mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-08-19 08:20:34 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
6bef2bdeb1 |
@@ -9,10 +9,10 @@ pipeline {
|
||||
script {
|
||||
def build_nodes = [:]
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||||
def docker_images = [
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||||
armhf: "px4io/px4-dev-armhf:2021-09-08",
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arm64: "px4io/px4-dev-aarch64:2021-09-08",
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||||
base: "px4io/px4-dev-base-bionic:2021-09-08",
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||||
nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
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||||
armhf: "px4io/px4-dev-armhf:2021-05-04",
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arm64: "px4io/px4-dev-aarch64:2021-05-04",
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base: "px4io/px4-dev-base-bionic:2021-05-04",
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nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
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]
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||||
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def armhf_builds = [
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@@ -127,7 +127,7 @@ pipeline {
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// TODO: actually upload artifacts to S3
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// stage('S3 Upload') {
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// agent {
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// docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
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// docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
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// }
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// options {
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// skipDefaultCheckout()
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+188
-284
@@ -12,7 +12,7 @@ pipeline {
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stage("build cubepilot_cubeorange_test") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-09-08'
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||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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||||
}
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}
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||||
@@ -63,7 +63,7 @@ pipeline {
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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checkStatus()
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quickCalibrate()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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}
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}
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stage("print topics") {
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@@ -71,11 +71,7 @@ pipeline {
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printTopics()
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}
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}
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}
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post {
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always {
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resetBoard()
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}
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||||
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}
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} // stage test
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}
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@@ -86,7 +82,7 @@ pipeline {
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stage("build cuav_x7pro_test") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-09-08'
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||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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@@ -143,11 +139,7 @@ pipeline {
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printTopics()
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}
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}
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}
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post {
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always {
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resetBoard()
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}
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||||
|
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}
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} // stage test
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||||
}
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@@ -158,7 +150,7 @@ pipeline {
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stage("build px4_fmu-v3_test") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-09-08'
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||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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@@ -207,7 +199,8 @@ pipeline {
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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checkStatus()
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quickCalibrate()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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}
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}
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stage("print topics") {
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@@ -215,11 +208,7 @@ pipeline {
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printTopics()
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}
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}
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||||
}
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post {
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always {
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resetBoard()
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}
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}
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} // stage test
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}
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@@ -230,7 +219,7 @@ pipeline {
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stage("build px4_fmu-v4_test") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-09-08'
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||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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||||
}
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||||
@@ -286,11 +275,7 @@ pipeline {
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printTopics()
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}
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||||
}
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||||
}
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||||
post {
|
||||
always {
|
||||
resetBoard()
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||||
}
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||||
|
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}
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} // stage test
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}
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||||
@@ -301,7 +286,7 @@ pipeline {
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stage("build px4_fmu-v4pro_test") {
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agent {
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docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
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||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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||||
}
|
||||
}
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||||
@@ -350,7 +335,7 @@ pipeline {
|
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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checkStatus()
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||||
quickCalibrate()
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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||||
}
|
||||
}
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||||
stage("print topics") {
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||||
@@ -358,11 +343,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
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||||
}
|
||||
}
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||||
post {
|
||||
always {
|
||||
resetBoard()
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||||
}
|
||||
|
||||
}
|
||||
} // stage test
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||||
}
|
||||
@@ -373,7 +354,7 @@ pipeline {
|
||||
stage("build px4_fmu-v5_debug") {
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||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -411,14 +392,14 @@ pipeline {
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||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
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// flash board and watch bootup
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||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
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||||
stage("tests") {
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||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
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||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
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||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
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||||
}
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||||
}
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||||
@@ -430,7 +411,6 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
@@ -440,11 +420,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -455,7 +431,7 @@ pipeline {
|
||||
stage("build px4_fmu-v5_optimized") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -512,11 +488,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -527,7 +499,7 @@ pipeline {
|
||||
stage("build px4_fmu-v5_stackcheck") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -572,7 +544,7 @@ pipeline {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
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 "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
}
|
||||
}
|
||||
@@ -584,7 +556,6 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
@@ -594,11 +565,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -609,7 +576,7 @@ pipeline {
|
||||
stage("build px4_fmu-v5_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -666,89 +633,85 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
// stage("modalai_fc-v1_test") {
|
||||
// stages {
|
||||
// stage("build modalai_fc-v1_test") {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
// }
|
||||
// }
|
||||
// steps {
|
||||
// checkout scm
|
||||
// sh 'export'
|
||||
// sh 'make distclean'
|
||||
// sh 'ccache -s'
|
||||
// sh 'git fetch --tags'
|
||||
// sh 'make modalai_fc-v1_test'
|
||||
// sh 'make modalai_fc-v1_test bootloader_elf'
|
||||
// sh 'ccache -s'
|
||||
// stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
|
||||
// }
|
||||
// post {
|
||||
