mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-24 10:17:34 +08:00
Compare commits
2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Hamish Willee
|
d4d3f8e797 | ||
|
Hamish Willee
|
bad860269d |
@@ -1,10 +0,0 @@
|
||||
# Labeler configuration file for GitHub Actions
|
||||
# The action is ./.github/workflows/label.yml
|
||||
# Docs for the syntax in this file can be found at
|
||||
# https://github.com/actions/labeler
|
||||
|
||||
|
||||
# Add 'Documentation' label to any changes within 'docs' folder or any subfolders
|
||||
"Documentation+📑":
|
||||
- changed-files:
|
||||
- any-glob-to-any-file: docs/**
|
||||
@@ -18,7 +18,7 @@ on:
|
||||
- 'docs/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
|
||||
@@ -6,15 +6,13 @@ on:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '.github/**'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
@@ -43,7 +41,7 @@ jobs:
|
||||
- name: Building [${{ matrix.check }}]
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
image: px4io/px4-dev-nuttx-focal:2022-08-12
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd /workspace
|
||||
|
||||
@@ -6,11 +6,13 @@ on:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
@@ -6,15 +6,13 @@ on:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '.github/**'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
|
||||
@@ -9,19 +9,17 @@ on:
|
||||
- 'release/**'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
|
||||
env:
|
||||
RUNS_IN_DOCKER: true
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
build_and_test:
|
||||
name: Build and Test
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
- 'v*'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths:
|
||||
- '.github/workflows/dev_container.yml'
|
||||
- 'Tools/setup/ubuntu.sh'
|
||||
@@ -30,10 +30,6 @@ on:
|
||||
type: boolean
|
||||
default: false
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
setup:
|
||||
name: Set Tags and Variables
|
||||
|
||||
@@ -9,7 +9,7 @@ on:
|
||||
- 'docs/en/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths:
|
||||
- 'docs/en/**'
|
||||
|
||||
@@ -80,7 +80,7 @@ jobs:
|
||||
- name: Deploy
|
||||
run: |
|
||||
git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
|
||||
# make it an orphan branch
|
||||
# make it an orphan branch
|
||||
cd docs.px4.io
|
||||
CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
|
||||
git checkout --orphan "${CURRENT_DATETIME}_main"
|
||||
|
||||
@@ -3,9 +3,10 @@ name: EKF Change Indicator
|
||||
on:
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
|
||||
jobs:
|
||||
unit_tests:
|
||||
|
||||
@@ -4,6 +4,7 @@ on:
|
||||
push:
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
|
||||
jobs:
|
||||
unit_tests:
|
||||
|
||||
@@ -6,15 +6,13 @@ on:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '.github/**'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
@@ -29,7 +27,7 @@ jobs:
|
||||
"failsafe_web",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
image: px4io/px4-dev:v1.16.0-ondemand
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- name: Install Node v20.18.0
|
||||
|
||||
@@ -11,11 +11,13 @@ on:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
|
||||
env:
|
||||
MIN_FLASH_POS_DIFF_FOR_COMMENT: 50
|
||||
@@ -26,7 +28,7 @@ jobs:
|
||||
name: Analyzing ${{ matrix.target }}
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
image: px4io/px4-dev:v1.16.0-ondemand
|
||||
strategy:
|
||||
matrix:
|
||||
target: [px4_fmu-v5x, px4_fmu-v6x]
|
||||
|
||||
@@ -9,22 +9,20 @@ on:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '.github/**'
|
||||
|
||||
jobs:
|
||||
check_itcm:
|
||||
name: Checking ${{ matrix.target }}
|
||||
runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
|
||||
container:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
image: px4io/px4-dev:v1.16.0-ondemand
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
|
||||
@@ -1,21 +0,0 @@
|
||||
# This workflow will triage pull requests and apply a label based on the
|
||||
# paths that are modified in the pull request.
|
||||
# The paths are set up in .github/labeler.yml
|
||||
#
|
||||
# See: https://github.com/actions/labeler
|
||||
|
||||
name: Labeler
|
||||
on: [pull_request_target]
|
||||
|
||||
jobs:
|
||||
label:
|
||||
|
||||
runs-on: ubuntu-latest
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
|
||||
steps:
|
||||
- uses: actions/labeler@v5
|
||||
with:
|
||||
repo-token: "${{ secrets.GITHUB_TOKEN }}"
|
||||
@@ -6,15 +6,13 @@ on:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '.github/**'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
|
||||
@@ -6,15 +6,13 @@ on:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '.github/**'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
|
||||
@@ -6,15 +6,13 @@ on:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '.github/**'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
@@ -33,7 +31,7 @@ jobs:
|
||||
- name: Build PX4 and Run Test [${{ matrix.config }}]
|
||||
uses: addnab/docker-run-action@v3
|
||||
with:
|
||||
image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
|
||||
image: px4io/px4-dev:v1.16.0-ondemand
|
||||
options: -v ${{ github.workspace }}:/workspace
|
||||
run: |
|
||||
cd /workspace
|
||||
|
||||
@@ -6,11 +6,13 @@ on:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
|
||||
@@ -11,15 +11,13 @@ on:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '.github/**'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
@@ -35,12 +33,6 @@ jobs:
|
||||
- name: Git Ownership Workaround
|
||||
run: git config --system --add safe.directory '*'
|
||||
|
||||
- name: Update ROS Keys
|
||||
run: |
|
||||
sudo rm /etc/apt/sources.list.d/ros2.list && \
|
||||
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
|
||||
|
||||
- name: Install gazebo
|
||||
run: |
|
||||
apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
|
||||
|
||||
@@ -5,19 +5,16 @@ on:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
defaults:
|
||||
run:
|
||||
shell: bash
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
build_and_test:
|
||||
name: Build and test
|
||||
|
||||
@@ -11,15 +11,13 @@ on:
|
||||
- 'main'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
- '.github/**'
|
||||
pull_request:
|
||||
branches:
|
||||
- '**'
|
||||
- '*'
|
||||
paths-ignore:
|
||||
- 'docs/**'
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
- '.github/**'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
|
||||
Vendored
-10
