fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 09:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity
Files
8d2e8ef422c60690b208a9ef9e42189e3c046b8b
PX4-Autopilot/msg/CMakeLists.txt
T
Alessandro Simovic de1fa11e96 New follow-me flight task 
rename follow_me_status to follow_target_status

enable follow_target_estimator on skynode

implement the responsiveness parameter:
The responsiveness parameter should behave similarly to the previous
follow-me implementation in navigator. The difference here is that
there are now two separate gains for position and velocity fusion.
The previous implemenation in navigator had no velocity fusion.

Allow follow-me to be flown without RC

SITL tests for follow-me flight task

This includes:
- Testing the setting for the follow-me angle
- Testing that streaming position only or position
  and velocity measurements both work
- Testing that RC override works

Most of these tests are done with a simulated model
of a point object that moves on a straight line. So
nothing too spectacular. But it makes the test checks
much easier.

Since the estimator for the target actually checks new
measurements and compares them to old ones, I also added
random gausian noise to the measurements with a fixed seed
for deterministic randomness. So repeated runs produce
exactly the same results over and over.

Half of the angles are still missing in MAVSDK. Need to create
an upstream PR to add center left/right and rear left/right options.
These and the corresponding SITL tests need to be implemented
later.

sitl: Increase position tolerance during follow-me

Astro seems to barely exceed the current tolerance (4.3 !< 4.0)
causing CI to fail. The point of the CI test is not to check
the accuracy of the flight behaviour, but only the fact that the
drone is doing the expected thing. So the exact value of this
tolerance is not really important.

follow-me: gimbal control in follow-me

follow-me: create sub-routines in flight task class

follow-me: use ground-dist for emergency ascent

dist_bottom is only defined when a ground facing distance sensor exist.
It's therefore better to use dist_ground instead, which has the distance
to the home altitude if no distance sensor is available.

As a consequence it will only be possible to use follow-me in a valley
when the drone has a distance sensor.

follow-me: point gimbal to the ground in 2D mode

follow-me: another fuzzy msg handling for the estimator

follow-me: bugfix in acceleration saturation limit

follow-me: parameter for filter delay compensation

mantis: dont use flow for terrain estimation

follow-me: default responsiveness 0.5 -> 0.1

0.5 is way too jerky in real and simulated tests.

