mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-09 08:30:04 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
6598a82a71 |
+10
-15
@@ -17,7 +17,7 @@ pipeline {
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||||
]
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||||
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def armhf_builds = [
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target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
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target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
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image: docker_images.armhf,
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archive: false
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]
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@@ -37,7 +37,6 @@ pipeline {
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def nuttx_builds_archive = [
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target: [
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"airmind_mindpx-v2_default",
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"ark_can-flow_canbootloader",
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"ark_can-flow_default",
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"av_x-v1_default",
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"bitcraze_crazyflie_default",
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@@ -50,37 +49,36 @@ pipeline {
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"cubepilot_cubeorange_default",
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"cubepilot_cubeyellow_console",
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"cubepilot_cubeyellow_default",
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"holybro_can-gps-v1_canbootloader",
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"holybro_can-gps-v1_default",
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"holybro_durandal-v1_default",
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"holybro_kakutef7_default",
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"holybro_pix32v5_default",
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"holybro_can-gps-v1",
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"holybro_can-gps-v1_canbootloader",
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"intel_aerofc-v1_default",
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"modalai_fc-v1_default",
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"mro_ctrl-zero-f7_default",
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"mro_ctrl-zero-f7-oem_default",
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"mro_ctrl-zero-h7_default",
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"mro_ctrl-zero-h7-oem_default",
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"mro_pixracerpro_default",
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"mro_x21-777_default",
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"mro_x21_default",
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"nxp_fmuk66-e_default",
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"nxp_fmuk66-e_rtps",
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"nxp_fmuk66-e_socketcan",
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"nxp_fmuk66-v3_default",
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"nxp_fmuk66-v3_rtps",
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"nxp_fmuk66-v3_socketcan",
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"nxp_fmuk66-e_default",
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"nxp_fmurt1062-v1_default",
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"nxp_ucans32k146_default",
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"nxp_ucans32k146_canbootloader",
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"omnibus_f4sd_default",
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"px4_fmu-v2_default",
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"px4_fmu-v2_fixedwing",
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"px4_fmu-v2_lpe",
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"px4_fmu-v2_multicopter",
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"px4_fmu-v2_rover",
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"px4_fmu-v2_test",
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"px4_fmu-v3_ctrlalloc",
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"px4_fmu-v3_default",
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"px4_fmu-v4_cannode",
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"px4_fmu-v4_ctrlalloc",
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"px4_fmu-v4_default",
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"px4_fmu-v4_optimized",
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"px4_fmu-v4pro_default",
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"px4_fmu-v5_ctrlalloc",
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"px4_fmu-v5_debug",
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@@ -91,13 +89,10 @@ pipeline {
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"px4_fmu-v5_rover",
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"px4_fmu-v5_rtps",
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"px4_fmu-v5_stackcheck",
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"px4_fmu-v5_uavcanv0periph",
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"px4_fmu-v5_uavcanv1",
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"px4_fmu-v5x_base_phy_DP83848C",
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"px4_fmu-v5x_default",
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"px4_fmu-v6u_default",
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"px4_fmu-v6u_test",
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"px4_fmu-v6x_default",
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"px4_fmu-v6u_default",
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"px4_io-v2_default",
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"spracing_h7extreme_default",
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"uvify_core_default"
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@@ -258,7 +258,6 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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@@ -334,7 +333,6 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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}
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@@ -409,7 +407,6 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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@@ -484,8 +481,8 @@ pipeline {
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// configure
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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@@ -564,7 +561,6 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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||||
@@ -639,8 +635,7 @@ pipeline {
|
||||
// configure
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
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||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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}
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@@ -719,7 +714,6 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
@@ -794,7 +788,6 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
@@ -949,7 +942,6 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
@@ -1009,12 +1001,10 @@ void statusFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
|
||||
@@ -1030,7 +1020,6 @@ void statusFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
|
||||
@@ -1072,7 +1061,6 @@ void statusFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
// stop logger
|
||||
|
||||
@@ -18,7 +18,7 @@ jobs:
|
||||
"check_format",
|
||||
"tests",
|
||||
"tests_coverage",
|
||||
# "px4_fmu-v2_default stack_check",
|
||||
"px4_fmu-v2_default stack_check",
|
||||
"validate_module_configs",
|
||||
"shellcheck_all",
|
||||
"NO_NINJA_BUILD=1 px4_fmu-v5_default",
|
||||
@@ -52,8 +52,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
- name: check environment
|
||||
|
||||
@@ -34,8 +34,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -15,6 +15,7 @@ jobs:
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
aerotenna_ocpoc_default,
|
||||
beaglebone_blue_default,
|
||||
emlid_navio2_default,
|
||||
px4_raspberrypi_default,
|
||||
@@ -42,8 +43,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -39,8 +39,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -43,8 +43,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -15,58 +15,53 @@ jobs:
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
# airmind_mindpx-v2_default,
|
||||
# ark_can-flow_canbootloader,
|
||||
# ark_can-flow_debug,
|
||||
# ark_can-flow_default,
|
||||
# av_x-v1_default,
|
||||
# bitcraze_crazyflie21_default,
|
||||
# bitcraze_crazyflie_default,
|
||||
# cuav_can-gps-v1_canbootloader,
|
||||
# cuav_can-gps-v1_debug,
|
||||
# cuav_can-gps-v1_default,
|
||||
# cuav_nora_default,
|
||||
# cuav_x7pro_default,
|
||||
# cubepilot_cubeorange_console,
|
||||
# cubepilot_cubeorange_default,
|
||||
# cubepilot_cubeyellow_console,
|
||||
# cubepilot_cubeyellow_default,
|
||||
# cubepilot_io-v2_default,
|
||||
airmind_mindpx-v2_default,
|
||||
ark_can-flow_canbootloader,
|
||||
ark_can-flow_default,
|
||||
av_x-v1_default,
|
||||
bitcraze_crazyflie_default,
|
||||
bitcraze_crazyflie21_default,
|
||||
cuav_can-gps-v1_canbootloader,
|
||||
cuav_can-gps-v1_default,
|
||||
cuav_nora_default,
|
||||
cuav_x7pro_default,
|
||||
cubepilot_cubeorange_console,
|
||||
cubepilot_cubeorange_default,
|
||||
cubepilot_cubeyellow_console,
|
||||
cubepilot_cubeyellow_default,
|
||||
holybro_can-gps-v1_canbootloader,
|
||||
holybro_can-gps-v1_debug,
|
||||
holybro_can-gps-v1_default,
|
||||
holybro_durandal-v1_default,
|
||||
holybro_kakutef7_default,
|
||||
holybro_pix32v5_default,
|
||||
intel_aerofc-v1_default,
|
||||
modalai_fc-v1_default,
|
||||
# mro_ctrl-zero-f7-oem_default,
|
||||
# mro_ctrl-zero-f7_default,
|
||||
# mro_ctrl-zero-h7-oem_default,
|
||||
# mro_ctrl-zero-h7_default,
|
||||
# mro_pixracerpro_default,
|
||||
# mro_x21-777_default,
|
||||
# mro_x21_default,
|
||||
# nxp_fmuk66-e_default,
|
||||
# nxp_fmuk66-e_rtps,
|
||||
# nxp_fmuk66-e_socketcan,
|
||||
# nxp_fmuk66-v3_default,
|
||||
# nxp_fmuk66-v3_rtps,
|
||||
# nxp_fmuk66-v3_socketcan,
|
||||
# nxp_fmurt1062-v1_default,
|
||||
# nxp_ucans32k146_canbootloader,
|
||||
# nxp_ucans32k146_default,
|
||||
mro_ctrl-zero-f7_default,
|
||||
mro_pixracerpro_default,
|
||||
mro_x21-777_default,
|
||||
mro_x21_default,
|
||||
nxp_fmuk66-e_default,
|
||||
nxp_fmuk66-v3_default,
|
||||
nxp_fmuk66-v3_rtps,
|
||||
nxp_fmuk66-v3_socketcan,
|
||||
nxp_fmurt1062-v1_default,
|
||||
nxp_ucans32k146_default,
|
||||
omnibus_f4sd_default,
|
||||
# px4_fmu-v2_default,
|
||||
# px4_fmu-v2_fixedwing,
|
||||
# px4_fmu-v2_multicopter,
|
||||
# px4_fmu-v2_rover,
|
||||
# px4_fmu-v2_test,
|
||||
px4_fmu-v2_default,
|
||||
px4_fmu-v2_fixedwing,
|
||||
px4_fmu-v2_lpe,
|
||||
px4_fmu-v2_multicopter,
|
||||
px4_fmu-v2_rover,
|
||||
px4_fmu-v2_test,
|
||||
px4_fmu-v3_ctrlalloc,
|
||||
px4_fmu-v3_default,
|
||||
px4_fmu-v4_cannode,
|
||||
px4_fmu-v4_ctrlalloc,
|
||||
px4_fmu-v4_default,
|
||||
px4_fmu-v4_optimized,
|
||||
px4_fmu-v4_uavcanv1,
|
||||
px4_fmu-v4pro_default,
|
||||
px4_fmu-v5_ctrlalloc,
|
||||
px4_fmu-v5_debug,
|
||||
px4_fmu-v5_default,
|
||||
px4_fmu-v5_fixedwing,
|
||||
px4_fmu-v5_multicopter,
|
||||
@@ -74,16 +69,14 @@ jobs:
|
||||
px4_fmu-v5_rover,
|
||||
px4_fmu-v5_rtps,
|
||||
px4_fmu-v5_stackcheck,
|
||||
px4_fmu-v5_uavcanv0periph,
|
||||
px4_fmu-v5_uavcanv1,
|
||||
# px4_fmu-v5x_base_phy_DP83848C,
|
||||
# px4_fmu-v5x_default,
|
||||
px4_fmu-v6u_default,
|
||||
px4_fmu-v6u_test,
|
||||
px4_fmu-v5x_base_phy_DP83848C,
|
||||
px4_fmu-v5x_default,
|
||||
px4_fmu-v6x_default,
|
||||
px4_fmu-v6u_default,
|
||||
px4_io-v2_default,
|
||||
spracing_h7extreme_default,
|
||||
# uvify_core_default
|
||||
uvify_core_default
|
||||
]
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -107,8 +100,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -43,8 +43,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -1,77 +0,0 @@
|
||||
name: Deploy metadata for all targets
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
- 'release/*'
|
||||
- 'pr-metadata-test'
|
||||
|
||||
jobs:
|
||||
enumerate_targets:
|
||||
runs-on: ubuntu-latest
|
||||
outputs:
|
||||
matrix: ${{ steps.set-matrix.outputs.matrix }}
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
- id: set-matrix
|
||||
run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
needs: enumerate_targets
|
||||
strategy:
|
||||
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{secrets.ACCESS_TOKEN}}