@@ -6,11 +6,6 @@ CONFIG:
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_spacecraft:
|
||||
short: px4_sitl_spacecraft
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_spacecraft
|
||||
px4_sitl_nolockstep:
|
||||
short: px4_sitl_nolockstep
|
||||
buildType: RelWithDebInfo
|
||||
@@ -306,11 +301,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: holybro_durandal-v1_default
|
||||
holybro_kakuteh7-wing_default:
|
||||
short: holybro_kakuteh7-wing
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: holybro_kakuteh7-wing_default
|
||||
holybro_kakuteh7dualimu_default:
|
||||
short: holybro_kakuteh7dualimu
|
||||
buildType: MinSizeRel
|
||||
|
||||
@@ -426,6 +426,7 @@ if(BUILD_TESTING)
|
||||
set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
|
||||
endif()
|
||||
|
||||
|
||||
#=============================================================================
|
||||
# subdirectories
|
||||
#
|
||||
@@ -495,6 +496,7 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
|
||||
include(bloaty)
|
||||
|
||||
|
||||
include(doxygen)
|
||||
include(metadata)
|
||||
include(package)
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -365,7 +365,7 @@ coverity_scan: px4_sitl_default
|
||||
|
||||
# Documentation
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata
|
||||
.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
|
||||
|
||||
parameters_metadata:
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
|
||||
@@ -381,6 +381,12 @@ extract_events:
|
||||
|
||||
px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
|
||||
|
||||
doxygen:
|
||||
@mkdir -p "$(SRC_DIR)"/build/doxygen
|
||||
@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
|
||||
@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
|
||||
@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
|
||||
|
||||
# Style
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: check_format format check_newlines
|
||||
@@ -410,18 +416,11 @@ tests:
|
||||
$(eval UBSAN_OPTIONS += color=always)
|
||||
$(call cmake-build,px4_sitl_test)
|
||||
|
||||
# work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
|
||||
LCOBUG = --ignore-errors mismatch
|
||||
tests_coverage:
|
||||
@$(MAKE) clean
|
||||
@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@mkdir -p coverage
|
||||
@lcov --directory build/px4_sitl_test \
|
||||
--base-directory build/px4_sitl_test \
|
||||
--gcov-tool gcov \
|
||||
--capture \
|
||||
$(LCOBUG) \
|
||||
-o coverage/lcov.info
|
||||
@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
|
||||
|
||||
rostest: px4_sitl_default
|
||||
|
||||
+2
-23
@@ -216,33 +216,12 @@ foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
|
||||
if(CONFIG_SYSTEMCMDS_BL_UPDATE)
|
||||
# generate rc.board_bootloader_upgrade
|
||||
set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
|
||||
message(STATUS "ROMFS: Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
|
||||
|
||||
# Generate the file using configure_file at configure time to a temporary location
|
||||
set(bootloader_upgrade_tmp ${CMAKE_CURRENT_BINARY_DIR}/rc.board_bootloader_upgrade.tmp)
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${bootloader_upgrade_tmp} @ONLY)
|
||||
|
||||
# Then copy it at build time with proper dependencies
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
|
||||
rc.board_bootloader_upgrade.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_upgrade_tmp} ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade
|
||||
COMMAND ${CMAKE_COMMAND} -E touch rc.board_bootloader_upgrade.stamp
|
||||
DEPENDS
|
||||
${bootloader_upgrade_tmp}
|
||||
${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in
|
||||
romfs_copy.stamp
|
||||
COMMENT "ROMFS: copying rc.board_bootloader_upgrade"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
rc.board_bootloader_upgrade.stamp
|
||||
)
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
|
||||
else()
|
||||
# remove bootloader from extras
|
||||
list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
|
||||
endif()
|
||||
|
||||
endif()
|
||||
endforeach()
|
||||
|
||||
|
||||
@@ -46,22 +46,3 @@ param set-default PWM_MAIN_FUNC3 203
|
||||
param set-default PWM_MAIN_FUNC4 101
|
||||
|
||||
param set-default EKF2_GPS_DELAY 0
|
||||
|
||||
# Rate controllers
|
||||
param set-default FW_RR_P 0.0500
|
||||
param set-default FW_RR_I 2.0000
|
||||
param set-default FW_RR_D 0.0000
|
||||
param set-default FW_RR_FF 0.0000
|
||||
param set-default FW_RR_IMAX 1.0000
|
||||
|
||||
param set-default FW_PR_P 0.0800
|
||||
param set-default FW_PR_I 2.5000
|
||||
param set-default FW_PR_D 0.0000
|
||||
param set-default FW_PR_FF 0.0000
|
||||
param set-default FW_PR_IMAX 1.0000
|
||||
|
||||
param set-default FW_YR_P 0.0500
|
||||
param set-default FW_YR_I 3.0000
|
||||
param set-default FW_YR_D 0.0000
|
||||
param set-default FW_YR_FF 0.0000
|
||||
param set-default FW_YR_IMAX 1.0000
|
||||
|
||||
@@ -15,6 +15,7 @@ param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
# Differential Parameters
|
||||
param set-default RD_WHEEL_TRACK 0.3
|
||||
param set-default RD_MAX_THR_YAW_R 1.5
|
||||
param set-default RD_TRANS_DRV_TRN 0.349066
|
||||
param set-default RD_TRANS_TRN_DRV 0.174533
|
||||
|
||||
@@ -30,16 +31,14 @@ param set-default RO_YAW_RATE_P 0.25
|
||||
param set-default RO_YAW_RATE_LIM 180
|
||||
param set-default RO_YAW_ACCEL_LIM 120
|
||||
param set-default RO_YAW_DECEL_LIM 1000
|
||||
param set-default RO_YAW_RATE_CORR 1.43
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Rover Velocity Control Parameters
|
||||
# Rover Position Control Parameters
|
||||
param set-default RO_SPEED_LIM 2
|
||||
param set-default RO_SPEED_I 0.01
|
||||
param set-default RO_SPEED_P 0.1
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
|
||||
@@ -1,68 +1,51 @@
|
||||
#!/bin/sh
|
||||
# @name Gazebo - Zero Turn Lawnmower
|
||||
# @name Gazebo lawnmower
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_differential_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=lawn}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
# We can arm and drive in manual mode when it slides and GPS check fails:
|
||||
param set-default COM_ARM_WO_GPS 1
|
||||
|
||||
# Differential Parameters
|
||||
# Rover parameters
|
||||
param set-default RD_WHEEL_TRACK 0.9
|
||||
param set-default RD_YAW_RATE_I 0.1
|
||||
param set-default RD_YAW_RATE_P 5
|
||||
param set-default RD_MAX_ACCEL 1
|
||||
param set-default RD_MAX_JERK 3
|
||||
param set-default RD_MAX_SPEED 8
