mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-26 13:30:05 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
054b8093de |
+7
-10
@@ -61,20 +61,18 @@ pipeline {
|
||||
"holybro_kakutef7_default",
|
||||
"holybro_kakuteh7_default",
|
||||
"holybro_pix32v5_default",
|
||||
"matek_h743-slim",
|
||||
"matek_gnss-m9n-f4_canbootloader",
|
||||
"matek_gnss-m9n-f4_default",
|
||||
"matek_h743-mini_default",
|
||||
"matek_h743-slim_default",
|
||||
"matek_h743_default",
|
||||
"modalai_fc-v1_default",
|
||||
"modalai_fc-v1_rtps",
|
||||
"modalai_fc-v2_default",
|
||||
"mro_ctrl-zero-f7_default",
|
||||
"mro_ctrl-zero-f7-oem_default",
|
||||
"mro_ctrl-zero-h7-oem_default",
|
||||
"mro_ctrl-zero-h7-oem_rtps",
|
||||
"mro_ctrl-zero-h7_default",
|
||||
"mro_ctrl-zero-h7_rtps",
|
||||
"mro_ctrl-zero-h7-oem_default",
|
||||
"mro_ctrl-zero-h7-oem_rtps",
|
||||
"mro_pixracerpro_default",
|
||||
"mro_pixracerpro_rtps",
|
||||
"mro_x21-777_default",
|
||||
@@ -89,27 +87,26 @@ pipeline {
|
||||
"nxp_ucans32k146_canbootloader",
|
||||
"nxp_ucans32k146_default",
|
||||
"omnibus_f4sd_default",
|
||||
"raspberrypi_pico_default",
|
||||
"px4_fmu-v2_default",
|
||||
"px4_fmu-v2_fixedwing",
|
||||
"px4_fmu-v2_lto",
|
||||
"px4_fmu-v2_multicopter",
|
||||
"px4_fmu-v2_rover",
|
||||
"px4_fmu-v2_lto",
|
||||
"px4_fmu-v3_default",
|
||||
"px4_fmu-v4_default",
|
||||
"px4_fmu-v4pro_default",
|
||||
"px4_fmu-v5_cyphal",
|
||||
"px4_fmu-v5_debug",
|
||||
"px4_fmu-v5_default",
|
||||
"px4_fmu-v5_lto",
|
||||
"px4_fmu-v5_rtps",
|
||||
"px4_fmu-v5_stackcheck",
|
||||
"px4_fmu-v5_uavcanv0periph",
|
||||
"px4_fmu-v5_uavcanv1",
|
||||
"px4_fmu-v5_lto",
|
||||
"px4_fmu-v5x_default",
|
||||
"px4_fmu-v6c_default",
|
||||
"px4_fmu-v6u_default",
|
||||
"px4_fmu-v6x_default",
|
||||
"px4_io-v2_default",
|
||||
"raspberrypi_pico_default",
|
||||
"sky-drones_smartap-airlink_default",
|
||||
"spracing_h7extreme_default",
|
||||
"uvify_core_default"
|
||||
|
||||
@@ -794,7 +794,7 @@ void resetParameters() {
|
||||
void runTests() {
|
||||
|
||||
// test loading a range of airframes
|
||||
sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'
|
||||
sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
|
||||
|
||||
resetParameters()
|
||||
|
||||
@@ -809,9 +809,6 @@ void runTests() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
|
||||
@@ -867,15 +864,12 @@ void printTopics() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
|
||||
|
||||
@@ -1,34 +1,32 @@
|
||||
---
|
||||
name: 🐛 Bug report
|
||||
name: Bug report
|
||||
about: Create a report to help us improve
|
||||
labels: bug-report
|
||||
|
||||
---
|
||||
|
||||
## Describe the bug
|
||||
**Describe the bug**
|
||||
A clear and concise description of the bug.
|
||||
|
||||
## To Reproduce
|
||||
**To Reproduce**
|
||||
Steps to reproduce the behavior:
|
||||
1. Drone switched on '...'
|
||||
2. Uploaded mission '....' (attach QGC mission file)
|
||||
3. Took off '....'
|
||||
4. See error
|
||||
|
||||
## Expected behavior
|
||||
**Expected behavior**
|
||||
A clear and concise description of what you expected to happen.
|
||||
|
||||
## Log Files and Screenshots
|
||||
**Log Files and Screenshots**
|
||||
*Always* provide a link to the flight log file:
|
||||
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/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)
|
||||
- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
|
||||
|
||||
Add screenshots to help explain your problem.
|
||||
|
||||
## Drone (please complete the following information):
|
||||
**Drone (please complete the following information):**
|
||||
- Describe the type of drone.
|
||||
- Photo of the IMU / autopilot setup if possible.
|
||||
|
||||
## Additional context
|
||||
**Additional context**
|
||||
Add any other context about the problem here.
|
||||
|
||||
@@ -1,20 +1,19 @@
|
||||
---
|
||||
name: 🚀 Feature Request
|
||||
about: Suggest an idea for this project
|
||||
labels: feature-request
|
||||
|
||||
---
|
||||
|
||||
For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
|
||||
|
||||
## Describe problem solved by the proposed feature
|
||||
**Describe problem solved by the proposed feature**
|
||||
A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
|
||||
|
||||
## Describe your preferred solution
|
||||
**Describe your preferred solution**
|
||||
A clear and concise description of what you want to happen.
|
||||
|
||||
## Describe possible alternatives
|
||||
**Describe possible alternatives**
|
||||
A clear and concise description of alternative solutions or features you've considered.
|
||||
|
||||
## Additional context
|
||||
**Additional context**
|
||||
Add any other context or screenshots for the feature request here.
|
||||
|
||||
@@ -1,13 +1,10 @@
|
||||
---
|
||||
name: ⛔ Support Question
|
||||
about: See http://discuss.px4.io/ for questions about using PX4.
|
||||
about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.
|
||||
|
||||
---
|
||||
|
||||
## Attention! Please read the note below
|
||||
|
||||
We use GitHub issues only to discuss PX4 bugs and new features.
|
||||
|
||||
**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
|
||||
We use GitHub issues only to discuss PX4 bugs and new features. For
|
||||
questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).
|
||||
|
||||
Thanks!
|
||||
|
||||
@@ -1,11 +1,9 @@
|
||||
---
|
||||
name: ⛔ Documentation Issue
|
||||
about: See https://github.com/PX4/px4_user_guide for documentation issues
|
||||
about: See https://github.com/PX4/Devguide for documentation issues
|
||||
|
||||
---
|
||||
|
||||
## Attention! Please read the note below
|
||||
|
||||
**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
|
||||
PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).
|
||||
|
||||
Thanks!
|
||||
|
||||
@@ -37,10 +37,8 @@ jobs:
|
||||
holybro_kakutef7,
|
||||
holybro_kakuteh7,
|
||||
holybro_pix32v5,
|
||||
matek_gnss-m9n-f4,
|
||||
matek_h743,
|
||||
matek_h743-mini,
|
||||
matek_h743-slim,
|
||||
matek_gnss-m9n-f4,
|
||||
modalai_fc-v1,
|
||||
modalai_fc-v2,
|
||||
mro_ctrl-zero-f7,
|
||||
@@ -55,16 +53,15 @@ jobs:
|
||||
nxp_fmurt1062-v1,
|
||||
nxp_ucans32k146,
|
||||
omnibus_f4sd,
|
||||
raspberrypi_pico,
|
||||
px4_fmu-v2,
|
||||
px4_fmu-v3,
|
||||
px4_fmu-v4,
|
||||
px4_fmu-v4pro,
|
||||
px4_fmu-v5,
|
||||
px4_fmu-v5x,
|
||||
px4_fmu-v6c,
|
||||
px4_fmu-v6u,
|
||||
px4_fmu-v6x,
|
||||
raspberrypi_pico,
|
||||
sky-drones_smartap-airlink,
|
||||
spracing_h7extreme,
|
||||
uvify_core
|
||||
|
||||
+8
-8
@@ -36,14 +36,14 @@
|
||||
[submodule "Tools/jsbsim_bridge"]
|
||||
path = Tools/jsbsim_bridge
|
||||
url = https://github.com/PX4/px4-jsbsim-bridge.git
|
||||
[submodule "src/drivers/cyphal/libcanard"]
|
||||
path = src/drivers/cyphal/libcanard
|
||||
url = https://github.com/opencyphal/libcanard.git
|
||||
[submodule "src/drivers/cyphal/public_regulated_data_types"]
|
||||
path = src/drivers/cyphal/public_regulated_data_types
|
||||
url = https://github.com/opencyphal/public_regulated_data_types.git
|
||||
[submodule "src/drivers/cyphal/legacy_data_types"]
|
||||
path = src/drivers/cyphal/legacy_data_types
|
||||
[submodule "src/drivers/uavcan_v1/libcanard"]
|
||||
path = src/drivers/uavcan_v1/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard.git
|
||||
[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
|
||||
path = src/drivers/uavcan_v1/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcan_v1/legacy_data_types"]
|
||||
path = src/drivers/uavcan_v1/legacy_data_types
|
||||
url = https://github.com/PX4/public_regulated_data_types.git
|
||||
branch = legacy
|
||||
[submodule "src/lib/crypto/monocypher"]
|
||||
|
||||
@@ -9,5 +9,3 @@ launch.json
|
||||
ipch/
|
||||
|
||||
browse.vc.db*
|
||||
|
||||
*.log
|
||||
|
||||
Vendored
+2
@@ -126,6 +126,8 @@
|
||||
},
|
||||
"search.showLineNumbers": true,
|
||||
"telemetry.enableTelemetry": false,
|
||||
"terminal.integrated.copyOnSelection": true,
|
||||
"terminal.integrated.rightClickBehavior": "paste",
|
||||
"terminal.integrated.scrollback": 5000,
|
||||
"window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
|
||||
"workbench.editor.highlightModifiedTabs": true,
|
||||
|
||||
@@ -325,13 +325,12 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
|
||||
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
|
||||
# cubepilot_io-v2_default
|
||||
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
|
||||
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
|
||||
git status
|
||||
|
||||
bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
|
||||
bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
|
||||
git status
|
||||
|
||||
.PHONY: coverity_scan
|
||||
|
||||
@@ -1,17 +1,17 @@
|
||||
Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
|
||||
|
||||
## Describe problem solved by this pull request
|
||||
A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
|
||||
**Describe problem solved by this pull request**
|
||||
A clear and concise description of the problem this proposed change will solve.
|
||||
E.g. For this use case I ran into...
|
||||
|
||||
## Describe your solution
|
||||
**Describe your solution**
|
||||
A clear and concise description of what you have implemented.
|
||||
|
||||
## Describe possible alternatives
|
||||
**Describe possible alternatives**
|
||||
A clear and concise description of alternative solutions or features you've considered.
|
||||
|
||||
## Test data / coverage
|
||||
**Test data / coverage**
|
||||
How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
|
||||
|
||||
## Additional context
|
||||
**Additional context**
|
||||
Add any other related context or media.