// always {
|
||||
// sh 'make distclean'
|
||||
// }
|
||||
// }
|
||||
// } // stage build
|
||||
// stage("hardware") {
|
||||
// agent {
|
||||
// label 'modalai_fc-v1'
|
||||
// }
|
||||
// stages {
|
||||
// stage("flash") {
|
||||
// steps {
|
||||
// sh 'export'
|
||||
// sh 'find /dev/serial'
|
||||
// unstash 'modalai_fc-v1_test'
|
||||
// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
|
||||
// // flash board and watch bootup
|
||||
// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
// }
|
||||
// }
|
||||
// stage("tests") {
|
||||
// steps {
|
||||
// runTests()
|
||||
// }
|
||||
// }
|
||||
// stage("status") {
|
||||
// steps {
|
||||
// // configure
|
||||
// resetParameters()
|
||||
// sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
// sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
// checkStatus()
|
||||
// quickCalibrate()
|
||||
// }
|
||||
// }
|
||||
// stage("print topics") {
|
||||
// steps {
|
||||
// printTopics()
|
||||
// }
|
||||
// }
|
||||
stage("modalai_fc-v1_test") {
|
||||
stages {
|
||||
stage("build modalai_fc-v1_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make modalai_fc-v1_test'
|
||||
sh 'make modalai_fc-v1_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("hardware") {
|
||||
agent {
|
||||
label 'modalai_fc-v1'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'modalai_fc-v1_test'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
|
||||
// }
|
||||
// } // stage test
|
||||
// }
|
||||
// }
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("nxp_fmuk66-v3_test") {
|
||||
stages {
|
||||
stage("build nxp_fmuk66-v3_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -793,7 +756,6 @@ pipeline {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
checkStatus()
|
||||
@@ -805,11 +767,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -842,13 +800,12 @@ void quickCalibrate() {
|
||||
void checkStatus() {
|
||||
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 "param show SYS*"'
|
||||
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
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
|
||||
// run logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
|
||||
// status commands
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
|
||||
@@ -860,9 +817,8 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
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 "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
@@ -871,7 +827,7 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
|
||||
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 "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
|
||||
@@ -879,6 +835,7 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -r 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
|
||||
@@ -887,7 +844,7 @@ void checkStatus() {
|
||||
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"'
|
||||
// stop logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
}
|
||||
|
||||
void resetParameters() {
|
||||
@@ -905,12 +862,12 @@ void runTests() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
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 "commander_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test"'
|
||||
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
|
||||
@@ -920,24 +877,7 @@ void runTests() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
|
||||
|
||||
// test rebooting multiple times
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
|
||||
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 "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
}
|
||||
|
||||
void printTopics() {
|
||||
@@ -945,127 +885,91 @@ void printTopics() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
|
||||
|
||||
// these are for casually inspecting the system, output failure doesn't matter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener heater_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
|
||||
}
|
||||
|
||||
void resetBoard() {
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
|
||||
// format
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd"'
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs"'
|
||||
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 airspeed_validated"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind"'
|
||||
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 commander_state"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
|
||||
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_gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft"'
|
||||
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"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'
|
||||
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_attitude_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_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_land_detected"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status"'
|
||||
}
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
|
||||
{
|
||||
"name": "px4-dev-nuttx",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2021-05-04",
|
||||
|
||||
"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
|
||||
|
||||
|
||||
@@ -29,7 +29,7 @@ jobs:
|
||||
"parameters_metadata",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
image: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-clang:2021-09-08
|
||||
container: px4io/px4-dev-clang:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-armhf:2021-09-08
|
||||
container: px4io/px4-dev-armhf:2021-05-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-aarch64:2021-09-08
|
||||
container: px4io/px4-dev-aarch64:2021-05-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
container: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,16 +11,15 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
container: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
ark_can-flow_default,
|
||||
ark_can-gps_default,
|
||||
cuav_can-gps-v1_default,
|
||||
freefly_can-rtk-gps_default,
|
||||
holybro_can-gps-v1_default,
|
||||
nxp_ucans32k146_default,
|
||||
#nxp_ucans32k146_default,
|
||||
px4_fmu-v4_cannode
|
||||
]
|
||||
steps:
|
||||
|
||||
@@ -23,7 +23,7 @@ jobs:
|
||||
needs: enumerate_targets
|
||||
strategy:
|
||||
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -5,7 +5,7 @@ on: pull_request
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v2.3.1
|
||||
with:
|
||||
|
||||
@@ -5,7 +5,7 @@ on: push
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
env:
|
||||
GIT_COMMITTER_EMAIL: bot@px4.io
|
||||
GIT_COMMITTER_NAME: PX4BuildBot
|
||||
|
||||
@@ -25,7 +25,7 @@ jobs:
|
||||
#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
image: px4io/px4-dev-ros-melodic:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -20,7 +20,7 @@ jobs:
|
||||
#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
image: px4io/px4-dev-ros-melodic:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -11,7 +11,7 @@ jobs:
|
||||
|
||||
airframe:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -37,7 +37,7 @@ jobs:
|
||||
|
||||
module:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -52,7 +52,7 @@ jobs:
|
||||
|
||||
parameter:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -76,7 +76,7 @@ jobs:
|
||||
|
||||
events:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -103,7 +103,7 @@ jobs:
|
||||
|
||||
uorb_graph:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
container: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -118,7 +118,7 @@ jobs:
|
||||
|
||||
micrortps_agent:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -132,7 +132,7 @@ jobs:
|
||||
|
||||
ROS_msgs:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -145,7 +145,7 @@ jobs:
|
||||
|
||||
ROS2_bridge:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -154,4 +154,4 @@ jobs:
|
||||
- name: PX4 ROS2 bridge
|
||||
run: |
|
||||
git clone https://github.com/PX4/px4_ros_com.git
|
||||
./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
|
||||
./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml
|
||||
|
||||
@@ -21,7 +21,7 @@ jobs:
|
||||
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-09-08
|
||||
image: px4io/px4-dev-simulation-focal:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
+3
-3
@@ -29,11 +29,11 @@
|
||||
[submodule "platforms/nuttx/NuttX/nuttx"]
|
||||
path = platforms/nuttx/NuttX/nuttx
|
||||
url = https://github.com/PX4/NuttX.git
|
||||
branch = px4_firmware_nuttx-10.1.0+
|
||||
branch = px4_firmware_nuttx-10.0.0+
|
||||
[submodule "platforms/nuttx/NuttX/apps"]
|
||||
path = platforms/nuttx/NuttX/apps
|
||||
url = https://github.com/PX4/NuttX-apps.git
|
||||
branch = px4_firmware_nuttx-10.1.0+
|
||||
branch = px4_firmware_nuttx-10.0.0+
|
||||
[submodule "Tools/flightgear_bridge"]
|
||||
path = Tools/flightgear_bridge
|
||||
url = https://github.com/PX4/PX4-FlightGear-Bridge.git
|
||||
@@ -65,4 +65,4 @@
|
||||
url = https://github.com/mavlink/libevents.git
|
||||
[submodule "Tools/simulation-ignition"]
|
||||
path = Tools/simulation-ignition
|
||||
url = https://github.com/Auterion/px4-simulation-ignition.git
|
||||
url = https://github.com/Auterion/px4-simulation-ignition.git
|
||||
Vendored
+1
@@ -31,6 +31,7 @@
|
||||
"esc"
|
||||
],
|
||||
"debug.toolBarLocation": "docked",
|
||||
"editor.acceptSuggestionOnEnter": "off",
|
||||
"editor.defaultFormatter": "chiehyu.vscode-astyle",
|
||||
"editor.dragAndDrop": false,
|
||||
"editor.insertSpaces": false,
|
||||
|
||||
Vendored
+4
-4
@@ -143,13 +143,13 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('msg file docs') {
|
||||
stage('msg files') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
|
||||
}
|
||||
steps {
|
||||
sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
|
||||
dir('build') {
|
||||
sh './msg/tools/generate_msg_docs.py -d /tmp/msg_docs'
|
||||
dir('/tmp') {
|
||||
archiveArtifacts(artifacts: 'msg_docs/*.md')
|
||||
stash includes: 'msg_docs/*.md', name: 'msg_documentation'
|
||||
}
|
||||
@@ -323,7 +323,7 @@ pipeline {
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
|
||||
// deploy uORB RTPS ID map
|
||||
sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
|
||||
sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
|
||||
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
|
||||
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
|
||||
// deploy uORB RTPS required tools
|
||||
|
||||
@@ -481,7 +481,6 @@ submodulesupdate:
|
||||
@git submodule update --quiet --init --recursive --jobs 4 || true
|
||||
@git submodule sync --recursive
|
||||
@git submodule update --init --recursive --jobs 4
|
||||
@git fetch --all --tags --recurse-submodules=yes --jobs=4
|
||||
|
||||
gazeboclean:
|
||||
@rm -rf ~/.gazebo/*
|
||||
@@ -491,7 +490,7 @@ distclean: gazeboclean
|
||||
@rm -rf "$(SRC_DIR)/build"
|
||||
@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
|
||||
|
||||
# Help / Error / Misc
|
||||
# Help / Error
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
|
||||
@@ -525,18 +524,3 @@ check_px4: $(call make_list,nuttx,"px4") \
|
||||
|
||||
check_nxp: $(call make_list,nuttx,"nxp") \
|
||||
sizes
|
||||
|
||||
ifneq ($(ROS2_WS_DIR),)
|
||||
ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
|
||||
else
|
||||
ROS2_WS_DIR := ~/colcon_ws
|
||||
endif
|
||||
|
||||
update_ros2_bridge:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
|
||||
|
||||
update_px4_ros_com:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
|
||||
|
||||
update_px4_msgs:
|
||||
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
|
||||
|
||||
@@ -120,7 +120,6 @@ add_custom_command(
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
|
||||
WORKING_DIRECTORY ${romfs_gen_root_dir}
|
||||
DEPENDS ${romfs_tar_file}
|
||||
VERBATIM
|
||||
)