|
||||
param set-default RD_YAW_P 5
|
||||
param set-default RD_YAW_I 0.1
|
||||
param set-default RD_MAX_YAW_RATE 30
|
||||
param set-default RD_TRANS_DRV_TRN 0.349066
|
||||
param set-default RD_TRANS_TRN_DRV 0.174533
|
||||
|
||||
# Rover Control Parameters
|
||||
param set-default RO_ACCEL_LIM 1.5
|
||||
param set-default RO_DECEL_LIM 5
|
||||
param set-default RO_JERK_LIM 15
|
||||
param set-default RO_MAX_THR_SPEED 2.7
|
||||
|
||||
# Rover Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.2
|
||||
param set-default RO_YAW_RATE_P 1.0
|
||||
param set-default RO_YAW_RATE_LIM 60
|
||||
param set-default RO_YAW_ACCEL_LIM 50
|
||||
param set-default RO_YAW_DECEL_LIM 1000
|
||||
param set-default RO_YAW_RATE_CORR 1.0
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Rover Velocity Control Parameters
|
||||
param set-default RO_SPEED_LIM 2.1
|
||||
param set-default RO_SPEED_I 0.01
|
||||
param set-default RO_SPEED_P 0.1
|
||||
param set-defatul RO_SPEED_RED 1.0
|
||||
|
||||
# Pure pursuit parameters
|
||||
param set-default PP_LOOKAHD_MAX 30
|
||||
param set-default PP_LOOKAHD_MIN 2
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# Actuator mapping - set SITL motors/servos output parameters:
|
||||
|
||||
# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
|
||||
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
|
||||
param set-default SIM_GZ_WH_MIN1 87
|
||||
param set-default SIM_GZ_WH_MAX1 113
|
||||
param set-default SIM_GZ_WH_DIS1 100
|
||||
param set-default SIM_GZ_WH_FAIL1 100
|
||||
#param set-default SIM_GZ_WH_MIN1 0
|
||||
#param set-default SIM_GZ_WH_MAX1 200
|
||||
#param set-default SIM_GZ_WH_DIS1 100
|
||||
#param set-default SIM_GZ_WH_FAIL1 100
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC2 102 # left wheel
|
||||
param set-default SIM_GZ_WH_MIN2 87
|
||||
param set-default SIM_GZ_WH_MAX2 113
|
||||
param set-default SIM_GZ_WH_DIS2 100
|
||||
param set-default SIM_GZ_WH_FAIL2 100
|
||||
#param set-default SIM_GZ_WH_MIN2 0
|
||||
#param set-default SIM_GZ_WH_MAX2 200
|
||||
#param set-default SIM_GZ_WH_DIS2 100
|
||||
#param set-default SIM_GZ_WH_FAIL2 100
|
||||
|
||||
param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
|
||||
|
||||
|
||||
@@ -30,16 +30,14 @@ param set-default RO_MAX_THR_SPEED 3.1
|
||||
param set-default RO_YAW_RATE_I 0.1
|
||||
param set-default RO_YAW_RATE_P 1
|
||||
param set-default RO_YAW_RATE_LIM 180
|
||||
param set-default RO_YAW_RATE_CORR 1
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 3
|
||||
|
||||
# Rover Velocity Control Parameters
|
||||
# Rover Position Control Parameters
|
||||
param set-default RO_SPEED_LIM 3
|
||||
param set-default RO_SPEED_I 0.1
|
||||
param set-default RO_SPEED_P 1
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
|
||||
@@ -15,6 +15,8 @@ param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
# Mecanum Parameters
|
||||
param set-default RM_WHEEL_TRACK 0.3
|
||||
param set-default RM_MAX_THR_YAW_R 1.2
|
||||
param set-default RM_MISS_SPD_GAIN 1
|
||||
|
||||
# Rover Control Parameters
|
||||
param set-default RO_ACCEL_LIM 3
|
||||
@@ -28,16 +30,14 @@ param set-default RO_YAW_RATE_P 0.1
|
||||
param set-default RO_YAW_RATE_LIM 120
|
||||
param set-default RO_YAW_ACCEL_LIM 240
|
||||
param set-default RO_YAW_DECEL_LIM 1000
|
||||
param set-default RO_YAW_RATE_CORR 1.75
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Rover Velocity Control Parameters
|
||||
# Rover Position Control Parameters
|
||||
param set-default RO_SPEED_LIM 2
|
||||
param set-default RO_SPEED_I 0.5
|
||||
param set-default RO_SPEED_P 1
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 0.5
|
||||
|
||||
@@ -1,56 +0,0 @@
|
||||
#!/bin/sh
|
||||
# @name Generic Differential Rover
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
|
||||
. ${R}etc/init.d/rc.rover_differential_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_differential}
|
||||
|
||||
param set-default SIM_GZ_EN 1 # Gazebo bridge
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
# Differential Parameters
|
||||
param set-default RD_WHEEL_TRACK 0.6
|
||||
param set-default RD_TRANS_DRV_TRN 0.785398
|
||||
param set-default RD_TRANS_TRN_DRV 0.174533
|
||||
|
||||
# Rate Control Parameters
|
||||
param set-default RO_YAW_RATE_I 0.01
|
||||
param set-default RO_YAW_RATE_P 0.25
|
||||
param set-default RO_YAW_RATE_LIM 250
|
||||
param set-default RO_YAW_ACCEL_LIM 400
|
||||
param set-default RO_YAW_DECEL_LIM 800
|
||||
param set-default RO_YAW_RATE_CORR 1
|
||||
|
||||
# Attitude Control Parameters
|
||||
param set-default RO_YAW_P 5
|
||||
|
||||
# Velocity Control Parameters
|
||||
param set-default RO_ACCEL_LIM 4
|
||||
param set-default RO_DECEL_LIM 6
|
||||
param set-default RO_JERK_LIM 10
|
||||
param set-default RO_MAX_THR_SPEED 2
|
||||
param set-default RO_SPEED_LIM 1.8
|
||||
param set-default RO_SPEED_I 0.01
|
||||
param set-default RO_SPEED_P 0.01
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
param set-default PP_LOOKAHD_MAX 10
|
||||
param set-default PP_LOOKAHD_MIN 1
|
||||
|
||||
# Actuator mapping
|
||||
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
|
||||
param set-default SIM_GZ_WH_MIN1 80
|
||||
param set-default SIM_GZ_WH_MAX1 120
|
||||
param set-default SIM_GZ_WH_DIS1 100
|
||||
|
||||
param set-default SIM_GZ_WH_FUNC2 102 # left wheel
|
||||
param set-default SIM_GZ_WH_MIN2 80
|
||||
param set-default SIM_GZ_WH_MAX2 120
|
||||
param set-default SIM_GZ_WH_DIS2 100
|
||||
@@ -0,0 +1,155 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 6DoF Spacecraft Model
|
||||
#
|
||||
# @type Freeflyer with 8 thrusters
|
||||
#
|
||||
# @maintainer Pedro Roque <padr@kth.se>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.sc_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 15
|
||||
param set-default MAV_TYPE 99
|
||||
|
||||
param set-default CA_THRUSTER_CNT 12
|
||||
param set-default CA_R_REV 0
|
||||
|
||||
# param set-default FW_ARSP_MODE 1
|
||||
|
||||
# Auto to be provided by Custom Airframe
|
||||
param set-default CA_METHOD 0
|
||||
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
|
||||
# Set proper failsafes
|
||||
param set-default COM_ACT_FAIL_ACT 0
|
||||
param set-default COM_LOW_BAT_ACT 0
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default GF_ACTION 1
|
||||
param set-default NAV_RCL_ACT 1
|
||||
param set-default COM_POSCTL_NAVL 2
|
||||
|
||||
# Set thrusters
|
||||
param set-default CA_THRUSTER0_PX -0.50
