mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 23:53:34 +08:00
Daniel Agarandbresch
f9794e99f8
* MC_HTE: unitialize with hover_thrust parameter * MC_HTE: constrain hover thrust setter between 0.1 and 0.9 * MC_HTE: integrate with land detector and velocity controller * MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value. * MC_HTE: use altitude agl threshold to start the estimator local_position.z is relative to the origin of the EKF while dist_bottom is above ground Co-authored-by: bresch <brescianimathieu@gmail.com>
87 lines
2.0 KiB
CMake
87 lines
2.0 KiB
CMake
|
|
# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
|
|
#
|
|
# This cmake config builds for QURT which is the operating system running on
|
|
# the DSP side.
|
|
|
|
# Get $QC_SOC_TARGET from environment if existing.
|
|
if (DEFINED ENV{QC_SOC_TARGET})
|
|
set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
|
|
else()
|
|
set(QC_SOC_TARGET "APQ8074")
|
|
endif()
|
|
|
|
include(px4_git)
|
|
px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
|
|
list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
|
|
|
|
if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
|
|
message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
|
|
else()
|
|
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
|
|
endif()
|
|
|
|
include(toolchain/Toolchain-qurt)
|
|
include(qurt_flags)
|
|
include_directories(${HEXAGON_SDK_INCLUDES})
|
|
|
|
set(CONFIG_SHMEM "1")
|
|
add_definitions(-DORB_COMMUNICATOR)
|
|
|
|
# Disable the creation of the parameters.xml file by scanning individual
|
|
# source files, and scan all source files. This will create a parameters.xml
|
|
# file that contains all possible parameters, even if the associated module
|
|
# is not used. This is necessary for parameter synchronization between the
|
|
# ARM and DSP processors.
|
|
set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
|
|
|
|
# This definition allows to differentiate the specific board.
|
|
add_definitions(-D__PX4_QURT_EAGLE)
|
|
|
|
px4_add_board(
|
|
PLATFORM qurt
|
|
VENDOR atlflight
|
|
MODEL eagle
|
|
LABEL qurt
|
|
DRIVERS
|
|
barometer/bmp280
|
|
gps
|
|
imu/mpu9250
|
|
#magnetometer/hmc5883
|
|
qshell/qurt
|
|
snapdragon_pwm_out
|
|
spektrum_rc
|
|
MODULES
|
|
airspeed_selector
|
|
attitude_estimator_q
|
|
commander
|
|
ekf2
|
|
fw_att_control
|
|
fw_pos_control_l1
|
|
land_detector
|
|
landing_target_estimator
|
|
local_position_estimator
|
|
mc_att_control
|
|
mc_hover_thrust_estimator
|
|
mc_pos_control
|
|
mc_rate_control
|
|
muorb/adsp
|
|
rc_update
|
|
rover_pos_control
|
|
sensors
|
|
temperature_compensation
|
|
vmount
|
|
vtol_att_control
|
|
SYSTEMCMDS
|
|
led_control
|
|
mixer
|
|
#motor_ramp
|
|
motor_test
|
|
param
|
|
perf
|
|
#pwm
|
|
#topic_listener
|
|
ver
|
|
work_queue
|
|
)
|