mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-27 09:10:05 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
bbc9a8c9bb |
@@ -45,12 +45,17 @@ pipeline {
|
||||
"cuav_can-gps-v1_canbootloader",
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"cuav_can-gps-v1_default",
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"cuav_nora_default",
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"cuav_nora_test",
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"cuav_x7pro_default",
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"cuav_x7pro_test",
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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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"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_durandal-v1_test",
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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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@@ -76,6 +81,7 @@ pipeline {
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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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@@ -94,6 +100,7 @@ pipeline {
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"px4_fmu-v5x_base_phy_DP83848C",
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"px4_fmu-v5x_default",
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"px4_fmu-v6u_default",
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"px4_fmu-v6u_test",
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"px4_fmu-v6x_default",
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"px4_io-v2_default",
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"spracing_h7extreme_default",
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+94
-42
@@ -7,9 +7,9 @@ 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:2020-09-14'
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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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@@ -160,9 +160,61 @@ pipeline {
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}
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}
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stage("px4_fmu-v3_test") {
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// stage("px4_fmu-v2_test") {
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// stages {
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// stage("build px4_fmu-v2_test") {
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// agent {
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// docker {
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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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// steps {
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// sh 'export'
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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 px4_fmu-v2_test'
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// sh 'make sizes'
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// sh 'ccache -s'
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// stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
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// }
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// post {
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// always {
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// sh 'make distclean'
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// }
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// }
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// } // stage build
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// stage("test") {
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// agent {
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// label 'px4_fmu-v2'
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// }
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// stages {
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// stage("flash") {
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// steps {
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// sh 'export'
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// sh 'find /dev/serial'
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// unstash 'px4_fmu-v2_test'
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// // flash board and watch bootup
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// 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'
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// }
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// }
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// stage("reset") {
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// steps {
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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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// }
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// }
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// }
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stage("px4_fmu-v3_default") {
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stages {
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stage("build px4_fmu-v3_test") {
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stage("build px4_fmu-v3_default") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2020-09-14'
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@@ -175,10 +227,10 @@ 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 px4_fmu-v3_test'
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sh 'make px4_fmu-v3_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: 'px4_fmu-v3_test'
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||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_default'
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}
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post {
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||||
always {
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@@ -195,9 +247,9 @@ 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 'px4_fmu-v3_test'
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unstash 'px4_fmu-v3_default'
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// flash board and watch bootup
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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'
|
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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'
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||||
}
|
||||
}
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||||
stage("configure") {
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@@ -236,9 +288,9 @@ pipeline {
|
||||
}
|
||||
}
|
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|
||||
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:2020-09-14'
|
||||
@@ -251,10 +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 {
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||||
@@ -271,9 +323,9 @@ pipeline {
|
||||
steps {
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sh 'export'
|
||||
sh 'find /dev/serial'
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unstash 'px4_fmu-v4_test'
|
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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") {
|
||||
@@ -312,9 +364,9 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
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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:2020-09-14'
|
||||
@@ -327,10 +379,10 @@ 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 {
|
||||
@@ -347,9 +399,9 @@ 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") {
|
||||
@@ -388,9 +440,9 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
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:2020-09-14'
|
||||
@@ -403,10 +455,10 @@ 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 {
|
||||
@@ -423,9 +475,9 @@ 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") {
|
||||
@@ -700,9 +752,9 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
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:2020-09-14'
|
||||
@@ -715,10 +767,10 @@ 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 {
|
||||
@@ -735,9 +787,9 @@ 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") {
|
||||
@@ -853,9 +905,9 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
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:2020-09-14'
|
||||
@@ -868,10 +920,10 @@ 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 {
|
||||
@@ -888,9 +940,9 @@ 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") {
|
||||
|
||||
@@ -26,16 +26,19 @@ jobs:
|
||||
cuav_can-gps-v1_debug,
|
||||
cuav_can-gps-v1_default,
|
||||
cuav_nora_default,
|
||||
cuav_nora_test,
|
||||
cuav_x7pro_default,
|
||||
cuav_x7pro_test,
|
||||
cubepilot_cubeorange_console,
|
||||
cubepilot_cubeorange_default,
|
||||
cubepilot_cubeorange_test,
|
||||
cubepilot_cubeyellow_console,
|
||||
cubepilot_cubeyellow_default,
|
||||
cubepilot_cubeyellow_test,
|
||||
cubepilot_io-v2_default,
|
||||
holybro_can-gps-v1_canbootloader,
|
||||
holybro_can-gps-v1_debug,
|
||||
holybro_can-gps-v1_default,
|
||||
holybro_durandal-v1_default,
|
||||
holybro_durandal-v1_test,
|
||||
holybro_kakutef7_default,
|
||||
holybro_pix32v5_default,
|
||||
modalai_fc-v1_default,
|
||||
@@ -61,6 +64,7 @@ jobs:
|
||||
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,
|
||||
@@ -79,6 +83,7 @@ jobs:
|
||||
px4_fmu-v5x_base_phy_DP83848C,
|
||||
px4_fmu-v5x_default,
|
||||
px4_fmu-v6u_default,
|
||||
px4_fmu-v6u_test,
|
||||
px4_fmu-v6x_default,
|
||||
px4_io-v2_default,
|
||||
spracing_h7extreme_default,
|
||||
|
||||
+2
-2
@@ -59,7 +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
|
||||
url = https://github.com/UAVCAN/libcanard
|
||||
|
||||
Vendored
+2
-2
@@ -96,11 +96,11 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cuav_x7pro_default
|
||||
cubepilot_cubeorange_test:
|
||||
cubepilot_cubeorange_console:
|
||||
short: cubepilot_cubeorange
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_orange_test
|
||||
CONFIG: cubepilot_orange_console
|
||||
emlid_navio2_default:
|
||||
short: emlid_navio2
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+4
-1
@@ -137,5 +137,8 @@
|
||||
"workbench.settings.enableNaturalLanguageSearch": false,
|
||||
"yaml.schemas": {
|
||||
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
|
||||
}
|
||||
},
|
||||
"python.autoComplete.extraPaths": [
|
||||
"/opt/ros/foxy/lib/python3.8/site-packages"
|
||||
]
|
||||
}
|
||||
|
||||
@@ -111,6 +111,5 @@ set MAV_TYPE 22
|
||||
set MIXER babyshark
|
||||
set MIXER_AUX pass
|
||||
|
||||
# Mark outputs for the alternate rate
|
||||
# or D-Shot
|
||||
set PWM_OUT 5678
|
||||
set PWM_AUX_OUT 1234
|
||||
|
||||
@@ -144,11 +144,6 @@ then
|
||||
set OUTPUT_DEV /dev/uavcan/esc
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = vesc ]
|
||||
then
|
||||
set OUTPUT_DEV /dev/vesc
|
||||
fi
|
||||
|
||||
if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
|
||||
|
||||
@@ -282,11 +282,6 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
if param greater -s VESC_PORT 0
|
||||
then
|
||||
set OUTPUT_MODE vesc
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if PX4IO present and update firmware if needed.
|
||||
# Assumption IOFW set to firmware file and IO_PRESENT = no
|
||||
|
||||
+1
-1
Submodule Tools/sitl_gazebo updated: 05e2cd9c03...5761bd66cd
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
@@ -47,6 +48,7 @@ px4_add_board(
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -108,6 +110,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -117,15 +120,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -39,6 +39,7 @@ px4_add_board(
|
||||
VENDOR atlflight
|
||||
MODEL eagle
|
||||
LABEL default
|
||||
#TESTING
|
||||
TOOLCHAIN arm-linux-gnueabihf
|
||||
ROMFSROOT px4fmu_common
|
||||
DRIVERS
|
||||
@@ -107,6 +108,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
shutdown
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
#top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -39,6 +39,7 @@ px4_add_board(
|
||||
VENDOR atlflight
|
||||
MODEL excelsior
|
||||
LABEL default
|
||||
#TESTING
|
||||
TOOLCHAIN arm-oemllib32-linux-gnueabi
|
||||
DRIVERS
|
||||
#barometer # all available barometer drivers
|
||||
@@ -105,6 +106,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
shutdown
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
#top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -7,6 +7,7 @@ px4_add_board(
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
ETHERNET
|
||||
SERIAL_PORTS
|
||||
@@ -46,6 +47,7 @@ px4_add_board(
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
#tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -106,6 +108,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -114,15 +117,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -113,6 +113,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -114,6 +114,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -3,7 +3,7 @@ px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR cubepilot
|
||||
MODEL cubeorange
|
||||
LABEL test
|
||||
LABEL console
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
@@ -9,6 +9,7 @@ px4_add_board(
|
||||
ROMFSROOT px4fmu_common
|
||||
BUILD_BOOTLOADER
|
||||
IO cubepilot_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
TEL1:/dev/ttyS0
|
||||
@@ -50,6 +51,7 @@ px4_add_board(
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
#test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -111,6 +113,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
#serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -3,7 +3,7 @@ px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR cubepilot
|
||||
MODEL cubeyellow
|
||||
LABEL test
|
||||
LABEL console
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO cubepilot_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
TEL1:/dev/ttyS0
|
||||
@@ -48,6 +49,7 @@ px4_add_board(
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
#test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -109,6 +111,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
#serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -109,6 +109,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -6,7 +6,6 @@ px4_add_board(
|
||||
LABEL default
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
EXTERNAL_METADATA
|
||||
ROMFSROOT px4fmu_common
|
||||
SERIAL_PORTS
|
||||
TEL1:/dev/ttyS0 # UART1
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
@@ -52,6 +53,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -113,6 +115,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -122,15 +125,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -1,139 +0,0 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR holybro
|
||||
MODEL pix32v5
|
||||
LABEL test
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
TEL1:/dev/ttyS1
|
||||
TEL2:/dev/ttyS2
|
||||
TEL3:/dev/ttyS4
|
||||
TEL4:/dev/ttyS3
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
#heater
|
||||
#imu # all available imu drivers
|
||||
imu/analog_devices/adis16448
|
||||
imu/bosch/bmi055
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20689
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
lights/rgbled_pwm
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
osd
|
||||
pca9685
|
||||
pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
rc_input
|
||||
roboclaw
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
battery_status
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
uuv_att_control
|
||||
uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
@@ -7,6 +7,7 @@ px4_add_board(
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0 # UART1 / J10
|
||||
@@ -46,6 +47,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
#tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -106,6 +108,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -115,15 +118,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -18,10 +18,88 @@
|
||||
# Common settings across Flight Core configurations
|
||||
#
|
||||
|
||||
# Disable safety switch by default (pull high to 3.3V to enable)
|
||||
# V106 - J13 pin 5
|
||||
# V110 - J1011 pin 5
|
||||
param set-default CBRK_IO_SAFETY 22027
|
||||
|
||||
#
|
||||
# Stand Alone configuration
|
||||
#
|
||||
if ver hwtypecmp V106
|
||||
then
|
||||
echo "Configuring Flight Core - V106"
