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10 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 JaeyoungLim
|
19d9d55869 | ||
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JaeyoungLim
|
a0b7e1427b | ||
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JaeyoungLim
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5cc60834d2 | ||
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JaeyoungLim
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a6a21bec45 | ||
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JaeyoungLim
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097e5b1904 | ||
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JaeyoungLim
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04b269eb5a | ||
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JaeyoungLim
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89113c8fff | ||
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JaeyoungLim
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870cd34d17 | ||
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JaeyoungLim
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87574986d5 | ||
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JaeyoungLim
|
d656326e79 |
@@ -3,45 +3,92 @@ description: Create a report to help us improve
|
||||
title: "[Bug] "
|
||||
labels: ["bug-report"]
|
||||
body:
|
||||
- type: markdown
|
||||
attributes:
|
||||
value: |
|
||||
**Tips for a great bug report:**
|
||||
- Describe what went wrong and what you expected
|
||||
- Include a flight log link from [logs.px4.io](http://logs.px4.io/) if possible
|
||||
- Mention your PX4 version, flight controller, and vehicle type if relevant
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Describe the bug
|
||||
description: A clear description of the bug and what you expected to happen.
|
||||
placeholder: |
|
||||
What happened and what did you expect instead?
|
||||
|
||||
Steps to reproduce (if applicable):
|
||||
1.
|
||||
2.
|
||||
3.
|
||||
description: A clear and concise description of the bug.
|
||||
validations:
|
||||
required: true
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Flight Log / Additional Information
|
||||
label: To Reproduce
|
||||
description: |
|
||||
**Flight log** (highly recommended for flight-related issues):
|
||||
- Upload to [PX4 Flight Review](http://logs.px4.io/) and paste the link
|
||||
|
||||
**Additional details** (if relevant):
|
||||
- PX4 version (output of `ver all` in MAVLink Shell)
|
||||
- Flight controller model
|
||||
- Vehicle type (multicopter, fixed-wing, VTOL, etc.)
|
||||
- Screenshots or media
|
||||
placeholder: |
|
||||
Flight log link:
|
||||
|
||||
Version:
|
||||
|
||||
Hardware:
|
||||
Steps to reproduce the behavior.
|
||||
1. Drone switched on '...'
|
||||
2. Uploaded mission '....' (attach QGC mission file)
|
||||
3. Took off '....'
|
||||
4. See error
|
||||
validations:
|
||||
required: false
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Expected behavior
|
||||
description: A clear and concise description of what you expected to happen.
|
||||
validations:
|
||||
required: false
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Screenshot / Media
|
||||
description: Add screenshot / media if you have them
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Flight Log
|
||||
description: |
|
||||
*Always* provide a link to the flight log file:
|
||||
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
|
||||
- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
|
||||
- Share the link to the log (Copy and paste the URL of the log)
|
||||
placeholder: |
|
||||
# PASTE HERE THE LINK TO THE LOG
|
||||
validations:
|
||||
required: false
|
||||
|
||||
- type: markdown
|
||||
attributes:
|
||||
value: |
|
||||
## Setup
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Software Version
|
||||
description: |
|
||||
Which version of PX4 are you using?
|
||||
placeholder: |
|
||||
# If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
|
||||
validations:
|
||||
required: false
|
||||
|
||||
- type: input
|
||||
attributes:
|
||||
label: Flight controller
|
||||
description: Specify your flight controller model (what type is it, where was it bought from, ...).
|
||||
validations:
|
||||
required: false
|
||||
|
||||
- type: dropdown
|
||||
attributes:
|
||||
label: Vehicle type
|
||||
options:
|
||||
- Multicopter
|
||||
- Helicopter
|
||||
- Fixed Wing
|
||||
- Hybrid VTOL
|
||||
- Airship/Balloon
|
||||
- Rover
|
||||
- Boat
|
||||
- Submarine
|
||||
- Other
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: How are the different components wired up (including port information)
|
||||
description: Details about how all is wired.
|
||||
|
||||
- type: textarea
|
||||
attributes:
|
||||
label: Additional context
|
||||
description: Add any other context about the problem here.
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
blank_issues_enabled: true
|
||||
blank_issues_enabled: false
|
||||
contact_links:
|
||||
- name: Support Question
|
||||
url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
|
||||
|
||||
@@ -90,9 +90,6 @@ jobs:
|
||||
mkdir -p /opt/px4_ws/src
|
||||
cd /opt/px4_ws/src
|
||||
git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
|
||||
# Ignore python packages due to compilation issue (can be enabled when updating ROS)
|
||||
touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
|
||||
touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
|
||||
cd ..
|
||||
# Copy messages to ROS workspace
|
||||
"${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
|
||||
|
||||
@@ -103,9 +103,3 @@
|
||||
[submodule "src/drivers/ins/sbgecom/sbgECom"]
|
||||
path = src/drivers/ins/sbgecom/sbgECom
|
||||
url = https://github.com/PX4/sbgECom.git
|
||||
[submodule "src/modules/mc_raptor/blob"]
|
||||
path = src/modules/mc_raptor/blob
|
||||
url = https://github.com/rl-tools/px4-blob
|
||||
[submodule "src/lib/rl_tools/rl_tools"]
|
||||
path = src/lib/rl_tools/rl_tools
|
||||
url = https://github.com/rl-tools/rl-tools.git
|
||||
|
||||
Vendored
-10
@@ -6,16 +6,6 @@ CONFIG:
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_raptor:
|
||||
short: px4_sitl_raptor
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_raptor
|
||||
px4_sitl_raptor_debug:
|
||||
short: px4_sitl_raptor_debug
|
||||
buildType: Debug
|
||||
settings:
|
||||
CONFIG: px4_sitl_raptor
|
||||
px4_sitl_spacecraft:
|
||||
short: px4_sitl_spacecraft
|
||||
buildType: RelWithDebInfo
|
||||
|
||||
@@ -0,0 +1,15 @@
|
||||
## This file should be placed in the root directory of your project.
|
||||
## Then modify the CMakeLists.txt file in the root directory of your
|
||||
## project to incorporate the testing dashboard.
|
||||
##
|
||||
## # The following are required to submit to the CDash dashboard:
|
||||
## ENABLE_TESTING()
|
||||
## INCLUDE(CTest)
|
||||
|
||||
set(CTEST_PROJECT_NAME "PX4 Firmware")
|
||||
set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
|
||||
|
||||
set(CTEST_DROP_METHOD "http")
|
||||
set(CTEST_DROP_SITE "my.cdash.org")
|
||||
set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
|
||||
set(CTEST_DROP_SITE_CDASH TRUE)
|
||||
Vendored
-1
@@ -101,7 +101,6 @@ pipeline {
|
||||
echo $0;
|
||||
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
|
||||
cd _emscripten_sdk;
|
||||
git checkout 4.0.15;
|
||||
./emsdk install latest;
|
||||
./emsdk activate latest;
|
||||
cd ..;
|
||||
|
||||
@@ -101,6 +101,6 @@ param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_F_TRANS_THR 1
|
||||
param set-default VT_F_TRANS_THR 0.3
|
||||
param set-default VT_TYPE 2
|
||||
param set-default FD_ESCS_EN 0
|
||||
|
||||
@@ -19,6 +19,5 @@ param set-default MNT_MAN_PITCH 2
|
||||
param set-default MNT_MAN_YAW 3
|
||||
|
||||
param set-default MNT_RANGE_ROLL 180
|
||||
param set-default MNT_MAX_PITCH 45
|
||||
param set-default MNT_MIN_PITCH -135
|
||||
param set-default MNT_RANGE_PITCH 180
|
||||
param set-default MNT_RANGE_YAW 720
|
||||
|
||||
@@ -123,9 +123,3 @@ if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
|
||||
rc.thermal_cal
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CONFIG_DRIVERS_VTXTABLE)
|
||||
px4_add_romfs_files(
|
||||
rc.vtxtable
|
||||
)
|
||||
endif()
|
||||
|
||||
@@ -16,6 +16,7 @@ control_allocator start
|
||||
fw_rate_control start
|
||||
fw_att_control start
|
||||
fw_mode_manager start
|
||||
fw_guidance_control start
|
||||
fw_lat_lon_control start
|
||||
airspeed_selector start
|
||||
|
||||
|
||||
@@ -41,9 +41,3 @@ if param compare -s MC_NN_EN 1
|
||||
then
|
||||
mc_nn_control start
|
||||
fi
|
||||
|
||||
|
||||
if param compare -s MC_RAPTOR_ENABLE 1
|
||||
then
|
||||
mc_raptor start
|
||||
fi
|
||||
|
||||
@@ -237,12 +237,6 @@ then
|
||||
tla2528 start -X
|
||||
fi
|
||||
|
||||
# Start TMP102 temperature sensor
|
||||
if param compare SENS_EN_TMP102 1
|
||||
then
|
||||
tmp102 start -X
|
||||
fi
|
||||
|
||||
# probe for optional external I2C devices
|
||||
if param compare SENS_EXT_I2C_PRB 1
|
||||
then
|
||||
|
||||
@@ -28,6 +28,7 @@ fi
|
||||
fw_rate_control start vtol
|
||||
fw_att_control start vtol
|
||||
fw_mode_manager start
|
||||
fw_guidance_control start
|
||||
fw_lat_lon_control start vtol
|
||||
fw_autotune_attitude_control start vtol
|
||||
|
||||
|
||||
@@ -1,8 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# VTX table loading script.
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
vtxtable load
|
||||
@@ -479,19 +479,6 @@ else
|
||||
pwm_out start
|
||||
fi
|
||||
|
||||
#
|
||||
# Optional UAVCAN/DroneCAN or Cyphal
|
||||
#
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
uavcan start
|
||||
else
|
||||
if param greater -s CYPHAL_ENABLE 0
|
||||
then
|
||||
cyphal start
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Configure vehicle type specific parameters.
|
||||
# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
|
||||
@@ -520,11 +507,6 @@ else
|
||||
#
|
||||
. ${R}etc/init.d/rc.serial
|
||||
|
||||
if param greater -s ZENOH_ENABLE 0
|
||||
then
|
||||
zenoh start
|
||||
fi
|
||||
|
||||
# Must be started after the serial config is read
|
||||
rc_input start $RC_INPUT_ARGS
|
||||
|
||||
@@ -630,16 +612,6 @@ else
|
||||
fi
|
||||
unset RC_LOGGING
|
||||
|
||||
#
|
||||
# Start the VTX services.
|
||||
#
|
||||
set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
|
||||
if [ -f ${RC_VTXTABLE} ]
