mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-27 22:00:04 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
f9973e0464 |
@@ -86,6 +86,7 @@ pipeline {
|
||||
"px4_fmu-v3_default",
|
||||
"px4_fmu-v4_default",
|
||||
"px4_fmu-v4pro_default",
|
||||
"px4_fmu-v5_ctrlalloc",
|
||||
"px4_fmu-v5_debug",
|
||||
"px4_fmu-v5_default",
|
||||
"px4_fmu-v5_rtps",
|
||||
|
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+81
-38
@@ -21,7 +21,7 @@ pipeline {
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||||
sh 'make cubepilot_cubeorange_test'
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sh 'make cubepilot_cubeorange_test bootloader_elf'
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sh 'ccache -s'
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||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
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||||
}
|
||||
post {
|
||||
always {
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@@ -70,7 +70,6 @@ pipeline {
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}
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||||
post {
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
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resetBoard()
|
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}
|
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}
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@@ -92,7 +91,7 @@ pipeline {
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sh 'make cuav_x7pro_test'
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sh 'make cuav_x7pro_test bootloader_elf'
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sh 'ccache -s'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
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}
|
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post {
|
||||
always {
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@@ -139,7 +138,6 @@ pipeline {
|
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}
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post {
|
||||
always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
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resetBoard()
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}
|
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}
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@@ -161,7 +159,7 @@ pipeline {
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sh 'make px4_fmu-v3_test'
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sh 'make px4_fmu-v3_test bootloader_elf'
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sh 'ccache -s'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -208,7 +206,6 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
|
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resetBoard()
|
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}
|
||||
}
|
||||
@@ -230,7 +227,7 @@ pipeline {
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sh 'make px4_fmu-v4_test'
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sh 'make px4_fmu-v4_test bootloader_elf'
|
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sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
|
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -276,7 +273,6 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
|
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resetBoard()
|
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}
|
||||
}
|
||||
@@ -298,7 +294,7 @@ pipeline {
|
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sh 'make px4_fmu-v4pro_test'
|
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sh 'make px4_fmu-v4pro_test bootloader_elf'
|
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sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -345,7 +341,6 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
|
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resetBoard()
|
||||
}
|
||||
}
|
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@@ -367,7 +362,7 @@ pipeline {
|
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sh 'make px4_fmu-v5_debug'
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sh 'make px4_fmu-v5_debug bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -425,7 +420,6 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
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resetBoard()
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||||
}
|
||||
}
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@@ -447,7 +441,7 @@ pipeline {
|
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sh 'make px4_fmu-v5_stackcheck'
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sh 'make px4_fmu-v5_stackcheck bootloader_elf'
|
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sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
|
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -504,7 +498,6 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
@@ -526,7 +519,7 @@ pipeline {
|
||||
sh 'make px4_fmu-v5_test'
|
||||
sh 'make px4_fmu-v5_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -573,7 +566,6 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
@@ -581,6 +573,73 @@ pipeline {
|
||||
}
|
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}
|
||||
|
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// stage("modalai_fc-v1_test") {
|
||||
// stages {
|
||||
// stage("build modalai_fc-v1_test") {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
// args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
// }
|
||||
// }
|
||||
// steps {
|
||||
// checkout scm
|
||||
// sh 'export'
|
||||
// sh 'make distclean'
|
||||
// sh 'ccache -s'
|
||||
// sh 'git fetch --tags'
|
||||
// sh 'make modalai_fc-v1_test'
|
||||
// sh 'make modalai_fc-v1_test bootloader_elf'
|
||||
// sh 'ccache -s'
|
||||
// stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
|
||||
// }
|
||||
// post {
|
||||
// always {
|
||||
// sh 'make distclean'
|
||||
// }
|
||||
// }
|
||||
// } // stage build
|
||||
// stage("hardware") {
|
||||
// agent {
|
||||
// label 'modalai_fc-v1'
|
||||
// }
|
||||
// stages {
|
||||
// stage("flash") {
|
||||
// steps {
|
||||
// sh 'export'
|
||||
// sh 'find /dev/serial'
|
||||
// unstash 'modalai_fc-v1_test'
|
||||
// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
|
||||
// // flash board and watch bootup
|
||||
// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
// }
|
||||
// }
|
||||
// stage("tests") {
|
||||
// steps {
|
||||
// runTests()
|
||||
// }
|
||||
// }
|
||||
// stage("status") {
|
||||
// steps {
|
||||
// // configure
|
||||
// resetParameters()
|
||||
// sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
// sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
// checkStatus()
|
||||
// quickCalibrate()
|
||||
// }
|
||||
// }
|
||||
// stage("print topics") {
|
||||
// steps {
|
||||
// printTopics()
|
||||
// }
|
||||
// }
|
||||
|
||||
// }
|
||||
// } // stage test
|
||||
// }
|
||||
// }
|
||||
|
||||
stage("nxp_fmuk66-v3_test") {
|
||||
stages {
|
||||
stage("build nxp_fmuk66-v3_test") {
|
||||
@@ -595,7 +654,7 @@ pipeline {
|
||||
sh 'make nxp_fmuk66-v3_test'
|
||||
//sh 'make nxp_fmuk66-v3_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -642,7 +701,6 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
resetBoard()
|
||||
}
|
||||
}
|
||||
@@ -676,26 +734,12 @@ void checkoutSCM() {
|
||||
}
|
||||
|
||||
void quickCalibrate() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1; param show CAL_ACC*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 1; param show CAL_GYRO*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 1; param show SENS_BOARD*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1; param show CAL_MAG*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters before
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
|
||||
}
|
||||
|
||||
void checkStatus() {
|
||||
@@ -787,7 +831,6 @@ void runTests() {
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
|
||||
|
||||
|
||||
@@ -74,7 +74,6 @@ Checks: '*,
|
||||
-modernize-deprecated-headers,
|
||||
-modernize-loop-convert,
|
||||
-modernize-pass-by-value,
|
||||
-modernize-raw-string-literal,
|
||||
-modernize-return-braced-init-list,
|
||||
-modernize-use-auto,
|
||||
-modernize-use-bool-literals,
|
||||
@@ -82,7 +81,6 @@ Checks: '*,
|
||||
-modernize-use-equals-default,
|
||||
-modernize-use-equals-delete,
|
||||
-modernize-use-override,
|
||||
-modernize-use-trailing-return-type,
|
||||
-modernize-use-using,
|
||||
-performance-inefficient-string-concatenation,
|
||||
-readability-avoid-const-params-in-decls,
|
||||
|
||||
@@ -43,7 +43,7 @@ jobs:
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 40M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
@@ -40,7 +40,7 @@ jobs:
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 40M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
@@ -13,7 +13,6 @@ jobs:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config: [
|
||||
airmind_mindpx-v2,
|
||||