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: ${{matrix.target}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: ${{matrix.target}}-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
- name: make ${{matrix.target}}
|
||||
run: make ${{matrix.target}}
|
||||
- name: ccache post-run
|
||||
run: ccache -s
|
||||
|
||||
- name: parameter metadata
|
||||
run: |
|
||||
make ${{matrix.target}} ver_gen
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
|
||||
cd build/${{ matrix.target }}
|
||||
mkdir _metadata || true
|
||||
cp parameters.* _metadata
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
|
||||
|
||||
@@ -43,8 +43,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -49,8 +49,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -44,8 +44,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
|
||||
@@ -4,8 +4,9 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
- 'release/*'
|
||||
- 'pr-metadata-test'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
|
||||
@@ -50,18 +51,9 @@ jobs:
|
||||
- name: parameter metadata
|
||||
run: |
|
||||
make parameters_metadata
|
||||
./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
|
||||
|
||||
- uses: jakejarvis/s3-sync-action@master
|
||||
with:
|
||||
args: --acl public-read
|
||||
env:
|
||||
AWS_S3_BUCKET: 'px4-travis'
|
||||
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
|
||||
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
|
||||
AWS_REGION: 'us-west-1'
|
||||
SOURCE_DIR: 'build/px4_sitl_default/docs/'
|
||||
DEST_DIR: 'Firmware/${{ env.version }}/_general/'
|
||||
cd build/px4_sitl_default/docs
|
||||
ls -ls *
|
||||
# TODO: deploy 'parameters.md, parameters.xml to S3 px4-travis:Firmware/master/
|
||||
|
||||
uorb_graph:
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
@@ -18,7 +18,7 @@ jobs:
|
||||
- name: Install Python3
|
||||
run: sudo apt-get install python3 python3-setuptools python3-pip -y
|
||||
- name: Install tools
|
||||
run: pip3 install --user mypy types-requests flake8
|
||||
run: pip3 install --user mypy flake8
|
||||
- name: Check MAVSDK test scripts with mypy
|
||||
run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
|
||||
- name: Check MAVSDK test scripts with flake8
|
||||
|
||||
@@ -1,55 +0,0 @@
|
||||
name: RotorS PX4 Build Test
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
container:
|
||||
- 'px4io/px4-dev-simulation-bionic:2020-11-18' # Gazebo 9
|
||||
container:
|
||||
image: ${{ matrix.container }}
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
shell: cmake -P {0}
|
||||
run: |
|
||||
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||
message("::set-output name=timestamp::${current_date}")
|
||||
- name: ccache cache files
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: ~/.ccache
|
||||
key: rotors_tests-RelWithDebInfo-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: rotors_tests-RelWithDebInfo-ccache-
|
||||
- name: setup ccache
|
||||
run: |
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
- name: Install glog
|
||||
run: apt update && apt install -y libgoogle-glog-dev libyaml-cpp-dev
|
||||
- name: Build PX4 RotorS
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: RelWithDebInfo
|
||||
DONT_RUN: 1
|
||||
run: make px4_sitl rotors
|
||||
- name: ccache post-run px4/firmware
|
||||
run: ccache -s
|
||||
@@ -49,8 +49,8 @@ jobs:
|
||||
mkdir -p ~/.ccache
|
||||
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||
echo "compression = true" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 5" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 100M" >> ~/.ccache/ccache.conf
|
||||
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||
echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||
ccache -s
|
||||
ccache -z
|
||||
|
||||
@@ -94,7 +94,7 @@ jobs:
|
||||
PX4_HOME_LON: ${{matrix.config.longitude}}
|
||||
PX4_HOME_ALT: ${{matrix.config.altitude}}
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
|
||||
run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
@@ -106,6 +106,10 @@ jobs:
|
||||
name: coredump
|
||||
path: px4.core
|
||||
|
||||
- name: Upload logs to flight review
|
||||
if: failure()
|
||||
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ${GITHUB_WORKSPACE}/build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/*/*.ulg
|
||||
|
||||
- name: Upload px4 binary
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2-preview
|
||||
|
||||
@@ -1,22 +0,0 @@
|
||||
# This pipeline keeps the master branch up to date with upstream master
|
||||
name: Upstream Synchronization
|
||||
|
||||
on:
|
||||
schedule:
|
||||
- cron: "*/15 * * * *"
|
||||
workflow_dispatch:
|
||||
|
||||
jobs:
|
||||
repo-sync:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
persist-credentials: false
|
||||
- name: repo-sync
|
||||
uses: repo-sync/github-sync@v2
|
||||
with:
|
||||
source_repo: "https://github.com/PX4/PX4-Autopilot.git"
|
||||
source_branch: "master"
|
||||
destination_branch: "master"
|
||||
github_token: ${{ secrets.PAT }}
|
||||
+4
-4
@@ -1,6 +1,6 @@
|
||||
[submodule "mavlink/include/mavlink/v2.0"]
|
||||
path = mavlink/include/mavlink/v2.0
|
||||
url = https://github.com/ethz-asl/fw_mavlink_c_library_v2.git
|
||||
url = https://github.com/mavlink/c_library_v2.git
|
||||
branch = master
|
||||
[submodule "src/drivers/uavcan/libuavcan"]
|
||||
path = src/drivers/uavcan/libuavcan
|
||||
@@ -51,6 +51,9 @@
|
||||
[submodule "Tools/jsbsim_bridge"]
|
||||
path = Tools/jsbsim_bridge
|
||||
url = https://github.com/PX4/px4-jsbsim-bridge.git
|
||||
[submodule "src/examples/gyro_fft/CMSIS_5"]
|
||||
path = src/examples/gyro_fft/CMSIS_5
|
||||
url = https://github.com/ARM-software/CMSIS_5.git
|
||||
[submodule "src/drivers/uavcan_v1/libcanard"]
|
||||
path = src/drivers/uavcan_v1/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard.git
|
||||
@@ -63,6 +66,3 @@
|
||||
[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
|
||||
path = src/drivers/uavcannode_gps_demo/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard
|
||||
[submodule "Tools/rotors_simulator"]
|
||||
path = Tools/rotors_simulator
|
||||
url = https://github.com/ethz-asl/rotors_simulator.git
|
||||
|
||||
Vendored
+5
-20
@@ -111,21 +111,16 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: emlid_navio2_default
|
||||
holybro_can-gps-v1_canbootloader:
|
||||
short: holybro_can-gps-v1_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: holybro_can-gps-v1_canbootloader
|
||||
holybro_can-gps-v1_default:
|
||||
short: holybro_can-gps-v1_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: holybro_can-gps-v1_default
|
||||
holybro_durandal-v1_default:
|
||||
short: holybro_durandal-v1
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: holybro_durandal-v1_default
|
||||
intel_aerofc-v1_default:
|
||||
short: intel_aerofc-v1
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: intel_aerofc-v1_default
|
||||
modalai_fc-v1_default:
|
||||
short: modalai_fc-v1
|
||||
buildType: MinSizeRel
|
||||
@@ -136,16 +131,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: mro_ctrl-zero-f7_default
|
||||
mro_pixracerpro_bootloader:
|
||||
short: mro_pixracerpro_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: mro_pixracerpro_bootloader
|
||||
mro_pixracerpro_default:
|
||||
short: mro_pixracerpro_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: mro_pixracerpro_default
|
||||
mro_x21-777_default:
|
||||
short: mro_x2.1-777
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+1
@@ -27,6 +27,7 @@
|
||||
"cSpell.showStatus": false,
|
||||
"cSpell.words": [
|
||||
"acro",
|
||||
"rattitude",
|
||||
"nuttx",
|
||||
"esc"
|
||||
],
|
||||
|
||||
+2
-8
@@ -113,7 +113,7 @@ include(px4_parse_function_args)
|
||||
include(px4_git)
|
||||
|
||||
execute_process(
|
||||
COMMAND git describe --exclude ext/* --always --tags
|
||||
COMMAND git describe --always --tags
|
||||
OUTPUT_VARIABLE PX4_GIT_TAG
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
@@ -406,6 +406,7 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)
|
||||
|
||||
add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
|
||||
add_subdirectory(platforms EXCLUDE_FROM_ALL)
|
||||
add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
|
||||
|
||||
if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
|
||||
add_subdirectory(${PX4_BOARD_DIR})
|
||||
@@ -454,10 +455,3 @@ add_custom_target(size
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
# install python requirements using configured python
|
||||
add_custom_target(install_python_requirements
|
||||
COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
Vendored
+7
-5
@@ -67,9 +67,11 @@ pipeline {
|
||||
unset ROS_DISTRO;
|
||||
mkdir -p colcon_ws/src;
|
||||
cd colcon_ws;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
|
||||
git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
|
||||
git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
|
||||
source /opt/ros/foxy/setup.sh;
|
||||
source /opt/ros/bouncy/setup.sh;
|
||||
source /opt/ros/melodic/setup.sh;
|
||||
colcon build --event-handlers console_direct+ --symlink-install;
|
||||
'''
|
||||
}
|
||||
@@ -110,8 +112,8 @@ pipeline {
|
||||
sh 'make distclean'
|
||||
sh 'make parameters_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
|
||||
stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
|
||||
archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
|
||||
stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
|
||||
}
|
||||
}
|
||||
post {
|
||||
@@ -342,7 +344,7 @@ pipeline {
|
||||
withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
|
||||
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
|
||||
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
|
||||
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
|
||||
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
|
||||
}
|
||||
}
|
||||
when {
|
||||
|
||||
@@ -174,8 +174,6 @@ define cmake-build
|
||||
@$(call cmake-cache-check)
|
||||
@# make sure to start from scratch when switching from GNU Make to Ninja
|
||||
@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
|
||||
@# make sure to start from scratch if ninja build file is missing
|
||||
@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
|
||||
@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
|
||||
@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
|
||||
mkdir -p $(BUILD_DIR) \
|
||||
@@ -270,6 +268,7 @@ px4fmu_firmware: \
|
||||
misc_qgc_extra_firmware: \
|
||||
check_nxp_fmuk66-v3_default \
|
||||
check_nxp_fmurt1062-v1_default \
|
||||
check_intel_aerofc-v1_default \
|
||||
check_mro_x21_default \
|
||||
check_bitcraze_crazyflie_default \
|
||||
check_bitcraze_crazyflie21_default \
|
||||
@@ -303,6 +302,7 @@ check_%:
|
||||
@echo
|
||||
|
||||
uorb_graphs:
|
||||
@./Tools/uorb_graph/create_from_startupscript.sh
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
|
||||
@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
|
||||
@@ -318,7 +318,7 @@ coverity_scan: px4_sitl_default
|
||||
.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
|
||||
|
||||
parameters_metadata:
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
|
||||
|
||||
airframe_metadata:
|
||||
@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
|
||||
|
||||
@@ -8,30 +8,26 @@
|
||||
|
||||
This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
|
||||
|
||||
PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
|
||||
|
||||
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
|
||||
* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
|
||||
* [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
|
||||
* [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
|
||||
* [VTOL](https://docs.px4.io/master/en/frames_vtol/)
|
||||
* [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
|
||||
* [Rover](https://docs.px4.io/master/en/frames_rover/)
|
||||
* many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
|
||||
* [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
|
||||
* [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
|
||||
* [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
|
||||
* many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
|
||||
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
|
||||
|
||||
|
||||
## Building a PX4 based drone, rover, boat or robot
|
||||
## PX4 Users
|
||||
|
||||
The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
|
||||
See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
|
||||
|
||||
|
||||
## Changing code and contributing
|
||||
## PX4 Developers
|
||||
|
||||
This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
|
||||
This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
|
||||
|
||||
Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
|
||||
Developers should read the [Guide for Contributions](https://dev.px4.io/master/en/contribute/).
