mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-29 06:00:05 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
d8148c8e3b |
@@ -45,9 +45,7 @@ pipeline {
|
||||
"cuav_can-gps-v1_canbootloader",
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"cuav_can-gps-v1_default",
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"cuav_nora_default",
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"cuav_nora_test",
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"cuav_x7pro_default",
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"cuav_x7pro_test",
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"cubepilot_cubeorange_console",
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"cubepilot_cubeorange_default",
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"cubepilot_cubeyellow_console",
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@@ -55,11 +53,9 @@ pipeline {
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"holybro_can-gps-v1_canbootloader",
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"holybro_can-gps-v1_default",
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"holybro_durandal-v1_default",
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"holybro_durandal-v1_test",
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"holybro_kakutef7_default",
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"holybro_pix32v5_default",
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"modalai_fc-v1_default",
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"modalai_fc-v1_rtps",
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"mro_ctrl-zero-f7_default",
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"mro_ctrl-zero-f7-oem_default",
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"mro_ctrl-zero-h7_default",
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@@ -75,7 +71,6 @@ pipeline {
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"nxp_fmuk66-v3_socketcan",
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"nxp_fmurt1062-v1_default",
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"nxp_ucans32k146_default",
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"nxp_ucans32k146_canbootloader",
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"omnibus_f4sd_default",
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"px4_fmu-v2_default",
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"px4_fmu-v2_fixedwing",
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@@ -100,7 +95,6 @@ pipeline {
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"px4_fmu-v5x_base_phy_DP83848C",
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"px4_fmu-v5x_default",
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"px4_fmu-v6u_default",
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"px4_fmu-v6u_test",
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"px4_fmu-v6x_default",
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"px4_io-v2_default",
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"spracing_h7extreme_default",
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+71
-78
@@ -52,12 +52,12 @@ pipeline {
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// configure
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --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-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/cubepilot_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-*` --cmd "reboot" || true' // reboot to apply
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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}
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}
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stage("status") {
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@@ -84,9 +84,9 @@ pipeline {
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}
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}
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stage("cuav_x7pro_test") {
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stage("cuav_x7pro_default") {
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stages {
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stage("build cuav_x7pro_test") {
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stage("build cuav_x7pro_default") {
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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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@@ -99,10 +99,10 @@ pipeline {
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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 cuav_x7pro_test'
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sh 'make cuav_x7pro_default'
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sh 'make sizes'
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sh 'ccache -s'
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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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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_default'
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}
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post {
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always {
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@@ -119,21 +119,21 @@ pipeline {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'cuav_x7pro_test'
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unstash 'cuav_x7pro_default'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --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-*` --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-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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}
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}
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stage("status") {
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@@ -255,13 +255,13 @@ pipeline {
|
||||
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-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --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-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --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-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
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||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --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-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -331,13 +331,12 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -407,13 +406,13 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --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-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -483,13 +482,13 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --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-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -562,14 +561,13 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --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-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -639,13 +637,12 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -718,14 +715,13 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -795,13 +791,12 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -828,9 +823,9 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage("holybro_durandal-v1_test") {
|
||||
stage("holybro_durandal-v1_default") {
|
||||
stages {
|
||||
stage("build holybro_durandal-v1_test") {
|
||||
stage("build holybro_durandal-v1_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
@@ -843,10 +838,10 @@ pipeline {
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make holybro_durandal-v1_test'
|
||||
sh 'make holybro_durandal-v1_default'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -863,21 +858,24 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'holybro_durandal-v1_test'
|
||||
unstash 'holybro_durandal-v1_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_test/holybro_durandal-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
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-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set DSHOT_CONFIG 600"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_USE_IO 0"' // for dshot
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "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-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -948,13 +946,12 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -1012,7 +1009,6 @@ void statusFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
|
||||
@@ -1030,7 +1026,6 @@ void statusFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
|
||||
@@ -1042,7 +1037,6 @@ void statusFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_gps_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
|
||||
@@ -1077,7 +1071,6 @@ void statusFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
// stop logger
|
||||
|
||||
@@ -17,36 +17,28 @@ jobs:
|
||||
config: [
|
||||
airmind_mindpx-v2_default,
|
||||
ark_can-flow_canbootloader,
|
||||
ark_can-flow_debug,
|
||||
ark_can-flow_default,
|
||||
av_x-v1_default,
|
||||
bitcraze_crazyflie21_default,
|
||||
bitcraze_crazyflie_default,
|
||||
cuav_can-gps-v1_canbootloader,
|
||||
cuav_can-gps-v1_debug,
|
||||
cuav_can-gps-v1_default,
|
||||
cuav_nora_default,
|
||||
cuav_nora_test,
|
||||
cuav_x7pro_default,
|
||||
cuav_x7pro_test,
|
||||
cubepilot_cubeorange_console,
|
||||
cubepilot_cubeorange_default,
|
||||
cubepilot_cubeyellow_console,
|
||||
cubepilot_cubeyellow_default,
|
||||
cubepilot_io-v2_default,
|
||||
holybro_can-gps-v1_canbootloader,
|
||||
holybro_can-gps-v1_debug,
|
||||
holybro_can-gps-v1_default,
|
||||
holybro_durandal-v1_default,
|
||||
holybro_durandal-v1_test,
|
||||
holybro_kakutef7_default,
|
||||
holybro_pix32v5_default,
|
||||
modalai_fc-v1_default,
|
||||
modalai_fc-v1_rtps,
|
||||
mro_ctrl-zero-f7-oem_default,
|
||||
mro_ctrl-zero-f7_default,
|
||||
mro_ctrl-zero-h7-oem_default,
|
||||
mro_ctrl-zero-f7-oem_default,
|
||||
mro_ctrl-zero-h7_default,
|
||||
mro_ctrl-zero-h7-oem_default,
|
||||
mro_pixracerpro_default,
|
||||
mro_x21-777_default,
|
||||
mro_x21_default,
|
||||
@@ -57,7 +49,6 @@ jobs:
|
||||
nxp_fmuk66-v3_rtps,
|
||||
nxp_fmuk66-v3_socketcan,
|
||||
nxp_fmurt1062-v1_default,
|
||||
nxp_ucans32k146_canbootloader,
|
||||
nxp_ucans32k146_default,
|
||||
omnibus_f4sd_default,
|
||||
px4_fmu-v2_default,
|
||||
@@ -70,20 +61,17 @@ jobs:
|
||||
px4_fmu-v4_default,
|
||||
px4_fmu-v4pro_default,
|
||||
px4_fmu-v5_ctrlalloc,
|
||||
px4_fmu-v5_debug,
|
||||
px4_fmu-v5_default,
|
||||
px4_fmu-v5_fixedwing,
|
||||
px4_fmu-v5_multicopter,
|
||||
px4_fmu-v5_optimized,
|
||||
px4_fmu-v5_rover,
|
||||
px4_fmu-v5_rtps,
|
||||
px4_fmu-v5_stackcheck,
|
||||
px4_fmu-v5_uavcanv0periph,
|
||||
px4_fmu-v5_uavcanv1,
|
||||
px4_fmu-v5x_base_phy_DP83848C,
|
||||
px4_fmu-v5x_default,
|
||||
px4_fmu-v6u_default,
|
||||
px4_fmu-v6u_test,
|
||||
px4_fmu-v6x_default,
|
||||
px4_io-v2_default,
|
||||
spracing_h7extreme_default,
|
||||
|
||||
@@ -1,77 +0,0 @@
|
||||
name: Deploy metadata for all targets
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
- 'release/*'
|
||||
- 'pr-metadata-test'
|
||||
|
||||
jobs:
|
||||
enumerate_targets:
|
||||
runs-on: ubuntu-latest
|
||||
outputs:
|
||||
matrix: ${{ steps.set-matrix.outputs.matrix }}
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
- id: set-matrix
|
||||
run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
needs: enumerate_targets
|
||||
strategy:
|
||||
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
|
||||
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: ${{matrix.target}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: ${{matrix.target}}-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 = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make ${{matrix.target}}
|
||||
run: make ${{matrix.target}}
|
||||
- name: ccache post-run
|
||||
run: ccache -s
|
||||
|
||||
- name: parameter metadata
|
||||
run: |
|
||||
make ${{matrix.target}} ver_gen
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
|
||||
cd build/${{ matrix.target }}
|
||||
mkdir _metadata || true
|
||||
cp parameters.* _metadata
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
|
||||
|
||||
@@ -4,8 +4,9 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
- 'release/*'
|
||||
- 'pr-metadata-test'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
|
||||
@@ -50,18 +51,9 @@ jobs:
|
||||
- name: parameter metadata
|
||||
run: |
|
||||
make parameters_metadata
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/px4_sitl_default/docs/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
|
||||
cd build/px4_sitl_default/docs
|
||||
ls -ls *
|
||||
# TODO: deploy 'parameters.md, parameters.xml to S3 px4-travis:Firmware/master/
|
||||
|
||||
uorb_graph:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