@@ -82,7 +81,7 @@ jobs:
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 50M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
@@ -111,6 +110,4 @@ jobs:
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: px4_package_${{matrix.config}}
|
||||
path: |
|
||||
build/**/*.px4
|
||||
build/**/*.bin
|
||||
path: build/**/*.px4
|
||||
|
||||
@@ -0,0 +1,64 @@
|
||||
name: NuttX UAVCAN firmware
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
ark_can-flow_default,
|
||||
ark_can-gps_default,
|
||||
ark_can-rtk-gps_default,
|
||||
cuav_can-gps-v1_default,
|
||||
freefly_can-rtk-gps_default,
|
||||
holybro_can-gps-v1_default,
|
||||
nxp_ucans32k146_default
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: ${{matrix.config}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 20M" >> ~/.ccache/ccache.conf
|
||||
echo "hash_dir = false" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make ${{matrix.config}}
|
||||
run: make ${{matrix.config}}
|
||||
|
||||
- name: ccache post-run
|
||||
run: ccache -s
|
||||
|
||||
- name: Upload px4 package
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: px4_cannode_${{matrix.config}}
|
||||
path: build/${{matrix.config}}/*.uavcan.bin
|
||||
Vendored
-5
@@ -106,11 +106,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-rtk-gps_default
|
||||
ark_can-rtk-gps_debug:
|
||||
short: ark_can-rtk-gps_debug
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-rtk-gps_debug
|
||||
ark_can-rtk-gps_canbootloader:
|
||||
short: ark_can-rtk-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
|
||||
@@ -464,7 +464,7 @@ shellcheck_all:
|
||||
@make px4_fmu-v5_default shellcheck
|
||||
|
||||
validate_module_configs:
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
|
||||
# Cleanup
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
@@ -8,8 +8,7 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
@@ -46,10 +45,4 @@ param set-default CA_MC_R3_PY 0.1875
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
set MIXER direct
|
||||
|
||||
@@ -1,9 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL with catapult
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
param set-default FW_THR_CRUISE 0.0
|
||||
param set-default RWTO_TKOFF 0
|
||||
+3
-20
@@ -6,17 +6,7 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.0800
|
||||
param set-default MC_PITCHRATE_I 0.0400
|
||||
param set-default MC_PITCHRATE_D 0.0010
|
||||
param set-default MC_PITCH_P 9.0
|
||||
param set-default MC_ROLLRATE_P 0.0800
|
||||
param set-default MC_ROLLRATE_I 0.0400
|
||||
param set-default MC_ROLLRATE_D 0.0010
|
||||
param set-default MC_ROLL_P 9.0
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
@@ -76,14 +66,7 @@ param set-default CA_MC_R5_PY -0.5
|
||||
param set-default CA_MC_R5_CT 9.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
# set MIXER hexa_x
|
||||
set MIXER direct
|
||||
@@ -61,7 +61,6 @@ px4_add_romfs_files(
|
||||
1035_techpod
|
||||
1036_malolo
|
||||
1037_believer
|
||||
1038_glider
|
||||
1040_standard_vtol
|
||||
1041_tailsitter
|
||||
1042_tiltrotor
|
||||
@@ -77,6 +76,6 @@ px4_add_romfs_files(
|
||||
2507_cloudship
|
||||
6011_typhoon_h480
|
||||
6011_typhoon_h480.post
|
||||
6012_typhoon_h480_ctrlalloc
|
||||
6012_typhoon_h480_ctrlalloc.post
|
||||
6012_typhoon_ctrlalloc
|
||||
6012_typhoon_ctrlalloc.post
|
||||
)
|
||||
|
||||
@@ -55,4 +55,5 @@ px4_add_romfs_files(
|
||||
rc.vehicle_setup
|
||||
rc.vtol_apps
|
||||
rc.vtol_defaults
|
||||
rc.ctrlalloc
|
||||
)
|
||||
|
||||
@@ -18,6 +18,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
param set-default BAT1_N_CELLS 3
|
||||
|
||||
param set-default FW_AIRSPD_MAX 20
|
||||
@@ -39,6 +40,7 @@ param set-default FW_RR_P 0.3
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
# disable some checks to allow to fly
|
||||
|
||||
@@ -34,3 +34,5 @@ param set-default MC_PITCHRATE_D 0.0025
|
||||
param set-default MC_YAWRATE_P 0.28
|
||||
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -23,6 +23,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
# TODO tune roll/pitch separately
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
@@ -38,3 +39,5 @@ param set-default BAT1_V_DIV 12.27559
|
||||
param set-default BAT1_A_PER_V 15.39103
|
||||
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -25,6 +25,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default BAT1_N_CELLS 4
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
@@ -37,3 +38,5 @@ param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
param set-default MC_YAW_P 4
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -25,6 +25,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default BAT1_N_CELLS 6
|
||||
param set-default BAT1_V_EMPTY 3.5
|
||||
|
||||
@@ -41,3 +42,5 @@ param set-default MPC_XY_VEL_MAX 2
|
||||
param set-default PWM_MAIN_MIN 1080
|
||||
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -12,6 +12,7 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
|
||||
@@ -9,7 +9,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -14,7 +14,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -22,11 +22,11 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
set MAV_TYPE 20
|
||||
|
||||
set MIXER quad_+_vtol
|
||||
|
||||
@@ -19,13 +19,14 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
|
||||
|
||||
param set-default MC_ROLL_P 6
|
||||
param set-default MC_ROLLRATE_P 0.17
|
||||
param set-default MC_ROLLRATE_I 0.002
|
||||
|
||||
@@ -17,7 +17,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
@@ -27,6 +26,7 @@ param set-default MC_ROLLRATE_I 0.01
|
||||
param set-default MC_PITCHRATE_I 0.01
|
||||
param set-default MC_YAW_P 3.5
|
||||
|
||||
|
||||
param set-default MC_YAWRATE_MAX 50
|
||||
|
||||
param set-default MPC_XY_P 0.8
|
||||
|
||||
@@ -9,7 +9,6 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
@@ -9,11 +9,11 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default FW_AIRSPD_MAX 22
|
||||
param set-default FW_AIRSPD_MIN 14
|
||||
param set-default FW_AIRSPD_TRIM 16
|
||||
@@ -68,6 +68,7 @@ param set-default PWM_AUX_REV4 1
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
|
||||
|
||||
param set-default VT_ARSP_TRANS 15
|
||||
param set-default VT_F_TRANS_THR 0.6
|
||||
param set-default VT_IDLE_PWM_MC 1180
|
||||
|
||||
@@ -13,6 +13,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_AUX_DISARM 1000
|
||||
param set-default PWM_AUX_MAX 2000
|
||||
param set-default PWM_AUX_MIN 1000
|
||||
|
||||
@@ -22,6 +22,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default FW_ARSP_MODE 1
|
||||
|
||||
@@ -22,6 +22,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default BAT1_CAPACITY 23000
|
||||
param set-default BAT1_N_CELLS 4
|
||||
param set-default BAT1_R_INTERNAL 0.0025
|
||||
|
||||
@@ -18,11 +18,11 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default BAT1_N_CELLS 6
|
||||
|
||||
param set-default FW_AIRSPD_MAX 30
|
||||
|
||||
@@ -22,11 +22,12 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
|
||||
param set-default VT_IDLE_PWM_MC 1100
|
||||
param set-default VT_TYPE 1
|
||||
param set-default VT_MOT_ID 1234
|
||||
|
||||
@@ -21,11 +21,11 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
|
||||
@@ -14,11 +14,11 @@
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_MOT_COUNT 2
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
@@ -19,3 +19,5 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER tri_y_yaw+
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -19,3 +19,5 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER tri_y_yaw-
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -19,6 +19,7 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
set MIXER coax
|
||||
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.17
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_ROLLRATE_D 0.005
|
||||
@@ -40,4 +41,5 @@ param set-default RTL_DESCEND_ALT 10
|
||||
set MIXER_AUX pass
|
||||
|
||||
# use PWM parameters for throttle channel
|
||||
set PWM_AUX_OUT 1234
|
||||
set PWM_OUT 34
|
||||
|
||||
@@ -24,7 +24,8 @@ set MAV_TYPE 4
|
||||
|
||||
set MIXER blade130
|
||||
|
||||
set PWM_OUT none
|
||||
#set PWM_OUT 1234
|
||||
|
||||
|
||||
param set-default ATT_BIAS_MAX 0
|
||||
|
||||
|
||||
@@ -15,6 +15,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.balloon_defaults
|
||||
|
||||
|
||||
param set-default COM_PREARM_MODE 2 # always in prearm state
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
param set-default SDLOG_PROFILE 17
|
||||
@@ -27,5 +28,6 @@ param set-default SER_TEL2_BAUD 9600
|
||||
set MAV_TYPE 8
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
|
||||
set MIXER IO_pass
|
||||
set MIXER_AUX pass
|
||||
|
||||
@@ -28,6 +28,7 @@
|
||||
|
||||
set VEHICLE_TYPE mc
|
||||
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
param set-default PWM_AUX_RATE 400
|
||||
|
||||
@@ -18,5 +18,6 @@
|
||||
param set-default COM_PREARM_MODE 2
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
|
||||
set MIXER cloudship
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -37,4 +37,5 @@ param set-default FW_PR_FF 0.35