|
||||
|
||||
#
|
||||
# In Flight Core, J1 can be setup to be used as a serial port for TELEM2
|
||||
# and connected to VOXL via cables. We'll configure this out of the box.
|
||||
# The user can later change this if they want, as these are configurable
|
||||
# and not necessarily required to be used with VOXL.
|
||||
#
|
||||
if [ $AUTOCNF = no ]
|
||||
then
|
||||
if param compare MAV_1_CONFIG 0
|
||||
then
|
||||
echo "V106 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
|
||||
# TELEM2
|
||||
param set-default MAV_1_CONFIG 102
|
||||
# Onboard
|
||||
param set-default MAV_1_MODE 2
|
||||
# VIO data
|
||||
param set-default SER_TEL2_BAUD 921600
|
||||
fi
|
||||
fi
|
||||
|
||||
# User is setting defaults, so let's do it!
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
echo "V106 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
|
||||
# TELEM2
|
||||
param set-default MAV_1_CONFIG 102
|
||||
# Onboard
|
||||
param set-default MAV_1_MODE 2
|
||||
# VIO data
|
||||
param set-default SER_TEL2_BAUD 921600
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# VOXL-Flight configuration
|
||||
#
|
||||
if ver hwtypecmp V110
|
||||
then
|
||||
echo "Configuring VOXL-Flight - V110"
|
||||
|
||||
#
|
||||
# TELEM2 port is physically routed in the PCB, thus not configurable.
|
||||
# The following will detect a fresh install, or if the user has changed the setting and
|
||||
# revert to the VOXL-Flight defaults. This does allow the user to change the mode and
|
||||
# baud rates and mode if they choose to do so, although VOXL is expecting what is set below
|
||||
#
|
||||
if [ $AUTOCNF = no ]
|
||||
then
|
||||
if ! param compare MAV_1_CONFIG 102
|
||||
then
|
||||
echo "V110 - Default configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
|
||||
# TELEM2
|
||||
param set-default MAV_1_CONFIG 102
|
||||
# Onboard
|
||||
param set-default MAV_1_MODE 2
|
||||
param set-default SER_TEL2_BAUD 921600
|
||||
fi
|
||||
fi
|
||||
|
||||
# User is setting defaults, so let's do it!
|
||||
if [ $AUTOCNF = yes ]
|
||||
then
|
||||
echo "V110 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
|
||||
# TELEM2
|
||||
param set-default MAV_1_CONFIG 102
|
||||
# Onboard
|
||||
param set-default MAV_1_MODE 2
|
||||
param set-default SER_TEL2_BAUD 921600
|
||||
fi
|
||||
fi
|
||||
|
||||
# TELEM2
|
||||
param set-default MAV_1_CONFIG 102
|
||||
param set-default MAV_1_MODE 2
|
||||
param set-default SER_TEL2_BAUD 921600
|
||||
|
||||
safety_button start
|
||||
|
||||
@@ -7,6 +7,7 @@ px4_add_board(
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0 # UART1 / J10
|
||||
@@ -46,6 +47,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
#tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -106,6 +108,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -115,15 +118,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -1,132 +0,0 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR modalai
|
||||
MODEL fc-v1
|
||||
LABEL test
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0 # UART1 / J10
|
||||
TEL1:/dev/ttyS6 # UART7 / J5
|
||||
TEL2:/dev/ttyS4 # UART5 / J1
|
||||
TEL3:/dev/ttyS1 # USART2 / J4
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
imu/bosch/bmi088
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/icm42688p
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
osd
|
||||
pca9685
|
||||
pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
power_monitor/voxlpm
|
||||
#protocol_splitter
|
||||
#pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
rc_input
|
||||
roboclaw
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
#tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
uuv_att_control
|
||||
uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
@@ -7,6 +7,7 @@ px4_add_board(
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
TEL1:/dev/ttyS0
|
||||
@@ -49,6 +50,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -110,6 +112,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -119,15 +122,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -7,6 +7,7 @@ px4_add_board(
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
TEL1:/dev/ttyS0
|
||||
@@ -49,6 +50,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -110,6 +112,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -119,15 +122,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -108,6 +108,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -108,6 +108,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -109,6 +109,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
# IO DEBUG:/dev/ttyS0
|
||||
@@ -49,6 +50,7 @@ px4_add_board(
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -110,6 +112,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -9,6 +9,7 @@ px4_add_board(
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
# IO DEBUG:/dev/ttyS0
|
||||
@@ -50,6 +51,7 @@ px4_add_board(
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -111,6 +113,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
@@ -46,6 +47,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
#test_ppm # NOT Portable YET
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -106,6 +108,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -115,15 +118,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
@@ -46,6 +47,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
#test_ppm # NOT Portable YET
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -116,15 +118,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
@@ -46,6 +47,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
#test_ppm # NOT Portable YET
|
||||
tone_alarm
|
||||
#uavcannode_v1
|
||||
MODULES
|
||||
@@ -116,15 +118,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
@@ -106,6 +107,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -115,15 +117,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
@@ -116,15 +117,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
@@ -116,15 +117,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -1,131 +0,0 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR nxp
|
||||
MODEL fmuk66-v3
|
||||
LABEL test
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
TEL1:/dev/ttyS4
|
||||
TEL2:/dev/ttyS1
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
barometer/mpl3115a2
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
distance_sensor/srf05 # Specific driver
|
||||
gps
|
||||
#imu # all available imu drivers
|
||||
imu/fxas21002c
|
||||
imu/fxos8701cq
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
lights/rgbled_pwm
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
osd
|
||||
pca9685
|
||||
pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
rc_input
|
||||
roboclaw
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
battery_status
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
#uuv_att_control
|
||||
#uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
#bl_update
|
||||
#dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
#gpio
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
@@ -37,6 +37,7 @@ px4_add_board(
|
||||
rc_input
|
||||
#telemetry # all available telemetry drivers
|
||||
telemetry/frsky_telemetry
|
||||
#test_ppm
|
||||
MODULES
|
||||
#airspeed_selector
|
||||
attitude_estimator_q
|
||||
@@ -96,6 +97,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
#serial_test
|
||||
#system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
#topic_listener
|
||||
tune_control
|
||||
@@ -103,4 +105,17 @@ px4_add_board(
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
#fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
)
|
||||
|
||||
@@ -9,6 +9,7 @@ px4_add_board(
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
#TESTING
|
||||
#UAVCAN_INTERFACES 2
|
||||
CONSTRAINED_FLASH
|
||||
SERIAL_PORTS
|
||||
@@ -57,6 +58,7 @@ px4_add_board(
|
||||
#roboclaw
|
||||
#rpm
|
||||
#telemetry # all available telemetry drivers
|
||||
#test_ppm
|
||||
tone_alarm
|
||||
#uavcan
|
||||
MODULES
|
||||
@@ -118,6 +120,7 @@ px4_add_board(
|
||||
#sd_bench
|
||||
#serial_test
|
||||
#system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
#topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -9,6 +9,7 @@ px4_add_board(
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
#TESTING
|
||||
#UAVCAN_INTERFACES 2
|
||||
CONSTRAINED_FLASH
|
||||
SERIAL_PORTS
|
||||
|
||||
@@ -9,6 +9,7 @@ px4_add_board(
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
@@ -51,6 +52,7 @@ px4_add_board(
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -112,6 +114,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -121,15 +124,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -1,138 +0,0 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR px4
|
||||
MODEL fmu-v3
|
||||
LABEL test
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
TEL1:/dev/ttyS1
|
||||
TEL2:/dev/ttyS2
|
||||
TEL4:/dev/ttyS6