|
||||
@@ -86,28 +86,10 @@ unset BOARD_RC_SENSORS
|
||||
. ${R}etc/init.d/rc.serial
|
||||
|
||||
# Check for flow sensor
|
||||
if param compare -s SENS_EN_PX4FLOW 1
|
||||
if param compare SENS_EN_PX4FLOW 1
|
||||
then
|
||||
px4flow start -X &
|
||||
fi
|
||||
|
||||
if param compare -s IMU_GYRO_CAL_EN 1
|
||||
then
|
||||
gyro_calibration start
|
||||
fi
|
||||
|
||||
|
||||
if param compare -s MBE_ENABLE 1
|
||||
then
|
||||
# conservative mag bias estimation
|
||||
param set-default MBE_LEARN_GAIN 5
|
||||
param set-default IMU_GYRO_CUTOFF 20
|
||||
mag_bias_estimator start
|
||||
fi
|
||||
|
||||
param set-default SENS_MAG_RATE 100
|
||||
|
||||
sensors start
|
||||
|
||||
uavcannode start
|
||||
unset R
|
||||
|
||||
@@ -1,101 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 6DoF Omnicopter SITL
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
# @maintainer Jaeyoung Lim <jalim@ethz.ch>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 8
|
||||
param set-default CA_R_REV 255
|
||||
|
||||
param set-default CA_ROTOR0_PX 0.14435
|
||||
param set-default CA_ROTOR0_PY -0.14435
|
||||
param set-default CA_ROTOR0_PZ -0.14435
|
||||
param set-default CA_ROTOR0_KM 0.05 # CCW
|
||||
param set-default CA_ROTOR0_AX -0.788675
|
||||
param set-default CA_ROTOR0_AY -0.211325
|
||||
param set-default CA_ROTOR0_AZ -0.57735
|
||||
|
||||
param set-default CA_ROTOR1_PX -0.14435
|
||||
param set-default CA_ROTOR1_PY -0.14435
|
||||
param set-default CA_ROTOR1_PZ -0.14435
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR1_AX 0.211325
|
||||
param set-default CA_ROTOR1_AY -0.788675
|
||||
param set-default CA_ROTOR1_AZ 0.57735
|
||||
|
||||
param set-default CA_ROTOR2_PX 0.14435
|
||||
param set-default CA_ROTOR2_PY 0.14435
|
||||
param set-default CA_ROTOR2_PZ -0.14435
|
||||
param set-default CA_ROTOR2_KM 0.05
|
||||
param set-default CA_ROTOR2_AX -0.211325
|
||||
param set-default CA_ROTOR2_AY 0.788675
|
||||
param set-default CA_ROTOR2_AZ 0.57735
|
||||
|
||||
param set-default CA_ROTOR3_PX -0.14435
|
||||
param set-default CA_ROTOR3_PY 0.14435
|
||||
param set-default CA_ROTOR3_PZ -0.14435
|
||||
param set-default CA_ROTOR3_KM 0.05
|
||||
param set-default CA_ROTOR3_AX 0.788675
|
||||
param set-default CA_ROTOR3_AY 0.211325
|
||||
param set-default CA_ROTOR3_AZ -0.57735
|
||||
|
||||
param set-default CA_ROTOR4_PX 0.14435
|
||||
param set-default CA_ROTOR4_PY -0.14435
|
||||
param set-default CA_ROTOR4_PZ 0.14435
|
||||
param set-default CA_ROTOR4_KM 0.05
|
||||
param set-default CA_ROTOR4_AX 0.788675
|
||||
param set-default CA_ROTOR4_AY 0.211325
|
||||
param set-default CA_ROTOR4_AZ -0.57735
|
||||
|
||||
param set-default CA_ROTOR5_PX -0.14435
|
||||
param set-default CA_ROTOR5_PY -0.14435
|
||||
param set-default CA_ROTOR5_PZ 0.14435
|
||||
param set-default CA_ROTOR5_KM 0.05
|
||||
param set-default CA_ROTOR5_AX -0.211325
|
||||
param set-default CA_ROTOR5_AY 0.788675
|
||||
param set-default CA_ROTOR5_AZ 0.57735
|
||||
|
||||
param set-default CA_ROTOR6_PX 0.14435
|
||||
param set-default CA_ROTOR6_PY 0.14435
|
||||
param set-default CA_ROTOR6_PZ 0.14435
|
||||
param set-default CA_ROTOR6_KM 0.05
|
||||
param set-default CA_ROTOR6_AX 0.211325
|
||||
param set-default CA_ROTOR6_AY -0.788675
|
||||
param set-default CA_ROTOR6_AZ 0.57735
|
||||
|
||||
param set-default CA_ROTOR7_PX -0.14435
|
||||
param set-default CA_ROTOR7_PY 0.14435
|
||||
param set-default CA_ROTOR7_PZ 0.14435
|
||||
param set-default CA_ROTOR7_KM 0.05
|
||||
param set-default CA_ROTOR7_AX -0.788675
|
||||
param set-default CA_ROTOR7_AY -0.211325
|
||||
param set-default CA_ROTOR7_AZ -0.57735
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
param set-default PWM_MAIN_FUNC7 107
|
||||
param set-default PWM_MAIN_FUNC8 108
|
||||
|
||||
# disable MC desaturation which improves attitude tracking
|
||||
param set-default CA_METHOD 0
|
||||
|
||||
# disable attitude failure detection
|
||||
param set-default FD_FAIL_P 0
|
||||
param set-default FD_FAIL_R 0
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_AUX none
|
||||
@@ -1,23 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name QuadrotorX SITL for SIH
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default COM_PREARM_MODE 0
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set SIH_VEHICLE_TYPE 0
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL for SIH
|
||||
#
|
||||
# @type Plane
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
set MIXER AERT
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default COM_PREARM_MODE 0
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set SIH_T_MAX 6.0
|
||||
param set SIH_MASS 0.3
|
||||
param set SIH_IXX 0.00402
|
||||
param set SIH_IYY 0.0144
|
||||
param set SIH_IZZ 0.0177
|
||||
param set SIH_IXZ 0.00046
|
||||
param set SIH_KDV 0.2
|
||||
|
||||
param set SIH_VEHICLE_TYPE 1 # sih as fixed wing
|
||||
param set RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
|
||||
@@ -1,45 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name SIH Tailsitter Duo
|
||||
#
|
||||
# @type VTOL
|
||||
#
|
||||
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_SC 0.3
|
||||
param set-default MPC_MAN_Y_MAX 60
|
||||
param set-default MC_PITCH_P 5
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
set MAV_TYPE 19
|
||||
set MIXER vtol_tailsitter_duo_sat
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
# - without real battery
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
# - without safety switch
|
||||
param set-default COM_PREARM_MODE 0
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set SIH_T_MAX 2.0
|
||||
param set SIH_Q_MAX 0.0165
|
||||
param set SIH_MASS 0.2
|
||||
# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
|
||||
param set SIH_IXX 0.00354
|
||||
param set SIH_IYY 0.000625
|
||||
param set SIH_IZZ 0.00300
|
||||
param set SIH_IXZ 0.0
|
||||
param set SIH_KDV 0.2
|
||||
param set SIH_L_ROLL 0.145
|
||||
|
||||
# sih as tailsitter
|
||||
param set SIH_VEHICLE_TYPE 2
|
||||
@@ -18,7 +18,3 @@ param set-default LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
|
||||
param set-default SENS_FLOW_ROT 6
|
||||
param set-default SENS_FLOW_MINHGT 0.7
|
||||
param set-default SENS_FLOW_MAXHGT 3.0
|
||||
param set-default SENS_FLOW_MAXR 2.5
|
||||
|
||||
@@ -9,6 +9,7 @@
|
||||
|
||||
# EKF2
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default SENS_FLOW_ROT 0
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
|
||||
@@ -7,11 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
# TODO: Enable motor failure detection when the
|
||||
# VTOL no longer reports 0A for all ESCs in SITL
|
||||
param set-default FD_ACT_EN 0
|
||||
param set-default FD_ACT_MOT_TOUT 500
|
||||
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 2
|
||||
|
||||
|
||||
@@ -9,7 +9,7 @@
|
||||
|
||||
param set-default MAV_TYPE 21
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 3
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
@@ -27,7 +27,9 @@ param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_ROTOR0_TILT 1
|
||||
param set-default CA_ROTOR1_TILT 2
|
||||
param set-default CA_ROTOR2_TILT 3
|
||||
param set-default CA_ROTOR3_TILT 4
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
|
||||
@@ -1,4 +1,6 @@
|
||||
|
||||
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
|
||||
|
||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
|
||||
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
@@ -35,12 +35,8 @@ px4_add_romfs_files(
|
||||
10016_iris
|
||||
10017_iris_ctrlalloc
|
||||
10018_iris_foggy_lidar
|
||||
10019_omnicopter
|
||||
10020_if750a
|
||||
10030_px4vision
|
||||
10040_quadx
|
||||
10041_airplane
|
||||
10042_xvert
|
||||
1010_iris_opt_flow
|
||||
1010_iris_opt_flow.post
|
||||
1011_iris_irlock
|
||||
|
||||
@@ -30,12 +30,3 @@ mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $ud
|
||||
|
||||
# Onboard link to gimbal
|
||||
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
|
||||
|
||||
# To display for SIH sitl
|
||||
if [ "$SIM_MODE" = "sihsim" ]; then
|
||||
udp_sihsim_port_local=$((19450+px4_instance))
|
||||
udp_sihsim_port_remote=$((19410+px4_instance))
|
||||
mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
|
||||
mavlink stream -r 200 -s HIL_ACTUATOR_CONTROLS -u $udp_sihsim_port_local
|
||||
mavlink stream -r 25 -s HIL_STATE_QUATERNION -u $udp_sihsim_port_local
|
||||
fi
|
||||
|
||||
@@ -95,9 +95,10 @@ fi
|
||||
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
|
||||
param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
|
||||
set AUTOCNF yes
|
||||
|
||||
# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
|
||||
param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
|
||||
fi
|
||||
|
||||
# multi-instance setup
|
||||
@@ -154,8 +155,6 @@ param set-default SDLOG_DIRS_MAX 7
|
||||
|
||||
param set-default TRIG_INTERFACE 3
|
||||
|
||||
param set-default SYS_FAILURE_EN 1
|
||||
|
||||
# Adapt timeout parameters if simulation runs faster or slower than realtime.
|
||||
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
|
||||
COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
|
||||
@@ -197,6 +196,14 @@ fi
|
||||
|
||||
. "$autostart_file"
|
||||
|
||||
#
|
||||
# If autoconfig parameter was set, reset it and save parameters.
|
||||
#
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set SYS_AUTOCONFIG 0
|
||||
fi
|
||||
|
||||
# Simulator IMU data provided at 250 Hz
|
||||
param set IMU_INTEG_RATE 250
|
||||
|
||||
@@ -204,11 +211,8 @@ param set IMU_INTEG_RATE 250
|
||||
. px4-rc.params
|
||||
|
||||
dataman start
|
||||
# start sih in sih_sim mode, otherwise simulator module
|
||||
if [ "$SIM_MODE" = "sihsim" ]; then
|
||||
sih start
|
||||
# only start the simulator if not in replay mode, as both control the lockstep time
|
||||
elif ! replay tryapplyparams
|
||||
if ! replay tryapplyparams
|
||||
then
|
||||
. px4-rc.simulator
|
||||
fi
|
||||
|
||||
@@ -61,8 +61,6 @@ param set-default HIL_ACT_FUNC6 400
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
|
||||
# disable some checks to allow to fly
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
|
||||
@@ -0,0 +1,40 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Steadidrone QU4D
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
# @class Copter
|
||||
#
|
||||
# @output MAIN1 motor 1
|
||||
# @output MAIN2 motor 2
|
||||
# @output MAIN3 motor 3
|
||||
# @output MAIN4 motor 4
|
||||
# @output MAIN5 feed-through of RC AUX1 channel
|
||||
# @output MAIN6 feed-through of RC AUX2 channel
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
# @output AUX4 feed-through of RC FLAPS channel
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default BAT1_N_CELLS 4
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.13
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_ROLLRATE_D 0.004
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_P 0.19
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCHRATE_D 0.004
|
||||
param set-default MC_YAW_P 4
|
||||
|
||||
set MIXER quad_w
|
||||
@@ -15,8 +15,6 @@ set MIXER quad_x
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.15
|
||||
param set-default CA_ROTOR0_PY 0.15
|
||||
|
||||
@@ -94,8 +94,6 @@ param set-default HIL_ACT_FUNC8 203
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
param set UAVCAN_ENABLE 0
|
||||
|
||||
# disable some checks to allow to fly
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
|
||||
@@ -0,0 +1,48 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Steadidrone MAVRIK
|
||||
#
|
||||
# @type Octo Coax Wide
|
||||
# @class Copter
|
||||
#
|
||||
# @output MAIN1 motor 1
|
||||
# @output MAIN2 motor 2
|
||||
