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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
d8148c8e3b |
+9
-11
@@ -9,10 +9,10 @@ pipeline {
|
||||
script {
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||||
def build_nodes = [:]
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||||
def docker_images = [
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armhf: "px4io/px4-dev-armhf:2021-04-29",
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arm64: "px4io/px4-dev-aarch64:2021-04-29",
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base: "px4io/px4-dev-base-bionic:2021-04-29",
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nuttx: "px4io/px4-dev-nuttx-focal:2021-04-29",
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armhf: "px4io/px4-dev-armhf:2021-02-04",
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arm64: "px4io/px4-dev-aarch64:2021-02-04",
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base: "px4io/px4-dev-base-bionic:2021-02-04",
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nuttx: "px4io/px4-dev-nuttx-focal:2021-02-04",
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snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
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]
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@@ -46,18 +46,16 @@ pipeline {
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"cuav_can-gps-v1_default",
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"cuav_nora_default",
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"cuav_x7pro_default",
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"cubepilot_cubeorange_console",
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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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"freefly_can-rtk-gps_canbootloader",
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"freefly_can-rtk-gps_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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"modalai_fc-v1_default",
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||||
"modalai_fc-v1_rtps",
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"modalai_fc-v2_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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@@ -73,12 +71,12 @@ pipeline {
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"nxp_fmuk66-v3_socketcan",
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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_multicopter",
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"px4_fmu-v2_rover",
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"px4_fmu-v2_test",
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"px4_fmu-v3_default",
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"px4_fmu-v4_cannode",
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"px4_fmu-v4_default",
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@@ -133,7 +131,7 @@ pipeline {
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// TODO: actually upload artifacts to S3
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// stage('S3 Upload') {
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// agent {
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// docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
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// docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
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// }
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// options {
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// skipDefaultCheckout()
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@@ -158,7 +156,7 @@ pipeline {
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}
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options {
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buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
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timeout(time: 90, unit: 'MINUTES')
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timeout(time: 60, unit: 'MINUTES')
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}
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}
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+226
-145
@@ -7,12 +7,12 @@ pipeline {
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parallel {
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stage("cubepilot_cubeorange_test") {
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stage("cubepilot_cubeorange_console") {
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stages {
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stage("build cubepilot_cubeorange_test") {
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stage("build cubepilot_cubeorange_console") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-04-29'
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image 'px4io/px4-dev-nuttx-focal:2020-09-14'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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@@ -22,10 +22,10 @@ pipeline {
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make cubepilot_cubeorange_test'
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sh 'make cubepilot_cubeorange_console'
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sh 'make sizes'
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sh 'ccache -s'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_console'
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}
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post {
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always {
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@@ -42,9 +42,9 @@ pipeline {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'cubepilot_cubeorange_test'
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unstash 'cubepilot_cubeorange_console'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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}
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}
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stage("configure") {
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@@ -52,12 +52,12 @@ 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 IMU_GYRO_RATEMAX 2000"'
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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 save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/cubepilot_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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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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||||
}
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||||
}
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||||
stage("status") {
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@@ -73,20 +73,23 @@ pipeline {
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||||
}
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||||
stage("reset") {
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steps {
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cleanupFTDI()
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cleanupFTDI();
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}
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}
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}
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options {
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timeout(time: 90, unit: 'MINUTES')
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}
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} // stage test
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}
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}
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stage("cuav_x7pro_test") {
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stage("cuav_x7pro_default") {
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stages {
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stage("build cuav_x7pro_test") {
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stage("build cuav_x7pro_default") {
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agent {
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||||
docker {
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||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
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image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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||||
}
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||||
@@ -96,10 +99,10 @@ pipeline {
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||||
sh 'make distclean'
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||||
sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make cuav_x7pro_test'
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sh 'make cuav_x7pro_default'
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sh 'make sizes'
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sh 'ccache -s'
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||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_default'
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||||
}
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||||
post {
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||||
always {
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||||
@@ -116,21 +119,21 @@ pipeline {
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||||
steps {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'cuav_x7pro_test'
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unstash 'cuav_x7pro_default'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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||||
}
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||||
}
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||||
stage("configure") {
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||||
steps {
|
||||
// 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
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
|
||||
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 save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -146,20 +149,75 @@ pipeline {
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
cleanupFTDI();
|
||||
}
|
||||
}
|
||||
}
|
||||
options {
|
||||
timeout(time: 90, unit: 'MINUTES')
|
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}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v3_test") {
|
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// stage("px4_fmu-v2_test") {
|
||||
// stages {
|
||||
// stage("build px4_fmu-v2_test") {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
// }
|
||||
// }
|
||||
// steps {
|
||||
// sh 'export'
|
||||
// sh 'make distclean'
|
||||
// sh 'ccache -s'
|
||||
// sh 'git fetch --tags'
|
||||
// sh 'make px4_fmu-v2_test'
|
||||
// sh 'make sizes'
|
||||
// sh 'ccache -s'
|
||||
// stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
|
||||
// }
|
||||
// post {
|
||||
// always {
|
||||
// sh 'make distclean'
|
||||
// }
|
||||
// }
|
||||
// } // stage build
|
||||
// stage("test") {
|
||||
// agent {
|
||||
// label 'px4_fmu-v2'
|
||||
// }
|
||||
// stages {
|
||||
// stage("flash") {
|
||||
// steps {
|
||||
// sh 'export'
|
||||
// sh 'find /dev/serial'
|
||||
// unstash 'px4_fmu-v2_test'
|
||||
// // flash board and watch bootup
|
||||
// sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
// }
|
||||
// }
|
||||
// stage("reset") {
|
||||
// steps {
|
||||
// cleanupFTDI();
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// options {
|
||||
// timeout(time: 90, unit: 'MINUTES')
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
|
||||
stage("px4_fmu-v3_default") {
|
||||
stages {
|
||||
stage("build px4_fmu-v3_test") {
|
||||
stage("build px4_fmu-v3_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -169,10 +227,10 @@ pipeline {
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make px4_fmu-v3_test'
|
||||
sh 'make px4_fmu-v3_default'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -189,21 +247,21 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v3_test'
|
||||
unstash 'px4_fmu-v3_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
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_AUTOSTART 13000"' // generic vtol standard
|
||||
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 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 13000"' // generic vtol standard
|
||||
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 "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
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
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -219,20 +277,23 @@ pipeline {
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
cleanupFTDI();
|
||||
}
|
||||
}
|
||||
}
|
||||
options {
|
||||
timeout(time: 90, unit: 'MINUTES')
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v4_test") {
|
||||
stage("px4_fmu-v4_default") {
|
||||
stages {
|
||||
stage("build px4_fmu-v4_test") {
|
||||
stage("build px4_fmu-v4_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -242,10 +303,10 @@ pipeline {
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make px4_fmu-v4_test'
|
||||
sh 'make px4_fmu-v4_default'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -262,21 +323,20 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v4_test'
|
||||
unstash 'px4_fmu-v4_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
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_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 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 "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -292,20 +352,23 @@ pipeline {
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
cleanupFTDI();
|
||||
}
|
||||
}
|
||||
}
|
||||
options {
|
||||
timeout(time: 90, unit: 'MINUTES')
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v4pro_test") {
|
||||
stage("px4_fmu-v4pro_default") {
|
||||
stages {
|
||||
stage("build px4_fmu-v4pro_test") {
|
||||
stage("build px4_fmu-v4pro_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -315,10 +378,10 @@ pipeline {
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make px4_fmu-v4pro_test'
|
||||
sh 'make px4_fmu-v4pro_default'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -335,21 +398,21 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v4pro_test'
|
||||
unstash 'px4_fmu-v4pro_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
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_AUTOSTART 13000"' // generic vtol standard
|
||||
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 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 13000"' // generic vtol standard
|
||||
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 "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
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
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -365,20 +428,23 @@ pipeline {
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
cleanupFTDI();
|
||||
}
|
||||
}
|
||||
}
|
||||
options {
|
||||
timeout(time: 90, unit: 'MINUTES')
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_test") {
|
||||
stage("px4_fmu-v5_default") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_test") {
|
||||
stage("build px4_fmu-v5_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -388,10 +454,10 @@ pipeline {
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make px4_fmu-v5_test'
|
||||
sh 'make px4_fmu-v5_default'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -408,21 +474,21 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_test'
|
||||
unstash 'px4_fmu-v5_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
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_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 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 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 save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -438,10 +504,13 @@ pipeline {
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
cleanupFTDI();
|
||||
}
|
||||
}
|
||||
}
|
||||
options {
|
||||
timeout(time: 90, unit: 'MINUTES')
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
@@ -451,7 +520,7 @@ pipeline {
|
||||
stage("build px4_fmu-v5_debug") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -492,14 +561,13 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
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 IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
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 CBRK_BUZZER 782097"' // disable buzzer
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // 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 "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
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
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -515,10 +583,13 @@ pipeline {
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
cleanupFTDI();
|
||||
}
|
||||
}
|
||||
}
|
||||
options {
|
||||
timeout(time: 90, unit: 'MINUTES')
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
@@ -528,7 +599,7 @@ pipeline {
|
||||
stage("build px4_fmu-v5_optimized") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -566,13 +637,12 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
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_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 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 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 save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -588,10 +658,13 @@ pipeline {
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
cleanupFTDI();
|
||||
}
|
||||
}
|
||||
}
|
||||
options {
|
||||
timeout(time: 90, unit: 'MINUTES')
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
@@ -601,7 +674,7 @@ pipeline {
|
||||
stage("build px4_fmu-v5_stackcheck") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -642,14 +715,13 @@ pipeline {
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
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 IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
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 quadcopter
|
||||
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 IMU_GYRO_RATEMAX 250"' // limit cpu usage
|
||||
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 "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -665,20 +737,23 @@ pipeline {
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
cleanupFTDI();
|
||||
}
|
||||
}
|
||||
}
|
||||
options {
|
||||
timeout(time: 90, unit: 'MINUTES')
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("modalai_fc-v1_test") {
|
||||
stage("modalai_fc-v1_default") {
|
||||
stages {
|
||||
stage("build modalai_fc-v1_test") {
|
||||
stage("build modalai_fc-v1_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -688,10 +763,10 @@ pipeline {
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make modalai_fc-v1_test'
|
||||
sh 'make modalai_fc-v1_default'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -708,21 +783,20 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'modalai_fc-v1_test'
|
||||
unstash 'modalai_fc-v1_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
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_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 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 "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -742,16 +816,19 @@ pipeline {
|
||||
}
|
||||
}
|
||||
}
|
||||
options {
|
||||
timeout(time: 90, unit: 'MINUTES')
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("holybro_durandal-v1_test") {
|
||||
stage("holybro_durandal-v1_default") {
|
||||
stages {
|
||||
stage("build holybro_durandal-v1_test") {
|
||||
stage("build holybro_durandal-v1_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -761,10 +838,10 @@ pipeline {
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make holybro_durandal-v1_test'
|
||||
sh 'make holybro_durandal-v1_default'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -781,21 +858,24 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'holybro_durandal-v1_test'
|
||||
unstash 'holybro_durandal-v1_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_test/holybro_durandal-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
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 DSHOT_CONFIG 600"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
|
||||
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_USE_IO 0"' // for dshot
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -812,20 +892,23 @@ pipeline {
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
cleanupFTDI();
|
||||
}
|
||||
}
|
||||
}
|
||||
options {
|
||||
timeout(time: 90, unit: 'MINUTES')
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("nxp_fmuk66-v3_test") {
|
||||
stage("nxp_fmuk66-v3_default") {
|
||||
stages {
