then
|
||||
echo "PX4IO not found"
|
||||
tune_control play error
|
||||
fi
|
||||
echo "PX4IO not found" >> $LOG_FILE
|
||||
tune_control play error
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -397,7 +410,7 @@ else
|
||||
set AUX_MODE pwm4
|
||||
fi
|
||||
|
||||
if param greater -s TRIG_MODE 0
|
||||
if param greater TRIG_MODE 0
|
||||
then
|
||||
# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
|
||||
if param compare TRIG_PINS 56
|
||||
@@ -496,24 +509,24 @@ else
|
||||
#
|
||||
# Start vmount to control mounts such as gimbals, disabled by default.
|
||||
#
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
if ! param compare MNT_MODE_IN -1
|
||||
then
|
||||
vmount start
|
||||
fi
|
||||
|
||||
# Check for flow sensor
|
||||
if param compare -s SENS_EN_PX4FLOW 1
|
||||
if param compare SENS_EN_PX4FLOW 1
|
||||
then
|
||||
px4flow start -X
|
||||
fi
|
||||
|
||||
# Blacksheep telemetry
|
||||
if param compare -s TEL_BST_EN 1
|
||||
if param greater TEL_BST_EN 0
|
||||
then
|
||||
bst start -X
|
||||
fi
|
||||
|
||||
if param compare -s IMU_GYRO_FFT_EN 1
|
||||
if param compare IMU_GYRO_FFT_EN 1
|
||||
then
|
||||
gyro_fft start
|
||||
fi
|
||||
@@ -580,6 +593,7 @@ unset FMU_MODE
|
||||
unset FRC
|
||||
unset IO_PRESENT
|
||||
unset IOFW
|
||||
unset LOG_FILE
|
||||
unset LOGGER_ARGS
|
||||
unset LOGGER_BUF
|
||||
unset MAV_TYPE
|
||||
|
||||
@@ -29,9 +29,11 @@ Channel 5 connects to the right (starboard) elevon.
|
||||
Channel 6 connects to the left (port) elevon.
|
||||
|
||||
M: 2
|
||||
O: 7500 7500 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
O: 7500 7500 0 -10000 10000
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
#! /usr/bin/env python3
|
||||
#! /usr/bin/python
|
||||
|
||||
import serial, time
|
||||
import subprocess
|
||||
@@ -10,7 +10,7 @@ def monitor_firmware_upload(port, baudrate):
|
||||
databits = serial.EIGHTBITS
|
||||
stopbits = serial.STOPBITS_ONE
|
||||
parity = serial.PARITY_NONE
|
||||
ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=1)
|
||||
ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)
|
||||
|
||||
finished = 0
|
||||
|
||||
@@ -19,9 +19,8 @@ def monitor_firmware_upload(port, baudrate):
|
||||
timeout_newline = time.time()
|
||||
|
||||
while finished == 0:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
if (len(serial_line) > 0):
|
||||
print(serial_line.replace('\n', ''))
|
||||
serial_line = ser.readline()
|
||||
print(serial_line.replace('\n',''))
|
||||
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
finished = 1
|
||||
@@ -37,17 +36,16 @@ def monitor_firmware_upload(port, baudrate):
|
||||
finished = 1
|
||||
break
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if time.time() - timeout_newline > 10:
|
||||
# newline every 30 seconds if still running
|
||||
if time.time() - timeout_newline > 30:
|
||||
ser.write('\n')
|
||||
timeout_newline = time.time()
|
||||
ser.write('\n'.encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
ser.close()
|
||||
|
||||
def main():
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument('--device', "-d", nargs='?', default = None, help='')
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
|
||||
+43
-58
@@ -1,87 +1,72 @@
|
||||
#! /usr/bin/env python3
|
||||
#! /usr/bin/python
|
||||
|
||||
import serial, time
|
||||
import subprocess
|
||||
from subprocess import call, Popen
|
||||
from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
|
||||
def do_nsh_cmd(port, baudrate, cmd):
|
||||
databits = serial.EIGHTBITS
|
||||
stopbits = serial.STOPBITS_ONE
|
||||
parity = serial.PARITY_NONE
|
||||
ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=0.1)
|
||||
ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)
|
||||
|
||||
ser.write('\n')
|
||||
|
||||
finished = 0
|
||||
success = False
|
||||
|
||||
# run command
|
||||
timeout_start = time.time()
|
||||
timeout = 10 # 10 seconds
|
||||
|
||||
# clear
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
ser.readline()
|
||||
|
||||
success_cmd = "cmd succeeded!"