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
heater
|
||||
#imu # all available imu drivers
|
||||
imu/analog_devices/adis16448
|
||||
imu/l3gd20
|
||||
imu/lsm303d
|
||||
imu/invensense/icm20608g
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/mpu6000
|
||||
imu/invensense/mpu9250
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
osd
|
||||
pca9685
|
||||
pca9685_pwm_out
|
||||
#power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
battery_status
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
uuv_att_control
|
||||
uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
#dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
@@ -49,9 +50,9 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
vesc
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
@@ -90,7 +91,7 @@ px4_add_board(
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
dmesg
|
||||
#dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
@@ -111,6 +112,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -120,15 +122,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -98,8 +98,6 @@
|
||||
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
|
||||
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
/**
|
||||
* PWM:
|
||||
*
|
||||
|
||||
@@ -1,136 +0,0 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR px4
|
||||
MODEL fmu-v4
|
||||
LABEL test
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 1
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
TEL1:/dev/ttyS1
|
||||
TEL2:/dev/ttyS2
|
||||
WIFI:/dev/ttyS0
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
heater
|
||||
#imu # all available imu drivers
|
||||
imu/analog_devices/adis16448
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20608g
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/mpu9250
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
osd
|
||||
pca9685
|
||||
pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
rc_input
|
||||
roboclaw
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
battery_status
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
uuv_att_control
|
||||
uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
#dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
@@ -9,6 +9,7 @@ px4_add_board(
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
@@ -50,6 +51,7 @@ px4_add_board(
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -110,6 +112,7 @@ px4_add_board(
|
||||
reflect
|
||||
sd_bench
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -119,15 +122,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -1,136 +0,0 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR px4
|
||||
MODEL fmu-v4pro
|
||||
LABEL test
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS3
|
||||
TEL1:/dev/ttyS1
|
||||
TEL2:/dev/ttyS2
|
||||
TEL3:/dev/ttyS0
|
||||
TEL4:/dev/ttyS6
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
#heater
|
||||
#imu # all available imu drivers
|
||||
imu/analog_devices/adis16448
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20608g
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/mpu9250
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
osd
|
||||
pca9685
|
||||
pca9685_pwm_out
|
||||
#power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
roboclaw
|
||||
rpm
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
battery_status
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
uuv_att_control
|
||||
uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
#dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
@@ -51,6 +52,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -114,6 +116,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -123,15 +126,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -124,7 +124,7 @@ px4_add_board(
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
@@ -51,6 +52,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -112,6 +114,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -121,15 +124,15 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
|
||||
@@ -12,7 +12,6 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
EXTERNAL_METADATA
|
||||
TESTING
|
||||
#UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
@@ -127,17 +126,4 @@ px4_add_board(
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
)
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
@@ -49,6 +50,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -105,6 +107,7 @@ px4_add_board(
|
||||
reflect
|
||||
sd_bench
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -114,15 +117,13 @@ px4_add_board(
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
|
||||
@@ -122,8 +122,7 @@ px4_add_board(
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_gps
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
|
||||
@@ -1,138 +0,0 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR px4
|
||||
MODEL fmu-v5
|
||||
LABEL test
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
TEL1:/dev/ttyS1
|
||||
TEL2:/dev/ttyS2
|
||||
TEL4:/dev/ttyS3
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
#heater
|
||||
#imu # all available imu drivers
|
||||
imu/analog_devices/adis16448
|
||||
imu/bosch/bmi055
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20689
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
lights/rgbled_pwm
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
osd
|
||||
pca9685
|
||||
pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
rc_input
|
||||
roboclaw
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
battery_status
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
uuv_att_control
|
||||
uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
rover_steering_control # Rover example app
|
||||
uuv_example_app
|
||||
work_item
|
||||
)
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
#TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
UAVCAN_PERIPHERALS
|
||||
cuav_can-gps-v1_default
|
||||
@@ -55,6 +56,7 @@ px4_add_board(
|
||||
#rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
#test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -115,6 +117,7 @@ px4_add_board(
|
||||
reflect
|
||||
sd_bench
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -123,7 +126,6 @@ px4_add_board(
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
#TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
@@ -51,6 +52,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
#test_ppm
|
||||
tone_alarm
|
||||
#uavcan # legacy v0
|
||||
uavcan_v1
|
||||
@@ -113,6 +115,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -121,7 +124,7 @@ px4_add_board(
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
ETHERNET
|
||||
SERIAL_PORTS
|
||||
@@ -52,6 +53,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -113,6 +115,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -8,6 +8,7 @@ px4_add_board(
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
ETHERNET
|
||||
SERIAL_PORTS
|
||||
@@ -52,6 +53,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -113,6 +115,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -1,139 +0,0 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR px4
|
||||
MODEL fmu-v5x
|
||||
LABEL test
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
ETHERNET
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
TEL1:/dev/ttyS6
|
||||
TEL2:/dev/ttyS4
|
||||
TEL3:/dev/ttyS1
|
||||
GPS2:/dev/ttyS7
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
heater
|
||||
#imu # all available imu drivers
|
||||
imu/analog_devices/adis16448
|
||||
imu/bosch/bmi088
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/icm42688p
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
osd
|
||||
pca9685
|
||||
pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_input
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
rc_input
|
||||
roboclaw
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
#uuv_att_control
|
||||
#uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
netman
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
)
|
||||
@@ -109,6 +109,7 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
|
||||
@@ -9,6 +9,7 @@ px4_add_board(
|
||||
ROMFSROOT px4fmu_common
|
||||
BUILD_BOOTLOADER
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
UAVCAN_TIMER_OVERRIDE 2
|
||||
ETHERNET
|
||||
@@ -53,6 +54,7 @@ px4_add_board(
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
@@ -114,7 +116,8 @@ px4_add_board(
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
# top
|
||||
# tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
|
||||
@@ -1,140 +0,0 @@
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR px4
|
||||
MODEL fmu-v6x
|
||||
LABEL test
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m7
|
||||
ROMFSROOT px4fmu_common
|
||||
BUILD_BOOTLOADER
|
||||
IO px4_io-v2_default
|
||||
TESTING
|
||||
UAVCAN_INTERFACES 2
|
||||
UAVCAN_TIMER_OVERRIDE 2
|
||||
ETHERNET
|
||||
SERIAL_PORTS
|
||||
GPS1:/dev/ttyS0
|
||||
TEL1:/dev/ttyS6