|
||||
See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
|
||||
|
||||
|
||||
@@ -73,8 +69,10 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
|
||||
* [Paul Riseborough](https://github.com/priseborough)
|
||||
* Vision based navigation and Obstacle Avoidance
|
||||
* [Markus Achtelik](https://github.com/markusachtelik)
|
||||
* Vision based navigation
|
||||
* [Julian Kent](https://github.com/jkflying)
|
||||
* Obstacle Avoidance
|
||||
* [Martina Rivizzigno](https://github.com/mrivi)
|
||||
* RTPS/ROS2 Interface
|
||||
* [Nuno Marques](https://github.com/TSC21)
|
||||
|
||||
@@ -82,36 +80,27 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
|
||||
|
||||
## Supported Hardware
|
||||
|
||||
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
|
||||
|
||||
### Pixhawk Standard Boards
|
||||
* FMUv6X and FMUv6U (STM32H7, 2021)
|
||||
* Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
|
||||
* FMUv5 and FMUv5X (STM32F7, 2019/20)
|
||||
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
|
||||
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
|
||||
* [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
|
||||
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
|
||||
* [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
|
||||
* FMUv4 (STM32F4, 2015)
|
||||
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
|
||||
* FMUv3 (STM32F4, 2014)
|
||||
This repository contains code supporting these boards:
|
||||
* FMUv2
|
||||
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
|
||||
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
|
||||
* FMUv3
|
||||
* [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
|
||||
* [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
|
||||
* [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
|
||||
* FMUv2 (STM32F4, 2013)
|
||||
* [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
|
||||
* [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
|
||||
|
||||
### Manufacturer and Community supported
|
||||
* [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
|
||||
* [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
|
||||
* [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
|
||||
* FMUv4
|
||||
* [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
|
||||
* FMUv5 (ARM Cortex M7)
|
||||
* [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
|
||||
* [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
|
||||
* [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
|
||||
* [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
|
||||
* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
|
||||
* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
|
||||
* [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
|
||||
* [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
|
||||
* [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
|
||||
* [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
|
||||
* [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
|
||||
|
||||
|
||||
+4
-87
@@ -31,12 +31,11 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
message(STATUS "ROMFS: ${config_romfs_root}")
|
||||
|
||||
set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
|
||||
set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
|
||||
|
||||
file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
|
||||
message(STATUS "ROMFS: ${romfs_path_relative}")
|
||||
|
||||
set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
|
||||
set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
|
||||
|
||||
@@ -82,9 +81,6 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
|
||||
if (px4_constrained_flash_build)
|
||||
set(added_arguments --constrained-flash)
|
||||
endif()
|
||||
if(PX4_ETHERNET)
|
||||
set(added_arguments ${added_arguments} --ethernet)
|
||||
endif()
|
||||
# create list of relative romfs file names
|
||||
set(romfs_copy_files_relative)
|
||||
foreach(romfs_file IN LISTS romfs_copy_files)
|
||||
@@ -150,53 +146,15 @@ if(config_io_board)
|
||||
copy_px4io_bin
|
||||
${fw_io_bin}
|
||||
)
|
||||
file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
|
||||
message(STATUS "ROMFS: Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
|
||||
endif()
|
||||
|
||||
|
||||
# board bootloader (built or included)
|
||||
if(TARGET copy_bootloader_bin)
|
||||
|
||||
if(board_bootloader_firmware)
|
||||
file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
|
||||
message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
|
||||
else()
|
||||
file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
|
||||
message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
|
||||
endif()
|
||||
|
||||
if(config_build_bootloader)
|
||||
list(APPEND extras_dependencies
|
||||
copy_bootloader_bin
|
||||
${bootloader_bin}
|
||||
)
|
||||
endif()
|
||||
|
||||
|
||||
# optional board architecture defaults
|
||||
set(board_arch_rc_file "rc.board_arch_defaults")
|
||||
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
|
||||
file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
|
||||
message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
|
||||
${board_arch_rc_file}.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp
|
||||
DEPENDS
|
||||
${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}
|
||||
romfs_copy.stamp
|
||||
COMMENT "ROMFS: copying ${board_arch_rc_file}"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
${board_arch_rc_file}.stamp
|
||||
)
|
||||
endif()
|
||||
|
||||
|
||||
set(OPTIONAL_BOARD_RC)
|
||||
list(APPEND OPTIONAL_BOARD_RC
|
||||
rc.board_defaults
|
||||
@@ -208,8 +166,7 @@ list(APPEND OPTIONAL_BOARD_RC
|
||||
foreach(board_rc_file ${OPTIONAL_BOARD_RC})
|
||||
|
||||
if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
|
||||
file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
|
||||
message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")
|
||||
message(STATUS "ROMFS: Adding ${board_rc_file}")
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
@@ -230,46 +187,6 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
|
||||
|
||||
endforeach()
|
||||
|
||||
|
||||
if(config_uavcan_peripheral_firmware)
|
||||
|
||||
include(ExternalProject)
|
||||
|
||||
foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
|
||||
# include the px4io binary in ROMFS
|
||||
message(STATUS "ROMFS: Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
|
||||
ExternalProject_Add(build_${uavcan_peripheral_config}
|
||||
SOURCE_DIR ${CMAKE_SOURCE_DIR}
|
||||
DOWNLOAD_COMMAND ""
|
||||
UPDATE_COMMAND ""
|
||||
CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
|
||||
INSTALL_COMMAND ""
|
||||
USES_TERMINAL_BUILD true
|
||||
DEPENDS git_nuttx git_nuttx_apps
|
||||
BUILD_ALWAYS 1
|
||||
)
|
||||
|
||||
ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT
|
||||
${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
|
||||
${uavcan_peripheral_config}.stamp
|
||||
COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
|
||||
COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
|
||||
COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
|
||||
DEPENDS
|
||||
build_${uavcan_peripheral_config}
|
||||
COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
|
||||
)
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
${uavcan_peripheral_config}.stamp
|
||||
)
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
list(APPEND extras_dependencies
|
||||
${config_romfs_extra_dependencies}
|
||||
)
|
||||
|
||||
+20
-17
@@ -30,16 +30,21 @@ sercon
|
||||
#
|
||||
ver all
|
||||
|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
# tone_alarm and tune_control
|
||||
# is dependent.
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Set the parameter file if mtd starts successfully.
|
||||
#
|
||||
if mtd start
|
||||
then
|
||||
set PARAM_FILE /fs/mtd_params
|
||||
fi
|
||||
|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0
|
||||
then
|
||||
set PARAM_FILE /dev/eeeprom0
|
||||
fi
|
||||
|
||||
#
|
||||
# Load parameters.
|
||||
#
|
||||
@@ -49,17 +54,6 @@ then
|
||||
param reset_all
|
||||
fi
|
||||
|
||||
#
|
||||
# Optional board architecture defaults: rc.board_arch_defaults
|
||||
#
|
||||
set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults
|
||||
if [ -f $BOARD_ARCH_RC_DEFAULTS ]
|
||||
then
|
||||
echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}"
|
||||
. $BOARD_ARCH_RC_DEFAULTS
|
||||
fi
|
||||
unset BOARD_ARCH_RC_DEFAULTS
|
||||
|
||||
#
|
||||
# Optional board defaults: rc.board_defaults
|
||||
#
|
||||
@@ -76,6 +70,15 @@ unset BOARD_RC_DEFAULTS
|
||||
#
|
||||
rgbled start -X -q
|
||||
rgbled_ncp5623c start -X -q
|
||||
rgbled_pwm start
|
||||
|
||||
if param greater -s LIGHT_EN_BLINKM 0
|
||||
then
|
||||
if blinkm start -X
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# board sensors: rc.sensors
|
||||
|
||||
@@ -0,0 +1,5 @@
|
||||
px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader
|
||||
(https://github.com/PX4/Bootloader)
|
||||
based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f
|
||||
for the target px4fmuv3_bl
|
||||
|
||||
Regular → Executable
BIN
Binary file not shown.
@@ -1,14 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (foggy_lidar)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_RNG_AID 1
|
||||
param set EKF2_RNG_A_HMAX 10
|
||||
fi
|
||||
@@ -12,11 +12,6 @@ if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Multi GPS blending (as the model has 2 GPS's)
|
||||
param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 4
|
||||
param set MNT_MODE_OUT 2
|
||||
param set MNT_DO_STAB 2
|
||||
fi
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -1,2 +1,2 @@
|
||||
# shellcheck disable=SC2154
|
||||
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
|
||||
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK
|
||||
|
||||
@@ -15,6 +15,5 @@ then
|
||||
|
||||
fi
|
||||
|
||||
set PWM_OUT 12345678
|
||||
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -1,54 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_CRUISE 0.25
|
||||
|
||||
param set-default FW_T_ALT_TC 2
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_HRATE_FF 0.5
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
@@ -1,58 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Plane SITL
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
param set EKF2_MAG_ACCLIM 0
|
||||
param set EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set FW_LND_AIRSPD_SC 1
|
||||
param set FW_LND_ANG 8
|
||||
param set FW_THR_LND_MAX 0
|
||||
|
||||
param set FW_L1_PERIOD 12
|
||||
|
||||
param set FW_MAN_P_MAX 30
|
||||
|
||||
param set FW_PR_I 0.4
|
||||
param set FW_PR_P 0.9
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_THR_CRUISE 0.25
|
||||
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set RWTO_TKOFF 1
|
||||
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
@@ -1,61 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Standard VTOL
|
||||
#
|
||||
# @type Standard VTOL
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_L1_PERIOD 12
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_PR_FF 0.2
|
||||
param set FW_PR_I 0.4
|
||||
param set FW_PR_P 0.9
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set FW_RR_FF 0.1
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.25
|
||||
param set FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set FW_T_ALT_TC 2
|
||||
param set FW_T_CLMB_MAX 8
|
||||
param set FW_T_HRATE_FF 0.5
|
||||
param set FW_T_SINK_MAX 2.7
|
||||
param set FW_T_SINK_MIN 2.2
|
||||
param set FW_T_TAS_TC 2
|
||||
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
param set MC_YAW_P 1.6
|
||||
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set MPC_ACC_HOR_MAX 2
|
||||
param set MPC_XY_P 0.8
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set VT_FWD_THRUST_EN 4
|
||||
param set VT_F_TRANS_THR 0.75
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_FW_MOT_OFFID 1234
|
||||
param set VT_B_TRANS_DUR 8
|
||||
param set VT_TYPE 2
|
||||
|
||||
param set RC_MAP_AUX1 8
|
||||
param set RC_MAP_AUX2 9
|
||||
param set RC_MAP_AUX3 10
|
||||
fi
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
|
||||
set MIXER custom
|
||||
@@ -1 +0,0 @@
|
||||
mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix
|
||||
@@ -8,7 +8,6 @@
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_L1_PERIOD 10
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 0.001
|
||||
param set GND_SPEED_I 3
|
||||
@@ -17,6 +16,7 @@ then
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 4
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_IDLE 0
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
|
||||
@@ -17,6 +17,7 @@ then
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 4
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_IDLE 0
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
|
||||
@@ -22,6 +22,7 @@ then
|
||||
param set GND_SPEED_TRIM 15
|
||||
param set GND_SPEED_MAX 25
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_IDLE 0
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
|
||||
@@ -17,6 +17,7 @@ then
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 1
|
||||
param set GND_THR_CRUISE 0.85
|
||||
param set GND_THR_IDLE 0
|
||||
param set GND_THR_MAX 1
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
|
||||
@@ -38,6 +38,7 @@ then
|
||||
param set NAV_LOITER_RAD 100
|
||||
|
||||
param set RWTO_TKOFF 1
|
||||
param set MAV_BROADCAST 1
|
||||
|
||||
param set FW_ARSP_SCALE_EN 0
|
||||
|
||||
|
||||
@@ -12,4 +12,3 @@
|
||||
. ${R}etc/init.d/rc.airship_defaults
|
||||
|
||||
set MIXER cloudship
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -26,6 +26,7 @@ then
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 4
|
||||
param set MNT_DO_STAB 2
|
||||
param set MAV_PROTO_VER 2
|
||||
fi
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
@@ -9,11 +9,11 @@
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCHRATE_P 0.0800
|
||||
param set MC_PITCHRATE_P 0.1000
|
||||
param set MC_PITCHRATE_I 0.0400
|
||||
param set MC_PITCHRATE_D 0.0010
|
||||
param set MC_PITCH_P 9.0
|
||||
param set MC_ROLLRATE_P 0.0800
|
||||
param set MC_ROLLRATE_P 0.1000
|
||||
param set MC_ROLLRATE_I 0.0400
|
||||
param set MC_ROLLRATE_D 0.0010
|
||||
param set MC_ROLL_P 9.0
|
||||
@@ -24,8 +24,7 @@ then
|
||||
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 4
|
||||
param set MNT_MODE_OUT 2
|
||||
param set MNT_MODE_IN 0
|
||||
param set MAV_PROTO_VER 2
|
||||
fi
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
|
||||
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
|
||||
|
||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
|
||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
|
||||
|
||||
# shellcheck disable=SC2154
|
||||
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
|
||||
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
|
||||
|
||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
|
||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
|
||||
|
||||
# shellcheck disable=SC2154
|
||||
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
|
||||
|
||||
@@ -34,7 +34,6 @@
|
||||
px4_add_romfs_files(
|
||||
10016_iris
|
||||
10017_iris_ctrlalloc
|
||||
10018_iris_foggy_lidar
|
||||
10020_if750a
|
||||
10030_px4vision
|
||||
1010_iris_opt_flow
|
||||
@@ -62,13 +61,9 @@ px4_add_romfs_files(
|
||||
1034_rascal-electric
|
||||
1035_techpod
|
||||
1036_malolo
|
||||
1037_believer
|
||||
1038_plane_dynamicsoaring
|
||||
1040_standard_vtol
|
||||
1041_tailsitter
|
||||
1042_tiltrotor
|
||||
1043_standard_vtol_drop
|
||||
1043_standard_vtol_drop.post
|
||||
1060_rover
|
||||
1061_r1_rover
|
||||
1062_tf-r1
|
||||
|
||||
@@ -20,6 +20,7 @@ module: replay
|
||||
ignore_others: false
|
||||
EOF
|
||||
|
||||
uorb start
|
||||
param set SDLOG_DIRS_MAX 7
|
||||
|
||||
# apply all params before ekf starts, as some params cannot be changed after startup
|
||||
|
||||
@@ -21,7 +21,6 @@ fi
|
||||
|
||||
# initialize script variables
|
||||
set AUX_MODE none
|
||||
set AUX_BANK2 none
|
||||
set IO_PRESENT no
|
||||
set MAV_TYPE none
|
||||
set MIXER none
|
||||
@@ -29,7 +28,6 @@ set MIXER_AUX none
|
||||
set MIXER_FILE none
|
||||
set OUTPUT_MODE sim
|
||||
set EXTRA_MIXER_MODE none
|
||||
set PWM_OUT none
|
||||
set SDCARD_MIXERS_PATH etc/mixers
|
||||
set USE_IO no
|
||||
set VEHICLE_TYPE none
|
||||
@@ -54,6 +52,8 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
uorb start
|
||||
|
||||
# Load parameters
|
||||
set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
|
||||
param select $PARAM_FILE
|
||||
@@ -98,7 +98,7 @@ then
|
||||
set AUTOCNF yes
|
||||
|
||||
# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
|
||||
param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
|
||||
param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
|
||||
fi
|
||||
|
||||
# multi-instance setup
|
||||
@@ -110,59 +110,55 @@ udp_offboard_port_remote=$((14540+px4_instance))
|
||||
[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
|
||||
udp_onboard_payload_port_local=$((14280+px4_instance))
|
||||
udp_onboard_payload_port_remote=$((14030+px4_instance))
|
||||
udp_onboard_gimbal_port_local=$((13030+px4_instance))
|
||||
udp_onboard_gimbal_port_remote=$((13280+px4_instance))
|
||||
udp_gcs_port_local=$((18570+px4_instance))
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set SYS_AUTOSTART $REQUESTED_AUTOSTART