|
||||
|
||||
serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
ser.flush()
|
||||
ser.readline()
|
||||
|
||||
# TODO: require successful command echo
|
||||
# while True:
|
||||
# serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
|
||||
# ser.write(serial_cmd.encode("ascii"))
|
||||
# ser.flush()
|
||||
|
||||
# serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
# if cmd in serial_line:
|
||||
# break
|
||||
# else:
|
||||
# print(serial_line, end='')
|
||||
|
||||
# if time.time() > timeout_start + timeout:
|
||||
# print("Error, timeout")
|
||||
# sys.exit(-1)
|
||||
# break
|
||||
|
||||
# time.sleep(1)
|
||||
|
||||
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
serial_line = ser.readline()
|
||||
print(serial_line.replace('\n',''))
|
||||
|
||||
if success_cmd in serial_line:
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
break
|
||||
else:
|
||||
if len(serial_line) > 0:
|
||||
print(serial_line, end='')
|
||||
|
||||
if "nsh>" in serial_line:
|
||||
#sys.exit(-1) # error, command didn't complete successfully
|
||||
break # TODO: return error on failure
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
#sys.exit(-1) # error, command didn't complete successfully
|
||||
break # TODO: return error on failure
|
||||
|
||||
if len(serial_line) <= 0:
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
break
|
||||
|
||||
ser.write('\n')
|
||||
time.sleep(0.01)
|
||||
|
||||
|
||||
# run command
|
||||
ser.write(cmd + '\n')
|
||||
|
||||
timeout = 30 # 30 seconds
|
||||
timeout_start = time.time()
|
||||
timeout_newline = timeout_start
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline()
|
||||
print(serial_line.replace('\n',''))
|
||||
|
||||
if cmd in serial_line:
|
||||
continue
|
||||
elif "nsh>" in serial_line:
|
||||
break
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
break
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
break
|
||||
|
||||
ser.write('\n')
|
||||
time.sleep(0.01)
|
||||
|
||||
ser.close()
|
||||
|
||||
def main():
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument('--device', "-d", nargs='?', default = None, help='')
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
|
||||
args = parser.parse_args()
|
||||
|
||||
+51
-66
@@ -1,4 +1,4 @@
|
||||
#! /usr/bin/env python3
|
||||
#! /usr/bin/python
|
||||
|
||||
import serial, time
|
||||
import subprocess
|
||||
@@ -7,70 +7,64 @@ from argparse import ArgumentParser
|
||||
import re
|
||||
import unittest
|
||||
import os
|
||||
import sys
|
||||
|
||||
def do_test(port, baudrate, test_name):
|
||||
databits = serial.EIGHTBITS
|
||||
stopbits = serial.STOPBITS_ONE
|
||||
parity = serial.PARITY_NONE
|
||||
ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=1)
|
||||
ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)
|
||||
|
||||
ser.write('\n')
|
||||
|
||||
finished = 0
|
||||
success = False
|
||||
|
||||
# run test cmd
|
||||
print('\n|======================================================================')
|
||||
cmd = 'tests ' + test_name
|
||||
print("| Running:", cmd)
|
||||
print('|======================================================================')
|
||||
timeout_start = time.time()
|
||||
timeout = 10 # 10 seconds
|
||||
timeout_start = time.time()
|
||||
|
||||
# clear
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
ser.readline()
|
||||
while True:
|
||||
serial_line = ser.readline()
|
||||
print(serial_line.replace('\n',''))
|
||||
|
||||
serial_cmd = '{0}\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
ser.flush()
|
||||
ser.readline()
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
break
|
||||
|
||||
# TODO: retry command
|
||||
# while True:
|
||||
# serial_cmd = '{0}\n'.format(cmd)
|
||||
# ser.write(serial_cmd.encode("ascii"))
|
||||
# ser.flush()
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
break
|
||||
|
||||
# serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
# if cmd in serial_line:
|
||||
# break
|
||||
# else:
|
||||
# print(serial_line.replace('\n', ''))
|
||||
|
||||
# if time.time() > timeout_start + timeout:
|
||||
# print("Error, unable to write cmd")
|
||||
# return False
|
||||
|
||||
# time.sleep(1)
|
||||
ser.write('\n')
|
||||
time.sleep(0.01)
|
||||
|
||||
|
||||
# print results, wait for final result (PASSED or FAILED)
|
||||
# run test cmd
|
||||
cmd = 'tests ' + test_name
|
||||
ser.write(cmd + '\n')
|
||||
|
||||
timeout = 180 # 3 minutes
|
||||
timeout_start = time.time()
|
||||
timeout_newline = timeout_start
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
if (len(serial_line) > 0):
|
||||
print(serial_line, end='')
|
||||
serial_line = ser.readline()
|
||||
print(serial_line.replace('\n',''))
|
||||
|
||||
if test_name + " PASSED" in serial_line:
|
||||
if cmd in serial_line:
|
||||
continue
|
||||
elif test_name + " PASSED" in serial_line:
|
||||
success = True
|
||||
break
|
||||
elif test_name + " FAILED" in serial_line:
|
||||
success = False
|
||||
break
|
||||
elif "nsh>" in serial_line:
|
||||
success = False
|
||||
break
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
success = False
|
||||
break
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
@@ -78,28 +72,22 @@ def do_test(port, baudrate, test_name):
|
||||
success = False
|
||||
break
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if time.time() - timeout_newline > 10:
|
||||
ser.write("\n".encode("ascii"))