|
||||
param set-default FW_RR_FF 0.6
|
||||
param set-default FW_RR_P 0.04
|
||||
|
||||
|
||||
set MIXER fw_generic_wing
|
||||
|
||||
@@ -41,6 +41,7 @@ param set-default FW_RR_P 0.04
|
||||
|
||||
param set-default PWM_MAIN_DISARM 1000
|
||||
|
||||
|
||||
# Configure this as plane.
|
||||
set MAV_TYPE 1
|
||||
|
||||
|
||||
@@ -21,6 +21,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
param set-default FW_AIRSPD_MAX 25
|
||||
param set-default FW_AIRSPD_MIN 12.5
|
||||
param set-default FW_AIRSPD_TRIM 16.5
|
||||
|
||||
@@ -21,3 +21,7 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -13,6 +13,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
param set-default MC_ROLL_P 8
|
||||
param set-default MC_ROLLRATE_P 0.08
|
||||
param set-default MC_ROLLRATE_I 0.16
|
||||
|
||||
@@ -13,6 +13,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
param set-default ATT_BIAS_MAX 0
|
||||
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
@@ -11,6 +11,9 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_PITCH_P 7
|
||||
|
||||
@@ -10,6 +10,9 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_PITCH_P 7
|
||||
|
||||
@@ -13,6 +13,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.18
|
||||
param set-default MC_PITCHRATE_P 0.18
|
||||
param set-default MC_ROLLRATE_I 0.15
|
||||
|
||||
@@ -13,6 +13,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
param set-default IMU_GYRO_CUTOFF 30
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.14
|
||||
|
||||
@@ -16,6 +16,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
# System parameters
|
||||
# use FMU motor outputs for less delay in the rate control loop
|
||||
param set-default SYS_USE_IO 0
|
||||
|
||||
@@ -18,6 +18,9 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set-default IMU_DGYRO_CUTOFF 20
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.18
|
||||
|
||||
@@ -11,11 +11,8 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
@@ -52,7 +49,8 @@ param set-default CA_MC_R3_PY 0.177
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
set MIXER direct
|
||||
set PWM_OUT 1234
|
||||
|
||||
set MIXER_AUX direct_aux
|
||||
set PWM_AUX_OUT 1234
|
||||
|
||||
@@ -18,6 +18,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
# tuning
|
||||
param set-default MC_PITCHRATE_P 0.11
|
||||
param set-default MC_ROLLRATE_P 0.11
|
||||
@@ -82,5 +83,7 @@ param set-default RC5_TRIM 1500
|
||||
param set-default MAV_0_RATE 80000
|
||||
param set-default MAV_0_MODE 2
|
||||
param set-default SER_TEL1_BAUD 921600
|
||||
set MIXER quad_x
|
||||
|
||||
set PWM_OUT 1234
|
||||
set MIXER_AUX none
|
||||
|
||||
@@ -13,6 +13,9 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.14
|
||||
param set-default MC_ROLLRATE_I 0.1
|
||||
param set-default MC_ROLLRATE_D 0.004
|
||||
|
||||
@@ -42,4 +42,8 @@ param set-default RTL_DESCEND_ALT 10
|
||||
|
||||
set MIXER quad_h
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
set MIXER_AUX pass
|
||||
|
||||
set PWM_AUX_OUT 1234
|
||||
|
||||
@@ -23,6 +23,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
|
||||
@@ -56,3 +57,5 @@ param set-default SYS_HAS_MAG 0
|
||||
param set-default BAT1_N_CELLS 2
|
||||
# The Whoop uses reversed props
|
||||
set MIXER quad_h
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
@@ -12,6 +12,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
param set-default MC_ROLL_P 8
|
||||
param set-default MC_ROLLRATE_P 0.08
|
||||
param set-default MC_ROLLRATE_I 0.25
|
||||
|
||||
@@ -23,9 +23,11 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_s250aq
|
||||
|
||||
set MAV_TYPE 2
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
param set-default ATT_BIAS_MAX 0
|
||||
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
@@ -15,6 +15,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
# The set does not include a battery, but most people will probably use 4S
|
||||
param set-default BAT1_N_CELLS 4
|
||||
|
||||
|
||||
@@ -13,6 +13,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
param set-default BAT1_N_CELLS 4
|
||||
|
||||
param set-default GPS_1_CONFIG 0
|
||||
|
||||
@@ -13,6 +13,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
param set-default BAT1_N_CELLS 6
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.05
|
||||
|
||||
@@ -19,6 +19,7 @@
|
||||
set MIXER none
|
||||
set MIXER_AUX none
|
||||
|
||||
|
||||
# Battery settings
|
||||
param set-default BAT_CRIT_THR 0.20
|
||||
param set-default BAT_LOW_THR 0.25
|
||||
|
||||
@@ -28,8 +28,10 @@ set PWM_OUT 1234
|
||||
|
||||
# Attitude & rate gains
|
||||
param set-default MC_ROLLRATE_D 0.0013
|
||||
|
||||
param set-default MC_PITCHRATE_D 0.0016
|
||||
|
||||
|
||||
param set-default MC_YAW_FF 0.5
|
||||
|
||||
param set-default MPC_MANTHR_MAX 0.9
|
||||
|
||||
@@ -22,6 +22,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
# use the Q attitude estimator, it works w/o mag or GPS.
|
||||
param set-default SYS_MC_EST_GROUP 3
|
||||
param set-default ATT_ACC_COMP 0
|
||||
@@ -77,3 +81,4 @@ param set-default IMU_DGYRO_CUTOFF 100
|
||||
|
||||
# enable to use high-rate logging for better rate tracking analysis
|
||||
param set-default SDLOG_PROFILE 27
|
||||
|
||||
|
||||
@@ -17,6 +17,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
param set-default BAT1_N_CELLS 1
|
||||
|
||||
param set-default MC_ROLL_P 8
|
||||
|
||||
@@ -31,3 +31,5 @@
|
||||
# Set mixer
|
||||
set MIXER tilt_quad
|
||||
set MIXER_AUX tilt_quad
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -0,0 +1,190 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Teal One
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @output MAIN1 motor 1
|
||||
# @output MAIN2 motor 2
|
||||
# @output MAIN3 motor 3
|
||||
# @output MAIN4 motor 4
|
||||
#
|
||||
# @maintainer Matt McFadden <matt.mcfadden@tealdrones.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board px4_fmu-v3 exclude
|
||||
# @board px4_fmu-v4pro exclude
|
||||
# @board px4_fmu-v5 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
echo "Executing 4250_teal script."
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
# First thing, reset all params to default... EXCEPT THIS LIST
|
||||
param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* CAL_MAG* SENS_BOARD* EKF2_MAGBIAS*
