mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
e5e66370e7
The command is sent by a dedicated mavlink command and forwarded to the fixed wing position controller. The pattern is defined by the radius of the major axis, the radius of the minor axis and the orientation. The pattern is then defined by: The upper part of the pattern consist of a clockwise circle with radius defined by the minor axis. The center of the circle is defined by the major axis minus the minor axis away from the pattern center. The lower part of the pattern consist of a counter-clockwise circle with the same definitions as above. In between, the circles are connected with straight lines in a cross configuration. The lines are always tangetial to the circles. The orientation rotates the major axis around the NED down axis. The loitering logic is defined inside its own class used by the fixed wing position control module. It defines which segment (one of the circles or lines) is active and uses the path controller (npfg or l1-control) to determine the desired roll angle. A feedback mavlink message is send with the executed pattern parameters.
465 lines
14 KiB
CMake
465 lines
14 KiB
CMake
############################################################################
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#
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# Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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# Support IN_LIST if() operator
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cmake_policy(SET CMP0057 NEW)
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include(px4_list_make_absolute)
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set(msg_files
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ActionRequest.msg
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ActuatorArmed.msg
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ActuatorControlsStatus.msg
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ActuatorMotors.msg
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ActuatorOutputs.msg
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ActuatorServos.msg
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ActuatorServosTrim.msg
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ActuatorTest.msg
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AdcReport.msg
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Airspeed.msg
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AirspeedValidated.msg
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AirspeedWind.msg
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AutotuneAttitudeControlStatus.msg
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BatteryStatus.msg
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ButtonEvent.msg
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CameraCapture.msg
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CameraStatus.msg
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CameraTrigger.msg
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CellularStatus.msg
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CollisionConstraints.msg
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CollisionReport.msg
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ControlAllocatorStatus.msg
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Cpuload.msg
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DatamanRequest.msg
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DatamanResponse.msg
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DebugArray.msg
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DebugKeyValue.msg
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DebugValue.msg
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DebugVect.msg
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DifferentialPressure.msg
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DistanceSensor.msg
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Ekf2Timestamps.msg
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EscReport.msg
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EscStatus.msg
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EstimatorAidSource1d.msg
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EstimatorAidSource2d.msg
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EstimatorAidSource3d.msg
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EstimatorBias.msg
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EstimatorBias3d.msg
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EstimatorEventFlags.msg
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EstimatorGpsStatus.msg
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EstimatorInnovations.msg
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EstimatorSelectorStatus.msg
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EstimatorSensorBias.msg
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EstimatorStates.msg
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EstimatorStatus.msg
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EstimatorStatusFlags.msg
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Event.msg
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FigureEightStatus.msg
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FailsafeFlags.msg
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FailureDetectorStatus.msg
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FollowTarget.msg
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FollowTargetEstimator.msg
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FollowTargetStatus.msg
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GeneratorStatus.msg
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GeofenceResult.msg
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GimbalControls.msg
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GimbalDeviceAttitudeStatus.msg
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GimbalDeviceInformation.msg
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GimbalDeviceSetAttitude.msg
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GimbalManagerInformation.msg
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GimbalManagerSetAttitude.msg
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GimbalManagerSetManualControl.msg
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GimbalManagerStatus.msg
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GpioConfig.msg
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GpioIn.msg
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GpioOut.msg
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GpioRequest.msg
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GpsDump.msg
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GpsInjectData.msg
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Gripper.msg
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HealthReport.msg
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HeaterStatus.msg
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HomePosition.msg
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HoverThrustEstimate.msg
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InputRc.msg
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InternalCombustionEngineStatus.msg
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IridiumsbdStatus.msg
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IrlockReport.msg
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LandingGear.msg
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LandingGearWheel.msg
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LandingTargetInnovations.msg
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LandingTargetPose.msg
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LaunchDetectionStatus.msg
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LedControl.msg
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LoggerStatus.msg
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LogMessage.msg
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MagnetometerBiasEstimate.msg
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MagWorkerData.msg