|
||||
|
||||
add_custom_command(
|
||||
|
||||
@@ -15,6 +15,10 @@ set +e
|
||||
#
|
||||
#------------------------------------------------------------------------------
|
||||
set R /
|
||||
#
|
||||
# Mount the procfs.
|
||||
#
|
||||
mount -t procfs /proc
|
||||
|
||||
#
|
||||
# Start CDC/ACM serial driver.
|
||||
|
||||
@@ -34,10 +34,9 @@
|
||||
add_subdirectory(airframes)
|
||||
|
||||
px4_add_romfs_files(
|
||||
px4-rc.mavlink
|
||||
px4-rc.params
|
||||
px4-rc.rtps
|
||||
px4-rc.simulator
|
||||
px4-rc.mavlink
|
||||
rc.replay
|
||||
rcS
|
||||
)
|
||||
|
||||
@@ -1,4 +0,0 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
|
||||
@@ -21,6 +21,8 @@ then
|
||||
fi
|
||||
|
||||
# initialize script variables
|
||||
set AUX_MODE none
|
||||
set AUX_BANK2 none
|
||||
set IO_PRESENT no
|
||||
set MAV_TYPE none
|
||||
set MIXER none
|
||||
@@ -226,7 +228,8 @@ navigator start
|
||||
# Try to start the micrortps_client with UDP transport if module exists
|
||||
if px4-micrortps_client status > /dev/null 2>&1
|
||||
then
|
||||
. px4-rc.rtps
|
||||
# shellcheck disable=SC2154
|
||||
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
|
||||
fi
|
||||
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -23,7 +23,6 @@
|
||||
# @maintainer William Peale <develop707@gmail.com>
|
||||
#
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
set VEHICLE_TYPE mc
|
||||
|
||||
@@ -6,7 +6,6 @@
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -20,7 +20,6 @@
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -29,6 +29,12 @@ then
|
||||
fi
|
||||
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 ]
|
||||
then
|
||||
set AUX_MODE none
|
||||
fi
|
||||
|
||||
#
|
||||
# Set the default output mode if none was set.
|
||||
#
|
||||
@@ -70,6 +76,15 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = $OUTPUT_CMD ]
|
||||
then
|
||||
if ! $OUTPUT_CMD mode_$FMU_MODE
|
||||
then
|
||||
echo "$OUTPUT_CMD start failed"
|
||||
tune_control play error
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = uavcan_esc ]
|
||||
then
|
||||
if param compare UAVCAN_ENABLE 0
|
||||
@@ -83,15 +98,6 @@ then
|
||||
. ${R}etc/init.d/rc.io
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
|
||||
then
|
||||
if ! $OUTPUT_CMD start
|
||||
then
|
||||
echo "$OUTPUT_CMD start failed"
|
||||
tune_control play error
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start IO for RC input if needed.
|
||||
#
|
||||
@@ -155,7 +161,7 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $MIXER_AUX != none ]
|
||||
if [ $MIXER_AUX != none -a $AUX_MODE != none ]
|
||||
then
|
||||
#
|
||||
# Load aux mixer.
|
||||
@@ -173,26 +179,34 @@ then
|
||||
|
||||
if [ $MIXER_AUX_FILE != none ]
|
||||
then
|
||||
# Append aux mixer to main device.
|
||||
if param greater SYS_HITL 0
|
||||
# Start the output module
|
||||
if $OUTPUT_CMD mode_${AUX_MODE}
|
||||
then
|
||||
if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
|
||||
# Append aux mixer to main device.
|
||||
if param greater SYS_HITL 0
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}"
|
||||
if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
|
||||
then
|
||||
if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
|
||||
if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
|
||||
if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
|
||||
fi
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
|
||||
echo "INFO [init] setting PWM_AUX_OUT none"
|
||||
set PWM_AUX_OUT none
|
||||
fi
|
||||
else
|
||||
echo "INFO [init] setting PWM_AUX_OUT none"
|
||||
echo "ERROR: Could not start: pwm_out mode_pwm"
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
set PWM_AUX_OUT none
|
||||
fi
|
||||
|
||||
@@ -214,6 +228,36 @@ fi
|
||||
|
||||
param set PWM_AUX_OUT ${PWM_AUX_OUT}
|
||||
|
||||
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 ]
|
||||
|
||||
@@ -127,34 +127,6 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
# Eagle Tree airspeed sensor external I2C
|
||||
if param compare -s SENS_EN_ETSASPD 1
|
||||
then
|
||||
ets_airspeed start -X
|
||||
fi
|
||||
|
||||
# Sensirion SDP3X differential pressure sensor external I2C
|
||||
if param compare -s SENS_EN_SDP3X 1
|
||||
then
|
||||
if ! sdp3x_airspeed start -X
|
||||
then
|
||||
# try another common address
|
||||
sdp3x_airspeed start -X -a 0x22
|
||||
fi
|
||||
fi
|
||||
|
||||
# TE MS4525 differential pressure sensor external I2C
|
||||
if param compare -s SENS_EN_MS4525 1
|
||||
then
|
||||
ms4525_airspeed start -X
|
||||
fi
|
||||
|
||||
# TE MS5525 differential pressure sensor external I2C
|
||||
if param compare -s SENS_EN_MS5525 1
|
||||
then
|
||||
ms5525_airspeed start -X
|
||||
fi
|
||||
|
||||
# probe for optional external I2C devices
|
||||
if param compare SENS_EXT_I2C_PRB 1
|
||||
then
|
||||
@@ -171,6 +143,30 @@ then
|
||||
|
||||
# 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 ]
|
||||
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
|
||||
fi
|
||||
|
||||
###############################################################################
|
||||
|
||||
@@ -22,8 +22,10 @@ set +e
|
||||
#
|
||||
set R /
|
||||
set AUTOCNF no
|
||||
set AUX_MODE pwm
|
||||
set FCONFIG /fs/microsd/etc/config.txt
|
||||
set FEXTRAS /fs/microsd/etc/extras.txt
|
||||
set FMU_MODE pwm
|
||||
set FRC /fs/microsd/etc/rc.txt
|
||||
set IOFW "/etc/extras/px4_io-v2_default.bin"
|
||||
set IO_PRESENT no
|
||||
@@ -49,6 +51,11 @@ set STARTUP_TUNE 1
|
||||
set USE_IO no
|
||||
set VEHICLE_TYPE none
|
||||
|
||||
#
|
||||
# Mount the procfs.
|
||||
#
|
||||
mount -t procfs /proc
|
||||
|
||||
#
|
||||
# Start CDC/ACM serial driver.
|
||||
#
|
||||
@@ -62,43 +69,8 @@ ver all
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
set SDCARD_AVAILABLE no
|
||||
# REBOOTWORK this needs to start after the flight control loop.
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
|
||||
date >> $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
cat $PX4_INIT_TEST_FILE
|
||||
rm $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ ! -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $SDCARD_AVAILABLE = no ]
|
||||
then
|
||||
set STARTUP_TUNE 14 # tune 14 = SD_INIT
|
||||
if mkfatfs -F 32 /dev/mmcsd0
|
||||
then
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
echo "INFO [init] card formatted"
|
||||
|
||||
else
|
||||
set STARTUP_TUNE 15 # tune 15 = SD_ERROR
|
||||
echo "ERROR [init] format failed"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
then
|
||||
if hardfault_log check
|
||||
then
|
||||
@@ -109,8 +81,20 @@ then
|
||||
hardfault_log reset
|
||||
fi
|
||||
fi
|
||||
else
|
||||
# tune SD_INIT
|
||||
set STARTUP_TUNE 14 # tune 14 = SD_INIT
|
||||
if mkfatfs /dev/mmcsd0
|
||||
then
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
echo "INFO [init] card formatted"
|
||||
else
|
||||
set STARTUP_TUNE 15 # tune 15 = SD_ERROR
|
||||
echo "ERROR [init] format failed"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