|
||||
stage("build nxp_fmuk66-v3_test") {
|
||||
stage("build nxp_fmuk66-v3_default") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2020-09-14'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
@@ -835,10 +918,10 @@ pipeline {
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make nxp_fmuk66-v3_test'
|
||||
sh 'make nxp_fmuk66-v3_default'
|
||||
sh 'make sizes'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_default'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
@@ -855,21 +938,20 @@ pipeline {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'nxp_fmuk66-v3_test'
|
||||
unstash 'nxp_fmuk66-v3_default'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
steps {
|
||||
// configure
|
||||
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_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 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 "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
@@ -885,10 +967,13 @@ pipeline {
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
cleanupFTDI();
|
||||
}
|
||||
}
|
||||
}
|
||||
options {
|
||||
timeout(time: 90, unit: 'MINUTES')
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
@@ -901,8 +986,8 @@ pipeline {
|
||||
CI = true
|
||||
}
|
||||
options {
|
||||
buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
|
||||
timeout(time: 120, unit: 'MINUTES')
|
||||
buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
|
||||
timeout(time: 90, unit: 'MINUTES')
|
||||
skipDefaultCheckout()
|
||||
}
|
||||
}
|
||||
@@ -924,7 +1009,6 @@ 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"'
|
||||
@@ -942,7 +1026,6 @@ void statusFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gps"'
|
||||
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"'
|
||||
@@ -954,7 +1037,6 @@ void statusFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_gps_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
|
||||
@@ -989,7 +1071,6 @@ 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
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
|
||||
{
|
||||
"name": "px4-dev-nuttx",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2021-04-29",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2021-02-04",
|
||||
|
||||
"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
|
||||
|
||||
|
||||
@@ -23,13 +23,12 @@ jobs:
|
||||
"shellcheck_all",
|
||||
"NO_NINJA_BUILD=1 px4_fmu-v5_default",
|
||||
"NO_NINJA_BUILD=1 px4_sitl_default",
|
||||
"BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
|
||||
"airframe_metadata",
|
||||
"module_documentation",
|
||||
"parameters_metadata",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal:2021-04-29
|
||||
image: px4io/px4-dev-nuttx-focal:2021-02-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-clang:2021-04-29
|
||||
container: px4io/px4-dev-clang:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-armhf:2021-04-29
|
||||
container: px4io/px4-dev-armhf:2021-02-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-aarch64:2021-04-29
|
||||
container: px4io/px4-dev-aarch64:2021-02-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,45 +11,34 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-04-29
|
||||
container: px4io/px4-dev-nuttx-focal:2021-02-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
airmind_mindpx-v2_default,
|
||||
ark_can-flow_canbootloader,
|
||||
ark_can-flow_debug,
|
||||
ark_can-flow_default,
|
||||
ark_can-gps_canbootloader,
|
||||
ark_can-gps_debug,
|
||||
ark_can-gps_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_cubeorange_test,
|
||||
cubepilot_cubeyellow_console,
|
||||
cubepilot_cubeyellow_default,
|
||||
cubepilot_cubeyellow_test,
|
||||
cubepilot_io-v2_default,
|
||||
freefly_can-rtk-gps_canbootloader,
|
||||
freefly_can-rtk-gps_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,
|
||||
modalai_fc-v1_default,
|
||||
modalai_fc-v1_rtps,
|
||||
modalai_fc-v2_default,
|
||||
mro_ctrl-zero-f7-oem_default,
|
||||
mro_ctrl-zero-f7_default,
|
||||
mro_ctrl-zero-h7-oem_default,
|
||||
mro_ctrl-zero-f7-oem_default,
|
||||
mro_ctrl-zero-h7_default,
|
||||
mro_ctrl-zero-h7-oem_default,
|
||||
mro_pixracerpro_default,
|
||||
mro_x21-777_default,
|
||||
mro_x21_default,
|
||||
@@ -60,26 +49,24 @@ jobs:
|
||||
nxp_fmuk66-v3_rtps,
|
||||
nxp_fmuk66-v3_socketcan,
|
||||
nxp_fmurt1062-v1_default,
|
||||
nxp_ucans32k146_canbootloader,
|
||||
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-v3_default,
|
||||
px4_fmu-v4_cannode,
|
||||
px4_fmu-v4_default,
|
||||
px4_fmu-v4pro_default,
|
||||
px4_fmu-v5_ctrlalloc,
|
||||
px4_fmu-v5_debug,
|
||||
px4_fmu-v5_default,
|
||||
px4_fmu-v5_fixedwing,
|
||||
px4_fmu-v5_multicopter,
|
||||
px4_fmu-v5_optimized,
|
||||
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,
|
||||
@@ -129,8 +116,6 @@ jobs:
|
||||
run: make ${{matrix.config}} bloaty_symbols || true
|
||||
- name: make ${{matrix.config}} bloaty_templates
|
||||
run: make ${{matrix.config}} bloaty_templates || true
|
||||
- name: make ${{matrix.config}} bloaty_ram
|
||||
run: make ${{matrix.config}} bloaty_ram || true
|
||||
- name: make ${{matrix.config}} bloaty_compare_master
|
||||
run: make ${{matrix.config}} bloaty_compare_master || true
|
||||
- name: ccache post-run
|
||||
|
||||
@@ -11,13 +11,12 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-04-29
|
||||
container: px4io/px4-dev-nuttx-focal:2021-02-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
ark_can-flow_default,
|
||||
cuav_can-gps-v1_default,
|
||||
freefly_can-rtk-gps_default,
|
||||
holybro_can-gps-v1_default,
|
||||
#nxp_ucans32k146_default,
|
||||
px4_fmu-v4_cannode
|
||||
|
||||
@@ -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 }}:2021-04-29
|
||||
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 }}/'
|
||||
|
||||
@@ -0,0 +1,131 @@
|
||||
name: MAVROS Avoidance Tests
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {test_file: "mavros_posix_test_avoidance.test", vehicle: "iris_obs_avoid", mission: "avoidance", build_type: "RelWithDebInfo"}
|
||||
- {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-02-04
|
||||
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: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||
restore-keys: sitl_tests-${{matrix.config.build_type}}-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: check environment
|
||||
run: |
|
||||
export
|
||||
ulimit -a
|
||||
- name: Build PX4 and sitl_gazebo
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
ccache -z
|
||||
make px4_sitl_default
|
||||
make px4_sitl_default sitl_gazebo
|
||||
ccache -s
|
||||
|
||||
- name: Core dump settings
|
||||
run: |
|
||||
ulimit -c unlimited
|
||||
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
|
||||
|
||||
- name: Run SITL tests
|
||||
env:
|
||||
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||
run: |
|
||||
export
|
||||
./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
|
||||
|
||||
- name: Look at core files
|
||||
if: failure()
|
||||
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
|
||||
- name: Upload px4 coredump
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2-preview
|
||||
with:
|
||||
name: coredump
|
||||
path: px4.core
|
||||
|
||||
# - name: ecl EKF analysis
|
||||
# if: always()
|
||||
# run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Upload logs to flight review
|
||||
if: always()
|
||||
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Upload px4 binary
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: binary
|
||||
path: build/px4_sitl_default/bin/px4
|
||||
|
||||
- name: Store PX4 log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: px4_log
|
||||
path: ~/.ros/log/*/*.ulg
|
||||
|
||||
- name: Store ROS log
|
||||
if: failure()
|
||||
uses: actions/upload-artifact@v2
|
||||
with:
|
||||
name: ros_log
|
||||
path: ~/.ros/**/rostest-*.log
|
||||
|
||||
# Report test coverage
|
||||
- name: Upload coverage
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
run: |
|
||||
git config --global credential.helper "" # disable the keychain credential helper
|
||||
git config --global --add credential.helper store # enable the local store credential helper
|
||||
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
|
||||
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
|
||||
mkdir -p coverage
|
||||
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
- name: Upload coverage information to Codecov
|
||||
if: contains(matrix.config.build_type, 'Coverage')
|
||||
uses: codecov/codecov-action@v1
|
||||
with:
|
||||
token: ${{ secrets.CODECOV_TOKEN }}
|
||||
flags: mavros_avoidance
|
||||
file: coverage/lcov.info
|
||||
@@ -25,7 +25,7 @@ jobs:
|
||||
#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-04-29
|
||||
image: px4io/px4-dev-ros-melodic:2021-02-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -20,7 +20,7 @@ jobs:
|
||||
#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-04-29
|
||||
image: px4io/px4-dev-ros-melodic:2021-02-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -4,14 +4,15 @@ on:
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
- 'release/*'
|
||||
- 'pr-metadata-test'
|
||||
pull_request:
|
||||
branches:
|
||||
- '*'
|
||||
|
||||
jobs:
|
||||
|
||||
airframe:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-04-29
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -26,7 +27,7 @@ jobs:
|
||||
|
||||
module:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-04-29
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -41,7 +42,7 @@ jobs:
|
||||
|
||||
parameter:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-04-29
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -50,22 +51,13 @@ 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
|
||||
container: px4io/px4-dev-nuttx-focal:2021-04-29
|
||||
container: px4io/px4-dev-nuttx-focal:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -80,7 +72,7 @@ jobs:
|
||||
|
||||
micrortps_agent:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-04-29
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -94,7 +86,7 @@ jobs:
|
||||
|
||||
ROS_msgs:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-04-29
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -107,7 +99,7 @@ jobs:
|
||||
|
||||
ROS2_bridge:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-04-29
|
||||
container: px4io/px4-dev-base-focal:2021-02-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -15,13 +15,12 @@ jobs:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo", model: "iris" } # Alaska
|
||||
- {latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
|
||||
- {latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo", model: "tailsitter" } # Florida
|
||||
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
|
||||
|
||||
- {latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo", model: "iris" } # Alaska
|
||||
- {latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
|
||||
- {latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo", model: "tailsitter" } # Florida
|
||||
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-04-29
|
||||
image: px4io/px4-dev-simulation-focal:2021-02-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
@@ -29,9 +28,9 @@ jobs:
|
||||
token: ${{ secrets.ACCESS_TOKEN }}
|
||||
|
||||
- name: Download MAVSDK
|
||||
run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
|
||||
- name: Install MAVSDK
|
||||
run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
|
||||
run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb
|
||||
|
||||
- name: Prepare ccache timestamp
|
||||
id: ccache_cache_timestamp
|
||||
|
||||
@@ -108,5 +108,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
|
||||
# SITL
|
||||
dataman
|
||||
eeprom/
|
||||
|
||||
!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
|
||||
|
||||
+3
-10
@@ -33,7 +33,7 @@
|
||||
[submodule "src/modules/micrortps_bridge/micro-CDR"]
|
||||
path = src/modules/micrortps_bridge/micro-CDR
|
||||
url = https://github.com/PX4/Micro-CDR.git
|
||||
branch = master
|
||||
branch = px4
|
||||
[submodule "platforms/nuttx/NuttX/nuttx"]
|
||||
path = platforms/nuttx/NuttX/nuttx
|
||||
url = https://github.com/PX4/NuttX.git
|
||||
@@ -59,14 +59,7 @@
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
|
||||
path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types.git
|
||||
url = https://github.com/UAVCAN/public_regulated_data_types
|
||||
[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
|
||||
path = src/drivers/uavcannode_gps_demo/libcanard
|
||||
url = https://github.com/UAVCAN/libcanard.git
|
||||
[submodule "src/drivers/uavcan_v1/legacy_data_types"]
|
||||
path = src/drivers/uavcan_v1/legacy_data_types
|
||||
url = https://github.com/PX4/public_regulated_data_types.git
|
||||
branch = legacy
|
||||
[submodule "src/lib/crypto/monocypher"]
|
||||
path = src/lib/crypto/monocypher
|
||||
url = https://github.com/PX4/Monocypher.git
|
||||
url = https://github.com/UAVCAN/libcanard
|
||||
|
||||
Vendored
+7
-47
@@ -51,16 +51,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v5x_default
|
||||
px4_fmu-v6x_default:
|
||||
short: px4_fmu-v6x
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v6x_default
|
||||
px4_fmu-v6x_bootloader:
|
||||
short: px4_fmu-v6x_bootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: px4_fmu-v6x_bootloader
|
||||
airmind_mindpx-v2_default:
|
||||
short: airmind_mindpx-v2
|
||||
buildType: MinSizeRel
|
||||
@@ -76,16 +66,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-flow_canbootloader
|
||||
ark_can-gps_default:
|
||||
short: ark_can-gps_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-gps_default
|
||||
ark_can-gps_canbootloader:
|
||||
short: ark_can-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-gps_canbootloader
|
||||
av_x-v1_default:
|
||||
short: av_x-v1
|
||||
buildType: MinSizeRel
|
||||
@@ -116,36 +96,21 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_x7pro_default
|
||||
cubepilot_cubeorange_test:
|
||||
cubepilot_cubeorange_default:
|
||||
short: cubepilot_cubeorange
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_orange_test
|
||||
CONFIG: cubepilot_orange_default
|
||||
cubepilot_cubeyellow_default:
|
||||
short: cubepilot_cubeyellow
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_cubeyellow_default
|
||||
emlid_navio2_default:
|
||||
short: emlid_navio2
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: emlid_navio2_default
|
||||
freefly_can-rtk-gps_default:
|
||||
short: freefly_can-rtk-gps_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: freefly_can-rtk-gps_default
|
||||
freefly_can-rtk-gps_canbootloader:
|
||||
short: freefly_can-rtk-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: freefly_can-rtk-gps_canbootloader
|
||||
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
|
||||
@@ -156,11 +121,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: modalai_fc-v1_default
|
||||
modalai_fc-v2_default:
|
||||
short: modalai_fc-v2
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: modalai_fc-v2_default
|
||||
mro_ctrl-zero-f7_default:
|
||||
short: mro_ctrl-zero-f7
|
||||
buildType: MinSizeRel
|
||||
|
||||
+1
-10
@@ -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}
|
||||
@@ -185,8 +185,6 @@ if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage")
|
||||
set(MAX_CUSTOM_OPT_LEVEL -O0)
|
||||
elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
|
||||
set(MAX_CUSTOM_OPT_LEVEL -O1)
|
||||
elseif(CMAKE_BUILD_TYPE MATCHES "Release")
|
||||
set(MAX_CUSTOM_OPT_LEVEL -O3)
|
||||
else()
|
||||
if(px4_constrained_flash_build)
|
||||
set(MAX_CUSTOM_OPT_LEVEL -Os)
|
||||
@@ -456,10 +454,3 @@ 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 ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
Vendored
+17
-21
@@ -15,7 +15,7 @@ pipeline {
|
||||
// stage('Catkin build on ROS workspace') {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-ros-melodic:2021-04-29'
|
||||
// image 'px4io/px4-dev-ros-melodic:2021-02-04'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
// }
|
||||
// }
|
||||
@@ -56,7 +56,7 @@ pipeline {
|
||||
stage('Colcon build on ROS2 workspace') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros2-foxy:2021-04-29'
|
||||
image 'px4io/px4-dev-ros2-foxy:2021-02-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
@@ -85,11 +85,10 @@ pipeline {
|
||||
|
||||
stage('Airframe') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make airframe_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
|
||||
@@ -105,15 +104,14 @@ pipeline {
|
||||
|
||||
stage('Parameter') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make parameters_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
|
||||
stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
|
||||
archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
|
||||
stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
|
||||
}
|
||||
}
|
||||
post {
|
||||
@@ -125,11 +123,10 @@ pipeline {
|
||||
|
||||
stage('Module') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make module_documentation'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
archiveArtifacts(artifacts: 'modules/*.md')
|
||||
@@ -146,14 +143,13 @@ pipeline {
|
||||
stage('uORB graphs') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-04-29'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-02-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make uorb_graphs'
|
||||
dir('Tools/uorb_graph') {
|
||||
archiveArtifacts(artifacts: 'graph_px4_sitl.json')
|
||||
@@ -176,7 +172,7 @@ pipeline {
|
||||
|
||||
stage('Userguide') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -206,7 +202,7 @@ pipeline {
|
||||
|
||||
stage('QGroundControl') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -234,7 +230,7 @@ pipeline {
|
||||
|
||||
stage('microRTPS agent') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -264,7 +260,7 @@ pipeline {
|
||||
|
||||
stage('PX4 ROS msgs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -293,7 +289,7 @@ pipeline {
|
||||
|
||||
stage('PX4 ROS2 bridge') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -336,7 +332,7 @@ pipeline {
|
||||
|
||||
stage('S3') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-04-29' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-02-04' }
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
@@ -346,7 +342,7 @@ 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 {
|
||||
@@ -374,7 +370,7 @@ pipeline {
|
||||
GIT_COMMITTER_NAME = "PX4BuildBot"
|
||||
}
|
||||
options {
|
||||
buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
|
||||
timeout(time: 90, unit: 'MINUTES')
|
||||
buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
|
||||
timeout(time: 60, unit: 'MINUTES')
|
||||
}
|
||||
}
|
||||
|
||||
@@ -63,7 +63,7 @@ all: px4_sitl_default
|
||||
space := $(subst ,, )
|
||||
|
||||
define make_list
|
||||
$(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
|
||||
$(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
|
||||
endef
|
||||
|
||||
# Parsing
|
||||
@@ -165,11 +165,6 @@ ifdef PYTHON_EXECUTABLE
|
||||
CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
|
||||
endif
|
||||
|
||||
# Check if the microRTPS agent is to be built
|
||||
ifdef BUILD_MICRORTPS_AGENT
|
||||
CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
|
||||
endif
|
||||
|
||||
# Functions
|
||||
# --------------------------------------------------------------------
|
||||
# describe how to build a cmake config
|
||||
@@ -308,7 +303,8 @@ check_%:
|
||||
@echo
|
||||
|
||||
uorb_graphs:
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
|
||||
@./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
|
||||
@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
|
||||
@@ -323,7 +319,7 @@ coverity_scan: px4_sitl_default
|
||||
.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
|
||||
|
||||
parameters_metadata:
|
||||
@$(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
|
||||
@@ -473,27 +469,25 @@ validate_module_configs:
|
||||
.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
|
||||
|
||||
clean:
|
||||
@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
|
||||
@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source
|
||||
@rm -rf "$(SRC_DIR)"/build
|
||||
|
||||
submodulesclean:
|
||||
@git submodule foreach --quiet --recursive git clean -ff -x -d
|
||||
@git submodule update --quiet --init --recursive --force || true
|
||||
@git submodule sync --recursive
|
||||
@git submodule update --init --recursive --force --jobs 4
|
||||
@git submodule update --init --recursive --force
|
||||
|
||||
submodulesupdate:
|
||||
@git submodule update --quiet --init --recursive --jobs 4 || true
|
||||
@git submodule update --quiet --init --recursive || true
|
||||
@git submodule sync --recursive
|
||||
@git submodule update --init --recursive --jobs 4
|
||||
@git submodule update --init --recursive
|
||||
|
||||
gazeboclean:
|
||||
@rm -rf ~/.gazebo/*
|
||||
|
||||
distclean: gazeboclean
|
||||
@git submodule deinit --force $(SRC_DIR)
|
||||
@rm -rf "$(SRC_DIR)/build"
|
||||
@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
|
||||
@git submodule deinit -f .