# @output MAIN3 motor 3
|
||||
# @output MAIN4 motor 4
|
||||
# @output MAIN5 motor 5
|
||||
# @output MAIN6 motor 6
|
||||
# @output MAIN7 motor 7
|
||||
# @output MAIN8 motor 8
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
|
||||
param set-default MC_PITCH_P 4
|
||||
param set-default MC_PITCHRATE_P 0.24
|
||||
param set-default MC_PITCHRATE_I 0.09
|
||||
param set-default MC_PITCHRATE_D 0.013
|
||||
param set-default MC_PITCHRATE_MAX 180
|
||||
|
||||
param set-default MC_ROLL_P 4
|
||||
param set-default MC_ROLLRATE_P 0.16
|
||||
param set-default MC_ROLLRATE_I 0.07
|
||||
param set-default MC_ROLLRATE_D 0.009
|
||||
param set-default MC_ROLLRATE_MAX 180
|
||||
|
||||
param set-default MC_YAW_P 3
|
||||
|
||||
param set-default MPC_HOLD_MAX_XY 0.25
|
||||
param set-default MPC_THR_MIN 0.15
|
||||
param set-default MPC_Z_VEL_MAX_DN 2
|
||||
|
||||
param set-default BAT1_N_CELLS 4
|
||||
|
||||
set MIXER octo_cox_w
|
||||
|
||||
set PWM_OUT 12345678
|
||||
@@ -0,0 +1,37 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name CruiseAder Claire
|
||||
#
|
||||
# @type VTOL Tiltrotor
|
||||
# @class VTOL
|
||||
#
|
||||
# @maintainer Samay Siga <samay_s@icloud.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default MAV_TYPE 21
|
||||
|
||||
param set-default PWM_AUX_DISARM 1000
|
||||
param set-default PWM_AUX_MAX 2000
|
||||
param set-default PWM_AUX_MIN 1000
|
||||
param set-default PWM_AUX_RATE 50
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 13
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TILT_FW 0.9
|
||||
param set-default VT_TILT_MC 0.08
|
||||
param set-default VT_TILT_TRANS 0.5
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 1
|
||||
|
||||
set MIXER claire
|
||||
set MIXER_AUX claire
|
||||
|
||||
set PWM_OUT 1234
|
||||
@@ -131,6 +131,7 @@ param set-default VT_F_TRANS_DUR 1
|
||||
param set-default VT_IDLE_PWM_MC 1025
|
||||
param set-default VT_B_REV_OUT 0.5
|
||||
param set-default VT_B_TRANS_THR 0.7
|
||||
param set-default VT_FW_PERM_STAB 1
|
||||
param set-default VT_TRANS_TIMEOUT 22
|
||||
param set-default VT_F_TRANS_RAMP 4
|
||||
|
||||
|
||||
@@ -62,7 +62,7 @@ param set-default MPC_JERK_AUTO 4
|
||||
param set-default MPC_LAND_SPEED 1
|
||||
param set-default MPC_MAN_TILT_MAX 25
|
||||
param set-default MPC_MAN_Y_MAX 40
|
||||
param set-default COM_SPOOLUP_TIME 1.5
|
||||
param set-default MPC_SPOOLUP_TIME 1.5
|
||||
param set-default MPC_THR_HOVER 0.45
|
||||
param set-default MPC_TILTMAX_AIR 25
|
||||
param set-default MPC_TKO_RAMP_T 1.8
|
||||
|
||||
@@ -0,0 +1,45 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name IO Camflyer
|
||||
#
|
||||
# @type Flying Wing
|
||||
# @class Plane
|
||||
#
|
||||
# @output MAIN1 left aileron
|
||||
# @output MAIN2 right aileron
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_AIRSPD_MAX 15
|
||||
param set-default FW_AIRSPD_TRIM 13
|
||||
param set-default FW_R_TC 0.3
|
||||
param set-default FW_P_TC 0.3
|
||||
param set-default FW_L1_DAMPING 0.74
|
||||
param set-default FW_L1_PERIOD 16
|
||||
param set-default FW_LND_ANG 15
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_HVIRT 13
|
||||
param set-default FW_LND_TLALT 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_PR_FF 0.35
|
||||
param set-default FW_RR_FF 0.6
|
||||
param set-default FW_RR_P 0.04
|
||||
|
||||
param set-default PWM_MAIN_DISARM 1000
|
||||
|
||||
|
||||
set MIXER fw_generic_wing
|
||||
|
||||
# Provide ESC a constant 1000 us pulse while disarmed
|
||||
set PWM_OUT 4
|
||||
@@ -0,0 +1,29 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name FX-79 Buffalo Flying Wing
|
||||
#
|
||||
# @type Flying Wing
|
||||
# @class Plane
|
||||
#
|
||||
# @output MAIN1 right aileron
|
||||
# @output MAIN2 left aileron
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_AIRSPD_MAX 30
|
||||
param set-default FW_AIRSPD_MIN 13
|
||||
|
||||
param set-default NAV_LOITER_RAD 150
|
||||
|
||||
set MIXER fw_generic_wing
|
||||
@@ -0,0 +1,23 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Viper
|
||||
#
|
||||
# @type Flying Wing
|
||||
# @class Plane
|
||||
# @output MAIN1 left aileron
|
||||
# @output MAIN2 right aileron
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
set MIXER Viper
|
||||
@@ -0,0 +1,53 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Modified Parrot Disco
|
||||
#
|
||||
# @url
|
||||
#
|
||||
# @type Flying Wing
|
||||
# @class Plane
|
||||
#
|
||||
# @output MAIN1 left aileron
|
||||
# @output MAIN2 right aileron
|
||||
# @output MAIN4 throttle
|
||||
#
|
||||
# @output AUX1 feed-through of RC AUX1 channel
|
||||
# @output AUX2 feed-through of RC AUX2 channel
|
||||
# @output AUX3 feed-through of RC AUX3 channel
|
||||
#
|
||||
# @maintainer Jan Liphardt <JTLiphardt@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
####################################
|
||||
# Airspeed
|
||||
####################################
|
||||
param set-default FW_AIRSPD_MAX 27 # = 52 knots
|
||||
|
||||
####################################
|
||||
# Pitch
|
||||
####################################
|
||||
|
||||
# Pitch rate feed forward (def = 0.5 %/rad/sec)
|
||||
param set-default FW_PR_FF 0.35
|
||||
|
||||
####################################
|
||||
# Roll
|
||||
####################################
|
||||
|
||||
# Basic limits (def = 50 deg)
|
||||
param set-default FW_R_LIM 40
|
||||
|
||||
# Roll rate upper limit (def = 70 deg/s)
|
||||
param set-default FW_R_RMAX 50
|
||||
|
||||
param set-default PWM_MAIN_DISARM 1000
|
||||
|
||||
set MIXER fw_generic_wing.main.mix
|
||||
|
||||
# Provide ESC a constant 1000 us pulse
|
||||
set PWM_OUT 4
|
||||
@@ -0,0 +1,21 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name DJI F330 w/ DJI ESCs
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
|
||||
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set-default PWM_MAIN_MIN 1230
|
||||
@@ -0,0 +1,20 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name DJI F450 w/ DJI ESCs
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_PITCH_P 7
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_YAWRATE_P 0.3
|
||||
|
||||
# DJI ESCs do not support calibration and need a higher min
|
||||
param set-default PWM_MAIN_MIN 1230
|
||||
@@ -104,6 +104,7 @@ param set-default SDLOG_PROFILE 131
|
||||
param set-default SENS_CM8JL65_CFG 104
|
||||
param set-default SENS_FLOW_MAXHGT 25
|
||||
param set-default SENS_FLOW_MINHGT 0.5
|
||||
param set-default SENS_FLOW_ROT 0
|
||||
param set-default IMU_GYRO_CUTOFF 100
|
||||
param set-default SENS_EN_PMW3901 1
|
||||
|
||||
|
||||
@@ -0,0 +1,27 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name DJI Matrice 100
|
||||
#
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer James Goppert <james.goppert@gmail.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default BAT1_N_CELLS 6
|
||||
|
||||
param set-default MC_ROLLRATE_P 0.05
|
||||
param set-default MC_ROLLRATE_I 0.05
|
||||
param set-default MC_ROLLRATE_D 0.001
|
||||
param set-default MC_PITCHRATE_P 0.05
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCHRATE_D 0.001
|
||||
|
||||
param set-default MC_YAWRATE_I 0
|
||||
|
||||
param set-default PWM_MAIN_MIN 1200
|
||||
@@ -47,7 +47,6 @@ param set-default COM_RC_LOSS_T 3
|
||||
|
||||
# ekf2
|
||||
param set-default EKF2_AID_MASK 33
|
||||
param set-default EKF2_TERR_MASK 1
|
||||
param set-default EKF2_BARO_DELAY 0
|
||||
param set-default EKF2_BARO_NOISE 2.0
|
||||
|
||||
@@ -174,7 +173,7 @@ param set-default RC1_TRIM 1000
|
||||
param set-default SENS_FLOW_MAXR 7.4
|
||||
param set-default SENS_FLOW_MINHGT 0.15
|
||||
param set-default SENS_FLOW_MAXHGT 5.0
|
||||
param set-default SENS_FLOW_ROT 0
|
||||
param set-default SENS_FLOW_ROT 0
|
||||
|
||||
# ignore the SD card errors and use normal startup sound
|
||||
set STARTUP_TUNE "1"
|
||||
|
||||
@@ -52,16 +52,22 @@ px4_add_romfs_files(
|
||||
|
||||
# [3000, 3999] Flying wing"
|
||||
3000_generic_wing
|
||||
3030_io_camflyer
|
||||
3031_phantom
|
||||
3032_skywalker_x5
|
||||
3033_wingwing
|
||||
3034_fx79
|
||||
3035_viper
|
||||
3036_pigeon
|
||||
3037_parrot_disco_mod
|
||||
3100_tbs_caipirinha
|
||||
|
||||
# [4000, 4999] Quadrotor x"
|
||||
4001_quad_x
|
||||
4003_qavr5
|
||||
4009_qav250
|
||||
4010_dji_f330
|
||||
4011_dji_f450
|
||||
4014_s500
|
||||
4015_holybro_s500
|
||||
4016_holybro_px4vision
|
||||
@@ -75,6 +81,7 @@ px4_add_romfs_files(
|
||||
4051_s250aq
|
||||
4052_holybro_qav250
|
||||
4053_holybro_kopis2
|
||||
4060_dji_matrice_100
|
||||
4061_atl_mantis_edu
|
||||
4071_ifo
|
||||
4072_draco
|
||||
@@ -105,6 +112,7 @@ px4_add_romfs_files(
|
||||
# [10000, 10999] Quadrotor Wide arm / H frame"
|
||||
10015_tbs_discovery
|
||||
10016_3dr_iris
|
||||
10017_steadidrone_qu4d
|
||||
10018_tbs_endurance
|
||||
|
||||
# [11000, 11999] Hexa Cox
|
||||
@@ -112,6 +120,7 @@ px4_add_romfs_files(
|
||||
|
||||
# [12000, 12999] Octo Cox
|
||||
12001_octo_cox
|
||||
12002_steadidrone_mavrik
|
||||
|
||||
# [13000, 13999] VTOL
|
||||
13000_generic_vtol_standard
|
||||
@@ -124,6 +133,7 @@ px4_add_romfs_files(
|
||||
13007_vtol_AAVVT_quad
|
||||
13008_QuadRanger
|
||||
13009_vtol_spt_ranger
|
||||
13010_claire
|
||||
13012_convergence
|
||||
13013_deltaquad
|
||||
13014_vtol_babyshark
|
||||
|
||||
@@ -21,6 +21,7 @@ set +e
|
||||
# it wastes flash
|
||||
#
|
||||
set R /
|
||||
set AUTOCNF no
|
||||
set FCONFIG /fs/microsd/etc/config.txt
|
||||
set FEXTRAS /fs/microsd/etc/extras.txt
|
||||
set FRC /fs/microsd/etc/rc.txt
|
||||
@@ -176,12 +177,13 @@ else
|
||||
fi
|
||||
|
||||
#
|
||||
# If the airframe has been previously reset SYS_AUTCONFIG will have been set to 1 and other params will be reset on the next boot.
|
||||
# Set AUTOCNF flag to use it in AUTOSTART scripts.
|
||||
#
|
||||
if param greater SYS_AUTOCONFIG 0
|
||||
then
|
||||
# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
|
||||
param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
|
||||
# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
|
||||
param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
|
||||
set AUTOCNF yes
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -272,6 +274,14 @@ else
|
||||
. $FCONFIG
|
||||
fi
|
||||
|
||||
#
|
||||
# If autoconfig parameter was set, reset it and save parameters.
|
||||
#
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set SYS_AUTOCONFIG 0
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if UAVCAN is enabled, default to it for ESCs.
|
||||
#
|
||||
@@ -288,9 +298,9 @@ else
|
||||
tune_control play error
|
||||
fi
|
||||
else
|
||||
if param greater -s CYPHAL_ENABLE 0
|
||||
if param greater -s UAVCAN_V1_ENABLE 0
|
||||
then
|
||||
cyphal start
|
||||
uavcan_v1 start
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -555,6 +565,7 @@ fi
|
||||
# Unset all script parameters to free RAM.
|
||||
#
|
||||
unset R
|
||||
unset AUTOCNF
|
||||
unset FCONFIG
|
||||
unset FEXTRAS
|
||||
unset FRC
|
||||
|
||||
@@ -40,6 +40,8 @@ px4_add_romfs_files(
|
||||
babyshark.main.mix
|
||||
blade130.main.mix
|
||||
CCPM.main.mix
|
||||
claire.aux.mix
|
||||
claire.main.mix
|
||||
cloudship.main.mix
|
||||
coax.main.mix
|
||||
delta.main.mix
|
||||
@@ -81,6 +83,7 @@ px4_add_romfs_files(
|
||||
tri_y_yaw-.main.mix
|
||||
uuv_x.main.mix
|
||||
vectored6dof.main.mix
|
||||
Viper.main.mix
|
||||
vtol_AAERT.aux.mix
|
||||
vtol_AAVVT.aux.mix
|
||||
vtol_TTTTAAER.aux.mix
|
||||
|
||||
@@ -0,0 +1,66 @@
|
||||
Viper Delta-wing mixer
|
||||
=================================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
Designed for Viper.
|
||||
|
||||
TODO (sjwilks): Add mixers for flaps.
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||
assumed to be unused.