@@ -28,9 +28,9 @@ jobs:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Download MAVSDK
|
||||
run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.38.0/mavsdk_0.38.0_ubuntu20.04_amd64.deb
|
||||
run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
|
||||
- name: Install MAVSDK
|
||||
run: dpkg -i mavsdk_0.38.0_ubuntu20.04_amd64.deb
|
||||
run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
|
||||
Vendored
+7
-12
@@ -96,26 +96,21 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_x7pro_default
|
||||
cubepilot_cubeorange_console:
|
||||
cubepilot_cubeorange_default:
|
||||
short: cubepilot_cubeorange
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_orange_console
|
||||
CONFIG: cubepilot_orange_default
|
||||
cubepilot_cubeyellow_default:
|
||||
short: cubepilot_cubeyellow
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_cubeyellow_default
|
||||
emlid_navio2_default:
|
||||
short: emlid_navio2
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: emlid_navio2_default
|
||||
holybro_can-gps-v1_canbootloader:
|
||||
short: holybro_can-gps-v1_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: holybro_can-gps-v1_canbootloader
|
||||
holybro_can-gps-v1_default:
|
||||
short: holybro_can-gps-v1_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: holybro_can-gps-v1_default
|
||||
holybro_durandal-v1_default:
|
||||
short: holybro_durandal-v1
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+1
-4
@@ -137,8 +137,5 @@
|
||||
"workbench.settings.enableNaturalLanguageSearch": false,
|
||||
"yaml.schemas": {
|
||||
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
|
||||
},
|
||||
"python.autoComplete.extraPaths": [
|
||||
"/opt/ros/foxy/lib/python3.8/site-packages"
|
||||
]
|
||||
}
|
||||
}
|
||||
|
||||
+1
-8
@@ -113,7 +113,7 @@ include(px4_parse_function_args)
|
||||
include(px4_git)
|
||||
|
||||
execute_process(
|
||||
COMMAND git describe --exclude ext/* --always --tags
|
||||
COMMAND git describe --always --tags
|
||||
OUTPUT_VARIABLE PX4_GIT_TAG
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
@@ -454,10 +454,3 @@ add_custom_target(size
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
# install python requirements using configured python
|
||||
add_custom_target(install_python_requirements
|
||||
COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
Vendored
+3
-7
@@ -89,7 +89,6 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make airframe_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
|
||||
@@ -109,11 +108,10 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make parameters_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
|
||||
stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
|
||||
archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
|
||||
stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
|
||||
}
|
||||
}
|
||||
post {
|
||||
@@ -129,7 +127,6 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make module_documentation'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
archiveArtifacts(artifacts: 'modules/*.md')
|
||||
@@ -153,7 +150,6 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make uorb_graphs'
|
||||
dir('Tools/uorb_graph') {
|
||||
archiveArtifacts(artifacts: 'graph_px4_sitl.json')
|
||||
@@ -346,7 +342,7 @@ pipeline {
|
||||
withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
|
||||
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
|
||||
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
|
||||
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
|
||||
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
|
||||
}
|
||||
}
|
||||
when {
|
||||
|
||||
@@ -303,7 +303,8 @@ check_%:
|
||||
@echo
|
||||
|
||||
uorb_graphs:
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
|
||||
@./Tools/uorb_graph/create_from_startupscript.sh
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
|
||||
@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
|
||||
@@ -318,7 +319,7 @@ coverity_scan: px4_sitl_default
|
||||
.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
|
||||
|
||||
parameters_metadata:
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
|
||||
|
||||
airframe_metadata:
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
|
||||
|
||||
@@ -17,7 +17,7 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of
|
||||
* [VTOL](https://docs.px4.io/master/en/frames_vtol/)
|
||||
* [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
|
||||
* [Rover](https://docs.px4.io/master/en/frames_rover/)
|
||||
* many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
|
||||
* many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
|
||||
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
|
||||
|
||||
|
||||
@@ -85,24 +85,23 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
|
||||
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
|
||||
|
||||
### Pixhawk Standard Boards
|
||||
* FMUv6X and FMUv6U (STM32H7, 2021)
|
||||
* Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
|
||||
* FMUv5 and FMUv5X (STM32F7, 2019/20)
|
||||
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
|
||||
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
|
||||
* [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
|
||||
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
|
||||
* [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
|
||||
* FMUv4 (STM32F4, 2015)
|
||||
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
|
||||
* FMUv3 (STM32F4, 2014)
|
||||
* FMUv2
|
||||
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
|
||||
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
|
||||
* FMUv3
|
||||
* [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
|
||||
* [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
|
||||
* [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
|
||||
* FMUv2 (STM32F4, 2013)
|
||||
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
|
||||
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
|
||||
* FMUv4 (STM32F4)
|
||||
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
|
||||
* FMUv5 (STM32F7)
|
||||
* [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
|
||||
* [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
|
||||
* [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
|
||||
* [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
|
||||
* FMUv6X and FMUv6U (STM32H7)
|
||||
* Various vendors will provide FMUv6X and FMUv6U based designs Q2/2021
|
||||
|
||||
### Manufacturer and Community supported
|
||||
* [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
|
||||
|
||||
@@ -76,6 +76,15 @@ unset BOARD_RC_DEFAULTS
|
||||
#
|
||||
rgbled start -X -q
|
||||
rgbled_ncp5623c start -X -q
|
||||
rgbled_pwm start
|
||||
|
||||
if param greater -s LIGHT_EN_BLINKM 0
|
||||
then
|
||||
if blinkm start -X
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# board sensors: rc.sensors
|
||||
|
||||
@@ -10,39 +10,43 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
param set VM_MASS 1.5
|
||||
param set VM_INERTIA_XX 0.03
|
||||
param set VM_INERTIA_YY 0.03
|
||||
param set VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
param set CA_AIRFRAME 0
|
||||
param set CA_METHOD 1
|
||||
param set CA_ACT0_MIN 0.0
|
||||
param set CA_ACT1_MIN 0.0
|
||||
param set CA_ACT2_MIN 0.0
|
||||
param set CA_ACT3_MIN 0.0
|
||||
param set CA_ACT0_MAX 1.0
|
||||
param set CA_ACT1_MAX 1.0
|
||||
param set CA_ACT2_MAX 1.0
|
||||
param set CA_ACT3_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R0_PX 0.1515
|
||||
param set-default CA_MC_R0_PY 0.245
|
||||
param set-default CA_MC_R0_CT 6.5
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.1515
|
||||
param set-default CA_MC_R1_PY -0.1875
|
||||
param set-default CA_MC_R1_CT 6.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.1515
|
||||
param set-default CA_MC_R2_PY -0.245
|
||||
param set-default CA_MC_R2_CT 6.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.1515
|
||||
param set-default CA_MC_R3_PY 0.1875
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
param set CA_MC_R0_PX 0.1515
|
||||
param set CA_MC_R0_PY 0.245
|
||||
param set CA_MC_R0_CT 6.5
|
||||
param set CA_MC_R0_KM 0.05
|
||||
param set CA_MC_R1_PX -0.1515
|
||||
param set CA_MC_R1_PY -0.1875
|
||||
param set CA_MC_R1_CT 6.5
|
||||
param set CA_MC_R1_KM 0.05
|
||||
param set CA_MC_R2_PX 0.1515
|
||||
param set CA_MC_R2_PY -0.245
|
||||
param set CA_MC_R2_CT 6.5
|
||||
param set CA_MC_R2_KM -0.05
|
||||
param set CA_MC_R3_PX -0.1515
|
||||
param set CA_MC_R3_PY 0.1875
|
||||
param set CA_MC_R3_CT 6.5
|
||||
param set CA_MC_R3_KM -0.05
|
||||
|
||||
fi
|
||||
|
||||
set MIXER direct
|
||||
|
||||
@@ -7,6 +7,8 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default EKF2_RNG_AID 1
|
||||
param set-default EKF2_RNG_A_HMAX 10
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_RNG_AID 1
|
||||
param set EKF2_RNG_A_HMAX 10
|
||||
fi
|
||||
|
||||
@@ -8,12 +8,15 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
# EKF2: Multi GPS blending (as the model has 2 GPS's)
|
||||
param set-default SENS_GPS_MASK 7
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MNT_DO_STAB 2
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Multi GPS blending (as the model has 2 GPS's)
|
||||
param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 4
|
||||
param set MNT_MODE_OUT 2
|
||||
param set MNT_DO_STAB 2
|
||||
fi
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -7,14 +7,16 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default EKF2_EVP_NOISE 0.05
|
||||
param set-default EKF2_EVA_NOISE 0.05
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2
|
||||
param set EKF2_AID_MASK 2
|
||||
param set EKF2_EVP_NOISE 0.05
|
||||
param set EKF2_EVA_NOISE 0.05
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
# LPE: Flow-only mode
|
||||
param set LPE_FUSION 242
|
||||
param set LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set MPC_ALT_MODE 2
|
||||
fi
|
||||
|
||||
@@ -7,9 +7,12 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# enable fusion of landing target velocity
|
||||
param set-default LTEST_MODE 1
|
||||
param set-default PLD_HACC_RAD 0.1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# enable fusion of landing target velocity
|
||||
param set LTEST_MODE 1
|
||||
param set PLD_HACC_RAD 0.1
|
||||
fi
|
||||
|
||||
# Start up Landing Target Estimator module
|
||||
landing_target_estimator start
|
||||
|
||||
@@ -7,5 +7,7 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default LPE_FUSION 242
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set LPE_FUSION 242
|
||||
fi
|
||||
|
||||
@@ -7,13 +7,15 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2: Vision position and heading
|
||||
param set-default EKF2_AID_MASK 24
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Vision position and heading
|
||||
param set EKF2_AID_MASK 24
|
||||
param set EKF2_EV_DELAY 5
|
||||
|
||||
# LPE: Vision + baro
|
||||
param set-default LPE_FUSION 132
|
||||
|
||||
# AEQ: External heading set to use vision input
|
||||
param set-default ATT_EXT_HDG_M 1
|
||||
# LPE: Vision + baro
|
||||
param set LPE_FUSION 132
|
||||
|
||||
# AEQ: External heading set to use vision input
|
||||
param set ATT_EXT_HDG_M 1
|
||||
fi
|
||||
|
||||
@@ -7,7 +7,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.1
|
||||
param set-default MC_ROLLRATE_P 0.1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_ROLLRATE_P 0.1
|
||||
fi
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -7,6 +7,8 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default COM_OBS_AVOID 1
|
||||
param set-default MPC_XY_CRUISE 5.0
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set COM_OBS_AVOID 1
|
||||
param set MPC_XY_CRUISE 5.0
|
||||
fi
|
||||
|
||||
@@ -7,12 +7,15 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default SENS_FLOW_ROT 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2
|
||||
param set EKF2_AID_MASK 2
|
||||
param set SENS_FLOW_ROT 0
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
# LPE: Flow-only mode
|
||||
param set LPE_FUSION 242
|
||||
param set LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
param set MPC_ALT_MODE 2
|
||||
fi
|
||||
|
||||
@@ -7,6 +7,9 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2: Vision velocity and heading
|
||||
param set-default EKF2_AID_MASK 272
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Vision velocity and heading
|
||||
param set EKF2_AID_MASK 272
|
||||
param set EKF2_EV_DELAY 5
|
||||
fi
|
||||
|
||||
@@ -7,5 +7,8 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2: Multi GPS blending
|
||||
param set-default SENS_GPS_MASK 7
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Multi GPS blending
|
||||
param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
|
||||
fi
|
||||
|
||||
@@ -5,13 +5,16 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set-default NAV_DLL_ACT 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