|
||||
|
||||
# battery
|
||||
param set-default BAT_CRIT_THR 0.15
|
||||
param set-default BAT_EMERGEN_THR 0.075
|
||||
param set-default BAT_LOW_THR 0.20
|
||||
|
||||
param set-default BAT1_CAPACITY 2750
|
||||
param set-default BAT1_N_CELLS 4
|
||||
param set-default BAT1_R_INTERNAL 0.06
|
||||
param set-default BAT1_SOURCE 1
|
||||
param set-default BAT1_V_CHARGED 4.15
|
||||
param set-default BAT1_V_DIV 11.1625
|
||||
param set-default BAT1_V_EMPTY 3.65
|
||||
param set-default BAT1_V_OFFS_CURR -0.0045
|
||||
|
||||
# sensor calibration
|
||||
param set-default CAL_MAG_SIDES 63
|
||||
|
||||
# circuit breakers
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
|
||||
# commander
|
||||
param set-default COM_DISARM_LAND 0.1
|
||||
# Return mode at critically low level, Land mode at current position if reaching dangerously low levels.
|
||||
param set-default COM_LOW_BAT_ACT 3
|
||||
|
||||
# ekf2
|
||||
param set-default EKF2_MAG_TYPE 1
|
||||
param set-default EKF2_GPS_CHECK 511
|
||||
param set-default EKF2_GPS_POS_X -0.04
|
||||
param set-default EKF2_IMU_POS_X -0.06
|
||||
param set-default EKF2_PCOEF_XN 0.1
|
||||
param set-default EKF2_PCOEF_XP -0.5
|
||||
param set-default EKF2_RNG_A_VMAX 20
|
||||
param set-default EKF2_RNG_NOISE 0.2
|
||||
param set-default EKF2_MIN_RNG 0.07
|
||||
|
||||
# geofence
|
||||
# Geofence violation action -- Warning.
|
||||
param set-default GF_ACTION 1
|
||||
|
||||
# land detector
|
||||
param set-default LNDMC_XY_VEL_MAX 1
|
||||
# This is set high because we have lots of vibrations while in contact with ground.
|
||||
param set-default LNDMC_ROT_MAX 50
|
||||
|
||||
# serial comms
|
||||
param set-default SER_TEL1_BAUD 921600
|
||||
param set-default SER_TEL2_BAUD 921600
|
||||
|
||||
# mavlink stream configuration
|
||||
# TEL1 ttyS1 -- disabled. TX1 FTDI UART has issues.
|
||||
param set-default MAV_0_CONFIG 0
|
||||
param set-default MAV_0_RATE 800000
|
||||
|
||||
# TEL2 ttyS2 -- Primary MAVLINK stream to companion computer.
|
||||
param set-default MAV_1_CONFIG 102
|
||||
param set-default MAV_1_RATE 800000
|
||||
|
||||
# mc_att_control
|
||||
param set-default MC_ACRO_P_MAX 360
|
||||
param set-default MC_ACRO_R_MAX 360
|
||||
param set-default MC_ACRO_Y_MAX 360
|
||||
|
||||
param set-default MC_ROLL_P 6
|
||||
param set-default MC_ROLLRATE_P 0.055
|
||||
param set-default MC_ROLLRATE_D 0.0012
|
||||
param set-default MC_ROLLRATE_MAX 180
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.06
|
||||
param set-default MC_PITCHRATE_D 0.0012
|
||||
param set-default MC_PITCHRATE_MAX 180
|
||||
|
||||
param set-default MC_YAW_P 1
|
||||
param set-default MC_YAWRATE_P 0.08
|
||||
param set-default MC_YAWRATE_I 0.08
|
||||
|
||||
param set-default MC_YAWRATE_MAX 180
|
||||
|
||||
# Set to reduce voltage transients as seen by battery management system.
|
||||
param set-default MOT_SLEW_MAX 0.15
|
||||
|
||||
#### CONTROLLER ###
|
||||
param set-default MPC_LAND_ALT1 8
|
||||
param set-default MPC_LAND_ALT2 5
|
||||
param set-default MPC_TKO_RAMP_T 0.75
|
||||
param set-default MPC_TKO_SPEED 0.75
|
||||
param set-default MPC_TILTMAX_LND 18
|
||||
param set-default MPC_TILTMAX_AIR 45
|
||||
param set-default MPC_MAN_TILT_MAX 45
|
||||
|
||||
param set-default MPC_MANTHR_MAX 0.85
|
||||
param set-default MPC_MANTHR_MIN 0.15
|
||||
# Full throttle can trip over current protection on BMS.
|
||||
param set-default MPC_THR_MAX 0.85
|
||||
param set-default MPC_THR_MIN 0.15
|
||||
|
||||
param set-default MPC_VEL_MANUAL 26.5
|
||||
# RTL speed, it was too fast and scaring people.
|
||||
param set-default MPC_XY_CRUISE 15
|
||||
|
||||
param set-default MPC_MAN_Y_MAX 200
|
||||
|
||||
param set-default MPC_JERK_MAX 5
|
||||
param set-default MPC_ACC_UP_MAX 10
|
||||
param set-default MPC_ACC_DOWN_MAX 10
|
||||
param set-default MPC_ACC_HOR 10
|
||||
param set-default MPC_ACC_HOR_MAX 15
|
||||
|
||||
param set-default MPC_XY_P 1.15
|
||||
param set-default MPC_XY_VEL_P_ACC 2.8
|
||||
param set-default MPC_XY_VEL_I_ACC 0.28
|
||||
param set-default MPC_XY_VEL_D_ACC 0.28
|
||||
param set-default MPC_XY_VEL_MAX 26.5
|
||||
|
||||
param set-default MPC_Z_P 0.85
|
||||
param set-default MPC_Z_VEL_P_ACC 5
|
||||
param set-default MPC_Z_VEL_I_ACC 1.7
|
||||
param set-default MPC_Z_VEL_D_ACC 0.4
|
||||
# Documentation says limit is 8.0, but does not seem to be enforced in code.
|
||||
param set-default MPC_Z_VEL_MAX_UP 20
|
||||
param set-default MPC_Z_VEL_MAX_DN 2.5
|
||||
#### CONTROLLER ###
|
||||
|
||||
# navigator
|
||||
param set-default NAV_ACC_RAD 2.5
|
||||
# RC loss failsafe behavior -- hold mode.
|
||||
param set-default NAV_RCL_ACT 1
|
||||
|
||||
# pwm control
|
||||
param set-default PWM_MAIN_DISARM 900
|
||||
param set-default PWM_MAIN_MAX 1850
|
||||
param set-default PWM_MAIN_MIN 1075
|
||||
# Oneshot125
|
||||
param set-default PWM_MAIN_RATE 0
|
||||
|
||||
# rtl
|
||||
param set-default RTL_DESCEND_ALT 5
|
||||
param set-default RTL_LAND_DELAY 5
|
||||
param set-default RTL_MIN_DIST 7.5
|
||||
param set-default RTL_RETURN_ALT 25
|
||||
|
||||
# calibration
|
||||
param set-default CAL_ACC0_PRIO 255
|
||||
param set-default CAL_ACC1_PRIO 0
|
||||
|
||||
param set-default CAL_GYRO0_PRIO 255
|
||||
param set-default CAL_GYRO1_PRIO 0
|
||||
# Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)
|
||||
param set-default SDLOG_PROFILE 6
|
||||
|
||||
# Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number.
|
||||
param set TEL_FRSKY_CONFIG 500
|
||||
# We want to make sure these always start
|
||||
param set SENS_EN_PGA460 1
|
||||
param set SENS_EN_THERMAL 1
|
||||
param set SENS_EN_BATT 1
|
||||
@@ -13,6 +13,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.087
|
||||
param set-default MC_PITCHRATE_I 0.037
|
||||
param set-default MC_PITCHRATE_D 0.0044
|
||||
|
||||
@@ -17,6 +17,7 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x_cw
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set-default BAT1_N_CELLS 1
|
||||
param set-default BAT1_CAPACITY 240
|
||||
@@ -68,3 +69,4 @@ set PWM_MAIN_MIN none
|
||||
|
||||
syslink start
|
||||
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
|
||||
|
||||
|
||||
@@ -17,6 +17,7 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x_cw
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set-default SYS_MC_EST_GROUP 2
|
||||
param set-default SYS_HAS_MAG 0
|
||||
@@ -60,6 +61,7 @@ param set-default PWM_MAIN_RATE 3921
|
||||
|
||||
param set-default SENS_FLOW_MINRNG 0.05
|
||||
|
||||
|
||||
set PWM_MAIN_DISARM none
|
||||
set PWM_MAIN_MAX none
|
||||
set PWM_MAIN_MIN none
|
||||
|
||||
@@ -18,6 +18,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
|
||||
param set-default BAT1_N_CELLS 4
|
||||
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
|
||||
@@ -20,6 +20,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
|
||||
param set-default BAT1_N_CELLS 2
|
||||
|
||||
param set-default EKF2_GBIAS_INIT 0.01
|
||||
|
||||
@@ -26,3 +26,5 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_+
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -22,6 +22,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
@@ -42,3 +43,4 @@ param set-default BAT_V_OFFS_CURR 0.33
|
||||
set PWM_OUT 12345678
|
||||
# set MIXER IO_pass
|
||||
set MIXER vectored6dof
|
||||
|
||||
|
||||
@@ -26,7 +26,6 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER hexa_x
|
||||
set PWM_OUT 12345678
|
||||
|
||||
|
||||
@@ -11,8 +11,9 @@
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
@@ -66,12 +67,8 @@ param set-default CA_MC_R5_PY -0.1375
|
||||
param set-default CA_MC_R5_CT 6.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
set MIXER direct
|
||||
set PWM_OUT 123456
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
set MIXER_AUX direct_aux
|
||||
set PWM_AUX_OUT 123456
|
||||
|
||||
@@ -88,6 +88,7 @@ px4_add_romfs_files(
|
||||
4080_zmr250
|
||||
4090_nanomind
|
||||
4100_tiltquadrotor
|
||||
4250_teal
|
||||
4500_clover4
|
||||
4900_crazyflie
|
||||
4901_crazyflie21
|
||||
|
||||
@@ -1,12 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# External airframe startup script (on SD card)
|
||||
#
|
||||
set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers
|
||||
|
||||
if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
|
||||
then
|
||||
. ${SDCARD_EXT_PATH}/rc.autostart
|
||||
else
|
||||
echo "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
|
||||
fi
|
||||
@@ -0,0 +1,26 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Standard apps for new control allocation and controllers
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
#
|
||||
# Start angular velocity controller
|
||||
#
|
||||
angular_velocity_controller start
|
||||
mc_rate_control stop
|
||||
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
#
|
||||
# Disable hover thrust estimator and prearming
|
||||
# These features are currently incompatible with control allocation
|
||||
#
|
||||
# TODO: fix
|
||||
#
|
||||
param set MPC_USE_HTE 0
|
||||
param set COM_PREARM_MODE 0
|
||||
@@ -96,16 +96,10 @@ then
|
||||
|
||||
if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
|
||||
then
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
if ! $OUTPUT_CMD start
|
||||
then
|
||||
pwm_out start
|
||||
dshot start
|
||||
else
|
||||
if ! $OUTPUT_CMD start
|
||||
then
|
||||
echo "$OUTPUT_CMD start failed"
|
||||
tune_control play error
|
||||
fi
|
||||
echo "$OUTPUT_CMD start failed"
|
||||
tune_control play error
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
@@ -220,10 +214,10 @@ fi
|
||||
|
||||
if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
|
||||
then
|
||||
if [ $PWM_OUT != none -a $PWM_MAIN_RATE != none ]
|
||||
if [ $PWM_OUT != none ]
|
||||
then
|
||||
# Set PWM output frequency.
|
||||
if ! param compare SYS_CTRL_ALLOC 1
|
||||
if [ $PWM_MAIN_RATE != none ]
|
||||
then
|
||||
pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
|
||||
fi
|
||||
|
||||
@@ -48,22 +48,6 @@ fi
|
||||
# End Estimator Group Selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
|
||||
#
|
||||
# Disable hover thrust estimator and prearming
|
||||
# These features are currently incompatible with control allocation
|
||||
#
|
||||
# TODO: fix
|
||||
#
|
||||
param set MPC_USE_HTE 0
|
||||
fi
|
||||
|
||||
#
|
||||
# Start Multicopter Rate Controller.
|
||||
#
|
||||
|
||||
@@ -15,7 +15,7 @@ param set-default RTL_RETURN_ALT 30
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
|
||||
param set-default PWM_MAIN_MAX 1950
|
||||
param set-default PWM_MAIN_MIN1 1075
|
||||
param set-default PWM_MAIN_MIN 1075
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default GPS_UBX_DYNMODEL 6
|
||||
@@ -25,8 +25,4 @@ param set-default GPS_UBX_DYNMODEL 6
|
||||
#
|
||||
set MIXER_AUX pass
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
set PWM_AUX_OUT 1234
|
||||
|
||||
@@ -44,8 +44,6 @@ set PWM_EXTRA_OUT none
|
||||
set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
|
||||
set EXTRA_MIXER_MODE none
|
||||
set RC_INPUT_ARGS ""