|
||||
|
||||
param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
|
||||
param set BAT_N_CELLS 4
|
||||
|
||||
param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
|
||||
param set CAL_MAG0_ID 197388
|
||||
param set CAL_MAG1_ID 197644
|
||||
|
||||
param set CBRK_AIRSPD_CHK 0
|
||||
param set CBRK_SUPPLY_CHK 894281
|
||||
|
||||
# Don't require RC calibration and configuration
|
||||
param set COM_RC_IN_MODE 1
|
||||
|
||||
# Speedup SITL startup
|
||||
param set EKF2_REQ_GPS_H 0.5
|
||||
|
||||
# Multi-EKF
|
||||
param set EKF2_MULTI_IMU 3
|
||||
param set SENS_IMU_MODE 0
|
||||
param set EKF2_MULTI_MAG 2
|
||||
param set SENS_MAG_MODE 0
|
||||
|
||||
# By default log from boot until first disarm.
|
||||
param set SDLOG_MODE 1
|
||||
# enable default, estimator replay and vision/avoidance logging profiles
|
||||
param set SDLOG_PROFILE 131
|
||||
param set SDLOG_DIRS_MAX 7
|
||||
param set SENS_BOARD_ROT 0
|
||||
param set SENS_BOARD_X_OFF 0.000001
|
||||
param set SENS_DPRES_OFF 0.001
|
||||
|
||||
param set SYS_RESTART_TYPE 2
|
||||
|
||||
param set TRIG_INTERFACE 3
|
||||
fi
|
||||
|
||||
param set-default BAT_N_CELLS 4
|
||||
param set COM_CPU_MAX -1 # disable check, no CPU load reported on posix yet
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 0
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
# disable check, no CPU load reported on posix yet
|
||||
param set-default COM_CPU_MAX -1
|
||||
|
||||
# Don't require RC calibration and configuration
|
||||
param set-default COM_RC_IN_MODE 1
|
||||
|
||||
# Speedup SITL startup
|
||||
param set-default EKF2_REQ_GPS_H 0.5
|
||||
|
||||
# Multi-EKF
|
||||
param set-default EKF2_MULTI_IMU 3
|
||||
param set-default SENS_IMU_MODE 0
|
||||
param set-default EKF2_MULTI_MAG 2
|
||||
param set-default SENS_MAG_MODE 0
|
||||
|
||||
param set-default IMU_GYRO_FFT_EN 1
|
||||
|
||||
# By default log from boot until first disarm.
|
||||
param set-default SDLOG_MODE 1
|
||||
# enable default, estimator replay and vision/avoidance logging profiles
|
||||
param set-default SDLOG_PROFILE 131
|
||||
param set-default SDLOG_DIRS_MAX 7
|
||||
|
||||
param set-default TRIG_INTERFACE 3
|
||||
# Simulator IMU data provided at 250 Hz
|
||||
param set IMU_INTEG_RATE 250
|
||||
|
||||
# Adapt timeout parameters if simulation runs faster or slower than realtime.
|
||||
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
|
||||
@@ -177,10 +173,6 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
|
||||
COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
|
||||
echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
|
||||
param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
|
||||
|
||||
COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
|
||||
echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
|
||||
param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
|
||||
fi
|
||||
|
||||
# Autostart ID
|
||||
@@ -213,28 +205,11 @@ then
|
||||
param set SYS_AUTOCONFIG 0
|
||||
fi
|
||||
|
||||
# Simulator IMU data provided at 250 Hz
|
||||
param set IMU_INTEG_RATE 250
|
||||
|
||||
dataman start
|
||||
# only start the simulator if not in replay mode, as both control the lockstep time
|
||||
if ! replay tryapplyparams
|
||||
then
|
||||
# Check if PX4_SIM_HOSTNAME environment variable is empty
|
||||
# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
|
||||
# If both are empty use localhost for simulator
|
||||
if [ -z "${PX4_SIM_HOSTNAME}" ]; then
|
||||
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
|
||||
echo "PX4 SIM HOST: localhost"
|
||||
simulator start -c $simulator_tcp_port
|
||||
else
|
||||
echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
|
||||
simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
|
||||
fi
|
||||
else
|
||||
echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
|
||||
simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
|
||||
fi
|
||||
simulator start -c $simulator_tcp_port
|
||||
fi
|
||||
load_mon start
|
||||
battery_simulator start
|
||||
@@ -256,16 +231,6 @@ then
|
||||
camera_feedback start
|
||||
fi
|
||||
|
||||
if param compare -s IMU_GYRO_FFT_EN 1
|
||||
then
|
||||
gyro_fft start
|
||||
fi
|
||||
|
||||
if param compare -s IMU_GYRO_CAL_EN 1
|
||||
then
|
||||
gyro_calibration start
|
||||
fi
|
||||
|
||||
# Configure vehicle type specific parameters.
|
||||
# Note: rc.vehicle_setup is the entry point for rc.interface,
|
||||
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
|
||||
@@ -275,10 +240,10 @@ fi
|
||||
if [ -e etc/init.d-posix/rc.mavlink_override ]
|
||||
then
|
||||
echo "Running non-default mavlink config rc.mavlink_override"
|
||||
. ${R}etc/init.d-posix/rc.mavlink_override
|
||||
sh etc/init.d-posix/rc.mavlink_override
|
||||
else
|
||||
# GCS link
|
||||
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
|
||||
mavlink start -x -u $udp_gcs_port_local -r 4000000
|
||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
|
||||
@@ -290,15 +255,12 @@ else
|
||||
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
|
||||
|
||||
# API/Offboard link
|
||||
mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
|
||||
mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
|
||||
|
||||
# Onboard link to camera
|
||||
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
|
||||
|
||||
# Onboard link to gimbal
|
||||
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
|
||||
fi
|
||||
|
||||
# execute autostart post script if any
|
||||
[ -e "$autostart_file".post ] && . "$autostart_file".post
|
||||
|
||||
|
||||
@@ -47,13 +47,4 @@ param set-default RWTO_TKOFF 1
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
# 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
|
||||
|
||||
set MIXER AERT
|
||||
|
||||
@@ -20,11 +20,13 @@
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.mc_quad_defaults
|
||||
|
||||
set MIXER quad_w
|
||||
|
||||
param set-default MC_ROLL_P 6.5
|
||||
param set-default MC_ROLLRATE_P 0.1
|
||||
@@ -38,6 +40,3 @@ param set-default MC_YAW_P 2.8
|
||||
param set-default MC_YAWRATE_P 0.28
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -18,11 +18,13 @@
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.mc_quad_defaults
|
||||
|
||||
set MIXER quad_w
|
||||
|
||||
# TODO tune roll/pitch separately
|
||||
param set-default MC_ROLL_P 7
|
||||
@@ -40,6 +42,3 @@ param set-default MC_YAWRATE_D 0
|
||||
|
||||
param set-default BAT_V_DIV 12.27559
|
||||
param set-default BAT_A_PER_V 15.39103
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -20,11 +20,13 @@
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.mc_quad_defaults
|
||||
|
||||
set MIXER quad_w
|
||||
|
||||
param set-default BAT_N_CELLS 4
|
||||
|
||||
@@ -40,6 +42,3 @@ param set-default MC_YAW_P 4
|
||||
param set-default MC_YAWRATE_P 0.2
|
||||
param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -20,11 +20,13 @@
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.mc_quad_defaults
|
||||
|
||||
set MIXER quad_w
|
||||
|
||||
param set-default BAT_N_CELLS 6
|
||||
param set-default BAT_V_EMPTY 3.5
|
||||
@@ -43,8 +45,3 @@ param set-default MC_YAWRATE_I 0.1
|
||||
param set-default MC_YAWRATE_D 0
|
||||
|
||||
param set-default MPC_XY_VEL_MAX 2
|
||||
|
||||
param set-default PWM_MAIN_MIN 1080
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -11,15 +11,5 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
# 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
|
||||
|
||||
@@ -8,12 +8,12 @@
|
||||
# @maintainer Roman Bapst <roman@auterion.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set-default COM_RC_IN_MODE 1
|
||||
@@ -66,17 +66,6 @@ param set-default VT_TYPE 2
|
||||
|
||||
param set SYS_HITL 1
|
||||
|
||||
# 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
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER standard_vtol_hitl
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -18,12 +18,10 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.mc_hex_defaults
|
||||
|
||||
set MIXER hexa_cox
|
||||
|
||||
# Need to set all 8 channels
|
||||
set PWM_OUT 12345678
|
||||
|
||||
@@ -13,16 +13,6 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
# set SYS_HITL to 2 to start the SIH and avoid sensors startup
|
||||
param set SYS_HITL 2
|
||||
|
||||
# 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
|
||||
|
||||
@@ -16,11 +16,11 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.mc_octo_defaults
|
||||
|
||||
# MAIN set by rc.mc_octo_defaults
|
||||
set MIXER octo_cox
|
||||
|
||||
set PWM_OUT 12345678
|
||||
|
||||
@@ -17,11 +17,13 @@
|
||||
# @maintainer Simon Wilks <simon@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.mc_octo_defaults
|
||||
|
||||
set MIXER octo_cox_w
|
||||
|
||||
param set-default MC_PITCH_P 4
|
||||
param set-default MC_PITCHRATE_P 0.24
|
||||
@@ -45,6 +47,3 @@ param set-default MPC_THR_MIN 0.15
|
||||
param set-default MPC_Z_VEL_MAX_DN 2
|
||||
|
||||
param set-default BAT_N_CELLS 4
|
||||
set MIXER octo_cox_w
|
||||
|
||||
set PWM_OUT 12345678
|
||||
|
||||
@@ -18,21 +18,25 @@
|
||||
# @output AUX5 Throttle
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_quad_defaults
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
set MAV_TYPE 22
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
# MAIN set by rc.mc_quad_defaults
|
||||
|
||||
# AUX
|
||||
set MIXER_AUX vtol_AAERT
|
||||
|
||||
set PWM_OUT 1234
|
||||
param set-default PWM_AUX_DIS1 1500
|
||||
param set-default PWM_AUX_DIS2 1500
|
||||
param set-default PWM_AUX_DIS3 1500
|
||||
param set-default PWM_AUX_DIS4 1500
|
||||
param set-default PWM_AUX_DIS5 900 # throttle
|
||||
|
||||
@@ -13,13 +13,13 @@
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
set MAV_TYPE 19
|
||||
|
||||
param set-default MC_ROLL_P 6
|
||||
param set-default MC_ROLLRATE_P 0.12
|
||||
@@ -43,8 +43,20 @@ param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_MOT_ID 12
|
||||
param set-default VT_TYPE 0
|
||||
set MAV_TYPE 19
|
||||
|
||||
|
||||
# MAIN
|
||||
set MIXER vtol_tailsitter_duo
|
||||
param set-default PWM_MAIN_MIN1 1100
|
||||
param set-default PWM_MAIN_MIN2 1100
|
||||
|
||||
set PWM_OUT 123456
|
||||
param set-default PWM_MAIN_MAX1 1900
|
||||
param set-default PWM_MAIN_MAX2 1900
|
||||
|
||||
param set-default PWM_MAIN_RATE1 400
|
||||
param set-default PWM_MAIN_RATE2 400
|
||||
|
||||
param set-default PWM_MAIN_DIS1 900
|
||||
param set-default PWM_MAIN_DIS2 900
|
||||
param set-default PWM_MAIN_DIS3 1500 # right (starboard) elevon
|
||||
param set-default PWM_MAIN_DIS4 1500 # left (port) elevon.