|
||||
@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
|
||||
|
||||
# Help / Error
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
@@ -17,7 +17,7 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of
|
||||
* [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, High altitude balloons, etc)
|
||||
* many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
|
||||
* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
|
||||
|
||||
|
||||
@@ -85,24 +85,23 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
|
||||
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)
|
||||
* 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)
|
||||
* FMUv4 (STM32F4)
|
||||
* [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 (STM32F7)
|
||||
* [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)
|
||||
* FMUv6X and FMUv6U (STM32H7)
|
||||
* Various vendors will provide FMUv6X and FMUv6U based designs Q2/2021
|
||||
|
||||
### Manufacturer and Community supported
|
||||
* [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
|
||||
|
||||
@@ -115,7 +115,6 @@ add_custom_command(
|
||||
set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
|
||||
add_custom_command(
|
||||
OUTPUT ${romfs_extract_stamp}
|
||||
COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
|
||||
COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
|
||||
COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
|
||||
WORKING_DIRECTORY ${romfs_gen_root_dir}
|
||||
|
||||
@@ -76,6 +76,15 @@ 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
|
||||
|
||||
@@ -34,9 +34,6 @@
|
||||
add_subdirectory(airframes)
|
||||
|
||||
px4_add_romfs_files(
|
||||
px4-rc.params
|
||||
px4-rc.simulator
|
||||
px4-rc.mavlink
|
||||
rc.replay
|
||||
rcS
|
||||
)
|
||||
|
||||
@@ -10,39 +10,43 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 1.5
|
||||
param set-default VM_INERTIA_XX 0.03
|
||||
param set-default VM_INERTIA_YY 0.03
|
||||
param set-default VM_INERTIA_ZZ 0.05
|
||||
param set VM_MASS 1.5
|
||||
param set VM_INERTIA_XX 0.03
|
||||
param set VM_INERTIA_YY 0.03
|
||||
param set VM_INERTIA_ZZ 0.05
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
param set CA_AIRFRAME 0
|
||||
param set CA_METHOD 1
|
||||
param set CA_ACT0_MIN 0.0
|
||||
param set CA_ACT1_MIN 0.0
|
||||
param set CA_ACT2_MIN 0.0
|
||||
param set CA_ACT3_MIN 0.0
|
||||
param set CA_ACT0_MAX 1.0
|
||||
param set CA_ACT1_MAX 1.0
|
||||
param set CA_ACT2_MAX 1.0
|
||||
param set CA_ACT3_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R0_PX 0.1515
|
||||
param set-default CA_MC_R0_PY 0.245
|
||||
param set-default CA_MC_R0_CT 6.5
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.1515
|
||||
param set-default CA_MC_R1_PY -0.1875
|
||||
param set-default CA_MC_R1_CT 6.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.1515
|
||||
param set-default CA_MC_R2_PY -0.245
|
||||
param set-default CA_MC_R2_CT 6.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.1515
|
||||
param set-default CA_MC_R3_PY 0.1875
|
||||
param set-default CA_MC_R3_CT 6.5
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
param set CA_MC_R0_PX 0.1515
|
||||
param set CA_MC_R0_PY 0.245
|
||||
param set CA_MC_R0_CT 6.5
|
||||
param set CA_MC_R0_KM 0.05
|
||||
param set CA_MC_R1_PX -0.1515
|
||||
param set CA_MC_R1_PY -0.1875
|
||||
param set CA_MC_R1_CT 6.5
|
||||
param set CA_MC_R1_KM 0.05
|
||||
param set CA_MC_R2_PX 0.1515
|
||||
param set CA_MC_R2_PY -0.245
|
||||
param set CA_MC_R2_CT 6.5
|
||||
param set CA_MC_R2_KM -0.05
|
||||
param set CA_MC_R3_PX -0.1515
|
||||
param set CA_MC_R3_PY 0.1875
|
||||
param set CA_MC_R3_CT 6.5
|
||||
param set CA_MC_R3_KM -0.05
|
||||
|
||||
fi
|
||||
|
||||
set MIXER direct
|
||||
|
||||
@@ -7,6 +7,8 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default EKF2_RNG_AID 1
|
||||
param set-default EKF2_RNG_A_HMAX 10
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_RNG_AID 1
|
||||
param set EKF2_RNG_A_HMAX 10
|
||||
fi
|
||||
|
||||
@@ -8,12 +8,15 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
# EKF2: Multi GPS blending (as the model has 2 GPS's)
|
||||
param set-default SENS_GPS_MASK 7
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MNT_DO_STAB 2
|
||||
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
|
||||
|
||||
@@ -7,14 +7,16 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default EKF2_EVP_NOISE 0.05
|
||||
param set-default EKF2_EVA_NOISE 0.05
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2
|
||||
param set EKF2_AID_MASK 2
|
||||
param set EKF2_EVP_NOISE 0.05
|
||||
param set EKF2_EVA_NOISE 0.05
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
# LPE: Flow-only mode
|
||||
param set LPE_FUSION 242
|
||||
param set LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set MPC_ALT_MODE 2
|
||||
fi
|
||||
|
||||
@@ -7,9 +7,12 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# enable fusion of landing target velocity
|
||||
param set-default LTEST_MODE 1
|
||||
param set-default PLD_HACC_RAD 0.1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# enable fusion of landing target velocity
|
||||
param set LTEST_MODE 1
|
||||
param set PLD_HACC_RAD 0.1
|
||||
fi
|
||||
|
||||
# Start up Landing Target Estimator module
|
||||
landing_target_estimator start
|
||||
|
||||
@@ -7,5 +7,7 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default LPE_FUSION 242
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set LPE_FUSION 242
|
||||
fi
|
||||
|
||||
@@ -7,13 +7,15 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2: Vision position and heading
|
||||
param set-default EKF2_AID_MASK 24
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Vision position and heading
|
||||
param set EKF2_AID_MASK 24
|
||||
param set EKF2_EV_DELAY 5
|
||||
|
||||
# LPE: Vision + baro
|
||||
param set-default LPE_FUSION 132
|
||||
|
||||
# AEQ: External heading set to use vision input
|
||||
param set-default ATT_EXT_HDG_M 1
|
||||
# LPE: Vision + baro
|
||||
param set LPE_FUSION 132
|
||||
|
||||
# AEQ: External heading set to use vision input
|
||||
param set ATT_EXT_HDG_M 1
|
||||
fi
|
||||
|
||||
@@ -7,7 +7,10 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.1
|
||||
param set-default MC_ROLLRATE_P 0.1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_ROLLRATE_P 0.1
|
||||
fi
|
||||
|
||||
set MIXER quad_x
|
||||
|
||||
@@ -7,6 +7,8 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
param set-default COM_OBS_AVOID 1
|
||||
param set-default MPC_XY_CRUISE 5.0
|
||||
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set COM_OBS_AVOID 1
|
||||
param set MPC_XY_CRUISE 5.0
|
||||
fi
|
||||
|
||||
@@ -0,0 +1,8 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name 3DR Iris Quadrotor SITL (RTPS)
|
||||
#
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
@@ -0,0 +1,4 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
|
||||
@@ -7,12 +7,15 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2
|
||||
param set-default EKF2_AID_MASK 2
|
||||
param set-default SENS_FLOW_ROT 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2
|
||||
param set EKF2_AID_MASK 2
|
||||
param set SENS_FLOW_ROT 0
|
||||
|
||||
# LPE: Flow-only mode
|
||||
param set-default LPE_FUSION 242
|
||||
param set-default LPE_FAKE_ORIGIN 1
|
||||
# LPE: Flow-only mode
|
||||
param set LPE_FUSION 242
|
||||
param set LPE_FAKE_ORIGIN 1
|
||||
|
||||
param set-default MPC_ALT_MODE 2
|
||||
param set MPC_ALT_MODE 2
|
||||
fi
|
||||
|
||||
@@ -7,6 +7,9 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2: Vision velocity and heading
|
||||
param set-default EKF2_AID_MASK 272
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Vision velocity and heading
|
||||
param set EKF2_AID_MASK 272
|
||||
param set EKF2_EV_DELAY 5
|
||||
fi
|
||||
|
||||
@@ -7,5 +7,8 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2: Multi GPS blending
|
||||
param set-default SENS_GPS_MASK 7
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# EKF2: Multi GPS blending
|
||||
param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
|
||||
fi
|
||||
|
||||
@@ -5,13 +5,16 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set-default NAV_DLL_ACT 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
fi
|
||||
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
@@ -5,13 +5,16 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set-default NAV_DLL_ACT 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
#param set CBRK_GPSFAIL 240024
|
||||
fi
|
||||
|
||||
set MAV_TYPE 12
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
@@ -5,11 +5,15 @@
|
||||
|
||||
. ${R}etc/init.d/rc.uuv_defaults
|
||||
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set-default NAV_DLL_ACT 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
#Set data link loss failsafe mode (0: disabled)
|
||||
param set NAV_DLL_ACT 0
|
||||
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
fi
|
||||
|
||||
set PWM_OUT 12345678
|
||||
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
|
||||
|
||||
@@ -5,50 +5,54 @@
|
||||
|
||||
. ${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
|
||||
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-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set FW_LND_AIRSPD_SC 1
|
||||
param set FW_LND_ANG 8
|
||||
param set FW_THR_LND_MAX 0
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set 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 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-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
param set FW_RR_FF 0.1
|
||||
param set 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 FW_THR_MAX 0.6
|
||||
param set FW_THR_MIN 0.05
|
||||
param set 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 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-default FW_W_EN 1
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set 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 NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set RWTO_TKOFF 1
|
||||
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,8 +5,10 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
# Camera trigger interface is MAVLink
|
||||
param set-default TRIG_INTERFACE 3
|
||||
|
||||
# Distance trigger mode enabled
|
||||
param set-default TRIG_MODE 4
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
# Camera trigger interface is MAVLink
|
||||
param set TRIG_INTERFACE 3
|
||||
# Distance trigger mode enabled
|
||||
param set TRIG_MODE 4
|
||||
fi
|
||||
|
||||
@@ -5,5 +5,8 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
param set-default RWTO_TKOFF 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set RWTO_TKOFF 0
|
||||
|
||||
fi
|
||||
|
||||
@@ -5,5 +5,8 @@
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/1030_plane
|
||||
|
||||
param set-default FW_LND_USETER 1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_LND_USETER 1
|
||||
|
||||
fi
|
||||
|
||||
@@ -5,55 +5,54 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
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-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_LND_HHDIST 30
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_TLALT 15
|
||||
param set FW_LND_AIRSPD_SC 1.1
|
||||
param set FW_LND_ANG 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_LND_HHDIST 30
|
||||
param set FW_LND_FL_PMIN 9.5
|
||||
param set FW_LND_FL_PMAX 20
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_TLALT 15
|
||||
|
||||
param set-default FW_L1_PERIOD 25
|
||||
param set FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
param set FW_P_TC 0.4
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
|
||||
param set-default FW_R_TC 0.45
|
||||
param set-default FW_RR_FF 0.40
|
||||
param set-default FW_RR_I 0.132
|
||||
param set-default FW_RR_P 0.085
|
||||
param set FW_R_TC 0.45
|
||||
param set FW_RR_FF 0.40
|
||||
param set FW_RR_I 0.132
|
||||
param set FW_RR_P 0.085
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 20
|
||||
param set MIS_DIST_1WP 2500
|
||||
param set MIS_DIST_WPS 10000
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set FW_THR_SLEW_MAX 0.3
|
||||
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set-default RWTO_MAX_THR 0.6
|
||||
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
param set RWTO_TKOFF 1
|
||||
#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_MAX_PITCH 20
|
||||
param set RWTO_MAX_ROLL 10
|
||||
#param set RWTO_MAX_THR 0.6 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_PSP 8
|
||||
param set RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,54 +5,54 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
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-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_LND_HHDIST 30
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_TLALT 15
|
||||
param set FW_LND_AIRSPD_SC 1.1
|
||||
param set FW_LND_ANG 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_LND_HHDIST 30
|
||||
param set FW_LND_FL_PMIN 9.5
|
||||
param set FW_LND_FL_PMAX 20
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_TLALT 15
|
||||
|
||||
param set-default FW_L1_PERIOD 25
|
||||
param set FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
param set FW_P_TC 0.4
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
|
||||
param set-default FW_R_TC 0.45
|
||||
param set-default FW_RR_FF 0.40
|
||||
param set-default FW_RR_I 0.132
|
||||
param set-default FW_RR_P 0.085
|
||||
param set FW_R_TC 0.45
|
||||
param set FW_RR_FF 0.40
|
||||
param set FW_RR_I 0.132
|
||||
param set FW_RR_P 0.085
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 20
|
||||
param set MIS_DIST_1WP 2500
|
||||
param set MIS_DIST_WPS 10000
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set RWTO_TKOFF 1
|
||||
#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_MAX_PITCH 20
|
||||
param set RWTO_MAX_ROLL 10
|
||||
#param set RWTO_MAX_THR 0.6 # fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
param set RWTO_PSP 8
|
||||
param set RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set FW_THR_SLEW_MAX 0.3
