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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-11 13:20:04 +08:00
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1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
70b507f980 |
@@ -105,6 +105,3 @@ src/modules/simulator/simulator_config.h
|
||||
src/systemcmds/topic_listener/listener_generated.cpp
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||||
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!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
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# colcon
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log/
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||||
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+1
-1
@@ -256,7 +256,7 @@ endif()
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set(package-contact "px4users@googlegroups.com")
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_C_STANDARD 11)
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set(CMAKE_C_STANDARD_REQUIRED ON)
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@@ -104,9 +104,8 @@ These boards fully comply with Pixhawk Standard, and are maintained by the PX4-A
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These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
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* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
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* [CubePilot Cube Orange+](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orangeplus.html)
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* [CubePilot Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
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* [CubePilot Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
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* [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
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* [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
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* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
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* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
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* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
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+5
-18
@@ -137,6 +137,11 @@ add_custom_command(
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COMMENT "ROMFS: copying, generating airframes"
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)
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if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
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set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
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configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
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endif()
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# copy extras into ROMFS
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set(extras_dependencies)
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@@ -203,24 +208,6 @@ endforeach()
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set(OPTIONAL_BOARD_EXTRAS)
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file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
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# bootloader (optional)
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# - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
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# - otherwise remove bootloader binary from extras in final ROMFS
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foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
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file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
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if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
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if(CONFIG_SYSTEMCMDS_BL_UPDATE)
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# generate rc.board_bootloader_upgrade
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set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
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configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
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else()
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# remove bootloader from extras
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list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
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endif()
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endif()
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endforeach()
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foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
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if(EXISTS "${board_extra_file}")
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@@ -11,8 +11,6 @@
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PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
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param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
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param set-default SENS_EN_GPSSIM 1
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param set-default SENS_EN_BAROSIM 1
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param set-default SENS_EN_MAGSIM 1
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@@ -9,8 +9,6 @@
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param set-default MAV_TYPE 20
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param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
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param set-default CA_AIRFRAME 4
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param set-default CA_ROTOR_COUNT 4
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@@ -17,8 +17,6 @@
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. ${R}etc/init.d/rc.vtol_defaults
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param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