|
||||
then
|
||||
. ${RC_VTXTABLE}
|
||||
fi
|
||||
unset RC_VTXTABLE
|
||||
|
||||
#
|
||||
# Set additional parameters and env variables for selected AUTOSTART.
|
||||
#
|
||||
@@ -656,6 +628,27 @@ else
|
||||
fi
|
||||
unset BOARD_BOOTLOADER_UPGRADE
|
||||
|
||||
#
|
||||
# Check if UAVCAN is enabled, default to it for ESCs.
|
||||
#
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
# Start core UAVCAN module.
|
||||
if ! uavcan start
|
||||
then
|
||||
tune_control play error
|
||||
fi
|
||||
else
|
||||
if param greater -s CYPHAL_ENABLE 0
|
||||
then
|
||||
cyphal start
|
||||
fi
|
||||
fi
|
||||
if param greater -s ZENOH_ENABLE 0
|
||||
then
|
||||
zenoh start
|
||||
fi
|
||||
|
||||
#
|
||||
# End of autostart.
|
||||
#
|
||||
|
||||
@@ -21,13 +21,11 @@ exec find boards msg src platforms test \
|
||||
-path src/lib/crypto/monocypher -prune -o \
|
||||
-path src/lib/events/libevents -prune -o \
|
||||
-path src/lib/parameters/uthash -prune -o \
|
||||
-path src/lib/rl_tools/rl_tools -prune -o \
|
||||
-path src/lib/wind_estimator/python/generated -prune -o \
|
||||
-path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \
|
||||
-path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
|
||||
-path src/modules/gyro_fft/CMSIS_5 -prune -o \
|
||||
-path src/modules/mavlink/mavlink -prune -o \
|
||||
-path src/modules/mc_raptor/blob -prune -o \
|
||||
-path test/fuzztest -prune -o \
|
||||
-path test/mavsdk_tests/catch2 -prune -o \
|
||||
-path src/lib/crypto/monocypher -prune -o \
|
||||
|
||||
+58
-822
@@ -8,803 +8,6 @@ Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
|
||||
import os
|
||||
import argparse
|
||||
import sys
|
||||
import re
|
||||
|
||||
VALID_FIELDS = { #Note, also have to add the message types as those can be fields
|
||||
'uint64',
|
||||
'uint16',
|
||||
'uint8',
|
||||
'uint32'
|
||||
}
|
||||
|
||||
ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "dBm", "h", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa","%","-"])
|
||||
invalid_units = set()
|
||||
ALLOWED_FRAMES = set(["NED","Body"])
|
||||
ALLOWED_INVALID_VALUES = set(["NaN", "0"])
|
||||
ALLOWED_CONSTANTS_NOT_IN_ENUM = set(["ORB_QUEUE_LENGTH","MESSAGE_VERSION"])
|
||||
|
||||
class Error:
|
||||
def __init__(self, type, message, linenumber=None, issueString = None, field = None):
|
||||
self.type = type
|
||||
self.message = message
|
||||
self.linenumber = linenumber
|
||||
self.issueString = issueString
|
||||
self.field = field
|
||||
|
||||
def display_error(self):
|
||||
#print(f"Debug: Error: display_error")
|
||||
|
||||
|
||||
if 'trailing_whitespace' == self.type:
|
||||
if self.issueString.strip():
|
||||
print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber}): {self.issueString}")
|
||||
else:
|
||||
print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber})")
|
||||
elif 'leading_whitespace_field_or_constant' == self.type:
|
||||
print(f"NOTE: Whitespace before field or constant ({self.message}: {self.linenumber}): {self.issueString}")
|
||||
elif 'field_or_constant_has_multiple_whitepsace' == self.type:
|
||||
print(f"NOTE: Field/constant has more than one sequential whitespace character ({self.message}: {self.linenumber}): {self.issueString}")
|
||||
elif 'empty_start_line' == self.type:
|
||||
print(f"NOTE: Empty line at start of file ({self.message}: {self.linenumber})")
|
||||
elif 'internal_comment' == self.type:
|
||||
print(f"NOTE: Internal Comment ({self.message}: {self.linenumber})\n {self.issueString}")
|
||||
elif 'internal_comment_empty' == self.type:
|
||||
print(f"NOTE: Empty Internal Comment ({self.message}: {self.linenumber})")
|
||||
elif 'summary_missing' == self.type:
|
||||
print(f"WARNING: No message description ({self.message})")
|
||||
elif 'topic_error' == self.type:
|
||||
print(f"NOTE: TOPIC ISSUE: {self.issueString}")
|
||||
elif 'unknown_unit' == self.type:
|
||||
print(f"WARNING: Unknown Unit: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
|
||||
elif 'constant_not_in_assigned_enum' == self.type:
|
||||
print(f"WARNING: `{self.issueString}` constant: Prefix not in `@enum` field metadata ({self.message}: {self.linenumber})")
|
||||
elif 'unknown_invalid_value' == self.type:
|
||||
print(f"WARNING: Unknown @invalid value: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
|
||||
elif 'unknown_frame' == self.type:
|
||||
print(f"WARNING: Unknown @frame: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
|
||||
elif 'command_no_params_pipes' == self.type:
|
||||
print(f"WARNING: `{self.field}` command has no parameters (pipes): [{self.issueString}] ({self.message}: {self.linenumber})")
|
||||
elif 'command_missing_params' == self.type:
|
||||
print(f"WARNING: `{self.field}` command missing params - should be 7 params surrounded by 8 pipes: [{self.issueString}] ({self.message}: {self.linenumber})")
|
||||
elif 'command_too_many_params' == self.type:
|
||||
print(f"WARNING: `{self.field}` command too many params (should be 7). Extras: [{self.issueString}] ({self.message}: {self.linenumber})")
|
||||
|
||||
|
||||
else:
|
||||
self.display_info()
|
||||
|
||||
def display_info(self):
|
||||
"""
|
||||
Display info about an error.
|
||||
Used as a fallback if error does not have specific printout in display_error()
|
||||
"""
|
||||
#print(f"Debug: Error: display_info")
|
||||
print(f" type: {self.type}, message: {self.message}, linenumber: {self.linenumber}, issueString: {self.issueString}, field: {self.field}")
|
||||
|
||||
class Enum:
|
||||
def __init__(self, name, parentMessage):
|
||||
self.name = name
|
||||
self.parent = parentMessage
|
||||
self.enumValues = dict()
|
||||
|
||||
def display_info(self):
|
||||
"""
|
||||
Display info about an enum
|
||||
"""
|
||||
print(f"Debug: Enum: display_info")
|
||||
print(f" name: {self.name}")
|
||||
for key, value in self.enumValues.items():
|
||||
value.display_info()
|
||||
|
||||
class ConstantValue:
|
||||
def __init__(self, name, type, value, comment, line_number):
|
||||
self.name = name.strip()
|
||||
self.type = type.strip()
|
||||
self.value = value.strip()
|
||||
self.comment = comment
|
||||
self.line_number = line_number
|
||||
|
||||
if not self.value:
|
||||
print(f"Debug WARNING: NO VALUE in ConstantValue: {self.name}") ## TODO make into ERROR
|
||||
exit()
|
||||
|
||||
# TODO if value or name are empty, error
|
||||
|
||||
def display_info(self):
|
||||
print(f"Debug: ConstantValue: display_info")
|
||||
print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
|
||||
|
||||
|
||||
class CommandParam:
|
||||
"""
|
||||
Represents an individual param in a command constant
|
||||
Encapsulates parsing of the param to extract units etc.
|
||||
"""
|
||||
|
||||
def __init__(self, num, paramText, line_number, parentCommand):
|
||||
self.paramNum = num
|
||||
self.paramText = paramText.strip()
|
||||
self.enum = None
|
||||
self.range = None
|
||||
#self.type = type
|
||||
self.units = []
|
||||
self.enums = []
|
||||
self.minValue = None
|
||||
self.maxValue = None
|
||||
self.invalidValue = None
|
||||
self.frameValue = None
|
||||
self.lineNumber = line_number
|
||||
self.parent = parentCommand
|
||||
self.parentMessage = self.parent.parent
|
||||
|
||||
match = None
|
||||
if self.paramText:
|
||||
match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', paramText)
|
||||
self.description = paramText
|
||||
bracketed_part = None
|
||||
if match:
|
||||
bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
|
||||
self.description = match.group(2).strip()
|
||||
if bracketed_part:
|
||||
# get units
|
||||
bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
|
||||
#print(f"DEBUG: bracket_content_matches: {bracket_content_matches}")
|
||||
for item in bracket_content_matches:
|
||||
item = item.strip()
|
||||
if item.startswith('@'): # Not a unit:
|
||||
if item.startswith('@enum'):
|
||||
item = item.split(" ")
|
||||
enum = item[1].strip()
|
||||
if enum and enum not in self.enums:
|
||||
self.enums.append(enum)
|
||||
|
||||
# Create parent enum objects for any enums created in this step
|
||||
for enumName in self.enums:
|
||||
if not enumName in self.parentMessage.enums:
|
||||
self.parentMessage.enums[enumName]=Enum(enumName,self.parentMessage)
|
||||
|
||||
elif item.startswith('@range'):
|
||||
item = item[6:].strip().split(",")
|
||||
self.range = item
|
||||
self.minValue = item[0].strip()
|
||||
self.maxValue = item[1].strip()
|
||||
elif item.startswith('@invalid'):
|
||||
self.invalidValue = item[8:].strip()
|
||||
#TODO: Do we require a description? (not currently)
|
||||
if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
|
||||
print(f"TODO: Command param do not support @invalid: {self.invalidValue}")
|
||||
"""
|
||||
error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
|
||||
#error.display_error()
|
||||
if not "unknown_invalid_value" in self.parent.errors:
|
||||
self.parent.errors["unknown_invalid_value"] = []
|
||||
self.parent.errors["unknown_invalid_value"].append(error)
|
||||
"""
|
||||
|
||||
elif item.startswith('@frame'):
|
||||
self.frameValue = item[6:].strip()
|
||||
print(f"TODO: Command param do not support @frame: {self.frameValue}")
|
||||
"""
|
||||
if self.frameValue not in ALLOWED_FRAMES:
|
||||
error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
|
||||
#error.display_error()
|
||||
if not "unknown_frame" in self.parent.errors:
|
||||
self.parent.errors["unknown_frame"] = []
|
||||
self.parent.errors["unknown_frame"].append(error)
|
||||
"""
|
||||
else:
|
||||
print(f"WARNING: Unhandled metadata in message comment: {item}")
|
||||
# TODO - report errors for different kinds of metadata
|
||||
exit()
|
||||
|
||||
else: # bracket is a unit
|
||||
unit = item.strip()
|
||||
|
||||
if item == "-":
|
||||
unit = ""
|
||||
|
||||
if unit and unit not in self.units:
|
||||
self.units.append(unit)
|
||||
|
||||
if unit not in ALLOWED_UNITS:
|
||||
invalid_units.add(unit)
|
||||
error = Error("unknown_unit", self.parentMessage.filename, self.lineNumber, unit, self.parent.name)
|
||||
#error.display_error()
|
||||
if not "unknown_unit" in self.parentMessage.errors:
|
||||
self.parentMessage.errors["unknown_unit"] = []
|
||||
self.parentMessage.errors["unknown_unit"].append(error)
|
||||
|
||||
|
||||
def display_info(self):
|
||||
print(f"Debug: CommandParam: display_info")
|
||||
print(f" id: {self.paramNum}")
|
||||
print(f" paramText: {self.paramText}\n unit: {self.units}\n enums: {self.enums}\n lineNumber: {self.lineNumber}\n range: {self.range}\n minValue: {self.minValue}\n maxValue: {self.maxValue}\n invalidValue: {self.invalidValue}\n frameValue: {self.frameValue}\n parent: {self.parent}\n ")
|
||||
|
||||
|
||||
|
||||
class CommandConstant:
|
||||
"""
|
||||
Represents a constant that is a command definition.
|
||||
Encapsulates parsing of the command format.
|
||||
The individual params are further parsed in CommandParam
|
||||
"""
|
||||
def __init__(self, name, type, value, comment, line_number, parentMessage):
|
||||
self.name = name.strip()
|
||||
self.type = type.strip()
|
||||
self.value = value.strip()
|
||||
self.comment = comment
|
||||
self.line_number = line_number
|
||||
self.parent = parentMessage
|
||||
|
||||
self.description = self.comment
|
||||
self.param1 = None
|
||||
self.param2 = None
|
||||
self.param3 = None
|
||||
self.param4 = None
|
||||
self.param5 = None
|
||||
self.param6 = None
|
||||
self.param7 = None
|
||||
|
||||
if not self.value:
|
||||
print(f"Debug WARNING: NO VALUE in CommandConstant: {self.name}") ## TODO make into ERROR
|
||||
exit()
|
||||
|
||||
if not self.comment: # This is an bug for a command
|
||||
#print(f"Debug WARNING: NO COMMENT in CommandConstant: {self.name}") ## TODO make into ERROR
|
||||
return
|
||||
|
||||
# Parse command comment to get the description and parameters.
|
||||
# print(f"Debug CommandConstant: {self.comment}")
|
||||
if not "|" in self.comment:
|
||||
# This is an error for a command constant
|
||||
error = Error("command_no_params_pipes", self.parent.filename, self.line_number, self.comment, self.name)
|
||||
#error.display_error()
|
||||
if not "command_no_params_pipes" in self.parent.errors:
|
||||
self.parent.errors["command_no_params_pipes"] = []
|
||||
self.parent.errors["command_no_params_pipes"].append(error)
|
||||
return
|
||||
|
||||
# Split on pipes
|
||||
commandSplit = self.comment.split("|")
|
||||
if len(commandSplit) < 9:
|
||||
# Should 7 pipes, so each command is fully surrounded
|
||||
error = Error("command_missing_params", self.parent.filename, self.line_number, self.comment, self.name)
|
||||
#error.display_error()
|
||||
if not "command_missing_params" in self.parent.errors:
|
||||
self.parent.errors["command_missing_params"] = []
|
||||
self.parent.errors["command_missing_params"].append(error)
|
||||
|
||||
self.description = commandSplit[0].strip()
|
||||
self.description = self.description if self.description else None
|
||||
|
||||
params_to_update = commandSplit[1:8]
|
||||
|
||||
for i, value in enumerate(params_to_update, start=1):
|
||||
if value.strip():
|
||||
# parse the param
|
||||
param = CommandParam(i, value, self.line_number, self)
|
||||
#param.display_info() # DEBUG CODE XXX
|
||||
setattr(self, f"param{i}", param)
|
||||
# parse the param
|
||||
|
||||
if len(commandSplit) > 8:
|
||||
extras = commandSplit[8:]
|
||||
error = Error("command_too_many_params", self.parent.filename, self.line_number, extras, self.name)
|
||||
if not "command_too_many_params" in self.parent.errors:
|
||||
self.parent.errors["command_too_many_params"] = []
|
||||
self.parent.errors["command_too_many_params"].append(error)
|
||||
|
||||
|
||||
# TODO if value or name are empty, error
|
||||
|
||||
def markdown_out(self):
|
||||
#print("DEBUG: CommandConstant.markdown_out")
|
||||
output = f"""### {self.name} ({self.value})
|
||||
|
||||
{self.description}
|
||||
|
||||
Param | Units | Range/Enum | Description
|
||||
--- | --- | --- | ---
|
||||
"""
|
||||
for i in range(1, 8):
|
||||
attr_name = f"param{i}"
|
||||
# getattr returns None if the attribute doesn't exist
|
||||
val = getattr(self, attr_name, None)
|
||||
|
||||
if val is not None:
|
||||
rangeVal = ""
|
||||
if val.minValue or val.maxValue:
|
||||
rangeVal = f"[{val.minValue if val.minValue else '-'} : {val.maxValue if val.maxValue else '-' }]"
|
||||
|
||||
output+=f"{i} | {", ".join(val.units)}|{', '.join(f"[{e}](#{e})" for e in val.enums)}{rangeVal} | {val.description}\n"
|
||||
else:
|
||||
output+=f"{i} | | | ?\n"
|
||||
|
||||
output+=f"\n"
|
||||
return output
|
||||
|
||||
|
||||
def display_info(self):
|
||||
print(f"Debug: CommandConstant: display_info")
|
||||
print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
|
||||
print(f" description: {self.description}\n param1: {self.param1}\n param2: {self.param2}\n param3: {self.param3}\n param4: {self.param4}\n param5: {self.param5}\n param6: {self.param6}\n param7: {self.param7}")
|
||||
|
||||
class MessageField:
|
||||
"""
|
||||
Represents a field.