|
||||
set SDCARD_AVAILABLE no
|
||||
set SDCARD_EXT_PATH /fs/microsd/ext_autostart
|
||||
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
|
||||
set STARTUP_TUNE 1
|
||||
set USE_IO no
|
||||
@@ -59,6 +57,7 @@ ver all
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
set SDCARD_AVAILABLE no
|
||||
# REBOOTWORK this needs to start after the flight control loop.
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
@@ -98,13 +97,15 @@ if [ $SDCARD_AVAILABLE = yes ]
|
||||
then
|
||||
if hardfault_log check
|
||||
then
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
# Error tune.
|
||||
set STARTUP_TUNE 2
|
||||
if hardfault_log commit
|
||||
then
|
||||
hardfault_log reset
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
unset SDCARD_AVAILABLE
|
||||
|
||||
#
|
||||
# Look for an init script on the microSD card.
|
||||
@@ -181,6 +182,15 @@ else
|
||||
#
|
||||
tone_alarm start
|
||||
|
||||
#
|
||||
# Play the startup tune (if not disabled or there is an error)
|
||||
#
|
||||
param compare CBRK_BUZZER 782090
|
||||
if [ $? != 0 -o $STARTUP_TUNE != 1 ]
|
||||
then
|
||||
tune_control play -t $STARTUP_TUNE
|
||||
fi
|
||||
|
||||
#
|
||||
# Waypoint storage.
|
||||
# REBOOTWORK this needs to start in parallel.
|
||||
@@ -206,22 +216,10 @@ else
|
||||
#
|
||||
# Set parameters and env variables for selected AUTOSTART.
|
||||
#
|
||||
set AUTOSTART_PATH etc/init.d/rc.autostart
|
||||
if ! param compare SYS_AUTOSTART 0
|
||||
then
|
||||
if param greater SYS_AUTOSTART 1000000
|
||||
then
|
||||
# Use external startup file
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
then
|
||||
set AUTOSTART_PATH etc/init.d/rc.autostart_ext
|
||||
else
|
||||
echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
|
||||
fi
|
||||
fi
|
||||
. ${R}$AUTOSTART_PATH
|
||||
. ${R}etc/init.d/rc.autostart
|
||||
fi
|
||||
unset AUTOSTART_PATH
|
||||
|
||||
#
|
||||
# Override parameters from user configuration file.
|
||||
@@ -252,7 +250,7 @@ else
|
||||
then
|
||||
# Start UAVCAN firmware update server and dynamic node ID allocation server.
|
||||
uavcan start fw
|
||||
|
||||
tune_control play -t 1
|
||||
if param greater UAVCAN_ENABLE 2
|
||||
then
|
||||
set OUTPUT_MODE uavcan_esc
|
||||
@@ -317,7 +315,7 @@ else
|
||||
if [ $USE_IO = yes -a $IO_PRESENT = no ]
|
||||
then
|
||||
echo "PX4IO not found"
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
tune_control play error
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -371,17 +369,6 @@ else
|
||||
commander start
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# Play the startup tune (if not disabled or there is an error)
|
||||
#
|
||||
param compare CBRK_BUZZER 782090
|
||||
if [ $? != 0 -o $STARTUP_TUNE != 1 ]
|
||||
then
|
||||
tune_control play -t $STARTUP_TUNE
|
||||
fi
|
||||
|
||||
|
||||
# Pre-takeoff continuous magnetometer calibration
|
||||
if param compare -s MBE_ENABLE 1
|
||||
then
|
||||
@@ -552,8 +539,6 @@ unset PWM_OUT
|
||||
unset PWM_EXTRA_OUT
|
||||
unset PWM_EXTRA_RATE
|
||||
unset RC_INPUT_ARGS
|
||||
unset SDCARD_AVAILABLE
|
||||
unset SDCARD_EXT_PATH
|
||||
unset SDCARD_MIXERS_PATH
|
||||
unset STARTUP_TUNE
|
||||
unset USE_IO
|
||||
|
||||
@@ -44,4 +44,5 @@ px4_add_romfs_files(
|
||||
tiltrotor_sitl.main.mix
|
||||
uuv_x_sitl.main.mix
|
||||
vectored6dof_sitl.main.mix
|
||||
tiltrotor_sitl_direct.main.mix
|
||||
)
|
||||
|
||||
@@ -0,0 +1,14 @@
|
||||
Mixer for quad tiltrotor (x motor configuration)
|
||||
================================================
|
||||
|
||||
A: 0
|
||||
A: 1
|
||||
A: 2
|
||||
A: 3
|
||||
A: 4
|
||||
A: 5
|
||||
A: 6
|
||||
A: 7
|
||||
A: 8
|
||||
A: 9
|
||||
A: 10
|
||||
@@ -46,6 +46,7 @@ px4_add_romfs_files(
|
||||
coax.main.mix
|
||||
delta.main.mix
|
||||
deltaquad.main.mix
|
||||
direct.main.mix
|
||||
dodeca_bottom_cox.aux.mix
|
||||
dodeca_top_cox.main.mix
|
||||
firefly6.aux.mix
|
||||
|
||||
@@ -0,0 +1,11 @@
|
||||
# Direct mixer
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
A: 0
|
||||
A: 1
|
||||
A: 2
|
||||
A: 3
|
||||
A: 4
|
||||
A: 5
|
||||
A: 6
|
||||
A: 7
|
||||
@@ -8,16 +8,18 @@ if [ -f "$FILE" ]; then
|
||||
if [ -n "$CHECK_FAILED" ]; then
|
||||
${DIR}/fix_code_style.sh --quiet < $FILE > $FILE.pretty
|
||||
|
||||
echo -e 'Formatting issue found in' $FILE
|
||||
echo
|
||||
git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty | grep -vE -e "^.{,4}diff.*\.pretty.{,3}$" -e "^.{,4}--- a/.*$" -e "^.{,4}\+\+\+ b/.*$" -e "^.{,5}@@ .* @@.*$" -e "^.{,4}index .{10}\.\."
|
||||
git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty
|
||||
rm -f $FILE.pretty
|
||||
echo
|
||||
|
||||
if [[ $PX4_ASTYLE_FIX -eq 1 ]]; then
|
||||
${DIR}/fix_code_style.sh $FILE
|
||||
else
|
||||
echo 'to fix automatically run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
|
||||
# Make sure this file is not staged for comitting
|
||||
git reset $FILE
|
||||
# Provide instructions
|
||||
echo $FILE 'bad formatting, please run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
|
||||
exit 1
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -1,6 +1,12 @@
|
||||
#!/usr/bin/env bash
|
||||
set -eu
|
||||
|
||||
PATTERN="-e ."