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param set UAVCAN_ENABLE 0
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param set-default VT_ELEV_MC_LOCK 0
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param set-default VT_MOT_COUNT 2
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@@ -12,8 +12,6 @@
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. ${R}etc/init.d/rc.vtol_defaults
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param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
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param set-default CA_AIRFRAME 4
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param set-default CA_ROTOR_COUNT 2
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param set-default CA_ROTOR0_KM -0.05
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@@ -7,7 +7,7 @@ import os
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class JsonOutput():
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def __init__(self, groups):
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all_json = {}
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all_json['version'] = 2
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all_json['version'] = 1
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component = {}
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all_json['components'] = {1: component} #1: autopilot component
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Submodule Tools/simulation/gazebo-classic/sitl_gazebo-classic updated: 1c5818e56c...e3722bf913
@@ -35,20 +35,7 @@ function spawn_model() {
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pushd "$working_dir" &>/dev/null
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echo "starting instance $N in $(pwd)"
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$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &
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set --
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set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py
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set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja
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set -- ${@} ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
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set -- ${@} --mavlink_tcp_port $((4560+${N}))
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set -- ${@} --mavlink_udp_port $((14560+${N}))
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set -- ${@} --mavlink_id $((1+${N}))
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set -- ${@} --gst_udp_port $((5600+${N}))
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set -- ${@} --video_uri $((5600+${N}))
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set -- ${@} --mavlink_cam_udp_port $((14530+${N}))
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set -- ${@} --output-file /tmp/${MODEL}_${N}.sdf
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python3 ${@}
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python3 ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
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echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
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||||
@@ -119,7 +106,7 @@ if [ -z ${SCRIPT} ]; then
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fi
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while [ $n -lt $num_vehicles ]; do
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spawn_model ${vehicle_model} $(($n + 1))
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spawn_model ${vehicle_model} $n
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n=$(($n + 1))
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done
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else
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@@ -140,7 +127,7 @@ else
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m=0
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while [ $m -lt ${target_number} ]; do
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export PX4_SIM_MODEL=gazebo-classic_${target_vehicle}
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spawn_model ${target_vehicle}${LABEL} $(($n + 1)) $target_x $target_y
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spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
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m=$(($m + 1))
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n=$(($n + 1))
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done
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@@ -209,6 +209,7 @@
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<link name="left_elevon">
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@@ -637,6 +638,7 @@
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
|
||||
<joint name="RightWheelJoint" type="revolute">
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@@ -653,6 +655,7 @@
|
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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||||
</joint>
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||||
<joint name="CenterWheelJoint" type="revolute">
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@@ -669,6 +672,7 @@
|
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
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@@ -803,7 +807,7 @@
|
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<sub_topic>servo_3</sub_topic>
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<p_gain>10.0</p_gain>
|
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</plugin>
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<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_puller_joint</jointName>
|
||||
<linkName>rotor_puller</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
|
||||
@@ -208,6 +208,7 @@
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='rotor_1'>
|
||||
@@ -271,6 +272,7 @@
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='rotor_2'>
|
||||
@@ -334,6 +336,7 @@
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='rotor_3'>
|
||||
@@ -397,6 +400,7 @@
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
@@ -462,6 +466,7 @@
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