|
||||
|
||||
@@ -18,11 +18,13 @@
|
||||
# @output AUX4 Gear
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
set MAV_TYPE 21
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.19
|
||||
@@ -40,8 +42,6 @@ param set-default MC_YAWRATE_I 0.02
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_FW_MOT_OFFID 34
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_MOT_ID 123456
|
||||
@@ -51,9 +51,40 @@ param set-default VT_TILT_TRANS 0.5
|
||||
param set-default VT_TILT_FW 0.9
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 1
|
||||
set MAV_TYPE 21
|
||||
|
||||
# MAIN
|
||||
set MIXER firefly6
|
||||
set MIXER_AUX firefly6
|
||||
param set-default PWM_MAIN_MIN1 1100
|
||||
param set-default PWM_MAIN_MIN2 1100
|
||||
param set-default PWM_MAIN_MIN3 1100
|
||||
param set-default PWM_MAIN_MIN4 1100
|
||||
param set-default PWM_MAIN_MIN5 1100
|
||||
param set-default PWM_MAIN_MIN6 1100
|
||||
|
||||
set PWM_OUT 12345678
|
||||
param set-default PWM_MAIN_MAX1 1900
|
||||
param set-default PWM_MAIN_MAX2 1900
|
||||
param set-default PWM_MAIN_MAX3 1900
|
||||
param set-default PWM_MAIN_MAX4 1900
|
||||
param set-default PWM_MAIN_MAX5 1900
|
||||
param set-default PWM_MAIN_MAX6 1900
|
||||
|
||||
param set-default PWM_MAIN_RATE1 400
|
||||
param set-default PWM_MAIN_RATE2 400
|
||||
param set-default PWM_MAIN_RATE3 400
|
||||
param set-default PWM_MAIN_RATE4 400
|
||||
param set-default PWM_MAIN_RATE5 400
|
||||
param set-default PWM_MAIN_RATE6 400
|
||||
|
||||
param set-default PWM_MAIN_DIS1 900
|
||||
param set-default PWM_MAIN_DIS2 900
|
||||
param set-default PWM_MAIN_DIS3 900
|
||||
param set-default PWM_MAIN_DIS4 900
|
||||
param set-default PWM_MAIN_DIS5 900
|
||||
param set-default PWM_MAIN_DIS6 900
|
||||
|
||||
# AUX
|
||||
set MIXER_AUX firefly6
|
||||
param set-default PWM_MAIN_DIS1 1000 # Tilt mechanism servo mixer
|
||||
param set-default PWM_MAIN_DIS2 1500
|
||||
param set-default PWM_MAIN_DIS3 1500
|
||||
param set-default PWM_MAIN_DIS4 2000 # Landing gear
|
||||
|
||||
@@ -8,21 +8,22 @@
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_quad_defaults
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_ELEV_MC_LOCK 1
|
||||
set MAV_TYPE 20
|
||||
|
||||
set MIXER quad_x_vtol
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_ELEV_MC_LOCK 1
|
||||
|
||||
set PWM_OUT 1234
|
||||
# MAIN
|
||||
set MIXER quad_x_vtol
|
||||
# outputs 1-4 set by rc.mc_quad_defaults
|
||||
param set-default PWM_MAIN_DIS5 1500 # left elevon
|
||||
param set-default PWM_MAIN_DIS6 1500 # right elevon
|
||||
|
||||
@@ -17,20 +17,23 @@
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_quad_defaults
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_ELEV_MC_LOCK 1
|
||||
set MAV_TYPE 20
|
||||
|
||||
set MIXER quad_+_vtol
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_ELEV_MC_LOCK 1
|
||||
|
||||
set PWM_OUT 1234
|
||||
# MAIN
|
||||
set MIXER quad_+_vtol
|
||||
# outputs 1-4 set by rc.mc_quad_defaults
|
||||
param set-default PWM_MAIN_DIS5 1500
|
||||
param set-default PWM_MAIN_DIS6 1500
|
||||
param set-default PWM_MAIN_DIS7 1500
|
||||
param set-default PWM_MAIN_DIS8 1500
|
||||
|
||||
@@ -18,15 +18,14 @@
|
||||
# @output AUX5 Throttle
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_quad_defaults
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
set MAV_TYPE 22
|
||||
|
||||
param set-default MC_ROLL_P 6
|
||||
param set-default MC_ROLLRATE_P 0.17
|
||||
@@ -64,9 +63,14 @@ param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
# MAIN set by rc.mc_quad_defaults
|
||||
|
||||
# AUX
|
||||
set MIXER_AUX vtol_AAERT
|
||||
|
||||
set PWM_OUT 1234
|
||||
param set-default PWM_AUX_DIS1 1500
|
||||
param set-default PWM_AUX_DIS2 1500
|
||||
param set-default PWM_AUX_DIS3 1500
|
||||
param set-default PWM_AUX_DIS4 1500
|
||||
param set-default PWM_AUX_DIS5 900 # throttle
|
||||
|
||||
@@ -16,11 +16,14 @@
|
||||
# @output AUX3 Motor
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_quad_defaults
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
param set-default MC_ROLL_P 6.5
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
@@ -44,17 +47,17 @@ param set-default MPC_XY_VEL_P_ACC 2
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_YAWRAUTO_MAX 20
|
||||
|
||||
param set-default PWM_AUX_DIS3 950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
# MAIN set by rc.mc_quad_defaults
|
||||
|
||||
# AUX
|
||||
set MIXER_AUX vtol_delta
|
||||
|
||||
set PWM_OUT 1234
|
||||
param set-default PWM_AUX_DIS1 1500
|
||||
param set-default PWM_AUX_DIS2 1500
|
||||
param set-default PWM_AUX_DIS3 900 # throttle
|
||||
param set-default PWM_AUX_DIS4 900 # throttle reverse
|
||||
|
||||
@@ -8,11 +8,14 @@
|
||||
# @maintainer Sander Smeets <sander@droneslab.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_quad_defaults
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
param set-default MC_ROLL_P 7
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
@@ -30,20 +33,20 @@ param set-default MC_YAWRATE_I 0.02
|
||||
param set-default MC_YAWRATE_D 0
|
||||
param set-default MC_YAWRATE_FF 0
|
||||
param set-default MC_YAWRATE_MAX 40
|
||||
|
||||
param set-default MPC_YAWRAUTO_MAX 40
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
# MAIN set by rc.mc_quad_defaults
|
||||
|
||||
# AUX
|
||||
set MIXER_AUX vtol_AAVVT
|
||||
|
||||
set PWM_OUT 1234
|
||||
param set-default PWM_AUX_DIS1 1500
|
||||
param set-default PWM_AUX_DIS2 1500
|
||||
param set-default PWM_AUX_DIS3 1500
|
||||
param set-default PWM_AUX_DIS4 1500
|
||||
param set-default PWM_AUX_DIS5 900 # throttle
|
||||
|
||||
@@ -8,11 +8,14 @@
|
||||
# @maintainer Sander Smeets <sander@droneslab.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_quad_defaults
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
param set-default FW_THR_CRUISE 65
|
||||
param set-default FW_PR_P 0.08
|
||||
@@ -45,11 +48,6 @@ param set-default MPC_TKO_SPEED 1.5
|
||||
param set-default MPC_LAND_SPEED 0.8
|
||||
param set-default MPC_YAWRAUTO_MAX 40
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set-default PWM_AUX_REV1 1
|
||||
param set-default PWM_AUX_REV2 1
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_ARSP_TRANS 15
|
||||
param set-default VT_ARSP_BLEND 8
|
||||
param set-default VT_B_TRANS_DUR 4
|
||||
@@ -58,9 +56,13 @@ param set-default VT_IDLE_PWM_MC 1080
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
param set-default VT_TYPE 2
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER quad_x
|
||||
# MAIN set by rc.mc_quad_defaults
|
||||
|
||||
# AUX
|
||||
set MIXER_AUX vtol_AAERT
|
||||
|
||||
set PWM_OUT 1234
|
||||
param set-default PWM_AUX_DIS1 1500
|
||||
param set-default PWM_AUX_DIS2 1500
|
||||
param set-default PWM_AUX_DIS3 1500
|
||||
param set-default PWM_AUX_DIS4 1500
|
||||
param set-default PWM_AUX_DIS5 900 # throttle
|
||||
|
||||
@@ -8,11 +8,14 @@
|
||||
# @maintainer Andreas Antener <andreas@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_quad_defaults
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
param set-default FW_AIRSPD_MAX 22
|
||||
param set-default FW_AIRSPD_MIN 14
|
||||
@@ -61,15 +64,6 @@ param set-default MPC_YAWRAUTO_MAX 40
|
||||
|
||||
param set-default NAV_ACC_RAD 3
|
||||
|
||||
param set-default PWM_AUX_REV1 1
|
||||
param set-default PWM_AUX_REV2 1
|
||||
param set-default PWM_AUX_REV3 1
|
||||
param set-default PWM_AUX_REV4 1
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_ARSP_TRANS 15
|
||||
param set-default VT_B_TRANS_DUR 4
|
||||
param set-default VT_F_TRANS_THR 0.6
|
||||
@@ -80,9 +74,17 @@ param set-default VT_TRANS_MIN_TM 5
|
||||
param set-default VT_TRANS_TIMEOUT 30
|
||||
param set-default VT_TYPE 2
|
||||
|
||||
set MAV_TYPE 22
|
||||
# MAIN set by rc.mc_quad_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
# AUX
|
||||
set MIXER_AUX vtol_AAERT
|
||||
param set-default PWM_AUX_DIS1 1500
|
||||
param set-default PWM_AUX_DIS2 1500
|
||||
param set-default PWM_AUX_DIS3 1500
|
||||
param set-default PWM_AUX_DIS4 1500
|
||||
param set-default PWM_AUX_DIS5 900 # throttle
|
||||
|
||||
set PWM_OUT 1234
|
||||
param set-default PWM_AUX_REV1 1
|
||||
param set-default PWM_AUX_REV2 1
|
||||
param set-default PWM_AUX_REV3 1
|
||||
param set-default PWM_AUX_REV4 1
|
||||
|
||||
@@ -8,19 +8,13 @@
|
||||
# @maintainer Samay Siga <samay_s@icloud.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_AUX_DISARMED 1000
|
||||
param set-default PWM_AUX_MAX 2000
|
||||
param set-default PWM_AUX_MIN 1000
|
||||
param set-default PWM_AUX_RATE 50
|
||||
|
||||
param set-default PWM_MAIN_MAX 2000
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
set MAV_TYPE 21
|
||||
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 13
|
||||
@@ -30,9 +24,32 @@ 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 MAV_TYPE 21
|
||||
|
||||
set MIXER claire
|
||||
|
||||
# MAIN
|
||||
set MIXER quad_x
|
||||
param set-default PWM_MAIN_MIN1 1100
|
||||
param set-default PWM_MAIN_MIN2 1100
|
||||
param set-default PWM_MAIN_MIN3 1100
|
||||
param set-default PWM_MAIN_MIN4 1100