|
||||
TEL2:/dev/ttyS4
|
||||
TEL3:/dev/ttyS1
|
||||
GPS2:/dev/ttyS7
|
||||
DRIVERS
|
||||
adc/ads1115
|
||||
adc/board_adc
|
||||
barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_capture
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
dshot
|
||||
gps
|
||||
heater
|
||||
#imu # all available imu drivers
|
||||
imu/bosch/bmi088
|
||||
imu/invensense/icm20602
|
||||
imu/invensense/icm20649
|
||||
imu/invensense/icm20948 # required for ak09916 mag
|
||||
imu/invensense/icm42688p
|
||||
irlock
|
||||
lights # all available light drivers
|
||||
magnetometer # all available magnetometer drivers
|
||||
optical_flow # all available optical flow drivers
|
||||
osd
|
||||
pca9685
|
||||
pca9685_pwm_out
|
||||
power_monitor/ina226
|
||||
#protocol_splitter
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
px4io
|
||||
rc_input
|
||||
roboclaw
|
||||
rpm
|
||||
safety_button
|
||||
telemetry # all available telemetry drivers
|
||||
test_ppm
|
||||
tone_alarm
|
||||
uavcan
|
||||
MODULES
|
||||
airspeed_selector
|
||||
attitude_estimator_q
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
esc_battery
|
||||
events
|
||||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
#micrortps_bridge
|
||||
navigator
|
||||
rc_update
|
||||
rover_pos_control
|
||||
sensors
|
||||
sih
|
||||
temperature_compensation
|
||||
#uuv_att_control
|
||||
#uuv_pos_control
|
||||
vmount
|
||||
vtol_att_control
|
||||
SYSTEMCMDS
|
||||
bl_update
|
||||
dmesg
|
||||
dumpfile
|
||||
esc_calib
|
||||
gpio
|
||||
hardfault_log
|
||||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
mtd
|
||||
nshterm
|
||||
netman
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
serial_test
|
||||
system_time
|
||||
# tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
usb_connected
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
#matlab_csv_serial
|
||||
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
)
|
||||
@@ -5,6 +5,7 @@ px4_add_board(
|
||||
MODEL sitl
|
||||
ROMFSROOT px4fmu_common
|
||||
LABEL ctrlalloc
|
||||
EMBEDDED_METADATA parameters
|
||||
TESTING
|
||||
DRIVERS
|
||||
#barometer # all available barometer drivers
|
||||
@@ -89,7 +90,6 @@ px4_add_board(
|
||||
EXAMPLES
|
||||
dyn_hello # dynamically loading modules example
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
|
||||
@@ -5,6 +5,7 @@ px4_add_board(
|
||||
MODEL sitl
|
||||
ROMFSROOT px4fmu_common
|
||||
LABEL default
|
||||
EMBEDDED_METADATA parameters
|
||||
TESTING
|
||||
ETHERNET
|
||||
DRIVERS
|
||||
|
||||
@@ -5,6 +5,7 @@ px4_add_board(
|
||||
MODEL sitl
|
||||
ROMFSROOT px4fmu_common
|
||||
LABEL nolockstep
|
||||
EMBEDDED_METADATA parameters
|
||||
TESTING
|
||||
DRIVERS
|
||||
#barometer # all available barometer drivers
|
||||
@@ -87,7 +88,6 @@ px4_add_board(
|
||||
EXAMPLES
|
||||
dyn_hello # dynamically loading modules example
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
|
||||
@@ -5,6 +5,7 @@ px4_add_board(
|
||||
MODEL sitl
|
||||
ROMFSROOT px4fmu_common
|
||||
LABEL rtps
|
||||
EMBEDDED_METADATA parameters
|
||||
TESTING
|
||||
DRIVERS
|
||||
#barometer # all available barometer drivers
|
||||
@@ -86,7 +87,6 @@ px4_add_board(
|
||||
EXAMPLES
|
||||
dyn_hello # dynamically loading modules example
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
|
||||
@@ -5,6 +5,7 @@ px4_add_board(
|
||||
MODEL sitl
|
||||
ROMFSROOT px4fmu_common
|
||||
LABEL test
|
||||
EMBEDDED_METADATA parameters
|
||||
TESTING
|
||||
DRIVERS
|
||||
#barometer # all available barometer drivers
|
||||
@@ -86,7 +87,6 @@ px4_add_board(
|
||||
EXAMPLES
|
||||
dyn_hello # dynamically loading modules example
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
|
||||
@@ -87,8 +87,6 @@ px4_add_board(
|
||||
EXAMPLES
|
||||
dyn_hello # dynamically loading modules example
|
||||
fake_gps
|
||||
fake_gyro
|
||||
fake_magnetometer
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
hello
|
||||
#hwtest # Hardware test
|
||||
|
||||
@@ -39,12 +39,16 @@ px4_add_board(
|
||||
#pca9685
|
||||
#power_monitor/ina226
|
||||
#protocol_splitter
|
||||
# pwm_input - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate
|
||||
# all arch dependant code there
|
||||
pwm_out_sim
|
||||
pwm_out
|
||||
#roboclaw
|
||||
rc_input
|
||||
telemetry # all available telemetry drivers
|
||||
#test_ppm
|
||||
tone_alarm
|
||||
# uavcan - No H7 or FD can support in UAVCAN yet
|
||||
MODULES
|
||||
#airspeed_selector
|
||||
attitude_estimator_q
|
||||
@@ -96,6 +100,7 @@ px4_add_board(
|
||||
reflect
|
||||
sd_bench
|
||||
#shutdown
|
||||
#tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
@@ -104,9 +109,7 @@ px4_add_board(
|
||||
ver
|
||||
work_queue
|
||||
EXAMPLES
|
||||
fake_gps
|
||||
#fake_gyro
|
||||
#fake_magnetometer
|
||||
#bottle_drop # OBC challenge
|
||||
#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hello
|
||||
#hwtest # Hardware test
|
||||
@@ -115,5 +118,4 @@ px4_add_board(
|
||||
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
|
||||
#rover_steering_control # Rover example app
|
||||
#uuv_example_app
|
||||
#work_item
|
||||
)
|
||||
|
||||
@@ -57,9 +57,9 @@
|
||||
# [ SERIAL_PORTS <list> ]
|
||||
# [ CONSTRAINED_FLASH ]
|
||||
# [ CONSTRAINED_MEMORY ]
|
||||
# [ EXTERNAL_METADATA ]
|
||||
# [ TESTING ]
|
||||
# [ LINKER_PREFIX <string> ]
|
||||
# [ EMBEDDED_METADATA <string> ]
|
||||
# [ ETHERNET ]
|
||||
# )
|
||||
#
|
||||
@@ -80,9 +80,9 @@
|
||||
# SYSTEMCMDS : list of system commands to build for this board (relative to src/systemcmds)
|
||||
# EXAMPLES : list of example modules to build for this board (relative to src/examples)
|
||||
# SERIAL_PORTS : mapping of user configurable serial ports and param facing name
|
||||
# EMBEDDED_METADATA : list of metadata to embed to ROMFS
|
||||
# CONSTRAINED_FLASH : flag to enable constrained flash options (eg limit init script status text)
|
||||
# CONSTRAINED_MEMORY : flag to enable constrained memory options (eg limit maximum number of uORB publications)
|
||||
# EXTERNAL_METADATA : flag to exclude metadata to reduce flash
|
||||
# TESTING : flag to enable automatic inclusion of PX4 testing modules
|
||||
# LINKER_PREFIX : optional to prefix on the Linker script.
|
||||
# ETHERNET : flag to indicate that ethernet is enabled
|
||||
@@ -156,11 +156,11 @@ function(px4_add_board)
|
||||
EXAMPLES
|
||||
SERIAL_PORTS
|
||||
UAVCAN_PERIPHERALS
|
||||
EMBEDDED_METADATA
|
||||
OPTIONS
|
||||
BUILD_BOOTLOADER
|
||||
CONSTRAINED_FLASH
|
||||
CONSTRAINED_MEMORY
|
||||
EXTERNAL_METADATA
|
||||
TESTING
|
||||
ETHERNET
|
||||
REQUIRED
|
||||
@@ -207,11 +207,14 @@ function(px4_add_board)
|
||||
|
||||
set(romfs_extra_files)
|
||||
set(config_romfs_extra_dependencies)
|
||||
# additional embedded metadata
|
||||
if (NOT CONSTRAINED_FLASH AND NOT EXTERNAL_METADATA AND NOT ${PX4_BOARD_LABEL} STREQUAL "test")
|
||||
list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/parameters.json.xz)
|
||||
list(APPEND romfs_extra_dependencies parameters_xml)
|
||||
endif()
|
||||
foreach(metadata ${EMBEDDED_METADATA})
|
||||
if(${metadata} STREQUAL "parameters")
|
||||
list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/parameters.json.xz)
|
||||
list(APPEND romfs_extra_dependencies parameters_xml)
|
||||
else()
|
||||
message(FATAL_ERROR "invalid value for EMBEDDED_METADATA: ${metadata}")
|
||||
endif()
|
||||
endforeach()
|
||||
list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/component_general.json.xz)
|
||||
list(APPEND romfs_extra_dependencies component_general_json)
|
||||
set(config_romfs_extra_files ${romfs_extra_files} CACHE INTERNAL "extra ROMFS files" FORCE)
|
||||
|
||||
@@ -95,17 +95,21 @@ function(px4_add_common_flags)
|
||||
# compiler specific flags
|
||||
if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
|
||||
|
||||
add_compile_options(
|
||||
-fcolor-diagnostics # force color for clang (needed for clang + ccache)
|
||||
-fdiagnostics-absolute-paths # force absolute paths
|
||||
# force color for clang (needed for clang + ccache)
|
||||
add_compile_options(-fcolor-diagnostics)
|
||||
# force absolute paths
|
||||
add_compile_options(-fdiagnostics-absolute-paths)
|
||||
|
||||
-Qunused-arguments
|
||||
# QuRT 6.4.X compiler identifies as Clang but does not support this option
|
||||
if (NOT "${PX4_PLATFORM}" STREQUAL "qurt")
|
||||
add_compile_options(
|
||||
-Qunused-arguments
|
||||
|
||||
-Wno-c99-designator
|
||||
-Wno-unknown-warning-option
|
||||
-Wno-unused-const-variable
|
||||
-Wno-varargs
|
||||
)
|
||||
-Wno-unknown-warning-option
|
||||
-Wno-unused-const-variable
|
||||
-Wno-varargs
|
||||
)
|
||||
endif()
|
||||
|
||||
elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
|
||||
|
||||
|
||||
+2
-10
@@ -25,9 +25,9 @@ uint16 manufacture_date # manufacture date, part of serial number of the batter
|
||||
uint16 state_of_health # state of health. FullChargeCapacity/DesignCapacity.