fi
|
||||
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
@@ -5,13 +5,16 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set-default NAV_DLL_ACT 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
fi
|
||||
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
@@ -5,11 +5,15 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set-default NAV_DLL_ACT 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
fi
|
||||
|
||||
set PWM_OUT 12345678
|
||||
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
|
||||
|
||||
@@ -5,50 +5,54 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
param set EKF2_MAG_ACCLIM 0
|
||||
param set EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set FW_LND_AIRSPD_SC 1
|
||||
param set FW_LND_ANG 8
|
||||
param set FW_THR_LND_MAX 0
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set FW_MAN_P_MAX 30
|
||||
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set FW_PR_I 0.4
|
||||
param set FW_PR_P 0.9
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_CRUISE 0.25
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_THR_CRUISE 0.25
|
||||
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set RWTO_TKOFF 1
|
||||
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,8 +5,10 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
# Camera trigger interface is MAVLink
|
||||
param set-default TRIG_INTERFACE 3
|
||||
|
||||
# Distance trigger mode enabled
|
||||
param set-default TRIG_MODE 4
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# Camera trigger interface is MAVLink
|
||||
param set TRIG_INTERFACE 3
|
||||
# Distance trigger mode enabled
|
||||
param set TRIG_MODE 4
|
||||
fi
|
||||
|
||||
@@ -5,5 +5,8 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
param set-default RWTO_TKOFF 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set RWTO_TKOFF 0
|
||||
|
||||
fi
|
||||
|
||||
@@ -5,5 +5,8 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
param set-default FW_LND_USETER 1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_LND_USETER 1
|
||||
|
||||
fi
|
||||
|
||||
@@ -5,55 +5,54 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
#param set EKF2_MAG_ACCLIM 0
|
||||
#param set EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_LND_HHDIST 30
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_TLALT 15
|
||||
param set FW_LND_AIRSPD_SC 1.1
|
||||
param set FW_LND_ANG 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_LND_HHDIST 30
|
||||
param set FW_LND_FL_PMIN 9.5
|
||||
param set FW_LND_FL_PMAX 20
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_TLALT 15
|
||||
|
||||
param set-default FW_L1_PERIOD 25
|
||||
param set FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
param set FW_P_TC 0.4
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
|
||||
param set-default FW_R_TC 0.45
|
||||
param set-default FW_RR_FF 0.40
|
||||
param set-default FW_RR_I 0.132
|
||||
param set-default FW_RR_P 0.085
|
||||
param set FW_R_TC 0.45
|
||||
param set FW_RR_FF 0.40
|
||||
param set FW_RR_I 0.132
|
||||
param set FW_RR_P 0.085
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 20
|
||||
param set MIS_DIST_1WP 2500
|
||||
param set MIS_DIST_WPS 10000
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set FW_THR_SLEW_MAX 0.3
|
||||
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set-default RWTO_MAX_THR 0.6
|
||||
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
param set RWTO_TKOFF 1
|
||||
#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_MAX_PITCH 20
|
||||
param set RWTO_MAX_ROLL 10
|
||||
#param set RWTO_MAX_THR 0.6 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_PSP 8
|
||||
param set RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,54 +5,54 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
#param set EKF2_MAG_ACCLIM 0
|
||||
#param set EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_LND_HHDIST 30
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_TLALT 15
|
||||
param set FW_LND_AIRSPD_SC 1.1
|
||||
param set FW_LND_ANG 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_LND_HHDIST 30
|
||||
param set FW_LND_FL_PMIN 9.5
|
||||
param set FW_LND_FL_PMAX 20
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_TLALT 15
|
||||
|
||||
param set-default FW_L1_PERIOD 25
|
||||
param set FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
param set FW_P_TC 0.4
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
|
||||
param set-default FW_R_TC 0.45
|
||||
param set-default FW_RR_FF 0.40
|
||||
param set-default FW_RR_I 0.132
|
||||
param set-default FW_RR_P 0.085
|
||||
param set FW_R_TC 0.45
|
||||
param set FW_RR_FF 0.40
|
||||
param set FW_RR_I 0.132
|
||||
param set FW_RR_P 0.085
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 20
|
||||
param set MIS_DIST_1WP 2500
|
||||
param set MIS_DIST_WPS 10000
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set RWTO_TKOFF 1
|
||||
#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_MAX_PITCH 20
|
||||
param set RWTO_MAX_ROLL 10
|
||||
#param set RWTO_MAX_THR 0.6 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_PSP 8
|
||||
param set RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set FW_THR_SLEW_MAX 0.3
|
||||
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set RWTO_MAX_THR 0.6
|
||||
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,39 +5,43 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
param set EKF2_MAG_ACCLIM 0
|
||||
param set EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set FW_LND_AIRSPD_SC 1
|
||||
param set FW_LND_ANG 8
|
||||
param set FW_THR_LND_MAX 0
|
||||
|
||||
param set-default FW_L1_PERIOD 15
|
||||
param set FW_L1_PERIOD 15
|
||||
|
||||
param set-default FW_P_TC 0.5
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
param set FW_P_TC 0.5
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
|
||||
param set-default FW_R_TC 0.7
|
||||
param set-default FW_RR_FF 0.20
|
||||
param set-default FW_RR_I 0.02
|
||||
param set-default FW_RR_P 0.22
|
||||
param set FW_R_TC 0.7
|
||||
param set FW_RR_FF 0.20
|
||||
param set FW_RR_I 0.02
|
||||
param set FW_RR_P 0.22
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set RWTO_TKOFF 1
|
||||
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,46 +5,52 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
#param set EKF2_MAG_ACCLIM 0
|
||||
#param set EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_LND_HHDIST 30
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_TLALT 15
|
||||
param set FW_LND_AIRSPD_SC 1.1
|
||||
param set FW_LND_ANG 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_LND_HHDIST 30
|
||||
param set FW_LND_FL_PMIN 9.5
|
||||
param set FW_LND_FL_PMAX 20
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_TLALT 15
|
||||
|
||||
param set-default FW_L1_PERIOD 25
|
||||
param set FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
param set FW_P_TC 0.4
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
|
||||
param set-default FW_R_TC 0.45
|
||||
param set-default FW_RR_FF 0.40
|
||||
param set-default FW_RR_I 0.132
|
||||
param set-default FW_RR_P 0.085
|
||||
param set FW_R_TC 0.45
|
||||
param set FW_RR_FF 0.40
|
||||
param set FW_RR_I 0.132
|
||||
param set FW_RR_P 0.085
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 20
|
||||
param set MIS_DIST_1WP 2500
|
||||
param set MIS_DIST_WPS 10000
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
param set RWTO_TKOFF 1
|
||||
param set RWTO_MAX_PITCH 20
|
||||
param set RWTO_MAX_ROLL 10
|
||||
param set RWTO_PSP 8
|
||||
param set RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -7,46 +7,50 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.25
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
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 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.25
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set-default MC_YAW_P 1.6
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
param set MC_YAW_P 1.6
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
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_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_TYPE 2
|
||||
param set VT_FWD_THRUST_EN 4
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_B_TRANS_DUR 8
|
||||
param set VT_TYPE 2
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
|
||||
@@ -7,40 +7,44 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_I 0.2
|
||||
param set-default FW_PR_P 0.3
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.33
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_L1_PERIOD 12
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_PR_I 0.2
|
||||
param set FW_PR_P 0.3
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.33
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
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_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_F_TRANS_DUR 1.5
|
||||
param set-default VT_F_TRANS_THR 0.7
|
||||
param set-default VT_TYPE 0
|
||||
param set VT_F_TRANS_DUR 1.5
|
||||
param set VT_F_TRANS_THR 0.7
|
||||
param set VT_TYPE 0
|
||||
|
||||
param set-default WV_EN 0
|
||||
param set WV_EN 0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 20
|
||||
|
||||
|
||||
@@ -7,44 +7,48 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.38
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
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 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.38
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
|
||||
param set-default MC_YAW_P 1.6
|
||||
param set MC_YAW_P 1.6
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
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_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_TILT_TRANS 0.6
|
||||
param set-default VT_TYPE 1
|
||||
param set VT_B_TRANS_DUR 8
|
||||
param set VT_FWD_THRUST_EN 4
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_TILT_TRANS 0.6
|
||||
param set VT_TYPE 1
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 21
|
||||
|
||||
|
||||
@@ -7,50 +7,53 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.25
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
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 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.25
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set-default MC_YAW_P 1.6
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
param set MC_YAW_P 1.6
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
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_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_TYPE 2
|
||||
param set VT_FWD_THRUST_EN 4
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_B_TRANS_DUR 8
|
||||
param set VT_TYPE 2
|
||||
|
||||
param set-default RC_MAP_AUX1 8
|
||||
param set-default RC_MAP_AUX2 9
|
||||
param set-default RC_MAP_AUX3 10
|
||||
param set RC_MAP_AUX1 8
|
||||
param set RC_MAP_AUX2 9
|
||||
param set RC_MAP_AUX3 10
|
||||
fi
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
|
||||
@@ -5,28 +5,32 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_L1_PERIOD 10
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_I 3
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 4
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_L1_PERIOD 10
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 0.001
|
||||
param set GND_SPEED_I 3
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 4
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 2.0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
|
||||
@@ -6,27 +6,31 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 3
|
||||
param set-default GND_SPEED_I 0.001
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 4
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 3
|
||||
param set GND_SPEED_I 0.001
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 4
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 2.0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
|
||||
@@ -10,28 +10,32 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 3
|
||||
param set-default GND_SPEED_I 0.001
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 15
|
||||
param set-default GND_SPEED_MAX 25
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 3
|
||||
param set GND_SPEED_I 0.001
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 15
|
||||
param set GND_SPEED_MAX 25
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 3.0
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 3.0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
|
||||
@@ -5,28 +5,32 @@
|
||||
|
||||
. ${R}etc/init.d/rc.boat_defaults
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_L1_PERIOD 100
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_I 8
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 2
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 1
|
||||
param set-default GND_THR_CRUISE 0.85
|
||||
param set-default GND_THR_MAX 1