|
||||
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
|
||||
# fix takeoff failure for JSBsim in autonomous mission mode.
|
||||
#param set RWTO_MAX_THR 0.6
|
||||
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,39 +5,43 @@
|
||||
|
||||
. ${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
|
||||
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-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set FW_LND_AIRSPD_SC 1
|
||||
param set FW_LND_ANG 8
|
||||
param set FW_THR_LND_MAX 0
|
||||
|
||||
param set-default FW_L1_PERIOD 15
|
||||
param set FW_L1_PERIOD 15
|
||||
|
||||
param set-default FW_P_TC 0.5
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
param set FW_P_TC 0.5
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
|
||||
param set-default FW_R_TC 0.7
|
||||
param set-default FW_RR_FF 0.20
|
||||
param set-default FW_RR_I 0.02
|
||||
param set-default FW_RR_P 0.22
|
||||
param set FW_R_TC 0.7
|
||||
param set FW_RR_FF 0.20
|
||||
param set FW_RR_I 0.02
|
||||
param set FW_RR_P 0.22
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set 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 NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set RWTO_TKOFF 1
|
||||
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -5,46 +5,52 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
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-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
param set-default FW_LND_HHDIST 30
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
param set-default FW_LND_TLALT 15
|
||||
param set FW_LND_AIRSPD_SC 1.1
|
||||
param set FW_LND_ANG 5
|
||||
param set FW_THR_LND_MAX 0
|
||||
param set FW_LND_HHDIST 30
|
||||
param set FW_LND_FL_PMIN 9.5
|
||||
param set FW_LND_FL_PMAX 20
|
||||
param set FW_LND_FLALT 5
|
||||
param set FW_LND_TLALT 15
|
||||
|
||||
param set-default FW_L1_PERIOD 25
|
||||
param set FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_P_TC 0.4
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
param set-default FW_PR_P 0.05
|
||||
param set FW_P_TC 0.4
|
||||
param set FW_PR_FF 0.40
|
||||
param set FW_PR_I 0.05
|
||||
param set FW_PR_P 0.05
|
||||
|
||||
param set-default FW_R_TC 0.45
|
||||
param set-default FW_RR_FF 0.40
|
||||
param set-default FW_RR_I 0.132
|
||||
param set-default FW_RR_P 0.085
|
||||
param set FW_R_TC 0.45
|
||||
param set FW_RR_FF 0.40
|
||||
param set FW_RR_I 0.132
|
||||
param set FW_RR_P 0.085
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
param set MIS_LTRMIN_ALT 30
|
||||
param set MIS_TAKEOFF_ALT 20
|
||||
param set MIS_DIST_1WP 2500
|
||||
param set MIS_DIST_WPS 10000
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 50
|
||||
param set NAV_ACC_RAD 15
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 50
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_MAX_ROLL 10
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
param set RWTO_TKOFF 1
|
||||
param set RWTO_MAX_PITCH 20
|
||||
param set RWTO_MAX_ROLL 10
|
||||
param set RWTO_PSP 8
|
||||
param set RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
fi
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -7,46 +7,50 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
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_CRUISE 0.25
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
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
|
||||
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-default MC_ROLLRATE_P 0.3
|
||||
param set-default MC_YAW_P 1.6
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
param set MC_YAW_P 1.6
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
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-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
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_B_TRANS_DUR 8
|
||||
param set-default VT_TYPE 2
|
||||
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
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
|
||||
@@ -7,40 +7,44 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_I 0.2
|
||||
param set-default FW_PR_P 0.3
|
||||
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_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.33
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
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
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set FW_L1_PERIOD 12
|
||||
param set FW_MAN_P_MAX 30
|
||||
param set FW_PR_I 0.2
|
||||
param set FW_PR_P 0.3
|
||||
param set FW_PSP_OFF 2
|
||||
param set FW_P_LIM_MAX 32
|
||||
param set FW_P_LIM_MIN -15
|
||||
param set FW_RR_P 0.3
|
||||
param set FW_THR_CRUISE 0.33
|
||||
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-default MC_ROLLRATE_P 0.3
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
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-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_F_TRANS_DUR 1.5
|
||||
param set-default VT_F_TRANS_THR 0.7
|
||||
param set-default VT_TYPE 0
|
||||
param set VT_F_TRANS_DUR 1.5
|
||||
param set VT_F_TRANS_THR 0.7
|
||||
param set VT_TYPE 0
|
||||
|
||||
param set-default WV_EN 0
|
||||
param set WV_EN 0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 20
|
||||
|
||||
|
||||
@@ -7,44 +7,48 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
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_CRUISE 0.38
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
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
|
||||
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 0.38
|
||||
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-default MC_YAW_P 1.6
|
||||
param set MC_YAW_P 1.6
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
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-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_MOT_ID 1234
|
||||
param set-default VT_TILT_TRANS 0.6
|
||||
param set-default VT_TYPE 1
|
||||
param set VT_B_TRANS_DUR 8
|
||||
param set VT_FWD_THRUST_EN 4
|
||||
param set VT_MOT_ID 1234
|
||||
param set VT_TILT_TRANS 0.6
|
||||
param set VT_TYPE 1
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 21
|
||||
|
||||
|
||||
@@ -7,50 +7,53 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_I 0.4
|
||||
param set-default FW_PR_P 0.9
|
||||
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_CRUISE 0.25
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
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
|
||||
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-default MC_ROLLRATE_P 0.3
|
||||
param set-default MC_YAW_P 1.6
|
||||
param set MC_ROLLRATE_P 0.3
|
||||
param set MC_YAW_P 1.6
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
param set MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
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-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
param set NAV_ACC_RAD 5
|
||||
param set NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
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_B_TRANS_DUR 8
|
||||
param set-default VT_TYPE 2
|
||||
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-default RC_MAP_AUX1 8
|
||||
param set-default RC_MAP_AUX2 9
|
||||
param set-default RC_MAP_AUX3 10
|
||||
param set RC_MAP_AUX1 8
|
||||
param set RC_MAP_AUX2 9
|
||||
param set RC_MAP_AUX3 10
|
||||
fi
|
||||
|
||||
set MAV_TYPE 22
|
||||
|
||||
|
||||
@@ -5,28 +5,32 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_L1_PERIOD 10
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_I 3
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 4
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
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
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 4
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 2.0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
|
||||
@@ -6,27 +6,31 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 3
|
||||
param set-default GND_SPEED_I 0.001
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 4
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 3
|
||||
param set GND_SPEED_I 0.001
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 4
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 2.0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
|
||||
@@ -10,28 +10,32 @@
|
||||
|
||||
. ${R}etc/init.d/rc.rover_defaults
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 3
|
||||
param set-default GND_SPEED_I 0.001
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 0.25
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 15
|
||||
param set-default GND_SPEED_MAX 25
|
||||
param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 3
|
||||
param set GND_SPEED_I 0.001
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 0.25
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 15
|
||||
param set GND_SPEED_MAX 25
|
||||
param set GND_THR_CRUISE 0.3
|
||||
param set GND_THR_MAX 0.5
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 3.0
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 3.0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
|
||||
@@ -5,28 +5,32 @@
|
||||
|
||||
. ${R}etc/init.d/rc.boat_defaults
|
||||
|
||||
param set-default GND_L1_DIST 5
|
||||
param set-default GND_L1_PERIOD 100
|
||||
param set-default GND_SP_CTRL_MODE 1
|
||||
param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_I 8
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_P 2
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
param set-default GND_SPEED_TRIM 1
|
||||
param set-default GND_THR_CRUISE 0.85
|
||||
param set-default GND_THR_MAX 1
|
||||
param set-default GND_THR_MIN 0
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set GND_L1_DIST 5
|
||||
param set GND_L1_PERIOD 100
|
||||
param set GND_SP_CTRL_MODE 1
|
||||
param set GND_SPEED_D 0.001
|
||||
param set GND_SPEED_I 8
|
||||
param set GND_SPEED_IMAX 0.125
|
||||
param set GND_SPEED_P 2
|
||||
param set GND_SPEED_THR_SC 1
|
||||
param set GND_SPEED_TRIM 1
|
||||
param set GND_THR_CRUISE 0.85
|
||||
param set GND_THR_MAX 1
|
||||
param set GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
param set MIS_LTRMIN_ALT 0.01
|
||||
param set MIS_TAKEOFF_ALT 0.01
|
||||
param set NAV_ACC_RAD 0.5
|
||||
param set NAV_LOITER_RAD 2
|
||||
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
param set GND_MAX_ANG 0.6
|
||||
param set GND_WHEEL_BASE 2.0
|
||||
|
||||
fi
|
||||
|
||||
set MAV_TYPE 11
|
||||
|
||||
|
||||
@@ -12,48 +12,52 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set EKF2_ARSP_THR 8
|
||||
param set EKF2_FUSE_BETA 1
|
||||
param set ASPD_STALL 10.0
|
||||
|
||||
param set-default FW_AIRSPD_STALL 8
|
||||
param set FW_P_RMAX_NEG 20.0
|
||||
param set FW_P_RMAX_POS 60.0
|
||||
param set FW_W_RMAX 10
|
||||
param set FW_W_EN 1
|
||||
|
||||
param set-default FW_P_RMAX_NEG 20.0
|
||||
param set-default FW_P_RMAX_POS 60.0
|
||||
param set-default FW_W_RMAX 10
|
||||
param set-default FW_W_EN 1
|
||||
param set FW_PR_IMAX 0.4
|
||||
param set FW_R_TC 0.4
|
||||
param set FW_RR_FF 0.5
|
||||
param set FW_RR_I 0.1
|
||||
param set FW_RR_IMAX 0.2
|
||||
param set FW_RR_P 0.08
|
||||
|
||||
param set-default FW_PR_IMAX 0.4
|
||||
param set-default FW_R_TC 0.4
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_I 0.1
|
||||
param set-default FW_RR_IMAX 0.2
|
||||
param set-default FW_RR_P 0.08
|
||||
param set MIS_LTRMIN_ALT 50
|
||||
param set MIS_TAKEOFF_ALT 3
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 50
|
||||
param set-default MIS_TAKEOFF_ALT 3
|
||||
param set NAV_ACC_RAD 20
|
||||
param set NAV_DLL_ACT 2
|
||||
param set NAV_LOITER_RAD 100
|
||||
|
||||
param set-default NAV_ACC_RAD 20
|
||||
param set-default NAV_DLL_ACT 2
|
||||
param set-default NAV_LOITER_RAD 100
|
||||
param set RWTO_TKOFF 1
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set FW_ARSP_SCALE_EN 0
|
||||
|
||||
param set-default FW_ARSP_SCALE_EN 0
|
||||
param set FW_AIRSPD_MAX 35
|
||||
param set FW_AIRSPD_MIN 7
|
||||
param set FW_AIRSPD_TRIM 15
|
||||
|
||||
param set-default FW_AIRSPD_MAX 35
|
||||
param set-default FW_AIRSPD_MIN 7
|
||||
param set-default FW_AIRSPD_TRIM 15
|
||||
param set FW_P_LIM_MAX 25
|
||||
param set FW_P_LIM_MIN -5
|
||||
param set FW_R_LIM 30
|
||||
|
||||
param set-default FW_P_LIM_MAX 25
|
||||
param set-default FW_P_LIM_MIN -5
|
||||
param set-default FW_R_LIM 30
|
||||
param set FW_MAN_P_MAX 30.0
|
||||
param set FW_MAN_R_MAX 30.0
|
||||
|
||||
param set-default FW_MAN_P_MAX 30.0
|
||||
param set-default FW_MAN_R_MAX 30.0
|
||||
param set FW_THR_CRUISE 0.8
|
||||
param set FW_THR_IDLE 0
|
||||
param set COM_DISARM_PRFLT 0
|
||||
|
||||
fi
|
||||
|
||||
param set-default FW_THR_CRUISE 0.8
|
||||
param set-default FW_THR_IDLE 0
|
||||
param set-default COM_DISARM_PRFLT 0
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -9,21 +9,24 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.1
|
||||
param set-default MC_PITCHRATE_I 0.05
|
||||
param set-default MC_PITCH_P 6.0
|
||||
param set-default MC_ROLLRATE_P 0.15
|
||||
param set-default MC_ROLLRATE_I 0.1
|
||||
param set-default MC_ROLL_P 6.0
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCH_P 6.0
|
||||
param set MC_ROLLRATE_P 0.15
|
||||
param set MC_ROLLRATE_I 0.1
|
||||
param set MC_ROLL_P 6.0
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set RTL_DESCEND_ALT 10
|
||||
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_DO_STAB 2
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 4
|
||||
param set MNT_DO_STAB 2
|
||||
fi
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
|
||||
@@ -7,24 +7,27 @@
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
param set-default MC_PITCHRATE_P 0.0800
|
||||
param set-default MC_PITCHRATE_I 0.0400
|
||||
param set-default MC_PITCHRATE_D 0.0010
|
||||
param set-default MC_PITCH_P 9.0
|
||||
param set-default MC_ROLLRATE_P 0.0800
|
||||
param set-default MC_ROLLRATE_I 0.0400
|
||||
param set-default MC_ROLLRATE_D 0.0010
|
||||
param set-default MC_ROLL_P 9.0
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MC_PITCHRATE_P 0.0800
|
||||
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_I 0.0400
|
||||
param set MC_ROLLRATE_D 0.0010
|
||||
param set MC_ROLL_P 9.0
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set RTL_DESCEND_ALT 10
|
||||
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 4
|
||||
param set-default MNT_MODE_OUT 2
|
||||
param set-default MAV_PROTO_VER 2
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 4
|
||||
param set MNT_MODE_OUT 2
|
||||
param set MAV_PROTO_VER 2
|
||||
fi
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
|
||||
@@ -8,63 +8,66 @@
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
. ${R}etc/init.d/rc.ctrlalloc
|
||||
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
param set MPC_XY_VEL_I_ACC 4
|
||||
param set MPC_XY_VEL_P_ACC 3
|
||||
|
||||
param set-default RTL_DESCEND_ALT 10
|
||||
param set-default RTL_LAND_DELAY 0
|
||||
param set RTL_DESCEND_ALT 10
|
||||
param set RTL_LAND_DELAY 0
|
||||
|
||||
param set-default TRIG_INTERFACE 3
|
||||
param set-default TRIG_MODE 4
|
||||
param set-default MNT_MODE_IN 0
|
||||
param set-default MAV_PROTO_VER 2
|
||||
param set TRIG_INTERFACE 3
|
||||
param set TRIG_MODE 4
|
||||
param set MNT_MODE_IN 0
|
||||
param set MAV_PROTO_VER 2
|
||||
|
||||
param set-default MPC_USE_HTE 0
|
||||
param set MPC_USE_HTE 0
|
||||
|
||||
param set-default VM_MASS 2.66
|
||||
param set-default VM_INERTIA_XX 0.06
|
||||
param set-default VM_INERTIA_YY 0.06
|
||||
param set-default VM_INERTIA_ZZ 0.10
|
||||
param set VM_MASS 2.66
|
||||
param set VM_INERTIA_XX 0.06
|
||||
param set VM_INERTIA_YY 0.06
|
||||
param set VM_INERTIA_ZZ 0.10
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_METHOD 1
|
||||
param set-default CA_ACT0_MIN 0.0
|
||||
param set-default CA_ACT1_MIN 0.0
|
||||
param set-default CA_ACT2_MIN 0.0
|
||||
param set-default CA_ACT3_MIN 0.0
|
||||
param set-default CA_ACT4_MIN 0.0
|
||||
param set-default CA_ACT5_MIN 0.0
|
||||
param set-default CA_ACT0_MAX 1.0
|
||||
param set-default CA_ACT1_MAX 1.0
|
||||
param set-default CA_ACT2_MAX 1.0
|
||||
param set-default CA_ACT3_MAX 1.0
|
||||
param set-default CA_ACT4_MAX 1.0
|
||||
param set-default CA_ACT5_MAX 1.0
|
||||
param set CA_AIRFRAME 0
|
||||
param set CA_METHOD 1
|
||||
param set CA_ACT0_MIN 0.0
|
||||
param set CA_ACT1_MIN 0.0
|
||||
param set CA_ACT2_MIN 0.0
|
||||
param set CA_ACT3_MIN 0.0
|
||||
param set CA_ACT4_MIN 0.0
|
||||
param set CA_ACT5_MIN 0.0
|
||||
param set CA_ACT0_MAX 1.0
|
||||
param set CA_ACT1_MAX 1.0
|
||||
param set CA_ACT2_MAX 1.0
|
||||
param set CA_ACT3_MAX 1.0
|
||||
param set CA_ACT4_MAX 1.0
|
||||
param set CA_ACT5_MAX 1.0
|
||||
|
||||
param set-default CA_MC_R0_PX 0.0
|
||||
param set-default CA_MC_R0_PY 1.0
|
||||
param set-default CA_MC_R0_CT 9.5
|
||||
param set-default CA_MC_R0_KM -0.05
|
||||
param set-default CA_MC_R1_PX 0.0
|
||||
param set-default CA_MC_R1_PY -1.0
|
||||
param set-default CA_MC_R1_CT 9.5
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.866025
|
||||
param set-default CA_MC_R2_PY -0.5
|
||||
param set-default CA_MC_R2_CT 9.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.866025
|
||||
param set-default CA_MC_R3_PY 0.5
|
||||
param set-default CA_MC_R3_CT 9.5
|
||||
param set-default CA_MC_R3_KM 0.05
|
||||
param set-default CA_MC_R4_PX 0.866025
|
||||
param set-default CA_MC_R4_PY 0.5
|
||||
param set-default CA_MC_R4_CT 9.5
|
||||
param set-default CA_MC_R4_KM 0.05
|
||||
param set-default CA_MC_R5_PX -0.866025
|
||||
param set-default CA_MC_R5_PY -0.5
|
||||
param set-default CA_MC_R5_CT 9.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
param set CA_MC_R0_PX 0.0
|
||||
param set CA_MC_R0_PY 1.0
|
||||
param set CA_MC_R0_CT 9.5
|
||||
param set CA_MC_R0_KM -0.05
|
||||
param set CA_MC_R1_PX 0.0
|
||||
param set CA_MC_R1_PY -1.0
|
||||
param set CA_MC_R1_CT 9.5
|
||||
param set CA_MC_R1_KM 0.05
|
||||
param set CA_MC_R2_PX 0.866025
|
||||
param set CA_MC_R2_PY -0.5
|
||||
param set CA_MC_R2_CT 9.5
|
||||
param set CA_MC_R2_KM -0.05
|
||||
param set CA_MC_R3_PX -0.866025
|
||||
param set CA_MC_R3_PY 0.5
|
||||
param set CA_MC_R3_CT 9.5
|
||||
param set CA_MC_R3_KM 0.05
|
||||
param set CA_MC_R4_PX 0.866025
|
||||
param set CA_MC_R4_PY 0.5
|
||||
param set CA_MC_R4_CT 9.5
|
||||
param set CA_MC_R4_KM 0.05
|
||||
param set CA_MC_R5_PX -0.866025
|
||||
param set CA_MC_R5_PY -0.5
|
||||
param set CA_MC_R5_CT 9.5
|
||||
param set CA_MC_R5_KM -0.05
|
||||
fi
|
||||
|
||||
set MAV_TYPE 13
|
||||
|
||||
|
||||
@@ -46,6 +46,8 @@ px4_add_romfs_files(
|
||||
1014_solo
|
||||
1015_iris_obs_avoid
|
||||
1015_iris_obs_avoid.post
|
||||
1016_iris_rtps
|
||||
1016_iris_rtps.post
|
||||
1017_iris_opt_flow_mockup
|
||||
1018_iris_vision_velocity
|
||||
1019_iris_dual_gps
|
||||
|
||||
@@ -1,32 +0,0 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
udp_offboard_port_local=$((14580+px4_instance))
|
||||
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))
|
||||
|
||||
# GCS link
|
||||
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
|
||||
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
|
||||
mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
|
||||
mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
|
||||
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
|
||||
|
||||
# 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
|
||||
@@ -1,5 +0,0 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
#param set MAV_SYS_ID $((px4_instance+1))
|
||||
#param set IMU_INTEG_RATE 250
|
||||
@@ -1,20 +0,0 @@
|
||||
#!/bin/sh
|
||||
# shellcheck disable=SC2154
|
||||
|
||||
simulator_tcp_port=$((4560+px4_instance))
|
||||
|
||||
# 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 $simulator_tcp_port
|
||||
fi
|
||||
@@ -5,8 +5,7 @@
|
||||
# shellcheck disable=SC1091
|
||||
. px4-alias.sh
|
||||
|
||||
#search path for sourcing px4-rc.*
|
||||
PATH="$PATH:${R}etc/init.d-posix"
|
||||
SCRIPT_DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
|
||||
|
||||
#
|
||||
# Main SITL startup script
|
||||
@@ -22,7 +21,6 @@ fi
|
||||
|
||||
# initialize script variables
|
||||
set AUX_MODE none
|
||||
set AUX_BANK2 none
|
||||
set IO_PRESENT no
|
||||
set MAV_TYPE none
|
||||
set MIXER none
|
||||
@@ -46,9 +44,9 @@ else
|
||||
# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
|
||||
# TODO: unify with rc.autostart generation
|
||||
# shellcheck disable=SC2012
|
||||
REQUESTED_AUTOSTART=$(ls "${R}etc/init.d-posix/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
|
||||
REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR/airframes" | sed -n 's/^\([0-9][0-9]*\)_'${PX4_SIM_MODEL}'$/\1/p')
|
||||
if [ -z "$REQUESTED_AUTOSTART" ]; then
|
||||
echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on ${R}etc/init.d-posix/airframes)"
|
||||
echo "Error: Unknown model $PX4_SIM_MODEL (not found by name on $SCRIPT_DIR/airframes)"
|
||||
exit 1
|
||||
else
|
||||
echo "Info: found model autostart file as SYS_AUTOSTART=$REQUESTED_AUTOSTART"
|
||||
@@ -99,12 +97,21 @@ 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
|
||||
# shellcheck disable=SC2154
|
||||
param set MAV_SYS_ID $((px4_instance+1))
|
||||
simulator_tcp_port=$((4560+px4_instance))
|
||||
udp_offboard_port_local=$((14580+px4_instance))
|
||||
udp_offboard_port_remote=$((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 [ $AUTOCNF = yes ]