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ManualControlSetpoint.msg
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ManualControlSwitches.msg
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MavlinkLog.msg
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MavlinkTunnel.msg
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Mission.msg
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MissionResult.msg
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MountOrientation.msg
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ModeCompleted.msg
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NavigatorMissionItem.msg
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NormalizedUnsignedSetpoint.msg
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NpfgStatus.msg
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ObstacleDistance.msg
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OffboardControlMode.msg
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OnboardComputerStatus.msg
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OrbitStatus.msg
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OrbTest.msg
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OrbTestLarge.msg
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OrbTestMedium.msg
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ParameterUpdate.msg
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Ping.msg
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PositionControllerLandingStatus.msg
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PositionControllerStatus.msg
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PositionSetpoint.msg
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PositionSetpointTriplet.msg
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PowerButtonState.msg
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PowerMonitor.msg
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PpsCapture.msg
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PwmInput.msg
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Px4ioStatus.msg
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QshellReq.msg
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QshellRetval.msg
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RadioStatus.msg
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RateCtrlStatus.msg
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RcChannels.msg
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RcParameterMap.msg
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Rpm.msg
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RtlTimeEstimate.msg
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SatelliteInfo.msg
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SensorAccel.msg
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SensorAccelFifo.msg
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SensorBaro.msg
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SensorCombined.msg
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SensorCorrection.msg
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SensorGnssRelative.msg
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SensorGps.msg
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SensorGyro.msg
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SensorGyroFft.msg
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SensorGyroFifo.msg
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SensorHygrometer.msg
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SensorMag.msg
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SensorOpticalFlow.msg
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SensorPreflightMag.msg
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SensorSelection.msg
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SensorsStatus.msg
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SensorsStatusImu.msg
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SensorUwb.msg
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SystemPower.msg
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TakeoffStatus.msg
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TaskStackInfo.msg
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TecsStatus.msg
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TelemetryStatus.msg
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TiltrotorExtraControls.msg
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TimesyncStatus.msg
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TrajectoryBezier.msg
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TrajectorySetpoint.msg
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TrajectoryWaypoint.msg
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TransponderReport.msg
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TuneControl.msg
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UavcanParameterRequest.msg
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UavcanParameterValue.msg
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UlogStream.msg
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UlogStreamAck.msg
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VehicleAcceleration.msg
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VehicleAirData.msg
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VehicleAngularAccelerationSetpoint.msg
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VehicleAngularVelocity.msg
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VehicleAttitude.msg
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VehicleAttitudeSetpoint.msg
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VehicleCommand.msg
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VehicleCommandAck.msg
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VehicleConstraints.msg
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VehicleControlMode.msg
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VehicleGlobalPosition.msg
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VehicleImu.msg
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VehicleImuStatus.msg
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VehicleLandDetected.msg
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VehicleLocalPosition.msg
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VehicleLocalPositionSetpoint.msg
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VehicleMagnetometer.msg
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VehicleOdometry.msg
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VehicleOpticalFlow.msg
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VehicleOpticalFlowVel.msg
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VehicleRatesSetpoint.msg
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VehicleRoi.msg
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VehicleStatus.msg
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VehicleThrustSetpoint.msg
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VehicleTorqueSetpoint.msg
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VehicleTrajectoryBezier.msg
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VehicleTrajectoryWaypoint.msg
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VtolVehicleStatus.msg
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Wind.msg
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YawEstimatorStatus.msg
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)
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list(SORT msg_files)
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px4_list_make_absolute(msg_files ${CMAKE_CURRENT_SOURCE_DIR} ${msg_files})
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if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
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# Check that the msg directory and the CMakeLists.txt file exists
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if(EXISTS ${EXTERNAL_MODULES_LOCATION}/msg/CMakeLists.txt)
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add_subdirectory(${EXTERNAL_MODULES_LOCATION}/msg external_msg)
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# Add each of the external message files to the global msg_files list