|
||||
@@ -302,6 +302,7 @@
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name="rotor_1">
|
||||
@@ -374,6 +375,7 @@
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name="rotor_2">
|
||||
@@ -446,6 +448,7 @@
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name="rotor_3">
|
||||
@@ -518,9 +521,10 @@
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_0_joint</jointName>
|
||||
<linkName>rotor_0</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
<sdf version='1.9'>
|
||||
<model name='x500-vision'>
|
||||
<include merge='true'>
|
||||
<uri>x500</uri>
|
||||
<uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
|
||||
</include>
|
||||
<plugin
|
||||
filename="gz-sim-odometry-publisher-system"
|
||||
|
||||
@@ -5,22 +5,22 @@
|
||||
<real_time_factor>1.0</real_time_factor>
|
||||
<real_time_update_rate>250</real_time_update_rate>
|
||||
</physics>
|
||||
<plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
|
||||
<plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
|
||||
<plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
|
||||
<plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
|
||||
<plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
|
||||
<plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
|
||||
<plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
|
||||
<plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
|
||||
<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
|
||||
<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
|
||||
<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
|
||||
<plugin name='ignition::gazebo::systems::Imu' filename='ignition-gazebo-imu-system'/>
|
||||
<plugin name='ignition::gazebo::systems::AirPressure' filename='ignition-gazebo-air-pressure-system'/>
|
||||
<plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
|
||||
<render_engine>ogre2</render_engine>
|
||||
</plugin>
|
||||
<gui fullscreen='false'>
|
||||
<plugin name='3D View' filename='GzScene3D'>
|
||||
<gz-gui>
|
||||
<ignition-gui>
|
||||
<title>3D View</title>
|
||||
<property type='bool' key='showTitleBar'>0</property>
|
||||
<property type='string' key='state'>docked</property>
|
||||
</gz-gui>
|
||||
</ignition-gui>
|
||||
<engine>ogre2</engine>
|
||||
<scene>scene</scene>
|
||||
<ambient_light>0.5984631152222222 0.5984631152222222 0.5984631152222222</ambient_light>
|
||||
@@ -28,7 +28,7 @@
|
||||
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
|
||||
</plugin>
|
||||
<plugin name='World control' filename='WorldControl'>
|
||||
<gz-gui>
|
||||
<ignition-gui>
|
||||
<title>World control</title>
|
||||
<property type='bool' key='showTitleBar'>0</property>
|
||||
<property type='bool' key='resizable'>0</property>
|
||||
@@ -40,13 +40,13 @@
|
||||
<line own='left' target='left'/>
|
||||
<line own='bottom' target='bottom'/>
|
||||
</anchors>
|
||||
</gz-gui>
|
||||
</ignition-gui>
|
||||
<play_pause>1</play_pause>
|
||||
<step>1</step>
|
||||
<start_paused>1</start_paused>
|
||||
</plugin>
|
||||
<plugin name='World stats' filename='WorldStats'>
|
||||
<gz-gui>
|
||||
<ignition-gui>
|
||||
<title>World stats</title>
|
||||
<property type='bool' key='showTitleBar'>0</property>
|
||||
<property type='bool' key='resizable'>0</property>
|
||||
@@ -58,7 +58,7 @@
|
||||
<line own='right' target='right'/>
|
||||
<line own='bottom' target='bottom'/>
|
||||
</anchors>
|
||||
</gz-gui>
|
||||
</ignition-gui>
|
||||
<sim_time>1</sim_time>
|
||||
<real_time>1</real_time>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
|
||||
@@ -110,6 +110,10 @@ class PubSub(object):
|
||||
|
||||
log.debug(" ####:{}: {}, {}".format( self._name, route_group, topic_group))
|
||||
|
||||
# # TODO: handle this case... but not sure where, yet
|
||||
# if match == 'ORB_ID_VEHICLE_ATTITUDE_CONTROLS': # special case
|
||||
# match = orb_id+orb_id_vehicle_attitude_controls_topic
|
||||
|
||||
# match has the form: '[ORB_ID(]<topic_name>'
|
||||
if route_group:
|
||||
if route_group == 'ORB_ID':
|
||||
@@ -228,6 +232,9 @@ class Graph(object):
|
||||
|
||||
self._topic_blacklist = set(kwargs.get('topic_blacklist',set()))
|
||||
|
||||
self._orb_id_vehicle_attitude_controls_topic = 'actuator_controls_0'
|
||||
self._orb_id_vehicle_attitude_controls_re = re.compile(r'\#define\s+ORB_ID_VEHICLE_ATTITUDE_CONTROLS\s+([^,)]+)')
|
||||
|
||||
self._warnings = [] # list of all ambiguous scan sites
|
||||
|
||||
self._current_scope = [] # stack with current module (they can be nested)
|
||||
@@ -503,7 +510,18 @@ class Graph(object):
|
||||
elif current_scope.name == 'uorb_tests': # skip this
|
||||
return
|
||||
elif current_scope.name == 'uorb':
|
||||
return # skip this
|
||||
|
||||
# search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
|
||||
matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
|
||||
for match in matches:
|
||||
if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
|
||||
# if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
|
||||
raise Exception(
|
||||
'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
|
||||
'is '+match+' but expected ORB_ID('+
|
||||
self._orb_id_vehicle_attitude_controls_topic)
|
||||
|
||||
return # skip uorb module for the rest
|
||||
|
||||
line_number = 0
|
||||
for full_line in content.splitlines():
|
||||
|
||||
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -13,8 +13,6 @@ CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905=y
|
||||
CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
|
||||
CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
|
||||
|
||||
@@ -13,13 +13,6 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_UAVCANNODE_BEEP_COMMAND=y
|
||||
CONFIG_UAVCANNODE_GNSS_FIX=y
|
||||
CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
|
||||
CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
|
||||
CONFIG_UAVCANNODE_SAFETY_BUTTON=y
|
||||
CONFIG_UAVCANNODE_STATIC_PRESSURE=y
|
||||
CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
|
||||
@@ -13,14 +13,6 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_UAVCANNODE_BEEP_COMMAND=y
|
||||
CONFIG_UAVCANNODE_GNSS_FIX=y
|
||||
CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
|
||||
CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
|
||||
CONFIG_UAVCANNODE_RTK_DATA=y
|
||||
CONFIG_UAVCANNODE_SAFETY_BUTTON=y
|
||||
CONFIG_UAVCANNODE_STATIC_PRESSURE=y