|
||||
uint16 max_error # max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
|
||||
uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
|
||||
uint16 interface_error # interface error counter
|
||||
uint16 interface_error # SMBUS interface error counter
|
||||
|
||||
float32[14] voltage_cell_v # Battery individual cell voltages
|
||||
float32[10] voltage_cell_v # Battery individual cell voltages
|
||||
float32 max_cell_voltage_delta # Max difference between individual cell voltages
|
||||
|
||||
bool is_powering_off # Power off event imminent indication, false if unknown
|
||||
@@ -43,11 +43,3 @@ uint8 warning # current battery warning
|
||||
|
||||
|
||||
uint8 MAX_INSTANCES = 4
|
||||
|
||||
float32 average_power # The average power of the current discharge
|
||||
float32 available_energy # The predicted charge or energy remaining in the battery
|
||||
float32 remaining_capacity # The compensated battery capacity remaining
|
||||
float32 design_capacity # The design capacity of the battery
|
||||
uint16 average_time_to_full # The predicted remaining time until the battery reaches full charge, in minutes
|
||||
uint16 over_discharge_count # Number of battery overdischarge
|
||||
float32 nominal_voltage # Nominal voltage of the battery pack
|
||||
|
||||
@@ -120,8 +120,8 @@ static void usage(const char *name)
|
||||
" -i <ip_address> Target IP for UDP. Default 127.0.0.1\n"
|
||||
" -n <namespace> ROS 2 topics namespace. Identifies the vehicle in a multi-agent network\n"
|
||||
" -p <poll_ms> Time in ms to poll over UART. Default 1ms\n"
|
||||
" -r <reception port> UDP port for receiving. Default 2020\n"
|
||||
" -s <sending port> UDP port for sending. Default 2019\n"
|
||||
" -r <reception port> UDP port for receiving. Default 2019\n"
|
||||
" -s <sending port> UDP port for sending. Default 2020\n"
|
||||
" -t <transport> [UART|UDP] Default UART\n"
|
||||
" -v <debug verbosity> Add more verbosity\n"
|
||||
" -w <sleep_time_us> Time in us for which each iteration sleep. Default 1ms\n",
|
||||
|
||||
Submodule platforms/nuttx/NuttX/nuttx updated: 405cfa2571...011fbb2ce1
@@ -369,7 +369,7 @@ __EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const char
|
||||
pdump->info.flags |= eInvalidUserStackPtr;
|
||||
}
|
||||
|
||||
int rv = px4_savepanic(HARDFAULT_FILENO, (uint8_t *)pdump, sizeof(fullcontext_s));
|
||||
int rv = stm32_bbsram_savepanic(HARDFAULT_FILENO, (uint8_t *)pdump, sizeof(fullcontext_s));
|
||||
|
||||
/* Test if memory got wiped because of using _sdata */
|
||||
|
||||
|
||||
@@ -87,10 +87,6 @@ __BEGIN_DECLS
|
||||
#define PX4_CPU_UUID_WORD32_FORMAT_SIZE (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1)
|
||||
#define PX4_CPU_MFGUID_FORMAT_SIZE ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1)
|
||||
|
||||
#define kinetis_bbsram_savepanic(fileno, context, length) (0) // todo:Not implemented yet
|
||||
|
||||
#define px4_savepanic(fileno, context, length) kinetis_bbsram_savepanic(fileno, context, length)
|
||||
|
||||
/* bus_num is zero based on kinetis and must be translated from the legacy one based */
|
||||
|
||||
#define PX4_BUS_OFFSET 1 /* Kinetis buses are 0 based and adjustment is needed */
|
||||
|
||||
@@ -82,10 +82,6 @@ __BEGIN_DECLS
|
||||
#define PX4_CPU_UUID_WORD32_FORMAT_SIZE (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1)
|
||||
#define PX4_CPU_MFGUID_FORMAT_SIZE ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1)
|
||||
|
||||
#define imxrt_bbsram_savepanic(fileno, context, length) (0) // todo:Not implemented yet
|
||||
|
||||
#define px4_savepanic(fileno, context, length) imxrt_bbsram_savepanic(fileno, context, length)
|
||||
|
||||
/* bus_num is 1 based on imx and must be translated from the legacy one based */
|
||||
|
||||
#define PX4_BUS_OFFSET 0 /* imxrt buses are 1 based no adjustment needed */
|
||||
|
||||
@@ -89,10 +89,6 @@ __BEGIN_DECLS
|
||||
#define PX4_CPU_UUID_WORD32_FORMAT_SIZE (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1)
|
||||
#define PX4_CPU_MFGUID_FORMAT_SIZE ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1)
|
||||
|
||||
#define s32k1xx_bbsram_savepanic(fileno, context, length) (0) // todo:Not implemented yet
|
||||
|
||||
#define px4_savepanic(fileno, context, length) s32k1xx_bbsram_savepanic(fileno, context, length)
|
||||
|
||||
/* bus_num is zero based on s32k1xx and must be translated from the legacy one based */
|
||||
|
||||
#define PX4_BUS_OFFSET 1 /* s32k1xx buses are 0 based and adjustment is needed */
|
||||
|
||||
@@ -88,8 +88,6 @@ __BEGIN_DECLS
|
||||
#define PX4_CPU_UUID_WORD32_FORMAT_SIZE (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1)
|
||||
#define PX4_CPU_MFGUID_FORMAT_SIZE ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1)
|
||||
|
||||
#define px4_savepanic(fileno, context, length) stm32_bbsram_savepanic(fileno, context, length)
|
||||
|
||||
#define PX4_BUS_OFFSET 0 /* STM buses are 1 based no adjustment needed */
|
||||
#define px4_spibus_initialize(bus_num_1based) stm32_spibus_initialize(bus_num_1based)
|
||||
|
||||
|
||||
@@ -43,6 +43,7 @@ DShot::DShot() :
|
||||
_mixing_output.setAllDisarmedValues(DSHOT_DISARM_VALUE);
|
||||
_mixing_output.setAllMinValues(DSHOT_MIN_THROTTLE);
|
||||
_mixing_output.setAllMaxValues(DSHOT_MAX_THROTTLE);
|
||||
|
||||
}
|
||||
|
||||
DShot::~DShot()
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2021 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -35,6 +35,7 @@
|
||||
|
||||
pthread_mutex_t pwm_out_module_mutex = PTHREAD_MUTEX_INITIALIZER;
|
||||
static px4::atomic<PWMOut *> _objects[PWM_OUT_MAX_INSTANCES] {};
|
||||
static bool _pwm_out_started = false;
|
||||
|
||||
static bool is_running()
|
||||
{
|
||||
@@ -474,9 +475,7 @@ void PWMOut::update_current_rate()
|
||||
// max interval 0.5 - 100 ms (10 - 2000Hz)
|
||||
const int update_interval_in_us = math::constrain(1000000 / max_rate, 500, 100000);
|
||||
|
||||
if (_current_update_rate != max_rate) {
|
||||
PX4_INFO("instance: %d, max rate: %d, default: %d, alt: %d", _instance, max_rate, _pwm_default_rate, _pwm_alt_rate);
|
||||
}
|
||||
PX4_INFO("instance: %d, MAX RATE: %d, default: %d, alt: %d", _instance, max_rate, _pwm_default_rate, _pwm_alt_rate);
|
||||
|
||||
_current_update_rate = max_rate;
|
||||
_mixing_output.setMaxTopicUpdateRate(update_interval_in_us);
|
||||
@@ -512,6 +511,8 @@ int PWMOut::task_spawn(int argc, char *argv[])
|
||||
}
|
||||
}
|
||||
|
||||
_pwm_out_started = true;
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
@@ -531,43 +532,12 @@ void PWMOut::capture_callback(uint32_t chan_index,
|
||||
void PWMOut::update_pwm_out_state(bool on)
|
||||
{
|
||||
if (on && !_pwm_initialized && _pwm_mask != 0) {
|
||||
|
||||
// Collect all PWM masks from all instances
|
||||
uint32_t pwm_mask_new = 0;
|
||||
// Collect the PWM alt rate channels across all instances
|
||||
uint32_t pwm_alt_rate_channels_new = 0;
|
||||
|
||||
// Collect the minimum default rate
|
||||
unsigned default_rate_min = 0;
|
||||
// Collect the maximum alternative rate (400 Hz or DSHOT outputs)
|
||||
unsigned alt_rate_max = 0;
|
||||
|
||||
for (int i = 0; i < PWM_OUT_MAX_INSTANCES; i++) {
|
||||
if (_objects[i].load()) {
|
||||
pwm_mask_new |= _objects[i].load()->get_pwm_mask();
|
||||
pwm_alt_rate_channels_new |= _objects[i].load()->get_alt_rate_channels();
|
||||
|
||||
if (_objects[i].load()->get_alt_rate() > alt_rate_max) {
|
||||
alt_rate_max = _objects[i].load()->get_alt_rate();
|
||||
}
|
||||
|
||||
if (_objects[i].load()->get_default_rate() < default_rate_min) {
|
||||
default_rate_min = _objects[i].load()->get_default_rate();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Initialize the PWM output state for all instances
|
||||
// this is re-done once per instance, but harmless
|
||||
up_pwm_servo_init(pwm_mask_new);
|
||||
|
||||
// Set rate is not affecting non-masked channels, so can be called
|
||||
// individually
|
||||
set_pwm_rate(pwm_alt_rate_channels_new, default_rate_min, alt_rate_max);
|
||||
up_pwm_servo_init(_pwm_mask);
|
||||
set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
|
||||
_pwm_initialized = true;
|
||||
}
|
||||
|
||||
up_pwm_servo_arm(on);
|
||||
up_pwm_servo_arm(on); // TODO REVIEW for multi
|
||||
}
|
||||
|
||||
bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
|
||||
@@ -610,9 +580,9 @@ void PWMOut::Run()
|
||||
// push backup schedule
|
||||
ScheduleDelayed(_backup_schedule_interval_us);
|
||||
|
||||
if (_new_mode_request.load() != MODE_NO_REQUEST) {
|
||||
if (_new_mode_request.load() != _mode) {
|
||||
set_mode(_new_mode_request.load());
|
||||
_new_mode_request.store(MODE_NO_REQUEST);
|
||||
_new_mode_request.store(_mode);
|
||||
}
|
||||
|
||||
_mixing_output.update();
|
||||
@@ -649,6 +619,11 @@ void PWMOut::update_params()
|
||||
{
|
||||
updateParams();
|
||||
|
||||
// skip update when armed
|
||||
if (_mixing_output.armed().armed) {
|
||||
return;
|
||||
}
|
||||