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
See the README for more information on the scaler format.
|
||||
|
||||
Elevon mixers
|
||||
-------------
|
||||
Three scalers total (output, roll, pitch).
|
||||
|
||||
On the assumption that the two elevon servos are physically reversed, the pitch
|
||||
input is inverted between the two servos.
|
||||
|
||||
The scaling factor for roll inputs is adjusted to implement differential travel
|
||||
for the elevons.
|
||||
|
||||
M: 2
|
||||
S: 0 0 7500 7500 0 -10000 10000
|
||||
S: 0 1 8000 8000 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
S: 0 0 7500 7500 0 -10000 10000
|
||||
S: 0 1 -8000 -8000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
--------
|
||||
This mixer is empty.
|
||||
|
||||
Z:
|
||||
|
||||
Motor speed mixer
|
||||
-----------------
|
||||
Two scalers total (output, thrust).
|
||||
|
||||
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
||||
range. Inputs below zero are treated as zero.
|
||||
|
||||
M: 1
|
||||
S: 0 3 0 20000 -10000 -10000 10000
|
||||
|
||||
Inputs to the mixer come from channel group 2 (payload), channels 0
|
||||
(bay servo 1), 1 (bay servo 2) and 3 (drop release).
|
||||
-----------------------------------------------------
|
||||
|
||||
M: 1
|
||||
S: 2 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 2 1 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 2 2 -8000 -8000 0 -10000 10000
|
||||
|
||||
|
||||
@@ -0,0 +1,28 @@
|
||||
# mixer for the CruiseAder Claire tilt mechansim servo and elevons
|
||||
|
||||
=======================================================================
|
||||
|
||||
|
||||
Tilt mechanism servo mixer
|
||||
|
||||
---------------------------
|
||||
|
||||
M: 1
|
||||
|
||||
|
||||
S: 1 8 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
|
||||
Elevon mixers
|
||||
|
||||
-------------
|
||||
|
||||
M: 2
|
||||
|
||||
S: 1 0 7500 7500 0 -10000 10000
|
||||
S: 1 1 7500 7500 0 -10000 10000
|
||||
|
||||
M: 2
|
||||
S: 1 0 7500 7500 0 -10000 10000
|
||||
S: 1 1 -7500 -7500 0 -10000 10000
|
||||
@@ -0,0 +1,8 @@
|
||||
# CruiseAder Claire Main Multirotor mixer for PX4FMU
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
#
|
||||
|
||||
#===========================
|
||||
|
||||
R: 4x
|
||||
@@ -95,7 +95,7 @@ def do_nsh_cmd(port_url, baudrate, cmd):
|
||||
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 600 # 10 minutes
|
||||
timeout = 240 # 4 minutes
|
||||
|
||||
return_code = 0
|
||||
|
||||
|
||||
@@ -13,7 +13,8 @@ exec find boards msg src platforms test \
|
||||
-path platforms/qurt/dspal -prune -o \
|
||||
-path src/drivers/uavcan/libuavcan -prune -o \
|
||||
-path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
|
||||
-path src/drivers/cyphal/libcanard -prune -o \
|
||||
-path src/drivers/uavcan_v1/libcanard -prune -o \
|
||||
-path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
|
||||
-path src/lib/crypto/monocypher -prune -o \
|
||||
-path src/lib/events/libevents -prune -o \
|
||||
-path src/lib/parameters/uthash -prune -o \
|
||||
|
||||
@@ -11,7 +11,7 @@ from pyulog import ULog
|
||||
from analysis.detectors import InAirDetector, PreconditionError
|
||||
from analysis.metrics import calculate_ecl_ekf_metrics
|
||||
from analysis.checks import perform_ecl_ekf_checks
|
||||
from analysis.post_processing import get_gps_check_fail_flags
|
||||
from analysis.post_processing import get_estimator_check_flags
|
||||
|
||||
def analyse_ekf(
|
||||
ulog: ULog, check_levels: Dict[str, float], multi_instance: int = 0,
|
||||
@@ -40,11 +40,6 @@ def analyse_ekf(
|
||||
except:
|
||||
raise PreconditionError('could not find estimator_status instance', multi_instance)
|
||||
|
||||
try:
|
||||
estimator_status_flags = ulog.get_dataset('estimator_status_flags', multi_instance).data
|
||||
except:
|
||||
raise PreconditionError('could not find estimator_status_flags instance', multi_instance)
|
||||
|
||||
try:
|
||||
_ = ulog.get_dataset('estimator_innovations', multi_instance).data
|
||||
except:
|
||||
@@ -66,14 +61,14 @@ def analyse_ekf(
|
||||
'in_air_transition_time': round(in_air.take_off + in_air.log_start, 2),
|
||||
'on_ground_transition_time': round(in_air.landing + in_air.log_start, 2)}
|
||||
|
||||
gps_fail_flags = get_gps_check_fail_flags(estimator_status)
|
||||
control_mode, innov_flags, gps_fail_flags = get_estimator_check_flags(estimator_status)
|
||||
|
||||
sensor_checks, innov_fail_checks = find_checks_that_apply(
|
||||
estimator_status_flags, estimator_status,
|
||||
control_mode, estimator_status,
|
||||
pos_checks_when_sensors_not_fused=pos_checks_when_sensors_not_fused)
|
||||
|
||||
metrics = calculate_ecl_ekf_metrics(
|
||||
ulog, estimator_status_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
|
||||
ulog, innov_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
|
||||
multi_instance, red_thresh=red_thresh, amb_thresh=amb_thresh)
|
||||
|
||||
check_status, master_status = perform_ecl_ekf_checks(
|
||||
@@ -83,12 +78,12 @@ def analyse_ekf(
|
||||
|
||||
|
||||
def find_checks_that_apply(
|
||||
estimator_status_flags: dict, estimator_status: dict, pos_checks_when_sensors_not_fused: bool = False) ->\
|
||||
control_mode: dict, estimator_status: dict, pos_checks_when_sensors_not_fused: bool = False) ->\
|
||||
Tuple[List[str], List[str]]:
|
||||
"""
|
||||
finds the checks that apply and stores them in lists for the std checks and the innovation
|
||||
fail checks.
|
||||
:param estimator_status_flags:
|
||||
:param control_mode:
|
||||
:param estimator_status:
|
||||
:param b_pos_only_when_sensors_fused:
|
||||
:return: a tuple of two lists that contain strings for the std checks and for the innovation
|
||||
@@ -102,7 +97,7 @@ def find_checks_that_apply(
|
||||
innov_fail_checks.append('posv')
|
||||
|
||||
# Magnetometer Sensor Checks
|
||||
if (np.amax(estimator_status_flags['cs_yaw_align']) > 0.5):
|
||||
if (np.amax(control_mode['yaw_aligned']) > 0.5):
|
||||
sensor_checks.append('mag')
|
||||
|
||||
innov_fail_checks.append('magx')
|
||||
@@ -111,14 +106,13 @@ def find_checks_that_apply(
|
||||
innov_fail_checks.append('yaw')
|
||||
|
||||
# Velocity Sensor Checks
|
||||
if (np.amax(estimator_status_flags['cs_gps']) > 0.5):
|
||||
if (np.amax(control_mode['using_gps']) > 0.5):
|
||||
sensor_checks.append('vel')
|
||||
innov_fail_checks.append('velh')
|
||||
innov_fail_checks.append('velv')
|
||||
innov_fail_checks.append('vel')
|
||||
|
||||
# Position Sensor Checks
|
||||
if (pos_checks_when_sensors_not_fused or (np.amax(estimator_status_flags['cs_gps']) > 0.5)
|
||||
or (np.amax(estimator_status_flags['cs_ev_pos']) > 0.5)):
|
||||
if (pos_checks_when_sensors_not_fused or (np.amax(control_mode['using_gps']) > 0.5)
|
||||
or (np.amax(control_mode['using_evpos']) > 0.5)):
|
||||
sensor_checks.append('pos')
|
||||
innov_fail_checks.append('posh')
|
||||
|
||||
@@ -134,7 +128,7 @@ def find_checks_that_apply(
|
||||
innov_fail_checks.append('hagl')
|
||||
|
||||
# optical flow sensor checks
|
||||
if (np.amax(estimator_status_flags['cs_opt_flow']) > 0.5):
|
||||
if (np.amax(control_mode['using_optflow']) > 0.5):
|
||||
innov_fail_checks.append('ofx')
|
||||
innov_fail_checks.append('ofy')
|
||||
|
||||
|
||||
@@ -123,8 +123,7 @@ def perform_sensor_innov_checks(
|
||||
('magy', 'magy_fail_percentage', 'mag'),
|
||||
('magz', 'magz_fail_percentage', 'mag'),
|
||||
('yaw', 'yaw_fail_percentage', 'yaw'),
|
||||
('velh', 'vel_fail_percentage', 'vel'),
|
||||
('velv', 'vel_fail_percentage', 'vel'),
|
||||
('vel', 'vel_fail_percentage', 'vel'),
|
||||
('posh', 'pos_fail_percentage', 'pos'),
|
||||
('tas', 'tas_fail_percentage', 'tas'),
|
||||
('hagl', 'hagl_fail_percentage', 'hagl'),
|
||||
|
||||
@@ -11,7 +11,7 @@ import numpy as np
|
||||
from analysis.detectors import InAirDetector
|
||||
|
||||
def calculate_ecl_ekf_metrics(
|
||||
ulog: ULog, estimator_status_flags: Dict[str, float], innov_fail_checks: List[str],
|
||||
ulog: ULog, innov_flags: Dict[str, float], innov_fail_checks: List[str],
|
||||
sensor_checks: List[str], in_air: InAirDetector, in_air_no_ground_effects: InAirDetector,
|
||||
multi_instance: int = 0, red_thresh: float = 1.0, amb_thresh: float = 0.5) -> Tuple[dict, dict, dict, dict]:
|
||||
|
||||
@@ -20,7 +20,7 @@ def calculate_ecl_ekf_metrics(
|
||||
red_thresh=red_thresh, amb_thresh=amb_thresh)
|
||||
|
||||
innov_fail_metrics = calculate_innov_fail_metrics(
|
||||
estimator_status_flags, innov_fail_checks, in_air, in_air_no_ground_effects)
|
||||
innov_flags, innov_fail_checks, in_air, in_air_no_ground_effects)
|
||||
|
||||
imu_metrics = calculate_imu_metrics(ulog, multi_instance, in_air_no_ground_effects)
|
||||
|
||||
@@ -90,10 +90,10 @@ def calculate_sensor_metrics(
|
||||
|
||||
|
||||
def calculate_innov_fail_metrics(
|
||||
estimator_status_flags: dict, innov_fail_checks: List[str], in_air: InAirDetector,
|
||||
innov_flags: dict, innov_fail_checks: List[str], in_air: InAirDetector,
|
||||
in_air_no_ground_effects: InAirDetector) -> dict:
|
||||
"""
|
||||
:param estimator_status_flags:
|
||||
:param innov_flags:
|
||||
:param innov_fail_checks:
|
||||
:param in_air:
|
||||
:param in_air_no_ground_effects:
|
||||
@@ -103,18 +103,17 @@ def calculate_innov_fail_metrics(
|
||||
innov_fail_metrics = dict()
|
||||
|
||||
# calculate innovation check fail metrics
|
||||
for signal_id, signal, result in [('posv', 'reject_ver_pos', 'hgt_fail_percentage'),
|
||||
('magx', 'reject_mag_x', 'magx_fail_percentage'),
|
||||
('magy', 'reject_mag_y', 'magy_fail_percentage'),
|
||||
('magz', 'reject_mag_z', 'magz_fail_percentage'),
|
||||
('yaw', 'reject_yaw', 'yaw_fail_percentage'),
|
||||
('velh', 'reject_hor_vel', 'vel_fail_percentage'),
|
||||
('velv', 'reject_ver_vel', 'vel_fail_percentage'),
|
||||
('posh', 'reject_hor_pos', 'pos_fail_percentage'),
|
||||
('tas', 'reject_airspeed', 'tas_fail_percentage'),
|
||||
('hagl', 'reject_hagl', 'hagl_fail_percentage'),
|
||||
('ofx', 'reject_optflow_x', 'ofx_fail_percentage'),
|
||||
('ofy', 'reject_optflow_y', 'ofy_fail_percentage')]:
|
||||
for signal_id, signal, result in [('posv', 'posv_innov_fail', 'hgt_fail_percentage'),
|
||||
('magx', 'magx_innov_fail', 'magx_fail_percentage'),
|
||||
('magy', 'magy_innov_fail', 'magy_fail_percentage'),
|
||||
('magz', 'magz_innov_fail', 'magz_fail_percentage'),
|
||||
('yaw', 'yaw_innov_fail', 'yaw_fail_percentage'),
|
||||
('vel', 'vel_innov_fail', 'vel_fail_percentage'),
|
||||
('posh', 'posh_innov_fail', 'pos_fail_percentage'),
|
||||
('tas', 'tas_innov_fail', 'tas_fail_percentage'),
|
||||
('hagl', 'hagl_innov_fail', 'hagl_fail_percentage'),
|
||||
('ofx', 'ofx_innov_fail', 'ofx_fail_percentage'),
|
||||
('ofy', 'ofy_innov_fail', 'ofy_fail_percentage')]:
|
||||
|
||||
# only run innov fail checks, if they apply.
|
||||
if signal_id in innov_fail_checks:
|
||||
@@ -126,7 +125,7 @@ def calculate_innov_fail_metrics(
|
||||
in_air_detector = in_air
|
||||
|
||||
innov_fail_metrics[result] = calculate_stat_from_signal(
|
||||
estimator_status_flags, 'estimator_status_flags', signal, in_air_detector,
|
||||
innov_flags, 'estimator_status', signal, in_air_detector,
|
||||
lambda x: 100.0 * np.mean(x > 0.5))
|
||||
|
||||
return innov_fail_metrics
|
||||
@@ -153,7 +152,7 @@ def calculate_imu_metrics(ulog: ULog, multi_instance, in_air_no_ground_effects:
|
||||
|
||||
if vehicle_imu_status_data['accel_device_id'][0] == estimator_status_data['accel_device_id'][0]:
|
||||
|
||||
for signal, result in [('gyro_coning_vibration', 'imu_coning'),
|
||||
for signal, result in [('delta_angle_coning_metric', 'imu_coning'),
|
||||
('gyro_vibration_metric', 'imu_hfgyro'),
|
||||
('accel_vibration_metric', 'imu_hfaccel')]:
|
||||
|
||||
|
||||
@@ -7,6 +7,115 @@ from typing import Tuple
|
||||
|
||||
import numpy as np
|
||||
|
||||
|
||||
def get_estimator_check_flags(estimator_status: dict) -> Tuple[dict, dict, dict]:
|
||||
"""
|
||||
:param estimator_status:
|
||||
:return:
|
||||
"""
|
||||
control_mode = get_control_mode_flags(estimator_status)
|
||||
innov_flags = get_innovation_check_flags(estimator_status)
|
||||
gps_fail_flags = get_gps_check_fail_flags(estimator_status)
|
||||
return control_mode, innov_flags, gps_fail_flags
|
||||
|
||||
|
||||
def get_control_mode_flags(estimator_status: dict) -> dict:
|
||||
"""
|
||||
:param estimator_status:
|
||||
:return:
|
||||
"""
|
||||
|
||||
control_mode = dict()
|
||||
# extract control mode metadata from estimator_status.control_mode_flags
|
||||
# 0 - true if the filter tilt alignment is complete
|
||||
# 1 - true if the filter yaw alignment is complete
|
||||
# 2 - true if GPS measurements are being fused
|
||||
# 3 - true if optical flow measurements are being fused
|
||||
# 4 - true if a simple magnetic yaw heading is being fused
|
||||
# 5 - true if 3-axis magnetometer measurement are being fused
|
||||
# 6 - true if synthetic magnetic declination measurements are being fused
|
||||
# 7 - true when the vehicle is airborne
|
||||
# 8 - true when wind velocity is being estimated
|
||||
# 9 - true when baro height is being fused as a primary height reference
|
||||
# 10 - true when range finder height is being fused as a primary height reference
|
||||
# 11 - true when range finder height is being fused as a primary height reference
|
||||
# 12 - true when local position data from external vision is being fused
|
||||
# 13 - true when yaw data from external vision measurements is being fused
|
||||
# 14 - true when height data from external vision measurements is being fused
|
||||
# 15 - true when synthetic sideslip measurements are being fused
|
||||
# 16 - true true when the mag field does not match the expected strength
|
||||
# 17 - true true when the vehicle is operating as a fixed wing vehicle
|
||||
# 18 - true when the magnetometer has been declared faulty and is no longer being used
|
||||
# 19 - true true when airspeed measurements are being fused
|
||||
# 20 - true true when protection from ground effect induced static pressure rise is active
|
||||
# 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
|
||||
# 22 - true when yaw (not ground course) data from a GPS receiver is being fused
|
||||
# 23 - true when the in-flight mag field alignment has been completed
|
||||
# 24 - true when local earth frame velocity data from external vision measurements are being fused
|
||||
# 25 - true when we are using a synthesized measurement for the magnetometer Z component
|
||||
control_mode['tilt_aligned'] = ((2 ** 0 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['yaw_aligned'] = ((2 ** 1 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['using_gps'] = ((2 ** 2 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['using_optflow'] = ((2 ** 3 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['using_magyaw'] = ((2 ** 4 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['using_mag3d'] = ((2 ** 5 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['using_magdecl'] = ((2 ** 6 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['airborne'] = ((2 ** 7 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['estimating_wind'] = ((2 ** 8 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['using_barohgt'] = ((2 ** 9 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['using_rnghgt'] = ((2 ** 10 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['using_gpshgt'] = ((2 ** 11 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['using_evpos'] = ((2 ** 12 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['using_evyaw'] = ((2 ** 13 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['using_evhgt'] = ((2 ** 14 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['fuse_beta'] = ((2 ** 15 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['mag_field_disturbed'] = ((2 ** 16 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['fixed_wing'] = ((2 ** 17 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['mag_fault'] = ((2 ** 18 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['fuse_aspd'] = ((2 ** 19 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['gnd_effect'] = ((2 ** 20 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['rng_stuck'] = ((2 ** 21 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['gps_yaw'] = ((2 ** 22 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['mag_aligned_in_flight'] = ((2 ** 23 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['ev_vel'] = ((2 ** 24 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
control_mode['synthetic_mag_z'] = ((2 ** 25 & estimator_status['control_mode_flags']) > 0) * 1
|
||||
return control_mode
|
||||
|
||||
def get_innovation_check_flags(estimator_status: dict) -> dict:
|
||||
"""
|
||||
:param estimator_status:
|
||||
:return:
|
||||
"""
|
||||
|
||||
innov_flags = dict()
|
||||
# innovation_check_flags summary
|
||||
# 0 - true if velocity observations have been rejected
|
||||
# 1 - true if horizontal position observations have been rejected
|
||||
# 2 - true if true if vertical position observations have been rejected
|
||||
# 3 - true if the X magnetometer observation has been rejected
|
||||
# 4 - true if the Y magnetometer observation has been rejected
|
||||
# 5 - true if the Z magnetometer observation has been rejected
|
||||
# 6 - true if the yaw observation has been rejected
|
||||
# 7 - true if the airspeed observation has been rejected
|
||||
# 8 - true if synthetic sideslip observation has been rejected
|
||||
# 9 - true if the height above ground observation has been rejected
|
||||
# 10 - true if the X optical flow observation has been rejected
|
||||
# 11 - true if the Y optical flow observation has been rejected
|
||||
innov_flags['vel_innov_fail'] = ((2 ** 0 & estimator_status['innovation_check_flags']) > 0) * 1
|
||||
innov_flags['posh_innov_fail'] = ((2 ** 1 & estimator_status['innovation_check_flags']) > 0) * 1
|
||||
innov_flags['posv_innov_fail'] = ((2 ** 2 & estimator_status['innovation_check_flags']) > 0) * 1
|
||||
innov_flags['magx_innov_fail'] = ((2 ** 3 & estimator_status['innovation_check_flags']) > 0) * 1
|
||||
innov_flags['magy_innov_fail'] = ((2 ** 4 & estimator_status['innovation_check_flags']) > 0) * 1
|
||||
innov_flags['magz_innov_fail'] = ((2 ** 5 & estimator_status['innovation_check_flags']) > 0) * 1
|
||||
innov_flags['yaw_innov_fail'] = ((2 ** 6 & estimator_status['innovation_check_flags']) > 0) * 1
|
||||
innov_flags['tas_innov_fail'] = ((2 ** 7 & estimator_status['innovation_check_flags']) > 0) * 1
|
||||
innov_flags['sli_innov_fail'] = ((2 ** 8 & estimator_status['innovation_check_flags']) > 0) * 1
|
||||
innov_flags['hagl_innov_fail'] = ((2 ** 9 & estimator_status['innovation_check_flags']) > 0) * 1
|
||||
innov_flags['ofx_innov_fail'] = ((2 ** 10 & estimator_status['innovation_check_flags']) > 0) * 1
|
||||
innov_flags['ofy_innov_fail'] = ((2 ** 11 & estimator_status['innovation_check_flags']) > 0) * 1
|
||||
return innov_flags
|
||||
|
||||
|
||||
def get_gps_check_fail_flags(estimator_status: dict) -> dict:
|
||||
"""
|
||||
:param estimator_status:
|
||||
|
||||
@@ -11,7 +11,7 @@ import numpy as np
|
||||
from matplotlib.backends.backend_pdf import PdfPages
|
||||
from pyulog import ULog
|
||||
|
||||
from analysis.post_processing import magnetic_field_estimates_from_states, get_gps_check_fail_flags
|
||||
from analysis.post_processing import magnetic_field_estimates_from_states, get_estimator_check_flags
|
||||
from plotting.data_plots import TimeSeriesPlot, InnovationPlot, ControlModeSummaryPlot, \
|
||||
CheckFlagsPlot
|
||||
from analysis.detectors import PreconditionError
|
||||
@@ -33,11 +33,6 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
|
||||
except:
|
||||
raise PreconditionError('could not find estimator_status instance', multi_instance)
|
||||
|
||||
try:
|
||||
estimator_status_flags = ulog.get_dataset('estimator_status_flags', multi_instance).data
|
||||
except:
|
||||
raise PreconditionError('could not find estimator_status_flags instance', multi_instance)
|
||||
|
||||
try:
|
||||
estimator_states = ulog.get_dataset('estimator_states', multi_instance).data
|
||||
except:
|
||||
@@ -73,13 +68,12 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
|
||||
except:
|
||||
raise PreconditionError('could not find innovation data')
|
||||
|
||||
gps_fail_flags = get_gps_check_fail_flags(estimator_status)
|
||||
control_mode, innov_flags, gps_fail_flags = get_estimator_check_flags(estimator_status)
|
||||
|
||||
status_time = 1e-6 * estimator_status['timestamp']
|
||||
status_flags_time = 1e-6 * estimator_status_flags['timestamp']
|
||||
|
||||
b_finishes_in_air, b_starts_in_air, in_air_duration, in_air_transition_time, \
|
||||
on_ground_transition_time = detect_airtime(estimator_status_flags, status_flags_time)
|
||||
on_ground_transition_time = detect_airtime(control_mode, status_time)
|
||||
|
||||
with PdfPages(output_plot_filename) as pdf_pages:
|
||||
|
||||
@@ -179,9 +173,9 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
|
||||
|
||||
# plot control mode summary A
|
||||
data_plot = ControlModeSummaryPlot(
|
||||
status_flags_time, estimator_status_flags, [['cs_tilt_align', 'cs_yaw_align'],
|
||||
['cs_gps', 'cs_opt_flow', 'cs_ev_pos'], ['cs_baro_hgt', 'cs_gps_hgt',
|
||||
'cs_rng_hgt', 'cs_ev_hgt'], ['cs_mag_hdg', 'cs_mag_3d', 'cs_mag_dec']],
|
||||
status_time, control_mode, [['tilt_aligned', 'yaw_aligned'],
|
||||
['using_gps', 'using_optflow', 'using_evpos'], ['using_barohgt', 'using_gpshgt',
|
||||
'using_rnghgt', 'using_evhgt'], ['using_magyaw', 'using_mag3d', 'using_magdecl']],
|
||||
x_label='time (sec)', y_labels=['aligned', 'pos aiding', 'hgt aiding', 'mag aiding'],
|
||||
annotation_text=[['tilt alignment', 'yaw alignment'], ['GPS aiding', 'optical flow aiding',
|
||||
'external vision aiding'], ['Baro aiding', 'GPS aiding', 'rangefinder aiding',
|
||||
@@ -194,7 +188,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
|
||||
# plot control mode summary B
|
||||
# construct additional annotations for the airborne plot
|
||||
airborne_annotations = list()
|
||||
if np.amin(np.diff(estimator_status_flags['cs_in_air'])) > -0.5:
|
||||
if np.amin(np.diff(control_mode['airborne'])) > -0.5:
|
||||
airborne_annotations.append(
|
||||
(on_ground_transition_time, 'air to ground transition not detected'))
|
||||
else:
|
||||
@@ -203,7 +197,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
|
||||
if in_air_duration > 0.0:
|
||||
airborne_annotations.append(((in_air_transition_time + on_ground_transition_time) / 2,
|
||||