|
||||
param set-default CA_THRUSTER0_PY 0.50
|
||||
param set-default CA_THRUSTER0_PZ 0.0
|
||||
param set-default CA_THRUSTER0_CT 0.237
|
||||
param set-default CA_THRUSTER0_AX 0.0
|
||||
param set-default CA_THRUSTER0_AY -1.0
|
||||
param set-default CA_THRUSTER0_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER1_PX 0.50
|
||||
param set-default CA_THRUSTER1_PY 0.50
|
||||
param set-default CA_THRUSTER1_PZ 0.0
|
||||
param set-default CA_THRUSTER1_CT 0.237
|
||||
param set-default CA_THRUSTER1_AX 0.0
|
||||
param set-default CA_THRUSTER1_AY -1.0
|
||||
param set-default CA_THRUSTER1_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER2_PX 0.50
|
||||
param set-default CA_THRUSTER2_PY -0.50
|
||||
param set-default CA_THRUSTER2_PZ 0.0
|
||||
param set-default CA_THRUSTER2_CT 0.237
|
||||
param set-default CA_THRUSTER2_AX 0.0
|
||||
param set-default CA_THRUSTER2_AY 1.0
|
||||
param set-default CA_THRUSTER2_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER3_PX -0.50
|
||||
param set-default CA_THRUSTER3_PY -0.50
|
||||
param set-default CA_THRUSTER3_PZ 0.0
|
||||
param set-default CA_THRUSTER3_CT 0.237
|
||||
param set-default CA_THRUSTER3_AX 0.0
|
||||
param set-default CA_THRUSTER3_AY 1.0
|
||||
param set-default CA_THRUSTER3_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER4_PX -0.50
|
||||
param set-default CA_THRUSTER4_PY 0.0
|
||||
param set-default CA_THRUSTER4_PZ -0.50
|
||||
param set-default CA_THRUSTER4_CT 0.237
|
||||
param set-default CA_THRUSTER4_AX 1.0
|
||||
param set-default CA_THRUSTER4_AY 0.0
|
||||
param set-default CA_THRUSTER4_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER5_PX 0.50
|
||||
param set-default CA_THRUSTER5_PY 0.0
|
||||
param set-default CA_THRUSTER5_PZ -0.50
|
||||
param set-default CA_THRUSTER5_CT 0.237
|
||||
param set-default CA_THRUSTER5_AX -1.0
|
||||
param set-default CA_THRUSTER5_AY 0.0
|
||||
param set-default CA_THRUSTER5_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER6_PX 0.50
|
||||
param set-default CA_THRUSTER6_PY 0.0
|
||||
param set-default CA_THRUSTER6_PZ 0.50
|
||||
param set-default CA_THRUSTER6_CT 0.237
|
||||
param set-default CA_THRUSTER6_AX -1.0
|
||||
param set-default CA_THRUSTER6_AY 0.0
|
||||
param set-default CA_THRUSTER6_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER7_PX -0.50
|
||||
param set-default CA_THRUSTER7_PY 0.0
|
||||
param set-default CA_THRUSTER7_PZ 0.50
|
||||
param set-default CA_THRUSTER7_CT 0.237
|
||||
param set-default CA_THRUSTER7_AX 1.0
|
||||
param set-default CA_THRUSTER7_AY 0.0
|
||||
param set-default CA_THRUSTER7_AZ 0.0
|
||||
|
||||
param set-default CA_THRUSTER8_PX 0.0
|
||||
param set-default CA_THRUSTER8_PY -0.50
|
||||
param set-default CA_THRUSTER8_PZ -0.50
|
||||
param set-default CA_THRUSTER8_CT 0.237
|
||||
param set-default CA_THRUSTER8_AX 0.0
|
||||
param set-default CA_THRUSTER8_AY 0.0
|
||||
param set-default CA_THRUSTER8_AZ 1.0
|
||||
|
||||
param set-default CA_THRUSTER9_PX 0.0
|
||||
param set-default CA_THRUSTER9_PY 0.50
|
||||
param set-default CA_THRUSTER9_PZ -0.50
|
||||
param set-default CA_THRUSTER9_CT 0.237
|
||||
param set-default CA_THRUSTER9_AX 0.0
|
||||
param set-default CA_THRUSTER9_AY 0.0
|
||||
param set-default CA_THRUSTER9_AZ 1.0
|
||||
|
||||
param set-default CA_THRUSTER10_PX 0.0
|
||||
param set-default CA_THRUSTER10_PY 0.50
|
||||
param set-default CA_THRUSTER10_PZ 0.50
|
||||
param set-default CA_THRUSTER10_CT 0.237
|
||||
param set-default CA_THRUSTER10_AX 0.0
|
||||
param set-default CA_THRUSTER10_AY 0.0
|
||||
param set-default CA_THRUSTER10_AZ -1.0
|
||||
|
||||
param set-default CA_THRUSTER11_PX 0.0
|
||||
param set-default CA_THRUSTER11_PY -0.50
|
||||
param set-default CA_THRUSTER11_PZ 0.50
|
||||
param set-default CA_THRUSTER11_CT 0.237
|
||||
param set-default CA_THRUSTER11_AX 0.0
|
||||
param set-default CA_THRUSTER11_AY 0.0
|
||||
param set-default CA_THRUSTER11_AZ -1.0
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
param set-default PWM_MAIN_FUNC7 107
|
||||
param set-default PWM_MAIN_FUNC8 108
|
||||
param set-default PWM_MAIN_FUNC9 109
|
||||
param set-default PWM_MAIN_FUNC10 110
|
||||
param set-default PWM_MAIN_FUNC11 111
|
||||
param set-default PWM_MAIN_FUNC12 112
|
||||
|
||||
# PWM Simulation
|
||||
param set PWM_SIM_PWM_MAX 10000
|
||||
param set PWM_SIM_PWM_MIN 0
|
||||
|
||||
# Controller Tunings
|
||||
param set-default SC_ROLLRATE_P 0.14
|
||||
param set-default SC_PITCHRATE_P 0.14
|
||||
param set-default SC_ROLLRATE_I 0.3
|
||||
param set-default SC_PITCHRATE_I 0.3
|
||||
param set-default SC_ROLLRATE_D 0.004
|
||||
param set-default SC_PITCHRATE_D 0.004
|
||||
@@ -20,7 +20,7 @@ param set-default COM_ARM_CHK_ESCS 0 # We don't have ESCs
|
||||
param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
|
||||
|
||||
param set-default CA_AIRFRAME 14
|
||||
param set-default MAV_TYPE 45
|
||||
param set-default MAV_TYPE 99
|
||||
|
||||
param set-default CA_THRUSTER_CNT 8
|
||||
param set-default CA_R_REV 0
|
||||
|
||||
@@ -114,8 +114,7 @@ px4_add_romfs_files(
|
||||
17001_flightgear_tf-g1
|
||||
17002_flightgear_tf-g2
|
||||
|
||||
50000_gz_rover_differential
|
||||
|
||||
71001_gazebo-classic_spacecraft_dart
|
||||
71002_gz_spacecraft_2d
|
||||
|
||||
# [22000, 22999] Reserve for custom models
|
||||
|
||||
@@ -5,5 +5,8 @@
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_differential_defaults
|
||||
|
||||
@@ -7,6 +7,9 @@
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_differential_defaults
|
||||
|
||||
@@ -23,6 +26,7 @@ param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
# Differential Parameters
|
||||
param set-default RD_WHEEL_TRACK 0.3
|
||||
param set-default RD_MAX_THR_YAW_R 0.7
|
||||
param set-default RD_TRANS_DRV_TRN 0.785398
|
||||
param set-default RD_TRANS_TRN_DRV 0.139626
|
||||
|
||||
@@ -38,16 +42,14 @@ param set-default RO_YAW_RATE_P 0.1
|
||||
param set-default RO_YAW_RATE_LIM 250
|
||||
param set-default RO_YAW_ACCEL_LIM 600
|
||||
param set-default RO_YAW_DECEL_LIM 600
|
||||
param set-default RO_YAW_RATE_CORR 2.7
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 2.5
|
||||
|
||||
# Rover Velocity Control Parameters
|
||||
# Rover Position Control Parameters
|
||||
param set-default RO_SPEED_LIM 1.6
|
||||
param set-default RO_SPEED_I 0.01
|
||||
param set-default RO_SPEED_P 0.1
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure Pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