|
||||
|
||||
param set-default PWM_MAIN_MAX1 1900
|
||||
param set-default PWM_MAIN_MAX2 1900
|
||||
param set-default PWM_MAIN_MAX3 1900
|
||||
param set-default PWM_MAIN_MAX4 1900
|
||||
|
||||
param set-default PWM_MAIN_RATE1 400
|
||||
param set-default PWM_MAIN_RATE2 400
|
||||
param set-default PWM_MAIN_RATE3 400
|
||||
param set-default PWM_MAIN_RATE4 400
|
||||
|
||||
param set-default PWM_MAIN_DIS1 900
|
||||
param set-default PWM_MAIN_DIS2 900
|
||||
param set-default PWM_MAIN_DIS3 900
|
||||
param set-default PWM_MAIN_DIS4 900
|
||||
|
||||
# AUX
|
||||
set MIXER_AUX claire
|
||||
|
||||
set PWM_OUT 1234
|
||||
param set-default PWM_MAIN_DIS1 1000 # tilt
|
||||
param set-default PWM_MAIN_DIS2 1500 # elevon
|
||||
param set-default PWM_MAIN_DIS3 1500 # elevon
|
||||
|
||||
@@ -17,11 +17,13 @@
|
||||
# @output MAIN8 Elevon left
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
set MAV_TYPE 21
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
@@ -59,8 +61,6 @@ param set-default MPC_LAND_SPEED 1.2
|
||||
param set-default MPC_TKO_SPEED 2.5
|
||||
param set-default MPC_Z_VEL_MAX_UP 3
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default SENS_BOARD_ROT 8
|
||||
|
||||
param set-default VT_B_TRANS_DUR 1
|
||||
@@ -79,8 +79,26 @@ param set-default VT_TRANS_MIN_TM 1.2
|
||||
param set-default VT_TRANS_P2_DUR 1.3
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 1
|
||||
set MAV_TYPE 21
|
||||
|
||||
|
||||
# MAIN
|
||||
set MIXER vtol_convergence
|
||||
param set-default PWM_MAIN_MIN1 1100
|
||||
param set-default PWM_MAIN_MIN2 1100
|
||||
param set-default PWM_MAIN_MIN3 1100
|
||||
|
||||
set PWM_OUT 1234
|
||||
param set-default PWM_MAIN_MAX1 1900
|
||||
param set-default PWM_MAIN_MAX2 1900
|
||||
param set-default PWM_MAIN_MAX3 1900
|
||||
|
||||
param set-default PWM_MAIN_RATE1 400
|
||||
param set-default PWM_MAIN_RATE2 400
|
||||
param set-default PWM_MAIN_RATE3 400
|
||||
|
||||
param set-default PWM_MAIN_DIS1 900
|
||||
param set-default PWM_MAIN_DIS2 900
|
||||
param set-default PWM_MAIN_DIS3 900
|
||||
param set-default PWM_MAIN_DIS5 2000 # tilt right servo (2000 up)
|
||||
param set-default PWM_MAIN_DIS6 1000 # tilt left servo (1000 up)
|
||||
param set-default PWM_MAIN_DIS7 1500 # elevon
|
||||
param set-default PWM_MAIN_DIS8 1500 # elevon
|
||||
|
||||
@@ -17,11 +17,13 @@
|
||||
# @output MAIN8 Pusher reverse channel
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
param set-default BAT_CAPACITY 23000
|
||||
param set-default BAT_N_CELLS 4
|
||||
@@ -112,15 +114,6 @@ param set-default MPC_YAWRAUTO_MAX 20
|
||||
param set-default NAV_DLL_ACT 0
|
||||
param set-default NAV_LOITER_RAD 100
|
||||
|
||||
param set-default PWM_AUX_DISARMED 950
|
||||
|
||||
param set-default PWM_MAIN_DIS5 1500
|
||||
param set-default PWM_MAIN_DIS6 1500
|
||||
param set-default PWM_MAIN_DIS7 900
|
||||
param set-default PWM_MAIN_DIS8 900
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default SENS_BOARD_ROT 18
|
||||
|
||||
# TELEM2 config
|
||||
@@ -150,10 +143,33 @@ param set-default VT_TRANS_TIMEOUT 22
|
||||
param set-default VT_F_TRANS_RAMP 4
|
||||
|
||||
param set-default COM_RC_OVERRIDE 0
|
||||
set MAV_TYPE 22
|
||||
|
||||
|
||||
# MAIN
|
||||
set MIXER deltaquad
|
||||
set MIXER_AUX pass
|
||||
param set-default PWM_MAIN_MIN1 1100
|
||||
param set-default PWM_MAIN_MIN2 1100
|
||||
param set-default PWM_MAIN_MIN3 1100
|
||||
param set-default PWM_MAIN_MIN4 1100
|
||||
|
||||
set PWM_OUT 1234
|
||||
set PWM_AUX_OUT 12345
|
||||
param set-default PWM_MAIN_MAX1 1900
|
||||
param set-default PWM_MAIN_MAX2 1900
|
||||
param set-default PWM_MAIN_MAX3 1900
|
||||
param set-default PWM_MAIN_MAX4 1900
|
||||
|
||||
param set-default PWM_MAIN_RATE1 400
|
||||
param set-default PWM_MAIN_RATE2 400
|
||||
param set-default PWM_MAIN_RATE3 400
|
||||
param set-default PWM_MAIN_RATE4 400
|
||||
|
||||
param set-default PWM_MAIN_DIS1 900
|
||||
param set-default PWM_MAIN_DIS2 900
|
||||
param set-default PWM_MAIN_DIS3 900
|
||||
param set-default PWM_MAIN_DIS4 900
|
||||
param set-default PWM_MAIN_DIS5 1500 # left elevon
|
||||
param set-default PWM_MAIN_DIS6 1500 # right elevon
|
||||
param set-default PWM_MAIN_DIS7 900 # pusher
|
||||
param set-default PWM_MAIN_DIS8 900 # reverse thrust
|
||||
|
||||
# AUX
|
||||
set MIXER_AUX pass
|
||||
|
||||
@@ -17,57 +17,58 @@
|
||||
# @output MAIN8 motor 4
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
param set-default BAT_N_CELLS 6
|
||||
|
||||
param set-default FW_AIRSPD_MAX 30
|
||||
param set-default FW_AIRSPD_MIN 19
|
||||
param set-default FW_AIRSPD_TRIM 23
|
||||
param set-default FW_AIRSPD_MAX 30
|
||||
param set-default FW_AIRSPD_MIN 19
|
||||
param set-default FW_AIRSPD_TRIM 23
|
||||
param set-default FW_L1_R_SLEW_MAX 40
|
||||
param set-default FW_LND_EARLYCFG 1
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_I 0.1
|
||||
param set-default FW_PSP_OFF 3
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_I 0.1
|
||||
param set-default FW_PSP_OFF 3
|
||||
param set-default FW_P_LIM_MAX 18
|
||||
param set-default FW_P_LIM_MIN -25
|
||||
param set-default FW_RLL_TO_YAW_FF 0.1
|
||||
param set-default FW_RR_I 0.1
|
||||
param set-default FW_RR_P 0.08
|
||||
param set-default FW_RLL_TO_YAW_FF 0.1
|
||||
param set-default FW_RR_I 0.1
|
||||
param set-default FW_RR_P 0.08
|
||||
param set-default FW_R_LIM 45
|
||||
param set-default FW_R_RMAX 50
|
||||
param set-default FW_R_RMAX 50
|
||||
param set-default FW_THR_CRUISE 0.65
|
||||
param set-default FW_THR_MIN 0.3
|
||||
param set-default FW_THR_SLEW_MAX 0.6
|
||||
param set-default FW_T_HRATE_FF 0
|
||||
param set-default FW_T_SINK_MAX 15
|
||||
param set-default FW_T_SINK_MIN 3
|
||||
param set-default FW_YR_I 0.1
|
||||
param set-default FW_YR_P 0.15
|
||||
param set-default FW_T_SINK_MAX 15
|
||||
param set-default FW_T_SINK_MIN 3
|
||||
param set-default FW_YR_I 0.1
|
||||
param set-default FW_YR_P 0.15
|
||||
|
||||
param set-default IMU_GYRO_CUTOFF 40
|
||||
|
||||
param set-default IMU_DGYRO_CUTOFF 15
|
||||
param set-default MC_PITCHRATE_I 0.2
|
||||
param set-default MC_PITCHRATE_I 0.2
|
||||
param set-default MC_PITCHRATE_MAX 60
|
||||
param set-default MC_ROLLRATE_I 0.2
|
||||
param set-default MC_ROLLRATE_I 0.2
|
||||
param set-default MC_ROLLRATE_MAX 60
|
||||
param set-default MC_YAWRATE_I 0.15
|
||||
param set-default MC_YAWRATE_MAX 40
|
||||
param set-default MC_YAWRATE_P 0.3
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default MPC_ACC_DOWN_MAX 2
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_ACC_UP_MAX 3
|
||||
param set-default MPC_ACC_DOWN_MAX 2
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_ACC_UP_MAX 3
|
||||
param set-default MC_AIRMODE 1
|
||||
param set-default MPC_JERK_AUTO 4
|
||||
param set-default MPC_JERK_AUTO 4
|
||||
param set-default MPC_LAND_SPEED 1
|
||||
param set-default MPC_MAN_TILT_MAX 25
|
||||
param set-default MPC_MAN_Y_MAX 40
|
||||
@@ -76,7 +77,7 @@ param set-default MPC_SPOOLUP_TIME 1.5
|
||||
param set-default MPC_THR_HOVER 0.45
|
||||
param set-default MPC_TILTMAX_AIR 25
|
||||
param set-default MPC_TKO_RAMP_T 1.8
|
||||
param set-default MPC_TKO_SPEED 1
|
||||
param set-default MPC_TKO_SPEED 1
|
||||
param set-default MPC_VEL_MANUAL 3
|
||||
param set-default MPC_XY_CRUISE 3
|
||||
param set-default MPC_XY_VEL_MAX 3.5
|
||||
@@ -84,11 +85,7 @@ param set-default MPC_YAWRAUTO_MAX 40
|
||||
param set-default MPC_Z_VEL_MAX_DN 1.5
|
||||
param set-default MPC_Z_VEL_MAX_UP 2
|
||||
|
||||
param set-default NAV_ACC_RAD 3
|
||||
|
||||
param set-default PWM_MAIN_DIS3 1000
|
||||
param set-default PWM_MAIN_MIN3 1120
|
||||
param set-default PWM_MAIN_MIN 950
|
||||
param set-default NAV_ACC_RAD 3
|
||||
|
||||
param set-default SENS_BOARD_ROT 4
|
||||
|
||||
@@ -106,10 +103,28 @@ param set-default VT_PSHER_RMP_DT 2
|
||||
param set-default VT_TRANS_MIN_TM 4
|
||||
param set-default VT_TYPE 2
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
# MAIN
|
||||
set MIXER babyshark
|
||||
set MIXER_AUX pass
|
||||
param set-default PWM_MAIN_MIN5 1100
|
||||
param set-default PWM_MAIN_MIN6 1100
|
||||
param set-default PWM_MAIN_MIN7 1120
|
||||
param set-default PWM_MAIN_MIN8 1100
|
||||
|
||||
set PWM_OUT 5678
|
||||
set PWM_AUX_OUT 1234
|
||||
param set-default PWM_MAIN_MAX5 1900
|
||||
param set-default PWM_MAIN_MAX6 1900
|
||||
param set-default PWM_MAIN_MAX7 1900
|
||||
param set-default PWM_MAIN_MAX8 1900
|
||||
|
||||
param set-default PWM_MAIN_RATE5 400
|
||||
param set-default PWM_MAIN_RATE6 400
|
||||
param set-default PWM_MAIN_RATE7 400
|
||||
param set-default PWM_MAIN_RATE8 400
|
||||
|
||||
param set-default PWM_MAIN_DIS1 1500
|
||||
param set-default PWM_MAIN_DIS2 1500
|
||||
param set-default PWM_MAIN_DIS3 900 # pusher
|
||||
param set-default PWM_MAIN_DIS4 1500
|
||||
param set-default PWM_MAIN_DIS5 900
|
||||
param set-default PWM_MAIN_DIS6 900
|
||||
param set-default PWM_MAIN_DIS7 900
|
||||
param set-default PWM_MAIN_DIS8 900
|
||||
|
||||