unset SDCARD_AVAILABLE
|
||||
|
||||
#
|
||||
# Look for an init script on the microSD card.
|
||||
@@ -144,7 +128,7 @@ else
|
||||
then
|
||||
param reset_all
|
||||
fi
|
||||
if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
|
||||
if ver hwtypecmp V5X00 V5X90 V5Xa0
|
||||
then
|
||||
netman update -i eth0
|
||||
fi
|
||||
@@ -374,9 +358,52 @@ else
|
||||
commander start
|
||||
fi
|
||||
|
||||
# Sensors on the PWM interface bank.
|
||||
if param compare -s SENS_EN_LL40LS 1
|
||||
then
|
||||
# Clear pins 5 and 6.
|
||||
set FMU_MODE pwm4
|
||||
set AUX_MODE pwm4
|
||||
fi
|
||||
|
||||
|
||||
# Check if ATS is enabled
|
||||
if param compare FD_EXT_ATS_EN 1
|
||||
then
|
||||
# Clear pins 5 and 6.
|
||||
set FMU_MODE pwm4
|
||||
set AUX_MODE pwm4
|
||||
fi
|
||||
|
||||
if param greater -s TRIG_MODE 0
|
||||
then
|
||||
if param compare TRIG_PINS_EX 0
|
||||
then
|
||||
# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
|
||||
if param compare TRIG_PINS 56
|
||||
then
|
||||
# clear pins 5 and 6
|
||||
set FMU_MODE pwm4
|
||||
set AUX_MODE pwm4
|
||||
else
|
||||
if param compare TRIG_PINS 78
|
||||
then
|
||||
# clear pins 7 and 8
|
||||
set FMU_MODE pwm6
|
||||
set AUX_MODE pwm6
|
||||
else
|
||||
set FMU_MODE none
|
||||
set AUX_MODE none
|
||||
fi
|
||||
fi
|
||||
else
|
||||
if param compare TRIG_PINS_EX 12288
|
||||
then
|
||||
set FMU_MODE pwm12
|
||||
set AUX_MODE pwm12
|
||||
fi
|
||||
fi
|
||||
|
||||
camera_trigger start
|
||||
camera_feedback start
|
||||
fi
|
||||
@@ -404,7 +431,14 @@ else
|
||||
rc_input start $RC_INPUT_ARGS
|
||||
fi
|
||||
|
||||
# Camera capture driver (before pwm_out)
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
. ${R}etc/init.d/rc.vehicle_setup
|
||||
|
||||
# Camera capture driver
|
||||
if param greater -s CAM_CAP_FBACK 0
|
||||
then
|
||||
if camera_capture start
|
||||
@@ -413,13 +447,6 @@ else
|
||||
fi
|
||||
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.
|
||||
#
|
||||
. ${R}etc/init.d/rc.vehicle_setup
|
||||
|
||||
#
|
||||
# Start the navigator.
|
||||
#
|
||||
@@ -519,8 +546,10 @@ fi
|
||||
#
|
||||
unset R
|
||||
unset AUTOCNF
|
||||
unset AUX_MODE
|
||||
unset FCONFIG
|
||||
unset FEXTRAS
|
||||
unset FMU_MODE
|
||||
unset FRC
|
||||
unset IO_PRESENT
|
||||
unset IOFW
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
Aileron/rudder/elevator/throttle mixer for PX4FMU
|
||||
==================================================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
TF-G2 autogyro mixer
|
||||
==================================================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
Viper Delta-wing mixer
|
||||
=================================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
Designed for Viper.
|
||||
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
# CruiseAder Claire Main Multirotor mixer for PX4FMU
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
#
|
||||
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
Delta-wing mixer for PX4FMU
|
||||
===========================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
# Direct mixer
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
A: 0
|
||||
A: 1
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
# Octo coaxial with wide arms
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
R: 8cw
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
Delta-wing VTOL mixer
|
||||
=====================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing VTOL aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
Tailsitter duo mixer
|
||||
============================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
|
||||
has two motors in total, one attached to each wing. It also has two elevons which
|
||||
|
||||
@@ -30,11 +30,8 @@ def print_line(line):
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
|
||||
def monitor_firmware_upload(port, baudrate):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
@@ -43,21 +40,16 @@ def monitor_firmware_upload(port, baudrate):
|
||||
timeout_start = time.time()
|
||||
timeout_newline = time.time()
|
||||
|
||||
return_code = 0
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "ERROR" in serial_line:
|
||||
return_code = -1
|
||||
|
||||
print_line(serial_line)
|
||||
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
sys.exit(0)
|
||||
elif "nsh>" in serial_line:
|
||||
sys.exit(return_code)
|
||||
sys.exit(0)
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
|
||||
@@ -35,7 +35,7 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
timeout = 10 # 10 seconds
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
|
||||
@@ -30,18 +30,14 @@ def print_line(line):
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
|
||||
def do_nsh_cmd(port, baudrate, cmd):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
timeout = 10 # 10 seconds
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
@@ -94,19 +90,13 @@ def do_nsh_cmd(port, baudrate, cmd):
|
||||
timeout_start = time.time()
|
||||
timeout = 180 # 3 minutes
|
||||
|
||||
return_code = 0
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if success_cmd in serial_line:
|
||||
sys.exit(return_code)
|
||||
break
|
||||
else:
|
||||
if len(serial_line) > 0:
|
||||
if "ERROR " in serial_line:
|
||||
return_code = -1
|
||||
|
||||
print_line(serial_line)
|
||||
|
||||
if "nsh>" in serial_line:
|
||||
|
||||
@@ -32,17 +32,14 @@ def print_line(line):
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
|
||||
def do_test(port, baudrate, test_name):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
timeout = 10 # 10 seconds
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
|
||||
+4
-4
@@ -4,16 +4,16 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
echo "guessing PX4_DOCKER_REPO based on input";
|
||||
if [[ $@ =~ .*px4_fmu.* ]]; then
|
||||
# nuttx-px4fmu-v{1,2,3,4,5}
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
|
||||
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
|
||||
# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
|
||||
elif [[ $@ =~ .*pilotpi.arm64 ]]; then
|
||||
# scumaker_pilotpi_arm64
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
|
||||
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
|
||||
# posix_rpi_cross, posix_bebop_default
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
|
||||
elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
|
||||
# clang tools
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
|
||||
@@ -27,7 +27,7 @@ fi
|
||||
|
||||
# otherwise default to nuttx
|
||||
if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
|
||||
fi
|
||||
|
||||
# docker hygiene
|
||||
|
||||
@@ -86,15 +86,8 @@ sleep 1
|
||||
|
||||
source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
|
||||
|
||||
# To use gazebo_ros ROS2 plugins
|
||||
if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
|
||||
ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
|
||||
else
|
||||
ros_args=""
|
||||
fi
|
||||
|
||||
echo "Starting gazebo"
|
||||
gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
|
||||
gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose &
|
||||
sleep 5
|
||||
|
||||
n=0
|
||||
|
||||
@@ -13,7 +13,6 @@ import datetime
|
||||
from timeit import default_timer as timer
|
||||
os.environ['MAVLINK20'] = '1' # The commands require mavlink 2
|
||||
from argparse import ArgumentParser
|
||||
import signal
|
||||
|
||||
try:
|
||||
from pymavlink import mavutil
|
||||
@@ -25,8 +24,6 @@ except ImportError as e:
|
||||
print("")
|
||||
sys.exit(1)
|
||||
|
||||
class LoggingCompleted(Exception):
|
||||
pass
|
||||
|
||||
class MavlinkLogStreaming():
|
||||
'''Streams log data via MAVLink.