|
||||
CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
|
||||
@@ -9,7 +9,6 @@ CONFIG_DRIVERS_BATT_SMBUS=y
|
||||
CONFIG_DRIVERS_BOOTLOADERS=y
|
||||
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
|
||||
CONFIG_COMMON_DISTANCE_SENSOR=y
|
||||
CONFIG_DRIVERS_DSHOT=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_COMMON_HYGROMETERS=y
|
||||
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
|
||||
@@ -18,27 +17,10 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_UAVCANNODE_ARMING_STATUS=y
|
||||
CONFIG_UAVCANNODE_BEEP_COMMAND=y
|
||||
CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
|
||||
CONFIG_UAVCANNODE_ESC_STATUS=y
|
||||
CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
|
||||
CONFIG_UAVCANNODE_GNSS_FIX=y
|
||||
CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
|
||||
CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
|
||||
CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
|
||||
CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
|
||||
CONFIG_UAVCANNODE_RAW_AIR_DATA=y
|
||||
CONFIG_UAVCANNODE_RTK_DATA=y
|
||||
CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
|
||||
CONFIG_UAVCANNODE_STATIC_PRESSURE=y
|
||||
CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
|
||||
@@ -2,7 +2,6 @@
|
||||
#
|
||||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
pwm_out start
|
||||
|
||||
dshot start
|
||||
control_allocator start
|
||||
|
||||
@@ -67,6 +67,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -26,6 +26,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
|
||||
@@ -15,8 +15,6 @@ CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
# CONFIG_EKF2_GNSS_YAW is not set
|
||||
# CONFIG_EKF2_SIDESLIP is not set
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
|
||||
@@ -14,8 +14,6 @@ CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
# CONFIG_EKF2_GNSS_YAW is not set
|
||||
# CONFIG_EKF2_SIDESLIP is not set
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
|
||||
@@ -14,13 +14,6 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_UAVCANNODE_BEEP_COMMAND=y
|
||||
CONFIG_UAVCANNODE_GNSS_FIX=y
|
||||
CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
|
||||
CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
|
||||
CONFIG_UAVCANNODE_SAFETY_BUTTON=y
|
||||
CONFIG_UAVCANNODE_STATIC_PRESSURE=y
|
||||
CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
|
||||
# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
|
||||
|
||||
@@ -30,6 +30,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
@@ -75,6 +76,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
|
||||
@@ -31,6 +31,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
@@ -76,6 +77,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
|
||||
@@ -9,5 +9,4 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=n
|
||||
CONFIG_BOARD_TESTING=y
|
||||
CONFIG_DRIVERS_TEST_PPM=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_MICROBENCH=y
|
||||
|
||||
@@ -69,6 +69,7 @@ CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -6,7 +6,6 @@ CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
|
||||
CONFIG_BOARD_TESTING=y
|
||||
CONFIG_DRIVERS_TEST_PPM=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_MICROBENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=y
|
||||
|
||||
@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
@@ -50,6 +49,7 @@ CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
@@ -66,9 +66,11 @@ CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -4,31 +4,12 @@
|
||||
#------------------------------------------------------------------------------
|
||||
board_adc start
|
||||
|
||||
# Variants
|
||||
# 1. Isolated {ICM42688p, ICM20948(with mag)}, body-fixed {ICM20649}
|
||||
# 2. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM20649, ICM45686, AK09918}
|
||||
# 3. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM45686, AK09918}
|
||||
|
||||
# SPI4 is isolated, SPI1 is body-fixed
|
||||
|
||||
# SPI4, isolated
|
||||
# SPI4
|
||||
ms5611 -s -b 4 start
|
||||
icm42688p -s -b 4 -R 10 start
|
||||
icm20948 -s -b 4 -R 10 -M start
|
||||
|
||||
icm42688p -s -b 4 -R 10 start -c 15
|
||||
if ! icm20948 -s -b 4 -R 10 -M -q start
|
||||
then
|
||||
icm42688p -s -b 4 -R 6 start -c 13
|
||||
fi
|
||||
|
||||
# SPI1, body-fixed
|
||||
if icm45686 -s -b 1 -R 3 -q start
|
||||
then
|
||||
# if we detected the ICM45686 we also ought to have an AK09918
|
||||
ak09916 start -I -R 13
|
||||
else
|
||||
icm20649 -s -b 1 start
|
||||
|
||||
fi
|
||||
|
||||
# SPI1
|
||||
ms5611 -s -b 1 start
|
||||
icm20649 -s -b 1 start
|
||||
|
||||
|
||||
@@ -187,7 +187,6 @@
|
||||
#define STM32_RCC_D1CCIPR_SDMMCSEL RCC_D1CCIPR_SDMMC_PLL1
|
||||
|
||||
#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI /* I2C123 clock source */
|
||||
#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI
|
||||
#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
|
||||
#define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI45 clock source */
|
||||
#define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 /* USB 1 and 2 clock source */
|
||||
@@ -265,6 +264,3 @@
|
||||
|
||||
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 /* PB10 */
|
||||
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 /* PB11 */
|
||||
|
||||
#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */
|
||||
#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */
|
||||
|
||||
@@ -189,7 +189,6 @@ CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C2=y
|
||||
CONFIG_STM32H7_I2C4=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
|
||||
CONFIG_STM32H7_OTGFS=y
|
||||
|
||||
@@ -189,7 +189,6 @@ CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C2=y
|
||||
CONFIG_STM32H7_I2C4=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
|
||||
CONFIG_STM32H7_OTGFS=y
|
||||
@@ -209,6 +208,7 @@ CONFIG_STM32H7_SPI2=y
|
||||
CONFIG_STM32H7_SPI4=y
|
||||
CONFIG_STM32H7_SPI4_DMA=y
|
||||
CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
|
||||
CONFIG_STM32H7_SPI_DMA=y
|
||||
CONFIG_STM32H7_TIM1=y
|
||||
CONFIG_STM32H7_TIM3=y
|
||||
CONFIG_STM32H7_TIM4=y
|
||||
|
||||
@@ -44,16 +44,6 @@
|
||||
#include <stdint.h>
|
||||
#include <stm32_gpio.h>
|
||||
|
||||
/**
|
||||
* If NuttX is built without support for SMPS it can brick the hardware.
|
||||
* Therefore, we make sure the NuttX headers are correct.