flight_task: clarify comments for bottom distance

follow-me: minor comment improvement

follow-me: [debug] log emergency_ascent

follow-me: [debug] log gimbal pitch

follow-me: [debug] status values for follow-me estimator

follow-me: setting for gimbal tracking mode

follow-me: release gimbal control at destruction

mavsdk: cosmetics 💄
2022-06-16 16:14:57 -04:00

361 lines
10 KiB
CMake
Raw Blame History

############################################################################
#
# Copyright (c) 2016 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.
#
############################################################################
# Support IN_LIST if() operator
cmake_policy(SET CMP0057 NEW)
include(px4_list_make_absolute)
set(msg_files
action_request.msg
actuator_armed.msg
actuator_controls.msg
actuator_controls_status.msg
actuator_motors.msg
actuator_outputs.msg
actuator_servos.msg
actuator_servos_trim.msg
actuator_test.msg
adc_report.msg
airspeed.msg
airspeed_validated.msg
airspeed_wind.msg
autotune_attitude_control_status.msg
battery_status.msg
button_event.msg
camera_capture.msg
camera_status.msg
camera_trigger.msg
cellular_status.msg
collision_constraints.msg
collision_report.msg
commander_state.msg
control_allocator_status.msg
cpuload.msg
differential_pressure.msg
distance_sensor.msg
ekf2_timestamps.msg
estimator_gps_status.msg
esc_report.msg
esc_status.msg
estimator_baro_bias.msg
estimator_event_flags.msg
estimator_innovations.msg
estimator_optical_flow_vel.msg
estimator_selector_status.msg
estimator_sensor_bias.msg
estimator_states.msg
estimator_status.msg
estimator_status_flags.msg
estimator_aid_source_1d.msg
estimator_aid_source_2d.msg
estimator_aid_source_3d.msg
event.msg
follow_target_status.msg
follow_target.msg
follow_target_estimator.msg
failure_detector_status.msg
generator_status.msg
geofence_result.msg
gimbal_device_attitude_status.msg
gimbal_device_information.msg
gimbal_device_set_attitude.msg
gimbal_manager_information.msg
gimbal_manager_set_attitude.msg
gimbal_manager_set_manual_control.msg
gimbal_manager_status.msg
gps_dump.msg
gps_inject_data.msg
heater_status.msg
home_position.msg
hover_thrust_estimate.msg
internal_combustion_engine_status.msg
input_rc.msg
iridiumsbd_status.msg
irlock_report.msg
landing_gear.msg
landing_target_innovations.msg
landing_target_pose.msg
led_control.msg
log_message.msg
logger_status.msg
mag_worker_data.msg
magnetometer_bias_estimate.msg
manual_control_setpoint.msg
manual_control_switches.msg
mavlink_log.msg
mavlink_tunnel.msg
mission.msg
mission_result.msg
mount_orientation.msg
navigator_mission_item.msg
npfg_status.msg
obstacle_distance.msg
offboard_control_mode.msg
onboard_computer_status.msg
optical_flow.msg
orbit_status.msg
parameter_update.msg
ping.msg
pps_capture.msg
position_controller_landing_status.msg
position_controller_status.msg
position_setpoint.msg
position_setpoint_triplet.msg
power_button_state.msg
power_monitor.msg
pwm_input.msg
px4io_status.msg
radio_status.msg
rate_ctrl_status.msg
rc_channels.msg
rc_parameter_map.msg
rpm.msg
rtl_time_estimate.msg
satellite_info.msg
sensor_accel.msg
sensor_accel_fifo.msg
sensor_baro.msg
sensor_combined.msg
sensor_correction.msg
sensor_gps.msg
sensor_gnss_relative.msg
sensor_gyro.msg
sensor_gyro_fft.msg
sensor_gyro_fifo.msg
sensor_hygrometer.msg
sensor_mag.msg
sensor_preflight_mag.msg
sensor_selection.msg
sensors_status_imu.msg
sensors_status.msg
system_power.msg
takeoff_status.msg
task_stack_info.msg
tecs_status.msg
telemetry_status.msg
test_motor.msg
timesync.msg
timesync_status.msg
trajectory_bezier.msg
trajectory_setpoint.msg
trajectory_waypoint.msg
transponder_report.msg
tune_control.msg
uavcan_parameter_request.msg
uavcan_parameter_value.msg
ulog_stream.msg
ulog_stream_ack.msg
uwb_grid.msg
uwb_distance.msg
vehicle_acceleration.msg
vehicle_air_data.msg
vehicle_angular_acceleration.msg
vehicle_angular_acceleration_setpoint.msg
vehicle_angular_velocity.msg
vehicle_attitude.msg
vehicle_attitude_setpoint.msg
vehicle_command.msg
vehicle_command_ack.msg
vehicle_constraints.msg
vehicle_control_mode.msg
vehicle_global_position.msg
vehicle_gps_position.msg
vehicle_imu.msg
vehicle_imu_status.msg
vehicle_land_detected.msg
vehicle_local_position.msg
vehicle_local_position_setpoint.msg
vehicle_magnetometer.msg
vehicle_odometry.msg