|
||||
param set-default GND_THR_MIN 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_L1_PERIOD 100
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 0.001
|
||||
param set GND_SPEED_I 8
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 2
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 1
|
||||
param set GND_THR_CRUISE 0.85
|
||||
param set GND_THR_MAX 1
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 2.0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 11
|
||||
|
||||
|
||||
@@ -12,47 +12,52 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
param set-default ASPD_STALL 10.0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
param set ASPD_STALL 10.0
|
||||
|
||||
param set-default FW_P_RMAX_NEG 20.0
|
||||
param set-default FW_P_RMAX_POS 60.0
|
||||
param set-default FW_W_RMAX 10
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_P_RMAX_NEG 20.0
|
||||
param set FW_P_RMAX_POS 60.0
|
||||
param set FW_W_RMAX 10
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default FW_PR_IMAX 0.4
|
||||
param set-default FW_R_TC 0.4
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_I 0.1
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
param set-default FW_RR_P 0.08
|
||||
param set FW_PR_IMAX 0.4
|
||||
param set FW_R_TC 0.4
|
||||
param set FW_RR_FF 0.5
|
||||
param set FW_RR_I 0.1
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.08
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 50
|
||||
param set-default MIS_TAKEOFF_ALT 3
|
||||
param set MIS_LTRMIN_ALT 50
|
||||
param set MIS_TAKEOFF_ALT 3
|
||||
|
||||
param set-default NAV_ACC_RAD 20
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 100
|
||||
param set NAV_ACC_RAD 20
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 100
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set RWTO_TKOFF 1
|
||||
|
||||
param set-default FW_ARSP_SCALE_EN 0
|
||||
param set FW_ARSP_SCALE_EN 0
|
||||
|
||||
param set-default FW_AIRSPD_MAX 35
|
||||
param set-default FW_AIRSPD_MIN 7
|
||||
param set-default FW_AIRSPD_TRIM 15
|
||||
param set FW_AIRSPD_MAX 35
|
||||
param set FW_AIRSPD_MIN 7
|
||||
param set FW_AIRSPD_TRIM 15
|
||||
|
||||
param set-default FW_P_LIM_MAX 25
|
||||
param set-default FW_P_LIM_MIN -5
|
||||
param set-default FW_R_LIM 30
|
||||
param set FW_P_LIM_MAX 25
|
||||
param set FW_P_LIM_MIN -5
|
||||
param set FW_R_LIM 30
|
||||
|
||||
param set-default FW_MAN_P_MAX 30.0
|
||||
param set-default FW_MAN_R_MAX 30.0
|
||||
param set FW_MAN_P_MAX 30.0
|
||||
param set FW_MAN_R_MAX 30.0
|
||||
|
||||
param set FW_THR_CRUISE 0.8
|
||||
param set FW_THR_IDLE 0
|
||||
param set COM_DISARM_PRFLT 0
|
||||
|
||||
fi
|
||||
|
||||
param set-default FW_THR_CRUISE 0.8
|
||||
param set-default FW_THR_IDLE 0
|
||||
param set-default COM_DISARM_PRFLT 0
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -9,21 +9,24 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.1
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCH_P 6.0
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_I 0.1
|
||||
param set-default MC_ROLL_P 6.0
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCH_P 6.0
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLLRATE_I 0.1
|
||||
param set MC_ROLL_P 6.0
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set RTL_DESCEND_ALT 10
|
||||
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_DO_STAB 2
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 4
|
||||
param set MNT_DO_STAB 2
|
||||
fi
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
|
||||
@@ -7,24 +7,27 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
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
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCHRATE_P 0.0800
|
||||
param set MC_PITCHRATE_I 0.0400
|
||||
param set MC_PITCHRATE_D 0.0010
|
||||
param set MC_PITCH_P 9.0
|
||||
param set MC_ROLLRATE_P 0.0800
|
||||
param set MC_ROLLRATE_I 0.0400
|
||||
param set MC_ROLLRATE_D 0.0010
|
||||
param set MC_ROLL_P 9.0
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set RTL_DESCEND_ALT 10
|
||||
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MAV_PROTO_VER 2
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 4
|
||||
param set MNT_MODE_OUT 2
|
||||
param set MAV_PROTO_VER 2
|
||||
fi
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
|
||||
@@ -8,63 +8,66 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set-default RTL_LAND_DELAY 0
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_LAND_DELAY 0
|
||||
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 0
|
||||
param set-default MAV_PROTO_VER 2
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 0
|
||||
param set MAV_PROTO_VER 2
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
param set MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 2.66
|
||||
param set-default VM_INERTIA_XX 0.06
|
||||
param set-default VM_INERTIA_YY 0.06
|
||||
param set-default VM_INERTIA_ZZ 0.10
|
||||
param set VM_MASS 2.66
|
||||
param set VM_INERTIA_XX 0.06
|
||||
param set VM_INERTIA_YY 0.06
|
||||
param set VM_INERTIA_ZZ 0.10
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT4_MIN 0.0
|
||||
param set-default CA_ACT5_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
param set-default CA_ACT4_MAX 1.0
|
||||
param set-default CA_ACT5_MAX 1.0
|
||||
param set CA_AIRFRAME 0
|
||||
param set CA_METHOD 1
|
||||
param set CA_ACT0_MIN 0.0
|
||||
param set CA_ACT1_MIN 0.0
|
||||
param set CA_ACT2_MIN 0.0
|
||||
param set CA_ACT3_MIN 0.0
|
||||
param set CA_ACT4_MIN 0.0
|
||||
param set CA_ACT5_MIN 0.0
|
||||
param set CA_ACT0_MAX 1.0
|
||||
param set CA_ACT1_MAX 1.0
|
||||
param set CA_ACT2_MAX 1.0
|
||||
param set CA_ACT3_MAX 1.0
|
||||
param set CA_ACT4_MAX 1.0
|
||||
param set CA_ACT5_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R0_PX 0.0
|
||||
param set-default CA_MC_R0_PY 1.0
|
||||
param set-default CA_MC_R0_CT 9.5
|
||||
param set-default CA_MC_R0_KM -0.05
|
||||
param set-default CA_MC_R1_PX 0.0
|
||||
param set-default CA_MC_R1_PY -1.0
|
||||
param set-default CA_MC_R1_CT 9.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.866025
|
||||
param set-default CA_MC_R2_PY -0.5
|
||||
param set-default CA_MC_R2_CT 9.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.866025
|
||||
param set-default CA_MC_R3_PY 0.5
|
||||
param set-default CA_MC_R3_CT 9.5
|
||||
param set-default CA_MC_R3_KM 0.05
|
||||
param set-default CA_MC_R4_PX 0.866025
|
||||
param set-default CA_MC_R4_PY 0.5
|
||||
param set-default CA_MC_R4_CT 9.5
|
||||
param set-default CA_MC_R4_KM 0.05
|
||||
param set-default CA_MC_R5_PX -0.866025
|
||||
param set-default CA_MC_R5_PY -0.5
|
||||
param set-default CA_MC_R5_CT 9.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
param set CA_MC_R0_PX 0.0
|
||||
param set CA_MC_R0_PY 1.0
|
||||
param set CA_MC_R0_CT 9.5
|
||||
param set CA_MC_R0_KM -0.05
|
||||
param set CA_MC_R1_PX 0.0
|
||||
param set CA_MC_R1_PY -1.0
|
||||
param set CA_MC_R1_CT 9.5
|
||||
param set CA_MC_R1_KM 0.05
|
||||
param set CA_MC_R2_PX 0.866025
|
||||
param set CA_MC_R2_PY -0.5
|
||||
param set CA_MC_R2_CT 9.5
|
||||
param set CA_MC_R2_KM -0.05
|
||||
param set CA_MC_R3_PX -0.866025
|
||||
param set CA_MC_R3_PY 0.5
|
||||
param set CA_MC_R3_CT 9.5
|
||||
param set CA_MC_R3_KM 0.05
|
||||
param set CA_MC_R4_PX 0.866025
|
||||
param set CA_MC_R4_PY 0.5
|
||||
param set CA_MC_R4_CT 9.5
|
||||
param set CA_MC_R4_KM 0.05
|
||||
param set CA_MC_R5_PX -0.866025
|
||||
param set CA_MC_R5_PY -0.5
|
||||
param set CA_MC_R5_CT 9.5
|
||||
param set CA_MC_R5_KM -0.05
|
||||
fi
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
|
||||
@@ -21,7 +21,6 @@ fi
|
||||
|
||||
# initialize script variables
|
||||
set AUX_MODE none
|
||||
set AUX_BANK2 none
|
||||
set IO_PRESENT no
|
||||
set MAV_TYPE none
|
||||
set MIXER none
|
||||
@@ -98,7 +97,7 @@ then
|
||||
set AUTOCNF yes
|
||||
|
||||
# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
|
||||
param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
|
||||
param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
|
||||
fi
|
||||
|
||||
# multi-instance setup
|
||||
@@ -154,8 +153,6 @@ param set-default SENS_IMU_MODE 0
|
||||
param set-default EKF2_MULTI_MAG 2
|
||||
param set-default SENS_MAG_MODE 0
|
||||
|
||||
param set-default IMU_GYRO_FFT_EN 1
|
||||
|
||||
# By default log from boot until first disarm.
|
||||
param set-default SDLOG_MODE 1
|
||||
# enable default, estimator replay and vision/avoidance logging profiles
|
||||
@@ -177,10 +174,6 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
|
||||
COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
|
||||
echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
|
||||
param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
|
||||
|
||||
COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
|
||||
echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
|
||||
param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
|
||||
fi
|
||||
|
||||
# Autostart ID
|
||||
@@ -220,21 +213,7 @@ dataman start
|
||||
# only start the simulator if not in replay mode, as both control the lockstep time
|
||||
if ! replay tryapplyparams
|
||||
then
|
||||
# Check if PX4_SIM_HOSTNAME environment variable is empty
|
||||
# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
|
||||
# If both are empty use localhost for simulator
|
||||
if [ -z "${PX4_SIM_HOSTNAME}" ]; then
|
||||
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
|
||||
echo "PX4 SIM HOST: localhost"
|
||||
simulator start -c $simulator_tcp_port
|
||||
else
|
||||
echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
|
||||
simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
|
||||
fi
|
||||
else
|
||||
echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
|
||||
simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
|
||||
fi
|
||||
simulator start -c $simulator_tcp_port
|
||||
fi
|
||||
load_mon start
|
||||
battery_simulator start
|
||||
@@ -256,16 +235,6 @@ then
|
||||
camera_feedback start
|
||||
fi
|
||||
|
||||
if param compare -s IMU_GYRO_FFT_EN 1
|
||||
then
|
||||
gyro_fft start
|
||||
fi
|
||||
|
||||
if param compare -s IMU_GYRO_CAL_EN 1
|
||||
then
|
||||
gyro_calibration start
|
||||
fi
|
||||
|
||||
# Configure vehicle type specific parameters.
|
||||
# Note: rc.vehicle_setup is the entry point for rc.interface,
|
||||
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
|
||||
@@ -275,10 +244,10 @@ fi
|
||||
if [ -e etc/init.d-posix/rc.mavlink_override ]
|
||||
then
|
||||
echo "Running non-default mavlink config rc.mavlink_override"
|
||||
. ${R}etc/init.d-posix/rc.mavlink_override
|
||||
sh etc/init.d-posix/rc.mavlink_override
|
||||
else
|
||||
# GCS link
|
||||
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
|
||||
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f -p
|
||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
|
||||
@@ -290,13 +259,13 @@ else
|
||||
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
|
||||
|
||||
# API/Offboard link
|
||||
mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
|
||||
mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote -p
|
||||
|
||||
# Onboard link to camera
|
||||
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
|
||||
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote -p
|
||||
|
||||
# Onboard link to gimbal
|
||||
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
|
||||
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote -p
|
||||
fi
|
||||
|
||||
# execute autostart post script if any
|
||||
|
||||
@@ -14,7 +14,7 @@
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_AUX_DISARM 1000
|
||||
param set-default PWM_AUX_DISARMED 1000
|
||||
param set-default PWM_AUX_MAX 2000
|
||||
param set-default PWM_AUX_MIN 1000
|
||||
param set-default PWM_AUX_RATE 50
|
||||
|
||||
@@ -112,7 +112,7 @@ param set-default MPC_YAWRAUTO_MAX 20
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default NAV_LOITER_RAD 100
|
||||
|
||||
param set-default PWM_AUX_DISARM 950
|
||||
param set-default PWM_AUX_DISARMED 950
|
||||
|
||||
param set-default PWM_MAIN_DIS5 1500
|
||||
param set-default PWM_MAIN_DIS6 1500
|
||||
|
||||
@@ -26,48 +26,48 @@
|
||||
|
||||
param set-default BAT_N_CELLS 6
|
||||
|
||||
param set-default FW_AIRSPD_MAX 30
|
||||
param set-default FW_AIRSPD_MIN 19
|
||||
param set-default FW_AIRSPD_TRIM 23
|
||||
param set-default FW_AIRSPD_MAX 30
|
||||
param set-default FW_AIRSPD_MIN 19
|
||||
param set-default FW_AIRSPD_TRIM 23
|
||||
param set-default FW_L1_R_SLEW_MAX 40
|
||||
param set-default FW_LND_EARLYCFG 1
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_I 0.1
|
||||
param set-default FW_PSP_OFF 3
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_I 0.1
|
||||
param set-default FW_PSP_OFF 3
|
||||
param set-default FW_P_LIM_MAX 18
|
||||
param set-default FW_P_LIM_MIN -25
|
||||
param set-default FW_RLL_TO_YAW_FF 0.1
|
||||