|
||||
@@ -5,5 +5,8 @@
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_ackermann_defaults
|
||||
|
||||
@@ -7,6 +7,9 @@
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_ackermann_defaults
|
||||
|
||||
@@ -30,16 +33,14 @@ param set-default RO_MAX_THR_SPEED 2.8
|
||||
param set-default RO_YAW_RATE_I 0.1
|
||||
param set-default RO_YAW_RATE_P 0.1
|
||||
param set-default RO_YAW_RATE_LIM 120
|
||||
param set-default RO_YAW_RATE_CORR 1
|
||||
|
||||
# Rover Attitude Control Parameters
|
||||
param set-default RO_YAW_P 2.5
|
||||
|
||||
# Rover Velocity Control Parameters
|
||||
# Rover Position Control Parameters
|
||||
param set-default RO_SPEED_LIM 2.5
|
||||
param set-default RO_SPEED_I 0.01
|
||||
param set-default RO_SPEED_P 0.1
|
||||
param set-default RO_SPEED_RED 1
|
||||
|
||||
# Pure pursuit parameters
|
||||
param set-default PP_LOOKAHD_GAIN 1
|
||||
|
||||
@@ -5,5 +5,8 @@
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.rover_mecanum_defaults
|
||||
|
||||
@@ -11,7 +11,7 @@
|
||||
. ${R}etc/init.d/rc.sc_defaults
|
||||
|
||||
param set-default CA_AIRFRAME 14
|
||||
param set-default MAV_TYPE 45
|
||||
param set-default MAV_TYPE 99
|
||||
|
||||
param set-default CA_THRUSTER_CNT 8
|
||||
param set-default CA_R_REV 0
|
||||
|
||||
@@ -13,7 +13,6 @@ control_allocator start
|
||||
#
|
||||
# Start attitude controller.
|
||||
#
|
||||
fw_dyn_soar_control start
|
||||
fw_rate_control start
|
||||
fw_att_control start
|
||||
fw_mode_manager start
|
||||
|
||||
@@ -3,10 +3,10 @@
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
set VEHICLE_TYPE spacecraft
|
||||
set VEHICLE_TYPE sc
|
||||
|
||||
# MAV_TYPE_SPACECRAFT_ORBITTER
|
||||
param set-default MAV_TYPE 45
|
||||
# MAV_TYPE_QUADROTOR 2
|
||||
#param set-default MAV_TYPE 12
|
||||
|
||||
# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
|
||||
param set-default UXRCE_DDS_AG_IP -1062731775
|
||||
|
||||
@@ -234,7 +234,6 @@ then
|
||||
lis3mdl -X -q -a 0x1c start
|
||||
fi
|
||||
qmc5883l -X -q start
|
||||
qmc5883p -X -q start
|
||||
rm3100 -X -q start
|
||||
|
||||
# start last (wait for possible icm20948 passthrough mode)
|
||||
|
||||
@@ -68,15 +68,6 @@ then
|
||||
. ${R}etc/init.d/rc.vtol_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# Spapcecraft setup.
|
||||
#
|
||||
if [ $VEHICLE_TYPE = spacecraft ]
|
||||
then
|
||||
# Start standard multicopter apps.
|
||||
. ${R}etc/init.d/rc.sc_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# Airship setup.
|
||||
#
|
||||
|
||||
@@ -224,7 +224,7 @@ else
|
||||
# Look for airframe in ROMFS
|
||||
. ${R}etc/init.d/rc.autostart
|
||||
|
||||
if [ ${VEHICLE_TYPE} = none ]
|
||||
if [ ${VEHICLE_TYPE} == none ]
|
||||
then
|
||||
# Use external startup file
|
||||
if [ $STORAGE_AVAILABLE = yes ]
|
||||
@@ -235,7 +235,7 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ ${VEHICLE_TYPE} = none ]
|
||||
if [ ${VEHICLE_TYPE} == none ]
|
||||
then
|
||||
echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
|
||||
param set SYS_AUTOSTART 0
|
||||
@@ -280,14 +280,6 @@ else
|
||||
#
|
||||
send_event start
|
||||
|
||||
#
|
||||
# Start the hardfault streamer.
|
||||
#
|
||||
if param compare -s SYS_HF_MAV 1
|
||||
then
|
||||
hardfault_stream start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the resource load monitor.
|
||||
#
|
||||
|
||||
@@ -3,14 +3,14 @@
|
||||
return_value=0
|
||||
|
||||
# Check if there are files checked in that don't end in a newline (POSIX requirement)
|
||||
git grep --cached -Il '' -- ':!docs/public/' ':!docs/ko/' ':!docs/uk/' ':!docs/zh/' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
|
||||
git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
|
||||
|
||||
if [ $? -ne 0 ]; then
|
||||
return_value=1
|
||||
fi
|
||||
|
||||
# Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks)
|
||||
git grep --cached -Il '' -- ':!docs/public/' ':!docs/ko/' ':!docs/uk/' ':!docs/zh/' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
|
||||
git grep --cached -Il '' -- ':!docs/*' | xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
|
||||
|
||||
if [ $? -ne 0 ]; then
|
||||
return_value=1
|
||||
|
||||
@@ -35,7 +35,6 @@ if args.filter:
|
||||
for board in args.filter.split(','):
|
||||
board_filter.append(board)
|
||||
|
||||
default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
|
||||
build_configs = []
|
||||
grouped_targets = {}
|
||||
excluded_boards = ['modalai_voxl2', 'px4_ros2'] # TODO: fix and enable
|
||||
@@ -87,7 +86,7 @@ def process_target(px4board_file, target_name):
|
||||
assert platform, f"PLATFORM not found in {px4board_file}"
|
||||
|
||||
if platform not in excluded_platforms:
|
||||
container = default_container
|
||||
container = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
|
||||
if platform == 'posix':
|
||||
group = 'base'
|
||||
if toolchain:
|
||||
@@ -121,7 +120,7 @@ if(verbose):
|
||||
# - Events
|
||||
metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
|
||||
grouped_targets['base'] = {}
|
||||
grouped_targets['base']['container'] = default_container
|
||||
grouped_targets['base']['container'] = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
|
||||
grouped_targets['base']['manufacturers'] = {}
|
||||
grouped_targets['base']['manufacturers']['px4'] = []
|
||||
grouped_targets['base']['manufacturers']['px4'] += metadata_targets
|
||||
|
||||
+1
-1
@@ -15,7 +15,7 @@ fi
|
||||
|
||||
# otherwise default to nuttx
|
||||
if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-ondemand"
|
||||
fi
|
||||
|
||||
echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
|
||||
|
||||
@@ -5,7 +5,7 @@
|
||||
set SERIAL_DEV none
|
||||
{% for serial_device in serial_devices -%}
|
||||
if param compare "$PRT" {{ serial_device.index }}; then
|
||||
if [ "$PRT_{{ serial_device.tag }}_" = "" ]; then
|
||||
if [ "x$PRT_{{ serial_device.tag }}_" = "x" ]; then
|
||||
set SERIAL_DEV {{ serial_device.device }}
|
||||
set BAUD_PARAM SER_{{ serial_device.tag }}_BAUD
|
||||
set PRT_{{ serial_device.tag }}_ 1
|
||||
|
||||
@@ -27,4 +27,3 @@ six>=1.12.0
|
||||
toml>=0.9
|
||||
sympy>=1.10.1
|
||||
pycryptodome
|
||||
lark
|
||||
|
||||
Submodule Tools/simulation/gazebo-classic/sitl_gazebo-classic updated: 3cb9b94c80...70683dc759
+1
-1
Submodule Tools/simulation/gz updated: 929d55e883...e05f4312d3
@@ -62,7 +62,6 @@ CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_HARDFAULT_STREAM=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
|
||||
@@ -43,7 +43,6 @@ CONFIG_FIGURE_OF_EIGHT=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_HARDFAULT_STREAM=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
|
||||
@@ -20,7 +20,6 @@ CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
|
||||
CONFIG_COMMON_INS=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
@@ -43,8 +42,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -12,17 +12,10 @@ else
|
||||
fi
|
||||
|
||||
iim42652 -s -R 22 start
|
||||
|
||||
bmi088 -A -R 29 -s start
|
||||
if ! bmi088 -G -R 29 -s start
|
||||
then
|
||||
iim42653 -s -b 2 -R 22 start
|
||||
fi
|
||||
bmi088 -G -R 29 -s start
|
||||
|
||||
if ! ist8310 -I -R 18 start
|
||||
then
|
||||
iis2mdc -I -R 37 start
|
||||
fi
|
||||
ist8310 -I -R 18 start
|
||||
|
||||
bmp581 -s start
|
||||
icp201xx -I start
|
||||
|
||||
@@ -42,7 +42,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortG, GPIO::Pin2}, SPI::DRDY{GPIO::PortG, GPIO::Pin3}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortD, GPIO::Pin12}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
|
||||
}, {GPIO::PortI, GPIO::Pin11}),
|
||||
// initSPIBus(SPI::Bus::SPI3,{
|
||||
// // no devices
|
||||
|
||||
@@ -14,7 +14,6 @@ CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -5,16 +5,14 @@
|
||||
|
||||
board_adc start
|
||||
|
||||
if ! mpu6000 -R 6 -s start; then
|
||||
if ! mpu6000 -R 6 -s start
|
||||
then
|
||||
# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
|
||||
if ! icm20602 -s -R 6 start; then
|
||||
# The ICM-42688-P is used on the Diatone Mamba F405 MK2 v2
|
||||
icm42688p -s -R 4 start
|
||||
fi
|
||||
icm20602 -s -R 6 start
|
||||
fi
|
||||
|
||||
if ! hmc5883 -T -X start
|
||||
then
|
||||
then
|
||||
if mpu9250_i2c -X -b 2 -a 0x68 -R 28 start; then
|
||||
sleep 1 # wait for mpu9250 to be configured with bypass enabled
|
||||
ak8963 -X -b 2 -R 30 start # -R 34
|
||||
|
||||
@@ -39,7 +39,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortA, GPIO::Pin4}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}),
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
|
||||
|
||||
@@ -5,8 +5,6 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
|
||||
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
|
||||
CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
|
||||
CONFIG_BOARD_CONSTRAINED_FLASH=y
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_BMP280=y
|
||||
CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
|
||||
@@ -63,6 +61,7 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_MFT=y
|
||||
CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
|
||||
Binary file not shown.
