mirror of https://github.com/ArduPilot/ardupilot
313 lines
12 KiB
Python
313 lines
12 KiB
Python
class VehicleInfo(object):
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def __init__(self):
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"""
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make_target: option passed to make to create binaries. Usually sitl, and "-debug" may be appended if -D is passed to sim_vehicle.py
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default_params_filename: filename of default parameters file. Taken to be relative to autotest dir.
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extra_mavlink_cmds: extra parameters that will be passed to mavproxy
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"""
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self.options = {
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"ArduCopter": {
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"default_frame": "quad",
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"frames": {
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# COPTER
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"+": {
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"quad": {
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"model": "+",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"X": {
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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# this param set FRAME doesn't actually work because mavproxy
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# won't set a parameter unless it knows of it, and the
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# param fetch happens asynchronously
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"extra_mavlink_cmds": "param fetch frame; param set FRAME 1;",
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},
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"bfx": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-bfx.parm" ],
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},
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"djix": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-djix.parm" ],
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},
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"cwx": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-cwx.parm" ],
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},
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"hexa": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-hexa.parm" ],
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},
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"octa-quad": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-octaquad.parm" ],
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},
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"octa": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-octa.parm" ],
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},
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"tri": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-tri.parm" ],
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},
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"y6": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-y6.parm" ],
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},
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"dodeca-hexa": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/copter-dodecahexa.parm" ],
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},
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# SIM
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"IrisRos": {
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"gazebo-iris": {
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter.parm",
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"default_params/gazebo-iris.parm"],
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},
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# HELICOPTER
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"heli": {
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"make_target": "sitl-heli",
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"waf_target": "bin/arducopter-heli",
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"default_params_filename": "default_params/copter-heli.parm",
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},
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"heli-dual": {
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"make_target": "sitl-heli-dual",
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"waf_target": "bin/arducopter-heli",
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"default_params_filename": ["default_params/copter-heli.parm",
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"default_params/copter-heli-dual.parm"],
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},
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"heli-compound": {
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"make_target": "sitl-heli-compound",
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"waf_target": "bin/arducopter-heli",
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},
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"singlecopter": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter-single.parm",
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},
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"coaxcopter": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": ["default_params/copter-single.parm",
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"default_params/copter-coax.parm"],
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},
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"calibration": {
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"extra_mavlink_cmds": "module load sitl_calibration;",
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},
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},
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},
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"ArduPlane": {
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"default_frame": "plane",
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"frames": {
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# PLANE
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"quadplane-tilttri": {
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"make_target": "sitl",
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane-tilttri.parm",
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},
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"quadplane-tilttrivec": {
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"make_target": "sitl",
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane-tilttrivec.parm",
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},
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"quadplane-tilthvec": {
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"make_target": "sitl",
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"waf_target": "bin/arduplane",
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"default_params_filename": ["default_params/plane.parm", "default_params/quadplane-tilthvec.parm"],
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},
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"quadplane-tri": {
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"make_target": "sitl",
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane-tri.parm",
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},
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"quadplane-cl84" : {
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"make_target" : "sitl",
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"waf_target" : "bin/arduplane",
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"default_params_filename": "default_params/quadplane-cl84.parm",
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},
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"quadplane": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane.parm",
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},
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"firefly": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/firefly.parm",
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},
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"plane-elevon": {
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"waf_target": "bin/arduplane",
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"default_params_filename": ["default_params/plane.parm", "default_params/plane-elevons.parm"],
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},
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"plane-vtail": {
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"waf_target": "bin/arduplane",
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"default_params_filename": ["default_params/plane.parm", "default_params/plane-vtail.parm"],
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},
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"plane-tailsitter": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-tailsitter.parm",
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},
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"plane": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane.parm",
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},
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"plane-dspoilers": {
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"waf_target": "bin/arduplane",
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"default_params_filename": ["default_params/plane.parm", "default_params/plane-dspoilers.parm"]
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},
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"gazebo-zephyr": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/gazebo-zephyr.parm",
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},
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"last_letter": {
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"waf_target": "bin/arduplane",
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},
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"CRRCSim": {
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"waf_target": "bin/arduplane",
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},
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"jsbsim": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-jsbsim.parm",
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},
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"calibration": {
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"extra_mavlink_cmds": "module load sitl_calibration;",
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},
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},
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},
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"APMrover2": {
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"default_frame": "rover",
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"frames": {
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# ROVER
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"rover": {
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"waf_target": "bin/ardurover",
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"default_params_filename": "default_params/rover.parm",
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},
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"rover-skid": {
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"waf_target": "bin/ardurover",
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"default_params_filename": ["default_params/rover.parm",
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"default_params/rover-skid.parm"],
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},
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"balancebot": {
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"waf_target": "bin/ardurover",
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"default_params_filename": ["default_params/rover.parm",
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"default_params/rover-skid.parm",
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"default_params/balancebot.parm"],
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},
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"sailboat": {
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"waf_target": "bin/ardurover",
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"default_params_filename": ["default_params/rover.parm",
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"default_params/sailboat.parm"],
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},
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"gazebo-rover": {
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"waf_target": "bin/ardurover",
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"default_params_filename": ["default_params/rover.parm",
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"default_params/rover-skid.parm"],
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},
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"calibration": {
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"extra_mavlink_cmds": "module load sitl_calibration;",
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},
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},
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},
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"ArduSub": {
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"default_frame": "vectored",
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"frames": {
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"vectored": {
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"waf_target": "bin/ardusub",
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"default_params_filename": "default_params/sub.parm",
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},
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"gazebo-bluerov2": {
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"waf_target": "bin/ardusub",
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"default_params_filename": "default_params/sub.parm",
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},
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},
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},
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"AntennaTracker": {
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"default_frame": "tracker",
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"frames": {
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"tracker": {
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"waf_target": "bin/antennatracker",
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},
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},
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},
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}
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def default_frame(self, vehicle):
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return self.options[vehicle]["default_frame"]
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def default_waf_target(self, vehicle):
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"""Returns a waf target based on vehicle type, which is often determined by which directory the user is in"""
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default_frame = self.default_frame(vehicle)
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return self.options[vehicle]["frames"][default_frame]["waf_target"]
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def options_for_frame(self, frame, vehicle, opts):
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"""Return informatiom about how to sitl for frame e.g. build-type==sitl"""
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ret = None
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frames = self.options[vehicle]["frames"]
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if frame in frames:
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ret = self.options[vehicle]["frames"][frame]
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else:
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for p in ["octa", "tri", "y6", "firefly", "heli", "gazebo", "last_letter", "jsbsim", "quadplane", "plane-elevon", "plane-vtail", "plane"]:
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if frame.startswith(p):
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ret = self.options[vehicle]["frames"][p]
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break
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if ret is None:
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if frame.endswith("-heli"):
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ret = self.options[vehicle]["frames"]["heli"]
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if ret is None:
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print("WARNING: no config for frame (%s)" % frame)
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ret = {}
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if "model" not in ret:
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ret["model"] = frame
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if "sitl-port" not in ret:
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ret["sitl-port"] = True
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if opts.model is not None:
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ret["model"] = opts.model
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if (ret["model"].find("xplane") != -1 or ret["model"].find("flightaxis") != -1):
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ret["sitl-port"] = False
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if "make_target" not in ret:
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ret["make_target"] = "sitl"
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if "waf_target" not in ret:
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ret["waf_target"] = self.default_waf_target(vehicle)
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if opts.build_target is not None:
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ret["make_target"] = opts.build_target
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ret["waf_target"] = opts.build_target
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return ret
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