param set-default FW_RR_I 0.1
|
||||
param set-default FW_RR_P 0.08
|
||||
param set-default FW_RLL_TO_YAW_FF 0.1
|
||||
param set-default FW_RR_I 0.1
|
||||
param set-default FW_RR_P 0.08
|
||||
param set-default FW_R_LIM 45
|
||||
param set-default FW_R_RMAX 50
|
||||
param set-default FW_R_RMAX 50
|
||||
param set-default FW_THR_CRUISE 0.65
|
||||
param set-default FW_THR_MIN 0.3
|
||||
param set-default FW_THR_SLEW_MAX 0.6
|
||||
param set-default FW_T_HRATE_FF 0
|
||||
param set-default FW_T_SINK_MAX 15
|
||||
param set-default FW_T_SINK_MIN 3
|
||||
param set-default FW_YR_I 0.1
|
||||
param set-default FW_YR_P 0.15
|
||||
param set-default FW_T_SINK_MAX 15
|
||||
param set-default FW_T_SINK_MIN 3
|
||||
param set-default FW_YR_I 0.1
|
||||
param set-default FW_YR_P 0.15
|
||||
|
||||
param set-default IMU_GYRO_CUTOFF 40
|
||||
|
||||
param set-default IMU_DGYRO_CUTOFF 15
|
||||
param set-default MC_PITCHRATE_I 0.2
|
||||
param set-default MC_PITCHRATE_I 0.2
|
||||
param set-default MC_PITCHRATE_MAX 60
|
||||
param set-default MC_ROLLRATE_I 0.2
|
||||
param set-default MC_ROLLRATE_I 0.2
|
||||
param set-default MC_ROLLRATE_MAX 60
|
||||
param set-default MC_YAWRATE_I 0.15
|
||||
param set-default MC_YAWRATE_MAX 40
|
||||
param set-default MC_YAWRATE_P 0.3
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default MPC_ACC_DOWN_MAX 2
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_ACC_UP_MAX 3
|
||||
param set-default MPC_ACC_DOWN_MAX 2
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_ACC_UP_MAX 3
|
||||
param set-default MC_AIRMODE 1
|
||||
param set-default MPC_JERK_AUTO 4
|
||||
param set-default MPC_JERK_AUTO 4
|
||||
param set-default MPC_LAND_SPEED 1
|
||||
param set-default MPC_MAN_TILT_MAX 25
|
||||
param set-default MPC_MAN_Y_MAX 40
|
||||
@@ -76,7 +76,7 @@ param set-default MPC_SPOOLUP_TIME 1.5
|
||||
param set-default MPC_THR_HOVER 0.45
|
||||
param set-default MPC_TILTMAX_AIR 25
|
||||
param set-default MPC_TKO_RAMP_T 1.8
|
||||
param set-default MPC_TKO_SPEED 1
|
||||
param set-default MPC_TKO_SPEED 1
|
||||
param set-default MPC_VEL_MANUAL 3
|
||||
param set-default MPC_XY_CRUISE 3
|
||||
param set-default MPC_XY_VEL_MAX 3.5
|
||||
@@ -84,7 +84,7 @@ param set-default MPC_YAWRAUTO_MAX 40
|
||||
param set-default MPC_Z_VEL_MAX_DN 1.5
|
||||
param set-default MPC_Z_VEL_MAX_UP 2
|
||||
|
||||
param set-default NAV_ACC_RAD 3
|
||||
param set-default NAV_ACC_RAD 3
|
||||
|
||||
param set-default PWM_MAIN_DIS3 1000
|
||||
param set-default PWM_MAIN_MIN3 1120
|
||||
@@ -112,4 +112,3 @@ set MIXER babyshark
|
||||
set MIXER_AUX pass
|
||||
|
||||
set PWM_OUT 5678
|
||||
set PWM_AUX_OUT 1234
|
||||
|
||||
@@ -0,0 +1,57 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Generic Quadplane VTOL (PWM14)
|
||||
#
|
||||
# @type Standard VTOL
|
||||
# @class VTOL
|
||||
#
|
||||
# @maintainer
|
||||
#
|
||||
# @output MAIN1 motor 1
|
||||
# @output MAIN2 motor 2
|
||||
# @output MAIN3 motor 3
|
||||
# @output MAIN4 motor 4
|
||||
# @output MAIN5 Aileron 1
|
||||
# @output MAIN6 Aileron 2
|
||||
# @output MAIN7 Elevator
|
||||
# @output MAIN8 Rudder
|
||||
# @output MAIN9 Pusher motor
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default PWM_MAIN_MIN1 1100
|
||||
param set-default PWM_MAIN_MIN2 1100
|
||||
param set-default PWM_MAIN_MIN3 1100
|
||||
param set-default PWM_MAIN_MIN4 1100
|
||||
|
||||
param set-default PWM_MAIN_MAX1 1900
|
||||
param set-default PWM_MAIN_MAX2 1900
|
||||
param set-default PWM_MAIN_MAX3 1900
|
||||
param set-default PWM_MAIN_MAX4 1900
|
||||
|
||||
param set-default PWM_MAIN_DIS1 900
|
||||
param set-default PWM_MAIN_DIS2 900
|
||||
param set-default PWM_MAIN_DIS3 900
|
||||
param set-default PWM_MAIN_DIS4 900
|
||||
param set-default PWM_MAIN_DIS5 1500
|
||||
param set-default PWM_MAIN_DIS6 1500
|
||||
param set-default PWM_MAIN_DIS7 1500
|
||||
param set-default PWM_MAIN_DIS8 1500
|
||||
param set-default PWM_MAIN_DIS9 900
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x_vtol_AAERT
|
||||
set MIXER_AUX none
|
||||
|
||||
set PWM_OUT 1234
|
||||
@@ -1,41 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Generic Quadplane VTOL Tiltrotor
|
||||
#
|
||||
# @type VTOL Tiltrotor
|
||||
# @class VTOL
|
||||
#
|
||||
# @maintainer
|
||||
#
|
||||
# @output MAIN1 motor 1
|
||||
# @output MAIN2 motor 2
|
||||
# @output MAIN3 motor 3
|
||||
# @output MAIN4 motor 4
|
||||
# @output AUX1 Motor tilt front left
|
||||
# @output AUX2 Motor tilt front right
|
||||
# @output AUX3 Motor tilt rear left
|
||||
# @output AUX4 Motor tilt rear right
|
||||
# @output AUX5 Aileron left
|
||||
# @output AUX6 Aileron right
|
||||
# @output AUX7 Elevator
|
||||
# @output AUX8 Rudder
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_IDLE_PWM_MC 1100
|
||||
param set-default VT_TYPE 1
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 24
|
||||
set MAV_TYPE 21
|
||||
|
||||
set MIXER quad_x
|
||||
set MIXER_AUX vtol_TTTTAAER
|
||||
|
||||
set PWM_OUT 1234
|
||||
@@ -31,7 +31,7 @@ set VEHICLE_TYPE mc
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
param set-default PWM_AUX_RATE 400
|
||||
param set-default PWM_AUX_DISARM 900
|
||||
param set-default PWM_AUX_DISARMED 900
|
||||
param set-default PWM_AUX_MIN 1075
|
||||
param set-default PWM_AUX_MAX 1950
|
||||
|
||||
|
||||
@@ -33,7 +33,7 @@ param set-default MC_YAW_P 4
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
param set-default PWM_AUX_DISARM 950
|
||||
param set-default PWM_AUX_DISARMED 950
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set-default PWM_MAIN_MIN 1100
|
||||
param set-default PWM_MAIN_MAX 1900
|
||||
|
||||
@@ -16,6 +16,8 @@
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
set PARAM_DEFAULTS_VER 2
|
||||
|
||||
|
||||
param set-default BAT_N_CELLS 4
|
||||
|
||||
|
||||
@@ -18,7 +18,6 @@
|
||||
# @board px4_fmu-v5 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board cuav_x7pro exclude
|
||||
#
|
||||
|
||||
set VEHICLE_TYPE mc
|
||||
@@ -112,12 +111,10 @@ param set-default NAV_RCL_ACT 6
|
||||
# TELEM1 ttyS1 - Wifi module
|
||||
param set-default MAV_0_CONFIG 101
|
||||
param set-default MAV_0_RATE 0
|
||||
# onboard
|
||||
param set-default MAV_0_MODE 2
|
||||
param set-default MAV_0_MODE 2 # onboard
|
||||
param set-default SER_TEL1_BAUD 921600
|
||||
|
||||
# TELEM2 ttyS2 - Sub 1-Ghz
|
||||
param set-default MAV_1_CONFIG 102
|
||||
# normal
|
||||
param set-default MAV_1_MODE 0
|
||||
param set-default MAV_1_MODE 0 # normal
|
||||
param set-default SER_TEL2_BAUD 57600
|
||||
|
||||
@@ -15,8 +15,6 @@
|
||||
# @board px4_fmu-v4pro exclude
|
||||
# @board px4_fmu-v5 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board cuav_x7pro exclude
|
||||
#
|
||||
# @maintainer Hyon Lim <lim@uvify.com>
|
||||
#
|
||||
@@ -121,14 +119,12 @@ param set-default NAV_RCL_ACT 6
|
||||
# TELEM1 ttyS1 - Wifi module
|
||||
param set-default MAV_0_CONFIG 101
|
||||
param set-default MAV_0_RATE 0
|
||||
# onboard
|
||||
param set-default MAV_0_MODE 2
|
||||
param set-default MAV_0_MODE 2 # onboard
|
||||
param set-default SER_TEL1_BAUD 921600
|
||||
|
||||
# TELEM2 ttyS2 - Sub 1-Ghz
|
||||
param set-default MAV_1_CONFIG 102
|
||||
# normal
|
||||
param set-default MAV_1_MODE 0
|
||||
param set-default MAV_1_MODE 0 # normal
|
||||
param set-default SER_TEL2_BAUD 57600
|
||||
|
||||
# DSHOT
|
||||
|
||||
@@ -7,6 +7,8 @@
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
# @output MAIN0 Speed of left wheels
|
||||
# @output MAIN1 Speed of right wheels
|
||||
#
|
||||
|
||||
@@ -122,7 +122,7 @@ param set-default BAT_V_DIV 10.133
|
||||
|
||||
# TELEM1 ttyS1
|
||||
param set-default MAV_0_CONFIG 101
|
||||
param set-default MAV_0_MODE 0
|
||||
param set-default MAV_0_MODE 0 # onboard
|
||||
param set-default MAV_0_FORWARD 1
|
||||
param set-default SER_TEL1_BAUD 57600
|
||||
|
||||
|
||||
@@ -137,7 +137,7 @@ px4_add_romfs_files(
|
||||
13012_convergence
|
||||
13013_deltaquad
|
||||
13014_vtol_babyshark
|
||||
13030_generic_vtol_quad_tiltrotor
|
||||
13015_generic_vtol_standard
|
||||
13050_generic_vtol_octo
|
||||
13200_generic_vtol_tailsitter
|
||||
|
||||
|
||||
@@ -30,9 +30,9 @@ then
|
||||
fi
|
||||
|
||||
# USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
|
||||
if [ $USE_IO = no -a $AUX_BANK2 = none ]
|
||||
if [ $USE_IO = no ]
|
||||
then
|
||||
set AUX_MODE none
|
||||
set MIXER_AUX none
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -147,7 +147,6 @@ then
|
||||
if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
|
||||
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}"
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
@@ -179,7 +178,6 @@ then
|
||||
|
||||
if [ $MIXER_AUX_FILE != none ]
|
||||
then
|
||||
# Start the output module
|
||||
if $OUTPUT_CMD mode_${AUX_MODE}
|
||||
then
|
||||
# Append aux mixer to main device.
|
||||
@@ -201,7 +199,6 @@ then
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
|
||||
fi
|
||||
else
|
||||
echo "INFO [init] setting PWM_AUX_OUT none"
|
||||
set PWM_AUX_OUT none
|
||||
fi
|
||||
else
|
||||
@@ -226,36 +223,6 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
|
||||
then
|
||||
#
|
||||
# Load aux mixer.
|
||||
#
|
||||
if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
|
||||
then
|
||||
set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
|
||||
else
|
||||
|
||||
if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
|
||||
then
|
||||
set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
|
||||
fi
|
||||
fi
|
||||
|
||||
if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
|
||||
|
||||
# Set PWM_AUX output frequency.
|
||||
if [ $PWM_AUX_RATE != none ]
|
||||
then
|
||||
pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
|
||||
then
|
||||
if [ $PWM_OUT != none ]
|
||||
|
||||
@@ -108,18 +108,11 @@ then
|
||||
vl53l1x start -X
|
||||
fi
|
||||
|
||||
# ADIS16448 spi external IMU
|
||||
if param compare -s SENS_EN_ADIS164X 1
|
||||
then
|
||||
adis16448 -S start
|
||||
fi
|
||||
|
||||
# probe for optional external I2C devices
|
||||
if param compare SENS_EXT_I2C_PRB 1
|
||||
then
|
||||
icm20948_i2c_passthrough -X -q start
|
||||
|
||||
# compasses
|
||||
ak09916 -X -R 6 -q start # external AK09916 (Here2) is rotated 270 degrees yaw
|
||||
hmc5883 -T -X -q start
|
||||
ist8308 -X -q start
|
||||
ist8310 -X -q start
|
||||
@@ -128,31 +121,29 @@ then
|
||||
qmc5883l -X -q start
|
||||
rm3100 -X -q start
|
||||
|
||||
# start last (wait for possible icm20948 passthrough mode)
|
||||
ak09916 -X -q start
|
||||
|
||||
# differential pressure sensors
|
||||
if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
|
||||
then
|
||||
# Always try to start the airspeed sensors
|
||||
# even if their usage might be disabled
|
||||
sdp3x_airspeed start -X -q
|
||||
sdp3x_airspeed start -X -a 0x22 -q
|
||||
|
||||
# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
|
||||
# detected as MS5525 because the chip manufacturer was so
|
||||
# clever to assign the same I2C address and skip a WHO_AM_I
|
||||
# register.
|
||||
if [ $BOARD_FMUV3 = 21 ]
|
||||
if param compare CBRK_AIRSPD_CHK 0
|
||||
then
|
||||
ms5525_airspeed start -X -b 2 -q
|
||||
else
|
||||
ms5525_airspeed start -X -q
|
||||
sdp3x_airspeed start -X -q
|
||||
sdp3x_airspeed start -X -a 0x22 -q
|
||||
|
||||
# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
|
||||
# detected as MS5525 because the chip manufacturer was so
|
||||
# clever to assign the same I2C address and skip a WHO_AM_I
|
||||
# register.
|
||||
if [ $BOARD_FMUV3 = 21 ]
|
||||
then
|
||||
ms5525_airspeed start -X -b 2 -q
|
||||
else
|
||||
ms5525_airspeed start -X -q
|
||||
fi
|
||||
|
||||
ms4525_airspeed start -X -q
|
||||
|
||||
ets_airspeed start -X -q
|
||||
fi
|
||||
|
||||
ms4525_airspeed start -X -q
|
||||
|
||||
ets_airspeed start -X -q
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
@@ -51,6 +51,12 @@ set STARTUP_TUNE 1
|
||||
set USE_IO no
|
||||
set VEHICLE_TYPE none
|
||||
|
||||
# Airframe parameter versioning: airframe maintainers can set this in the
|
||||
# airframe startup script, and then increase it by one whenever an airframe
|
||||
# parameter is updated - it will ensure that these parameters will be updated
|
||||
# when the firmware is flashed.
|
||||
set PARAM_DEFAULTS_VER 1
|
||||
|
||||
#
|
||||
# Mount the procfs.
|
||||
#
|
||||
@@ -165,8 +171,12 @@ else
|
||||
#
|
||||
if param greater SYS_AUTOCONFIG 0
|
||||
then
|
||||
# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
|
||||
param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
|
||||
param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
|
||||
fi
|
||||
|
||||
set AUTOCNF yes
|
||||
fi
|
||||
|
||||
@@ -229,6 +239,14 @@ else
|
||||
rgbled start -X -q
|
||||
rgbled_ncp5623c start -X -q
|
||||
|
||||
if param greater -s LIGHT_EN_BLINKM 0
|
||||
then
|
||||
if blinkm start -X
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Set parameters and env variables for selected AUTOSTART.