@@ -74,7 +74,7 @@
|
||||
#define BOARD_TYPE 1105
|
||||
#define BOARD_FLASH_SECTORS (14)
|
||||
#define BOARD_FLASH_SIZE (16 * 128 * 1024)
|
||||
#define APP_RESERVATION_SIZE (2 * 128 * 1024)
|
||||
#define APP_RESERVATION_SIZE (1 * 128 * 1024)
|
||||
|
||||
#define OSC_FREQ 16
|
||||
|
||||
|
||||
@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
|
||||
CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
|
||||
CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS5"
|
||||
CONFIG_BOARD_CONSTRAINED_FLASH=y
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BATT_SMBUS=y
|
||||
CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
|
||||
@@ -31,6 +30,7 @@ CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
@@ -70,17 +70,22 @@ CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
# CONFIG_MODULES_TEMPERATURE_COMPENSATION is not set
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_MFT=y
|
||||
CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
|
||||
Binary file not shown.
@@ -7,7 +7,7 @@
|
||||
"summary": "KAKUTEH7",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 1703936,
|
||||
"image_maxsize": 1835008,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
|
||||
@@ -110,7 +110,7 @@
|
||||
MEMORY
|
||||
{
|
||||
ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1664K /* params in last two sectors */
|
||||
FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
|
||||
|
||||
DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
|
||||
|
||||
@@ -72,7 +72,7 @@
|
||||
#define BOARD_TYPE 5409
|
||||
#define BOARD_FLASH_SECTORS (14)
|
||||
#define BOARD_FLASH_SIZE (16 * 128 * 1024)
|
||||
#define APP_RESERVATION_SIZE (2 * 128 * 1024)
|
||||
#define APP_RESERVATION_SIZE (1 * 128 * 1024)
|
||||
|
||||
#define OSC_FREQ 8
|
||||
|
||||
|
||||
@@ -48,11 +48,6 @@
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*
|
||||
* KakuteH7 DualIMU LED configuration:
|
||||
* - Red LED (PE9): TRIP LED, active high
|
||||
* - Blue LED (PC2): Status LED, active low
|
||||
* - Green LED: Hardware controlled, always on when powered (no software control)
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
@@ -61,28 +56,11 @@ extern void led_off(int led);
|
||||
extern void led_toggle(int led);
|
||||
__END_DECLS
|
||||
|
||||
#ifdef CONFIG_ARCH_LEDS
|
||||
static bool nuttx_owns_leds = true;
|
||||
// B R S G
|
||||
// 0 1 2 3
|
||||
static const uint8_t xlatpx4[] = {1, 0, 4, 2};
|
||||
# define xlat(p) xlatpx4[(p)]
|
||||
static uint32_t g_ledmap[] = {
|
||||
GPIO_LED_RED, // Indexed by BOARD_LED_RED
|
||||
GPIO_nLED_BLUE, // Indexed by BOARD_LED_BLUE
|
||||
};
|
||||
|
||||
static bool g_led_inverted[] = {
|
||||
false, // LED_RED is active high
|
||||
true, // LED_BLUE is active low
|
||||
};
|
||||
|
||||
#else
|
||||
|
||||
# define xlat(p) (p)
|
||||
#define xlat(p) (p)
|
||||
static uint32_t g_ledmap[] = {
|
||||
GPIO_nLED_BLUE, // Indexed by LED_BLUE
|
||||
GPIO_LED_RED, // Indexed by LED_RED
|
||||
GPIO_LED_RED, // Indexed by LED_RED
|
||||
};
|
||||
|
||||
static bool g_led_inverted[] = {
|
||||
@@ -90,7 +68,6 @@ static bool g_led_inverted[] = {
|
||||
false, // LED_RED is active high
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
|
||||
@@ -1,17 +1,15 @@
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_MODULES_ROVER_ACKERMANN=y
|
||||
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
|
||||
CONFIG_MODULES_ROVER_MECANUM=y
|
||||
CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=y
|
||||
CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
|
||||
@@ -1,17 +0,0 @@
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_MODULES_ROVER_ACKERMANN=y
|
||||
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
|
||||
CONFIG_MODULES_ROVER_MECANUM=y
|
||||
@@ -1,17 +0,0 @@
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_MODULES_ROVER_ACKERMANN=y
|
||||
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
|
||||
CONFIG_MODULES_ROVER_MECANUM=y
|
||||
@@ -1,17 +0,0 @@
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_MODULES_ROVER_ACKERMANN=y
|
||||
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
|
||||
CONFIG_MODULES_ROVER_MECANUM=y
|
||||
@@ -1,17 +1,23 @@
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_MODULES_UUV_ATT_CONTROL=n
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=n
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
# CONFIG_EKF2_WIND is not set
|
||||
CONFIG_MODULES_ROVER_ACKERMANN=y
|
||||
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
|
||||
CONFIG_MODULES_ROVER_MECANUM=y
|
||||
|
||||
@@ -64,7 +64,6 @@ CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_HARDFAULT_STREAM=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
@@ -5,6 +6,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
@@ -12,6 +14,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
# CONFIG_EKF2_WIND is not set
|
||||
CONFIG_MODULES_ROVER_ACKERMANN=y
|
||||
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
|
||||
CONFIG_MODULES_ROVER_MECANUM=y
|
||||
|
||||
@@ -5,6 +5,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
@@ -12,6 +13,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
# CONFIG_EKF2_WIND is not set
|
||||
CONFIG_MODULES_ROVER_ACKERMANN=y
|
||||
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
|
||||
CONFIG_MODULES_ROVER_MECANUM=y
|
||||
|
||||
@@ -5,6 +5,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
@@ -12,6 +13,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
# CONFIG_EKF2_WIND is not set
|
||||
CONFIG_MODULES_ROVER_ACKERMANN=y
|
||||
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
|
||||
CONFIG_MODULES_ROVER_MECANUM=y
|
||||
|
||||
@@ -62,7 +62,6 @@ CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_HARDFAULT_STREAM=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
|
||||
@@ -5,6 +5,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
@@ -12,6 +13,7 @@ CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
# CONFIG_EKF2_WIND is not set
|
||||
CONFIG_MODULES_ROVER_ACKERMANN=y
|
||||
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
|
||||
CONFIG_MODULES_ROVER_MECANUM=y
|
||||
|
||||
@@ -63,7 +63,6 @@ CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_HARDFAULT_STREAM=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=n
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
@@ -5,14 +6,16 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||
CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
# CONFIG_EKF2_WIND is not set
|
||||
CONFIG_MODULES_ROVER_ACKERMANN=y
|
||||
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
|
||||
CONFIG_MODULES_ROVER_MECANUM=y
|
||||
|
||||
@@ -17,7 +17,6 @@ CONFIG_MODULES_EKF2=y
|
||||
CONFIG_EKF2_VERBOSE_STATUS=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_DYN_SOAR_CONTROL=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
|
||||
@@ -20,9 +20,6 @@ CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_HEATER=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
|
||||
CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
|
||||
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
|
||||
CONFIG_COMMON_INS=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
|
||||
Executable → Regular
BIN
Binary file not shown.