vehicle_rates_setpoint.msg
vehicle_roi.msg
vehicle_status.msg
vehicle_status_flags.msg
vehicle_thrust_setpoint.msg
vehicle_torque_setpoint.msg
vehicle_trajectory_bezier.msg
vehicle_trajectory_waypoint.msg
vtol_vehicle_status.msg
wheel_encoders.msg
wind.msg
yaw_estimator_status.msg
)
if(NOT px4_constrained_flash_build)
list(APPEND msg_files
debug_array.msg
debug_key_value.msg
debug_value.msg
debug_vect.msg
)
endif()
if(PX4_TESTING)
list(APPEND msg_files
orb_test.msg
orb_test_large.msg
orb_test_medium.msg
)
endif()
list(SORT msg_files)
set(deprecated_msgs
ekf2_innovations.msg # 2019-11-22, Updated estimator interface and logging; replaced by 'estimator_innovations'.
)
foreach(msg IN LISTS deprecated_msgs)
if(msg IN_LIST msg_files)
get_filename_component(msg_we ${msg} NAME_WE)
list(APPEND invalid_msgs ${msg_we})
endif()
endforeach()
if(invalid_msgs)
list(LENGTH invalid_msgs invalid_msgs_size)
if(${invalid_msgs_size} GREATER 1)
foreach(msg IN LISTS invalid_msgs)
string(CONCAT invalid_msgs_cs ${invalid_msgs_cs} "'${msg}', ")
endforeach()
STRING(REGEX REPLACE ", +$" "" invalid_msgs_cs ${invalid_msgs_cs})
message(FATAL_ERROR "${invalid_msgs_cs} are listed as deprecated. Please use different names for the messages.")
else()
message(FATAL_ERROR "'${invalid_msgs}' is listed as deprecated. Please use a different name for the message.")
endif()
endif()
px4_list_make_absolute(msg_files ${CMAKE_CURRENT_SOURCE_DIR} ${msg_files})
if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
# Check that the msg directory and the CMakeLists.txt file exists
if(EXISTS ${EXTERNAL_MODULES_LOCATION}/msg/CMakeLists.txt)
add_subdirectory(${EXTERNAL_MODULES_LOCATION}/msg external_msg)
# Add each of the external message files to the global msg_files list
foreach(external_msg_file ${config_msg_list_external})
list(APPEND msg_files ${EXTERNAL_MODULES_LOCATION}/msg/${external_msg_file})
endforeach()
endif()
endif()
# headers
set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
set(ucdr_out_path ${PX4_BINARY_DIR}/uORB/ucdr)
set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
set(uorb_ucdr_headers)
foreach(msg_file ${msg_files})
get_filename_component(msg ${msg_file} NAME_WE)
list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h)
endforeach()
if (px4_constrained_flash_build)
set(added_arguments --constrained-flash)
endif()
# set parent scope msg_files for other modules to consume (eg topic_listener)
set(msg_files ${msg_files} PARENT_SCOPE)
# Generate uORB headers
add_custom_command(OUTPUT ${uorb_headers}
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
--headers
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR}
-o ${msg_out_path}
-e templates/uorb
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
-q
${added_arguments}
DEPENDS
${msg_files}
templates/uorb/msg.h.em
templates/uorb/uORBTopics.hpp.em
tools/px_generate_uorb_topic_files.py
tools/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB topic headers"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_custom_target(uorb_headers DEPENDS ${uorb_headers})
add_custom_command(OUTPUT ${uorb_ucdr_headers}
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
--headers
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR}
-o ${ucdr_out_path}
-e templates/ucdr
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/ucdr_headers
-q
${added_arguments}
DEPENDS
${msg_files}
templates/ucdr/msg.h.em
tools/px_generate_uorb_topic_files.py
tools/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB topic ucdr headers"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_custom_target(uorb_ucdr_headers DEPENDS ${uorb_ucdr_headers})
# Generate uORB sources
add_custom_command(OUTPUT ${uorb_sources}
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
--sources
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR}
-o ${msg_source_out_path}
-e templates/uorb
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources
-q
${added_arguments}
DEPENDS
${msg_files}
templates/uorb/msg.cpp.em
templates/uorb/uORBTopics.cpp.em
tools/px_generate_uorb_topic_files.py
tools/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB topic sources"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_library(uorb_msgs ${uorb_sources})
add_dependencies(uorb_msgs prebuild_targets uorb_headers)
Reference in New Issue View Git Blame Copy Permalink