|
||||
# newline every 30 seconds if still running
|
||||
if time.time() - timeout_newline > 30:
|
||||
ser.write('\n')
|
||||
timeout_newline = time.time()
|
||||
|
||||
ser.close()
|
||||
|
||||
return success
|
||||
|
||||
class TestHardwareMethods(unittest.TestCase):
|
||||
class TestHadrwareMethods(unittest.TestCase):
|
||||
TEST_DEVICE = 0
|
||||
TEST_BAUDRATE = 0
|
||||
|
||||
def test_atomic_bitset(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))
|
||||
|
||||
def test_bezier(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))
|
||||
|
||||
def test_bitset(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))
|
||||
|
||||
def test_bson(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
|
||||
|
||||
@@ -109,8 +97,8 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_controllib(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "controllib"))
|
||||
|
||||
# def test_dataman(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
|
||||
# def test_dataman(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
|
||||
|
||||
def floattest_float(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "float"))
|
||||
@@ -121,9 +109,6 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_IntrusiveQueue(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveQueue"))
|
||||
|
||||
def test_IntrusiveSortedList(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveSortedList"))
|
||||
|
||||
def test_List(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "List"))
|
||||
|
||||
@@ -148,8 +133,8 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_microbench_uorb(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_uorb"))
|
||||
|
||||
# def test_mixer(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))
|
||||
# def test_mixer(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))
|
||||
|
||||
def test_param(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "param"))
|
||||
@@ -160,34 +145,34 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_perf(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "perf"))
|
||||
|
||||
# def test_rc(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "rc"))
|
||||
|
||||
def test_search_min(self):
|
||||
def search_mintest_xxx(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "search_min"))
|
||||
|
||||
def test_sleep(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "sleep"))
|
||||
|
||||
def test_smoothz(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "smoothz"))
|
||||
|
||||
def test_time(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "time"))
|
||||
|
||||
def test_uorb(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))
|
||||
#def test_uorb(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))
|
||||
|
||||
def test_versioning(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))
|
||||
|
||||
def main():
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument('--device', "-d", nargs='?', default = None, help='')
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
TestHardwareMethods.TEST_DEVICE = args.device
|
||||
TestHardwareMethods.TEST_BAUDRATE = args.baudrate
|
||||
TestHadrwareMethods.TEST_DEVICE = args.device
|
||||
TestHadrwareMethods.TEST_BAUDRATE = args.baudrate
|
||||
|
||||
unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])
|
||||
unittest.main(__name__, argv=['main'])
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
+5
-5
@@ -4,10 +4,10 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
echo "guessing PX4_DOCKER_REPO based on input";
|
||||
if [[ $@ =~ .*px4_fmu.* ]]; then
|
||||
# nuttx-px4fmu-v{1,2,3,4,5}
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-11-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
|
||||
elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
|
||||
# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-11-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-04-01"
|
||||
elif [[ $@ =~ .*pilotpi.arm64 ]]; then
|
||||
# scumaker_pilotpi_arm64
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
|
||||
@@ -16,13 +16,13 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
|
||||
elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
|
||||
# aerotenna_ocpoc_default, posix_rpi_cross, posix_bebop_default
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-11-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-04-01"
|
||||
elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
|
||||
# clang tools
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-clang:2020-11-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-clang:2020-04-01"
|
||||
elif [[ $@ =~ .*tests* ]]; then
|
||||
# run all tests with simulation
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2020-11-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2020-04-01"
|
||||
fi
|
||||
else
|
||||
echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
|
||||
|
||||
+1
-1
Submodule Tools/flightgear_bridge updated: 7c2c623da9...44b51d5b1c
@@ -16,8 +16,8 @@ function spawn_model() {
|
||||
MODEL=$1
|
||||
N=$2 #Instance Number
|
||||
|
||||
SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
|
||||
if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
|
||||
SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover")
|
||||
if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL "* ]];
|
||||
then
|
||||
echo "ERROR: Currently only vehicle model $MODEL is not supported!"