|
||||
|
||||
if [ $# -gt 0 ]; then
|
||||
PATTERN="$1"
|
||||
fi
|
||||
|
||||
exec find boards msg src platforms test \
|
||||
-path msg/templates/urtps -prune -o \
|
||||
-path platforms/nuttx/NuttX -prune -o \
|
||||
@@ -21,4 +27,4 @@ exec find boards msg src platforms test \
|
||||
-path src/lib/crypto/monocypher -prune -o \
|
||||
-path src/lib/crypto/libtomcrypt -prune -o \
|
||||
-path src/lib/crypto/libtommath -prune -o \
|
||||
-type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \)
|
||||
-type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
|
||||
|
||||
@@ -54,9 +54,12 @@ if [ $? -ne 0 ]; then
|
||||
fi
|
||||
|
||||
# Check for code style, only in changed files
|
||||
bash -c "comm -12 <(./Tools/astyle/files_to_check_code_style.sh | sort) <(git diff --cached --name-only --diff-filter=ACM) | xargs -P 8 -I % ./Tools/astyle/check_code_style.sh %"
|
||||
if [ $? -ne 0 ]
|
||||
then
|
||||
echo "Pre-commit style error: Bad formatting according to astyle rules"
|
||||
exit 1
|
||||
fi
|
||||
for i in `git diff --cached --name-only --diff-filter=ACM`
|
||||
do
|
||||
./Tools/astyle/files_to_check_code_style.sh $i | xargs -n 1 -P 8 -I % ./Tools/astyle/check_code_style.sh %
|
||||
if [ $? -ne 0 ]
|
||||
then
|
||||
echo "Pre-commit style error: Bad formatting according to astyle rules"
|
||||
exit 1
|
||||
fi
|
||||
done
|
||||
|
||||
@@ -17,3 +17,4 @@ def save_compressed(filename):
|
||||
f.write(content_file.read())
|
||||
|
||||
save_compressed(filename)
|
||||
|
||||
|
||||
@@ -1,344 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
""" Script to params from module.yaml config file(s)
|
||||
Note: serial params are handled in Tools/serial/generate_config.py
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
|
||||
from output_groups_from_timer_config import get_timer_groups, get_output_groups
|
||||
|
||||
try:
|
||||
import yaml
|
||||
except ImportError as e:
|
||||
print("Failed to import yaml: " + str(e))
|
||||
print("")
|
||||
print("You may need to install it using:")
|
||||
print(" pip3 install --user pyyaml")
|
||||
print("")
|
||||
sys.exit(1)
|
||||
|
||||
parser = argparse.ArgumentParser(description='Generate params from module.yaml file(s)')
|
||||
|
||||
parser.add_argument('--config-files', type=str, nargs='*', default=[],
|
||||
help='YAML module config file(s)')
|
||||
parser.add_argument('--params-file', type=str, action='store',
|
||||
help='Parameter output file')
|
||||
parser.add_argument('--timer-config', type=str, action='store',
|
||||
help='board-specific timer_config.cpp file')
|
||||
parser.add_argument('--ethernet', action='store_true',
|
||||
help='Ethernet support')
|
||||
parser.add_argument('--board', type=str, action='store',
|
||||
help='board name, e.g. ')
|
||||
parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
|
||||
help='Indicate that the board as an IO for extra PWM',
|
||||
default=False)
|
||||
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
|
||||
help='Verbose Output')
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
verbose = args.verbose
|
||||
params_output_file = args.params_file
|
||||
timer_config_file = args.timer_config
|
||||
ethernet_supported = args.ethernet
|
||||
board_with_io = args.board_with_io
|
||||
board = args.board
|
||||
|
||||
root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
|
||||
output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
|
||||
|
||||
def process_param_prefix(param_prefix):
|
||||
if param_prefix == '${PWM_MAIN_OR_HIL}':
|
||||
if board == 'px4_sitl': return 'PWM_MAIN'
|
||||
return 'HIL_ACT'
|
||||
if param_prefix == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM_AUX'
|
||||
return 'PWM_MAIN'
|
||||
if '${' in param_prefix:
|
||||
raise Exception('unhandled variable in {:}'.format(param_prefix))
|
||||
return param_prefix
|
||||
|
||||
def process_channel_label(channel_label):
|
||||
if channel_label == '${PWM_MAIN_OR_HIL}':
|
||||
if board == 'px4_sitl': return 'PWM Sim'
|
||||
return 'HIL actuator'
|
||||
if channel_label == '${PWM_MAIN_OR_AUX}':
|
||||
if board_with_io: return 'PWM Aux'
|
||||
return 'PWM Main'
|
||||
if '${' in channel_label:
|
||||
raise Exception('unhandled variable in {:}'.format(channel_label))
|
||||
return channel_label
|
||||
|
||||
|
||||
def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
""" parse the parameters section from the yaml config file """
|
||||
if 'parameters' not in yaml_config:
|
||||
return ''
|
||||
parameters_section_list = yaml_config['parameters']
|
||||
ret = ''
|
||||
for parameters_section in parameters_section_list:
|
||||
if 'definitions' not in parameters_section:
|
||||
continue
|
||||
definitions = parameters_section['definitions']
|
||||
param_group = parameters_section.get('group', None)
|
||||
for param_name in definitions:
|
||||
# 'definitions' either contains the param definition directly (dict),
|
||||
# or a list of definitions with that name (multiple entries for a
|
||||
# multi-instance param with different instance_start)
|
||||
param_list = definitions[param_name]
|
||||
if not isinstance(param_list, list):
|
||||
param_list = [param_list]
|
||||
|
||||
for param in param_list:
|
||||
if param.get('requires_ethernet', False) and not ethernet_supported:
|
||||
continue
|
||||
num_instances = param.get('num_instances', 1)
|
||||
instance_start = param.get('instance_start', 0) # offset
|
||||
instance_start_label = param.get('instance_start_label', instance_start)
|
||||
|
||||
# get the type and extract all tags
|
||||
tags = '@group {:}'.format(param_group)
|
||||
if param['type'] == 'enum':
|
||||
param_type = 'INT32'
|
||||
for key in param['values']:
|
||||
tags += '\n * @value {:} {:}'.format(key, param['values'][key])
|
||||
elif param['type'] == 'boolean':
|
||||
param_type = 'INT32'
|
||||
tags += '\n * @boolean'
|
||||
elif param['type'] == 'int32':
|
||||
param_type = 'INT32'
|
||||
elif param['type'] == 'float':
|
||||
param_type = 'FLOAT'
|
||||
else:
|
||||
raise Exception("unknown param type {:}".format(param['type']))
|
||||
|
||||
for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
|
||||
'min', 'max', 'unit', 'reboot_required']:
|
||||
if tag in param:
|
||||
tags += '\n * @{:} {:}'.format(tag, param[tag])
|
||||
|
||||
for i in range(num_instances):
|
||||
# default value
|
||||
default_value = 0
|
||||
if 'default' in param:
|
||||
# default can be a list of num_instances or a single value
|
||||
if type(param['default']) == list:
|
||||
assert len(param['default']) == num_instances
|
||||
default_value = param['default'][i]
|
||||
else:
|
||||
default_value = param['default']
|
||||
|
||||
if type(default_value) == bool:
|
||||
default_value = int(default_value)
|
||||
|
||||
# output the existing C-style format
|
||||
ret += '''
|
||||
/**
|
||||
* {short_descr}
|
||||
*
|
||||
* {long_descr}
|
||||
*
|
||||
* {tags}
|
||||
*/
|
||||
PARAM_DEFINE_{param_type}({name}, {default_value});
|
||||
'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
|
||||
long_descr=param['description']['long'].replace("\n", "\n * "),
|
||||
tags=tags,
|
||||
param_type=param_type,
|
||||
name=param_name.replace('${i}', str(i+instance_start)),
|
||||
default_value=default_value,
|
||||
).replace('${i}', str(i+instance_start_label))
|
||||
return ret
|
||||
|
||||
|
||||
def get_actuator_output_params(yaml_config, output_functions,
|
||||
timer_config_file, verbose):
|
||||
""" parse the actuator_output section from the yaml config file
|
||||
:return: dict of param definitions
|
||||
"""
|
||||
if not 'actuator_output' in yaml_config:
|
||||
return {}
|
||||
output_groups = yaml_config['actuator_output']['output_groups']
|
||||
all_params = {}
|
||||
group_idx = 0
|
||||
|
||||
def add_local_param(param_name, param_def):
|
||||
nonlocal all_params
|
||||
# add as a list, as there can be multiple entries with the same param_name
|
||||
if not param_name in all_params:
|
||||
all_params[param_name] = []
|
||||
all_params[param_name].append(param_def)
|
||||
|
||||
while group_idx < len(output_groups):
|
||||
group = output_groups[group_idx]
|
||||
group_idx += 1
|
||||
|
||||
if verbose: print("processing group: {:}".format(group))
|
||||
|
||||
# Check for generator and generate additional data.
|
||||
# We do this by extending the output_groups list and parse in a later iteration
|
||||
if 'generator' in group:
|
||||
if group['generator'] == 'pwm':
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
channel_labels = [process_channel_label(label) for label in group['channel_labels']]
|
||||
standard_params = group.get('standard_params', [])
|
||||
extra_function_groups = group.get('extra_function_groups', [])
|
||||
pwm_timer_param = group.get('pwm_timer_param', None)
|
||||
if 'timer_config_file' in group:
|
||||
timer_config_file = os.path.join(root_dir, group['timer_config_file'])
|
||||
if timer_config_file is None:
|
||||
raise Exception('trying to generate pwm outputs, but --timer-config not set')
|
||||
timer_groups = get_timer_groups(timer_config_file, verbose)
|
||||
timer_output_groups, timer_params = get_output_groups(timer_groups,
|
||||
param_prefix, channel_labels,
|
||||
standard_params, extra_function_groups, pwm_timer_param,
|
||||
verbose=verbose)
|
||||
all_params.update(timer_params)
|
||||
output_groups.extend(timer_output_groups)
|
||||
else:
|
||||
raise Exception('unknown generator {:}'.format(group['generator']))
|
||||
continue
|
||||
|
||||
num_channels = group['num_channels']
|
||||
param_prefix = process_param_prefix(group['param_prefix'])
|
||||
channel_label = process_channel_label(group['channel_label'])
|
||||
standard_params = group.get('standard_params', {})
|
||||
instance_start = group.get('instance_start', 1)
|
||||
instance_start_label = group.get('instance_start_label', instance_start)
|
||||
if len(param_prefix) > 9: # 16 - len('_FAIL') - 2 (2 digits for index)
|
||||
raise Exception("param prefix {:} too long (max length=10)".format(param_prefix))
|
||||
# collect the functions
|
||||
function_groups = ['common']
|
||||
function_groups.extend(group.get('extra_function_groups', []))
|
||||
output_function_values = {}
|
||||
for function_group in function_groups:
|
||||
group = output_functions[function_group]
|
||||
for function_name in group:
|
||||
function_name_label = function_name.replace('_', ' ')
|
||||
if isinstance(group[function_name], int):
|
||||
output_function_values[group[function_name]] = function_name_label
|
||||
else:
|
||||
start = group[function_name]['start']
|
||||
count = group[function_name]['count']
|
||||
for i in range(count):
|
||||
output_function_values[start+i] = function_name_label+' '+str(i+1)
|
||||
|
||||
# function param
|
||||
param = {
|
||||
'description': {
|
||||
'short': channel_label+' ${i} Output Function',
|
||||
'long':
|
||||
'''Select what should be output on {:} ${{i}}.