@@ -0,0 +1,53 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Generic Quadplane VTOL (PWM14)
|
||||
#
|
||||
# @type Standard VTOL
|
||||
# @class VTOL
|
||||
#
|
||||
# @maintainer
|
||||
#
|
||||
# @output MAIN1 motor 1
|
||||
# @output MAIN2 motor 2
|
||||
# @output MAIN3 motor 3
|
||||
# @output MAIN4 motor 4
|
||||
# @output MAIN5 Aileron 1
|
||||
# @output MAIN6 Aileron 2
|
||||
# @output MAIN7 Elevator
|
||||
# @output MAIN8 Rudder
|
||||
# @output MAIN9 Pusher motor
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 1234
|
||||
|
||||
# MAIN
|
||||
set MIXER quad_x_vtol_AAERT
|
||||
param set-default PWM_MAIN_MIN1 1100
|
||||
param set-default PWM_MAIN_MIN2 1100
|
||||
param set-default PWM_MAIN_MIN3 1100
|
||||
param set-default PWM_MAIN_MIN4 1100
|
||||
|
||||
param set-default PWM_MAIN_MAX1 1900
|
||||
param set-default PWM_MAIN_MAX2 1900
|
||||
param set-default PWM_MAIN_MAX3 1900
|
||||
param set-default PWM_MAIN_MAX4 1900
|
||||
|
||||
param set-default PWM_MAIN_DIS1 900
|
||||
param set-default PWM_MAIN_DIS2 900
|
||||
param set-default PWM_MAIN_DIS3 900
|
||||
param set-default PWM_MAIN_DIS4 900
|
||||
param set-default PWM_MAIN_DIS5 1500
|
||||
param set-default PWM_MAIN_DIS6 1500
|
||||
param set-default PWM_MAIN_DIS7 1500
|
||||
param set-default PWM_MAIN_DIS8 1500
|
||||
param set-default PWM_MAIN_DIS9 900
|
||||
@@ -1,41 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Generic Quadplane VTOL Tiltrotor
|
||||
#
|
||||
# @type VTOL Tiltrotor
|
||||
# @class VTOL
|
||||
#
|
||||
# @maintainer
|
||||
#
|
||||
# @output MAIN1 motor 1
|
||||
# @output MAIN2 motor 2
|
||||
# @output MAIN3 motor 3
|
||||
# @output MAIN4 motor 4
|
||||
# @output AUX1 Motor tilt front left
|
||||
# @output AUX2 Motor tilt front right
|
||||
# @output AUX3 Motor tilt rear left
|
||||
# @output AUX4 Motor tilt rear right
|
||||
# @output AUX5 Aileron left
|
||||
# @output AUX6 Aileron right
|
||||
# @output AUX7 Elevator
|
||||
# @output AUX8 Rudder
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default VT_IDLE_PWM_MC 1100
|
||||
param set-default VT_TYPE 1
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_FW_MOT_OFFID 24
|
||||
set MAV_TYPE 21
|
||||
|
||||
set MIXER quad_x
|
||||
set MIXER_AUX vtol_TTTTAAER
|
||||
|
||||
set PWM_OUT 1234
|
||||
@@ -20,21 +20,25 @@
|
||||
# @output AUX5 Throttle
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_octo_defaults
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_AUX_DIS5 950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
set MAV_TYPE 22
|
||||
|
||||
param set-default VT_TYPE 2
|
||||
param set-default VT_MOT_ID 12345678
|
||||
param set-default VT_FW_MOT_OFFID 12345678
|
||||
set MAV_TYPE 22
|
||||
|
||||
set MIXER octo_cox
|
||||
# MAIN set by rc.mc_octo_defaults
|
||||
|
||||
# AUX
|
||||
set MIXER_AUX vtol_AAERT
|
||||
|
||||
set PWM_OUT 12345678
|
||||
param set-default PWM_AUX_DIS1 1500
|
||||
param set-default PWM_AUX_DIS2 1500
|
||||
param set-default PWM_AUX_DIS3 1500
|
||||
param set-default PWM_AUX_DIS4 1500
|
||||
param set-default PWM_AUX_DIS5 900 # throttle
|
||||
|
||||
@@ -13,18 +13,32 @@
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_MOT_COUNT 2
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
param set-default MAV_TYPE 19
|
||||
|
||||
param set-default PWM_MAIN_MIN1 1100
|
||||
param set-default PWM_MAIN_MIN2 1100
|
||||
|
||||
param set-default PWM_MAIN_MAX1 1900
|
||||
param set-default PWM_MAIN_MAX2 1900
|
||||
|
||||
param set-default PWM_MAIN_RATE1 400
|
||||
param set-default PWM_MAIN_RATE2 400
|
||||
|
||||
param set-default PWM_MAIN_DIS1 900
|
||||
param set-default PWM_MAIN_DIS2 900
|
||||
param set-default PWM_MAIN_DIS5 1500 # right elevon
|
||||
param set-default PWM_MAIN_DIS6 1500 # left elevon
|
||||
|
||||
|
||||
set MAV_TYPE 19
|
||||
set MIXER vtol_tailsitter_duo
|
||||
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -12,6 +12,7 @@
|
||||
#
|
||||
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
|
||||
#
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -19,4 +20,22 @@
|
||||
|
||||
set MIXER tri_y_yaw+
|
||||
|
||||
set PWM_OUT 1234
|
||||
param set-default PWM_MAIN_MIN1 1100
|
||||
param set-default PWM_MAIN_MIN2 1100
|
||||
param set-default PWM_MAIN_MIN3 1100
|
||||
param set-default PWM_MAIN_MIN4 1000
|
||||
|
||||
param set-default PWM_MAIN_MAX1 1900
|
||||
param set-default PWM_MAIN_MAX2 1900
|
||||
param set-default PWM_MAIN_MAX3 1900
|
||||
param set-default PWM_MAIN_MAX4 2000
|
||||
|
||||
param set-default PWM_MAIN_RATE1 400
|
||||
param set-default PWM_MAIN_RATE2 400
|
||||
param set-default PWM_MAIN_RATE3 400
|
||||
param set-default PWM_MAIN_RATE4 50
|
||||
|
||||
param set-default PWM_MAIN_DIS1 900
|
||||
param set-default PWM_MAIN_DIS2 900
|
||||
param set-default PWM_MAIN_DIS3 900
|
||||
param set-default PWM_MAIN_DIS4 1500
|
||||
|
||||
@@ -12,6 +12,7 @@
|
||||
#
|
||||
# @maintainer Trent Lukaczyk <aerialhedgehog@gmail.com>
|
||||
#
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -19,4 +20,22 @@
|
||||
|
||||
set MIXER tri_y_yaw-
|
||||
|
||||
set PWM_OUT 1234
|
||||
param set-default PWM_MAIN_MIN1 1100
|
||||
param set-default PWM_MAIN_MIN2 1100
|
||||
param set-default PWM_MAIN_MIN3 1100
|
||||
param set-default PWM_MAIN_MIN4 1000
|
||||
|
||||
param set-default PWM_MAIN_MAX1 1900
|
||||
param set-default PWM_MAIN_MAX2 1900
|
||||
param set-default PWM_MAIN_MAX3 1900
|
||||
param set-default PWM_MAIN_MAX4 2000
|
||||
|
||||
param set-default PWM_MAIN_RATE1 400
|
||||
param set-default PWM_MAIN_RATE2 400
|
||||
param set-default PWM_MAIN_RATE3 400
|
||||
param set-default PWM_MAIN_RATE4 50
|
||||
|
||||
param set-default PWM_MAIN_DIS1 900
|
||||
param set-default PWM_MAIN_DIS2 900
|
||||
param set-default PWM_MAIN_DIS3 900
|
||||
param set-default PWM_MAIN_DIS4 1500
|
||||
|
||||
@@ -13,12 +13,13 @@
|
||||
# @maintainer Emmanuel Roussel
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
set MIXER coax
|
||||
|
||||
set MIXER coax
|
||||
|
||||
param set-default MC_ROLL_P 6.5
|
||||
param set-default MC_ROLLRATE_P 0.17
|
||||
@@ -38,17 +39,5 @@ param set-default MC_YAWRATE_FF 0
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set-default PWM_MAIN_DISARM 900
|
||||
param set-default PWM_MAIN_MIN 1075
|
||||
param set-default PWM_MAIN_MAX 1950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default RTL_RETURN_ALT 30
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
# This is the gimbal pass mixer
|
||||
set MIXER_AUX pass
|
||||
|
||||
# use PWM parameters for throttle channel
|
||||
set PWM_AUX_OUT 1234
|
||||
set PWM_OUT 34
|
||||
|
||||
@@ -14,6 +14,7 @@
|
||||
# @output MAIN5 tail-rotor servo
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -24,11 +25,6 @@ set MAV_TYPE 4
|
||||
|
||||
set MIXER blade130
|
||||
|
||||
#set PWM_OUT 1234
|
||||
|
||||
|
||||
param set-default ATT_BIAS_MAX 0
|
||||
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
param set-default MC_ROLL_P 5
|
||||
@@ -53,5 +49,3 @@ param set-default MC_ACRO_P_MAX 360
|
||||
|
||||
param set-default MPC_THR_MIN 0.06
|
||||
param set-default MPC_MANTHR_MIN 0.06
|
||||
|
||||
param set-default PWM_MAIN_MIN 1075
|
||||
|
||||
@@ -20,18 +20,15 @@
|
||||
# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
param set-default BAT_CAPACITY 2500
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set-default PWM_MAIN_RATE 50
|
||||
|
||||
param set-default SENS_BOARD_ROT 8
|
||||
|
||||
param set-default FW_AIRSPD_MAX 20
|
||||
@@ -46,5 +43,6 @@ param set-default FW_R_LIM 40
|
||||
param set-default FW_P_LIM_MAX 25
|
||||
param set-default FW_P_LIM_MIN -5
|
||||
param set-default FW_P_RMAX_NEG 20
|
||||
|
||||
set MIXER TF-AutoG2
|
||||
set MIXER_AUX pass
|
||||
|
||||
@@ -15,18 +15,15 @@
|
||||
# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
|
||||
param set-default BAT_CAPACITY 3300
|
||||
param set-default BAT_N_CELLS 3
|
||||
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set-default PWM_MAIN_RATE 50
|
||||
|
||||
param set-default SENS_BOARD_ROT 4
|
||||
|
||||
param set-default FW_AIRSPD_MAX 20
|
||||
@@ -41,5 +38,6 @@ param set-default FW_R_LIM 40
|
||||
param set-default FW_P_LIM_MAX 25
|
||||
param set-default FW_P_LIM_MIN -5
|
||||
param set-default FW_P_RMAX_NEG 20
|
||||
|
||||
set MIXER TF-G2
|
||||
set MIXER_AUX pass
|
||||
|
||||
@@ -10,12 +10,12 @@
|
||||
# @maintainer ThunderFly s.r.o.
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.balloon_defaults
|
||||
|
||||
|
||||
param set-default COM_PREARM_MODE 2 # always in prearm state
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
param set-default SDLOG_PROFILE 17
|
||||
@@ -26,8 +26,8 @@ param set-default GPS_UBX_DYNMODEL 8
|
||||
param set-default SER_TEL2_BAUD 9600
|
||||
|
||||
param set-default SENS_BOARD_ROT 0
|
||||
param set MAV_TYPE 8 # MAV_TYPE_FREE_BALLOON
|
||||
|
||||
param set-default MAV_TYPE 8 # MAV_TYPE_FREE_BALLOON
|
||||
|
||||
set MIXER IO_pass
|
||||
set MIXER_AUX pass
|
||||
|
||||
@@ -18,15 +18,12 @@
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set-default PWM_MAIN_RATE 50