|
||||
int32_t pwm_min_default = PWM_DEFAULT_MIN;
|
||||
int32_t pwm_max_default = PWM_DEFAULT_MAX;
|
||||
int32_t pwm_disarmed_default = 0;
|
||||
@@ -1787,22 +1762,6 @@ int PWMOut::fmu_new_mode(PortMode new_mode)
|
||||
return OK;
|
||||
}
|
||||
|
||||
void PWMOut::request_mode(Mode new_mode)
|
||||
{
|
||||
if (_new_mode_request.load() != MODE_NO_REQUEST) {
|
||||
PX4_ERR("already being set"); // not expected to happen
|
||||
return;
|
||||
}
|
||||
|
||||
_new_mode_request.store(new_mode);
|
||||
ScheduleNow();
|
||||
// wait until processed
|
||||
int max_time = 1000;
|
||||
|
||||
while (_new_mode_request.load() != MODE_NO_REQUEST && max_time-- > 0) {
|
||||
px4_usleep(1000);
|
||||
}
|
||||
}
|
||||
|
||||
namespace
|
||||
{
|
||||
@@ -2055,7 +2014,7 @@ int PWMOut::custom_command(int argc, char *argv[])
|
||||
|
||||
|
||||
/* start pwm_out if not running */
|
||||
if (!is_running()) {
|
||||
if (!_pwm_out_started) {
|
||||
|
||||
int ret = PWMOut::task_spawn(argc, argv);
|
||||
|
||||
@@ -2317,7 +2276,7 @@ extern "C" __EXPORT int pwm_out_main(int argc, char *argv[])
|
||||
|
||||
if (strcmp(argv[1], "start") == 0) {
|
||||
|
||||
if (is_running()) {
|
||||
if (_pwm_out_started) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -2402,6 +2361,8 @@ extern "C" __EXPORT int pwm_out_main(int argc, char *argv[])
|
||||
}
|
||||
}
|
||||
|
||||
_pwm_out_started = false;
|
||||
|
||||
PWMOut::unlock_module();
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
@@ -118,8 +118,6 @@ public:
|
||||
MODE_4CAP,
|
||||
MODE_5CAP,
|
||||
MODE_6CAP,
|
||||
|
||||
MODE_NO_REQUEST
|
||||
};
|
||||
|
||||
PWMOut() = delete;
|
||||
@@ -159,11 +157,7 @@ public:
|
||||
|
||||
int set_mode(Mode mode);
|
||||
Mode get_mode() { return _mode; }
|
||||
uint32_t get_pwm_mask() { return _pwm_mask; }
|
||||
uint32_t get_alt_rate_channels() { return _pwm_alt_rate_channels; }
|
||||
unsigned get_alt_rate() { return _pwm_alt_rate; }
|
||||
unsigned get_default_rate() { return _pwm_default_rate; }
|
||||
void request_mode(Mode new_mode);
|
||||
void request_mode(Mode new_mode) { _new_mode_request.store(new_mode); }
|
||||
|
||||
static int set_i2c_bus_clock(unsigned bus, unsigned clock_hz);
|
||||
|
||||
@@ -187,7 +181,7 @@ private:
|
||||
|
||||
Mode _mode{MODE_NONE};
|
||||
|
||||
px4::atomic<Mode> _new_mode_request{MODE_NO_REQUEST};
|
||||
px4::atomic<Mode> _new_mode_request{MODE_NONE};
|
||||
|
||||
uint32_t _backup_schedule_interval_us{1_s};
|
||||
|
||||
@@ -195,7 +189,7 @@ private:
|
||||
unsigned _pwm_alt_rate{50};
|
||||
uint32_t _pwm_alt_rate_channels{0};
|
||||
|
||||
int _current_update_rate{0};
|
||||
unsigned _current_update_rate{0};
|
||||
|
||||
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
||||
|
||||
|
||||
@@ -99,7 +99,6 @@ set(DSDLC_INPUTS
|
||||
"${DSDLC_DIR}/com"
|
||||
"${DSDLC_DIR}/ardupilot"
|
||||
"${LIBUAVCAN_DIR}/dsdl/uavcan"
|
||||
"${DSDLC_DIR}/cuav"
|
||||
)
|
||||
set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
|
||||
|
||||
@@ -154,7 +153,6 @@ px4_add_module(
|
||||
sensors/rangefinder.cpp
|
||||
sensors/accel.cpp
|
||||
sensors/gyro.cpp
|
||||
sensors/cbat.cpp
|
||||
|
||||
DEPENDS
|
||||
px4_uavcan_dsdlc
|
||||
|
||||
@@ -1,41 +0,0 @@
|
||||
#
|
||||
# support for CUAV Smart Battery on UAVCAN
|
||||
#
|
||||
|
||||
float32 temperature # The surface temperature of the battery
|
||||
float32 voltage # The total voltage of the battery
|
||||
float32[<=15] voltage_cell # Battery individual cell voltages
|
||||
uint8 cell_count # Number of cells
|
||||
float32 current # The current flowing through the sense resistor
|
||||
float32 average_current # The average current flowing through the sense resistor
|
||||
float32 average_power # The average power of the current discharge
|
||||
float32 available_energy # The predicted charge or energy remaining in the battery
|
||||
float32 remaining_capacity # The compensated battery capacity remaining
|
||||
float32 full_charge_capacity # The compensated capacity of the battery when fully charged
|
||||
float32 design_capacity # The design capacity of the battery
|
||||
uint16 average_time_to_empty # The predicted remaining battery life at the present rate of discharge, in minutes
|
||||
uint16 average_time_to_full # The predicted remaining time until the battery reaches full charge, in minutes
|
||||
uint7 state_of_health # Health of the battery
|
||||
uint7 state_of_charge # Percent of the full charge [0, 100]
|
||||
uint7 max_error # max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
|
||||
uint16 serial_number # serial number of the battery pack
|
||||
uint16 manufacture_date # manufacture date, part of serial number of the battery pack
|
||||
uint16 cycle_count # number of discharge cycles the battery has experienced
|
||||
uint16 over_discharge_count # Number of battery overdischarge
|
||||
float32 passed_charge # The amount of charge passing through the sense resistor
|
||||
float32 nominal_voltage # Nominal voltage of the battery pack
|
||||
bool is_powering_off # Power off event imminent indication, false if unknown
|
||||
uint16 interface_error # interface error counter
|
||||
|
||||
uint11 STATUS_FLAG_IN_USE = 1 # The battery is currently used as a power supply
|
||||
uint11 STATUS_FLAG_CHARGING = 2 # Charger is active
|
||||
uint11 STATUS_FLAG_CHARGED = 4 # Charging complete, but the charger is still active
|
||||
uint11 STATUS_FLAG_TEMP_HOT = 8 # Battery temperature is above normal
|
||||
uint11 STATUS_FLAG_TEMP_COLD = 16 # Battery temperature is below normal
|
||||
uint11 STATUS_FLAG_OVERLOAD = 32 # Safe operating area violation
|
||||
uint11 STATUS_FLAG_BAD_BATTERY = 64 # This battery should not be used anymore (e.g. low SOH)
|
||||
uint11 STATUS_FLAG_NEED_SERVICE = 128 # This battery requires maintenance (e.g. balancing, full recharge)
|
||||
uint11 STATUS_FLAG_BMS_ERROR = 256 # Battery management system/controller error, smart battery interface error
|
||||
uint11 STATUS_FLAG_RESERVED_A = 512 # Keep zero
|
||||
uint11 STATUS_FLAG_RESERVED_B = 1024 # Keep zero
|
||||
uint11 status_flags
|
||||
@@ -1,139 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "cbat.hpp"
|
||||
|
||||
#include <lib/ecl/geo/geo.h>
|
||||
#include <px4_defines.h>
|
||||
|
||||
const char *const UavcanCBATBridge::NAME = "cbat";
|
||||
|
||||
UavcanCBATBridge::UavcanCBATBridge(uavcan::INode &node) :
|
||||
UavcanSensorBridgeBase("uavcan_cbat", ORB_ID(battery_status)),
|
||||
ModuleParams(nullptr),
|
||||
_sub_battery(node),
|
||||
_warning(battery_status_s::BATTERY_WARNING_NONE)
|
||||
{
|
||||
}
|
||||
|
||||
int UavcanCBATBridge::init()
|
||||
{
|
||||
int res = _sub_battery.start(CBATCbBinder(this, &UavcanCBATBridge::battery_sub_cb));
|
||||
|
||||
if (res < 0) {
|
||||
PX4_ERR("failed to start uavcan sub: %d", res);
|
||||
return res;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void
|
||||
UavcanCBATBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &msg)
|
||||
{
|
||||
battery_status_s battery{};
|
||||
|
||||
battery.timestamp = hrt_absolute_time();
|
||||
battery.voltage_v = msg.voltage;
|
||||
battery.voltage_filtered_v = battery.voltage_v;
|
||||
battery.current_a = msg.current;
|
||||
battery.current_filtered_a = battery.current_a;
|
||||
battery.average_current_a = msg.average_current;
|
||||
battery.discharged_mah = msg.passed_charge * 1000;
|
||||
battery.remaining = msg.state_of_charge / 100.0f;
|
||||
// battery.scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
|
||||
battery.temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS;
|
||||
battery.cell_count = msg.cell_count;
|
||||
battery.connected = true;
|
||||
battery.source = msg.status_flags & cuav::equipment::power::CBAT::STATUS_FLAG_IN_USE; // BATTERY_SOURCE_EXTERNAL
|
||||
// battery.priority = msg.;
|
||||
battery.capacity = msg.full_charge_capacity * 1000;
|
||||
battery.cycle_count = msg.cycle_count;
|
||||
battery.run_time_to_empty = msg.average_time_to_empty;
|
||||
battery.average_time_to_empty = msg.average_time_to_empty;
|
||||
battery.serial_number = msg.serial_number;
|
||||
battery.manufacture_date = msg.manufacture_date;
|
||||
battery.state_of_health = msg.state_of_health;
|
||||
battery.max_error = msg.max_error;
|
||||
battery.id = msg.getSrcNodeID().get();
|
||||
battery.interface_error = msg.interface_error;
|
||||
|
||||
for (uint8_t i = 0; i < msg.cell_count; i++) {
|
||||
battery.voltage_cell_v[i] = msg.voltage_cell[i];
|
||||
}
|
||||
|
||||
//Calculate max cell delta
|
||||
float min_cell_voltage = msg.voltage_cell[0];
|
||||
float max_cell_voltage = msg.voltage_cell[0];
|
||||
|
||||
for (uint8_t i = 1; i < msg.cell_count; i++) {
|
||||
min_cell_voltage = math::min(min_cell_voltage, msg.voltage_cell[i]);
|
||||
max_cell_voltage = math::max(max_cell_voltage, msg.voltage_cell[i]);
|
||||
}
|
||||
|
||||
// Calculate the max difference between the min and max cells with complementary filter.