|
||||
*/
|
||||
#include "hardware/stm32h7x3xx_pwr.h"
|
||||
#if STM32_PWR_CR3_SMPSEXTHP != (1 << 3)
|
||||
# error "No SMPS support in NuttX submodule");
|
||||
#endif
|
||||
|
||||
|
||||
/* PX4IO connection configuration */
|
||||
#define BOARD_USES_PX4IO_VERSION 2
|
||||
#define PX4IO_SERIAL_DEVICE "/dev/ttyS3"
|
||||
@@ -180,8 +170,6 @@
|
||||
PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA), \
|
||||
PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL), \
|
||||
PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA), \
|
||||
PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SCL), \
|
||||
PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SDA), \
|
||||
PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
|
||||
PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
|
||||
PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
|
||||
|
||||
@@ -36,5 +36,4 @@
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusExternal(2),
|
||||
initI2CBusExternal(1),
|
||||
initI2CBusInternal(4),
|
||||
};
|
||||
|
||||
@@ -38,7 +38,6 @@
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}), // MPU_CS, MPU_DRDY
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortG, GPIO::Pin1}), // ICM45686_CS
|
||||
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}), // BARO_CS
|
||||
}),
|
||||
|
||||
@@ -49,7 +48,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI4, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin4}), // MPU_EXT_CS
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
|
||||
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin14}), // BARO_EXT_CS
|
||||
}),
|
||||
};
|
||||
|
||||
@@ -3,9 +3,9 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=n
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
|
||||
CONFIG_BOARD_TESTING=y
|
||||
CONFIG_DRIVERS_TEST_PPM=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_MICROBENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=y
|
||||
|
||||
@@ -28,6 +28,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -11,14 +11,6 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_UAVCANNODE_BEEP_COMMAND=y
|
||||
CONFIG_UAVCANNODE_GNSS_FIX=y
|
||||
CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
|
||||
CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
|
||||
CONFIG_UAVCANNODE_RTK_DATA=y
|
||||
CONFIG_UAVCANNODE_SAFETY_BUTTON=y
|
||||
CONFIG_UAVCANNODE_STATIC_PRESSURE=y
|
||||
CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
|
||||
@@ -13,13 +13,6 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_UAVCANNODE_BEEP_COMMAND=y
|
||||
CONFIG_UAVCANNODE_GNSS_FIX=y
|
||||
CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
|
||||
CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
|
||||
CONFIG_UAVCANNODE_SAFETY_BUTTON=y
|
||||
CONFIG_UAVCANNODE_STATIC_PRESSURE=y
|
||||
CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
|
||||
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
@@ -68,6 +69,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -22,6 +22,7 @@ CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
@@ -65,6 +66,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
|
||||
@@ -21,6 +21,7 @@ CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
@@ -63,6 +64,7 @@ CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -22,6 +22,7 @@ CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
@@ -65,6 +66,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -31,6 +31,7 @@ CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -12,14 +12,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_UAVCANNODE_BEEP_COMMAND=y
|
||||
CONFIG_UAVCANNODE_GNSS_FIX=y
|
||||
CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
|
||||
CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
|
||||
CONFIG_UAVCANNODE_RTK_DATA=y
|
||||
CONFIG_UAVCANNODE_SAFETY_BUTTON=y
|
||||
CONFIG_UAVCANNODE_STATIC_PRESSURE=y
|
||||
CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
|
||||
@@ -30,6 +30,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -29,6 +29,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
@@ -70,6 +71,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -4,7 +4,6 @@ CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
|
||||
CONFIG_DRIVERS_QSHELL_QURT=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
@@ -13,6 +12,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MUORB_SLPI=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_ORB_COMMUNICATOR=y
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
CONFIG_PLATFORM_POSIX=y
|
||||
CONFIG_BOARD_LINUX_TARGET=y
|
||||
CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
|
||||
CONFIG_BOARD_ROOTFSDIR="/data/px4"
|
||||
CONFIG_DRIVERS_QSHELL_POSIX=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
@@ -18,3 +17,4 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_ORB_COMMUNICATOR=y
|
||||
CONFIG_BOARD_ROOTFSDIR="/data/px4"
|
||||
|
||||
@@ -25,6 +25,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
@@ -71,6 +72,7 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
|
||||
@@ -25,6 +25,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -25,6 +25,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
@@ -69,6 +70,7 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