|
||||
#
|
||||
@@ -254,34 +272,6 @@ else
|
||||
param set SYS_AUTOCONFIG 0
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if UAVCAN is enabled, default to it for ESCs.
|
||||
#
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
# Start core UAVCAN module.
|
||||
if uavcan start
|
||||
then
|
||||
if param greater UAVCAN_ENABLE 1
|
||||
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
|
||||
fi
|
||||
fi
|
||||
else
|
||||
tune_control play error
|
||||
fi
|
||||
else
|
||||
if param greater -s UAVCAN_V1_ENABLE 0
|
||||
then
|
||||
uavcan_v1 start
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if PX4IO present and update firmware if needed.
|
||||
# Assumption IOFW set to firmware file and IO_PRESENT = no
|
||||
@@ -313,8 +303,6 @@ else
|
||||
else
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
fi
|
||||
else
|
||||
tune_control stop
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
@@ -426,6 +414,34 @@ else
|
||||
camera_feedback start
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if UAVCAN is enabled, default to it for ESCs.
|
||||
#
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
# Start core UAVCAN module.
|
||||
if uavcan start
|
||||
then
|
||||
if param greater UAVCAN_ENABLE 1
|
||||
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
|
||||
fi
|
||||
fi
|
||||
else
|
||||
tune_control play error
|
||||
fi
|
||||
fi
|
||||
|
||||
if param greater -s UAVCAN_V1_ENABLE 0
|
||||
then
|
||||
uavcan_v1 start
|
||||
fi
|
||||
|
||||
#
|
||||
# Optional board mavlink streams: rc.board_mavlink
|
||||
#
|
||||
@@ -500,11 +516,6 @@ else
|
||||
gyro_fft start
|
||||
fi
|
||||
|
||||
if param compare -s IMU_GYRO_CAL_EN 1
|
||||
then
|
||||
gyro_calibration start
|
||||
fi
|
||||
|
||||
#
|
||||
# Optional board supplied extras: rc.board_extras
|
||||
#
|
||||
@@ -554,6 +565,15 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
|
||||
then
|
||||
echo "Switched to different parameter version. Resetting parameters."
|
||||
param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
|
||||
param set SYS_AUTOCONFIG 2
|
||||
param save
|
||||
reboot
|
||||
fi
|
||||
|
||||
#
|
||||
# End of autostart.
|
||||
#
|
||||
@@ -578,6 +598,7 @@ unset MIXER
|
||||
unset MIXER_AUX
|
||||
unset MIXER_FILE
|
||||
unset OUTPUT_MODE
|
||||
unset PARAM_DEFAULTS_VER
|
||||
unset PARAM_FILE
|
||||
unset PWM_AUX_OUT
|
||||
unset PWM_AUX_RATE
|
||||
|
||||
@@ -90,7 +90,6 @@ px4_add_romfs_files(
|
||||
Viper.main.mix
|
||||
vtol_AAERT.aux.mix
|
||||
vtol_AAVVT.aux.mix
|
||||
vtol_TTTTAAER.aux.mix
|
||||
vtol_convergence.main.mix
|
||||
vtol_delta.aux.mix
|
||||
vtol_tailsitter_duo.main.mix
|
||||
|
||||
@@ -1,39 +0,0 @@
|
||||
# Generic quadplane tiltrotor servo mixer
|
||||
|
||||
# Tilt mechanism servo mixer
|
||||
---------------------------
|
||||
# front left up:2000 down:1000
|
||||
M: 1
|
||||
S: 1 4 0 -20000 10000 -10000 10000
|
||||
|
||||
# front right up:1000 down:2000
|
||||
M: 1
|
||||
S: 1 4 0 20000 -10000 -10000 10000
|
||||
|
||||
# rear left up:2000 down:1000
|
||||
M: 1
|
||||
S: 1 4 0 -20000 10000 -10000 10000
|
||||
|
||||
# rear right up:1000 down:2000
|
||||
M: 1
|
||||
S: 1 4 0 20000 -10000 -10000 10000
|
||||
|
||||
|
||||
# Aileron mixer
|
||||
# ---------------------------------
|
||||
M: 1
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
# Elevator mixer
|
||||
# ------------
|
||||
M: 1
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
# Rudder mixer
|
||||
# ------------
|
||||
M: 1
|
||||
S: 1 2 10000 10000 0 -10000 10000
|
||||
@@ -103,6 +103,12 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_bson(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
|
||||
|
||||
def test_commander(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "commander"))
|
||||
|
||||
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"))
|
||||
|
||||
@@ -166,6 +172,9 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
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_versioning(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))
|
||||
|
||||
|
||||
@@ -1,96 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
""" Script to generate a JSON config with all build targets (for CI) """
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
import json
|
||||
import re
|
||||
|
||||
source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')
|
||||
|
||||
parser = argparse.ArgumentParser(description='Generate build targets')
|
||||
|
||||
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
|
||||
help='Verbose Output')
|
||||
parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
|
||||
help='Pretty output instead of a single line')
|
||||
|
||||
args = parser.parse_args()
|
||||
verbose = args.verbose
|
||||
|
||||
build_configs = []
|
||||
excluded_manufacturers = ['atlflight']
|
||||
excluded_platforms = ['qurt']
|
||||
excluded_labels = [
|
||||
'stackcheck',
|
||||
'nolockstep', 'replay', 'test',
|
||||
'uavcanv1' # TODO: fix and enable
|
||||
]
|
||||
|
||||
def process_target(cmake_file, target_name):
|
||||
ret = None
|
||||
is_board_def = False
|
||||
platform = None
|
||||
toolchain = None
|
||||
for line in open(cmake_file, 'r'):
|
||||
if 'px4_add_board' in line:
|
||||
is_board_def = True
|
||||
if not is_board_def:
|
||||
continue
|
||||
|
||||
re_platform = re.search('PLATFORM\s+([^\s]+)', line)
|
||||
if re_platform: platform = re_platform.group(1)
|
||||
|
||||
re_toolchain = re.search('TOOLCHAIN\s+([^\s]+)', line)
|
||||
if re_toolchain: toolchain = re_toolchain.group(1)
|
||||
|
||||
if is_board_def:
|
||||
assert platform, f"PLATFORM not found in {cmake_file}"
|
||||
|
||||
if platform not in excluded_platforms:
|
||||
# get the container based on the platform and toolchain
|
||||
container = platform
|
||||
if platform == 'posix':
|
||||
container = 'base-focal'
|
||||
if toolchain:
|
||||
if toolchain.startswith('aarch64'):
|
||||
container = 'aarch64'
|
||||
elif toolchain == 'arm-linux-gnueabihf':
|
||||
container = 'armhf'
|
||||
else:
|
||||
if verbose: print(f'possibly unmatched toolchain: {toolchain}')
|
||||
elif platform == 'nuttx':
|
||||
container = 'nuttx-focal'
|
||||
|
||||
ret = {'target': target_name, 'container': container}
|
||||
return ret
|
||||
|
||||
for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
|
||||
if not manufacturer.is_dir():
|
||||
continue
|
||||
if manufacturer.name in excluded_manufacturers:
|
||||
if verbose: print(f'excluding manufacturer {manufacturer.name}')
|
||||
continue
|
||||
|
||||
for board in os.scandir(manufacturer.path):
|
||||
if not board.is_dir():
|
||||
continue
|
||||
for files in os.scandir(board.path):
|
||||
if files.is_file() and files.name.endswith('.cmake'):
|
||||
label = files.name[:-6]
|
||||
target_name = manufacturer.name + '_' + board.name + '_' + label
|
||||
if label in excluded_labels:
|
||||
if verbose: print(f'excluding label {label} ({target_name})')
|
||||
continue
|
||||
target = process_target(files.path, target_name)
|
||||
if target is not None:
|
||||
build_configs.append(target)
|
||||
|
||||
|
||||
github_action_config = { 'include': build_configs }
|
||||
extra_args = {}
|
||||
if args.pretty:
|
||||
extra_args['indent'] = 2
|
||||
print(json.dumps(github_action_config, **extra_args))
|
||||
|
||||
@@ -1099,7 +1099,7 @@ if num_baros >= 2:
|
||||
baro_1_x_resample = fit_coef_baro_1_x(temp_rel_resample)
|
||||
|
||||
# baro 2 vs temperature
|
||||
plt.figure(10,figsize=(20,13))
|
||||
plt.figure(9,figsize=(20,13))
|
||||
|
||||
# draw plots
|
||||
plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
|
||||
@@ -1157,7 +1157,7 @@ if num_baros >= 3:
|
||||
baro_2_x_resample = fit_coef_baro_2_x(temp_rel_resample)
|
||||
|
||||
# baro 2 vs temperature
|
||||
plt.figure(11,figsize=(20,13))
|
||||
plt.figure(10,figsize=(20,13))
|
||||
|
||||
# draw plots
|
||||
plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
|
||||
@@ -1210,7 +1210,7 @@ if num_baros >= 4:
|
||||
baro_3_x_resample = fit_coef_baro_3_x(temp_rel_resample)
|
||||
|
||||
# baro 3 vs temperature
|
||||
plt.figure(12,figsize=(20,13))
|
||||
plt.figure(11,figsize=(20,13))
|
||||
|
||||
# draw plots
|
||||
plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b')
|
||||
|
||||
+1
-1
@@ -65,7 +65,7 @@ def get_version():
|
||||
|
||||
if os.path.isdir(os.path.join(px4_dir, '.git')):
|
||||
# If inside a clone PX4 Firmware repository, get version from "git describe"
|
||||
cmd = 'git describe --exclude ext/* --abbrev=0 --tags'
|
||||
cmd = 'git describe --abbrev=0 --tags'
|
||||
try:
|
||||
version = subprocess.check_output(
|
||||
cmd, cwd=px4_dir, shell=True).decode().strip()
|
||||
|
||||
+3
-3
@@ -99,13 +99,13 @@ if args.summary != None:
|
||||
if args.description != None:
|
||||
desc['description'] = str(args.description)
|
||||
if args.git_identity != None:
|
||||
cmd = "git --git-dir '{:}/.git' describe --exclude ext/* --always --tags".format(args.git_identity)
|
||||
cmd = "git --git-dir '{:}/.git' describe --always --tags".format(args.git_identity)
|
||||
p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
|
||||
desc['git_identity'] = p.read().strip().decode('utf-8')
|
||||
desc['git_identity'] = str(p.read().strip())
|
||||
p.close()
|
||||
cmd = "git --git-dir '{:}/.git' rev-parse --verify HEAD".format(args.git_identity)
|
||||
p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
|
||||
desc['git_hash'] = p.read().strip().decode('utf-8')
|
||||
desc['git_hash'] = str(p.read().strip())
|
||||
p.close()
|
||||
if args.parameter_xml != None:
|
||||
f = open(args.parameter_xml, "rb")
|
||||
|
||||
@@ -61,8 +61,6 @@ def main():
|
||||
help="Board architecture for this run")
|
||||
args = parser.parse_args()
|
||||
|
||||
err_count = 0
|
||||
|
||||
# go through temp folder
|
||||
for (root, dirs, files) in os.walk(args.folder):
|
||||
for file in files:
|
||||
@@ -92,17 +90,8 @@ def main():
|
||||
# read file line by line
|
||||
pruned_content = ""
|
||||
board_excluded = False
|
||||
|
||||
with io.open(file_path, "r", newline=None) as f:
|
||||
for line in f:
|
||||
# abort if spurious tabs are found
|
||||
if re.search(r"[a-zA-Z0-9]+\t.+", line):
|
||||
file_local = re.sub(args.folder, '', file_path)
|
||||
print("ERROR: Spurious TAB character in file " + file_local)
|
||||
print("Line: " + line)
|
||||
err_count += 1
|
||||
|
||||
# find excluded boards
|
||||
if re.search(r'\b{0} exclude\b'.format(args.board), line):
|
||||
board_excluded = True
|
||||
# handle mixer files differently than startup files
|
||||
@@ -127,9 +116,6 @@ def main():
|
||||
else:
|
||||
os.remove(file_path)
|
||||
|
||||
if (err_count > 0):
|
||||
exit(1)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
|
||||
@@ -190,6 +190,7 @@ if rc_serial_output_dir is None and serial_params_output_file is None:
|
||||
serial_commands = []
|
||||
ethernet_configuration = []
|
||||
additional_params = ""
|
||||
additional_ethernet_params = ""
|
||||
|
||||
if ethernet_supported:
|
||||
ethernet_configuration.append({
|
||||
@@ -210,7 +211,7 @@ def parse_yaml_serial_config(yaml_config):
|
||||
ret.append(serial_config)