|
||||
battery.max_cell_voltage_delta = (0.5f * (max_cell_voltage - min_cell_voltage)) +
|
||||
(0.5f * _max_cell_voltage_delta);
|
||||
_max_cell_voltage_delta = battery.max_cell_voltage_delta;
|
||||
|
||||
battery.is_powering_off = msg.is_powering_off;
|
||||
|
||||
determineWarning(battery.remaining);
|
||||
battery.warning = _warning;
|
||||
|
||||
// Expand the information
|
||||
battery.average_power = msg.average_power;
|
||||
battery.available_energy = msg.available_energy;
|
||||
battery.remaining_capacity = msg.remaining_capacity;
|
||||
battery.design_capacity = msg.design_capacity;
|
||||
battery.average_time_to_full = msg.average_time_to_full;
|
||||
battery.over_discharge_count = msg.over_discharge_count;
|
||||
battery.nominal_voltage = msg.nominal_voltage;
|
||||
|
||||
publish(msg.getSrcNodeID().get(), &battery);
|
||||
}
|
||||
|
||||
void
|
||||
UavcanCBATBridge::determineWarning(float remaining)
|
||||
{
|
||||
// propagate warning state only if the state is higher, otherwise remain in current warning state
|
||||
if (remaining < _param_bat_emergen_thr.get() || (_warning == battery_status_s::BATTERY_WARNING_EMERGENCY)) {
|
||||
_warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
|
||||
|
||||
} else if (remaining < _param_bat_crit_thr.get() || (_warning == battery_status_s::BATTERY_WARNING_CRITICAL)) {
|
||||
_warning = battery_status_s::BATTERY_WARNING_CRITICAL;
|
||||
|
||||
} else if (remaining < _param_bat_low_thr.get() || (_warning == battery_status_s::BATTERY_WARNING_LOW)) {
|
||||
_warning = battery_status_s::BATTERY_WARNING_LOW;
|
||||
}
|
||||
}
|
||||
@@ -1,78 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @author Mengxiao Li <mengxiao@cuav.net>
|
||||
*/
|
||||
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "sensor_bridge.hpp"
|
||||
#include <uORB/topics/battery_status.h>
|
||||
#include <cuav/equipment/power/CBAT.hpp>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <mathlib/mathlib.h>
|
||||
|
||||
class UavcanCBATBridge : public UavcanSensorBridgeBase, public ModuleParams
|
||||
{
|
||||
public:
|
||||
static const char *const NAME;
|
||||
|
||||
UavcanCBATBridge(uavcan::INode &node);
|
||||
|
||||
const char *get_name() const override { return NAME; }
|
||||
|
||||
int init() override;
|
||||
|
||||
private:
|
||||
|
||||
void battery_sub_cb(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &msg);
|
||||
void determineWarning(float remaining);
|
||||
|
||||
typedef uavcan::MethodBinder < UavcanCBATBridge *,
|
||||
void (UavcanCBATBridge::*)
|
||||
(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &) >
|
||||
CBATCbBinder;
|
||||
|
||||
uavcan::Subscriber<cuav::equipment::power::CBAT, CBATCbBinder> _sub_battery;
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
|
||||
(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,
|
||||
(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr
|
||||
)
|
||||
|
||||
uint8_t _warning;
|
||||
float _max_cell_voltage_delta = 0.f;
|
||||
};
|
||||
@@ -48,7 +48,6 @@
|
||||
#include "rangefinder.hpp"
|
||||
#include "accel.hpp"
|
||||
#include "gyro.hpp"
|
||||
#include "cbat.hpp"
|
||||
|
||||
/*
|
||||
* IUavcanSensorBridge
|
||||
@@ -59,18 +58,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
|
||||
list.add(new UavcanMagnetometerBridge(node));
|
||||
list.add(new UavcanGnssBridge(node));
|
||||
list.add(new UavcanFlowBridge(node));
|
||||
|
||||
int32_t bat_monitor;
|
||||
param_t _param_bat_monitor = param_find("UAVCAN_BAT_MON");
|
||||
param_get(_param_bat_monitor, &bat_monitor);
|
||||
|
||||
if (bat_monitor == 0) {
|
||||
list.add(new UavcanBatteryBridge(node));
|
||||
|
||||
} else if (bat_monitor == 1) {
|
||||
list.add(new UavcanCBATBridge(node));
|
||||
}
|
||||
|
||||
list.add(new UavcanBatteryBridge(node));
|
||||
list.add(new UavcanAirspeedBridge(node));
|
||||
list.add(new UavcanDifferentialPressureBridge(node));
|
||||
list.add(new UavcanRangefinderBridge(node));
|
||||
|
||||
@@ -193,20 +193,3 @@ PARAM_DEFINE_INT32(UAVCAN_LGT_NAV, 3);
|
||||
* @group UAVCAN
|
||||
*/
|
||||
PARAM_DEFINE_INT32(UAVCAN_LGT_LAND, 0);
|
||||
|
||||
/**
|
||||
* UAVCAN BATTERY_MONITOR battery monitor selection
|
||||
*
|
||||
* This parameter defines that the system will select the battery monitor under the following conditions
|
||||
*
|
||||
* 0 - default battery monitor
|
||||
* 1 - CUAV battery monitor
|
||||
*
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @value 0 default battery monitor
|
||||
* @value 1 CUAV battery monitor
|
||||
* @reboot_required true
|
||||
* @group UAVCAN
|
||||
*/
|
||||
PARAM_DEFINE_INT32(UAVCAN_BAT_MON, 0);
|
||||
|
||||
Submodule src/drivers/uavcan_v1/public_regulated_data_types updated: 309b251a7e...53a7dbbf85
@@ -1,46 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
px4_add_module(
|
||||
MODULE drivers__vesc
|
||||
MAIN vesc
|
||||
SRCS
|
||||
vesc_main.cpp
|
||||
VescSerialDevice.hpp
|
||||
VescSerialDevice.cpp
|
||||
VescDriver/VescDriver.hpp
|
||||
VescDriver/VescDriver.cpp
|
||||
VescDriver/VescProtocol.h
|
||||
MODULE_CONFIG
|
||||
module.yaml
|
||||
DEPENDS
|
||||
)
|
||||
@@ -1,285 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file VescDriverUart.cpp
|
||||
* @author Matthias Grob <maetugr@gmail.com>
|
||||
*/
|
||||
|
||||
#include "VescDriver.hpp"
|
||||
#include <memory.h>
|
||||
|
||||
void VescDriver::commandDutyCycle(float duty_cycle, const uint8_t forward_can_id)
|
||||
{
|
||||
uint8_t command[5] {VescCommand::SET_DUTY};
|
||||
uint16_t index{1};
|
||||
insertInt32(command, index, static_cast<int32_t>(duty_cycle * 100000.f));
|
||||
sendPayload(command, 5, forward_can_id);
|
||||
}
|
||||
|
||||
void VescDriver::commandCurrent(float current, const uint8_t forward_can_id)
|
||||
{
|
||||
uint8_t command[5] {VescCommand::SET_CURRENT};
|
||||
uint16_t index{1};
|
||||
insertInt32(command, index, static_cast<int32_t>(current * 1000.f));
|
||||
sendPayload(command, 5, forward_can_id);
|
||||
}
|
||||
|
||||
void VescDriver::commandBrakeCurrent(float current, const uint8_t forward_can_id)
|
||||
{
|
||||
uint8_t command[5] {VescCommand::SET_CURRENT_BRAKE};
|
||||
uint16_t index{1};
|
||||
insertInt32(command, index, static_cast<int32_t>(current * 1000.f));
|
||||
sendPayload(command, 5, forward_can_id);
|
||||
}
|
||||
|
||||
void VescDriver::requestFirmwareVersion()
|
||||
{
|
||||
uint8_t command{VescCommand::FW_VERSION};
|
||||
sendPayload(&command, 1);
|
||||
}
|
||||
|
||||
void VescDriver::requestValues()
|
||||
{
|
||||
uint8_t command{VescCommand::GET_VALUES};
|
||||
sendPayload(&command, 1);
|
||||
}
|
||||
|
||||
size_t VescDriver::sendPayload(const uint8_t *payload, const uint16_t payload_length, const uint8_t forward_can_id)
|
||||
{
|
||||
if (forward_can_id == 0) {
|
||||
return sendPacket(payload, payload_length);
|
||||
|
||||
} else {
|
||||
uint8_t command[2 + payload_length] {VescCommand::FORWARD_CAN, forward_can_id};
|
||||
uint16_t index{2};
|
||||
memcpy(&command[index], payload, payload_length);
|
||||
index += payload_length;
|
||||
return sendPacket(command, 2 + payload_length);
|
||||
}
|
||||
}
|
||||
|
||||
size_t VescDriver::sendPacket(const uint8_t *payload, uint16_t payload_length, const uint8_t can_forwarding_id)
|
||||
{
|