|
||||
@@ -25,6 +25,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
@@ -70,6 +71,7 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
|
||||
@@ -25,6 +25,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
@@ -69,6 +70,7 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
|
||||
@@ -26,6 +26,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -28,6 +28,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -13,21 +13,6 @@ CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_DRIVERS_UAVCANNODE=y
|
||||
CONFIG_UAVCANNODE_ARMING_STATUS=y
|
||||
CONFIG_UAVCANNODE_BEEP_COMMAND=y
|
||||
CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
|
||||
CONFIG_UAVCANNODE_ESC_STATUS=y
|
||||
CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
|
||||
CONFIG_UAVCANNODE_GNSS_FIX=y
|
||||
CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
|
||||
CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
|
||||
CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
|
||||
CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
|
||||
CONFIG_UAVCANNODE_RAW_AIR_DATA=y
|
||||
CONFIG_UAVCANNODE_RTK_DATA=y
|
||||
CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
|
||||
CONFIG_UAVCANNODE_STATIC_PRESSURE=y
|
||||
CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
|
||||
@@ -23,18 +23,13 @@ CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
# CONFIG_EKF2_AUXVEL is not set
|
||||
# CONFIG_EKF2_BARO_COMPENSATION is not set
|
||||
# CONFIG_EKF2_DRAG_FUSION is not set
|
||||
# CONFIG_EKF2_EXTERNAL_VISION is not set
|
||||
# CONFIG_EKF2_GNSS_YAW is not set
|
||||
# CONFIG_EKF2_SIDESLIP is not set
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LOGGER=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
CONFIG_MODULES_MAVLINK=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=n
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_POS_CONTROL=n
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=n
|
||||
CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
|
||||
@@ -31,6 +31,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -30,6 +30,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -29,6 +29,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -2,6 +2,6 @@
|
||||
CONFIG_DRIVERS_HEATER=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_CYPHAL_BMS_SUBSCRIBER=y
|
||||
CONFIG_CYPHAL_ESC_CONTROLLER=y
|
||||
CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER=y
|
||||
CONFIG_DRIVERS_CYPHAL=y
|
||||
CONFIG_CYPHAL_ESC_CONTROLLER=y
|
||||
|
||||
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=n
|
||||
CONFIG_DRIVERS_PWM_INPUT=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=n
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
|
||||
@@ -35,6 +35,7 @@ CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_COMMON_RC=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -9,6 +9,7 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_PWM_INPUT=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_EXAMPLES_FAKE_GPS=n
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
|
||||
@@ -17,6 +17,7 @@ CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=n
|
||||
CONFIG_DRIVERS_PWM_INPUT=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=n
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_EXAMPLES_FAKE_GPS=n
|
||||
|
||||
@@ -11,6 +11,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_PWM_INPUT=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=n
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
|
||||
CONFIG_EXAMPLES_FAKE_GPS=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
|
||||
@@ -39,6 +39,7 @@ CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_COMMON_RC=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -68,6 +68,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -141,13 +141,12 @@
|
||||
#define GPIO_HW_VER_SENSE /* PC1 */ GPIO_ADC123_INP11
|
||||
#define HW_INFO_INIT_PREFIX "V6C"
|
||||
|
||||
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3 // Rev 0, 10 and Mini Sensor sets
|
||||
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0, 10 Sensor sets
|
||||
// Base/FMUM
|
||||
#define V6C00 HW_VER_REV(0x0,0x0) // FMUV6C, Rev 0 I2C4 External but with Internal devices
|
||||
#define V6C01 HW_VER_REV(0x0,0x1) // FMUV6C, Rev 1 I2C4 Internal I2C2 External
|
||||
#define V6C10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0 I2C4 External but with Internal devices
|
||||
#define V6C11 HW_VER_REV(0x1,0x1) // NO PX4IO, Rev 1 I2C4 Internal I2C2 External
|
||||
#define V6C21 HW_VER_REV(0x2,0x1) // FMUV6CMini, Rev 1 I2C4 Internal I2C2 External
|
||||
|
||||
|
||||
/* HEATER
|
||||
|
||||
@@ -79,11 +79,6 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
|
||||
.mandatory = 1,
|
||||
.connection = px4_hw_con_onboard,
|
||||
},
|
||||
{
|
||||
.present = 1,
|
||||
.mandatory = 1,
|
||||
.connection = px4_hw_con_onboard,
|
||||
},
|
||||
};
|
||||
|
||||
static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
|
||||
@@ -106,7 +101,6 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
|
||||
{V6C01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 1
|
||||
{V6C10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 0 No PX4IO
|
||||