|
||||
return ret
|
||||
|
||||
def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
def parse_yaml_parameters_config(yaml_config):
|
||||
""" parse the parameters section from the yaml config file """
|
||||
if 'parameters' not in yaml_config:
|
||||
return ''
|
||||
@@ -223,7 +224,79 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
|
||||
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:
|
||||
if 'ethernet' in param:
|
||||
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
|
||||
|
||||
def parse_yaml_ethernet_parameters_config(yaml_config):
|
||||
""" 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 'ethernet' not in param:
|
||||
continue
|
||||
num_instances = param.get('num_instances', 1)
|
||||
instance_start = param.get('instance_start', 0) # offset
|
||||
@@ -289,8 +362,9 @@ for yaml_file in args.config_files:
|
||||
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)
|
||||
additional_params += parse_yaml_parameters_config(yaml_config)
|
||||
if ethernet_supported:
|
||||
additional_ethernet_params += parse_yaml_ethernet_parameters_config(yaml_config)
|
||||
|
||||
except yaml.YAMLError as exc:
|
||||
print(exc)
|
||||
@@ -355,7 +429,7 @@ for serial_command in serial_commands:
|
||||
'default_port': default_port,
|
||||
'param_group': port_config['group'],
|
||||
'description_extended': port_config.get('description_extended', ''),
|
||||
'supports_networking': serial_command.get('supports_networking', False)
|
||||
'ethernet_config': serial_command.get('ethernet', 'none')
|
||||
})
|
||||
|
||||
if verbose:
|
||||
@@ -399,5 +473,6 @@ if serial_params_output_file is not None:
|
||||
fid.write(template.render(serial_devices=serial_devices,
|
||||
ethernet_configuration=ethernet_configuration,
|
||||
commands=commands, serial_ports=serial_ports,
|
||||
additional_definitions=additional_params))
|
||||
additional_definitions=additional_params,
|
||||
additional_ethernet_definitions=additional_ethernet_params))
|
||||
|
||||
|
||||
@@ -17,9 +17,9 @@ if param compare "$PRT" {{ serial_device.index }}; then
|
||||
fi
|
||||
|
||||
{% endfor %}
|
||||
|
||||
{% for config in ethernet_configuration -%}
|
||||
if param compare "$PRT" {{ config.index }}; then
|
||||
set SERIAL_DEV ethernet
|
||||
fi
|
||||
|
||||
{% endfor %}
|
||||
|
||||
@@ -58,11 +58,10 @@ PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_BAUD, {{ serial_device.default_ba
|
||||
{%- for serial_device in serial_devices %}
|
||||
* @value {{ serial_device.index }} {{ serial_device.label }}
|
||||
{%- endfor %}
|
||||
{%- if command.supports_networking %}
|
||||
{%- if command.ethernet_config != "none" %}
|
||||
{%- for config in ethernet_configuration %}
|
||||
* @value {{ config.index }} {{ config.label }}
|
||||
{%- endfor %}
|
||||
{%- endif %}
|
||||
{%- endfor %}{% endif %}
|
||||
* @group {{ command.param_group }}
|
||||
* @reboot_required true
|
||||
*/
|
||||
@@ -73,3 +72,5 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }});
|
||||
|
||||
{{ additional_definitions }}
|
||||
|
||||
{{ additional_ethernet_definitions }}
|
||||
|
||||
|
||||
@@ -13,7 +13,6 @@
|
||||
|
||||
INSTALL_NUTTX="true"
|
||||
INSTALL_SIM="true"
|
||||
INSTALL_ARCH=`uname -m`
|
||||
|
||||
# Parse arguments
|
||||
for arg in "$@"
|
||||
@@ -150,7 +149,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
|
||||
else
|
||||
echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
|
||||
wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
|
||||
wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-x86_64-linux.tar.bz2 && \
|
||||
sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
|
||||
|
||||
# add arm-none-eabi-gcc to user's PATH
|
||||
|
||||
+1
-1
Submodule Tools/sitl_gazebo updated: 5761bd66cd...6b6f4749a7
@@ -1,4 +1,2 @@
|
||||
*.json
|
||||
|
||||
*.fv
|
||||
*.fv.pdf
|
||||
|
||||
+341
-503
File diff suppressed because it is too large
Load Diff
+13
@@ -0,0 +1,13 @@
|
||||
#! /bin/bash
|
||||
# create the graph from a posix (e.g. SITL) startup script
|
||||
|
||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
||||
|
||||
startup_file="$SCRIPT_DIR"/../../posix-configs/SITL/init/ekf2/typhoon_h480
|
||||
[ -n "$1" ] && startup_file=$1
|
||||
# get the modules as comma-separated list
|
||||
modules=$(cat "$startup_file"|cut -f1 -d' '|sort|uniq|tr '\n' ,)
|
||||
|
||||
cd "$SCRIPT_DIR/../.."
|
||||
"$SCRIPT_DIR"/create.py --src-path src -m "$modules" -f "$SCRIPT_DIR/graph_runtime_sitl"
|
||||
|
||||
@@ -27,7 +27,6 @@ px4_add_board(
|
||||
gps
|
||||
#heater
|
||||
#imu # all available imu drivers
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/l3gd20
|
||||
imu/lsm303d
|
||||
imu/invensense/mpu6000
|
||||
@@ -64,7 +63,6 @@ px4_add_board(
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
@@ -108,7 +106,6 @@ px4_add_board(
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
|
||||
@@ -101,7 +101,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
|
||||
CONFIG_NSH_DISABLE_IFUPDOWN=y
|
||||
CONFIG_NSH_DISABLE_MB=y
|
||||
CONFIG_NSH_DISABLE_MH=y
|
||||
CONFIG_NSH_DISABLE_MW=y
|
||||
CONFIG_NSH_DISABLE_TELNETD=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
|
||||
@@ -1,33 +0,0 @@
|
||||
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR ark
|
||||
MODEL can-flow
|
||||
LABEL debug
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT cannode
|
||||
UAVCAN_INTERFACES 1
|
||||
DRIVERS
|
||||
bootloaders
|
||||
imu/bosch/bmi088
|
||||
optical_flow/paw3902
|
||||
uavcannode
|
||||
MODULES
|
||||
#ekf2
|
||||
load_mon
|
||||
#sensors
|
||||
SYSTEMCMDS
|
||||
mft
|
||||
mtd
|
||||
param
|
||||
perf
|
||||
reboot
|
||||
system_time
|
||||
top
|
||||
topic_listener
|
||||
ver
|
||||
work_queue
|
||||
)
|
||||
@@ -7,7 +7,6 @@ px4_add_board(
|
||||
LABEL default
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_FLASH
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT cannode
|
||||
UAVCAN_INTERFACES 1
|
||||
@@ -18,17 +17,14 @@ px4_add_board(
|
||||
uavcannode
|
||||
MODULES
|
||||
#ekf2
|
||||
#load_mon
|
||||
load_mon
|
||||
#sensors
|
||||
SYSTEMCMDS
|
||||
mft
|
||||
mtd
|
||||
param
|
||||
#perf
|
||||
#reboot
|
||||
#system_time
|
||||
#top
|
||||
#topic_listener
|
||||
#ver
|
||||
#work_queue
|
||||
perf
|
||||
reboot
|
||||
top
|
||||
topic_listener
|
||||
ver
|
||||
work_queue
|
||||
)
|
||||
|
||||
@@ -4,6 +4,6 @@
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
# Internal SPI
|
||||
paw3902 -s start -Y 90
|
||||
bmi088 -A -s -R 4 start
|
||||
bmi088 -G -s -R 4 start
|
||||
paw3902 -s start
|
||||
bmi088 -A -s -R 0 start
|
||||
bmi088 -G -s -R 0 start
|
||||
|
||||
@@ -81,7 +81,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
|
||||
CONFIG_NSH_DISABLE_IFUPDOWN=y
|
||||
CONFIG_NSH_DISABLE_MB=y
|
||||
CONFIG_NSH_DISABLE_MH=y
|
||||
CONFIG_NSH_DISABLE_MW=y
|
||||
CONFIG_NSH_DISABLE_TELNETD=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
|
||||
@@ -51,14 +51,12 @@ else()
|
||||
can.c
|
||||
i2c.cpp
|
||||
init.c
|
||||
led.c
|
||||
spi.cpp
|
||||
)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
arch_spi
|
||||
drivers__led # drv_led_start
|
||||
nuttx_arch
|
||||
nuttx_drivers
|
||||
px4_layer
|
||||
|
||||
@@ -53,12 +53,8 @@
|
||||
#define GPIO_BOOT_CONFIG /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
|
||||
|
||||
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
|
||||
#define GPIO_nLED_RED /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
|
||||
#define GPIO_nLED_BLUE /* PA8 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
|
||||
|
||||
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
||||
#define BOARD_OVERLOAD_LED LED_RED
|
||||
#define BOARD_ARMED_STATE_LED LED_BLUE
|
||||
#define GPIO_LED_RED /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
|
||||
#define GPIO_LED_BLUE /* PA8 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
|
||||
|
||||
#define FLASH_BASED_PARAMS
|
||||
|
||||
|
||||
@@ -49,12 +49,6 @@
|
||||
|
||||
#include <nuttx/board.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void bootloader_led_on(int led);
|
||||
extern void bootloader_led_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
@@ -75,8 +69,6 @@ __EXPORT void stm32_boardinitialize(void)
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
|
||||
|
||||
led_init();
|
||||
|
||||
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
|
||||
stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
|
||||
#endif
|
||||
@@ -160,27 +152,48 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
|
||||
* None
|
||||
*
|
||||
****************************************************************************/
|
||||
// #define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
|
||||
|
||||
// typedef begin_packed_struct struct led_t {
|
||||
// uint8_t red;
|
||||
// uint8_t green;
|
||||
// uint8_t blue;
|
||||
// uint8_t hz;
|
||||
// } end_packed_struct led_t;
|
||||
|
||||
// static const led_t i2l[] = {
|
||||
|
||||
// led(0, off, 0, 0, 0, 0),
|
||||
// led(1, reset, 128, 128, 128, 30),
|
||||
// led(2, autobaud_start, 0, 128, 0, 1),
|
||||
// led(3, autobaud_end, 0, 128, 0, 2),
|
||||
// led(4, allocation_start, 0, 0, 64, 2),
|
||||
// led(5, allocation_end, 0, 128, 64, 3),
|
||||
// led(6, fw_update_start, 32, 128, 64, 3),
|
||||
// led(7, fw_update_erase_fail, 32, 128, 32, 3),
|
||||
// led(8, fw_update_invalid_response, 64, 0, 0, 1),
|
||||
// led(9, fw_update_timeout, 64, 0, 0, 2),
|
||||
// led(a, fw_update_invalid_crc, 64, 0, 0, 4),
|
||||
// led(b, jump_to_app, 0, 128, 0, 10),
|
||||
|
||||
// };
|
||||
|
||||
void board_indicate(uiindication_t indication)
|
||||
{
|
||||
if (indication == off) {
|
||||
bootloader_led_off(GPIO_nLED_RED);
|
||||
bootloader_led_off(GPIO_nLED_BLUE);
|
||||
|
||||
} else if (indication == fw_update_start) {
|
||||
bootloader_led_on(GPIO_nLED_RED);
|
||||
bootloader_led_on(GPIO_nLED_BLUE);
|
||||
|
||||
} else if ((indication == fw_update_erase_fail) || (indication == fw_update_invalid_response)
|
||||
|| (indication == fw_update_timeout) || (indication == fw_update_invalid_crc)) {
|
||||
bootloader_led_on(GPIO_nLED_RED);
|
||||
bootloader_led_off(GPIO_nLED_BLUE);
|
||||
|
||||
} else if (indication == allocation_start) {
|
||||
bootloader_led_on(GPIO_nLED_RED);
|
||||
bootloader_led_off(GPIO_nLED_BLUE);
|
||||
|
||||
} else {
|
||||
bootloader_led_off(GPIO_nLED_RED);
|
||||
bootloader_led_on(GPIO_nLED_BLUE);
|
||||
}
|
||||
// switch(indication) {
|
||||
// case off:
|
||||
// led_off(GPIO_nLED_RED);
|
||||
// led_off(GPIO_nLED_BLUE);
|
||||
// break;
|
||||
// case reset:
|
||||
// led_on(GPIO_nLED_RED);
|
||||
// led_on(GPIO_nLED_BLUE);
|
||||
// break;
|
||||
// case jump_to_app:
|
||||
// led_on(GPIO_nLED_RED);
|
||||
// led_off(GPIO_nLED_BLUE);
|
||||
// break;
|
||||
// default:
|
||||
// break;
|
||||
// }
|
||||
}
|
||||
|
||||
@@ -69,12 +69,6 @@
|
||||
# include <parameters/flashparams/flashfs.h>
|
||||
#endif
|
||||
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
@@ -127,9 +121,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
px4_platform_init();
|
||||
|
||||
// Configure LEDs.