|
||||
Encapsulates parsing of the field information.
|
||||
"""
|
||||
def __init__(self, name, type, comment, line_number, parentMessage):
|
||||
self.name = name
|
||||
self.type = type
|
||||
self.comment = comment
|
||||
self.unit = None
|
||||
self.enums = None
|
||||
self.minValue = None
|
||||
self.maxValue = None
|
||||
self.invalidValue = None
|
||||
self.frameValue = None
|
||||
self.lineNumber = line_number
|
||||
self.parent = parentMessage
|
||||
|
||||
#print(f"MessageComment: {comment}")
|
||||
match = None
|
||||
if self.comment:
|
||||
match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', comment)
|
||||
self.description = comment
|
||||
bracketed_part = None
|
||||
if match:
|
||||
bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
|
||||
self.description = match.group(2).strip()
|
||||
if bracketed_part:
|
||||
# get units
|
||||
bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
|
||||
#print(f"bracket_content_matches: {bracket_content_matches}")
|
||||
for item in bracket_content_matches:
|
||||
item = item.strip()
|
||||
if item.startswith('@'): # Not a unit:
|
||||
if item.startswith('@enum'):
|
||||
item = item.split(" ")
|
||||
self.enums = item[1:]
|
||||
# Create parent enum objects
|
||||
for enumName in self.enums:
|
||||
if not enumName in parentMessage.enums:
|
||||
parentMessage.enums[enumName]=Enum(enumName,parentMessage)
|
||||
elif item.startswith('@range'):
|
||||
item = item[6:].strip().split(",")
|
||||
self.minValue = item[0].strip()
|
||||
self.maxValue = item[1].strip()
|
||||
elif item.startswith('@invalid'):
|
||||
self.invalidValue = item[8:].strip()
|
||||
#TODO: Do we require a description? (not currently)
|
||||
if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
|
||||
error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
|
||||
#error.display_error()
|
||||
if not "unknown_invalid_value" in self.parent.errors:
|
||||
self.parent.errors["unknown_invalid_value"] = []
|
||||
self.parent.errors["unknown_invalid_value"].append(error)
|
||||
elif item.startswith('@frame'):
|
||||
self.frameValue = item[6:].strip()
|
||||
if self.frameValue not in ALLOWED_FRAMES:
|
||||
error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
|
||||
#error.display_error()
|
||||
if not "unknown_frame" in self.parent.errors:
|
||||
self.parent.errors["unknown_frame"] = []
|
||||
self.parent.errors["unknown_frame"].append(error)
|
||||
else:
|
||||
print(f"WARNING: Unhandled metadata in message comment: {item}")
|
||||
# TODO - report errors for different kinds of metadata
|
||||
exit()
|
||||
|
||||
else: # bracket is a unit
|
||||
self.unit = item
|
||||
|
||||
if self.unit not in ALLOWED_UNITS:
|
||||
invalid_units.add(self.unit)
|
||||
error = Error("unknown_unit", self.parent.filename, self.lineNumber, self.unit, self.name)
|
||||
#error.display_error()
|
||||
if not "unknown_unit" in self.parent.errors:
|
||||
self.parent.errors["unknown_unit"] = []
|
||||
self.parent.errors["unknown_unit"].append(error)
|
||||
|
||||
if item == "-":
|
||||
self.unit = ""
|
||||
|
||||
|
||||
def display_info(self):
|
||||
print(f"Debug: MessageField: display_info")
|
||||
print(f" name: {self.name}, type: {self.type}, description: {self.description}, enums: {self.enums}, minValue: {self.minValue}, maxValue: {self.maxValue}, invalidValue: {self.invalidValue}, frameValue: {self.frameValue}")
|
||||
|
||||
|
||||
class UORBMessage:
|
||||
"""
|
||||
Represents a whole message, including fields, enums, commands, constants.
|
||||
The parser function delegates the parsing of each part of the message to
|
||||
more appropriate classes, once the specific type of line has been identified.
|
||||
"""
|
||||
|
||||
def __init__(self, filename):
|
||||
|
||||
self.filename = filename
|
||||
msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
|
||||
self.msg_filename = os.path.join(msg_path, self.filename)
|
||||
self.name = os.path.splitext(os.path.basename(msg_file))[0]
|
||||
self.shortDescription = ""
|
||||
self.longDescription = ""
|
||||
self.fields = []
|
||||
self.constantFields = dict()
|
||||
self.commandConstants = dict()
|
||||
self.enums = dict()
|
||||
self.output_file = os.path.join(output_dir, f"{self.name}.md")
|
||||
self.topics = []
|
||||
self.errors = dict()
|
||||
|
||||
self.parseFile()
|
||||
|
||||
if args.errors:
|
||||
#print(f"DEBUG: args.errors: {args.errors}")
|
||||
if args.error_messages:
|
||||
messages = args.error_messages.split(" ")
|
||||
#print(f"DEBUG: args.errors: {messages},self.name: {self.name}")
|
||||
if self.name in messages:
|
||||
self.reportErrors()
|
||||
#print(f"Debug: {self.name} in {messages}")
|
||||
else:
|
||||
self.reportErrors()
|
||||
|
||||
def reportErrors(self):
|
||||
#print(f"Debug: UORBMessage: reportErrors()")
|
||||
for errorType, errors in self.errors.items():
|
||||
for error in errors:
|
||||
error.display_error()
|
||||
|
||||
def markdown_out(self):
|
||||
#print(f"Debug: UORBMessage: markdown_out()")
|
||||
|
||||
# Add page header (forces wide pages)
|
||||
markdown = f"""---
|
||||
pageClass: is-wide-page
|
||||
---
|
||||
|
||||
# {self.name} (UORB message)
|
||||
|
||||
"""
|
||||
## Append description info if present
|
||||
markdown += f"{self.shortDescription}\n\n" if self.shortDescription else ""
|
||||
markdown += f"{self.longDescription}\n\n" if self.longDescription else ""
|
||||
|
||||
topicList = " ".join(self.topics)
|
||||
markdown += f"**TOPICS:** {topicList}\n\n"
|
||||
|
||||
# Generate field docs
|
||||
markdown += f"## Fields\n\n"
|
||||
markdown += "Name | Type | Unit [Frame] | Range/Enum | Description\n"
|
||||
markdown += "--- | --- | --- | --- | ---\n"
|
||||
for field in self.fields:
|
||||
unit = f"{field.unit}" if field.unit else ""
|
||||
frame = f"[{field.frameValue}]" if field.frameValue else ""
|
||||
unit = f"{unit} {frame}"
|
||||
unit.strip()
|
||||
unit = f" {unit}"
|
||||
|
||||
value = " "
|
||||
if field.enums:
|
||||
value = ""
|
||||
for enum in field.enums:
|
||||
value += f"[{enum}](#{enum})"
|
||||
value = value.strip()
|
||||
value = f"{value}"
|
||||
elif field.minValue or field.maxValue:
|
||||
value = f"[{field.minValue if field.minValue else '-'} : {field.maxValue if field.maxValue else '-' }]"
|
||||
|
||||
description = f" {field.description}" if field.description else ""
|
||||
invalid = f" (Invalid: {field.invalidValue}) " if field.invalidValue else ""
|
||||
markdown += f"{field.name} | `{field.type}` |{unit}|{value}|{description}{invalid}\n"
|
||||
|
||||
# Generate table for command docs
|
||||
if len(self.commandConstants) > 0:
|
||||
#print("DEBUGCOMMAND")
|
||||
markdown += f"\n## Commands\n\n"
|
||||
|
||||
"""
|
||||
markdown += "Name | Type | Value | Description\n"
|
||||
markdown += "--- | --- | --- |---\n"
|
||||
for name, command in self.commandConstants.items():
|
||||
description = f" {command.comment} " if enum.comment else " "
|
||||
markdown += f'<a href="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'
|
||||
"""
|
||||
for commandConstant in self.commandConstants.values():
|
||||
#print(commandConstant)
|
||||
markdown += commandConstant.markdown_out()
|
||||
|
||||
# Generate enum docs
|
||||
if len(self.enums) > 0:
|
||||
markdown += f"\n## Enums\n"
|
||||
|
||||
for name, enum in self.enums.items():
|
||||
markdown += f"\n### {name} {{#{name}}}\n\n"
|
||||
|
||||
markdown += "Name | Type | Value | Description\n"
|
||||
markdown += "--- | --- | --- | ---\n"
|
||||
|
||||
for enumValueName, enumValue in enum.enumValues.items():
|
||||
description = f" {enumValue.comment} " if enumValue.comment else " "
|
||||
markdown += f'<a href="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
|
||||
|
||||
# Generate table for constants docs
|
||||
if len(self.constantFields) > 0:
|
||||
markdown += f"\n## Constants\n\n"
|
||||
markdown += "Name | Type | Value | Description\n"
|
||||
markdown += "--- | --- | --- |---\n"
|
||||
for name, enum in self.constantFields.items():
|
||||
description = f" {enum.comment} " if enum.comment else " "
|
||||
markdown += f'<a href="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
|
||||
|
||||
|
||||
|
||||
# Append msg contents to the end
|
||||
with open(self.msg_filename, 'r') as source_file:
|
||||
msg_contents = source_file.read()
|
||||
msg_contents = msg_contents.strip()
|
||||
|
||||
#Format markdown using msg name, comment, url, contents.
|
||||
markdown += f"""
|
||||
|
||||
## Source Message
|
||||
|
||||
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/{self.filename})
|
||||
|
||||
::: details Click here to see original file
|
||||
|
||||
```c
|
||||
{msg_contents}
|
||||
```
|
||||
|
||||
:::
|
||||
"""
|
||||
|
||||
with open(self.output_file, 'w') as content_file:
|
||||
content_file.write(markdown)
|
||||
|
||||
#exit()
|
||||
|
||||
|
||||
def display_info(self):
|
||||
print(f"UORBMessage: display_info")
|
||||
print(f" name: {self.name}")
|
||||
print(f" filename: {self.filename}, ")
|
||||
print(f" msg_filename: {self.msg_filename}, ")
|
||||
print(f"self.shortDescription: {self.shortDescription}")
|
||||
print(f"self.longDescription: {self.longDescription}")
|
||||
print(f"self.enums: {self.enums}")
|
||||
|
||||
for enum, enumObject in self.enums.items():
|
||||
enumObject.display_info()
|
||||
|
||||
# Output our data so far
|
||||
for field in self.fields:
|
||||
field.display_info()
|
||||
|
||||
for enumvalue in self.constantFields:
|
||||
print(enumvalue)
|
||||
self.constantFields[enumvalue].display_info()
|
||||
|
||||
def handleField(self, line, line_number, parentMessage):
|
||||
#print(f"debug: handleField: (line): \n {line}")
|
||||
# Note, here we know we don't have a comment or a topic.
|
||||
# We expect it to be a field.
|
||||
|
||||
# Check field doesn't have leading whitespace (trailing spaces already checked)
|
||||
if line[:1].isspace(): # Returns True for ' ', '\t', '\n', '\r', etc.