|
||||
echo " Supported Models: [${SUPPORTED_MODELS[@]}]"
|
||||
@@ -31,7 +31,7 @@ function spawn_model() {
|
||||
pushd "$working_dir" &>/dev/null
|
||||
echo "starting instance $N in $(pwd)"
|
||||
../bin/px4 -i $N -d "$build_path/etc" -w sitl_${MODEL}_${N} -s etc/init.d-posix/rcS >out.log 2>err.log &
|
||||
python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
|
||||
python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --output-file /tmp/${MODEL}_${N}.sdf
|
||||
|
||||
echo "Spawning ${MODEL}_${N}"
|
||||
|
||||
|
||||
+1
-1
Submodule Tools/jsbsim_bridge updated: c51a61b9eb...9f46d55291
@@ -344,9 +344,8 @@ class uploader(object):
|
||||
try:
|
||||
self.__getSync(False)
|
||||
except:
|
||||
# if it fails we are on a real serial port - only leave this enabled on Windows
|
||||
if _platform.system() == 'Windows':
|
||||
self.ackWindowedMode = True
|
||||
# if it fails we are on a real Serial Port
|
||||
self.ackWindowedMode = True
|
||||
|
||||
self.port.baudrate = self.baudrate_bootloader
|
||||
|
||||
|
||||
@@ -130,14 +130,6 @@ serial_ports = {
|
||||
"default_baudrate": 0,
|
||||
},
|
||||
|
||||
# WIFI Port (PixRacer)
|
||||
"WIFI": {
|
||||
"label": "Wifi Port",
|
||||
"index": 301,
|
||||
"default_baudrate": 1, # set default to an unusable value to detect that this serial port has not been configured
|
||||
},
|
||||
|
||||
|
||||
}
|
||||
|
||||
parser = argparse.ArgumentParser(description='Generate Serial params & startup script')
|
||||
|
||||
@@ -11,8 +11,6 @@ pandas>=0.21
|
||||
pkgconfig
|
||||
psutil
|
||||
pygments
|
||||
wheel>=0.31.1
|
||||
pymavlink
|
||||
pyros-genmsg
|
||||
pyserial>=3.0
|
||||
pyulog>=0.5.0
|
||||
@@ -21,3 +19,4 @@ requests
|
||||
setuptools>=39.2.0
|
||||
six>=1.12.0
|
||||
toml>=0.9
|
||||
wheel>=0.31.1
|
||||
|
||||
+1
-1
Submodule Tools/sitl_gazebo updated: e2ff39298f...487f6283f4
+1
-24
@@ -127,30 +127,7 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
|
||||
gzserver $verbose $world_path &
|
||||
SIM_PID=$!
|
||||
|
||||
# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
|
||||
IFS_bak=$IFS
|
||||
IFS=":"
|
||||
for possible_model_path in ${GAZEBO_MODEL_PATH}; do
|
||||
if [ -z $possible_model_path ]; then
|
||||
continue
|
||||
fi
|
||||
# trim \r from path
|
||||
possible_model_path=$(echo $possible_model_path | tr -d '\r')
|
||||
if test -f "${possible_model_path}/${model}/${model}.sdf" ; then
|
||||
modelpath=$possible_model_path
|
||||
break
|
||||
fi
|
||||
done
|
||||
IFS=$IFS_bak
|
||||
|
||||
if [ -z $modelpath ]; then
|
||||
echo "Model ${model} not found in model path: ${GAZEBO_MODEL_PATH}"
|
||||
exit 1
|
||||
else
|
||||
echo "Using: ${modelpath}/${model}/${model}.sdf"
|
||||
fi
|
||||
|
||||
while gz model --verbose --spawn-file="${modelpath}/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
|
||||
while gz model --verbose --spawn-file="${src_path}/Tools/sitl_gazebo/models/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
|
||||
echo "gzserver not ready yet, trying again!"