'duration = {:.1f} sec'.format(in_air_duration)))
|
||||
if np.amax(np.diff(estimator_status_flags['cs_in_air'])) < 0.5:
|
||||
if np.amax(np.diff(control_mode['airborne'])) < 0.5:
|
||||
airborne_annotations.append(
|
||||
(in_air_transition_time, 'ground to air transition not detected'))
|
||||
else:
|
||||
@@ -211,7 +205,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
|
||||
(in_air_transition_time, 'in-air at {:.1f} sec'.format(in_air_transition_time)))
|
||||
|
||||
data_plot = ControlModeSummaryPlot(
|
||||
status_flags_time, estimator_status_flags, [['cs_in_air'], ['cs_wind']],
|
||||
status_time, control_mode, [['airborne'], ['estimating_wind']],
|
||||
x_label='time (sec)', y_labels=['airborne', 'estimating wind'], annotation_text=[[], []],
|
||||
additional_annotation=[airborne_annotations, []],
|
||||
plot_title='EKF Control Status - Figure B', pdf_handle=pdf_pages)
|
||||
@@ -220,15 +214,15 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
|
||||
|
||||
# plot innovation_check_flags summary
|
||||
data_plot = CheckFlagsPlot(
|
||||
status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
|
||||
'reject_hagl'],
|
||||
['reject_mag_x', 'reject_mag_y', 'reject_mag_z',
|
||||
'reject_yaw'], ['reject_airspeed'], ['reject_sideslip'],
|
||||
['reject_optflow_x',
|
||||
'reject_optflow_y']], x_label='time (sec)',
|
||||
status_time, innov_flags, [['vel_innov_fail', 'posh_innov_fail'], ['posv_innov_fail',
|
||||
'hagl_innov_fail'],
|
||||
['magx_innov_fail', 'magy_innov_fail', 'magz_innov_fail',
|
||||
'yaw_innov_fail'], ['tas_innov_fail'], ['sli_innov_fail'],
|
||||
['ofx_innov_fail',
|
||||
'ofy_innov_fail']], x_label='time (sec)',
|
||||
y_labels=['failed', 'failed', 'failed', 'failed', 'failed', 'failed'],
|
||||
y_lim=(-0.1, 1.1),
|
||||
legend=[['vel NE', 'pos NE'], ['vel D', 'hgt absolute', 'hgt above ground'],
|
||||
legend=[['vel NED', 'pos NE'], ['hgt absolute', 'hgt above ground'],
|
||||
['mag_x', 'mag_y', 'mag_z', 'yaw'], ['airspeed'], ['sideslip'],
|
||||
['flow X', 'flow Y']],
|
||||
plot_title='EKF Innovation Test Fails', annotate=False, pdf_handle=pdf_pages)
|
||||
@@ -350,33 +344,33 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
|
||||
data_plot.close()
|
||||
|
||||
|
||||
def detect_airtime(estimator_status_flags, status_flags_time):
|
||||
def detect_airtime(control_mode, status_time):
|
||||
# define flags for starting and finishing in air
|
||||
b_starts_in_air = False
|
||||
b_finishes_in_air = False
|
||||
# calculate in-air transition time
|
||||
if (np.amin(estimator_status_flags['cs_in_air']) < 0.5) and (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
|
||||
in_air_transtion_time_arg = np.argmax(np.diff(estimator_status_flags['cs_in_air']))
|
||||
in_air_transition_time = status_flags_time[in_air_transtion_time_arg]
|
||||
elif (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
|
||||
in_air_transition_time = np.amin(status_flags_time)
|
||||
if (np.amin(control_mode['airborne']) < 0.5) and (np.amax(control_mode['airborne']) > 0.5):
|
||||
in_air_transtion_time_arg = np.argmax(np.diff(control_mode['airborne']))
|
||||
in_air_transition_time = status_time[in_air_transtion_time_arg]
|
||||
elif (np.amax(control_mode['airborne']) > 0.5):
|
||||
in_air_transition_time = np.amin(status_time)
|
||||
print('log starts while in-air at ' + str(round(in_air_transition_time, 1)) + ' sec')
|
||||
b_starts_in_air = True
|
||||
else:
|
||||
in_air_transition_time = float('NaN')
|
||||
print('always on ground')
|
||||
# calculate on-ground transition time
|
||||
if (np.amin(np.diff(estimator_status_flags['cs_in_air'])) < 0.0):
|
||||
on_ground_transition_time_arg = np.argmin(np.diff(estimator_status_flags['cs_in_air']))
|
||||
on_ground_transition_time = status_flags_time[on_ground_transition_time_arg]
|
||||
elif (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
|
||||
on_ground_transition_time = np.amax(status_flags_time)
|
||||
if (np.amin(np.diff(control_mode['airborne'])) < 0.0):
|
||||
on_ground_transition_time_arg = np.argmin(np.diff(control_mode['airborne']))
|
||||
on_ground_transition_time = status_time[on_ground_transition_time_arg]
|
||||
elif (np.amax(control_mode['airborne']) > 0.5):
|
||||
on_ground_transition_time = np.amax(status_time)
|
||||
print('log finishes while in-air at ' + str(round(on_ground_transition_time, 1)) + ' sec')
|
||||
b_finishes_in_air = True
|
||||
else:
|
||||
on_ground_transition_time = float('NaN')
|
||||
print('always on ground')
|
||||
if (np.amax(np.diff(estimator_status_flags['cs_in_air'])) > 0.5) and (np.amin(np.diff(estimator_status_flags['cs_in_air'])) < -0.5):
|
||||
if (np.amax(np.diff(control_mode['airborne'])) > 0.5) and (np.amin(np.diff(control_mode['airborne'])) < -0.5):
|
||||
if ((on_ground_transition_time - in_air_transition_time) > 0.0):
|
||||
in_air_duration = on_ground_transition_time - in_air_transition_time
|
||||
else:
|
||||
|
||||
+4
-12
@@ -5,13 +5,12 @@ set -e
|
||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
||||
cd "$SCRIPT_DIR/jMAVSim"
|
||||
|
||||
port=4560
|
||||
tcp_port=4560
|
||||
extra_args=
|
||||
baudrate=921600
|
||||
device=
|
||||
ip="127.0.0.1"
|
||||
protocol="tcp"
|
||||
while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
|
||||
while getopts ":b:d:p:qsr:f:i:loat" opt; do
|
||||
case $opt in
|
||||
b)
|
||||
baudrate=$OPTARG
|
||||
@@ -19,14 +18,11 @@ while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
|
||||
d)
|
||||
device="$OPTARG"
|
||||
;;
|
||||
u)
|
||||
protocol="udp"
|
||||
;;
|
||||
i)
|
||||
ip="$OPTARG"
|
||||
;;
|
||||
p)
|
||||
port=$OPTARG
|
||||
tcp_port=$OPTARG
|
||||
;;
|
||||
q)
|
||||
extra_args="$extra_args -qgc"
|
||||
@@ -57,11 +53,7 @@ while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
|
||||
done
|
||||
|
||||
if [ "$device" == "" ]; then
|
||||
if [ "$protocol" == "tcp" ]; then
|
||||
device="-tcp $ip:$port"
|
||||
else
|
||||
device="-udp $port"
|
||||
fi
|
||||
device="-tcp $ip:$tcp_port"
|
||||
else
|
||||
device="-serial $device $baudrate"
|
||||
fi
|
||||
|
||||
@@ -0,0 +1,72 @@
|
||||
#!/bin/python3
|
||||
|
||||
import parse_cmake.parsing as cmp
|
||||
import glob
|
||||
import pprint
|
||||
import re
|
||||
import os
|
||||
|
||||
__location__ = os.path.realpath(
|
||||
os.path.join(os.getcwd(), os.path.dirname(__file__)))
|
||||
|
||||
serial_regex = r"(\D\D\D\d):(/dev/ttyS\d+)"
|
||||
io_regex = r"IO (.*)"
|
||||
romfs_regex = r"ROMFSROOT (.*)"
|
||||
arch_regex = r"ARCHITECTURE (.*)"
|
||||
toolchain_regex = r"TOOLCHAIN (.*)"
|
||||
|
||||
|
||||
|
||||
def stripComments(code):
|
||||
code = str(code)
|
||||
return re.sub(r'(?m) *#.*\n?', '', code)
|
||||
|
||||
lut = {}
|
||||
with open(os.path.join(__location__, "cmake_kconfig_lut.txt"),'r') as lookup:
|
||||
for line in lookup:
|
||||
if ',' in line:
|
||||
key, value = line.strip().split(',')
|
||||
lut[key] = value
|
||||
|
||||
#for name in glob.glob('boards/*/*/*.cmake'):
|
||||
px4_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '../../'))
|
||||
|
||||
for name in glob.glob(px4_dir + '/boards/*/*/*.cmake'):
|
||||
print(name)
|
||||
with open(name, 'r') as f:
|
||||
romfs_set = False
|
||||
w = open(name.replace(".cmake",".px4board"), "w")
|
||||
for line in f:
|
||||
clean_line = stripComments(line.strip())
|
||||
value = lut.get(clean_line)
|
||||
if value is not None:
|
||||
print(value, file=w)
|
||||
print(value)
|
||||
else:
|
||||
matches = re.finditer(serial_regex, clean_line, re.MULTILINE)
|
||||
for matchNum, match in enumerate(matches, start=1):
|
||||
print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"")
|
||||
print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"", file=w)
|
||||
matches = re.finditer(io_regex, clean_line, re.MULTILINE)
|
||||
for matchNum, match in enumerate(matches, start=1):
|
||||
print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"")
|
||||
print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"", file=w)
|
||||
matches = re.finditer(romfs_regex, clean_line, re.MULTILINE)
|
||||
for matchNum, match in enumerate(matches, start=1):
|
||||
print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"")
|
||||
print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"", file=w)
|
||||
romfs_set = True
|
||||
matches = re.finditer(arch_regex, clean_line, re.MULTILINE)
|
||||
for matchNum, match in enumerate(matches, start=1):
|
||||
print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"")
|
||||
print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"", file=w)
|
||||
matches = re.finditer(toolchain_regex, clean_line, re.MULTILINE)
|
||||
for matchNum, match in enumerate(matches, start=1):
|
||||
print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"")
|
||||
print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"", file=w)
|
||||
|
||||
if(romfs_set == False):
|
||||
print("CONFIG_BOARD_ROMFSROOT=\"\"", file=w)
|
||||
|
||||
|
||||
w.close()
|
||||
@@ -0,0 +1,201 @@
|
||||
PLATFORM nuttx,CONFIG_PLATFORM_NUTTX=y
|
||||
PLATFORM posix,CONFIG_PLATFORM_POSIX=y
|
||||
CONSTRAINED_MEMORY,CONFIG_BOARD_CONSTRAINED_MEMORY=y
|
||||
CONSTRAINED_FLASH,CONFIG_BOARD_CONSTRAINED_FLASH=y
|
||||
NO_HELP,CONFIG_BOARD_NO_HELP=y
|
||||
EXTERNAL_METADATA,CONFIG_BOARD_EXTERNAL_METADATA=y
|
||||
BUILD_BOOTLOADER,CONFIG_BOARD_BUILD_BOOTLOADER=y
|
||||
UAVCAN_INTERFACES 2,CONFIG_BOARD_UAVCAN_INTERFACES=2
|
||||
UAVCAN_INTERFACES 1,CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
TESTING,CONFIG_BOARD_TESTING=y
|
||||
ETHERNET,CONFIG_BOARD_ETHERNET=y
|
||||
adc/ads1115,CONFIG_DRIVERS_ADC_ADS1115=y
|
||||
adc/board_adc,CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
barometer,CONFIG_COMMON_BAROMETERS=y
|
||||
barometer/bmp280,CONFIG_DRIVERS_BAROMETER_BMP280=y
|
||||
barometer/bmp388,CONFIG_DRIVERS_BAROMETER_BMP388=y
|
||||
barometer/dps310,CONFIG_DRIVERS_BAROMETER_DPS310=y
|
||||
barometer/lps22hb,CONFIG_DRIVERS_BAROMETER_LPS22HB=y
|
||||
barometer/lps25h,CONFIG_DRIVERS_BAROMETER_LPS25H=y
|
||||
barometer/lps33hw,CONFIG_DRIVERS_BAROMETER_LPS33HW=y
|
||||
barometer/mpl3115a2,CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
|
||||
barometer/ms5611,CONFIG_DRIVERS_BAROMETER_MS5611=y
|
||||
barometer/tcbp001ta,CONFIG_DRIVERS_BAROMETER_TCBP001TA=y
|
||||
batt_smbus,CONFIG_DRIVERS_BATT_SMBUS=y
|
||||
bootloaders,CONFIG_DRIVERS_BOOTLOADERS=y
|
||||
camera_capture,CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
camera_trigger,CONFIG_DRIVERS_CAMERA_TRIGGER=y
|
||||
differential_pressure,CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
|
||||
distance_sensor,CONFIG_COMMON_DISTANCE_SENSOR=y
|
||||
distance_sensor/ll40ls,CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
|
||||
distance_sensor/lightware_laser_serial,CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
|
||||
distance_sensor/broadcom/afbrs50,CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
|
||||
distance_sensor/vl53l0x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
|
||||
distance_sensor/vl53l1x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
|
||||
distance_sensor/srf05,CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
|
||||
dshot,CONFIG_DRIVERS_DSHOT=y
|
||||
gps,CONFIG_DRIVERS_GPS=y
|
||||
heater,CONFIG_DRIVERS_HEATER=y
|
||||
imu,CONFIG_COMMON_IMU=y
|
||||
imu/adis16477,CONFIG_DRIVERS_IMU_ADIS16477=y
|
||||
imu/adis16497,CONFIG_DRIVERS_IMU_ADIS16497=y
|
||||
imu/analog_devices/adis16448,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
|
||||
imu/analog_devices/adis16470,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
|
||||
imu/bosch/bmi055,CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
|
||||
imu/bosch/bmi088,CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
|
||||
imu/fxas21002c,CONFIG_DRIVERS_IMU_FXAS21002C=y
|
||||
imu/fxos8701cq,CONFIG_DRIVERS_IMU_FXOS8701CQ=y