|
||||
#print("First character is whitespace")
|
||||
error = Error("leading_whitespace_field_or_constant", self.filename, line_number, line)
|
||||
if not "leading_whitespace_field_or_constant" in self.errors:
|
||||
self.errors["leading_whitespace_field_or_constant"] = []
|
||||
self.errors["leading_whitespace_field_or_constant"].append(error)
|
||||
|
||||
# Now we can parse the stripped line
|
||||
fieldOrConstant = line.strip()
|
||||
|
||||
# Check that the field or constant has only single whitespace separators
|
||||
stripped_fieldOrConstant = re.sub(r'\s+', ' ', fieldOrConstant) # Collapse all spaces to a single space (LHS already stripped).
|
||||
if stripped_fieldOrConstant != fieldOrConstant:
|
||||
#print("Field/Constant has multiple whitespace characters") # Since the collapsed version shows them.
|
||||
error = Error("field_or_constant_has_multiple_whitepsace", self.filename, line_number, line)
|
||||
if not "field_or_constant_has_multiple_whitepsace" in self.errors:
|
||||
self.errors["field_or_constant_has_multiple_whitepsace"] = []
|
||||
self.errors["field_or_constant_has_multiple_whitepsace"].append(error)
|
||||
|
||||
fieldOrConstant = stripped_fieldOrConstant
|
||||
|
||||
|
||||
|
||||
comment = None
|
||||
if "#" in line:
|
||||
commentExtract = line.split("#", 1) # Split once on left-most '#'
|
||||
fieldOrConstant = commentExtract[0].strip()
|
||||
comment = commentExtract[-1].strip()
|
||||
|
||||
if "=" not in fieldOrConstant:
|
||||
# Is a field:
|
||||
field = fieldOrConstant.split(" ")
|
||||
type = field[0].strip()
|
||||
name = field[1].strip()
|
||||
field = MessageField(name, type, comment, line_number, parentMessage)
|
||||
self.fields.append(field)
|
||||
else:
|
||||
temp = fieldOrConstant.split("=")
|
||||
value = temp[-1]
|
||||
typeAndName = temp[0].split(" ")
|
||||
type = typeAndName[0]
|
||||
name = typeAndName[1]
|
||||
if name.startswith("VEHICLE_CMD_") and parentMessage.name == 'VehicleCommand': #it's a command.
|
||||
#print(f"DEBUG: startswith VEHICLE_CMD_ {name}")
|
||||
commandConstant = CommandConstant(name, type, value, comment, line_number, parentMessage)
|
||||
#commandConstant.display_info()
|
||||
self.commandConstants[name]=commandConstant
|
||||
else: #it's a constant (or part of an enum)
|
||||
constantField = ConstantValue(name, type, value, comment, line_number)
|
||||
self.constantFields[name]=constantField
|
||||
|
||||
|
||||
def parseFile(self):
|
||||
initial_block_lines = []
|
||||
#stopping_token = None
|
||||
found_first_relevant_content = False
|
||||
gettingInitialComments = False
|
||||
gettingFields = False
|
||||
|
||||
with open(self.msg_filename, 'r', encoding='utf-8') as uorbfile:
|
||||
lines = uorbfile.read().splitlines()
|
||||
for line_number, line in enumerate(lines, 1):
|
||||
|
||||
if line != line.rstrip():
|
||||
#print(f"[{self.filename}] Trailing whitespace on line {line_number}: XX{line}YY")
|
||||
error = Error("trailing_whitespace", self.filename, line_number, line)
|
||||
if not "trailing_whitespace" in self.errors:
|
||||
self.errors["trailing_whitespace"] = []
|
||||
self.errors["trailing_whitespace"].append(error)
|
||||
|
||||
#print(f"line: {line}")
|
||||
stripped_line = re.sub(r'\s+', ' ', line).strip() # Collapse all spaces to a single space and strip stuff off end.
|
||||
#print(f"stripped_line: {stripped_line}")
|
||||
# TODO? Perhaps report whitespace if the size of those two is different and it is empty
|
||||
# Or perhaps we just fix it on request
|
||||
|
||||
isEmptyLine = False if line.strip() else True
|
||||
if not found_first_relevant_content and isEmptyLine: #Empty line
|
||||
#print(f"{self.filename}: Empty line at start of file: [{line_number}]\n {line}")
|
||||
error = Error("empty_start_line", self.filename, line_number, line)
|
||||
if not "empty_start_line" in self.errors:
|
||||
self.errors["empty_start_line"] = []
|
||||
self.errors["empty_start_line"].append(error)
|
||||
#error.display_error()
|
||||
continue
|
||||
if not found_first_relevant_content and not isEmptyLine:
|
||||
found_first_relevant_content = True
|
||||
|
||||
if stripped_line.startswith("#"):
|
||||
gettingInitialComments = True
|
||||
else:
|
||||
gettingInitialComments = False
|
||||
gettingFields = True
|
||||
|
||||
if gettingInitialComments and stripped_line.startswith("#"):
|
||||
stripped_line=stripped_line[1:].strip()
|
||||
#print(f"DEBUG: gettingInitialComments: comment line: {stripped_line}")
|
||||
initial_block_lines.append(stripped_line)
|
||||
else:
|
||||
gettingInitialComments = False
|
||||
gettingFields = True #Getting fields and constants
|
||||
if gettingFields:
|
||||
if isEmptyLine:
|
||||
continue # empty line
|
||||
if stripped_line.startswith("# TOPICS "):
|
||||
stripped_line = stripped_line[9:]
|
||||
stripped_line = stripped_line.split(" ")
|
||||
self.topics+= stripped_line
|
||||
# Note, default topic and topic errors handled after all lines parsed
|
||||
continue
|
||||
if stripped_line.startswith("#"):
|
||||
# Its an internal comment
|
||||
stripped_line=stripped_line[1:].strip()
|
||||
|
||||
if stripped_line:
|
||||
#print(f"{self.filename}: Internal comment: [{line_number}]\n {line}")
|
||||
error = Error("internal_comment", self.filename, line_number, line)
|
||||
if not "internal_comment" in self.errors:
|
||||
self.errors["internal_comment"] = []
|
||||
self.errors["internal_comment"].append(error)
|
||||
else:
|
||||
#print(f"{self.filename}: Empty internal comment: [{line_number}]\n {line}")
|
||||
error = Error("internal_comment_empty", self.filename, line_number, line)
|
||||
if not "internal_comment_empty" in self.errors:
|
||||
self.errors["internal_comment_empty"] = []
|
||||
self.errors["internal_comment_empty"].append(error)
|
||||
#pass # Empty comment
|
||||
continue
|
||||
|
||||
# Must be a field or a comment.
|
||||
self.handleField(line, line_number, parentMessage=self)
|
||||
|
||||
# Fix up topics if the topic is empty
|
||||
def camel_to_snake(name):
|
||||
# Match upper case not at start of string
|
||||
s1 = re.sub('(.)([A-Z][a-z]+)', r'\1_\2', name)
|
||||
# Handle cases with multiple capital first letter
|
||||
return re.sub('([A-Z]+)([A-Z][a-z]*)', r'\1_\2', s1).lower()
|
||||
|
||||
defaultTopic = camel_to_snake(self.name)
|
||||
if len(self.topics) == 0:
|
||||
# We have no topic declared, so set the default topic
|
||||
self.topics.append(defaultTopic)
|
||||
elif len(self.topics) == 1:
|
||||
# We have 1 topic declared - either it is default or there is some issue.
|
||||
if defaultTopic in self.topics:
|
||||
# Declared topic is default topic
|
||||
error = Error("topic_error", self.filename, "", f"WARNING: TOPIC {defaultTopic} unnecessarily declared for {self.name}")
|
||||
else:
|
||||
# Declared topic is not default topic
|
||||
error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[1]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
|
||||
if not "topic_error" in self.errors:
|
||||
self.errors["topic_error"] = []
|
||||
self.errors["topic_error"].append(error)
|
||||
elif len(self.topics) > 1:
|
||||
if defaultTopic not in self.topics:
|
||||
error = Error("topic_error", self.filename, "", f"NOTE: TOPIC - Default topic {defaultTopic} for {self.name} not in {self.topics}")
|
||||
|
||||
# Parse our short and long description
|
||||
#print(f"DEBUG: initial_block_lines: {initial_block_lines}")
|
||||
doingLongDescription = False
|
||||
for summaryline in initial_block_lines:
|
||||
if not self.shortDescription and summaryline.strip() == '':
|
||||
continue
|
||||
if not doingLongDescription and not summaryline.strip() == '':
|
||||
self.shortDescription += f" {summaryline}"
|
||||
self.shortDescription = self.shortDescription.strip()
|
||||
if not self.shortDescription[-1:] == ".": # Add terminating fullstop if not present.
|
||||
self.shortDescription += "."
|
||||
if not doingLongDescription and summaryline.strip() == '':
|
||||
doingLongDescription = True
|
||||
continue
|
||||
if doingLongDescription:
|
||||
self.longDescription += f"{summaryline}\n"
|
||||
|
||||
if self.longDescription:
|
||||
self.longDescription.strip()
|
||||
|
||||
if not self.shortDescription:
|
||||
# Summary has not been defined
|
||||
error = Error("summary_missing", self.filename)
|
||||
if not "summary_missing" in self.errors:
|
||||
self.errors["summary_missing"] = []
|
||||
self.errors["summary_missing"].append(error)
|
||||
|
||||
|
||||
# TODO Parse our constantValues into enums, leaving only constants
|
||||
constantValuesToRemove = []
|
||||
#print(f"DEBUG: Self.enums: {self.enums}")
|
||||
for enumName, enumObject in self.enums.items():
|
||||
for enumValueName, enumValueObject in self.constantFields.items():
|
||||
if enumValueName.startswith(enumName):
|
||||
# Copy this value into the object (cant be duplicate because parent is dict)
|
||||
enumObject.enumValues[enumValueName]=enumValueObject
|
||||
constantValuesToRemove.append(enumValueName)
|
||||
# Now delete the original enumvalues
|
||||
for enumValName in constantValuesToRemove:
|
||||
del self.constantFields[enumValName]
|
||||
constantsNotAssignedToEnums = len(self.constantFields)
|
||||
if constantsNotAssignedToEnums > 0:
|
||||
#print(f"Debug: WARNING constantsNotAssignedToEnums: {constantsNotAssignedToEnums}")
|
||||
for enumValueName, enumValue in self.constantFields.items():
|
||||
if enumValueName in ALLOWED_CONSTANTS_NOT_IN_ENUM: # Ignore constants
|
||||
pass
|
||||
else:
|
||||
error = Error("constant_not_in_assigned_enum", self.filename, enumValue.line_number, enumValueName)
|
||||
if not "constant_not_in_assigned_enum" in self.errors:
|
||||
self.errors["constant_not_in_assigned_enum"] = []
|
||||
self.errors["constant_not_in_assigned_enum"].append(error)
|
||||
# TODO Maybe present as list of possible enums.
|
||||
|
||||
|
||||
import yaml
|
||||
@@ -924,50 +127,83 @@ if __name__ == "__main__":
|
||||
|
||||
parser = argparse.ArgumentParser(description='Generate docs from .msg files')
|
||||
parser.add_argument('-d', dest='dir', help='output directory', required=True)
|
||||
parser.add_argument('-e', dest='errors', action='store_true', help='Report errors')
|
||||
parser.add_argument('-m', dest='error_messages', help='Message to report errors against (by default all)')
|
||||
args = parser.parse_args()
|
||||
|
||||
output_dir = args.dir
|
||||
if not os.path.isdir(output_dir):
|
||||
print(f"making output_dir {output_dir}")
|
||||
os.mkdir(output_dir)
|
||||
|
||||
msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
|
||||
msg_files = get_msgs_list(msg_path)
|
||||
|
||||
msg_files.sort()
|
||||
|
||||
versioned_msgs_list = ''
|
||||
unversioned_msgs_list = ''
|
||||
msgTypes = set()
|
||||
|
||||
for msg_file in msg_files:
|
||||
# Add messages to set of allowed types (compound types)
|
||||
#msg_type = msg_file.rsplit('/')[-1]
|
||||
#msg_type = msg_type.rsplit('\\')[-1]
|
||||
#msg_type = msg_type.rsplit('.')[0]
|
||||
msg_name = os.path.splitext(os.path.basename(msg_file))[0]
|
||||
msgTypes.add(msg_name)
|
||||
output_file = os.path.join(output_dir, msg_name+'.md')
|
||||
msg_filename = os.path.join(msg_path, msg_file)
|
||||
print("{:} -> {:}".format(msg_filename, output_file))
|
||||
|
||||
for msg_file in msg_files:
|
||||
message = UORBMessage(msg_file)
|
||||
# Any additional tests that can't be in UORBMessage parser go here.
|
||||
message.markdown_out()
|
||||
#Format msg url
|
||||
msg_url="[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/%s)" % msg_file
|
||||
|
||||
msg_description = ""
|
||||
summary_description = ""
|
||||
|
||||
#Get msg description (first non-empty comment line from top of msg)
|
||||
with open(msg_filename, 'r') as lineparser:
|
||||
line = lineparser.readline()
|
||||
while line.startswith('#') or (line.strip() == ''):
|
||||
print('DEBUG: line: %s' % line)
|
||||
line=line[1:].strip()+'\n'
|
||||
stripped_line=line.strip()
|
||||
if msg_description and not summary_description and stripped_line=='':
|
||||
summary_description = msg_description.strip()
|
||||
|
||||
msg_description+=line
|
||||
line = lineparser.readline()
|
||||
msg_description=msg_description.strip()
|
||||
if not summary_description and msg_description:
|
||||
summary_description = msg_description
|
||||
print('msg_description: Z%sZ' % msg_description)
|
||||
print('summary_description: Z%sZ' % summary_description)
|
||||
summary_description
|
||||
msg_contents = ""
|
||||
#Get msg contents (read the file)
|
||||
with open(msg_filename, 'r') as source_file:
|
||||
msg_contents = source_file.read()
|
||||
|
||||
#Format markdown using msg name, comment, url, contents.