|
||||
sleep 1
|
||||
done
|
||||
|
||||
@@ -238,7 +238,7 @@ class Graph(object):
|
||||
special_cases_pub = [
|
||||
('replay', r'Replay\.cpp$', None, r'^sub\.orb_meta$'),
|
||||
|
||||
('uavcan', r'sensors/.*\.cpp$', None, r'^_orb_topic$'),
|
||||
('uavcan', r'sensors/.*\.cpp$', r'\bUavcanCDevSensorBridgeBase\([^{]*DEVICE_PATH,([^,)]+)', r'^_orb_topic$'),
|
||||
]
|
||||
special_cases_pub = [(a, re.compile(b), re.compile(c) if c is not None else None, re.compile(d))
|
||||
for a,b,c,d in special_cases_pub]
|
||||
|
||||
@@ -45,7 +45,6 @@ px4_add_board(
|
||||
dataman
|
||||
ekf2
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
land_detector
|
||||
@@ -72,6 +71,7 @@ px4_add_board(
|
||||
esc_calib
|
||||
led_control
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
param
|
||||
perf
|
||||
|
||||
@@ -59,7 +59,6 @@ px4_add_board(
|
||||
dataman
|
||||
ekf2
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
land_detector
|
||||
@@ -88,8 +87,8 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
|
||||
@@ -32,7 +32,6 @@ CONFIG_ARCH_CHIP_STM32=y
|
||||
CONFIG_ARCH_CHIP_STM32F427V=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_LAZYFPU=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
|
||||
@@ -307,9 +307,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -64,7 +64,6 @@ px4_add_board(
|
||||
dataman
|
||||
ekf2
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
land_detector
|
||||
@@ -96,6 +95,7 @@ px4_add_board(
|
||||
#hardfault_log
|
||||
led_control
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
#mtd
|
||||
|
||||
@@ -56,7 +56,6 @@ px4_add_board(
|
||||
attitude_estimator_q
|
||||
commander
|
||||
ekf2
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
land_detector
|
||||
|
||||
@@ -63,7 +63,6 @@ px4_add_board(
|
||||
dataman
|
||||
ekf2
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
land_detector
|
||||
@@ -94,6 +93,7 @@ px4_add_board(
|
||||
#hardfault_log
|
||||
led_control
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
#mtd
|
||||
|
||||
@@ -56,7 +56,6 @@ px4_add_board(
|
||||
attitude_estimator_q
|
||||
commander
|
||||
ekf2
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
land_detector
|
||||
|
||||
@@ -59,7 +59,6 @@ px4_add_board(
|
||||
dataman
|
||||
ekf2
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
land_detector
|
||||
@@ -89,6 +88,7 @@ px4_add_board(
|
||||
i2cdetect
|
||||
led_control
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
nshterm
|
||||
|
||||
@@ -8,9 +8,7 @@ param set CBRK_SUPPLY_CHK 894281
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# Multi-EKF
|
||||
param set EKF2_MULTI_IMU 3
|
||||
param set SENS_IMU_MODE 0
|
||||
|
||||
fi
|
||||
|
||||
set LOGGER_BUF 64
|
||||
|
||||
@@ -52,7 +52,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_DCACHE=y
|
||||
CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_LAZYFPU=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
|
||||
@@ -192,10 +192,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
configure_switch();
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
|
||||
@@ -40,7 +40,6 @@ px4_add_board(
|
||||
dataman
|
||||
ekf2
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
land_detector
|
||||
@@ -68,6 +67,7 @@ px4_add_board(
|
||||
esc_calib
|
||||
led_control
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
param
|
||||
perf
|
||||
|
||||
@@ -21,7 +21,6 @@ px4_add_board(
|
||||
dataman
|
||||
ekf2
|
||||
events
|
||||
flight_mode_manager
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
@@ -44,8 +43,8 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
modules
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
|
||||
@@ -31,7 +31,6 @@ CONFIG_ARCH_CHIP_STM32=y
|
||||
CONFIG_ARCH_CHIP_STM32F405RG=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_LAZYFPU=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