|
||||
@@ -52,7 +49,6 @@ class MavlinkLogStreaming():
|
||||
self.logging_started = False
|
||||
self.num_dropouts = 0
|
||||
self.target_component = 1
|
||||
self.got_sig_int = False
|
||||
|
||||
def debug(self, s, level=1):
|
||||
'''write some debug text'''
|
||||
@@ -71,24 +67,13 @@ class MavlinkLogStreaming():
|
||||
mavutil.mavlink.MAV_CMD_LOGGING_STOP, 0,
|
||||
0, 0, 0, 0, 0, 0, 0)
|
||||
|
||||
def _int_handler(self, sig, frame):
|
||||
self.got_sig_int = True
|
||||
|
||||
def read_messages(self):
|
||||
''' main loop reading messages '''
|
||||
measure_time_start = timer()
|
||||
measured_data = 0
|
||||
|
||||
next_heartbeat_time = timer()
|
||||
old_handler = signal.signal(signal.SIGINT, self._int_handler)
|
||||
|
||||
while True:
|
||||
if self.got_sig_int:
|
||||
signal.signal(signal.SIGINT, old_handler)
|
||||
self.got_sig_int = False
|
||||
print('\nStopping log...')
|
||||
self.stop_log()
|
||||
# Continue reading until we get an ACK
|
||||
|
||||
# handle heartbeat sending
|
||||
heartbeat_time = timer()
|
||||
@@ -135,9 +120,6 @@ class MavlinkLogStreaming():
|
||||
print('Logging started. Waiting for Header...')
|
||||
else:
|
||||
raise Exception('Logging start failed', m.result)
|
||||
elif m.command == mavutil.mavlink.MAV_CMD_LOGGING_STOP and \
|
||||
m.result == mavutil.mavlink.MAV_RESULT_ACCEPTED:
|
||||
raise LoggingCompleted()
|
||||
return None, 0, 0
|
||||
|
||||
# m is either 'LOGGING_DATA_ACKED' or 'LOGGING_DATA':
|
||||
@@ -155,8 +137,7 @@ class MavlinkLogStreaming():
|
||||
|
||||
if m.get_type() == 'LOGGING_DATA':
|
||||
if not self.got_header_section:
|
||||
print('Header received in {:0.2f}s (size: {:.1f} KB)'.format(
|
||||
timer()-self.start_time, self.file.tell()/1024))
|
||||
print('Header received in {:0.2f}s'.format(timer()-self.start_time))
|
||||
self.logging_started = True
|
||||
self.got_header_section = True
|
||||
self.last_sequence = m.sequence
|
||||
@@ -275,10 +256,14 @@ def main():
|
||||
print('Starting log...')
|
||||
mav_log_streaming.start_log()
|
||||
mav_log_streaming.read_messages()
|
||||
|
||||
print('Stopping log')
|
||||
mav_log_streaming.stop_log()
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print('Aborting')
|
||||
except LoggingCompleted:
|
||||
print('Done')
|
||||
print('Stopping log')
|
||||
mav_log_streaming.stop_log()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
|
||||
@@ -221,8 +221,7 @@ class SourceParser(object):
|
||||
else:
|
||||
raise Exception("Could not extract event ID from {:}".format(args_split[0]))
|
||||
event.name = event_name
|
||||
# unescape \x, to treat the string the same as the C++ compiler
|
||||
event.message = args_split[2][1:-1].encode("utf-8").decode('unicode_escape')
|
||||
event.message = args_split[2][1:-1]
|
||||
elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
|
||||
assert len(args_split) == num_args + 5, \
|
||||
"Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
|
||||
|
||||
+8
-37
@@ -682,28 +682,7 @@ class uploader(object):
|
||||
|
||||
return True
|
||||
|
||||
def send_protocol_splitter_format(self, data):
|
||||
# Header Structure:
|
||||
# bits: 1 2 3 4 5 6 7 8
|
||||
# header[0] - | Magic | (='S')
|
||||
# header[1] - |T| LenH | (T - 0: mavlink; 1: rtps)
|
||||
# header[2] - | LenL |
|
||||
# header[3] - | Checksum |
|
||||
|
||||
MAGIC = 83
|
||||
|
||||
len_bytes = len(data).to_bytes(2, "big")
|
||||
LEN_H = len_bytes[0] & 127
|
||||
LEN_L = len_bytes[1] & 255
|
||||
CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
|
||||
|
||||
header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
|
||||
header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
|
||||
|
||||
self.__send(header_bytes)
|
||||
self.__send(data)
|
||||
|
||||
def send_reboot(self, use_protocol_splitter_format=False):
|
||||
def send_reboot(self):
|
||||
if (not self.__next_baud_flightstack()):
|
||||
return False
|
||||
|
||||
@@ -714,19 +693,15 @@ class uploader(object):
|
||||
print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
|
||||
|
||||
try:
|
||||
send_fct = self.__send
|
||||
if use_protocol_splitter_format:
|
||||
send_fct = self.send_protocol_splitter_format
|
||||
|
||||
# try MAVLINK command first
|
||||
self.port.flush()
|
||||
send_fct(uploader.MAVLINK_REBOOT_ID1)
|
||||
send_fct(uploader.MAVLINK_REBOOT_ID0)
|
||||
self.__send(uploader.MAVLINK_REBOOT_ID1)
|
||||
self.__send(uploader.MAVLINK_REBOOT_ID0)
|
||||
# then try reboot via NSH
|
||||
send_fct(uploader.NSH_INIT)
|
||||
send_fct(uploader.NSH_REBOOT_BL)
|
||||
send_fct(uploader.NSH_INIT)
|
||||
send_fct(uploader.NSH_REBOOT)
|
||||
self.__send(uploader.NSH_INIT)
|
||||
self.__send(uploader.NSH_REBOOT_BL)
|
||||
self.__send(uploader.NSH_INIT)
|
||||
self.__send(uploader.NSH_REBOOT)
|
||||
self.port.flush()
|
||||
self.port.baudrate = self.baudrate_bootloader
|
||||
except Exception:
|
||||
@@ -751,13 +726,9 @@ def main():
|
||||
parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
|
||||
parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
|
||||
parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
|
||||
parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
|
||||
parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
|
||||
args = parser.parse_args()
|
||||
|
||||
if args.use_protocol_splitter_format:
|
||||
print("Using protocol splitter format to reboot pixhawk!")
|
||||
|
||||
# warn people about ModemManager which interferes badly with Pixhawk
|
||||
if os.path.exists("/usr/sbin/ModemManager"):
|
||||
print("==========================================================================================================")
|
||||
@@ -859,7 +830,7 @@ def main():
|
||||
|
||||
except Exception:
|
||||
|
||||
if not up.send_reboot(args.use_protocol_splitter_format):
|
||||
if not up.send_reboot():
|
||||
break
|
||||
|
||||
# wait for the reboot, without we might run into Serial I/O Error 5
|
||||
|
||||
Executable → Regular
@@ -1,7 +1,5 @@
|
||||
#! /usr/bin/env bash
|
||||
|
||||
set -e
|
||||
|
||||
## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
|
||||
## Can also be used in docker.
|
||||
##
|
||||
@@ -195,7 +193,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
java_version=11
|
||||
gazebo_version=9
|
||||
elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||
java_version=13
|
||||
java_version=14
|
||||
gazebo_version=11
|
||||
else
|
||||
java_version=14
|
||||
|
||||
Submodule Tools/simulation-ignition updated: e78ad94a4f...794a8dc505
+1
-1
Submodule Tools/sitl_gazebo updated: 53d606b32f...7fda4d311a
+2
-14
@@ -56,13 +56,6 @@ else
|
||||
follow_mode=""
|
||||
fi
|
||||
|
||||
# To use gazebo_ros ROS2 plugins
|
||||
if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
|
||||
ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
|
||||
else
|
||||
ros_args=""
|
||||
fi
|
||||
|
||||
if [ "$program" == "jmavsim" ]; then
|
||||
jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
|
||||
if [ -n "$jmavsim_pid" ]; then
|
||||
@@ -140,7 +133,7 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
|
||||
world_path="$PX4_SITL_WORLD"
|
||||
fi
|
||||
fi
|
||||
gzserver $verbose $world_path $ros_args &
|
||||
gzserver $verbose $world_path &
|
||||
SIM_PID=$!