|
||||
markdown_output="""# %s (UORB message)
|
||||
|
||||
%s
|
||||
|
||||
%s
|
||||
|
||||
```c
|
||||
%s
|
||||
```
|
||||
""" % (msg_name, msg_description, msg_url, msg_contents)
|
||||
|
||||
with open(output_file, 'w') as content_file:
|
||||
content_file.write(markdown_output)
|
||||
|
||||
# Categorize as versioned or unversioned
|
||||
if "versioned" in msg_file:
|
||||
versioned_msgs_list += f"- [{message.name}]({message.name}.md)"
|
||||
if message.shortDescription:
|
||||
versioned_msgs_list += f" — {message.shortDescription}"
|
||||
versioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
|
||||
if summary_description:
|
||||
versioned_msgs_list += " — %s" % summary_description
|
||||
versioned_msgs_list += "\n"
|
||||
else:
|
||||
unversioned_msgs_list += f"- [{message.name}]({message.name}.md)"
|
||||
if message.shortDescription:
|
||||
unversioned_msgs_list += f" — {message.shortDescription}"
|
||||
unversioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
|
||||
if summary_description:
|
||||
unversioned_msgs_list += " — %s" % summary_description
|
||||
unversioned_msgs_list += "\n"
|
||||
|
||||
# Write out the index.md file
|
||||
index_text=f"""# uORB Message Reference
|
||||
index_text="""# uORB Message Reference
|
||||
|
||||
::: info
|
||||
This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
|
||||
@@ -982,14 +218,14 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
|
||||
## Versioned Messages
|
||||
|
||||
{versioned_msgs_list}
|
||||
%s
|
||||
|
||||
## Unversioned Messages
|
||||
|
||||
{unversioned_msgs_list}
|
||||
"""
|
||||
%s
|
||||
""" % (versioned_msgs_list, unversioned_msgs_list)
|
||||
index_file = os.path.join(output_dir, 'index.md')
|
||||
with open(index_file, 'w', encoding='utf-8') as content_file:
|
||||
with open(index_file, 'w') as content_file:
|
||||
content_file.write(index_text)
|
||||
|
||||
generate_dds_yaml_doc(msg_files)
|
||||
|
||||
@@ -1138,8 +1138,6 @@ if num_mags >= 1:
|
||||
|
||||
if not math.isnan(sensor_mag_0['temperature'][0]):
|
||||
|
||||
mag_0_params['TC_M0_ID'] = int(np.median(sensor_mag_0['device_id']))
|
||||
|
||||
# find the min, max and reference temperature
|
||||
mag_0_params['TC_M0_TMIN'] = np.amin(sensor_mag_0['temperature'])
|
||||
mag_0_params['TC_M0_TMAX'] = np.amax(sensor_mag_0['temperature'])
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
Executable
+947
@@ -0,0 +1,947 @@
|
||||
#!/usr/bin/env python3
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Serial firmware uploader for the PX4FMU bootloader
|
||||
#
|
||||
# The PX4 firmware file is a JSON-encoded Python object, containing
|
||||
# metadata fields and a zlib-compressed base64-encoded firmware image.
|
||||
#
|
||||
# The uploader uses the following fields from the firmware file:
|
||||
#
|
||||
# image
|
||||
# The firmware that will be uploaded.
|
||||
# image_size
|
||||
# The size of the firmware in bytes.
|
||||
# board_id
|
||||
# The board for which the firmware is intended.
|
||||
# board_revision
|
||||
# Currently only used for informational purposes.
|
||||
#
|
||||
|
||||
import sys
|
||||
import argparse
|
||||
import binascii
|
||||
import socket
|
||||
import struct
|
||||
import json
|
||||
import zlib
|
||||
import base64
|
||||
import time
|
||||
import array
|
||||
import os
|
||||
|
||||
from sys import platform as _platform
|
||||
|
||||
try:
|
||||
import serial
|
||||
except ImportError as e:
|
||||
print(f"Failed to import serial: {e}")
|
||||
print("")
|
||||
print("You may need to install it using:")
|
||||
print(" python -m pip install pyserial")
|
||||
print("")
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
# Detect python version
|
||||
if sys.version_info[0] < 3:
|
||||
raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
# Use monotonic time where available
|
||||
def _time():
|
||||
try:
|
||||
return time.monotonic()
|
||||
except Exception:
|
||||
return time.time()
|
||||
|
||||
class FirmwareNotSuitableException(Exception):
|
||||
def __init__(self, message):
|
||||
super(FirmwareNotSuitableException, self).__init__(message)
|
||||
|
||||
|
||||
class firmware(object):
|
||||
'''Loads a firmware file'''
|
||||
|
||||
desc = {}
|
||||
image = bytes()
|
||||
|
||||
def __init__(self, path):
|
||||
|
||||
# read the file
|
||||
f = open(path, "r")
|
||||
self.desc = json.load(f)
|
||||
f.close()
|
||||
|
||||
self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
|
||||
|
||||
# pad image to 4-byte length
|
||||
while ((len(self.image) % 4) != 0):
|
||||
self.image.extend(b'\xff')
|
||||
|
||||
def property(self, propname):
|
||||
return self.desc[propname]
|
||||
|
||||
def crc(self, padlen):
|
||||
state = 0xFFFFFFFF
|
||||
state = zlib.crc32(self.image, state)
|
||||
padding_length = padlen - len(self.image)
|
||||
if padding_length > 0:
|
||||
padding = b'\xff' * padding_length
|
||||
state = zlib.crc32(padding, state)
|
||||
|
||||
return (state ^ 0xFFFFFFFF) & 0xFFFFFFFF
|
||||
|
||||
|
||||
class uploader:
|
||||
'''Uploads a firmware file to the PX4 bootloader'''
|
||||
|
||||
# protocol bytes
|
||||
INSYNC = b'\x12'
|
||||
EOC = b'\x20'
|
||||
|
||||
# reply bytes
|
||||
OK = b'\x10'
|
||||
FAILED = b'\x11'
|
||||
INVALID = b'\x13' # rev3+
|
||||
BAD_SILICON_REV = b'\x14' # rev5+
|
||||
|
||||
# command bytes
|
||||
NOP = b'\x00' # guaranteed to be discarded by the bootloader
|
||||
GET_SYNC = b'\x21'
|
||||
GET_DEVICE = b'\x22'
|
||||
CHIP_ERASE = b'\x23'
|
||||
CHIP_VERIFY = b'\x24' # rev2 only
|
||||
PROG_MULTI = b'\x27'
|
||||
READ_MULTI = b'\x28' # rev2 only
|
||||
GET_CRC = b'\x29' # rev3+
|
||||
GET_OTP = b'\x2a' # rev4+ , get a word from OTP area
|
||||
GET_SN = b'\x2b' # rev4+ , get a word from SN area
|
||||
GET_CHIP = b'\x2c' # rev5+ , get chip version
|
||||
SET_BOOT_DELAY = b'\x2d' # rev5+ , set boot delay
|
||||
GET_CHIP_DES = b'\x2e' # rev5+ , get chip description in ASCII
|
||||
GET_VERSION = b'\x2f' # rev5+ , get bootloader version in ASCII
|
||||
CHIP_FULL_ERASE = b'\x40' # full erase of flash, rev6+
|
||||
MAX_DES_LENGTH = 20
|
||||
|
||||
REBOOT = b'\x30'
|
||||
|
||||
INFO_BL_REV = b'\x01' # bootloader protocol revision
|
||||
BL_REV_MIN = 2 # minimum supported bootloader protocol
|
||||
BL_REV_MAX = 5 # maximum supported bootloader protocol
|
||||
INFO_BOARD_ID = b'\x02' # board type
|
||||
INFO_BOARD_REV = b'\x03' # board revision
|
||||
INFO_FLASH_SIZE = b'\x04' # max firmware size in bytes
|
||||
|
||||
PROG_MULTI_MAX = 252 # protocol max is 255, must be multiple of 4
|
||||
READ_MULTI_MAX = 252 # protocol max is 255
|
||||
|
||||
NSH_INIT = bytearray(b'\x0d\x0d\x0d')
|
||||
NSH_REBOOT_BL = b"reboot -b\n"
|
||||
NSH_REBOOT = b"reboot\n"
|
||||
MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x53\x6b')
|
||||
MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xcc\x37')
|
||||
|
||||
MAX_FLASH_PRGRAM_TIME = 0.001 # Time on an F7 to send SYNC, RESULT from last data in multi RXed
|
||||
|
||||
def __init__(self, portname, baudrate_bootloader, baudrate_flightstack):