{V6C11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 1 No PX4IO
|
||||
{V6C21, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 1 MINI
|
||||
};
|
||||
|
||||
/************************************************************************************
|
||||
|
||||
@@ -46,17 +46,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4})
|
||||
}),
|
||||
}),
|
||||
initSPIHWVersion(V6C01, {
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::PortC, GPIO::Pin14}, SPI::DRDY{GPIO::PortE, GPIO::Pin5}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin6}),
|
||||
}, {GPIO::PortB, GPIO::Pin2}),
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4})
|
||||
}),
|
||||
}),
|
||||
initSPIHWVersion(V6C21, {
|
||||
initSPIHWVersion(V6C10, {
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI055, SPI::CS{GPIO::PortC, GPIO::Pin14}, SPI::DRDY{GPIO::PortE, GPIO::Pin5}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI055, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
|
||||
|
||||
@@ -28,6 +28,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
@@ -72,6 +73,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
|
||||
@@ -73,6 +73,7 @@ CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -28,6 +28,7 @@ CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
|
||||
@@ -25,6 +25,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -25,6 +25,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
|
||||
@@ -4,7 +4,7 @@ project(googletest-download NONE)
|
||||
|
||||
include(ExternalProject)
|
||||
ExternalProject_Add(googletest
|
||||
URL https://github.com/google/googletest/archive/b796f7d44681514f58a683a3a71ff17c94edb0c1.zip # 1.13
|
||||
URL https://github.com/google/googletest/archive/58d77fa8070e8cec2dc1ed015d66b454c8d78850.zip # 1.12.1
|
||||
SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-src"
|
||||
BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-build"
|
||||
CONFIGURE_COMMAND ""
|
||||
|
||||
@@ -46,7 +46,4 @@ add_subdirectory(${CMAKE_CURRENT_BINARY_DIR}/googletest-src ${CMAKE_CURRENT_BINA
|
||||
get_target_property(GTEST_COMPILE_FLAGS gtest COMPILE_OPTIONS)
|
||||
list(REMOVE_ITEM GTEST_COMPILE_FLAGS "-include")
|
||||
list(REMOVE_ITEM GTEST_COMPILE_FLAGS "visibility.h")
|
||||
# Remove float warnings added by PX4 which trigger in gtest-printers.h
|
||||
list(REMOVE_ITEM GTEST_COMPILE_FLAGS "-Wdouble-promotion")
|
||||
list(REMOVE_ITEM GTEST_COMPILE_FLAGS "-Wfloat-equal")
|
||||
set_target_properties(gtest PROPERTIES COMPILE_OPTIONS "${GTEST_COMPILE_FLAGS}")
|
||||
|
||||
@@ -0,0 +1,19 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint8 NUM_ACTUATOR_CONTROLS = 9
|
||||
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
|
||||
uint8 INDEX_ROLL = 0
|
||||
uint8 INDEX_PITCH = 1
|
||||
uint8 INDEX_YAW = 2
|
||||
uint8 INDEX_THROTTLE = 3
|
||||
uint8 INDEX_GIMBAL_SHUTTER = 3
|
||||
uint8 INDEX_CAMERA_ZOOM = 4
|
||||
|
||||
uint8 GROUP_INDEX_ATTITUDE = 0
|
||||
uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
|
||||
uint8 GROUP_INDEX_GIMBAL = 2
|
||||
|
||||
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
|
||||
float32[9] control
|
||||
|
||||
# TOPICS actuator_controls_0 actuator_controls_1 actuator_controls_2
|
||||
# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
|
||||
@@ -1,5 +1,10 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float32[3] control_power
|
||||
uint8 INDEX_ROLL = 0
|
||||
uint8 INDEX_PITCH = 1
|
||||
uint8 INDEX_YAW = 2
|
||||
uint8 INDEX_THROTTLE = 3
|
||||
|
||||
float32[4] control_power
|
||||
|
||||
# TOPICS actuator_controls_status_0 actuator_controls_status_1
|
||||
|
||||
+1
-1
@@ -39,6 +39,7 @@ include(px4_list_make_absolute)
|
||||
set(msg_files
|
||||
ActionRequest.msg
|
||||
ActuatorArmed.msg
|
||||
ActuatorControls.msg
|
||||
ActuatorControlsStatus.msg
|
||||
ActuatorMotors.msg
|
||||
ActuatorOutputs.msg
|
||||
@@ -99,7 +100,6 @@ set(msg_files
|
||||
GimbalManagerStatus.msg
|
||||
GpsDump.msg
|
||||
GpsInjectData.msg
|
||||
GimbalControls.msg
|
||||
Gripper.msg
|
||||
HealthReport.msg
|
||||
HeaterStatus.msg
|
||||
|
||||
@@ -1,7 +0,0 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint8 INDEX_ROLL = 0
|
||||
uint8 INDEX_PITCH = 1
|
||||
uint8 INDEX_YAW = 2
|
||||
|
||||
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
|
||||
float32[3] control
|
||||
@@ -30,12 +30,6 @@ uint8 JAMMING_STATE_CRITICAL = 3
|
||||
uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
|
||||
int32 jamming_indicator # indicates jamming is occurring
|
||||
|
||||
uint8 SPOOFING_STATE_UNKNOWN = 0
|
||||
uint8 SPOOFING_STATE_NONE = 1
|
||||
uint8 SPOOFING_STATE_INDICATED = 2
|
||||
uint8 SPOOFING_STATE_MULTIPLE = 3
|
||||
uint8 spoofing_state # indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
|
||||
|
||||
float32 vel_m_s # GPS ground speed, (metres/sec)
|
||||
float32 vel_n_m_s # GPS North velocity, (metres/sec)
|
||||
float32 vel_e_m_s # GPS East velocity, (metres/sec)
|
||||
|
||||
+17
-12
@@ -1,15 +1,20 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
float32 voltage5v_v # peripheral 5V rail voltage
|
||||
float32[4] sensors3v3 # Sensors 3V3 rail voltage
|
||||
uint8 sensors3v3_valid # Sensors 3V3 rail voltage was read (bitfield).