||||
if (payload_length == 0 || payload_length > MAXIMUM_PAYLOAD_LENGTH) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint8_t packet_buffer[payload_length + PACKET_OVERHEAD_LENGTH];
|
||||
uint16_t index{0};
|
||||
|
||||
// Start byte and payload size
|
||||
if (payload_length <= 256) {
|
||||
packet_buffer[index++] = 2;
|
||||
packet_buffer[index++] = payload_length;
|
||||
|
||||
} else {
|
||||
packet_buffer[index++] = 3;
|
||||
packet_buffer[index++] = static_cast<uint8_t>(payload_length >> 8);
|
||||
packet_buffer[index++] = static_cast<uint8_t>(payload_length & 0xFF);
|
||||
}
|
||||
|
||||
// Payload
|
||||
memcpy(&packet_buffer[index], payload, payload_length);
|
||||
index += payload_length;
|
||||
|
||||
// CRC
|
||||
const uint16_t crc = crc16(payload, payload_length);
|
||||
packet_buffer[index++] = static_cast<uint8_t>(crc >> 8);
|
||||
packet_buffer[index++] = static_cast<uint8_t>(crc & 0xFF);
|
||||
|
||||
// Stop byte
|
||||
packet_buffer[index++] = 3;
|
||||
|
||||
// Write bytes out through callback interface
|
||||
return _vesc_writable.writeCallback(packet_buffer, index);
|
||||
}
|
||||
|
||||
void VescDriver::parseInputByte(uint8_t byte)
|
||||
{
|
||||
if (_input_byte_index == 0) {
|
||||
// Start byte
|
||||
if (byte == 2 /*|| byte == 3*/) {
|
||||
_input_start_byte = byte;
|
||||
_input_byte_index++;
|
||||
}
|
||||
|
||||
} else if (_input_byte_index == 1) {
|
||||
// Payload size
|
||||
_input_byte_index++;
|
||||
|
||||
if (_input_start_byte == 2) {
|
||||
// Short packet
|
||||
_input_payload_length = byte;
|
||||
|
||||
if (_input_payload_length < 1) {
|
||||
_input_byte_index = 0;
|
||||
}
|
||||
|
||||
} else {
|
||||
// Long packet high byte
|
||||
_input_payload_length = byte << 8;
|
||||
}
|
||||
|
||||
} else if (_input_byte_index == 2 && _input_start_byte == 3) {
|
||||
// Payload size long packet low byte
|
||||
_input_payload_length |= byte;
|
||||
_input_byte_index++;
|
||||
|
||||
if (_input_payload_length < 255 || _input_payload_length > MAXIMUM_PAYLOAD_LENGTH) {
|
||||
_input_byte_index = 0;
|
||||
}
|
||||
|
||||
} else if (_input_byte_index < _input_start_byte + _input_payload_length) {
|
||||
// Payload
|
||||
_input_payload[_input_byte_index - _input_start_byte] = byte;
|
||||
_input_byte_index++;
|
||||
|
||||
} else if (_input_byte_index == _input_start_byte + _input_payload_length) {
|
||||
// CRC high byte
|
||||
_input_payload_crc = byte << 8;
|
||||
_input_byte_index++;
|
||||
|
||||
} else if (_input_byte_index == _input_start_byte + _input_payload_length + 1u) {
|
||||
// CRC low byte
|
||||
_input_payload_crc |= byte;
|
||||
_input_byte_index++;
|
||||
|
||||
if (_input_payload_crc != crc16(_input_payload, _input_payload_length)) {
|
||||
_input_byte_index = 0;
|
||||
}
|
||||
|
||||
} else if (_input_byte_index == _input_start_byte + _input_payload_length + 2u) {
|
||||
// Stop byte
|
||||
_input_byte_index = 0;
|
||||
|
||||
if (byte == 3) {
|
||||
parsePayload(_input_payload, _input_payload_length);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void VescDriver::parsePayload(const uint8_t *payload, const uint16_t payload_length)
|
||||
{
|
||||
uint16_t index{1};
|
||||
|
||||
switch (payload[0]) {
|
||||
case VescCommand::FW_VERSION:
|
||||
if (payload_length >= 9u) {
|
||||
_vesc_version.version_major = payload[index++];
|
||||
_vesc_version.version_minor = payload[index++];
|
||||
// strcpy(_vesc_version.hardware_name, reinterpret_cast<const char *>(&payload[index]));
|
||||
// index += strlen(_vesc_version.hardware_name) + 1u;
|
||||
// memcpy(_vesc_version.stm32_uuid_8, &payload[index], sizeof(_vesc_version.stm32_uuid_8));
|
||||
// index += 12;
|
||||
// _vesc_version.pairing_done = payload[index++];
|
||||
// _vesc_version.test_version_number = payload[index++];
|
||||
// _vesc_version.hardware_type = payload[index++];
|
||||
// _vesc_version.custom_configuration = payload[index++];
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case VescCommand::GET_VALUES:
|
||||
if (payload_length >= 73u) {
|
||||
_vesc_values.fet_temperature = extractFloat16(payload, index) / 10.f;
|
||||
_vesc_values.motor_temperature = extractFloat16(payload, index) / 10.f;
|
||||
_vesc_values.motor_current = extractFloat32(payload, index) / 100.f;
|
||||
_vesc_values.input_current = extractFloat32(payload, index) / 100.f;
|
||||
_vesc_values.reset_average_id = extractFloat32(payload, index) / 100.f;
|
||||
_vesc_values.reset_average_iq = extractFloat32(payload, index) / 100.f;
|
||||
_vesc_values.duty_cycle = extractFloat16(payload, index) / 1000.f;
|
||||
_vesc_values.rpm = extractInt32(payload, index);
|
||||
_vesc_values.input_voltage = extractFloat16(payload, index) / 10.f;
|
||||
_vesc_values.used_charge_Ah = extractFloat32(payload, index) / 1e4f;
|
||||
_vesc_values.charged_charge_Ah = extractFloat32(payload, index) / 1e4f;
|
||||
_vesc_values.used_energy_Wh = extractFloat32(payload, index) / 1e4f;
|
||||
_vesc_values.charged_energy_wh = extractFloat32(payload, index) / 10.f;
|
||||
_vesc_values.tachometer = extractInt32(payload, index);
|
||||
_vesc_values.tachometer_absolute = extractInt32(payload, index);
|
||||
_vesc_values.fault = payload[index++];
|
||||
_vesc_values.position_pid = extractFloat32(payload, index) / 1e6f;
|
||||
_vesc_values.controller_id = payload[index++];
|
||||
_vesc_values.ntc_temperature_mos1 = extractFloat16(payload, index) / 10.f;
|
||||
_vesc_values.ntc_temperature_mos2 = extractFloat16(payload, index) / 10.f;
|
||||
_vesc_values.ntc_temperature_mos3 = extractFloat16(payload, index) / 10.f;
|
||||
_vesc_values.read_reset_average_vd = extractFloat32(payload, index) / 1000.f;
|
||||
_vesc_values.read_reset_average_vq = extractFloat32(payload, index) / 1000.f;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
uint16_t VescDriver::crc16(const uint8_t *buffer, const uint16_t length)
|
||||
{
|
||||
uint16_t checksum{0};
|
||||
|
||||
for (size_t i = 0; i < length; i++) {
|
||||
uint8_t table_index = (((checksum >> 8) ^ buffer[i]) & 0xFF);
|
||||
checksum = CRC_TABLE[table_index] ^ (checksum << 8);
|
||||
}
|
||||
|
||||
return checksum;
|
||||
}
|
||||
|
||||
void VescDriver::insertInt32(uint8_t *buffer, uint16_t &index, int32_t value)
|
||||
{
|
||||
buffer[index++] = value >> 24;
|
||||
buffer[index++] = value >> 16;
|
||||
buffer[index++] = value >> 8;
|
||||
buffer[index++] = value;
|
||||
}
|
||||
|
||||
int16_t VescDriver::extractInt16(const uint8_t *buffer, uint16_t &index)
|
||||
{
|
||||
index += 2;
|
||||
return static_cast<int16_t>(buffer[index - 2] << 8 | buffer[index - 1]);
|
||||
}
|
||||
|
||||
float VescDriver::extractFloat16(const uint8_t *buffer, uint16_t &index)
|
||||
{
|
||||
return static_cast<float>(extractInt16(buffer, index));
|
||||
}
|
||||
|
||||
int32_t VescDriver::extractInt32(const uint8_t *buffer, uint16_t &index)
|
||||
{
|
||||
index += 4;
|
||||
return static_cast<int32_t>(
|
||||
buffer[index - 4] << 24 | buffer[index - 3] << 16 | buffer[index - 2] << 8 | buffer[index - 1]);
|
||||
}
|
||||
|
||||
float VescDriver::extractFloat32(const uint8_t *buffer, uint16_t &index)
|
||||
{
|
||||
return static_cast<float>(extractInt32(buffer, index));
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user