|
||||
|
||||
# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
|
||||
@@ -186,13 +179,8 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
|
||||
fi
|
||||
elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
|
||||
echo "Ignition Gazebo"
|
||||
if [[ -n "$HEADLESS" ]]; then
|
||||
ignition_headless="-s"
|
||||
else
|
||||
ignition_headless=""
|
||||
fi
|
||||
source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
|
||||
ign gazebo ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
|
||||
ign gazebo -r "${src_path}/Tools/simulation-ignition/worlds/ignition.world"&
|
||||
elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
|
||||
echo "FG setup"
|
||||
cd "${src_path}/Tools/flightgear_bridge/"
|
||||
|
||||
@@ -1,135 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
agent_template_files_updated=0
|
||||
code_generator_files_updated=0
|
||||
|
||||
# parse help argument
|
||||
if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
|
||||
echo -e "Usage: update_px4_ros2_bridge.bash [options...] \t This script allows to update px4_ros_com and px4_msgs in a specified directory." >&2
|
||||
echo
|
||||
echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
|
||||
echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
|
||||
echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
|
||||
echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
|
||||
echo
|
||||
exit 0
|
||||
fi
|
||||
|
||||
# parse the arguments
|
||||
while [ $# -gt 0 ]; do
|
||||
if [[ $1 == *"--"* ]]; then
|
||||
v="${1/--/}"
|
||||
if [ ! -z $2 ]; then
|
||||
declare $v="$2"
|
||||
else
|
||||
declare $v=1
|
||||
fi
|
||||
fi
|
||||
shift
|
||||
done
|
||||
|
||||
# get script directory
|
||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
||||
|
||||
# get PX4-Autopilot directory
|
||||
PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
|
||||
|
||||
function compare_and_update () {
|
||||
cmp -s "$1" "$2"
|
||||
if [ $? -eq 1 ]; then
|
||||
cp "$1" "$2"
|
||||
return 0
|
||||
fi
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
# update microRTPS agent code generators / helpers
|
||||
function update_agent_code {
|
||||
declare -a templates=( \
|
||||
"microRTPS_agent.cpp.em" \
|
||||
"microRTPS_timesync.cpp.em" \
|
||||
"microRTPS_timesync.h.em" \
|
||||
"microRTPS_transport.cpp" \
|
||||
"microRTPS_transport.h" \
|
||||
"Publisher.cpp.em" \
|
||||
"Publisher.h.em" \
|
||||
"Subscriber.cpp.em" \
|
||||
"Subscriber.h.em" \
|
||||
"RtpsTopics.cpp.em" \
|
||||
"RtpsTopics.h.em" \
|
||||
)
|
||||
|
||||
for file in ${templates[@]}; do
|
||||
compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
|
||||
&& echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
|
||||
done
|
||||
if [ $agent_template_files_updated -eq 0 ]; then
|
||||
echo -e "--\t\t- No template files updated"
|
||||
elif [ $agent_template_files_updated -eq 1 ]; then
|
||||
echo -e "--\t\t - 1 template file updated"
|
||||
else
|
||||
echo -e "--\t\t - $agent_template_files_updated template files updated"
|
||||
fi
|
||||
}
|
||||
|
||||
# update microRTPS agent code templates
|
||||
function update_agent_templates {
|
||||
declare -a code_generators=( \
|
||||
"uorb_rtps_classifier.py" \
|
||||
"generate_microRTPS_bridge.py" \
|
||||
"px_generate_uorb_topic_files.py" \
|
||||
)
|
||||
for file in ${code_generators[@]}; do
|
||||
compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
|
||||
&& echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
|
||||
done
|
||||
if [ $code_generator_files_updated -eq 0 ]; then
|
||||
echo -e "--\t\t- No code generators / helpers files updated"
|
||||
elif [ $code_generator_files_updated -eq 1 ]; then
|
||||
echo -e "--\t\t - 1 code generator / helper file updated"
|
||||
else
|
||||
echo -e "--\t\t - $code_generator_files_updated code generator / helper files updated"
|
||||
fi
|
||||
}
|
||||
|
||||
# update px4_ros_com files
|
||||
function update_px4_ros_com {
|
||||
python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
|
||||
echo -e "--------------- \033[1mmicroRTPS agent code generation and templates update\033[0m ----------------"
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
update_agent_code
|
||||
update_agent_templates
|
||||
return 0
|
||||
}
|
||||
|
||||
# function to update px4_msgs
|
||||
function update_px4_msgs {
|
||||
find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
|
||||
python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
|
||||
}
|
||||
|
||||
# decisor
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
if [ -d "${ws_dir}" ]; then
|
||||
ws_dir=$(cd "$ws_dir" && pwd)
|
||||
if [ ! -z ${all} ]; then
|
||||
update_px4_ros_com
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
update_px4_msgs
|
||||
elif [ ! -z ${px4_ros_com} ]; then
|
||||
update_px4_ros_com
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
elif [ ! -z ${px4_msgs} ]; then
|
||||
update_px4_msgs
|
||||
fi
|
||||
echo -e "-------------------------------- \033[0;32mUpdate successful!\033[0m ---------------------------------"
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
exit 0
|
||||
else
|
||||
echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
|
||||
echo -e "---------------------------------- \033[0;31mUpdate failed!\033[0m -----------------------------------"
|
||||
echo "-------------------------------------------------------------------------------------------------------"
|
||||
exit $ERRCODE
|
||||
fi
|
||||
@@ -19,7 +19,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_STM32_CCMEXCLUDE is not set
|
||||
@@ -91,6 +90,7 @@ CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NFILE_DESCRIPTORS=12
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
@@ -99,6 +99,9 @@ CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
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
|
||||
|
||||
@@ -95,6 +95,7 @@
|
||||
/* AUX PWMs
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 8
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
@@ -152,6 +153,7 @@
|
||||
#define BOARD_ADC_PERIPH_5V_OC (0)
|
||||
#define BOARD_ADC_HIPOWER_5V_OC (0)
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
@@ -36,7 +36,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=0
|
||||
CONFIG_MAX_TASKS=0
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_NAME_MAX=0
|
||||
CONFIG_NUNGET_CHARS=0
|
||||
|
||||
@@ -15,7 +15,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_STM32_DMACAPABLE is not set
|
||||
@@ -71,6 +70,7 @@ CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NFILE_DESCRIPTORS=12
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
@@ -79,6 +79,9 @@ CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
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
|
||||
|
||||
@@ -22,8 +22,8 @@ px4_add_board(
|
||||
#load_mon
|
||||
#sensors
|
||||
SYSTEMCMDS
|
||||
#i2cdetect
|
||||
#led_control
|
||||
i2cdetect
|
||||
led_control
|
||||
param
|
||||
perf
|
||||
reboot
|
||||
|
||||
@@ -36,7 +36,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=0
|
||||
CONFIG_MAX_TASKS=0
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_NAME_MAX=0
|
||||
CONFIG_NUNGET_CHARS=0
|
||||
|
||||
@@ -15,7 +15,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_STM32_DMACAPABLE is not set
|
||||
@@ -71,6 +70,7 @@ CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NFILE_DESCRIPTORS=12
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
@@ -79,6 +79,9 @@ CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
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
|
||||
|
||||
@@ -7,6 +7,7 @@ px4_add_board(
|
||||
DRIVERS
|
||||
adc/board_adc
|
||||
barometer/maiertek/mpc2520
|
||||
camera_capture
|
||||
gps
|
||||
#heater
|
||||
imu/invensense/icm20602
|
||||
|
||||
@@ -20,7 +20,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