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foreach(external_msg_file ${config_msg_list_external})
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list(APPEND msg_files ${EXTERNAL_MODULES_LOCATION}/msg/${external_msg_file})
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endforeach()
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endif()
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endif()
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# headers
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set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
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set(ucdr_out_path ${PX4_BINARY_DIR}/uORB/ucdr)
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set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
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set(uorb_headers)
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set(uorb_sources)
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set(uorb_ucdr_headers)
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foreach(msg_file ${msg_files})
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get_filename_component(msg ${msg_file} NAME_WE)
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# Pascal case to snake case (MsgFile -> msg_file)
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string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" msg "${msg}")
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string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" msg "${msg}")
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string(TOLOWER "${msg}" msg)
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list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
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list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
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list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h)
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endforeach()
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# set parent scope msg_files for other modules to consume (eg topic_listener)
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set(msg_files ${msg_files} PARENT_SCOPE)
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# Generate uORB headers
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add_custom_command(
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OUTPUT
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${uorb_headers}
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${msg_out_path}/uORBTopics.hpp
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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--headers
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-f ${msg_files}
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-i ${CMAKE_CURRENT_SOURCE_DIR}
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-o ${msg_out_path}
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-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
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DEPENDS
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${msg_files}
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${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.h.em
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${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.hpp.em
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
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COMMENT "Generating uORB topic headers"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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VERBATIM
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)
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add_custom_target(uorb_headers DEPENDS ${uorb_headers})
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# Generate microcdr headers
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add_custom_command(
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OUTPUT ${uorb_ucdr_headers}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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--headers
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-f ${msg_files}
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-i ${CMAKE_CURRENT_SOURCE_DIR}
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-o ${ucdr_out_path}
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-e ${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr
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DEPENDS
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${msg_files}
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${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr/msg.h.em
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
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COMMENT "Generating uORB topic ucdr headers"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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VERBATIM
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)
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add_custom_target(uorb_ucdr_headers DEPENDS ${uorb_ucdr_headers})
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# Generate uORB sources
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add_custom_command(
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OUTPUT
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${uorb_sources}
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${msg_source_out_path}/uORBTopics.cpp
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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--sources
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-f ${msg_files}
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-i ${CMAKE_CURRENT_SOURCE_DIR}
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-o ${msg_source_out_path}
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-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
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DEPENDS
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${msg_files}
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${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.cpp.em
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${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.cpp.em
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
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COMMENT "Generating uORB topic sources"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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VERBATIM
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)
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add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp)
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target_link_libraries(uorb_msgs PRIVATE m)
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add_dependencies(uorb_msgs prebuild_targets uorb_headers)
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if(CONFIG_LIB_CDRSTREAM)
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set(uorb_cdr_idl)
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set(uorb_cdr_msg)
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set(uorb_cdr_idl_uorb)
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set(idl_include_path ${PX4_BINARY_DIR}/uORB/idl)
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set(idl_out_path ${idl_include_path}/px4/msg)
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set(idl_uorb_path ${PX4_BINARY_DIR}/msg/px4/msg)
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# Make sure that CycloneDDS has been checkout out
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execute_process(COMMAND git submodule sync src/lib/cdrstream/cyclonedds
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WORKING_DIRECTORY ${PX4_SOURCE_DIR} )
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execute_process(COMMAND git submodule update --init --force src/lib/cdrstream/cyclonedds
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WORKING_DIRECTORY ${PX4_SOURCE_DIR} )