|
||||
then
|
||||
@@ -146,8 +153,6 @@ param set-default SENS_IMU_MODE 0
|
||||
param set-default EKF2_MULTI_MAG 2
|
||||
param set-default SENS_MAG_MODE 0
|
||||
|
||||
param set-default IMU_GYRO_FFT_EN 1
|
||||
|
||||
# By default log from boot until first disarm.
|
||||
param set-default SDLOG_MODE 1
|
||||
# enable default, estimator replay and vision/avoidance logging profiles
|
||||
@@ -169,10 +174,6 @@ if [ -n "$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
|
||||
@@ -208,14 +209,11 @@ fi
|
||||
# Simulator IMU data provided at 250 Hz
|
||||
param set IMU_INTEG_RATE 250
|
||||
|
||||
#user defined params for instances can be in PATH
|
||||
. px4-rc.params
|
||||
|
||||
dataman start
|
||||
# only start the simulator if not in replay mode, as both control the lockstep time
|
||||
if ! replay tryapplyparams
|
||||
then
|
||||
. px4-rc.simulator
|
||||
simulator start -c $simulator_tcp_port
|
||||
fi
|
||||
load_mon start
|
||||
battery_simulator start
|
||||
@@ -225,12 +223,6 @@ sensors start
|
||||
commander start
|
||||
navigator start
|
||||
|
||||
# Try to start the micrortps_client with UDP transport if module exists
|
||||
if px4-micrortps_client status > /dev/null 2>&1
|
||||
then
|
||||
# shellcheck disable=SC2154
|
||||
micrortps_client start -t UDP $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
|
||||
fi
|
||||
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
then
|
||||
@@ -243,24 +235,38 @@ 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.
|
||||
#
|
||||
. ${R}etc/init.d/rc.vehicle_setup
|
||||
|
||||
#user defined mavlink streams for instances can be in PATH
|
||||
. px4-rc.mavlink
|
||||
if [ -e etc/init.d-posix/rc.mavlink_override ]
|
||||
then
|
||||
echo "Running non-default mavlink config 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 -p
|
||||
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
|
||||
mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
|
||||
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
|
||||
mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
|
||||
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 -p
|
||||
|
||||
# Onboard link to camera
|
||||
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote -p
|
||||
|
||||
# Onboard link to gimbal
|
||||
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote -p
|
||||
fi
|
||||
|
||||
# execute autostart post script if any
|
||||
[ -e "$autostart_file".post ] && . "$autostart_file".post
|
||||
|
||||
@@ -14,7 +14,7 @@
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_AUX_DISARM 1000
|
||||
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
|
||||
|
||||
@@ -112,7 +112,7 @@ 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_DISARM 950
|
||||
param set-default PWM_AUX_DISARMED 950
|
||||
|
||||
param set-default PWM_MAIN_DIS5 1500
|
||||
param set-default PWM_MAIN_DIS6 1500
|
||||
|
||||
@@ -26,56 +26,57 @@
|
||||
|
||||
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
|
||||
param set-default MPC_POS_MODE 3
|
||||
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
|
||||
@@ -83,7 +84,7 @@ 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 NAV_ACC_RAD 3
|
||||
|
||||
param set-default PWM_MAIN_DIS3 1000
|
||||
param set-default PWM_MAIN_MIN3 1120
|
||||
@@ -110,6 +111,4 @@ set MAV_TYPE 22
|
||||
set MIXER babyshark
|
||||
set MIXER_AUX pass
|
||||
|
||||
# Mark outputs for the alternate rate
|
||||
# or D-Shot
|
||||
set PWM_OUT 5678
|
||||
|
||||
@@ -0,0 +1,57 @@
|
||||
#!/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 bitcraze_crazyflie exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
param set-default PWM_MAIN_RATE 400
|
||||
|
||||
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
|
||||
|
||||
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_vtol_AAERT
|
||||
set MIXER_AUX none
|
||||
|
||||
set PWM_OUT 1234
|
||||
@@ -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
|
||||
@@ -31,7 +31,7 @@ set VEHICLE_TYPE mc
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
param set-default PWM_AUX_RATE 400
|
||||
param set-default PWM_AUX_DISARM 900
|
||||
param set-default PWM_AUX_DISARMED 900
|
||||
param set-default PWM_AUX_MIN 1075
|
||||
param set-default PWM_AUX_MAX 1950
|
||||
|
||||
|
||||
@@ -33,7 +33,7 @@ param set-default MC_YAW_P 4
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
param set-default PWM_AUX_DISARM 950
|
||||
param set-default PWM_AUX_DISARMED 950
|
||||
param set-default PWM_AUX_RATE 50
|
||||
param set-default PWM_MAIN_MIN 1100
|
||||
param set-default PWM_MAIN_MAX 1900
|
||||
|
||||
@@ -16,6 +16,8 @@
|
||||
set MIXER quad_x
|
||||
set PWM_OUT 1234
|
||||
|
||||
set PARAM_DEFAULTS_VER 2
|
||||
|
||||
|
||||
param set-default BAT_N_CELLS 4
|
||||
|
||||
|
||||
@@ -18,7 +18,6 @@
|
||||
# @board px4_fmu-v5 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board cuav_x7pro exclude
|
||||
#
|
||||
|
||||
set VEHICLE_TYPE mc
|
||||
@@ -112,12 +111,10 @@ param set-default NAV_RCL_ACT 6
|
||||
# TELEM1 ttyS1 - Wifi module
|
||||
param set-default MAV_0_CONFIG 101
|
||||
param set-default MAV_0_RATE 0
|
||||
# onboard
|
||||
param set-default MAV_0_MODE 2
|
||||
param set-default MAV_0_MODE 2 # onboard
|
||||
param set-default SER_TEL1_BAUD 921600
|
||||
|
||||
# TELEM2 ttyS2 - Sub 1-Ghz
|
||||
param set-default MAV_1_CONFIG 102
|
||||
# normal
|
||||
param set-default MAV_1_MODE 0
|
||||
param set-default MAV_1_MODE 0 # normal
|
||||
param set-default SER_TEL2_BAUD 57600
|
||||
|
||||
@@ -15,8 +15,6 @@
|
||||
# @board px4_fmu-v4pro exclude
|
||||
# @board px4_fmu-v5 exclude
|
||||
# @board px4_fmu-v5x exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board cuav_x7pro exclude
|
||||
#
|
||||
# @maintainer Hyon Lim <lim@uvify.com>
|
||||
#
|
||||
@@ -121,14 +119,12 @@ param set-default NAV_RCL_ACT 6
|
||||
# TELEM1 ttyS1 - Wifi module
|
||||
param set-default MAV_0_CONFIG 101
|
||||
param set-default MAV_0_RATE 0
|
||||
# onboard
|
||||
param set-default MAV_0_MODE 2
|
||||
param set-default MAV_0_MODE 2 # onboard
|
||||
param set-default SER_TEL1_BAUD 921600
|
||||
|
||||
# TELEM2 ttyS2 - Sub 1-Ghz
|
||||
param set-default MAV_1_CONFIG 102
|
||||
# normal
|
||||
param set-default MAV_1_MODE 0
|
||||
param set-default MAV_1_MODE 0 # normal
|
||||
param set-default SER_TEL2_BAUD 57600
|
||||
|
||||
# DSHOT
|
||||
|
||||
@@ -2,11 +2,13 @@
|
||||
#
|
||||
# @name Aion Robotics R1 UGV
|
||||
#
|
||||
# @url https://www.aionrobotics.com/r1
|
||||
# @url http://docs.aionrobotics.com/en/latest/r1-ugv.html
|
||||
#
|
||||
# @type Rover
|
||||
# @class Rover
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
# @output MAIN0 Speed of left wheels
|
||||
# @output MAIN1 Speed of right wheels
|
||||
#
|
||||
|
||||
@@ -122,7 +122,7 @@ param set-default BAT_V_DIV 10.133
|
||||
|
||||
# TELEM1 ttyS1
|
||||
param set-default MAV_0_CONFIG 101
|
||||
param set-default MAV_0_MODE 0
|
||||
param set-default MAV_0_MODE 0 # onboard
|
||||
param set-default MAV_0_FORWARD 1
|
||||
param set-default SER_TEL1_BAUD 57600
|
||||
|
||||
|
||||
@@ -137,7 +137,7 @@ px4_add_romfs_files(
|
||||
13012_convergence
|
||||
13013_deltaquad
|
||||
13014_vtol_babyshark
|
||||
13030_generic_vtol_quad_tiltrotor
|
||||
13015_generic_vtol_standard
|
||||
13050_generic_vtol_octo
|
||||
13200_generic_vtol_tailsitter
|
||||
|
||||
|
||||
@@ -16,8 +16,6 @@ param set-default COM_POS_FS_EPV 30
|
||||
param set-default COM_POS_FS_GAIN 0
|
||||
param set-default COM_POS_FS_PROB 1
|
||||
param set-default COM_VEL_FS_EVH 5
|
||||
# Disable preflight disarm to not interfere with external launching
|
||||
param set-default COM_DISARM_PRFLT -1
|
||||
|
||||
param set-default EKF2_ARSP_THR 8
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
|
||||
@@ -30,9 +30,9 @@ then
|
||||
fi
|
||||
|
||||
# USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
|
||||
if [ $USE_IO = no -a $AUX_BANK2 = none ]
|
||||
if [ $USE_IO = no ]
|
||||
then
|
||||
set AUX_MODE none
|
||||
set MIXER_AUX none
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -147,7 +147,6 @@ then
|
||||
if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
|
||||
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}"
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
@@ -179,7 +178,6 @@ then
|
||||
|
||||
if [ $MIXER_AUX_FILE != none ]
|
||||
then
|
||||
# Start the output module
|
||||
if $OUTPUT_CMD mode_${AUX_MODE}
|
||||
then
|
||||
# Append aux mixer to main device.
|
||||
@@ -201,7 +199,6 @@ then
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
|
||||
fi
|
||||
else
|
||||
echo "INFO [init] setting PWM_AUX_OUT none"
|
||||
set PWM_AUX_OUT none
|
||||
fi
|
||||
else
|
||||
@@ -226,38 +223,6 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
param set PWM_AUX_OUT ${PWM_AUX_OUT}
|
||||
|
||||
if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
|
||||
then
|
||||
#
|
||||
# Load aux mixer.
|
||||
#
|
||||
if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
|
||||
then
|
||||
set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
|
||||
else
|
||||
|
||||
if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
|
||||
then
|
||||
set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
|
||||
fi
|
||||
fi
|
||||
|
||||
if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
|
||||
|
||||
# Set PWM_AUX output frequency.
|
||||
if [ $PWM_AUX_RATE != none ]
|
||||
then
|
||||
pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
|
||||
then
|
||||
if [ $PWM_OUT != none ]
|
||||
@@ -270,8 +235,6 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
param set PWM_MAIN_OUT ${PWM_OUT}
|
||||
|
||||
if [ $EXTRA_MIXER_MODE != none ]
|
||||
then
|
||||
|
||||
|
||||
@@ -26,12 +26,6 @@ then
|
||||
batt_smbus start -X
|
||||
fi
|
||||
|
||||
# Start batmon driver if enabled using BATMON_DRIVER_EN
|
||||
if param compare -s BATMON_DRIVER_EN 1
|
||||
then
|
||||
batmon start -X #start on external bus
|
||||
fi
|
||||
|
||||
# Sensors on the PWM interface bank
|
||||
if param compare -s SENS_EN_LL40LS 1
|
||||
then
|
||||
@@ -114,25 +108,11 @@ then
|
||||
vl53l1x start -X
|
||||
fi
|
||||
|
||||
# ADIS16448 spi external IMU
|
||||
if param compare -s SENS_EN_ADIS164X 1
|
||||
then
|
||||
if param compare -s SENS_OR_ADIS164X 0
|
||||
then
|
||||
adis16448 -S start
|
||||
fi
|
||||
if param compare -s SENS_OR_ADIS164X 4
|
||||
then
|
||||
adis16448 -S start -R 4
|
||||
fi
|
||||
fi
|
||||
|
||||
# probe for optional external I2C devices
|
||||
if param compare SENS_EXT_I2C_PRB 1
|
||||
then
|
||||
icm20948_i2c_passthrough -X -q start
|
||||
|
||||
# compasses
|
||||
ak09916 -X -R 6 -q start # external AK09916 (Here2) is rotated 270 degrees yaw
|
||||
hmc5883 -T -X -q start
|
||||
ist8308 -X -q start
|
||||
ist8310 -X -q start
|
||||
@@ -141,31 +121,29 @@ then
|
||||
qmc5883l -X -q start
|
||||
rm3100 -X -q start
|
||||
|
||||
# start last (wait for possible icm20948 passthrough mode)
|
||||
ak09916 -X -q start
|
||||
|
||||
# differential pressure sensors
|
||||
if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
|
||||
then
|
||||
# Always try to start the airspeed sensors
|
||||
# even if their usage might be disabled
|
||||
sdp3x_airspeed start -X -q
|
||||
sdp3x_airspeed start -X -a 0x22 -q
|
||||
|
||||
# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
|
||||
# detected as MS5525 because the chip manufacturer was so
|
||||
# clever to assign the same I2C address and skip a WHO_AM_I
|
||||
# register.
|
||||
if [ $BOARD_FMUV3 = 21 ]