|
||||
@@ -64,7 +64,6 @@ EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
EXTERN(board_get_manifest)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
|
||||
@@ -35,7 +35,6 @@ add_library(drivers_board
|
||||
i2c.cpp
|
||||
init.c
|
||||
led.c
|
||||
mtd.cpp
|
||||
spi.cpp
|
||||
timer_config.cpp
|
||||
usb.c
|
||||
|
||||
@@ -169,9 +169,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#endif
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -1,81 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2020 PX4 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <px4_platform_common/px4_manifest.h>
|
||||
// KiB BS nB
|
||||
static const px4_mft_device_t i2c1 = { // 24AA64FT on Base 8K 32 X 256
|
||||
.bus_type = px4_mft_device_t::I2C,
|
||||
.devid = PX4_MK_I2C_DEVID(1, 0x50)
|
||||
};
|
||||
|
||||
|
||||
static const px4_mtd_entry_t fmu_eeprom = {
|
||||
.device = &i2c1,
|
||||
.npart = 2,
|
||||
.partd = {
|
||||
{
|
||||
.type = MTD_PARAMETERS,
|
||||
.path = "/fs/mtd_params",
|
||||
.nblocks = 128
|
||||
},
|
||||
{
|
||||
.type = MTD_WAYPOINTS,
|
||||
.path = "/fs/mtd_waypoints",
|
||||
.nblocks = 128
|
||||
|
||||
}
|
||||
},
|
||||
};
|
||||
|
||||
static const px4_mtd_manifest_t board_mtd_config = {
|
||||
.nconfigs = 1,
|
||||
.entries = {
|
||||
&fmu_eeprom,
|
||||
}
|
||||
};
|
||||
|
||||
static const px4_mft_entry_s mtd_mft = {
|
||||
.type = MTD,
|
||||
.pmft = (void *) &board_mtd_config,
|
||||
};
|
||||
|
||||
static const px4_mft_s mft = {
|
||||
.nmft = 1,
|
||||
.mfts = &mtd_mft
|
||||
};
|
||||
|
||||
const px4_mft_s *board_get_manifest(void)
|
||||
{
|
||||
return &mft;
|
||||
}
|
||||
@@ -37,7 +37,6 @@ px4_add_module(
|
||||
COMPILE_FLAGS
|
||||
-Wno-cast-align # TODO: fix and enable
|
||||
SRCS
|
||||
ringbuffer.cpp
|
||||
syslink_main.cpp
|
||||
syslink_bridge.cpp
|
||||
syslink_memory.cpp
|
||||
|
||||
@@ -38,7 +38,7 @@
|
||||
#include <battery/battery.h>
|
||||
|
||||
#include <drivers/device/device.h>
|
||||
#include "ringbuffer.h"
|
||||
#include <drivers/device/ringbuffer.h>
|
||||
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
|
||||
@@ -51,7 +51,6 @@ px4_add_board(
|
||||
#hardfault_log
|
||||
#i2cdetect
|
||||
#led_control
|
||||
#mft
|
||||
#mixer
|
||||
#motor_ramp
|
||||
#motor_test
|
||||
|
||||
@@ -28,7 +28,6 @@ CONFIG_ARCH_CHIP_STM32=y
|
||||
CONFIG_ARCH_CHIP_STM32F412CE=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_LAZYFPU=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
|
||||
@@ -123,9 +123,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
px4_platform_init();
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -64,7 +64,6 @@ px4_add_board(
|
||||
dataman
|
||||
ekf2
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
land_detector
|
||||
@@ -93,7 +92,6 @@ px4_add_board(
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
||||
@@ -31,12 +31,6 @@ then
|
||||
param set BAT1_A_PER_V 24
|
||||
param set BAT2_A_PER_V 24
|
||||
|
||||
# Multi-EKF
|
||||
param set EKF2_MULTI_IMU 3
|
||||
param set SENS_IMU_MODE 0
|
||||
param set EKF2_MULTI_MAG 3
|
||||
param set SENS_MAG_MODE 0
|
||||
|
||||
# Enable IMU thermal control
|
||||
param set SENS_EN_THERMAL 1
|
||||
fi
|
||||
|
||||
@@ -20,7 +20,6 @@ CONFIG_ARCH_CHIP_STM32H7=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_LAZYFPU=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
|
||||
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_DCACHE=y
|
||||
CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_LAZYFPU=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
@@ -157,6 +156,7 @@ CONFIG_STDIO_BUFFER_SIZE=256
|
||||
CONFIG_STM32H7_ADC1=y
|
||||
CONFIG_STM32H7_BBSRAM=y
|
||||
CONFIG_STM32H7_BBSRAM_FILES=5
|
||||
CONFIG_STM32H7_BDMA=y
|
||||
CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user