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# CycloneDDS-tools doesn't ship with the cdrstream-desc feature thus we've to compile idlc from source
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MESSAGE(STATUS "Configuring idlc :" ${CMAKE_CURRENT_BINARY_DIR}/idlc)
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file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc)
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execute_process(COMMAND ${CMAKE_COMMAND} ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds
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-DCMAKE_C_COMPILER=/usr/bin/gcc
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-DBUILD_EXAMPLES=OFF
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc
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RESULT_VARIABLE CMD_ERROR
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OUTPUT_FILE CMD_OUTPUT )
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MESSAGE(STATUS "Building idlc :" ${CMAKE_CURRENT_BINARY_DIR}/idlc)
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execute_process(COMMAND ${CMAKE_COMMAND} --build . --target idlc
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc
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RESULT_VARIABLE CMD_ERROR
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OUTPUT_FILE CMD_OUTPUT )
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list(APPEND CMAKE_PROGRAM_PATH "${CMAKE_CURRENT_BINARY_DIR}/idlc/bin")
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# Copy .msg files
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foreach(msg_file ${msg_files})
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get_filename_component(msg ${msg_file} NAME_WE)
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configure_file(${PX4_SOURCE_DIR}/msg/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY)
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list(APPEND uorb_cdr_idl ${idl_out_path}/${msg}.idl)
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list(APPEND uorb_cdr_msg ${idl_out_path}/${msg}.msg)
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list(APPEND uorb_cdr_idl_uorb ${idl_uorb_path}/${msg}.h)
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endforeach()
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# Generate IDL from .msg using rosidl_adapter
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# Note this a submodule inside PX4 hence no ROS2 installation required
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add_custom_command(
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OUTPUT ${uorb_cdr_idl}
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COMMAND ${CMAKE_COMMAND}
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-E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli"
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${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py
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${uorb_cdr_msg}
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DEPENDS
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${uorb_cdr_msg}
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git_cyclonedds
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COMMENT "Generating IDL from uORB topic headers"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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VERBATIM
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)
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# Generate C definitions from IDL
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set(CYCLONEDDS_DIR ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds)
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include("${CYCLONEDDS_DIR}/cmake/Modules/Generate.cmake")
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idlc_generate(TARGET uorb_cdrstream
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FEATURES "cdrstream-desc"
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FILES ${uorb_cdr_idl}
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INCLUDES ${idl_include_path}
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BASE_DIR ${idl_include_path}
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WARNINGS no-implicit-extensibility)
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target_link_libraries(uorb_cdrstream INTERFACE cdr)
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# Generate and overwrite IDL header with custom headers for uORB operatability
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# We typedef the IDL struct the uORB struct so that the IDL offset calculate
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# the offset of internal uORB struct for serialization/deserialization
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# In the future we might want to turn this around let the IDL struct be the leading ABI
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# However we need to remove the padding for logging and remove the re-ordering of fields
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add_custom_target(
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uorb_idl_header
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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--uorb-idl-header
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-f ${msg_files}
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-i ${CMAKE_CURRENT_SOURCE_DIR}
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-o ${idl_uorb_path}
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-e ${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream
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DEPENDS
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uorb_cdrstream
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${msg_files}
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${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream/uorb_idl_header.h.em
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
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COMMENT "Generating uORB compatible IDL headers"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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VERBATIM
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)
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add_dependencies(uorb_msgs uorb_idl_header)
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# Compile all CDR compatible message defnitions
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target_link_libraries(uorb_msgs PRIVATE uorb_cdrstream )
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endif()
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if(CONFIG_MODULES_ZENOH)
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# Update kconfig file for topics
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execute_process(COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
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--zenoh-config
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-f ${msg_files}
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-o ${PX4_SOURCE_DIR}/src/modules/zenoh/
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-e ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh
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)
|
|
add_custom_command(
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|
OUTPUT
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|
${PX4_BINARY_DIR}/src/modules/zenoh/uorb_pubsub_factory.hpp
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|
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
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|
--zenoh-pub-sub
|
|
-f ${msg_files}
|
|
-o ${PX4_BINARY_DIR}/src/modules/zenoh/
|
|
-e ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh
|
|
DEPENDS
|
|
${msg_files}
|
|
${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
|
|
${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
|
|
COMMENT "Generating Zenoh Topic Code"
|
|
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
|
|
VERBATIM
|
|
)
|
|
add_library(zenoh_topics ${PX4_BINARY_DIR}/src/modules/zenoh/uorb_pubsub_factory.hpp)
|
|
set_target_properties(zenoh_topics PROPERTIES LINKER_LANGUAGE CXX)
|
|
endif()
|