|
||||
# Open the port, keep the default timeout short so we can poll quickly.
|
||||
# On some systems writes can suddenly get stuck without having a
|
||||
# write_timeout > 0 set.
|
||||
# chartime 8n1 * bit rate is us
|
||||
self.chartime = 10 * (1.0 / baudrate_bootloader)
|
||||
|
||||
# we use a window approche to SYNC,<result> gathring
|
||||
self.window = 0
|
||||
self.window_max = 256
|
||||
self.window_per = 2 # Sync,<result>
|
||||
self.ackWindowedMode = False # Assume Non Widowed mode for all USB CDC
|
||||
self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5, write_timeout=0)
|
||||
self.otp = b''
|
||||
self.sn = b''
|
||||
self.baudrate_bootloader = baudrate_bootloader
|
||||
self.baudrate_flightstack = baudrate_flightstack
|
||||
self.baudrate_flightstack_idx = -1
|
||||
self.force_erase = False
|
||||
|
||||
def close(self):
|
||||
if self.port is not None:
|
||||
self.port.close()
|
||||
|
||||
def open(self):
|
||||
# upload timeout
|
||||
timeout = _time() + 0.2
|
||||
|
||||
# attempt to open the port while it exists and until timeout occurs
|
||||
while self.port is not None:
|
||||
portopen = True
|
||||
try:
|
||||
portopen = self.port.is_open
|
||||
except AttributeError:
|
||||
portopen = self.port.isOpen()
|
||||
|
||||
if not portopen and _time() < timeout:
|
||||
try:
|
||||
self.port.open()
|
||||
except OSError:
|
||||
# wait for the port to be ready
|
||||
time.sleep(0.04)
|
||||
except serial.SerialException:
|
||||
# if open fails, try again later
|
||||
time.sleep(0.04)
|
||||
else:
|
||||
break
|
||||
|
||||
# debugging code
|
||||
def __probe(self, state):
|
||||
# self.port.setRTS(state)
|
||||
return
|
||||
|
||||
def __send(self, c):
|
||||
# print("send " + binascii.hexlify(c))
|
||||
self.port.write(c)
|
||||
|
||||
def __recv(self, count=1):
|
||||
c = self.port.read(count)
|
||||
if len(c) < 1:
|
||||
raise RuntimeError("timeout waiting for data (%u bytes)" % count)
|
||||
# print("recv " + binascii.hexlify(c))
|
||||
return c
|
||||
|
||||
def __recv_int(self):
|
||||
raw = self.__recv(4)
|
||||
val = struct.unpack("<I", raw)
|
||||
return val[0]
|
||||
|
||||
def __getSync(self, doFlush=True):
|
||||
if (doFlush):
|
||||
self.port.flush()
|
||||
c = bytes(self.__recv())
|
||||
if c != self.INSYNC:
|
||||
raise RuntimeError("unexpected %s instead of INSYNC" % c)
|
||||
c = self.__recv()
|
||||
if c == self.INVALID:
|
||||
raise RuntimeError("bootloader reports INVALID OPERATION")
|
||||
if c == self.FAILED:
|
||||
raise RuntimeError("bootloader reports OPERATION FAILED")
|
||||
if c != self.OK:
|
||||
raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
|
||||
|
||||
# The control flow for receiving Sync is on the order of 16 Ms per Sync
|
||||
# This will validate all the SYNC,<results> for a window of programing
|
||||
# in about 13.81 Ms for 256 blocks written
|
||||
def __ackSyncWindow(self, count):
|
||||
if (count > 0):
|
||||
data = bytearray(bytes(self.__recv(count)))
|
||||
if (len(data) != count):
|
||||
raise RuntimeError("Ack Window %i not %i " % (len(data), count))
|
||||
for i in range(0, len(data), 2):
|
||||
if bytes([data[i]]) != self.INSYNC:
|
||||
raise RuntimeError("unexpected %s instead of INSYNC" % data[i])
|
||||
if bytes([data[i+1]]) == self.INVALID:
|
||||
raise RuntimeError("bootloader reports INVALID OPERATION")
|
||||
if bytes([data[i+1]]) == self.FAILED:
|
||||
raise RuntimeError("bootloader reports OPERATION FAILED")
|
||||
if bytes([data[i+1]]) != self.OK:
|
||||
raise RuntimeError("unexpected response 0x%x instead of OK" % ord(data[i+1]))
|
||||
|
||||
# attempt to get back into sync with the bootloader
|
||||
def __sync(self):
|
||||
# send a stream of ignored bytes longer than the longest possible conversation
|
||||
# that we might still have in progress
|
||||
# self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
|
||||
self.port.flushInput()
|
||||
self.__send(uploader.GET_SYNC +
|
||||
uploader.EOC)
|
||||
self.__getSync()
|
||||
|
||||
def __trySync(self):
|
||||
try:
|
||||
self.port.flush()
|
||||
if (self.__recv() != self.INSYNC):
|
||||
# print("unexpected 0x%x instead of INSYNC" % ord(c))
|
||||
return False
|
||||
c = self.__recv()
|
||||
if (c == self.BAD_SILICON_REV):
|
||||
raise NotImplementedError()
|
||||
if (c != self.OK):
|
||||
# print("unexpected 0x%x instead of OK" % ord(c))
|
||||
return False
|
||||
return True
|
||||
|
||||
except NotImplementedError:
|
||||
raise RuntimeError("Programing not supported for this version of silicon!\n"
|
||||
"See https://docs.px4.io/main/en/flight_controller/silicon_errata.html")
|
||||
except RuntimeError:
|
||||
# timeout, no response yet
|
||||
return False
|
||||
|
||||
# attempt to determins if the device is CDCACM or A FTDI
|
||||
def __determineInterface(self):
|
||||
self.port.flushInput()
|
||||
# Set a baudrate that can not work on a real serial port
|
||||
# in that it is 233% off.
|
||||
try:
|
||||
self.port.baudrate = self.baudrate_bootloader * 2.33
|
||||
except NotImplementedError as e:
|
||||
# This error can occur because pySerial on Windows does not support odd baudrates
|
||||
print(f"{e} -> could not check for FTDI device, assuming USB connection")
|
||||
return
|
||||
|
||||
self.__send(uploader.GET_SYNC +
|
||||
uploader.EOC)
|
||||
try:
|
||||
self.__getSync(False)
|
||||
except RuntimeError:
|
||||
# if it fails we are on a real serial port - only leave this enabled on Windows
|
||||
if sys.platform.startswith('win'):
|
||||
self.ackWindowedMode = True
|
||||
finally:
|
||||
try:
|
||||
self.port.baudrate = self.baudrate_bootloader
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
# send the GET_DEVICE command and wait for an info parameter
|
||||
def __getInfo(self, param):
|
||||
self.__send(uploader.GET_DEVICE + param + uploader.EOC)
|
||||
value = self.__recv_int()
|
||||
self.__getSync()
|
||||
return value
|
||||
|
||||
# send the GET_OTP command and wait for an info parameter
|
||||
def __getOTP(self, param):
|
||||
t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
|
||||
self.__send(uploader.GET_OTP + t + uploader.EOC)
|
||||
value = self.__recv(4)
|
||||
self.__getSync()
|
||||
return value
|
||||
|
||||
# send the GET_SN command and wait for an info parameter
|
||||
def __getSN(self, param):
|
||||
t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array.
|
||||
self.__send(uploader.GET_SN + t + uploader.EOC)
|
||||
value = self.__recv(4)
|
||||
self.__getSync()
|
||||
return value
|
||||
|
||||
# send the GET_CHIP command
|
||||
def __getCHIP(self):
|
||||
self.__send(uploader.GET_CHIP + uploader.EOC)
|
||||
value = self.__recv_int()
|
||||
self.__getSync()
|
||||
return value
|
||||
|
||||
# send the GET_CHIP command
|
||||
def __getCHIPDes(self):
|
||||
self.__send(uploader.GET_CHIP_DES + uploader.EOC)
|
||||
length = self.__recv_int()
|
||||
value = self.__recv(length)
|
||||
self.__getSync()
|
||||
pieces = value.split(b",")
|
||||
return pieces
|
||||
|
||||
def __getVersion(self):
|
||||
self.__send(uploader.GET_VERSION + uploader.EOC)
|
||||
try:
|
||||
length = self.__recv_int()
|
||||
value = self.__recv(length)
|
||||
self.__getSync()
|
||||
except RuntimeError:
|
||||
# Bootloader doesn't support version call
|
||||
return "unknown"
|
||||
return value.decode()
|
||||
|
||||
def __drawProgressBar(self, label, progress, maxVal):
|
||||
if maxVal < progress:
|
||||
progress = maxVal
|
||||
|
||||
percent = (float(progress) / float(maxVal)) * 100.0
|
||||
|
||||
redraw = "\r" if sys.stdout.isatty() else "\n"
|
||||
sys.stdout.write("%s%s: [%-20s] %.1f%%" % (redraw, label, '='*int(percent/5.0), percent))
|
||||
sys.stdout.flush()
|
||||
|
||||
# send the CHIP_ERASE command and wait for the bootloader to become ready
|
||||
def __erase(self, label):
|
||||
print(f"Windowed mode: {self.ackWindowedMode}")
|
||||
print("\n", end='')
|
||||
|
||||
if self.force_erase:
|
||||
print("Trying force erase of full chip...\n")
|
||||
self.__send(uploader.CHIP_FULL_ERASE +
|
||||
uploader.EOC)
|
||||
else:
|
||||
self.__send(uploader.CHIP_ERASE +
|
||||
uploader.EOC)
|
||||
|
||||
# erase is very slow, give it 30s
|
||||
deadline = _time() + 30.0
|
||||
while _time() < deadline:
|
||||
|
||||
usualEraseDuration = 15.0
|
||||
estimatedTimeRemaining = deadline-_time()
|
||||
if estimatedTimeRemaining >= usualEraseDuration:
|
||||
self.__drawProgressBar(label, 30.0-estimatedTimeRemaining, usualEraseDuration)
|
||||
else:
|
||||
self.__drawProgressBar(label, 10.0, 10.0)
|
||||
sys.stdout.write(" (timeout: %d seconds) " % int(deadline-_time()))
|
||||
sys.stdout.flush()
|
||||
|
||||
if self.__trySync():
|
||||
self.__drawProgressBar(label, 10.0, 10.0)
|
||||
if self.force_erase:
|
||||
print("\nForce erase done.\n")
|
||||
return
|
||||
|
||||
if self.force_erase:
|
||||
raise RuntimeError("timed out waiting for erase, force erase is likely not supported by bootloader!")
|
||||
else:
|
||||
raise RuntimeError("timed out waiting for erase")
|
||||
|
||||
# send a PROG_MULTI command to write a collection of bytes
|
||||
def __program_multi(self, data, windowMode):
|
||||
|
||||
length = len(data).to_bytes(1, byteorder='big')
|
||||
|
||||
self.__send(uploader.PROG_MULTI)
|
||||
self.__send(length)
|
||||
self.__send(data)
|
||||
self.__send(uploader.EOC)
|
||||
if (not windowMode):
|
||||
self.__getSync(False)
|
||||
else:
|
||||
# The following is done to have minimum delay on the transmission
|
||||
# of the ne fw. The per block cost of __getSync was about 16 mS per.
|
||||
# Passively wait on Sync and Result using board rates and
|
||||
# N.B. attempts to activly wait on InWating still carried 8 mS of overhead
|
||||
self.__probe(False)
|
||||
self.__probe(True)
|
||||
time.sleep((ord(length) * self.chartime) + uploader.MAX_FLASH_PRGRAM_TIME)
|
||||
self.__probe(False)
|
||||
|
||||
# verify multiple bytes in flash
|
||||
def __verify_multi(self, data):
|
||||
|
||||
length = len(data).to_bytes(1, byteorder='big')
|
||||
|
||||
self.__send(uploader.READ_MULTI)
|
||||
self.__send(length)
|
||||
self.__send(uploader.EOC)
|
||||
self.port.flush()
|
||||
programmed = self.__recv(len(data))
|
||||
if programmed != data:
|
||||
print("got " + binascii.hexlify(programmed))
|
||||
print("expect " + binascii.hexlify(data))
|
||||
return False
|
||||
self.__getSync()
|
||||
return True
|
||||
|
||||
# send the reboot command
|
||||
def __reboot(self):
|
||||
self.__send(uploader.REBOOT +
|
||||
uploader.EOC)
|
||||
self.port.flush()
|
||||
|
||||
# v3+ can report failure if the first word flash fails
|
||||
if self.bl_rev >= 3:
|
||||
self.__getSync()
|
||||
|
||||
# split a sequence into a list of size-constrained pieces
|
||||
def __split_len(self, seq, length):
|
||||
return [seq[i:i+length] for i in range(0, len(seq), length)]
|
||||
|
||||
# upload code
|
||||
def __program(self, label, fw):
|
||||
self.__probe(False)
|
||||
print("\n", end='')
|
||||
code = fw.image
|
||||
groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
|
||||
# Give imedate feedback
|
||||
self.__drawProgressBar(label, 0, len(groups))
|
||||
uploadProgress = 0
|
||||
for bytes in groups:
|
||||
self.__program_multi(bytes, self.ackWindowedMode)
|
||||
# If in Window mode, extend the window size for the __ackSyncWindow
|
||||
if self.ackWindowedMode:
|
||||
self.window += self.window_per
|
||||
|
||||
# Print upload progress (throttled, so it does not delay upload progress)
|
||||
uploadProgress += 1
|
||||
if uploadProgress % 256 == 0:
|
||||
self.__probe(True)
|
||||
self.__probe(False)
|
||||
self.__probe(True)
|
||||
self.__ackSyncWindow(self.window)
|
||||
self.__probe(False)
|
||||
self.window = 0
|
||||
self.__drawProgressBar(label, uploadProgress, len(groups))
|
||||
|
||||
# Do any remaining fragment
|
||||
self.__ackSyncWindow(self.window)
|
||||
self.window = 0
|
||||
self.__drawProgressBar(label, 100, 100)
|
||||
|
||||
# verify code
|
||||
def __verify_v2(self, label, fw):
|
||||
print("\n", end='')
|
||||
self.__send(uploader.CHIP_VERIFY +
|
||||
uploader.EOC)
|
||||
self.__getSync()
|
||||
code = fw.image
|
||||
groups = self.__split_len(code, uploader.READ_MULTI_MAX)
|
||||
verifyProgress = 0
|
||||
for bytes in groups:
|
||||
verifyProgress += 1
|
||||
if verifyProgress % 256 == 0:
|
||||
self.__drawProgressBar(label, verifyProgress, len(groups))
|
||||
if (not self.__verify_multi(bytes)):
|
||||
raise RuntimeError("Verification failed")
|
||||
self.__drawProgressBar(label, 100, 100)
|
||||
|
||||
def __verify_v3(self, label, fw):
|
||||
print("\n", end='')
|
||||
self.__drawProgressBar(label, 1, 100)
|
||||
expect_crc = fw.crc(self.fw_maxsize)
|
||||
self.__send(uploader.GET_CRC + uploader.EOC)
|
||||
time.sleep(0.5)
|
||||
report_crc = self.__recv_int()
|
||||
self.__getSync()
|
||||
if report_crc != expect_crc:
|
||||
print("Expected 0x%x" % expect_crc)
|
||||
print("Got 0x%x" % report_crc)
|
||||
raise RuntimeError("Program CRC failed")
|
||||
self.__drawProgressBar(label, 100, 100)
|
||||
|
||||
def __set_boot_delay(self, boot_delay):
|
||||
self.__send(uploader.SET_BOOT_DELAY +
|
||||
struct.pack("b", boot_delay) +
|
||||
uploader.EOC)
|
||||
self.__getSync()
|
||||
|
||||
# get basic data about the board
|
||||
def identify(self):
|
||||
self.__determineInterface()
|
||||
# make sure we are in sync before starting
|
||||
self.__sync()
|
||||
|
||||
# get the bootloader protocol ID first
|
||||
self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
|
||||
if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
|
||||
print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
|
||||
raise RuntimeError("Bootloader protocol mismatch")
|
||||
|
||||
self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
|
||||
self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
|
||||
self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
|
||||
|
||||
self.version = self.__getVersion()
|
||||
|
||||
# upload the firmware
|
||||
def upload(self, fw_list, force=False, boot_delay=None, boot_check=False, force_erase=False):
|
||||
self.force_erase = force_erase
|
||||
# select correct binary
|
||||
found_suitable_firmware = False
|
||||
for file in fw_list:
|
||||
fw = firmware(file)
|
||||
if self.board_type == fw.property('board_id'):
|
||||
if len(fw_list) > 1: print("using firmware binary {}".format(file))
|
||||
found_suitable_firmware = True
|
||||
break
|
||||
|
||||
if not found_suitable_firmware:
|
||||
msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
|
||||
self.board_type, fw.property('board_id'))
|
||||
print("WARNING: %s" % msg)
|
||||
if force:
|
||||
if len(fw_list) > 1:
|
||||
raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
|
||||
print("FORCED WRITE, FLASHING ANYWAY!")