@@ -72,7 +71,6 @@ CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
@@ -85,6 +83,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
@@ -96,6 +95,7 @@ CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NFILE_DESCRIPTORS=12
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
@@ -104,6 +104,9 @@ CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
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
|
||||
|
||||
@@ -91,7 +91,7 @@ CONFIG_IOB_NBUFFERS=24
|
||||
CONFIG_IOB_THROTTLE=0
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
@@ -115,6 +115,7 @@ CONFIG_NET_ARP_SEND=y
|
||||
CONFIG_NET_BROADCAST=y
|
||||
CONFIG_NET_ICMP=y
|
||||
CONFIG_NET_ICMP_SOCKET=y
|
||||
CONFIG_NET_SOCKOPTS=y
|
||||
CONFIG_NET_SOLINGER=y
|
||||
CONFIG_NET_TCP=y
|
||||
CONFIG_NET_TCPBACKLOG=y
|
||||
@@ -122,12 +123,16 @@ 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
|
||||
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_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
@@ -138,6 +143,7 @@ CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_TELNET=y
|
||||
CONFIG_NSH_TELNET_LOGIN=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_OTG_ID_GPIO_DISABLE=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
|
||||
@@ -101,6 +101,7 @@
|
||||
/* PWM
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 9
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 9
|
||||
|
||||
#define BOARD_CAPTURE_GPIO /* PD14 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN14)
|
||||
|
||||
@@ -138,6 +139,7 @@
|
||||
#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
|
||||
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
@@ -16,6 +16,7 @@ px4_add_board(
|
||||
#barometer # all available barometer drivers
|
||||
barometer/bmp280
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
|
||||
@@ -18,7 +18,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_SPI_CALLBACK is not set
|
||||
@@ -87,6 +86,7 @@ CONFIG_MTD=y
|
||||
CONFIG_MTD_AT24XX=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_NFILE_DESCRIPTORS=12
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
@@ -95,6 +95,9 @@ CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
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
|
||||
|
||||
@@ -153,6 +153,7 @@
|
||||
#define HRT_TIMER 8 /* use timer8 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
|
||||
|
||||
@@ -17,7 +17,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_SPI_CALLBACK is not set
|
||||
@@ -85,6 +84,7 @@ CONFIG_MTD=y
|
||||
CONFIG_MTD_AT24XX=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_NFILE_DESCRIPTORS=12
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
@@ -94,6 +94,9 @@ CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_DISABLE_EXPORT=y
|
||||
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
|
||||
|
||||
@@ -154,6 +154,7 @@
|
||||
#define HRT_TIMER 8 /* use timer8 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
|
||||
|
||||
@@ -0,0 +1,35 @@
|
||||
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
|
||||
|
||||
add_definitions(-DUSE_S_RGB_LED_DMA)
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT cannode
|
||||
UAVCAN_INTERFACES 1
|
||||
DRIVERS
|
||||
barometer/ms5611
|
||||
bootloaders
|
||||
gps
|
||||
lights/neopixel
|
||||
magnetometer/rm3100
|
||||
safety_button
|
||||
tone_alarm
|
||||
uavcannode
|
||||
MODULES
|
||||
load_mon
|
||||
SYSTEMCMDS
|
||||
i2cdetect
|
||||
led_control
|
||||
param
|
||||
perf
|
||||
reboot
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
ver
|
||||
work_queue
|
||||
)
|
||||
@@ -36,7 +36,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=0
|
||||
CONFIG_MAX_TASKS=0
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_NAME_MAX=0
|
||||
CONFIG_NUNGET_CHARS=0
|
||||
|
||||
@@ -15,7 +15,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_STM32_DMACAPABLE is not set
|
||||
@@ -71,6 +70,7 @@ CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NFILE_DESCRIPTORS=12
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
@@ -79,6 +79,9 @@ CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
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
|
||||
@@ -137,6 +140,7 @@ CONFIG_STM32_RTC_MAGIC_REG=1
|
||||
CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
|
||||
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
|
||||
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32_JTAG_SW_ENABLE=y
|
||||
CONFIG_STM32_SPI1=y
|
||||
CONFIG_STM32_TIM8=y
|
||||
CONFIG_STM32_USART1=y
|
||||
|
||||
@@ -100,7 +100,7 @@ px4_add_board(
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
#motor_ramp
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
@@ -108,9 +108,9 @@ px4_add_board(
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
#reflect
|
||||
#sd_bench
|
||||
#serial_test
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
top
|
||||
topic_listener
|
||||
|
||||
@@ -51,9 +51,10 @@ CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=8
|
||||
CONFIG_MAX_TASKS=8
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_NFILE_DESCRIPTORS=5
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=245760
|
||||
@@ -82,7 +83,7 @@ CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_TTY_SIGINT=y
|
||||
CONFIG_TTY_SIGINT_CHAR=0x03
|
||||
CONFIG_TTY_SIGTSTP=y
|
||||
CONFIG_TTY_SIGSTP=y
|
||||
CONFIG_USART6_RXBUFSIZE=600
|
||||
CONFIG_USART6_TXBUFSIZE=300
|
||||
CONFIG_USBDEV=y
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
@@ -83,7 +82,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
@@ -96,6 +95,7 @@ CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_PROGMEM=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NFILE_DESCRIPTORS=12
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
@@ -104,6 +104,9 @@ CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
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
|
||||
@@ -211,7 +214,7 @@ CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_TTY_SIGINT=y
|
||||
CONFIG_TTY_SIGTSTP=y
|
||||
CONFIG_TTY_SIGSTP=y
|
||||
CONFIG_UART4_BAUD=57600
|
||||
CONFIG_UART4_RXBUFSIZE=600
|
||||
CONFIG_UART4_TXBUFSIZE=1500
|
||||
|
||||
@@ -199,6 +199,7 @@
|
||||
/* This board provides the board_on_reset interface */
|
||||
#define BOARD_HAS_ON_RESET 1
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -65,6 +65,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
void board_late_initialize(void)
|
||||
{
|
||||
px4_platform_console_init();
|
||||
sercon_main(0, NULL);
|
||||
}
|
||||
|
||||
|
||||
@@ -60,8 +60,6 @@
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
#include <mpu.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
@@ -129,16 +127,6 @@ __EXPORT void board_on_reset(int status)
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
// clear all existing MPU configuration from bootloader
|
||||
for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
|
||||
putreg32(region, MPU_RNR);
|
||||
putreg32(0, MPU_RBAR);
|
||||
putreg32(0, MPU_RASR);
|
||||
|
||||
// save
|
||||
putreg32(0, MPU_CTRL);
|
||||
}
|
||||
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
|
||||
@@ -101,7 +101,7 @@ px4_add_board(
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
#motor_ramp
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
@@ -109,10 +109,10 @@ px4_add_board(
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
#reflect
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
#system_time
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
|
||||
@@ -101,7 +101,7 @@ px4_add_board(
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
#motor_ramp
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
@@ -109,10 +109,10 @@ px4_add_board(
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
#reflect
|
||||
reflect
|
||||
sd_bench
|
||||
#serial_test
|
||||
#system_time
|
||||
serial_test
|
||||
system_time