|
||||
|
||||
set MIXER AETRFG
|
||||
|
||||
# Rate must be set by group (see pwm info).
|
||||
# Throttle is in the same group as servos.
|
||||
param set-default PWM_MAIN_DIS3 900
|
||||
|
||||
@@ -20,6 +20,7 @@
|
||||
# @maintainer Andreas Antener <andreas@uaventure.com>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -39,11 +40,7 @@ param set-default FW_WR_IMAX 0.8
|
||||
param set-default FW_WR_P 1
|
||||
param set-default FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set-default PWM_MAIN_DISARM 1000
|
||||
|
||||
|
||||
set MIXER AAERTWF
|
||||
|
||||
# use PWM parameters for throttle channel
|
||||
set PWM_OUT 5
|
||||
param set-default PWM_MAIN_DIS5 1000
|
||||
|
||||
@@ -20,6 +20,7 @@
|
||||
#
|
||||
# @maintainer Andreas Antener <andreas@uaventure.com>
|
||||
#
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -39,11 +40,7 @@ param set-default FW_WR_IMAX 0.8
|
||||
param set-default FW_WR_P 1
|
||||
param set-default FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set-default PWM_MAIN_DISARM 1000
|
||||
|
||||
|
||||
set MIXER AAVVTWFF
|
||||
|
||||
# use PWM parameters for throttle channel
|
||||
set PWM_OUT 5
|
||||
param set-default PWM_MAIN_DIS5 1000
|
||||
|
||||
@@ -1,54 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name ASL_EasyGlider
|
||||
#
|
||||
# @type Standard Plane
|
||||
# @class Plane
|
||||
#
|
||||
# @output MAIN1 aileron
|
||||
# @output MAIN2 aileron
|
||||
# @output MAIN3 elevator
|
||||
# @output MAIN4 rudder
|
||||
# @output MAIN5 throttle
|
||||
# @output MAIN6 wheel
|
||||
# @output MAIN7 flaps
|
||||
#
|
||||
# @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 Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MIN 10
|
||||
param set FW_AIRSPD_TRIM 15
|
||||
param set FW_AIRSPD_MAX 20
|
||||
|
||||
param set FW_MAN_P_MAX 45
|
||||
param set FW_MAN_R_MAX 45
|
||||
param set FW_R_LIM 45
|
||||
|
||||
param set FW_WR_FF 0.2
|
||||
param set FW_WR_I 0.2
|
||||
param set FW_WR_IMAX 0.8
|
||||
param set FW_WR_P 1
|
||||
param set FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set PWM_DISARMED 1000
|
||||
|
||||
param set-default SENS_EN_ADIS164X 1
|
||||
param set SENS_EN_ADIS164X 4
|
||||
fi
|
||||
|
||||
set MIXER asl_easyglider
|
||||
|
||||
# use PWM parameters for throttle channel
|
||||
set PWM_OUT 5
|
||||
@@ -1,52 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name ASL_Techpod
|
||||
#
|
||||
# @type Plane A-Tail
|
||||
# @class Plane
|
||||
#
|
||||
# @output MAIN1 aileron right
|
||||
# @output MAIN2 aileron left
|
||||
# @output MAIN3 v-tail right
|
||||
# @output MAIN4 v-tail left
|
||||
# @output MAIN5 throttle
|
||||
# @output MAIN6 wheel
|
||||
# @output MAIN7 flaps right
|
||||
# @output MAIN8 flaps left
|
||||
#
|
||||
# @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 Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MIN 10
|
||||
param set FW_AIRSPD_TRIM 15
|
||||
param set FW_AIRSPD_MAX 20
|
||||
|
||||
param set FW_MAN_P_MAX 55
|
||||
param set FW_MAN_R_MAX 55
|
||||
param set FW_R_LIM 55
|
||||
|
||||
param set FW_WR_FF 0.2
|
||||
param set FW_WR_I 0.2
|
||||
param set FW_WR_IMAX 0.8
|
||||
param set FW_WR_P 1
|
||||
param set FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER asl_techpod
|
||||
|
||||
# use PWM parameters for throttle channel
|
||||
set PWM_OUT 5
|
||||
@@ -1,52 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name ASL_SenseSoar2
|
||||
#
|
||||
# @type Plane A-Tail
|
||||
# @class Plane
|
||||
#
|
||||
# @output MAIN1 aileron right
|
||||
# @output MAIN2 aileron left
|
||||
# @output MAIN3 v-tail right
|
||||
# @output MAIN4 v-tail left
|
||||
# @output MAIN5 throttle
|
||||
# @output MAIN6 wheel
|
||||
# @output MAIN7 flaps right
|
||||
# @output MAIN8 flaps left
|
||||
#
|
||||
# @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 Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
param set FW_AIRSPD_MIN 12
|
||||
param set FW_AIRSPD_TRIM 15
|
||||
param set FW_AIRSPD_MAX 20
|
||||
|
||||
param set FW_MAN_P_MAX 45
|
||||
param set FW_MAN_R_MAX 45
|
||||
param set FW_R_LIM 55
|
||||
|
||||
param set FW_WR_FF 0.2
|
||||
param set FW_WR_I 0.2
|
||||
param set FW_WR_IMAX 0.8
|
||||
param set FW_WR_P 1
|
||||
param set FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set PWM_DISARMED 1000
|
||||
fi
|
||||
|
||||
set MIXER asl_sensoar2
|
||||
|
||||
# use PWM parameters for throttle channel
|
||||
set PWM_OUT 5
|
||||
@@ -1,54 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Autonomous Systems Lab, ETH Zurich Believer
|
||||
#
|
||||
# @type Plane V-Tail
|
||||
# @class Plane
|
||||
#
|
||||
# @output MAIN1 aileron right
|
||||
# @output MAIN2 aileron left
|
||||
# @output MAIN3 v-tail right
|
||||
# @output MAIN4 v-tail left
|
||||
# @output MAIN5 throttle
|
||||
# @output MAIN6 wheel
|
||||
# @output MAIN7 flaps right
|
||||
# @output MAIN8 flaps left
|
||||
#
|
||||
# @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 Jaeyoung Lim <jalim@ethz.ch>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_AIRSPD_MIN 10
|
||||
param set-default FW_AIRSPD_TRIM 15
|
||||
param set-default FW_AIRSPD_MAX 20
|
||||
|
||||
param set-default FW_MAN_P_MAX 55
|
||||
param set-default FW_MAN_R_MAX 55
|
||||
param set-default FW_R_LIM 55
|
||||
|
||||
param set-default FW_WR_FF 0.2
|
||||
param set-default FW_WR_I 0.2
|
||||
param set-default FW_WR_IMAX 0.8
|
||||
param set-default FW_WR_P 1
|
||||
param set-default FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set-default PWM_MAIN_DISARM 1500
|
||||
param set-default PWM_MAIN_DIS5 900
|
||||
param set-default PWM_MAIN_DIS6 900
|
||||
|
||||
# The Mini Talon does not have a wheel and
|
||||
# no flaps. I leave them here because the mixer
|
||||
# computes also wheel and flap controls.
|
||||
set MIXER AAVVTTFF_vtail
|
||||
|
||||
# use PWM parameters for throttle channel
|
||||
set PWM_OUT 56
|
||||
@@ -21,6 +21,7 @@
|
||||
# @maintainer Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -40,13 +41,10 @@ param set-default FW_WR_IMAX 0.8
|
||||
param set-default FW_WR_P 1
|
||||
param set-default FW_W_RMAX 0
|
||||
|
||||
# set disarmed value for the ESC
|
||||
param set-default PWM_MAIN_DISARM 1000
|
||||
|
||||
# The Mini Talon does not have a wheel and
|
||||
# no flaps. I leave them here because the mixer
|
||||
# computes also wheel and flap controls.
|
||||
set MIXER AAVVTWFF_vtail
|
||||
|
||||
# use PWM parameters for throttle channel
|
||||
set PWM_OUT 5
|
||||
param set-default PWM_MAIN_DIS5 1000
|
||||
|
||||
@@ -22,28 +22,74 @@
|
||||
# @maintainer Ian McNanie <ianmcnanie@gmail.com>
|
||||
# @maintainer William Peale <develop707@gmail.com>
|
||||
#
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
set VEHICLE_TYPE mc
|
||||
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
param set-default PWM_AUX_RATE 400
|
||||
param set-default PWM_AUX_DISARMED 900
|
||||
param set-default PWM_AUX_MIN 1075
|
||||
param set-default PWM_AUX_MAX 1950
|
||||
|
||||
param set-default PWM_MAIN_MIN 1075
|
||||
param set-default PWM_MAIN_MAX 1950
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set-default RTL_RETURN_ALT 30
|
||||
|
||||
# MAIN
|
||||
param set-default PWM_MAIN_MIN1 1100
|
||||
param set-default PWM_MAIN_MIN2 1100
|
||||
param set-default PWM_MAIN_MIN3 1100
|
||||
param set-default PWM_MAIN_MIN4 1100
|
||||
param set-default PWM_MAIN_MIN5 1100
|
||||
param set-default PWM_MAIN_MIN6 1100
|
||||
|
||||
param set-default PWM_MAIN_MAX1 1900
|
||||
param set-default PWM_MAIN_MAX2 1900
|
||||
param set-default PWM_MAIN_MAX3 1900
|
||||
param set-default PWM_MAIN_MAX4 1900
|
||||
param set-default PWM_MAIN_MAX5 1900
|
||||
param set-default PWM_MAIN_MAX6 1900
|
||||
|
||||
param set-default PWM_MAIN_RATE1 400
|
||||
param set-default PWM_MAIN_RATE2 400
|
||||
param set-default PWM_MAIN_RATE3 400
|
||||
param set-default PWM_MAIN_RATE4 400
|
||||
param set-default PWM_MAIN_RATE5 400
|
||||
param set-default PWM_MAIN_RATE6 400
|
||||
|
||||
param set-default PWM_MAIN_DIS1 900
|
||||
param set-default PWM_MAIN_DIS2 900
|
||||
param set-default PWM_MAIN_DIS3 900
|
||||
param set-default PWM_MAIN_DIS4 900
|
||||
param set-default PWM_MAIN_DIS5 900
|
||||
param set-default PWM_MAIN_DIS6 900
|
||||
|
||||
# AUX
|
||||
param set-default PWM_AUX_MIN1 1100
|
||||
param set-default PWM_AUX_MIN2 1100
|
||||
param set-default PWM_AUX_MIN3 1100
|
||||
param set-default PWM_AUX_MIN4 1100
|
||||
param set-default PWM_AUX_MIN5 1100
|
||||
param set-default PWM_AUX_MIN6 1100
|
||||
|
||||
param set-default PWM_AUX_MAX1 1900
|
||||
param set-default PWM_AUX_MAX2 1900
|
||||
param set-default PWM_AUX_MAX3 1900
|
||||
param set-default PWM_AUX_MAX4 1900
|
||||
param set-default PWM_AUX_MAX5 1900
|
||||
param set-default PWM_AUX_MAX6 1900
|
||||
|
||||
param set-default PWM_AUX_RATE1 400
|
||||
param set-default PWM_AUX_RATE2 400
|
||||
param set-default PWM_AUX_RATE3 400
|
||||
param set-default PWM_AUX_RATE4 400
|
||||
param set-default PWM_AUX_RATE5 400
|
||||
param set-default PWM_AUX_RATE6 400
|
||||
|
||||
param set-default PWM_AUX_DIS1 900
|
||||
param set-default PWM_AUX_DIS2 900
|
||||
param set-default PWM_AUX_DIS3 900
|
||||
param set-default PWM_AUX_DIS4 900
|
||||
param set-default PWM_AUX_DIS5 900
|
||||
param set-default PWM_AUX_DIS6 900
|
||||
|
||||
set MIXER dodeca_top_cox
|
||||
set MIXER_AUX dodeca_bottom_cox
|
||||
|
||||
# Need to set all 8 channels
|
||||
set PWM_OUT 12345678
|
||||
set PWM_AUX_OUT 123456
|
||||
|
||||
@@ -10,6 +10,7 @@
|
||||
# @output MAIN4 tail thruster
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -18,6 +19,4 @@
|
||||
param set-default COM_PREARM_MODE 2
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
|
||||
set MIXER cloudship
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -15,9 +15,12 @@
|
||||
#
|
||||
# @maintainer
|
||||
#
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
set MIXER fw_generic_wing
|
||||
|
||||
param set-default PWM_MAIN_DIS4 1000
|
||||
|
||||
@@ -9,13 +9,10 @@
|
||||
# @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 intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -41,10 +38,8 @@ param set-default FW_RR_FF 0.6
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
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
|
||||
param set-default PWM_MAIN_DIS4 1000
|
||||
|
||||
@@ -11,13 +11,10 @@
|
||||
# @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 intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
@@ -42,8 +39,6 @@ param set-default FW_RR_P 0.08
|
||||
param set-default FW_R_LIM 50
|
||||
param set-default FW_R_RMAX 50
|
||||
|
||||
param set-default PWM_MAIN_DISARM 1000
|
||||
|
||||
# Bottom of bay and nominal zero-pitch attitude differ
|
||||
# the payload bay is pitched up about 7 degrees
|
||||
param set-default SENS_BOARD_Y_OFF 7
|
||||
@@ -51,5 +46,5 @@ param set-default SENS_BOARD_Y_OFF 7
|
||||
|
||||
set MIXER phantom
|
||||
|
||||
# Provide ESC a constant 1000 us pulse
|
||||
set PWM_OUT 4
|
||||
# Provide ESC a constant 1000 us pulse while disarmed
|
||||
param set-default PWM_MAIN_DIS4 1000
|
||||
|
||||
@@ -16,6 +16,7 @@
|
||||
# @maintainer Julian Oes <julian@px4.io>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board intel_aerofc-v1 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user