|
||||
else:
|
||||
raise FirmwareNotSuitableException(msg)
|
||||
|
||||
percent = fw.property('image_size') / fw.property('image_maxsize')
|
||||
binary_size = float(fw.property('image_size'))
|
||||
binary_max_size = float(fw.property('image_maxsize'))
|
||||
percent = (binary_size / binary_max_size) * 100
|
||||
|
||||
print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
|
||||
print()
|
||||
|
||||
print(f"Bootloader version: {self.version}")
|
||||
|
||||
# Make sure we are doing the right thing
|
||||
start = _time()
|
||||
if self.board_type != fw.property('board_id'):
|
||||
msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
|
||||
self.board_type, fw.property('board_id'))
|
||||
print("WARNING: %s" % msg)
|
||||
if force:
|
||||
print("FORCED WRITE, FLASHING ANYWAY!")
|
||||
else:
|
||||
raise FirmwareNotSuitableException(msg)
|
||||
|
||||
# Prevent uploads where the image would overflow the flash
|
||||
if self.fw_maxsize < fw.property('image_size'):
|
||||
raise RuntimeError("Firmware image is too large for this board")
|
||||
|
||||
# OTP added in v4:
|
||||
if self.bl_rev >= 4:
|
||||
for byte in range(0, 32*6, 4):
|
||||
x = self.__getOTP(byte)
|
||||
self.otp = self.otp + x
|
||||
# print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
|
||||
# see src/modules/systemlib/otp.h in px4 code:
|
||||
self.otp_id = self.otp[0:4]
|
||||
self.otp_idtype = self.otp[4:5]
|
||||
self.otp_vid = self.otp[8:4:-1]
|
||||
self.otp_pid = self.otp[12:8:-1]
|
||||
self.otp_coa = self.otp[32:160]
|
||||
# show user:
|
||||
try:
|
||||
print("Sn: ", end='')
|
||||
for byte in range(0, 12, 4):
|
||||
x = self.__getSN(byte)
|
||||
x = x[::-1] # reverse the bytes
|
||||
self.sn = self.sn + x
|
||||
print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
|
||||
print('')
|
||||
print("Chip: %08x" % self.__getCHIP())
|
||||
|
||||
otp_id = self.otp_id.decode('Latin-1')
|
||||
if ("PX4" in otp_id):
|
||||
print("OTP id: " + otp_id)
|
||||
print("OTP idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
|
||||
print("OTP vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
|
||||
print("OTP pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1'))
|
||||
print("OTP coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
|
||||
|
||||
except Exception as e:
|
||||
# ignore bad character encodings
|
||||
print(f"Exception ignored: {e}")
|
||||
pass
|
||||
|
||||
# Silicon errata check was added in v5
|
||||
if (self.bl_rev >= 5):
|
||||
des = self.__getCHIPDes()
|
||||
if (len(des) == 2):
|
||||
family, revision = des
|
||||
print(f"Family: {family.decode()}")
|
||||
print(f"Revision: {revision.decode()}")
|
||||
print(f"Flash: {self.fw_maxsize} bytes")
|
||||
|
||||
# Prevent uploads where the maximum image size of the board config is smaller than the flash
|
||||
# of the board. This is a hint the user chose the wrong config and will lack features
|
||||
# for this particular board.
|
||||
|
||||
# This check should also check if the revision is an unaffected revision
|
||||
# and thus can support the full flash, see
|
||||
# https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144
|
||||
|
||||
if self.fw_maxsize > fw.property('image_maxsize') and not force:
|
||||
print(f"WARNING: Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes)")
|
||||
else:
|
||||
# If we're still on bootloader v4 on a Pixhawk, we don't know if we
|
||||
# have the silicon errata and therefore need to flash px4_fmu-v2
|
||||
# with 1MB flash or if it supports px4_fmu-v3 with 2MB flash.
|
||||
if fw.property('board_id') == 9 \
|
||||
and fw.property('image_size') > 1032192 \
|
||||
and not force:
|
||||
raise RuntimeError("\nThe Board uses bootloader revision 4 and can therefore not determine\n"
|
||||
"if flashing more than 1 MB (px4_fmu-v3_default) is safe, chances are\n"
|
||||
"high that it is not safe! If unsure, use px4_fmu-v2_default.\n"
|
||||
"\n"
|
||||
"If you know you that the board does not have the silicon errata, use\n"
|
||||
"this script with --force, or update the bootloader. If you are invoking\n"
|
||||
"upload using make, you can use force-upload target to force the upload.\n")
|
||||
self.__erase("Erase ")
|
||||
self.__program("Program", fw)
|
||||
|
||||
if self.bl_rev == 2:
|
||||
self.__verify_v2("Verify ", fw)
|
||||
else:
|
||||
self.__verify_v3("Verify ", fw)
|
||||
|
||||
if boot_delay is not None:
|
||||
self.__set_boot_delay(boot_delay)
|
||||
|
||||
print("\nRebooting.", end='')
|
||||
self.__reboot()
|
||||
self.port.close()
|
||||
print(" Elapsed Time %3.3f\n" % (_time() - start))
|
||||
|
||||
def __next_baud_flightstack(self):
|
||||
if self.baudrate_flightstack_idx + 1 >= len(self.baudrate_flightstack):
|
||||
return False
|
||||
try:
|
||||
self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx + 1]
|
||||
self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1
|
||||
except serial.SerialException:
|
||||
# Sometimes _configure_port fails
|
||||
time.sleep(0.04)
|
||||
|
||||
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):
|
||||
if (not self.__next_baud_flightstack()):
|
||||
return False
|
||||
|
||||
print("Attempting reboot on %s with baudrate=%d..." % (self.port.port, self.port.baudrate), file=sys.stderr)
|
||||
if "ttyS" in self.port.port:
|
||||
print("If the board does not respond, check the connection to the Flight Controller")
|
||||
else:
|
||||
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)
|
||||
# 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.port.flush()
|
||||
self.port.baudrate = self.baudrate_bootloader
|
||||
except Exception:
|
||||
try:
|
||||
self.port.flush()
|
||||
self.port.baudrate = self.baudrate_bootloader
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
return True
|
||||
|
||||
|
||||
def main():
|
||||
# Parse commandline arguments
|
||||
parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
|
||||
parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
|
||||
parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
|
||||
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('--force-erase', action="store_true", help="Do not perform the blank check, always erase every sector of the application space")
|
||||
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", nargs='+', help="Firmware file(s)")
|
||||
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("==========================================================================================================")
|
||||
print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
|
||||
print("==========================================================================================================")
|
||||
|
||||
print("Waiting for bootloader...")
|
||||
# tell any GCS that might be connected to the autopilot to give up
|
||||
# control of the serial port
|
||||
|
||||
# send to localhost and default GCS port
|
||||
ipaddr = '127.0.0.1'
|
||||
portnum = 14550
|
||||
|
||||
# COMMAND_LONG in MAVLink 1
|
||||
heartbeatpacket = bytearray.fromhex('fe097001010000000100020c5103033c8a')
|
||||
commandpacket = bytearray.fromhex('fe210101014c00000000000000000000000000000000000000000000803f00000000f6000000008459')
|
||||
|
||||
# initialize an UDP socket
|
||||
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
|
||||
# send heartbeat to initialize connection and command to free the link
|
||||
s.sendto(heartbeatpacket, (ipaddr, portnum))
|
||||
s.sendto(commandpacket, (ipaddr, portnum))
|
||||
|
||||
# close the socket
|
||||
s.close()
|
||||
|
||||
# Spin waiting for a device to show up
|
||||
try:
|
||||
while True:
|
||||
portlist = []
|
||||
patterns = args.port.split(",")
|
||||
# on unix-like platforms use glob to support wildcard ports. This allows
|
||||
# the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
|
||||
# causing modem hangups etc
|
||||
if "linux" in _platform or "darwin" in _platform or "cygwin" in _platform:
|
||||
import glob
|
||||
for pattern in patterns:
|
||||
portlist += glob.glob(pattern)
|
||||
else:
|
||||
portlist = patterns
|
||||
|
||||
baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
|
||||
|
||||
successful = False
|
||||
unsuitable_board = False
|
||||
for port in portlist:
|
||||
|
||||
# print("Trying %s" % port)
|
||||
|
||||
# create an uploader attached to the port
|
||||
try:
|
||||
if "linux" in _platform:
|
||||
# Linux, don't open Mac OS and Win ports
|
||||
if "COM" not in port and "tty.usb" not in port:
|
||||
up = uploader(port, args.baud_bootloader, baud_flightstack)
|
||||
elif "darwin" in _platform:
|
||||
# OS X, don't open Windows and Linux ports
|
||||
if "COM" not in port and "ACM" not in port:
|
||||
up = uploader(port, args.baud_bootloader, baud_flightstack)
|
||||
elif "cygwin" in _platform:
|
||||
# Cygwin, don't open native Windows COM and Linux ports
|
||||
if "COM" not in port and "ACM" not in port:
|
||||
up = uploader(port, args.baud_bootloader, baud_flightstack)
|
||||
elif "win" in _platform:
|
||||
# Windows, don't open POSIX ports
|
||||
if "/" not in port:
|
||||
up = uploader(port, args.baud_bootloader, baud_flightstack)
|
||||
except Exception as e:
|
||||
# open failed, rate-limit our attempts
|
||||
time.sleep(0.05)
|
||||
print(f"Exception ignored: {e}")
|
||||
|
||||
# and loop to the next port
|
||||
continue
|
||||
|
||||
found_bootloader = False
|
||||
while True:
|
||||
up.open()
|
||||
|
||||
# port is open, try talking to it
|
||||
try:
|
||||
# identify the bootloader
|
||||
up.identify()
|
||||
found_bootloader = True
|
||||
print()
|
||||
print(f"Found board id: {up.board_type},{up.board_rev} bootloader protocol revision {up.bl_rev} on {port}")
|
||||
break
|
||||
|
||||
except (RuntimeError, serial.SerialException):
|
||||
|
||||
if not up.send_reboot(args.use_protocol_splitter_format):
|
||||
break
|
||||
|
||||
# wait for the reboot, without we might run into Serial I/O Error 5
|
||||
time.sleep(0.25)
|
||||
|
||||
# always close the port
|
||||
up.close()
|
||||
|
||||
# wait for the close, without we might run into Serial I/O Error 6
|
||||
time.sleep(0.3)
|
||||
|
||||
if not found_bootloader:
|
||||
# Go to the next port
|
||||
continue
|
||||
|
||||
try:
|
||||
# ok, we have a bootloader, try flashing it
|
||||
up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay, force_erase=args.force_erase)
|
||||
|
||||
# if we made this far without raising exceptions, the upload was successful
|
||||
successful = True
|
||||
|
||||
except RuntimeError as e:
|
||||
# print the error
|
||||
print(f"\n\nError: {e}")
|
||||
|
||||
except FirmwareNotSuitableException:
|
||||
unsuitable_board = True
|
||||
up.close()
|
||||
continue
|
||||
|
||||
except IOError:
|
||||
up.close()
|
||||
continue
|
||||
|
||||
finally:
|
||||
# always close the port
|
||||
up.close()
|
||||
|
||||
# we could loop here if we wanted to wait for more boards...
|
||||
if successful:
|
||||
sys.exit(0)
|
||||
else:
|
||||
sys.exit(1)
|
||||
|
||||
if unsuitable_board:
|
||||
# If we land here, we went through all ports, did not flash any
|
||||
# board and found at least one unsuitable board.
|
||||
# Exit with 2, so a caller can distinguish from other errors
|
||||
sys.exit(2)
|
||||
|
||||
# Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
|
||||
time.sleep(0.05)
|
||||
|
||||
# CTRL+C aborts the upload/spin-lock by interrupt mechanics
|
||||
except KeyboardInterrupt:
|
||||
print("\n Upload aborted by user.")