|
||||
uint8 usb_connected # USB is connected when 1
|
||||
uint8 brick_valid # brick bits power is good when bit 1
|
||||
uint8 usb_valid # USB is valid when 1
|
||||
uint8 servo_valid # servo power is good when 1
|
||||
uint8 periph_5v_oc # peripheral overcurrent when 1
|
||||
uint8 hipower_5v_oc # high power peripheral overcurrent when 1
|
||||
uint8 comp_5v_valid # 5V to companion valid
|
||||
uint8 can1_gps1_5v_valid # 5V for CAN1/GPS1 valid
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float32 voltage5v_v # peripheral 5V rail voltage
|
||||
float32[4] sensors3v3 # Sensors 3V3 rail voltage
|
||||
uint8 sensors3v3_valid # Sensors 3V3 rail voltage was read (bitfield).
|
||||
|
||||
bool usb_connected # USB is connected when true
|
||||
uint8 usb_connected_count # number of times USB has been connected
|
||||
|
||||
uint8 brick_valid # brick bits power is good (bitfield).
|
||||
bool usb_valid # USB is valid when true
|
||||
|
||||
bool servo_valid # servo power is good when true
|
||||
bool periph_5v_oc # peripheral overcurrent when true
|
||||
bool hipower_5v_oc # high power peripheral overcurrent when true
|
||||
bool comp_5v_valid # 5V to companion valid
|
||||
bool can1_gps1_5v_valid # 5V for CAN1/GPS1 valid
|
||||
|
||||
uint8 BRICK1_VALID_SHIFTS=0
|
||||
uint8 BRICK1_VALID_MASK=1
|
||||
|
||||
@@ -36,6 +36,7 @@ uint16 VEHICLE_CMD_DO_SET_HOME = 179 # Changes the home location either to the
|
||||
uint16 VEHICLE_CMD_DO_SET_PARAMETER = 180 # Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_SET_RELAY = 181 # Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_SET_SERVO = 183 # Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185 # Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty|
|
||||
uint16 VEHICLE_CMD_DO_CHANGE_ALTITUDE = 186 # Set the vehicle to Loiter mode and change the altitude to specified value |Altitude| Frame of new altitude | Empty| Empty| Empty| Empty| Empty|
|
||||
@@ -117,6 +118,11 @@ uint8 VEHICLE_ROI_LOCATION = 3 # Point toward fixed location
|
||||
uint8 VEHICLE_ROI_TARGET = 4 # Point toward target
|
||||
uint8 VEHICLE_ROI_ENUM_END = 5
|
||||
|
||||
uint8 VEHICLE_CAMERA_ZOOM_TYPE_STEP = 0 # Zoom one step increment
|
||||
uint8 VEHICLE_CAMERA_ZOOM_TYPE_CONTINUOUS = 1 # Continuous zoom up/down until stopped
|
||||
uint8 VEHICLE_CAMERA_ZOOM_TYPE_RANGE = 2 # Zoom value as proportion of full camera range
|
||||
uint8 VEHICLE_CAMERA_ZOOM_TYPE_FOCAL_LENGTH = 3 # Zoom to a focal length
|
||||
|
||||
uint8 PARACHUTE_ACTION_DISABLE = 0
|
||||
uint8 PARACHUTE_ACTION_ENABLE = 1
|
||||
uint8 PARACHUTE_ACTION_RELEASE = 2
|
||||
|
||||
@@ -3,6 +3,3 @@ uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
|
||||
|
||||
float32[3] xyz # thrust setpoint along X, Y, Z body axis [-1, 1]
|
||||
|
||||
# TOPICS vehicle_thrust_setpoint
|
||||
# TOPICS vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc
|
||||
|
||||
@@ -3,6 +3,3 @@ uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
|
||||
|
||||
float32[3] xyz # torque setpoint about X, Y, Z body axis (normalized)
|
||||
|
||||
# TOPICS vehicle_torque_setpoint
|
||||
# TOPICS vehicle_torque_setpoint_virtual_fw vehicle_torque_setpoint_virtual_mc
|
||||
|
||||
@@ -93,13 +93,6 @@ bool keystore_put_key(keystore_session_handle_t handle, uint8_t idx, uint8_t *ke
|
||||
|
||||
void crypto_init(void);
|
||||
|
||||
/*
|
||||
* De-initialize hw level crypto
|
||||
* This may be called to shut down hw level crypto
|
||||
*/
|
||||
|
||||
void crypto_deinit(void);
|
||||
|
||||
/*
|
||||
* Open a session for performing crypto functions
|
||||
* algorithm: The crypto algorithm to be used in this session
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user