|
||||
if param compare CBRK_AIRSPD_CHK 0
|
||||
then
|
||||
ms5525_airspeed start -X -b 2 -q
|
||||
else
|
||||
ms5525_airspeed start -X -q
|
||||
sdp3x_airspeed start -X -q
|
||||
sdp3x_airspeed start -X -a 0x22 -q
|
||||
|
||||
# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
|
||||
# detected as MS5525 because the chip manufacturer was so
|
||||
# clever to assign the same I2C address and skip a WHO_AM_I
|
||||
# register.
|
||||
if [ $BOARD_FMUV3 = 21 ]
|
||||
then
|
||||
ms5525_airspeed start -X -b 2 -q
|
||||
else
|
||||
ms5525_airspeed start -X -q
|
||||
fi
|
||||
|
||||
ms4525_airspeed start -X -q
|
||||
|
||||
ets_airspeed start -X -q
|
||||
fi
|
||||
|
||||
ms4525_airspeed start -X -q
|
||||
|
||||
ets_airspeed start -X -q
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
@@ -23,7 +23,6 @@ param set-default MPC_XY_ERR_MAX 5
|
||||
param set-default MPC_XY_VEL_MAX 4
|
||||
param set-default MPC_Z_VEL_MAX_DN 1.5
|
||||
param set-default MPC_JERK_MAX 4.5
|
||||
param set-default MPC_YAW_MODE 4
|
||||
|
||||
param set-default NAV_ACC_RAD 3
|
||||
|
||||
|
||||
@@ -30,7 +30,7 @@ set FRC /fs/microsd/etc/rc.txt
|
||||
set IOFW "/etc/extras/px4_io-v2_default.bin"
|
||||
set IO_PRESENT no
|
||||
set LOGGER_ARGS ""
|
||||
set LOGGER_BUF 8
|
||||
set LOGGER_BUF 14
|
||||
set MAV_TYPE none
|
||||
set MIXER none
|
||||
set MIXER_AUX none
|
||||
@@ -51,6 +51,12 @@ set STARTUP_TUNE 1
|
||||
set USE_IO no
|
||||
set VEHICLE_TYPE none
|
||||
|
||||
# Airframe parameter versioning: airframe maintainers can set this in the
|
||||
# airframe startup script, and then increase it by one whenever an airframe
|
||||
# parameter is updated - it will ensure that these parameters will be updated
|
||||
# when the firmware is flashed.
|
||||
set PARAM_DEFAULTS_VER 1
|
||||
|
||||
#
|
||||
# Mount the procfs.
|
||||
#
|
||||
@@ -81,6 +87,33 @@ then
|
||||
hardfault_log reset
|
||||
fi
|
||||
fi
|
||||
|
||||
# Prevent MacOS and Ubuntu from creating unnecessary temporary files on the microSD card
|
||||
|
||||
# block MacOS Spotlight indexing (.Spotlight-V100 folder)
|
||||
if [ ! -f "/fs/microsd/.metadata_never_index" ]; then
|
||||
cat > /fs/microsd/.metadata_never_index
|
||||
fi
|
||||
|
||||
# block MacOS trashes
|
||||
if [ ! -f "/fs/microsd/.Trashes" ]; then
|
||||
cat > /fs/microsd/.Trashes
|
||||
fi
|
||||
|
||||
# block MacOS logging of filesystem events
|
||||
if [ ! -d "/fs/microsd/.fseventsd" ]; then
|
||||
mkdir /fs/microsd/.fseventsd
|
||||
fi
|
||||
|
||||
if [ ! -f "/fs/microsd/.fseventsd/no_log" ]; then
|
||||
cat > /fs/microsd/.fseventsd/no_log
|
||||
fi
|
||||
|
||||
# block Ubuntu trash
|
||||
if [ ! -f "/fs/microsd/.Trash-1000" ]; then
|
||||
cat > /fs/microsd/.Trash-1000
|
||||
fi
|
||||
|
||||
else
|
||||
# tune SD_INIT
|
||||
set STARTUP_TUNE 14 # tune 14 = SD_INIT
|
||||
@@ -128,7 +161,7 @@ else
|
||||
then
|
||||
param reset_all
|
||||
fi
|
||||
if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
|
||||
if ver hwtypecmp V5X00 V5X90 V5Xa0
|
||||
then
|
||||
netman update -i eth0
|
||||
fi
|
||||
@@ -138,8 +171,12 @@ else
|
||||
#
|
||||
if param greater SYS_AUTOCONFIG 0
|
||||
then
|
||||
# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
|
||||
param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
|
||||
param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
|
||||
fi
|
||||
|
||||
set AUTOCNF yes
|
||||
fi
|
||||
|
||||
@@ -202,6 +239,14 @@ else
|
||||
rgbled start -X -q
|
||||
rgbled_ncp5623c start -X -q
|
||||
|
||||
if param greater -s LIGHT_EN_BLINKM 0
|
||||
then
|
||||
if blinkm start -X
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Set parameters and env variables for selected AUTOSTART.
|
||||
#
|
||||
@@ -227,34 +272,6 @@ else
|
||||
param set SYS_AUTOCONFIG 0
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if UAVCAN is enabled, default to it for ESCs.
|
||||
#
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
# Start core UAVCAN module.
|
||||
if uavcan start
|
||||
then
|
||||
if param greater UAVCAN_ENABLE 1
|
||||
then
|
||||
# Start UAVCAN firmware update server and dynamic node ID allocation server.
|
||||
uavcan start fw
|
||||
tune_control play -t 1
|
||||
if param greater UAVCAN_ENABLE 2
|
||||
then
|
||||
set OUTPUT_MODE uavcan_esc
|
||||
fi
|
||||
fi
|
||||
else
|
||||
tune_control play error
|
||||
fi
|
||||
else
|
||||
if param greater -s UAVCAN_V1_ENABLE 0
|
||||
then
|
||||
uavcan_v1 start
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if PX4IO present and update firmware if needed.
|
||||
# Assumption IOFW set to firmware file and IO_PRESENT = no
|
||||
@@ -286,8 +303,6 @@ else
|
||||
else
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
fi
|
||||
else
|
||||
tune_control stop
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
@@ -377,30 +392,21 @@ else
|
||||
|
||||
if param greater -s TRIG_MODE 0
|
||||
then
|
||||
if param compare TRIG_PINS_EX 0
|
||||
# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
|
||||
if param compare TRIG_PINS 56
|
||||
then
|
||||
# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
|
||||
if param compare TRIG_PINS 56
|
||||
then
|
||||
# clear pins 5 and 6
|
||||
set FMU_MODE pwm4
|
||||
set AUX_MODE pwm4
|
||||
else
|
||||
if param compare TRIG_PINS 78
|
||||
then
|
||||
# clear pins 7 and 8
|
||||
set FMU_MODE pwm6
|
||||
set AUX_MODE pwm6
|
||||
else
|
||||
set FMU_MODE none
|
||||
set AUX_MODE none
|
||||
fi
|
||||
fi
|
||||
# clear pins 5 and 6
|
||||
set FMU_MODE pwm4
|
||||
set AUX_MODE pwm4
|
||||
else
|
||||
if param compare TRIG_PINS_EX 12288
|
||||
if param compare TRIG_PINS 78
|
||||
then
|
||||
set FMU_MODE pwm12
|
||||
set AUX_MODE pwm12
|
||||
# clear pins 7 and 8
|
||||
set FMU_MODE pwm6
|
||||
set AUX_MODE pwm6
|
||||
else
|
||||
set FMU_MODE none
|
||||
set AUX_MODE none
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -408,6 +414,34 @@ else
|
||||
camera_feedback start
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if UAVCAN is enabled, default to it for ESCs.
|
||||
#
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
# Start core UAVCAN module.
|
||||
if uavcan start
|
||||
then
|
||||
if param greater UAVCAN_ENABLE 1
|
||||
then
|
||||
# Start UAVCAN firmware update server and dynamic node ID allocation server.
|
||||
uavcan start fw
|
||||
tune_control play -t 1
|
||||
if param greater UAVCAN_ENABLE 2
|
||||
then
|
||||
set OUTPUT_MODE uavcan_esc
|
||||
fi
|
||||
fi
|
||||
else
|
||||
tune_control play error
|
||||
fi
|
||||
fi
|
||||
|
||||
if param greater -s UAVCAN_V1_ENABLE 0
|
||||
then
|
||||
uavcan_v1 start
|
||||
fi
|
||||
|
||||
#
|
||||
# Optional board mavlink streams: rc.board_mavlink
|
||||
#
|
||||
@@ -482,11 +516,6 @@ else
|
||||
gyro_fft start
|
||||
fi
|
||||
|
||||
if param compare -s IMU_GYRO_CAL_EN 1
|
||||
then
|
||||
gyro_calibration start
|
||||
fi
|
||||
|
||||
#
|
||||
# Optional board supplied extras: rc.board_extras
|
||||
#
|
||||
@@ -536,6 +565,15 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
|
||||
then
|
||||
echo "Switched to different parameter version. Resetting parameters."
|
||||
param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
|
||||
param set SYS_AUTOCONFIG 2
|
||||
param save
|
||||
reboot
|
||||
fi
|
||||
|
||||
#
|
||||
# End of autostart.
|
||||
#
|
||||
@@ -560,6 +598,7 @@ unset MIXER
|
||||
unset MIXER_AUX
|
||||
unset MIXER_FILE
|
||||
unset OUTPUT_MODE
|
||||
unset PARAM_DEFAULTS_VER
|
||||
unset PARAM_FILE
|
||||
unset PWM_AUX_OUT
|
||||
unset PWM_AUX_RATE
|
||||
|
||||
@@ -90,7 +90,6 @@ px4_add_romfs_files(
|
||||
Viper.main.mix
|
||||
vtol_AAERT.aux.mix
|
||||
vtol_AAVVT.aux.mix
|
||||
vtol_TTTTAAER.aux.mix
|
||||
vtol_convergence.main.mix
|
||||
vtol_delta.aux.mix
|
||||
vtol_tailsitter_duo.main.mix
|
||||
|
||||
@@ -1,39 +0,0 @@
|
||||
# Generic quadplane tiltrotor servo mixer
|
||||
|
||||
# Tilt mechanism servo mixer
|
||||
---------------------------
|
||||
# front left up:2000 down:1000
|
||||
M: 1
|
||||
S: 1 4 0 -20000 10000 -10000 10000
|
||||
|
||||
# front right up:1000 down:2000
|
||||
M: 1
|
||||
S: 1 4 0 20000 -10000 -10000 10000
|
||||
|
||||
# rear left up:2000 down:1000
|
||||
M: 1
|
||||
S: 1 4 0 -20000 10000 -10000 10000
|
||||
|
||||
# rear right up:1000 down:2000
|
||||
M: 1
|
||||
S: 1 4 0 20000 -10000 -10000 10000
|
||||
|
||||
|
||||
# Aileron mixer
|
||||
# ---------------------------------
|
||||
M: 1
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
|
||||
M: 1
|
||||
S: 1 0 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
# Elevator mixer
|
||||
# ------------
|
||||
M: 1
|
||||
S: 1 1 -10000 -10000 0 -10000 10000
|
||||
|
||||
# Rudder mixer
|
||||
# ------------
|
||||
M: 1
|
||||
S: 1 2 10000 10000 0 -10000 10000
|
||||
@@ -103,6 +103,12 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_bson(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
|
||||
|
||||
def test_commander(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "commander"))
|
||||
|
||||
def test_controllib(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "controllib"))
|
||||
|
||||
# def test_dataman(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
|
||||
|
||||
@@ -166,6 +172,9 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_time(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "time"))
|
||||
|
||||
def test_uorb(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))
|
||||
|
||||
def test_versioning(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))
|
||||
|
||||
|
||||
@@ -59,7 +59,7 @@ if [ ! -f $HOOK_FILE ] && [ "$CI" != "true" ]; then
|
||||
fi
|
||||
fi
|
||||
|
||||
${DIR}/files_to_check_code_style.sh | xargs -P 8 -I % ${DIR}/check_code_style.sh %
|
||||
${DIR}/files_to_check_code_style.sh | xargs -n 1 -P 8 -I % ${DIR}/check_code_style.sh %
|
||||
|
||||
if [ $? -eq 0 ]; then
|
||||
echo "Format checks passed"
|
||||
|
||||
@@ -22,5 +22,4 @@ exec find boards msg src platforms test \
|
||||
-path src/modules/micrortps_bridge/micro-CDR -prune -o \
|
||||
-path src/modules/micrortps_bridge/microRTPS_client -prune -o \
|
||||
-path test/mavsdk_tests/catch2 -prune -o \
|
||||
-path src/lib/crypto/monocypher -prune -o \
|
||||
-type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
|
||||
|
||||
@@ -1,13 +0,0 @@
|
||||
custom_data_source: {
|
||||
name: "bloaty_static_ram"
|
||||
base_data_source: "sections"
|
||||
|
||||
rewrite: {
|
||||
pattern: "^\\.bss"
|
||||
replacement: "ram"
|
||||
}
|
||||
rewrite: {
|
||||
pattern: "^\\.data"
|
||||
replacement: "ram"
|
||||
}
|
||||
}
|
||||
@@ -1,15 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
SCRIPT_DIR=$0
|
||||
if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
|
||||
SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
|
||||
fi
|
||||
|
||||
PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
|
||||
|
||||
if [ -d $PX4_DIR/build/*_rtps ]; then
|
||||
cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
|
||||
cmake -Bbuild
|
||||
cmake --build build -j$(nproc --all)
|
||||
fi
|
||||
@@ -81,8 +81,7 @@ def sign(bin_file_path, key_file_path=None, generated_key_file=None):
|
||||
# Align to 4 bytes. Signature always starts at
|
||||
# 4 byte aligned address, but the signee size
|
||||
# might not be aligned
|
||||
if len(signee_bin)%4 != 0:
|
||||
signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)
|
||||
signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)
|
||||
|
||||
try:
|
||||
with open(key_file_path,mode='r') as f:
|
||||
@@ -134,7 +133,7 @@ if(__name__ == "__main__"):
|
||||
parser.add_argument("signee", help=".bin file to add signature", nargs='?', default=None)
|
||||
parser.add_argument("signed", help="signed output .bin", nargs='?', default=None)
|
||||
|
||||
parser.add_argument("--key", help="key.json file", default="Tools/test_keys/test_keys.json")
|
||||
parser.add_argument("--key", help="key.json file", default="Tools/test_keys.json")
|
||||
parser.add_argument("--rdct", help="binary R&D certificate file", default=None)
|
||||
parser.add_argument("--genkey", help="new generated key", default=None)
|
||||
args = parser.parse_args()
|
||||
@@ -153,7 +152,7 @@ if(__name__ == "__main__"):
|
||||
sys.exit(1)
|
||||
|
||||
# Issue a warning when signing with testing key
|
||||
if args.key=='Tools/test_keys/test_keys.json':
|
||||
if args.key=='Tools/test_keys.json':
|
||||
print("WARNING: Signing with PX4 test key")
|
||||
|
||||
# Sign the binary
|
||||
|
||||
+2
-2
@@ -4,7 +4,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
echo "guessing PX4_DOCKER_REPO based on input";
|
||||
if [[ $@ =~ .*px4_fmu.* ]]; then
|
||||
# nuttx-px4fmu-v{1,2,3,4,5}
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-02-04"
|
||||
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
|
||||
# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
|
||||
@@ -30,7 +30,7 @@ fi
|
||||
|
||||
# otherwise default to nuttx
|
||||
if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-04-29"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
|
||||
fi
|
||||
|
||||
# docker hygiene
|
||||
|
||||
@@ -20,7 +20,7 @@ function spawn_model() {
|
||||
X=${X:=0.0}
|
||||
Y=${Y:=$((3*${N}))}
|
||||
|
||||
SUPPORTED_MODELS=("iris" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
|
||||
SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
|
||||
if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
|
||||
then
|
||||
echo "ERROR: Currently only vehicle model $MODEL is not supported!"