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -15,8 +15,6 @@ param set-default BAT2_A_PER_V 24
|
||||
# Enable IMU thermal control
|
||||
param set-default SENS_EN_THERMAL 1
|
||||
|
||||
param set-default SENS_TEMP_ID 6946850
|
||||
|
||||
# Set Camera trigger pins to 13/14
|
||||
param set-default TRIG_PINS_EX 12288
|
||||
|
||||
|
||||
@@ -51,9 +51,10 @@ CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=8
|
||||
CONFIG_MAX_TASKS=8
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_NFILE_DESCRIPTORS=5
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=245760
|
||||
@@ -82,7 +83,7 @@ CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_TTY_SIGINT=y
|
||||
CONFIG_TTY_SIGINT_CHAR=0x03
|
||||
CONFIG_TTY_SIGTSTP=y
|
||||
CONFIG_TTY_SIGSTP=y
|
||||
CONFIG_USART6_RXBUFSIZE=600
|
||||
CONFIG_USART6_TXBUFSIZE=300
|
||||
CONFIG_USBDEV=y
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
@@ -83,7 +82,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
@@ -96,6 +95,7 @@ CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_PROGMEM=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NFILE_DESCRIPTORS=12
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
@@ -104,6 +104,9 @@ CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
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
|
||||
@@ -211,7 +214,7 @@ CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_TTY_SIGINT=y
|
||||
CONFIG_TTY_SIGTSTP=y
|
||||
CONFIG_TTY_SIGSTP=y
|
||||
CONFIG_UART4_BAUD=57600
|
||||
CONFIG_UART4_RXBUFSIZE=600
|
||||
CONFIG_UART4_TXBUFSIZE=1500
|
||||
|
||||
@@ -199,6 +199,7 @@
|
||||
/* This board provides the board_on_reset interface */
|
||||
#define BOARD_HAS_ON_RESET 1
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -65,6 +65,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
void board_late_initialize(void)
|
||||
{
|
||||
px4_platform_console_init();
|
||||
sercon_main(0, NULL);
|
||||
}
|
||||
|
||||
|
||||
@@ -60,8 +60,6 @@
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
#include <mpu.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
@@ -129,16 +127,6 @@ __EXPORT void board_on_reset(int status)
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
// clear all existing MPU configuration from bootloader
|
||||
for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
|
||||
putreg32(region, MPU_RNR);
|
||||
putreg32(0, MPU_RBAR);
|
||||
putreg32(0, MPU_RASR);
|
||||
|
||||
// save
|
||||
putreg32(0, MPU_CTRL);
|
||||
}
|
||||
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
|
||||
@@ -102,7 +102,7 @@ px4_add_board(
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
#motor_ramp
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
@@ -110,10 +110,10 @@ px4_add_board(
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
#reflect
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
#system_time
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
|
||||
@@ -12,7 +12,7 @@ px4_add_board(
|
||||
TEL2:/dev/ttyS1
|
||||
GPS1:/dev/ttyS2
|
||||
# PX4IO:/dev/ttyS3
|
||||
# TEL3:/dev/ttyS4 # connected to ADS-B receiver
|
||||
TEL3:/dev/ttyS4
|
||||
GPS2:/dev/ttyS5
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
|
||||
@@ -12,6 +12,4 @@ param set-default BAT2_A_PER_V 17
|
||||
# Disable IMU thermal control
|
||||
param set-default SENS_EN_THERMAL 0
|
||||
|
||||
param set-default -s SENS_TEMP_ID 2621474
|
||||
|
||||
set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
|
||||
|
||||
@@ -5,9 +5,3 @@
|
||||
|
||||
# Start MAVLink on the USB port
|
||||
mavlink start -d /dev/ttyACM0
|
||||
|
||||
# Start ADS-B receiver mavlink connection if console not present
|
||||
if [ ! -e /dev/console ]
|
||||
then
|
||||
mavlink start -d /dev/ttyS4 -b 57600 -m minimal
|
||||
fi
|
||||
|
||||
@@ -51,9 +51,10 @@ CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=8
|
||||
CONFIG_MAX_TASKS=8
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_NFILE_DESCRIPTORS=5
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=245760
|
||||
@@ -82,7 +83,7 @@ CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_TTY_SIGINT=y
|
||||
CONFIG_TTY_SIGINT_CHAR=0x03
|
||||
CONFIG_TTY_SIGTSTP=y
|
||||
CONFIG_TTY_SIGSTP=y
|
||||
CONFIG_USART3_RXBUFSIZE=600
|
||||
CONFIG_USART3_TXBUFSIZE=300
|
||||
CONFIG_USBDEV=y
|
||||
|
||||
@@ -20,7 +20,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
@@ -72,7 +71,6 @@ CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
@@ -85,6 +83,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
@@ -97,6 +96,7 @@ CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_PROGMEM=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NFILE_DESCRIPTORS=12
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
@@ -105,6 +105,9 @@ CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
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
|
||||
@@ -202,7 +205,7 @@ CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_TTY_SIGINT=y
|
||||
CONFIG_TTY_SIGINT_CHAR=0x03
|
||||
CONFIG_TTY_SIGTSTP=y
|
||||
CONFIG_TTY_SIGSTP=y
|
||||
CONFIG_UART4_BAUD=57600
|
||||
CONFIG_UART4_RXBUFSIZE=600
|
||||
CONFIG_UART4_TXBUFSIZE=1500
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
@@ -71,7 +70,6 @@ CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
@@ -84,6 +82,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MAX_TASKS=64
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
@@ -96,6 +95,7 @@ CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_PROGMEM=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NFILE_DESCRIPTORS=12
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
@@ -104,6 +104,9 @@ CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
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
|
||||
@@ -200,7 +203,7 @@ CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_TTY_SIGINT=y
|
||||
CONFIG_TTY_SIGTSTP=y
|
||||
CONFIG_TTY_SIGSTP=y
|
||||
CONFIG_UART4_BAUD=57600
|
||||
CONFIG_UART4_RXBUFSIZE=600
|
||||
CONFIG_UART4_TXBUFSIZE=1500
|
||||
|
||||
@@ -62,7 +62,7 @@
|
||||
#define GPIO_nLED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
|
||||
|
||||
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
||||
#define BOARD_ARMED_LED LED_AMBER
|
||||
#define BOARD_ARMED_STATE_LED LED_AMBER
|
||||
|
||||
/* ADC channels */
|
||||
#define PX4_ADC_GPIO \
|
||||
@@ -148,6 +148,7 @@
|
||||
|
||||
#define BOARD_HAS_STATIC_MANIFEST 1
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -65,6 +65,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
|
||||
void board_late_initialize(void)
|
||||
{
|
||||
px4_platform_console_init();
|
||||
sercon_main(0, NULL);
|
||||
}
|
||||
|
||||
|
||||
@@ -60,8 +60,6 @@
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
#include <mpu.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
@@ -120,16 +118,6 @@ __EXPORT void board_on_reset(int status)
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
// clear all existing MPU configuration from bootloader
|
||||
for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
|
||||
putreg32(region, MPU_RNR);
|
||||
putreg32(0, MPU_RBAR);
|
||||
putreg32(0, MPU_RASR);
|
||||
|
||||
// save
|
||||
putreg32(0, MPU_CTRL);
|
||||
}
|
||||
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
|
||||
@@ -44,9 +44,9 @@ px4_add_board(
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
#roboclaw
|
||||
roboclaw
|
||||
rpm
|
||||
#smart_battery/batmon
|
||||
smart_battery/batmon
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
@@ -99,7 +99,7 @@ px4_add_board(
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
#motor_ramp
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
@@ -107,10 +107,10 @@ px4_add_board(
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
#reflect
|
||||
reflect
|
||||
sd_bench
|
||||
#serial_test
|
||||
#system_time
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user