|
||||
imu/invensense/icm20602,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
|
||||
imu/invensense/icm20608g,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y
|
||||
imu/invensense/icm20649,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
|
||||
imu/invensense/icm20689,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
|
||||
imu/invensense/icm20948,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
imu/invensense/icm40609d,CONFIG_DRIVERS_IMU_INVENSENSE_ICM40609D=y
|
||||
imu/invensense/icm42605,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
|
||||
imu/invensense/icm42688p,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
imu/invensense/mpu6000,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
|
||||
imu/invensense/mpu6500,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
|
||||
imu/invensense/mpu9250,CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
|
||||
imu/l3gd20,CONFIG_DRIVERS_IMU_L3GD20=y
|
||||
imu/lsm303d,CONFIG_DRIVERS_IMU_LSM303D=y
|
||||
imu/st,CONFIG_DRIVERS_IMU_ST=y
|
||||
irlock,CONFIG_DRIVERS_IRLOCK=y
|
||||
lights,CONFIG_COMMON_LIGHT=y
|
||||
lights/neopixel,CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
|
||||
lights/rgbled,CONFIG_DRIVERS_LIGHTS_RGBLED=y
|
||||
lights/rgbled_ncp5623c,CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
|
||||
lights/rgbled_pwm,CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
|
||||
magnetometer,CONFIG_COMMON_MAGNETOMETER=y
|
||||
magnetometer/akm/ak09916,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
|
||||
magnetometer/akm/ak8963,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
|
||||
magnetometer/bosch/bmm150,CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
|
||||
magnetometer/hmc5883,CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
|
||||
magnetometer/isentek/ist8308,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
|
||||
magnetometer/isentek/ist8310,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
|
||||
magnetometer/lis2mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
|
||||
magnetometer/lis3mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
|
||||
magnetometer/lsm303agr,CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
|
||||
magnetometer/lsm9ds1_mag,CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y
|
||||
magnetometer/qmc5883l,CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
|
||||
magnetometer/rm3100,CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
|
||||
magnetometer/vtrantech/vcm1193l,CONFIG_DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L=y
|
||||
optical_flow,CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
optical_flow/paw3902,CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
|
||||
optical_flow/paw3901,CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
|
||||
optical_flow/px4flow,CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
|
||||
optical_flow/thoneflow,CONFIG_DRIVERS_OPTICAL_FLOW_THONEFLOW=y
|
||||
osd,CONFIG_DRIVERS_OSD=y
|
||||
pca9685,CONFIG_DRIVERS_PCA9685=y
|
||||
pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
|
||||
pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
|
||||
protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
|
||||
pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
|
||||
pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
|
||||
pwm_out,CONFIG_DRIVERS_PWM_OUT=y
|
||||
px4io,CONFIG_DRIVERS_PX4IO=y
|
||||
rc_input,CONFIG_DRIVERS_RC_INPUT=y
|
||||
roboclaw,CONFIG_DRIVERS_ROBOCLAW=y
|
||||
rpi_rc_in,CONFIG_DRIVERS_RPI_RC_IN=y
|
||||
rpm,CONFIG_DRIVERS_RPM=y
|
||||
safety_button,CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
smart_battery/batmon,CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
spektrum_rc,CONFIG_DRIVERS_SPEKTRUM_RC=y
|
||||
telemetry,CONFIG_DRIVERS_TELEMETRY=y
|
||||
test_ppm,CONFIG_DRIVERS_TEST_PPM=y
|
||||
tone_alarm,CONFIG_DRIVERS_TONE_ALARM=y
|
||||
uavcan,CONFIG_DRIVERS_UAVCAN=y
|
||||
uavcannode,CONFIG_DRIVERS_UAVCANNODE=y
|
||||
uavcannode_gps_demo,CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
|
||||
airship_att_control,CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
|
||||
airspeed_selector,CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
velocity_controller,CONFIG_MODULES_ANGULAR_VELOCITY_CONTROLLER=y
|
||||
attitude_estimator_q,CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
battery_status,CONFIG_MODULES_BATTERY_STATUS=y
|
||||
camera_feedback,CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
commander,CONFIG_MODULES_COMMANDER=y
|
||||
control_allocator,CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
dataman,CONFIG_MODULES_DATAMAN=y
|
||||
ekf2,CONFIG_MODULES_EKF2=y
|
||||
esc_battery,CONFIG_MODULES_ESC_BATTERY=y
|
||||
events,CONFIG_MODULES_EVENTS=y
|
||||
flight_mode_manager,CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
fw_att_control,CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
fw_pos_control_l1,CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
gyro_calibration,CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
gyro_fft,CONFIG_MODULES_GYRO_FFT=y
|
||||
land_detector,CONFIG_MODULES_LAND_DETECTOR=y
|
||||
landing_target_estimator,CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
load_mon,CONFIG_MODULES_LOAD_MON=y
|
||||
local_position_estimator,CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
|
||||
logger,CONFIG_MODULES_LOGGER=y
|
||||
mavlink,CONFIG_MODULES_MAVLINK=y
|
||||
mc_att_control,CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
|
||||
microdds_client,CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
navigator,CONFIG_MODULES_NAVIGATOR=y
|
||||
px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
|
||||
rc_update,CONFIG_MODULES_RC_UPDATE=y
|
||||
replay,CONFIG_MODULES_REPLAY=y
|
||||
rover_pos_control,CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
sensors,CONFIG_MODULES_SENSORS=y
|
||||
sih,CONFIG_MODULES_SIH=y
|
||||
simulator,CONFIG_MODULES_SIMULATOR=y
|
||||
temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
gimbal,CONFIG_MODULES_GIMBAL=y
|
||||
vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
dmesg,CONFIG_SYSTEMCMDS_DMESG=y
|
||||
dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
dyn,CONFIG_SYSTEMCMDS_DYN=y
|
||||
failure,CONFIG_SYSTEMCMDS_FAILURE=y
|
||||
gpio,CONFIG_SYSTEMCMDS_GPIO=y
|
||||
hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
i2cdetect,CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
mft,CONFIG_SYSTEMCMDS_MFT=y
|
||||
microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
|
||||
mixer,CONFIG_SYSTEMCMDS_MIXER=y
|
||||
motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
|
||||
mtd,CONFIG_SYSTEMCMDS_MTD=y
|
||||
netman,CONFIG_SYSTEMCMDS_NETMAN=y
|
||||
nshterm,CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
param,CONFIG_SYSTEMCMDS_PARAM=y
|
||||
perf,CONFIG_SYSTEMCMDS_PERF=y
|
||||
pwm,CONFIG_SYSTEMCMDS_PWM=y
|
||||
reboot,CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
reflect,CONFIG_SYSTEMCMDS_REFLECT=y
|
||||
sd_bench,CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
serial_tet,CONFIG_SYSTEMCMDS_SERIAL_TEST=y
|
||||
shutdown,CONFIG_SYSTEMCMDS_SHUTDOWN=y
|
||||
system_time,CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
tests,CONFIG_SYSTEMCMDS_TESTS=y
|
||||
top,CONFIG_SYSTEMCMDS_TOP=y
|
||||
topic_listener,CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
tune_control,CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
|
||||
uorb,CONFIG_SYSTEMCMDS_UORB=y
|
||||
usb_connected,CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
ver,CONFIG_SYSTEMCMDS_VER=y
|
||||
work_queue,CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
dyn_hello,CONFIG_EXAMPLES_DYN_HELLO=y
|
||||
fake_gps,CONFIG_EXAMPLES_FAKE_GPS=y
|
||||
fake_gyro,CONFIG_EXAMPLES_FAKE_GYRO=y
|
||||
fake_imu,CONFIG_EXAMPLES_FAKE_IMU=y
|
||||
fake_magnetometer,CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
|
||||
fixedwing_control,CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
|
||||
hello,CONFIG_EXAMPLES_HELLO=y
|
||||
hwtest,CONFIG_EXAMPLES_HWTEST=y
|
||||
matlab_csv_serial,CONFIG_EXAMPLES_MATLAB_CSV_SERIAL=y
|
||||
px4_mavlink_debug,CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
|
||||
px4_simple_app,CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
|
||||
rover_steering_control,CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
|
||||
uuv_example_app,CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
|
||||
work_item,CONFIG_EXAMPLES_WORK_ITEM=y
|
||||
add_compile_options(-Wno-narrowing),CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
|
||||
-D__PX4_LINUX,CONFIG_BOARD_LINUX=y
|
||||
@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
|
||||
valid_categories = ['driver', 'estimator', 'controller', 'system',
|
||||
'communication', 'command', 'template', 'simulation', 'autotune']
|
||||
valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
|
||||
'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
|
||||
'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']
|
||||
|
||||
max_line_length = 80 # wrap lines that are longer than this
|
||||
|
||||
|
||||
+5
-14
@@ -200,12 +200,13 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
|
||||
if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||
java_version=11
|
||||
gazebo_version=9
|
||||
elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||
java_version=13
|
||||
elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
java_version=11
|
||||
gazebo_version=11
|
||||
else
|
||||
java_version=14
|
||||
gazebo_version=11
|
||||
fi
|
||||
# Java (jmavsim or fastrtps)
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
@@ -219,30 +220,20 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
|
||||
|
||||
# Gazebo
|
||||
if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||
gazebo_version=9
|
||||
gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
|
||||
elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
gazebo_packages="gazebo libgazebo-dev"
|
||||
else
|
||||
# default and Ubuntu 20.04
|
||||
gazebo_version=11
|
||||
gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
|
||||
fi
|
||||
|
||||
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
|
||||
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||
# Update list, since new gazebo-stable.list has been added
|
||||
sudo apt-get update -y --quiet
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
dmidecode \
|
||||
$gazebo_packages \
|
||||
gazebo$gazebo_version \
|
||||
gstreamer1.0-plugins-bad \
|
||||
gstreamer1.0-plugins-base \
|
||||
gstreamer1.0-plugins-good \
|
||||
gstreamer1.0-plugins-ugly \
|
||||
gstreamer1.0-libav \
|
||||
libeigen3-dev \
|
||||
libgazebo$gazebo_version-dev \
|
||||
libgstreamer-plugins-base1.0-dev \
|
||||
libimage-exiftool-perl \
|
||||
libopencv-dev \
|
||||
|
||||
+1
-1
Submodule Tools/sitl_gazebo updated: 5610c3fb44...2cf56d0bf8
@@ -74,9 +74,6 @@ if [ "$model" == "" ] || [ "$model" == "none" ]; then
|
||||
if [ "$program" == "jsbsim" ]; then
|
||||
echo "empty model, setting rascal as default for jsbsim"
|
||||
model="rascal"
|
||||
elif [ "$program" == "sihsim" ]; then
|
||||
echo "empty model, setting quadx as default for sihsim"
|
||||
model="quadx"
|
||||
else
|
||||
echo "empty model, setting iris as default"
|
||||
model="iris"
|
||||
@@ -217,12 +214,6 @@ elif [ "$program" == "jsbsim" ] && [ -z "$no_sim" ]; then
|
||||
fi
|
||||
"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
|
||||
JSBSIM_PID=$!
|
||||
elif [ "$program" == "sihsim" ] && [ ! -n "$no_sim" ]; then
|
||||
export SIM_MODE="sihsim"
|
||||
if [ "$model" != "airplane" ] && [ "$model" != "quadx" ] && [ "$model" != "xvert" ]; then
|
||||
echo "Model ${model} not compatible with with sih. sih supports [quadx,airplane,xvert]."