|
||||
|
||||
@@ -1,96 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
""" Script to generate a JSON config with all build targets (for CI) """
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
import json
|
||||
import re
|
||||
|
||||
source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')
|
||||
|
||||
parser = argparse.ArgumentParser(description='Generate build targets')
|
||||
|
||||
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
|
||||
help='Verbose Output')
|
||||
parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
|
||||
help='Pretty output instead of a single line')
|
||||
|
||||
args = parser.parse_args()
|
||||
verbose = args.verbose
|
||||
|
||||
build_configs = []
|
||||
excluded_manufacturers = ['atlflight']
|
||||
excluded_platforms = ['qurt']
|
||||
excluded_labels = [
|
||||
'stackcheck',
|
||||
'nolockstep', 'replay', 'test',
|
||||
'uavcanv1' # TODO: fix and enable
|
||||
]
|
||||
|
||||
def process_target(cmake_file, target_name):
|
||||
ret = None
|
||||
is_board_def = False
|
||||
platform = None
|
||||
toolchain = None
|
||||
for line in open(cmake_file, 'r'):
|
||||
if 'px4_add_board' in line:
|
||||
is_board_def = True
|
||||
if not is_board_def:
|
||||
continue
|
||||
|
||||
re_platform = re.search('PLATFORM\s+([^\s]+)', line)
|
||||
if re_platform: platform = re_platform.group(1)
|
||||
|
||||
re_toolchain = re.search('TOOLCHAIN\s+([^\s]+)', line)
|
||||
if re_toolchain: toolchain = re_toolchain.group(1)
|
||||
|
||||
if is_board_def:
|
||||
assert platform, f"PLATFORM not found in {cmake_file}"
|
||||
|
||||
if platform not in excluded_platforms:
|
||||
# get the container based on the platform and toolchain
|
||||
container = platform
|
||||
if platform == 'posix':
|
||||
container = 'base-focal'
|
||||
if toolchain:
|
||||
if toolchain.startswith('aarch64'):
|
||||
container = 'aarch64'
|
||||
elif toolchain == 'arm-linux-gnueabihf':
|
||||
container = 'armhf'
|
||||
else:
|
||||
if verbose: print(f'possibly unmatched toolchain: {toolchain}')
|
||||
elif platform == 'nuttx':
|
||||
container = 'nuttx-focal'
|
||||
|
||||
ret = {'target': target_name, 'container': container}
|
||||
return ret
|
||||
|
||||
for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
|
||||
if not manufacturer.is_dir():
|
||||
continue
|
||||
if manufacturer.name in excluded_manufacturers:
|
||||
if verbose: print(f'excluding manufacturer {manufacturer.name}')
|
||||
continue
|
||||
|
||||
for board in os.scandir(manufacturer.path):
|
||||
if not board.is_dir():
|
||||
continue
|
||||
for files in os.scandir(board.path):
|
||||
if files.is_file() and files.name.endswith('.cmake'):
|
||||
label = files.name[:-6]
|
||||
target_name = manufacturer.name + '_' + board.name + '_' + label
|
||||
if label in excluded_labels:
|
||||
if verbose: print(f'excluding label {label} ({target_name})')
|
||||
continue
|
||||
target = process_target(files.path, target_name)
|
||||
if target is not None:
|
||||
build_configs.append(target)
|
||||
|
||||
|
||||
github_action_config = { 'include': build_configs }
|
||||
extra_args = {}
|
||||
if args.pretty:
|
||||
extra_args['indent'] = 2
|
||||
print(json.dumps(github_action_config, **extra_args))
|
||||
|
||||
+1
-1
Submodule Tools/jMAVSim updated: 0a816d8100...358b6cca40
+12
-27
@@ -12,7 +12,6 @@ import sys, select
|
||||
import termios
|
||||
from timeit import default_timer as timer
|
||||
from argparse import ArgumentParser
|
||||
import os
|
||||
|
||||
try:
|
||||
from pymavlink import mavutil
|
||||
@@ -136,20 +135,15 @@ def main():
|
||||
|
||||
mav_serialport.write('\n') # make sure the shell is started
|
||||
|
||||
# disable echo & avoid buffering on stdin
|
||||
# setup the console, so we can read one char at a time
|
||||
fd_in = sys.stdin.fileno()
|
||||
try:
|
||||
old_attr = termios.tcgetattr(fd_in)
|
||||
new_attr = termios.tcgetattr(fd_in)
|
||||
new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
|
||||
new_attr[3] = new_attr[3] & ~termios.ICANON
|
||||
termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
|
||||
except termios.error:
|
||||
# tcgetattr can fail if stdin is not a tty
|
||||
old_attr = None
|
||||
ubuf_stdin = os.fdopen(fd_in, 'rb', buffering=0)
|
||||
old_attr = termios.tcgetattr(fd_in)
|
||||
new_attr = termios.tcgetattr(fd_in)
|
||||
new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
|
||||
new_attr[3] = new_attr[3] & ~termios.ICANON
|
||||
|
||||
try:
|
||||
termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
|
||||
cur_line = ''
|
||||
command_history = []
|
||||
cur_history_index = 0
|
||||
@@ -162,19 +156,11 @@ def main():
|
||||
|
||||
next_heartbeat_time = timer()
|
||||
|
||||
quit_time = None
|
||||
while quit_time is None or quit_time > timer():
|
||||
while True:
|
||||
while True:
|
||||
i, o, e = select.select([ubuf_stdin], [], [], 0)
|
||||
i, o, e = select.select([sys.stdin], [], [], 0)
|
||||
if not i: break
|
||||
ch = ubuf_stdin.read(1).decode('utf8')
|
||||
|
||||
if len(ch) == 0: # EOF
|
||||
if quit_time is None:
|
||||
# run a bit longer to read the response (we could also
|
||||
# read until we get a prompt)
|
||||
quit_time = timer() + 1
|
||||
break
|
||||
ch = sys.stdin.read(1)
|
||||
|
||||
# provide a simple shell with command history
|
||||
if ch == '\n':
|
||||
@@ -196,8 +182,8 @@ def main():
|
||||
cur_line = cur_line[:-1]
|
||||
sys.stdout.write(ch)
|
||||
elif ord(ch) == 27:
|
||||
ch = ubuf_stdin.read(1).decode('utf8') # skip one
|
||||
ch = ubuf_stdin.read(1).decode('utf8')
|
||||
ch = sys.stdin.read(1) # skip one
|
||||
ch = sys.stdin.read(1)
|
||||
if ch == 'A': # arrow up
|
||||
if cur_history_index > 0:
|
||||
cur_history_index -= 1
|
||||
@@ -237,8 +223,7 @@ def main():
|
||||
mav_serialport.close()
|
||||
|
||||
finally:
|
||||
if old_attr:
|
||||
termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)
|
||||
termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
#! /usr/bin/env python3
|
||||
#! /usr/bin/env python
|
||||
|
||||
from __future__ import print_function
|
||||
|
||||
@@ -7,7 +7,6 @@ import os
|
||||
import math
|
||||
import matplotlib.pyplot as plt
|
||||
import numpy as np
|
||||
import scipy as sp
|
||||
|
||||
from pyulog import *
|
||||
|
||||
@@ -64,9 +63,6 @@ def resampleWithDeltaX(x,y):
|
||||
|
||||
return resampledX,resampledY
|
||||
|
||||
def median_filter(data):
|
||||
return sp.signal.medfilt(data, 31)
|
||||
|
||||
parser = argparse.ArgumentParser(description='Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature')
|
||||
parser.add_argument('filename', metavar='file.ulg', help='ULog input file')
|
||||
parser.add_argument('--no_resample', dest='noResample', action='store_const',
|
||||
@@ -188,16 +184,12 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(gyro_0_params['TC_G0_TMIN']-gyro_0_params['TC_G0_TREF'], gyro_0_params['TC_G0_TMAX']-gyro_0_params['TC_G0_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + gyro_0_params['TC_G0_TREF']
|
||||
|
||||
sensor_gyro_0['x'] = median_filter(sensor_gyro_0['x'])
|
||||
sensor_gyro_0['y'] = median_filter(sensor_gyro_0['y'])
|
||||
sensor_gyro_0['z'] = median_filter(sensor_gyro_0['z'])
|
||||
|
||||
# fit X axis
|
||||
if noResample:
|
||||
coef_gyro_0_x = np.polyfit(temp_rel, sensor_gyro_0['x'], 3)
|
||||
coef_gyro_0_x = np.polyfit(temp_rel,sensor_gyro_0['x'],3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['x'])
|
||||
coef_gyro_0_x = np.polyfit(temp, sens, 3)
|
||||
temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['x'])
|
||||
coef_gyro_0_x = np.polyfit(temp, sens ,3)
|
||||
|
||||
gyro_0_params['TC_G0_X3_0'] = coef_gyro_0_x[0]
|
||||
gyro_0_params['TC_G0_X2_0'] = coef_gyro_0_x[1]
|
||||
@@ -208,10 +200,10 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
|
||||
|
||||
# fit Y axis
|
||||
if noResample:
|
||||
coef_gyro_0_y = np.polyfit(temp_rel, sensor_gyro_0['y'], 3)
|
||||
coef_gyro_0_y = np.polyfit(temp_rel,sensor_gyro_0['y'],3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['y'])
|
||||
coef_gyro_0_y = np.polyfit(temp, sens, 3)
|
||||
coef_gyro_0_y = np.polyfit(temp, sens ,3)
|
||||
|
||||
gyro_0_params['TC_G0_X3_1'] = coef_gyro_0_y[0]
|
||||
gyro_0_params['TC_G0_X2_1'] = coef_gyro_0_y[1]
|
||||
@@ -222,9 +214,9 @@ if num_gyros >= 1 and not math.isnan(sensor_gyro_0['temperature'][0]):
|
||||
|
||||
# fit Z axis
|
||||
if noResample:
|
||||
coef_gyro_0_z = np.polyfit(temp_rel, sensor_gyro_0['z'],3)
|
||||
coef_gyro_0_z = np.polyfit(temp_rel,sensor_gyro_0['z'],3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_0['z'])
|
||||
temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_0['z'])
|
||||
coef_gyro_0_z = np.polyfit(temp, sens ,3)
|
||||
|
||||
gyro_0_params['TC_G0_X3_2'] = coef_gyro_0_z[0]
|
||||
@@ -300,10 +292,6 @@ if num_gyros >= 2 and not math.isnan(sensor_gyro_1['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(gyro_1_params['TC_G1_TMIN']-gyro_1_params['TC_G1_TREF'], gyro_1_params['TC_G1_TMAX']-gyro_1_params['TC_G1_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + gyro_1_params['TC_G1_TREF']
|
||||
|
||||
sensor_gyro_1['x'] = median_filter(sensor_gyro_1['x'])
|
||||
sensor_gyro_1['y'] = median_filter(sensor_gyro_1['y'])
|
||||
sensor_gyro_1['z'] = median_filter(sensor_gyro_1['z'])
|
||||
|
||||
# fit X axis
|
||||
if noResample:
|
||||
coef_gyro_1_x = np.polyfit(temp_rel,sensor_gyro_1['x'],3)
|
||||
@@ -412,10 +400,6 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(gyro_2_params['TC_G2_TMIN']-gyro_2_params['TC_G2_TREF'], gyro_2_params['TC_G2_TMAX']-gyro_2_params['TC_G2_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + gyro_2_params['TC_G2_TREF']
|
||||
|
||||
sensor_gyro_2['x'] = median_filter(sensor_gyro_2['x'])
|
||||
sensor_gyro_2['y'] = median_filter(sensor_gyro_2['y'])
|
||||
sensor_gyro_2['z'] = median_filter(sensor_gyro_2['z'])
|
||||
|
||||
# fit X axis
|
||||
if noResample:
|
||||
coef_gyro_2_x = np.polyfit(temp_rel,sensor_gyro_2['x'],3)
|
||||
@@ -432,10 +416,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
|
||||
|
||||
# fit Y axis
|
||||
if noResample:
|
||||
coef_gyro_2_y = np.polyfit(temp_rel, sensor_gyro_2['y'], 3)
|
||||
coef_gyro_2_y = np.polyfit(temp_rel,sensor_gyro_2['y'],3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel, sensor_gyro_2['y'])
|
||||
coef_gyro_2_y = np.polyfit(temp, sens, 3)
|
||||
temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['y'])
|
||||
coef_gyro_2_y = np.polyfit(temp, sens ,3)
|
||||
|
||||
gyro_2_params['TC_G2_X3_1'] = coef_gyro_2_y[0]
|
||||
gyro_2_params['TC_G2_X2_1'] = coef_gyro_2_y[1]
|
||||
@@ -446,10 +430,10 @@ if num_gyros >= 3 and not math.isnan(sensor_gyro_2['temperature'][0]):
|
||||
|
||||
# fit Z axis
|
||||
if noResample:
|
||||
coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'], 3)
|
||||
coef_gyro_2_z = np.polyfit(temp_rel,sensor_gyro_2['z'],3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel,sensor_gyro_2['z'])
|
||||
coef_gyro_2_z = np.polyfit(temp, sens, 3)
|
||||
coef_gyro_2_z = np.polyfit(temp, sens ,3)
|
||||
|
||||
gyro_2_params['TC_G2_X3_2'] = coef_gyro_2_z[0]
|
||||
gyro_2_params['TC_G2_X2_2'] = coef_gyro_2_z[1]
|
||||
@@ -524,12 +508,8 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(gyro_3_params['TC_G3_TMIN']-gyro_3_params['TC_G3_TREF'], gyro_3_params['TC_G3_TMAX']-gyro_3_params['TC_G3_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + gyro_3_params['TC_G3_TREF']
|
||||
|
||||
sensor_gyro_3['x'] = median_filter(sensor_gyro_3['x'])
|
||||
sensor_gyro_3['y'] = median_filter(sensor_gyro_3['y'])
|
||||
sensor_gyro_3['z'] = median_filter(sensor_gyro_3['z'])
|
||||
|
||||
# fit X axis
|
||||
coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'], 3)
|
||||
coef_gyro_3_x = np.polyfit(temp_rel,sensor_gyro_3['x'],3)
|
||||
gyro_3_params['TC_G3_X3_0'] = coef_gyro_3_x[0]
|
||||
gyro_3_params['TC_G3_X2_0'] = coef_gyro_3_x[1]
|
||||
gyro_3_params['TC_G3_X1_0'] = coef_gyro_3_x[2]
|
||||
@@ -538,7 +518,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
|
||||
gyro_3_x_resample = fit_coef_gyro_3_x(temp_rel_resample)
|
||||
|
||||
# fit Y axis
|
||||
coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'], 3)
|
||||
coef_gyro_3_y = np.polyfit(temp_rel,sensor_gyro_3['y'],3)
|
||||
gyro_3_params['TC_G3_X3_1'] = coef_gyro_3_y[0]
|
||||
gyro_3_params['TC_G3_X2_1'] = coef_gyro_3_y[1]
|
||||
gyro_3_params['TC_G3_X1_1'] = coef_gyro_3_y[2]
|
||||
@@ -547,7 +527,7 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
|
||||
gyro_3_y_resample = fit_coef_gyro_3_y(temp_rel_resample)
|
||||
|
||||
# fit Z axis
|
||||
coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'], 3)
|
||||
coef_gyro_3_z = np.polyfit(temp_rel,sensor_gyro_3['z'],3)
|
||||
gyro_3_params['TC_G3_X3_2'] = coef_gyro_3_z[0]
|
||||
gyro_3_params['TC_G3_X2_2'] = coef_gyro_3_z[1]
|
||||
gyro_3_params['TC_G3_X1_2'] = coef_gyro_3_z[2]
|
||||
@@ -560,8 +540,8 @@ if num_gyros >= 4 and not math.isnan(sensor_gyro_3['temperature'][0]):