|
||||
board_autoled_initialize();
|
||||
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
static sector_descriptor_t params_sector_map[] = {
|
||||
{2, 16 * 1024, 0x08008000},
|
||||
@@ -147,14 +138,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
#endif // FLASH_BASED_PARAMS
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_off(LED_RED);
|
||||
led_on(LED_BLUE);
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
//px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -55,17 +55,14 @@
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void bootloader_led_on(int led);
|
||||
extern void bootloader_led_off(int led);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
extern void led_toggle(int led);
|
||||
__END_DECLS
|
||||
|
||||
# define xlat(p) (p)
|
||||
static uint32_t g_ledmap[] = {
|
||||
GPIO_nLED_BLUE,
|
||||
GPIO_nLED_RED,
|
||||
GPIO_LED_RED,
|
||||
GPIO_LED_BLUE,
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
@@ -73,21 +70,10 @@ __EXPORT void led_init(void)
|
||||
/* Configure LED GPIOs for output */
|
||||
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
|
||||
stm32_configgpio(g_ledmap[l]);
|
||||
stm32_gpiowrite(g_ledmap[l], true);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void bootloader_led_on(int led)
|
||||
{
|
||||
/* Pull Down to switch on */
|
||||
stm32_gpiowrite(led, false);
|
||||
}
|
||||
|
||||
__EXPORT void bootloader_led_off(int led)
|
||||
{
|
||||
/* Pull Up to switch on */
|
||||
stm32_gpiowrite(led, true);
|
||||
}
|
||||
|
||||
static void phy_set_led(int led, bool state)
|
||||
{
|
||||
/* Pull Down to switch on */
|
||||
@@ -96,20 +82,21 @@ static void phy_set_led(int led, bool state)
|
||||
|
||||
static bool phy_get_led(int led)
|
||||
{
|
||||
|
||||
return !stm32_gpioread(g_ledmap[led]);
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
phy_set_led(xlat(led), true);
|
||||
phy_set_led(led, true);
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
phy_set_led(xlat(led), false);
|
||||
phy_set_led(led, false);
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
phy_set_led(xlat(led), !phy_get_led(xlat(led)));
|
||||
phy_set_led(led, !phy_get_led(led));
|
||||
}
|
||||
|
||||
@@ -67,7 +67,6 @@ px4_add_board(
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
|
||||
@@ -58,7 +58,6 @@ px4_add_board(
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
|
||||
@@ -66,7 +66,6 @@ px4_add_board(
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
|
||||
@@ -58,7 +58,6 @@ px4_add_board(
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
|
||||
@@ -17,7 +17,6 @@ px4_add_board(
|
||||
TEL3:/dev/ttyS2
|
||||
TEL4:/dev/ttyS3
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
@@ -27,17 +26,17 @@ px4_add_board(
|
||||
distance_sensor # all available distance sensor drivers
|
||||
#dshot
|
||||
gps
|
||||
#heater
|
||||
#imu # all available imu drivers
|
||||
imu/adis16477
|
||||
imu/adis16497
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
osd
|
||||
#osd
|
||||
pca9685
|
||||
pca9685_pwm_out
|
||||
#pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
#pwm_input
|
||||
@@ -63,7 +62,6 @@ px4_add_board(
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
@@ -99,14 +97,12 @@ px4_add_board(
|
||||
motor_ramp
|
||||
motor_test
|
||||
nshterm
|
||||
netman
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
|
||||
@@ -14,10 +14,12 @@
|
||||
# CONFIG_MMCSD_SPI is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_ADDROUTE is not set
|
||||
# CONFIG_NSH_DISABLE_ARP is not set
|
||||
# CONFIG_NSH_DISABLE_BASENAME is not set
|
||||
# CONFIG_NSH_DISABLE_CMP is not set
|
||||
# CONFIG_NSH_DISABLE_DD is not set
|
||||
# CONFIG_NSH_DISABLE_DELROUTE is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_DIRNAME is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
@@ -30,6 +32,7 @@
|
||||
# CONFIG_NSH_DISABLE_MKRD is not set
|
||||
# CONFIG_NSH_DISABLE_PRINTF is not set
|
||||
# CONFIG_NSH_DISABLE_PUT is not set
|
||||
# CONFIG_NSH_DISABLE_ROUTE is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_NSH_DISABLE_UNAME is not set
|
||||
@@ -71,13 +74,15 @@ CONFIG_FAT_LCNAMES=y
|
||||
CONFIG_FAT_LFN=y
|
||||
CONFIG_FAT_LFN_ALIAS_HASH=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_FSUTILS_IPCFG=y
|
||||
CONFIG_FS_BINFS=y
|
||||
CONFIG_FS_CROMFS=y
|
||||
CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
|
||||
CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
|
||||
CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
|
||||
CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
@@ -103,18 +108,12 @@ CONFIG_NETDB_DNSCLIENT=y
|
||||
CONFIG_NETDB_DNSCLIENT_ENTRIES=8
|
||||
CONFIG_NETDB_DNSSERVER_NOADDR=y
|
||||
CONFIG_NETDEV_PHY_IOCTL=y
|
||||
CONFIG_NETINIT_DHCPC=y
|
||||
CONFIG_NETINIT_DNS=y
|
||||
CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
|
||||
CONFIG_NETINIT_DRIPADDR=0XC0A800FE
|
||||
CONFIG_NETINIT_THREAD=y
|
||||
CONFIG_NETINIT_THREAD_PRIORITY=49
|
||||
CONFIG_NETUTILS_TELNETD=y
|
||||
CONFIG_NET_ARP_IPIN=y
|
||||
CONFIG_NET_ARP_SEND=y
|
||||
CONFIG_NET_BROADCAST=y
|
||||
CONFIG_NET_ICMP=y
|
||||
CONFIG_NET_ICMP_SOCKET=y
|
||||
CONFIG_NET_ROUTE=y
|
||||
CONFIG_NET_SOCKOPTS=y
|
||||
CONFIG_NET_SOLINGER=y
|
||||
CONFIG_NET_TCP=y
|
||||
@@ -122,7 +121,6 @@ CONFIG_NET_TCPBACKLOG=y
|
||||
CONFIG_NET_TCP_WRITE_BUFFERS=y
|
||||
CONFIG_NET_UDP=y
|
||||
CONFIG_NET_UDP_CHECKSUMS=y
|
||||
CONFIG_NET_UDP_WRITE_BUFFERS=y
|
||||
CONFIG_NFILE_DESCRIPTORS=12
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
@@ -130,10 +128,9 @@ CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_DISABLE_MB=y
|
||||
CONFIG_NSH_DISABLE_MH=y
|
||||
CONFIG_NSH_DISABLE_MW=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_LOGIN_PASSWORD="px4"
|
||||
CONFIG_NSH_LOGIN_USERNAME="px4"
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_QUOTE=y
|
||||
@@ -198,7 +195,6 @@ CONFIG_STM32F7_PHYSR_10FD=0x14
|
||||
CONFIG_STM32F7_PHYSR_10HD=0x4
|
||||
CONFIG_STM32F7_PHYSR_ALTCONFIG=y
|
||||
CONFIG_STM32F7_PHYSR_ALTMODE=0x1C
|
||||
CONFIG_STM32F7_PROGMEM=y
|
||||
CONFIG_STM32F7_PWR=y
|
||||
CONFIG_STM32F7_RTC=y
|
||||
CONFIG_STM32F7_RTC_HSECLOCK=y
|
||||
@@ -233,7 +229,6 @@ CONFIG_STM32F7_USART_INVERT=y
|
||||
CONFIG_STM32F7_USART_SINGLEWIRE=y
|
||||
CONFIG_STM32F7_USART_SWAP=y
|
||||
CONFIG_STM32F7_WWDG=y
|
||||
CONFIG_SYSTEM_DHCPC_RENEW=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_SYSTEM_PING=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
|
||||
@@ -14,7 +14,6 @@ px4_add_board(
|
||||
TOOLCHAIN arm-linux-gnueabihf
|
||||
TESTING
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
#barometer # all available barometer drivers
|
||||
barometer/bmp280
|
||||
@@ -25,8 +24,6 @@ px4_add_board(
|
||||
distance_sensor # all available distance sensor drivers
|
||||
gps
|
||||
#imu # all available imu drivers
|
||||
imu/analog_devices/adis16448
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/mpu9250
|
||||
linux_pwm_out
|
||||
#magnetometer # all available magnetometer drivers
|
||||
@@ -42,12 +39,10 @@ px4_add_board(
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
@@ -67,8 +62,6 @@ px4_add_board(
|
||||
sih
|
||||
#simulator
|
||||
temperature_compensation
|
||||
uuv_att_control
|
||||
uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
@@ -82,9 +75,8 @@ px4_add_board(
|
||||
perf
|
||||
pwm
|
||||
sd_bench
|
||||
#serial_test
|
||||
system_time
|
||||
shutdown
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
#top
|
||||
topic_listener
|
||||
@@ -93,10 +85,8 @@ px4_add_board(
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
dyn_hello # dynamically loading modules example
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
dyn_hello # dynamically loading modules example
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
#hwtest # Hardware test
|
||||
|
||||
@@ -97,7 +97,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
|
||||
CONFIG_NSH_DISABLE_IFUPDOWN=y
|
||||
CONFIG_NSH_DISABLE_MB=y
|
||||
CONFIG_NSH_DISABLE_MH=y
|
||||
CONFIG_NSH_DISABLE_MW=y
|
||||
CONFIG_NSH_DISABLE_TELNETD=y
|
||||
CONFIG_NSH_FATDEVNO=0
|
||||
CONFIG_NSH_LINELEN=128
|
||||
|
||||
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Reference in New Issue
Block a user