|
||||
|
||||
The default failsafe value is set according to the selected function:
|
||||
- 'Min' for ConstantMin
|
||||
- 'Max' for ConstantMax
|
||||
- 'Max' for Parachute
|
||||
- ('Max'+'Min')/2 for Servos
|
||||
- 'Disarmed' for the rest
|
||||
'''.format(channel_label),
|
||||
},
|
||||
'type': 'enum',
|
||||
'instance_start': instance_start,
|
||||
'instance_start_label': instance_start_label,
|
||||
'num_instances': num_channels,
|
||||
'default': 0,
|
||||
'values': output_function_values
|
||||
}
|
||||
add_local_param(param_prefix+'_FUNC${i}', param)
|
||||
|
||||
# handle standard_params
|
||||
disarmed_description = \
|
||||
'''This is the output value that is set when not armed.
|
||||
|
||||
Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.
|
||||
'''
|
||||
minimum_description = \
|
||||
'''Minimum output value (when not disarmed).
|
||||
|
||||
The output range can be reversed by setting Min > Max.
|
||||
'''
|
||||
maximum_description = \
|
||||
'''Maxmimum output value (when not disarmed).
|
||||
|
||||
The output range can be reversed by setting Min > Max.
|
||||
'''
|
||||
failsafe_description = \
|
||||
'''This is the output value that is set when in failsafe mode.
|
||||
|
||||
When set to -1 (default), the value depends on the function (see {:}).
|
||||
'''.format(param_prefix+'_FUNC${i}')
|
||||
standard_params_array = [
|
||||
( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
|
||||
( 'min', 'Minimum', 'MIN', minimum_description ),
|
||||
( 'max', 'Maximum', 'MAX', maximum_description ),
|
||||
( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
|
||||
]
|
||||
for key, label, param_suffix, description in standard_params_array:
|
||||
if key in standard_params:
|
||||
|
||||
# values must be in range of an uint16_t
|
||||
if standard_params[key]['min'] < 0:
|
||||
raise Exception('minimum value for {:} expected >= 0 (got {:})'.format(key, standard_params[key]['min']))
|
||||
if standard_params[key]['max'] >= 1<<16:
|
||||
raise Exception('maximum value for {:} expected <= {:} (got {:})'.format(key, 1<<16, standard_params[key]['max']))
|
||||
|
||||
if key == 'failsafe':
|
||||
standard_params[key]['default'] = -1
|
||||
standard_params[key]['min'] = -1
|
||||
|
||||
param = {
|
||||
'description': {
|
||||
'short': channel_label+' ${i} '+label+' Value',
|
||||
'long': description
|
||||
},
|
||||
'type': 'int32',
|
||||
'instance_start': instance_start,
|
||||
'instance_start_label': instance_start_label,
|
||||
'num_instances': num_channels,
|
||||
'min': standard_params[key]['min'],
|
||||
'max': standard_params[key]['max'],
|
||||
'default': standard_params[key]['default'],
|
||||
}
|
||||
add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
|
||||
|
||||
if verbose: print('adding actuator params: {:}'.format(all_params))
|
||||
return all_params
|
||||
|
||||
def load_yaml_file(file_name):
|
||||
with open(file_name, 'r') as stream:
|
||||
try:
|
||||
return yaml.safe_load(stream)
|
||||
except yaml.YAMLError as exc:
|
||||
print(exc)
|
||||
raise
|
||||
|
||||
output_functions_yaml = load_yaml_file(output_functions_file)
|
||||
output_functions = output_functions_yaml['functions']
|
||||
|
||||
all_params = ""
|
||||
|
||||
for yaml_file in args.config_files:
|
||||
yaml_config = load_yaml_file(yaml_file)
|
||||
|
||||
# convert 'output_groups' section into additional params
|
||||
try:
|
||||
actuator_output_params = get_actuator_output_params(yaml_config,
|
||||
output_functions, timer_config_file, verbose)
|
||||
except Exception as e:
|
||||
print('Exception while parsing {:}:'.format(yaml_file))
|
||||
raise e
|
||||
# now add them to the yaml config
|
||||
if not 'parameters' in yaml_config:
|
||||
yaml_config['parameters'] = []
|
||||
group_name = 'Actuator Outputs'
|
||||
yaml_config['parameters'].append({'group': group_name, 'definitions': actuator_output_params})
|
||||
|
||||
all_params += parse_yaml_parameters_config(yaml_config, ethernet_supported)
|
||||
|
||||
|
||||
if verbose: print("Generating {:}".format(params_output_file))
|
||||
with open(params_output_file, 'w') as fid:
|
||||
fid.write(all_params)
|
||||
@@ -1,201 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
""" Script to parse board-specific timer_config.cpp and print the output groups
|
||||
and timer config params to stdout
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
import re
|
||||
from itertools import groupby
|
||||
from copy import deepcopy
|
||||
|
||||
|
||||
def find_matching_brackets(brackets, s, verbose):
|
||||
idx = 0
|
||||
opening = 0
|
||||
first_open = -1
|
||||
while idx < len(s):
|
||||
if s[idx] == brackets[0]:
|
||||
opening += 1
|
||||
if first_open == -1:
|
||||
first_open = idx
|
||||
if s[idx] == brackets[1]:
|
||||
opening -= 1
|
||||
if opening == 0:
|
||||
if verbose: print(first_open, idx, s[first_open:idx+1])
|
||||
return first_open+1, idx
|
||||
idx += 1
|
||||
raise Exception('Failed to find opening/closing brackets in {:}'.format(s))
|
||||
|
||||
def extract_timer(line):
|
||||
# Try format: initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
|
||||
search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
|
||||
if search:
|
||||
return search.group(1)
|
||||
|
||||
# nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
|
||||
search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
|
||||
if search:
|
||||
return search.group(1)
|
||||
|
||||
return None
|
||||
|
||||
def extract_timer_from_channel(line):
|
||||
# Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
|
||||
search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
|
||||
if search:
|
||||
return search.group(1)
|
||||
|
||||
# nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
|
||||
search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
|
||||
if search:
|
||||
return search.group(1)
|
||||
|
||||
return None
|
||||
|
||||
def get_timer_groups(timer_config_file, verbose=False):
|
||||
with open(timer_config_file, 'r') as f:
|
||||
timer_config = f.read()
|
||||
|
||||
# timers
|
||||
dshot_support = {} # key: timer
|
||||
timers_start_marker = 'io_timers_t io_timers'
|
||||
timers_start = timer_config.find(timers_start_marker)
|
||||
if timers_start == -1:
|
||||
raise Exception('"{:}" not found in {:}'.format(timers_start_marker, timer_config_file))
|
||||
timer_config = timer_config[timers_start:]
|
||||
open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
|
||||
timers_str = timer_config[open_idx:close_idx]
|
||||
timers = []
|
||||
for line in timers_str.splitlines():
|
||||
line = line.strip()
|
||||
if len(line) == 0 or line.startswith('//'):
|
||||
continue
|
||||
timer = extract_timer(line)
|
||||
|
||||
if timer:
|
||||
if verbose: print('found timer def: {:}'.format(timer))
|
||||
dshot_support[timer] = 'DMA' in line
|
||||
timers.append(timer)
|
||||
else:
|
||||
# Make sure we don't miss anything (e.g. for different syntax) or misparse (e.g. multi-line comments)
|
||||
raise Exception('Unparsed timer in line: {:}'.format(line))
|
||||
|
||||
|
||||
# channels
|
||||
channels_start_marker = 'timer_io_channels_t timer_io_channels'
|
||||
channels_start = timer_config.find(channels_start_marker)
|
||||
if channels_start == -1:
|
||||
raise Exception('"{:}" not found in {:}'.format(channels_start_marker, timer_config_file))
|
||||
|
||||
timer_config = timer_config[channels_start:]
|
||||
open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
|
||||
channels = timer_config[open_idx:close_idx]
|
||||
channel_timers = []
|
||||
channel_types = []
|
||||
|
||||
for line in channels.splitlines():
|
||||
line = line.strip()
|
||||
if len(line) == 0 or line.startswith('//'):
|
||||
continue
|
||||
|
||||
if verbose: print('--'+line+'--')
|
||||
timer = extract_timer_from_channel(line)
|
||||
|
||||
if timer:
|
||||
if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
|
||||
channel_types.append('cap' if 'capture' in line.lower() else 'pwm')
|
||||
channel_timers.append(timer)
|
||||
else:
|
||||
# Make sure we don't miss anything (e.g. for different syntax) or misparse (e.g. multi-line comments)
|
||||
raise Exception('Unparsed channel in line: {:}'.format(line))
|
||||
|
||||
if len(channel_timers) == 0:
|
||||
raise Exception('No channels found in "{:}"'.format(channels))
|
||||
|
||||
groups = [(timers.index(k), len(list(g)), dshot_support[k]) for k, g in groupby(channel_timers)]
|
||||
outputs = {
|
||||
'types': channel_types,
|
||||
'groups': groups
|
||||
}
|
||||
|
||||
return outputs
|
||||
|
||||
def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
|
||||
channel_labels=["PWM Main", "PWM Capture"],
|
||||
standard_params=[],
|
||||
extra_function_groups=[], pwm_timer_param=None,
|
||||
verbose=False):
|
||||
""" convert the timer groups into an output_groups section of module.yaml
|
||||
and extra timer params
|
||||
"""
|
||||
|
||||
instance_start = 1
|
||||
output_groups = []
|
||||
timer_params = {}
|
||||
instance_start_label = [ 1, 1 ]
|
||||
for timer_index, group_count, dshot_support in timer_groups['groups']:
|
||||
|
||||
# check for capture vs normal pins for the label
|
||||
types = timer_groups['types'][instance_start-1:instance_start+group_count-1]
|
||||
if not all(types[0] == t for t in types):
|
||||
# Should this ever be needed, we can extend this script to handle that
|
||||
raise Exception('Implementation requires all channel types for a timer to be equal (types: {:})'.format(types))
|
||||
if types[0] == 'pwm':
|
||||
channel_type_idx = 0
|
||||
elif types[0] == 'cap':
|
||||
channel_type_idx = 1
|
||||
else:
|
||||
raise Exception('unsupported channel type: {:}'.format(types[0]))
|
||||
|
||||
channel_label = channel_labels[channel_type_idx]
|
||||
channel_type_instance = instance_start_label[channel_type_idx]
|
||||
group = {
|
||||
'param_prefix': param_prefix,
|
||||
'channel_label': channel_label,
|
||||
'instance_start': instance_start,
|
||||
'instance_start_label': channel_type_instance,
|
||||
'extra_function_groups': deepcopy(extra_function_groups),
|
||||
'num_channels': group_count,
|
||||
'standard_params': deepcopy(standard_params),
|
||||
}
|
||||
output_groups.append(group)
|
||||
|
||||
if pwm_timer_param is not None:
|
||||
timer_channels_label = channel_label + ' ' + str(channel_type_instance)
|
||||
if group_count > 1:
|
||||
timer_channels_label += '-' + str(channel_type_instance+group_count-1)
|
||||
pwm_timer_param_cp = deepcopy(pwm_timer_param)
|
||||
|
||||
if not dshot_support:
|
||||
# remove dshot entries if no dshot support
|
||||
values = pwm_timer_param_cp['values']
|
||||
for key in list(values.keys()):
|
||||
if 'dshot' in values[key].lower():
|
||||
del values[key]
|
||||
|
||||
for descr_type in ['short', 'long']:
|
||||
descr = pwm_timer_param_cp['description'][descr_type]
|
||||
pwm_timer_param_cp['description'][descr_type] = \
|
||||
descr.replace('${label}', timer_channels_label)
|
||||
timer_params[param_prefix+'_TIM'+str(timer_index)] = pwm_timer_param_cp
|
||||
instance_start += group_count
|
||||
instance_start_label[channel_type_idx] += group_count
|
||||
return (output_groups, timer_params)
|
||||
|
||||
if __name__ == '__main__':
|
||||
parser = argparse.ArgumentParser(description='Extract output groups from timer_config.cpp')
|
||||
|
||||
parser.add_argument('--timer-config', type=str, action='store',
|
||||
help='timer_config.cpp file', required=True)
|
||||
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
|
||||
help='Verbose Output')
|
||||
|
||||
args = parser.parse_args()
|
||||
verbose = args.verbose
|
||||
timer_groups = get_timer_groups(args.timer_config, verbose)
|
||||
print('timer groups: {:}'.format(timer_groups))
|
||||
output_groups, timer_params = get_output_groups(timer_groups, verbose=verbose)
|
||||
print('output groups: {:}'.format(output_groups))
|
||||
print('timer params: {:}'.format(timer_params))
|
||||
@@ -25,7 +25,7 @@ div.frame_common table, div.frame_common table {
|
||||
}
|
||||
|
||||
div.frame_common table {
|
||||
float: right;
|
||||
float: right;
|
||||
width: 70%;
|
||||
}
|
||||
|
||||
|
||||
@@ -55,3 +55,4 @@ class JsonOutput():
|
||||
if need_to_write:
|
||||
with codecs.open(filename, 'w', 'utf-8') as f:
|
||||
f.write(json.dumps(self.json,indent=2))
|
||||
|
||||
|
||||
@@ -1,6 +1,8 @@
|
||||
#!/usr/bin/env python3
|
||||
""" Script to generate Serial (UART) parameters and the ROMFS startup script """
|
||||
|
||||
from __future__ import print_function
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
@@ -193,6 +195,7 @@ if rc_serial_output_dir is None and serial_params_output_file is None:
|
||||
# parse the YAML files
|
||||
serial_commands = []
|
||||
ethernet_configuration = []
|
||||
additional_params = ""
|
||||
|
||||
if ethernet_supported:
|
||||
ethernet_configuration.append({
|
||||
@@ -213,12 +216,88 @@ def parse_yaml_serial_config(yaml_config):
|
||||
ret.append(serial_config)
|
||||
return ret
|
||||
|
||||
def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
""" parse the parameters section from the yaml config file """
|
||||
if 'parameters' not in yaml_config:
|
||||
return ''
|
||||
parameters_section_list = yaml_config['parameters']
|
||||
for parameters_section in parameters_section_list:
|
||||
if 'definitions' not in parameters_section:
|
||||
return ''
|
||||
definitions = parameters_section['definitions']
|
||||
ret = ''
|
||||
param_group = parameters_section.get('group', None)
|
||||
for param_name in definitions:
|
||||
param = definitions[param_name]
|
||||
if param.get('requires_ethernet', False) and not ethernet_supported:
|
||||
continue
|
||||
num_instances = param.get('num_instances', 1)
|
||||
instance_start = param.get('instance_start', 0) # offset
|
||||
|
||||
# get the type and extract all tags
|
||||
tags = '@group {:}'.format(param_group)
|
||||
if param['type'] == 'enum':
|
||||
param_type = 'INT32'
|
||||
for key in param['values']:
|
||||
tags += '\n * @value {:} {:}'.format(key, param['values'][key])
|
||||
elif param['type'] == 'boolean':
|
||||
param_type = 'INT32'
|
||||
tags += '\n * @boolean'
|
||||
elif param['type'] == 'int32':
|
||||
param_type = 'INT32'
|
||||
elif param['type'] == 'float':
|
||||
param_type = 'FLOAT'
|
||||
else:
|
||||
raise Exception("unknown param type {:}".format(param['type']))
|
||||
|
||||
for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
|
||||
'min', 'max', 'unit', 'reboot_required']:
|
||||
if tag in param:
|
||||
tags += '\n * @{:} {:}'.format(tag, param[tag])
|
||||
|
||||
for i in range(num_instances):
|
||||
# default value
|
||||
default_value = 0
|
||||
if 'default' in param:
|
||||
# default can be a list of num_instances or a single value
|
||||
if type(param['default']) == list:
|
||||
assert len(param['default']) == num_instances
|
||||
default_value = param['default'][i]
|
||||
else:
|
||||
default_value = param['default']
|
||||
|
||||
if type(default_value) == bool:
|
||||
default_value = int(default_value)
|
||||
|
||||
# output the existing C-style format
|
||||
ret += '''
|
||||
/**
|
||||
* {short_descr}
|
||||
*
|
||||
* {long_descr}
|
||||
*
|
||||
* {tags}
|
||||
*/
|
||||
PARAM_DEFINE_{param_type}({name}, {default_value});
|
||||
'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
|
||||
long_descr=param['description']['long'].replace("\n", "\n * "),
|
||||
tags=tags,
|
||||
param_type=param_type,
|
||||
name=param_name,
|
||||
default_value=default_value,
|
||||
).replace('${i}', str(i+instance_start))
|
||||
return ret
|
||||
|
||||
for yaml_file in args.config_files:
|
||||
with open(yaml_file, 'r') as stream:
|
||||
try:
|
||||
yaml_config = yaml.load(stream, Loader=yaml.Loader)
|
||||
serial_commands.extend(parse_yaml_serial_config(yaml_config))
|
||||
|
||||
# TODO: additional params should be parsed in a separate script
|
||||
additional_params += parse_yaml_parameters_config(
|
||||
yaml_config, ethernet_supported)
|
||||
|
||||
except yaml.YAMLError as exc:
|
||||
print(exc)
|
||||
raise
|
||||
@@ -325,5 +404,6 @@ if serial_params_output_file is not None:
|
||||
with open(serial_params_output_file, 'w') as fid:
|
||||
fid.write(template.render(serial_devices=serial_devices,
|
||||
ethernet_configuration=ethernet_configuration,
|
||||
commands=commands, serial_ports=serial_ports))
|
||||
commands=commands, serial_ports=serial_ports,
|
||||
additional_definitions=additional_params))
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user