|
||||
|
||||
# draw plots
|
||||
plt.subplot(3,1,1)
|
||||
plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'], 'b')
|
||||
plt.plot(temp_resample,gyro_3_x_resample, 'r')
|
||||
plt.plot(sensor_gyro_3['temperature'],sensor_gyro_3['x'],'b')
|
||||
plt.plot(temp_resample,gyro_3_x_resample,'r')
|
||||
plt.title('Gyro 2 ({}) Bias vs Temperature'.format(gyro_3_params['TC_G3_ID']))
|
||||
plt.ylabel('X bias (rad/s)')
|
||||
plt.xlabel('temperature (degC)')
|
||||
@@ -621,17 +601,13 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(accel_0_params['TC_A0_TMIN']-accel_0_params['TC_A0_TREF'], accel_0_params['TC_A0_TMAX']-accel_0_params['TC_A0_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + accel_0_params['TC_A0_TREF']
|
||||
|
||||
sensor_accel_0['x'] = median_filter(sensor_accel_0['x'])
|
||||
sensor_accel_0['y'] = median_filter(sensor_accel_0['y'])
|
||||
sensor_accel_0['z'] = median_filter(sensor_accel_0['z'])
|
||||
|
||||
# fit X axis
|
||||
correction_x = sensor_accel_0['x'] - np.median(sensor_accel_0['x'])
|
||||
if noResample:
|
||||
coef_accel_0_x = np.polyfit(temp_rel,correction_x, 3)
|
||||
coef_accel_0_x = np.polyfit(temp_rel,correction_x,3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel,correction_x)
|
||||
coef_accel_0_x = np.polyfit(temp, sens, 3)
|
||||
coef_accel_0_x = np.polyfit(temp, sens ,3)
|
||||
|
||||
accel_0_params['TC_A0_X3_0'] = coef_accel_0_x[0]
|
||||
accel_0_params['TC_A0_X2_0'] = coef_accel_0_x[1]
|
||||
@@ -641,12 +617,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
|
||||
correction_x_resample = fit_coef_accel_0_x(temp_rel_resample)
|
||||
|
||||
# fit Y axis
|
||||
correction_y = sensor_accel_0['y'] - np.median(sensor_accel_0['y'])
|
||||
correction_y = sensor_accel_0['y']-np.median(sensor_accel_0['y'])
|
||||
if noResample:
|
||||
coef_accel_0_y = np.polyfit(temp_rel, correction_y, 3)
|
||||
coef_accel_0_y = np.polyfit(temp_rel,correction_y,3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel,correction_y)
|
||||
coef_accel_0_y = np.polyfit(temp, sens, 3)
|
||||
coef_accel_0_y = np.polyfit(temp, sens ,3)
|
||||
|
||||
accel_0_params['TC_A0_X3_1'] = coef_accel_0_y[0]
|
||||
accel_0_params['TC_A0_X2_1'] = coef_accel_0_y[1]
|
||||
@@ -656,12 +632,12 @@ if num_accels >= 1 and not math.isnan(sensor_accel_0['temperature'][0]):
|
||||
correction_y_resample = fit_coef_accel_0_y(temp_rel_resample)
|
||||
|
||||
# fit Z axis
|
||||
correction_z = sensor_accel_0['z'] - np.median(sensor_accel_0['z'])
|
||||
correction_z = sensor_accel_0['z']-np.median(sensor_accel_0['z'])
|
||||
if noResample:
|
||||
coef_accel_0_z = np.polyfit(temp_rel,correction_z, 3)
|
||||
coef_accel_0_z = np.polyfit(temp_rel,correction_z,3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel,correction_z)
|
||||
coef_accel_0_z = np.polyfit(temp, sens, 3)
|
||||
coef_accel_0_z = np.polyfit(temp, sens ,3)
|
||||
|
||||
accel_0_params['TC_A0_X3_2'] = coef_accel_0_z[0]
|
||||
accel_0_params['TC_A0_X2_2'] = coef_accel_0_z[1]
|
||||
@@ -736,17 +712,13 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(accel_1_params['TC_A1_TMIN']-accel_1_params['TC_A1_TREF'], accel_1_params['TC_A1_TMAX']-accel_1_params['TC_A1_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + accel_1_params['TC_A1_TREF']
|
||||
|
||||
sensor_accel_1['x'] = median_filter(sensor_accel_1['x'])
|
||||
sensor_accel_1['y'] = median_filter(sensor_accel_1['y'])
|
||||
sensor_accel_1['z'] = median_filter(sensor_accel_1['z'])
|
||||
|
||||
# fit X axis
|
||||
correction_x = sensor_accel_1['x'] - np.median(sensor_accel_1['x'])
|
||||
correction_x = sensor_accel_1['x']-np.median(sensor_accel_1['x'])
|
||||
if noResample:
|
||||
coef_accel_1_x = np.polyfit(temp_rel, correction_x, 3)
|
||||
coef_accel_1_x = np.polyfit(temp_rel,correction_x,3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel, correction_x)
|
||||
coef_accel_1_x = np.polyfit(temp, sens, 3)
|
||||
temp, sens = resampleWithDeltaX(temp_rel,correction_x)
|
||||
coef_accel_1_x = np.polyfit(temp, sens ,3)
|
||||
|
||||
accel_1_params['TC_A1_X3_0'] = coef_accel_1_x[0]
|
||||
accel_1_params['TC_A1_X2_0'] = coef_accel_1_x[1]
|
||||
@@ -756,7 +728,7 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
|
||||
correction_x_resample = fit_coef_accel_1_x(temp_rel_resample)
|
||||
|
||||
# fit Y axis
|
||||
correction_y = sensor_accel_1['y'] - np.median(sensor_accel_1['y'])
|
||||
correction_y = sensor_accel_1['y']-np.median(sensor_accel_1['y'])
|
||||
if noResample:
|
||||
coef_accel_1_y = np.polyfit(temp_rel,correction_y,3)
|
||||
else:
|
||||
@@ -771,12 +743,12 @@ if num_accels >= 2 and not math.isnan(sensor_accel_1['temperature'][0]):
|
||||
correction_y_resample = fit_coef_accel_1_y(temp_rel_resample)
|
||||
|
||||
# fit Z axis
|
||||
correction_z = sensor_accel_1['z'] - np.median(sensor_accel_1['z'])
|
||||
correction_z = (sensor_accel_1['z'])-np.median(sensor_accel_1['z'])
|
||||
if noResample:
|
||||
coef_accel_1_z = np.polyfit(temp_rel,correction_z, 3)
|
||||
coef_accel_1_z = np.polyfit(temp_rel,correction_z,3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel,correction_z)
|
||||
coef_accel_1_z = np.polyfit(temp, sens, 3)
|
||||
coef_accel_1_z = np.polyfit(temp, sens ,3)
|
||||
|
||||
accel_1_params['TC_A1_X3_2'] = coef_accel_1_z[0]
|
||||
accel_1_params['TC_A1_X2_2'] = coef_accel_1_z[1]
|
||||
@@ -852,17 +824,13 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(accel_2_params['TC_A2_TMIN']-accel_2_params['TC_A2_TREF'], accel_2_params['TC_A2_TMAX']-accel_2_params['TC_A2_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + accel_2_params['TC_A2_TREF']
|
||||
|
||||
sensor_accel_2['x'] = median_filter(sensor_accel_2['x'])
|
||||
sensor_accel_2['y'] = median_filter(sensor_accel_2['y'])
|
||||
sensor_accel_2['z'] = median_filter(sensor_accel_2['z'])
|
||||
|
||||
# fit X axis
|
||||
correction_x = sensor_accel_2['x'] - np.median(sensor_accel_2['x'])
|
||||
correction_x = sensor_accel_2['x']-np.median(sensor_accel_2['x'])
|
||||
if noResample:
|
||||
coef_accel_2_x = np.polyfit(temp_rel,correction_x, 3)
|
||||
coef_accel_2_x = np.polyfit(temp_rel,correction_x,3)
|
||||
else:
|
||||
temp, sens = resampleWithDeltaX(temp_rel, correction_x)
|
||||
coef_accel_2_x = np.polyfit(temp, sens, 3)
|
||||
temp, sens = resampleWithDeltaX(temp_rel,correction_x)
|
||||
coef_accel_2_x = np.polyfit(temp, sens ,3)
|
||||
|
||||
accel_2_params['TC_A2_X3_0'] = coef_accel_2_x[0]
|
||||
accel_2_params['TC_A2_X2_0'] = coef_accel_2_x[1]
|
||||
@@ -872,7 +840,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
|
||||
correction_x_resample = fit_coef_accel_2_x(temp_rel_resample)
|
||||
|
||||
# fit Y axis
|
||||
correction_y = sensor_accel_2['y'] - np.median(sensor_accel_2['y'])
|
||||
correction_y = sensor_accel_2['y']-np.median(sensor_accel_2['y'])
|
||||
if noResample:
|
||||
coef_accel_2_y = np.polyfit(temp_rel,correction_y,3)
|
||||
else:
|
||||
@@ -887,7 +855,7 @@ if num_accels >= 3 and not math.isnan(sensor_accel_2['temperature'][0]):
|
||||
correction_y_resample = fit_coef_accel_2_y(temp_rel_resample)
|
||||
|
||||
# fit Z axis
|
||||
correction_z = sensor_accel_2['z'] - np.median(sensor_accel_2['z'])
|
||||
correction_z = sensor_accel_2['z']-np.median(sensor_accel_2['z'])
|
||||
if noResample:
|
||||
coef_accel_2_z = np.polyfit(temp_rel,correction_z,3)
|
||||
else:
|
||||
@@ -967,13 +935,9 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
|
||||
temp_rel_resample = np.linspace(accel_3_params['TC_A3_TMIN']-accel_3_params['TC_A3_TREF'], accel_3_params['TC_A3_TMAX']-accel_3_params['TC_A3_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + accel_3_params['TC_A3_TREF']
|
||||
|
||||
sensor_accel_3['x'] = median_filter(sensor_accel_3['x'])
|
||||
sensor_accel_3['y'] = median_filter(sensor_accel_3['y'])
|
||||
sensor_accel_3['z'] = median_filter(sensor_accel_3['z'])
|
||||
|
||||
# fit X axis
|
||||
correction_x = sensor_accel_3['x'] - np.median(sensor_accel_3['x'])
|
||||
coef_accel_3_x = np.polyfit(temp_rel, correction_x, 3)
|
||||
correction_x = sensor_accel_3['x']-np.median(sensor_accel_3['x'])
|
||||
coef_accel_3_x = np.polyfit(temp_rel,correction_x,3)
|
||||
accel_3_params['TC_A3_X3_0'] = coef_accel_3_x[0]
|
||||
accel_3_params['TC_A3_X2_0'] = coef_accel_3_x[1]
|
||||
accel_3_params['TC_A3_X1_0'] = coef_accel_3_x[2]
|
||||
@@ -982,8 +946,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
|
||||
correction_x_resample = fit_coef_accel_3_x(temp_rel_resample)
|
||||
|
||||
# fit Y axis
|
||||
correction_y = sensor_accel_3['y'] - np.median(sensor_accel_3['y'])
|
||||
coef_accel_3_y = np.polyfit(temp_rel, correction_y, 3)
|
||||
correction_y = sensor_accel_3['y']-np.median(sensor_accel_3['y'])
|
||||
coef_accel_3_y = np.polyfit(temp_rel,correction_y,3)
|
||||
accel_3_params['TC_A3_X3_1'] = coef_accel_3_y[0]
|
||||
accel_3_params['TC_A3_X2_1'] = coef_accel_3_y[1]
|
||||
accel_3_params['TC_A3_X1_1'] = coef_accel_3_y[2]
|
||||
@@ -992,8 +956,8 @@ if num_accels >= 4 and not math.isnan(sensor_accel_3['temperature'][0]):
|
||||
correction_y_resample = fit_coef_accel_3_y(temp_rel_resample)
|
||||
|
||||
# fit Z axis
|
||||
correction_z = sensor_accel_3['z'] - np.median(sensor_accel_3['z'])
|
||||
coef_accel_3_z = np.polyfit(temp_rel, correction_z, 3)
|
||||
correction_z = sensor_accel_3['z']-np.median(sensor_accel_3['z'])
|
||||
coef_accel_3_z = np.polyfit(temp_rel,correction_z,3)
|
||||
accel_3_params['TC_A3_X3_2'] = coef_accel_3_z[0]
|
||||
accel_3_params['TC_A3_X2_2'] = coef_accel_3_z[1]
|
||||
accel_3_params['TC_A3_X1_2'] = coef_accel_3_z[2]
|
||||
@@ -1060,10 +1024,8 @@ temp_rel = sensor_baro_0['temperature'] - baro_0_params['TC_B0_TREF']
|
||||
temp_rel_resample = np.linspace(baro_0_params['TC_B0_TMIN']-baro_0_params['TC_B0_TREF'], baro_0_params['TC_B0_TMAX']-baro_0_params['TC_B0_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + baro_0_params['TC_B0_TREF']
|
||||
|
||||
sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
|
||||
|
||||
# fit data
|
||||
median_pressure = np.median(sensor_baro_0['pressure'])
|
||||
median_pressure = np.median(sensor_baro_0['pressure']);
|
||||
if noResample:
|
||||
coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
|
||||
else:
|
||||
@@ -1119,10 +1081,8 @@ if num_baros >= 2:
|
||||
temp_rel_resample = np.linspace(baro_1_params['TC_B1_TMIN']-baro_1_params['TC_B1_TREF'], baro_1_params['TC_B1_TMAX']-baro_1_params['TC_B1_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + baro_1_params['TC_B1_TREF']
|
||||
|
||||
sensor_baro_1['pressure'] = median_filter(sensor_baro_1['pressure'])
|
||||
|
||||
# fit data
|
||||
median_pressure = np.median(sensor_baro_1['pressure'])
|
||||
median_pressure = np.median(sensor_baro_1['pressure']);
|
||||
if noResample:
|
||||
coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
|
||||
else:
|
||||
@@ -1139,7 +1099,7 @@ if num_baros >= 2:
|
||||
baro_1_x_resample = fit_coef_baro_1_x(temp_rel_resample)
|
||||
|
||||
# baro 2 vs temperature
|
||||
plt.figure(10,figsize=(20,13))
|
||||
plt.figure(9,figsize=(20,13))
|
||||
|
||||
# draw plots
|
||||
plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
|
||||
@@ -1179,10 +1139,8 @@ if num_baros >= 3:
|
||||
temp_rel_resample = np.linspace(baro_2_params['TC_B2_TMIN']-baro_2_params['TC_B2_TREF'], baro_2_params['TC_B2_TMAX']-baro_2_params['TC_B2_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + baro_2_params['TC_B2_TREF']
|
||||
|
||||
sensor_baro_2['pressure'] = median_filter(sensor_baro_2['pressure'])
|
||||
|
||||
# fit data
|
||||
median_pressure = np.median(sensor_baro_2['pressure'])
|
||||
median_pressure = np.median(sensor_baro_2['pressure']);
|
||||
if noResample:
|
||||
coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
|
||||
else:
|
||||
@@ -1199,7 +1157,7 @@ if num_baros >= 3:
|
||||
baro_2_x_resample = fit_coef_baro_2_x(temp_rel_resample)
|
||||
|
||||
# baro 2 vs temperature
|
||||
plt.figure(11,figsize=(20,13))
|
||||
plt.figure(10,figsize=(20,13))
|
||||
|
||||
# draw plots
|
||||
plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
|
||||
@@ -1239,8 +1197,6 @@ if num_baros >= 4:
|
||||
temp_rel_resample = np.linspace(baro_3_params['TC_B3_TMIN']-baro_3_params['TC_B3_TREF'], baro_3_params['TC_B3_TMAX']-baro_3_params['TC_B3_TREF'], 100)
|
||||
temp_resample = temp_rel_resample + baro_3_params['TC_B3_TREF']
|
||||
|
||||
sensor_baro_3['pressure'] = median_filter(sensor_baro_3['pressure'])
|
||||
|
||||
# fit data
|
||||
median_pressure = np.median(sensor_baro_3['pressure'])
|
||||
coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa
|
||||
@@ -1254,7 +1210,7 @@ if num_baros >= 4:
|
||||
baro_3_x_resample = fit_coef_baro_3_x(temp_rel_resample)
|
||||
|
||||
# baro 3 vs temperature
|
||||
plt.figure(12,figsize=(20,13))
|
||||
plt.figure(11,figsize=(20,13))
|
||||
|
||||
# draw plots
|
||||
plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b')
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user