|
||||
exit 1
|
||||
fi
|
||||
fi
|
||||
|
||||
pushd "$rootfs" >/dev/null
|
||||
|
||||
@@ -130,7 +130,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SDIO_BLOCKSETUP=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
@@ -173,7 +174,7 @@ CONFIG_STM32_SPI1=y
|
||||
CONFIG_STM32_SPI2=y
|
||||
CONFIG_STM32_SPI4=y
|
||||
CONFIG_STM32_SPI4_DMA=y
|
||||
CONFIG_STM32_SPI4_DMA_BUFFER=512
|
||||
CONFIG_STM32_SPI4_DMA_BUFFER=1024
|
||||
CONFIG_STM32_SPI_DMA=y
|
||||
CONFIG_STM32_SPI_DMATHRESHOLD=8
|
||||
CONFIG_STM32_TIM10=y
|
||||
|
||||
@@ -2,7 +2,6 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m4"
|
||||
CONFIG_BOARD_ROMFSROOT="cannode"
|
||||
CONFIG_BOARD_CONSTRAINED_FLASH=y
|
||||
CONFIG_BOARD_NO_HELP=y
|
||||
CONFIG_BOARD_CONSTRAINED_MEMORY=y
|
||||
CONFIG_DRIVERS_BOOTLOADERS=y
|
||||
CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
|
||||
@@ -11,16 +10,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
|
||||
# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
|
||||
# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
|
||||
# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
|
||||
@@ -3,8 +3,6 @@
|
||||
# board sensors init
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
param set-default IMU_GYRO_RATEMAX 1000
|
||||
|
||||
# Internal SPI
|
||||
paw3902 -s start -Y 180
|
||||
|
||||
|
||||
@@ -105,7 +105,8 @@ CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
|
||||
@@ -4,6 +4,7 @@ CONFIG_BOARD_ROMFSROOT="cannode"
|
||||
CONFIG_BOARD_CONSTRAINED_FLASH=y
|
||||
CONFIG_BOARD_NO_HELP=y
|
||||
CONFIG_BOARD_CONSTRAINED_MEMORY=y
|
||||
CONFIG_BOARD_EXTERNAL_METADATA=y
|
||||
CONFIG_DRIVERS_BAROMETER_BMP388=y
|
||||
CONFIG_DRIVERS_BOOTLOADERS=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
@@ -13,18 +14,5 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
|
||||
# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
|
||||
# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
|
||||
@@ -4,7 +4,6 @@
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
param set-default CBRK_IO_SAFETY 0
|
||||
param set-default MBE_ENABLE 1
|
||||
|
||||
safety_button start
|
||||
tone_alarm start
|
||||
|
||||
@@ -107,7 +107,8 @@ CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
|
||||
@@ -4,6 +4,7 @@ CONFIG_BOARD_ROMFSROOT="cannode"
|
||||
CONFIG_BOARD_CONSTRAINED_FLASH=y
|
||||
CONFIG_BOARD_NO_HELP=y
|
||||
CONFIG_BOARD_CONSTRAINED_MEMORY=y
|
||||
CONFIG_BOARD_EXTERNAL_METADATA=y
|
||||
CONFIG_DRIVERS_BAROMETER_BMP388=y
|
||||
CONFIG_DRIVERS_BOOTLOADERS=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
@@ -13,18 +14,5 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
|
||||
# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
|
||||
# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
|
||||
@@ -5,7 +5,6 @@
|
||||
|
||||
param set-default CBRK_IO_SAFETY 0
|
||||
param set-default CANNODE_GPS_RTCM 1
|
||||
param set-default MBE_ENABLE 1
|
||||
|
||||
safety_button start
|
||||
tone_alarm start
|
||||
|
||||
@@ -107,7 +107,8 @@ CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
|
||||
@@ -107,7 +107,8 @@ CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
|
||||
@@ -140,7 +140,8 @@ CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SDMMC1_SDIO_MODE=y
|
||||
CONFIG_SDMMC1_SDIO_PULLUP=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
|
||||
@@ -162,7 +162,8 @@ CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SDMMC1_SDIO_MODE=y
|
||||
CONFIG_SDMMC1_SDIO_PULLUP=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
|
||||
@@ -30,7 +30,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_MFT=y
|
||||
|
||||
@@ -126,7 +126,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
|
||||
@@ -141,7 +141,6 @@
|
||||
#define PX4_PWM_ALTERNATE_RANGES
|
||||
#define PWM_LOWEST_MIN 0
|
||||
#define PWM_MOTOR_OFF 0
|
||||
#define PWM_SERVO_STOP 0
|
||||
#define PWM_DEFAULT_MIN 20
|
||||
#define PWM_HIGHEST_MIN 0
|
||||
#define PWM_HIGHEST_MAX 255
|
||||
|
||||
@@ -30,7 +30,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_MIXER=y
|
||||
|
||||
@@ -125,7 +125,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
|
||||
@@ -142,7 +142,6 @@
|
||||
#define PX4_PWM_ALTERNATE_RANGES
|
||||
#define PWM_LOWEST_MIN 0
|
||||
#define PWM_MOTOR_OFF 0
|
||||
#define PWM_SERVO_STOP 0
|
||||
#define PWM_DEFAULT_MIN 20
|
||||
#define PWM_HIGHEST_MIN 0
|
||||
#define PWM_HIGHEST_MAX 255
|
||||
|
||||
@@ -1,8 +1,6 @@
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-m4"
|
||||
CONFIG_BOARD_ROMFSROOT="cannode"
|
||||
CONFIG_BOARD_CONSTRAINED_FLASH=y
|
||||
CONFIG_BOARD_NO_HELP=y
|
||||
CONFIG_BOARD_CONSTRAINED_MEMORY=y
|
||||
CONFIG_BOARD_COMPILE_DEFINITIONS="-DUSE_S_RGB_LED_DMA"
|
||||
CONFIG_DRIVERS_BAROMETER_MS5611=y
|
||||
@@ -14,16 +12,5 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
|
||||
# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
|
||||
# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
|
||||
@@ -108,7 +108,8 @@ CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
|
||||
@@ -40,7 +40,6 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
|
||||
Binary file not shown.
@@ -139,7 +139,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SDMMC1_SDIO_PULLUP=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
|
||||
@@ -111,7 +111,6 @@ MEMORY
|
||||
{
|
||||
ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
|
||||
|
||||
DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
|
||||
AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */
|
||||
@@ -187,12 +186,7 @@ SECTIONS
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
|
||||
/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
|
||||
. = ALIGN(16);
|
||||
FILL(0xffff)
|
||||
. += 16;
|
||||
} > AXI_SRAM AT > FLASH = 0xffff
|
||||
} > AXI_SRAM AT > FLASH
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
|
||||
@@ -118,8 +118,8 @@
|
||||
#define GPIO_nPOWER_IN_CAN /* PG2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
|
||||
#define GPIO_nPOWER_IN_C /* PG0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)
|
||||
|
||||
#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_ADC /* Brick 1 is Chosen */
|
||||
#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_CAN /* Brick 2 is Chosen */
|
||||
#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_CAN /* Brick 1 is Chosen */
|
||||
#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen */
|
||||
#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB is Chosen */
|
||||
|
||||
#define GPIO_VDD_5V_HIPOWER_EN /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
|
||||
|
||||
@@ -41,7 +41,6 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
@@ -106,4 +105,3 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
CONFIG_EXAMPLES_FAKE_GPS=y
|
||||
#CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
|
||||
|
||||
Binary file not shown.
@@ -60,7 +60,6 @@ CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_EXAMPLES_CALIB_UDELAY=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
@@ -139,7 +138,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SDMMC1_SDIO_PULLUP=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
|
||||
@@ -111,7 +111,6 @@ MEMORY
|
||||
{
|
||||
ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
|
||||
|
||||
DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
|
||||
AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */
|
||||
@@ -187,12 +186,7 @@ SECTIONS
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
|
||||
/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
|
||||
. = ALIGN(16);
|
||||
FILL(0xffff)
|
||||
. += 16;
|
||||
} > AXI_SRAM AT > FLASH = 0xffff
|
||||
} > AXI_SRAM AT > FLASH
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
|
||||
@@ -1,245 +0,0 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
# CONFIG_MMCSD_SPI is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/x7pro/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H743XI=y
|
||||
CONFIG_ARCH_CHIP_STM32H7=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_DCACHE=y
|
||||
CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x004c
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV X7Pro"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x3163
|
||||
CONFIG_CDCACM_VENDORSTR="CUAV"
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_EXAMPLES_CALIB_UDELAY=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
CONFIG_FAT_LFN=y
|
||||
CONFIG_FAT_LFN_ALIAS_HASH=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_FS_BINFS=y
|
||||
CONFIG_FS_CROMFS=y
|
||||
CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
CONFIG_GRAN_INTR=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
|
||||
CONFIG_MM_REGIONS=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_PROGMEM=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_DISABLE_IFCONFIG=y
|
||||
CONFIG_NSH_DISABLE_IFUPDOWN=y
|
||||
CONFIG_NSH_DISABLE_TELNETD=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_QUOTE=y
|
||||
CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_OTG_ID_GPIO_DISABLE=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_READLINE_CMD_HISTORY=y
|
||||
CONFIG_READLINE_TABCOMPLETION=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SDMMC1_SDIO_PULLUP=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_SIG_SIGWORK=4
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_BUFFER_SIZE=256
|
||||
CONFIG_STM32H7_ADC1=y
|
||||
CONFIG_STM32H7_ADC3=y
|
||||
CONFIG_STM32H7_BBSRAM=y
|
||||
CONFIG_STM32H7_BBSRAM_FILES=5
|
||||
CONFIG_STM32H7_BDMA=y
|
||||
CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C2=y
|
||||
CONFIG_STM32H7_I2C3=y
|
||||
CONFIG_STM32H7_I2C4=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
|
||||
CONFIG_STM32H7_OTGFS=y
|
||||
CONFIG_STM32H7_PROGMEM=y
|
||||
CONFIG_STM32H7_RTC=y
|
||||
CONFIG_STM32H7_RTC_HSECLOCK=y
|
||||
CONFIG_STM32H7_RTC_MAGIC_REG=1
|
||||
CONFIG_STM32H7_SAVE_CRASHDUMP=y
|
||||
CONFIG_STM32H7_SDMMC1=y
|
||||
CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
|
||||
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32H7_SPI1=y
|
||||
CONFIG_STM32H7_SPI1_DMA=y
|
||||
CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
|
||||
CONFIG_STM32H7_SPI2=y
|
||||
CONFIG_STM32H7_SPI4=y
|
||||
CONFIG_STM32H7_SPI4_DMA=y
|
||||
CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
|
||||
CONFIG_STM32H7_SPI5=y
|
||||
CONFIG_STM32H7_SPI6=y
|
||||
CONFIG_STM32H7_SPI6_DMA=y
|
||||
CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
|
||||
CONFIG_STM32H7_SPI_DMA=y
|
||||
CONFIG_STM32H7_TIM12=y
|
||||
CONFIG_STM32H7_TIM15=y
|
||||
CONFIG_STM32H7_TIM1=y
|
||||
CONFIG_STM32H7_TIM3=y
|
||||
CONFIG_STM32H7_TIM4=y
|
||||
CONFIG_STM32H7_TIM5=y
|
||||
CONFIG_STM32H7_TIM8=y
|
||||
CONFIG_STM32H7_UART4=y
|
||||
CONFIG_STM32H7_UART7=y
|
||||
CONFIG_STM32H7_UART8=y
|
||||
CONFIG_STM32H7_USART1=y
|
||||
CONFIG_STM32H7_USART2=y
|
||||
CONFIG_STM32H7_USART6=y
|
||||
CONFIG_STM32H7_USART_BREAKS=y
|
||||
CONFIG_STM32H7_USART_INVERT=y
|
||||
CONFIG_STM32H7_USART_SINGLEWIRE=y
|
||||
CONFIG_STM32H7_USART_SWAP=y
|
||||
CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_TESTING_OSTEST=y
|
||||
CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
|
||||
CONFIG_TESTING_OSTEST_STACKSIZE=10240
|
||||
CONFIG_TTY_SIGINT=y
|
||||
CONFIG_TTY_SIGTSTP=y
|
||||
CONFIG_UART4_BAUD=57600
|
||||
CONFIG_UART4_RXBUFSIZE=600
|
||||
CONFIG_UART4_TXBUFSIZE=1500
|
||||
CONFIG_UART7_BAUD=57600
|
||||
CONFIG_UART7_RXBUFSIZE=600
|
||||
CONFIG_UART7_SERIAL_CONSOLE=y
|
||||
CONFIG_UART7_TXBUFSIZE=1500
|
||||
CONFIG_UART8_BAUD=57600
|
||||
CONFIG_UART8_RXBUFSIZE=600
|
||||
CONFIG_UART8_TXBUFSIZE=1500
|
||||
CONFIG_USART1_BAUD=57600
|
||||
CONFIG_USART1_RXBUFSIZE=600
|
||||
CONFIG_USART1_TXBUFSIZE=1500
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_IFLOWCONTROL=y
|
||||
CONFIG_USART2_OFLOWCONTROL=y
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_TXBUFSIZE=1500
|
||||
CONFIG_USART6_BAUD=57600
|
||||
CONFIG_USART6_IFLOWCONTROL=y
|
||||
CONFIG_USART6_OFLOWCONTROL=y
|
||||
CONFIG_USART6_RXBUFSIZE=600
|
||||
CONFIG_USART6_TXBUFSIZE=1500
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=2944
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
CONFIG_WATCHDOG=y
|
||||
@@ -4,7 +4,6 @@ CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_RPM=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=n
|
||||
|
||||
@@ -7,7 +7,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
|
||||
CONFIG_DRIVERS_ADC_ADS1115=y
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_MS5611=y
|
||||
CONFIG_COMMON_BAROMETERS=y
|
||||
CONFIG_DRIVERS_BATT_SMBUS=y
|
||||
CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=y
|
||||
@@ -24,13 +24,14 @@ CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_OSD=y
|
||||
CONFIG_DRIVERS_PCA9685=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT_SIM=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
#CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_RPM=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
@@ -41,7 +42,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=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
|
||||
@@ -50,7 +50,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
@@ -66,15 +65,17 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
@@ -92,6 +93,7 @@ CONFIG_SYSTEMCMDS_PWM=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_REFLECT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
@@ -100,4 +102,4 @@ CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
|
||||
CONFIG_EXAMPLES_FAKE_GPS=y
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -140,7 +140,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SDMMC1_SDIO_PULLUP=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
|
||||
@@ -187,12 +187,7 @@ SECTIONS
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
|
||||
/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
|
||||
. = ALIGN(16);
|
||||
FILL(0xffff)
|
||||
. += 16;
|
||||
} > AXI_SRAM AT > FLASH = 0xffff
|
||||
} > AXI_SRAM AT > FLASH
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
|
||||
@@ -60,7 +60,6 @@ CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_EXAMPLES_CALIB_UDELAY=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
@@ -139,7 +138,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SDMMC1_SDIO_PULLUP=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
@@ -197,9 +197,6 @@ CONFIG_STM32H7_USART_SWAP=y
|
||||
CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_TESTING_OSTEST=y
|
||||
CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
|
||||
CONFIG_TESTING_OSTEST_STACKSIZE=10240
|
||||
CONFIG_TTY_SIGINT=y
|
||||
CONFIG_TTY_SIGTSTP=y
|
||||
CONFIG_UART4_BAUD=57600
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user