@@ -27,6 +27,3 @@ else
|
||||
fi
|
||||
|
||||
safety_button start
|
||||
|
||||
# pwm voltage 3.3V/5V switch
|
||||
pwm_voltage_apply start
|
||||
|
||||
@@ -43,7 +43,6 @@ then
|
||||
set INA_CONFIGURED yes
|
||||
fi
|
||||
|
||||
|
||||
if param compare SENS_EN_INA238 1
|
||||
then
|
||||
# Start Digital power monitors
|
||||
@@ -56,35 +55,96 @@ then
|
||||
set INA_CONFIGURED yes
|
||||
fi
|
||||
|
||||
|
||||
if ver hwtypecmp ZeroOneX6000
|
||||
#Start Auterion Power Module selector for zeroone boards
|
||||
if ver hwbasecmp 009 010 011
|
||||
then
|
||||
# Internal SPI bus icm45686 with SPIX
|
||||
icm45686 -b 2 -s -R 6 start //X6 & X6 air
|
||||
|
||||
bmi088 -A -R 4 -s start //X6
|
||||
bmi088 -G -R 4 -s start //X6
|
||||
|
||||
# Internal SPI bus icm45686 with SPIX
|
||||
icm45686 -b 1 -s -R 8 start //X6 & X6 air
|
||||
pm_selector_auterion start
|
||||
else
|
||||
if [ $INA_CONFIGURED = no ]
|
||||
then
|
||||
# INA226, INA228, INA238 auto-start
|
||||
i2c_launcher start -b 1
|
||||
if [ $HAVE_PM2 = yes ]
|
||||
then
|
||||
i2c_launcher start -b 2
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
if ver hwtypecmp ZeroOneX6001 //X6 PRO
|
||||
# Keep nesting shallow
|
||||
if ver hwtypecmp V6X006 V6X008
|
||||
then
|
||||
# Internal SPI bus IIM42653 with SPIX
|
||||
iim42653 -b 2 -s -R 6 start
|
||||
if ver hwtypecmp V6X006
|
||||
then
|
||||
# Internal SPI bus ICM45686
|
||||
adis16470 -s -R 0 start
|
||||
iim42652 -s -R 6 start
|
||||
icm45686 -s -R 10 start
|
||||
else
|
||||
# Internal SPI bus 3x ICM45686
|
||||
icm45686 -b 3 -s -R 0 start
|
||||
icm45686 -b 2 -s -R 0 start
|
||||
icm45686 -b 1 -s -R 10 start
|
||||
fi
|
||||
else
|
||||
if ver hwtypecmp V6X004
|
||||
then
|
||||
# Internal SPI bus ICM20649
|
||||
icm20649 -s -R 6 start
|
||||
else
|
||||
# Internal SPI BMI088
|
||||
if ver hwbasecmp 009 010 011
|
||||
then
|
||||
bmi088 -A -R 6 -s start
|
||||
bmi088 -G -R 6 -s start
|
||||
else
|
||||
if ver hwtypecmp V6X010
|
||||
then
|
||||
bmi088 -A -R 0 -s start
|
||||
bmi088 -G -R 0 -s start
|
||||
else
|
||||
bmi088 -A -R 4 -s start
|
||||
bmi088 -G -R 4 -s start
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
bmi088 -A -R 4 -s start
|
||||
bmi088 -G -R 4 -s start
|
||||
# Internal SPI bus ICM42688p
|
||||
if ver hwbasecmp 009 010 011
|
||||
then
|
||||
icm42688p -R 12 -s start
|
||||
else
|
||||
if ver hwtypecmp V6X010
|
||||
then
|
||||
icm42688p -R 14 -s start
|
||||
else
|
||||
icm45686 -b 1 -s -R 8 start //ZeroOne
|
||||
fi
|
||||
fi
|
||||
|
||||
# Internal SPI bus IIM42653 with SPIX
|
||||
iim42653 -b 1 -s -R 8 start
|
||||
if ver hwtypecmp V6X003 V6X004
|
||||
then
|
||||
# Internal SPI bus ICM-42670-P (hard-mounted)
|
||||
icm42670p -R 10 -s start
|
||||
else
|
||||
if ver hwbasecmp 009 010 011
|
||||
then
|
||||
icm20602 -R 6 -s start
|
||||
else
|
||||
# Internal SPI bus ICM-20649 (hard-mounted)
|
||||
icm45686 -b 2 -s -R 6 start //ZeroOne
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
rm3100 -I -b 4 start
|
||||
# Internal magnetometer on I2c
|
||||
# if ver hwtypecmp V6X001
|
||||
# then
|
||||
# rm3100 -I -b 4 start
|
||||
# else
|
||||
# # Internal magnetometer on I2C
|
||||
# bmm150 -I -R 0 start
|
||||
# fi
|
||||
|
||||
# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
|
||||
ist8310 -X -b 1 -R 10 start
|
||||
@@ -96,9 +156,24 @@ ist8310 start -I -a 0x0E -R 12
|
||||
if param compare SENS_INT_BARO_EN 1
|
||||
then
|
||||
icp201xx -I -a 0x64 start
|
||||
# if ver hwtypecmp V6X001 V6X006 V6X008
|
||||
# then
|
||||
# icp201xx -I -a 0x64 start
|
||||
# else
|
||||
# bmp388 -I -a 0x77 start
|
||||
# fi
|
||||
fi
|
||||
icp201xx -X start
|
||||
#external baro
|
||||
# if ver hwtypecmp V6X001
|
||||
# then
|
||||
# icp201xx -X start
|
||||
# else
|
||||
# bmp388 -X start
|
||||
# fi
|
||||
|
||||
# Baro on I2C3
|
||||
ms5611 -X start
|
||||
|
||||
unset INA_CONFIGURED
|
||||
unset HAVE_PM2
|
||||
|
||||
@@ -1,43 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2025 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Control PWM output voltage
|
||||
*
|
||||
* @value 0 3.3V
|
||||
* @value 1 5.0V
|
||||
*
|
||||
* @reboot_required true
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_VOLT_SEL, 0);
|
||||
@@ -1,56 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2025 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <inttypes.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
extern "C" int pwm_voltage_apply_main(int argc, char *argv[])
|
||||
{
|
||||
int32_t pwm_volt_sel = 0;
|
||||
|
||||
param_get(param_find("PWM_VOLT_SEL"), &pwm_volt_sel);
|
||||
|
||||
if (pwm_volt_sel != 0) {
|
||||
PWM_5V_VOLT_SEL(true);
|
||||
|
||||
} else {
|
||||
PWM_5V_VOLT_SEL(false);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -215,11 +215,10 @@
|
||||
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
|
||||
#define HW_INFO_INIT_PREFIX "ZeroOneX6"
|
||||
|
||||
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
|
||||
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
|
||||
// Base/FMUM
|
||||
#define ZeroOneX6_0 HW_FMUM_ID(0x0) // ZeroOneX6,
|
||||
#define ZeroOneX6_1 HW_FMUM_ID(0x1) // ZeroOneX6 Pro,
|
||||
#define ZeroOneX6_2 HW_FMUM_ID(0x2) // reserved
|
||||
#define ZeroOneX6_0 HW_FMUM_ID(0x0) // ZeroOneX6, Sensor Set Rev 0
|
||||
#define ZeroOneX6_1 HW_FMUM_ID(0x1) // ZeroOneX6, Sensor Set Rev 1
|
||||
|
||||
#define UAVCAN_NUM_IFACES_RUNTIME 1
|
||||
|
||||
@@ -245,10 +244,6 @@
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 9