|
||||
sys.exit(0)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
|
||||
# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4
|
||||
@@ -176,10 +176,8 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
|
||||
echo
|
||||
echo "Fetching Xtensa compilers"
|
||||
XTENSA_FILE_NAME=xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
|
||||
wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/$XTENSA_FILE_NAME
|
||||
sudo tar -xf $DIR/$XTENSA_FILE_NAME -C /opt
|
||||
rm $DIR/$XTENSA_FILE_NAME
|
||||
wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
|
||||
sudo tar -xf $DIR/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz -C /opt
|
||||
echo 'export PATH=$PATH:/opt/xtensa-esp-elf/bin/' >> /home/$USER/.bashrc
|
||||
fi
|
||||
|
||||
|
||||
Submodule Tools/simulation/gazebo-classic/sitl_gazebo-classic updated: 5b6966ed57...ac718b6fb2
Submodule Tools/simulation/jmavsim/jMAVSim updated: 665b26d62d...66b764ada5
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -34,6 +34,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
|
||||
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_ST_LSM303D=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
|
||||
@@ -31,7 +31,6 @@ CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
|
||||
CONFIG_UAVCANNODE_ESC_STATUS=y
|
||||
CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
|
||||
CONFIG_UAVCANNODE_GNSS_FIX=y
|
||||
CONFIG_UAVCANNODE_HARDPOINT_COMMAND=y
|
||||
CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
|
||||
CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
|
||||
CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
|
||||
|
||||
@@ -1,17 +0,0 @@
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_MODULES_ROVER_ACKERMANN=y
|
||||
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
|
||||
CONFIG_MODULES_ROVER_MECANUM=y
|
||||
@@ -15,8 +15,6 @@ CONFIG_DRIVERS_DSHOT=y
|
||||
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_PPS_CAPTURE=y
|
||||
CONFIG_DRIVERS_VTX=y
|
||||
CONFIG_VTX_CRSF_MSP_SUPPORT=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_BMI088_ACCELEROMETER_INT2=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
@@ -24,7 +22,6 @@ CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_DATAMAN_PERSISTENT_STORAGE=n
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_COMMON_RC=y
|
||||
CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
@@ -94,4 +91,3 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
CONFIG_WQ_TTY_STACKSIZE=2500
|
||||
|
||||
@@ -60,9 +60,6 @@ then
|
||||
set INA_CONFIGURED yes
|
||||
fi
|
||||
|
||||
# Auterion auto starter
|
||||
auterion_autostarter start
|
||||
|
||||
if param compare BAT1_V_CHANNEL -2
|
||||
then
|
||||
if [ "$INA_CONFIGURED" != "yes" ]
|
||||
|
||||
@@ -160,7 +160,7 @@ CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=24
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_QUOTE=y
|
||||
CONFIG_NSH_ROMFSETC=y
|
||||
|
||||
@@ -26,10 +26,10 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
|
||||
@@ -55,8 +55,8 @@ then
|
||||
set INA_CONFIGURED yes
|
||||
fi
|
||||
|
||||
# Auterion auto starter
|
||||
auterion_autostarter start
|
||||
#Start Auterion Power Module selector for Skynode boards
|
||||
pm_selector_auterion start
|
||||
|
||||
# Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
|
||||
param set-default INA238_SHUNT 0.0003
|
||||
|
||||
@@ -1,6 +1,4 @@
|
||||
# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_MODULES_UXRCE_DDS_CLIENT=n
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=n
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=n
|
||||
CONFIG_MODULES_ZENOH=y
|
||||
|
||||
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -30,6 +30,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
|
||||
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -28,6 +28,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
|
||||
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
|
||||
@@ -25,6 +25,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
|
||||
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -23,6 +23,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
|
||||
@@ -23,6 +23,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -16,36 +16,36 @@
|
||||
# CONFIG_NSH_DISABLE_CAT is not set
|
||||
# CONFIG_NSH_DISABLE_CD is not set
|
||||
# CONFIG_NSH_DISABLE_CP is not set
|
||||
CONFIG_NSH_DISABLE_DATE=y
|
||||
CONFIG_NSH_DISABLE_DF=y
|
||||
# CONFIG_NSH_DISABLE_DATE is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_ECHO is not set
|
||||
# CONFIG_NSH_DISABLE_ENV is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||
CONFIG_NSH_DISABLE_EXPORT=y
|
||||
CONFIG_NSH_DISABLE_FREE=y
|
||||
CONFIG_NSH_DISABLE_GET=y
|
||||
# CONFIG_NSH_DISABLE_EXPORT is not set
|
||||
# CONFIG_NSH_DISABLE_FREE is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_HELP is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_KILL is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_LS is not set
|
||||
CONFIG_NSH_DISABLE_MKDIR=y
|
||||
# CONFIG_NSH_DISABLE_MKDIR is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_MOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_MV is not set
|
||||
CONFIG_NSH_DISABLE_PRINTF=y
|
||||
CONFIG_NSH_DISABLE_PS=y
|
||||
CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
|
||||
CONFIG_NSH_DISABLE_PWD=y
|
||||
# CONFIG_NSH_DISABLE_PRINTF is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
|
||||
# CONFIG_NSH_DISABLE_PWD is not set
|
||||
# CONFIG_NSH_DISABLE_RM is not set
|
||||
CONFIG_NSH_DISABLE_RMDIR=y
|
||||
# CONFIG_NSH_DISABLE_RMDIR is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_SET is not set
|
||||
# CONFIG_NSH_DISABLE_SLEEP is not set
|
||||
# CONFIG_NSH_DISABLE_SOURCE is not set
|
||||
# CONFIG_NSH_DISABLE_TEST is not set
|
||||
CONFIG_NSH_DISABLE_TIME=y
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_NSH_DISABLE_UMOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_UNSET is not set
|
||||
# CONFIG_NSH_DISABLE_USLEEP is not set
|
||||
|
||||
@@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
|
||||
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
|
||||
@@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
|
||||
@@ -25,6 +25,7 @@ CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
|
||||
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -17,6 +17,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -16,6 +16,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -26,11 +26,13 @@ CONFIG_COMMON_HYGROMETERS=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA220=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
|
||||
CONFIG_DRIVERS_PPS_CAPTURE=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -24,10 +24,12 @@ CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA220=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
|
||||
CONFIG_DRIVERS_PPS_CAPTURE=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -25,11 +25,13 @@ CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA220=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
|
||||
CONFIG_DRIVERS_PPS_CAPTURE=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -27,11 +27,13 @@ CONFIG_COMMON_HYGROMETERS=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA220=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
|
||||
CONFIG_DRIVERS_PPS_CAPTURE=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_COMMON_OSD=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
|
||||
@@ -19,6 +19,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_COMMON_OSD=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
|
||||
@@ -23,6 +23,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -20,6 +20,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -26,6 +26,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
|
||||
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
|
||||
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -23,6 +23,7 @@ CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_LIGHTS_RGBLED=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -14,6 +14,7 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
|
||||
CONFIG_COMMON_DISTANCE_SENSOR=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_CYPHAL_BMS_SUBSCRIBER=y
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_CYPHAL=y
|
||||
|
||||
@@ -29,6 +29,7 @@ CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
|
||||
@@ -26,6 +26,7 @@ CONFIG_COMMON_INS=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
|
||||
@@ -28,6 +28,7 @@ CONFIG_DRIVERS_IMU_ST_LSM303D=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -26,6 +26,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
|
||||
@@ -25,6 +25,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_COMMON_OSD=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
@@ -76,6 +77,8 @@ CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
|
||||
@@ -34,11 +34,12 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
|
||||
@@ -72,8 +72,8 @@ then
|
||||
# Internal magnetometer on I2c
|
||||
bmm150 -I -R 6 start
|
||||
|
||||
# Auterion auto starter
|
||||
auterion_autostarter start
|
||||
# Auto start power monitors
|
||||
pm_selector_auterion start
|
||||
|
||||
# Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
|
||||
param set-default INA238_SHUNT 0.0003
|
||||
|
||||
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
|
||||
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
|
||||
@@ -1,94 +0,0 @@
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
|
||||
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
|
||||
CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS6"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
|
||||
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
|
||||
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
|
||||
CONFIG_COMMON_DISTANCE_SENSOR=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_ACTUATORS_VERTIQ_IO=y
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_MS5611=y
|
||||
CONFIG_DRIVERS_BATT_SMBUS=y
|
||||
CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=y
|
||||
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
|
||||
CONFIG_DRIVERS_DSHOT=y
|
||||
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_HEATER=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
|
||||
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_LIB_RL_TOOLS=y
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_ESC_BATTERY=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
CONFIG_MODULES_MAVLINK=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RAPTOR=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||
CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_MFT=y
|
||||
CONFIG_SYSTEMCMDS_MTD=y
|
||||
CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
CONFIG_USE_IFCI_CONFIGURATION=y
|
||||
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -16,6 +16,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=y
|
||||
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
|
||||
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
|
||||
CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
|
||||
CONFIG_COMMON_DISTANCE_SENSOR=y
|
||||
CONFIG_DRIVERS_DSHOT=y
|
||||
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
|
||||
|
||||
@@ -189,7 +189,6 @@ CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_MUTEX_TYPES=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
|
||||
CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
|
||||
|
||||
@@ -92,7 +92,7 @@ static bool phy_get_led(int led)
|
||||
{
|
||||
|
||||
if (g_ledmap[led] != 0) {
|
||||
return !imxrt_gpio_read(g_ledmap[led]);
|
||||
return imxrt_gpio_read(!g_ledmap[led]);
|
||||
}
|
||||
|
||||
return false;
|
||||
|
||||
@@ -21,6 +21,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_GUIDANCE_CONTROL=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_FIGURE_OF_EIGHT=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
|
||||
@@ -1,89 +0,0 @@
|
||||
CONFIG_BOARD_ETHERNET=y
|
||||
CONFIG_BOARD_ROOT_PATH="."
|
||||
CONFIG_BOARD_TESTING=y
|
||||
CONFIG_COMMON_SIMULATION=y
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=y
|
||||
CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_EKF2_VERBOSE_STATUS=y
|
||||
CONFIG_EXAMPLES_DYN_HELLO=y
|
||||
CONFIG_EXAMPLES_FAKE_GPS=y
|
||||
CONFIG_EXAMPLES_FAKE_IMU=y
|
||||
CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
|
||||
CONFIG_EXAMPLES_HELLO=y
|
||||
CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
|
||||
CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
|
||||
CONFIG_EXAMPLES_WORK_ITEM=y
|
||||
CONFIG_FIGURE_OF_EIGHT=y
|
||||
CONFIG_LIB_RL_TOOLS=y
|
||||
CONFIG_MAVLINK_DIALECT="development"
|
||||
CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
|
||||
CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
CONFIG_MODULES_MAVLINK=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RAPTOR=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_PAYLOAD_DELIVERER=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_REPLAY=y
|
||||
CONFIG_MODULES_ROVER_ACKERMANN=y
|
||||
CONFIG_MODULES_ROVER_DIFFERENTIAL=y
|
||||
CONFIG_MODULES_ROVER_MECANUM=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
|
||||
CONFIG_MODULES_SIMULATION_GZ_MSGS=y
|
||||
CONFIG_MODULES_SIMULATION_GZ_PLUGINS=y
|
||||
CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM=y
|
||||
CONFIG_MODULES_SPACECRAFT=n
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_NUM_MISSION_ITMES_SUPPORTED=10000
|
||||
CONFIG_PLATFORM_POSIX=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DYN=y
|
||||
CONFIG_SYSTEMCMDS_FAILURE=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SHUTDOWN=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_COMMON_OSD=y
|
||||
CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
|
||||
@@ -18,6 +18,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
|
||||
@@ -23,6 +23,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -13,6 +13,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -31,6 +31,7 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_COMMON_RC=y
|
||||
|
||||
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
|
||||
@@ -22,6 +22,7 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
|
||||
@@ -21,7 +21,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_QMC5883P=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_COMMON_OSD=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user