|
||||
|
||||
/* PWM Power */
|
||||
#define GPIO_PWM_VOLT_SEL /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN6)
|
||||
#define PWM_5V_VOLT_SEL(on_true) px4_arch_gpiowrite(GPIO_PWM_VOLT_SEL, (on_true))
|
||||
|
||||
/* Power supply control and monitoring GPIOs */
|
||||
|
||||
#define GPIO_nPOWER_IN_A /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
|
||||
@@ -462,8 +457,7 @@
|
||||
GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
|
||||
GPIO_SAFETY_SWITCH_IN, \
|
||||
GPIO_PG6, \
|
||||
GPIO_nARMED_INIT, \
|
||||
GPIO_PWM_VOLT_SEL \
|
||||
GPIO_nARMED_INIT \
|
||||
}
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
@@ -47,6 +47,10 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
|
||||
}, {GPIO::PortE, GPIO::Pin7}),
|
||||
// initSPIBus(SPI::Bus::SPI4, {
|
||||
// // no devices
|
||||
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
|
||||
// }, {GPIO::PortG, GPIO::Pin8}),
|
||||
initSPIBus(SPI::Bus::SPI5, {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
|
||||
}),
|
||||
@@ -56,36 +60,21 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
|
||||
}),
|
||||
}),
|
||||
|
||||
initSPIFmumID(ZeroOneX6_1, { // X6 Pro
|
||||
initSPIFmumID(ZeroOneX6_1, { // Placeholder
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
|
||||
}, {GPIO::PortI, GPIO::Pin11}),
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
|
||||
}, {GPIO::PortF, GPIO::Pin4}),
|
||||
initSPIBus(SPI::Bus::SPI3, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
|
||||
}, {GPIO::PortE, GPIO::Pin7}),
|
||||
initSPIBus(SPI::Bus::SPI5, {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
|
||||
}),
|
||||
initSPIBusExternal(SPI::Bus::SPI6, {
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
|
||||
}),
|
||||
}),
|
||||
|
||||
initSPIFmumID(ZeroOneX6_2, { // reserved
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
|
||||
}, {GPIO::PortI, GPIO::Pin11}),
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_SCH16T, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
|
||||
}, {GPIO::PortF, GPIO::Pin4}),
|
||||
initSPIBus(SPI::Bus::SPI3, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_SCH16T, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
|
||||
}, {GPIO::PortE, GPIO::Pin7}),
|
||||
// initSPIBus(SPI::Bus::SPI4, {
|
||||
// // no devices
|
||||
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
|
||||
// }, {GPIO::PortG, GPIO::Pin8}),
|
||||
initSPIBus(SPI::Bus::SPI5, {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
|
||||
}),
|
||||
|
||||
@@ -36,20 +36,6 @@ find_program(GENHTML_PATH genhtml)
|
||||
|
||||
message(STATUS "Building for code coverage")
|
||||
|
||||
if (CMAKE_BUILD_TYPE STREQUAL Coverage)
|
||||
# Coverage instrumentation plus atomic updates
|
||||
set(COVERAGE_FLAGS
|
||||
--coverage
|
||||
-fprofile-update=atomic
|
||||
)
|
||||
|
||||
# Apply to every compile and link invocation
|
||||
add_compile_options(${COVERAGE_FLAGS})
|
||||
add_link_options(${COVERAGE_FLAGS})
|
||||
|
||||
message(STATUS "Coverage instrumentation enabled with flags: ${COVERAGE_FLAGS}")
|
||||
endif()
|
||||
|
||||
# add code coverage build type
|
||||
if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
|
||||
set(CMAKE_C_FLAGS_COVERAGE "--coverage -ftest-coverage -fdiagnostics-absolute-paths -O0 -fprofile-arcs -fno-inline-functions"
|
||||
|
||||
+28
-5
@@ -1,6 +1,6 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2025 PX4 Development Team. All rights reserved.
|
||||
# Copyright (c) 2019 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
@@ -31,8 +31,31 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(AckermannManualMode
|
||||
AckermannManualMode.cpp
|
||||
)
|
||||
# Doxygen
|
||||
|
||||
target_include_directories(AckermannManualMode PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
|
||||
option(BUILD_DOXYGEN "Build doxygen documentation" OFF)
|
||||
|
||||
if (BUILD_DOXYGEN)
|
||||
find_package(Doxygen)
|
||||
if (DOXYGEN_FOUND)
|
||||
# set input and output files
|
||||
set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in)
|
||||
set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
|
||||
|
||||
# request to configure the file
|
||||
configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
|
||||
|
||||
# note the option ALL which allows to build the docs together with the application
|
||||
add_custom_target(doxygen ALL
|
||||
COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
|
||||
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
|
||||
COMMENT "Generating documentation with Doxygen"
|
||||
DEPENDS uorb_msgs parameters
|
||||
VERBATIM
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
else()
|
||||
message("Doxygen needs to be installed to generate documentation")
|
||||
endif()
|
||||
endif()
|
||||
+1
-1
@@ -18,4 +18,4 @@ yarn-error.log
|
||||
|
||||
|
||||
# Generated alternative _summary.md
|
||||
# **/*/_summary.md
|
||||
# **/*/_summary.md
|
||||
@@ -16,4 +16,4 @@
|
||||
document.location.replace(this.to);
|
||||
}
|
||||
}
|
||||
</script>
|
||||
</script>
|
||||
@@ -159,4 +159,4 @@
|
||||
|
||||
.vp-doc img {
|
||||
display: inline; /* block by default set by vitepress */
|
||||
}
|
||||
}
|
||||
+1
-1
@@ -1 +1 @@
|
||||
docs.px4.io
|
||||
docs.px4.io
|
||||
@@ -1011,4 +1011,4 @@
|
||||
},
|
||||
"hideReason": "intended"
|
||||
}
|
||||
]
|
||||
]
|
||||
@@ -1 +1 @@
|
||||
["en/_sidebar.md"]
|
||||
["en/_sidebar.md"]
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user